Zeng He

Wen Jiang
Lin Wang

Solved
Problems in
Nonlinear
Oscillations
A Sourcebook for Scientists and
Engineers
Solved Problems in Nonlinear Oscillations
Zeng He · Wen Jiang · Lin Wang

Solved Problems
in Nonlinear Oscillations
A Sourcebook for Scientists and Engineers
Zeng He Wen Jiang
Department of Mechanics Department of Mechanics
Huazhong University of Science Huazhong University of Science
and Technology and Technology
Wuhan, China Wuhan, China

Lin Wang
Department of Mechanics
Huazhong University of Science
and Technology
Wuhan, China

ISBN 978-981-97-6112-8 ISBN 978-981-97-6113-5 (eBook)

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This work was supported by National Natural Science Foundation of China (12325201, 12072119).

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Preface

This handbook contains about 200 fully solved problems in analytical and numerical
methods for nonlinear oscillations. These comprise all the end-of-chapter problems
in Prof. Nayfeh and Prof. Mook’s famous book (Ali H. Nayfeh and Dean T. Mook.
Nonlinear Oscillations, Wiley-Interscience, 1979). Mathematical software is adopted
to make those solutions more accessible from a graphical point of view. This book
can be adopted as a supplement to course work study for graduates or senior under-
graduates. Since many exercise problems are adapted from scientific research papers,
this book also has a good reference value for scientists and engineers who work in
the area of nonlinear vibration.
We wish to express our appreciation to Jiabiao Yi and Yefeng Pu for their great help
in documentation editing and drafting, and to Springer Nature for the opportunity to
make available this supplement to Nonlinear Oscillations.

Wuhan, China Zeng He

December 2023 Wen Jiang
Lin Wang

v
Contents

1 Problem List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Chapter 2 Conservative Single-Degree-Of-Freedom Systems . . . . 1
1.2 Chapter 3 Nonconservative Single-Degree-Of-Freedom
Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 Chapter 4 Forced Oscillations of Systems Having a Single
Degree of Freedom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.4 Chapter 5 Parametrically Excited Systems . . . . . . . . . . . . . . . . . . . . 5
1.5 Chapter 6 Systems Having Finite Degrees of Freedom . . . . . . . . . . 7
1.6 Chapter 7 Continuous Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.7 Chapter 8 Traveling Waves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2 Conservative Single-Degree-of-Freedom Systems . . . . . . . . . . . . . . . . . . 11
2.1 Exercise 2.1 (Determine Solution Trajectories from Potential
Energy Curves of Conservative 1D Systems) . . . . . . . . . . . . . . . . . . 11
2.2 Exercise 2.2 (Solving Conservative Systems by the Method
of Multiple Scales or Straightforward Expansion Combined
with Reformulation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.3 Exercise 2.3 (Show the System Transformation
and the Method of Multiple Scales) . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.4 Exercise 2.4 (Show the Method of Averaging) . . . . . . . . . . . . . . . . . 28
2.5 Exercise 2.5 (Show the Effect of a Change in the Equilibrium
Point of a Nonlinear Spring on the Frequency-Amplitude
Relationship) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2.6 Exercise 2.6 (Rods Sliding on the Smooth Walls) . . . . . . . . . . . . . . 34
2.7 Exercise 2.7 (Period of the Osscillation Motion of a Single
Pendulum-Type System Along Separatrices) . . . . . . . . . . . . . . . . . . 35
2.8 Exercise 2.8 (Particle on a Rotating Parabola) . . . . . . . . . . . . . . . . . 36
2.9 Exercise 2.9 (A Single Pendulum Rotating Uniformly
Around a Plumb Axis) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2.10 Exercise 2.10 (A Single Pendulum Rotating Freely Around
a Plumb Axis) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

vii
viii Contents

2.11 Exercise 2.11 (Nonlinear Oscillation of a Slide-Slider

System) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
2.12 Exercise 2.12 (Nonlinear Oscillation of a Rope-Block
System) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
2.13 Exercise 2.13 (Single Pendulum Attached with a
Rolling-Without-Slipping Circular Wheel I) . . . . . . . . . . . . . . . . . . . 53
2.14 Exercise 2.14 (Single Pendulum Attached with a
Rolling-Without-Slipping Circular Wheel II) . . . . . . . . . . . . . . . . . . 56
2.15 Exercise 2.15 (Single Pendulum Problem with Inelastic
Collision with an Inclined Wall) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
2.16 Exercise 2.16 (Simplified Model for Buckling Analysis
of Columns) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
2.17 Exercise 2.17 (Rods for Pure Rolling on a Fixed Cylindrical
Surface) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
2.18 Exercise 2.18 (Geometrically Nonlinear System Formed
by a Linear Spring and a Mass Block) . . . . . . . . . . . . . . . . . . . . . . . . 63
2.19 Exercise 2.19 (Solving Pure Cubic Nonlinear Systems
by Harmonic Balance Method) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
2.20 Exercise 2.20 (Solving Purely Fifth-Order Nonlinear
Systems by Harmonic Balance Method) . . . . . . . . . . . . . . . . . . . . . . 67
2.21 Exercise 2.21 (Solving Pure Cubic Nonlinear Systems
by Equivalent Linearization) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
2.22 Exercise 2.22 (Show Least Residual Value Method
and Galerkin Method for Solving Pure Cubic Nonlinear
Systems) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
2.23 Exercise 2.23 (Discuss the Possibility of Solving Pure Cubic
Nonlinear Systems by the Method of Multiple Scales) . . . . . . . . . . 70
2.24 Exercise 2.24 (Examine the Relationship Between the Period
and the Amplitude of Oscillation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
2.25 Exercise 2.25 (Comparison of Equivalent Linearization
Methods and the Method of Multiple Scales for Solving
Different Nonlinear Equations) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
2.26 Exercise 2.26 (Comparison of the Galerkin Method
with the the Method of Multiple Scales) . . . . . . . . . . . . . . . . . . . . . . 75
2.27 Exercise 2.27 (Equations Containing Second, Third
and Fourth Order Nonlinear Terms) . . . . . . . . . . . . . . . . . . . . . . . . . . 77
2.28 Exercise 2.28 (Solving Nonlinear Equations
with Segmentation Functions) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
2.29 Exercise 2.29 (Nonlinear Equations with a Single Arbitrary
Subpartial Nonlinear Term Only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
2.30 Exercise 2.30 (Higher Order Nonlinear Equations) . . . . . . . . . . . . . 84
2.31 Exercise 2.31 (Motion of the Disk Constrained by a Linear
Spring) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
2.32 Exercise 2.32 (Rolling Without Slip Rollers Restrained
by a Linear Spring) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Contents ix

2.33 Exercise 2.33 (Example of Higher-Order System) . . . . . . . . . . . . . . 89

3 Nonconservative Single-Degree-of-Freedom Systems . . . . . . . . . . . . . . . 95
3.1 Exercise 3.1 (Singularity Analyses I) . . . . . . . . . . . . . . . . . . . . . . . . . 95
3.2 Exercise 3.2 (Singularity Analyses II) . . . . . . . . . . . . . . . . . . . . . . . . 97
3.3 Exercise 3.3 (Singularity Analyses III) . . . . . . . . . . . . . . . . . . . . . . . 98
3.4 Exercise 3.4 (Conversion of Rayleigh’s Equation to Van Der
Pol’s Equation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
3.5 Exercise 3.5 (Plotting Phase Trajectories and Limit Cycle(S)
for the Van Der Pol Equation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
3.6 Exercise 3.6 (Plotting Phase Trajectories and Limit Cycle(S)
for a Given Equation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
3.7 Exercise 3.7 (Plotting Singularity and Phase Trajectories
for a Given Planar System) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
3.8 Exercise 3.8 (Plot the Trajectory of a Singularity for a Given
Planar System and Determine the Stability of the Singularity) . . . . 106
3.9 Exercise 3.9 (The Method of Multiple Scales for Solving
a Single Pendulum with a Coulomb Friction Torque) . . . . . . . . . . . 108
3.10 Exercise 3.10 (Singularities and Their Stability of a Linearly
Damped Pendulum Under a Constant Torque) . . . . . . . . . . . . . . . . . 111
3.11 Exercise 3.11 (Singularities and Their Stability for a Single
Pendulum with a Quadratic Damping) . . . . . . . . . . . . . . . . . . . . . . . . 114
3.12 Exercise 3.12 (Analysis of Rayleigh Equation Singularities,
Method of Averaging of Solution) . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
3.13 Exercise 3.13 (Singularity Analysis of the Restricted
Three-Body Exercise) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
3.14 Exercise 3.14 (Singularity Analysis of Amplitude
and Phase Equations Limiting the Resonance Response
of the Three-Body Problem) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
3.15 Exercise 3.15 (Modeling of a Single Pendulum
with a Damper Attached, Solving by the Method of Multiple
Scales) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
3.16 Exercise 3.16 (The Method of Multiple Scales for Solving
Van Der Pol Oscillators with Delay Amplitude Limiting) . . . . . . . . 127
3.17 Exercise 3.17 (Averaging to Solve for an Oscillator
with Both Coulomb and Viscous Damping) . . . . . . . . . . . . . . . . . . . 132
3.18 Exercise 3.18 (Averaging to Solve for Oscillators with Both
Coulomb and Square Damping) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
3.19 Exercise 3.19 (Averaging to Solve for Oscillators with Both
Viscous and Square Damping) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
3.20 Exercise 3.20 (Averaging to Solve for an Oscillator
with Both Viscous and Negative Coulomb Damping) . . . . . . . . . . . 140
3.21 Exercise 3.21 (Averaging to Solve for an Oscillator
with Both Squared Damping and Negative Coulomb
Damping) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
x Contents

3.22 Exercise 3.22 (Oscillators with Simultaneous Negative

Viscous Damping, Square Damping, and Cubic Nonlinearity) . . . . 143
3.23 Exercise 3.23 (Method of Averaging for Solving Oscillators
with Simultaneous Viscous, Quadratic and Cubic Damping
Nonlinearities) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
3.24 Exercise 3.24 (Averaging to Solve and Analyze Nonlinear
Vibrations of a Pendulum) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
3.25 Exercise 3.25 (Viscous Damping, Negative Stiffness,
and Cubic Nonlinear Systems) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
3.26 Exercise 3.26 (Transformations of Variables and Three-Level
Number Expansion Methods for Solving a Cubic Nonlinear
System) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
3.27 Exercise 3.27 (Application of Elliptic Functions to Represent
Solutions of a Single Pendulum System with a General
Weak Damping Function) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
3.28 Exercise 3.28 (Masses Bounded in Definite Orbits,
Analyzing Singularities and Their Bifurcations) . . . . . . . . . . . . . . . . 161
3.29 Exercise 3.29 (Non-autonomous Systems with Slowly
Varying Functions) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Introduction to Elliptic Integrals and Jacobi Elliptic
Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
4 Forced Oscillations of Systems Having a Single Degree
of Freedom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
4.1 Exercise 4.1 (The Method of Multiple Scales for Analyzing
Primary Resonances of Coulomb-Damped Systems
with Cubic Nonlinearities) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
4.2 Exercise 4.2 (The Method of Multiple Scales for Analyzing
Primary Resonances of Cubic Nonlinear, Quadratic-Damped
Systems) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
4.3 Exercise 4.3 (The Method of Multiple Scales for Analyzing
Primary Resonances of Linear Spring and Hysteresis
Damped Systems) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
4.4 Exercise 4.4 (The Method of Multiple Scales for Analyzing
Primary Resonances of Linear Spring, Hysteresis
and Coulomb Damped Systems) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
4.5 Exercise 4.5 (The Method of Multiple Scales for Analyzing
Primary Resonances of Linear Springs, Hysteresis
and Linearly Damped Systems) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
4.6 Exercise 4.6 (The Method of Multiple Scales for Analyzing
Primary Resonances of Linear Spring, Hysteresis
and Quadratic Damped Systems) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Contents xi

4.7 Exercise 4.7 (The Method of Multiple Scales for Analyzing

Primary Resonances of Quadraticd Spring Force
and Quadraticd Damped Systems) . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
4.8 Exercise 4.8 (Primary, Superharmonic, and Subharmonic
Resonances of Cubic Nonlinear and Cubic Damped Systems) . . . . 208
4.9 Exercise 4.9 (Method of Averaging for Analyzing Primary
Resonances of Alternating Damped Systems) . . . . . . . . . . . . . . . . . . 219
4.10 Exercise 4.10 (Primary, Superharmonic, and Subharmonic
Resonances of Quadratic and Cubic Nonlinear Systems) . . . . . . . . 224
4.11 Exercise 4.11 (Primary and Secondary Resonances of Five
Nonlinear, Linearly Damped Systems) . . . . . . . . . . . . . . . . . . . . . . . . 233
4.12 Exercise 4.12 (An Iterative Method for General Undamped
Nonlinear Systems) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
4.13 Exercise 4.13 (The Method of Harmonic Balance to Analyze
Viscous Damping and Primary Resonances of Cubic
Nonlinear Systems) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
4.14 Exercise 4.14 (The Method of Harmonic Balance to Analyze
the Primary Resonance of an Undamped Nonlinear System) . . . . . 240
4.15 Exercise 4.15 (Combination Resonance for Cubic Nonlinear
Systems) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
4.16 Exercise 4.16 (The Response of Cubic Nonlinear Systems
with Primary Resonance and Non-resonance Excitation) . . . . . . . . 245
4.17 Exercise 4.17 (Primary and Combined Resonance for Cubic
Nonlinear Systems I) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
4.18 Exercise 4.18 (Combined Primary, Subharmonic,
and Superharmonic Resonances of a Cubic Nonlinear
System) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
4.19 Exercise 4.19 (Primary and Combined Resonance for Cubic
Nonlinear Systems II) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
4.20 Exercise 4.20 (Primary and Combined Resonance of a Cubic
Nonlinear System) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
4.21 Exercise 4.21 (Primary Resonance of the System
with Coulomb Friction and Quadratic Nonlinearity) . . . . . . . . . . . . 263
4.22 Exercise 4.22 (Primary Resonance Problem for the System
with Quadratic Damp and Quadratic Nonlinear Terms) . . . . . . . . . . 267
4.23 Exercise 4.23 (Combined Resonance Problem for Quadratic
Nonlinear Systems) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
4.24 Exercise 4.24 (Simultaneous Subharmonic
and Superharmonic Resonance of Quadratic Nonlinear
Systems) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
4.25 Exercise 4.25 (Quadratic Nonlinear Systems with Both
Subharmonic and Combinatorial Resonances) . . . . . . . . . . . . . . . . . 278
4.26 Exercise 4.26 (Quadratic Nonlinear Systems with Both
Superharmonic and Combinatorial Resonances) . . . . . . . . . . . . . . . 280
xii Contents

4.27 Exercise 4.27 (Quadratic Nonlinear Systems

with Superharmonic, Subharmonic and Combinatorial
Resonances) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
4.28 Exercise 4.28 (Primary and Superharmonic Resonances
of Self-Excited Systems) Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
4.29 Exercise 4.29 (Primary and Superharmonic Resonances
of Self-Excited Systems) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
4.30 Exercise 4.30 (Simultaneous Subharmonic
and Superharmonic Resonance of Self-Excited
Systems) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
4.31 Exercise 4.31 (Self-Excited System with Both Primary
and Combined Resonances I) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
4.32 Exercise 4.32 (Self-Excited System with Both Primary
and Combined Resonances II) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
4.33 Exercise 4.33 (Combination Resonance of Self-Excited
Systems) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
4.34 Exercise 4.34 (Self-Excited System with Simultaneous
Primary, Superharmonic, and Subharmonic Resonances) . . . . . . . . 304
4.35 Exercise 4.35 (Self-Excited System with Simultaneous
Primary, and Combinatorial Resonances) . . . . . . . . . . . . . . . . . . . . . 307
4.36 Exercise 4.36 (Simple Harmonic Response of Van Der Pol’s
Oscillator) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
4.37 Exercise 4.37 (Analysis on the Response of a Cubic
Nonlinear System by the Slowly Varying Excitation) . . . . . . . . . . . 313
4.38 Exercise 4.38 (Analysis of the Response of a Self-Excited
System Under Slowly Varying Excitation) . . . . . . . . . . . . . . . . . . . . 315
4.39 Exercise 4.39 (Analysis of the Response of a Self-Excited
Vibrating System Under Hard Excitation at Different
Frequencies) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
5 Parametrically Excited Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
5.1 Exercise 5.1 (The Method of Strained Parameters
to Determine the Transition Curves for a Hill Equation) . . . . . . . . . 319
5.2 Exercise 5.2 (The Method of Strained Parameters
to Determine the Transition Curves of the Hill’s Equation
for LRC Circuits with Sinusoidally Varying Resistance) . . . . . . . . . 322
5.3 Exercise 5.3 (Stability Analysis of a Supported Movable
Pendulum) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
5.4 Exercise 5.4 (Analyze the Linear and Nonlinear Stability
of a Rotating Pendulum Using the Method of Strained
Parameters and the Method of Multiple Scales) . . . . . . . . . . . . . . . . 329
5.5 Exercise 5.5 (Parametric Excitation of a Particle-String
System Subjected to Axial Forces at Both Ends) . . . . . . . . . . . . . . . 337
5.6 Exercise 5.6 (Linear and Nonlinear Stability Analysis
of a Pendulum with Varying Length) . . . . . . . . . . . . . . . . . . . . . . . . . 344
Contents xiii

5.7 Exercise 5.7 (Linear and Nonlinear Stability Analysis

of a Particle Sliding on a Rotating Parabola) . . . . . . . . . . . . . . . . . . . 352
5.8 Exercise 5.8 (Nonlinear Solution to the Pure Rolling
of a Cylinder on a Circular Surface) . . . . . . . . . . . . . . . . . . . . . . . . . . 359
5.9 Exercise 5.9 (The Method of Harmonic Balance to Solve
Duffing’s Equation and Stability Analysis) . . . . . . . . . . . . . . . . . . . . 367
5.10 Exercise 5.10 (The Method of Harmonic Balance for Solving
Pure Cubic Nonlinear Equations) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370
5.11 Exercise 5.11 (The Quadratic Parametric Excitation
of a Linear Viscous Damping System) . . . . . . . . . . . . . . . . . . . . . . . . 374
5.12 Exercise 5.12 (The Cubic Parametric Excitation of a Linear
Viscous Damping System) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
5.13 Exercise 5.13 (The High Order Nonlinear Parametric
Excitation of a Linear Viscous Damping System) . . . . . . . . . . . . . . 382
5.14 Exercise 5.14 (The Parametric Excitation of a System
with a Nonlinear Damping) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
5.15 Exercise 5.15 (The Nonlinear Parametric Excitation
of a System with a Linear Viscous Damping) . . . . . . . . . . . . . . . . . . 391
5.16 Exercise 5.16 (The Nonlinear Parametric Excitation
of the System with a Nonlinear Damping) . . . . . . . . . . . . . . . . . . . . . 394
5.17 Exercise 5.17 (The Nonlinear Parametric Excitation
of the System with a Nonlinear Damping and High Order
Nonlinearities) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
5.18 Exercise 5.18 (Cubic Nonlinear System Subjected
to Combined Parametric and External Excitation) . . . . . . . . . . . . . . 405
5.19 Exercise 5.19 (Cubic Nonlinear System Subjected
to Combined Parametric and Multi-frequency External
Excitations) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413
5.20 Exercise 5.20 (Cubic Nonlinear, Square-Damped System
Subjected to Combined Parametric and External Excitation) . . . . . 419
5.21 Exercise 5.21 (Analysis on a Double Pendulum
with Swinging Mass Attached to Springs and Moving
Platform) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425
5.22 Exercise 5.22 (A Two-Frequency Parametric Excitation
of a Multi Degree-of-Freedom System with Distinct
Frequencies) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 436
5.23 Exercise 5.23 (A Single-Frequency Parametric Excitation
of a Three-Degree-of-Freedom System with Repeating
Frequencies) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 440
5.24 Exercise 5.24 (A Two-Frequency Parametric Excitation
of a Three-Degree-of-Freedom System with Repeating
Frequencies) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450
5.25 Exercise 5.25 (Parametric Excitation Analysis of Oscillations
of a Spring Pendulum) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
xiv Contents

5.26 Exercise 5.26 (The Buckling of the Column with a Nonideal

Energy Source) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460
5.27 Exercise 5.27 (Analysis of Two-Dimensional Sound
Propagation in a Pipe with Sinusoidal Walls) . . . . . . . . . . . . . . . . . . 466
5.28 Exercise 5.28 (Analysis of Two-Dimensional
Electromagnetic Wave Propagation in a Pipe with Sinusoidal
Walls) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475
6 Systems Having Finite Degrees of Freedom . . . . . . . . . . . . . . . . . . . . . . . 487
6.1 Exercise 6.1 (Internal Resonance Analysis and Nonlinear
Solution of a Double Pendulum Problem) . . . . . . . . . . . . . . . . . . . . . 487
6.2 Exercise 6.2 (Internal Resonance Analysis of a Uniform
Rod Hanging from a Massless Chord) . . . . . . . . . . . . . . . . . . . . . . . . 500
6.3 Exercise 6.3 (Internal Resonance Analysis of a Disc
Pendulum) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511
6.4 Exercise 6.4 (Internal Resonance Analysis of a Spring
Pendulum) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 522
6.5 Exercise 6.5 (Internal Resonance Analysis of a Uniform
Rod Hanging a Spring) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 530
6.6 Exercise 6.6 (Internal Resonance Analysis of the Plane
Motion of a Rigid Beam Supported by a Spring) . . . . . . . . . . . . . . . 538
6.7 Exercise 6.7 (Analytical Solution
of a Two-Degree-of-Freedom High-order Nonlinear
Equation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 548
6.8 Exercise 6.8 (Forced Oscillations
of a Two-Degree-of-Freedom Gyroscopic System
with Cubic Nonlinearity) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 550
6.9 Exercise 6.9 (Forced Oscillations
of a Two-Degree-of-Freedom System with Quadratic
and Cubic Nonlinearities) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 556
6.10 Exercise 6.10 (Analysis of Forced Oscillations
of a Spring-Slider-Pendulum System) . . . . . . . . . . . . . . . . . . . . . . . . 564
6.11 Exercise 6.11 (Resonance Analysis on the Cylinder Rolling
Without Slip on the Circular Surface I) . . . . . . . . . . . . . . . . . . . . . . . 581
6.12 Exercise 6.12 (Resonance Analysis on the Cylinder Rolling
Without Slip on the Circular Surface II) . . . . . . . . . . . . . . . . . . . . . . 592
6.13 Exercise 6.13 (Parametric Excitation of a Stretched Wire
Carrying Two Particles) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 603
6.14 Exercise 6.14 (Internal Resonance, Parametric Excitation
and Saturation Phenomena for a Spring Pendulum
with a Moving Support) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 622
6.15 Exercise 6.15 (The Response of a Ship Constrained to Pitch
and Roll Only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 631
Contents xv

6.16 Exercise 6.16 (The Method of Multiple Scales for Solving

Free Oscillations of Systems with Slowly Varying
Frequencies) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 643
6.17 Exercise 6.17 (Analysis of a Two-Degree-of-Freedom
System with Simultaneous Internal, Subharmonic,
and Superharmonic Resonances) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 647
6.18 Exercise 6.18 (Nonlinear Oscillation Analysis of a Spherical
Pendulum with a Moving Support) . . . . . . . . . . . . . . . . . . . . . . . . . . . 649
6.19 Exercise 6.19 (Primary Resonance Analysis of a
Two-Degree-of-Freedom Self-Excited System) . . . . . . . . . . . . . . . . 657
6.20 Exercise 6.20 (Free Oscillation Analysis
of a Two-Degree-of-Freedom Self-Excited System
with Heavy Eigenvalues) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 660
6.21 Exercise 6.21 (Primary Resonance Analysis
of Three-Degree-of-Freedom Systems with Repeating
Frequencies, Internal Resonance, Saturation Phenomena) . . . . . . . 663
6.22 Exercise 6.22 (Primary Resonance Analysis
of Three-Degree-of-Freedom Systems with Internal
Resonance) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 674
6.23 Exercise 6.23 (Stability Analysis of Nonlinear Forced
Oscillation of a Disk) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 674
6.24 Exercise 6.24 (Forced Oscillation of a Spherical Pendulum) . . . . . 680
6.25 Exercise 6.25 (Nonlinear Oscillation Analysis of a Rolling
Reentry Body I) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 680
6.26 Exercise 6.26 (Nonlinear Oscillation Analysis of a Rolling
Reentry Body II) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 688
7 Continuous Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 689
7.1 Exercise 7.1 (Longitudinal Oscillation Analysis
of Non-uniform, Non-linear Elastic Rods) . . . . . . . . . . . . . . . . . . . . . 689
7.2 Exercise 7.2 (Longitudinal Oscillation Analysis of Uniform,
Nonlinear Elastic Rods) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 699
7.3 Exercise 7.3 (Longitudinal Oscillation Analysis of Uniform,
Nonlinear Elastic Rods) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 706
7.4 Exercise 7.4 (Nonlinear Analysis of Transverse Oscillations
of a Fixed Wire) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 714
7.5 Exercise 7.5 (Nonlinear Analysis of Transverse Oscillations
in the Plane of an Elastic Tensioned String) . . . . . . . . . . . . . . . . . . . 734
7.6 Exercise 7.6 (Nonlinear Analysis of Planar Transverse
Oscillations of Elastic Tensioned Strings Under Parametric
Excitation Formed by Time-Varying Tension) . . . . . . . . . . . . . . . . . 743
7.7 Exercise 7.7 (Transverse Oscillation of a Hinged-Hinged
Beam Excited by First- and Second-Order Primary
Resonances at u = O(w 2 )) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 747
xvi Contents

7.8 Exercise 7.8 (Forced Response of a Hinged-Hinged Beam

with a Single Non-resonant Excitation at u = O(w 2 )) . . . . . . . . . . 752
7.9 Exercise 7.9 (Combined Resonance Analysis
of Hinged-Hinged Beams with Two Excitations
at u = O(w 2 )) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 756
7.10 Exercise 7.10 (Combined Resonance Analysis
of a Hinged-Hinged Beam with Three Excitations
at u = O(w 2 )) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 760
7.11 Exercise 7.11 (Parametric Resonance Analysis
on a Hinged-Hinged Beam at (u = O(w 2 )) . . . . . . . . . . . . . . . . . . . 764
7.12 Exercise 7.12 (Transverse Oscillation of a Hinged-Clamped
Beam Under Internal Resonance and Non-resonant
Excitation at u = O(w 2 )) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 769
7.13 Exercise 7.13 (Transverse Oscillation of a Hinged-Clamped
Beam Under Internal Resonance and Non-resonance
Excitation at u = O(w 2 )) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 776
7.14 Exercise 7.14 (Transverse Oscillation
of a Clamped–Clamped Beam at Internal Resonance
and Resonant Excitation at u = O(w 2 )) . . . . . . . . . . . . . . . . . . . . . . 781
7.15 Exercise 7.15 (Transverse Oscillation
of a Clamped–Clamped Beam Under Internal
Resonance and Non-resonance Excitation at u = O(w 2 )) . . . . . . . 791
7.16 Exercise 7.16 (Transverse Oscillation
of a Clamped-Supported Beam Under Internal
Resonance and Non-resonance Excitation at u = O(w 2 )) . . . . . . . 798
7.17 Exercise 7.17 (Coupled Longitudinal and Transverse
Oscillation Analysis of Hinged-Hinged Beams at u = O(w)) . . . . 804
7.18 Exercise 7.18 (Analysis of Internal and Primary Resonances
of Cylindrical Shells, Saturation Phenomena) . . . . . . . . . . . . . . . . . . 810
7.19 Exercise 7.19 (Primary Resonance Analysis of Transverse
Oscillations of a Taut String) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 816
7.20 Exercise 7.20 (Oscillation Analysis of a Relief Valve
with Boundary Nonlinearities) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 826
7.21 Exercise 7.21 (First-Order Subharmonic Resonance
Analysis of a Uniform Circular Plate Clamped Along Its
Edge) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 841
7.22 Exercise 7.22 (First-Order Superharmonic Resonance
Analysis of a Uniform Circular Plate Clamped Along Its
Edge) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 848
7.23 Exercise 7.23 (Second-Order Superharmonic Resonance
Analysis of a Uniform Circular Plate Clamped Along Its
Edge) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 851
7.24 Exercise 7.24 (Combined Resonance Analysis of a Uniform
Circular Plate Clamped Along Its Edge) . . . . . . . . . . . . . . . . . . . . . . 854
Contents xvii

7.25 Exercise 7.25 (Combined Resonance Analysis of a Uniform

Circular Plate Clamped Along Its Edge I) . . . . . . . . . . . . . . . . . . . . . 858
7.26 Exercise 7.26 (Combined Resonance Analysis of a Uniform
Circular Plate Clamped Along Its Edge II) . . . . . . . . . . . . . . . . . . . . 858
7.27 Exercise 7.27 (Axisymmetric Response of a Uniform
Circular Plate Clamped Along Its Edge with 1st to 3rd Order
Modes Subjecting To Corresponding Resonant Excitation III) . . . . 858
7.28 Exercise 7.28 (Derivation of Modal Discretization Equations
for Berger’s Equation for Axisymmetric Oscillation
Analysis of a Clamped Circular Plates) . . . . . . . . . . . . . . . . . . . . . . . 859
7.29 Exercise 7.29 (Berger Equation for Nonlinear Oscillation
Analysis of Simply Supported Rectangular Plates) . . . . . . . . . . . . . 863
7.30 Exercise 7.30 (Nonlinear Oscillation Analysis of Rotating
Circular Films) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 870
8 Traveling Waves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 881
8.1 Exercise 8.1 (Determination on Dispersive Wave) . . . . . . . . . . . . . . 881
8.2 Exercise 8.2 (Direct Expansion and Reformulation Analysis
of Longitudinal Waves of Semi-infinite Uniform Rods
with Material Nonlinearity) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 882
8.3 Exercise 8.3 (Direct Expansion and Reformulation Analysis
of a Nonlinear Acoustic Equation) . . . . . . . . . . . . . . . . . . . . . . . . . . . 885
8.4 Exercise 8.4 (Multiscale Analysis on a One-Dimensional
Wave Equation with Cubic Nonlinearity) . . . . . . . . . . . . . . . . . . . . . 888
8.5 Exercise 8.5 (A Simplified Model for Wind-Induced
Oscillation of Overhead Power Lines) . . . . . . . . . . . . . . . . . . . . . . . . 890
8.6 Exercise 8.6 (Wave Propagating Along a Uniform, Initially
Undeformed Nonlinear Elastic bar with Linear Damping) . . . . . . . 893
8.7 Exercise 8.7 (Modeling and Multiscale Analysis
on the High-Frequency Oscillation of a Homogenous
Visco-Elastic Rod) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 898
8.8 Exercise 8.8 (Modeling and Multiscale Analysis
on Low-Frequency Oscillation of a Homogeneous
Visco-Elastic Rod) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 905
8.9 Exercise 8.9 (Transform the Burgers’ Equation into the Heat
Equation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 907
8.10 Exercise 8.10 (Stationary Solutions of the Burgers’ Equation) . . . . 908
8.11 Exercise 8.11 (Steady-State Solution of the Burgers’
Equation and Their Stability Analysis) . . . . . . . . . . . . . . . . . . . . . . . 909
8.12 Exercise 8.12 (Constant Solutions of the KdV Equation
and Their Stability Analysis) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 911
8.13 Exercise 8.13 (Traveling Wave Solutions of the Sine–Gordon
Equation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 916
xviii Contents

8.14 Exercise 8.14 (Characteristic Transformation

and Straightforward Expansion for Waves Propagating
Along a Uniform Elastic bar with Material Nonlinearity) . . . . . . . . 917
8.15 Exercise 8.15 (Forced Excitations of a Nonlinear Finite
Elastic bar) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 924
8.16 Exercise 8.16 (Derivation of the Lagrangian Form
of the Wave Equation for an Inviscid Isentropic Gas) . . . . . . . . . . . 929
8.17 Exercise 8.17 (Exact Solution of the One-Dimensional
Wave Equation for an Inviscid Isentropic Gas) . . . . . . . . . . . . . . . . . 930
8.18 Exercise 8.18 (Approximate Solutions
of the One-Dimensional Wave Equation for a Viscous
Isentropic Gas and Its Fourier Expansion) . . . . . . . . . . . . . . . . . . . . . 933
8.19 Exercise 8.19 (Derivation of the Eulerian Form
of the One-Dimensional Wave Equation for an Inviscid
Isentropic Gas) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 935
8.20 Exercise 8.20 (Derivation of Linear Inviscid Acoustic Waves
in a Hardwalled Duct) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 939
8.21 Exercise 8.21 (Analysis on the Linear Waves Propagating
on the Surface of an Inviscid Liquid of Finite Depth) . . . . . . . . . . . 945
8.22 Exercise 8.22 (The Method of Multiple Scales for Wave
Group Propagation Governed by Klein–Gordon Equation) . . . . . . . 947
Chapter 1
Problem List

To make it easier for the reader to access exercise problems, we have listed all
problems in this chapter and added a short description for each problem. In addition, in
the following chapters, “the Book” refers to “Nonlinear Oscillations. Ali H. Nayfeh &
Dean T. Mook, John Wiley and Sons, New York, 1995, ISBN 0–471-12,142–8”). The
solutions are arranged according to the chapter names question-numbering in the
Book, and our handbook should be viewed as a supplement to the Book.

1.1 Chapter 2 Conservative Single-Degree-Of-Freedom

Systems

• Exercise 2.1 (Determine solution trajectories from potential energy curves of

conservative 1D systems)
• Exercise 2.2 (Solving conservative systems by the method of multiple scales or
straightforward expansion combined with reformulation)
• Exercise 2.3 (Show the system transformation and the method of multiple scales)
• Exercise 2.4 (Show the method of averaging)
• Exercise 2.5 (Show the effect of a change in the equilibrium point of a nonlinear
spring on the frequency-amplitude relationship)
• Exercise 2.6 (Rods sliding on the smooth walls)
• Exercise 2.7 (Period of the osscillation motion of a single pendulum-type system
along separatrices)
• Exercise 2.8 (Particle on a rotating parabola)
• Exercise 2.9 (A single pendulum rotating uniformly around a plumb axis)
• Exercise 2.10 (A single pendulum rotating freely around a plumb axis)
• Exercise 2.11 (Nonlinear oscillation of a slide-slider system)
• Exercise 2.12 (Nonlinear oscillation of a rope-block system)

© The Author(s) 2025 1

Z. He et al., Solved Problems in Nonlinear Oscillations,
[Link]
2 1 Problem List

• Exercise 2.13 (Single pendulum attached with a rolling-without-slipping circular

wheel I)
• Exercise 2.14 (Single pendulum attached with a rolling-without-slipping circular
wheel II)
• Exercise 2.15 (Single pendulum problem with inelastic collision with an inclined
wall)
• Exercise 2.16 (Simplified model for buckling analysis of columns)
• Exercise 2.17 (Rods for pure rolling on a fixed cylindrical surface)
• Exercise 2.18 (Geometrically nonlinear system formed by a linear spring and a
mass block)
• Exercise 2.19 (Solving pure cubic nonlinear systems by harmonic balance method)
• Exercise 2.20 (Solving purely fifth-order nonlinear systems by harmonic balance
method)
• Exercise 2.21 (Solving pure cubic nonlinear systems by equivalent linearization)
• Exercise 2.22 (Show least residual value method and Galerkin method for solving
pure cubic nonlinear systems)
• Exercise 2.23 (Discuss the possibility of solving pure cubic nonlinear systems by
the method of multiple scales)
• Exercise 2.24 (Examine the relationship between the period and the amplitude of
oscillation)
• Exercise 2.25 (Comparison of equivalent linearization methods and the method
of multiple scales for solving different nonlinear equations)
• Exercise 2.26 (Comparison of the Galerkin method with the the method of multiple
scales)
• Exercise 2.27 (Equations containing second, third and fourth order nonlinear
terms)
• Exercise 2.28 (Solving nonlinear equations with segmentation functions)
• Exercise 2.29 (Nonlinear equations with a single arbitrary subpartial nonlinear
term only)
• Exercise 2.30 (Higher order nonlinear equations)
• Exercise 2.31 (Motion of the disk constrained by a linear spring)
• Exercise 2.32 (Rolling without slip rollers restrained by a linear spring)
• Exercise 2.33 (Example of higher-order system)

1.2 Chapter 3 Nonconservative Single-Degree-Of-Freedom

Systems

• Exercise 3.1 (Singularity analyses I)

• Exercise 3.2 (Singularity analyses II)
• Exercise 3.3 (Singularity analyses III)
• Exercise 3.4 (Conversion of Rayleigh’s equation to van der Pol’s equation)
• Exercise 3.5 (Plotting phase trajectories and limit cycle(s) for the van der Pol
equation)
1.2 Chapter 3 Nonconservative Single-Degree-Of-Freedom Systems 3

• Exercise 3.6 (Plotting phase trajectories and limit cycle(s) for a given equation)
• Exercise 3.7 (Plotting singularity and phase trajectories for a given planar system)
• Exercise 3.8 (Plot the trajectory of a singularity for a given planar system and
determine the stability of the singularity)
• Exercise 3.9 (The method of multiple scales for solving a single pendulum with
a Coulomb friction torque)
• Exercise 3.10 (Singularities and their stability of a linearly damped pendulum
under a constant torque)
• Exercise 3.11 (Singularities and their stability for a single pendulum with a
quadratic damping)
• Exercise 3.12 (Analysis of Rayleigh equation singularities, method of averaging
of solution)
• Exercise 3.13 (Singularity analysis of the restricted three-body exercise)
• Exercise 3.14 (Singularity analysis of amplitude and phase equations limiting the
resonance response of the three-body problem)
• Exercise 3.15 (Modeling of a single pendulum with a damper attached, solving
by the method of multiple scales)
• Exercise 3.16 (The method of multiple scales for solving van der Pol oscillators
with delay amplitude limiting)
• Exercise 3.17 (Averaging to solve for an oscillator with both Coulomb and viscous
damping)
• Exercise 3.18 (Averaging to solve for oscillators with both Coulomb and square
damping)
• Exercise 3.19 (Averaging to solve for oscillators with both viscous and square
damping)
• Exercise 3.20 (Averaging to solve for an oscillator with both viscous and negative
Coulomb damping)
• Exercise 3.21 (Averaging to solve for an oscillator with both squared damping
and negative Coulomb damping)
• Exercise 3.22 (Oscillators with simultaneous negative viscous damping, square
damping, and cubic nonlinearity)
• Exercise 3.23 (Method of averaging for solving oscillators with simultaneous
viscous, quadratic and cubic damping nonlinearities)
• Exercise 3.24 (Averaging to solve and analyze nonlinear vibrations of a pendulum)
• Exercise 3.25 (Viscous damping, negative stiffness, and cubic nonlinear systems)
• Exercise 3.26 (Transformations of variables and three-level number expansion
methods for solving a cubic nonlinear system)
• Exercise 3.27 (Application of elliptic functions to represent Solutions of a single
pendulum system with a general weak damping function)
• Exercise 3.28 (Masses bounded in definite orbits, analyzing singularities and their
bifurcations)
• Exercise 3.29 (Non-autonomous systems with slowly varying functions)
4 1 Problem List

1.3 Chapter 4 Forced Oscillations of Systems Having

a Single Degree of Freedom

• Exercise 4.1 (The method of multiple scales for analyzing primary resonances of
Coulomb-damped systems with cubic nonlinearities)
• Exercise 4.2 (The method of multiple scales for analyzing primary resonances of
cubic nonlinear, quadratic-damped systems)
• Exercise 4.3 (The method of multiple scales for analyzing primary resonances of
linear spring and hysteresis damped systems)
• Exercise 4.4 (The method of multiple scales for analyzing primary resonances of
linear spring, hysteresis and Coulomb damped systems)
• Exercise 4.5 (The method of multiple scales for analyzing primary resonances of
linear springs, hysteresis and linearly damped systems)
• Exercise 4.6 (The method of multiple scales for analyzing primary resonances of
linear spring, hysteresis and quadratic damped systems)
• Exercise 4.7 (The method of multiple scales for analyzing primary resonances of
quadraticd spring force and quadraticd damped systems)
• Exercise 4.8 (Primary, superharmonic, and subharmonic resonances of cubic
nonlinear and cubic damped systems)
• Exercise 4.9 (Method of averaging for analyzing primary resonances of alternating
damped systems)
• Exercise 4.10 (Primary, superharmonic, and subharmonic resonances of quadratic
and cubic nonlinear systems)
• Exercise 4.11 (Primary and secondary resonances of five nonlinear, linearly
damped systems)
• Exercise 4.12 (An iterative method for general undamped nonlinear systems)
• Exercise 4.13 (The method of harmonic balance to analyze viscous damping and
primary resonances of cubic nonlinear systems)
• Exercise 4.14 (The method of harmonic balance to analyze the primary resonance
of an undamped nonlinear system)
• Exercise 4.15 (Combination resonance for cubic nonlinear systems)
• Exercise 4.16 (The response of cubic nonlinear systems with primary resonance
and non-resonance excitation)
• Exercise 4.17 (Primary and combined resonance for cubic nonlinear systems I)
• Exercise 4.18 (Combined primary, subharmonic, and superharmonic resonances
of a cubic nonlinear system)
• Exercise 4.19 (Primary and combined resonance for cubic nonlinear systems II)
• Exercise 4.20 (Primary and combined resonance of a cubic nonlinear system)
• Exercise 4.21 (Primary resonance of the system with Coulomb friction and
quadratic nonlinearity)
• Exercise 4.22 (Primary resonance problem for the system with quadratic damp
and quadratic nonlinear terms)
• Exercise 4.23 (Combined resonance problem for quadratic nonlinear systems)
1.4 Chapter 5 Parametrically Excited Systems 5

• Exercise 4.24 (Simultaneous subharmonic and superharmonic resonance of

quadratic nonlinear systems)
• Exercise 4.25 (Quadratic nonlinear systems with both subharmonic and combi-
natorial resonances)
• Exercise 4.26 (Quadratic nonlinear systems with both superharmonic and combi-
natorial resonances)
• Exercise 4.27 (Quadratic nonlinear systems with superharmonic, subharmonic
and combinatorial resonances)
• Exercise 4.28 (Primary and superharmonic resonances of self-excited systems)
• Exercise 4.29 (Primary and subharmonic resonances of self-excited systems)
• Exercise 4.30 (Simultaneous subharmonic and superharmonic resonance of self-
excited systems)
• Exercise 4.31 (Self-excited system with both primary and combined resonances
I)
• Exercise 4.32 (Self-excited system with both primary and combined resonances
II)
• Exercise 4.33 (Combination resonance of self-excited systems)
• Exercise 4.34 (Self-excited system with simultaneous primary, superharmonic,
and subharmonic resonances)
• Exercise 4.35 (Self-excited system with simultaneous primary and combinatorial
resonances)
• Exercise 4.36 (Simple harmonic response of van der Pol’s oscillator)
• Exercise 4.37 (Analysis on the response of a cubic nonlinear system by the slowly
varying excitation)
• Exercise 4.38 (Analysis of the response of a self-excited system under slowly
varying excitation)
• Exercise 4.39 (Analysis of the response of a self-excited vibrating system under
hard excitation at different frequencies)

1.4 Chapter 5 Parametrically Excited Systems

• Exercise 5.1 (The method of strained parameters to determine the transition curves
for a Hill equation)
• Exercise 5.2 (The method of strained parameters to determine the transition curves
of the Hill’s equation for LRC circuits with sinusoidally varying resistance)
• Exercise 5.3 (Stability analysis of a supported movable pendulum)
• Exercise 5.4 (Analyze the linear and nonlinear stability of a rotating pendulum
using the method of strained parameters and the method of multiple scales)
• Exercise 5.5 (Parametric excitation of a particle-string system subjected to axial
forces at both ends)
• Exercise 5.6 (Linear and nonlinear stability analysis of a pendulum with varying
length)
6 1 Problem List

• Exercise 5.7 (Linear and nonlinear stability analysis of a particle sliding on a

rotating parabola)
• Exercise 5.8 (Nonlinear solution to the pure rolling of a cylinder on a circular
surface)
• Exercise 5.9 (The method of harmonic balance to solve Duffing’s equation and
stability analysis)
• Exercise 5.10 (The method of harmonic balance for solving pure cubic nonlinear
equations)
• Exercise 5.11 (The quadratic parametric excitation of a linear viscous damping
system)
• Exercise 5.12 (The cubic parametric excitation of a linear viscous damping
system)
• Exercise 5.13 (The high order nonlinear parametric excitation of a linear viscous
damping system)
• Exercise 5.14 (The parametric excitation of a system with a nonlinear damping)
• Exercise 5.15 (The nonlinear parametric excitation of a system with a linear
viscous damping)
• Exercise 5.16 (The nonlinear parametric excitation of the system with a nonlinear
damping)
• Exercise 5.17 (The nonlinear parametric excitation of the system with a nonlinear
damping and high order nonlinearities)
• Exercise 5.18 (Cubic nonlinear system subjected to combined parametric and
external excitation)
• Exercise 5.19 (Cubic nonlinear system subjected to combined parametric and
multi-frequency external excitations)
• Exercise 5.20 (Cubic nonlinear, square-damped system subjected to combined
parametric and external excitation)
• Exercise 5.21 (Analysis on a double pendulum with swinging mass attached to
springs and moving platform)
• Exercise 5.22 (A two-frequency parametric excitation of a multi degree-of-
freedom system with distinct frequencies)
• Exercise 5.23 (A single-frequency parametric excitation of a three-degree-of-
freedom system with repeating frequencies)
• Exercise 5.24 (A two-frequency parametric excitation of a three-degree-of-
freedom system with repeating frequencies)
• Exercise 5.25 (Parametric excitation analysis of oscillations of a spring pendulum)
• Exercise 5.26 (The buckling of the column with a nonideal energy source)
• Exercise 5.27 (Analysis of two-dimensional sound propagation in a pipe with
sinusoidal walls)
• Exercise 5.28 (Analysis of two-dimensional electromagnetic wave propagation
in a pipe with sinusoidal walls)
1.5 Chapter 6 Systems Having Finite Degrees of Freedom 7

1.5 Chapter 6 Systems Having Finite Degrees of Freedom

• Exercise 6.1 (Internal resonance analysis and nonlinear solution of a double

pendulum problem)
• Exercise 6.2 (Internal resonance analysis of a uniform rod hanging from a massless
chord)
• Exercise 6.3 (Internal resonance analysis of a disc pendulum)
• Exercise 6.4 (Internal resonance analysis of a spring pendulum)
• Exercise 6.5 (Internal resonance analysis of a uniform rod hanging a spring)
• Exercise 6.6 (Internal resonance analysis of the plane motion of a rigid beam
supported by a spring)
• Exercise 6.7 (Analytical solution of a two-degree-of-freedom high-order
nonlinear equation)
• Exercise 6.8 (Forced oscillations of a two-degree-of-freedom gyroscopic system
with cubic nonlinearity)
• Exercise 6.9 (Forced oscillations of a two-degree-of-freedom system with
quadratic and cubic nonlinearities)
• Exercise 6.10 (Analysis of forced oscillations of a spring-slider-pendulum system)
• Exercise 6.11 (Resonance analysis on the cylinder rolling without slip on the
circular surface I)
• Exercise 6.12 (Resonance analysis on the cylinder rolling without slip on the
circular surface II)
• Exercise 6.13 (Parametric excitation of a stretched wire carrying two particles)
• Exercise 6.14 (Internal resonance, parametric excitation and saturation
phenomena for a spring pendulum with a moving support)
• Exercise 6.15 (The response of a ship constrained to pitch and roll only)
• Exercise 6.16 (The method of multiple scales for solving free oscillations of
systems with slowly varying frequencies)
• Exercise 6.17 (Analysis of a two-degree-of-freedom system with simultaneous
internal, subharmonic, and superharmonic resonances)
• Exercise 6.18 (Nonlinear oscillation analysis of a spherical pendulum with a
moving support)
• Exercise 6.19 (Primary resonance analysis of a two-degree-of-freedom self-
excited system)
• Exercise 6.20 (Free oscillation analysis of a two-degree-of-freedom self-excited
system with heavy eigenvalues)
• Exercise 6.21 (Primary resonance analysis of three-degree-of-freedom systems
with repeating frequencies, internal resonance, saturation phenomena)
• Exercise 6.22 (Primary resonance analysis of three-degree-of-freedom systems
with internal resonance)
• Exercise 6.23 (Stability analysis of nonlinear forced oscillation of a disk)
• Exercise 6.24 (Forced oscillation of a spherical pendulum)
• Exercise 6.25 (Nonlinear oscillation analysis of a rolling reentry body I)
• Exercise 6.26 (Nonlinear oscillation analysis of a rolling reentry body II)
8 1 Problem List

1.6 Chapter 7 Continuous Systems

• Exercise 7. 1 (Longitudinal oscillation analysis of non-uniform, non-linear elastic

rods)
• Exercise 7.2 (Longitudinal oscillation analysis of uniform, nonlinear elastic rods)
• Exercise 7.3 (Longitudinal oscillation analysis of uniform, nonlinear elastic rods)
• Exercise 7.4 (Nonlinear analysis of transverse oscillations of a fixed wire)
• Exercise 7.5 (Nonlinear analysis of transverse oscillations in the plane of an elastic
tensioned string)
• Exercise 7.6 (Nonlinear analysis of planar transverse oscillations of elastic
tensioned strings under parametric excitation formed by time-varying tension)
• Exercise 7.7 (Transverse oscillation of a hinged-hinged beam excited by first- and
second-order primary resonances at u = O(w2 ))
• Exercise 7.8 (Forced response of a hinged-hinged beam with a single non-resonant
excitation at u = O(w2 ))
• Exercise 7.9 (Combined resonance analysis of hinged-hinged beams with two
excitations at u = O(w2 ))
• Exercise 7.10 (Combined resonance analysis of a hinged-hinged beam with three
excitations at u = O(w2 ))
• Exercise 7.11 (Parametric resonance analysis on a hinged-hinged beam at u =
O(w2 ))
• Exercise 7.12 (Transverse oscillation of a hinged-clamped beam under internal
resonance and non-resonant excitation at u = O(w2 ))
• Exercise 7.13 (Transverse oscillation of a hinged-clamped beam under internal
resonance and non-resonance excitation at u = O(w2 ))
• Exercise 7.14 (Transverse oscillation of a clamped–clamped beam at internal
resonance and resonant excitation at u = O(w2 ))
• Exercise 7.15 (Transverse oscillation of a clamped–clamped beam under internal
resonance and non-resonance excitation at u = O(w2 ))
• Exercise 7.16 (Transverse oscillation of a clamped-supported beam under internal
resonance and non-resonance excitation at u = O(w2 ))
• Exercise 7.17 (Couple longitudinal and transverse oscillation analysis of hinged-
hinged beams at u = O(w))
• Exercise 7.18 (Analysis of internal and primary resonances of cylindrical shells,
saturation phenomena)
• Exercise 7.19 (Primary resonance analysis of transverse oscillations of a taut
string)
• Exercise 7.20 (Oscillation analysis of a relief valve with boundary nonlinearities)
• Exercise 7.21 (First-order subharmonic resonance analysis of a uniform circular
plate clamped along its edge)
• Exercise 7.22 (First-order superharmonic resonance analysis of a uniform circular
plate clamped along its edge)
• Exercise 7.23 (Second-order superharmonic resonance analysis of a uniform
circular plate clamped along its edge)
1.7 Chapter 8 Traveling Waves 9

• Exercise 7.24 (Combined resonance analysis of a uniform circular plate clamped

along its edge I)
• Exercise 7.25 (Combined resonance analysis of a uniform circular plate clamped
along its edge II)
• Exercise 7.26 (Combined resonance analysis of a uniform circular plate clamped
along its edge III)
• Exercise 7.27 (Axisymmetric response of a uniform circular plate clamped
along its edge with 1st to 3rd order modes subjecting to corresponding resonant
excitation)
• Exercise 7.28 (Derivation of modal discretization equations for Berger’s equation
for axisymmetric oscillation analysis of a clamped circular plates)
• Exercise 7.29 (Berger equation for nonlinear oscillation analysis of simply
supported rectangular plates)
• Exercise 7.30 (Nonlinear oscillation analysis of rotating circular films)

1.7 Chapter 8 Traveling Waves

• Exercise 8.1 (Determination on dispersive wave)

• Exercise 8.2 (Direct expansion and reformulation analysis of longitudinal waves
of semi-infinite uniform rods with material nonlinearity)
• Exercise 8.3 (Direct expansion and reformulation analysis of a nonlinear acoustic
equation)
• Exercise 8.4 (Multiscale analysis on a one-dimensional wave equation with cubic
nonlinearity)
• Exercise 8.5 (A simplified model for wind-induced oscillation of overhead power
lines)
• Exercise 8.6 (Wave propagating along a uniform, initially undeformed nonlinear
elastic bar with linear damping)
• Exercise 8.7 (Modeling and multiscale analysis on the high-frequency oscillation
of a homogenous visco-elastic rod)
• Exercise 8.8 (Modeling and multiscale analysis on low-frequency oscillation of
a homogeneous visco-elastic rod)
• Exercise 8.9 (Transform the Burgers’ equation into the heat equation)
• Exercise 8.10 (Stationary solutions of the Burgers’ equation)
• Exercise 8.11 (Steady-state solution of the Burgers’ equation and their stability
analysis)
• Exercise 8.12 (Constant solutions of the KdV equation and their stability analysis)
• Exercise 8.13 (Traveling wave solutions of the sine–Gordon equation)
• Exercise 8.14 (Characteristic transformation and straightforward expansion for
waves propagating along a uniform elastic bar with material nonlinearity)
• Exercise 8.15 (Forced excitations of a nonlinear finite elastic bar)
• Exercise 8.16 (Derivation of the Lagrangian form of the wave equation for an
inviscid isentropic gas)
10 1 Problem List

• Exercise 8.17 (Exact solution of the one-dimensional wave equation for an inviscid
isentropic gas)
• Exercise 8.18 (Approximate solutions of the one-dimensional wave equation for
a viscous isentropic gas and its Fourier expansion)
• Exercise 8.19 (Derivation of the Eulerian form of the one-dimensional wave
equation for an inviscid isentropic gas)
• Exercise 8.20 (Derivation of linear inviscid acoustic waves in a hardwalled duct)
• Exercise 8.21 (Analysis on the linear waves propagating on the surface of an
inviscid liquid of finite depth)
• Exercise 8.22 (The method of multiple scales for wave group propagation
governed by Klein–Gordon equation)

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Chapter 2
Conservative Single-Degree-of-Freedom
Systems

2.1 Exercise 2.1 (Determine Solution Trajectories

from Potential Energy Curves of Conservative 1D
Systems)

Solution: (a) Let v = u̇, , then the differential equation for the solution trajectory of
(a) is given by

dv u
=− (2.1.1)
du v
The general solution of (2.1.1) is

v2 + u2 = 2E (2.1.2)

where E is the constant of integration, which is the total mechanical energy of the
mechanical system. Therefore, the phase trajectories of (a) are a set of concentric
circles centered at the origin (Fig. 2.1a).
(b) Let v = u̇, then the differential equation for the solution trajectory of (b) is

dv −u + u3
= (2.1.3)
du v
1
After integration, v2 + u2 − u4 = 2E (2.1.4)
2
The equation of the solution trajectory of (b) can be obtained from (2.1.4)

1
v = ± 2E − u2 + u4 (2.1.5)
2

© The Author(s) 2025 11

Z. He et al., Solved Problems in Nonlinear Oscillations,
[Link]
12 2 Conservative Single-Degree-of-Freedom Systems

The phase trajectories can be sketched directly or from the potential energy, V, of
the system:

u
1 2 1 4
f (u) = u − u , V (u) =
3
f (u)du = u − u (2.1.6)
2 4
0

One can obtain the singular points of the system s1 : (0,0), s2 : (1,0), s3 :
(−1,0) from Eq. (2.1.3), which, together with Eq. (2.1.5), can be adopted to sketch
the potential energy curve and phase trajectories of the system (Fig. 2.1b).

dv u − u3
(c) = (2.1.7)
du v

(a)

(b) (c)

Fig. 2.1 Potential energy curves and solution trajectories for Exercise 2.1 a–g
2.1 Exercise 2.1 (Determine Solution Trajectories from Potential Energy … 13

(d) (e)

(f) (g)

Fig. 2.1 (continued)

1
v2 − u2 + u4 = 2E (2.1.8)
2

1
v = ± 2E + u2 − u4 (2.1.9)
2
u
1 1
f (u) = −u + u , V (u) =
3
f (u)du = − u2 + u4 (2.1.10)
2 4
0

Singular points of the system:

14 2 Conservative Single-Degree-of-Freedom Systems

s1 : (0,0), s2 : (1,0), s3 : (−1,0)

The potential energy curve and phase trajectories of the system are shown in
Fig. 2.1c.

dv −u − u3
(d) = (2.1.11)
du v
1
v2 + u2 + u4 = 2E (2.1.12)
2

1
v = ± 2E − u2 − u4 (2.1.13)
2
u
1 2 1 4
f (u) = u + u3 , V (u) = f (u)du = u + u (2.1.14)
2 4
0

Singular points of the system:

s : (0,0)

The potential energy curve and phase trajectories of the system are shown in
Fig. 2.1d.

dv u + u3
(e) = (2.1.15)
du v
1
v2 − u2 − u4 = 2E (2.1.16)
2

1
v = ± 2E + u2 + u4 (2.1.17)
2
u
1 1
f (u) = −u − u , V (u) =
3
f (u)du = − u2 − u4 (2.1.18)
2 4
0

Singular points of the system:

s : (0,0)

The potential energy curve and phase trajectories of the system are shown in
Fig. 2.1e.
2.1 Exercise 2.1 (Determine Solution Trajectories from Potential Energy … 15

dv −u3
(f) = (2.1.19)
du v
1
v2 + u4 = 2E (2.1.20)
2

1
v = ± 2E − u4 (2.1.21)
2
u
1 4
f (u) = −u + u , V (u) =
3
f (u)du = u (2.1.22)
4
0

Singular points of the system:

s : (0,0)

The potential energy curve and phase trajectories of the system are shown in
Fig. 2.1f.
λ
dv −u − u−a
(g) = (2.1.23)
du v
This yields that the singular points of the system are
 √   √ 
a+ a2 − 4λ a − a2 − 4λ
s1 : , 0 , s2 : ,0 (2.1.24)
2 2

So, only whena2 ≥ 4λ (2.1.25)

singular points are real and


1 2 1 2 λln(u − a), u − a > 0
v + u + =E (2.1.26)
2 2 −λln(a − u), u − a < 0

v = ± 2E − u2 − 2λln(u − a), u − a > 0v

= ± 2E − u2 + 2λln(a − u), u − a < 0 (2.1.27)

u
λ
f (u) = u + , V (u) = f (u)du
u−a
0
1 2
u + λln(u − a), u−a >0
= 21 2 (2.1.28)
2
u − λln(a − u), u − a < 0
16 2 Conservative Single-Degree-of-Freedom Systems
√
Let a = 8, λ = 1, then
√ √
s1 : ( 2 + 1, 0), s2 : ( 2 − 1, 0) (2.1.29)
 √ √
v = ± 2E − u2 − 2ln(u − 8), u − 8 > 0
 √ √
v = ± 2E − u2 + 2ln( 8 − u), u − 8 < 0 (2.1.30)

1 √ √
u2 + ln(u
√− 8), u − √8 > 0
V (u) = 2 (2.1.31)
1 2
2
u − ln( 8 − u), u − 8 < 0

The potential energy curve and phase trajectories of the system are shown in
Fig. 2.1g.

2.2 Exercise 2.2 (Solving Conservative Systems

by the Method of Multiple Scales or Straightforward
Expansion Combined with Reformulation)

Solution: (a) Expanding the equation around the singularity u = 0 yields

u + u3 − u3 u5
ü + ω02 = ü + ω 2
(u − u 3
+ ) ≈ ü + ω02 u − ω02 u3 = 0
1 + u2 0
1 + u2

i.e ü + ω02 u − ω02 u3 = 0 (2.2.1)

We introduce a small, dimensionless parameter ε, which is the order of the

amplitude of the motion u. Therefore, we can write

u = εv

then Eq. (2.2.1) changes to

v̈ + ω02 v − ε2 ω02 v3 = 0 (2.2.2)

The method of multiple scales. We first solve the Eq. (2.2.2) using the the method
of multiple scales. Let the expansion of the solution be

v = v0 (T0 , T1 , T2 ) + εv1 (T0 , T1 , T2 ) + ε2 v2 (T0 , T1 , T2 ) + · · · (2.2.3)

2.2 Exercise 2.2 (Solving Conservative Systems by the Method of Multiple … 17

where Tn = εn t. Consider
d
dt2
= D0 + εD1 + ε2 D2 + · · ·
d
dt 2
= (D0 + εD1 + ε2 D2 + · · · )2 = D02 + 2εD0 D1 + ε2 (D12 + 2D0 D2 ) + · · ·
(2.2.4)

Substituting (2.2.3) into Eq. (2.2.1), we can obtain

0 = v̈ + ω02 v − εω02 v3
= [D02 + 2εD0 D1 + ε2 (D12 + 2D0 D2 )](v0 + εv1 + ε2 v2 )
+ ω02 (v0 + εv1 + ε2 v2 ) − ε2 ω02 (v0 + εv1 + ε2 v2 )3 + · · ·
= D02 v0 + ω02 v0 + ε(D02 v1 + ω02 v1 + 2D0 D1 v0 )
+ ε2 [D02 v2 + ω02 v2 + 2D0 D1 v1 + (D12 + 2D0 D2 )v0 − ω02 v03 ] + · · · (2.2.5)

Equating the coefficients of ε, ε 2 , and ε 3 to zero, we obtain

D02 v0 + ω02 v0 = 0 (2.2.6)

D02 v1 + ω02 v1 = −2D0 D1 v0 (2.2.7)

D02 v2 + ω02 v2 = −2D0 D1 v1 − (D12 + 2D0 D2 )v0 + ω02 v03 (2.2.8)

The solution of Eq. (2.2.6) is

v0 = A(T1 , T2 )eiω0 T0 + cc (2.2.9)

Substituing (2.2.9) into the Eq. (2.2.7), we obtain

D02 v1 + ω02 v1 = −2iω0 D1 Aeiω0 T0 + cc (2.2.10)

where cc denotes the complex conjugate of the preceding terms. In order to eliminate
the secular terms from the above equation, there must be

D1 A = 0 ⇒ A = A(T2 ) (2.2.11)

Substituing (2.2.11) into the Eq. (2.2.10), we obtain

v1 = 0 (2.2.12)

Substituting (2.2.9) and (2.2.12) into the Eq. (2.2.8), yields

vD02 v2 + ω02 v2 = −2D0 D2 v0 + ω02 v03

18 2 Conservative Single-Degree-of-Freedom Systems

= (−2iω0 D2 A + 3ω02 A2 A)eiω0 T0 + cc + NST (2.2.13)

where NST denotes terms which do not generate secular terms. In order to eliminate
the secular term from the above equation, there must be

−2iD2 A + 3ω0 A2 A = 0 (2.2.14)

1 iβ
Let A= ae (2.2.15)
2
and put (2.2.15) into (2.2.14), we obtain

3
i − a + aβ  + ω0 a3 = 0 (2.2.16)
8
Separating the result into real and imaginary parts, we obtain

3
a = 0, aβ  + ω0 a3 = 0 (2.2.17)
8
Therefore,

3
a = constant, β = − ω0 a2 t + β0 (2.2.18)
8
From the above results, the two-term approximation of the solution can be obtained
as
3
v = acos[(1 − a2 )ω0 t + β0 ] + · · · (2.2.19)
8
Therefore, the frequency-amplitude relationship of the oscillation is

3
ω = (1 − a2 )ω0 (2.2.20)
8

Straightforward Expansion Combined with Reformulation

We then use the straightforward expansion combined with reformulation to solve the
Eq. (2.2.2). Let the expansion of the solution be

v = v0 (t) + ε v1 (t) + · · · (2.2.21)

where ε = ε2 . Substitute (2.2.21) into the Eq. (2.2.2) and equate the coefficients of
the same power of ε in the result, giving

i.e. v̈0 + ω02 v0 = 0 (2.2.22)

2.2 Exercise 2.2 (Solving Conservative Systems by the Method of Multiple … 19

v̈1 + ω02 v1 = ω02 v03 (2.2.23)

The solution of Eq. (2.2.22) can be expressed as

v0 = acos(ω0 t + β) (2.2.24)

Then the Eq. (2.2.23) can be written as

v̈1 + ω02 v1 = ω02 a3 cos3 (ω0 t + β)

3 1
= ω02 a3 cos(ω0 t + β) + ω02 a3 cos(3ω0 t + 3β) (2.2.25)
4 4
whose particular solution is

3 1
v1 = ω0 a3 tsin(ω0 t + β) − a3 cos(3ω0 t + 3β) (2.2.26)
8 32
Therefore, the solution of Eq. (2.2.2) is

3 1
v = acos(ω0 t + β) + ε [ ω0 a3 tsin(ω0 t + β) − a3 cos(3ω0 t + 3β)] + · · ·
8 32
(2.2.27)

This solution is not valid when .t ≥ O(ε−1 )

Now we apply the reformulation method to make the above expansion uniformly
valid. Let

ε1
τ = t = (ω0 + ε1 + · · · )t ⇒ ω0 t = (1 − + · · · )τ (2.2.28)
ω0

put (2.2.28) into (2.2.27), and collect the result according to the power of ε:

lv = acos(τ + β)
1 a 3 1
+ ε̂[ τ sin(τ + β) + a3 τ sin(τ + β) − a3 cos(3τ + 3β)] + · · ·
ω0 8 32
(2.2.29)

We select 1 to eliminate secular terms of the Eq. (2.2.29) and this gives us

3
1 = − a2 ω0 (2.2.30)
8
Therefore, the two-term approximation of the solution of Eq. (2.2.1) is
20 2 Conservative Single-Degree-of-Freedom Systems

3
u = εacos(τ + β) + · · · = εacos[(1 − ε2 a2 )ω0 t + β] + · · · (2.2.31)
8

i.e. u = acos(ωt + β) (2.2.32)

where the frequency-amplitude relationship of the oscillation is

3
ω = (1 − a2 )ω0 (2.2.33)
8
This result is the same as that of the multiscale method.
(b) Straightforward expansion combined with reformulation. Let

u = ελ v

Then the original equation becomes

v̈ + ω02 v + αε4λ v5 = 0 (2.2.34)

If we take λ = 41 , then the coefficients of the nonlinear term are of order ε and
the Eq. (2.2.34) becomes

v̈ + ω02 v + εαv5 = 0 (2.2.35)

We assume that the solution of the above equation can be represented by an

expansion having the form

v = v0 (t) + εv1 (t) + · · · (2.2.36)

Then we substitute (2.2.36) into the Eq. (2.2.35) and set the coefficient of each
power of ε equal to zero. This leads to the following set of equations

v̈0 + ω02 v0 = 0 (2.2.37)

v̈1 + ω02 v1 = −αv05 (2.2.38)

The general solution of Eq. (2.2.37) can be written in the form

v0 = acos(ω0 t + β) (2.2.39)

therefore, (2.2.38) becomes

v̈1 + ω02 v1 = −αa5 cos5 (ω0 t + β)

2.2 Exercise 2.2 (Solving Conservative Systems by the Method of Multiple … 21

5 5
= − αa5 cos(ω0 t + β) − αa5 cos(3ω0 t + 3β)
8 16
1
− αa cos(5ω0 t + 5β)
5
(2.2.40)
16
The particular solution of the above equation is

5
u = ε1/4 acos(ω0 t + β) + ε5/4 [− αa5 tsin(ω0 t + β)
16ω0
5 1
+ αa5 cos(3ω0 t + 3β) + αa5 cos(5ω0 t + 5β)] (2.2.41)
128 384
Therefore, the solution of the original equation is

5
u = ε1/4 acos(ω0 t + β) + ε5/4 [− αa5 tsin(ω0 t + β)
16ω0
5 1
+ αa5 cos(3ω0 t + 3β) + αa5 cos(5ω0 t + 5β)] (2.2.42)
128 384

This solution is not valid when .t ≥ O(ε−1 )

Now we apply the reformulation method to make the above expansions uniformly
valid. Let
ε1
τ = t = (ω0 + ε1 + · · · )t ⇒ ω0 t = (1 − + · · · )τ (2.2.43)
ω0

Substituting (2.2.28) into (2.2.27) leads to

5 αa 5 1 a
u = ε1/4 acos(τ + β) + ε5/4 [− 16 ω2
τ sin(τ + β) + ω0
τ sin(τ + β)
0 (2.2.44)
+ 128
5
αa5 cos(3τ + 3β) + 1
384
αa5 cos(5τ + 5β) + · · · ]

To eliminate the secular terms from (2.2.29), we must put

5
1 = αa4 (2.2.45)
16ω0

Therefore, the first-order approximation of the solution is

5
u = u = ε1/4 acos(τ + β) + · · · = ε1/4 acos[(ω0 + αεa4 )t + β] + · · ·
16ω0
(2.2.46)

Let ε = 1, Eq. (2.2.46) becomes

u = acos(ωt + β) (2.2.47)
22 2 Conservative Single-Degree-of-Freedom Systems

where the relationship between the frequency and the amplitude is

5
ω = (ω0 + αa4 ) (2.2.48)
16ω0

(c) The method of multiple scales. The system described by Exercise 2.1(c) has three
singularities (0,0), (−1,0), (1,0), of which (0,0) is the saddle point and the remaining
two are the centers. The motion is oscillatory in the neighborhood of a center. Here
we discuss the oscillatory motion near the singularity (1,0). It is convenient to shift
the origin to the location of the center, u = 1. Thus, we let x = u − 1, then the
equation in Exercise 2.1(c) can be written as

ẍ + 2x + 3x2 + x3 = 0 (2.2.49)

Let

u = ελ v

Equation (2.2.49) changes to

v̈ + 2v + 3ελ v2 + ε2λ v3 = 0 (2.2.50)

If we take λ = 1 and write the Eq. (2.2.50) in the following form:

v̈ + ω02 v + εδv2 + ε2 αv3 = 0 (2.2.51)

where ω02 = 2, δ = 3, α = 1 (2.2.52)

Assume the solution of the above nonlinear equation can be represented by an

expansion having the form

v = v0 (T0 , T1 , T2 ) + εv1 (T0 , T1 , T2 ) + ε2 v2 (T0 , T1 , T2 ) + · · · (2.2.53)

where T0 = t, T1 = εt. Substitute (2.2.53) into (2.2.51), we obtain

0 = v̈ + ω02 v + εδv2 + ε2 αv3

= [D02 + 2εD0 D1 + ε2 (D12 + 2D0 D2 ) + · · · ](v0 + εv1 + ε2 v2 + · · · )
+ ω02 (v0 + εv1 + ε2 v2 + · · · ) + εδ(v0 + εv1 + ε2 v2 + · · · )2
+ αε2 (v0 + εv1 + ε2 v2 + · · · )3
= D02 v0 + ω02 v0 + ε(D02 v1 + 2D0 D1 v0 + ω02 v1 + δv02 )
+ ε2 [D02 v2 + 2D0 D1 v1 + (D12 + 2D0 D2 )v0 + ω02 v2 + 2δv0 v1 + αv03 ] + · · ·
(2.2.54)
2.2 Exercise 2.2 (Solving Conservative Systems by the Method of Multiple … 23

Set the coefficient of each power of ε equal to zero yield

D02 v0 + ω02 v0 = 0 (2.2.55)

D02 v1 + ω02 v1 = −2D0 D1 v0 − δv02 (2.2.56)

D02 v2 + ω02 v2 = −2D0 D1 v1 − (D12 + 2D0 D2 )v0 − 2δv0 v1 − αv03 (2.2.57)

The homogeneous solution of Eq. (2.2.55) is

v0 = Aeiω0 T0 + Ae−iω0 T0 (2.2.58)

where A = A(T1 , T2 ). Substituting the above equation into (2.2.56) yielding

D02 v1 + ω02 v1 = −2D0 D1 (Aeiω0 T0 + Ae−iω0 T0 ) − δ(Aeiω0 T0 + Ae−iω0 T0 )2

(2.2.59)
= −δAA − 2iω0 D1 Aeiω0 T0 − δA2 e2iω0 T0 + cc

where cc denotes the complex conjugate of the preceding terms. To eliminate the
secular terms in the above equation, we need D1 A = 0, so A = A(T2 ). The particular
solution of Eq. (2.2.59) is

δAA δA2 2iω0 T0

v1 = − + e + cc (2.2.60)
ω02 3ω02

Substituting (2.2.58) and (2.2.60) into (2.2.57), and taking A = A(T2 ) into
account, we obtain

D02 v2 + ω02 v2 = −2D0 D1 v1 − (D12 + 2D0 D2 )v0 − 2δv0 v1 − αv03

2 (2.2.61)
= [−2iω0 D2 A + ( 10δ
3ω2
− 3α)A2 A]eiω0 T0 + cc + NST
0

where cc denotes the complex conjugate of the preceding terms and NST denotes
terms which do notgenerate secular terms. In order to eliminate the secular terms in
the above equation, we need

10δ 2
2iω0 D2 A − ( − 3α)A2 A = 0 (2.2.62)
3ω02
1 iβ
Let A = ae (2.2.63)
2
Substituting (2.2.63) into (2.2.62) leads to

1 10δ 2
iω0 D2 a − ω0 aD2 β − ( 2 − 3α)a3 = 0 (2.2.64)
8 3ω0
24 2 Conservative Single-Degree-of-Freedom Systems

Separate the above equation into real and imaginary parts and yield

D2 a = 0 (2.2.65)

1 10δ 2
D2 β + ( − 3α)a2 = 0 (2.2.66)
8ω0 3ω02

Therefore, a = constant and

1 10δ 2
β=− ( − 3α)a2 T2 + β0 (2.2.67)
8ω0 3ω02

where β0 is a [Link] all above results, we can obtain

1 10δ 2
u = εacos[ω0 t − ( − 3α)a2 ε2 t + β0 ] + · · · (2.2.68)
8ω0 3ω02

Let ε = 1 yield

1 10δ 2
u = acos[ω0 t − ( − 3α)a2 t + β0 ] + · · · (2.2.69)
8ω0 3ω02

Therefore, the relation between the oscillation frequency ω and the amplitude a
is

1 10δ 2
ω = ω0 − ( − 3α)a2 (2.2.70)
8ω0 3ω02
3 5 2 2
or ω2 = ω02 + αa2 − δ a (2.2.71)
4 6ω02

Considering the Eq. (2.2.52), the above equation can be simplified as

ω2 = 2 − 3a2 (2.2.72)

(d) Let
v
u= √ (2.2.73)
α

Then the original equation becomes

v̈ + ω02 v(1 + v2 )−1 = 0 (2.2.74)

2.3 Exercise 2.3 (Show the System Transformation and the Method … 25

This equation is identical to the equation in subExercise (a), so the first-order

approximate solution of the equation is

3
v = acos[(1 − a2 )ω0 t + β] (2.2.75)
8
where
3
ω = (1 − a2 )ω0 (2.2.76)
8

2.3 Exercise 2.3 (Show the System Transformation

and the Method of Multiple Scales)

Solution: Since

d m0 u̇ m0 ü(1 − u̇/c2 )1/2 + 21 m0 u̇(1 − u̇/c2 )−1/2 (ü/c2 )

[ ] =
dt (1 − u̇/c2 )1/2 (1 − u̇/c2 )
m0 ü(1 − 21 u̇/c2 ) m0 üc(2c2 − u̇)
= = (2.3.1)
(1 − u̇/c2 )3/2 2(c2 − u̇)3/2

the equation can be written as

(1 − u̇/c2 )3/2
ü + ω02 u =0 (2.3.2)
1 − 21 u̇/c2
√
where ω02 = k/m0 . We make a Taylor expansion of (1 − u̇/c2 )3/2 /(1 − 21 u̇/c2 ) and
yield

(1 − u̇/c2 )3/2 u̇ 1 u̇
= 1 − 2 − ( 2 )2 + · · · (2.3.3)
1 − 2 u̇/c
1 2 c 8 c

Therefore, the equation can be written as

ω02 ω2
ü + ω02 u − 2
uu̇ − 04 uu̇2 = 0 (2.3.4)
c 8c
Let

u = ελ v
26 2 Conservative Single-Degree-of-Freedom Systems

then the Eq. (2.3.4) changes to

ω02 λ ω02 2λ 2
v̈ + ω02 v − ε vv̇ − ε vv̇ = 0 (2.3.5)
c2 8c4
Let λ = 1, then the Eq. (2.3.5) becomes

v̈ + ω02 v − εα1 vv̇ − ε2 α2 vv̇2 = 0 (2.3.6)

where α1 = ω02 /c2 , α2 = ω02 /8c4 .

Assume the solution of the above equation can be represented by an expansion
having the form

v = v0 (T0 , T1 , T2 ) + εv1 (T0 , T1 , T2 ) + ε2 v2 (T0 , T1 , T2 ) + · · · (2.3.7)

where T0 = t, T1 = εt, T2 = ε2 t. Substitute (2.3.7) into the Eq. (2.3.6), we obtain

0 = v̈ + ω02 v − εα1 vv̇ − ε2 α2 vv̇2

= [D02 + 2εD0 D1 + ε2 (D12 + 2D0 D2 ) + · · · ](v0 + εv1 + ε2 v2 + · · · )
+ ω02 (v0 + εv1 + ε2 v2 + · · · )
− α1 ε(v0 + εv1 + ε2 v2 + · · · )[(D0 + εD1 + · · · )(v0 + εv1 + ε2 v2 + · · · )]
− ε2 α2 (v0 + εv1 + ε2 v2 + · · · )[(D0 + εD1 + · · · )(v0 + εv1 + ε2 v2 + · · · )]2
= D02 v0 + ω02 v0
+ ε(D02 v1 + ω02 v1 + 2D0 D1 v0 − α1 v0 D0 v0 )
+ ε2 [D02 v2 + ω02 v2 + 2D0 D1 v1 + (D12 + 2D0 D2 )v0
− α1 v0 D0 v1 − α1 v1 D0 v0 − α2 v0 (D0 v0 )2 ] + · · · (2.3.8)

Set the coefficient of each power of ε equal to zero yield

D02 v0 + ω02 v0 = 0 (2.3.9)

D02 v1 + ω02 v1 = −2D0 D1 v0 + α1 v0 D0 v0 (2.3.10)

D02 v2 + ω02 v2 = −2D0 D1 v1 − (D12 + 2D0 D2 )v0 + α1 v0 D0 v1 + α1 v1 D0 v0 + α2 v0 (D0 v0 )2 (2.3.11)

The homogeneous solution of Eq. (2.3.9) is

v0 = Aeiω0 T0 + Ae−iω0 T0 (2.3.12)

where A = A(T1 , T2 ). Substituting the above equation into (2.3.10), we obtain

D02 v1 + ω02 v1 = −2D0 D1 (Aeiω0 T0 + Ae−iω0 T0 )

2.3 Exercise 2.3 (Show the System Transformation and the Method … 27

+ iα1 ω0 (Aeiω0 T0 + Ae−iω0 T0 )(Aeiω0 T0 − Ae−iω0 T0 )

= −2iω0 D1 Aeiω0 T0 + iα1 ω0 A2 e2iω0 T0 + cc (2.3.13)

To eliminate the secular terms in the above equation, we need D1 A = 0, so

A = A(T2 ). The particular solution of Eq. (2.3.13) is

iα1 A2 2iω0 T0
v1 = − e + cc (2.3.14)
3ω0

Substituting (2.3.12) and (2.3.14) into (2.3.11), and taking A = A(T2 ) into
account, we obtain

α12
D02 v2 + ω02 v2 = [−2iω0 D2 A + ( + α2 ω02 )A2 A]eiω0 T0 + cc + NST (2.3.15)
3
where cc denotes the complex conjugate of its preceding terms and NST denotes
terms which do not generate secular terms. In order to eliminate secular terms, we
need

α12
2iω0 D2 A − ( + α2 ω02 )A2 A = 0 (2.3.16)
3
1 iβ
Let A= ae (2.3.17)
2
Substituting (2.3.17) into (2.3.16) leads to

α12
8iω0 D2 a − 8ω0 σ D2 β − ( + α2 ω02 )σ 3 = 0 (2.3.18)
3
Separate the above equation into real and imaginary parts and yield

D2 a = 0 (2.3.19)

α12
−8ω0 aD2 β − ( + α2 ω02 )a3 = 0 (2.3.20)
3
So a is a constant and

1 α12
β=− ( + α2 ω02 )a2 T2 + β0 (2.3.21)
8ω0 3

Combining the above results, we obtain

1 α12
u = εacos{[ω0 − ( + α2 ω02 )ε2 a2 ]t + β0 } + · · · (2.3.22)
8ω0 3
28 2 Conservative Single-Degree-of-Freedom Systems

Let ε = 1, the first-order approximate solution of the original equation is

u = acos(ωt + β0 ) + · · · (2.3.23)

where

1 α12
ω = ω0 − ( + α2 ω02 )a2 (2.3.24)
8ω0 3

Substituting α1 = ω02 /c2 , α2 = ω02 /8c4 into the above equation, we obtain

11 ω03 2
ω = ω0 − a (2.3.25)
192 c4
√
where ω0 = k/m0 .

2.4 Exercise 2.4 (Show the Method of Averaging)

ü + ω02 u + u|u| = 0 (2.4.1)

Solution: We use the pending power ελ , λ > 0 of the small parameter ε to measure
the magnitude of u, i.e.,

u = ελ v (2.4.2)

then the Eq. (2.4.1) changes to

v̈ + ω02 v + ελ v|v| = 0 (2.4.3)

If we take λ = 1, then the Eq. (2.3.5) becomes

v̈ + ω02 v + εv|v| = 0 (2.4.4)

Here we use the method of averaging to solve the Eq. (2.4.4). When ε = 0,

v = acos(ω0 t + β) (2.4.5)

v̇ = −ω0 asin(ω0 t + β) (2.4.6)

here a, β is a constant.
2.4 Exercise 2.4 (Show the Method of Averaging) 29

The principle of the method of averaging: when ε = 0, the solution of (2.4.4) can
still be expressed in the form (2.4.5) and (2.4.6) provided that aandβ are considered
to be functions of time t rather than constants. Thus, the Eqs. (2.4.5) and (2.4.6) can
be viewed as a transformation of v(t) and v̇(t) into the dependent variables a(t) and
β(t). Differentiating the Eq. (2.4.5) with respect to t gives

v̇ = ȧcosϕ − ω0 asinϕ − aβ̇sinϕ, ϕ = ω0 t + β (2.4.7)

Comparing (2.4.6) and (2.4.7), we find that

ȧcosϕ − aβ̇sinϕ = 0 (2.4.8)

Differentiating (2.4.6) with respect to t yields

v̈ = −ω0 ȧsinϕ − ω02 acosϕ − ω0 aβ̇cosϕ (2.4.9)

Substituting (2.4.9) and (2.4.5) into the Eq. (2.4.4) yields

−ω0 ȧsinϕ − ω0 aβ̇cosϕ + εa2 cosϕ|cosϕ| = 0 (2.4.10)

Solving (2.4.8) and (2.4.10) for ȧ and β̇, we obtain

εa2
ȧ = sinϕcosϕ|cosϕ| (2.4.11)
ω0
εa
β̇ = cos2 ϕ|cosϕ| (2.4.12)
ω0

Averaging (2.4.11) and (2.4.12) over the period 2π/ω0 and considering a, β, ȧ and
β̇ to be constants while performing the averaging, we obtain the following equations
describing the slow variations of a and β:

2π
1 εa2
ȧ = sinφcosφ|cosφ|d φ
2π ω0
0
π/2 π
εa2
= [ sinφcos φd φ −
2
sinφcos2 φd φ]
π ω0
0 π/2

0 −1
εa2
=− [ x2 dx − x2 dx] = 0 (2.4.13)
π ω0
1 0
30 2 Conservative Single-Degree-of-Freedom Systems

2π
1 εa
β̇ = cos2 φ|cosφ|d φ
2π ω0
0
π/2 π
εa
= [ cos φd φ −
3
cos3 φd φ]
π ω0
0 π/2

1 0
εa
= [ (1 − x2 )dx − (1 − x2 )dx]
π ω0
0 1
1
2εa 4εa
= (1 − x2 )dx = (2.4.14)
π ω0 3π ω0
0

So, a is a constant and

4εa
β= t + β0 (2.4.15)
3π ω0

Thus, the first-order approximate solutions of (2.4.1) is

4εa
u = εacos[(ω0 + )t + β0 ] (2.4.16)
3π ω0

Let ε = 1, we can obtain

4a
u = acos[(ω0 + )t + β0 ] (2.4.17)
3π ω0

The frequency-amplitude relationship of the oscillation is

4a
ω = ω0 + (2.4.18)
3π ω0

2.5 Exercise 2.5 (Show the Effect of a Change

in the Equilibrium Point of a Nonlinear Spring
on the Frequency-Amplitude Relationship)

Solution: (a) Select the position of the mass m when the spring is at rest as the origin
of the coordinate, we can obtain the governing equation of the system
2.5 Exercise 2.5 (Show the Effect of a Change in the Equilibrium Point … 31

mẍ = −f (x), f (x) = k1 x + k3 x3

i.e. ẍ + ω02 x + αx3 = 0 (2.5.1)

where ω02 = k1 /m, α = k3 /m (2.5.2)

Let

x = ελ v (2.5.3)

(2.5.1) changes to

v̈ + ω02 v + αε2λ v3 = 0 (2.5.4)

If we take λ = 1, then the Eq. (2.5.4) becomes

v̈ + ω02 v + αε2 v3 = 0 (2.5.5)

We use the the method of multiple scales to solve the Eq. (2.5.5). Assume the
solution of the above equation can be represented by an expansion having the form

v = v0 (T0 , T1 , T2 ) + εv1 (T0 , T1 , T2 ) + ε2 v2 (T0 , T1 , T2 ) + · · · (2.5.6)

where T0 = t, T1 = εt. Substitute (2.5.6) into (2.5.5), we obtain

0 = v̈ + ω02 v + αε2 v3
= [D02 + 2εD0 D1 + ε2 (D12 + 2D0 D2 ) + · · · ](v0 + εv1 + ε2 v2 + · · · )
+ ω02 (v0 + εv1 + ε2 v2 + · · · ) + αε2 (v0 + εv1 + ε2 v2 + · · · )3
= D02 v0 + ω02 v0 + ε(D02 v1 + 2D0 D1 v0 + ω02 v1 )
+ ε2 [D02 v2 + (D12 + 2D0 D2 )v0 + 2D0 D1 v1 + ω02 v2 + αv03 ] + · · · (2.5.7)

Let the coefficients of the same power of ε be zero to obtain

D02 v0 + ω02 v0 = 0 (2.5.8)

D02 v1 + ω02 v1 = −2D0 D1 v0 (2.5.9)

D02 v2 + ω02 v2 = −(D12 + 2D0 D2 )v0 − 2D0 D1 v1 − αv03 (2.5.10)

The general solution of Eq. (2.5.8) is

32 2 Conservative Single-Degree-of-Freedom Systems

v0 = Aeiω0 T0 + Ae−iω0 T0 (2.5.11)

where A = A(T1 , T2 ). Substituting it into (2.5.9), we can obtain

D02 v1 + ω02 v1 = −2D0 D1 (Aeiω0 T0 + Ae−iω0 T0 )

= −2iω0 D1 Aeiω0 T0 + cc (2.5.12)

To eliminate the secular term, we need D1 A = 0, so A = A(T2 ). Then the particular

solution of Eq. (2.5.12) is

v1 = 0 (2.5.13)

Substituting (2.5.11) and (2.5.13) into (2.5.10), and taking A = A(T2 ) into
account, we can obtain

D02 v2 + ω02 v2 = (−2iω0 D2 A − 3αA2 A)eiω0 T0 + cc + NST (2.5.14)

where cc denotes the complex conjugate term of its preceding terms and NST denotes
terms which do not generate secular terms. To eliminate the secular term, we need

2iω0 D2 A + 3αA2 A = 0 (2.5.15)

1 iβ
Let A= ae (2.5.16)
2
and put (2.5.16) into (2.5.15), we can obtain

8iω0 D2 a − 8ω0 aD2 β + 3αa3 = 0 (2.5.17)

Separates the real and imaginary parts of the above equation yields

D2 a = 0 (2.5.18)

−8ω0 aD2 β + 3αa3 = 0 (2.5.19)

So a is a constant and

3αa2
β= T2 + β0 (2.5.20)
8ω0

Combining the above results, we can obtain

3αε2 a2
x = εacos(ω0 t + t + β0 ) + · · · (2.5.21)
8ω0
2.5 Exercise 2.5 (Show the Effect of a Change in the Equilibrium Point … 33

Let ε = 1, we can obtain the first-order approximation of the Exercise as the

following

3αa2
x = acos(ω0 t + t + β0 ) + · · · (2.5.22)
8ω0

and the the frequency-amplitude relationship of the oscillation is

3αa2
ω = ω0 + (2.5.23)
8ω0

where ω02 = k1 /m, α = k3 /m.

(b) Again, choose the position of the mass m when the spring is at rest as the origin
of the coordinate, we can obtain the governing equation of the system

mẍ = −f (x) + mg, f (x) = k1 x + k3 x3 (2.5.24)

The equilibrium coordinates of the mass x are determined by the following

equation:

k1 x + k3 (x)3 − mg = 0 (2.5.25)

Let x = y + x (2.5.26)

Then the Eq. (2.5.24) becomes

mÿ + [k1 + 3k3 (x)2 ]y + (3k3 x)y2 + k3 y3 = 0 (2.5.27)

∼2
i.e ÿ + ω0 y + δy2 + αy3 = 0 (2.5.28)

where ω̃02 = [k1 + 3k3 x)2 /m, δ = 3k3 x/m, α = k3 /m (2.5.29)

Equation (2.5.28) can be changed to the Eq. (2.2.51) in Exercise 2.2(c), the
Eq. (2.2.51) the frequency-amplitude relationship of the oscillation is can be obtained
from (2.2.70), i.e.,

∼ 1 4δ 2
ω = ω0 − ∼ ( − 3α)a2 (2.5.30)
∼2
8ω0 3ω 0

The difference between (2.5.30) and (2.5.23) is caused by the different equilibria
of the nonlinear spring in two cases.
34 2 Conservative Single-Degree-of-Freedom Systems

2.6 Exercise 2.6 (Rods Sliding on the Smooth Walls)

Solution: Considering the principle of angular impulse and momentum of the rod
about the axis of symmetry of the column wall, we can obtain

4l 2 
[m + m(R2 − l 2 )]θ̈ = −mg R2 − l 2 sinθ (2.6.1)
12

g(R2 − l 2 )1/2
i.e. θ̈ + sinθ = 0 (2.6.2)
R2 − 23 l 2

When the angle θ is very small, the rod oscillates slightly around the equilibrium
position and the Eq. (2.6.2) becomes linear:

g(R2 − l 2 )1/2
θ̈ + θ =0 (2.6.3)
R2 − 23 l 2

Therefore, the linear natural frequency is

g(R2 − l 2 )1/2
ω0 = (2.6.4)
R2 − 23 l 2

Expanding sinθ in (2.6.2) about θ = 0 and retaining to the third order term, we
can obtain

θ̈ + ω02 θ + αθ 3 = 0 (2.6.5)

where α = −ω02 /6. This equation is exactly the same as (2.5.1) in Exercise 2.5(a).
According to (2.5.23), the frequency-amplitude relationship of the oscillation is

3αa2 a2
ω = ω0 + = (1 − )ω0 (2.6.6)
8ω0 16

It can be seen that for a fixed amplitude a, the natural frequency ω of the nonlinear
osscillation is proportional to the natural frequency ω0 of the corresponding linear
oscillation. Therefore, the effect of the rod length l on ω can be reflected by the
ω0 ∼ l relationship, shown in Fig. 2.2. Here we rewrite (2.6.4) as

ω0 [1 − (l/R)2 ]1/2
√ = (2.6.7)
g/R 1 − 23 (l/R)2

It is shown that the natural frequency increases slowly with the increase of the
rod length l, and then decreases sharply after reaching the maximum value.
2.7 Exercise 2.7 (Period of the Osscillation Motion of a Single … 35

Fig. 2.2 Relationship

between the natural
frequency and rod length for
Exercise 2.6

2.7 Exercise 2.7 (Period of the Osscillation Motion

of a Single Pendulum-Type System Along Separatrices)

Solution: (a) The kinetic energy of the column, K, is

1 1 1 2 (R − r) 2
K= m[(R − r)θ̇]2 + mr [ θ̇ ]
2 22 r
13
= m(R − r)2 θ̇ 2 (2.7.1)
22
The kinetic energy of the cylinder, V , is

V = mg(R − r)(1 − cosθ ) (2.7.2)

Substituting them into Lagrange’s equation, we can write the differential equation
of motion of the cylinder as follows

3
m(R − r)2 θ̈ + mg(R − r)sinθ = 0
2
2g
θ̈ + sinθ = 0 (2.7.3)
3(R − r)

(b) Integrate Eq. (2.7.3) directly, we can obtain

1 2 2g
θ̇ − cosθ = E (2.7.4)
2 3(R − r)
36 2 Conservative Single-Degree-of-Freedom Systems

where E is the total energy of the cylinder. The minimum angular velocity of the
cylinder at point A is θ̇ (π ) = 0, then

2g
E= (2.7.5)
3(R − r)

and Eq. (2.7.4) becomes

1 2 2g 2g
θ̇ − cos θ = (2.7.6)
2 3(R − r) 3(R − r)

Then the angular velocity of the cylinder at the bottom (θ = 0) can be obtained
from the above equation

8g
θ̇ = (2.7.7)
3(R − r)

(c) The motion of the cylinder is controlled by the Eq. (2.7.6), i.e.,

4g
θ̇ = (1 + cosθ ) (2.7.8)
3(R − r)

Therefore, the time required for the cylinder to travel around the circular orbit, T ,
is
π π
dθ 4g
T =2 =2 [ (1 + cosθ )]−1/2 d θ
θ̇ 3(R − r)
0 0
π
3(R − r) dθ 3(R − r) θ π
= = tan
g 1 + cosθ g 2 0
0
=∞ (2.7.9)

which is infinite because the highest point A of the circular orbit is the saddle point
of the cylinder’s motion and the cylinder needs to take infinite time to approach the
saddle point.

2.8 Exercise 2.8 (Particle on a Rotating Parabola)

Solution: (a) The kinetic energy of the system T is

2.8 Exercise 2.8 (Particle on a Rotating Parabola) 37

1 1
T= m(ẋ2 + ż 2 + 2 x2 ) = m[(1 + 4p2 x2 )ẋ2 + ψ̇ 2 x2 ] (2.8.1)
2 2

where ψ̇ = . The potential energy of the system V is

V = mgz = mgpx2 (2.8.2)

The differential equation of the motion of the system can be obtained by using
Lagrange’s equation:

mψ̈x2 + 2mψ̇ ẋx = 0
m(1 + 4p2 x2 )ẍ + 4mp2 xẋ2 − mψ̇ 2 x = −2mgpx

˙
i.e.x + 2ẋ = 0 (2.8.3)

(1 + 4p2 x2 )ẍ + 4p2 xẋ2 + (2pg − 2 )x = 0 (2.8.4)

(b) Integrate (2.8.3) directly, we can obtain

√
ln + 2lnx = C ⇒ x2 = eC  H

√
x2 = H (2.8.5)

The left side of the above equation represents the angular momentum of the
system about the z-axis, so the above equation actually implies the conservation
of the angular momentum of the system. Solving  from the above equation and
substituting it into (2.8.4), we can obtain the governing equation of the system

H
(1 + 4p2 x2 )ẍ + 4p2 xẋ2 + (2pg − )x = 0 (2.8.6)
x4

(c) The Eq. (2.8.6) can be written as

H
ẍ = −[4p2 xẋ2 + (2pg − )x]/(1 + 4p2 x2 ) (2.8.7)
x4

Let v = ẋ (2.8.8)

H
then v̇ = ẍ = −[4p2 xv2 + (2pg − )x]/(1 + 4p2 x2 ) (2.8.9)
x4
from which it follows immediately that
38 2 Conservative Single-Degree-of-Freedom Systems

dv [4p2 xv2 + (2pg − xH4 )x]

=− (2.8.10)
dx v(1 + 4p2 x2 )

Make a further derivation, we can obtain

dv2 4p2 v2 + (2pg − H

x4
)
= −
dx2 1 + 4p2 x2
H
dv2 + 4p2 x2 dv2 + 4p2 v2 dx2 = −(2pg − )dx2
x4
H
dv2 + 4p2 d (x2 v2 ) = −(2pg − )dx2
x4

d (v2 + 4p2 x2 v2 ) = −d (2pgx2 + Hx−2 )

d (v2 + 4p2 x2 v2 + 2pgx2 + Hx−2 ) = 0

v2 + 4p2 x2 v2 + 2pgx2 + Hx−2 = h (2.8.11)

Now we can discuss the motion of the particle with initial condition H = H0 and
h = h0 .
(1) H0 = 0
Now Eq. (2.8.11) can be written as

h0 − 2pgx2
v2 = (2.8.12)
1 + 4p2 x2

The motion of the particle being bounded requires that

h0
h0 − 2pgx2 ≥ 0 ⇒ |x| ≤ (2.8.13)
2pg

So v2 ≤ h0 (2.8.14)

(2) H0 = 0
Now the Eq. (2.8.11) can be written as

h0 − 2pgx2 − H0 x−2
v2 = (2.8.15)
1 + 4p2 x2

The motion of the particle being bounded requires that

h0 − 2pgx2 − H0 x−2 ≥ 0 (2.8.16)

2.9 Exercise 2.9 (A Single Pendulum Rotating Uniformly Around a Plumb … 39

Fig. 2.3 Phase trajectories

of the system p = 1, g =
32.2, h = 1000, H = 12 for
Exercise 2.8

i.e.,
 
h0 − h20 − 8pgH0 h0 + h20 − 8pgH0
≤ x2 ≤ (2.8.17)
4pg 4pg

(d) Let p = 1, g = 32.2, h = 1000, H = 12, we can write the Eq. (2.8.11) as

1000 − 64.4x2 − 12x−2

v2 = (2.8.18)
1 + 4x2

According to (2.8.17), we can obtain

−3.9390 ≤ x ≤ −0.1096 and 0.1096 ≤ x ≤ 3.9390 (2.8.19)

The trajectories in the phase plane are shown in Fig. 2.3.

2.9 Exercise 2.9 (A Single Pendulum Rotating Uniformly

Around a Plumb Axis)

Solution: (a) The kinetic energy of the system T is

1
T= m(r 2 θ̇ 2 + 2 r 2 sin2 θ ) (2.9.1)
2
The potential energy of the system V is

V = −mgr cosθ (2.9.2)

40 2 Conservative Single-Degree-of-Freedom Systems

The differential equation of the motion of the pendulum can be obtained by using
Lagrange’s equation:

d 2θ
mr 2 − m2 r 2 sinθ cosθ = −mgrsinθ
dt 2

d 2θ g
i.e. − 2 sinθ cosθ + sinθ = 0 (2.9.3)
dt 2 r

Let τ = (g/r)1/2 t (2.9.4)

(2.9.3) changes to

θ̈ + (1 − cosθ )sinθ = 0 (2.9.5)

where θ̈ = ∂ 2 θ/∂τ 2 and  = 2 r/g.

(b) Integrate (2.9.5) directly, we can obtain

1 2
θ̇ + (1 − cosθ )sinθ d θ = E
2
1 2 1
i.e. θ̇ − (1 − cosθ )cosθ = E (2.9.6)
2 2

Let θ̇ |θ = 0 = θ̇0 , then

1 2 1
E= θ̇ − (1 − )
2 0 2

i.e. 21 θ̇ 2 = 21 θ̇02 − [(1 − 21 ) − (1 − 21 cosθ )cosθ ]

1 1
Let F(θ ) = 1 −  − (1 − cosθ )cosθ (2.9.7)
2 2
1 1
then θ̇ 2 = θ̇02 − F(θ ) (2.9.8)
2 2
From the Eq. (2.9.5) it is known that the equilibrium point of the system is

 ≤ 1; θ = 0, π (or − π ) (2.9.9)

 > 1 : θ = 0, π (or − π ), ±θ (2.9.10)

where θ = arccos(1/).
2.9 Exercise 2.9 (A Single Pendulum Rotating Uniformly Around a Plumb … 41

The potential energy curve and phase trajectories when  ≤ 1 are shown in
Fig. 2.4a and b. The equilibrium point θ = 0 is the center, while θ = π (or − π ) is
the saddle point. The potential curve and phase trajectories when  > 1 are shown
in Fig. 2.4c. The equilibrium points θ = 0 and θ = π (or − π ) are the saddle points,
while the equilibrium point θ = ±θ = ±arccos(1/) is the center. From above
results, it is clear that  = 1 is the bifurcation point.
(c) Assuming  > 1, the center of the system is

θ = ±θ = ±arccos(1/) (2.9.11)

(a) (b)

(c)

Fig. 2.4 a Potential energy curve and phase trajectories when  = 0.5. b Potential energy curve
and phase trajectories when  = 1 c Potential energy curve and phase trajectories when  = 3 for
Exercise 2.9
42 2 Conservative Single-Degree-of-Freedom Systems

We carry out the expansion of (2.9.5) about θ = θ = arccos(1/) to O( 3 ) and

obtain

0 = θ̈ + [1 − cos(θ + θ )]sin(θ + θ )
= θ̈ + sinθ + θ cosθ − 21 θ 2 sinθ − 16 θ 3 cosθ
− 21 [sin2θ + 2θ cos2θ − 21 (2θ )2 sin2θ − 16 (2θ )3 cos2θ ] (2.9.12)
= θ + (sin2 θ )θ + (sin2θ − 21 sinθ )θ 2
+( 23 cos2θ − 16 cosθ )θ 3
1 2 1
Let ω02 = sin2 θ , α = sin2θ − sinθ , δ = cos2θ − cosθ
2 3 6
(2.9.13)

(2.9.14) becomes

θ̈ + ω02 θ + αθ 2 + δθ 3 = 0 (2.9.14)

Let

θ = ελ v (2.9.15)

Equation (2.9.14) changes to ελ v̈ + ω02 ελ v + ε2λ δv2 + ε3λ αv3 = 0

If we take λ = 1, the above equation becomes

v̈ + ω02 v + εδv2 + ε2 αv3 = 0 (2.9.16)

Equation (2.9.16) is identical to Eq. (2.2.51), so the frequency-amplitude

relationship can be obtained from (2.2.70), i.e.

1 4δ 2
ω = ω0 − ( − 3α)a2 (2.9.17)
8ω0 3ω02

(d) Assuming  < 1, the center of the system is the origin. We carry out the expansion
of the Eq. (2.9.5) about the origin to O( 3 ) and obtain

1 1
θ̈ + [1 − (1 − θ 2 + · · · )](θ − θ 3 ) = 0
2 6

¨ + (1 − )θ + ( 2  − 1 )θ 3 = 0
i.e.θ (2.9.18)
3 6
2 1
let ω20 = 1 − , α1 = − (2.9.19)
3 6
2.10 Exercise 2.10 (A Single Pendulum Rotating Freely Around a Plumb Axis) 43

Then this equation is identical to (2.5.1) in Exercise 2.5(a), and therefore,

according to (2.5.23), the frequency-amplitude relationship is

3α1 a2
ω = ω0 + (2.9.20)
8ω0

2.10 Exercise 2.10 (A Single Pendulum Rotating Freely

Around a Plumb Axis)

Solution: (a) The kinetic energy of the system T is

1
T= m(r 2 θ̇ 2 + 2 r 2 sin2 θ ) (2.10.1)
2

where  = ψ̇. The kinetic energy of the system V is

V = −mgrcosθ (2.10.2)

The differential equations of the motion of the pendulum can be obtained by using
Lagrange’s equation:

r 2 sin2 θ 
˙ + 2r 2 sinθ cosθ θ̇ = 0
(2.10.3)
θ̈ + ( gr − 2 cosθ )sinθ = 0

The first equation can be further integrated as

√
(rsinθ )2  = H (2.10.4)
√
where H is associated with the angular momentum of the pendulum about z-axis.
So, the differential equation of motion of the system is
√
(rsinθ )2  = H (2.10.5)

g
θ̈ + ( − 2 cosθ )sinθ = 0 (2.10.6)
r

(b) Substitute (2.10.5) into (2.10.6) to obtain the equation controlling θ ,

g cotθ
θ̈ + (sinθ −  2 ) = 0 (2.10.7)
r sin θ
44 2 Conservative Single-Degree-of-Freedom Systems

where  = H /(gr 3 ).
This result is different from the one the question asks us to prove! Therefore, this
question is not solved furthermore.

2.11 Exercise 2.11 (Nonlinear Oscillation of a Slide-Slider

System)

Solution: (a) Let the instantaneous position coordinates of the mass m2 be y, then
there is a constraint relation

x2 + y2 = l 2 (2.11.1)

x
So ẏ = − ẋ (2.11.2)
y

The kinetic energy of the system T is

1 1 1 1 x2
T= m1 ẋ2 + m2 ẏ2 = m1 ẋ2 + m2 2 ẋ2
2 2 2 2 y
2
1 1 x
= m1 ẋ2 + m2 ẋ2 (2.11.3)
2 2 l 2 − x2

The potential energy of the system V is

1  1
V = m2 gy + kx2 = m2 g l 2 − x2 + kx2 (2.11.4)
2 2
Then the governing equation of the system can be obtained by using Lagrange’s
equation

m2 x2 m2 l 2 xẋ2 x
(m1 + )ẍ + + kx + m2 g =0 (2.11.5)
l 2 − x2 (l − x )
2 2 2
(l − x2 )1/2
2

(b) Let R = m2 /m1 and u = x/l, from the Eq. (2.11.5), we obtain

(m2 /m1 )(x/l)2 ẍ m2 lxẋ2 k x m2 x

[1 + ] + + + g=0
1 − (x/l) 2 l m1 l 4 (1 − x2 /l 2 )2 m1 l m1 l 2 (1 − x2 /l 2 )1/2
k Rg
(1 + Ru2 )ü + Ruu̇2 + [ + ]u = 0 (2.11.6)
m1 l(1 − u2 )1/2
2.11 Exercise 2.11 (Nonlinear Oscillation of a Slide-Slider System) 45

For |u| << 1, expanding the last term on the left side of the above equation and
retaining it to the third-order yields

Rg 3
(1 + Ru2 )ü + Ruu̇2 + ω02 u + u =0 (2.11.7)
2l
where
k Rg
ω02 = +
m1 l

(c) Let

u = εv (2.11.8)

Equation (2.11.7) changes to

Rg 3
v̈ + ω02 v + ε2 (Rv2 v̈ + Rvv̇2 + v )=0 (2.11.9)
2l
We seek an expansion of the solution with the following form

v = v0 (T0 , T1 , T2 ) + εv1 (T0 , T1 , T2 ) + ε2 v2 (T0 , T1 , T2 ) + · · · (2.11.10)

whereT0 = t, T1 = εt. Substitute (2.11.10) into (2.11.9), we obtain

Rg 3
0 = v̈ + ω02 v + ε2 (Rv2 v̈ + Rvv̇2 +
v )
2l
= [D0 + 2εD0 D1 + ε (D1 + 2D0 D2 ) + · · · ](v0 + εv1 + ε2 v2 + · · · )
2 2 2

+ ω02 (v0 + εv1 + ε2 v2 + · · · )

Rg 3
+ ε2 [Rv02 D02 v0 + Rv0 (D0 v0 )2 + v + ···]
2l 0
= D02 v0 + ω02 v0 + ε(D02 v1 + 2D0 D1 v0 + ω02 v1 )
+ ε2 [D02 v2 + 2D0 D1 v1 + (D12 + 2D0 D2 )v0 + ω02 v2
Rg 3
+ Rv02 D02 v0 + Rv0 (D0 v0 )2 + v ] + ··· (2.11.11)
2l 0
Let the coefficients of the same power of ε be zero, we can obtain

D02 v0 + ω02 v0 = 0 (2.11.12)

D02 v1 + ω02 v1 = −2D0 D1 v0 (2.11.13)

46 2 Conservative Single-Degree-of-Freedom Systems

D02 v2 + ω02 v2 = −2D0 D1 v1 − (D12 + 2D0 D2 )v0

(2.11.14)
−Rv02 D02 v0 − Rv0 (D0 v0 )2 − Rg v3
2l 0

The general solution of (2.11.12) is

v0 = Aeiω0 T0 + Ae−iω0 T0 (2.11.15)

where A = A(T1 , T2 ). Substituting the above equation into (2.11.13), we obtain

D02 v1 + ω02 v1 = −2D0 D1 (Aeiω0 T0 + Ae−iω0 T0 ) (2.11.16)

To eliminate the secular term, we need D1 A = 0. Therefore, A = A(T2 ) and the

particular solution of Eq. (2.11.13) is

v1 = 0 (2.11.17)

Substituting (2.11.15) and (2.11.17) into (2.11.14), and taking A = A(T2 ) into
account, we obtain
3Rg 2
D02 v2 + ω02 v2 = −2iω0 D2 A + 2Rω02 A2 Aeiω0 T0 − 2l
A Aeiω0 T0
(2.11.18)
+cc + NST

where cc denotes the complex conjugate term of its preceding terms and NST denotes
terms which do not generate secular terms. In order to eliminate the secular term, we
need
3g 2
2iω0 D2 A − R(2ω02 − )A A = 0 (2.11.19)
2l
1 iβ
Let A = ae (2.11.20)
2
Substitute (2.11.20) into (2.11.19), we obtain

R 3g 3
iω0 D2 a − ω0 aD2 β − (2ω02 − )a = 0 (2.11.21)
8 2l
Separates the real and imaginary parts of the above equation yields

D2 a = 0 (2.11.22)

R 3g 2
D2 β + (2ω02 − )a = 0 (2.11.23)
8ω0 2l

So a is a constant. Integrate (2.11.23) directly, we obtain

2.12 Exercise 2.12 (Nonlinear Oscillation of a Rope-Block System) 47

R 3g 2
β=− (2ω02 − )a T2 + β0 (2.11.24)
8ω0 2l

The first-order approximation of the solution is then obtained as

R 3g 2 2
u = εacos[ω0 t − (2ω02 − )a ε t + β0 ] + · · · (2.11.25)
8ω0 2l

Let ε = 1,

R 3g 2
u = acos[ω0 t − (2ω02 − )a t + β0 ] + · · · (2.11.26)
8ω0 2l

Therefore, the frequency-amplitude relationship is

R 3g 2
ω = ω0 − (2ω02 − )a (2.11.27)
8ω0 2l

2.12 Exercise 2.12 (Nonlinear Oscillation of a Rope-Block

System)

Solution: (a) Let the length of the oblique segment of the rope hanging mass m1 is
x, then there is a constraint

x2 = l 2 + y2 (2.12.1)

y
ẋ = ẏ (2.12.2)
x
The kinetic energy of the system, T , is

1 1 1 y2
T = 2 × m1 ẋ2 + m2 ẏ2 = (2m1 2 + m2 )ẏ2
2 2 2 x
1 2m1 y2 2
= (m2 + 2 )ẏ (2.12.3)
2 l + y2

Then calculate the generalized force of the system. For a given virtual displace-
ment δy, we can obtain from (2.12.1) that
y
δx = δy (2.12.4)
x
The virtual work of the system is
48 2 Conservative Single-Degree-of-Freedom Systems

2m1 gy
δW = −2m1 gδx + m2 gδy = (− + m2 g)δy
x
Therefore, the generalized force of the system is

2m1 gy 2m1 gy
Q=− + m2 g = m2 g − (2.12.5)
x (l + y2 )1/2
2

Substitute (2.12.3) and (2.12.5) into Lagrange’s equation, we can obtain the
governing equation of the system

2m1 gy 2m1 y l 2 ẏ2

m2 g − = m2 ÿ + (yÿ + ) (2.12.6)
(l 2 + y2 )1/2 l 2 + y2 l 2 + y2

(b) The equilibria of the system can be obtained from (2.12.6) by letting ẏ = ÿ = 0,
i.e.,

2m1 gy
m2 g − =0 (2.12.7)
(l 2+ y2 )1/2

then
lm2
ye =  , (assume )2m1 > m2 (2.12.8)
4m21 − m22

(c) Let u = y/l and R = m1 /m2 , from (2.12.6), we obtain

g 2m1 gy ÿ 2m1 y ẏ2

− = + (yÿ + )
l m2 l 2 (1 + y2 /l 2 )1/2 l m2 l 3 (1 + y2 /l 2 ) 1 + y2 /l 2

Finally, the differential equation of motion of the system becomes

g 2Rgu 2Ru u̇2

− = ü + (uü + ) (2.12.9)
l l(1 + u2 )1/2 1 + u2 1 + u2

(d) Let
ye ye
u= + ηor u = ue + η, where ue = (2.12.10)
l l
Substituting this into (2.12.9) and taking (2.12.7) into account, we can obtain

2Rgη 2R(ue + η) η̇2

− = η̈ + [(ue + η)η̈ + ]
l[1 + (ue + η) ]
2 1/2
1 + (ue + η)2
1 + (ue + η)2
2.12 Exercise 2.12 (Nonlinear Oscillation of a Rope-Block System) 49

The above equation can be written as

2Rg
− η[1 + (ue + η)2 ]3/2 = η̈[1 + (ue + η)2 ]2
l

+2R(ue + η){[1 + (ue + η)2 ](ue + η)η̈ + η̇2 } (2.12.11)

Expanding
 the left side of the equation for the small and finite |η|, retaining to
O η3 yields

η[1 + (ue + η)2 ]3/2

= bη(1 + ue2 + 2ue η + η2 )[1 + ue2 + 2ue η + η2 ]1/2
= bη(b2 + 2ue η + η2 )[1 + b−2 (2ue η + η2 )]1/2
1 1
= bη(b2 + 2ue η + η2 )[1 + b−2 (2ue η + η2 ) − b−4 (2ue η + η2 )2 ]
2 8
3
= [b3 η + 3bue η2 + b(1 + b−2 ue2 )η3 ]
2

where b2 = 1 + ue2 . Expanding the right-hand side of the equation and retaining to
O η3 , we obtain

η̈[1 + (ue + η)2 ]2 + 2R(ue + η){[1 + (ue + η)2 ](ue + η)η̈ + η̇2 }
= η̈(b2 + 2ue η + η2 )2 + 2R(ue + η)[(b2 + 2ue η + η2 )(ue + η)η̈ + η̇2 ]
= η̈(b4 + 4b2 ue η + 4ue2 η2 + 2b2 η2 )
+ 2R(ue + η)(b2 ue η̈ + 2ue2 ηη̈ + ue η2 η̈ + b2 ηη̈ + 2ue η2 η̈ + η̇2 )
= b4 η̈ + 4b2 ue ηη̈ + 4ue2 η2 η̈ + 2b2 η2 η̈
+ 2Rb2 ue2 η̈ + 4Rue3 ηη̈ + 2Rue2 η2 η̈ + 2Rb2 ue ηη̈ + 4Rue2 η2 η̈ + 2Rue η̇2
+ 2Rb2 ue η̈η + 4Rue2 η2 η̈ + 2Rb2 η̈η2 + 2Rη̇2 η
= (b4 + 2Rb2 ue2 )η̈ + (4b2 ue + 4Rue3 + 4Rb2 ue )η̈η + 2Rue η̇2
+ (2b2 + 4ue2 + 10Rue2 + 2Rb2 )η̈η2 + 2Rη̇2 η

Substituting these two results into (2.12.11), we obtain

2Rb3 g 6Rbue g
η̈ + η+ η2
+ 2Rb ue )
l(b4 2 2 l(b + 2Rb2 ue2 )
4

2Rue 3Rbg
+ 4 η̇2 + (1 + b−2 ue2 )η3
(b + 2Rb ue )
2 2 l(b + 2Rb2 ue2 )
4

2R (4b2 ue + 4Rue3 + 4Rb2 ue )

+ 4 η̇2 η + η̈η
(b + 2Rb ue )
2 2 (b4 + 2Rb2 ue2 )
50 2 Conservative Single-Degree-of-Freedom Systems

(2b2 + 4ue2 + 10Rue2 + 2Rb2 ) 2

+ η̈η
(b4 + 2Rb2 ue2 )
=0

Write the above equation as

η̈ + ω02 η + α1 η2 + α2 η̇2 + α3 η̈η + α4 η3 + α5 η̇2 η + α6 η̈η2 = 0 (2.12.12)

where
3
ω02 = l(b42Rb g
+2Rb2 ue2 )
6Rbue g
α1 = l(b4 +2Rb2 u2 )
e
α2 = (b4 +2Rb
2Rue
2 u2 )
e
(4b2 ue +4Rue3 +4Rb2 ue )
α3 = (b4 +2Rb2 ue2 )
(2.12.13)
α4 = 3Rbg
l(b +2Rb2 ue2 )
4 (1 + b−2 ue2 )
α5 = 2R
(b4 +2Rb2 ue2 )
(2b +4ue2 +10Rue2 +2Rb2 )
2
α6 = (b4 +2Rb2 ue2 )

Let

η = εv (2.12.14)

then Eq. (2.12.12) changes to

v̈ + ω02 v + εα1 v2 + εα2 v̇2 + εα3 v̈v + ε2 α4 v3 + ε2 α5 v̇2 v + ε2 α6 v̈v2 = 0

(2.12.15)

We seek an expansion of the following form for the solution of (2.12.15)

v = v0 (T0 , T1 , T2 ) + εv1 (T0 , T1 , T2 ) + ε2 v2 (T0 , T1 , T2 ) + · · · (2.12.16)

where T0 = t, T1 = εt. Substitute (2.12.16) into (2.12.15), we obtain

0 = v̈ + ω02 v + εα1 v2 + εα2 v̇2 + εα3 v̈v + ε2 α4 v3 + ε2 α5 v̇2 v + ε2 α6 v̈v2

= [D02 + 2εD0 D1 + ε2 (D12 + 2D0 D2 ) + · · · ](v0 + εv1 + ε2 v2 + · · · )
+ ω02 (v0 + εv1 + ε2 v2 + · · · ) + εα1 (v0 + εv1 + ε2 v2 + · · · )2
+ εα2 [(D0 + εD1 + ε2 D2 + · · · )(v0 + εv1 + ε2 v2 + · · · )]2
+ εα3 {[D02 + 2εD0 D1 + ε2 (D12 + 2D0 D2 ) + · · · ](v0 + εv1 + ε2 v2 + · · · )}
× (v0 + εv1 + ε2 v2 + · · · ) + ε2 α4 (v0 + εv1 + ε2 v2 + · · · )3
+ ε2 α5 [(D0 + εD1 + ε2 D2 + · · · )(v0 + εv1 + ε2 v2 + · · · )]2
2.12 Exercise 2.12 (Nonlinear Oscillation of a Rope-Block System) 51

× (v0 + εv1 + ε2 v2 + · · · )
+ ε2 α6 {[D02 + 2εD0 D1 + ε2 (D12 + 2D0 D2 ) + · · · ](v0 + εv1 + ε2 v2 + · · · )}
× (v0 + εv1 + ε2 v2 + · · · )2
= D02 v0 + ω02 v0
+ ε[D02 v1 + 2D0 D1 v0 + ω02 v1 + α1 v02 + α2 (D0 v0 )2 + α3 v0 D02 v0 ]
+ ε2 [D02 v2 + 2D0 D1 v1 + (D12 + 2D0 D2 )v0 + ω02 v2 + 2α1 v0 v1
+ α2 D0 v0 (D0 v1 + D1 v0 ) + α3 v0 (D12 v1 + 2D0 D2 v0 )
+ α4 v03 + α5 v0 (D0 v0 )2 + α6 v02 D02 v0 ] + · · · (2.12.17)

Let the coefficients of the same power of ε be zero to obtain

D02 v0 + ω02 v0 = 0 (2.12.18)

D02 v1 + ω02 v1 = −2D0 D1 v0 − α1 v02 − α2 (D0 v0 )2 − α3 v0 D02 v0 (2.12.19)

D02 v2 + ω02 v2 = −2D0 D1 v1 − (D12 + 2D0 D2 )v0 − 2α1 v0 v1

−α2 D0 v0 (D0 v1 + D1 v0 ) − α3 v0 (D12 v1 + 2D0 D2 v0 ) (2.12.20)
−α4 v03 + α5 v0 (D0 v0 )2 − α6 v02 D02 v0

The general solution of Eq. (2.12.18) is

v0 = Aeiω0 T0 + Ae−iω0 T0 (2.12.21)

where A = A(T1 , T2 ). Substituting the above equation into (2.12.19), we obtain

D02 v1 + ω02 v1 = −2iω0 D1 Aeiω0 T0 − (α1 − α2 ω02 − α3 ω02 )AA

+ (−α1 − α2 ω02 + α3 ω02 )A2 e2iω0 T0 + cc (2.12.22)

To eliminate secular terms, we need D1 A = 0. Therefore, A = A(T2 ) and the

particular solution of (2.12.22) is

v1 = B1 AA + B2 A2 e2iω0 T0 + cc (2.12.23)

α1 − α2 ω02 − α3 ω02 −α1 − α2 ω02 + α3 ω02

where B1 = − , B2 = − (2.12.24)
ω02 3ω02

Substituting (2.12.21) and (2.12.23) into (2.12.20) and taking A = A(T2 ) into
account, we can obtain
52 2 Conservative Single-Degree-of-Freedom Systems

D02 v2 + ω02 v2 = (−2iω0 D2 A − 2α1 B1 A2 A − 2α1 B2 A2 A − 2α2 ω02 B2 A2 A

−3α4 A2 A − α5 ω02 A2 A + 3α6 ω02 A2 A)eiω0 T0 + cc + NST
(2.12.25)

where cc denotes the complex conjugate term of its preceding terms and NST denotes
terms which do not generate secular terms. In order to eliminate secular terms, it is
necessary to have

2iω0 D2 A + (2α1 B1 + 2α1 B2 + 2α2 ω02 B2 + 3α4 + α5 ω02 − 3α6 ω02 )A2 A = 0
(2.12.26)
1 iβ
Let A= ae (2.12.27)
2
Substitute (2.12.27) into (2.12.26), we obtain

iω0 D2 a − ω0 aD2 β
1
+ (2α1 B1 + 2α1 B2 + 2α2 ω02 B2 + 3α4 + α5 ω02 − 3α6 ω02 )a3 = 0 (2.12.28)
8
Separate the real and imaginary parts of the above equation yields

D2 a = 0 (2.12.29)

1
−ω0 aD2 β + (2α1 B1 + 2α1 B2 + 2α2 ω02 B2 + 3α4 + α5 ω02 − 3α6 ω02 )a3 = 0
8
(2.12.30)

So a is a constant. Conduct direct integration of (2.12.30), we obtain

D 2
β= a T2 + β0 (2.12.31)
8ω0

where D = 2α1 B1 + 2α1 B2 + 2α2 ω02 B2 + 3α4 + α5 ω02 − 3α6 ω02 (2.12.32)

Combining the above results, the first-order approximation of the solution of the
original equation can be written as

D 2 2
η = εacos(ω0 t + a ε t + β0 ) + · · · (2.12.33)
8ω0

Let ε = 1, we can obtain

D 2
η = acos(ω0 t + a t + β0 ) + · · · (2.12.34)
8ω0
2.13 Exercise 2.13 (Single Pendulum Attached … 53

Therefore, the frequency-amplitude relationship of the oscilliation is

D 2
ω = ω0 + a (2.12.35)
8ω0

2.13 Exercise 2.13 (Single Pendulum Attached

with a Rolling-Without-Slipping Circular Wheel I)

Solution: (a) The kinetic energy of the system is

1 1
T= m(l θ̇ cosθ − θ̇ r)2 + m(l θ̇ sinθ )2
2 2
1
= m(l 2 + r 2 − 2rlcosθ )θ̇ 2 (2.13.1)
2
The potential energy of the system is

V = −mglcosθ (2.13.2)

Using Lagrange’s equation, we can obtain the differential equation of motion of

the system

(l 2 + r 2 − 2rlcosθ )θ̈ + rl θ̇ 2 sinθ + glsinθ = 0 (2.13.3)

(b) Expand the Eq. (2.13.3) and retain to θ 3 yields

gl rl rl gl
θ̈ + θ+ θ 2 θ̈ + θ̇ 2 θ − θ3 = 0 (2.13.4)
(l − r) 2
(l − r)2
(l − r) 2
6(l − r)2
gl rl
Let ω02 = , α= (2.13.5)
(l − r)2
(l − r)2
ω02 3
then θ̈ + ω02 θ + αθ 2 θ̈ + α θ̇ 2 θ − θ =0 (2.13.6)
6
Let

θ = εv (2.13.7)

Equation (2.13.6) changes to

54 2 Conservative Single-Degree-of-Freedom Systems

ω02 3
v̈ + ω02 v + ε2 αv2 v̈ + ε2 α v̇2 v − ε2 v =0 (2.13.8)
6
We seek an expansion of the following form for the solution of (2.13.8)

v = v0 (T0 , T1 , T2 ) + εv1 (T0 , T1 , T2 ) + ε2 v2 (T0 , T1 , T2 ) + · · · (2.13.9)

where T0 = t, T1 = εt. Substitute (2.13.9) into (2.13.8), we obtain

ω02 3
0 = v̈ + ω02 v + ε2 αv2 v̈ + ε2 α v̇2 v − ε2
v
6
= [D02 + 2εD0 D1 + ε2 (D12 + 2D0 D2 ) + · · · ](v0 + εv1 + ε2 v2 + · · · )
+ ω02 (v0 + εv1 + ε2 v2 + · · · )
ω02 3
+ ε2 [αv02 D02 v0 + αv0 (D0 v0 )2 − v + ···]
6 0
= D02 v0 + ω02 v0 + ε(D02 v1 + 2D0 D1 v0 + ω02 v1 )
+ ε2 [D02 v2 + 2D0 D1 v1 + (D12 + 2D0 D2 )v0 + ω02 v2
ω02 3
+ αv02 D02 v0 + αv0 (D0 v0 )2 − v ] + ··· (2.13.10)
6 0
Let the coefficients of the same power of ε be zeros to obtain

D02 v0 + ω02 v0 = 0 (2.13.11)

D02 v1 + ω02 v1 = −2D0 D1 v0 (2.13.12)

D02 v2 + ω02 v2 = −2D0 D1 v1 − (D12 + 2D0 D2 )v0

ω2 (2.13.13)
−αv02 D02 v0 − αv0 (D0 v0 )2 + 60 v03

The general solution of Eq. (2.13.11) is

v0 = Aeiω0 T0 + Ae−iω0 T0 (2.13.14)

whereA = A(T1 , T2 ). Substituting (2.13.14) into (2.13.12), we obtain

D02 v1 + ω02 v1 = −2D0 D1 (Aeiω0 T0 + Ae−iω0 T0 ) (2.13.15)

To eliminate secular terms, we need D1 A = 0, so A = A(T2 ). And the particular

solution of (2.2.59) is

v1 = 0 (2.13.16)
2.13 Exercise 2.13 (Single Pendulum Attached … 55

Substituting (2.11.15) and (2.11.17) into (2.11.14), and taking A = A(T2 ) into
account, we can obtain

D02 v2 + ω02 v2 = −2iω0 D2 Aeiω0 T0 + 2αω02 A2 Aeiω0 T0

1
+ ω02 A2 Aeiω0 T0 + cc + NST (2.13.17)
2
where cc denotes the complex conjugate term of its preceding terms and NST denotes
terms which do not generate secular terms. In order to eliminate secular terms, it is
necessary to have

1
−2iω0 D2 A + 2αω02 A2 A + ω02 A2 A = 0 (2.13.18)
2
1 iβ
Let A = ae (2.13.19)
2
Substitute (2.11.20) into (2.11.19), we obtain

1
iω0 D2 a − ω0 aD2 β − ω02 ( α + 4)a3 = 0 (2.13.20)
4
Separate the real and imaginary parts of the above equation yields

D2 a = 0 (2.13.21)

1
D2 β − ω0 ( α + 4)a2 = 0 (2.13.22)
4
So a is a constant. By integrating (2.11.23), we can obtain

1
β = ω0 ( α + 4)a2 T2 + β0 (2.13.23)
4
Combining the above results, the first-order approximate Solution is obtained as

1
u = εacos[ω0 t + ω0 ( α + 4)a2 ε2 t + β0 ] + · · · (2.13.24)
4
Let ε = 1, we can obtain

1
u = acos[ω0 t + ω0 ( α + 4)a2 t + β0 ] + · · · (2.13.25)
4
Then the frequency-amplitude relationship of the oscillation is
56 2 Conservative Single-Degree-of-Freedom Systems

1
ω = ω0 + ω0 ( α + 4)a2 (2.13.26)
4

2.14 Exercise 2.14 (Single Pendulum Attached

with a Rolling-Without-Slipping Circular Wheel II)

Solution: (a) The kinetic energy of the system is

1 1
T= m(l θ̇ cosθ − θ̇ r)2 + m(l θ̇ sinθ )2
2 2
1
= m(l 2 + r 2 − 2rlcosθ )θ̇ 2 (2.14.1)
2
The potential energy of the system is

1
V = −mglcosθ + k(rθ )2 (2.14.2)
2
Using Lagrange’s equation, we can obtain the differential equation of the motion
of the system

m(l 2 + r 2 − 2rlcosθ )θ̈ + mrl θ̇ 2 sinθ + mglsinθ + kr 2 θ = 0 (2.14.3)

(b) Expand the Eq. (2.13.3) and retain to θ 3 yields

gl + kr 2 /m rl rl gl
θ̈ + θ+ θ 2 θ̈ + θ̇ 2 θ − θ3 = 0 (2.14.4)
(l − r)2 (l − r)2 (l − r)2 6(l − r)2
gl + kr 2 /m rl
Let ω02 = , α= (2.14.5)
(l − r) 2
(l − r)2

¨ + ω02 θ + αθ 2 θ̈ + α θ̇ 2 θ − 1 ω02 θ 3 = 0
thenθ (2.14.6)
6
This equation is the same as the governing equation in Exercise 2.13, except that
the value of ω02 is taken differently. Therefore, the relationship between the oscillation
frequency ω and the amplitude a is the same as in Exercise 2.13, i.e.,

1
ω = ω0 + ω0 ( α + 4)a2 (2.14.7)
4
2.16 Exercise 2.16 (Simplified Model for Buckling Analysis of Columns) 57

2.15 Exercise 2.15 (Single Pendulum Problem

with Inelastic Collision with an Inclined Wall)

Solution: (a) When there is no collision, the whole motion of the system is controlled

by the equation θ + θ = 0, so that its energy equation is

θ ‘2 + θ 2 = 2E (2.15.1)

where E is the total energy. Therefore, the trajectories in the θ ∼ θ̇ phase plane are
a family of circles with different initial conditions (E).
(b) When there is an inelastic collision, let the coefficient of restitution be μ < 1,
then the governing equation of the system is

θ = α : θ “ + sin θ = 0
θ ‘ (α) (2.15.2)
θ = α, θ̇ (α) < 0 : −θ2 ‘ (α) = μ
1

where θ1 , θ2  associated with the angular velocity of the pendulum before and after
the collision, respectively. Then the trajectories of the system are governed by
√
θ = α : θ ‘ = ± 2(E + cos θ )
(2.15.3)
θ = α, θ̇ (α) < 0 : θ2‘ (α) = −μθ1‘ (α)

Figure 2.5a–c present the trajectories of the sysstem for (1) α > 0, (2) α = 0 and
(3) α < 0, respectively.
Figure 2.5a and b (α ≥ 0): the ball will always impact the wall with energy loss
and velocity decreasing, and finally rest against the wall.
Figure 2.5c (α < 0): the ball will impact the wall at the beginning, then the speed
will decrease and the energy will be lost, finally the speed will be zero when the ball
reaches the wall.

2.16 Exercise 2.16 (Simplified Model for Buckling Analysis

of Columns)

Solution: (a) The kinetic energy of the system is

1 2
T= mẋ (2.16.1)
2
The potential energy of the system is
58 2 Conservative Single-Degree-of-Freedom Systems

(a) (b)

(c)

Fig. 2.5 a Phase trajectories of the ball at α > 15◦ (θ0 = 30◦ , θ0  = 0, μ = 0.8). b Phase
◦
trajectories of the ball at α = 0 (θ0 = 30◦ , θ0  = 0, μ = 0.8). c Phase trajectories of the ball at
◦ ◦
α > −15 (θ0 = 30 , θ0  = 0, μ = 0.8) for Exercise 2.16

x 
V = Fspring dx − 2 × P(l − l 2 − x2 )
0
x 
= Fspring dx + 2P l 2 − x2 − 2Pl (2.16.2)
0

Substituting the kinetic energy and potential energy into the Lagrange’s equation,
we obtain
∂V 2Px
mẍ = − = −Fspring + √
∂x l 2 − x2

So mẍ + Fspring − √2Px

l 2 −x2
=0
2.16 Exercise 2.16 (Simplified Model for Buckling Analysis of Columns) 59

2Px
i.e. mẍ + k1 x + k3 x3 − √ + ··· = 0 (2.16.3)
l 2 − x2

Expanding the fourth term on the left-hand side of (2.16.4) and keeping it to O(x 3 ),
we obtain
2P P
mẍ + k1 x + k3 x3 − ( x + 3 x3 ) = 0
l l
2P P
i.e. mẍ + (k1 − )x + (k3 − 3 )x3 = 0 (2.16.4)
l l
1 2P 1 P
Let α1 = (k1 − ), α3 = (k3 − 3 ) (2.16.5)
m l m l
then (2.16.4) becomes

ẍ + α1 x + α3 x3 = 0 (2.16.6)

(b) In the Eq. (2.16.6) let

 √
x α , when α1 ≥ 0 α3 l 2
u = , ω0 = √ 1 , τ = ω0 t, α = 2 (2.16.7)
l −α1 , when α1 < 0 ω0

then (2.16.6) becomes


α1 ≥ 0 : u + u + αu3 = 0 (2.16.8)


α1 < 0 : u − u + αu3 = 0 (2.16.9)

After integration, the energy equation and the phase trajectories are obtained as
1
u‘2 + V (u) = E, where V (u) = 21 u2 + 41 αu4
α1 ≥ 0 : 2 √ (2.16.10)
u‘ = ± 2(E − V (u))
1
u‘2 + V (u) = E, where V (u) = − 21 u2 + 41 αu4
α1 < 0 : 2 √ (2.16.11)
u‘ = ± 2(E − V (u))

From (2.16.10) and (2.16.11) the potential energy curve V (u) ∼ u and the phase
trajectories can be calculated and plotted, as shown in Fig. 2.6a and b. The equilibrium
point x = 0 is the center when α1 > 0 while the saddle point when α1 < 0. Therefore,
α1 = 0 is the bifurcation point of the system, i.e., the column is buckled under this
condition. Thus, the buckling load Pb can be obtained from Eq. (2.16.5)
60 2 Conservative Single-Degree-of-Freedom Systems

(a) (b)

Fig. 2.6 a Potential energy curve and phase trajectories (α1 > 0, α = 0.2). b Potential energy
curve and phase trajectories (α1 < 0, α = 0.2) for Exercise 2.16

1
Pb = k1 l (2.16.12)
2

2.17 Exercise 2.17 (Rods for Pure Rolling on a Fixed

Cylindrical Surface)

Solution: (a) Assume that the rod is balanced at the vertex of the cylindrical surface.
The kinetic energy of the rod is

1 1 2
T= ( ml + mr 2 θ 2 )θ̇ 2 (2.17.1)
2 12
The potential energy of the rod is

V = mg(rcosθ + rθ sinθ ) (2.17.2)

Substituting the kinetic energy and potential energy into the Lagrange’s equation,
we obtain
1 2
( ml + mr 2 θ 2 )θ̈ + mr 2 θ θ̇ 2 = −mgrθ cosθ
12
That is, the differential equation of motion of the rod is
2.17 Exercise 2.17 (Rods for Pure Rolling on a Fixed Cylindrical Surface) 61

1 2
( l + r 2 θ 2 )θ̈ + r 2 θ θ̇ 2 + grθ cosθ = 0 (2.17.3)
12

(b) We expand the Eq. (2.17.3) around the equilibrium point θ = 0 and expand it,
retaining to O(θ 3 ), to obtain

1 2 1
( l + r 2 θ 2 )θ̈ + r 2 θ θ̇ 2 + grθ − grθ 3 = 0 (2.17.4)
12 2
1
¨
well sorted θ + ω02 θ + αθ 2 θ̈ + αθ θ̇ 2 − ω02 θ 3 = 0 (2.17.5)
2

12rg 12r 2
where ω02 = , α = (2.17.6)
l2 l2
Let

θ = εv (2.17.7)

Equation (2.17.4) changes to

ω02 3
v̈ + ω02 v + ε2 αv2 v̈ + ε2 α v̇2 v − ε2 v =0 (2.17.8)
2
We seek an expansion of solution with the following form near the singularity
v=0

v = v0 (T0 , T1 , T2 ) + εv1 (T0 , T1 , T2 ) + ε2 v2 (T0 , T1 , T2 ) + · · · (2.17.9)

where T0 = t, T1 = εt. Substitute (2.17.9) into (2.17.8), we obtain

ω02 3
0 = v̈ + ω02 v + ε2 αv2 v̈ + ε2 α v̇2 v − ε2
v
2
= [D02 + 2εD0 D1 + ε2 (D12 + 2D0 D2 ) + · · · ](v0 + εv1 + ε2 v2 + · · · )
+ ω02 (v0 + εv1 + ε2 v2 + · · · )
ω02 3
+ ε2 [αv02 D02 v0 + αv0 (D0 v0 )2 − v + ···]
2 0
= D02 v0 + ω02 v0 + ε(D02 v1 + 2D0 D1 v0 + ω02 v1 )
+ ε2 [D02 v2 + 2D0 D1 v1 + (D12 + 2D0 D2 )v0 + ω02 v2
ω02 3
+ αv02 D02 v0 + αv0 (D0 v0 )2 − v ] + ··· (2.17.10)
2 0

Retaining the equation to O(ε2 ) and equate the coefficients of the same power of
ε to be zero gives
62 2 Conservative Single-Degree-of-Freedom Systems

D02 v0 + ω02 v0 = 0 (2.17.11)

D02 v1 + ω02 v1 = −2D0 D1 v0 (2.17.12)

D02 v2 + ω02 v2 = −2D0 D1 v1 − (D12 + 2D0 D2 )v0

ω02 3
− αv02 D02 v0 − αv0 (D0 v0 )2 + v (2.17.13)
2 0
The solution of Eq. (2.17.11) is

v0 = Aeiω0 T0 + Ae−iω0 T0 (2.17.14)

where A = A(T1 , T2 ). Substituting the above equation into the Eq. (2.17.12), we
obtain

D02 v1 + ω02 v1 = −2D0 D1 (Aeiω0 T0 + Ae−iω0 T0 ) (2.17.15)

To eliminate the secular term, we need D1 A = 0, so A = A(T2 ). Then the solution

of (2.17.15) is

v1 = 0 (2.17.16)

Substitute (2.17.14) and (2.17.16) into (2.17.13), and take A = A(T2 ) into account,
we obtain

D02 v2 + ω02 v2 = −2iω0 D2 Aeiω0 T0 + 2αω02 A2 Aeiω0 T0

3ω02 2 iω0 T0
+ A Ae + cc + NST (2.17.17)
2
where cc denotes the complex conjugate term of its preceding terms and NST denotes
terms which do not generate secular terms. In order to eliminate the secular term, it
is necessary to have

3ω02 2
−2iω0 D2 A + 2αω02 A2 A + A A=0 (2.17.18)
2
1 iβ
Let A= ae (2.17.19)
2
Put (2.17.19) into (2.17.18), we obtain

1
iω0 D2 a − ω0 aD2 β − ω02 ( α + 12)a3 = 0 (2.17.20)
4
2.18 Exercise 2.18 (Geometrically Nonlinear System Formed by a Linear … 63

Separate the real and imaginary parts of the above equation yields

D2 a = 0 (2.17.21)

1
D2 β − ω0 ( α + 12)a2 = 0 (2.17.22)
4
So a is a constant. Integrate (2.17.22) directly, we obtain

1
β = ω0 ( α + 12)a2 T2 + β0 (2.17.23)
4
Combining the above results, the first-order approximation of the solution is
obtained as
1
u = εacos[ω0 t + ω0 ( α + 12)a2 ε2 t + β0 ] + · · · (2.17.24)
4
Let ε = 1, we can obtain

1
u = acos[ω0 t + ω0 ( α + 12)a2 t + β0 ] + · · · (2.17.25)
4
Therefore, the frequency-amplitude relationship of the oscillation is

1
ω = ω0 + ω0 ( α + 12)a2 (2.17.26)
4

2.18 Exercise 2.18 (Geometrically Nonlinear System

Formed by a Linear Spring and a Mass Block)

Solution: (a) The kinetic energy of the system is

1 2
T= mẋ (2.18.1)
2
The potential energy of the system is

1
V = k[(x2 + l 2 )1/2 − l ]2 (2.18.2)
2
Substituting the kinetic energy and potential energy into the Lagrange’s equation,
the differential equation of motion of the system is
64 2 Conservative Single-Degree-of-Freedom Systems

mẍ + kx(x2 + l 2 )−1/2 [(x2 + l 2 )1/2 − l ] = 0 (2.18.3)

The equation can be written as

ẍ k x x2 x2 l
+ (1 + 2 )−1/2 [(1 + 2 )1/2 − ] = 0
l ml l l l
Let

k x l
2ω2 = , u = , L = , τ = ωt
m l l
The equation becomes

ü + 2u(1 + u2 )−1/2 [(1 + u2 )1/2 − L] = 0 (2.18.4)

2Lu
or ü + 2u − √ =0 (2.18.5)
1 + u2

Note that the derivatives are obtained for the dimensionless time variable τ , i.e.
u̇ = du/d τ .
(b) Integrate the Eq. (2.18.5), we can obtain the energy equation

1 2 
u̇ + V (u) = E, V (u) = u2 − 2L 1 + u2 (2.18.6)
2

Sou̇ = ± 2[E − V (u)] (2.18.7)

The potential energy curve and the phase trajectories are shown in Fig. 2.7a–c.
The equilibrium point u = 0 is a center when L ≤ 1 while a saddle point when L > 1
is unstable; two new equilibrium points are created at the same time.
(c) Expand the Eq. (2.18.5), retaining to O(u3 ), to obtain

1
ü + 2u − 2Lu(1 − u2 + · · · ) = 0
2

ü + 2(1 − L)u + Lu3 = 0 (2.18.8)

For L = 1,

ü + u3 = 0 when L = 1 (2.18.9)

(d) From (2.18.9), we obtain

2.18 Exercise 2.18 (Geometrically Nonlinear System Formed by a Linear … 65

(a) (b)

(c)

Fig. 2.7 Potential energy curves and solution trajectories when a L = 0.5, b L = 1 and c L = 1.5
for Exercise 2.18(b)

d u̇ 1 2 1 4
dτ = − , u̇ + u = E (2.18.10)
u3 2 4
If the movement starts at −u0 ,

1 4 √ u3 du
E= u0 , d u̇ = − 2 
4 (u4 − u4 )
0

Substitute this into (2.18.10) and make integration of it to get

66 2 Conservative Single-Degree-of-Freedom Systems

√ 
u
du
τ= 2  (2.18.11)
−u0 (u04 − u4 )

Let u = −u0 cosϕ (2.18.12)

then the Eq. (2.18.11) becomes

√ θ θ
2 sinϕd ϕ 1 dϕ 1 1
τ=  =   F( , θ ) (2.18.13)
u0 1 − cos ϕ
4 u0 1 − 21 sin2 ϕ u0 2
0 0

where cosθ = −u/u0 ;F(κ, θ ) are the first class of elliptic integrals defined as

θ
dϕ
F(κ, θ ) = 
1 − κ 2 sin2 ϕ
0

Thus, the period of the system T is

4 1 π 4 7.4448
T= F( , ) = × 1.8612 ≈ (2.18.14)
u0 2 2 u0 u0

2.19 Exercise 2.19 (Solving Pure Cubic Nonlinear Systems

by Harmonic Balance Method)

Solution: (a) Substituting the one-term expansion

u = u0 cos(ωτ + β)  u0 cosψ

into the differential equation of motion of the system, we obtain

0 = −ω2 u0 cosψ + u03 cos3 ψ

1
= −ω2 u0 cosψ + u03 (3cosψ + cos3ψ)
4
3 1
= (−ω2 + u02 )u0 cosψ + u03 cos3ψ
4 4
Equating the coefficient of cosΨ to zero, we obtain
2.20 Exercise 2.20 (Solving Purely Fifth-Order Nonlinear Systems … 67
√
3
ω= u0
2
Therefore, the period of oscillation of the system is

2π 4π 7.2552
T= = √ ≈ (2.19.1)
ω u0 3 u0

From Eq. (2.18.14), the relative error of this result is

7.4448 − 7.2552
error = = 2.5%
7.4448

(b) By expanding the integrand integrating term by term, refer to (f) in Exercise 2.18,
we obtain
1 1 1 3 1 5 1
= 1 + ( sin2 φ) + ( sin2 φ)2 + ( sin2 φ)3 + · · ·
(1 − 1
2
sin2 φ)1/2 2 2 8 2 16 2
1 3 5
= 1 + sin2 φ + sin4 φ + sin6 φ + · · ·
4 32 128
Substituting this into the equation (f) in Exercise 2.18, the period of oscillation
of the system can be obtained as

π/2
4 1 3 5
T= (1 + sin2 ϕ + sin4 ϕ + sin6 ϕ + · · · )d ϕ (2.19.2)
u0 4 32 128
0

Integrating the first three terms of (2.19.2) gives


π/2
T= 4
u0
(1 + 41 sin2 φ + 3
32
sin4 φ)d φ
0
4 π π (2.19.3)
= ( + 41
u0 2
· 4
+ 3
32
· 3π
16
) = 297π
128u0
≈ 7.2895
u0

This result is closer to the exact value (2.18.14) than (2.19.1).

2.20 Exercise 2.20 (Solving Purely Fifth-Order Nonlinear

Systems by Harmonic Balance Method)

Solution: Substituting the one-term expansion

68 2 Conservative Single-Degree-of-Freedom Systems

u = acos(ωt + β)  acosψ

Into the differential equation of motion of the system, we obtain

0 = −ω2 acosψ + a5 cos5 ψ

1
= −ω2 acosψ + a5 (cos5ψ + 5cos3ψ + 10cosψ)
16
5
= (−ω2 + a4 )acosψ + · · ·
8
Equating the coefficient of cosΨ to zero, we obtain

5 2
ω= a (2.20.1)
8

2.21 Exercise 2.21 (Solving Pure Cubic Nonlinear Systems

by Equivalent Linearization)

Solution: The average of integrated square of the error over a time interval T is given
by

T
1
e= (λx − x3 )2 d τ  < (λx − x3 )2 ≥ λ2 x2 − 2λ x4 + x6
T
0

Minimize this error with respect to λ yields

de
= 2λ < x2 > −2 < x4 > = 0
dλ
T 
2π
cos4 (ωτ +β)d τ cos4 ψd ψ
<x4 >
λ= <x2 >
= u02 0T = u02 2π
0

cos2 (ωτ +β)d τ cos2 ψd ψ
0 0

= u02 ( 38 · 2π )/(( 21 · 2π )) = 43 u02

√ √
So ω = λ= 3
2 0
u
2.22 Exercise 2.22 (Show Least Residual Value Method and Galerkin Method … 69

2.22 Exercise 2.22 (Show Least Residual Value Method

and Galerkin Method for Solving Pure Cubic
Nonlinear Systems)

Solution: (a) Substituting the hypothetical solution (b) into (a), the residual can be
obtained as

R = −ω2 u0 cos(ωτ + β) + u03 cos3 (ωτ + β)

1
= −ω2 u0 cos(ωτ + β) + u03 [3cos(ωτ + β) + cos(3ωτ + 3β)]
4
3 3 1
= ( u0 − ω u0 )cos(ωτ + β) + u03 cos(3ωτ + 3β)
2
4 4
Thus, the average of integrated square of the error over a time interval 2π/ω is


2π/ω
 1 3 
R = {( u03 − ω2 u0 )2
2
cos2 (ωτ + β)d τ
T 4
0

2π/ω
1 3
+ u03 ( u03 − ω2 u0 ) cos(ωτ + β)cos(3ωτ + 3β)d τ
2 4
0

2π/ω
1 6
+ u cos2 (3ωτ + 3β)d τ }
16 0
0
1 3 1
= ( u03 − ω2 u0 )2 + u06 (2.22.1)
2 4 32

If < R2 > is minimized with respect to u0 (assuming u0 is not zero), we have

d <R2 >
du0
= ( 43 u03 − ω2 u0 )( 49 u02 − ω2 ) + 3 5
u
16 0
= 16 u0 − 49 ω2 u03 − 43 ω2 u03 + ω4 u0 +
27 5 3 5
u
16 0
= 15 u5 − 3ω2 u03 + ω4 u0 = 0
8 0

So

1 √
ω= ( 6 ± 6)u0
2

The root with the positive sign maximizes < R2 > and must be discarded. The
other root is not in agreement with the result obtained by the method of harmonic
balance and equivalent linearization in Exercises 2.20 & 2.21.
70 2 Conservative Single-Degree-of-Freedom Systems

(b) Instead of minimizing < R2 > with respect to u0 , if < R2 > is minimized with
respect to ω, we have

d < R2 > 3
= −2ωu0 ( u03 − ω2 ) = 0
dω 4
So
√
3
ω= u0
2

(c) Instead of minimizing < R2 >, R is made orthogonal to the assumed solution,
i.e.,

T
0 =< Ru0 cos(ωτ + β) >= 1
T
Ru0 cos(ωτ + β)d τ
0
2π 2π
= 1
[u ( 3 u3
Tω 0 4 0
− ω2 u0 ) cos2 ψd ψ + 41 u04 cosψcos3ψd ψ
0 0
= 21 ( 43 u03 − ω2 u0 )
√
So ω = 23 u0
This result is identical to that obtained by the harmonic balance method and the
equivalent linearization method shown in Exercises 2.20, 2.21. This method is the
Galerkin method.

2.23 Exercise 2.23 (Discuss the Possibility of Solving Pure

Cubic Nonlinear Systems by the Method of Multiple
Scales)

Solution: Let

u = εv

The equation u + u3 = 0 changes to

v + ε2 v3 = 0 (2.23.1)

We seek an expansion of the solution with the following form near the singularity
v=0

v = v0 (T0 , T1 , T2 ) + εv1 (T0 , T1 , T2 ) + ε2 v2 (T0 , T1 , T2 ) + · · · (2.23.2)

2.24 Exercise 2.24 (Examine the Relationship Between the Period … 71

where Tn = εn t. Substitute (2.13.9) into (2.23.1), we obtain

0 = v̈ + ε2 v3
= [D02 + 2εD0 D1 + ε2 (D12 + 2D0 D2 ) + · · · ](v0 + εv1 + ε2 v2 + · · · )
+ ε2 (v0 + εv1 + ε2 v2 + · · · )3
= D02 v0 + ε(D02 v1 + 2D0 D1 v0 )
+ ε2 [D02 v2 + 2D0 D1 v1 + (D12 + 2D0 D2 )v0 + v03 ] + · · · (2.23.3)

Retaining the above equation to the order of ε2 and equating coefficients of the
same power of ε gives

D02 v0 = 0 (2.23.4)

D02 v1 = −2D0 D1 v0 (2.23.5)

D02 v2 = −2D0 D1 v1 − (D12 + 2D0 D2 )v0 − v03 (2.23.6)

In order not to generate secular terms, this set of equations has only zero solutions.
Therefore, we do not get the expression for v. The reason is that, according
to the above scheme, the ε0 order in Eq. (2.23.4) is not an oscillational equation,
and therefore, the final oscillational solution of v cannot be formed. Therefore, the

equation u + u3 = 0 cannot be solved by the the method of multiple scales.

2.24 Exercise 2.24 (Examine the Relationship Between

the Period and the Amplitude of Oscillation)

Solution: (a) As known from Exercise 2.18, the differential equation of motion of
the system is

u + 2u(1 + u2 )−1/2 [(1 + u2 )1/2 − L] = 0

And from the answer to Exercise 2.18(c), the above equation has been expanded
to O(u3 ) as

u + 2(1 − L)u + Lu3 = 0

When L = 1/2 is used, the above equation becomes

 1 1
u + u + u3 = 0, when L = (2.24.1)
2 2
72 2 Conservative Single-Degree-of-Freedom Systems

By integrating (2.24.1), we obtain

1 ‘2 1 2 1 4
u + u + u =E
2 2 8
When the initial condition is u = −u0 , u = 0

1 2 1 4
E= u + u
2 0 8 0
 
1 1
So u =
‘
(u02 − u2 ) + (u04 − u4 ) = (u02 − u2 )(4 + u02 + u2 ) (2.24.2)
4 2

The time from the initial state of motion to any state is

u u
du du
τ= =2  (2.24.3)
u‘ (u02 − u2 )(4 + u02 + u2 )
−u0 −u0

(b) Let u = −u0 cosϕ, the Eq. (2.24.3) becomes

θ θ
u0 sinϕd ϕ dϕ
τ =2  =2 
0 u02 (1 − cos2 ϕ)(4 + u02 + u02 cos2 ϕ) 0 (4 + 2u02 − u02 sin2 ϕ)

θ
2 dϕ
= 
4 + 2u02 (1 − k 2 sin2 ϕ)
0

θ
2 dϕ
i.e. τ =   (2.24.4)
4 + 2u02 (1 − k 2 sin2 ϕ)
0

where k 2 = u02 /(4 + 2u02 ). Therefore, the period of oscillation of the system is

π/2
8 dϕ
T=  (2.24.5)
4 + 2u02 (1 − k 2 sin2 ϕ)
0

Numerical integration is performed for the Eq. (2.24.5) and T ∼ u0 curve is

plotted in Fig. 2.8.
2.25 Exercise 2.25 (Comparison of Equivalent Linearization Methods … 73

Fig. 2.8 Variation of period

T with amplitude u0 of the
oscillation for Exercise 2.24

2.25 Exercise 2.25 (Comparison of Equivalent

Linearization Methods and the Method of Multiple
Scales for Solving Different Nonlinear Equations)

Solution: (a) The residual is

R = α1 x + α3 x3 − λx

The mean square value of the residual is

T
  1
R2 = (α1 x + α3 x3 − λx)2 dt
T
0
     
= (α1 − λ)2 x2 + 2α3 (α1 − λ) x4 + α32 x6

In order to find the minimum value for < R2 >, we need

d < R2 >
= −2(α1 − λ) < x2 > −2α3 < x4 > = 0
dλ
So

α1 < x2 > +α3 < x4 >

λ=
< x2 >
Let x = acos(ωt + β), then
74 2 Conservative Single-Degree-of-Freedom Systems

T 2π
1 a2 a2
<x > =
2 a cos (ωt + β)dt =
2 2
cos2 ψd ψ =
T 2π 2
0 0

T 2π
1 a4 3a4
< x4 > = a4 cos4 (ωt + β)dt = cos4 ψd ψ =
T 2π 8
0 0

3
So λ = α1 + α3 a2 (2.25.1)
4
In Exercise 2.5(a), the Eq. (2.5.1) is the same as the nonlinear equation in this
Exercise, where the the method of multiple scales has been used to find√the frequency-
√
amplitude relationship as in the Eq. (2.5.23). In the equation, let ω = λ, ω1 = α1 ,
α = α3 , we can obtain (2.25.1), i.e., the results are the same as those obtained by the
the method of multiple scales.
(b) The residual is

R = α1 x + α2 x2 + α3 x3 − λx

The mean square value of the residual is

T
 1 
R =2
[(α1 − λ)x + α2 x2 + α3 x3 )2 dt
T
0
     
= (α1 − λ)2 x2 + 2α2 (α1 − λ) x3 + 2α3 (α1 − λ) x4
     
+ α2 α3 x5 + α22 x4 + α32 x6

In order to find the minimum value for < R2 >, we need

d < R2 >
= −2(α1 − λ) < x2 > −2α2 < x3 > −2α3 < x4 > = 0
dλ
So

α1 < x2 > +α2 < x3 > +α3 < x4 >

λ=
< x2 >
Let x = acos(ωt + β), then

T 2π
1 a2 a2
<x > =
2 a cos (ωt + β)dt =
2 2
cos2 ψd ψ =
T 2π 2
0 0
2.26 Exercise 2.26 (Comparison of the Galerkin Method with the the Method … 75

T 2π
1 a4 3a4
<x > =
4 a cos (ωt + β)dt =
4 4
cos4 ψd ψ =
T 2π 8
0 0

T
1
< x3 > = a3 cos3 (ωt + β)dt = 0
T
0

3
So λ = α1 + α3 a2 (2.25.2)
4
Let u = εv, we obtain

v̈ + ω02 v + εδv2 + ε2 αv3 = 0 (2.25.3)

where ω02 = α1 , δ = α2 , α = α3 . Equation (2.25.3) is the same as the Eq. (2.2.51)

in Exercise 2.2(c), where the the method of multiple scales has been used to find the
nonlinear frequency-amplitude relationship (Eq. (2.2.71)). From (2.2.71), the rela-
tionship between the nonlinear frequency and the amplitude of the present Exercise
can be obtained by

3 5
ω2 = α1 + α3 a2 − α1−1 α22 a2 (2.25.4)
4 6
It can be seen that the result obtained by the equivalent linearization method
(2.25.2) is different from that obtained by the the method of multiple scales (2.25.4).
The reason is that in the equivalent linearization method, the quadratic nonlinear term
has no effect on the mean square error and therefore does not affect the linearization
parameter λ; whereas in the the method of multiple scales, the quadratic nonlinear
term appears in the equation to eliminate secular terms and thus corrects for the
relationship between the frequency and amplitude in nonlinear oscillation.

2.26 Exercise 2.26 (Comparison of the Galerkin Method

with the the Method of Multiple Scales)

Solution: (a) When x = acos(ωt + β), the residual R is

R = −aω2 cos(ωt + β) + α1 acos(ωt + β)

+ α2 a2 cos2 (ωt + β) + α3 a3 cos3 (ωt + β)
3
= (−aω2 + α1 a + α3 a3 )cos(ωt + β)
4
1 1 1
+ α2 a2 + α2 a2 cos(2ωt + 2β) + α3 a3 cos(3ωt + 3β)
2 2 4
76 2 Conservative Single-Degree-of-Freedom Systems

According to the Galerkin method, there are

T
< Racos(ωt + β) > = 1
T
Racos(ωt + β)dt
0
= 21 a(−aω2 + α1 a + 43 α3 a ) = 0
3

3
So ω2 = α1 + α3 a2 (2.26.1)
4

(b) When x = acos(ωt + β) + B, the residual R is

R = −ω2 acos(ωt + β) + α1 [acos(ωt + β) + B]

+ α2 [acos(ωt + β) + B]2 + α3 [acos(ωt + β) + B]3
3
= [−aω2 + α1 a + 2α2 aB + α3 a3 + 3α3 aB3 ]cos(ωt + β)
4
1 2 3
+ α1 B + α2 ( a + B ) + α3 (B3 + a2 B)
2
2 2
1 3 1
+ [ α2 a + α3 a B]cos(2ωt + 2β) + α3 a3 cos(3ωt + 3β)
2 2
2 2 4

(c) Using the condition that

< Racos(ωt + β) > = 0

we obtain

T
< R[acos(ωt + β) + B] > = 1
T
R[acos(ωt + β) + B]dt
0
= 21 a[−aω2 + α1 a + 2α2 aB + 43 α3 a3 + 3α3 aB3 ] = 0
3
i.e. −aω2 + α1 a + 2α2 aB + α3 a3 + 3α3 aB3 = 0 (2.26.2)
4

(d) Using the condition that

< RB > = 0

we obtain

T
1
< RB > = RBdt
T
0
2.27 Exercise 2.27 (Equations Containing Second, Third and Fourth Order … 77
    
1 3
= B α1 B + α2 a2 + B2 + α3 B3 + a2 B =0
2 2
1 3
i.e. α1 B + α2 ( a2 + B2 ) + α3 (B3 + a2 B) = 0 (2.26.3)
2 2
From the Eqs. (2.26.2) and (2.26.3), we obtain

1
B = − α2 α1−1 a2 + · · ·
2
3 5
and ω2 = α1 + α3 a2 − α22 α1−1 a2 (2.26.4)
4 6

(e) Compare these results with (2.25.4), we can find that the success of the application
of Galerkin procedure depends on the hypothetical solution. In order to obtain the
effect of all nonlineat terms on the frequency-amplitude relationship of a nonlinear
oscillation, we should choose the hypothetical solution to include all nonlinear
coefficients appearing in the odd harmonic terms of the residual R.

2.27 Exercise 2.27 (Equations Containing Second, Third

and Fourth Order Nonlinear Terms)

Solution: (a) At the singularity point of the system, there is ü = u̇ = 0, which gives

−u + u4 = 0

So u = 1 is a singularity of the system and the potential energy of the system is

1 1
V (u) = − u2 + u5
2 5

Since .V (u = 1) = [−1 + 4u3 ]u=1 = 3 > 0
the singularity u = 1 is the center.
Let x = u − 1, which gives

ẍ − (x + 1) + (x + 1)4 = 0

i.e. ẍ + 3x + 6x2 + 4x3 + x4 = 0 (2.27.1)

Let
78 2 Conservative Single-Degree-of-Freedom Systems

x = εv (2.27.2)

Equation (2.27.1) changes to

v̈ + 3v + 6εv2 + 4ε2 v3 + ε3 v4 = 0 (2.27.3)

The general form of Eq. (2.27.3) is given by

v̈ + ω02 v + εα2 v2 + ε2 α3 v3 + ε3 α4 v4 = 0 (2.27.4)

(b) We seek an expansion of the following form for the above equation around the
singularity v = 0

v = v0 (T0 , T1 , T2 ) + εv1 (T0 , T1 , T2 ) + ε2 v2 (T0 , T1 , T2 ) + · · · (2.27.5)

where Tn = εn t. Substitute (2.27.5) into (2.27.4) and retain to O(ε2 ), we obtain

0 = v̈ + ω02 v + εα2 v2 + ε2 α3 v3 + ε3 α4 v4
= [D02 + 2εD0 D1 + ε2 (D12 + 2D0 D2 ) + · · · ](v0 + εv1 + ε2 v2 + · · · )
+ω02 (v0 + εv1 + ε2 v2 + · · · ) + εα2 (v0 + εv1 + ε2 v2 + · · · )2
+ε2 α3 (v0 + εv1 + ε2 v2 + · · · )3 + ε3 α4 (v0 + εv1 + ε2 v2 + · · · )4
= D02 v0 + ω02 v0 + ε(D02 v1 + 2D0 D1 v0 + ω02 v1 + α2 v02 )
+ε2 [D02 v2 + 2D0 D1 v1 + (D12 + 2D0 D2 )v0 + ω02 v2 + 2α2 v0 v1 + α3 v03 ] + · · ·
(2.27.6)

Equate the coefficients of the same power of ε gives

D02 v0 + ω02 v0 = 0 (2.27.7)

D02 v1 + ω02 v1 = −2D0 D1 v0 − α2 v02 (2.27.8)

D02 v2 + ω02 v2 = −2D0 D1 v1 − (D12 + 2D0 D2 )v0 − 2α2 v0 v1 − α3 v03 (2.27.9)

The general solution of (2.2.55) is

v0 = Aeiω0 T0 + Ae−iω0 T0 (2.27.10)

where A = A(T1 , T2 ). Substituting the above equation into (2.27.8), we obtain

D02 v1 + ω02 v1 = −2D0 D1 (Aeiω0 T0 + Ae−iω0 T0 ) − α2 (Aeiω0 T0 + Ae−iω0 T0 )2

= −2α2 AA − 2iω0 D1 Aeiω0 T0 − α2 A2 e2iω0 T0 + cc
(2.27.11)
2.27 Exercise 2.27 (Equations Containing Second, Third and Fourth Order … 79

To eliminate secular terms, we need D1 A = 0. Therefore A = A(T2 ) and the

particular solution of (2.27.11) is

2α2 AA α2 A2 2iω0 T0
v1 = − + e + cc (2.27.12)
ω02 3ω02

Substitute (2.27.10) and (2.27.12) into (2.27.9), and take A = A(T2 ) into account,
we obtain

D02 v2 + ω02 v2 = −2D0 D1 v1 − (D12 + 2D0 D2 )v0 − 2α2 v0 v1 − α3 v03

10α 2 (2.27.13)
= [−2iω0 D2 A + ( 3ω22 − 3α3 )A2 A]eiω0 T0 + cc + NST
0

where cc denotes the complex conjugate term of its preceding terms and NST denotes
terms which do not generate secular terms. In order to eliminate the secular term, we
need

10α22
2iω0 D2 A − ( − 3α3 )A2 A = 0 (2.27.14)
3ω02
1 iβ
Let A= ae (2.27.15)
2
Substitute (2.27.15) into (2.27.14), we obtain

1 10α22
iω0 D2 a − ω0 aD2 β − ( − 3α3 )a3 = 0 (2.27.16)
8 3ω02

Separate the real and imaginary parts of the above equation yields

1 10α22
D2 a = 0, D2 β + ( − 3α3 )a2 = 0 (2.27.17)
8ω0 3ω02

So a is a constant. Integrating the second equation of (2.27.17), we obtain

1 10α22
β=− ( − 3α3 )a2 T2 + β0 (2.27.18)
8ω0 3ω02

Combining the above results, the first-order approximate solution of the Exercise
can be written as

1 10α22
u = εacos[ω0 t − ( − 3α3 )a2 ε2 t + β0 ] + · · · (2.27.19)
8ω0 3ω02

Let ε = 1 yields
80 2 Conservative Single-Degree-of-Freedom Systems

1 10α22
u = acos[ω0 t − ( − 3α3 )a2 t + β0 ] + · · · (2.27.20)
8ω0 3ω02

Therefore, the relationship between the frequency and the amplitude of the
oscillation is

1 10α22
ω = ω0 − ( − 3α3 )a2 (2.27.21)
8ω0 3ω02
3 5 2 2
or ω2 = ω02 + α3 a2 − α a (2.27.22)
4 6ω02 2

For this question, ω02 = 3, α2 = 6, α3 = 4, so

ω2 = 3 − 7a2 (2.27.23)

2.28 Exercise 2.28 (Solving Nonlinear Equations

with Segmentation Functions)

Solution: Cases (a) and (b) are special cases of (c), therefore, we solve for case (c).
As seen from the Fig. 2.9a–c, F(u) is an odd function of u, so this Exercise can be
solved by harmonic balance method, equivalent linearization method and Galerkin
method. Here, we use the Galerkin method.
Let

u = acos(ωt + β)

The residual R is R = −ω2 acos(ωt + β) + F[acos(ωt + β)]

From the condition < Racos(ωt + β) > = 0, we obtain

T
1
0 = Racos(ωt + β) = Racos(ωt + β)dt
T
0
T
ω2 a2 1
=− + acos(ωt + β)F[acos(ωt + β)]dt
2 T
0
2π
ω2 a2 1
=− + acosψF[acosψ]d ψ
2 2π
0
2.28 Exercise 2.28 (Solving Nonlinear Equations with Segmentation Functions) 81

(a) (b)

(c)

Fig. 2.9 F(u) for three different cases (a)–(c) in Exercise 2.28

π/2
ω2 a2 2
=− + acosψF[acosψ]d ψ
2 π
0

√
Since d ψ = −du/(asinψ) = −du/ a2 − u2 , the above equation can be changed
to

0 =< Racos(ωt + β) >

0
ω2 a2 2 uF(u)du
=− − √
2 π a 2 − u2
a
ac a
ω2 a2 2 uF(u)du 2 uF(u)du
=− + √ + √
2 π a −u
2 2 π a 2 − u2
0 ac
ac a
ω2 a2 2 uF(u)du 2 uF(u)du
=− + √ + √ (2.28.1)
2 π a −u
2 2 π a 2 − u2
0 ac

The two integrals on the right-hand side of Eq. (2.28.1) are calculated as follows:
82 2 Conservative Single-Degree-of-Freedom Systems

ac ac ac

uF(u)du uF(u) k1 u2
√ = √ du = √ du
a 2 − u2 a 2 − u2 a 2 − u2
0 0 0

 ac 
= k1 (−u a2 − u2 a0c + a2 − u2 du)
0
 u 2 a2 u
= k1 (−u a2 − u2 a − u2 a0c + sin−1
ac
0 + ac
0 )
2 2 a
u 2 a2 u
= k1 (− a − u2 a0c + sin−1 a0c )
2 2 a
k1 ac  2 k a 2
a
sin−1
1 c
=− a − ac2 +
2 2 a
a a a
uF(u)du uF(u) [k1 ac + k2 (u − ac )]u
√ = √ du = √ du
a 2 − u2 a 2 − u2 a 2 − u2
ac ac ac

a a
(k1 ac − k2 ac )u k2 u2
= √ du + √ du
a 2 − u2 a 2 − u2
ac ac

 k2 u  2 k2 a2 −1 u
= −(k1 ac − k2 ac ) a2 − u2 a
ac − a − u2 a
ac + sin a
ac
2 2 a
 k2 ac  2 π k2 a2 k2 a2 −1 ac
= (k1 ac − k2 ac ) a2 − ac2 + a − ac2 + − sin
2 4 2 a
Substituting these two results into (2.28.1), we obtain

ω2 a2 2 k1 ac  2 k1 a2 −1 ac
− + [− a − ac2 + sin
2 π 2 2 a
 k a 
2 c
+ (k1 ac − k2 ac ) a2 − ac2 + a2 − ac2
2

π k2 a2 k2 a2 −1 ac
+ − sin ]=0 (2.28.2)
4 2 a

2 ac ac ac2
So ω = k2 − (k2 − k1 )[sin−1 +
2
1− ] (2.28.3)
π a a a2

This is the nonlinear frequency-amplitude relationship of the system when F(u)

is shown in Fig. 2.9c.
For case (a), k2 = 0 in (2.28.3), so the nonlinear frequency-amplitude relationship
can be obtained as
2.29 Exercise 2.29 (Nonlinear Equations with a Single Arbitrary Subpartial … 83

2k1 ac ac ac2
ω =
2
[sin−1 + 1− ] (2.28.4)
π a a a2

For case (b), k1 = 0 in (2.28.3), so the nonlinear frequency-amplitude relationship

can be obtained as

2k2 −1 ac ac a2
ω = k2 −
2
[sin + 1 − c2 ] (2.28.5)
π a a a

2.29 Exercise 2.29 (Nonlinear Equations with a Single

Arbitrary Subpartial Nonlinear Term Only)

Solution: Let the solution of the equation be

u = acos(ωt + β)

Substituting it for the given nonlinear differential equation, we obtain

−ω2 acosψ + kan cosn ψ = 0, ψ = ωt + β (2.29.1)

cosn ψ is a periodic function of ψ with a period of 2π , which can be expanded into

a Fourier series

cosn ψ = b1 cosψ + · · ·

where

2π 
π/2
b1 = 1
π
cosψcos n
ψd ψ = 4
π
cosn+1 ψd ψ
√ 0 0
4 π [ 2 (n+2)] [ 1 (n+2)]
1
= π 2 [ 21 (n+3)]
= √2π [ 21 (n+3)]
2

The second equal sign of the above equation holds because n is an odd integer.
Substituting this to (2.29.1), we obtain

2 [ 21 (n + 2)]
−ω2 cosψ + kan−1 √ cosψ + · · · = 0
π [ 21 (n + 3)]

So

2k [ 1 (n + 2)]
ω2 = √ an−1 21 (2.29.2)
π [ 2 (n + 3)]
84 2 Conservative Single-Degree-of-Freedom Systems

2.30 Exercise 2.30 (Higher Order Nonlinear Equations)

Solution: Let u = 1 + v and substitute it to the governing equation, we obtain

0 = v̈ − (1 + v) + (1 + v)n
= v̈ − (1 + v) + 1 + nv + n(n−1)
2!
v2 + n(n−1)(n−2) 3
3!
v + ···

i.e.
1 1
v̈ + (n − 1)v + n(n − 1)v2 + n(n − 1)(n − 2)v3 + · · · = 0
2 6
Let
1 1
ω02 = n − 1, α2 = n(n − 1), α3 = n(n − 1)(n − 2)
2 6

Retaining to O(v3 ), the equation becomes

v̈ + ω02 v + α2 v2 + α3 v3 = 0 (2.30.1)

Equation (2.30.1) is the same as the equation in Exercise 2.27, so the relationship
between the oscillation frequency ω and the amplitude a is

3 5 2 2
ω2 = ω02 + α3 a2 − α a (2.30.2)
4 6ω02 2
1 1
i.e. ω2 = (n − 1)[1 − ( n + 1)na2 ] (2.30.3)
4 3

2.31 Exercise 2.31 (Motion of the Disk Constrained

by a Linear Spring)

Solution: (a) The kinetic energy of the system is

1 2 2
T= mr θ̇ (2.31.1)
2
The potential energy of the system is

1
V = k{[ r 2 + (r + l)2 − 2r(r + l)cosθ − f ]2 − (l − f )2 }
2
2.31 Exercise 2.31 (Motion of the Disk Constrained by a Linear Spring) 85

1 
= k{[ 2r(r + l)(1 − cosθ ) + l 2 − f ]2 − (l − f )2 } (2.31.2)
2
where f is the free length of the spring. Substituting the kinetic and potential energy
into the Lagrange’s equation, we obtain

f
mr 2 θ̈ + kr(r + l){1 − }sinθ = 0
[r 2 + (r + l) − 2r(r + l)cosθ ]1/2
2

f
i.e., θ̈ + ω2 {1 − }sinθ = 0 (2.31.3)
[2r(r + l)(1 − cosθ ) + l 2 ]1/2

where ω2 = 2k(r + l)/(mr).

(b) From (2.31.2), we can write

2V 
= [ 2r0 (r0 + 1)(1 − cosθ ) + 1 − f0 ]2 − (1 − f0 )2 (2.31.4)
kl 2
f r
where f0 = , r0 = , (2.31.5)
l l

From (2.31.4), we can draw the potential energy curve taking the form of 2V /kl 2 ∼
θ in Fig. 2.10a–c, where r0 = 1/2 and f0 take different constant values. It can be
seen that.

(i) When f ≤ l, there is only one equilibrium point θ = 0, which is a center.

(ii) When l < f < l + 2r, there are three equilibrium points, where θ = 0 is the
1−f02
saddle point and θ = ±cos−1 [1 + 2r0 (r0 +1) ] are the centers.
(iii) When f ≥ l + 2r, there is only one equilibrium point θ = 0, which is the
saddle point.

(c) Using (2.31.5), we can write the Eq. (2.31.3) as

f0
θ̈ + ω2 {1 − }sinθ = 0 (2.31.6)
[2r0 (r0 + 1)(1 − cosθ ) + 1]1/2
f r
where f 0 = , r0 = , (2.31.7)
l l
We have already known that there are three equilibrium points when l < f < l +
2r:

1 − f02 1 − f02
θ0 = 0, θ1 = cos−1 [1 + ], θ2 = −cos−1 [1 + ]
2r0 (r0 + 1) 2r0 (r0 + 1)
(2.31.8)
86 2 Conservative Single-Degree-of-Freedom Systems

(a)

(b)

(c)

Fig. 2.10 Potential energy curves when a f = 0.5l, b f = l+r, r = 0.5l and c f = l+3r, r = 0.5l
for Exercise 2.31

where θ0 is the saddle point and θ1 and θ2 are the centers. Let’s study the periodic
motion around θ1 . Let

θ = θ1 + u (2.31.9)

Substitute it into (2.31.6) and make an expansion, we obtain

1 1
ü + ω2 [h‘ (θ1 )u + h“ (θ1 )u2 + h“‘ (θ1 )u3 + · · · ] = 0 (2.31.10)
2 6
2.32 Exercise 2.32 (Rolling Without Slip Rollers Restrained by a Linear Spring) 87

f0
where h(θ ) = {1 − }sinθ (2.31.11)
[2r0 (r0 + 1)(1 − cosθ ) + 1]1/2
1 2 “ 1
and ω02 = ω2 h‘ (θ1 ), α2 = ω h (θ1 ), α3 = ω2 h“‘ (θ1 ) (2.31.12)
2 6

Retaining to O(u3 ), the Eq. (2.31.10) becomes

ü + ω02 u + α2 u2 + α3 u3 = 0 (2.31.13)

which is the same type of equation as (2.27.4) in Exercise 2.2(c), so the relationship
∼
between the oscillation frequency ω and the amplitude a is

∼ 1 10α22
ω= ω0 − ( − 3α3 )a2 (2.31.14)
8ω0 3ω02

2.32 Exercise 2.32 (Rolling Without Slip Rollers Restrained

by a Linear Spring)

Solution: (a) The kinetic energy of the system is

1 3 2 ẋ 2 1 3
T= ( Mr )( ) = · M ẋ2
2 2 r 2 2
The potential energy of the system is

1  2 1 
V = k[( x + r 2 − f )2 − (r − f )2 ] = k[x2 + 2f · (r − x2 + r 2 )]
2 2
where f is the free length of the spring. Substituting the kinetic and potential energy
into the Lagrange’s equation, we obtain

3 x
M ẍ + kx − kf √ =0
2 x + r2
2

i.e. ẍ + ω2 [1 − (x2 + r 2 )−1/2 f ]x = 0 (2.32.1)

where ω2 = 2k/3M . If x/r and f /r are still be written as x and f in the above
equation, the equation controlling the motion of the cylinder can be obtained as

ẍ + ω2 [1 − (1 + x2 )−1/2 f ]x = 0 (2.32.2)
88 2 Conservative Single-Degree-of-Freedom Systems

Note, however, that x and f are now dimensionless lengths.

(b) Transforming x and f in the potential energy expression to dimensionless lengths,
we obtain
2V 
2
= x2 + 2f · (1 − x2 + 1) (2.32.3)
kr
From the Eq. (2.32.3), we can draw the potential energy curve taking the form of
2V /kr 2 ∼ x in Fig. 2.11 for different value of f . It can be seen that: when f ≤ 1,
there is only one equilibrium point x = 0, which is a center; when f > 1, there are
three equilibrium points, of which x = 0, is the saddle point, and the remaining two
are the centers.
√
(c) When f = 2, as shown in Fig. 2.11, the system has three equilibrium points,
of which x = ±1 are the centers. Let’s investigate the periodic motion around x = 1
by letting

x =1+u (2.32.4)

Substitute it into the Eq. (2.32.2), we obtain

√
2
ü + ω [1 − 
2
](1 + u) = 0
1 + (1 + u)2

Expanding the above equation and retaining to O(u3 ) gives

√
2
0 = ü + ω [1 − √ 
2
](1 + u)
u2 +2u
2 1+ 2

Fig. 2.11 Potential energy

curve for different values of
f for Exercise 2.32
2.33 Exercise 2.33 (Example of Higher-Order System) 89

u2 + 2u 3 u2 + 2u 2
= ü + ω2 {1 − [1 − + ( ) + · · · ]}(1 + u)
4 8 2
u + 2u
2
3
= ü + ω2 [ − (u2 + 2u)2 ](1 + u)
4 32
2 1 1 2 3 3
= ü + ω [ u − u − u ](1 + u)
2 8 8
2 1 1 2 3 3 1 2 1 3
= ü + ω [ u − u − u + u − u ]
2 8 8 2 8
1 3 1
= ü + ω2 [ u + u2 − u3 ]
2 8 2
1 3 1
i.e. ü + ω2 u + ω2 u2 − ω2 u3 = 0 (2.32.5)
2 8 2
1 2 3 1
Let ω02 = ω , α2 = ω2 , α3 = − ω2 (2.32.6)
2 8 2
(2.32.5) becomes

ü + ω02 u + α2 u2 + α3 u3 = 0 (2.32.7)

Equation (2.32.7) is the same as the equation in the previous Exercise, so the
∼
relationship between the oscillation frequency ω and the amplitude a is

∼2 3α3 2 5α22 2
ω = ω02 + a − a (2.32.8)
4 6ω02

Substituting (2.32.6) to the above equation, we obtain

∼2 1 63 2 2
ω =( − a )ω (2.32.9)
2 128

2.33 Exercise 2.33 (Example of Higher-Order System)

Solution: (a) When 0 = ε << 1, the original equation becomes

...
u − δ(1 − u2 )u̇ = 0 (2.33.1)

Let x = u̇, then we have


u̇ = x
(2.33.2)
ẍ − δ(1 − u2 )x = 0
90 2 Conservative Single-Degree-of-Freedom Systems

So

d ẋ δ(1 − u2 )x
= = δ(1 − u2 )
du x
1
After integration, ẋ − δ(u − u3 ) = bδ (2.33.3)
3
where b is the integration constant. The above equation is

1
ü − δ(u − u3 ) = bδ
3
1 4 1 2
Integrate again and obtainu̇2 + 2δ( u − u + bu) = E (2.33.4)
12 2
where E is the integration constant.
The first equation of the system of Eqs. (2.33.2), together with the Eq. (2.33.3),
form a new system of equations of the first order:
⎧
⎨ u̇ = x
(2.33.5)
⎩ ẋ = δ(u − 1 u3 ) + bδ
3
System of Eqs. (2.33.5) and (2.33.1) are equivalent and, consequently, they have
the same equilibrium points. The equilibrium points of (2.33.5) can be determined
by
⎧ 
⎨x = 0 x=0
⇒ (2.33.6)
⎩ δ(u − 1 u3 ) + bδ = 0 u3 − 3u − 3b = 0
3
The discriminant of the second equation is

−3b 2 −3 3 9
=( ) +( ) = b2 − 1 (2.33.7)
2 3 4
So, when  < 0, i.e., b < 2/3, the system has three equilibrium points. When
 > 0, i.e., b > 2/3, the system has only one equilibrium point.
Here’s how to draw the phase trajectories of the system. Write the Eq. (2.33.4) as
⎧
⎨ V (u) = 2δ( 1 u4 − 1 u2 + bu)
⎩  12 2 (2.33.8)
u̇ = ± E − V (u)
2.33 Exercise 2.33 (Example of Higher-Order System) 91

For a given value of b, the phase trajectories can be drawn from the Eq. (2.33.8). The
potential energy curves and phase trajectories for different values of b are given in
Fig. 2.12a–c (δ = 1).
(b) When 0 = ε << 1, the original equation can be written as
...
u − δ u̇ + δu2 u̇ + εü + εu̇ − εδ u̇ = 0 (2.33.9)

i.e. d
dt
(ü − δu + 13 δu3 + εu̇ + εu − εδu) = 0

(a) (b)

(c)

Fig. 2.12 Potential energy curves and solution trajectories when a b = 0, b b = 0.5 and c b = 1
for Exercise 2.33
92 2 Conservative Single-Degree-of-Freedom Systems

1
i.e., ü − δu + δu3 + εu̇ + εu − εδu = h (2.33.10)
3
where h is the integration constant. Let us be the singularity of (2.33.10), then it
requires

1 3
δu − (δ + εδ − ε)us − h = 0 (2.33.11)
3 s

Let u = us + εv (2.33.12)

Therefore, the Eq. (2.33.10) becomes

1
v̈ + δ(us2 − 1)v + ε(1 − δ)v + εv̇ + εδus v2 + ε2 δv3 = 0 (2.33.13)
3
1
Let ω02 = δ(us2 − 1), α2 = δus , α3 = δ (2.33.14)
3
then Eq. (2.33.13) changes to

v̈ + ω02 v + ε(1 − δ)v + εv̇ + εα2 v2 + ε2 α3 v3 = 0 (2.33.15)

We seek an expansion of the following form for the solution of the above equation
around the singularity v = 0

v = v0 (T0 , T1 , T2 ) + εv1 (T0 , T1 , T2 ) + ε2 v2 (T0 , T1 , T2 ) + · · · (2.33.16)

where Tn = εn t. Substitute (2.33.16) into (2.33.15), we obtain

0 = v̈ + ω02 v + ε(1 − δ)v + εv̇ + εα2 v2 + ε2 α3 v3

= [D02 + 2εD0 D1 + ε2 (D12 + 2D0 D2 ) + · · · ](v0 + εv1 + ε2 v2 + · · · )
+ ω02 (v0 + εv1 + ε2 v2 + · · · ) + ε(1 − δ)(v0 + εv1 + · · · )
+ ε(D0 + εD1 )(v0 + εv1 + · · · ) + εα2 (v0 + εv1 + ε2 v2 + · · · )2
+ ε2 α3 (v0 + εv1 + ε2 v2 + · · · )3
= D02 v0 + ω02 v0 + ε[D02 v1 + 2D0 D1 v0 + ω02 v1 + (1 − δ)v0 + D0 v0 + α2 v02 ]
+ ε2 [D02 v2 + 2D0 D1 v1 + (D12 + 2D0 D2 )v0 + ω02 v2 + (1 − δ)v1
+ D0 v1 + D1 v0 + 2α2 v0 v1 + α3 v03 ] + · · · (2.33.17)

Retaining to O(ε2 ) and equating coefficients of the same power of ε gives

D02 v0 + ω02 v0 = 0 (2.33.18)

2.33 Exercise 2.33 (Example of Higher-Order System) 93

D02 v1 + ω02 v1 = −2D0 D1 v0 − (1 − δ)v0 − D0 v0 − α2 v02 (2.33.19)

D02 v2 + ω02 v2 = −2D0 D1 v1 − (D12 + 2D0 D2 )v0 − (1 − δ)v1

(2.33.20)
−D0 v1 + D1 v0 − 2α2 v0 v1 − α3 v03

The general solution of Eq. (2.33.18) is

v0 = Aeiω0 T0 + Ae−iω0 T0 (2.33.21)

where A = A(T1 , T2 ). Substituting the above equation into (2.33.19), we obtain

D02 v1 + ω02 v1 = −2D0 D1 v0 − (1 − δ)v0 − D0 v0 − α2 v02

= −2D0 D1 (Aeiω0 T0 + Ae−iω0 T0 )
−(1 − δ)(Aeiω0 T0 + Ae−iω0 T0 )
−iω0 (Aeiω0 T0 − Ae−iω0 T0 ) (2.33.22)
−α2 (Aeiω0 T0 + Ae−iω0 T0 )2
= −2α2 AA − [2iω0 D1 A + (1 − δ)A + iω0 A]eiω0 T0
−α2 A2 e2iω0 T0 + cc

In order to eliminate secular terms, we need

2iω0 D1 A + (1 − δ)A + iω0 A = 0 (2.33.23)

1 iβ
Let A= ae (2.33.24)
2
Substitute (2.33.24) into (2.33.23), we obtain

1 1
iω0 D1 a − ω0 aD1 β + (1 − δ)a + iω0 a = 0 (2.33.25)
2 2
Separate the real and imaginary parts of the above equation yields

D1 a + 21 a = 0
(2.33.26)
D1 β − 2ω1 0 (1 − δ) = 0

a = a0 e−T1 /2 (2.33.27)

1
β = β0 exp[ (1 − δ)T1 ] (2.33.28)
2ω0

Combining the above results, we can obtain the first-order approximate solution
of the original Eq. (2.33.9)
94 2 Conservative Single-Degree-of-Freedom Systems

u = us + εv
= us + εacos(ω0 T0 + β)
= us + εa0 e−T1 /2 cos{ω0 T0 + β0 exp[ 2ω1 0 (1 − δ)T1 ]}
ε
i.e. u = us + εa0 e−εt/2 cos{ω0 t + β0 exp[ (1 − δ)t]} (2.33.29)
2ω0

The oscillation of the system is decaying near the singularity, and therefore, the
singularity is a focal point.

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Chapter 3
Nonconservative
Single-Degree-of-Freedom Systems

3.1 Exercise 3.1 (Singularity Analyses I)

Solution: (a) In order to find the singular points for the equation, we set ü = u̇ = 0
in the original equation and obtain

u + u3 = 0 (3.1.1)

therefore, the equation has only one real number solution, i.e., the singular point is

us = 0 (3.1.2)

Let v = u̇, then the differential equation for the trajectories is

dv 2μv + u + u3
=− (3.1.3)
du v
The phase trajectories can be sketched in Fig. 3.1a. The singular point is a stable
focus.
(b) Set ü = u̇ = 0, we obtain

u − u3 = 0 (3.1.4)

therefore, the equation has three real number solutions, i.e., the singularities are

us0 = 0, us1, s2 = ±1 (3.1.5)

Let v = u̇, then the differential equation for the trajectories is

© The Author(s) 2025 95

Z. He et al., Solved Problems in Nonlinear Oscillations,
[Link]
96 3 Nonconservative Single-Degree-of-Freedom Systems

(a) (b)

(c) (d)
Fig. 3.1 Phase trajectories for Exercise 3.1 (a)–(d) (μ = 0.1)

dv 2μv + u − u3
=− (3.1.6)
du v
The phase trajectories can be sketched in Fig. 3.1b. The singular point us0 = 0 is
a stable focus, while us1,s2 = ±1 are two saddle points.
(c) Set ü = u̇ = 0, we obtain

−u + u3 = 0 (3.1.7)

therefore, the equation has three real number solutions, i.e., the singularities are

us0 = 0, us1,s2 = ±1 (3.1.8)

Let v = u̇, then the differential equation for the trajectories is

dv 2μv − u + u3
=− (3.1.9)
du v
3.2 Exercise 3.2 (Singularity Analyses II) 97

The phase trajectories can be sketched in Fig. 3.1c. The singular point us0 = 0 is
the saddle point, while us1,s2 = ±1 are two stable foci.
(d) Set ü = u̇ = 0, we obtain

−u − u3 = 0 (3.1.10)

therefore, the equation has only one real number solution, i.e., the singular point is

us = 0 (3.1.11)

Let v = u̇, then the differential equation for the trajectories is

dv 2μv − u − u3
=− (3.1.12)
du v
The phase trajectories can be sketched in Fig. 3.1d. The singular point us0 = 0 is
the saddle point.

3.2 Exercise 3.2 (Singularity Analyses II)

Solution: Let ẋ = ẏ = 0, we obtain

x2 − y = 0, x − y = 0

and find singularities s1 (0, 0) and s2 (1, 1).

Linearizing the original equation around s1 (0, 0) yields
    
ẋ 0 −1 x
=
ẏ 1 −1 y

The characteristic equation of the system matrix is

λ2 + λ + 1 = 0

The eigenvalues are

√ √
−1 + i 3 −1 − i 3
λ1 = , λ2 = .
2 2
 
Since Re λ1,2 < 0, the singular point s1 (0, 0) is a stable focus.
Linearizing the original equation around s2 (1, 1) yields
98 3 Nonconservative Single-Degree-of-Freedom Systems

Fig. 3.2 Phase trajectories

and separatrices for Exercise
3.2

    
ẋ 2 −1 x
=
ẏ 1 −1 y

The characteristic equation of the system matrix is

λ2 − λ − 1 = 0

The eigenvalues are

√ √
1+ 5 1− 5
λ1 = > 0, λ2 = <0
2 2
Therefore, the singular point s2 (1, 1) is the saddle point.
We can sketch the trajectories and the separatrices in the state plane by direct
numerical integration of the original equations, as in Fig. 3.2.

3.3 Exercise 3.3 (Singularity Analyses III)

Solution: Let ẋ = ẏ = 0, we obtain

x2 + y2 − 5 = 0, xy − 2 = 0

and find singularities s1 (1, 2), s2 (−1, −2), s3 (2, 1) and s4 (−2, −1).
Linearizing the original equation around s1 (1, 2) yields
    
ẋ 24 x
=
ẏ 21 y
3.3 Exercise 3.3 (Singularity Analyses III) 99

The characteristic equation of the system matrix is

λ2 − 3λ − 6 = 0

The eigenvalues are

√ √
3+ 33 3 − 33
λ1 = > 0, λ2 = <0
2 2
therefore, the singular point s1 (1, 2) is the saddle point.
Linearizing the original equation around s2 (−1, −2) yields
    
ẋ −2 −4 x
=
ẏ −2 −1 y

The characteristic equation of the system matrix is

λ2 − 3λ − 6 = 0

The eigenvalues are

√ √
3+ 33 3 − 33
λ1 = > 0, λ2 = <0
2 2
therefore, the singular point s2 (−1, −2) is the saddle point.
Linearizing the original equation around s3 (2, 1) yields
    
ẋ 42 x
=
ẏ 12 y

The characteristic equation of the system matrix is

λ2 − 6λ + 6 = 0

The eigenvalues are

√ √
λ1 = 3 + 3 > 0, λ2 = 3 − 3>0

therefore, the singular point s3 (2, 1) is an unstable node.

Linearizing the original equation around s4 (−2, −1) yields
    
ẋ −4 −2 x
=
ẏ −1 −2 y

The characteristic equation of the system matrix is

100 3 Nonconservative Single-Degree-of-Freedom Systems

Fig. 3.3 Phase trajectories

and separatrices for Exercise
3.3

λ2 + 6λ + 6 = 0

The eigenvalues are

√ √
λ1 = −3 + 3 < 0, λ2 = −3 − 3<0

So, the singular point s4 (−2, s − 1) is a stable node.

We can sketch the trajectories and the separatrices in the state plane by direct
numerical integration of the original equations, as in Fig. 3.3.

3.4 Exercise 3.4 (Conversion of Rayleigh’s Equation to Van

Der Pol’s Equation)

Solution: Take the derivative of Rayleigh’s equation with respect to t to get

...
x − ε(ẍ − ẍẋ2 ) + ẋ = 0

Let u = ẋ, the above equation becomes

 
ü − ε 1 − u2 u̇ + u = 0

This is the van der Pol equation.

3.6 Exercise 3.6 (Plotting Phase Trajectories and Limit Cycle(S) for a Given … 101

Fig. 3.4 Auxiliary curves, phase trajectories and limit cycle(s) for the given van der Pol equation
in Exercise 3.5 (ε = 0.1, β = 1)

3.5 Exercise 3.5 (Plotting Phase Trajectories and Limit

Cycle(S) for the Van Der Pol Equation)

Solution: Let v = u̇, the differential equation for the trajectories is

 
dv ε βv2 − 1 v + u
=−
du v
We can sketch the trajectories and the limit cycle of the given van der Pol equation
in the state plane by direct numerical integration  of theoriginal equations, as in
Fig. 3.4. The equation of the auxiliary curve is ε βv2 − 1 v + u = 0. The radius of
the limit cycle is 1.211 with parameters being set up as ε = 0.1, β = 1. The reader is
also recommended to sketch trajectories by Lienard’s method manually and compare
with Fig. 3.4.

3.6 Exercise 3.6 (Plotting Phase Trajectories and Limit

Cycle(S) for a Given Equation)

Solution: Let v = u̇, the differential equation for the trajectories is

102 3 Nonconservative Single-Degree-of-Freedom Systems

dv μ sin v + u
=−
du v
The equation of the auxiliary curve is μsinv + u = 0
We can sketch the trajectories and the limit cycle of the given equation in the
state plane by direct numerical integration of the original equations, as in Fig. 3.5
(μ = 0.8). The origin of the phase plane is the stable focus. Since the auxiliary curve
of this equation varies periodically along the longitudinal axis, the equation actually
has an infinite number of limit cycles. As can be seen from the figure, the stable
limit cycles (including stable foci) alternate with the unstable limit cycles. It should
be pointed out that the phase trajectory from any point in the neighborhood of the
unstable limit cycle is divergent, so it is impossible to obtain the exact unstable limit
cycle by numerical calculation. We draw the approximate unstable limit cycle in
the figure by searching between two neighboring limit cycles and the intersection of
auxiliary curves. If the phase trajectories on both sides of a point converge to different
stable limit cycles, this point approximately locates on the unstable limit cycle. Two
approximate half-limit cycles are obtained by conducting integration on the forward
and reverse timeline from this point, respectively. The data will be corrected in a
certain way so that they will form a complete approximation of the unstable limit
cycle.
The reader is also recommended to sketch trajectories by Lienard’s method
manually and compare with Fig. 3.5.

Fig. 3.5 Auxiliary curves, phase trajectories and limit cycle(s) for the given equations (μ = 0.8)
in Exercise 3.6
3.7 Exercise 3.7 (Plotting Singularity and Phase Trajectories for a Given … 103

3.7 Exercise 3.7 (Plotting Singularity and Phase

Trajectories for a Given Planar System)

Solution: Let ẋ1 = ẋ2 = 0, we obtain


−μx1 + k sin x2 = 0
σ − αx12 + xk1 cos x2 = 0

i.e.,

μx1 = k sin x2
(3.7.1)
αx13 − σ x1 = k cos x2

Squaring and adding these two equations, we obtain

 
α 2 x16 − 2ασ x14 + σ 2 + μ2 x12 − k 2 = 0 (3.7.2)

x1 can be obtained from Eq. (3.7.2), x2 can be obtained by substituting x1 into the
first equation of the system of Eq. (3.7.1).
Find the maximum value of x1 by differentiating Eq. (3.7.2) with respect to σ and
letting dx1 /d σ = 0, we obtain

−2αx14 + 2σ x12 = 0 (3.7.3)

Join the two Eqs. (3.7.2) and (3.7.3), we obtain

αk 2 k
σ = , x1max = (3.7.4)
μ 2 μ

From (3.7.2), we can solve for σ in terms of x1

k2
σ = αx12 ± − μ2 (3.7.5)
x12

Then from the system of Eq. (3.7.1), we can obtain

μx1
tan x2 = (3.7.6)
αx13− σ x1

We plot x1 and x2 as a function of σ (determined by (3.7.5) and (3.7.6)) for three

sets of parameters in the Exercise in Fig. 3.6a, b, respectively. Here, 0 < x2 < π can
be obtained from the first equation of (3.7.1). In addition, we assume that x1 > 0.
104 3 Nonconservative Single-Degree-of-Freedom Systems

-Singularity
(a)

(b)

(c) (d)

(e)

Fig. 3.6 a x1 ~ σ and b x2 ~ σ curves and trajectories at c σ = 0, d σ = 3 and e σ = 4 for Exercise

3.7
3.7 Exercise 3.7 (Plotting Singularity and Phase Trajectories for a Given … 105

For α = 1, k = 1, andμ = 1/2, when σ = 0,3 and 4, we can obtain the

corresponding singular points from the first equation of the system of Eqs. (3.7.1)
and (3.7.5):
When σ = 0, there is only one singular point

s1 : x1(1) , x2(1) = (0.9580, 0.5000) (3.7.7)

When σ = 3, there are three singular points

s2 : x1(2) , x2(2) = (0.3420, 2.9697)

s3 : x1(3) , x2(3) = (1.6260, 2.1923)

s4 : x1(4) , x2(4) = (1.8000, 1.1198) (3.7.8)

When σ = 4, there are two singular points

π
s5 : x1(5) , x2(5) = (0.2520, 3.0153), s6 : x1(5) , x2(5) = 2, (3.7.9)
2
The coordinate positions of all singular points are shown in Fig. 3.6a, b.
To examine the stability of each singularity, let

x1 = x1(i) + u, x2 = x2(i) + v (3.7.10)

where x1(i) , x2(i) denotes the coordinate of the singular point si . The original
equation becomes
⎧
⎨ u̇ = −μ x(i) + u + k sin(x(i) + v)
1 2
⎩ v̇ = σ − α x1(i) + u)2 + k
cos(x2(i) + v
u+x1(i)

The linearized form of above equations is

    
u̇ −μ k cos x2(i) u
= k cos x(i) (3.7.11)
v̇ −2αx1(i) − (i) 22 − k(i) sin x2(i) v
(x ) x
1 1

Considering the system of Eq. (3.7.1), the characteristic equation of coefficient

matrix of (3.7.11) can be obtained as
106 3 Nonconservative Single-Degree-of-Freedom Systems
 
 
 −μ − λ −x1(i) [σ − x1(i) )2 α 
  =0 (3.7.12)
 1 (i) 
 (i) [σ − 3 x1 )2 α −μ − λ
x1

  
i.e., λ2 + 2μλ + μ2 + σ − α x1(i) )2 σ − 3α x1(i) )2 = 0 (3.7.13)
  
So, when = σ − α x1(i) )2 σ − 3α x1(i) )2 + μ2 < 0 (3.7.14)

the singular point is unstable, otherwise stable.

Substituting the parameter α = 1, k = 1, μ = 1/2 and the coordinates of
each singularity into (3.7.14), we can obtain the value of  corresponding to each
singularity:

s1 s2 s3 s4 s5 s6
 = 2.777 7.887 −1.506 1.863 15.246 0.250

So, s3 is an unstable singularity and the others are stable singularities.

We can sketch the trajectories in the state plane for σ = 0, 3, and 4 in Fig. 3.6c–e,
respectively, when α = 1, k = 1, μ = 1/2.

3.8 Exercise 3.8 (Plot the Trajectory of a Singularity

for a Given Planar System and Determine the Stability
of the Singularity)

Solution: (a) Let ẋ1 = ẋ2 = 0, we can obtain the equations that the singular point
should satisfy
  
x1 1 − x12 = −f cos x2 (3.8.1)
x1 σ + νx12 = f sin x2

Squaring these two equations and adding together yields

 
x12 [(1 − x12 )2 + σ + νx12 )2 = f 2

i.e.,
 
ρ[(1 − ρ)2 + σ + νρ)2 = f 2 (3.8.2)

where ρ = x12 .
(b) We can solve for σ from (3.8.2), i.e.,
3.8 Exercise 3.8 (Plot the Trajectory of a Singularity for a Given Planar … 107

f2
σ = −νρ ± − (1 − ρ)2 (3.8.3)
ρ

The ρ ~ σ curve can be sketched on the ρσ -plane in Figure a for different values
of f from Eq. (3.8.3) when ν = −0.15. It can be seen that when f 2 = 4/27,ρ is a
multi-valued function of σ .
(c) Linearize the original equation around any singularity (x1s , x2s ). To do this, let

x1 = x1s + u, x2 = x2s + v

and substitute them into the original equation, we can obtain the linearized equations
about u and v:
    
u̇ 1 − 3x1s
2
−f sin x2s u
=
v̇ 2νx1s + f sin
2
x1s
x2s
− f cos x2s
x1s
v

Considering Eq. (3.8.1), the above equation becomes

      
u̇ 1 − 3x1s
2
−x1s σ + νx1s
2
u
= σ +νx2 (3.8.4)
v̇ 2νx1s + x1s 1s 1 − x1s
2 v

Considering ρ = x1s
2
, the characteristic equation can be obtained as

λ2 − 2(1 − 2ρ)λ + (1 − ρ)(1 − 3ρ) + (σ + νρ)(σ + 3νρ) = 0 (3.8.5)

So, when

 = (1 − ρ)(1 − 3ρ) + (σ + νρ)(σ + 3νρ) < 0 (3.8.6)

the corresponding eigenvalue is an unstable saddle point; when  = 0, the singular

point inside the ellipse is an unstable saddle, as shown in Fig. 3.7; when  > 0, the
singular point is outside the ellipse and when

D = [2(1 − 2ρ)]2 − 4
  
= 4 1 − 3ν 2 ρ 2 − 4νσρ − σ 2 > 0 (3.8.7)

the singularity is the node and focus for D < 0.

(d) The singular points outside the ellipse are the nodes or foci, and the stability of
these nodes or foci depends on the sign of the real part of λ in Eq. (3.8.5). When

1
1 − 2ρ0 ⇒ ρ (3.8.8)
2
108 3 Nonconservative Single-Degree-of-Freedom Systems

Fig. 3.7 A σ ∼ ρ curve (ν = −0.15) for Exercise 3.8

these nodes or foci are stable; otherwise, they are unstable.

3.9 Exercise 3.9 (The Method of Multiple Scales for Solving

a Single Pendulum with a Coulomb Friction Torque)

Solution: The singular points of the system are θ = integral multiples of π. The even
multiples of π are stable foci, while the odd multiples are saddle points. We seek
an approximate solution of the given equations that is uniformly valid near θ = 0,
taking both damping and nonlinearity into account. To this end, we expand sin θ at
θ = 0 and keep only the first two terms; consequently, the above equation becomes

1
θ̈ + 2μsgnθ̇ + ω02 θ − ω02 θ 3 = 0 (3.9.1)
6
Let θ = εv, we obtain

2μ 1
v̈ + sgn(v̇) + ω02 v − ε2 ω02 v3 = 0 (3.9.2)
ε 6
We are primarily concerned with lightly damped motions. Consequently, we let

μ = ε3 μ̂ (3.9.3)

where ε is a measure of the amplitude of the motion. Now the nonlinear and damping
terms will interact at the same level of approximation.
Substituting this into Eq. (3.9.2) we have
3.9 Exercise 3.9 (The Method of Multiple Scales for Solving a Single … 109

v̈ + ω02 v + 2ε2 μ̂sgn(v̇) + ε2 α3 v3 = 0 (3.9.4)

where α3 = −ω02 /6. Following the method of multiple scales, we assume

v = v0 (T0 , T1 , T2 ) + εv1 (T0 , T1 , T2 ) + ε2 v2 (T0 , T1 , T2 ) + · · · (3.9.5)

Substituting (3.9.5) into (3.9.4) we have

0 = v̈ + ω02 v + 2ε2 μ̂sgn(v̇) + ε2 α3 v3

= [D02 + 2εD0 D1 + ε2 (D12 + 2D0 D2 ) + · · ·]
   
v0 + εv1 + ε2 v2 + · · · + ω02 v0 + εv1 + ε2 v2 + · · ·
 
+ ε2 2μ̂sgn(D0 v0 ) + α3 v03 + · · ·
 
= D02 v0 + ω02 v0 + ε D02 v1 + 2D0 D1 v0 + ω02 v1
   
+ ε2 D02 v2 + 2D0 D1 v1 + D12 + 2D0 D2 v0 + ω02 v2 + 2μ̂sgn(D0 v0 ) + α3 v03 + · · ·
(3.9.6)

Equalizing coefficients of like powers of ε and retaining to O(ε2 ), we obtain

D02 v0 + ω02 v0 = 0 (3.9.7)

D02 v1 + ω02 v1 = −2D0 D1 v0 (3.9.8)

 
D02 v2 + ω02 v2 = −2D0 D1 v1 − D12 + 2D0 D2 v0 − 2μ̂sgn(D0 v0 ) − α3 v03 (3.9.9)

We can write the solution of Eq. (3.9.7) in the form

v0 = Aeiω0 T0 + Ae−iω0 T0 (3.9.10)

where A = A(T1 , T2 ). Substituting the above equation into (3.9.8) yields

D02 v1 + ω02 v1 = −2iω0 D1 Aeiω0 T0 + cc (3.9.11)

where cc denotes the complex conjugate of the preceding terms. In order to eliminate
secular terms, we need D1 A = 0, so A = A(T2 ). It follows that

v1 = 0 (3.9.12)

Substituting (3.9.10) and (3.9.12) into (3.9.9) and taking A = A(T2 ) into account,
we obtain

D02 v2 + ω02 v2 = −2D0 D2 v0 − 2μ̂sgn(D0 v0 ) − α3 v03

110 3 Nonconservative Single-Degree-of-Freedom Systems
 
= −2iω0 D2 A − 3α3 A2 A eiω0 T0 + cc
 
− 2μ̂sgn iω0 Aeiω0 T0 − iω0 Ae−iω0 T0 (3.9.13)

For a general case, we expand f (T0 ) with time period T0 = 2π/ω0 in a Fourier series
as:
∞

f (T0 ) = fn einω0 T0 (3.9.14)
n=−∞

 0
2π/ω
ω0
wherefn = f (T0 )e−inω0 T0 dT0 (3.9.15)
2π
0

For this question, let

f (T0 ) = sgn(iω0 Aeiω0 T0 − iω0 Ae−iω0 T0 ) (3.9.16)

In order to eliminate secular terms, we need

2iω0 D2 A + 3α3 A2 A + 2μ̂f1 = 0 (3.9.17)

1 iβ
Let A = ae (3.9.18)
2

then f (T0 ) = sgn(−ω0 a sin ϕ), where ϕ = ω0 T0 + β (3.9.19)

Therefore

 0
2π/ω 2π
ω0 −iω0 T0 eiβ
f1 = f (T0 )e d T0 = sgn(−ω0 asinφ)e−iφ d φ
2π 2π
0 0
π π
iω0 aeiβ ieiβ
=− sgn(−ω0 asinφ)sinφd φ = sinφd φ
2π π
−π 0
2i iβ
= e (3.9.20)
π
Substituting (3.9.18) and (3.9.20) into (3.9.17) yields

3 4iμ̂ω0 a
iω0 D2 a − ω0 aD2 β + α3 a3 + =0 (3.9.21)
8 π
Separate the real and imaginary parts of the above equation yields
3.10 Exercise 3.10 (Singularities and Their Stability of a Linearly Damped … 111

4μ̂
D2 a + =0 (3.9.22)
π
3α3 2
D2 β − a =0 (3.9.23)
8ω0

Therefore
4μ̂ 4μ
a = a0 −
T2 = a0 − t (3.9.24)
π επ
 3  3
π α3 4μ̂ π α3 3 3 4μ t
β= T2 − a0 + β0 = ε a0 − 1 + β0 (3.9.25)
32μ̂ω0 π 32μω0 π εa0

Combining the above results, the first order approximate solution of the original
equation is
    3 
4μ π α3 3 3 4μ t
θ = εv0 = εa0 − t cos ω0 t + ε a0 − 1 + β0 + · · ·
π 32μω0 π εa0
(3.9.26)

Let ε = 1, we get
    3 
4μ π α3 3 4μ t
θ = a0 − t cos ω0 t + a − 1 + β0 + · · · (3.9.27)
π 32μω0 0 π a0

where α3 = −ω02 /6.

3.10 Exercise 3.10 (Singularities and Their Stability

of a Linearly Damped Pendulum Under a Constant
Torque)

Solution: Let x1 = θ , x2 = ẋ1 , the original equation becomes


ẋ1 = x2
(3.10.1)
ẋ2 = f − 2μx2 − ω02 sin x1

For f = 0, first Eq. (3.10.1) is linearized near the singular point (0,0) as follows
    
ẋ1 0 1 x1
= (3.10.2)
ẋ2 −ω02 −2μ x2
112 3 Nonconservative Single-Degree-of-Freedom Systems

Its characteristic equation is

λ2 + 2μλ + ω02 = 0 (3.10.3)

The eigenvalues are

 
λ1 = −μ + μ2 − ω02 , λ2 = −μ − μ2 − ω02 (3.10.4)

Since μ > 0, the two eigenvalues are conjugate complex numbers with negative
real parts when μ < ω0 , and the corresponding singularity is a stable focus; when
μ ≥ ω0 , both eigenvalues are negative real numbers, and the corresponding singular
point is a stable node. In short, the singular point (0,0) is stable.
Second, Eq. (3.10.1) is linearized near the singular point (π, 0) as follows
    
ẋ1 0 1 x1
= (3.10.5)
ẋ2 ω02 −2μ x2

Its characteristic equation is

λ2 + 2μλ − ω02 = 0 (3.10.6)

The eigenvalues are

 
λ1 = −μ + μ2 + ω02 > 0, λ2 = −μ − μ2 + ω02 < 0 (3.10.7)

Therefore, the singular point (π, 0) is the saddle point and is unstable.
For f = 0, the equilibrium point should satisfy the following equation

x2 = 0
(3.10.8)
f − 2μx2 − ω02 sin x1 = 0

The coordinates of the equilibrium point are

f f
s1 : x1 = sin−1 , x2 = 0; s2 : x1 = π − sin−1 2 , x2 = 0 (3.10.9)
ω02
ω0

Therefore, there is no equilibrium point when f > ω02 . In that case, the external
torque is greater than the maximum gravitational moment of the pendulum, and the
pendulum will make a continuous full-circle slewing motion.
When f ≤ ω02 , first Eq. (3.10.1) is linearized near the singular point s1
    
ẋ1
=  0 1 x1
(3.10.10)
ẋ2 − ω0 − f −2μ
4 2 x2
3.10 Exercise 3.10 (Singularities and Their Stability of a Linearly Damped … 113

Its characteristic equation is


λ2 + 2μλ + ω04 − f 2 = 0 (3.10.11)

The eigenvalues are

  
λ1 = −μ + μ2 − ω04 − f 2 , λ2 = −μ − μ2 − ω02 (3.10.12)

Since μ > 0, the twoeigenvalues are conjugate complex numbers with negative
real parts when μ2 < ω04 − f 2 and the corresponding singular point is a stable

focus. When μ2 ≥ ω04 − f 2 , both eigenvalues are negative real numbers and the
corresponding singular point is a stable node. In short, the singular point s1 is stable.
Second, Eq. (3.10.1) is linearized near the singular point s2
    
ẋ1
=  0 1 x1
(3.10.13)
ẋ2 ω0 − f −2μ
4 2 x2

Its characteristic equation is


λ + 2μλ −
2
ω04 − f 2 = 0 (3.10.14)

The eigenvalues are

  
λ1 = −μ + μ2 − ω04 − f 2 , λ2 = −μ − μ2 − ω02 (3.10.15)

Therefore, the equilibrium point s2 is the saddle point and is unstable.

x2
Let u = x1 , v = , τ = ω0 t (3.10.16)
ω0

Equation (3.10.1) change to


u =v
(3.10.17)
v = ωf 2 − 2μω0 v − sin u
0

√
Taking f /ω02 = 2/2, μω0 = 0.3, the phase trajectory of the system can be
obtained as shown in Fig. 3.8.
114 3 Nonconservative Single-Degree-of-Freedom Systems

√
f
Fig. 3.8 Equilibrium point and phase trajectory line at f = 0 ω02
= 2 ,
2
μω0 = 0.3 for Exercise
3.10

3.11 Exercise 3.11 (Singularities and Their Stability

for a Single Pendulum with a Quadratic Damping)

Solution: Let x1 = θ , x2 = ẋ1 , the original equation becomes


ẋ1 = x2
(3.11.1)
ẋ2 = −2μx2 |x2 | − ω02 sin x1

Equation (3.11.1) is linearized near the singular point (0,0)

    
ẋ1 0 1 x1
= (3.11.2)
ẋ2 −ω02 0 x2

Its characteristic equation is

λ2 + ω02 = 0 (3.11.3)

Its eigenvalues are

λ1 = iω0 , λ2 = −iω0 (3.11.4)

Accordingly, the singular point (0,0) is a center, but the original system is not a
conservative system, so this result must be incorrect. In order to accurately judge
3.12 Exercise 3.12 (Analysis of Rayleigh Equation Singularities, Method … 115

Fig. 3.9 Singular point and phase trajectories of a single pendulum system with quadratic damping
ω0 = 1, μ = 0.2 for Exercise 3.11

the stability of the singular point (0,0), we need the nonlinear terms in the equation.
We directly integrate the nonlinear Eq. (3.11.1) and obtain the phase trajectories as
shown in Fig. 3.9. It can be seen that the singular point (0,0) is the stable focus.

3.12 Exercise 3.12 (Analysis of Rayleigh Equation

Singularities, Method of Averaging of Solution)

Solution: Let x1 = u, x2 = ẋ1 , equation (a) becomes


ẋ1 = x2   (3.12.1)
ẋ2 = −ω02 x1 + ε x2 − x23

Clearly, the singular point is (0,0). Equation (3.12.1) is linearized near this singular
point
    
ẋ1 0 1 x1
= (3.12.2)
ẋ2 −ω02 ε x2

Its characteristic equation is

λ2 − ελ + ω02 = 0 (3.12.3)
116 3 Nonconservative Single-Degree-of-Freedom Systems

Thus, when ε > 0, the singular point (0,0) is an unstable node or unstable focus,
depending on whether ε2 − 4ω02 is greater than zero.
When ε is a positive small parameter, equation (a) can be solved by the method
of averaging. By setting its solution as

u = a cos(ω0 t + β)  a cos ϕ, ϕ = ω0 t + β (3.12.4)

reintroduce the transformation

u̇ = −aω0 sin(ω0 t + β)  −aω0 sin ϕ (3.12.5)

Assume a and β are functions of t. Make the derivatives of Eqs. (3.12.4) and
(3.12.5) with respect to t yields

u̇ = ȧ cos ϕ − aω0 sin ϕ − aβ̇ sin ϕ (3.12.6)

ü = −ȧω0 sin ϕ − aω02 cos ϕ − aω0 β̇ cos ϕ (3.12.7)

From (3.12.5) and (3.12.6), we have

ȧ cos ϕ − aβ̇ sin ϕ = 0 (3.12.8)

Substitute (3.12.7) and (3.12.5) into equation (a), we obtain

 
ȧω0 sin ϕ + aω0 β̇ cos ϕ = −ε −aω0 sin ϕ + a3 ω03 sin3 ϕ (3.12.9)

From Eqs. (3.12.8) and (3.12.9), we can obtain

ε  
ȧ = − −aω0 sin ϕ + a3 ω03 sin3 ϕ sin ϕ (3.12.10)
ω0
ε  
β̇ = − −aω0 sin ϕ + a3 ω03 sin3 ϕ cos ϕ (3.12.11)
ω0 a

When ε is a small parameter, Eqs. (3.12.10) and (3.12.11) imply that a and β vary
much more slowly with time t than ϕ = ω0 t + β. In other words,a and β hardly
change during the period of oscillation 2π/ω0 of ϕ. This enables us to average out
the variations in ϕ in (3.12.10) and (3.12.11). Averaging these equations over the
period 2π/ω0 and considering a, β, ȧ and β̇ to be constants while performing the
averaging, we obtain the following equations describing the slow variations of a and
β:

2π
ε  
ȧ = − −aω0 sin ϕ + a3 ω03 sin3 ϕ sin ϕd ϕ (3.12.12)
2π ω0
0
3.13 Exercise 3.13 (Singularity Analysis of the Restricted Three-Body Exercise) 117

2π
ε  
β̇ = − −aω0 sin ϕ + a3 ω03 sin3 ϕ cos ϕd ϕ (3.12.13)
2π ω0 a
0
 
1 3 2 2
Therefore ȧ = εa 1 − a ω0 , β̇ = 0 (3.12.14)
2 4

This is equation (b) given in the Exercise. So β is a constant; and the singularity
of the equation about a is

2
as1 = 0 or as2 = √ (3.12.15)
3ω0

Let a = asi + v, the linearized equations in the vicinity of the two singularities
are given as

1
Near as1 : v̈ = εv (3.12.16)
2

Near as2 : v̇ = −εv (3.12.17)

Therefore, the singularity as1 = 0 is unstable while the singularity as2 =

√
2/ 3ω0 is stable. This implies that the original equation (a) has a steady state
√
constant amplitude 2/ 3ω0 , i.e., there is a stable limit cycle with amplitude
√
2/ 3ω0 .

3.13 Exercise 3.13 (Singularity Analysis of the Restricted

Three-Body Exercise)

Solution: (a) Let ẋ = ẏ = ẍ = ÿ = 0, equation (a) becomes

 (1−m)(x+m)
−x = − m(x−1+m)
d3
− d23
1
(1−m)y (3.13.1)
−y = − my
d3
− d23
1

There are 7 sets of solutions, of which we need only real number solutions.
When x = 0, y = 0, the two equations are multiplied by y and x, respectively.
Subtraction of the two equations gives

0 = m(m − 1)yd23 + m(1 − m)yd13

 
= my(m − 1) d23 − d13
118 3 Nonconservative Single-Degree-of-Freedom Systems
 
= m(m − 1)y(d2 − d1 ) d22 + d1 d2 + d12

So d22 + d1 d2 + d12 = 0 (3.13.2)

or d2 − d1 = 0 (3.13.3)

Considering equation (b), we can find no real number solutions for Eq. (3.13.2)
but rewrite Eq. (3.13.3) in the following form

(1 − m − x)2 = (m + x)2 (3.13.4)

When x > 1 − m, Eq. (3.13.4) has no solution; while for x < 1 − m, we can obtain

1 1
x= − m, d12 = d22 = d 2 = + y2 (3.13.5)
2 4
by substituting (3.13.5) into the second equation of (3.13.1), we get

1
( + y2 )3/2 = 1
4
From this
√
3
y=±
2
Therefore, two equilibrium points of the system L4 , L5 are
 √ 
1 3
L4 , L5 : (x, y) = − m, ± (3.13.6)
2 2

When y = 0, the system of Eq. (3.13.1) of the second equation is satisfied, and
the first equation becomes

m(1 − m − x) (1 − m)(x + m)
x=− + (3.13.7)
|(1 − m − x)| 3
|(m + x)|3

Previously, we have solved the system for real number solutions in the range
x < 1 − m. Therefore, Eq. (3.13.7) can only have solutions in the range x > 1 − m,
where Eq. (3.13.7) becomes:

m (1 − m)
x− − =0 (3.13.8)
(1 − m − x)2 (m + x)2
3.13 Exercise 3.13 (Singularity Analysis of the Restricted Three-Body Exercise) 119

This equation has three real number solutions, which, together withy = 0, are
the other three equilibrium points of the systemL1 , L2 , L3 . Thus, the system has five
equilibrium points L1 , L2 , L3 , L4 , L5 .
(b) Let’s analyze the stability of the equilibrium point L4 , L5 . The original equation
(a) can be written as

ẍ − 2ẏ − x = f1 (x, y)

ÿ + 2ẋ − y = f2 (x, y)

where
m(x − 1 + m) (1 − m)(x + m)
f1 (x, y) = − −
d13 d23
my (1 − m)y
f2 (x, y) = − −
d13 d23

Linearize the original equation (a) around any equilibrium point (xs , ys ). For this
purpose, let

x = xs + u, y = ys + v

then the linearized equation can be obtained as

∂f1 ∂f1
ü − 2v̇ − u = u+ v
∂xs ∂ys
∂f2 ∂f2
v̈ + 2u̇ − v = u+ v (3.13.9)
∂xs ∂ys

where
∂f1
= −[m − 3m(xs − 1 + m)2 ] − [(1 − m) − 3(1 − m)(xs + m)2 ]
∂xs
= −1 + 3m + 3(xs + m)(xs − m)
∂f1
= 3mys (xs − 1 + m) + 3ys (1 − m)(xs + m) = 3xs ys
∂ys
∂f2
= 3mys (xs − 1 + m) + 3ys (1 − m)(xs + m) = 3xs ys
∂xs
∂f2
= −(m − 3mys2 ) − [(1 − m) − 3(1 − m)ys2 ] = 3ys2 − 1 (3.13.10)
∂ys

At the equilibrium point L4 , L5 , the value of the above partial derivative is

120 3 Nonconservative Single-Degree-of-Freedom Systems

∂f1 ∂f1
√ 1 
= − 14 ,
∂xs ∂ys
= ±323 −m
√   2
∂f2 ∂f2
∂xs
= ± 3 2 3 21 − m , ∂ys
= 5
4

Therefore, from Eq. (3.13.9), the linearized equation near the equilibrium point
L4 , L5 is given by
       √    
10 ü 0 −2 u̇ − 3
± 3 3 1
− m u
+ + √  4  2 2 =0
01 v̈ 2 0 v̇ ± 3 2 3 21 − m − 94 v
(3.13.11)

Its characteristic equation is

 √ 1  
√ 
λ2 − 43 ±323 − m − 2λ
det  2 =0 (3.13.12)
± 3 2 3 21 − m + 2λ λ − 49
2

27  
i.e., λ4 + λ2 + m − m2 = 0 (3.13.13)
4
√
−1 ± 27m2 − 27m + 1
So λ2 = (3.13.14)
2

(1) When

27m2 − 27m + 1 > 1 (3.13.15)

λ has one positive real root out of four, the system is unstable.
(2) When

27m2 − 27m + 1 = 1 (3.13.16)

m = 1, and λ has a dual root, λ1, 2 = 0, then one of the fundamental solutions
of the system is
     
u U1 U2
= c1 + c2 t (3.13.17)
v V1 V2

The vectors {U1 , V1 }T and {U2 , V2 }T are the eigenvectors of this dual root, so the
system is divergent and unstable.

(3) When

27m2 − 27m + 1 = 0 (3.13.18)

3.13 Exercise 3.13 (Singularity Analysis of the Restricted Three-Body Exercise) 121
√ √
there are two dual roots of λ, i.e., λ1, 2 = i/ 2 andλ3, 4 = −i/ 2, then the two
fundamental solutions of the system are
 (1)       (2)
u U1 U2 √i t u
= c1 + c2 t e 2 ,
v V1 V2 v
    
U3 U4 − √i t
= c3 + c4 t e 2 (3.13.19)
V3 V4

The vector {Ui , Vi }T is the eigenvector of these two dual roots, so the system is
divergent and unstable.

(4) When

27m2 − 27m + 1 < 0 (3.13.20)

λ2 is a pair of conjugate complex numbers with a negative real part, two of the
four roots of λ have roots with a positive real part, so the system is unstable.
(5) When

0 < 27m2 − 27m + 1 < 1 (3.13.21)

λ2 are two negative real numbers and the four roots of λ are two pairs of conjugate
imaginary numbers, the system is stable. Here
 √ 
1 69
0 < m < mc , where mc = 1− (3.13.22)
2 9

Combining these results, we clearly know that the equilibrium points of the system
L4 , L5 are stable when 0 < m < mc , otherwise it is unstable.
(c) According to (3.13.9) and (3.13.10), the linearized equation of the original
equation (a) near the equilibrium point (xs , ys ) is given by

ü − 2v̇ − [3m + 3(xs + m)(x

 s − m)]u − (3xs ys )v = 0 (3.13.23)
v̈ + 2u̇ − (3xs ys )u − 3ys v = 0
2

For the equilibrium points L1 , L2 , L3 , ys = 0, so the above equation becomes

ü − 2v̇ − [3m + 3(xs + m)(xs − m)]u = 0

(3.13.24)
v̈ + 2u̇ = 0

where xs can be determined by Eq. (3.13.8). From the second equation of (3.13.24),
we have
122 3 Nonconservative Single-Degree-of-Freedom Systems

1
v̇ = −2u + c (3.13.25)
2
where c is a constant of integration. Substituting (3.13.25) into the first equation of
(3.13.24) yields

ü − [3m + 3(xs + m)(xs − m) − 4]u = c

This equation has a constant solution u = u0 . Substituting it to (3.13.25), we

obtain the general solution of Eq. (3.13.25)
 
1
v = v0 + c − 2u0 t (3.13.26)
2

which is divergent. Thus, the equilibrium points L1 , L2 , L3 are unstable.

3.14 Exercise 3.14 (Singularity Analysis of Amplitude

and Phase Equations Limiting the Resonance
Response of the Three-Body Problem)

Solution: (a) Let ȧ1 = ȧ2 = γ̇ = 0, we obtain

J1 a1 a2 sinγ = 0
J2 a12 sinγ = 0
 2 
σ a2 + J2 a1 + 2J1 a22 cosγ = 0 (3.14.1)

The first two equations of this system of equations are satisfied when γ = nπ is
satisfied, and then the singular points of this system are given by
 
γ = nπ, σ a2 + J2 a12 + 2J1 a22 cos nπ = 0 (3.14.2)

(b) Linearize the original system around a singular point (a1s , a2s , nπ ). For this
purpose, let

a1 = a1s + u, a2 = a2s + v, γ = nπ + w (3.14.3)

then the linearized equation can be obtained as

⎧
⎨ u̇ = (J1 a1s a2s cos nπ
 )w
v̇ = J2 a1s2
cos nπ w (3.14.4)
⎩
a2s ẇ = σ v + (2J2 a1s u + 4J1 a2s v) cos nπ
3.15 Exercise 3.15 (Modeling of a Single Pendulum with a Damper Attached … 123

Making the derivation of the third equation of (3.14.4) with respect to t and
substituting the first two equations into it, we obtain
 
a2s ẅ = σ J2 a1s
2
cos nπ + 6J1 J2 a1s
2
a2s w (3.14.5)

Since (a1s , a2s ) satisfies Eq. (3.14.2), we can solve for σ a2s from (3.14.2) and
substitute it into (3.14.5). Then we have
 
2
a2s ẅ = a1s
2 2
4J1 J2 a2s − J22 a1s
2
w

2  
a1s
i.e., ẅ + 2
J22 a1s
2
− 4J1 J2 a2s
2
w=0 (3.14.6)
a2s

As long as J1 J2 < 0, J22 a1s

2
− 4J1 J2 a2s
2
> 0 and then the singular point of the
original system is stable.
When J1 J2 > 0, the singular point of the original system may be unstable. In fact,
when the value of J1 J2 can make J22 a1s2
− 4J1 J2 a2s
2
< 0, the singular point of the
original system is unstable.

3.15 Exercise 3.15 (Modeling of a Single Pendulum

with a Damper Attached, Solving by the Method
of Multiple Scales)

Solution: (a) The force and velocity of the pendulum are shown in Fig. 3.10. From
the theory of moment of momentum, we have

ml12 θ̈ = −mgl1 sin θ − Fd l1 cos(β − θ )

where the damping force Fd is

Fd = μ̂mv cos(β − θ ) = μ̂mθ̇ l1 cos(β − θ )

Therefore, the differential equation of motion of the pendulum is given by

ml1 θ̈ = −mg sin θ − μ̂ml1 θ̇ cos2 (β − θ ) (3.15.1)

Since
l1 + l2 − l1 cos θ
sin β = 
(l1 + l2 − l1 cos θ )2 + l12 sin2 θ
124 3 Nonconservative Single-Degree-of-Freedom Systems

Fig. 3.10 Force and velocity

of a mass point for Exercise
3.15

l1 + l2 − l1 cos θ
=
(l1 + l2 )2 − 2l1 (l1 + l2 ) cos θ + l12

l1 sin θ
cos β = 
(l1 + l2 − l1 cos θ )2 + l12 sin2 θ
l1 sin θ
=
(l1 + l2 )2 − 2l1 (l1 + l2 ) cos θ + l12

then

cos2 (β − θ ) = (cos β cos θ + sin β sin θ )2

l12 sin2 θ cos2 θ + (l1 + l2 − l1 cos θ )2 sin2 θ
+2l1 sin2 θ cos θ (l1 + l2 − l1 cos θ )
=
l22 + 2l1 (l1 + l2 )(1 − cos θ )
(l1 + l2 )2 sin2 θ
=
l22 + 2l1 (l1 + l2 )(1 − cos θ )

Substitute the above equation into (3.15.1), we have

μ̂(l1 + l2 )2 sin2 θ
θ̈ + ω02 sin θ + θ̇ = 0 (3.15.2)
l22 + 2l1 (l1 + l2 )(1 − cos θ )

where ω02 = g/l1 .

(b) Expanding the coefficient of θ̇ in (3.15.2) near θ = 0, we obtain
3.15 Exercise 3.15 (Modeling of a Single Pendulum with a Damper Attached … 125

μ̂(l1 + l2 )2 sin2 θ μ̂(l1 + l2 )2 (θ − 16 θ 3 + · · · )2

=  
l22 + 2l1 (l1 + l2 )(1 − cos θ ) l22 + 2l1 (l1 + l2 ) 21 θ 2 + · · ·
μ̂(l1 + l2 )2 θ 2
≈
l22

Substituting this into (3.15.2) and keeping to O(θ 3 ) yields

 
1 3 μ̂(l1 + l2 )2 2
θ̈ + ω02 θ− θ + θ θ̇ = 0
6 l22
μ̂(l1 + l2 )2
Let 2μ = (3.15.3)
l22
1
then θ̈ + ω02 θ − ω02 θ 3 + 2μθ 2 θ̇ = 0 (3.15.4)
6
The following the method of multiple scales is adopted to solve (3.15.4). Let
θ = εv, we have

v̈ + ω02 v + ε2 α3 v3 + 2ε2 μv2 v̇ = 0 (3.15.5)

where
1
α3 = − ω02 . (3.15.6)
6
We seek an approximate solution for (3.15.6) with the following form

v = v0 (T0 , T1 , T2 ) + εv1 (T0 , T1 , T2 ) + ε2 v2 (T0 , T1 , T2 ) + · · · (3.15.7)

Substitute (3.15.7) into (3.15.5), we have

0 = v̈ + ω02 v + ε2 α3 v3 + 2ε2 μv2 v̇

   
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 + · · ·
   
v0 + εv1 + ε2 v2 + · · · + ω02 v0 + εv1 + ε2 v2 + · · ·
 
+ ε2 α3 v03 + 2μv02 D0 v0 + · · ·
 
= D02 v0 + ω02 v0 + ε D02 v1 + 2D0 D1 v0 + ω02 v1
   
+ ε2 D02 v2 + 2D0 D1 v1 + D12 + 2D0 D2 v0 + ω02 v2 + α3 v03 + 2μv02 D0 v0 + · · ·
(3.15.8)

Equating the coefficients of the like power of ε and retaining to O(ε2 ) yields

D02 v0 + ω02 v0 = 0 (3.15.9)

126 3 Nonconservative Single-Degree-of-Freedom Systems

D02 v1 + ω02 v1 = −2D0 D1 v0 (3.15.10)

 
D02 v2 + ω02 v2 = −2D0 D1 v1 − D12 + 2D0 D2 v0 − 2μv02 D0 v0 − α3 v03 (3.15.11)

The solution of (3.15.9) is

v0 = Aeiω0 T0 + Ae−iω0 T0 (3.15.12)

where A = A(T1 , T2 ). Substituting the above equation into (3.15.10), we have

D02 v1 + ω02 v1 = −2iω0 D1 Aeiω0 T0 + cc (3.15.13)

To eliminate secular terms, we need D1 A = 0, so A = A(T2 ). And the solution of

(3.15.13) is

v1 = 0 (3.15.14)

Substituting (3.15.12) and (3.15.14) into (3.15.11), and taking A = A(T2 ) into
account, we obtain

D02 v2 + ω02 v2 = −2D0 D2 v0 − α3 v03 − 2μv02 D0 v0

 
= −2iω0 D2 A − 3α3 A2 A − 2iμω0 A2 A eiω0 T0 + cc + NST
(3.15.15)

where cc denotes the complex conjugate term of its preceding terms, and NST denotes
terms which do not eliminate secular terms. In order to eliminate secular terms, we
have

2iω0 D2 A + 3α3 A2 A + 2iμω0 A2 A = 0 (3.15.16)

1 iβ
Let A = ae (3.15.17)
2
Substituting (3.15.17) into (3.15.16) yields

3 1
iω0 D2 a − ω0 aD2 β + α3 a3 + iμω0 a3 = 0 (3.15.18)
8 4
Separate the real and imaginary parts of the above equation, we obtain

1 3α3 2
D2 a + μa3 = 0, D2 β − a =0 (3.15.19)
4 8ω0

From (3.15.19), we can obtain

3.16 Exercise 3.16 (The Method of Multiple Scales for Solving Van Der Pol … 127

a0
a=  (3.15.20)
1
2
μa02 T2 +1

3α3 1
β= ln( μa02 T2 + 1) + β0 (3.15.21)
4μω0 2

Combining the above results, the first order approximate solution of the original
equation is obtained as
   
εa0 3α3 1 2
θ = εv0 =  cos ω0 t + ln μa0 T2 + 1 + β0 (3.15.22)
1
μa 2
T + 1 4μω0 2
2 0 2

Considering α3 = −ω02 /6, T2 = ε2 t, the above equation becomes

εa0 ω0 1
θ= cos[ω0 t − ln( μa02 ε2 t + 1) + β0 ]
1
μa02 ε2 t +1 8μ 2
2

Let ε = 1, we get
    
a0 1 1
θ= cos ω0 t − ln μa02 t + 1 + β0 (3.15.23)
1
μa2 t + 1 8μ 2
2 0

3.16 Exercise 3.16 (The Method of Multiple Scales

for Solving Van Der Pol Oscillators with Delay
Amplitude Limiting)

Solution: (a) Write the original equation as

v̈ + ω02 v = 2εv̇ − 2εz v̇ − 2εżv

τ ż + z = v2 (3.16.1)

We seek an approximate solution for (3.16.1) with the following form

v = v0 (T0 , T1 , T2 ) + εv1 (T0 , T1 , T2 ) + ε2 v2 (T0 , T1 , T2 ) + · · · (3.16.2)

z = z0 (T0 , T1 , T2 ) + εz1 (T0 , T1 , T2 ) + ε2 z2 (T0 , T1 , T2 ) + · · · (3.16.3)

Substitute (3.16.2) and (3.16.3) into the original equation, we get

128 3 Nonconservative Single-Degree-of-Freedom Systems

0 = v̈ + ω02 v − 2εv̇ + 2εz v̇ + 2εżv

   
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 v0 + εv1 + ε2 v2
 
+ ω02 v0 + εv1 + ε2 v2 − 2ε(D0 + εD1 )(v0 + εv1 )
+ 2ε(z0 + εz1 )(D0 + εD1 )(v0 + εv1 )
+ 2ε(v0 + εv1 )(D0 + εD1 )(z0 + εz1 ) + · · ·
= D02 v0 + ω02 v0
 
+ ε D02 v1 + ω02 v1 + 2D0 D1 v0 − 2D0 v0 + 2z0 D0 v0 + 2v0 D0 z0
 
+ ε2 [D02 v2 + ω02 v2 + 2D0 D1 v1 + D12 + 2D0 D2 v0 − 2D0 v1 − 2D1 v0
+ 2z0 D0 v1 + 2z0 D1 v0 + 2z1 D0 v0 + 2v0 D0 z1 + 2v0 D1 z0 + 2v1 D0 z0 ]
+ 2z0 D0 v1 + 2z0 D1 v0 + 2z1 D0 v0 + 2v0 D0 z1 + 2v0 D1 z0 + 2v1 D0 z0 ] + · · ·
(3.16.4)

0 = τ ż + z − v2
= τ (D0 + εD1 + · · ·)(z0 + εz1 + · · ·)
+ (z0 + εz1 + · · ·) − (v0 + εv1 + · · · )2
= τ D0 z0 + z0 − v02 + ε(τ D0 z1 + z1 + τ D1 z0 − 2v0 v1 ) + · · · (3.16.5)

Equating the coefficients of the like power of ε and retaining to O(ε) yields

ε0 : D02 v0 + ω02 v0 = 0 (3.16.6)

τ D0 z0 + z0 = v02 (3.16.7)

ε1 : D02 v1 + ω02 v1 = −2D0 D1 v0 + 2D0 v0 − 2z0 D0 v0 − 2v0 D0 z0 (3.16.8)

τ D0 z1 + z1 = −τ D1 z0 + 2v0 v1 (3.16.9)

The solution of (3.16.6) is

v0 = Aeiω0 T0 + Ae−iω0 T0 (3.16.10)

where A = A(T1 ). Substituting the above equation into (3.16.7) yields

τ D0 z0 + z0 = 2AA + A2 e2iω0 T0 + cc (3.16.11)

The solution of (3.16.11) is

A2 (1 − 2iτ ω0 ) 2iω0 T0
z0 = be−T0 /τ + 2AA + e
1 + 4ω02 τ 2
3.16 Exercise 3.16 (The Method of Multiple Scales for Solving Van Der Pol … 129

A2 (1 + 2iτ ω0 ) −2iω0 T0
+ e (3.16.12)
1 + 4ω02 τ 2

where b = b(T1 ) is a real function. Substituting (3.16.10) and (3.16.12) into (3.16.8),
we obtain

D02 v1 + ω02 v1 = −2D0 D1 v0 + 2D0 v0 − 2z0 D0 v0 − 2v0 D0 z0

= −2iω0 D1 Aeiω0 T0 + 2iω0 Aeiω0 T0 + cc
 
−T0 /τ (1 − 2iτ ω0 )A2 A iω0 T0
− 2iω0 be A + 2A A −
2
e
1 + 4ω02 τ 2
 
b −T0 /τ 2iω0 (1 − 2iτ ω0 )A2 A iω0 T0
−2 − e A+ e
τ 1 + 4ω02 τ 2
6iω0 (1 − 2iτ ω0 )A3 3iω0 T0
− e + cc
1 + 4ω02 τ 2

= −2iω0 D1 A + 2iω0 A − 2iω0 (be−T0 /τ A + 2A2 A)

2b −T0 /τ 2iω0 (1 − 2iτ ω0 )A2 A iω0 T0
+ e A− e
τ 1 + 4ω02 τ 2
6iω0 (1 − 2iτ ω0 )A3 3iω0 T0
− e + cc (3.16.13)
1 + 4ω02 τ 2

where cc denotes the complex conjugate term of its preceding terms. In order to
eliminate secular terms, it is necessary to have
T0
2iω0 D1 A − 2iω0 A + 2iω0 be− τ A + 2A2 A
2b − T0 2iω0 (1 − 2iτ ω0 )A2 A
− e τ A+ =0 (3.16.14)
τ 1 + 4ω02 τ 2
1 iθ
Let A = ae (3.16.15)
2
Substituting (3.16.15) into (3.16.14) yields
 
−T0 /τ 1
iω0 D1 a − ω0 aD1 θ − iω0 a + iω0 be a + a3
2
2b −T0 /τ iω0 (1 − 2iτ ω0 )a3
− e a+   =0 (3.16.16)
τ 4 1 + 4ω02 τ 2

Separating the real and imaginary parts of the above equation yields
130 3 Nonconservative Single-Degree-of-Freedom Systems
 
3 + 8ω02 τ 2 a3
D1 a − a +   + e−T0 /τ ab = 0
4 1 + 4ω02 τ 2
2τ ω0 a2 2b −T0 /τ
D1 θ −  + e =0
4 1 + 4ω02 τ 2 τ ω0

Or we can write the above equation as

 
1 1 2εb −T0 /τ
ȧ = εa 1 − αr a2 + εe−T0 /τ ab, θ̇ = − εαi a2 + e (3.16.17)
4 4 τ ω0

3 + 8ω02 τ 2 2τ ω0
where αr =   , αi = −   (3.16.18)
1 + 4ω0 τ
2 2
1 + 4ω02 τ 2

Then we can obtain v1 from (3.16.13)

3i(1 − 2iτ ω0 )A3 3iω0 T0

v1 =  e + cc (3.16.19)
4ω0 1 + 4ω02 τ 2

Substituting (3.16.12) and (3.16.19) into (3.16.9) yields

τ D0 z1 + z1 = −τ D1 z0 + 2v0 v1
τ D0 z1 + z1 = τ D1 z0 + 2v0 v1

  2iω0 τ (1 − 2iτ ω0 )A2 2iω0 T0

= τ e−T0 /τ D1 b + 2τ D1 AA + e + cc
1 + 4ω02 τ 2
 
 iω0 T0 −iω0 T0
 3i(1 − 2iτ ω0 )A3 3iω0 T0
+ 2 Ae + Ae  e + cc
4ω0 1 + 4ω02 τ 2
  2iω0 τ (1 − 2iτ ω0 )A2 2iω0 T0
= τ e−T0 /τ D1 b + 2τ D1 AA + e
1 + 4ω02 τ 2
3i(1 − 2iτ ω0 )A3 A 2iω0 T0
+   e + cc + higher order terms (3.16.20)
2ω0 1 + 4ω02 τ 2

In order to eliminate secular terms, we need

D1 b = 0

i.e., ḃ = 0 or b = b0 = constant (3.16.21)

 
Note: We were unable to obtain ḃ = 2 1 + 2ω02 τ 2 (1 + 4ω02 τ 2 )−1 a2 b, which is
required by the present Exercise.
3.16 Exercise 3.16 (The Method of Multiple Scales for Solving Van Der Pol … 131

Considering b is bounded, The term containing e−T0 /τ in (3.16.17) decays quickly

with time and has no effect on the steady state motion of a and θ , so the governing
equations for the steady state motion of a and θ are
 
1 1
ȧ = εa 1 − αr a ,
2
θ̇ = − εαi a2 (3.16.22)
4 4

Substituting (3.16.10) and (3.16.12) into (3.16.2) and (3.16.3), we can obtain the
first order steady state approximate solution of the original equation

v = acos(ω0 t + θ ) + O(ε)
1 1
z = bexp(−t/τ ) + a2 + a2 (1 + 4ω02 τ 2 )−1/2
2 2
cos(2ω0 t + 2θ − arctan2ω0 τ ) + O(ε) (3.16.23)

where aand θ are given by (3.16.17) and b is given by (3.16.21).

(b) Separating the variables of the first equation of (3.16.22), we obtain
1
da x=a2
dx
  = εdt →  2 1  = εdt
a 1 − 41 αr a2 x 1 − 4 αr x

Conduct the integration of the above equation, we can obtain

   
1 1 − 41 αr x 1 1 − 41 αr a2
ln = −εt + c ⇒ ln = −εt + c
2 x 2 a2
where c is a constant of integration. Considering a = a0 when t = 0, we can obtain
   
1 − 41 αr a2 1 − 41 αr a02 −2εt
= e
a2 a02
a02
a2 =   (3.16.24)
1
α a2 + 1 − 14 αr a02 e−2εt
4 r 0

Substituting (3.16.24) into the second equation of (3.16.22), we obtain

1
εαi a02
θ̇ = − 1 4
 (3.16.25)
α a + 1 − 41 αr a02 e−2εt
2
4 r 0

Conduct the integration of the above equation, we can obtain

 
αi 1 1
θ =− {2εt + ln[ αr a02 + 1 − αr a02 e−2εt ]} + c (3.16.26)
2αr 4 4
132 3 Nonconservative Single-Degree-of-Freedom Systems

where c is a constant of integration. Considering θ = θ0 when t = 0, we can obtain

 
αi 1 1
θ =− {2εt + ln[ αr a0 + 1 − αr a0 e−2εt ]} + θ0
2 2
(3.16.27)
2αr 4 4

(c) Considering the expression of a in (3.16.24), we can find that the system will even-
tually converge to the steady state amplitude a∞ for any non-zero initial amplitude
a0 :

1
a∞ = a(t → ∞) = 2 (3.16.28)
αr

And considering the expression of θ in (3.16.27), we can find that the system will
eventually converge to the steady state phase θ ,
 
αi 1
θ =− 2εt + ln( αr a0 ] + θ0
2
(3.16.29)
2αr 4

Substituting (3.16.28), (3.16.29) and (3.16.21) into (3.16.23), we can obtain the
steady state response of the system as
 
αi αi 1
v = 2a∞ cos[ ω0 − 2ε t − ln( αr a02 ) + θ0 ] + O(ε) (3.16.30)
2αr 2αr 4

z = b0 e−t/τ + 21 a∞
2
+ 21 a∞2
(1 + 4ω02 τ 2 )−1/2 
αi
  (3.16.31)
·cos 2ω0 − αr ε t − αr ln 41 αr a02 + 2θ0 − arctan2ω0 τ + O(ε)
2αi

Therefore, v is a stable limit cycle in the phase plane and z is in simple harmonic
motion at any time.

3.17 Exercise 3.17 (Averaging to Solve for an Oscillator

with Both Coulomb and Viscous Damping)

Solution: (a) Write the original equation as

ü + ω02 u = εf (u̇) (3.17.1)

where f (u̇) = −(μ0 sgnu̇ + 2μ1 u̇) (3.17.2)

All the nonlinear parts in (3.17.1) are first-order terms of ε and the nonlinear
function f (u̇) is an odd function of u̇, so it is convenient to solve the equation by the
3.17 Exercise 3.17 (Averaging to Solve for an Oscillator with Both Coulomb … 133

method of averaging. Let its solution be

u = a cos(ω0 t + β)  a cos ϕ, ϕ = ω0 t + β (3.17.3)

reintroduce the transformationu̇ = −aω0 sin(ω0 t + β)  −aω0 sin ϕ (3.17.4)

Consider a and β as functions of t for (3.17.3) and (3.17.4). The derivative of

(3.17.3) and (3.17.4) with respect to t gives

u̇ = ȧ cos ϕ − aω0 sin ϕ − aβ̇ sin ϕ (3.17.5)

ü = −ȧω0 sin ϕ − aω02 cos ϕ − aω0 β̇ cos ϕ (3.17.6)

By (3.17.4) and (3.17.5), we have

ȧ cos ϕ − aβ̇ sin ϕ = 0 (3.17.7)

Substituting (3.17.6), (3.17.3) and (3.17.4) into (3.17.1) yields

ȧω0 sin ϕ + aω0 β̇ cos ϕ = −εf (−aω0 sin ϕ) (3.17.8)

Solving (3.17.7) and (3.17.8) for ȧ and β̇, we obtain

ε
ȧ = − f (−aω0 sin ϕ) sin ϕ (3.17.9)
ω0
ε
β̇ = − f (−aω0 sin ϕ) cos ϕ (3.17.10)
ω0 a

Since ε is a small parameter, (3.17.9) and (3.17.10) imply that a and β vary much
more slowly with time t than ϕ = ω0 t + β. In other words, a and β hardly change
during the period of oscillation 2π/ω0 of sin ϕ and cos ϕ. This enables us to average
out the variations in ϕ in (3.17.9) and (3.17.10). Averaging these equations over the
period 2π/ω0 and considering a, β, ȧ and β̇ to be constants while performing the
averaging, we obtain the following equations describing the slow variations of a and
β:

2π
ε
ȧ = − f (−aω0 sinφ)sinφd φ
2π ω0
0
2π
ε  
=− μ0 sgn(aω0 sinφ) + 2μ1 aω0 sinφ sinφd φ
2π ω0
0
134 3 Nonconservative Single-Degree-of-Freedom Systems

π
ε  
=− μ0 sinφ + 2μ1 aω0 sin2 φ d φ
π ω0
0
 
2μ0
= −ε + μ1 a
π ω0
2π
ε
β̇ = − f (−aω0 sinφ)cosφd φ
2π ω0 a
0
2π
ε  
=− μ0 sgn(aω0 sinφ) + 2μ1 aω0 sinφ cosφd φ
2π ω0 a
0
=0

i.e.,
 
2μ0
ȧ = −ε + μ1 a , β̇ = 0 (3.17.11)
π ω0

(b) Separating the variables of the first equation of (3.17.11) yields

da d (μ1 a)
= −εdt ⇒ = −d (εμ1 t)
2μ0
πω0
+ μ1 a 2μ0
πω0
+ μ1 a
 
2μ0
So ln + μ1 a = −εμ1 t + c (3.17.12)
π ω0

Considering the initial condition that a = a0 when t = 0, we obtain

 
2μ0
πω
+ μ1 a 2μ0 2μ0
ln( 2μ00 ) = −εμ1 t ⇒+ μ1 a = + μ1 a0 exp(−εμ1 t)
πω0
+ μ1 a0 π ω0 π ω0
 
2μ0 2μ0
i.e., a = a0 + exp(−εμ1 t) − (3.17.13)
π ω0 μ1 π ω0 μ1

Then from β̇ = 0, we can obtain β = β0 is a constant. So

  
2μ0 2μ0
u= a0 + exp(−εμ1 t − ] cos(ω0 t + β0 ) (3.17.14)
π ω0 μ1 π ω0 μ1

(c) Assume u(0) = a0 > 0. From (3.17.13) and (3.17.14), we can see that the
amplitude a0 decays exponentially first, then becomes zero and negative, and finally
the amplitude reaches to a constant −2μ0 /(π ω0 μ1 ). The system will oscillate with a
3.17 Exercise 3.17 (Averaging to Solve for an Oscillator with Both Coulomb … 135

constant amplitude −2μ0 /(π ω0 μ1 ), which is inconsistent with the fact that the given
system is dissipative. Therefore, the approximate solution obtained above cannot
accurately describe the motion of the system.
Let the motion stops at time te , and we follow the above approximate solution to
derive the approximate value of te . Since a0 > 0, there must be

a(t) ≥ 0 (3.17.15)

when the motion stops, the frictional force is balanced with the restoring force, and
from the differential equation of motion of the system, there is
εμ0
|u(te )| ≤ (3.17.16)
ω02

Set u(0) = a0 > 0, u̇(0) = 0, then β0 = 0 and

  
2μ0 2μ0
u = a0 + exp(−εμ1 t − ] cos ω0 t (3.17.17)
π ω0 μ1 π ω0 μ1

when the motion stops, there must be u̇(te ) = 0, u(te ) = a(te ), i.e.
 
2μ0
−εμ1 a0 + exp(−εμ1 te ) cos ω0 te
π ω0 μ1
  
2μ0 2μ0
+ a0 + exp(−εμ1 te − ]ω0 sin ω0 te = 0 (3.17.18)
π ω0 μ1 π ω0 μ1

and cos ω0 te = 1 (3.17.19)

From (3.17.19), we have

2nπ
te = , n = 0, 1, 2, . . . (3.17.20)
ω0

In this case, Eqs. (3.17.15), (3.17.16) and (3.17.18) become

 
2μ0 2nπ 2μ0
a0 + exp(−εμ1 )− ≥0 (3.17.21)
π ω0 μ1 ω0 π ω0 μ1
 
2μ0 2nπ 2μ0 εμ0
| a0 + exp(−εμ1 )− | ≤ 2 (3.17.22)
π ω0 μ1 ω0 π ω0 μ1 ω0
 
2μ0 2nπ
εμ1 a0 + exp(−εμ1 )=0 (3.17.23)
π ω0 μ1 ω0
136 3 Nonconservative Single-Degree-of-Freedom Systems

These three equations cannot be satisfied at the same time. If (3.17.23) is satisfied,
the aforementioned situation where the amplitude a=−2μ0 /(π ω0 μ1 ), which is not
allowed; therefore, we choose to make Eqs. (3.17.21) and (3.17.22) are satisfied,
which yields
    
ω0 2μ0 2μ0 εμ0
n = mod ln a0 + / + 2 (3.17.24)
2εμ1 π π ω0 μ1 π ω0 μ1 ω0

where mod(x) denotes the positive integer less than and closest to x. After finding n,
we can determine te from (3.17.20).

3.18 Exercise 3.18 (Averaging to Solve for Oscillators

with Both Coulomb and Square Damping)

Solution: (a) Write the original equation as

ü + ω02 u = εf (u̇) (3.18.1)

where f (u̇) = −(μ0 sgnu̇ + μ2 u̇|u̇|) (3.18.2)

All the nonlinear parts in (3.18.1) are first-order terms of ε and the nonlinear
function f (u̇) is an odd function of u̇. It can be solved by the method of averaging as
in the previous Exercise. Let its solution be

u = a cos(ω0 t + β)  a cos ϕ, ϕ = ω0 t + β (3.18.3)

Referring to the result of the previous exercise, there is

2π
ε
ȧ = − f (−aω0 sinφ)sinφd φ
2π ω0
0
2π
ε  
=− μ0 sgn(aω0 sinφ) + μ2 aω0 sinφ|aω0 sinφ| sinφd φ
2π ω0
0
π
ε  
=− μ0 sinφ + μ2 a2 ω02 sin3 φ d φ
π ω0
0
   
ε 1 3 π
=− 2μ0 + μ2 a ω0 −cosφ + cos φ 0
2 2
π ω0 3
3.18 Exercise 3.18 (Averaging to Solve for Oscillators with Both Coulomb … 137
 
2μ0 4
= −ε + μ2 ω0 a2
π ω0 3π
2π
β̇ = − 2πωε 0 a f (−aω0 sinφ)cosφd φ
0
2π 
= − 2πωε 0 a μ0 sgn(aω0 sinφ) + μ2 aω0 sinφ|aω0 sinφ| cosφd φ
0
=0

i.e.,
 
2μ0 4
ȧ = −ε + μ2 ω0 a , β̇ = 0
2
(3.18.4)
π ω0 3π

(b) Separating the variables of the first equation of (3.18.4) and integrating it, we
obtain
 
da
= −ε dt
2μ0
πω0
+ 3π4
μ2 ω0 a2

which gives

1 4 2μ0
 arctan(a μ2 ω0 / ) = −εt + c0
4
μ ω · 2μ0 3π π ω0
3π 2 0 πω0

where c0 is a constant of integration. So


1 3μ0 ε 8μ0 μ2
a= tan(c − t) (3.18.5)
ω0 2μ2 π 3

where c is a constant of integration.

Then from β̇ = 0, we obtain that β = β0 is a constant value. So
  
1 3μ0 ε 8μ0 μ2
u= tan(c − t ] cos(ω0 t + β0 ) (3.18.6)
ω0 2μ2 π 3

(c) From (3.18.6), we can find that the initial amplitude of the oscillation is
 
1 3μ0
a0 = tan(c) cos β0 (3.18.7)
ω0 2μ2
138 3 Nonconservative Single-Degree-of-Freedom Systems

As time increases, the amplitude increases to


a0 ε 8μ0 μ2
a(t) = tan(c − t)] (3.18.8)
tan(c) cos β0 π 3

when

π 3
te = (3.18.9)
ε 8μ0 μ2

the amplitude becomes zero and the oscillation stops thereafter.

3.19 Exercise 3.19 (Averaging to Solve for Oscillators

with Both Viscous and Square Damping)

Solution: (a) Write the original equation as

ü + ω02 u = εf (u̇) (3.19.1)

where f (u̇) = −(2μ1 u̇ + μ2 u̇|u̇|) (3.19.2)

As in the previous Exercise, the method of averaging is still used. Let the solution
be

u = a cos(ω0 t + β)  a cos ϕ, ϕ = ω0 t + β (3.19.3)

Referring to the result of the previous exercise, there is

2π
ε
ȧ = − f (−aω0 sinφ)sinφd φ
2π ω0
0
2π
ε
=− [2μ1 aω0 sinφ + μ2 aω0 sinφ|aω0 sinφ|]sinφd φ
2π ω0
0
π
ε  
=− 2μ1 aω0 sin2 φ + μ2 a2 ω02 sin3 φ d φ
π ω0
0
   
ε 1 3 π
=− μ1 aω0 π + μ2 a ω0 −cosφ + cos φ 0
2 2
π ω0 3
3.19 Exercise 3.19 (Averaging to Solve for Oscillators with Both Viscous … 139
 
4
= −ε μ1 a + μ2 ω0 a2
3π
2π
ε
β̇ = − f (−aω0 sinφ)cosφd φ
2π ω0 a
0
2π
ε
=− [2μ1 aω0 sinφ + μ2 aω0 sinφ|aω0 sinφ|]cosφd φ
2π ω0 a
0
=0

i.e.,
 
4
ȧ = −ε μ1 a + μ2 ω0 a2 , β̇ = 0 (3.19.4)
3π

(b) Separating the variables of the first equation of (3.19.4) and integrating it, we
obtain
 
da
= −ε dt
μ1 a + 3π4
μ2 ω0 a2

which gives

1 2· 4
μ ω a
3π 2 0
+ μ1 − μ1
ln = −εt + c0
μ1 2 · 4
μ ω a
3π 2 0
+ μ1 + μ1

where c0 is a constant of integration. So

a
ln = −εμ1 t + c
a+ 3π
μ
4μ2 ω0 1

where c is a constant. Let a(0) = a0 , we get

a0
a= 2 ω0
(3.19.5)
exp(εμ1 t) + a0 4μ
3πμ1
[exp(εμ1 t) − 1]

Then from β̇ = 0, we obtain that β = β0 is a constant value. So

 
a0
u= 2 ω0
cos(ω0 t + β0 ) (3.19.6)
exp(εμ1 t) + a0 4μ
3πμ1
[exp(εμ1 t) − 1]
140 3 Nonconservative Single-Degree-of-Freedom Systems

3.20 Exercise 3.20 (Averaging to Solve for an Oscillator

with Both Viscous and Negative Coulomb Damping)

Solution: (a) Write the original equation as

ü + ω02 u = εf (u̇) (3.20.1)

where f (u̇) = −(2μ1 u̇ − μ0 sgn u̇) (3.20.2)

As in the previous Exercise, the method of averaging is still used. Let the solution
be

u = a cos(ω0 t + β)  a cos ϕ, ϕ = ω0 t + β (3.20.3)

Referring to the result of the previous exercise, there is

2π
ε
ȧ = − f (−aω0 sinφ)sinφd φ
2π ω0
0
2π
ε  
=− 2μ1 aω0 sinφ − μ0 sgn(aω0 sinφ) sinφd φ
2π ω0
0
π
ε  
=− 2μ1 aω0 sin2 φ − μ0 sinφ d φ
π ω0
0
ε
=− (μ1 aω0 π − 2μ0 )
π ω0
 
2μ0
=ε − μ1 a
π ω0
2π
ε
β̇ = − f (−aω0 sinφ)cosφd φ
2π ω0 a
0
2π
ε  
=− 2μ1 aω0 sinφ − μ0 sgn(aω0 sinφ) cosφd φ
2π ω0 a
0
=0

i.e.,
 
2μ0
ȧ = ε − μ1 a , β̇ = 0 (3.20.4)
π ω0
3.21 Exercise 3.21 (Averaging to Solve for an Oscillator with Both Squared … 141

(b) Separating the variables of the first equation of (3.20.4) and integrating it, we
obtain
 
da
= ε dt
2μ0
πω0
− μ1 a

i.e.,

1 2μ0
ln( − μ1 a) = −εt + c
μ1 π ω0

where c is a constant of integration. Let a(0) = a0 , we get

 
2μ0 2μ0
a = a0 − exp(−εμ1 t) + (3.20.5)
π ω0 μ1 π ω0 μ1

Then from β̇ = 0, we obtain that β = β0 is a constant value. So

  
2μ0 2μ0
u = a0 − exp(−εμ1 t + ] cos(ω0 t + β0 ) (3.20.6)
π ω0 μ1 π ω0 μ1

(c) Since the Coulomb type damping in this system is negative, the system absorbs
energy from the external energy source through this damping and on the other hand,
the viscous damping is energy dissipating, therefore, the system has the potential to
form a limit cycle when the energy absorption is balanced with the energy dissipation.
In fact, from the approximate solution (3.20.6), we can find that the motion of
the system will converge to a simple harmonic motion regardless of the value of the
initial amplitude:

2μ0
u= cos(ω0 t + β0 ) (3.20.7)
π ω0 μ1

In the phase plane, this is a closed trajectory, and since there are no other closed
trajectories in its neighborhood, it is a limit cycle and a stable limit cycle.

3.21 Exercise 3.21 (Averaging to Solve for an Oscillator

with Both Squared Damping and Negative Coulomb
Damping)

Solution: (a) The method of averaging of Solution is still used. Let the Solution be

u = a cos(ω0 t + β)  a cos ϕ, ϕ = ω0 t + β (3.21.1)

142 3 Nonconservative Single-Degree-of-Freedom Systems

Against Exercise 3.18 and its result, we have

 
2μ0 4μ2 ω0 2
ȧ = ε − a , β̇ = 0 (3.21.2)
π ω0 3π

(b) Separating the variables of the first equation of (3.21.2) and integrating it, we
obtain
 
da
= ε dt
2μ0
πω0
− 4μ3π2 ω0 a2

which gives
 
4μ2 ω0
1 a 3π
+ 2μ0
πω0
 ln   = εt + c0
2 4
μ ω
3π 2 0
· 2μ0
πω0 a 4μ3π2 ω0 − πω
2μ0
0

where c0 is a constant of integration. The above equation can be written as

 
4μ2 ω0 
a 3π
+ 2μ0
πω0 ε 32μ0 μ2
  = c exp[ t]
a 4μ2 ω0
− 2μ0 π 3
3π πω0

where c is a constant of integration. Then we can obtain

1 3μ0 2
a= {1 +  } (3.21.3)
ω0 2μ2 ε
c exp[ π 32μ0 μ2
t] − 1
3

Then from β̇ = 0, we obtain that β = β0 is a constant value. So

⎧ ⎫
1 3μ0 ⎨ 2 ⎬
u= 1+  cos(ω0 t + β0 ) (3.21.4)
ω0 2μ2 ⎩ c exp[ ε 32μ0 μ2 t] − 1
⎭
π 3

(c) Since the Coulomb type damping in this system is negative, the system absorbs
energy from the external energy source through this damping and on the other hand,
the viscous damping is energy dissipating, therefore, the system has the potential to
form a limit cycle when the energy absorption is balanced with the energy dissipation.
In fact, from the approximate solution (3.21.4), we can find that the motion of
the system will converge to a simple harmonic motion regardless of the value of the
initial amplitude:
3.22 Exercise 3.22 (Oscillators with Simultaneous Negative Viscous … 143

1 3μ0
u= cos(ω0 t + β0 ) (3.21.5)
ω0 2μ2

In the phase plane, this is a closed trajectory, and since there are no other closed
trajectories in its neighborhood, it is a limit cycle and a stable limit cycle.

3.22 Exercise 3.22 (Oscillators with Simultaneous Negative

Viscous Damping, Square Damping, and Cubic
Nonlinearity)

Solution: (a) Write the original equation as

ü + ω02 u = εf (u, u̇) (3.22.1)

 
wheref (u, u̇) = − (μ2 u̇|u̇| − 2μ1 u̇) + αu3 (3.22.2)

As in the previous exercise, the method of averaging is still used. Let the solution
be

u = a cos(ω0 t + β)  a cos ϕ, ϕ = ω0 t + β (3.22.3)

Referring to Exercise 3.17, there is

2π
ε
ȧ = − f (−aω0 sinφ)sinφd φ
2π ω0
0
2π
ε
=− [2μ1 aω0 sinφ + μ2 aω0 sinφ|aω0 sinφ|]sinφd φ
2π ω0
0
π
ε  
=− 2μ1 aω0 sin2 φ + μ2 a2 ω02 sin3 φ d φ
π ω0
0
   
ε 1 3 π
=− μ1 aω0 π + μ2 a ω0 −cosφ + cos φ 0
2 2
π ω0 3
 
4
= −ε μ1 a + μ2 ω0 a2
3π
2π
ε
β̇ = − f (acosφ, −aω0 sinφ)cosφd φ
2π ω0 a
0
144 3 Nonconservative Single-Degree-of-Freedom Systems

2π
ε  
=− [μ2 aω0 sinφ|aω0 sinφ| − 2μ1 aω0 sinφ − α acosφ)3 cosφd φ
2π ω0 a
0
π
εαa2
εαa2 3
= cos4 φd φ = · π
π ω0 π ω0 8
0
3εα 2
= a
8ω0

i.e.,
 
4 3εα 2
ȧ = ε μ2 ω0 a − μ1 a , β̇ =
2
a (3.22.4)
3π 8ω0

(b) Separating the variables of the first equation of (3.22.4) and integrating it, we
obtain
 
da
= ε dt
4
μ ω a2 − μ1 a
3π 2 0

which gives

1 2· 4
μ ω a
3π 2 0
+ μ1 − μ1
ln = εt + c0
μ1 2 · 4
μ ω a
3π 2 0
+ μ1 + μ1

where c0 is a constant of integration. So

a
= c exp(εμ1 t)
a+ 3π
μ
4μ2 ω0 1

where c is a constant. The above equation is reorganized to give

3π μ1 1
a= [1 + ] (3.22.5)
4μ2 ω0 1 + C exp(−εμ1 t)

where C is a constant.
Separating the variables of the second equation of (3.22.4) and integrating it, we
obtain
3εα 2
β= a t + β0 (3.22.6)
8ω0

Therefore, the approximate solution of the original equation is

3.23 Exercise 3.23 (Method of Averaging for Solving Oscillators … 145
   
3π μ1 1 3εα 2
u= 1+ cos[ ω0 + a t + β0 ] (3.22.7)
4μ2 ω0 1 + C exp(−εμ1 t) 8ω0

(c) Since the viscous type of damping in this system is negative, the system absorbs
energy from the external energy source through this damping, while on the other
hand, the viscous damping is energy dissipating, and the system has the potential to
form a limit cycle when the energy absorption is balanced with the energy dissipation.
In fact, from the approximate solution (3.22.7), we can find that the motion of
the system will converge to a simple harmonic motion regardless of the value of the
initial amplitude:
 
3π μ1 3εα 2
u= cos[ ω0 + a t + β0 ] (3.22.8)
4μ2 ω0 8ω0

In the phase plane, this is a closed trajectory, and since there are no other closed
trajectories in its neighborhood, it is a limit cycle and a stable limit cycle.
From the approximate solution (3.22.7), we can also find that the cubic nonlinear
term εαu3 affect the frequency of the oscillation but not the amplitude.

3.23 Exercise 3.23 (Method of Averaging for Solving

Oscillators with Simultaneous Viscous, Quadratic
and Cubic Damping Nonlinearities)

Solution: (a) Write the original equation as

ü + ω02 u = εf (u̇) (3.23.1)

 
where f (u̇) = − 2μ1 u̇ + μ2 u̇|u̇| + μ3 u̇3 (3.23.2)

The method of averaging is also adopted to solve this problem. Let the solution
be

u = a cos(ω0 t + β)  a cos ϕ, ϕ = ω0 t + β (3.23.3)

Referring to the previous exercises, there are

2π
ε
ȧ = − f (−aω0 sinφ)sinφd φ
2π ω0
0
146 3 Nonconservative Single-Degree-of-Freedom Systems

2π
ε  
=− [2μ1 aω0 sinφ + μ2 aω0 sinφ|aω0 sinφ| + μ3 aω0 sinφ)3 sinφd φ
2π ω0
0
π
ε  
=− 2μ1 aω0 sin2 φ + μ2 a2 ω02 sin3 φ + μ3 a3 ω03 sin4 φ d φ
π ω0
0
   
ε 1 3 π 3π
=− μ1 aω0 π + μ2 a ω0 −cosφ + cos φ 0 +
2 2
μ3 a ω0
3 3
π ω0 3 8
 
4 3
= −ε μ1 a + μ2 ω0 a2 + μ3 ω02 a3
3π 8
2π
ε
β̇ = − f (−aω0 sinφ)cosφd φ
2π ω0 a
0
2π
ε  
=− 2μ1 aω0 sinφ + μ2 aω0 sinφ|aω0 sinφ| + μ3 (aω0 sinφ)3 cosφd φ
2π ω0 a
0
=0
 
4 3
i.e., ȧ = −ε μ1 a + μ2 ω0 a2 + μ3 ω02 a3 (3.23.4)
3π 8

β̇ = 0 (3.23.5)

(b) Let ȧ = 0, Eq. (3.23.4) becomes

4 3
μ1 a + μ2 ω0 a2 + μ3 ω02 a3 = 0 (3.23.6)
3π 8
Thus, there are three singular points s1 , s2 and s3 , where as1 = 0 for s1 , and as of
s2 and s3 satisfies

3 4
μ3 ω02 as2 + μ2 ω0 as + μ1 = 0 (3.23.7)
8 3π
i.e.,

16μ2 4 16μ22 3
as2, s3 = − ± − μ1 μ3 (3.23.8)
9π ω0 μ3 3ω0 μ3 9π 2 2

The ‘+’ number corresponds to the singular point s2 and the ‘−’ number
corresponds to the singular point s3 .
3.23 Exercise 3.23 (Method of Averaging for Solving Oscillators … 147

Let’s study the stability of the equilibrium point. Linearize Eq. (3.23.4) at the
singular point a = as . For this purpose, let

a = as + x (3.23.9)

then
 
8 9
ẋ = −ε μ1 + μ2 ω0 as + μ3 ω0 as x
2 2
(3.23.10)
3π 8

Therefore, the condition for the stability of the singular point is

9 8
μ3 ω02 as2 + μ2 ω0 as + μ1 > 0 (3.23.11)
8 3π

(1) For the singular point s1, as1 = 0, Eq. (3.23.11) becomes

μ1 > 0 (3.23.12)

Therefore, when the above equation is satisfied or the system has positive viscous
damping, the stationary state of the system is stable and vice versa.
(2) For the singular point when as = 0, considering (3.23.7), (3.23.11) becomes

6 4
μ3 ω02 as2 + μ2 ω0 as > 0 (3.23.13)
8 3π
i.e.,

16μ2
as > 0 and as > − (3.23.14)
9π ω0 μ3
16μ2
or as < 0 and as < − (3.23.15)
9π ω0 μ3

Since as2 > 0,

1 16μ22 3 4μ2
− μ1 μ3 > (3.23.16)
μ3 9π 2 2 3π μ3

For the real system, μ3 > 0, so Eq. (3.23.16) can be written as

16 μ2 2 3 μ1 4 μ2
( ) − > (3.23.17)
9π μ3
2 2 μ3 3π μ3
148 3 Nonconservative Single-Degree-of-Freedom Systems

Therefore, the stability condition for the solution of the singular point s2 is
" #
μ1 μ2
0 and 0
μ3 μ3
or
 
μ1 32 μ2 2 μ2
0< < and <0 (3.23.18)
μ3 27π μ3
2 μ3

Since as3 < 0, i.e.

16 μ2 2 3 μ1 4 μ2
( ) − >− (3.23.19)
9π 2 μ3 2 μ3 3π μ3

The stability condition for the solution of the singular point s3 is

μ1 μ2
< 0 and <0
μ3 μ3
 
μ1 32 μ2 2 μ2
or 0 < < and >0 (3.23.20)
μ3 27π 2 μ3 μ3

However, the second condition of the above equation implies that μ1 > 0, μ2 >
0, μ3 > 0, i.e., all damping is dissipative, which cannot lead to a steady state oscil-
lation with a non-zero amplitude. Therefore, the stability condition for the singular
point s3 is
μ1 μ2
< 0 and <0 (3.23.21)
μ3 μ3

From (3.23.18) and (3.23.21), the stable regions of singular points s2 and s3 can be
sketched on the (μ2 /μ3 ) ∼ (μ1 /μ3 ) plane as shown in Fig. 3.11a. It can be seen that
the two stable regions are non-overlapping, so for each set of μ1 , μ2 , μ3 parameter
values that meet the stability condition, only one of the singular points s2 and s3
is stable, and correspondingly, only one stable limit cycle can appear on the phase
plane.
In order to verify the correctness of the above results, we adopted direct numerical
integration of the original equations and drew the phase trajectories and limit cycle(s)
in Fig. 3.11b. Here, ω0 = 1, ε = 0.1, μ3 = 1, μ1 and μ2 can take the following
four different sets of values: 
Group 3.1: μ1 = 1, μ2 is positive so that μμ13 = 21 [ 27π
32
2
μ2 2
μ3
) ;Group 3.2: μ1 = 1,

μ2 is negative so that μμ13 = 21 [ 27π
32 μ2 2
μ3
) ;Group 3.3: μ1 = −1,μ2 is positive so that
   
2

 μ1  μ  μ1  32 μ2 2
 μ3  = 27π
32
2 ( μ ) ;Group 3.4: μ1 = −1, μ2 is negative so that  μ  = 27π 2 ( μ ) ;
2 2
3 3 3
3.23 Exercise 3.23 (Method of Averaging for Solving Oscillators … 149

Fig. 3.11 a Stable regions of singularities s2 and s3 . b Phase trajectories (including limit cycles)
obtained by direct integration of the original equation for Exercise 3.23

According to the second condition of (3.23.20), the case with the first group of
parameters should have a limit cycle. But according to the direct integration of the
original system, phase trajectories converge to the origin and there is no limit cycle,
as shown in Fig. 3.11b A-1. According to the stability conditions (3.23.18) and
(3.23.21), each of the cases with the second to the fourth group of parameters has a
stable limit cycle, which agrees well with the integration of the original system, as
shown in Fig. 3.11b A-2 to A-4.
150 3 Nonconservative Single-Degree-of-Freedom Systems

In summary, the approximate solution and stability conditions obtained above are
correct.

3.24 Exercise 3.24 (Averaging to Solve and Analyze

Nonlinear Vibrations of a Pendulum)

Solution: (a) We use the small parameter ε to measure the amplitude of oscillation,
x, therefore, let x = εu, and write the original equation as

λ I
εü + εω02 u + ε u̇ − ε (u̇ − |u̇|)δ(u − u0 ) = 0 (3.24.1)
J 2J
We study the case where both the friction effect λ/J and the impulsive excitation
are small. Let
λ I
= ελ1 , = εI1 (3.24.2)
J 2J
Thus, Eq. (3.24.1) becomes

ü + ω02 u = εf (u, u̇) (3.24.3)

f (u, u̇) = −[λ1 u̇ − I1 (u̇ − |u̇|)δ(u − u0 )] (3.24.4)

Since f is not an even function of the state, it can be solved by the method of
averaging. Let its solution be

a cos ψ, ψ = ω0 t + ϕ (3.24.5)

Referring to Exercise 3.17 or 3.22, there are

2π
ε
ȧ = − f (acosψ, −aω0 sinψ)sinψd ψ
2π ω0
0
2π
ε
=− {λ1 (aω0 sinψ)
2π ω0
0
 
− I1 (aω0 sinψ) + |(aω0 sinψ)| δ(acosψ − u0 )}sinψd ψ
2π π
εaλ1 εI1 a
=− sin ψd ψ +
2
δ(acosψ − u0 )sin2 ψd ψ
2π π
0 0
3.24 Exercise 3.24 (Averaging to Solve and Analyze Nonlinear Vibrations … 151

π
εaλ1 εI1 a
=− + δ(acosψ − u0 )sin2 ψd ψ
2 π
0

2π
ε
φ̇ = − f (acosψ, −aω0 sinψ)cosψd ψ
2π ω0 a
0
2π
ε
=− {λ1 (aω0 sinψ)
2π ω0 a
0
 
− I1 (aω0 sinψ) + |(aω0 sinψ)| δ(acosψ − u0 )}cosψd ψ
2π π
ελ1 εI1
=− cosψsinψd ψ + δ(acosψ − u0 )cosψsinψd ψ
2π π
0 0

Note that the above results are obtained assuming that the impulsive excitation
works at the angle within the range of [0, π ) and, therefore, δ(a cos ψ − u0 ) = 0
within the range of (−π, 0).
Returning to x yields

x = a cos ψ, ψ = ω0 t + ϕ (3.24.6)

π
aλ Ia
ȧ = − + δ(a cos ψ − x0 ) sin2 ψd ψ (3.24.7)
2J 2J π
0

2π π
λ I
ϕ̇ = − cos ψ sin ψd ψ + δ(a cos ψ − x0 ) cos ψ sin ψd ψ (3.24.8)
2J π 2J π
0 0

(b) If a ≥ x0 ≥ 0, according to the property of integration of δ function, we get

2π π
aλ Ia
ȧ = − sin2 ψd ψ + δ(acosψ − x0 )sin2 ψd ψ
2J π 2J π
0 0
π
aλ I
=− − δ(acosψ − x0 )sinψd (acosψ)
2J 2J π
0
π
aλ I
=− − δ(acosψ − x0 )sinψd (acosψ)
2J 2J π
0
152 3 Nonconservative Single-Degree-of-Freedom Systems

a
aλ I x
=− + δ(x − x0 )sin arccos dx
2J 2J π a
−a
a
aλ I x
=− + δ(x − x0 )sin arccos dx
2J 2J π a
0
aλ I x0
=− + sin arccos (3.24.9)
2J 2J π a
aλ I
i.e., ȧ = − + sin ψa (3.24.10)
2J 2J π
x0
where cos ψa = ⇒ a cos ψa − x0 = 0 (3.24.11)
a
2π π
λ I
φ̇ = − cosψsinψd ψ + δ(acosψ − x0 )cosψsinψd ψ
2J π 2J π
0 0
π
I
=− δ(acosψ − x0 )cosψd (acosψ)
2J π a
0
a
I x
= δ(x − x0 )cos arccos dx
2J π a a
−a
a
I x
= δ(x − x0 )cos arccos dx
2J π a a
0
I x0
= cos arccos
2J π a a
I
= cosψa (3.24.12)
2J π a
I
ϕ̇ = cos ψa (3.24.13)
2J π a
From (3.24.11), we can obtain
 1/2
x2
sin ψa = 1 − 02 (3.24.14)
a

Substituting this into (3.24.10) we can obtain

 1/2
aλ I x02
ȧ = − + 1− 2 (3.24.15)
2J 2J π a
3.24 Exercise 3.24 (Averaging to Solve and Analyze Nonlinear Vibrations … 153

(c) If x0 > a, then the domain of definition of the δ function is no longer on (0, a),
so the integrals of the last terms in (3.24.9) and (3.24.12) are zeros, which gives

aλ
ȧ = − , ϕ̇ = 0 (3.24.16)
2J

(d) Equation (3.24.16) has the solution a = exp(−λ/2J ), which is decaying. There-
fore, only (3.24.15) can form a steady state oscillation and the steady state amplitude
satisfies
 1/2
as λ I x2
− + 1 − 02 =0 (3.24.17)
2J 2J π as

i.e.,
 1/2  2
x2 as π λ πλ
1 − 02 = ⇒ as4 − as2 + x02 = 0
as I I

therefore,
⎡ ⎤
 2  2
1 I ⎣1 ± πλ ⎦
s2 = 1 − 4x02
2
as1, (3.24.18)
2 πλ I

The real value of as exists if

 2
πλ
4x02 ≤1 (3.24.19)
I
I
i.e., x0 ≤ (3.24.20)
2π λ
The stability of the steady state solution is considered below. Linearize Equa-
tion (3.24.15) near the steady state amplitude as yields
  −1/2 
λ Ix02 x02
ȧ = − + 1− 2 a (3.24.21)
2J 2J π as3 as

Therefore, the stability condition is

 −1/2
λ Ix02 x02
− + 1− 2 <0
2J 2J π as3 as

Taking (3.24.17) into account, the above equation becomes

154 3 Nonconservative Single-Degree-of-Freedom Systems

x02 < as2 (3.24.22)

Substituting (3.24.18) into the above equation, the stability conditions for the two
steady state oscillations become
⎡ ⎤
 2  2
I ⎣1 + πλ ⎦
x02 < as1
2
=2 1 − 4x02 (3.24.23)
2π λ I
⎡ ⎤
 2  2
I ⎣1 − πλ ⎦
x02 < as2
2
=2 1 − 4x02 (3.24.24)
2π λ I

It can be seen that when (3.24.20) is satisfied, the stability condition (3.24.23)
must also be satisfied. Therefore, the steady state amplitude as1 is stable and it forms
a stable limit cycle in the phase plane. When
√
3 I I
≤ x0 ≤ (3.24.25)
2 2π λ 2π λ
the stability condition (3.24.24) is satisfied, then the steady state amplitude as2 is
stable and it forms a stable limit cycle in the phase plane.
In summary, when (3.24.25) is satisfied, there are two stable steady state
amplitudes; when
√
3 I
x0 < (3.24.26)
2 2π λ
there is only one steady state amplitude as1 .

3.25 Exercise 3.25 (Viscous Damping, Negative Stiffness,

and Cubic Nonlinear Systems)
√
Solution:√ The singular points of the system are us1 = 0, us2 = α1 /α2 and
us3 = − α1 /α2 . Since the stiffness of the system is negative, the singular point us1
is unstable, which is easy to prove. Since the equation remains the same by replacing
u with −u in the original equation, the states of motion around the singular points
us2 and us3 are the same, and we only need to analyze the motion around the singular
point us2 .
Let u = us2 + v, we can move the singular point us2 of the original equation to
the origin:
 
v̈ + 3α2 us2
2
− α1 v + μv̇ + 3α2 us2 v2 + α2 v3 = 0
3.26 Exercise 3.26 (Transformations of Variables and Three-Level Number … 155

i.e.,
√
v̈ + 2α1 v + μv̇ + 3 α1 α2 v2 + α2 v3 = 0 (3.25.1)

The linearization of this equation near the origin is given by

v̈ + 2α1 v + μv̇ = 0 (3.25.2)

This is a viscous damped linear oscillation which decays to simple harmonic

oscillation. Therefore, any perturbed motion near the singular point us2 will come
back to the singular point us2 .
To summarize,
√ the system diverges around u = us1 = 0 and will eventually reach
u = us2√ = α 1 /α 2 . For the motion of u > us2 , it will eventually converge
√to u =
us2 = α1 /α2 . Therefore, the equilibrium state of the system is u = us2 = α1 /α2 .

3.26 Exercise 3.26 (Transformations of Variables

and Three-Level Number Expansion Methods
for Solving a Cubic Nonlinear System)

Solution: (a) The linear damping term is not in the same order of the cubic nonlinear
term, and therefore, the method of averaging cannot be used.
The independent variables of the original equation transform from t to a and ψ,
so
du d ψ ∂u da ∂u ∂u ∂u
= + =ω +ξ
dt dt ∂ψ dt ∂a ∂ψ ∂a
 
d 2u d d ψ ∂u da ∂u d 2 ψ ∂u
= + =
dt 2 dt dt ∂ψ dt ∂a dt 2 ∂ψ
   
d ψ d ∂u d a ∂u da d ∂u
2
+ + 2 +
dt dt ∂ψ dt ∂a dt dt ∂a
 
d 2 ψ ∂u d ψ d ψ ∂ 2u da ∂ 2 u
= + +
dt 2 ∂ψ dt dt ∂ψ 2 dt ∂ψ∂a
 
d 2 a ∂u da da ∂ 2 u d ψ ∂ 2 u
+ 2 + +
dt ∂a dt dt ∂a2 dt ∂ψ∂a
 2   2 
∂ u ∂ u
2
∂ u ∂ 2u
=ω ω 2 +ξ +ξ ξ + ω
∂ψ ∂ψ∂a ∂ψ 2 ∂ψ∂a
da d ω ∂u ∂ u
2
∂ u
2
= + ω2 + ωξ
dt da ∂ψ ∂ψ 2 ∂ψ∂a
da d ξ ∂u ∂ 2u ∂ 2u
+ + ξ2 + ωξ
dt da ∂a ∂ψ 2 ∂ψ∂a
156 3 Nonconservative Single-Degree-of-Freedom Systems

∂ 2u ∂ 2u 2 ∂ u
2
d ω ∂u d ξ ∂u
= ω2 + 2ωξ + ξ +ξ +ξ
∂ψ 2 ∂ψ∂a ∂ψ 2 da ∂ψ da ∂a
d ∂ ∂
i.e., =ω +ξ (3.26.1)
dt ∂ψ ∂a

d2 ∂2 ∂2 ∂2 dξ ∂ dω ∂
= ω2 + 2ωξ + ξ2 2 + ξ +ξ (3.26.2)
dt 2 ∂ψ 2 ∂ψ∂a ∂a da ∂a da ∂ψ

(b) From (3.26.1) and (3.26.2), the original equation becomes

∂ 2u ∂ 2u 2∂ u
2
d ξ ∂u d ω ∂u
ω2 + 2ωξ + ξ +ξ +ξ
∂ψ 2 ∂ψ∂a ∂a2 da ∂a da ∂ψ
∂u ∂u
+ 2μω + 2μξ + u + εu3 = 0 (3.26.3)
∂ψ ∂a

Substituting the hypothetical solution into (3.26.3) yields

∂ 2 (a cos ψ + εu1 ) ∂ 2 (a cos ψ + εu1 )

(ω0 + εω1 )2 + 2(ω 0 + εω 1 )(−μa + εξ 1 )
∂ψ 2 ∂ψ∂a
∂ (a cos ψ + εu1 )
2 d (−μa + εξ1 ) ∂(a cos ψ + εu1 )
+ (−μa + εξ1 )2 + (−μa + εξ1 )
∂a2 da ∂a
d (ω0 + εω1 ) ∂(a cos ψ + εu1 )
+ (−μa + εξ1 )
da ∂ψ
∂(a cos ψ + εu1 ) ∂(a cos ψ + εu1 )
+ 2μ(ω0 + εω1 ) + 2μ(−μa + εξ1 )
∂ψ ∂a
 
+ (a cos ψ + εu1 ) + ε(a cos ψ + εu1 )3 + O ε 2 + · · · = 0

Expanding the above equation and retaining to O(ε) yields

∂ 2 u1 ∂ 2 u1
0 = ε[ω02 − 2ω0 ω1 a cos ψ − 2μω 0 a + 2μaω1 sin ψ
∂ψ 2 ∂ψ∂a
 
2 2 ∂ u1 d ξ1
2
− 2ω0 ξ1 sin ψ + μ a − μξ1 + μa cos ψ
∂a2 da
∂u1 d ω1 ∂u1
+ μ2 a + μa2 sin ψ + 2μω0
∂a da ∂ψ
∂u1
− 2μω1 a sin ψ − 2μ2 a
∂a  
+ 2μξ1 cos ψ + u1 + a3 cos3 ψ] + O ε2 + · · ·

Equating the coefficient of the like power of ε yields

3.26 Exercise 3.26 (Transformations of Variables and Three-Level Number … 157

∂ 2 u1 ∂ 2 u1 2 2 ∂ u1
2
ω02 − 2μω 0 a + μ a
∂ψ 2 ∂ψ∂a ∂a2
∂u1 ∂u 1  
+ 2μω0 − μ2 a + ω02 + μ2 u1
∂ψ ∂a
d ω1
= 2ω0 ω1 a cos ψ + 2ω0 ξ1 sin ψ − μa2 sin ψ
  da
d ξ1
+μ a − ξ1 cos ψ
da
3 1
− a3 cos ψ − a3 cos 3ψ (3.26.4)
4 4

where ω02 = 1 − μ2 .
(c) In order to eliminate secular terms, we need

2ω0 ω1 a + μ a ddaξ1 − ξ1 − 43 a3 = 0
(3.26.5)
ω1
2ω0 ξ1 − μa2 dda =0

This is a variational coefficient equation of independent variable a. We can observe

that the solution of the equation is a polynomial of a, which can be given as

ξ1 = A3 a3 + A2 a2 + A1 a + A0 , ω1 = B2 a2 + B1 a + B0 (3.26.6)

Substituting (3.26.6) into (3.26.5) yields

 
2ω0 B2 − 43 + 2μA3 a3 + (2ω0 B1 + μA2 )a2 + 2ω0 B0 a − μA0 = 0
(3.26.7)
2(ω0 A3 − μB2 )a3 + (2ω0 A2 − μB1 )a2 + 2ω0 A1 a + 2ω0 A0 = 0

Equating the coefficients of the like powers of a yields

3
A0 = 0, A1 = 0, A2 = 0, A3 = μ
8
3
B0 = 0, B1 = 0, B2 = ω0
8
Substituting this into (3.26.6), we can obtain

3 3 3
ξ1 = μa and ω1 = ω0 a2 (3.26.8)
8 8

(d) Substituting (3.26.8) into the expressions of ȧ and ψ̇, and retaining to O(ε) yields

3
ȧ = −μa + εμa3 (3.26.9)
8
158 3 Nonconservative Single-Degree-of-Freedom Systems

3
ψ̇ = ω0 + εω0 a2 (3.26.10)
8
Integrating (3.26.9) yields

da
= d (μt) (3.26.11)
3
8
εa3 −a
1 a2
therefore, ln 3 2 = −μt + c (3.26.12)
2 8 εa − 1

where c is a constant of integration. When t = 0, a = a0 , we obtain

a2 a02
= e−2μt
3
8
εa 2−1 3
8
εa0
2
− 1
 
−μt 3 2  −2μt  −1/2
so a = a0 e 1 + εa0 e −1 (3.26.13)
8

Substituting (3.26.13) into (3.26.10) yields

 
3 3   −1
ψ̇ = ω0 + εω0 a02 e−2μt 1 + εa02 e−2μt − 1 (3.26.14)
8 8

Integrating the above equation yields


3 e−2μt dt
ψ = ω0 t + εω0 a02  
8 1 + 38 εa02 e−2μt − 1
 
3 εω0 a02 3 2  −2μt 
= ω0 t −   ln 1 + εa0 e − 1 + ψ0
8 2μ 38 εa02 8
 
ω0 3  
= ω0 t − ln 1 + εa02 e−2μt − 1 + ψ0
2μ 8

i.e.,
 
ω0 3  
ψ = ψ0 + ω0 t − ln 1 + εa02 e−2μt − 1 (3.26.15)
2μ 8
3.27 Exercise 3.27 (Application of Elliptic Functions to Represent Solutions … 159

3.27 Exercise 3.27 (Application of Elliptic Functions

to Represent Solutions of a Single Pendulum System
with a General Weak Damping Function)

Solution: (a) When ε = 0, the original equation becomes

ü + ω2 sin u = 0 (3.27.1)

This is a conservative equation for a single pendulum. After integration, we can

obtain
1 2
u̇ − ω2 cos u = E (3.27.2)
2
E is the constant of integration. From (3.27.1) and (3.27.2), we have

d u̇ 1 ω2 sin udu
dt = − , d u̇ = − √ √
ω2 sin u 2 E + ω2 cos u

Therefore,

1 du 1 du
dt = √ √ =√ 
2 E + ω2 cosu 2 E + ω2 − 2ω2 sin2  1 u
2
√ 1  1 
2d 2 u kd 2 u
=√  √   =    (3.27.3)
E + ω2 1 − ( √E+ω
2ω 2
2
) sin2 21 u ω 1 − k 2 sin2 21 u

where k 2 = 2ω2 /(E + ω2 ). After integration, we can obtain

u/2 1 
d u
ωt + ϕ = k  2
(3.27.4)
0 1 − k 2 sin2 ( 21 u)

Let

u/2 1 
ψ d u
ψ = ωt + ϕ, =  2
(3.27.5)
k 1 − k 2 sin2 ( 21 u)
0

From the definition of the Jacobi elliptic function, there is (see Appendix A)
 
u ψ
sin = sn , k = k sn(ψ, k) (3.27.6)
2 k
160 3 Nonconservative Single-Degree-of-Freedom Systems

u = 2 sin−1 [k sn(ψ, k)] (3.27.7)

(b) When ε = 0, set the solution of the original equation to be

u = 2 sin−1 {k(t) [sn(ψ, k(t)]} (3.27.8)

whereψ = ωt + ϕ(t) (3.27.9)

At the same time, u̇ = 2kωcn(ψ, k) (3.27.10)

Conducting the derivative of (3.27.8) and (3.27.10) with respect to t, respectively,

yields
 
2 d sn
u̇ = k̇sn + kcndn(ω + ϕ̇) + k̇k (3.27.11)
dn dk
 
d cn
ü = 2ω k̇cn − ksndn(ω + ϕ̇) + k̇k (3.27.12)
dk

From (3.27.10) and (3.27.11), we have

d sn
k̇sn + k ϕ̇cndn + k̇k =0 (3.27.13)
dk
Substitute (3.27.8), (3.27.10) and (3.27.12) into the original equation, we obtain

d cn ε  
k̇cn − k ϕ̇sndn + k̇k = f 2 sin−1 (ksn , 2kωcn] (3.27.14)
dk 2ω
Multiply (3.27.13) by sn and (3.27.14) by cn, then add the two together, we can
obtain
εcn  
k̇ = f 2 sin−1 (ksn , 2kωcn] (3.27.15)
2ω
Substitute (3.27.15) into (3.27.13), we can obtain
 
ε d sn  
ϕ̇ = − sn + k f 2 sin−1 (ksn , 2kωcn] (3.27.16)
2ωkdn dk

(c) Making the average of (3.27.15) and (3.27.16) over a period 4K yields
3.28 Exercise 3.28 (Masses Bounded in Definite Orbits, Analyzing … 161

4K
ε  
k̇ = cnf 2 sin−1 (ksn , 2kωcn]d ψ = εgk (k, ϕ) (3.27.17)
8ωK
0

4K  
ε 1 d sn  
ϕ̇ = − sn + k f 2 sin−1 (k sn ,
8ωkK dn dk
0
2kωcn]d ψ = εgϕ (k, ϕ) (3.27.18)

When the specific form of the function f is known, it is possible to obtain gϕ (k, ϕ)
and gk (k, ϕ). This can be used to solve for k(t) and ϕ(t) and then the first-order
approximate solution of the original equation.

3.28 Exercise 3.28 (Masses Bounded in Definite Orbits,

Analyzing Singularities and Their Bifurcations)

Solution: (a) Let u̇ = ü = 0 in the original equation, we can obtain

1
μ2 μ3 sin u + μ23 sin 2u + μ1 = 0 (3.28.1)
2

(b) When μ1 = 0.1, μ2 = 2.0, Eq. (3.28.1) becomes

1 2
μ sin 2u + 2μ3 sin u + 0.1 = 0 (3.28.2)
2 3
Solving this equation using numerical methods yields the singularity trajectory
shown in Fig. 3.12a.
It can be seen that bifurcation occurs at μ(1) (2)
3 = 0.04988 and μ3 = 2.24812. The
coordinate values of each singular point of the bifurcation points are:

us1 = 4.73673, us2 = 6.27219, us3 = 3.69294, us4 = 2.86984

The above results are close to the values given in the question. However, we could
not find the bifurcation value of μ3 = 0.3.
Examine the type of singular point. When μ1 = 0.1 and μ2 = 2.0, the original
differential equation becomes

1
ü + 0.1 · (u̇ − 1) − 2μ3 sin u − μ23 sin 2u = 0
2
Let v = u̇, write this equation as a system of first order differential equations:
162 3 Nonconservative Single-Degree-of-Freedom Systems

Fig. 3.12 a The bifurcation (choose μ3 as control parameter) and b stability of singular points
(μ1 = 0.1, μ2 = 2.0) for Exercise 3.28


u̇ = v
(3.28.3)
v̇ = 2μ3 sin u + 21 μ23 sin 2u − 0.1u̇ + 0.1

Linearizing Eq. (3.28.3) around any singular point us yields

    
u̇ 0 1 u
= (3.28.4)
v̇ 2μ3 cos us + μ23 cos 2us −0.1 v
3.29 Exercise 3.29 (Non-autonomous Systems with Slowly Varying Functions) 163

The characteristic equation is

 
λ2 + 0.1λ − 2μ3 cos us + μ23 cos 2us = 0 (3.28.5)

The eigenvalues are

  
−0.1 ± 0.01 + 4 2μ3 cos us + μ23 cos 2us
λ1, 2 = (3.28.6)
2
Therefore, when

2μ3 cos us + μ23 cos 2us < 0 (3.28.7)

the corresponding singular point is stable, otherwise it is unstable. According to the

singularity trajectory that has been obtained earlier, we can judge the stability of
any point on the singularity trajectory by (3.28.7). The stability result is shown in
Fig. 3.12b.

3.29 Exercise 3.29 (Non-autonomous Systems with Slowly

Varying Functions)

Solution: (a) The nonlinear function f (u, τ ) is a function of u and τ , and τ is a

slow-varying time variable, so it is hypothesized that the solution u of the system
should also contain a slow-varying component with time t. In order to characterize
u as slowly varying with time t, we make u as a function of the slow-varying time
variable τ and the fast-varying time variable η, but the derivative of η with respect
to t is a slow-varying function g(τ ). According to the chain rule for derivatives, we
have
du ∂u d τ ∂u d η ∂u ∂u
= + =ε + g(τ )
dt ∂τ dt ∂η dt ∂τ ∂η
   2 
d 2u d ∂u ∂u ∂ u dτ ∂ 2u d η
= ε + g(τ ) = ε +
dt 2 dt ∂τ ∂η ∂τ 2 dt ∂η∂τ dt
 2 
∂u dg d τ ∂ u dτ ∂ u dη
2
+ + g(τ ) + 2
∂η d τ dt ∂η∂τ dt ∂η dt
∂ u
2
∂ u
2
dg ∂u ∂ 2u
= ε2 2 + εg +ε + εg
∂τ ∂η∂τ d τ ∂η ∂η∂τ
 2 
∂ u
2
∂u ∂ u  
= g2 2 + ε g + 2g + O ε2
∂η ∂η ∂η∂τ

Written in the form of a differential operator as

164 3 Nonconservative Single-Degree-of-Freedom Systems

d2 2 ∂ ∂ ∂2
2
= g + ε(g + 2g ) + O(ε2 ) (3.29.1)
dt 2 ∂η2 ∂η ∂τ ∂η

The hypothetical solution given in the question is

u = u0 (τ, η) + εu1 (τ, η) + · · · (3.29.2)

Substituting (3.29.1) and (3.29.2) into the differential equation of the system and
retaining to O(ε) yields
 
∂ 2 (u0 + εu1 ) ∂(u0 + εu1 ) ∂ 2 (u0 + εu1 )
g2 + ε g + 2g
∂η2 ∂η ∂τ ∂η
+ f [u0 + εu1 , τ ] = 0 (3.29.3)

Expanding f [u0 + εu1 , τ ] at u0 and retaining to O(ε) yields

∂ 2 u0 ∂ 2 u1 ∂u0
g2 + f (u0 , τ ) + εg 2 2 + εg
∂η 2 ∂η ∂η
∂ 2 u0 ∂f (u0 , τ )
+ 2εg +ε u1 = 0
∂τ ∂η ∂u0

Equating the coefficients of the like powers of ε, we obtain

∂ 2 u0
g2 + f (u0 , τ ) = 0 (3.29.4)
∂η2

∂ 2 u1 ∂u0 ∂ 2 u0 ∂f (u0 , τ )
g2 + g + 2g + u1 = 0 (3.29.5)
∂η2 ∂η ∂τ ∂η ∂u0

Equation (3.29.4) can be written as

 
∂u0 ∂ ∂u0 ∂u0
g2 + f (u0 , τ ) =0
∂η ∂η ∂η ∂η
  
1 2 ∂u0 2
⇒ g d + f (u0 , τ )du0 = 0 (3.29.6)
2 ∂η

After integration
 2
∂u0
g 2
+ F(u0 , τ ) = c1 (τ ) (3.29.7)
∂η

where F(u0 , τ ) = 2 f (u0 , τ )du0 (3.29.8)
3.29 Exercise 3.29 (Non-autonomous Systems with Slowly Varying Functions) 165

c1 (τ ) is an integral constant which is an arbitrary function of τ . Equation (3.29.5)

can be written as

∂ 2 u1 ∂f (u0 , τ ) ∂u0 ∂ 2 u0
g2 + u1 = −g − 2g (3.29.9)
∂η 2 ∂u0 ∂η ∂τ ∂η

Multiplying (3.29.9) by ∂u0 /∂η yields

∂ 2 u1 ∂u0 ∂f (u0 , τ ) ∂u0 ∂u0 ∂u0 ∂ 2 u0 ∂u0

g2 + u1 = −g − 2g
∂η2 ∂η ∂u0 ∂η ∂η ∂η ∂τ ∂η ∂η

i.e.,

 2    2 
∂u0 ∂ 2
u1 ∂ ∂ u0 ∂ ∂u0
g2 − u1 g 2 =− g
∂η ∂ 2 η ∂η ∂η2 ∂τ ∂η

Considering (3.29.4) and noting that g is just a function of τ , the above equation
can be written as
 2   
2 ∂u0 ∂ u1 2 ∂ ∂ u0 ∂ ∂u0 2
2
g − u1 g = − [g )
∂η ∂ 2 η ∂η ∂η2 ∂τ ∂η

i.e.,
    2     
∂u0 ∂u1 ∂ u0 ∂ ∂u0 2
g 2
d − u1 d =− g dη (3.29.10)
∂η ∂η ∂η2 ∂τ ∂η

The quantity in parentheses on the right-hand side of the above equation reduces
to
   2 
∂u0 ∂u1 ∂ u0
d − u1 d
∂η ∂η ∂η2
    2       2  
∂u0 ∂u1 ∂ u0 ∂u1 ∂u0 ∂ u0
=d − u1 − d − du1
∂η ∂η ∂η 2 ∂η ∂η ∂η2
    2 
∂u0 ∂u1 ∂ u0
=d − u1
∂η ∂η ∂η2
  2   2   
∂u1 ∂ u0 ∂ u0 ∂u1
− d η − dη
∂η ∂η2 ∂η2 ∂η
    2 
∂u0 ∂u1 ∂ u0
=d − u1
∂η ∂η ∂η2

Substituting this into (3.29.10) yields

166 3 Nonconservative Single-Degree-of-Freedom Systems
   2    
∂u0 ∂u1 ∂ u0 ∂ ∂u0 2
g d[
2
− u1 =− g ) dη (3.29.11)
∂η ∂η ∂η2 ∂τ ∂η

Assuming that the motion varies with the fast-varying time variable η by a period
of T , and integrating (3.29.11) over 0 ∼ T yields

  T  
∂u1 ∂u0 ∂ 2 u0 T ∂ ∂u0 2
g 2
− u1 2 0 = − [g ) dη (3.29.12)
∂η ∂η ∂η ∂τ ∂η
0

According to the above assumptions, u1 (τ, η) must vary with η by the period T ,
so the left side of the above equation is zero:

T  
∂ ∂u0 2
[g ) dη = 0
∂τ ∂η
0

i.e.,
⎡ T ⎤
  
∂ ⎣ ∂u0 2 ⎦
g dη = 0 (3.29.13)
∂τ ∂η
0

By the above assumptions, u0 (τ, η) must also vary with η by the period T , so the
integral in the above equation is just a function of τ , and hence

T  2
∂u0
g d η = 2c (3.29.14)
∂η
0

where c is the constant of integration. Assuming that the value of u0 (τ, η) varies
antisymmetrically with respect to the midpoint of the period T , the above equation
can be written as

T /2 2
∂u0
g dη = c (3.29.15)
∂η
0

From (3.29.7), we can obtain

 2
∂u0 c1 (τ ) − F(u0 , τ ) gdu0
= , √ = dη
∂η g2 c1 (τ ) − F(u0 , τ )

Substituting this into (3.29.14), we obtain

3.29 Exercise 3.29 (Non-autonomous Systems with Slowly Varying Functions) 167

T /2(
c1 (τ ) − F(u0 , τ )du0 = c (3.29.16)
0

We replace the integration limit 0 ∼ T /2 of η in the above equation with the

integration limit of u0 . Since u0 (τ, η) varies with η periodically and it has been
assumed that the value of u0 (τ, η) varies anti-symmetrically with respect to the
midpoint of T , the integration of η can be done on virtually any T /2. As a result, the
integral of Eq. (3.29.16) can be carried out between the very small value y1 and the
very large value y2 of u0 , so that y1 and y2 can make ∂u0 /∂η = 0. From (3.29.7), we
can obtain

c1 (τ ) − F(yi , τ ) = 0, i = 1, 2 (3.29.17)

Therefore, Eq. (3.29.16) can be written as

y2 (
c1 (τ ) − F(u0 , τ )du0 = c (3.29.18)
y1

(b) If the system is a linear oscillator with slowly varying stiffness, i.e.

f (u0 , τ ) = k(τ )u0 (3.29.19)

by substituting (3.29.19) into (3.29.8) and (3.29.7), we obtain


F(u0 , τ ) = 2 f (u0 , τ )du0 = k(τ )u02 (3.29.20)

∂u0 2
g2( ) + k(τ )u02 = c1 (τ ) (3.29.21)
∂η

From (3.29.17) and (3.29.20), we have

c1 (τ ) c1 (τ )
y1 = − , y2 = (3.29.22)
k(τ ) k(τ )

Since y1 and y2 are the minimal and maximal values of u0 , we set

c1 (τ )
u0 = sin[ϕ(η)] (3.29.23)
k(τ )

Substituting this into (3.29.21) yields

168 3 Nonconservative Single-Degree-of-Freedom Systems

c1 (τ ) dϕ c1 (τ )
g2 cos2 ϕ( )2 + k(τ ) sin2 ϕ = c1 (τ )
k(τ ) ∂η k(τ )

g2 d ϕ 2
i.e., ( ) =1 (3.29.24)
k(τ ) ∂η

Therefore
√
dϕ k(τ )
= (3.29.25)
∂η g(τ )
g(τ )
η= √ (ϕ + B) (3.29.26)
k(τ )

where B is the constant of integration. When ϕ = −π/2, u0 reaches the minimum

value, so that at this time η = 0, then B = π/2, so

g(τ ) π
η= √ ϕ+ (3.29.27)
k(τ ) 2

When ϕ changes from 0 to 2π , u0 also undergoes a period variation. The period

of u0 , T , is

g(τ ) π g(τ ) π 2π g(τ )

T=√ 2π + −√ 0+ = √ (3.29.28)
k(τ ) 2 k(τ ) 2 k(τ )

If T = 2π , then we have
(
g(τ ) = k(τ ) (3.29.29)

From (3.29.18) and (3.29.20), we have

y2 
c= c1 (τ ) − k(τ )u02 du0
y1
  y2
( u0 c1 (τ ) c1 (τ ) k(τ )
= k(τ ) − u0 +
2
arcsin u0
2 k(τ ) 2k(τ ) c1 (τ )
y1
(  π
c1 (τ ) c1 (τ ) π c1 (τ )
= k(τ ) sinφcosφ + φ = √
2k(τ ) 2k(τ ) 0 2 k(τ )

i.e.,

c1 (τ ) 2c
√ = , a constant (3.29.30)
k(τ ) π
Appendix 169

Substitute (3.29.30) and (3.29.27) into (3.29.23), we obtain

√ 
2c k(τ ) π
u0 = √ sin η− (3.29.31)
π k(τ ) g(τ ) 2

Taking (3.29.29) into account, the above equation becomes


2c −1/4
u0 = − k cos η (3.29.32)
π

Since
dη 1
= g(τ ) ⇒ dη = g(τ )d τ
dt ε
then

εt
1
η= g(τ )d τ + η0 (3.29.33)
ε
0

by substituting (3.29.33) into (3.29.32) and taking c is a constant into account, we

obtain
⎡ εt ⎤

a 1
u0 = cos⎣ g(τ )d τ + η0 ⎦ (3.29.34)
[k(τ )]1/4 ε
0

Appendix

Introduction to Elliptic Integrals and Jacobi Elliptic Functions

Integral function F(k, φ)

sin φ φ
dx dθ
z = F(φ, k) =   =  
0
1 − x2 1 − k 2 x2 0
1 − k 2 sin2 θ

is called Legendre’s elliptic integral of the first kind. The inverse function of this
function is usually notated as sin φ = sn z = sn (z, k), φ = am z
170 3 Nonconservative Single-Degree-of-Freedom Systems

where sn z = sn (z, k) is called the elliptic sine function. From this, three other
related functions can be defined:
(
cn z = cosϕ = 1 − sn2 z
sn n sn n
tn z = tanϕ = =√
cn z 1 − sn2 z
(
dn z = 1 − k 2 sn2 z

where cn z is called the elliptic cosine function, tn z is called the elliptic tangent
function. sn z, cn z, tn z and dn z are commonly known as Jacobi elliptic functions.
sn z and tn z are odd functions, and cn z and dn z are even functions. The Jacobi
elliptic function is periodic and has a fundamental period of 4K:

π/2
π dθ
4K = 4F ,k = 4  
2 1 − k 2 sin2 θ
0

The basic relationships between Jacobi elliptic functions are

sn2 z + cn2 z = 1, dn2 z + k 2 sn2 z = 1, dn2 z − k 2 cn2 z = 1 − k 2

The formulas for the derivatives of the Jacobi elliptic functions are

d d d
sn z = cn z dn z, cn z = −sn z dn z, dn z = −k 2 sn z cn z
dz dz dz

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Chapter 4
Forced Oscillations of Systems Having
a Single Degree of Freedom

4.1 Exercise 4.1 (The Method of Multiple Scales

for Analyzing Primary Resonances
of Coulomb-Damped Systems with Cubic
Nonlinearities)

Solution: (a) The original differential equation of motion can be written as

d F k2
ẍ + ω02 x = + cos ωt − x3 (4.1.1)
m m m

where ω02 = k1 /m. Let

x
τ = ω0 t, u = (4.1.2)
l
where l is a reference length; then Eq. (4.1.1) can be written as

d 2u d F ω l 2 k2
+ u = 2 + 2 cos τ − 2 u3 (4.1.3)
dτ 2 ω0 ml ω0 ml ω0 ω0 m

Let

d F ω l 2 k2
f = , 2K = ,  = , α = (4.1.4)
ω02 ml ω02 ml ω0 ω02 m

then (4.1.3) becomes

d 2u
+ u = f − αu3 + 2K cos τ (4.1.5)
dτ2

© The Author(s) 2025 171

Z. He et al., Solved Problems in Nonlinear Oscillations,
[Link]
172 4 Forced Oscillations of Systems Having a Single Degree of Freedom

For convenience, denote τ as t and d 2 u/d τ 2 as ü, and let the damping force and the
cubic nonlinear term are both small quantities and in the same order of ε, thus, let

f = εf , α = εα (4.1.6)

and take l to make it satisfy

mg g
= =1 (4.1.7)
εω0 ml
2
εω02 l

Then (4.1.5) becomes

 
ü + u = ε f − αu3 + 2K cos t (4.1.8)

where

−1, if u̇ > 0
f =
1, if u̇ < 0

(b) When  ≈ 1, the solution of (4.1.8) is called the primary resonance response.
The the method of multiple scales is used to solve it. First use the detuning parameter
σ , which quantitatively describes the nearness of  to 1. We write

 = 1 + εσ (4.1.9)

We express the solution in terms of different time scales as

u(t; ε) = u0 (T0 , T1 ) + εu1 (T0 , T1 ) + · · · (4.1.10)

where T 0 = t and T 1 = εt. The linear undamped theory predicts unbounded oscil-
lations when σ = 0 irrespective of how small the excitation is. In the actual system
these large oscillations are limited by the damping and the nonlinearity. Thus, to
obtain a uniformly valid approximate solution of this problem, we need to order
the excitation so that it appears when the damping and the nonlinearity appear. To
accomplish this, we set

K = εk (4.1.11)

This is called soft excitation. Substituting (4.1.9)–(4.1.11) into (4.1.8) and

retaining to O(ε) yields
 
0 = ü + u − ε f − αu3 − 2εk cos t
 
= D02 + 2εD0 D1 (u0 + εu1 ) + u0 + εu1
+ εsgn(D0 u0 ) + εα(u0 + εu1 )3 − 2εk cos(T0 + σ T1 ) + · · ·
4.1 Exercise 4.1 (The Method of Multiple Scales for Analyzing Primary … 173

= D02 u0 + u0 + ε[D02 u1 + u1 + 2D0 D1 u0

+ sgn(D0 u0 ) + αu03 − 2k cos(T0 + σ T1 )] + · · · (4.1.12)

Equating the coefficient of the like power of ε yields

D02 u0 + u0 = 0 (4.1.13)

D02 u1 + u1 = −2D0 D1 u0 − sgn(D0 u0 ) − αu03 + 2k cos(T0 + σ T1 ) (4.1.14)

The general solution of (4.1.13) is

u0 = AeiT0 + Ae−iT0 (4.1.15)

where A = A(T1 ). Substitute (4.1.15) into (4.1.14), we obtain

D02 u1 + u1 = −2D0 D1 u0 − sgn(D0 u0 ) − αu03 + 2kcos(T0 + σ T1 )

= −2iD1 AeiT0 − sgn(D0 u0 ) − αA3 e3iT0
− 3αA2 AeiT0 + kei(T0 +σ T1 ) + cc
= −2iD1 AeiT0 − 3αA2 AeiT0 + keiσ T1 eiT0
 
− αA3 e3iT0 + cc − sgn iAeiT0 − iAe−iT0 (4.1.16)

In order to further process Eq. (4.1.16), we need to first deal with the symbolic
function sgn(iAeiT0 −iAe−iT0 ), which can be expanded into a Fourier series of complex
exponential form:
∞

sgn(iAeiT0 − iAe−iT0 ) = fn einT0 (4.1.17)
n=−∞

where

2π
1  
fn = sgn(iAeiT0 − iAe−iT0 ]e−inT0 dT0 (4.1.18)
2π
0

From (4.1.16)–(4.1.18), in order to eliminate secular terms, it is necessary to have

−2iD1 A − 3αA2 A + keiσ T1 − f1 = 0 (4.1.19)

Let
1 iβ
A= ae (4.1.20)
2
174 4 Forced Oscillations of Systems Having a Single Degree of Freedom

By (4.1.18) and (4.1.20), we obtain

2π
1   iT0 
f1 = sgn iAe − iAe−iT0 e−iT0 dT0
2π
0
2π
eiβ
= sgn(−asinφ)e−iφ d φ
2π
0
π
ieiβ
=− sgn(−asinφ)sinφd φ
2π
−π
π
ieiβ 2i iβ
= sinφd φ = e (4.1.21)
π π
0

Substitute (4.1.20) and (4.1.21) into (4.1.19), we obtain

3 2i
ia − aβ  + αa3 − kei(σ T1 −β) + =0 (4.1.22)
8 π
The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation yields

2
a = − + k sin(σ T1 − β) (4.1.23)
π
3 3
aβ  = αa − k cos(σ T1 − β) (4.1.24)
8
Let

γ = (σ T1 − β) (4.1.25)

then
2
a = − + k sin γ (4.1.26)
π

3αa3
aγ  = aσ − + k cos γ (4.1.27)
8
Therefore, the first order approximate solution of the system is

u = a cos[T0 + β(T1 )] + O(ε) (4.1.28)

4.1 Exercise 4.1 (The Method of Multiple Scales for Analyzing Primary … 175

(c) Let a = γ  = 0 in (4.1.26) and (4.1.27), we can obtain

 
− π2 + k sin γ = 0 2
= k sin γ
3 ⇒ π 3 (4.1.29)
aσ − 3αa8
+ k cos γ = 0 3αa
8
− aσ = k cos γ

Squaring and adding these two equations, we obtain the following frequency–
response equation:
2
3αa3 4
− aσ + = k2 (4.1.30)
8 π2

To plot the frequency–response curve of the system a ∼ σ , we can solve for σ in

terms of a from (4.1.30)

3αa2 1 2 4
σ = ± k − 2 (4.1.31)
8 a π

Here

3αa2
σ = (4.1.32)
8
defines the backbone curve. From (4.1.29) and (4.1.31), the relationship between the
phase γ and σ is
2
2 3αa3 π
tan γ = / − aσ =  (4.1.33)
π 8 ∓ k2 − 4
π2

Obviously, when k = 2/π , the a ∼ σ curve is the backbone curve. When k >
2/π, the a ∼ σ curve has two branches as shown by (4.1.31); the γ ~ σ curve also
has two branches as shown by (4.1.33). The a ∼ σ curve and γ ~ σ curve can be
sketched from the above formulae, as shown in Fig. 4.1a. It can be seen that the two
branches of the a ∼ σ curve in the backbone curve does not merge; therefore, jump
phenomenon of the amplitude occurs only when the frequency was modulated from
large to small if α > 0, while it occurs only when the frequency modulated from
small to large if α < 0.
From (4.1.30), we can obtain

3αa3 4
k= ( − aσ )2 + 2 (4.1.34)
8 π

The excitation-response curves a ~ k can be sketched as shown in Fig. 4.1b. It

can be seen that jump phenomenon occurs in the curve a ~ k, and there are jumps in
both directions of changing k, i.e., from small to large and from large to small.
176 4 Forced Oscillations of Systems Having a Single Degree of Freedom

(a)

(b)

Fig. 4.1 a Frequency–response and frequency-phase curves (k = 1.5), and b Excitation-response

curves (α = 1) for Exercise 4.1

4.2 Exercise 4.2 (The Method of Multiple Scales

for Analyzing Primary Resonances of Cubic Nonlinear,
Quadratic-Damped Systems)

Solution: (a) Similar to the previous exercise, when  ≈ 1, the detuning parameter
σ is adopted to quantitatively describes the nearness of  to 1:
4.2 Exercise 4.2 (The Method of Multiple Scales for Analyzing Primary … 177

 = 1 + εσ (4.2.1)

We express the solution in terms of different time scales as

u(t; ε) = u0 (T0 , T1 ) + εu1 (T0 , T1 ) + · · · (4.2.2)

We set

K = εk (4.2.3)

Substituting (4.2.1)–(4.2.3) into the original differential equation and keeping to

O(ε), we obtain
 
0 = ü + u + ε |u̇|u̇ + αu3 − 2K cos t
 
= D02 + 2εD0 D1 (u0 + εu1 ) + u0 + εu1
+ ε |D0 u0 | D0 u0 + εα(u0 + εu1 )3 − 2εk cos(T0 + σ T1 ) + · · ·
= D02 u0 + u0 + ε[D02 u1 + u1 + 2D0 D1 u0
+ |D0 u0 | D0 u0 + αu03 − 2k cos(T0 + σ T1 )] + · · · (4.2.4)

Let the coefficient of the like power of ε be zero, we get

D02 u0 + u0 = 0 (4.2.5)

D02 u1 + u1 = −2D0 D1 u0 + |D0 u0 | D0 u0 − αu03 + 2k cos(T0 + σ T1 ) (4.2.6)

The solution of (4.2.5) is

u0 = AeiT0 + Ae−iT0 (4.2.7)

where A = A(T1 ). Substitute (4.2.7) into (4.2.6), we obtain

D02 u1 + u1 = −2D0 D1 u0 + |D0 u0 | D0 u0 − αu03 + 2kcos(T0 + σ T1 )

   
= −2iD1 AeiT0 +  iAeiT0 − iAe−iT0  iAeiT0 − iAe−iT0
−αA3 e3iT0 − 3αA2 AeiT0 + kei(T0 +σ T1 ) + cc (4.2.8)
= −2iD1 Ae − 3αA Ae + ke e
iT0 2 iT0 iσ T1 iT0
   
−αA e 3 3iT0
+ cc +  iAeiT0 − iAe−iT0  iAeiT0 − iAe−iT0

 In iTorder to−iTfurther
  process Eq. (4.2.8), we need to expand the function
 iAe 0 − iAe 0  iAeiT0 − iAe−iT0 into a Fourier series of complex exponential
form:
178 4 Forced Oscillations of Systems Having a Single Degree of Freedom

∞

 iT   
 iAe 0 − iAe−iT0  iAeiT0 − iAe−iT0 = fn einT0 (4.2.9)
n=−∞

where

2π
1   iT   
fn =  iAe 0 − iAe−iT0  iAeiT0 − iAe−iT0 e−inT0 dT0 (4.2.10)
2π
0

In order to eliminate secular terms, it is necessary to have

−2iD1 A − 3αA2 A + keiσ T1 + f1 = 0 (4.2.11)

Let
1 iβ
A= ae (4.2.12)
2
By (4.2.10) and (4.2.12),

2π
1   iT   
f1 =  iAe 0 − iAe−iT0  iAeiT0 − iAe−iT0 e−iT0 dT0
2π
0
2π
1
=− [ |a sin(T0 + β)| (a sin(T0 + β)]e−iT0 dT0
2π
0
2π
a2 eiβ
=− |sin φ| sin φe−iφ d φ
2π
0
π
ia2 eiβ ia2 eiβ 1
= sin3 φd φ = [− cos φ + cos3 φ]π0
π π 3
0
2 iβ
4ia e
= (4.2.13)
3π
Substituting (4.2.12) and (4.2.13) into (4.2.11) yields

3 4ia2
ia − aβ  + αa3 − kei(σ T1 −β) + =0 (4.2.14)
8 3π
The prime s in the above equation denotes the derivative with respect to T1 .
Separating the real and imaginary parts of the equation yields
4.2 Exercise 4.2 (The Method of Multiple Scales for Analyzing Primary … 179

4a2 3αa3
a = − + k sin(σ T1 − β), −aβ  = − + k cos(σ T1 − β)
3π 8
Let

γ = (σ T1 − β) (4.2.15)

then

4a2
a = − + k sin γ (4.2.16)
3π

3αa3
aγ  = aσ − + k cos γ (4.2.17)
8
So the first order approximate solution of the system is

u = a cos[T0 + β(T1 )] + O(ε) (4.2.18)

(b) Let a = γ  = 0 in (4.2.16) and (4.2.17), we obtain:


4a2
3π
= k sin γ
3 (4.2.19)
3αa
8
− aσ = k cos γ

Squaring and adding these two equations, we obtain the following frequency–
response equation:
2
3αa3 16a4
− aσ + = k2 (4.2.20)
8 9π 2

To plot the frequency–response curve of the system a ∼ σ , we can solve for σ in

terms of a from (4.2.20):

3αa2 1 2 16a4
σ = ± k − (4.2.21)
8 a 9π 2
The equation of the backbone curve is

3αa2
σ = (4.2.22)
8
From (4.2.19) and (4.2.21), the relationship between the phase γ and σ is
180 4 Forced Oscillations of Systems Having a Single Degree of Freedom
 
4a2 3αa3 4a2 16a4
tan γ = / − aσ = / ∓ k −
2 (4.2.23)
3π 8 3π 9π 2

The a ∼ σ curve has two branches as shown by (4.2.21); the corresponding γ

~ σ curve also has two branches as shown by (4.2.23). The a ∼ σ curve and γ ~
σ curve can be sketched from the above formulae, as shown in Fig. 4.2a. It can be
seen that the two branches of the a ∼ σ curve are stitched together in the backbone
curve. When α > 0, the response amplitude jumps to a lower amplitude when the
frequency changes from small to large, or a larger amplitude when the frequency
changes from a large value to a small one. When α < 0, the opposite case happens.
From (4.2.20), we can obtain

(a)

(b)

Fig. 4.2 a Frequency-response and frequency-phase curves (k = 1.5), and b Excitation-response

curves (α = 2) for Exercise 4.2
4.3 Exercise 4.3 (The Method of Multiple Scales for Analyzing Primary … 181

3αa3 16a4
k= ( − aσ )2 + (4.2.24)
8 9π 2

From this, the excitation-response curve of the system a ~ k can be sketched in

Fig. 4.2b, which also demonstrates amplitude jumps in both directions of changing
k.

4.3 Exercise 4.3 (The Method of Multiple Scales

for Analyzing Primary Resonances of Linear Spring
and Hysteresis Damped Systems)

⎧
⎪
⎪ x + xs − xb xc ≤ x ≤ xb
⎨
−xs xd ≤ x ≤ xc
−f = (4.3.1)
⎪
⎪ x − xs − xd xd ≤ x ≤ xa
⎩
xs xa ≤ x ≤ xb

xc = xb − 2xs and xa = xd + 2xs (4.3.2)

Solution: (a) The differential equation of motion of the system is

mẍ = −f1 − f2 + F0 cos ωt

where f1 = kx. So

f2 F0
ẍ + ω02 x = − + cos ωt (4.3.3)
m m
f2 f2
εf = − ⇒ −f = (4.3.4)
m εm

The spring stiffness of f 2 is k2 = mε, so f2 (xs ) = εmxs or −f (xs ) = xs . Then

the expression for −f (x) can be obtained as (4.3.1). Substituting (4.3.4) into (4.3.3)
yields

F0
ẍ + ω02 x = εf + cos ωt
m
Let X = F0 /(k1 + k2 ) and τ = ω0 t, the above equation becomes

d 2x εf F0 ω
+x = + cos τ (4.3.5)
dτ 2 X ω02
Xmω02 ω0
182 4 Forced Oscillations of Systems Having a Single Degree of Freedom

where
F0 ω
K= , = (4.3.6)
Xmω02 ω0

And, for simplicity, by denoting τ as t, d 2 x/d τ 2 as ẍ, and f /X ω02 as f , we have

ẍ + x = εf + K cos t (4.3.7)

It is important to note that all terms on the right-hand side of (4.3.1) are
dimensionless.
(b) When  ≈ 1, the detuning parameter σ is adopted to quantitatively describes
the nearness of  to 1:

 = 1 + εσ (4.3.8)

We express the solution in terms of different time scales as

x(t; ε) = x0 (T0 , T1 ) + εx1 (T0 , T1 ) + · · · (4.3.9)

We set

K = 2εk (4.3.10)

Substituting (4.3.8)–(4.3.10) into (4.3.7) and retaining to O(ε) yields

0 = ẍ + x − εf (x) − K cos t
 
= D02 + 2εD0 D1 (x0 + εx1 )
+ x0 + εx1 − εf (x0 ) − 2εk cos(T0 + σ T1 ) + · · ·
 
= D02 x0 + x0 + ε D02 x1 + x1 + 2D0 D1 x0 − f (x0 ) − 2k cos(T0 + σ T1 ) + · · ·
(4.3.11)

Let the coefficient of the like power of ε be zero, we get

D02 x0 + x0 = 0 (4.3.12)

D02 x1 + x1 = −2D0 D1 x0 + f (x0 ) + 2k cos(T0 + σ T1 ) (4.3.13)

The solution of (4.3.12) is

x0 = AeiT0 + Ae−iT0 (4.3.14)

where A = A(T1 ). Substitute (4.3.14) into (4.3.13), we obtain

4.3 Exercise 4.3 (The Method of Multiple Scales for Analyzing Primary … 183

D02 x1 + x1 = −2D0 D1 x0 + f (x0 ) + 2k cos(T0 + σ T1 )

 
= −2iD1 AeiT0 + f AeiT0 + Ae−iT0 + keiσ T1 eiT0 + cc (4.3.15)

In order to further process the Eq. (4.3.15), we need to deal with the func-
tion f AeiT0 + Ae−iT0 , which can be expanded into a Fourier series of complex
exponential form:
∞

 
f AeiT0 + Ae−iT0 = fn einT0 (4.3.16)
n=−∞

Where

2π
1   iT0 
fn = f Ae + Ae−iT0 e−inT0 dT0 (4.3.17)
2π
0

From (4.3.15)–(4.3.17), in order to eliminate secular terms, it is necessary to have

−2iD1 A + keiσ T1 + f1 = 0 (4.3.18)

Let
1 iβ
A= ae (4.3.19)
2
By (4.3.17) and (4.3.19), we obtain

2π
1   iT0 
f1 = f Ae + Ae−iT0 e−iT0 dT0
2π
0
2π
1
= f [acos(T0 + β)]e−iT0 dT0
2π
0
2π
eiβ
= f (acosφ) e−iφ d φ (4.3.20)
2π
0

Substituting (4.3.1) into (4.3.20) yields

⎡ x
c
eiβ ⎣
f1 = − (x + xs − xb ) e−iφ d φ(x)
2π
xb
184 4 Forced Oscillations of Systems Having a Single Degree of Freedom

xd
− xs e−iφ d φ(x)
xc
⎤
xa xb
+ (x − xs − xd ) e−iφ d φ(x) + xs e−iφ d φ(x)⎦ (4.3.21)
xd xa

where

xi = a cos ϕi , i = a, b, c, d (4.3.22)

then (4.3.20) becomes

⎡ φc
 φd
eiβ ⎣
f1 = − (a cos φ + xs − xb ) e d φ− xs e−iφ d φ
−iφ
2π
φb φc
⎤
φa φb
+ (a cos φ − xs − xd ) e−iφ d φ + xs e−iφ d φ ⎦ (4.3.23)
φd φa

We note that the period in the variable ϕ is 2π ; and since the motion is periodic,
we set ϕ = 0 at point B (ϕB = 0) so that ϕ = π at point D (ϕD = 0). Since

xb = a, xc = xb − 2xs = a − 2xs  a cos ϕ1

(4.3.24)
xd = −a, xa = xd + 2xs = −a + 2xs  a cos ϕ2

where

a − 2xs 2xs − a
ϕ1 = cos−1 , ϕ2 = cos−1 (4.3.25)
a a

Let f1 = f1R + if1I , and substitute (4.3.24) and (4.3.25) into (4.3.23), we obtain
⎡ φ1
 π
eiβ ⎣
f1R =− (a cos φ + xs − a) cos φd φ − xs cos φd φ
2π
0 φ1

φ2 2π
+ (a cos φ − xs + a) cos φd φ + xs cos φd φ]
π φ2
iβ
e aφ1 1
=− [ + a sin 2φ1 + (xs − a) sin φ1 + xs sin φ1
2π 2 4
aφ2 1 aπ
+ + a sin 2φ2 − − (xs − a) sin φ2 − xs sin φ2 ]
2 4 2
4.3 Exercise 4.3 (The Method of Multiple Scales for Analyzing Primary … 185
 1/2

aeiβ 1 a − 2xs 2xs xs x2
=− [ cos−1 − 1− − s2 (4.3.26)
π 2 a a a a

φ1 π
eiβ
f1I = [ (a cos φ + xs − a) sin φd φ − xs sin φd φ
2π
0 φ1

φ2 2π
+ (a cos φ − xs + a) sin φd φ + xs sin φd φ]
π φ2
iβ
e 1 1
= [− a cos2 φ1 + a − (xs − a) cos φ1 + (xs − a) − xs − xs cos φ1
2π 2 2
1 1
− a cos2 φ2 + a + (xs − a) cos φ2 + (xs − a) − xs + xs cos φ2 ]
2 2
eiβ  
= −a cos φ1 − 2(2xs − a) cos φ1 + 2(xs − a) + a − 2xs
2
2π
2xs eiβ
= (xs − a) (4.3.27)
πa
Substituting the above results into (4.3.18) yields

ia − aβ  − kei(σ T1 −β) − f1R e−iβ − if1I e−iβ = 0 (4.3.28)

The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation yields

a = ksin(σ T1 − β) + f1I e−iβ

(4.3.29)
−aβ  = kcos(σ T1 − β) + f1R e−iβ

i.e.,

2xs
a = (xs − a) + ksin(σ T1 − β)
πa  
1/2
1 1 −1 a − 2xs 2xs xs x2
−β  = − cos − 1− − s2
π 2 a a a a
k
+ cos(σ T1 − β) (4.3.30)
a
Let

γ = σ T1 − β (4.3.31)

Then
186 4 Forced Oscillations of Systems Having a Single Degree of Freedom

2xs
a = (xs − a) + k sin γ (4.3.32)
πa
 1/2

 1 1 a − 2xs 2xs xs x2 k
γ =σ− cos−1 − 1− − s2 + cos γ
π 2 a a a a a
(4.3.33)

Therefore, the first order approximate solution of the system is

u = a(T1 ) cos[T0 + β(T1 )] + O(ε) (4.3.34)

(c) Let a = γ  = 0 in (4.3.32) and (4.3.33), we can obtain


− 2x
πa (xs
s
− a) = k sin γ
−1 a−2xs x2 (4.3.35)
[ cos ( a ) − (1 − a )( a − as2 )1/2 ] − σ a = k cos γ
a 1
π 2
2xs xs

Squaring and adding these two equations, we obtain the following frequency–
response equation:
  1/2
 2
a 1 a − 2xs 2xs xs x2
cos−1 − 1− − s2 − σa
π 2 a a a a
 2
2xs
+ (xs − a) = k 2 (4.3.36)
πa

We can solve for σ in terms of a from (4.3.36):

 1/2

1 1 a − 2xs 2xs xs x2
σ = cos−1 − 1− − s2
π 2 a a a a
  2
1 2 2xs
± k − (xs − a) (4.3.37)
a πa

Since σ is a real number, that requires

a > xs (4.3.38)

and

2xs 2xs 2x2 2xs2 1

k≥ (a − xs ) = − s ⇒ a≤ (4.3.39)
πa π πa π 2xs
π
−k
4.4 Exercise 4.4 (The Method of Multiple Scales for Analyzing Primary … 187

From (4.3.38) and (4.3.39), we know that when 0 < k < 2xs /π ,a > xs , and a
can reach a maximum value; when k ≥ 2xs /π , a > xs , but a has no maximum.
Furthermore, it can be seen from (4.3.37) that when a = xs ,

1 k
σ1, 2 = ± (4.3.40)
2 xs

It is easy to see from (4.3.37) that as a increases from xs , σ ∈ [σ1 , σ2 ]. Therefore,

1 k 1 k
− ≤σ ≤ + (4.3.41)
2 xs 2 xs

In addition, from (4.3.36), we can obtain

!  # $1/2  %2
!
! a 1 cos−1  a−2xs  − 1 − 2xs  xs − xs2
− σa
!
k=" π 2 a a a a2 (4.3.42)
 2xs 2
+ πa (xs − a)

From (4.3.37) and (4.3.42), we can sketch the frequency–response curve of the
system a ∼ σ , the excitation-response curve of the system a ∼ k in Fig. 4.3a, b, in
which no amplitude jump can be found.

4.4 Exercise 4.4 (The Method of Multiple Scales

for Analyzing Primary Resonances of Linear Spring,
Hysteresis and Coulomb Damped Systems)

Solution: (a) When  ≈ 1, the detuning parameter σ is adopted to quantitatively

describes the nearness of  to 1:

 = 1 + εσ (4.4.1)

We express the solution in terms of different time scales as

x(t; ε) = x0 (T0 , T1 ) + εx1 (T0 , T1 ) + · · · (4.4.2)

In order to keep all damping and excitation terms appearing in the same order, we
set

K = 2εk (4.4.3)

Substituting (4.4.1)–(4.4.3) into the differential equation of motion of the system

and keeping to O(ε) yields
188 4 Forced Oscillations of Systems Having a Single Degree of Freedom

Fig. 4.3 a Frequency-response and b Excitation-response curves (xs = 1) for Exercise 4.3

0 = ẍ + x − εf (x) −εμ0 sgnẋ − K cos t

= D02 + 2εD0 D1 (x0 + εx1 ) + x0 + εx1
−εf (x0 ) − εμ0 sgnẋ0 − 2εk cos(T0 + σ T1 ) + · · · (4.4.4)
= D02 x0 + x0 + ε[D02 x1 + x1 + 2D0 D1 x0 − f (x0 ) − μ0 sgnẋ0
−2k cos(T0 + σ T1 )] + · · ·

Let the coefficient of the like power of ε be zero, we get

D02 x0 + x0 = 0 (4.4.5)

D02 x1 + x1 = −2D0 D1 x0 + f (x0 ) + μ0 sgnẋ0 + 2k cos(T0 + σ T1 ) (4.4.6)

4.4 Exercise 4.4 (The Method of Multiple Scales for Analyzing Primary … 189

The solution of (4.4.5) is

x0 = AeiT0 + Ae−iT0 (4.4.7)

where A = A(T1 ). Substituting (4.4.7) into (4.4.6) yields

D02 x1 + x1 = −2D0 D1 x0 + f (x0 ) + μ0 sgnẋ0 + 2k cos(T0 + σ T1 )

 
= −2iD1 AeiT0 + f AeiT0 + Ae−iT0
 
+ keiσ T1 eiT0 + cc + μ0 sgn iAeiT0 − iAe−iT0 (4.4.8)

 In order to further
 process (4.4.8), it is necessary to first deal with the function
f AeiT0 + Ae−iT0 and the sign function, which can be expanded into a Fourier series
of complex exponential form:
∞

 
f AeiT0 + Ae−iT0 + μ0 sgn(iAeiT0 − iAe−iT0 ) = fn einT0 (4.4.9)
n=−∞

where

1 2π   iT0  
fn = ∫ f Ae + Ae−iT0 + μ0 sgn(iAeiT0 − iAe−iT0 ]e−inT0 dT0 (4.4.10)
2π 0

From (4.4.8)–(4.4.10), in order to eliminate secular terms, it is necessary to have

−2iD1 A + keiσ T1 + f1 = 0 (4.4.11)

Let
1 iβ
A= ae (4.4.12)
2
By (4.4.10) and (4.4.12), we have

2π
1   iT0   
f1 = f Ae + Ae−iT0 + μ0 sgn iAeiT0 − iAe−iT0 e−iT0 dT0
2π
0
2π 2π
1 −iT0 μ0
= f [a cos(T0 + β)]e dT0 − sgn[a sin(T0 + β)]e−iT0 dT0
2π 2π
0 0
2π 2π
eiβ μ0 eiβ
= f (a cos φ) e−iφ d φ − sgn(a sin φ)e−iφ d φ
2π 2π
0 0
190 4 Forced Oscillations of Systems Having a Single Degree of Freedom

2π π
eiβ −iφ iμ0 eiβ
= f (a cos φ) e dφ + sin φd φ
2π π
0 0
2iμ0 eiβ
= f1R + if1I − (4.4.13)
π

where f1R , f1I have already been presented in (4.3.26) and (4.3.27), respectively, in
the previous exercise. Substituting the above result into (4.4.11) yields

2iμ0
ia − aβ  − kei(σ T1 −β) − f1R e−iβ − if1I e−iβ + =0 (4.4.14)
π
The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation yields

2μ0
a = k sin(σ T1 − β) + f1I e−iβ −
π
−aβ  = k cos(σ T1 − β) + f1R e−iβ (4.4.15)

Substituting (4.3.26) and (4.3.27) into the above equation, we get

2xs 2μ0
a = (xs − a) − + ksin(σ T1 − β)
πa  π 
1/2
1 1 −1 a − 2xs 2xs xs x2
−β  = − cos − 1− − s2
π 2 a a a a
k
+ cos(σ T1 − β) (4.4.16)
a
Let

γ = (σ T1 − β) (4.4.17)

2xs 2μ0
a = (xs − a) − + k sin γ (4.4.18)
πa π
 1/2

 1 1 a − 2xs 2xs xs x2 k
γ =σ− cos−1 − 1− − s2 + cos γ
π 2 a a a a a
(4.4.19)

So the first order approximate solution of the system is

u = a(T1 ) cos[T0 + β(T1 )] + O(ε) (4.4.20)

4.4 Exercise 4.4 (The Method of Multiple Scales for Analyzing Primary … 191

(b) Let a = γ  = 0 in (4.4.18) and (4.4.19), we obtain

⎫

2μ0
π
− 2x
π a (xs
s
− a) = k sin γ ⎬
   # $
2 1/2 (4.4.21)
cos−1 a−2x
x
a
π
1
2 a
s
− 1 − 2xa s xas − as2 − σ a = k cos γ ⎭

Squaring and adding these two equations, we obtain the following frequency–
response equation:
  1/2
 2
a 1 a − 2xs 2xs xs x2
cos−1 − 1− − s2 − σa
π 2 a a a a
 2 (4.4.22)
2μ0 2xs
+ − (xs − a) = k 2
π πa

We can solve for σ in terms of a from (4.4.22)

 1/2

1 1 a − 2xs 2xs xs x2
σ = cos−1 − 1− − s2
π 2 a a a a
  2
1 2 2μ0 2xs
± k − − (xs − a) (4.4.23)
a π πa

Since σ is a real number, it requires

a > xs (4.4.24)

Under this condition, we need

2μ0 2xs
− (xs − a) > 0 (4.4.25)
π πa
and

2μ0 2xs 2 2x2

k≥ − (xs − a) = (xs + μ0 ) − s
π πa π πa
From the above equation, we can obtain

2xs2 1
a≤ (4.4.26)
π π (xs
2
+ μ0 ) − k

From (4.4.24) and (4.4.26), we know that when 0 < k < kcrit = 2(xs + μ0 )/π ,
a > xs and a has a maximum value; when k ≥ kcrit = 2(xs + μ0 )/π , a > xs and a
has no maximum value.
192 4 Forced Oscillations of Systems Having a Single Degree of Freedom

When a = xs , we can obtain from (4.4.23) that

1 1 2μ0 2
σ1, 2 = ± k2 − ( ) (4.4.27)
2 xs π

It is easy to see from (4.4.23) that as a increases from xs , σ ∈ [σ1 , σ2 ]. Therefore,

the range of values for σ is
 
2 2
1 1 2μ0 1 1 2μ0
− k2 − ≤σ ≤ + k2 − (4.4.28)
2 xs π 2 xs π

From (4.4.22), we can obtain

!  # $1/2  %2
!
! a 1 cos−1  a−2xs  − 1 − 2xs  xs − xs22 − σ a
k=!
"
π 2 a a a a (4.4.29)
 2μ0 2
+ π − π a (xs − a)
2xs

The a ∼ σ curve and γ ~ σ curve can be sketched from (4.4.23) and (4.4.29) as
shown in Fig. 4.4a, b, which confirms the above conclusion about the relationship
between a ∼ σ . As can be seen from the figures, there is no amplitude jump.

4.5 Exercise 4.5 (The Method of Multiple Scales

for Analyzing Primary Resonances of Linear Springs,
Hysteresis and Linearly Damped Systems)

Solution: (a) When  ≈ 1, the detuning parameter σ is adopted to quantitatively

describes the nearness of  to 1:

 = 1 + εσ (4.5.1)

We express the solution in terms of different time scales as

x(t; ε) = x0 (T0 , T1 ) + εx1 (T0 , T1 ) + · · · (4.5.2)

In order to keep all damping and excitation terms appearing simultaneously, we

set

K = 2εk (4.5.3)

Substituting (4.5.1) –(4.5.3) into the differential equation of motion of the system
and retaining to O(ε), we obtain
4.5 Exercise 4.5 (The Method of Multiple Scales for Analyzing Primary … 193

Fig. 4.4 a Frequency-response and b Excitation-response curves (xs = 1, μ0 = 0.2) for Exercise
4.4

0 = ẍ + x − εf (x) + 2εμẋ − K cos t

 
= D02 + 2εD0 D1 (x0 + εx1 ) + x0 + εx1
− εf (x0 ) + 2εμẋ0 − 2εk cos(T0 + σ T1 ) + · · ·
= D02 x0 + x0 + ε[D02 x1 + x1 + 2D0 D1 x0 − f (x0 ) + 2μẋ0
− 2k cos(T0 + σ T1 )] + · · · (4.5.4)

Equating the coefficient of the like power of ε yields

D02 x0 + x0 = 0 (4.5.5)
194 4 Forced Oscillations of Systems Having a Single Degree of Freedom

D02 x1 + x1 = −2D0 D1 x0 + f (x0 ) − 2μẋ0 + 2k cos(T0 + σ T1 ) (4.5.6)

The general solution of (4.5.5) is

x0 = AeiT0 + Ae−iT0 (4.5.7)

where A = A(T1 ). Substitute (4.5.7) into (4.5.6), we obtain

D02 x1 + x1 = −2D0 D1 x0 + f (x0 ) − 2μẋ0 + 2k cos(T0 + σ T1 )

 
= −2iD1 AeiT0 + f AeiT0 + Ae−iT0
 
+ keiσ T1 eiT0 + cc − 2μ iAeiT0 − iAe−iT0 (4.5.8)

 To further process
 the Eqs. (4.5.8), we need to first deal with the functions
f AeiT0 + Ae−iT0 and −2μ iAeiT0 − iAe−iT0 , which can be expanded into a Fourier
series of complex exponential form:
∞

   
f AeiT0 + Ae−iT0 − 2μ iAeiT0 − iAe−iT0 = fn einT0 (4.5.9)
n=−∞

where

2π
1   iT0   
fn = f Ae + Ae−iT0 − 2μ iAeiT0 − iAe−iT0 e−inT0 dT0 (4.5.10)
2π
0

From (4.5.8)–(4.5.10), in order to eliminate secular terms, it is necessary to have

−2iD1 A + keiσ T1 + f1 = 0 (4.5.11)

Let
1 iβ
A= ae (4.5.12)
2
By (4.5.10) and (4.5.12), we obtain

2π
1   iT0   
f1 = f Ae + Ae−iT0 − 2μ iAeiT0 − iAe−iT0 e−iT0 dT0
2π
0
2π 2π
eiβ −iφ μeiβ
= f (a cos φ) e dφ + a sin φe−iφ d φ
2π π
0 0
= f1R + if1I − iμae iβ
(4.5.13)
4.5 Exercise 4.5 (The Method of Multiple Scales for Analyzing Primary … 195

where f1R and f1I have already been presented in (4.3.26) and (4.3.27), respectively.
Substituting the above result into (4.5.11) yields

ia − aβ  − kei(σ T1 −β) − f1R e−iβ − if1I e−iβ + iμa = 0 (4.5.14)

The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation yields

a = ksin(σ T1 − β) + f1I e−iβ − μa

(4.5.15)
−aβ  = kcos(σ T1 − β) + f1R e−iβ

Substituting (4.3.26) and (4.3.27) into the above equation, we get

2xs
a = (xs − a) − μa + ksin(σ T1 − β)
πa  
1/2
1 1 −1 a − 2xs 2xs xs x2
−β  = − cos − 1− − s2
π 2 a a a a
k
+ cos(σ T1 − β) (4.5.16)
a
Let

γ = (σ T1 − β) (4.5.17)

Then
2xs
a = (xs − a) − μa + k sin γ (4.5.18)
πa
 1/2

 1 1 a − 2xs 2xs xs x2 k
γ =σ− cos−1 − 1− − s2 + cos γ
π 2 a a a a a
(4.5.19)

Therefore, the first order approximate solution of the system is

u = a(T1 ) cos[T0 + β(T1 )] + O(ε) (4.5.20)

(b) Let a = γ  = 0 in (4.5.18) and (4.5.19), we can obtain

⎫
 μa − 2x
πa (xs
s
− a) = k sin γ ⎬
   # $
2 1/2 (4.5.21)
cos−1 a−2x
x
a
π
1
2 a
s
− 1 − 2xa s xas − as2 − σ a = k cos γ ⎭
196 4 Forced Oscillations of Systems Having a Single Degree of Freedom

Squaring and adding these two equations, we obtain the following frequency–
response equation:
  1/2
 2
a 1 a − 2xs 2xs xs x2
cos−1 − 1− − s2 − σa
π 2 a a a a
 2 (4.5.22)
2xs
+ μa − (xs − a) = k 2
πa

We can solve for σ in terms of a from (4.5.22)

 1/2

1 1 a − 2xs 2xs xs x2
σ = cos−1 − 1− − s2
π 2 a a a a
  2
1 2 2xs
± k − μa − (xs − a) (4.5.23)
a πa

Since σ is a real number, it requires

a > xs (4.5.24)

Under this condition, we need

2xs
μa − (xs − a) > 0 (4.5.25)
πa
and

2xs 2x2 2xs

k ≥ μa − (xs − a) = μa − s + (4.5.26)
πa πa π
Since the function on the right-hand side of the above equation increases as a
increases, when a = xs , k reaches the minimum value

2xs2 2xs
kmin = μxs − + = μxs (4.5.27)
π xs π

Thus, when a > as , the steady state motion is possible only when k ≥ kmin .
From (4.5.26), we can obtain

2xs 2x2
μa2 + −k a− s ≤0 (4.5.28)
π π

It can be seen that when k ≥ kmin and k is finite,a is also finite.

4.6 Exercise 4.6 (The Method of Multiple Scales for Analyzing Primary … 197

When k is fixed and k ≥ kmin , since the function in the right square bracket on
the right side of (4.5.23) is monotonically decreasing, the range of the value of σ is
determined by

1 1) 2
σ ∈ [σ1 , σ2 ], σ1, 2 = ± k − μxs (4.5.29)
2 xs

From (4.4.22), we can obtain

!  # $1/2  %2
!
! a 1 cos−1  a−2xs  − 1 − 2xs  xs − xs22 − σ a
k=!
"
π 2 a a a a (4.5.30)
 2
+ μa − πa (xs − a)
2xs

The a ∼ σ curve and γ ~ σ curve can be sketched from (4.4.23) and (4.4.29) as
shown in Fig. 4.5a, b, which confirms the above conclusion about the relationship
between a ∼ σ . As can be seen from the figures, there is no amplitude jump.

4.6 Exercise 4.6 (The Method of Multiple Scales

for Analyzing Primary Resonances of Linear Spring,
Hysteresis and Quadratic Damped Systems)

Solution: (a) When  ≈ 1, the detuning parameter σ is adopted to quantitatively

describes the nearness of  to 1:

 = 1 + εσ (4.6.1)

We express the solution in terms of different time scales as

x(t; ε) = x0 (T0 , T1 ) + εx1 (T0 , T1 ) + · · · (4.6.2)

In order to keep all damping and excitation terms appearing simultaneously, we

set

K = 2εk (4.6.3)

Substituting (4.6.1)–(4.6.3) into the differential equation of motion of the system

and and keeping to O(ε) yields

0 = ẍ + x − εf (x) + εμ|ẋ|ẋ − K cos t

 
= D02 + 2εD0 D1 (x0 + εx1 ) + x0 + εx1
− εf (x0 ) + εμ |ẋ0 |ẋ0 − 2εk cos(T0 + σ T1 ) + · · ·
198 4 Forced Oscillations of Systems Having a Single Degree of Freedom

Fig. 4.5 a Frequency-response, and b Excitation-response curves (xs = 1, μ = 0.2) for Exercise
4.5

= D02 x0 + x0 + ε[D02 x1 + x1 + 2D0 D1 x0 − f (x0 ) + μ |ẋ0 |ẋ0

− 2k cos(T0 + σ T1 )] + · · · (4.6.4)

Let the coefficient of the like power of ε be zero, we get

D02 x0 + x0 = 0 (4.6.5)

D02 x1 + x1 = −2D0 D1 x0 + f (x0 ) − μ |ẋ0 |ẋ0 + 2k cos(T0 + σ T1 ) (4.6.6)

The solution of (4.6.5) is

4.6 Exercise 4.6 (The Method of Multiple Scales for Analyzing Primary … 199

x0 = AeiT0 + Ae−iT0 (4.6.7)

where A = A(T1 ). Substituting (4.6.7) into (4.6.6) yields

D02 x1 + x1 = −2D0 D1 x0 + f (x0 ) − μ |ẋ0 |ẋ0 + 2k cos(T0 + σ T1 )

 
= −2iD1 AeiT0 + f AeiT0 + Ae−iT0
  
+ keiσ T1 eiT0 + cc − μ iAeiT0 − iAe−iT0  iAeiT0 − iAe−iT0 (4.6.8)

In order
 to further process
 (4.5.8), we
 need  to first deal with the func-
tions −μ iAeiT0 − iAe−iT0  iAeiT0 − iAe−iT0 and f AeiT0 + Ae−iT0 , which can be
expanded into a Fourier series of complex exponential form:
∞

    
f AeiT0 + Ae−iT0 − μ iAeiT0 − iAe−iT0  iAeiT0 − iAe−iT0 = fn einT0 (4.6.9)
n=−∞

*2π  iT 
where fn = 1
2π
[f Ae 0 + Ae−iT0
0

  
−μ iAeiT0 − iAe−iT0  iAeiT0 − iAe−iT0 ]e−inT0 dT0 (4.6.10)

From (4.6.8)–(4.6.10), in order to eliminate secular terms, it is necessary to have

−2iD1 A + keiσ T1 + f1 = 0 (4.6.11)

Let
1 iβ
A= ae (4.6.12)
2
By (4.6.10) and (4.6.12), we have

2π
1  
f1 = [f AeiT0 + Ae−iT0
2π
0
  
− μ iAeiT0 − iAe−iT0  iAeiT0 − iAe−iT0 ]e−iT0 dT0
2π 2π
eiβ −iφ μeiβ
= f (a cos φ) e dφ + |a sin φ|a sin φe−iφ d φ
2π 2π
0 0

2 iβ π
iμa e
= f1R + if1I − sin3 φd φ
π
0
200 4 Forced Oscillations of Systems Having a Single Degree of Freedom

4iμa2 eiβ
= f1R + if1I − (4.6.13)
3π

where f1R , f1I have already been presented in (4.3.26) and (4.3.27), respectively.
Substituting the above result into (4.6.11) yields

4iμa2
ia − aβ  − kei(σ T1 −β) − f1R e−iβ − if1I e−iβ + =0 (4.6.14)
3π
The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation yields
2
a = ksin(σ T1 − β) + f1I e−iβ − 4μa
3π (4.6.15)
−aβ  = kcos(σ T1 − β) + f1R e−iβ

Substituting (4.3.26) and (4.3.27) into the above equation, we get

2xs 4μa2
a = (xs − a) − + k sin(σ T1 − β)
πa  3π 
1/2
1 1 a − 2xs 2xs xs x2
−β  = − cos−1 − 1− − s2
π 2 a a a a
k
+ cos(σ T1 − β) (4.6.16)
a
Let

γ = σ T1 − β (4.6.17)

Then
2xs 4μ 2
a = (xs − a) − a + k sin γ (4.6.18)
aπ 3π
 1/2

1 1 a − 2xs 2xs xs x2
γ = σ − cos−1 − 1− − s2
π 2 a a a a
k
+ cos γ (4.6.19)
a
Therefore, the first order approximate solution of the system is

u = a(T1 ) cos[T0 + β(T1 )] + O(ε) (4.6.20)

(b) Let a = γ  = 0 in (4.6.18) and (4.6.19) , we obtain:

4.6 Exercise 4.6 (The Method of Multiple Scales for Analyzing Primary … 201
⎫

4μ 2
a − 2x
π a (xs
s
− a) = k sin γ ⎬

3π
  # $
2 1/2 (4.6.21)
cos−1 a−2x
x
a
π
1
2 a
s
− 1 − 2xa s xas − as2 − σ a = k cos γ ⎭

Squaring and adding these two equations, we obtain the following frequency–
response equation:
  1/2
 2
a 1 a − 2xs 2xs xs x2
cos−1 − 1− − s2 − σa
π 2 a a a a
 2 (4.6.22)
4μ 2 2xs
+ a − (xs − a) = k 2
3π πa

We can solve for σ in terms of a from (4.6.22)

 1/2

1 1 a − 2xs 2xs xs x2
σ = cos−1 − 1− − s2
π 2 a a a a
  2
1 2 4μ 2 2xs
± k − a − (xs − a) (4.6.23)
a 3π πa

Since σ is a real number, it requires

a > xs (4.6.24)

Under this condition, we need

4μ 2 2xs
a − (xs − a) > 0 (4.6.25)
3π πa
and

4μ 2 2xs 4μ 2 2xs2 2xs

k≥ a − (xs − a) = a − + (4.6.26)
3π πa 3π πa π
Since the function on the right-hand side of the above equation increases as a
increases, when a = xs , k reaches the minimum value

4μ 2
kmin = x (4.6.27)
3π s

Thus, when a > as , the steady state motion is possible only when k ≥ kmin .
When k is fixed and k ≥ kmin , since the function in the right square bracket on
the right side of (4.6.23) is monotonically decreasing, the range of the value of σ is
determined by
202 4 Forced Oscillations of Systems Having a Single Degree of Freedom

2
1 1 4μ 2
σ ∈ [σ1 , σ2 ], σ1, 2 = ± k2 − x (4.6.28)
2 xs 3π s

From (4.6.22), we can obtain

!  # $1/2  %2
!
! a 1 cos−1  a−2xs  − 1 − 2xs  xs − xs22 − σ a
k=!
"
π 2 a a a a (4.6.29)
 4μ 2 2xs 2
+ 3π a − π a (xs − a)

The a ∼ σ curve and k ∼ a curve can be sketched from (4.6.23) and (4.6.29) as
shown in Fig. 4.6a, b, which confirms the above conclusion about the relationship
between a ∼ σ . As can be seen from the figures, there is no amplitude jump.

4.7 Exercise 4.7 (The Method of Multiple Scales

for Analyzing Primary Resonances of Quadraticd
Spring Force and Quadraticd Damped Systems)

Solution: (a) Divide the given differential equation of motion by mL, where L is a
reference length, we can obtain
 
ẍ c1 ẋ c2 L ẋ  ẋ  k1 x k2 L x  x  K
+ +   + +   = cos ωt (4.7.1)
L mL m L L mL m L L mL

Let
k1
ω02 = , τ = ω0 t
m
(4.7.1) becomes

d2 # x $ c1 d # x $ # x $ d # x $
2 c2 L d  
ω02 + ω + ω
m dτ L dτ L 
0
dτ2 L m dτ L 0

x k2 L x  x  K ω
+ ω02 +  = cos τ
L m L L mL ω0

Dividing the above equation by ω02 and, for simplicity, denoting x/L as x, τ as t,
d (x/L)/d τ 2 and d (x/L)/d τ as ẍ and ẋ, we obtain
2

c1 c2 L k2 L K ω
ẍ + ẋ + ẋ|ẋ| + x + x|x| = cos τ
mω0 m mω0 2 2
mω0 L ω0
4.7 Exercise 4.7 (The Method of Multiple Scales for Analyzing Primary … 203

Fig. 4.6 a Frequency-response, and b Excitation-response curves (xs = 1, μ = 0.2) for Exercise
4.6

Let
c1 c2 k2 L K ω
2εμ1 = , εμ2 = , εα = , 2εk = , =
mω0 Lm mω0 2 2
mω0 L ω0

Then

ẍ + 2εμ1 ẋ + εμ2 ẋ|ẋ| + x + εαx|x| = 2εk cos t (4.7.2)

204 4 Forced Oscillations of Systems Having a Single Degree of Freedom

(b) When  ≈ 1, the detuning parameter σ is adopted to quantitatively describes

the nearness of  to 1:

 = 1 + εσ (4.7.3)

We express the solution in terms of different time scales as

x(t; ε) = x0 (T0 , T1 ) + εx1 (T0 , T1 ) + · · · (4.7.4)

In order to keep all damping and excitation terms appearing simultaneously, we

set

K = 2εk (4.7.5)

Substituting (4.7.3)–(4.7.5) into (4.7.2) and retaining to O(ε), we obtain

0 = ẍ + x + 2εμ1 ẋ + εαx|x| + εμ2 ẋ|ẋ| − 2εk cos t

 
= D02 + 2εD0 D1 (x0 + εx1 ) + x0 + εx1 + 2εμ1 ẋ0
+ εα |x0 |x0 + εμ2 |ẋ0 |ẋ0 − 2εk cos(T0 + σ T1 ) + · · ·
= D02 x0 + x0 + ε[D02 x1 + x1 + 2D0 D1 x0 + 2μ1 ẋ0
+ α |x0 |x0 + μ2 |ẋ0 |ẋ0 − 2k cos(T0 + σ T1 )] + · · · (4.7.6)

Let the coefficient of the like power of ε be zero, we get

D02 x0 + x0 = 0 (4.7.7)

D02 x1 + x1 = −2D0 D1 x0 − 2μ1 ẋ0 − α |x0 |x0 − μ2 |ẋ0 |ẋ0

+ 2k cos(T0 + σ T1 ) (4.7.8)

The solution of (4.7.7) is

x0 = AeiT0 + Ae−iT0 (4.7.9)

where A = A(T1 ). Substituting (4.7.9) into (4.7.8) yields

D02 x1 + x1 = −2D0 D1 x0 − 2μ1 ẋ0 − α |x0 |x0 − μ2 |ẋ0 |ẋ0 + 2kcos(T0 + σ T1 )

= −2iD1 AeiT0 − 2iμ1 AeiT0 + keiσ T1 eiT0 + cc
  
− α AeiT0 + Āe−iT0  AeiT0 + Āe−iT0
  
− μ2 iAeiT0 − iĀe−iT0  iAeiT0 − iĀe−iT0 (4.7.10)
4.7 Exercise 4.7 (The Method of Multiple Scales for Analyzing Primary … 205

To further process  (4.7.10), we need to  first deal with  the functions

−μ2 iAeiT0 − iAe−iT0  iAeiT0 − iAe−iT0 and −α AeiT0 + Ae−iT0  AeiT0 + Ae−iT0 ,
which can be expanded into a Fourier series of complex exponential form:
  
−α AeiT0 + Ae−iT0  AeiT0 + Ae−iT0
∞

   (4.7.11)
− μ2 iAeiT0 − iAe−iT0  iAeiT0 − iAe−iT0 = fn einT0
n=−∞

where

2π
1   
fn = [−α AeiT0 + Āe−iT0  AeiT0 + Āe−iT0
2π
0
  
− μ2 iAeiT0 − iĀe−iT0  iAeiT0 − iĀe−iT0 ]e−i n T0
dT0 (4.7.12)

From (4.7.10)–(4.7.12), in order to eliminate secular terms, it is necessary to have

−2iD1 A − 2iμ1 A + keiσ T1 + f1 = 0 (4.7.13)

Let
1 iβ
A= ae (4.7.14)
2
By (4.7.12) and (4.7.14), we obtain

2π
1   
f1 = [−α AeiT0 + Ae−iT0  AeiT0 + Ae−iT0
2π
0
  
− μ2 iAeiT0 − iAe−iT0  iAeiT0 − iAe−iT0 ]e−iT0 dT0
2π 2π
αeiβ −iθ μ2 eiβ
=− |a cos θ |a cos θ e dθ + |a sin θ |a sin θ e−iθ d φ
2π 2π
0 0
π/2 π
αa2 eiβ iμ2 a2 eiβ
=− cos3 θ d θ − sin3 θ d θ
π π
−π/2 0

4αa2 eiβ 4iμ2 a2 eiβ

=− − (4.7.15)
3π 3π
Substituting the above results into (4.7.10) yields
206 4 Forced Oscillations of Systems Having a Single Degree of Freedom

4αa2 4iμ2 a2
ia − aβ  − kei(σ T1 −β) + iμ1 a + + =0 (4.7.16)
3π 3π
The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation yields

4μ2 a2
a = −μ1 a − + k sin(σ T1 − β)
3π
4αa2
−aβ  = − + k cos(σ T1 − β) (4.7.17)
3π
Let

γ = σ T1 − β (4.7.18)

Then
4μ2 2
a = −μ1 a − a + k sin γ (4.7.19)
3π
4α k
γ = σ − a + cos γ (4.7.20)
3π a
So the first order approximate solution of the system is

x = a(T1 ) cos ϕ + O(ε), ϕ = T0 + β(T1 ) (4.7.21)

(c) Considering (4.7.21), the approximation of x|x| and ẋ|ẋ| can be written as

x|x| = a2 cos ϕ|cos ϕ| (4.7.22)

∂x ∂ϕ
ẋ|ẋ| = = −a2 sin ϕ|sin ϕ| (4.7.23)
∂ϕ ∂T0

The curves of x|x| ~ ϕ and ẋ|ẋ| ~ ϕ can be sketched from (4.7.22) and (4.7.23) as
shown in Fig. 4.7a. It can be seen that x|x| is the even function of ϕ, and ẋ|ẋ| is the
odd function of ϕ.
The frequency–response equation can be obtained by (4.7.19) and (4.7.20):

4α 2 2 4μ2 2 2
(σ a − a ) + (μ1 a + a ) = k2 (4.7.24)
3π 3π
We can solve for σ in terms of a from (4.7.24)

4α 1 2 4μ2 2 2
σ = a± k − (μ1 a + a ) (4.7.25)
3π a 3π
4.7 Exercise 4.7 (The Method of Multiple Scales for Analyzing Primary … 207

Fig. 4.7 a Curves of x|x| and ẋ|ẋ| with ϕ, b Frequency-response curves, and c Excitation-response
curves for Exercise 4.7

The excitation-response equation is

4α 2 4μ2 2
k = a (σ − a) + (μ1 + a) (4.7.26)
3π 3π

From this, the frequency–response curve of the system a ∼ σ and the excitation-
response curve a ∼ k can be drawn as shown in Fig. 4.7b, c. It can be seen that the
frequency–response curve of the system has no amplitude jump phenomenon, while
the excitation-response curve of the system has amplitude jump phenomenon under
some conditions.
It can be seen that there is a maximum value for k in the frequency–response curve
of the system. For a given k > 0, we can obtain from (4.7.25) that
208 4 Forced Oscillations of Systems Having a Single Degree of Freedom

4μ2 2 4μ2 2
k ≥ μ1 a + a ⇒ a + μ1 a − k ≤ 0 (4.7.27)
3π 3π
Therefore
 
3π 16kμ2
a≤ −μ1 + μ21 + (4.7.28)
8μ2 3π

As a result, the maximum value of a, amax , is

 
1/2
3π μ1 16kμ2
amax = −1 + 1 + (4.7.29)
8μ2 3π μ21

(d) The effect of the nonlinear spring force x|x| should appear in (4.7.10), (4.7.13) and
(4.7.15) (terms containing α), which finally enters into the integral in Eq. (4.7.15).
Since the quadrature function value in the following integral

2π 2π
−iθ
|a cos θ |a cos θ e dθ = a 2
|cos θ | cos2 θ d θ
0 0
π/2
= 2a2 cos3 θ d θ
−π/2

is greater than zero over the whole period, the integral value is nonzero, so the effect
of x|x| can be determined by simply expanding to the first order. If the nonlinear
spring force is x2 , then the integral of the above equation becomes

2π 2π
−iθ
a cos θ e
2 2
dθ = a 2
cos3 θ d θ = 0
0 0

When it is expanded to the first order, the effect of the nonlinear spring force x2
cannot be included, and the second order expansion should be taken into account.

4.8 Exercise 4.8 (Primary, Superharmonic,

and Subharmonic Resonances of Cubic Nonlinear
and Cubic Damped Systems)

Solution: (a) Taylor expansion of sin θ is conducted in the original equation near
θ = 0, retaining to O(θ 3 ):
4.8 Exercise 4.8 (Primary, Superharmonic, and Subharmonic Resonances … 209

1
θ̈ + θ − θ 3 + 2μθ 2 θ̇ = K cos t (4.8.1)
6
We use the dimensionless small parameter ε to measure the magnitude of θ ,
therefore, setting

θ = εu (4.8.2)

Equation (4.8.1) becomes

1 K
ü + u − ε2 u3 + 2ε2 μu2 u̇ = cos t (4.8.3)
6 ε
We express the solution in terms of different time scales as

u(t; ε) = u0 (T0 , T1 , T2 ) + εu1 (T0 , T1 , T2 ) + ε2 u2 (T0 , T1 , T2 ) + · · · (4.8.4)

In order to keep all damping, nonlinear and excitation terms appearing simulta-
neously, we set

K = 2ε3 k (4.8.5)

Substituting (4.8.4) and (4.8.5) into (4.8.3) and retaining to O(ε2 ) yields

1
0 = ü + u + ε2 u3 − 2ε2 μu2 u̇ − 2ε2 k cos t
 6   
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 u0 + εu1 + ε2 u2
1
+ u0 + εu1 + ε2 u2 + ε2 (u0 + εu1 + ε2 u2 )3
6  
− 2ε2 μ(u0 + εu1 + ε2 u2 )2 (D0 + εD1 ) u0 + εu1 + ε2 u2
− 2ε2 k cos t + · · ·
= D02 u0 + εD02 u1 + ε2 D02 u2 + 2εD0 D1 u0 + 2ε2 D0 D1 u1
  1
+ ε2 D12 + 2D0 D2 u0 + u0 + εu1 + ε2 u2 + ε2 u03
6
− 2ε2 μu02 D0 u0 − 2ε2 k cos t + · · ·
 
= D02 u0 + u0 + ε D02 u1 + u1 + 2D0 D1 u0
  1
+ ε2 [D02 u2 + u2 + 2D0 D1 u1 + D12 + 2D0 D2 u0 + u03
6
− 2μu02 D0 u0 − 2k cos t] + · · · (4.8.6)

Equating the coefficient of the like power of ε yields

D02 u0 + u0 = 0 (4.8.7)
210 4 Forced Oscillations of Systems Having a Single Degree of Freedom

D02 u1 + u1 = −2D0 D1 u0 (4.8.8)

  1
D02 u2 + u2 = −2D0 D1 u1 − D12 + 2D0 D2 u0 − u03
6
+ 2μu02 D0 u0 + 2k cos t (4.8.9)

The general solution of (4.8.7) is

u0 = AeiT0 + Ae−iT0 (4.8.10)

where A = A(T1 , T2 ). Substitute (4.8.10) into (4.8.8), we obtain

D02 u1 + u1 = −2D0 D1 u0 = 0 (4.8.11)

Therefore,

u1 = 0, A = A(T2 ) (4.8.12)

Substituting (4.8.10), (4.8.12) into (4.8.9) yields

1
D02 u2 + u2 = −2D0 D2 u0 + u03 − 2μu02 D0 u0 + 2k cos t
6
1
= −2iD2 Ae + A2 AeiT0 − 2iμA2 AeiT0
iT0
2
+ keiT0 + cc + NST (4.8.13)

When  ≈ 1, we denote  as

 = 1 + σ̂ (4.8.14)

where σ̂ is a small quantity. Therefore, the Eq. (4.8.13) becomes

1
D02 u2 + u2 = −2iD2 AeiT0 + A2 AeiT0 − 2iμA2 AeiT0
2
+ keiσ̂ T0 eiT0 + cc + NST (4.8.15)

In order to eliminate secular terms, one must have

1
−2iD2 A + A2 A − 2iμA2 AeiT0 + keiσ̂ T0 = 0 (4.8.16)
2

Since A = A(T2 ), keiσ̂ T0 must be a function of T2 , so there must be σ̂ = ε2 σ , i.e.,

 = 1 + ε2 σ (4.8.17)
4.8 Exercise 4.8 (Primary, Superharmonic, and Subharmonic Resonances … 211

From this, the Eq. (4.8.16) becomes

1
−2iD2 A + A2 A − 2iμA2 AeiT0 + keiσ T2 = 0 (4.8.18)
2
Let
1 iβ
A= ae (4.8.19)
2
Then
1 3 1
ia − aβ  − a + iμa3 − kei(σ T2 −β) = 0 (4.8.20)
16 4
The prime denotes the derivative with respect to T2 . Separating the real and
imaginary parts of the above equation yields

1 1 3
a = − μa3 + k sin(σ T2 − β), −aβ  = a + k cos(σ T2 − β)
4 16
Let

γ = (σ T2 − β) (4.8.21)

Then
1
a = − μa3 + k sin γ (4.8.22)
4
1 2 k
γ = σ + a + cos γ (4.8.23)
16 a
Therefore, the first order approximate solution of the original equation is
 
θ = εu0 = εa cos[T0 + β(T2 )] + O ε3 (4.8.24)

By the Eqs. (4.8.22) and (4.8.23), the frequency–response equation is given by

2
a3 μ2 a6
+ aσ + = k2 (4.8.25)
16 16

In order to plot the frequency–response curve of the system a ∼ σ , we can solve

for σ and k, respectively, from Eq. (4.8.25), i.e.,

a2 1 2 μ2 a6
σ =− ± k − (4.8.26)
16 a 16
212 4 Forced Oscillations of Systems Having a Single Degree of Freedom


2
a3 μ2 a6
k= + aσ + (4.8.27)
16 16

From this, the frequency–response curve of the system a ~ σ and the excitation-
response curve of the system a ~ k can be sketched as shown in Fig. 4.8a, b.
In order to obtain a real number solution for σ from (4.8.26), we need

μa3 4k
k≥ ⇒ a3 ≤
4 μ

Therefore

amax = (4k/μ)1/3

The results in those figures show that there are no amplitude jumps in a ∼ σ and
a ∼ k curves.
(b) Let

K = εk (4.8.28)

Equation (4.8.3) change into

1
ü + u − ε2 u3 + 2ε2 μu2 u̇ = k cos t (4.8.29)
6
The solution of the Eq. (4.8.29) is given as

u(t; ε) = u0 (T0 , T1 ) + εu1 (T0 , T1 ) + ε2 u2 (T0 , T1 ) + · · · (4.8.30)

Substituting (4.8.30) into (4.8.29) and retaining to O(ε2 ) yields

1
0 = ü + u + ε2 u3 − 2ε2 μu2 u̇ − k cos T0
 6   
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 u0 + εu1 + ε2 u2
1
+ u0 + εu1 + ε2 u2 + ε2 (u0 + εu1 + ε2 u2 )3
6  
− 2ε μ(u0 + εu1 + ε u2 )2 (D0 + εD1 ) u0 + εu1 + ε2 u2 − k cos T0 + · · ·
2 2
 
= D02 u0 + u0 − k cos t + ε D02 u1 + u1 + 2D0 D1 u0
 
  1
+ ε2 D02 u2 + u2 + 2D0 D1 u1 + D12 + 2D0 D2 u0 + u03 − 2μu02 D0 u0 + · · ·
6
(4.8.31)

Let the coefficient of the like power of ε be zero, we get

4.8 Exercise 4.8 (Primary, Superharmonic, and Subharmonic Resonances … 213

Fig. 4.8 a Frequency-response, and b excitation-response curves for primary resonance (μ = 0.2);
c Frequency-response, and d excitation-response curves for superharmonic resonance (μ = 0.2);
e frequency-response, and f excitation-response curves for subharmonic resonance (μ = 20 1
) in
Exercise 4.8
214 4 Forced Oscillations of Systems Having a Single Degree of Freedom

Fig. 4.8 (continued)

D02 u0 + u0 = k cos T0 (4.8.32)

D02 u1 + u1 = −2D0 D1 u0 (4.8.33)

 
D02 u2 + u2 = −2D0 D1 u1 − D12 + 2D0 D2 u0
1
− u03 + 2μu02 D0 u0 (4.8.34)
6
The solution for (4.8.32) is

1
u0 = AeiT0 + eiT0 + cc, where  = k(1 − 2 )−1 (4.8.35)
2
where A = A(T1 , T2 ). Substituting (4.8.35) into (4.8.33) yields

D02 u1 + u1 = −2D0 D1 u0 = 0 (4.8.36)

therefore
4.8 Exercise 4.8 (Primary, Superharmonic, and Subharmonic Resonances … 215

u1 = 0, A = A(T2 ) (4.8.37)

Substituting (4.8.35) and (4.8.36) into (4.8.34) yields

1
D02 u2 + u2 = −2D0 D2 u0 + u03 − 2μu02 D0 u0
6
1 1
= −2iD2 AeiT0 + A2 AeiT0 + 2 AeiT0 + 3 e3iT0
2 6
1 2 i(−2)T0
+ A e − 2iμA2 AeiT0
2
2
− 4iμ2 AeiT0 − i2μ3 e3iT0 − 2iμA ei(−2)T0
2
+ 4iμA ei(−2)T0 + cc + NST (4.8.38)

When  ≈ 1/3, we denote  by the detuning parameter σ in the following

equation:

1 
= 1 + ε2 σ (4.8.39)
3
1 9
= k(1 − 2 )−1 = k (4.8.40)
2 16
In order to eliminate secular terms in (4.8.38), we need

1
2iD2 A − A2 A − 2 A + 2iμA2 A + 4iμ2 A
2
1
− 3 ei(σ T2 −β) + i2μ3 ei(σ T2 −β) = 0 (4.8.41)
6
Let
1 iβ
A= ae (4.8.42)
2
Then
1 3 1 2 1
ia − aβ  −a −  a + iμa3 + 2iμ2 a
16 2 4
1 1
− 3 cos(σ T2 − β) − i3 sin(σ T2 − β)
6 6
2 2
− μ3 sin(σ T2 − β) + iμ3 cos(σ T2 − β) = 0 (4.8.43)
3 3
The prime denotes the derivative with respect to T2 . Separating the real and
imaginary parts of the above equation yields
216 4 Forced Oscillations of Systems Having a Single Degree of Freedom

1 1
a = −2μ 2 + a2 a + 3 sin(σ T2 − β)
8 6
2
− μ3 cos(σ T2 − β)
3
1 3 1 2 1
− aβ  = a +  a + 3 cos(σ T2 − β)
16 2 6
2
+ μ sin(σ T2 − β)
3
3
Let

γ = σ T2 − β (4.8.44)

Then

1 2 1
a = −2μ 2 + a2 a − 3 μ cos γ − sin γ (4.8.45)
8 3 6
1 1 2 1
γ = σ + 2 + a2 + 3 a−1 μ sin γ + cos γ (4.8.46)
2 8 3 6

Therefore, the first order approximate solution of the original equation is

θ = εu0 = εa(T2 ) cos[T0 + β(T2 )]

9  
+ K cos(T0 ) + O ε3 (4.8.47)
8
The frequency–response equation can be obtained from Eqs. (4.8.45) and (4.8.46)

1 1 1 4 1
[σ a + 2 + a2 a]2 + [2μ 2 + a2 a]2 = 6 μ2 + (4.8.48)
2 8 8 9 36

To plot the frequency–response curve of the system a ∼ σ (Fig. 4.8c) for a given
, we solve for σ in terms of a from (4.8.48)
  2
1 1 1 4 1 1 2
σ = − 2 + a2 ± 6 μ2 + − 2μ  + a a
2 (4.8.49)
2 8 a 9 36 8

Numerical computation can be conducted to sketch a ~  curves (Fig. 4.8d) for

a given σ . There is no amplitude jump in the curves a ∼ σ and a ∼ .
(c) When  ≈ 3, the detuning parameter σ is adopted to quantitatively describes the
nearness of  to 3:

 = 3 + ε2 σ (4.8.50)
4.8 Exercise 4.8 (Primary, Superharmonic, and Subharmonic Resonances … 217

1 1
= k(1 − 2 )−1 = − k (4.8.51)
2 16
In order to eliminate secular terms from (4.8.38), it is necessary to have

1
2iD2 A − A2 Ā − 2 A + 2iμA2 Ā + 4iμ2 A
2
1 2 iσ T2 2 2
− Ā e + 2iμĀ eiσ T2 − 4iμĀ eiσ T2 = 0 (4.8.52)
2
Let
1 iβ
A= ae (4.8.53)
2
then
1 3 1 2 1
ia − aβ  − a −  a + iμa3
16 2 4
1 2
+ 2iμ a − a cos(σ T2 − 3β)
2
8
1 1
− ia sin(σ T2 − 3β) + iμa2 cos(σ T2 − 3β)
2
8 2
1
− μa sin(σ T2 − 3β) = 0
2
(4.8.54)
2
The prime denotes the derivative with respect to T2 . Separating the real and
imaginary parts of the above equation yields
   
a = −2μ 2 + 18 a2 a + a

2 1
8
sin(σ T2 − 3β) − 21 μcos(σ T2 − 3β)
 (4.8.55)
−β  = 21 2 + 18 a2 + a 18 cos(σ T2 − 3β) + 21 μsin(σ T2 − 3β)

Let

γ = σ T2 − 3β (4.8.56)

and change  to a positive value, i.e., change the  in (4.8.55) to −. Let

1
= k (4.8.57)
16
Then

1 1 1
a = −2μ 2 + a2 a − a2 sin γ − μ cos γ (4.8.58)
8 8 2
218 4 Forced Oscillations of Systems Having a Single Degree of Freedom

3 1 1 1
γ = σ + 2 + a2 − 3a cos γ + μ sin γ (4.8.59)
2 8 8 2

So the first order approximate solution of the original equation is

1  
θ = εu0 = εa(T2 ) cos[T0 + β(T2 )] − K cos(T0 ) + O ε3 (4.8.60)
8
The frequency–response equation can be obtained from (4.8.58) and (4.8.59)

1 3 1 1 1 1
{ [σ + (2 + a2 )]}2 + [2μ(2 + a2 )]2 = 2 a2 ( + μ2 ) (4.8.61)
3 2 8 8 64 4

In order to obtain the nonzero a2 from the above equation, one must have
 
1 1 2 1 2 2
 a 2 2
+ μ − 2μ  + a
2
>0
64 4 8

i.e.,
 
4μ2 a4 + 48μ2 2 − 2 a2 + 256μ2 4 < 0 (4.8.62)

therefore,

1 1
0 < μ2 < ⇒ 0<μ< √ (4.8.63)
112 112

Once (4.8.63) is satisfied, we can solve for σ from (4.8.61)

3 1 1 1 1
σ = − (2 + a2 ) ± 3 2 a2 ( + μ2 ) − [2μ(2 + a2 )]2 (4.8.64)
2 8 64 4 8

For the determined value of , the frequency–response curve of the system of the
system a ~ σ (Fig. 4.8e) can be plotted.
Numerical computation can be conducted to sketch a ∼  curves (Fig. 4.8f) for
a given σ from (4.8.61).
There are no amplitude jumps in a∼σ and a∼ curves; however, there are
multiple values of amplitude in both curves. Which value of the steady state ampli-
tude can be realized is determined by the initial conditions and the stability of the
amplitude, which needs to be examined from Eqs. (4.8.58) and (4.8.59).
4.9 Exercise 4.9 (Method of Averaging for Analyzing Primary Resonances … 219

4.9 Exercise 4.9 (Method of Averaging for Analyzing

Primary Resonances of Alternating Damped Systems)

Solution: To find the primary resonance response when  ≈ 1, let

K = 2εk,  = 1 + εσ (4.9.1)

where σ is a detuning parameter. The differential equation of motion of the system

becomes

ü + u = −2εμ sin u̇ + 2εk cos(1 + εσ )t  εf (u̇, t) (4.9.2)

f (u̇, t) = −2μ sin u + 2k cos(1 + εσ )t (4.9.3)

We try to solve (4.9.2) by the method of averaging.

We suppose that both u and u̇ in (4.9.2) have the same forms as the case when
ε = 0, i.e.,

u = a cos(t + β)  a cos ϕ, ϕ = t + β (4.9.4)

And

u̇ = −a sin(t + β)  −a sin ϕ (4.9.5)

where a and β are functions of t.

Differentiating (4.9.4) and (4.9.5) with respect to t, we have

u̇ = ȧ cos ϕ − a sin ϕ − aβ̇ sin ϕ (4.9.6)

ü = −ȧ sin ϕ − a cos ϕ − aβ̇ cos ϕ (4.9.7)

From (4.9.5) and (4.9.6), we have

ȧ cos ϕ − aβ̇ sin ϕ = 0 (4.9.8)

Substituting (4.9.7), (4.9.4) and (4.9.5) into (4.9.2), we get

ȧ sin ϕ + aβ̇ cos ϕ = −εf (−a sin ϕ, t) (4.9.9)

Solving (4.9.8) and (4.9.9) for ȧ and β̇, we obtain.

ε
ȧ = −εf (−a sin ϕ) sin ϕ, β̇ = − f (−a sin ϕ) cos ϕ (4.9.10)
a
220 4 Forced Oscillations of Systems Having a Single Degree of Freedom

Substituting (4.9.3) into the above two equations yields

ȧ = −ε[−2μsin(−asinφ) + 2kcos(1 + εσ )t]sinφ

= 2εμsin(−asinφ)sinφ − 2εk[cos(1 + εσ )t]sinφ
= 2εμsin(−asinφ)sinφ − 2εkcos(γ + φ)sinφ
= 2εμsin(−asinφ)sinφ − 2εk(cosγ cosφ − sinγ sinφ)sinφ

ε
β̇ = − [−2μsin(−asinφ) + 2kcos(1 + εσ )t]cosφ
a
2εμ 2εk
= sin(−asinφ)cosφ − [cos(1 + εσ )t]cosφ
a a
2εμ 2εk
= sin(−asinφ)cosφ − cos(γ + φ)cosφ
a a
2εμ 2εk
= sin(−asinφ)cosφ − (cosγ cosφ − sinγ sinφ)cosφ
a a
i.e.,

ȧ = 2εμ sin(−a sin ϕ) sin ϕ − 2εk(cos γ cos ϕ − sin γ sin ϕ) sin ϕ (4.9.11)

2εμ
γ̇ = εσ − sin(−a sin ϕ) cos ϕ
a
2εk
+ (cos γ cos ϕ − sin γ sin ϕ) cos ϕ (4.9.12)
a
Where

γ = εσ t − β (4.9.13)

Averaging these equations over the period 2π , and considering a, γ , ȧ and γ̇

to be constants while performing the averaging, we obtain the following equations
describing the slow variations of a and γ :

2π
1
ȧ = 2εμsin(−asinφ)sinφ − 2εk(cosγ cosφ − sinγ sinφ)sinφd φ
2π
0
2π  ∞ 2π
εμ εk
=− 2 J2n+1 (a)sin[(2n + 1)φ]sinφd φ + sinγ sin2 φd φ
π n=0
π
0 0
2π
2εμ
=− J1 (a) sin2 φd φ + εksinγ
π
0
4.9 Exercise 4.9 (Method of Averaging for Analyzing Primary Resonances … 221
 
= ε −2μJ1 (a) + εksinγ
2π
1 2εμ
γ̇ = εσ − sin(−a sin ϕ) cos ϕ
2π a
0
2εk
+ (cos γ cos ϕ − sin γ sin ϕ) cos ϕ]d ϕ
a
2π
εk
= εσ + cos γ cos2 ϕd ϕ
πa
0
k
= ε σ + cos γ
a

i.e.,
 
ȧ = ε −2μJ1 (a) + k sin γ (4.9.14)

k
γ̇ = ε σ + cos γ (4.9.15)
a

To accomplish the above integrals, we use the following equation:

∞

sin(a sin ϕ) = 2 J2n+1 (a) sin[(2n + 1)ϕ] (4.9.16)
n=0

The frequency–response equation can be obtained from (4.9.14) and (4.9.15):

4μ2 J12 (a) + σ 2 a2 = k 2 (4.9.17)

Solving for σ from the above equation, we have

1 2
σ =± k − 4μ2 J12 (a) (4.9.18)
a
The frequency–response curve of the system a ∼ σ (Fig. 4.9a) can be plotted
from (4.9.18), where J1 (a) can be calculated by the following integral equation

π
1
J1 (a) = cos(nθ − a sin θ )d θ (4.9.19)
2π
−π

As can be seen, there are no amplitude jumps; when σ = 0, the amplitude a

becomes infinite.
222 4 Forced Oscillations of Systems Having a Single Degree of Freedom

Fig. 4.9 a Frequency-response curves for general a, and b Frequency-response and c Excitation-
response curves for a small and finite a in Exercise 4.9
4.9 Exercise 4.9 (Method of Averaging for Analyzing Primary Resonances … 223

When a is a small and finite, we can make Taylor expansion of sin(a sin ϕ)
in (4.9.11) and (4.9.12) and retain the first three terms, then (4.9.11) and (4.9.12)
become:
 
1 1 5 5
ȧ = −2εμ asinφ − a3 sin3 φ + a sin φ sinφ
6 120
− 2εk(cosγ cosφ − sinγ sinφ)sinφ (4.9.20)
 
−1 1 3 3 1 5 5
γ̇ = εσ + 2εμa asinφ − a sin φ + a sin φ cosφ
6 120
+ 2εka−1 (cosγ cosφ − sinγ sinφ)cosφ (4.9.21)

Averaging (4.9.20) and (4.9.21) over one cycle yields

 
a3 a5
ȧ = −ε μ a − + + k sin γ (4.9.22)
8 192
k
γ̇ = ε σ + cos γ (4.9.23)
a

The corresponding frequency–response equation can be obtained from (4.9.22)

and (4.9.23):

1 1 5 2
[μ a − a3 + a ] + σ 2 a2 = k 2 (4.9.24)
8 192

Therefore,

1 2 1 1 5 2
σ =± k − [μ a − a3 + a ] (4.9.25)
a 8 192

1 1 5 2
k = [μ a − a3 + a ] + σ 2 a2 (4.9.26)
8 192

The frequency–response curve of the system a ~ σ and the excitation-response

curve of the system a ~ k are sketched in Fig. 4.9b, c, respectively.
224 4 Forced Oscillations of Systems Having a Single Degree of Freedom

4.10 Exercise 4.10 (Primary, Superharmonic,

and Subharmonic Resonances of Quadratic and Cubic
Nonlinear Systems)

Solution: (a) Expanding the differential equation of the system around the center
u = 1, we get

3 1
ü + u + u2 + u3 = K cos t (4.10.1)
2 2
We use the small parameter ε to measure the amplitude of u. In addition,
considering searching for the primary resonance response, we let

u = εx, K = 2ε3 k (4.10.2)

then Eq. (4.10.1) becomes

3 1
ẍ + x + εx2 + ε2 x3 = 2ε2 k cos t (4.10.3)
2 2
Let the solution of the equation be

x(t; ε) = x0 (T0 , T1 , T2 ) + εx1 (T0 , T1 , T2 ) + ε2 x2 (T0 , T1 , T2 ) + · · · (4.10.4)

Substituting (4.10.4) into (4.10.3) and retaining to O(ε2 ) yields

3 1
0 = ẍ + x + εx2 + ε2 x3 − 2ε2 k cos t
 2 2   
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 x0 + εx1 + ε2 x2
  3
+ x0 + εx1 + ε2 x2 + ε(x0 + εx1 + ε2 x2 )2
2
1 2
+ ε (x0 + εx1 + ε x2 )3 − 2ε2 k cos t
2
2
= D02 x0 + εD02 x1 + ε2 D02 x2 + 2εD0 D1 x0 + 2ε2 D0 D1 x1
 
+ ε2 D12 + 2D0 D2 x0 + x0 + εx1 + ε2 x2
3 1
+ εx02 + 3ε2 x0 x1 + ε2 x03 − 2ε2 k cos t + · · ·
2 2
3
= D02 x0 + x0 + ε D02 x1 + x1 + 2D0 D1 x0 + x02
2
 
+ ε2 [D02 x2 + x2 + 2D0 D1 x1 + D12 + 2D0 D2 x0
1
+ 3x0 x1 + x03 − 2k cos t] + · · · (4.10.5)
2
4.10 Exercise 4.10 (Primary, Superharmonic, and Subharmonic Resonances … 225

Let the coefficient of the like power of ε be zero, we get

D02 x0 + x0 = 0 (4.10.6)

3
D02 x1 + x1 = −2D0 D1 x0 − x02 (4.10.7)
2
 
D02 x2 + x2 = −2D0 D1 x1 − D12 + 2D0 D2 x0
1
− 3x0 x1 − x03 + 2k cos t (4.10.8)
2
The solution of (4.10.6) is

x0 = AeiT0 + Ae−iT0 (4.10.9)

where A = A(T1 , T2 ). Substitute (4.10.9) into (4.10.7), we get

3
D02 x1 + x1 = −2iD1 AeiT0 − 3AA − A2 e2iT0 + cc (4.10.10)
2
In order to eliminate secular terms, we need D1 A = 0, so A = A(T2 ). Therefore,
the solution of (4.10.10) is

1 1 2
x1 = −3AA + A2 e2iT0 + A e−2iT0 (4.10.11)
2 2
Since the external excitation term appears in the control equation of x2 (4.10.8),
we let

 = 1 + ε2 σ (4.10.12)

Substitute (4.10.9), (4.10.11) and (4.10.12) into (4.10.8), we obtain

 
D02 x2 + x2 = −2iD2 A + 6A2 A + keiσ T2 eiT0 + cc + NST (4.10.13)

In order to eliminate secular terms, there must be

2iD2 A − 6A2 A − keiσ T2 = 0 (4.10.14)

Let
1 iβ
A= ae (4.10.15)
2
Substituting (4.10.15) into (4.10.14) and separating the real and imaginary parts
yields
226 4 Forced Oscillations of Systems Having a Single Degree of Freedom

a = ksin(σ T2 − β)
−aβ  = 6a3 + kcos(σ T2 − β)

Let

γ = σ T2 − β (4.10.16)

a = k sin γ (4.10.17)

−aγ  = aσ + 6a3 + k cos γ (4.10.18)

From (4.10.9) and (4.10.11), we obtain the primary resonance response of (4.10.3)

3 1
x = a cos(t − γ ) + εa2 [− + cos(2t − 2γ )] + O(ε2 ) (4.10.19)
4 4
Considering u = εx and noting εa as a, we obtain the primary resonance response
of the original Eq. (4.10.1)

3 1
u = a cos(t − γ ) + a2 [− + cos(2t − 2γ )] + O(ε3 ) (4.10.20)
4 4

(b) For non-primary resonance response, let

u = εx, K = 2εk (4.10.21)

Equation (4.10.1) becomes

3 1
ẍ + x + εx2 + ε2 x3 = 2k cos t (4.10.22)
2 2

Substituting (4.10.4) into (4.10.22) and retaining to O(ε2 ) yields

3 1
0 = ẍ + x + εx2 + ε2 x3 − 2k cos t
2 2
3
= D02 x0 + x0 − 2k cos t + ε D02 x1 + x1 + 2D0 D1 x0 + x02
2
 
  1 3
+ ε D0 x2 + x2 + 2D0 D1 x1 + D1 + 2D0 D2 x0 + 3x0 x1 + x0 + · · ·
2 2 2
2
(4.10.23)

Let the coefficient of the like power of ε be zero, we get

D02 x0 + x0 = 2k cos t (4.10.24)

4.10 Exercise 4.10 (Primary, Superharmonic, and Subharmonic Resonances … 227

3
D02 x1 + x1 = −2D0 D1 x0 − x02 (4.10.25)
2
  1
D02 x2 + x2 = −2D0 D1 x1 − D12 + 2D0 D2 x0 − 3x0 x1 − x03 (4.10.26)
2
The solution of (4.10.24) is

x0 = AeiT0 + eiT0 + cc (4.10.27)

where A = A(T1 , T2 ) and

k
= (4.10.28)
1 − 2

Substituting (4.10.27) into (4.10.25) yields

3
D02 x1 + x1 = −2iD1 AeiT0 − (AeiT0 + eiT0 + cc)2
2
3
= −3AA − 32 − 2iD1 AeiT0 − 2 e2iT0
2
3
− 3Aei(−1)T0 − 3Aei(+1)T0 − A2 e2iT0 + cc (4.10.29)
2
The detuning parameter σ is adopted to quantitatively describes the nearness of
 to 2:

 = 2 + εσ (4.10.30)

In order to eliminate secular terms in (4.10.29), we need

2iD1 AeiT0 + 3Aei(−1)T0 = 0

i.e.,

2iD1 A + 3Aeiσ T1 = 0 (4.10.31)

Substituting (4.10.15) into the above equation, we get

3
ia − aβ  + aei(σ T1 −2β) = 0 (4.10.32)
2
The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation yields
228 4 Forced Oscillations of Systems Having a Single Degree of Freedom

3
a = − a sin γ (4.10.33)
2

γ  = σ − 3 cos γ (4.10.34)

k k
γ = σ T1 − 2β,  = =− (4.10.35)
1−2 3

The solution of (4.10.29) is

1 3
x1 = −3AA − 32 + A2 e2iT0 + Aei(+1)T0
2 35
1
+ 2 e2iT0 + cc (4.10.36)
10
Substituting (4.10.27), (4.10.36), (4.10.30) and (4.10.35) into (4.10.4), we obtain
the subharmonic resonance response of (4.10.22)

1 2
x = acos t − γ − kcos2t
2 3
3 2 1 2 1 2
+ ε[− a − k + a cos(2t + γ )
4 3 4
1 1 1  
− kacos 3t − γ + k 2 cos4t] + O ε2 (4.10.37)
35 2 45

Considering u = εx, K = 2εk and writing εa for a yields the superharmonic

resonance response of original Eq. (4.10.1) at  ≈ 2:

1 2
u = acos t − γ − Kcos2t
2 6
3 2 1 2 1 2
+ [− a − K + a cos(2t + γ )
4 12 4
1 1 1 2  
− Kacos 3t − γ + K cos4t] + O ε3 (4.10.38)
70 2 180

(c) the detuning parameter σ is adopted to quantitatively describes the nearness of

 to 1/2:
1
= (1 + εσ ) (4.10.39)
2
In order to eliminate secular terms in (4.10.29), it is necessary to

3
2iD1 AeiT0 + 2 e2iT0 = 0
2
4.10 Exercise 4.10 (Primary, Superharmonic, and Subharmonic Resonances … 229

i.e.,

3
2iD1 A + 2 eiσ T1 = 0 (4.10.40)
2
Substituting (4.10.15) into the above equation, we get

3
ia − aβ  + 2 ei(σ T1 −β) = 0 (4.10.41)
2
The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation yields

3
a = − 2 sin γ (4.10.42)
2
3
aγ  = σ − 2 cos γ (4.10.43)
2
k 4k
γ = σ T1 − β,  = = (4.10.44)
1−2 3

The solution of (4.10.29) is

1 12
x1 = −3AA − 32 − 4Aei(−1)T0 + A2 e2iT0 + Aei(+1)T0 + cc (4.10.45)
2 5
Substituting (4.10.27), (4.10.45), (4.10.39) and (4.10.44) into (4.10.4), we obtain
the superharmonic resonance response of (4.10.22) at  ≈ 1/2:

8 1
x = acos(t − γ ) + kcos t
3 2
3 2 16 2 16 1
+ ε[− a − k − kacos t+γ
4 3 3 2
1 16 3  
+ a2 cos(2t − 2γ ) + kacos t − γ ] + O ε2 (4.10.46)
4 5 2

Considering u = εx, K = 2εk and writing εa for a yields the superharmonic

resonance response of original Eq. (4.10.1) at  ≈ 1/2:
 
u = acos(t − γ ) + 86 kcos 21 t  
+[− 38 a2 − 83 K 2 − 83 Kacos 21 t+ γ   
(4.10.47)
+ 18 a2 cos(2t − 2γ ) + 85 Kacos 23 t − γ ] + O ε3

(d), (e): Under non-resonant hard excitation, Eqs. (4.10.21) – (4.10.29) always hold.
When  ≈ 3 or 1/3, in order to eliminate secular terms in (4.10.29), it is necessary
230 4 Forced Oscillations of Systems Having a Single Degree of Freedom

to have D1 A = 0, so A = A(T2 ). In this case, the solution of (4.10.29) is

1
x1 = −3AA − 32 + A2 e2iT0 + 1 e2iT0 + 2 Aei(−1)T0
2
+ 3 Aei(+1)T0 + cc (4.10.48)

where

32 3 3
1 = −   , 2 = − , 3 = −
2 1 − 42 1 − ( − 1)2 1 − ( + 1)2
(4.10.49)

From (4.10.27) and (4.10.48), we can obtain

  1
x0 x1 = AeiT0 + eiT0 + cc1 (−3AA − 32 + A2 e2iT0
2
+ 3 Aei(+1)T0 + cc + 1 e2iT0 + 2 Aei(−1)T0 + 3 Aei(+1)T0 + cc2 )
5
= − A2 AeiT0 − 32 AeiT0 + 2 AeiT0 + 3 AeiT0
2
2
+ 3 Aei(+1)T0 + cc + 1 e3iT0 + 2 A ei(−2)T0
1 2
+ A ei(−2)T0 + cc + NST (4.10.50)
2

x03 = (AeiT0 + eiT0 + Ae−iT0 + e−iT0 )3

 
= (AeiT0 + eiT0 )3 + 3(AeiT0 + eiT0 )2 Ae−iT0 + e−iT0 + cc
2
= 3 e3iT0 + 3A2 AeiT0 + 62 AeiT0 + 3A ei(−2)T0 + cc + NST (4.10.51)

Substituting (4.10.50) and (4.10.51) into (4.10.26), and taking A = A(T2 ) into
account, we obtain

1
D02 x2 + x2 = −2iD2 AeiT0 − 3x0 x1 − x03
2
15
= −2iD2 AeiT0 + A2 AeiT0 + 92 AeiT0 − 32 AeiT0
2
2 3 2
− 33 Ae − 31 e3iT0 − 32 A ei(−2)T0 − A ei(−2)T0
iT0
2
1 3 3iT0 3 2 iT0 3 2 i(−2)T0
−  e − A Ae − 3 Ae − A e
2 iT0
2 2 2
+ cc + NST
 
= −2iD2 A + 6A2 A + 62 A − 32 A − 33 A eiT0
4.10 Exercise 4.10 (Primary, Superharmonic, and Subharmonic Resonances … 231

1 3 # 2 2
$
−  + 31 e3iT0 − 32 A + 3A ei(−2)T0 + cc + NST
2
(4.10.52)

(1) When  ≈ 3:

Let

 = 3 + ε2 σ (4.10.53)

In order to eliminate secular terms in (4.10.52), we need

# 2 2
$
2iD2 A − 6A2 A − 62 A + 32 A + 33 A + 32 A + 3A eiσ T2 = 0
(4.10.54)

Combine (4.10.49) and (4.10.28), we have

32  k k
1 = , 2 = , 3 = ,  = =− (4.10.55)
70 5 1−2 8

Substituting (4.10.55) into (4.10.54) yields

12 2 2
2iD2 A − 6A2 A −  A + 6A eiσ T2 = 0 (4.10.56)
5

By making A = 21 aeiβ , the above equation becomes

3 6
ia − aβ  − a3 − 2 a + 6a2 ei(σ T2 −3β) = 0 (4.10.57)
4 5
Separating the real and imaginary parts of the above equation yields

3 2
a = ka sin γ (4.10.58)
16
9 9 2 9
γ  = σ + a2 + k + ka cos γ (4.10.59)
4 160 16
where

γ = σ T2 − 3β (4.10.60)

Substituting (4.10.27), (4.10.53), (4.10.55) and (4.10.60) into (4.10.4), we obtain

the superharmonic resonance response of (4.10.22) at  ≈ 3:
232 4 Forced Oscillations of Systems Having a Single Degree of Freedom

1 1
x = a cos(t − γ ) − k cos 3t + O(ε) (4.10.61)
3 4
Considering u = εx, K = 2εk and writing εa for a yields the superharmonic
resonance response of original Eq. (4.10.1) at  ≈ 3:

1 1  
u = a cos(t − γ ) − K cos 3t + O ε2 (4.10.62)
3 8

(2) When  ≈ 13 :

Let

1 
= 1 + ε2 σ (4.10.63)
3
In order to eliminate secular terms in (4.10.52), we need

1 3
2iD2 A − 6A2 A − 62 A + 32 A + 33 A +  + 31 eiσ T2 = 0
2
(4.10.64)

Combine (4.10.49) and (4.10.28), we have

272 27 27 k 9k

1 = − , 2 = − , 3 = , = = (4.10.65)
10 5 7 1−2 8

Substituting (4.10.65) into (4.10.64) yields

2iD2 A − 6A2 A − 17.68k 2 A − 8.4k 3 eiσ T2 = 0 (4.10.66)

By making A = 21 aeiβ , the above equation becomes

3
ia − aβ  − a3 − 8.84k 2 a − 8.4k 3 ei(σ T2 −β) = 0 (4.10.67)
4
Separating the real and imaginary parts of the above equation yields

a = 8.4k 3 sin γ (4.10.68)

3 8.4k 3
γ  = σ + a2 + 8.84k 2 + cos γ (4.10.69)
4 a
where
4.11 Exercise 4.11 (Primary and Secondary Resonances of Five Nonlinear … 233

γ = σ T2 − β (4.10.70)

Substituting (4.10.27), (4.10.63), (4.10.65) and (4.10.70) into (4.10.4), we obtain

the superharmonic resonance response of (4.10.22) at  ≈ 1/3:

9 1
x = a cos(t − γ ) + k cos t + O(ε) (4.10.71)
4 3
Considering u = εx, K = 2εk and writing εa for a yields the superharmonic
resonance response of original Eq. (4.10.1) at  ≈ 1/3:

9  
u = a cos(t − γ ) + K cos 3t + O ε2 (4.10.72)
8

4.11 Exercise 4.11 (Primary and Secondary Resonances

of Five Nonlinear, Linearly Damped Systems)

Solution: (a) Let us first specify the order of the terms in the original differential
equation of motion. Let

u = ελ x (4.11.1)

The original equation becomes

K
ẍ + x + ε4λ αx5 + 2μẋ = cos t (4.11.2)
ελ
In order to find the primary resonance response, it is necessary to have the
nonlinear term, the damping term and the excitation term are of the same order,
so that
1
λ= , μ = εμ̂, K = 2ε5λ k = 2ε5/4 k (4.11.3)
4
Then the Eq. (4.1.1) becomes

ẍ + x + εαx5 + 2εμ̂ẋ = 2εk cos t (4.11.4)

Let the solution of the Eq. (4.11.4) have the following form:

x(t; ε) = x0 (T0 , T1 , T2 ) + εx1 (T0 , T1 , T2 ) + ε2 x2 (T0 , T1 , T2 ) + · · · (4.11.5)

Substituting (4.10.4) into (4.11.4) and retaining to O(ε) yields

234 4 Forced Oscillations of Systems Having a Single Degree of Freedom

0 = ẍ + x + εαx5 + 2εμ̂ẋ − 2εk cos t

= D02 + 2εD0 D1 )(x0 + εx1 ) + (x0 + εx1 ) + εα(x0 + εx1 )5
+ 2εμ̂(D0 + εD1 )(x0 + εx1 ) − 2εk cos t + · · ·
= D02 x0 + εD02 x1 + 2εD0 D1 x0 + x0 + εx1 + εαx05
+ 2εμ̂D0 x0 − 2εk cos t + · · ·
= D02 x0 + x0 + ε(D02 x1 + 2D0 D1 x0 + x1 + αx05
+ 2μ̂D0 x0 − 2k cos t) + · · · (4.11.6)

Let the coefficient of the like power of ε be zero, we get

D02 x0 + x0 = 0 (4.11.7)

D02 x1 + x1 = −2D0 D1 x0 − αx05 − 2μ̂D0 x0 + 2k cos t (4.11.8)

The solution of (4.10.6) is

x0 = AeiT0 + Ae−iT0 (4.11.9)

where A = A(T1 ). Substitute (4.10.9) into (4.10.7), we get

D02 x1 + x1 = −2iD1 AeiT0 − 2iμ̂AeiT0

+ 2k cos t − α(AeiT0 + Ae−iT0 )5 + cc
= −2iD1 AeiT0 − 2iμ̂AeiT0 + 2k cos t
2
− αA5 e5iT0 − 5αA4 Ae3iT0 − 10αA3 A eiT0 + cc (4.11.10)

When  ≈ 1, let

 = 1 + εσ (4.11.11)

Therefore
# 2
$
D02 x1 + x1 = − 2iD1 A + 2iμ̂A + 10αA3 A − keiσ T1 eiT0
(4.11.12)
−αA5 e5iT0 − 5αA4 Ae3iT0 + cc

In order to eliminate secular terms, there must be

2
2iD1 A + 2iμ̂A + 10αA3 A − keiσ T1 = 0 (4.11.13)

1 iβ
A= ae (4.11.14)
2
4.11 Exercise 4.11 (Primary and Secondary Resonances of Five Nonlinear … 235

Then
5
ia − aβ  + iμ̂a + αa5 − kei(σ T1 −β) = 0 (4.11.15)
16
Separating the real and imaginary parts of the above equation yields

a = −μ̂a + k sin γ (4.11.16)

5 k
γ = σ − αa4 + cos γ (4.11.17)
16 a
where

γ = σ T1 − β (4.11.18)

The frequency–response equation can be obtained by (4.11.16) and (4.11.17):

5
(σ a − αa5 )2 + μ̂2 a2 = k 2 (4.11.19)
16
Solving for σ and k from the above equation, respectively, yields

5 1) 2
σ = αa4 ± k − μ̂2 a2 (4.11.20)
16 a

5
k= (σ a − αa5 )2 + μ̂2 a2 (4.11.21)
16

The frequency–response curve of the system a ~ σ and the excitation-response

curve a ~ k can be plotted in Fig. 4.10a, b.
(b) Let

1
λ= , μ = εμ̂, K = 2ελ k = 2ε1/4 k (4.11.22)
4
Then for this non-resonant hard excitation, Eq. (4.1.1) becomes

ẍ + x + εαx5 + 2εμ̂ẋ = 2k cos t (4.11.23)

Substituting (4.10.4) into (4.11.4) and retaining to O(ε) yields.

0 = ẍ + x + εαx5 + 2εμ̂ẋ − 2k cos t

 
= D02 + 2εD0 D1 (x0 + εx1 ) + (x0 + εx1 ) + εα(x0 + εx1 )5
+ 2εμ̂(D0 + εD1 )(x0 + εx1 ) − 2k cos t + · · ·
236 4 Forced Oscillations of Systems Having a Single Degree of Freedom

Fig. 4.10 a Frequency-response and b excitation-response curves (μ̂ = 0.5, α = 0.2) in Exercise
4.11

= D02 x0 + εD02 x1 + 2εD0 D1 x0 + x0 + εx1 + εαx05

+ 2εμ̂D0 x0 − 2εk cos t + · · ·
= D02 x0 + x0 − 2k cos t
 
+ ε D02 x1 + 2D0 D1 x0 + x1 + αx05 + 2μ̂D0 x0 + · · · (4.11.24)

Let the coefficient of the like power of ε be zero, we get

D02 x0 + x0 = 2k cos t (4.11.25)

D02 x1 + x1 = −2D0 D1 x0 − 2μ̂D0 x0 − αx05 (4.11.26)

The solution of (4.11.25) is

x0 = AeiT0 + eiT0 + cc (4.11.27)

where A = A(T1 ), and

k
= (4.11.28)
1 − 2
4.11 Exercise 4.11 (Primary and Secondary Resonances of Five Nonlinear … 237

Substituting (4.11.27) into (4.11.26) yields

D02 x1 + x1 = −2D0 D1 x0 − 2μ̂D0 x0 − αx05

= −2iD1 AeiT0 − 2iμ̂AeiT0 − 2iμ̂eiT0
 
−α(AeiT0 + eiT0 )5 − 5α(AeiT0 + eiT0 )4 Ae−iT0 + e−iT0
−10α(AeiT0 + eiT0 )3 (Ae−iT0 + e−iT0 )2 + cc
# 2
$
= − 2iD1 A + 2iμ̂A + 10αA3 A + 60α2 A2 A + 30α4 A eiT0 (4.11.29)
4 i(−4)T0 3 2 i(−2)T0
−5αA e − 30α A e − 5αA4 ei(4−)T0
3
−10α2 A ei(2−3)T0 − 5α4 Aei(4−1)T0
−5α5 e3iT0 − 20αAAe3iT0 − 10αA2 3 ei(2−3)T0
−α5 Ae5iT0 + cc + NST

We can find, from (4.11.29), that there are secondary resonances when  ≈
5, 3, 2, 21 , 13 , 15 .
(c) In the above secondary resonances case, we only find the controlling equations
for phase and amplitude for the secondary resonance case at  ≈ 5, and readers are
invited to complete the rest of the scenario on their own.
When  ≈ 5, let

 = 5 + εσ (4.11.30)

In order to eliminate secular terms in (4.11.29), there must be

2 4
2iD1 A + 2iμ̂A + 10αA3 A + 60α2 A2 A + 30α4 A + 5αA eiσ T1 = 0
(4.11.31)

Let
1 iβ
A= ae (4.11.32)
2
then
5 15 5
ia − aβ  + iμ̂a + αa5 + α2 a3 + 15α4 a + αa4 ei(σ T1 −5β) = 0
16 2 16
(4.11.33)

Separating the real part from the imaginary part of the above equation, we get

5
a = −μ̂a − αa4 sin γ (4.11.34)
16
238 4 Forced Oscillations of Systems Having a Single Degree of Freedom

75 25 25
γ  = σ − 75α4 − α2 a2 − αa4 − αa3 cos γ (4.11.35)
2 16 16
where
k k
γ = σ T1 − 5β,  = =− (4.11.36)
1−2 24

4.12 Exercise 4.12 (An Iterative Method for General

Undamped Nonlinear Systems)

Solution: (a) When K = 0,u(0) = u0 , u̇(0) = 0, making the integration of the

original differential equation of motion, we get

u u
1 2
u̇ + f (u)du = 0 ⇒ u̇ + 2
2
f (u)du = 0
2
u0 u0

Let
u
F(u) = F(u0 ) + 2 f (u)du
u0

then
) 1 
u̇ = ± F(u0 ) − F(u), F (u) = f (u) (4.12.1)
2
therefore
u u
du du
t= =± √ = g1 (u) (4.12.2)
u̇ F(u0 ) − F(u)
u0 u0

(b) We can obtain u(t1 ), u̇(t1 ) from (4.12.1) and (4.12.2) by using the above as the
starting solution in an iteration scheme and u(0) = u1 = u(t1 ), u̇(0) = u̇1 = u̇(t1 )
as the initial value for the next calculation. Differentiating (4.12.2) with respect to t
twice, we get

ü + f1 (u) = 0 (4.12.3)
4.13 Exercise 4.13 (The Method of Harmonic Balance to Analyze Viscous … 239

u̇2 g1 (u) g  (u)  

f1 (u) = = 1 {u̇ f (u) }2 (4.12.4)
g1 (u) g1 (u)

Making the integration of (4.12.3) yields

 u
1 2 1 2
u̇ + f1 (u)du = u̇ (4.12.5)
2 u1 2 0

Let
u
1
F1 (u) = F1 (u0 ) − u̇02 + 2 f1 (u)du
2
u0

then
)
u̇ = ± F1 (u0 ) − F1 (u) (4.12.6)

therefore
u u
du du
t= =± √ (4.12.7)
u̇ F1 (u0 ) − F1 (u)
u0 u0

4.13 Exercise 4.13 (The Method of Harmonic Balance

to Analyze Viscous Damping and Primary Resonances
of Cubic Nonlinear Systems)

Solution: Let the solution of the equation be

u = a cos(t + β)  a cos ϕ,  = 1 + εσ (4.13.1)

Here both a and β are constants. Substituting (4.13.1) into the governing equation
of the system yields

0 = −a2 cos φ + a cos φ − 2εμa sin φ

+ 41 εαa3 (3 cos φ + cos 3φ) − εk cos t
= −a2 cos φ + a cos φ − 2εμa sin φ
(4.13.2)
+ 4 εαa (3
1 3
cos φ + cos 3φ) − εk cos β cos φ + εk sin β sin φ
= a − a2 + 34 εαa3 − εk cos β cos φ
+(−2εμa + εk sin β) sin φ + 41 εαa3 cos 3φ
240 4 Forced Oscillations of Systems Having a Single Degree of Freedom

According to the method of harmonic balance, we can obtain

a − a2 + 43 εαa3 − εk cos β = 0

(4.13.3)
−2εμa + εk sin β = 0

i.e.,

−2σ a + 43 αa3 = k cos β

(4.13.4)
2μa = k sin β

The frequency–response equation of the system is

3
(2σ a − αa3 )2 + 4μ2 a2 = k 2 (4.13.5)
4
This result is identical to that obtained by the method of multiscale.

4.14 Exercise 4.14 (The Method of Harmonic Balance

to Analyze the Primary Resonance of an Undamped
Nonlinear System)

Solution: Let the solution of the equation be

u = a cos(t + β) = a cos ϕ, ϕ = t + β (4.14.1)

Here both a and β are constants. Substituting the above equation into the governing
equation of the system yields

0 = ü + u5 − K cos t
= −a2 cos φ + a5 cos5 φ − K cos(φ − β)
1
= −a2 cos φ + a5 (10 cos φ + · · ·)
16
− K cos β cos φ + K sin β sin φ
5
= −a2 + a5 − K cos β cos φ + K sin β sin φ + · · · (4.14.2)
8

From the method of harmonic balance, we have

−a2 + 58 a5 − K cos β = 0
(4.14.3)
K sin β = 0
4.15 Exercise 4.15 (Combination Resonance for Cubic Nonlinear Systems) 241

The frequency–response equation of the system is

5 5
a − a2 = K (4.14.4)
8

4.15 Exercise 4.15 (Combination Resonance for Cubic

Nonlinear Systems)

Solution: (a) We assume that both excitations are non-resonant hard excitations. Let
the solution of the equation be

x(t; ε) = x0 (T0 , T1 , T2 ) + εx1 (T0 , T1 , T2 ) + · · · (4.15.1)

Substituting (4.15.1) into the original equation and retaining to O(ε), we obtain
 
0 = ü + ω02 u + ε 2μu̇ + αu3 − K1 cos(1 t + θ1 ) − K2 cos(2 t + θ2 )
 
= D02 + 2εD0 D1 (x0 + εx1 ) + ω02 (x0 + εx1 )
+ 2εμ(D0 + εD1 )(x0 + εx1 ) + εα(x0 + εx1 )3
− K1 cos(1 T0 + θ1 ) − K2 cos(2 T0 + θ2 ) + · · ·
= D02 x0 + εD02 x1 + 2εD0 D1 x0 + ω02 x0 + εω02 x1
+ 2εμD0 x0 + εαx03 − K1 cos(1 t + θ1 ) − K2 cos(2 t + θ2 ) + · · ·
= D02 x0 + ω02 x0 − K1 cos(1 t + θ1 ) − K2 cos(2 t + θ2 )
 
+ ε D02 x1 + ω02 x1 + 2D0 D1 x0 + 2μD0 x0 + αx03 + · · · (4.15.2)

Let the coefficient of the like power of ε be zero, we get

D02 x0 + ω02 x0 = K1 cos(1 t + θ1 ) + K2 cos(2 t + θ2 ) (4.15.3)

D02 x1 + ω02 x1 = −2D0 D1 x0 − 2μD0 x0 − αx03 (4.15.4)

The solution of (4.15.3) is

x0 = Aeiω0 T0 + 1 ei1 T0 + 2 ei2 T0 + cc (4.15.5)

where

K1 eiθ1 K2 eiθ2
1 =  2  , 2 =   (4.15.6)
2 ω0 − 21 2 ω02 − 22
242 4 Forced Oscillations of Systems Having a Single Degree of Freedom

and A = A(T1 ). Substituting (4.15.5) into (4.15.4) and taking 1 + 2 ≈ 2ω0 into
account, we can obtain

D02 x1 + ω02 x1 = −2D0 D1 x0 − 2μD0 x0 − αx03

 
= − 2iω0 D1 A + 2iμω0 A + 3αA2 A + 6α1 1 A + 6α2 2 A eiω0 T0 (4.15.7)
i(1 +2 −ω0 )T0
−6α1 2 Ae + cc + NST

Let

1 + 2 = 2ω0 + εσ (4.15.8)

In order to eliminate secular terms from (4.15.7), there must be

 
2iω0 (D1 A + μA) + α 3AA + 61 1 + 62 2 A + 6α1 2 Aeiσ T1 = 0
(4.15.9)

(b) Let A = 21 aeiβ and substitute it into (4.15.9), we have

 
iω0 a − aβ  + iω0 μa + α 3a2 + 61 1 + 62 2 a + 6α1 2 aei(σ T1 −2β) = 0
(4.15.10)

i.e.,
 
3 2 3K12 3K22
iω0 a − aβ  + iω0 μa + α a + + a
8 4(ω02 − 21 )2 4(ω02 − 22 )2
3αK1 K2
+  2   aei(σ T1 −2β+θ1 +θ2 ) = 0 (4.15.11)
4 ω0 − 21 ω02 − 22

Separating the real and imaginary parts of the above equation yields, we get

3αK1 K2
ω0 a + ω0 μa +  2   a sin(σ T1 − 2β + θ1 + θ2 ) = 0
4 ω0 − 21 ω02 − 22
 
 3 2 3K12 3K22
− aβ + α a + + a
8 4(ω02 − 21 )2 4(ω02 − 22 )2
3αK1 K2
+  2   a cos(σ T1 − 2β + θ1 + θ2 ) = 0 (4.15.12)
4 ω0 − 21 ω02 − 22

i.e.,

a = −μa − α1 a sin γ (4.15.13)

4.15 Exercise 4.15 (Combination Resonance for Cubic Nonlinear Systems) 243

3αa3
aγ  = (σ − 2α2 )a − − 2α1 a cos γ (4.15.14)
4ω0

where

1 = 3K1 K2
4ω0 (ω02 −21 )(ω02 −22 ) 
K12 K22
2 = 3
4ω0 (ω0 −1 )
+ (4.15.15)
2 2
(ω0 −2 )
2 2

γ = σ T1 − 2β + θ1 + θ2

(c) Let a = γ  = 0 in (4.15.13) and (4.15.14), we can obtain the amplitude and
phase of the steady state

−μa − α1 a sin γ = 0 (4.15.16)

3αa3
(σ − 2α2 )a − − 2α1 a cos γ = 0 (4.15.17)
4ω0

We can eliminate γ from (4.15.16) and (4.15.17) and obtain

a2 3αa2 2
[(σ − 2α2 ) − ] + μ2 a2 = α 2 12 a2 (4.15.18)
4 4ω0

Therefore, the frequency–response equation of the system is

a=0 (4.15.19)

or

8 σ μ2
a2 = ω0 [ − 2 ± (12 − 2 )1/2 ] (4.15.20)
3 2α α

(d) To determine the stability of the steady state solution, let

a = a0 + a1 , γ = γ0 + γ1 (4.15.21)

where a0 and γ0 satisfy (4.15.16)–(4.15.20). Substituting (4.15.21) into (4.15.13)

and (4.15.14), we can obtain the following linearized equation
 %   %
a1  −μ − α1 sin γ0 α1 a0 cos γ0 a1
= (4.15.22)
γ1  − 3αa
2ω0
0
2α1 sin γ0 γ1

Considering (4.15.16) and (4.15.17), the above equation becomes

244 4 Forced Oscillations of Systems Having a Single Degree of Freedom

 %  1   %
3αa03
a1  0 σ − α2 a0 − a1
= 2 8ω0 (4.15.23)
γ1  − 3αa
2ω0
0
−2μa0 γ1

Its characteristic equation is

 
3αa0 1 3αa03
λ + 2μa0 λ +
2
σ − α2 a0 − =0 (4.15.24)
2ω0 2 8ω0

Therefore, the stability condition for the steady state solution is

 
3αa0 1 3αa03
σ − α2 a0 − ≤0
2ω0 2 8ω0

When α > 0, the stability condition is

#σ $ 3a3
− 2 a0 − 0 ≤ 0 (4.15.25)
2α 8ω0

Therefore, there must be

8ω0 # σ $
a0 = 0 or a02 ≥ − 2 (4.15.26)
3 2α
From (4.15.19) and (4.15.20), the frequency–response (amplitude) curve for the
steady state is shown in Fig. 4.11, where

μ2 1/2 μ2 1/2
σC = 2α2 , σA = 2α2 − 2α(12 − ) , σB = 2α 2 + 2α( 2
− )
α2 1
α2
It can be seen that the steady state response amplitude can be multi-valued. When
σ < σA , there is only one zero-valued steady state amplitude, which is stable. When
σA < σ < σC , there are two steady-state amplitudes, both of which are stable.

Fig. 4.11
Frequency-response curves
and their stability for
Exercise 4.15
4.16 Exercise 4.16 (The Response of Cubic Nonlinear Systems with Primary … 245

When σC < σ < σB and σ > σB , there are three steady-state amplitudes, where the
response amplitude shown by the dashed line is unstable.

4.16 Exercise 4.16 (The Response of Cubic Nonlinear

Systems with Primary Resonance and Non-resonance
Excitation)

Solution: (a) Since 1 ≈ 1 and 2 ≈ 3, K1 cos(1 t + θ1 ) is the primary resonant

excitation term, while K2 cos(2 t + θ2 ) is a non-resonant hard excitation. Let the
solution of the equation be

x(t; ε) = x0 (T0 , T1 , T2 ) + εx1 (T0 , T1 , T2 ) + · · · (4.16.1)

and make

K1 = εk1 (4.16.2)

Substituting (4.16.1) and (4.16.2) into the original equation and retaining to O(ε),
we get

0 = ü + u + 2εμu̇ + εαu3 − K1 cos(1 t + θ1 ) − K2 cos(2 t + θ2 )

 
= D02 + 2εD0 D1 (x0 + εx1 ) + (x0 + εx1 )
+ 2εμ(D0 + εD1 )(x0 + εx1 ) + εα(x0 + εx1 )3
− εk1 cos(1 T0 + θ1 ) − K2 cos(2 T0 + θ2 ) + · · ·
= D02 x0 + εD02 x1 + 2εD0 D1 x0 + x0 + εx1
+ 2εμD0 x0 + εαx03 − εk1 cos(1 t + θ1 ) − K2 cos(2 t + θ2 ) + · · ·
= D02 x0 + x0 − K2 cos(2 t + θ2 )
 
+ ε D02 x1 + x1 + 2D0 D1 x0 + 2μD0 x0 + αx03 − k1 cos(1 t + θ1 ) + · · ·
(4.16.3)

Let the coefficient of the like power of ε be zero, we get

D02 x0 + x0 = K2 cos(2 t + θ2 ) (4.16.4)

D02 x1 + x1 = −2D0 D1 x0 − 2μD0 x0 − αx03 + k1 cos(1 t + θ1 ) (4.16.5)

The solution of (4.16.4) is

x0 = AeiT0 + 2 eiθ2 ei2 T0 + cc (4.16.6)

246 4 Forced Oscillations of Systems Having a Single Degree of Freedom

where
K2 1
2 =   = − K2 (4.16.7)
2 1 − 2
2 16

and A = A(T1 ). Substitute (4.16.6) into (4.16.5) and take 1 ≈ 1 and 2 ≈ 3 into
account, we get

D02 x1 + x1 = −2D0 D1 x0 − 2μD0 x0 − αx03 + k1 cos(1 t + θ1 )

 
= − 2iD1 A + 2iμA + 3αA2 A + 6αA22 eiT0 + k1 cos(1 t + θ1 )
2
− 3αA 2 eiθ2 ei(2 −2)T0 + cc + NST (4.16.8)

Let

1 = 1 + εσ1 , 2 = 3 + εσ2 (4.16.9)

Equation (4.16.8) becomes

D02 x1 + x1 = −(2iD1 A + 2iμA + 3αA2 A + 6αA22

2 1
+ 3αA 2 ei(σ2 T1 +θ2 ) − k1 ei(σ1 T1 +θ1 ) )eiT0 + cc + NST (4.16.10)
2
In order to eliminate secular terms, there must be

2iD1 A + 2iμA + 3αA2 A + 6αA22

2 1
+ 3αA 2 ei(σ2 T1 +θ2 ) − k1 ei(σ1 T1 +θ1 ) = 0 (4.16.11)
2

Let A = 21 aeiβ , which is given by (4.16.11) we have

3
ia − aβ  + iμa + αa3 + 3α22 a
8
3 2 i(σ2 T1 +θ2 −3β) 1
+ α2 a e − k1 ei(σ1 T1 +θ1 −β) = 0 (4.16.12)
4 2
Separating the real and imaginary parts of the above equation yields, we get

1 3
a = −μa + k1 sin(σ1 T1 − β + θ1 ) − α2 a2 sin(σ2 T1 − 3β + θ2 ) (4.16.13)
2 4
1 1
aβ  = 3α 22 + a2 a − k1 cos(σ1 T1 − β + θ1 )
8 2
3
+ α2 a2 cos(σ2 T1 − 3β + θ2 ) (4.16.14)
4
4.16 Exercise 4.16 (The Response of Cubic Nonlinear Systems with Primary … 247

(b) It can be seen from Eqs. (4.16.13) and (4.16.14) that the system has a steady state
solution when and only when both σ1 T1 − β and σ2 T1 − 3β are constant, hence we
have
1
β  = σ1 = σ2 (4.16.15)
3
Therefore stead-state motions exist only when σ2 = 3σ1 , i.e., 2 = 31 . That is,
steady-state motions occur only when the excitation is periodic.
Let

γ = σ1 T1 − β (4.16.16)

then the amplitude and phase of the system in the steady state should satisfy the
following two equations:

1 3
−μa + k1 sin(γ + θ1 ) − α2 a2 sin(3γ + θ2 ) = 0 (4.16.17)
2 4
1 1
− aσ1 + 3α 22 + a2 a − k1 cos(γ + θ1 )
8 2
3
+ α2 a2 cos(3γ + θ2 ) = 0 (4.16.18)
4
We can solve for a and γ from (4.16.17) and (4.16.18), and substitute them into
(4.16.6) yields the first order steady state approximate solution

x0 = a cos(1 t − γ ) + 2 cos(2 t + θ2 ) (4.16.19)

Therefore steady-state motions, if they exist, are periodic. The effect of the
nonlinearity is to adjust the frequency of the free-oscillation term to be perfectly
commensurable with the frequencies of the excitation.
(c) For a given set of parameters, Eqs. (4.16.17) and (4.16.18) can be numerically
solved to obtain the curves of a ∼ σ1 and γ ∼ σ1 , as shown in Fig. 4.12.
To analyze the stability of the amplitude and phase of the system at any steady
state, (a0 , γ0 ), we linearize (4.16.13) and (4.16.14). To do this, we make

a = a0 + a1 , γ = γ0 + γ1 (4.16.20)

and obtain the linearized forms of (4.16.13) and (4.16.14):

  
3 1
a1 = − μ + α 2 a0 sin(3γ0 + θ2 ) a1 + k1 cos(γ0 + θ1 )
2 2
9
− α 2 a02 cos(3γ0 + θ2 )] γ1 (4.16.21)
4
248 4 Forced Oscillations of Systems Having a Single Degree of Freedom

Fig. 4.12 Frequency-response and frequency-phase characteristics of the steady state solution (μ =
0.2, α = 3, θ1 = 0, θ2 = π2 , k1 = 5, K2 = 10) for Exercise 4.16

 
3 2 3
γ1 = a0−1σ1 − 3α + a0 − α2 a0 cos(3γ0 + θ2 ) a1
22
8 2
 
−1 9 1
+ a0 α2 a0 sin(3γ0 + θ2 ) − k1 sin(γ0 + θ1 ) γ1
2
(4.16.22)
4 2

Write the above two equations in matrix form as

 %   %
a1  l l a1
= 11 12 (4.16.23)
γ1  l21 l22 γ1

where
3
l11 = −[μ + α2 a0 sin(3γ0 + θ2 )]
2
1 9
l12 = k1 cos(γ0 + θ1 ) − α2 a02 cos(3γ0 + θ2 )
2 4
3 3
l21 = a0−1 [σ1 − 3α 22 + a02 − α2 a0 cos(3γ0 + θ2 )]
8 2
9 1
l22 = a0−1 [ α2 a02 sin(3γ0 + θ2 ) − k1 sin(γ0 + θ1 )]
4 2
The eigenvalues of Eq. (4.16.23) are

1 ) 
λ= (l11 + l22 ) ± (l11 + l22 )2 − 4(l11 l22 − l12 l21 ) (4.16.24)
2
4.17 Exercise 4.17 (Primary and Combined Resonance for Cubic Nonlinear … 249

The sign of the real part of the eigenvalue determines the stability of the corre-
sponding steady state solution. It follows that branches 2 and 3 in Fig. 4.12 are not
stable.

4.17 Exercise 4.17 (Primary and Combined Resonance

for Cubic Nonlinear Systems I)

Solution: (a) Since 1 ≈ 1, K1 cos(1 t + θ1 ) is the primary resonant excitation

term, while the other two excitations K2 cos(2 t + θ2 ) and K3 cos(3 t + θ3 ) are
non-resonant hard excitations. Let the solution of the equation be

x(t; ε) = x0 (T0 , T1 , T2 ) + εx1 (T0 , T1 , T2 ) + · · · (4.17.1)

and let the amplitude K 1 is soft, i.e.

K1 = εk1 (4.17.2)

Substituting (4.17.1) and (4.17.2) into the original equation, and retaining to O(ε),
we get


3
0 = ü + u + 2εμu̇ + εαu3 − Kn cos(n t + θn )
n=1
 
= D02 + 2εD0 D1 (x0 + εx1 ) + (x0 + εx1 )
+ 2εμ(D0 + εD1 )(x0 + εx1 ) + εα(x0 + εx1 )3

3
− εk1 cos(1 T0 + θ1 ) − Kn cos(n t + θn ) + · · ·
n=2
= D02 x0 + εD02 x1 + 2εD0 D1 x0 + x0 + εx1

3
+ 2εμD0 x0 + εαx03 − εk1 cos(1 t + θ1 ) − Kn cos(n t + θn ) + · · ·
n=2

3
= D02 x0 + x0 − Kn cos(n t + θn )
n=2
 
+ ε D02 x1 + x1 + 2D0 D1 x0 + 2μD0 x0 + αx03 − k1 cos(1 t + θ1 ) + · · ·
(4.17.3)

Let the coefficient of the like power of ε be zero, we get

250 4 Forced Oscillations of Systems Having a Single Degree of Freedom


3
D02 x0 + x0 = Kn cos(n t + θn ) (4.17.4)
n=2

D02 x1 + x1 = −2D0 D1 x0 − 2μD0 x0 − αx03 + k1 cos(1 t + θ1 ) (4.17.5)

The solution of (4.17.4) is


3
x0 = AeiT0 + n eiθn ein T0 + cc (4.17.6)
n=2

where
Kn
n =   (4.17.7)
2 1 − 2n

and A = A(T1 ). Substituting (4.17.6) into (4.17.5) and taking 1 ≈ 1 and 22 +3 ≈
1 into account, we get

D02 x1 + x1 = −2D0 D1 x0 − 2μD0 x0 − αx03 + k1 cos(1 t + θ1 )

 
= − 2iD1 A + 2iμA + 3αA2 A + 6α22 A + 6α23 A eiT0
− 3α22 3 ei(2θ2 +θ3 ) ei(22 +3 )T0 + k1 cos(1 t + θ1 ) + cc + NST
(4.17.8)

Let

1 = 1 + εσ1 , 22 + 3 = 1 + εσ2 (4.17.9)

Equation (4.16.8) becomes

D02 x1 + x1 = −2D0 D1 x0 − 2μD0 x0 − αx03 + k1 cos(1 t + θ1 )

 
= − 2iD1 A + 2iμA + 3αA2 A + 6α22 A + 6α23 A eiT0
1
− 3α22 3 ei(2θ2 +θ3 +σ2 T1 ) eiT0 + k1 ei(σ1 T1 +θ1 ) eiT0 + cc + NST
2
(4.17.10)

In order to eliminate secular terms from (4.17.10), there must be

2iD1 A + 2iμA + 3αA2 A + 6α22 A + 6α23 A

1
+ 3α22 3 ei(σ2 T1 +2θ2 +θ3 ) − k1 ei(σ1 T1 +θ1 ) = 0 (4.17.11)
2
Let
4.17 Exercise 4.17 (Primary and Combined Resonance for Cubic Nonlinear … 251

1 iβ
A= ae (4.17.12)
2
Substitute (4.17.12) into (4.16.11), we have

3
ia − aβ  + iμa + αa3 + 3α22 a + 3α23 a
8
i(σ2 T1 −β+2θ2 +θ3 ) 1
+ 3α2 3 e
2
− k1 ei(σ1 T1 −β+θ1 ) = 0 (4.17.13)
2
Separating the real and imaginary parts of the above equation yields

1
a = −μa + k1 sin(σ1 T1 − β + θ1 )
2
− 3α22 3 sin(σ2 T1 − β + 2θ2 + θ3 )

3 1
aβ  = α 322 + 323 + a2 a − k1 cos(σ1 T1 − β + θ1 )
8 2
+ 3α22 3 cos(σ2 T1 − β + 2θ2 + θ3 )

These two equations can be written as

1
a = −μa + k1 sin γ1 − α1 sin γ2 (4.17.14)
2
3 1
aβ  = α 2 + a2 a − k1 cos γ1 + α1 cos γ2 (4.17.15)
8 2

where

γ1 = σ1 T1 − β + θ1 , γ2 = σ2 T1 − β + 2θ2 + θ3 (4.17.16)

 
1 = 322 3 , 2 = 3 22 + 23 (4.17.17)

It can be seen that 1 and 2 are constants. Substitute (4.17.12) into (4.17.6), we
obtain the first order approximate solution of the system


3
u = a(T1 ) cos[T0 + β(T1 )] + 2 n cos(n T0 + θn ) + O(ε) (4.17.18)
n=2

where a and γ are given by (4.17.14) and (4.17.15).

(b) It can be seen that the system has a steady state solution when and only when
both γ1 and γ2 are constant, hence
252 4 Forced Oscillations of Systems Having a Single Degree of Freedom

β  = σ1 = σ2 (4.17.19)

Let

γ = σ1 T1 − β = σ2 T1 − β (4.17.20)

The steady state amplitude and phase can be obtained by (4.17.14) and (4.17.15),
i.e.,

1
−μa + k1 sin(γ + θ1 ) − α1 sin(γ + 2θ2 + θ3 ) = 0 (4.17.21)
2
3 1
−σ1 a + α 2 + a2 a − k1 cos(γ + θ1 )
8 2
+ α1 cos(γ + 2θ2 + θ3 ) = 0 (4.17.22)

We can solve for a and γ from (4.17.21) and (4.17.22) and substitute them into
(4.17.18) to obtain the first order steady state solution of the system. The frequencies
of these response terms are not necessarily commensurable with each other, so the
total response is not necessarily a periodic solution.
(c) For a given set of parameters, Eqs. (4.17.21) and (4.17.22) can be numerically
solved to obtain the curves of a ∼ σ1 and γ ∼ σ1 , as shown in Fig. 4.13.
To analyze the stability of any steady state (a0 , γ0 ), we linearize (4.17.14) and
(4.17.15) and let

Fig. 4.13 Frequency-response and frequency-phase characteristics of the steady state solution (μ =
0.2, α = 3, θ1 = 0, θ2 = θ3 = π2 , 2 = 0.25, 3 = 0.6)k1 = 10, K2 = K3 = 1) for Exercise
4.17
4.17 Exercise 4.17 (Primary and Combined Resonance for Cubic Nonlinear … 253

a = a0 + ã, γ = γ0 + γ̃ (4.17.23)

The linearized forms of Eqs. (4.17.14) and (4.17.15) are

1
ã = −μã + [ k1 cos(γ0 + θ1 ) − α1 cos(γ0 + 2θ2 + θ3 )]γ̃ (4.17.24)
2
 
σ1 α 9 2
γ̃  = − 2 + a0
a0 a0 8
 
1 1
ã − k1 sin(γ0 + θ1 ) − α1 sin(γ0 + 2θ2 + θ3 ) γ̃ (4.17.25)
a0 2

Write the above two equations in matrix form as

 %   %
ã l l ã
= 11 12 (4.17.26)
γ̃  l21 l22 γ̃

where

l11 = −μ

1
l12 = k1 cos(γ0 + θ1 ) − α1 cos(γ0 + 2θ2 + θ3 )
2
 
1 9 2
l21 = σ1 − α 2 + a0
a0 8

1 1
l22 =− k1 sin(γ0 + θ1 − α1 sin(γ0 + 2θ2 + θ3 )]
a0 2

The eigenvalues of (4.17.26) are

1 ) 
λ= (l11 + l22 ) ± (l11 + l22 )2 − 4(l11 l22 − l12 l21 ) (4.17.27)
2
The stability of the corresponding steady-state solution can be determined from
the sign of the real part of the eigenvalue. It follows that branch 2 in Fig. 4.13 is
unstable.
254 4 Forced Oscillations of Systems Having a Single Degree of Freedom

4.18 Exercise 4.18 (Combined Primary, Subharmonic,

and Superharmonic Resonances of a Cubic Nonlinear
System)

Solution: (a) Since 1 ≈ 1, K1 cos(1 t + θ1 ) is the primary resonant excitation

term, while the other two excitations K2 cos(2 t + θ2 ) and K3 cos(3 t + θ3 ) are
non-resonant hard excitations. Let the solution of the equation be

x(t; ε) = x0 (T0 , T1 , T2 ) + εx1 (T0 , T1 , T2 ) + · · · (4.18.1)

and let the amplitude K 1 is soft, i.e.

K1 = εk1 (4.18.2)

Substituting (4.18.1) and (4.18.2) into the original equation, and retaining to O(ε),
we obtain


3
0 = ü + u + 2εμu̇ + εαu3 − Kn cos(n t + θn )
n=1
 
= D02 + 2εD0 D1 (x0 + εx1 ) + (x0 + εx1 )
+ 2εμ(D0 + εD1 )(x0 + εx1 ) + εα(x0 + εx1 )3

3
− εk1 cos(1 T0 + θ1 ) − Kn cos(n t + θn )
n=2
= D02 x0 + εD02 x1 + 2εD0 D1 x0 + x0 + εx1

3
+ 2εμD0 x0 + εαx03 − εk1 cos(1 t + θ1 ) − Kn cos(n t + θn ) + · · ·
n=2

3
= D02 x0 + x0 − Kn cos(n t + θn )
n=2
 
+ ε D02 x1 + x1 + 2D0 D1 x0 + 2μD0 x0 + αx03 − k1 cos(1 t + θ1 ) + · · ·
(4.18.3)

Let the coefficient of the like power of ε be zero, we get


3
D02 x0 + x0 = Kn cos(n t + θn ) (4.18.4)
n=2

D02 x1 + x1 = −2D0 D1 x0 − 2μD0 x0 − αx03 + k1 cos(1 t + θ1 ) (4.18.5)

The solution of (4.18.4) is

4.18 Exercise 4.18 (Combined Primary, Subharmonic, and Superharmonic … 255


3
x0 = AeiT0 + n eiθn ein T0 + cc (4.18.6)
n=2

where
Kn
n =   (4.18.7)
2 1 − 2n

and A = A(T1 ). Substituting (4.18.6) into (4.18.5) and taking 1 ≈ 1, 2 ≈ 1

3
and
3 ≈ 3 into account, we get

D02 x1 + x1 = −2D0 D1 x0 − 2μD0 x0 − αx03 + k1 cos(1 t + θ1 )

 
= − 2iD1 A + 2iμA + 3αA2 A + 6α22 A + 6α23 A eiT0
2
− α32 ei3θ2 ei32 T0 − 3α3 A eiθ3 ei(3 −2)T0
+ k1 cos(1 t + θ1 ) + cc + NST (4.18.8)

Let

1 = 1 + εσ1 , 32 = 1 + εσ2 , 3 = 3 + εσ3 (4.18.9)

Equation (4.16.8) becomes

D02 x1 + x1 = −2D0 D1 x0 − 2μD0 x0 − αx03 + k1 cos(1 t + θ1 )

 
= − 2iD1 A + 2iμA + 3αA2 A + 6α22 A + 6α23 A eiT0
2
− α32 ei(3θ2 +σ2 T1 ) eiT0 − 3α3 A ei(θ3 +σ3 T1 ) eiT0
1
+ k1 ei(θ1 +σ1 T1 ) eiT0 + cc + NST (4.18.10)
2
In order to eliminate secular terms from, there must be

2iD1 A + 2iμA + 3αA2 A + 6α22 A + 6α23 A + α32 ei(3θ2 +σ2 T1 )

2 1
+ 3α3 A ei(θ3 +σ3 T1 ) − k1 ei(θ1 +σ1 T1 ) eiT0 = 0 (4.18.11)
2
Let
1 iβ
A= ae (4.18.12)
2
Substitute (4.18.12) into (4.18.11), we have

3
ia − aβ  + iμa + αa3 + 3α22 a + 3α23 a + α32 ei(σ2 T1 −β+3θ2 )
8
256 4 Forced Oscillations of Systems Having a Single Degree of Freedom

3 1
+ α3 a2 ei(σ3 T1 −3β+θ3 ) − k1 ei(σ1 T1 −β+θ1 ) = 0 (4.18.13)
4 2
Separating the real and imaginary parts of the above equation yields

1 3
a = −μa + k1 sin γ1 − α32 sin γ2 − α3 a2 sin γ3 (4.18.14)
2 4
1 1
aβ  = 3α 22 + 23 + a2 a − k1 cos γ1
8 2
3
+ α32 cos γ2 + α3 a2 cos γ3 (4.18.15)
4
where γ1 = σ1 T1 − β + θ1 , γ2 = σ2 T1 − β + 3θ2 , γ3 = σ3 T1 − 3β + θ3
Substituting (4.18.14) and (4.18.15) into (4.18.16), we can obtain the first-order
approximate solution of the system


3
u = a(T1 ) cos[T0 + β(T1 )] + 2 n cos(n T0 + θn ) + O(ε) (4.18.16)
n=2

where a and γ are given by (4.18.14) and (4.18.15).

(b) It can be seen from (4.18.14) and (4.18.15) that the system has a steady state
solution when and only when γ1 , γ2 and γ3 are all constant, hence

1
β  = σ1 = σ2 = σ3 (4.18.17)
3
Let
1
γ = σ1 T1 − β = σ2 T1 − β = σ3 T1 − β (4.18.18)
3
then the steady state amplitude and phase can be obtained by (4.18.14) and (4.18.15):

1 3
−μa + k1 sin(γ + θ1 ) − α32 sin(γ + 3θ2 ) − α3 a2 sin(3γ + θ3 ) = 0
2 4
(4.18.19)
1 1
− σ1 a + 3α 22 + 23 + a2 a − k1 cos(γ + θ1 )
8 2
3
+ α32 cos(γ + 3θ2 ) + α3 a2 cos(3γ + θ3 ) = 0 (4.18.20)
4
We can solve for a and γ from (4.18.20) and (4.18.21), and substitute them into
(4.18.17) yields the first order steady state approximate solution. Therefore steady-
state motions, if they exist, are periodic. The effect of the nonlinearity is to adjust
4.18 Exercise 4.18 (Combined Primary, Subharmonic, and Superharmonic … 257

Fig. 4.14 Frequency-response and frequency-phase characteristics of the steady state solution (μ =
0.2, α = 3, θ1 = 0, θ2 = π4 , θ3 = π2 , k1 = 10, K2 = 2, K3 = 15) for Exercise 4.18

the frequency of the free-oscillation term and other excavation terms to be perfectly
commensurable with each other.
(c) For a given set of parameters, Eqs. (4.18.20) and (4.18.21) can be numerically
solved to obtain the curves of a ∼ σ1 and γ ∼ σ1 , as shown in Fig. 4.14.
To analyze the stability of any steady state (a0 , γ0 ), we linearize (4.18.14) and
(4.18.15) and let

a = a0 + ã, γ = γ0 + γ̃ (4.18.21)

The linearized forms of Eqs. (4.18.14) and (4.18.15) are

  
3 1
ã = − μ + α3 a0 sin(3γ + θ3 ) ã + k1 cos(γ0 + θ1 )
2 2

9
−α32 cos(γ0 + 3θ2 ) − α3 a2 cos(3γ0 + θ3 ) γ̃
4
 
3 3
γ̃  = a0−1 σ1 − 3α 22 + 23 + a02 α3 a0 cos(3γ0 + θ3 ) ã
8 2
  1 9
+ a0−1 α32 sin(γ0 + 3θ2 − k1 sin(γ0 + θ1 ) + α3 a02 sin(3γ0 + θ3 )]γ̃
2 4
Write the above two equations in matrix form as
 %   %
ã l11 l12 ã
= (4.18.22)
γ̃  l21 l22 γ̃

where
258 4 Forced Oscillations of Systems Having a Single Degree of Freedom
 
3
l11 = − μ + α3 a0 sin(3γ + θ3 )
2
1 9
l12 = k1 cos(γ0 + θ1 ) − α32 cos(γ0 + 3θ2 ) − α3 a02 cos(3γ0 + θ3 )
2 4
 
−1 3 2 3
l21 = a0 σ1 − 3α 2 + 3 + a0 − α3 a0 cos(3γ0 + θ3 )
2 2
8 2
 
1 9
l22 = a0−1 α32 sin(γ0 + 3θ2 ) − k1 sin(γ0 + θ1 ) + α3 a02 sin(3γ0 + θ3 )
2 4

The eigenvalues of Eq. (4.18.23) are

1 ) 
λ= (l11 + l22 ) ± (l11 + l22 )2 − 4(l11 l22 − l12 l21 ) (4.18.23)
2
The sign of the real part of the eigenvalue determines the stability of the corre-
sponding steady state solution. It follows that branches 2 and 3 in Fig. 4.14 are not
stable.

4.19 Exercise 4.19 (Primary and Combined Resonance

for Cubic Nonlinear Systems II)

Readers are invited to solve this problem by referring to Exercise 4.17.

4.20 Exercise 4.20 (Primary and Combined Resonance

of a Cubic Nonlinear System)

Solution: (a) Since 1 ≈ 1, K1 cos(1 t + θ1 ) is the primary resonant excitation

term, while the other two excitations K2 cos(2 t + θ2 ) and K3 cos(3 t + θ3 ) are
non-resonant hard excitations. Let the solution of the equation be

x(t; ε) = x0 (T0 , T1 , T2 ) + εx1 (T0 , T1 , T2 ) + · · · (4.20.1)

and let the amplitude K 1 is soft, i.e.

K1 = εk1 (4.20.2)

Substituting (4.20.1) and (4.20.2) into the original equation, and retaining to O(ε),
we get
4.20 Exercise 4.20 (Primary and Combined Resonance of a Cubic Nonlinear … 259


3
0 = ü + u + 2εμu̇ + εαu3 − Kn cos(n t + θn )
n=1
 
= D02 + 2εD0 D1 (x0 + εx1 ) + (x0 + εx1 )
+ 2εμ(D0 + εD1 )(x0 + εx1 ) + εα(x0 + εx1 )3

3
− εk1 cos(1 T0 + θ1 ) − Kn cos(n t + θn ) + · · ·
n=2
= D02 x0 + εD02 x1 + 2εD0 D1 x0 + x0 + εx1

3
+ 2εμD0 x0 + εαx03 − εk1 cos(1 t + θ1 ) − Kn cos(n t + θn ) + · · ·
n=2

3
= D02 x0 + x0 − Kn cos(n t + θn )
n=2
 
+ ε D02 x1 + x1 + 2D0 D1 x0 + 2μD0 x0 + αx03 − k1 cos(1 t + θ1 ) + · · ·
(4.20.3)

Let the coefficient of the like power of ε be zero, we get


3
D02 x0 + x0 = Kn cos(n t + θn ) (4.20.4)
n=2

D02 x1 + x1 = −2D0 D1 x0 − 2μD0 x0 − αx03 + k1 cos(1 t + θ1 ) (4.20.5)

The solution of (4.20.4) is


3
x0 = AeiT0 + n eiθn ein T0 + cc (4.20.6)
n=2

Where
Kn
n =   (4.20.7)
2 1 − 2n

and A = A(T1 ). Substituting (4.20.6) into (4.20.5) and taking 1 ≈ 1 and 2 +3 ≈
2 into account, we get

D02 x1 + x1 = −2D0 D1 x0 − 2μD0 x0 − αx03 + k1 cos(1 t + θ1 )

 
= − 2iD1 A + 2iμA + 3αA2 Ā + 6α22 A + 6α23 A eiT0
− 6α2 3 Āei(θ2 +θ3 ) ei(2 +3 −1)T0 + k1 cos(1 t + θ1 ) + cc + NST
(4.20.8)
260 4 Forced Oscillations of Systems Having a Single Degree of Freedom

Let

1 = 1 + εσ1 , 2 + 3 = 2 + εσ2 (4.20.9)

Equation (4.20.8) becomes

D02 x1 + x1 = −2D0 D1 x0 − 2μD0 x0 − αx03 + k1 cos(1 t + θ1 )

 
= − 2iD1 A + 2iμA + 3αA2 Ā + 6α22 A + 6α23 A eiT0
1
− 6α2 3 Āei(σ2 T1 +θ2 +θ3 ) eiT0 + k1 ei(σ1 T1 +θ1 ) eiT0 + cc + NST
2
(4.20.10)

In order to eliminate secular terms from (4.20.10), there must be

2iD1 A + 2iμA + 3αA2 A + 6α22 A + 6α23 A

1
+ 6α2 3 Aei(σ2 T1 +θ2 +θ3 ) − k1 ei(σ1 T1 +θ1 ) = 0 (4.20.11)
2
Let
1 iβ
A= ae (4.20.12)
2
Substitute (4.20.12) into (4.20.11), we have

3
ia − aβ  + iμa + αa3 + 3α22 a + 3α23 a
8
1
+ 3α2 3 aei(σ2 T1 −2β+θ2 +θ3 ) − k1 ei(σ1 T1 −β+θ1 ) = 0 (4.20.13)
2
Separating the real and imaginary parts of the above equation yields

1
a = −μa + k1 sin(σ1 T1 − β + θ1 ) − 3α2 3 a sin(σ2 T1 − 2β + θ2 + θ3 )
2
3 1
aβ  = α 322 + 323 + a2 a − k1 cos(σ1 T1 − β + θ1 )
8 2
+ 3α2 3 acos(σ2 T1 − 2β + θ2 + θ3 )

These two equations can also be written as

1
a = −μa + k1 sin γ1 − α1 a sin γ2 (4.20.14)
2
3 1
aβ  = α 2 + a2 a − k1 cos γ1 + α1 a cos γ2 (4.20.15)
8 2
4.20 Exercise 4.20 (Primary and Combined Resonance of a Cubic Nonlinear … 261

where
 
1 = 32 3 , 2 = 3 22 + 23 (4.20.16)

γ1 = σ1 T1 − β + θ1 , γ2 = σ2 T1 − 2β + θ2 + θ3 (4.20.17)

It can be seen that 1 and 2 are constants. Substitute (4.20.12) into (4.20.6), we
obtain the first order approximate solution of the system


3
u = a(T1 ) cos[T0 + β(T1 )] + 2 n cos(n T0 + θn ) + O(ε) (4.20.18)
n=2

where a and γ are given by (4.20.14) and (4.20.15).

(b) It can be seen from (4.20.14) and (4.20.15) that the system has a steady state
solution when and only when both γ1 and γ2 are constant, hence

1
β  = σ1 = σ2 (4.20.19)
2
Let
1
γ = σ1 T1 − β = (σ2 T1 − 2β) (4.20.20)
2
then the steady state amplitude and phase can be obtained by (4.20.14) and (4.20.15),
i.e.,

1
−μa + k1 sin(γ + θ1 ) − α1 a sin(2γ + θ2 + θ3 ) = 0 (4.20.21)
2
3 1
−σ1 a + α 2 + a2 a − k1 cos(γ + θ1 ) + α1 a cos(2γ + θ2 + θ3 ) = 0
8 2
(4.20.22)

We can solve for a and γ from (4.20.21) and (4.20.22) and substitute them into
(4.20.18) to obtain the first order steady state solution of the system. The frequencies
of these response terms are not necessarily commensurable with each other, so the
total response is not necessarily a periodic solution.
(c) For a given set of parameters, Eqs. (4.20.21) and (4.20.22) can be numerically
solved to obtain the curves of a ∼ σ1 and γ ∼ σ1 , as shown in Fig. 4.15. To analyze
the stability of any steady state (a0 , γ0 ), we linearize (4.20.14) and (4.20.15) and let

a = a0 + ã, γ = γ0 + γ̃ (4.20.23)
262 4 Forced Oscillations of Systems Having a Single Degree of Freedom

Fig. 4.15 Frequency-response and frequency-phase of the steady state solution (μ = 0.2, α =
3, θ1 = 0, θ2 = π4 , θ3 = π2 , 2 = 0.71, 3 = 1.29, k1 = 9, K2 = 3, K3 = 1) for Exercise
4.20

The linearized form of Eqs. (4.20.14) and (4.20.15) are

 
a+ = − μ + α1 sin(2γ0 + θ2 + θ3 ) ã  (4.20.24)
+ 21 k1 cos(γ0 + θ1 ) − 2α1 a0 cos(2γ0 + θ2 + θ3 ) γ̃
   
γ+ = a 0−1 σ1 − α 2 + 98 a02 − α1 cos(2γ0 + θ2 + θ3 ) ã
(4.20.25)
−a0−1 21 k1 sin(γ0 + θ1 ) − 2α1 sin(2γ0 + θ2 + θ3 ) γ̃

Write above two equations in matrix form as

 %   %
ã l11 l12 ã
= (4.20.26)
γ̃  l21 l22 γ̃

where l11 = − μ + α1 sin(2γ0 + θ2 + θ3 )]

1
l12 = k1 cos(γ0 + θ1 ) − 2α1 a0 cos(2γ0 + θ2 + θ3 )
2
9
l21 = a0−1 [σ1 − α(2 + a02 ) − α1 cos(2γ0 + θ2 + θ3 )]
8
1
l22 = −a0−1 [ k1 sin(γ0 + θ1 ) − 2α1 sin(2γ0 + θ2 + θ3 )]
2
The eigenvalues of Eq. (4.20.26) are

1 ) 
λ= (l11 + l22 ) ± (l11 + l22 )2 − 4(l11 l22 − l12 l21 ) (4.20.27)
2
4.21 Exercise 4.21 (Primary Resonance of the System with Coulomb Friction … 263

The stability of the corresponding steady-state solution can be determined from

the sign of the real part of the eigenvalue. It follows that branch 2 in Fig. 4.15 is
unstable.

4.21 Exercise 4.21 (Primary Resonance of the System

with Coulomb Friction and Quadratic Nonlinearity)

Solution: (a) Let

u = εx (4.21.1)

The original equation becomes

μ̂ K
ẍ + x + sgn(ẋ) + εαx2 = cos t (4.21.2)
ε ε
In order to find the primary resonance solution, it is necessary that the nonlinear,
damping and excitation terms are of the same  order,
 for this purpose, the above
equation has to be expanded to the order of O ε2 , thus letting

μ̂ = ε3 μ, K = ε3 k (4.21.3)

Then the Eq. (4.21.2) becomes

ẍ + x + ε2 μsgn(ẋ) + εαx2 = ε2 k cos t (4.21.4)

Let the solution of (4.21.4) be

x(t; ε) = x0 (T0 , T1 , T2 ) + εx1 (T0 , T1 , T2 ) + ε2 x1 (T0 , T1 , T2 ) + · · · (4.21.5)

Substituting (4.21.5) into (4.21.4) and keeping to O(ε2 ), we get

0 = ẍ + x + ε2 μsgn(ẋ) + εαx2 − ε2 k cos t

   
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 x0 + εx1 + ε2 x2
 
+ x0 + εx1 + ε2 x2 + εα(x0 + εx1 + ε2 x2 )2 − ε2 k cos t
+ ε2 μsgn(D0 x0 ) + · · ·
= D02 x0 + εD02 x1 + ε2 D02 x2 + 2εD0 D1 x0 + 2ε2 D0 D1 x1
 
+ ε2 D12 + 2D0 D2 x0 + x0 + εx1 + ε2 x2 + εαx02 + 2ε2 αx0 x1
− ε2 k cos t + ε2 μsgn(D0 x0 ) + · · ·
 
= D02 x0 + x0 + ε D02 x1 + x1 + 2D0 D1 x0 + αx02
264 4 Forced Oscillations of Systems Having a Single Degree of Freedom
 
+ ε2 [D02 x2 + x2 + 2D0 D1 x1 + D12 + 2D0 D2 x0
+ 2αx0 x1 + μsgn(D0 x0 ) − k cos t] + · · · (4.21.6)

Let the coefficient of the like power of ε be zero, we get

D02 x0 + x0 = 0 (4.21.7)

D02 x1 + x1 = −2D0 D1 x0 − αx02 (4.21.8)

 
D02 x2 + x2 = −2D0 D1 x1 − D12 + 2D0 D2 x0 − 2αx0 x1 − μsgn(D0 x0 ) + k cos t
(4.21.9)

The solution of (4.21.7) is

x0 = AeiT0 + Ae−iT0 (4.21.10)

where A = A(T1 , T2 ). Substituting (4.21.10) into (4.21.8) yields

D02 x1 + x1 = −2D0 D1 x0 − αx02

= −2iD1 AeiT0 − 2αAĀ − αA2 ei2T0 + cc (4.21.11)

In order to eliminate secular terms in the above equation, we need

D1 A = 0 ⇒ A = A(T2 ) (4.21.12)

Therefore, Eq. (4.21.11) is solved by

1 1 2
x1 = −2αAA + αA2 ei2T0 + αA e−i2T0 (4.21.13)
3 3
Substituting x0 and x1 into (4.21.9) and letting

 = 1 + ε2 σ (4.21.14)

then
 
D02 x2 + x2 = −2D0 D1 x1 − D12 + 2D0 D2 x0 − 2αx0 x1
− μsgn(D0 x0 ) + k cos t
 
10 2 2 1 σ T2 iT0
= − 2iD2 A − α A A − ke e
3 2
 iT0 
+ cc − μsgn iAe − iAe−iT0 + NST (4.21.15)
4.21 Exercise 4.21 (Primary Resonance of the System with Coulomb Friction … 265

In order to further process (4.21.15), we need to first deal with the symbolic
function sgn(iAeiT0 −iAe−iT0 ), which can be expanded into a Fourier series of complex
exponential form:
∞

sgn(iAeiT0 − iAe−iT0 ) = fn einT0 (4.21.16)
n=−∞

where

1 2π  
fn = ∫ sgn(iAeiT0 − iAe−iT0 ]e−inT0 dT0 (4.21.17)
2π 0

Substituting (4.21.16) into (4.21.11) yields

 
D02 x2 + x2 = −2D0 D1 x1 − D12 + 2D0 D2 x0 − 2αx0 x1
− μsgn(D0 x0 ) + k cos t
 
10 2 2 1 iσ T2
= − 2iD2 A − α A A − ke + μf1 eiT0 + cc + NST (4.21.18)
3 2

In order to eliminate secular terms, there must be

10 2 2 1
2iD2 A − α A A − keiσ T2 + μf1 = 0 (4.21.19)
3 2
Let
1 iβ
A= ae (4.21.20)
2
Then

2π
1   
f1 = sgn iAeiT0 − iAe−iT0 e−iT0 dT0
2π
0
2π
1
=− sgn[asin(T0 + β)]e−iT0 dT0
2π

2π π
eiβ −iφ ieiβ 2ieiβ
=− sgn(asinφ)e dφ = sinφd φ = (4.21.21)
2π π π
0 0

Substituting (4.21.20) and (4.21.21) into (4.21.19) yields

5 2 3 1 i(σ T2 −β)
a − iaβ  − α a − ke + 2iμ/π = 0 (4.21.22)
12 2
266 4 Forced Oscillations of Systems Having a Single Degree of Freedom

Separating the real and imaginary parts of the above equation yields

1
a = −2μ/π + k sin γ (4.21.23)
2
5 2 3 1
aγ  = aσ + α a + k cos γ (4.21.24)
12 2
where

γ = σ T2 − β (4.21.25)

Substituting x0 and x1 into (4.21.5), we obtain the first-order approximate solution

of (4.21.4):

1 1  
x = a cos(T0 + β) − εαa2 + εαa2 cos(2T0 + 2β) + O ε2
2  6 
1 2 1
 
= a cos(t − γ ) + εαa α cos(2t − 2γ ) − 1 + O ε2 (4.21.26)
2 3

Then the solution of the original equation is

1   1  
u = εa cos(t − γ ) + α ε2 a2 [ α cos(2t − 2γ ) − 1] + O ε3 (4.21.27)
2 3
Denoting εa as a, we obtain the solution of the original equation:

1 1  
u = a cos(t − γ ) + αa2 [ α cos(2t − 2γ ) − 1] + O ε3 (4.21.28)
2 3

(b) Let a = γ  = 0 in (4.21.23) and (4.21.24), we have

2μ 1
− + k sin γ = 0 (4.21.29)
π 2
5 2 3 1
aσ + α a + k cos γ = 0 (4.21.30)
12 2
Eliminating γ , we can obtain the frequency–response equation:

5 2 3 2 4μ2 1
(aσ + α a ) + 2 = k2 (4.21.31)
12 π 4
then

5 2 2 1 1 2 4μ2
σ =− α a ± k − 2 (4.21.32)
12 a 4 π
4.22 Exercise 4.22 (Primary Resonance Problem for the System … 267

Fig. 4.16 Frequency-response curves (μ = 0.2, α = 2) for Exercise 4.21

The a ∼ σ curve can be sketched from (4.21.32), as shown in Fig. 4.16. As can
be seen from the figure, jumps occur when σ changes from a large negative value to
a positive σ direction. As σ decreases, a is unbounded.

4.22 Exercise 4.22 (Primary Resonance Problem

for the System with Quadratic Damp and Quadratic
Nonlinear Terms)

Solution: (a) Let

u = εx (4.22.1)

The original equation becomes

K
ẍ + x + εμ̂ẋ|ẋ| + εαx2 = cos t (4.22.2)
ε
In order to find the primary resonance solution, it is necessary that the nonlinear,
damping and excitation terms are of the same  order, for this purpose the above
equation has to be expanded to the order of O ε2 , thus letting

μ̂ = εμ, K = ε3 k (4.22.3)

Then (4.22.2) becomes

ẍ + x + ε2 μẋ|ẋ| + εαx2 = ε2 k cos t (4.22.4)

268 4 Forced Oscillations of Systems Having a Single Degree of Freedom

Let the solution of (4.22.4) be

x(t; ε) = x0 (T0 , T1 , T2 ) + εx1 (T0 , T1 , T2 ) + ε2 x1 (T0 , T1 , T2 ) + · · · (4.22.5)

Substituting (4.22.5) into (4.22.4) and keeping to O(ε2 ), we get

0 = ẍ + x + ε2 μẋ|ẋ| + εαx2 − ε2 k cos t

   
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 x0 + εx1 + ε2 x2
 
+ x0 + εx1 + ε2 x2 + εα(x0 + εx1 + ε2 x2 )2 − ε2 k cos t
+ ε2 μD0 x0 |D0 x0 | + · · ·
= D02 x0 + εD02 x1 + ε2 D02 x2 + 2εD0 D1 x0 + 2ε2 D0 D1 x1
 
+ ε2 D12 + 2D0 D2 x0 + x0 + εx1 + ε2 x2 + εαx02 + 2ε2 αx0 x1
− ε2 k cos t + ε2 μD0 x0 |D0 x0 | + · · ·
 
= D02 x0 + x0 + ε D02 x1 + x1 + 2D0 D1 x0 + αx02
 
+ ε2 [D02 x2 + x2 + 2D0 D1 x1 + D12 + 2D0 D2 x0
+ 2αx0 x1 + μD0 x0 |D0 x0 | − k cos t] + · · · (4.22.6)

Let the coefficient of the like power of ε be zero, we get

D02 x0 + x0 = 0 (4.22.7)

D02 x1 + x1 = −2D0 D1 x0 − αx02 (4.22.8)

 
D02 x2 + x2 = −2D0 D1 x1 − D12 + 2D0 D2 x0 − 2αx0 x1 − μD0 x0 |D0 x0 | + k cos t
(4.22.9)

Solving (4.22.7) yields

x0 = AeiT0 + Ae−iT0 (4.22.10)

where A = A(T1 , T2 ). Substitute (4.22.10) into (4.22.8), we can obtain

D02 x1 + x1 = −2D0 D1 x0 − αx02

= −2iD1 AeiT0 − 2αAĀ − αA2 ei2T0 + cc (4.22.11)

In order to eliminate secular terms in the above equation, it is necessary to have

D1 A = 0 ⇒ A = A(T2 ) (4.22.12)

Therefore, the Eq. (4.22.8) is solved by

4.22 Exercise 4.22 (Primary Resonance Problem for the System … 269

1 1 2
x1 = −2αAA + αA2 ei2T0 + αA e−i2T0 (4.22.13)
3 3
Substitute x0 and x1 into (4.22.9) and make

 = 1 + ε2 σ (4.22.14)

we can obtain
 
D02 x2 + x2 = −2D0 D1 x1 − D12 + 2D0 D2 x0 − 2αx0 x1
− μsgn(D0 x0 ) + k cos t
 
10 2 2 1 σ T2 iT0
= − 2iD2 A − α A A − ke e + cc
3 2
    
− μ iAeiT0 − iAe−iT0 iAeiT0 − iAe−iT0  sgn iAeiT0 − iAe−iT0 + NST
(4.22.15)

In order to further process (4.22.15), it is necessary to deal with, in advance, the

last function in the above equation, which can be expanded into a Fourier series of
complex exponential form:
∞

 iT0  
iAe − iAe−iT0 iAeiT0 − iAe−iT0  sgn(iAeiT0 − iAe−iT0 ) = fn einT0
n=−∞
(4.22.16)

1   iT0  
2π
fn = iAe − iAe−iT0 iAeiT0 − iAe−iT0 
2π 0
sgn(iAeiT0 − iAe−iT0 )e−inT0 dT0 (4.22.17)

Substituting (4.22.16) into (4.22.15), we can obtain

 
D02 x2 + x2 = −2D0 D1 x1 − D12 + 2D0 D2 x0 − 2αx0 x1
− μsgn(D0 x0 ) + k cos t
 
10 1
= − 2iD2 A − α 2 A2 A − keiσ T2 + μf1 eiT0 + cc + NST (4.22.18)
3 2

In order to eliminate secular terms, there must be

10 2 2 1
2iD2 A − α A A − keiσ T2 + μf1 = 0 (4.22.19)
3 2
Let
270 4 Forced Oscillations of Systems Having a Single Degree of Freedom

1 iβ
A= ae (4.22.20)
2
then

2π
1  iT0  
f1 = iAe − iAe−iT0 iAeiT0 − iAe−iT0 
2π
0
 iT0 
· sgn iAe − iAe−iT0 e−inT0 dT0
2π
1
=− a sin(T0 + β)|a sin(T0 + β)|sgn(a sin(T0 + β))e−iT0 dT0
2π
0
2π
eiβ
=− a sin φ|a sin φ|sgn(a sin(T0 + β))e−iφ d φ
2π
0
π
ia2 eiβ 4ia2 eiβ
= sin3 φd φ = (4.22.21)
π 3π
0

Substituting (4.22.20) and (4.22.21) into (4.22.19), we can obtain

5 2 3 1 i(σ T2 −β) 4ia2 μeiβ

a − iaβ  − α a − ke + =0 (4.22.22)
12 2 3π
Separating the real and imaginary parts of the above equation yields

4μa2 1
a = − + k sin γ (4.22.23)
3π 2
5 2 3 1
aγ  = aσ + α a + k cos γ (4.22.24)
12 2
where

γ = σ T2 − β (4.22.25)

Substituting x0 and x1 into (4.22.5), we can obtain the first-order approximate

solution of the system:

1 1  
x = a cos(T0 + β) − εαa2 + εαa2 cos(2T0 + 2β) + O ε2
2  6 
1 2 1
 
= a cos(t − γ ) + εαa α cos(2t − 2γ ) − 1 + O ε2 (4.22.26)
2 3
4.23 Exercise 4.23 (Combined Resonance Problem for Quadratic Nonlinear … 271

Then the solution of the original equation is

1   1  
u = εa cos(t − γ ) + α ε2 a2 [ α cos(2t − 2γ ) − 1] + O ε3 (4.22.27)
2 3
Denoting εa as a, we obtain the solution to the original equation

1 1  
u = a cos(t − γ ) + αa2 [ α cos(2t − 2γ ) − 1] + O ε3 (4.22.28)
2 3

(b) Let a = γ  = 0 in (4.22.23) and (4.22.24), we have

4μa2 1
− + k sin γ = 0 (4.22.29)
3π 2
5 2 3 1
aσ + α a + k cos γ = 0 (4.22.30)
12 2
Eliminating γ , we can obtain the frequency–response equation:

5 2 3 2 16μ2 a4 1
(aσ + α a ) + = k2 (4.22.31)
12 9π 2 4
We can solve σ in terms of a from this

5 2 2 1 1 2 16μ2 a4
σ =− α a ± k − (4.22.32)
12 a 4 9π 2
The a ∼ σ can be sketched from (4.22.32), as shown in Fig. 4.17. As can be seen
from the figure, whenever σ changes from small to large or from large to small, there
is a jump. In addition, there is a maximum value for a and the motion is bounded.

4.23 Exercise 4.23 (Combined Resonance Problem

for Quadratic Nonlinear Systems)

Solution: (a) We assume that Kn = O(1)(n = 1, 2, 3, and let the solution of the
equation be

u(t; ε) = x0 (T0 , T1 ) + εx1 (T0 , T1 ) + · · · (4.23.1)

Substituting (4.23.1) into the original equation and retaining to O(ε), we obtain
272 4 Forced Oscillations of Systems Having a Single Degree of Freedom

Fig. 4.17 Frequency-response curve (μ = 0.2, α = 1.5) for Exercise 4.22


3
0 = ü + u + 2εμu̇ + εαu2 − Kn cos(n t + θn )
n=1
 
= D02 + 2εD0 D1 (x0 + εx1 ) + (x0 + εx1 )
+ 2εμ(D0 + εD1 )(x0 + εx1 ) + εα(x0 + εx1 )2

3
− Kn cos(n T0 + θn ) + · · ·
n=1
= 2
D0 x0 + εD02 x1 + 2εD0 D1 x0 + x0 + εx1

3
+ 2εμD0 x0 + εαx02 − Kn cos(n T0 + θn ) + · · ·
n=1

3
= D02 x0 + x0 − Kn cos(n T0 + θn )
n=1
 
+ ε D02 x1 + x1 + 2D0 D1 x0 + 2μD0 x0 + αx02 + · · · (4.23.2)

Let the coefficient of the like power of ε be zero, we get


3
D02 x0 + x0 = Kn cos(n T0 + θn ) (4.23.3)
n=1

D02 x1 + x1 = −2D0 D1 x0 − 2μD0 x0 − αx02 (4.23.4)

The solution of (4.23.3) is

4.23 Exercise 4.23 (Combined Resonance Problem for Quadratic Nonlinear … 273


3
x0 = AeiT0 + n eiθn ein T0 + cc (4.23.5)
n=1

where A = A(T1 ) and

Kn
n =   (4.23.6)
2 1 − 2n

Therefore, the first order approximate solution of the equation is


3
u = A(T1 )e iT0
+ cc + 2 n cos(n T0 + θn ) + O(ε) (4.23.7)
n=1

Substituting (4.23.5) into (4.23.4) and taking 2 − 1 ≈ 1 and 3 − 2 ≈ 1 into

account, we get

D02 x1 + x1 = −2D0 D1 x0 − 2μD0 x0 − αx02

= −(2iD1 A + 2iμA)eiT0 − 2α1 2 ei(θ2 −θ1 ) ei(2 −1 )T0
− 2α2 3 ei(θ3 −θ2 ) ei(3 −2 )T0 + cc + NST (4.23.8)

Let

εσ1 = 2 − 1 − 1, εσ2 = 3 − 2 − 1

γ1 = σ1 T1 + θ2 − θ1 , γ2 = σ2 T1 + θ3 − θ2 (4.23.9)

Equation (4.23.8) becomes

D02 x1 + x1 = −(2iD1 A + 2iμA)eiT0 − 2α1 2 ei(θ2 −θ1 ) ei(2 −1 )T0

− 2α2 3 ei(θ3 −θ2 ) ei(3 −2 )T0 + cc + NST
= −(2iD1 A + 2iμA)eiT0 − 2α1 2 ei(σ1 T1 +θ2 −θ1 ) eiT0
− 2α2 3 ei(σ2 T1 +θ3 −θ2 ) eiT0 + cc + NST
 
= −2 iA + iμA + α1 2 eiγ1 + α2 3 eiγ2 eiT0
+ cc + NST (4.23.10)

In order to eliminate secular terms from the above equation, there must be
 
i A + μA + α1 2 eiγ1 + α2 3 eiγ2 = 0 (4.23.11)

The prime denotes the derivative with respect to T1 .

274 4 Forced Oscillations of Systems Having a Single Degree of Freedom

(b) Write the Eq. (4.23.11) as

A + μA = iα1 2 eiγ1 + iα2 3 eiγ2 (4.23.12)

The general solution of the above equation is

A1 = Ce−μT1 (4.23.13)

and the special solution of the equation is

iα1 2 iγ1 iα2 3 iγ2

A2 = e + e (4.23.14)
μ + iσ1 μ + iσ2

therefore, the solution of (4.23.12) is

iα1 2 iγ1 iα2 3 iγ2

A = A1 + A2 = Ce−μT1 + e + e (4.23.15)
μ + iσ1 μ + iσ2

(c) From (4.23.15), we know that the steady state value of A, As , is:

iα1 2 iγ1 iα2 3 iγ2

As = e + e (4.23.16)
μ + iσ1 μ + iσ2

Substituting As into (4.23.7), we can obtain the steady state solution of the original
equation as

iα1 2 i(T0 +γ1 ) iα2 3 i(T0 +γ2 )

x= e + e
μ + iσ1 μ + iσ2
 3
+ cc + 2 n cos(n T0 + θn ) + O(ε)
n=1
2α1 2 2α2 3
=− sin(T0 + γ1 − β1 ) − sin(T0 + γ2 + β2 )
μ2 + σ12 μ2 + σ22

3
+2 n cos(n T0 + θn ) + O(ε)
n=1

i.e.,

2α1 2 2α2 3
x=− sin(T0 + γ1 − β1 ) − sin(T0 + γ2 + β2 )
μ2 + σ12 μ2 + σ22

3
+2 n cos(n T0 + θn ) + O(ε) (4.23.17)
n=1
4.24 Exercise 4.24 (Simultaneous Subharmonic and Superharmonic … 275

where
σ1 σ2
tan β1 = , tan β2 = (4.23.18)
μ μ

The frequencies appearing in this solution are not necessarily commensurable

with each other, so this solution is not necessarily periodic.

4.24 Exercise 4.24 (Simultaneous Subharmonic

and Superharmonic Resonance of Quadratic
Nonlinear Systems)

Solution: (a) We assume that Kn = O(1)(n = 1, 2). Let the solution of the equation
be

u(t; ε) = x0 (T0 , T1 ) + εx1 (T0 , T1 ) + · · · (4.24.1)

Substituting (4.23.1) into the original equation and retaining to O(ε) yields


2
0 = ü + u + 2εμu̇ + εαu2 − Kn cos(n t + θn )
n=1
 
= D02 + 2εD0 D1 (x0 + εx1 ) + (x0 + εx1 )

2
+ 2εμ(D0 + εD1 )(x0 + εx1 ) + εα(x0 + εx1 )2 − Kn cos(n T0 + θn ) + · · ·
n=1
= D02 x0 + εD02 x1 + 2εD0 D1 x0 + x0 + εx1

2
+ 2εμD0 x0 + εαx02 − Kn cos(n T0 + θn ) + · · ·
n=1

2
= D02 x0 + x0 − Kn cos(n T0 + θn )
n=1
 
+ ε D02 x1 + x1 + 2D0 D1 x0 + 2μD0 x0 + αx02 + · · · (4.24.2)

Let the coefficient of the like power of ε be zero, we get


2
D02 x0 + x0 = Kn cos(n T0 + θn ) (4.24.3)
n=1

D02 x1 + x1 = −2D0 D1 x0 − 2μD0 x0 − αx02 (4.24.4)

276 4 Forced Oscillations of Systems Having a Single Degree of Freedom

The solution of (4.23.3) is


2
x0 = AeiT0 + n eiθn ein T0 + cc (4.24.5)
n=1

where A = A(T1 ) and

Kn
n =   (4.24.6)
2 1 − 2n

Therefore, the first order approximate solution of the equation is


2
u = A(T1 )eiT0 + cc + 2 n cos(n T0 + θn ) + O(ε) (4.24.7)
n=1

Substituting (4.23.5) into (4.23.4) and taking 1 ≈ 1/2 and 2 ≈ 2 into account,
we get

D02 x1 + x1 = −2D0 D1 x0 − 2μD0 x0 − αx02

= −(2iD1 A + 2iμA)eiT0 − α21 ei2θ1 ei21 T0 − 2α2 Aeiθ2 ei(2 −1)T0
+ cc + NST (4.24.8)

Let

εσ1 = 21 − 1, εσ2 = 2 − 2, γ1 = σ1 T1 + 2θ1 , γ2 = σ2 T1 + θ2 (4.24.9)

Equation (4.24.8) becomes

D02 x1 + x1 = −(2iD1 A + 2iμA)eiT0 − α21 ei(σ1 T1 +2θ1 ) eiT0

− 2α2 Aei(σ2 T1 +θ2 ) eiT0 + cc + NST
 
= − 2iD1 A + 2iμA + α21 eiγ1 + 2α2 Aeiγ2 eiT0
+ cc + NST (4.24.10)

In order to eliminate secular terms from the above equation, there must be
 
2i A + μA + α21 eiγ1 + 2α2 Aeiγ2 = 0 (4.24.11)

The prime denotes the derivative with respect to T1 .

(b) Let

A = (Br + iBi )eiγ2 /2 (4.24.12)

4.24 Exercise 4.24 (Simultaneous Subharmonic and Superharmonic … 277

Substitute A into (4.24.11), we get

 
iσ2
2i (Br  + iBi ) + (Br + iBi ) + μ(Br + iBi )
2
+ α21 ei(γ1 −γ2 /2) + 2α2 (Br − iBi ) = 0

i.e.,
γ2
i[2Br  + 2μBr − (σ2 + 2α2 )Bi + α21 sin(γ1 − )]
2
γ 2
− [2Bi  + (σ2 − 2α2 )Br + 2μBi − α21 cos(γ1 − ) = 0 (4.24.13)
2
Separating the real and imaginary parts of the above equation yields

2Br  + 2μBr − (σ2 + 2α2 )Bi = −α21 sin(γ1 − γ2 /2)

2Bi  + (σ2 − 2α2 )Br + 2μBi = α21 cos(γ1 − γ2 /2)

The above two equations are written in matrix form as

 %   %  %
Br  μ − 21 (σ2 + 2α2 ) Br 1 2 − sin(γ1 − 2 γ2 )
1
+ 1 = α1
Bi  2 (σ2
− 2α2 ) μ Bi 2 cos(γ1 − 21 γ2 )
(4.24.14)

These are the equations controlling Br and Bi , which are a set of first order linear
ordinary differential equations. The eigenvalues can be easily obtained as

1
λ = −μ ± 4α 2 22 − σ22 (4.24.15)
2
Therefore, Br and Bi are unbounded if

4α 2 22 − σ22 > 2μ (4.24.16)

This condition is independent of 1 , i.e., independent of the superharmonic

excitation term.
278 4 Forced Oscillations of Systems Having a Single Degree of Freedom

4.25 Exercise 4.25 (Quadratic Nonlinear Systems with Both

Subharmonic and Combinatorial Resonances)

Solution: (a) We assume that Kn = O(1)(n = 1, 2, 3). Let the solution of the
equation be

u(t; ε) = x0 (T0 , T1 ) + εx1 (T0 , T1 ) + · · · (4.25.1)

Substituting (4.25.1) into the original equation and retaining to O(ε) yields


3
0 = ü + u + 2εμu̇ + εαu2 − Kn cos(n t + θn )
n=1
 
= D02 + 2εD0 D1 (x0 + εx1 ) + (x0 + εx1 )
+ 2εμ(D0 + εD1 )(x0 + εx1 ) + εα(x0 + εx1 )2

3
− Kn cos(n T0 + θn ) + · · ·
n=1
= D02 x0 + εD02 x1 + 2εD0 D1 x0 + x0 + εx1

3
+ 2εμD0 x0 + εαx02 − Kn cos(n T0 + θn ) + · · ·
n=1

3
= D02 x0 + x0 − Kn cos(n T0 + θn )
n=1
 
+ ε D02 x1 + x1 + 2D0 D1 x0 + 2μD0 x0 + αx02 + · · · (4.25.2)

Let the coefficient of the like power of ε be zero, we get


3
D02 x0 + x0 = Kn cos(n T0 + θn ) (4.25.3)
n=1

D02 x1 + x1 = −2D0 D1 x0 − 2μD0 x0 − αx02 (4.25.4)

The solution of (4.25.3) is


3
x0 = Ae iT0
+ n eiθn ein T0 + cc (4.25.5)
n=1

where A = A(T1 ) and

4.25 Exercise 4.25 (Quadratic Nonlinear Systems with Both Subharmonic … 279

Kn
n =   (4.25.6)
2 1 − 2n

Therefore, the first order approximate solution of the original equation is


3
u = A(T1 )eiT0 + cc + 2 n cos(n T0 + θn ) + O(ε) (4.25.7)
n=1

Substituting (4.25.5) into (4.25.4) and taking 1 ≈ 2 and 2 + 3 ≈ 1 into

account, we get

D02 x1 + x1 = −2D0 D1 x0 − 2μD0 x0 − αx02

= −(2iD1 A + 2iμA)eiT0 − 2α1 Aeiθ1 ei(1 −1)T0
− 2α2 3 eiθ2 eiθ3 ei(2 +3 )T0 + cc + NST (4.25.8)

Let

εσ1 = 1 − 2, εσ2 = 2 + 3 − 1

γ1 = σ1 T1 + θ1 , γ2 = σ2 T1 + θ2 + θ3 (4.25.9)

Equation (4.25.8) becomes

D02 x1+ x1 = −2D0 D1 x0 − 2μD0 x0 − αx02  (4.25.10)

= − 2iD1 A + 2iμA + 2α1 Aeiγ1 + 2α2 3 eiγ2 eiT0

In order to eliminate secular terms from the above equation, there must be
 
i A + μA + α1 Aeiγ1 + α2 3 eiγ2 = 0 (4.25.11)

The prime denotes the derivative with respect to T1 .

(b) Let

A = (Br + iBi )eiγ1 /2 (4.25.12)

Substitute A into (4.25.11), we obtain

 
 ’  iσ1
i Br + iBi +
’
(Br + iBi ) + μ(Br + iBi )
2
+ α1 (Br − iBi ) + α2 3 ei(γ2 −γ1 /2) = 0

i.e., i[Br  + μBr − ( 21 σ1 + α1 )Bi + α2 3 sin(γ2 − γ1 /2)]

280 4 Forced Oscillations of Systems Having a Single Degree of Freedom

1
−[Bi  + σ1 − α1 Br + μBi − α2 3 cos(γ2 − γ1 /2)] = 0 (4.25.13)
2

Separating the real and imaginary parts of the above equation yields

1
Br  + μBr − σ1 + α1 Bi = −α2 3 sin(γ2 − γ1 /2)
2
1
Bi  + σ1 − α1 Br + μBi = α2 3 cos(γ2 − γ1 /2)
2

The above two equations are written in matrix form as

 %  1   %  %
Br  μ  − 2 σ1 + α1 Br − sin(γ2 − 21 γ1 )
+ 1 = α2 3
Bi  σ − α1
2 1
μ Bi cos(γ2 − 21 γ1 )
(4.25.14)

These are the equations controlling Br and Bi . The eigenvalues can be easily
obtained as
1
λ = −μ ± 4α 2 21 − σ12 (4.25.15)
2
Therefore, Br and Bi are unbounded if

4α 2 21 − σ12 > 2μ (4.25.16)

4.26 Exercise 4.26 (Quadratic Nonlinear Systems with Both

Superharmonic and Combinatorial Resonances)

Solution: (a) We assume that Kn = O(1)(n = 1, 2, 3). Let the solution of the
equation be

u(t; ε) = x0 (T0 , T1 ) + εx1 (T0 , T1 ) + · · · (4.26.1)

Substituting (4.26.1) into the original equation and retaining to O(ε) yields


3
0 = ü + u + 2εμu̇ + εαu2 − Kn cos(n t + θn )
n=1
 
= D02 + 2εD0 D1 (x0 + εx1 ) + (x0 + εx1 )
4.26 Exercise 4.26 (Quadratic Nonlinear Systems with Both Superharmonic … 281


3
+ 2εμ(D0 + εD1 )(x0 + εx1 ) + εα(x0 + εx1 )2 − Kn cos(n T0 + θn ) + · · ·
n=1
= D02 x0 + εD02 x1 + 2εD0 D1 x0 + x0 + εx1

3
+ 2εμD0 x0 + εαx02 − Kn cos(n T0 + θn ) + · · ·
n=1

3
= D02 x0 + x0 − Kn cos(n T0 + θn )
n=1
 
+ ε D02 x1 + x1 + 2D0 D1 x0 + 2μD0 x0 + αx02 + · · · (4.26.2)

Let the coefficient of the like power of ε be zero, we get


3
D02 x0 + x0 = Kn cos(n T0 + θn ) (4.26.3)
n=1

D02 x1 + x1 = −2D0 D1 x0 − 2μD0 x0 − αx02 (4.26.4)

The solution of (4.26.3) is


3
x0 = AeiT0 + n eiθn ein T0 + cc (4.26.5)
n=1

where A = A(T1 ) and

Kn
n =   (4.26.6)
2 1 − 2n

Therefore, the first order approximate solution of the equation is


3
u = A(T1 )eiT0 + cc + 2 n cos(n T0 + θn ) + O(ε) (4.26.7)
n=1

Substituting (4.26.5) into (4.26.4) and taking 1 ≈ 1/2 and 2 + 3 ≈ 1 into

account, we get

D02 x1 + x1 = −2D0 D1 x0 − 2μD0 x0 − αx02

= −(2iD1 A + 2iμA)eiT0 − α21 ei2θ1 ei21 T0
− 2α2 3 eiθ2 eiθ3 ei(2 +3 )T0 + cc + NST (4.26.8)

Let
282 4 Forced Oscillations of Systems Having a Single Degree of Freedom

εσ1 = 21 − 1, εσ2 = 2 + 3 − 1

γ1 = σ1 T1 + 2θ1 , γ2 = σ2 T1 + θ2 + θ3 (4.26.9)

Equation (4.26.8) becomes

D02 x1 + x1 = −2D0 D1 x0 − 2μD0 x0 − αx02

= −(2iD1 A + 2iμA)eiT0 − α21 ei(σ1 T1 +2θ1 ) eiT0
− 2α2 3 ei(σ2 T1 +θ2 +θ3 ) eiT0 + cc + NST
 
= − 2iD1 A + 2iμA + α21 eiγ1 + 2α2 3 eiγ2 eiT0 + cc + NST
(4.26.10)

In order to eliminate secular terms from the above equation, there must be
 
2i A + μA + α21 eiγ1 + 2α2 3 eiγ2 = 0 (4.26.11)

The prime denotes the derivative with respect to T1 .

(b) Write the equation as

iα21 iγ1
A + μA = e + iα2 3 eiγ2 (4.26.12)
2
The general solution of (4.26.12) is

A1 = Ce−μT1 (4.26.13)

The special solution of (4.26.12) is

iα21 iγ1 iα2 3 iγ2

A2 = e + e (4.26.14)
μ + iσ1 μ + iσ2

Therefore, the solution of (4.26.12) is

iα21 iγ1 iα2 3 iγ2

A = A1 + A2 = Ce−μT1 + e + e (4.26.15)
μ + iσ1 μ + iσ2

From (4.26.15), we know that the steady state value of A, As , is:

iα21 iγ1 iα2 3 iγ2

As = e + e (4.26.16)
μ + iσ1 μ + iσ2

Substituting As into (4.23.7), we obtain the steady state solution of the original
equation as
4.28 Exercise 4.28 (Primary and Superharmonic Resonances of Self-Excited … 283

iα21 i(T0 +γ1 ) iα2 3 i(T0 +γ2 ) 3

x= e + e + cc + 2 n cos(n T0 + θn ) + O(ε)
μ + iσ1 μ + iσ2 n=1
2α21 2α2 3
=− sin(T0 + γ1 − β1 ) − sin(T0 + γ2 − β2 )
μ2 + σ12 μ2 + σ22

3
+2 n cos(n T0 + θn ) + O(ε)
n=1

i.e.,

2α21
x=− sin(T0 + γ1 − β1 )
μ2 + σ12
2α2 3
− sin(T0 + γ2 − β2 )
μ2 + σ22

3
+2 n cos(n T0 + θn ) + O(ε) (4.26.17)
n=1

where
σ1 σ2
tan β1 = , tan β2 = (4.26.18)
μ μ

The frequencies appearing in this solution are not necessarily commensurable

with each other, so this solution is not necessarily periodic.

4.27 Exercise 4.27 (Quadratic Nonlinear Systems

with Superharmonic, Subharmonic
and Combinatorial Resonances)

Readers are invited to solve this problem by referring to Exercise 4.25 and Exercise
4.26.

4.28 Exercise 4.28 (Primary and Superharmonic

Resonances of Self-Excited Systems) Solution

(a) Let
284 4 Forced Oscillations of Systems Having a Single Degree of Freedom

K1 = 2εk1 , K2 = O(1) (4.28.1)

and let the solution of the equation be

u(t; ε) = x0 (T0 , T1 ) + εx1 (T0 , T1 ) + · · · (4.28.2)

Substituting (4.28.1) and (4.28.2) into the original equation and retaining to O(ε),
we get
 
0 = D02 + 2εD0 D1 (x0 + εx1 ) + (x0 + εx1 )
1
− ε(D0 + εD1 )(x0 + εx1 ) + ε[(D0 + εD1 )(x0 + εx1 )]3
3
− 2εkn cos(1 T0 + θ1n ) − K2 cos(2 T0 + θ2 ) + · · ·
1
= D02 x0 + εD02 x1 + 2εD0 D1 x0 + x0 + εx1 − εD0 x0 + ε(D0 x0 )3
3
− 2εk1 cos(1 T0 + θ1 ) − K2 cos(2 T0 + θ2 ) + · · ·
= D02 x0 + x0 − K2 cos(2 T0 + θ2 )
1 
+ ε[D02 x1 + x1 + 2D0 D1 x0 − D0 x0 + D0 x0 )3 − 2k1 cos(1 T0 + θ1 ) + · · ·
3
(4.28.3)

Let the coefficient of the like power of ε be zero, we get

D02 x0 + x0 = K2 cos(2 T0 + θ2 ) (4.28.4)

1 
D02 x1 + x1 = −2D0 D1 x0 + D0 x0 − D0 x0 )3 + 2k1 cos(1 T0 + θ1 (4.28.5)
3
The solution of (4.28.4) is

x0 = AeiT0 + eiθ2 ei2 T0 + cc (4.28.6)

where A = A(T1 ) and

K2 9
=  = K2 (4.28.7)
2 1 − 22 16

Therefore, the first order approximate solution of the equation is

u = A(T1 )eiT0 + cc + 2 cos(2 T0 + θ2 ) + O(ε) (4.28.8)

Substituting (4.28.6) into (4.28.5) and taking 1 ≈ 1 and 2 ≈ 1/3 into account,
we get
4.28 Exercise 4.28 (Primary and Superharmonic Resonances of Self-Excited … 285

1
D02 x1 + x1 = −2D0 D1 x0 + D0 x0 − (D0 x0 )3 + 2k1 cos(1 T0 + θ1 )
3
1
= −(2iD1 A − iA)e − (3iA2 AeiT0 + 6i22 2 AeiT0
iT0
3
− i32 3 e3iθ2 e3i2 T0 ) + 2k1 cos(1 T0 + θ1 ) + cc + NST (4.28.9)

Let
1 3 3
  = k2 , εσ1 = 1 − 1, εσ2 = 32 − 1 (4.28.10)
3 2
Equation (4.28.9) becomes

D02 x1 + x1 = −(2iD1 A − iA + iA2 Ā + 2i22 2 A

− ik2 ei(σ2 T1 +3θ2 ) − k1 ei(σ1 T1 +θ1 ) )eiT0 + cc + NST (4.28.11)

In order to eliminate secular terms from the above equation, there must be

2iA − iA + iA2 A + 2i22 2 A − ik2 ei(σ2 T1 +3θ2 ) − k1 ei(σ1 T1 +θ1 ) = 0 (4.28.12)

where the prime denotes the derivative with respect to T1 . Let

1 iβ
A= ae (4.28.13)
2

γ1 = σ1 T1 − β + θ1 , γ2 = σ2 T1 − β + 3θ2 (4.28.14)

Then from (4.28.13), we have

1 1
ia − aβ  − i a + i a3 + i22 2 a − k1 eiγ1 − ik2 eiγ2 = 0 (4.28.15)
2 8
Separating the real and imaginary parts of the above equation yields

1 1
a = − 22 2 − a2 a + k1 sin γ1 + k2 cos γ2 (4.28.16)
2 8

aβ  = −k1 cos γ1 + k2 sin γ2 (4.28.17)

(b) From (4.28.16) and (4.28.17), we can find that the system has a steady state
solution when and only when γ1 and γ2 are constant values, hence there are

β  = σ1 = σ2  σ (4.28.18)
286 4 Forced Oscillations of Systems Having a Single Degree of Freedom

(c) Let a = 0 in (4.28.16) and (4.28.17), we can obtain

1 1
− − 22 2 − a2 a = k1 sin γ1 + k2 cos γ2 (4.28.19)
2 8

−σ a = k1 cos γ1 − k2 sin γ2 (4.28.20)

The two equations are squared and added together to obtain the frequency–
response equation as

1 1
( − 22 2 − a2 )2 a2 + σ 2 a2 = k12 + k22 + 2k1 k2 sin ψ (4.28.21)
2 8

ψ = γ1 − γ2 = θ1 − 3θ2 (4.28.22)

Solving σ from (4.28.21), we have

k12 + 2k1 k2 sin ψ + k22 1 1

σ = ±[ 2
− ( − 22 2 − a2 )2 ]1/2 (4.28.23)
a 2 8
From this, the frequency–response curve of the system can be plotted in Fig. 4.18.
In order to analyze the stability of the steady state solutions, Eqs. (4.28.16) and
(4.28.17) are rewritten as

1 1
a = − 22 2 − a2 a + k1 sin(γ + θ1 ) + k2 cos(γ + 3θ2 ) (4.28.24)
2 8
 
a σ − γ  = −k1 cos(γ + θ1 ) + k2 sin(γ + 3θ2 ) (4.28.25)

where

Fig. 4.18 Frequency-response and frequency-phase characteristics of the steady state solution
(θ1 = 0, θ2 = π4 , k1 = 5, K2 = 1) for Exercise 4.28
4.29 Exercise 4.29 (Primary and Superharmonic Resonances of Self-Excited … 287

γ = σ1 T1 − β = σ2 T1 − β = σ T1 − β (4.28.26)

Let

a = a0 + ã, γ = γ0 + γ̃ (4.28.27)

Thus the linearized form of (4.28.24) and (4.28.25) are

1 3 
ã = − 22 2 − a02 ã + k1 cos(γ0 + θ1 ) − k2 sin(γ0 + 3θ2 )]γ̃ (4.28.28)
2 8
σ 1
γ̃  = ã − k1 sin(γ0 + θ1 ) + k2 cos(γ0 + 3θ2 )]γ̃ (4.28.29)
a0 a0

Write the above two equations in matrix form as

 %   %
ã l11 l12 ã
= (4.28.30)
γ̃  l21 l22 γ̃

where
1 3
l11 = − 22 2 − a02 , l12 = k1 cos(γ0 + θ1 ) − k2 sin(γ0 + 3θ2 )
2 8
σ 1
l21 = , l22 = − k1 sin(γ0 + θ1 ) + k2 cos(γ0 + 3θ2 )]
a0 a0

The eigenvalues of Eq. (4.20.26) are

)
(l11 + l22 ) ± (l11 + l22 )2 − 4(l11 l22 − l12 l21 )
λ= (4.28.31)
2
The sign of the real part of the eigenvalue determines the stability of the corre-
sponding steady state solution. It follows that branches 1, 3, and 5 in Fig. 4.18 are
unstable.

4.29 Exercise 4.29 (Primary and Superharmonic

Resonances of Self-Excited Systems)

Solution: (a) Let

K1 = 2εk1 , K2 = O(1) (4.29.1)

and set the solution of the equation be

288 4 Forced Oscillations of Systems Having a Single Degree of Freedom

u(t; ε) = x0 (T0 , T1 ) + εx1 (T0 , T1 ) + · · · (4.29.2)

Substituting (4.28.1) and (4.28.2) into the original equation and retaining to O(ε),
we get

1  2
0 = ü + u − ε u̇ − u̇3 − Kn cos(n t + θn )
3 n=1
 2 
D0 + 2εD0 D1 (x0 + εx1 ) + (x0 + εx1 )
1
− ε(D0 + εD1 )(x0 + εx1 ) + ε[(D0 + εD1 )(x0 + εx1 )]3
3
− 2εkn cos(1 T0 + θ1n ) − K2 cos(2 T0 + θ2 ) + · · ·
1
= D02 x0 + εD02 x1 + 2εD0 D1 x0 + x0 + εx1 − εD0 x0 + ε(D0 x0 )3
3
− 2εk1 cos(1 T0 + θ1 ) − K2 cos(2 T0 + θ2 ) + · · ·
= D02 x0 + x0 − K2 cos(2 T0 + θ2 )
1 
+ ε[D02 x1 + x1 + 2D0 D1 x0 − D0 x0 + D0 x0 )3 − 2k1 cos(1 T0 + θ1 ) + · · ·
3
(4.29.3)

Let the coefficient of the like power of ε be zero, we get

D02 x0 + x0 = K2 cos(2 T0 + θ2 ) (4.29.4)

1 
D02 x1 + x1 = −2D0 D1 x0 + D0 x0 − D0 x0 )3 + 2k1 cos(1 T0 + θ1 (4.29.5)
3
The solution of (4.28.4) is

x0 = AeiT0 + eiθ2 ei2 T0 + cc (4.29.6)

where A = A(T1 ) and

K2 1
=   = − K2 (4.29.7)
2 1 − 22 16

Let
1 iβ
A= ae (4.29.8)
2
Therefore, the first order approximate solution of the equation is

u = a(T1 ) cos(T0 + β) + 2 cos(2 T0 + θ2 ) + O(ε) (4.29.9)

4.29 Exercise 4.29 (Primary and Superharmonic Resonances of Self-Excited … 289

Substituting (4.28.6) into (4.28.5) and taking 1 ≈ 1 and 2 ≈ 3 into account,

we get

1
D02 x1 + x1 = −2D0 D1 x0 + D0 x0 − (D0 x0 )3 + 2k1 cos(1 T0 + θ1 )
3
1
= −(2iD1 A − iA)eiT0 − (3iA2 ĀeiT0 + 6i22 2 AeiT0
3
− 3i2 Ā eiθ2 ei(2 −2)T0 ) + cc + NST + 2k1 cos(1 T0 + θ1 )
2

(4.29.10)

Let
1
k2 = 2 , εσ1 = 1 − 1, εσ2 = 2 − 3 (4.29.11)
4
Equation (4.28.9) becomes

D02 x1 + x1 = −(2iD1 A − iA + iA2 Ā + 16ik22 A

− 4ik2 Ā ei(σ2 T1 +θ2 ) − k1 ei(σ1 T1 +θ1 ) )eiT0 + cc + NST
2
(4.29.12)

In order to eliminate secular terms from the above equation, there must be
2
2iA − iA + iA2 A + 2i22 2 A − 4ik2 A ei(σ2 T1 +θ2 ) − k1 ei(σ1 T1 +θ1 ) = 0 (4.29.13)

The prime represents the derivative with respect to T1 . Substituting (4.29.8) into
the above equation and let

γ1 = σ1 T1 − β + θ1 , γ2 = σ2 T1 − 3β + θ2 (4.29.14)

then
1 1
ia − aβ  − i a + i a3 + i16k22 a − k1 eiγ1 − ik2 a2 eiγ2 = 0 (4.29.15)
2 8
Separating the real and imaginary parts of the above equation yields

1 1
a = − 16k22 − a2 a + k1 sin γ1 + k2 a2 cos γ2 (4.29.16)
2 8

aβ  = −k1 cos γ1 + k2 a2 sin γ2 (4.29.17)

(b) We can find from (4.28.16) and (4.28.17) that the system has a steady state
solution when and only when γ1 and γ2 are constants, hence
290 4 Forced Oscillations of Systems Having a Single Degree of Freedom

1
β  = σ1 = σ2 (4.29.18)
3

4.30 Exercise 4.30 (Simultaneous Subharmonic

and Superharmonic Resonance of Self-Excited
Systems)

Solution: (a) We assume that Kn = O(1) (n = 1, 2) and the solution of the equation
is

u(t; ε) = x0 (T0 , T1 ) + εx1 (T0 , T1 ) + · · · (4.30.1)

Substituting (4.30.1) into the original equation and retaining to O(ε) yields

1 2
0 = ü + u − ε u̇ − u̇3 − Kn cos(n t + θn )
3 n=1
 
= D02 + 2εD0 D1 (x0 + εx1 ) + (x0 + εx1 )
1
− ε(D0 + εD1 )(x0 + εx1 ) + ε[(D0 + εD1 )(x0 + εx1 )]3
3
2
− Kn cos(n T0 + θn ) + · · ·
n=1
1
= D02 x0 + εD02 x1 + 2εD0 D1 x0 + x0 + εx1 − εD0 x0 + ε(D0 x0 )3
3

2
− Kn cos(n T0 + θn ) + · · ·
n=1

2
= D02 x0 + x0 − Kn cos(n T0 + θn )
n=1
1 
+ ε[D02 x1 + x1 + 2D0 D1 x0 − D0 x0 + D0 x0 )3 + · · · (4.30.2)
3
Let the coefficient of the like power of ε be zero, we get


2
D02 x0 + x0 = Kn cos(n T0 + θn ) (4.30.3)
n=1

1
D02 x1 + x1 = −2D0 D1 x0 + D0 x0 − (D0 x0 )3 (4.30.4)
3
4.30 Exercise 4.30 (Simultaneous Subharmonic and Superharmonic … 291

The solution of (4.30.3) is


2
x0 = AeiT0 + n eiθn ein T0 + cc (4.30.5)
n=1

where A = A(T1 ) and

K1 1 K2 9
1 =   = − K2 , 2 =  = K2 (4.30.6)
2 1 − 1
2 16 2 1 − 2
2 16

Let
1 iβ
A= ae (4.30.7)
2
Therefore, the first order approximate solution of the equation is

u = a(T1 ) cos(T0 + β) + 2 cos(2 T0 + θ2 ) + O(ε) (4.30.8)

Substituting (4.30.5) into (4.30.4) and taking 1 ≈ 3 and 2 ≈ 1/3 into account,
we get

1
D02 x1 + x1 = −2D0 D1 x0 + D0 x0 − (D0 x0 )3
3
1
= −(2iD1 A − iA)e − (3iA2 AeiT0
iT0
3
+ 6i21 21 AeiT0 + 6i22 22 AeiT0
2
− i32 32 ei3θ2 ei32 T0 − 3iA 1 1 eiθ1 ei(1 −2)T0 ) + cc + NST (4.30.9)

Let

εσ1 = 1 − 3, εσ2 = 32 − 1 (4.30.10)

Equation (4.30.9) becomes

D02 x1 + x1 = −(2iD1 A − iA + iA2 Ā + 2i21 21 A + 2i22 22 A

1
− i 32 32 ei(σ2 T1 +3θ2 ) − iĀ 1 1 ei(σ1 T1 +θ1 ) )eiT0
2
3
+ cc + NST (4.30.11)

In order to eliminate secular terms from the above equation, there must be

2A − A + A2 A + 221 21 A + 222 22 A

292 4 Forced Oscillations of Systems Having a Single Degree of Freedom

1 2
− 32 32 ei(σ2 T1 +3θ2 ) − A 1 1 ei(σ1 T1 +θ1 ) = 0 (4.30.12)
3
The prime represents the derivative with respect to T1 . Substituting (4.30.7) into
the above equation, we get

1 1
a + iaβ  − a + a3 + 21 21 a + 22 22 a
2 8
1 3 3 i(σ2 T1 −β+3θ2 ) 1 2
− 2 2 e − a 1 1 ei(σ1 T1 −3β+θ1 ) = 0 (4.30.13)
3 4
Let
1
k1 = 1 1 , γ1 = σ1 T1 − 3β + θ1 , γ2 = σ2 T1 − β + 3θ2 (4.30.14)
4
then
1 1 1
a − a + a3 + 16k12 a + 22 22 a + iaβ  − k1 a2 eiγ1 − 32 32 eiγ2 = 0
2 8 3
(4.30.15)

Separating the real and imaginary parts of the above equation yields

1 1 1
a = − 16k12 − 22 22 − a2 a + k1 a2 cos γ1 + 32 32 cos γ2 (4.30.16)
2 8 3
1
aβ  = k1 a2 sin γ1 + 32 32 sin γ2 (4.30.17)
3

(b) It can be found from (4.30.16) and (4.30.17) that the system has a steady state
solution when and only when γ1 and γ2 are constants, hence

1
β = σ1 = σ2 (4.30.18)
3

4.31 Exercise 4.31 (Self-Excited System with Both Primary

and Combined Resonances I)

Solution: (a) We assume

K1 = 2εk1 , K2 = O(1) (4.31.1)

and let the solution of the equation be

4.31 Exercise 4.31 (Self-Excited System with Both Primary and Combined … 293

u(t; ε) = x0 (T0 , T1 ) + εx1 (T0 , T1 ) + · · · (4.31.2)

Substituting (4.31.1) and (4.31.2) into the original equation and retaining to O(ε),
we get

1  3
0 = ü + u − ε u̇ − u̇3 − Kn cos(n t + θn )
3 n=1
 
= D02 + 2εD0 D1 (x0 + εx1 ) + (x0 + εx1 )
1
− ε(D0 + εD1 )(x0 + εx1 ) + ε[(D0 + εD1 )(x0 + εx1 )]3
3
 3
− 2εk1 cos(1 T0 + θ1 ) − Kn cos(n T0 + θn ) + · · ·
n=2

3
= D02 x0 + x0 − Kn cos(n T0 + θn )
n=2
1 
+ ε[D02 x1 + x1 + 2D0 D1 x0 − D0 x0 + D0 x0 )3 − 2k1 cos(1 T0 + θ1 ) + · · ·
3
(4.31.3)

Let the coefficient of the like power of ε be zero, we get


3
D02 x0 + x0 = Kn cos(n T0 + θn ) (4.31.4)
n=2

1 
D02 x1 + x1 = −2D0 D1 x0 + D0 x0 − D0 x0 )3 + 2k1 cos(1 T0 + θ1 (4.31.5)
3
The solution of (4.31.4) is


3
x0 = AeiT0 + n eiθn ein T0 + cc (4.31.6)
n=2

where A = A(T1 ) and

Kn
n =   (4.31.7)
2 1 − 2n

Let
1 iβ
A= ae (4.31.8)
2
Therefore, the first order approximate solution of the equation is
294 4 Forced Oscillations of Systems Having a Single Degree of Freedom


3
u = a(T1 ) cos[T0 + β(T1 )] + 2 n cos(n T0 + θn ) + O(ε) (4.31.9)
i=2

Substituting (4.31.6) into (4.31.5) and taking 1 ≈ 1 and 22 + 3 ≈ 1 into

account, we get

1
D02 x1 + x1 = −2D0 D1 x0 + D0 x0 − (D0 x0 )3
3
1
= −(2iD1 A − iA)eiT0 − (3iA2 AeiT0
3
+ 6iA22 22 eiT0 + 6iA23 23 eiT0
− i322 3 22 3 ei(2θ2 +θ3 ) ei(22 +3 )T0 ) + k1 ei(1 T0 +θ1 ) + cc + NST
(4.31.10)

Let

εσ1 = 1 − 1, εσ2 = 22 + 3 − 1 (4.31.11)

Equation (4.31.10) becomes

D02 x1 + x1 = −(2iD1 A − iA + iA2 Ā + 2iA22 22 + 2iA23 23

− i22 3 22 3 ei(σ2 T1 +2θ2 +θ3 ) − k1 ei(σ1 T1 +θ1 ) )eiT0
+ cc + NST (4.31.12)

In order to eliminate secular terms from the above equation, there must be

2A − A + A2 A + 222 22 A + 223 23 A

− 22 3 22 3 ei(σ2 T1 +2θ2 +θ3 ) + ik1 ei(σ1 T1 +θ1 ) = 0 (4.31.13)

The prime represents the derivative with respect to T1 . Substituting (4.30.7) into
the above equation, we get

1 1
a + iaβ  − a + a3 + 22 22 a + 23 23 a
2 8
i(σ2 T1 −β+2θ2 +θ3 )
− 2 3 2 3 e
2 2
+ ik1 ei(σ1 T1 −β+θ1 ) = 0 (4.31.14)

Let

k2 = 22 3 22 3 , γ1 = σ1 T1 − β + θ1 , γ2 = σ2 T1 − β + 2θ2 + θ3 (4.31.15)

then
4.31 Exercise 4.31 (Self-Excited System with Both Primary and Combined … 295

1 1  3
a − a + a3 + 2n 2n + iaβ  + ik1 eiγ1 − k2 eiγ2 = 0 (4.31.16)
2 8 n=2

Separating the real and imaginary parts of the above equation yields
 ,
1  2 2 1 2
3

a = −   − a a + k1 sin γ1 + k2 cos γ2 (4.31.17)
2 n=2 n n 8

aβ  = −k1 cos γ1 + k2 sin γ2 (4.31.18)

(b) It can be found from (4.30.16) and (4.30.17) that the system has a steady state
solution when and only when γ1 and γ2 are constants, hence

β  = σ1 = σ2  σ (4.31.19)

(c) Let a = 0and β  = σ in (4.31.17) and (4.31.18), we can obtain

 ,
1  2 2 1 2
3
− −   − a a = k1 sin γ1 + k2 cos γ2 (4.31.20)
2 n=2 n n 8

−σ a = k1 cos γ1 − k2 sin γ2 (4.31.21)

The two equations are squared and added together to obtain the frequency–
response equation as
 ,2
1  2 2 1 2
3
−   − a a2 + σ 2 a2 = k12 + k22 + 2k1 k2 sin ψ (4.31.22)
2 n=2 n n 8

ψ = γ1 − γ2 = θ1 − 2θ2 − θ3 (4.31.23)

Solving σ from (4.28.21), we get

⎡  ,2 ⎤1/2
1  2 2 1 2
3
k 2 + 2k1 k2 sin ψ + k22
σ = ±⎣ 1 − −   − a ⎦ (4.31.24)
a2 2 n=2 n n 8

From this, the frequency–response curve of the system can be plotted in Fig. 4.19.
In order to analyze the stability of steady state solutions, Eqs. (4.31.17) and
(4.31.18) are rewritten as
296 4 Forced Oscillations of Systems Having a Single Degree of Freedom

Fig. 4.19 Frequency-response and frequency-phase characteristics of the steady state solution
(θ1 = 0, θ2 = θ3 = π3 , k1 = 10, K2 = K3 = 5, 2 = 0.3, 3 = 0.4) for Exercise
4.31

 ,
1  2 2 1 2
3

a = −   − a a + k1 sin(γ + θ1 ) + k2 cos(γ + 2θ2 + θ3 )
2 n=2 n n 8
(4.31.25)
 
a σ − γ  = −k1 cos(γ + θ1 ) + k2 sin(γ + 2θ2 + θ3 ) (4.31.26)

where

γ = σ1 T1 − β = σ2 T1 − β = σ T1 − β (4.31.27)

Around any set of steady state solution (a0 , γ0 ), we let

a = a0 + ã, γ = γ0 + γ̃ (4.31.28)

The linearized form of (4.31.25) and (4.31.26) are

 ,
1  2 2 3 2 
3
ã = − n n − a0 ã + k1 cos(γ0 + θ1 ) − k2 sin(γ0 + 2θ2 + θ3 )]γ̃
2 n=2 8
(4.31.29)
σ 1
γ̃  = ã − k1 sin(γ0 + θ1 ) + k2 cos(γ0 + 2θ2 + θ3 )]γ̃ (4.31.30)
a0 a0

Write the above two equations in matrix form as

 %   %
ã l l ã
= 11 12 (4.31.31)
γ̃  l21 l22 γ̃
4.32 Exercise 4.32 (Self-Excited System with Both Primary and Combined … 297

-
3
where l11 = 1
2
− 2n 2n − 38 a02 , l12 = k1 cos(γ0 + θ1 ) − k2 sin(γ0 + 2θ2 + θ3 )
n=2

σ 1
l21 = , l22 = − k1 sin(γ0 + θ1 ) + k2 cos(γ0 + 2θ2 + θ3 )]
a0 a0

The eigenvalues of (4.31.31) are

)
(l11 + l22 ) ± (l11 + l22 )2 − 4(l11 l22 − l12 l21 )
λ= (4.31.32)
2
The stability of the corresponding steady-state solution can be determined from
the sign of the real part of the eigenvalue. It follows that branch 3 in Fig. 4.19 is
unstable.

4.32 Exercise 4.32 (Self-Excited System with Both Primary

and Combined Resonances II)

Solution: (a) We assume

K1 = 2εk1 , K2,3 = O(1) (4.32.1)

and let the solution of the equation be

u(t; ε) = x0 (T0 , T1 ) + εx1 (T0 , T1 ) + · · · (4.32.2)

Substituting (4.32.1) and (4.32.2) into the original equation and retaining to O(ε),
we get

1  3
0 = ü + u − ε u̇ − u̇3 − Kn cos(n t + θn )
3 n=1
 
= D02 + 2εD0 D1 (x0 + εx1 ) + (x0 + εx1 )
1
− ε(D0 + εD1 )(x0 + εx1 ) + ε[(D0 + εD1 )(x0 + εx1 )]3
3
 3
− 2εk1 cos(1 T0 + θ1 ) − Kn cos(n T0 + θn ) + · · ·
n=2
1
= D02 x0 + εD02 x1 + 2εD0 D1 x0 + x0 + εx1 − εD0 x0 + ε(D0 x0 )3
3
3
− 2εk1 cos(1 T0 + θ1 ) − Kn cos(n T0 + θn ) + · · ·
n=2
298 4 Forced Oscillations of Systems Having a Single Degree of Freedom


3
= D02 x0 + x0 − Kn cos(n T0 + θn )
n=2
1 
+ ε[D02 x1 + x1 + 2D0 D1 x0 − D0 x0 + D0 x0 )3 − 2k1 cos(1 T0 + θ1 ) + · · ·
3
(4.32.3)

Let the coefficient of the like power of ε be zero, we get


3
D02 x0 + x0 = Kn cos(n T0 + θn ) (4.32.4)
n=2

1 
D02 x1 + x1 = −2D0 D1 x0 + D0 x0 − D0 x0 )3 + 2k1 cos(1 T0 + θ1 (4.32.5)
3
The solution of (4.32.4) is


3
x0 = AeiT0 + n eiθn ein T0 + cc (4.32.6)
n=2

where A = A(T1 ) and

Kn
n =   (4.32.7)
2 1 − 2n

Let
1 iβ
A= ae (4.32.8)
2
Therefore, the first order approximate solution of the equation is


3
u = a(T1 ) cos[T0 + β(T1 )] + 2 n cos(n T0 + θn ) + O(ε) (4.32.9)
i=2

Substituting (4.32.6) into (4.32.5) and taking 1 ≈ 1 and 2 + 3 ≈ 1 into

account, we get

1 
D02 x1 + x1 = −2D0 D1 x0 + D0 x0 − D0 x0 )3 − 2k1 cos(1 T0 + θ1 )
3
1
= −(2iD1 A − iA)eiT0 − (3iA2 AeiT0
3
+ 6iA22 22 eiT0 + 6iA23 23 eiT0
+ 3i2 3 2 3 Aeiθ2 eiθ3 ei(2 +3 −1)T0 )
4.32 Exercise 4.32 (Self-Excited System with Both Primary and Combined … 299

+ k1 ei(1 T0 +θ1 ) + cc + NST (4.32.10)

Let

εσ1 = 1 − 1, εσ2 = 22 + 3 − 1 (4.32.11)

Equation (4.32.10) becomes

D02 x1 + x1 = −(2iD1 A − iA + iA2 A + 2iA22 22 + 2iA23 23

+ i2 3 2 3 Aei(σ2 T1 +θ2 +θ3 ) − k1 ei(σ1 T1 +θ1 ) )eiT0
+ cc + NST (4.32.12)

In order to eliminate secular terms from the above equation, there must be

2A − A + A2 A + 222 22 A + 223 23 A

+ 2 3 2 3 Aei(σ2 T1 +θ2 +θ3 ) + ik1 ei(σ1 T1 +θ1 ) = 0 (4.32.13)

The prime represents the derivative with respect to T1 . Substituting (4.32.8) into
the above equation, we get

1 1
a + iaβ  − a + a3 + 22 22 a + 23 23 a
2 8
+ i2 3 2 3 aei(σ2 T1 −2β+θ2 +θ3 ) + ik1 ei(σ1 T1 −β+θ1 ) = 0 (4.32.14)

Let

k2 = 2 3 2 3 , γ1 = σ1 T1 − β + θ1 , γ2 = σ2 T1 − 2β + θ2 + θ3 (4.32.15)

then

1 1  3
a − a + a3 + 2n 2n + iaβ  + ik1 eiγ1 + k2 eiγ2 = 0 (4.32.16)
2 8 n=2

Separating the real and imaginary parts of the above equation yields
 ,
1  2 2 1 2
3

a = −   − a a + k1 sin γ1 − k2 cos γ2 (4.32.17)
2 n=2 n n 8

aβ  = −k1 cos γ1 − k2 sin γ2 (4.32.18)

(b) It can be found from (4.32.17) and (4.32.18) that the system has a steady state
solution when and only when γ1 and γ2 are constants, hence
300 4 Forced Oscillations of Systems Having a Single Degree of Freedom

1
β  = σ1 = σ2 (4.32.19)
2

4.33 Exercise 4.33 (Combination Resonance of Self-Excited

Systems)

Solution: (a) We assume Kn = O(1)(n = 1, 2, 3) and the solution of the equation is

u(t; ε) = x0 (T0 , T1 ) + εx1 (T0 , T1 ) + · · · (4.33.1)

Substituting (4.31.1) and (4.31.2) into the original equation and retaining to O(ε),
we get

1  3
0 = ü + u − ε u̇ − u̇3 − Kn cos(n t + θn )
3 n=1
 
= D02 + 2εD0 D1 (x0 + εx1 ) + (x0 + εx1 ) − ε(D0 + εD1 )(x0 + εx1
1  3
+ ε[(D0 + εD1 )(x0 + εx1 )]3 − Kn cos(n t + θn )
3 n=1
1
= D02 x0 + εD02 x1 + 2εD0 D1 x0 + x0 + εx1 − εD0 x0 + ε(D0 x0 )3
3
 3
− Kn cos(n T0 + θn ) + · · ·
n=1

3
= D02 x0 + x0 − Kn cos(n T0 + θn )
n=1
1 
+ ε[D02 x1 + x1 + 2D0 D1 x0 − D0 x0 + D0 x0 )3 + · · · (4.33.2)
3
Let the coefficient of the like power of ε be zero, we get


3
D02 x0 + x0 = Kn cos(n T0 + θn ) (4.33.3)
n=1

1
D02 x1 + x1 = −2D0 D1 x0 + D0 x0 − (D0 x0 )3 (4.33.4)
3
The solution of (4.33.3) is
4.33 Exercise 4.33 (Combination Resonance of Self-Excited Systems) 301


3
x0 = AeiT0 + n eiθn ein T0 + cc (4.33.5)
n=1

where A = A(T1 ) and

Kn
n =   (4.33.6)
2 1 − 2n

Let
1 iβ
A= ae (4.33.7)
2
Therefore, the first order approximate solution of the equation is


3
u = a(T1 ) cos[T0 + β(T1 )] + 2 n cos(n T0 + θn ) + O(ε) (4.33.8)
i=1

Substituting (4.33.5) into (4.33.4), and taking 1 + 2 + 3 ≈ 1 into account,

we get

1
D02 x1 + x1 = −2D0 D1 x0 + D0 x0 − (D0 x0 )3
3
1  3
= −(2iD1 A − iA)e iT0
− [3iA2 ĀeiT0 + 6iAeiT0 2n 2n )
3 n=1

− 6i1 2 3 1 2 3 ei(θ1 +θ2 +θ3 ) ei(1 +2 +3 )T0 ] + cc + NST

(4.33.9)

Let

εσ2 = 1 + 2 + 3 − 1 (4.33.10)

Equation (4.31.10) becomes

D02 x1 + x1 = −(2iD1 A − iA + iA2 Ā + 2iA21 21 + 2iA22 22 + 2iA23 23

− i1 2 3 1 2 3 ei(σ T1 +θ1 +θ2 +θ3 ) )eiT0
+ cc + NST (4.33.11)

In order to eliminate secular terms from the above equation, there must be

2A − A + A2 A + 2A21 21 + 2A22 22 + 2A23 23

− 2i1 2 3 1 2 3 ei(σ T1 +θ1 +θ2 +θ3 ) = 0 (4.33.12)
302 4 Forced Oscillations of Systems Having a Single Degree of Freedom

The prime represents the derivative with respect to T1 . Substituting (4.33.7) into
the above equation, we get

1 1
a + iaβ  − a + a3 + 21 21 a + 22 22 a + 23 23 a
2 8
− 21 2 3 1 2 3 ei(σ T1 −β+θ1 +θ2 +θ3 ) = 0 (4.33.13)

Let

k = 21 2 3 1 2 3 , γ = σ T1 − β + θ1 + θ2 + θ3 (4.33.14)

then

1 1  3
a − a + a3 + 2n 2n + iaβ  − keiγ = 0 (4.33.15)
2 8 n=1

Separating the real and imaginary parts of the above equation yields
 ,
1  2 2 1 2
3
a = −   − a a + k cos γ (4.33.16)
2 n=1 n n 8

aβ  = k sin γ (4.33.17)

(b) Let a = 0and β  = σ in (4.33.16) and (4.33.17), we obtain

 ,
1  2 2 1 2
3
− −   − a a = k cos γ (4.33.18)
2 n=1 n n 8

aσ = k sin γ (4.33.19)

The two equations are squared and added together to obtain the frequency–
response equation as
 ,2
1  2 2 1 2
3
−   − a a2 + σ 2 a2 = k 2 (4.33.20)
2 n=1 n n 8

The solution of (4.33.20) is

 
2 1/2
k2 1 3 1
σ =± 2 − − 2n 2n − a2 (4.33.21)
a 2 n=1 8
4.33 Exercise 4.33 (Combination Resonance of Self-Excited Systems) 303

Fig. 4.20 Frequency-response and frequency-phase characteristics of the steady state solution
(K1 = 5, K2 = 5, K3 = 2, 1 = 0.2, 2 = 0.3, 3 = 0.5) for Exercise 4.33

From this, the frequency–response curve of the system can be plotted as shown
in Fig. 4.20.
In order to analyze the stability of steady state solutions, we can rewrite (4.31.17)
and (4.31.18) as
 ,
1  2 2 1 2
3
a = −   − a a + k cos γ (4.33.22)
2 n=2 n n 8
 
a σ − γ  = k sin γ (4.33.23)

Around any set of steady state solution (a0 , γ0 ), we let

a = a0 + ã, γ = γ0 + γ̃ (4.33.24)

The linearized form of (4.33.22) and (4.33.23) are

 ,
1  2 2 3 2
3
ã = −   − a ã − (k sin γ0 )γ̃ (4.33.25)
2 n=1 n n 8 0

σ 1
γ̃  = ã − (k cos γ0 )γ̃ (4.33.26)
a0 a0

Write the above two equations in matrix form as

 %   %
ã l11 l12 ã
= (4.33.27)
γ̃  l21 l22 γ̃

where
304 4 Forced Oscillations of Systems Having a Single Degree of Freedom

1  2 2 3 2
3
l11 = −   − a , l12 = −k sin γ0
2 n=1 n n 8 0

σ 1
l21 = , l22 = − k cos γ0
a0 a0

The eigenvalues of Eq. (4.31.31) are

)
(l11 + l22 ) ± (l11 + l22 )2 − 4(l11 l22 − l12 l21 )
λ= (4.33.28)
2
The stability of the corresponding steady-state solution can be determined from
the sign of the real part of the eigenvalue. It follows that branch 1 in Fig. 4.20 is
unstable.

4.34 Exercise 4.34 (Self-Excited System with Simultaneous

Primary, Superharmonic, and Subharmonic
Resonances)

Solution: (a) We assume

K1 = 2εk1 , K2,3 = O(1) (4.34.1)

and let the solution of the equation be

u(t; ε) = x0 (T0 , T1 ) + εx1 (T0 , T1 ) + · · · (4.34.2)

Substituting (4.34.1) and (4.34.2) into the original equation and retaining to O(ε),
we get

1  3
0 = ü + u − ε u̇ − u̇3 − Kn cos(n t + θn )
3 n=1
 
= D02 + 2εD0 D1 (x0 + εx1 ) + (x0 + εx1 )
1
− ε(D0 + εD1 )(x0 + εx1 ) + ε[(D0 + εD1 )(x0 + εx1 )]3
3
 3
− 2εk1 cos(1 T0 + θ1 ) − Kn cos(n T0 + θn ) + · · ·
n=2
1
= D02 x0 + εD02 x1 + 2εD0 D1 x0 + x0 + εx1 − εD0 x0 + ε(D0 x0 )3
3
4.34 Exercise 4.34 (Self-Excited System with Simultaneous Primary … 305


3
− 2εk1 cos(1 T0 + θ1 ) − Kn cos(n T0 + θn ) + · · ·
n=2

3
= D02 x0 + x0 − Kn cos(n T0 + θn )
n=2
1 
+ ε[D02 x1 + x1 + 2D0 D1 x0 − D0 x0 + D0 x0 )3 − 2k1 cos(1 T0 + θ1 ) + · · ·
3
(4.34.3)

Let the coefficient of the like power of ε be zero, we get


3
D02 x0 + x0 = Kn cos(n T0 + θn ) (4.34.4)
n=2

1 
D02 x1 + x1 = −2D0 D1 x0 + D0 x0 − D0 x0 )3 + 2k1 cos(1 T0 + θ1 (4.34.5)
3
The solution of (4.34.4) is


3
x0 = AeiT0 + n eiθn ein T0 + cc (4.34.6)
n=2

where A = A(T1 ) and

Kn
n =   (4.34.7)
2 1 − 2n

Let
1 iβ
A= ae (4.34.8)
2
Therefore, the first order approximate solution of the equation is


3
u = a(T1 ) cos[T0 + β(T1 )] + 2 n cos(n T0 + θn ) + O(ε) (4.34.9)
i=2

Substituting (4.34.6) into (4.34.5) and taking 1 ≈ 1, 2 ≈ 1/3 and 3 ≈ 3 into

account, we get

1
D02 x1 + x1 = −2D0 D1 x0 + D0 x0 − (D0 x0 )3
3
1
= −(2iD1 A − iA)eiT0 − (3iA2 AeiT0 + 6iA22 22 eiT0 + 6iA23 23 eiT0
3
306 4 Forced Oscillations of Systems Having a Single Degree of Freedom

2
− 3iA 3 3 eiθ3 ei(3 −2)T0 − i32 32 ei3θ2 ei32 T0 ) + k1 ei(1 T0 +θ1 )
+ cc + NST (4.34.10)

Let

εσ1 = 1 − 1, εσ2 = 32 − 1, εσ3 = 3 − 3 (4.34.11)

Equation (4.34.10) becomes

D02 x1 + x1 = −(2iD1 A − iA + iA2 Ā + 2iA22 22 + 2iA23 23

1
− iĀ 3 3 ei(σ3 T1 +θ3 ) − i32 32 ei(σ2 T1 +3θ2 )
2
3
− k1 ei(σ1 T1 +θ1 ) )eiT0 + cc + NST (4.34.12)

In order to eliminate secular terms from the above equation, there must be
2
2A − A + A2 A + 222 22 A + 223 23 A − A 3 3 ei(σ3 T1 +θ3 )
1
− 32 32 ei(σ2 T1 +3θ2 ) + ik1 ei(σ1 T1 +θ1 ) = 0 (4.34.13)
3
The prime represents the derivative with respect to T1 . Substituting (4.34.8) into
the above equation, we get

1 1 1
a + iaβ  − a + a3 + 22 22 a + 23 23 a − a2 3 3 ei(σ3 T1 −3β+θ3 )
2 8 4
1 3 3 i(σ2 T1 −β+3θ2 ) i(σ1 T1 −β+θ1 )
− 2 2 e + ik1 e =0 (4.34.14)
3
Let
1 3 3 1
k2 =   , k3 = 3 3 , γ1 = σ1 T1 − β + θ1 ,
3 2 2 4
γ2 = σ2 T1 − β + 3θ2 , γ2 = σ3 T1 − 3β + θ3 (4.34.15)

then

1 1  3
a − a + a3 + 2n 2n + iaβ  + ik1 eiγ1 − k2 eiγ2 − k3 a2 eiγ3 = 0 (4.34.16)
2 8 n=2

Separating the real and imaginary parts of the above equation yields
 ,
1  2 2 1 2
3
a = −   − a a + k1 sin γ1 + k2 cos γ2 + k3 a2 cos γ3 (4.34.17)
2 n=2 n n 8
4.36 Exercise 4.36 (Simple Harmonic Response of Van Der Pol’s Oscillator) 307

aβ  = −k1 cos γ1 + k2 sin γ2 + k3 a2 sin γ3 (4.34.18)

(b) It can be found from (4.34.17) and (4.34.18) that the system has a steady state
solution when and only when γ1 , γ2 and γ3 are constants, hence

1
β  = σ1 = σ2 = σ3 (4.34.19)
3

4.35 Exercise 4.35 (Self-Excited System with Simultaneous

Primary, and Combinatorial Resonances)

Readers are invited to solve this problem by referring to Exercise 4.33 and Exercise
4.34.

4.36 Exercise 4.36 (Simple Harmonic Response of Van Der

Pol’s Oscillator)

Solution: (a) Let the solution to the equation be

u(t; ε) = u0 (T0 , T1 ) + εu1 (T0 , T1 ) + · · ·

(4.36.1)
z(t; ε) = z0 (T0 , T1 ) + εz1 (T0 , T1 ) + · · ·

Substituting (4.36.1) into the original equation and retaining to O(ε) yields

0 = ü + ω02 u − 2ε[(1 − z)u̇ − żu] + 2K sin t

 
= D02 + 2εD0 D1 (u0 + εu1 ) + ω02 (u0 + εu1 ) − 2ε(D0 + εD1 )(u0 + εu1 )
+ 2ε(z0 + εz1 )[(D0 + εD1 )(u0 + εu1 )] + · · ·
+ 2ε(u0 + εu1 )[(D0 + εD1 )(z0 + εz1 )] + 2K sin T0 + · · ·
= D02 u0 + εD02 u1 + 2εD0 D1 u0 + ω02 u0 + εω02 u1 − 2εD0 u0
+ 2εz0 D0 u0 + 2εu0 D0 z0 + 2K sin T0 + · · ·
= D02 u0 + ω02 u0 + ε(D02 u1 + ω02 u1 + 2D0 D1 u0 − 2D0 u0
+ 2z0 D0 u0 + 2u0 D0 z0 ) + 2K sin T0 + · · · (4.36.2)
308 4 Forced Oscillations of Systems Having a Single Degree of Freedom

0 = τ ż + z − u2
= τ (D0 + εD1 )(z0 + εz1 ) + (z0 + εz1 ) − (u0 + εu1 )2 + · · ·
(4.36.3)
= τ D0 z0 + τ εD1 z0 + τ εD0 z1 + z0 + εz1 − u02 − 2εu0 u1 + · · ·
= τ D0 z0 + z0 − u02 + ε(τ D0 z1 + z1 + τ D1 z0 − 2u0 u1 ) + · · ·

Considering the primary resonance, we assume.

 = ω0 + εσ, K = εk (4.36.4)

Substitute this into (4.36.2) and (4.36.3) and let the coefficient of the like power
of ε be zero, we can obtain

D02 u0 + ω02 u0 = 0
(4.36.5)
τ D0 z0 + z0 = u02

D02 u1 + ω02 u1 = −2D0 D1 u0 + 2D0 u0 − 2z0 D0 u0 − 2u0 D0 z0

− 2ksin(ω0 T0 + σ T1 )
1 2
D0 z1 + z1 = −D1 z0 + u0 u1 (4.36.6)
τ τ
Solving from (4.36.5) yields

u0 = Aeiω0 T0 + cc
−1 (4.36.7)
z0 = be−T0 /τ + 2AA + (4ω02 τ 2 + 1)−1/2 A2 e−itan 2ω0 τ e2iω0 T0 + cc

where b is the real constant of integration and A = A(T1 ). Let

1 iβ
A= ae (4.36.8)
2
Therefore, the first order approximate solution of the equation is

u = acos(ω0 t + β) + O(ε)   (4.36.9)

z = be−t/τ + 21 a2 + 21 cos 2ω0 t + 2β − tan−1 2ω0 τ + O(ε)

Substituting (4.36.7) into (4.36.6) yields

D02 u1 + ω02 u1 = −2D0 D1 u0 + 2D0 u0 − 2z0 D0 u0 − 2u0 D0 z0 − 2k sin(ω0 T0 + σ T1 )

= −2ω0 i(D1 A − A)eiω0 T0 − iω0 [2bAe−T0 /τ
# −1

+ 4A2 A − 2 4ω02 τ 2 1)−1/2 A2 Ae−i tan 2ω0 τ eiω0 T0
2 T0
# −1

− [− be− τ A + 4iω0 4ω02 τ 2 + 1)− 2 A2 Ae−i tan 2ω0 τ eiω0 T0
1

τ
+ iω0 keiσ T1 eiω0 T0 + cc + NST
4.36 Exercise 4.36 (Simple Harmonic Response of Van Der Pol’s Oscillator) 309

= −[2ω0 (iD1 A − iA) + 2iω0 bAe−T0 /τ + 4iω0 A2 A

−1
+ 2iω0 (4ω02 τ 2 + 1)−1/2 A2 Ae−i tan 2ω0 τ
2
− be−T0 /τ A − iω0 keiσ T1 ]eiω0 T0 + cc + NST (4.36.10)
τ
In order to eliminate secular terms from the above equation, there must be
−1
2D1 A − 2A + 4A2 A + 2(4ω02 τ 2 + 1)− 2 A2 Ae−i tan 2ω0 τ
1

T0 2 T0
+ 2bAe− τ + i be− τ A − keiσ T1 = 0 (4.36.11)
τ ω0

The prime represents the derivative with respect to T1 . Substituting (4.36.8) into
the above equation and omitting the fast decay term containing e−T0 /τ , we get

1 1 −1
a + iaβ  − a + a3 + (4ω02 τ 2 + 1)−1/2 a3 e−i tan 2ω0 τ − kei(σ T1 −β) = 0
2 4
(4.36.12)

Separating the real and imaginary parts of the above equation yields
  −1  2
a = {1 − 41[2 + 4ω02 τ 2 + 1)−1/2 cos
 −1 tan τ
 2 a −1
2ω 0 }a + k cos(σ T1 − β)
 −1/2
β = − 4 [− 4ω0 τ + 1)
1 2 2
sin tan 2ω0 τ a + ka sin(σ T1 − β)
(4.36.13)

Let
 −1 
αr = 2 + (4ω02 τ 2 + 1)−1/2 cos
 tan 2ω0 τ
(4.36.14)
αi = −(4ω02 τ 2 + 1)−1/2 sin tan−1 2ω0 τ

and change the time variable T1 to εt in (4.36.13) we can obtain

 
ȧ = ε 1 − 41 αr a2 a + εk cos(εσ t − β)
(4.36.15)
β̇ = − 41 εαi a2 + εka−1 sin(εσ t − β)

Let

γ = εσ t − β (4.36.16)

Equation (4.36.15) becomes

 
ȧ = ε 1 − 14 αr a2 a + εk cos γ
(4.36.17)
γ̇ = εσ + 41 εαi a2 − εka−1 sin γ
310 4 Forced Oscillations of Systems Having a Single Degree of Freedom

For the stead-state solutions of (4.36.17), ȧ = γ̇ = 0 so that a and γ are the solutions
of
 
− 1 − 41 αr a2 a = k cos γ
(4.36.18)
σ a + 41 αi a3 = k sin γ

Squaring and adding two equations in (4.36.18) together yields the frequency–
response equation as

1 1
[ 1 − αr a2 a]2 + (σ a + αi a3 )2 = k 2 (4.36.19)
4 4

Solving σ in terms of a from (4.36.19)


1 2 1 2 1
σ = − αi a ± k − [ 1 − αr a2 a]2 (4.36.20)
4 a 4

To analyze the stability of steady state (a0 , γ0 ), let

a = a0 + a1 , γ = γ0 + γ1 (4.36.21)

then the linearized form of (4.36.17) is

 %   %
ȧ1 l11 l12 a1
=ε (4.36.22)
γ̇1 l21 l22 γ1

where
3
l11 = 1 − αr a02 , l12 = −k sin γ0
4
σ 3 1
l21 = + αi a0 , l22 = − k cos γ0
a0 4 a0

The eigenvalues of Eq. (4.36.22) are

)
λ (l11 + l22 ) ± (l11 + l22 )2 − 4(l11 l22 − l12 l21 )
= (4.36.23)
ε 2
The stability of the corresponding steady-state solution can be determined from
the sign of the real part of the eigenvalue.
(b) For the case of hard nonresonance excitations, i.e., K = O(1),  − ω0 > O(ε),
let the coefficient of the like power of ε be zero in (4.36.2) and (4.36.3), we can
obtain
4.36 Exercise 4.36 (Simple Harmonic Response of Van Der Pol’s Oscillator) 311

D02 u0 + ω02 u0 = −2K sin T0

(4.36.24)
τ D0 z0 + z0 = u02

D02 u1 + ω02 u1 = −2D0 D1 u0 + 2D0 u0 − 2z0 D0 u0 − 2u0 D0 z0

(4.36.25)
D0 z1 + τ1 z1 = −D1 z0 + τ2 u0 u1

Solving (u0 , z0 ) from (4.36.24) yields

u0 = Aeiω0 T0 + iK(ω02 − 2 )−1 eiT0 + cc (4.36.26)

T0
z0 = be− τ + 2AA + 2K 2 2 (ω02 − 2 )−2
−1
+ (4ω02 τ 2 + 1)− 2 A2 e−itan 2ω0 τ 2iω0 T0
1
e
−1
−  ) (4 τ + 1)− 2 e−itan
2 −2 1
−K  2 2
(ω02 2 2 2τ i2T0
e
2 −1 − 21 −itan−1 (+ω0 )τ i(+ω0 )T0
+ 2iK(ω02 −  ) [( + ω0 ) τ + 1] 2 2
Ae e
−1
+ 2iK(ω02 − 2 )−1 [( − ω0 )2 τ 2 + 1]−1/2 Ae−itan (−ω0 )τ i(−ω0 )T0
e + cc
(4.36.27)

where b is the real constant of integration and A = A(T1 ). Let

1 iβ
A= ae (4.36.28)
2
Therefore, the first order approximate solution of the equation is

u = a cos(ω0 t + β) − 2K(ω02 − 2 )−1 sin t + O(ε) (4.36.29)

Substituting (4.36.26) and (4.36.27) into (4.36.25) and keeping only the terms
containing eiω0 T0 and the terms that can produce subharmonic and superharmonic
resonance excitations at  ≈ 3ω0 and 3 ≈ ω0 , and omitting the fast-decaying
term containing e−T0 /τ , we get

D02 u1 + ω02 u1 = −2D0 D1 u0 + 2D0 u0 − 2D0 (u0 z0 )

 
= −2iω0 (D1 A − A)eiω0 T0 − 2iω0 [2AA + 2K 2 2 ω02 − 2 )−2 Aeiω0 T0
−1
− 2iω0 (4ω02 τ 2 + 1)−1/2 A2 Ae−i tan 2ω0 τ iω0 T0
e
−1
− 4iω0 K  2 2
(ω02 −  ) [( + ω0 ) τ + 1]−1/2 Ae−i tan
2 −2 2 2 (+ω0 )τ iω0 T0
e
−1
− 4iω0 K 2 2 (ω02 − 2 )−2 [( − ω0 )2 τ 2 + 1]−1/2 Aei tan (−ω0 )τ iω0 T0
e
−1
2 −3 −1/2 −i tan
− 6K  3 4
(ω02 −  ) (4 τ + 1) 2 2
e 2τ i3T0
e
2 −1 −1/2
+ 4K( − 2ω0 )(ω02 −  ) [( − ω0 ) τ + 1] 2 2

2 −i tan−1 (−ω0 )τ i(−2ω0 )T0

A e e
312 4 Forced Oscillations of Systems Having a Single Degree of Freedom

+ 2K( − 2ω0 )(ω02 − 2 )−1 (4ω02 τ 2 + 1)−1/2

2 −1
2ω0 τ i(−2ω0 )T0
A ei tan e + cc + NST (4.36.30)

In order to eliminate secular terms from the above equation, there must be

A − A + 2K 2 2 (ω02 − 2 )−2 A
−1
+2A2 A + (4ω02 τ 2 + 1)−1/2 A2 Ae−i tan 2ω0 τ

−1 (4.36.31)
+2K 2 2 (ω02 − 2 )−2 [( + ω0 )2 τ 2 + 1]−1/2 Ae−i tan (+ω0 )τ

−1
2K 2 2 (ω02 − 2 )−2 [( − ω0 )2 τ 2 + 1]−1/2 Aei tan (−ω0 )τ
=0

The prime represents the derivative with respect to T1 . Substituting (4.36.28) into
the above equation, we get

1
a + iaβ  − a + a3 + 2K 2 2 (ω02 − 2 )−2 a
2
1 −1
+ (4ω0 τ + 1)−1/2 a3 e−i tan 2ω0 τ
2 2
4
−1
+ 2K 2 2 (ω02 − 2 )−2 [( + ω0 )2 τ 2 + 1]−1/2 ae−i tan (+ω0 )τ
−1
+ 2K 2 2 (ω02 − 2 )−2 [( − ω0 )2 τ 2 + 1]−1/2 aei tan (−ω0 )τ
=0 (4.36.32)

Separating the real and imaginary parts of the above equation yields

a = {1 − 2K 2 2 (ω02 − 2 )−2 [1+[( + ω0 )2 τ 2 + 1]−1/2 cos( + ω0 )τ

+ [( − ω0 )2 τ 2 + 1]−1/2 cos( − ω0 )τ }a
1  
− [2 + 4ω02 τ 2 + 1)−1/2 cos 2ω0 τ a3 (4.36.33)
4
1 
β  = −[− 4ω02 τ 2 + 1)−1/2 sin 2ω0 τ a2 + 2K 2 2 (ω02 − 2 )−2
. 4    /
 + ω0 )2 τ 2 + 1]−1/2 sin( + ω0 τ −  − ω0 )2 τ 2 + 1]−1/2 sin( − ω0 τ
(4.36.34)

Let

ηr = 1 − 2K 2 2 (ω02 − 2 )−2 (1 + hr )
(4.36.35)
ηi = 2K 2 2 (ω02 − 2 )−2 hi

where

hr = [( + ω0 )2 τ 2 + 1]−1/2 cos( + ω0 )τ

(4.36.36)
+[( − ω0 )2 τ 2 + 1]−1/2 cos( − ω0 )τ
4.37 Exercise 4.37 (Analysis on the Response of a Cubic Nonlinear System … 313

hi = [( + ω0 )2 τ 2 + 1]−1/2 sin( + ω0 )τ

(4.36.37)
−[( − ω0 )2 τ 2 + 1]−1/2 sin( − ω0 )τ

Considering the expressions of αr and αi in (4.36.14), (4.23.4) and (4.36.34)

become
 
a = ηr − 41 αr a2 a
(4.36.38)
β  = ηi − 41 αi a2

Change the time variable T1 to εt in (4.36.38), we can obtain

1
ȧ = ε ηr − αr a2 a
4
(4.36.39)
1
β̇ = ε ηi − αi a2
4

Separates the variables in the first equation of (4.36.39) to give

da
  = εdt (4.36.40)
ηr − 41 αr a2 a

After integration, we can obtain

ηr e2εηr t
a2 = (4.36.41)
C + 41 αr e2εηr t

where C is the integration constant.

It can be seen that when ηr > 0, the amplitude a diverges exponentially; when
ηr < 0, the amplitude a decays exponentially; and when ηr = 0, the amplitude a is
zero, which means that the external excitation does not excite the free vibration.
The result obtained above is different from the result that the Exercise asks us to
prove, so the rest two problems are left unsolved.

4.37 Exercise 4.37 (Analysis on the Response of a Cubic

Nonlinear System by the Slowly Varying Excitation)

Solution: (a) Let the solution of the equation be

u(t; ε) = x0 (T0 , T1 ) + εx1 (T0 , T1 ) + · · · (4.37.1)

Substituting (4.37.1) into the original equation and retaining to O(ε) yields
314 4 Forced Oscillations of Systems Having a Single Degree of Freedom

0 = ü + ω02 u + 2εμu̇ + εαu3 − ω02 f (T1 )

 
= D02 + 2εD0 D1 (u0 + εu1 ) + ω02 (u0 + εu1 )
+ 2εμ(D0 + εD1 )(u0 + εu1 ) + εα(u0 + εu1 )3 − ω02 f (T1 ) + · · ·
= D02 u0 + εD02 u1 + 2εD0 D1 u0 + ω02 u0 + εω02 u1
+ 2εμD0 u0 + εαu03 − ω02 f (T1 ) + · · ·
= D02 u0 + ω02 u0 − ω02 f (T1 )
 
+ ε D02 u1 + ω02 u1 + 2D0 D1 u0 + 2μD0 u0 + αu03 + · · · (4.37.2)

Let the coefficient of the like power of ε be zero, we get

D02 u0 + ω02 u0 = ω02 f (T1 ) (4.37.3)

D02 u1 + ω02 u1 = −2D0 D1 u0 − 2μD0 u0 − αu03 (4.37.4)

Since f is a function of T1 , i.e., it is slowly changing with time T0 , it can be

considered to be approximately constant with respect to T0 . The solution of (4.37.3)
is

u0 = Aeiω0 T0 + cc + f (4.37.5)

where A = A(T1 ). Therefore, the first order approximate solution of the equation is

u = A(T1 )eiω0 T0 + cc + f (T1 ) + O(ε) (4.37.6)

Substituting (4.37.5) into (4.37.4) yields

D02 u1 + ω02 u1 = −2D0 D1 u0 − 2μD0 u0 − αu03

= −2iω0 (D1 A + μA)eiω0 T0 − 3αA2 Aeiω0 T0 − 3αf 2 Aeiω0 T0
+ cc + NST (4.37.7)

In order to eliminate secular terms from the above equation, there must be
 
2iω0 A + μA + 3αA2 A + 3αf 2 A = 0

i.e.,
   
2iω0 A + μA + 3α AA + f 2 A = 0 (4.37.8)

The prime denotes the derivative with respect to T1 .

(b) Substituting A = 21 aeiβ into the above equation, we get
4.38 Exercise 4.38 (Analysis of the Response of a Self-Excited System Under … 315

  3 1
iω0 a + iaβ  + μa + α a2 + f 2 a = 0 (4.37.9)
2 4

Separating the real and imaginary parts of the above equation yields

a = −μa   (4.37.10)
ω0 β  = 23 α 41 a2 + f 2

4.38 Exercise 4.38 (Analysis of the Response

of a Self-Excited System Under Slowly Varying
Excitation)

Solution: (a) Let the solution be

u(t; ε) = x0 (T0 , T1 ) + εx1 (T0 , T1 ) + · · · (4.38.1)

Substituting (4.38.1) into the original equation and retaining to O(ε) yields
 
0 = ü + ω02 u − ε 1 − u2 u̇ − ω02 f (T1 )
 
= D02 + 2εD0 D1 (u0 + εu1 )
+ ω02 (u0 + εu1 ) − ε(D0 + εD1 )(u0 + εu1 )
+ ε(u0 + εu1 )2 (D0 + εD1 )(u0 + εu1 ) − ω02 f (T1 ) + · · ·
= D02 u0 + εD02 u1 + 2εD0 D1 u0 + ω02 u0 + εω02 u1
− εD0 u0 + εu02 D0 u0 − ω02 f (T1 ) + · · ·
= D02 u0 + ω02 u0 − ω02 f (T1 )
 
+ ε D02 u1 + ω02 u1 + 2D0 D1 u0 − D0 u0 + u02 D0 u0 + · · · (4.38.2)

Let the coefficient of the like power of ε be zero, we get

D02 u0 + ω02 u0 = ω02 f (T1 ) (4.38.3)

D02 u1 + ω02 u1 = −2D0 D1 u0 + D0 u0 − u02 D0 u0 (4.38.4)

Since f is a function of T1 , i.e., it is slowly changing with time T0 , it can be

considered to be approximately constant with respect to T0 . The solution of (4.38.3)
is

u0 = Aeiω0 T0 + cc + f (4.38.5)
316 4 Forced Oscillations of Systems Having a Single Degree of Freedom

where A = A(T1 ). Therefore, the first order approximate solution of the equation is

u = A(T1 )eiω0 T0 + cc + f (T1 ) + O(ε) (4.38.6)

Substituting (4.38.5) into (4.38.4) yields

D02 u1 + ω02 u1 = −2D0 D1 u0 + D0 u0 − u02 D0 u0

= −iω0 (2D1 A − A)eiω0 T0
 
− iω0 f 2 A + A2 A eiω0 T0 + cc + NST (4.38.7)

In order to eliminate secular terms from the above equation, there must be
 
2A = 1 − AA − f 2 A (4.38.8)

The prime denotes the derivative with respect to T1 .

(b) Substituting A = 21 aeiβ into the above equation, we get

1 1
a + iaβ  = 1 − a2 − f 2 a (4.38.9)
2 4

Separating the real and imaginary parts of the above equation yields
 
a = 21 1 − f 2 − 41 a2 a
(4.38.10)
β = 0

4.39 Exercise 4.39 (Analysis of the Response

of a Self-Excited Vibrating System Under Hard
Excitation at Different Frequencies)

Solution: Let the solution be

u(t; ε) = x0 (T0 , T1 ) + εx1 (T0 , T1 ) + · · · (4.39.1)

Substituting (4.39.1) into the original equation and retaining to O(ε) yields
 
0 = ü + ω02 u − ε 1 − u2 u̇ − K cos t
 
= D02 + 2εD0 D1 (u0 + εu1 )
+ ω02 (u0 + εu1 ) − ε(D0 + εD1 )(u0 + εu1 )
+ ε(u0 + εu1 )2 (D0 + εD1 )(u0 + εu1 ) − K cos T0 + · · ·
4.39 Exercise 4.39 (Analysis of the Response of a Self-Excited Vibrating … 317

= D02 u0 + ω02 u0 − K cos T0

 
+ ε D02 u1 + ω02 u1 + 2D0 D1 u0 − D0 u0 + u02 D0 u0 + · · · (4.39.2)

Let the coefficient of the like power of ε be zero, we get

D02 u0 + ω02 u0 = K cos T0 (4.39.3)

D02 u1 + ω02 u1 = −2D0 D1 u0 + D0 u0 − u02 D0 u0 (4.39.4)

The solution of (4.39.3) is

u0 = A(T1 )eiω0 T0 + eiT0 + cc (4.39.5)

where A = A(T1 ), = 21 K(ω02 − 2 )−1 . Therefore, the first order approximate
solution of the equation is

u = A(T1 )eiω0 T0 + eiT0 + cc + O(ε) (4.39.6)

Substituting (4.39.5) into (4.39.4) yields

D02 u1 + ω02 u1 = −2D0 D1 u0 + D0 u0 − u02 D0 u0

= −iω0 (2D1 A − A)eiω0 T0 − iω0 A2 Aeiω0 T0 − 2iω0 2 Aeiω0 T0
2
− i3 ei3T0 − i( − 2ω0 )A ei(−2ω0 )T0
− i(ω0 − 2)2 Aei(ω0 −2)T0 − i(2 + ω0 )2 Aei(2+ω0 )T0
+ cc + NST (4.39.7)

(a) For the case of  is not close to 0, 3ω0 and 13 ω0 :

In order to eliminate secular terms from the above equation, there must be

2A = A − 22 A − A2 A (4.39.8)

The prime denotes the derivative with respect to T1 .

(b) For the case of ω0 = 3 + εσ :

In order to eliminate secular terms from (4.39.7), there must be

2A − A + A2 A + 22 A + ω0−1 3 e−iσ T1 = 0

318 4 Forced Oscillations of Systems Having a Single Degree of Freedom

i.e.,

2A = A − 22 A − A2 A − ω0−1 3 e−iσ T1 (4.39.9)

(c) For the case of  = 3ω0 + εσ :

In order to eliminate secular terms from (4.39.7), there must be

2
2A − A + A2 A + 22 A + ω0−1 ( − 2ω0 )A eiσ T1 = 0

i.e.,
  2
2A = A − 22 A − A2 A + 2 − ω0−1 A eiσ T1 (4.39.10)

(d) For the case of  = 3ω0 + εσ :

In order to eliminate secular terms from (4.39.7), there must be

2A − A + A2 A + 22 A + ω0−1 (ω0 − 2εσ )2 Ae−i2σ T1

+ω0−1 (2εσ + ω0 )2 Aei2σ T1 = 0

i.e.,

2A = A − 22 A − A2 A − 22 A cos 2σ T1 (4.39.11)

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Chapter 5
Parametrically Excited Systems

5.1 Exercise 5.1 (The Method of Strained Parameters

to Determine the Transition Curves for a Hill Equation)

Solution: Based on the Floquet theory, that the characteristic exponent is 0 or i

(i.e., the solutions have periods of 2π or 4 π ) and then determines the values of the
parameters for which the assumption is true. We seek the solutions of the original
equation having periods of 2π and 4 π and the equations for the transition curves
a = a(ε) in the form of the following perturbation expansions:

u(x; ε) = u0 (x) + εu1 (x) + ε2 u2 (x) + · · · (5.1.1)

a = a0 + εa1 + ε2 a2 + · · · (5.1.2)

In addition,

(1 − εcosx)−1 = 1 + εcosx + ε2 cos2 x

(1 − εcosx)−2 = 1 + 2εcosx + 3ε2 cos2 x
(a0 + εa1 + ε2 a2 )−1 = a0−1 (1 + εa0−1 a1 + ε2 a0−1 a2 )−1
   
= a0−1 [1 − εa0−1 a1 + ε2 a0−1 a2 + εa0−1 a1 + ε2 a0−1 a2 )2
= a0−1 − εa0−2 a1 − ε2 a0−2 a2 + ε2 a0−3 a12
(a0 + εa1 + ε2 a2 )−2 = a0−2 − 2εa0−3 a1 − 2ε2 a0−3 a2 + 3ε2 a0−4 a12 (5.1.3)

Substituting (5.1.1) and (5.1.2) into the original equation and retaining to O(ε2 ),
we obtain

© The Author(s) 2025 319

Z. He et al., Solved Problems in Nonlinear Oscillations,
[Link]
320 5 Parametrically Excited Systems

1    
0 = u + (1 − ε cos x)−2 a−2 2(1 − ε cos x) 2 − εa2 cos x + ε2 a2 sin2 x u
4  
1 1
= u + (1 − ε cos x)−1 a−2 − ε cos x u + ε2 (1 − ε cos x)−2 u sin2 x

2 4
  2 
 
= u0 + εu1 + ε u2 + 1 + ε cos x + ε cos x 2 2
 
1  
× a0−2 − 2εa0−3 a1 − 2ε2 a0−3 a2 + 3ε2 a0−4 a12 − ε cos x u0 + εu1 + ε2 u2
2
1 2  
+ ε 1 + 2ε cos x + 3ε2 cos2 x u0 + εu1 + ε2 u2 sin2 x + · · ·
4
1   
+ ε2 1 + 2ε cos x + 3ε2 cos2 x u0 + εu1 + ε2 u2 sin2 x + · · ·
4
+ ε2 (u2 + a0−2 u2 − 2a0−3 a2 u0 + 3a0−4 a12 u0 − 2a0−3 a1 u0 cos x
+ ε2 (u2 + a0−2 u2 − 2a0−3 a2 u0 + 3a0−4 a12 u0 − 2a0−3 a1 u0 cos x
1
− 2a0−3 a1 u1 − u1 cos x + a0−2 u1 cos x) + · · · (5.1.4)
2
Equating coefficients of like powers of ε in the above equation yields

u0 + a0−2 u0 = 0 (5.1.5)

1
u0 + a0−2 u1 = −2a0−3 a1 u0 + u0 Cos x − a0−2 u0 Cos x (5.1.6)
2

u2 + a0−2 u2 = 2a0−3 a2 u0 − 3a0−4 a12 u0 + 2a0−3 a1 u0 cos x

1 1
+ u0 cos2 x − a0−2 u0 cos2 x − u0 sin2 x
2 4
−3 1 −2
+ 2a0 a1 u1 + u1 cos x − a0 u1 cos x (5.1.7)
2
The solution of (5.1.5) is

u0 = b cos a0−1 x + c sin a0−1 x (5.1.8)

CASE I: a0 = 2

u0 = b cos(x/2) + c sin(x/2) (5.1.9)

u0 is a periodic solution with period 2T = 4π . Substituting (5.1.9) into (5.1.6) yields

5.1 Exercise 5.1 (The Method of Strained Parameters to Determine … 321

 
1 1 1 1
u1 + u1 = − a1 b cos x + c sin x
4 4 2 2
 
1 1 1
+ b cos x + c sin x cos x
4 2 2
1 1 1 1
= − a1 b cos x − a1 c sin x
4 2 4 2
1 1 1 1
+ b cos x − c sin x + NST
8  2 8 2  
1 1 1 1 1 1
= − b a1 − cos x − c a1 + sin x + NST (5.1.10)
4 2 2 4 2 2

In order to eliminate secular terms from the above equation, there must be

1 1
a1 = or a1 = − (5.1.11)
2 2
Therefore, the transition curves emanating from a = 2 is given by

1  
a = 2 ± ε + O ε2 (5.1.12)
2

CASE II: a0 = 1

u0 = b cos x + c sin x (5.1.13)

u0 is a periodic solution with period T = 2π . Substituting (5.1.9) into (5.1.6) yields

1
u1 + u1 = −2a1 (bcosx + csinx) − (bcosx + csinx)cosx
2
1 1 1
= −2ba1 cosx − 2ca1 sinx − b − bcos2x − csin2x (5.1.14)
4 4 4
In order to eliminate secular terms from the above equation, there must be

a1 = 0

Then the solution of (5.1.14) is

1 1 1
u1 = − b + b cos 2x + c sin 2x (5.1.15)
4 12 12
Substituting (5.1.13) and (5.1.15) into (5.1.7) yields
322 5 Parametrically Excited Systems

1
u2 + u2 = 2a2 (b cos x + c sin x) − (b cos x + c sin x)
4
1
− (b cos x + c sin x) cos x2
4 
1 1 1 1
− − b + b cos 2x + c sin 2x cos x
2 4 12 12
   
1 1
= 2a2 − b cos x + 2a2 − c sin x + NST (5.1.16)
3 3

In order to eliminate secular terms from the above equation, there must be

a2 = 1/6 (5.1.17)

Therefore, the transition curves emanating from a = 1 is given by

1  
a = 1 + ε2 + O ε3 (5.1.18)
6

5.2 Exercise 5.2 (The Method of Strained Parameters

to Determine the Transition Curves of the Hill’s
Equation for LRC Circuits with Sinusoidally Varying
Resistance)

Solution: (a) Since

Ṙ = R0 α cos t

 t
 t
İ = w ddtτ exp − 21 L−1
R(ξ )d ξ − 1
2
wL−1 Rexp − 21 L−1 R(ξ )d ξ
0  0
  t
= 21 w − 21 wL−1 R exp − 21 L−1 R(ξ )d ξ
0
1 

Ï = [ 4  w − 2
− 1
4
w L−1 R 1
2
wL−1 Ṙ
    t
− 21 w − 21 wL−1 R 21 L−1 R exp − 21 L−1 R(ξ )d ξ ]
 0 
= 41 2 w − 21 w L−1 R + 41 wL−2 R2 − 21 wL−1 R0 α cos t
t
× exp − 21 L−1 R(ξ )d ξ
0

Substituting the above results into the original equation

5.2 Exercise 5.2 (The Method of Strained Parameters to Determine … 323
 
1 1 1 1
L 2 w − L−1 Rw + L−2 R2 w − L−1 R0 αw cos t
4 2 4 2
 
1 1  
+ R w − L−1 Rw + R0 α cos t + C −1 w = 0
2 2

i.e.,

1
w + [4−2 L−1 C −1 − −2 L−2 R20 − −2 L−2 R20 α 2
2
− 2−2 L−2 R20 α sin t 2−1 L−1 R0 α cos t
1
+ −2 L−2 R20 α 2 cos 2t] w = 0 (5.2.1)
2
Let
  
2αR0 4 1 R20 1 2
ε= , δ = − 1 + α (5.2.2)
L 2 LC 4L2 2

Considering t = 2τ , , (5.2.1) becomes


1 1
w + δ + ε cos 2τ − ε2 α −1 sin 2τ + ε2 cos 4τ w = 0 (5.2.3)
2 8

(b) (5.2.3) is a Hill equation with the period of the coefficients T = π . We use the
method of strained parameters to solve this problem. We seek the solutions of the
original equation having periods of π and 2 π and the equations for the transition
curves δ = δ(ε) in the form of the following perturbation expansions:

w(τ ; ε) = u0 (τ ) + εu1 (τ ) + ε2 u2 (τ ) + · · · (5.2.4)

δ = δ0 + εδ1 + ε2 δ2 + · · · (5.2.5)

Substituting the above two equations into (5.2.3) and keeping to O(ε2 ) terms, we
get
324 5 Parametrically Excited Systems

1 1
0 = w + δ + ε cos 2τ − ε2 α −1 sin 2τ + ε2 cos 4τ w
2 8
= u0 + εu1 + ε2 u2 + [δ0 + εδ1 + ε2 δ2 + ε cos 2τ
1 1  
− ε2 α −1 sin 2τ + ε2 cos 4τ ] u0 + εu1 + ε2 u2 + · · ·
2 8 
= u0 + δ0 u0 + ε u1 + δ0 u1 + δ1 u0 + u0 cos 2τ
1 1
+ε2 (u2 + δ0 u2 + δ2 u0 − α −1 u0 sin 2τ + u0 cos 4τ
2 8
+δ1 u1 + u1 cos 2τ ) + · · ·

Equating coefficients of like powers of ε in the above equation yields

u0 + δ0 u0 = 0 (5.2.6)

u1 + δ0 u1 = −δ1 u0 − u0 cos 2τ (5.2.7)

1 1
u2 + δ0 u2 = −δ2 u0 + α −1 u0 sin 2τ − u0 cos 4τ − δ1 u1 − u1 cos 2τ (5.2.8)
2 8
The solution of (5.2.6) is

u0 = a cos δ0 τ + b sin δ0 τ (5.2.9)

CASE I: δ 0 = 1

u0 = a cos τ + b sin τ (5.2.10)

u0 is a periodic solution with period 2T = 2π . Substituting (5.2.10) into (5.2.7)

yields

u 1 +
 δ0 u1 = −δ1 (acosτ
 + bsinτ )− (acosτ + bsinτ )cos2τ (5.2.11)
= − δ1 + 21 acosτ − δ1 sinτ − 21 bsinτ + NST

In order to eliminate secular terms from the above equation, there must be

1 1
δ1 = or δ1 = − (5.2.12)
2 2
Therefore, the transition curves emanating from δ = 1 is

1  
δ = 1 ± ε + O ε2 (5.2.13)
2
5.3 Exercise 5.3 (Stability Analysis of a Supported Movable Pendulum) 325

CASE II: δ 0 = 4

u0 = a cos 2τ + b sin 2τ (5.2.14)

u0 is a periodic solution with period T = π . Substituting (5.2.14) into (5.2.7) yields

u 1 + δ0 u1 = −δ1 (acos2τ + bsin2τ )

− (acos2τ + bsin2τ )cos2τ
= −δ1 acos2τ − δ1 bsin2τ + NST (5.2.10)

In order to eliminate secular terms from the above equation, there must be

δ1 = 0 (5.2.11)

Therefore, the transition curves emanating from δ = 4 is

 
δ = 4 + O ε3 (5.2.12)

5.3 Exercise 5.3 (Stability Analysis of a Supported Movable

Pendulum)

Solution: (a) When Y ≡ 0, the differential equation of motion of the pendulum

becomes
g
θ̈ + sin θ = 0 (5.3.1)
l
Its equilibrium position is given by sinθ = 0, i.e., θ = nπ , n is an integer.
The linearized form of (5.3.1) near the equilibrium position θ = 0 is
g
θ̈ + θ =0 (5.3.2)
l

Its eigenvalues are λ = ±i g/l, so the equilibrium position θ = 0 is the center.

The linearized form of (5.3.1) near the equilibrium position θ = π is
g
θ̈ − θ =0 (5.3.3)
l

Its eigenvalues are λ = ± g/l, so the equilibrium position θ = π is the saddle

point.
326 5 Parametrically Excited Systems

(b) When Y = εg cos t, the differential equation of motion of the pendulum
becomes

θ̈ + δ(1 − ε cos t) sin θ = 0, δ = g/l (5.3.4)

The linearized form of (5.3.4) near the equilibrium position θ = 0 is

θ̈ + δ(1 − ε cos t)θ = 0, δ = g/l (5.3.5)

This is a Hill equation with a period T = 2π/ . According to Floquet theory, the
transition curves determine the parameters which make the solution of this equation
periodic (with a period of T or 2T ). We use the method of strained parameters
to determine the transition curves for this problem. We seek the solutions of the
original equation having periods of T and 2 T and the equations for the transition
curves δ = δ(ε) in the form of the following perturbation expansions:

θ (t; ε) = u0 (t) + εu1 (t) + ε2 u2 (t) + · · · (5.3.6)

δ = δ0 + εδ1 + ε2 δ2 + · · · (5.3.7)

Substituting the above two equations into (5.3.4) and retaining to O(ε2 ), we get

0 = θ̈ + δ(1 − ε cos t)

θ = ü0 + εü1 + ε2 ü2
   
+ δ0 + εδ1 + ε2 δ2 (1 − ε cos t) u0 + εu1 + ε2 u2 + · · ·
= ü0 + εü1 + ε2 ü2
  
+ δ0 + εδ1 − εδ0 cos t + ε2 δ2 − ε2 δ1 cos t u0 + εu1 + ε2 u2 + · · ·
= ü0 + δ0 u0 + ε(ü1 + δ0 u1 + δ1 u0 − δ0 u0 cos t)
+ ε2 (ü2 + δ0 u2 + δ2 u0 − δ1 u0 cos t + δ1 u1 − δ0 u1 cos t) + · · ·

Equating coefficients of like powers of ε in the above equation yields

ü0 + δ0 u0 = 0 (5.3.8)

ü1 + δ0 u1 = −δ1 u0 + δ0 u0 cos t (5.3.9)

ü2 + δ0 u2 = −δ2 u0 + δ1 u0 cos t − δ1 u1 + δ0 u1 cos t (5.3.10)

The solution of (5.3.8) is

u0 = a cos δ0 t + b sin δ0 t (5.3.11)

5.3 Exercise 5.3 (Stability Analysis of a Supported Movable Pendulum) 327

CASE I: δ0 = 2 :

u0 = a cos t + b sin t (5.3.12)

u0 is a periodic solution with period T = 2π/ . Substituting (5.3.12) into (5.3.9)

yields

ü1 + 2 u1 = −δ1 u0 + δ0 u0 cos t

= −δ1 (a cos t + b sin t)
− 2 (a cos t + b sin t) cos t
= −aδ1 cos t − bδ1 sin t
1 1
− 2 a(1 + cos 2t) − 2 b sin 2t (5.3.13)
2 2
In order to eliminate secular terms from the above equation, there must be

δ1 = 0 (5.3.14)

Then the solution of (5.3.13) is

1 1 1
u1 = − a + a cos 2t + b sin 2t (5.3.15)
2 6 6
Substituting (5.3.15) into (5.3.10), we get

ü2 + 2 u2 = −δ2 a cos t − δ2 b sin t

 
1 1 1
+ δ0 − a + a cos 2t + b sin 2t cos t
2 6 6
 
5 2
= − δ2 +  a cos t
12
 
1 2
− δ2 −  b sin t + NST (5.3.16)
12

In order to eliminate secular terms from the above equation, there must be

5 2 1 2
δ2 = −  or δ2 =  (5.3.17)
12 12

Therefore, the transition curves emanating from δ = 2 is

 
g 5 2  
δ = =  1 − ε + O ε3
2
l 12
328 5 Parametrically Excited Systems

i.e.,
 
g 1  
= 2 1 + ε2 + O ε3 (5.3.18)
l 12

CASE II: δ0 = 41 2 :

1 1
u0 = a cos t + b sin t (5.3.19)
2 2
u0 is a periodic solution with period 2T = 4π/ . Substituting (5.3.11) into (5.3.9)
yields

1
ü1 + 2 u1 = −δ1 u0 + δ0 u0 cos t
4  
1 1
= −δ1 a cos t + b sin t
2 2
 
1 1 1
− 2 a cos t + b sin t cos t
4 2 2
 
1 1
= − δ1 + 2 a cos t
8 2
 
1 1
− δ1 − 2 b sin t + NST (5.3.20)
8 2

In order to eliminate secular terms from the above equation, there must be

1
δ1 = ± 2 (5.3.21)
8

Therefore, the transition curves emanating from δ = 41 2 is

 
g 1  
δ = =  1 ± ε + O ε2
2
(5.3.22)
l 8

(c) When Y = αg cos t, the differential equation of motion of the pendulum
becomes
g
θ̈ + (1 − α cos t) sin θ = 0 (5.3.23)
l
Let θ = π + u, the linearized equation near the equilibrium solution θ = π is

ü + δ(1 − α cos t)u = 0, δ = −g/l (5.3.24)

5.4 Exercise 5.4 (Analyze the Linear and Nonlinear Stability of a Rotating … 329

This is a Hill equation with a period of T = 2π/  and has exactly the same form
as (5.3.5). Therefore, the transition curves emanating from δ = 2 is
 
g 5 2  
− =  1 − ε + O ε3
2
(5.3.25)
l 12

i.e.,
 
g 1  
− = 2 1 + ε2 + O ε3 (5.3.26)
l 12

and the transition curves emanating from δ = 41 2 is

 
g 1  
− =  1 ± ε + O ε2
2
(5.3.27)
l 8

5.4 Exercise 5.4 (Analyze the Linear and Nonlinear

Stability of a Rotating Pendulum Using the Method
of Strained Parameters and the Method of Multiple
Scales)

Solution: (a) The kinetic energy of the system is

1 2 2 
T= m l θ̇ + l 2 2 sin2 θ (5.4.1)
2
The potential energy of the system is

V = mgl(1 − cos θ ) (5.4.2)

Substituting (5.4.2) and (5.4.1) into the Lagrange’s equation, we can obtain the
differential equation of motion of the simple pendulum attached to rotating base

g 1
θ̈ + sin θ − 2 sin 2θ = 0 (5.4.3)
l 2

(b) Let  = 0 (1 + ε cos ωt), where ε << 1, , then (5.4.3) becomes

g 1
θ̈ + sin θ − 20 (1 + ε cos ωt)2 sin 2θ = 0 (5.4.4)
l 2
330 5 Parametrically Excited Systems

Linearizing the above equation near θ = 0 yields

g
θ̈ + θ − 20 (1 + ε cos ωt)2 θ = 0 (5.4.5)
l
i.e.,
g
θ̈ + − 20 − 220 ε cos ωt − 20 ε2 cos2 ωt θ = 0 (5.4.6)
l

(c) Denote δ = gl − 20 . We use the method of strained parameters to determine

the transition curves for this problem. We seek the solutions of the original equation
having periods of T and 2 T and the equations for the transition curves δ = δ(ε) in
the form of the following perturbation expansions:

θ (t; ε) = u0 (t) + εu1 (t) + ε2 u2 (t) + · · · (5.4.7)

δ = δ0 + εδ1 + ε2 δ2 + · · · (5.4.8)

Substituting the above two equations into (5.4.6) and retaining to O(ε2 ), we get
 
0 = θ̈ + δ − ε220 cos ωt − ε2 20 cos2 ωt θ
= ü0 + εü1 + ε2 ü2
 
+ δ0 + εδ1 − 2ε20 cos ωt + ε2 δ2 − ε2 20 cos2 ωt
 
× u0 + εu1 + ε2 u2 + · · ·
 
= ü0 + δ0 u0 + ε ü1 + δ0 u1 + δ1 u0 − 220 u0 cos ωt
+ ε2 (ü2 + δ0 u2 + δ2 u0 − 20 u0 cos2 ωt
+ δ1 u1 − 220 u1 cos ωt) + · · · s

Equating coefficients of like powers of ε in the above equation yields

ü0 + δ0 u0 = 0 (5.4.9)

ü1 + δ0 u1 = −δ1 u0 + 220 u0 cos ωt (5.4.10)

ü2 + δ0 u2 = −δ2 u0 + 20 u0 cos2 ωt

− δ1 u1 + 220 u1 cos ωt (5.4.11)

The solution of (5.4.9) is

u0 = a cos δ0 t + b sin δ0 t (5.4.12)

5.4 Exercise 5.4 (Analyze the Linear and Nonlinear Stability of a Rotating … 331

CASE I: δ0 = 0:

u0 = a (5.4.13)

u0 is a constant, which is the periodic solution of any period. Substituting (5.4.13)

into (5.4.10) yields

ü1 = −δ1 a + 220 a cos ωt (5.4.14)

In order to eliminate secular terms from the above equation, there must be

δ1 = 0 (5.4.15)

Then the solution of (5.4.14) is

220
u1 = − a cos ωt (5.4.16)
ω2
Substituting (5.4.16) and (5.4.13) into (5.4.11), we get

420
ü2 = −δ2 a + 20 1 − ω2
acos2 ωt
20
(5.4.17)
= −δ2 a + 220 1
4
− ω2 (1 + cos2ωt)a

In order to eliminate secular terms from the above equation, there must be
 
1 20
δ2 = 220 − 2 (5.4.18)
4 ω

Therefore, the transition curves emanating from δ = 0 is

 
g 1 20 2  
δ= − 20 = 220 − 2 ε + O ε3
l 4 ω

i.e.,
  
g 1 20 2  
= 20 1 + 2 − 2 ε + O ε3 (5.4.19)
l 4 ω

CASE II: δ0 = 41 ω2 :

1 1
u0 = a cos ωt + b sin ωt (5.4.20)
2 2
332 5 Parametrically Excited Systems

u0 is a periodic solution with period 2T = 4π/ω. Substituting (5.4.20) into (5.4.10)

yields
 
1 2 1 1
ü1 + ω u1 = −δ1 a cos ωt + b sin ωt
4 2 2
 
1 1
+ 20 a cos ωt + b sin ωt cos ωt
2
2 2
  1
= − δ1 − 20 a cos ωt
2
  1
− δ1 + 20 b sin ωt + NST (5.4.21)
2
In order to eliminate secular terms from the above equation, there must be

δ1 = ±20 (5.4.22)

Therefore, the transition curves emanating from δ = 41 ω2 is

g 1  
δ= − 20 = ω2 ± 20 ε + O ε2
l 4
i.e.,

g 1  
= 20 + ω2 ± 20 ε + O ε2 (5.4.23)
l 4

CASE III: δ0 = ω2 :

u0 = a cos ωt + b sin ωt (5.4.24)

u0 is a periodic solution with period 2T = 4π/ω. Substituting (5.4.24) into (5.4.10)

yields

ü1 + ω2 u1 = −δ1 (a cos ωt + b sin ωt)

+ 220 (a cos ωt + b sin ωt) cos ωt
= −δ1 a cos ωt − δ1 b sin ωt
+ 20 a(1 + cos 2ωt) + 20 b sin 2ω (5.4.25)

In order to eliminate secular terms from the above equation, there must be

δ1 = 0 (5.4.26)

The solution of (5.4.25) is

5.4 Exercise 5.4 (Analyze the Linear and Nonlinear Stability of a Rotating … 333

20 20 20

u1 = a − a cos 2ωt − b sin 2ωt (5.4.27)
ω2 3ω2 3ω2
Substituting (5.4.27) and (5.4.24) into (5.4.11), we get

ü2 + δ0 u2 = −δ2 (a cos ωt + b sin ωt)

+ 20 (a cos ωt + b sin ωt) cos2 ωt
 2 
0 20 20
+ 220 a − a cos 2ωt − b sin 2ωt cos ωt
ω2 3ω2 3ω2
 
3 540
= − δ2 − 20 − a cos ωt
4 3ω2
 
1 4
− δ2 − 20 + 02 b sin ωt + NST (5.4.28)
4 3ω

In order to eliminate secular terms from the above equation, there must be
   
3 520 1 2
δ2 = 20 + maybe δ2 = 20 − 02 (5.4.29)
4 3ω2 4 3ω

Therefore, the transition curves emanating from δ = ω2 is

 
g 3 520 2  3
δ= − 20 = ω2 + 20 + ε + O ε
l 4 3ω2
 
g 1 2  
δ = − 20 = ω2 + 20 − 02 ε2 + O ε3
l 4 3ω

i.e.,
 
g 2 3 520 2  
= 0 + ω + 0
2 2
+ ε + O ε3 (5.4.30)
l 4 3ω2
 
g 1 2  
= 20 + ω2 + 20 − 02 ε2 + O ε3 (5.4.31)
l 4 3ω

(d) Expanding the Eq. (5.4.4) near θ = 0 and retaining to O(θ 3 ) yields
334 5 Parametrically Excited Systems

 
θ̈ + gl −1 − 20 − 220 ε cos ωt − 20 ε2 cos2 ωt θ
 
2 2 1 −1 4 2 2 2 2
+  − gl + 0 ε cos ωt + 0 ε cos ωt θ 3 = 0 2
(5.4.32)
3 0 6 3 3
 
When θ = O ε1/2 , let

θ = ε̂u, ε̂ = ε1/2 (5.4.33)

Equation (5.4.32) becomes

 
ü + δ − 220 ε̂2 cos ωt − 20 ε̂4 cos2 ωt u
 
2 2 2 1 −1 2 4 2 4 2
+ 0 ε̂ − gl ε̂ + 0 ε̂ cos ωt + 20 ε̂6 cos2 ωt u3 = 0 (5.4.34)
3 6 3 3

where
1 2
δ = gl −1 − 20 ≈ ω (5.4.35)
4
In order to determine the effect of nonlinear terms on the stability of the equation,
we use the method of multiple scales to solve (5.4.34). Setting

u(t; ε) = u0 (T0 , T1 , T2 ) + ε̂u1 (T0 , T1 , T2 ) + ε̂2 u2 (T0 , T1 , T2 ) + · · · (5.4.36)

where Tn = ε̂n t. Substituting the above equation into (5.4.34) and retaining to O(ε̂2 ),
we get
   
0 = D02 + 2ε̂D0 D1 + ε̂2 D12 + 2D0 D2 u0 + ε̂u1 + ε̂2 u2
  
+ δ − 220 ε̂2 cos ωt − 20 ε̂4 cos2 ωt u0 + ε̂u1 + ε̂2 u2
 
4 2 2 1 −1 2 8 2 4 4
+ 0 ε̂ − gl ε̂ + 0 ε̂ cos ωt + 20 ε̂6 cos2 ωt
3 6 3 3
(u0 + ε̂u1 + ε̂2 u2 )3
 
= D02 u0 + 2ε̂D0 D1 u0 + ε̂2 D12 + 2D0 D2 u0
+ ε̂D02 u1 + 2ε̂2 D0 D1 u1 + ε̂2 D02 u2 + δu0 + ε̂δu1 + ε̂2 δu2
 
4 1
− 220 ε̂2 u0 cos ωt + ε̂2 20 − gl −1 u03 + · · ·
3 6
 2 
= D0 u0 + δu0 + ε̂ D0 u1 + δu1 + 2D0 D1 u0
2
 
+ ε̂2 [D02 u2 + δu2 + D12 + 2D0 D2 u0 + 2D0 D1 u1
5.4 Exercise 5.4 (Analyze the Linear and Nonlinear Stability of a Rotating … 335
 
4 2 1 −1 3
− 220 u0 cos ωt + 0 − gl u0 ] + · · ·
3 6

Equating coefficients of like powers of ε̂ in the above equation yields

D02 u0 + ω02 u0 = 0 (5.4.37)

D02 u1 + ω02 u1 = −2D0 D1 u0 (5.4.38)

 
D02 u2 + ω02 u2 = − D12 + 2D0 D2 u0 − 2D0 D1 u1
 
1 −1 4 2 3
+ 20 u0 cosωt +
2
gl − 0 u0 (5.4.39)
6 3

where ω02 = δ. The solution of (5.4.37) is

−
u0 = Aeiω0 T0 + A e−iω0 T0 (5.4.40)

where A = A(T1 , T2 ). Substituting u0 into (5.4.38) yields

D02 u1 + ω02 u1 = −2iω0 D1 Aeiω0 T0 + cc (5.4.41)

In order to eliminate secular terms from the above equation, there must be

D1 A = 0 ⇒ A = A(T2 ) (5.4.42)

Thus

u1 = 0 (5.4.43)

Substituting u0 and u1 into (5.4.39) yields

D02 u2 + ω02 u2 = −2iω0 D2 Aeiω0 T0 + 20 Aei(ω−ω0 )T0

 
1 −1
+ gl − 420 A2 Aeiω0 T0 + cc + NST (5.4.44)
2

When δ = ω02 = gl −1 − 20 ≈ 41 ω2 , we use the detuning parameter σ to

quantitatively describe the nearness of δ to ω0 , i.e.,

ω = 2ω0 + ε̂2 σ (5.4.45)

So (5.4.44) becomes
336 5 Parametrically Excited Systems

D02 u2 + ω02 u2 = −2iω0 D2 Aeiω0 T0 + 20 Aeiσ T2 eiω0 T0

 
1 −1
+ gl − 40 A2 Aeiω0 T0 + cc + NST
2
(5.4.46)
2

In order to eliminate secular terms from the above equation, there must be
 
− 1 −
−2iω0 D2 A + 20 eiσ T2 A + gl −1 − 420 A2 A = 0 (5.4.47)
2

Let A = 21 aeiβ , we get

 
  1 1 −1
−2iω0 a + 2ω0 aβ + 20 aei(σ T2 −2β) + gl − 40 a3 = 0
2
(5.4.48)
4 2

Separating the real and imaginary parts of the above equation yields

20
a = a sin(σ T2 − 2β)β 
2ω0
 
1 1 −1 2
=− gl − 40 a2 − 0 cos(σ T2 − 2β)
2
8ω0 2 2ω0

Let γ = σ T2 − 2β and consider ω02 ≈ 41 ω2 , we can write the above equation as

a = 20 ω−1 a sin γ (5.4.49)

 
1 1
γ  = σ + ω−1 gl −1 − 420 a2 + 220 ω−1 cos γ (5.4.50)
2 2

Therefore, the first order approximate solution of (5.4.34) is

1 1  
u0 = a cos[ (ω − εσ )t + γ )] + O ε1/2 (5.4.51)
2 2

Let a = γ  = 0 in (5.4.49) and (5.4.50), we can obtain

20 ω−1 a sin γ = 0 (5.4.52)

 
1 −1 1 −1
σ+ ω gl − 40 a2 + 220 ω−1 cos γ = 0
2
(5.4.53)
2 2

Therefore, the steady state solution is

1
a = 0, cos γ = − σ −2
0 ω (5.4.54)
2
5.5 Exercise 5.5 (Parametric Excitation of a Particle-String System … 337

The condition for the existence of a steady state solution of γ is

|σ | ≤ 220 ω−1 (5.4.55)

Therefore, the critical value of σ for the existence of steady state solution is

σ = ±220 ω−1 (5.4.56)

Substituting this into (5.4.45), we can obtain the critical condition for the existence
of a steady state solution

1 2  
gl −1 − 20 = ω ± ε20 + O ε2 (5.4.57)
4
Combining (5.4.23), and (5.4.57), we know that the effect of the nonlinear terms
is to limit the unstable linear motion to a finite-amplitude motion, whose frequency is
one half the frequency of the excitation. In other words, a subharmonic is generated
by the system.

5.5 Exercise 5.5 (Parametric Excitation of a Particle-String

System Subjected to Axial Forces at Both Ends)

Solution: (a) The ends of the rope can move only in the horizontal direction.
According to Newton’s second law, we can obtain the equation of motion of m
along x-direction:
x
mẍ = −2T √ (5.5.1)
x2 + l2

i.e.,

mẍ + 2T0 (1 + ε sin ωt)x(l 2 + x2 )−1/2 = 0 (5.5.2)

(b) Linearizing the above equation near the equilibrium position x = 0, we get

mẍ + 2T0 (1 + ε sin ωt)l −1 x = 0 (5.5.3)

i.e.,

2T0
ẍ + ω02 (1 + ε sin ωt)x = 0, ω02 = (5.5.4)
ml
338 5 Parametrically Excited Systems

(c) (5.5.4) is a Hill equation with a time-varying parameter of period T = 2π/ω.

We use the method of strained parameters to obtain transition curves. We seek the
solutions of the original equation having periods of T and 2 T and the equations
for the transition curves ω02 = δ = δ(ε) in the form of the following perturbation
expansions:

x(t; ε) = u0 (t) + εu1 (t) + ε2 u2 (t) + · · · (5.5.5)

δ = δ0 + εδ1 + ε2 δ2 + · · · (5.5.6)

Substituting the above two equations into (5.5.4) and retaining to O(ε2 ), we get

0 = ẍ + δ(1 + ε sin ωt)x

= ü0 + εü1 + ε2 ü2
   
+ δ0 + εδ1 + ε2 δ2 (1 + ε sin ωt) u0 + εu1 + ε2 u2 + · · ·
= ü0 + εü1 + ε2 ü2 + δ0 u0 + εδ0 u1 + εδ0 u0 sin ωt
+ ε2 δ0 u2 + ε2 δ0 u1 sin ωt
+ εδ1 u0 + ε2 δ1 u1 + ε2 δ1 u0 sin ωt + ε2 δ2 u0 + · · ·
= ü0 + δ0 u0 + ε(ü1 + δ0 u1 + δ1 u0 + δ0 u0 sin ωt)
+ ε2 (ü2 + δ0 u2 + δ2 u0 + δ1 u0 sin ωt + δ1 u1 + δ0 u1 sin ωt) + · · ·

Equating coefficients of like powers of ε in the above equation yields

ü0 + δ0 u0 = 0 (5.5.7)

ü1 + δ0 u1 = −δ1 u0 − δ0 u0 sin ωt (5.5.8)

ü2 + δ0 u2 = −δ2 u0 − δ1 u0 sin ωt − δ1 u1 − δ0 u1 sin ωt (5.5.9)

The solution of (5.5.7) is

u0 = a cos δ0 t + b sin δ0 t (5.5.10)

CASE I: δ0 = ω2 :

u0 = a cos ωt + b sin ωt (5.5.11)

u0 is a periodic solution with period T = 2π/ω. Substituting (5.5.11) into (5.5.8)

yields
5.5 Exercise 5.5 (Parametric Excitation of a Particle-String System … 339
 
ü1 + ω2 u1 = − δ1 + ω2 sin ωt (a cos ωt + b sin ωt)
= −δ1 a cos ωt − δ1 b sin ωt
1 1
− ω2 a sin 2ωt − ω2 b(1 − cos 2ωt) (5.5.12)
2 2
In order to eliminate secular terms from the above equation, there must be

δ1 = 0 (5.5.13)

Then the solution of (5.5.12) is

1 1 1
u1 = − b + a sin 2ωt − b cos 2ωt (5.5.14)
2 6 6
Substituting the above results into (5.5.9), we obtain

ü2 + δ0 u2 = −δ2 u0 − δ0 u1 sin ωt

= −δ2 (a cos ωt + b sin ωt)
 
2 1 1 1
+ω b − a sin 2ωt + b cos 2ωt sin ωt
2 6 6
 
1 2
= − δ2 + ω a cos ωt
12
 
5 2
− δ2 − ω b sin ωt + NST (5.5.15)
12

In order to eliminate secular terms from the above equation, there must be

1 2 5 2
δ2 = − ω or ω (5.5.16)
12 12

Therefore, the transition curves emanating from δ = ω2 is

1 2 2  
δ = ω2 − ω ε + O ε3
12
5 2 2  
δ = ω2 + ω ε + O ε3
12
i.e.,
 
1 2  
ω02 = ω 1 − ε + O ε3
2
(5.5.17)
12
or
340 5 Parametrically Excited Systems
 
5  
ω02 = ω2 1 + ε2 + O ε3 (5.5.18)
12

CASE II: δ0 = 41 ω2 :

1 1
u0 = a cos ωt + b sin ωt (5.5.19)
2 2
u0 is a periodic solution with period 2T = 4π/ω. Substituting (5.5.19) into (5.5.8)
yields
 
1 1 1
ü1 + ω2 u1 = −δ1 a cos ωt + b sin ωt
4 2 2
 
1 2 1 1
− ω a cos ωt + b sin ωt sin ωt
4 2 2
 
1 2 1
= − δ1 a + ω b cos ωt
8 2
 
1 2 1
− δ1 b + ω a sin ωt + NST (5.5.20)
8 2

In order to eliminate secular terms from the above equation, there must be
    
δ1 a + 18 ω2 b = 0 δ1 18 ω2 a 0
⇒ = (5.5.21)
8
ω a + δ1 b = 0
1 2
8
ω δ1
1 2
b 0

The condition for having a nontrivial solution is

1
δ1 = ± ω 2 (5.5.22)
8

Therefore, the transition curves emanating from δ = 41 ω2 is

1 2 1 2  
δ= ω ± ω ε + O ε2
4 8
i.e.,
 
1 2 1  
ω02 = ω 1 ± ε + O ε2 (5.5.23)
4 2

(d) Expand the Eq. (5.5.2) near x = 0 and retain to O(x3 ), we obtain

ẍ x 1 x 2
+ ω02 (1 + ε sin ωt) [1 − ) =0 (5.5.24)
l l 2 l
5.5 Exercise 5.5 (Parametric Excitation of a Particle-String System … 341

By making θ = x/l, the above equation becomes

1
θ̈ + ω02 (1 + ε sin ωt)θ − ω02 (1 + ε sin ωt)θ 3 = 0 (5.5.25)
2
  1
When x = O ε1/2 , θ = O ε 2 , let

θ = ε̂u, ε̂ = ε1/2 (5.5.26)

Equation (5.5.25) becomes

  1  
ü + ω02 1 + ε̂2 sin ωt u − ε̂2 ω02 1 + ε̂2 sin ωt u3 = 0 (5.5.27)
2
In order to determine the effect of the nonlinear terms on the stability of the
system, we use the method of multiple scales to solve (5.5.27). Setting

u(t; ε) = u0 (T0 , T1 , T2 ) + ε̂u1 (T0 , T1 , T2 ) + ε̂2 u2 (T0 , T1 , T2 ) + · · · (5.5.28)

where Tn = ε̂n t. Substituting the above equation into (5.5.27) and retaining to O(ε̂2 ),
we obtain
  1  
0 = ü + ω02 1 + ε̂2 sin ωt u − ε̂2 ω02 1 + ε̂2 sin ωt u3
  2  
= D02 + 2ε̂D0 D1 + ε̂2 D12 + 2D0 D2 u0 + ε̂u1 + ε̂2 u2
  
+ ω02 1 + ε̂2 sin ωt u0 + ε̂u1 + ε̂2 u2
1  
− ε̂2 ω02 1 + ε̂2 sin ωt (u0 + ε̂u1 + ε̂2 u2 )3
2
= D02 u0 + ε̂D02 u1 + ε̂2 D02 u2 + 2ε̂D0 D1 u0 + 2ε̂2 D0 D1 u1
 
+ ε̂2 D12 + 2D0 D2 u0 + ω02 u0 + ε̂ω02 u1 + ε̂2 ω02 u2
1
+ ε̂2 ω02 u0 sin ωt − ε̂2 ω02 u03 + · · ·
 2 
= D02 u0 + ω02 u0 + ε̂ D02 u1 + ω02 u1 + 2D0 D1 u0
 
+ ε̂2 [D02 u2 + ω02 u2 + D12 + 2D0 D2 u0 + 2D0 D1 u1
1
+ ω02 u0 sin ωt − ω02 u03 ] + · · ·
2
Equating coefficients of like powers of ε in the above equation yields

D02 u0 + ω02 u0 = 0 (5.5.29)

D02 u1 + ω02 u1 = −2D0 D1 u0 (5.5.30)

342 5 Parametrically Excited Systems

 
D02 u2 + ω02 u2 = − D12 + 2D0 D2 u0 − 2D0 D1 u1
(5.5.31)
−ω02 u0 sinωt + 21 ω02 u03

The solution of (5.5.29) is

−
u0 = Aeiω0 T0 + A e−iω0 T0 (5.5.32)

where A = A(T1 , T2 ). Substituting u0 into (5.5.30) yields

D02 u1 + ω02 u1 = −2iω0 D1 Aeiω0 T0 + cc (5.5.33)

In order to eliminate secular terms from the above equation, there must be

D1 A = 0 ⇒ A = A(T2 ) (5.5.34)

Therefore,

u1 = 0 (5.5.35)

Substitute u0 and u1 into (5.5.31) yields

D02 u2 + ω02 u2 = −2iω0 D2 Aeiω0 T0 + 21 iω02 Aei(ω−ω0 )T0

(5.5.36)
+ 23 ω02 A2 Aeiω0 T0 + cc + NST

When ω02 ≈ 14 ω2 , we use the detuning parameter σ to quantitatively describe the

nearness of ω to 2ω0 , i.e.,

ω = 2ω0 + ε̂2 σ (5.5.37)

So (5.5.36) becomes

D02 u2 + ω02 u2 = −2iω0 D2 Aeiω0 T0 + 21 iω02 Aeiσ T2 eiω0 T0

(5.5.38)
+ 23 ω02 A2 Aeiω0 T0 + cc + NST

In order to eliminate secular terms from the above equation, there must be

1 − 3 −
−2iD2 A + iω0 A eiσ T2 + ω0 A2 A = 0 (5.5.39)
2 2

Let A = 21 aeiβ , we get

1 3
−ia + aβ  + iω0 ei(σ T2 −2β) a + ω0 a3 = 0 (5.5.40)
4 16
5.5 Exercise 5.5 (Parametric Excitation of a Particle-String System … 343

Separating the real and imaginary parts of the above equation yields

1
a = ω0 a cos(σ T2 − 2β)
4
3 1
β = − ω0 a2 + ω0 sin(σ T2 − 2β)
16 4

Let γ = σ T2 − 2β and considering ω02 ≈ 41 ω2 , the above equation becomes

1
a = ω0 a cos γ (5.5.41)
4
3 1
γ  = σ + ω0 a2 − ω0 sin γ (5.5.42)
8 2
Therefore, the first order approximate solution of (5.5.27) is

1 1  
u0 = a cos[ (ω − εσ )t + γ )] + O ε1/2 (5.5.43)
2 2

Let a = γ  = 0 in (5.5.41) and (5.5.42), we can obtain

1
ω0 a cos γ = 0 (5.5.44)
4
3 1
σ + ω0 a2 − ω0 sin γ = 0 (5.5.45)
8 2
Therefore, the steady state solution is

a = 0, sin γ = 2σ ω0−1 (5.5.46)

The condition for the existence of a steady state solution of γ is

1
|σ | ≤ ω0 (5.5.47)
2
Therefore, the critical value of σ for the existence of steady state solution is

1 1
σ = ± ω0 ≈ ± ω (5.5.48)
2 4
Substituting this into (5.5.37), we can obtain the critical condition for the existence
of a steady state solution
344 5 Parametrically Excited Systems
 
1 2 1  
ω02 = ω 1 ± ε + O ε2 (5.5.49)
4 2

Combining (5.5.23), and (5.5.49), we know that the effect of the nonlinear terms
is to limit the unstable linear motion to a finite-amplitude motion, whose frequency is
one half of the frequency of the excitation. In other words, a subharmonic is generated
by the system.

5.6 Exercise 5.6 (Linear and Nonlinear Stability Analysis

of a Pendulum with Varying Length)

Solution: (a) The kinetic energy of the system is

  
1 2 1 d (r sin θ ) 2 d (r cos θ + y) 2
T= mv = m ] + ]
2 2 dt dt
1  
= m[(ṙ sin θ + r θ̇ cos θ )2 + ṙ cos θ − r θ̇ sin θ + ẏ)2
2
1  2 
= m ṙ + ẏ2 + r 2 θ̇ 2 + 2ṙ ẏ cos θ − 2r ẏθ̇ sin θ
2
1  
= m[2ẏ2 + l − y)2 θ̇ 2 − 2ẏ2 cos θ − 2(l − y)ẏθ̇ sin θ (5.6.1)
2
The potential energy of the system is

V = mgr(1 − cos θ ) = mg(l − y)(1 − cos θ ) (5.6.2)

Substituting (5.6.1) and (5.6.2) into the Lagrange’s equation, i.e.,

d ∂T ∂T ∂V
− =− (5.6.3)
dt ∂ θ̇ ∂θ ∂θ

we can obtain the differential equation of motion of the system

(l − y)θ̈ − 2ẏθ̇ − ÿ sin θ + g sin θ = 0 (5.6.4)

(b) Linearizing the above equation near θ = 0 yields

2ẏθ̇ g − ÿ
θ̈ − + θ =0 (5.6.5)
l−y l−y

(c) When y = εl cos t, (5.6.5) becomes

5.6 Exercise 5.6 (Linear and Nonlinear Stability Analysis of a Pendulum … 345

2ε sin t ω2 + ε2 cos t g

θ̈ + θ̇ + 0 θ = 0, ω02 = (5.6.6)
1 − ε cos t 1 − ε cos t l

We use the method of strained parameters to obtain the transition curve. Let the
solution of (5.6.6) solution and parameter ω02 have the following expansion:

θ (t; ε) = u0 (t) + εu1 (t) + ε2 u2 (t) + · · · (5.6.7)

ω02 = δ0 + εδ1 + ε2 δ2 + · · · (5.6.8)

Substituting the above two equations into (5.6.5) and retaining to O(ε2 ), we get

2ε sin t  
0 = ü0 + εü1 + ε2 ü2 + u̇0 + εu̇1 + ε2 u̇2
1 − ε cos t
ω02 + ε2 cos t  
+ u0 + εu1 + ε2 u2
1 − ε cos t
= ü0 + εü1 + ε2 ü2
 
+ 2ε sin t(1 + ε cos t) u̇0 + εu̇1 + ε2 u̇2
  
+ ω02 + ε2 cos t 1 + ε cos t + ε2 cos2 t
 
u0 + εu1 + ε2 u2 + · · ·
= ü0 + εü1 + ε2 ü2 + 2εu̇0 sin t
+ 2ε2 u̇0 sin t cos t + 2ε2 u̇1 sin t
+ ω02 u0 + εω02 u0 cos t + ε2 u0 cos t
+ ε2 ω02 u0 cos2 t + ε2 2 u0 cos2 t
+ εω02 u1 + ε2 ω02 u1 cos t
+ ε2 2 u1 cos t + ε2 ω02 u2 + · · ·
= ü0 + εü1 + ε2 ü2 + 2εu̇0 sin t
+ 2ε2 u̇0 sin t cos t + 2ε2 u̇1 sin t
   
+ δ0 + εδ1 + ε2 δ2 u0 + ε δ0 + εδ1 + ε2 δ2 u0 cos t
 
+ ε2 u0 cos t + ε2 δ0 + εδ1 + ε2 δ2 u0 cos2 t
+ ε2 2 u0 cos2 t
   
+ ε δ0 + εδ1 + ε2 δ2 u1 + ε2 δ0 + εδ1 + ε2 δ2 u1 cos t
 
+ ε2 2 u1 cos t + ε2 δ0 + εδ1 + ε2 δ2 u2 + · · ·
= ü0 + εü1 + ε2 ü2 + 2εu̇0 sin t
+ 2ε2 u̇0 sin t cos t + 2ε2 u̇1 sin t
+ δ0 u0 + εδ1 u0 + ε2 δ2 u0
+ εδ0 u0 cos t + ε2 δ1 u0 cos t
346 5 Parametrically Excited Systems

+ ε2 u0 cos t + ε2 δ0 u0 cos2 t

+ ε2 2 u0 cos2 t
+ εδ0 u1 + ε2 δ1 u1 + ε2 δ0 u1 cos t
+ ε2 2 u1 cos t + ε2 δ0 u2 + · · ·
= ü0 + δ0 u0
 
+ ε ü1 + δ0 u1 + δ1 u0 + 2u̇0 sin t + δ0 u0 cos t + 2 u0 cos t
+ ε2 [ü2 + δ0 u2 + δ2 u0 + δ1 u0 cos t + 2u̇0 sin t cos t
+ 2u̇1 sin t + δ0 u0 cos2 t + 2 u0 cos2 t
+ δ1 u1 + δ0 u1 cos t + 2 u1 cos t] + · · ·

Equating coefficients of like powers of ε̂ in the above equation yields

ü0 + δ0 u0 = 0 (5.6.9)

ü1 + δ0 u1 = −δ1 u0 − 2u̇0 sin t

− δ0 u0 cos t − 2 u0 cos t (5.6.10)

ü2 + δ0 u2 = −δ2 u0 − δ1 u0 cos t − δ0 u0 cos2 t

− 2 u0 cos2 t − u̇0 sin 2t
− δ1 u1 − δ0 u1 cos t − 2 u1 cos t
− 2u̇1 sin t (5.6.11)

The solution of (5.6.9) is

u0 = a cos δ0 t + b sin δ0 t (5.6.12)

√
CASE I: δ0 = 21 :

1 1
u0 = a cos t + b sin t (5.6.13)
2 2
Substituting (5.6.13) into (5.6.10) yields

1 5
ü1 + 2 u1 = −δ1 u0 − 2 u0 cos t − 2u̇0 sin t
4  4 
1 1
= −δ1 a cos t + b sin t
2 2
 
5 2 1 1
−  a cos t + b sin t cos t
4 2 2
5.6 Exercise 5.6 (Linear and Nonlinear Stability Analysis of a Pendulum … 347
 
1 1
− 2 −a sin t + b cos t sin t
2 2
1 1
= −δ1 a cos t − δ1 b sin t
2 2
5 2 1
−  a cos t cos t
4 2
5 2 1
−  b sin t cos t
4 2
1 1
+ 2 a sin t sin t − 2 b sin t cos t
 2 2
1 1
= − δ1 + 2 a cos t
8 2
 
1 2 1
− δ1 −  b sin t + NST (5.6.14)
8 2

In order to eliminate secular terms from the above equation, there must be

1
δ1 = ± 2 (5.6.15)
8

Therefore, the transition curves emanating from ω02 = 41 2 is

 
1 2 1  
ω02 = gl −1 =  1 ± ε + O ε2 (5.6.16)
4 2

√
CASE II: δ0 = :

u0 = a cos t + b sin t (5.6.17)

Substituting (5.6.17) into (5.6.10) yields

ü1 + 2 u1 = −δ1 u0 − 2u̇0 sin t

− 2 u0 cos t − 2 u0 cos t
 
= − δ1 + 22 cos t u0 − 2u̇0 sin t
 
= − δ1 + 22 cos t (a cos t + b sin t)
− 22 sin t(−a sin t + b cos t)
= −δ1 (a cos t + b sin t)
− 2 a(1 + cos 2t) − 2 b sin 2t
+ 2 a(1 − cos 2t) − 2 b sin 2t
= −δ1 (a cos t + b sin t) − 22 a cos 2t
348 5 Parametrically Excited Systems

− 22 b sin 2t (5.6.18)

In order to eliminate secular terms from the above equation, there must be

δ1 = 0 (5.6.19)

Thus, the solution of (5.6.18) is

2 2
u1 = a cos 2t + b sin 2t (5.6.20)
3 3
Substituting (5.6.17) and (5.6.20) into (5.6.11), we get

ü2 + 2 u2 = −δ2 u0 − 22 u0 cos2 t − u̇0 sin 2t

− 22 u1 cos t − 2u̇1 sin t
= −δ2 (a cos t + b sin t)
− 22 (a cos t + b sin t) cos2 t
− 2 (−a sin t + b cos t) sin 2t
 
2 2
− 22 a cos 2t + b sin 2t cos t
3 3
 
2 2
− 42 − a sin 2t + b cos 2t sin t
3 3
 
1  
= − δ2 + 2 a cos t − δ2 + 32 b sin t + NST (5.6.21)
3

In order to eliminate secular terms from the above equation, there must be

1
δ2 = − 2 or δ2 = −32 (5.6.22)
3

Therefore, the transition curves emanating from ω02 = 2 is

 
1  
ω02 = gl −1 = 2 1 − ε2 + O ε3 (5.6.23)
3
or
   
ω02 = gl −1 = 2 1 − 3ε2 + O ε3 (5.6.24)

(d) Expanding (5.6.4) near θ = 0 and retaining to O(θ 3 ) yields

 
2ẏθ̇ g − ÿ θ3
θ̈ − + θ− =0 (5.6.25)
l−y l−y 6
5.6 Exercise 5.6 (Linear and Nonlinear Stability Analysis of a Pendulum … 349

When y = εl cos t, , the nonlinear Eq. (5.6.25) becomes

 
2ε sin t ω02 + ε2 cos t θ3 g
θ̈ + θ̇ + θ− = 0, ω02 = (5.6.26)
1 − ε cos t 1 − ε cos t 6 l
 
When θ = O ε1/2 , let

θ = ε̂u, ε̂ = ε1/2 (5.6.27)

Equation (5.6.26) becomes

 3
2ε̂2  sin t ω02 + ε̂2 2 cos t 2u
ü + u̇ + u − ε̂ =0 (5.6.28)
1 − ε̂2 cos t 1 − ε̂2 cos t 6

In order to determine the effect of nonlinear terms on the stability of the equation,
we use the method of multiple scales to solve (5.6.28). Setting

u(t; ε) = u0 (T0 , T1 , T2 ) + ε̂u1 (T0 , T1 , T2 )

+ ε̂2 u2 (T0 , T1 , T2 ) + · · · (5.6.29)

where Tn = ε̂n t. Substituting the above equation into (5.6.28) and retaining to O(ε̂2 ),
we get
 3
2ε̂2  sin t ω02 + ε̂2 2 cos t 2u
0 = ü + u̇ + u − ε̂
1 − ε̂2 cos t 1 − ε̂2 cos t 6
 2   
= D0 + 2ε̂D0 D1 + ε̂ D1 + 2D0 D2 u0 + ε̂u1 + ε̂ u2
2 2 2
 
+ 2ε̂2  sin T0 (D0 + ε̂D1 ) u0 + ε̂u1 + ε̂2 u2
  
+ ω02 + ε̂2 2 cos T0 1 + ε̂2 cos T0
 
1
u0 + ε̂u1 + ε̂2 u2 − ε̂2 u03 + · · ·
6
= D02 u0 + ε̂D02 u1 + ε̂2 D02 u2 + 2ε̂D0 D1 u0
 
+ 2ε̂2 D0 D1 u1 + ε̂2 D12 + 2D0 D2 u0
+ 2ε̂2  sin T0 D0 u0 + ω02 u0 + ε̂ω02 u1
1
+ ε̂2 ω02 u2 − ε̂2 ω02 u03
6
+ ε̂2 ω02 u0 cos T0 + ε̂2 2 u0 cos T0 + · · ·
 
= D02 u0 + ω02 u0 + ε̂ D02 u1 + ω02 u1 + 2D0 D1 u0
 
+ ε̂2 [D02 u2 + ω02 u2 + D12 + 2D0 D2 u0
1
+ 2D0 D1 u1 − ω02 u03 + 2 sin T0 D0 u0
6
350 5 Parametrically Excited Systems

+ ω02 u0 cos T0 + 2 u0 cos T0 ] + · · ·

Equating coefficients of like powers of ε̂ in the above equation yields

D02 u0 + ω02 u0 = 0 (5.6.30)

D02 u1 + ω02 u1 = −2D0 D1 u0 (5.6.31)

  1
D02 u2 + ω02 u2 = − D12 + 2D0 D2 u0 − 2D0 D1 u1 + ω02 u03
6
− 2 sin T0 D0 u0 − ω02 u0 cos T0 − 2 u0 cos T0 (5.6.32)

The solution of (5.6.30) is

−
u0 = Aeiω0 T0 + A e−iω0 T0 (5.6.33)

where A = A(T1 , T2 ). Substituting u0 into (5.6.31) yields

D02 u1 + ω02 u1 = −2iω0 D1 Aeiω0 T0 + cc (5.6.34)

In order to eliminate secular terms from the above equation, there must be

D1 A = 0 ⇒ A = A(T2 ) (5.6.35)

Thus

u1 = 0 (5.6.36)

Substitute u0 , u1 into (5.6.32), we can obtain

 
D02 u2 + ω02 u2 = − D12 + 2D0 D2 u0 − 2 sin T0 D0 u0
1
− ω02 u0 cos T0 − 2 u0 cos T0 + ω02 u03
6
= −2iω0 D2 Aeiω0 T0 + ω0 ei(−ω0 )T0 A
1  1
− ω02 + 2 ei(−ω0 )T0 A + ω02 A2 Aeiω0 T0 + cc (5.6.37)
2 2

When ω0 = gl −1 ≈ 21 , we use the detuning parameter σ to quantitatively

describe the nearness of  to 2ω0 , i.e.,

 = 2ω0 + ε̂2 σ (5.6.38)

So (5.6.37) becomes
5.6 Exercise 5.6 (Linear and Nonlinear Stability Analysis of a Pendulum … 351

1 −
D02 u2 + ω02 u2 = −iD2 Aeiω0 T0 − 2 A eiσ T2 eiω0 T0
8
1 2 2 − iω0 T0
+  A Ae (5.6.39)
8
In order to eliminate secular terms from the above equation, there must be

1 − 1 −
−iD2 A −  A eiσ T2 + A2 A = 0 (5.6.40)
8 8

Let A = 21 aeiβ , we get

1 1
−ia + aβ  − aei(σ T2 −2β) + a3 = 0 (5.6.41)
8 32
Separating the real and imaginary parts of the above equation yields

1 1 1
a = − a sin(σ T2 − 2β)β  = − a2 +  cos(σ T2 − 2β)
8 32 8
Let γ = σ T2 − 2β, the above equation becomes

1
a = − a sin γ (5.6.42)
8
1 1
γ = σ + a2 −  cos γ (5.6.43)
16 4
Therefore, the first order approximate solution of (5.6.28) is

1 1  
u0 = a cos[ t − γ )] + O ε1/2 (5.6.44)
2 2

Let a = γ  = 0 in (5.6.42) and (5.6.43), we can obtain

1
a sin γ = 0 (5.6.45)
16
1 1
σ+ a2 −  cos γ = 0 (5.6.46)
16 4
Therefore, the steady state solution is

a = 0, cos γ = 4σ −1 (5.6.47)

The condition for the existence of a steady state solution of γ is

352 5 Parametrically Excited Systems

1
|σ | ≤  (5.6.48)
4
Therefore, the critical value of σ for the existence of steady state solution is

1
σ =±  (5.6.49)
4
Substituting this into (5.6.38), we can obtain the critical condition for the existence
of a steady state solution
 
1 2 1
ω02 =  1 ± ε̂2 (5.6.50)
4 2

i.e.,
 
1 2 1
gl −1 =  1± ε (5.6.51)
4 2

Combining (5.6.51), we know that the effect of the nonlinear terms is to limit
the unstable linear motion to a finite-amplitude motion, whose frequency is one half
the frequency of the excitation. In other words, a subharmonic is generated by the
system.

5.7 Exercise 5.7 (Linear and Nonlinear Stability Analysis

of a Particle Sliding on a Rotating Parabola)

Solution: (a) The kinetic energy of the system is

1  2 
T= m ẋ + ż 2 + 2 x2
2
1   
= m 1 + 4p2 x2 ẋ2 + 2 x2 (5.7.1)
2
The kinetic energy of the system is

V = mgz = mgpx2 (5.7.2)

Substituting (5.7.1) and (5.7.2) into the Lagrange’s equation, we can obtain the
differential equation of motion of the system
 
m 1 + 4p2 x2 ẍ + 4mp2 xẋ2 − m2 x = −2mgpx
5.7 Exercise 5.7 (Linear and Nonlinear Stability Analysis of a Particle … 353

i.e.,
   
1 + 4p2 x2 ẍ + 4p2 xẋ2 + 2pg − 2 x = 0 (5.7.3)

When   = 0 (1 + ε cos ωt), the

 above equation
 becomes.
 
i.e., 1 + 4p2 x2 ẍ + 4p2 xẋ2 + 2pg − 20 x − 20 2ε cos ωt + ε2 cos2 ωt x = 0.
Let ω02 = 2gp − 20 , we get
   
1 + 4p2 x2 ẍ + 4p2 ẋ2 x + ω02 x − 20 2ε cos ωt + ε2 cos2 ωt x = 0 (5.7.4)

(b) Linearizing the above equation near x = 0, we get

 
ẍ + ω02 x − 20 2ε cos ωt + ε2 cos2 ωt x = 0 (5.7.5)

We use the method of strained parameters to obtain the transition curve. Let the
solution of Eq. (5.7.5) and parameter ω02 have the following expansion:

x(t; ε) = u0 (t) + εu1 (t) + ε2 u2 (t) + · · · (5.7.6)

ω02 = δ0 + εδ1 + ε2 δ2 + · · · (5.7.7)

Substituting the above two equations into (5.7.5) and retaining to O(ε2 ), we get
 
0 = ẍ + ω02 x − 20 2ε cos ωt + ε2 cos2 ωt x
= ü0 + εü1 + ε2 ü2
  
+ δ0 + εδ1 + ε2 δ2 u0 + εu1 + ε2 u2
  
− 20 2ε cos ωt + ε2 cos2 ωt u0 + εu1 + ε2 u2
= ü0 + εü1 + ε2 ü2 + δ0 u0 + εδ0 u1
+ ε2 δ0 u2 + εδ1 u0 + ε2 δ1 u1
+ ε2 δ2 u0 − 2ε20 u0 cos ωt
− ε2 20 u0 cos2 ωt − 2ε2 u1 20 cos ωt
 
= ü0 + δ0 u0 + ε ü1 + δ0 u1 + δ1 u0 − 220 u0 cos ωt
 
+ ε2 ü2 + δ0 u2 + δ2 u0 + δ1 u1 − 20 u0 cos2 ωt − 220 u1 cos ωt

Equating coefficients of like powers of ε in the above equation yields

ü0 + δ0 u0 = 0 (5.7.8)

ü1 + δ0 u1 = −δ1 u0 + 220 u0 cos ωt (5.7.9)

354 5 Parametrically Excited Systems

ü2 + δ0 u2 = −δ2 u0 − δ1 u1 + 20 u0 cos2 ωt + 220 u1 cos ωt (5.7.10)

The solution of (5.7.8) is

u0 = a cos δ0 t + b sin δ0 t (5.7.11)

√
CASE I: δ0 = 0:

u0 = a (5.7.12)

Substituting (5.7.12) into (5.7.9) yields

ü1 = −δ1 a + 220 a cos ωt (5.7.13)

In order to eliminate secular terms from the above equation, there must be

δ1 = 0 (5.7.14)

Thus

u1 = −220 ω−2 a cos ωt (5.7.15)

Substituting u0 , u1 into (5.7.10) yields

ü2 = −δ2 a + 20 a cos2 ωt − 440 ω−2 a cos2 ωt

1
= −δ2 a + 20 a(1 + cos 2ωt)
2
− 240 ω−2 a(1 + cos 2ωt)
 
1 2 4 −2
= − δ2 − 0 + 20 ω a
2
 
1 2
+  − 240 ω−2 a cos 2ωt (5.7.16)
2 0

In order to eliminate secular terms from the above equation, there must be

1 1 2
δ2 − 20 + 240 ω−2 ⇒ δ2 =  − 240 ω−2 (5.7.17)
2 2 0
Therefore, the transition curves emanating from ω0 = 0 is

1 2 2   
ω02 = ε 0 1 − 420 ω−2 + O ε3 (5.7.18)
2
5.7 Exercise 5.7 (Linear and Nonlinear Stability Analysis of a Particle … 355
√
CASE II: δ0 = 21 ω:

1 1
u0 = a cos ωt + b sin ωt (5.7.19)
2 2
Substituting (5.7.19) into (5.7.9) yields
 
1 2 1 1
ü1 + ω u1 = −δ1 a cos ωt + b sin ωt
4 2 2
 
1 1
+ 20 a cos ωt + b sin ωt cos ωt
2
2 2
  1
= − δ1 − 20 a cos
2
  1
− δ1 + 20 b sin ωt + NST (5.7.20)
2
In order to eliminate secular terms from the above equation, there must be

δ1 = ±20 (5.7.21)

Therefore, the transition curves emanating from ω0 = 21 ω is

1 2  
ω02 = ω ± ε20 + O ε2 (5.7.22)
4
√
CASE III: δ0 = ω:

1 1
u0 = a cos ωt + b sin ωt (5.7.23)
2 2
Substituting (5.7.23) into (5.7.9) yields
 
1 2 1 1
ü1 + ω u1 = −δ1 a cos ωt + b sin ωt
4 2 2
 
1 1
+ 20 a cos ωt + b sin ωt cos ωt
2
2 2
  1   1
= − δ1 − 20 a cos − δ1 + 20 b sin ωt + NST (5.7.24)
2 2
In order to eliminate secular terms from the above equation, there must be

δ1 = ±20 (5.7.25)

Therefore, the transition curves emanating from ω0 = ω is

356 5 Parametrically Excited Systems
 
ω02 = ω2 ± ε20 + O ε2 (5.7.26)

(c) In the neighborhood of x = 0, the nonlinear equation of the system (5.7.4) has
the same form. When θ = O ε1/2 , let

x = ε̂u, ε̂ = ε1/2 (5.7.27)

Equation (5.7.4) becomes

 
1 + 4p2 ε̂2 u2 ü + 4p2 ε̂2 u̇2 u + ω02 u
 
− 20 2ε̂2 cos ωt + ε̂4 cos2 ωt u = 0 (5.7.28)

In order to determine the effect of the nonlinear terms on the stability of the
solution, we use the method of multiple scales to solve (5.7.28). Setting

u(t; ε) = u0 (T0 , T1 , T2 ) + ε̂u1 (T0 , T1 , T2 ) + ε̂2 u2 (T0 , T1 , T2 ) + · · · (5.7.29)

where Tn = ε̂n t. Substituting the above equation into (5.7.28) and retaining to O(ε̂2 ),
we get
 
0 = 1 + 4p2 ε̂2 u2 ü + 4p2 ε̂2 u̇2 u + ω02 u
 
− 20 2ε̂2 cos ωt + ε̂4 cos2 ωt u
   
= 1 + 4p2 ε̂2 u02 D02 + 2ε̂D0 D1 + ε̂2 D12 + 2D0 D2
 
u0 + ε̂u1 + ε̂2 u2
 
+ 4p2 ε̂2 (D0 u0 )2 u0 + ω02 u0 + ε̂u1 + ε̂2 u2
  
− 20 2ε̂2 cos ωt + ε̂4 cos2 ωt u0 + ε̂u1 + ε̂2 u2 + · · ·
= D02 u0 + ε̂D02 u1 + ε̂2 D02 u2 + 2ε̂D0 D1 u0 + 2ε̂2 D0 D1 u1
 
+ ε̂2 D12 + 2D0 D2 u0 + 4p2 ε̂2 u02 D02 u0
+ 4p2 ε̂2 (D0 u0 )2 u0
+ ω02 u0 + ε̂ω02 u1 + ε̂2 ω02 u2 − 2ε̂2 20 u0 cos ωt + · · ·
 
= D02 u0 + ω02 u0 + ε̂ D02 u1 + ω02 u1 + 2D0 D1 u0
 
+ ε̂2 [D02 u2 + ω02 u2 + D12 + 2D0 D2 u0 + 2D0 D1 u1
 
+ 4p2 u02 D02 u0 + 4p2 D0 u0 )2 u0 − 220 u0 cos ωt + · · ·

Equating coefficients of like powers of ε̂ in the above equation yields

D02 u0 + ω02 u0 = 0 (5.7.30)

D02 u1 + ω02 u1 = −2D0 D1 u0 (5.7.31)

5.7 Exercise 5.7 (Linear and Nonlinear Stability Analysis of a Particle … 357

 
D02 u2 + ω02 u2 = − D12 + 2D0 D2 u0 − 2D0 D1 u1
− 4p2 u02 D02 u0 − 4p2 (D0 u0 )2 u0
+ 220 u0 cosωt (5.7.32)

The solution of (5.7.30) is

−
u0 = Aeiω0 T0 + A e−iω0 T0 (5.7.33)

where A = A(T1 , T2 ). Substituting u0 into (5.7.31) yields

D02 u1 + ω02 u1 = −2iω0 D1 Aeiω0 T0 + cc (5.7.34)

In order to eliminate secular terms from the above equation, there must be

D1 A = 0 ⇒ A = A(T2 ) (5.7.35)

Thus

u1 = 0 (5.7.36)

Substitute u0 , u1 into (5.7.32) yields

 
D02 u2 + ω02 u2 = − D12 + 2D0 D2 u0 − 4p2 u02 D02 u0
− 4p2 (D0 u0 )2 u0 + 220 u0 cos ωt
= −2iω0 D2 Aeiω0 T0 + 8p2 ω02 A2 Aeiω0 T0
+ 20 Aei(ω−ω0 )T0 + cc + NST (5.7.37)

When ω0 ≈ 21 ω, we use the detuning parameter σ to quantitatively describe the

nearness of ω to 2ω0 , i.e.,

ω = 2ω0 + ε̂2 σ (5.7.38)

So the Eq. (5.7.37) becomes

D02 u2 + ω02 u2 = −2iω0 D2 Aeiω0 T0 + 8p2 ω02 A2 Aeiω0 T0

+ 20 Aeiσ T2 eiω0 T0 + cc + NST (5.7.39)

In order to eliminate secular terms from the above equation, there must be

− −
−2iD2 A + 8p2 ω0 A2 A +20 ω0−1 A eiσ T2 = 0 (5.7.40)
358 5 Parametrically Excited Systems

Let A = 21 aeiβ , we get

1
−ia + aβ  + p2 ω0 a3 + 20 ω0−1 aei(σ T2 −2β) = 0 (5.7.41)
2
Separating the real and imaginary parts of the above equation yields

1 2 −1
a =  ω a sin(σ T2 − 2β)
2 0 0
1
β  = p2 ω0 a2 − 20 ω0−1 cos(σ T2 − 2β)
2
Let γ = σ T2 − 2β, the above equation becomes

1 2 −1
a =  ω a sin γ (5.7.42)
2 0 0

γ  = σ − 2p2 ω0 a2 + 20 ω0−1 cos γ (5.7.43)

Therefore, the first order approximate solution of (5.7.28) is

1 1  
u0 = a cos[ ( − εσ )t + γ )] + O ε1/2 (5.7.44)
2 2

Let a = γ  = 0 in (5.7.42) and (5.7.43), we can obtain

1 2 −1
 ω a sin γ = 0 (5.7.45)
2 0 0

σ − 2p2 ω0 a2 + 20 ω0−1 cos γ = 0 (5.7.46)

Therefore, the steady state solution is

a = 0, cos γ = −σ 20 ω0 (5.7.47)

The condition for the existence of a steady state solution of γ is

|σ | ≤ 20 ω0−1 (5.7.48)

Therefore, the critical value of σ for the existence of steady state solution is

σ = ±20 ω0−1 (5.7.49)

Substituting this into (5.7.38), we can obtain the critical condition for the existence
of a steady state solution
5.8 Exercise 5.8 (Nonlinear Solution to the Pure Rolling of a Cylinder … 359

1 2  
ω02 = ω ± ε20 + O ε2 (5.7.50)
4
Combining (5.7.22) and (5.7.50), we know that the effect of the nonlinear terms is
to limit the unstable linear motion to a finite-amplitude motion, whose frequency is
one half the frequency of the excitation. In other words, a subharmonic is generated
by the system.

5.8 Exercise 5.8 (Nonlinear Solution to the Pure Rolling

of a Cylinder on a Circular Surface)

Solution: (a) The kinetic energy of the system is

1  2 
T= M ẋ + ẏ2
2
1   
+ m ẋ + (R − r)θ̇ cos θ ]2 + ẏ + (R − r)θ̇ sin θ ]2
2
 
1 1 2 (R − r)θ̇ 2
+ mr [ ]
2 2 r

1   1   3
= M ẋ2 + ẏ2 + m ẋ2 + ẏ2 + (R − r)2 θ̇ 2
2 2 2

+ 2(R − r)ẋθ̇ cos θ + 2(R − r)ẏθ̇ sin θ (5.8.1)

where M denotes the mass of the cylinder and the block. The kinetic energy of the
system is

V = Mgy + mg(R − r)(1 − cos θ ) (5.8.2)

Substituting (5.8.1) and (5.8.2) into the Lagrange’s equation, we can obtain the
differential equation of motion of the system

3 
m[ R − r)2 θ̈ + (R − r)ẍ cos θ + (R − r)ÿ sin θ = −mg(R − r) sin θ
2
i.e.,
360 5 Parametrically Excited Systems

2 2
θ̈ + (R − r)−1 (g + ÿ) sin θ + (R − r)−1 ẍ cos θ = 0 (5.8.3)
3 3

Expanding the above equation near θ = 0 and retaining to O(θ 3 ) yields

   
2 1 2 1
θ̈ + (R − r)−1 (g + ÿ) θ − θ 3 + (R − r)−1 ẍ 1 − θ 2 = 0 (5.8.4)
3 6 3 2

(b) When ẍ = εK cos t, ÿ = 0„ the Eq. (5.8.4) becomes

   
2 1 2 1
θ̈ + (R − r)−1 g θ − θ 3 + ε(R − r)−1 K 1 − θ 2 cos t = 0 (5.8.5)
3 6 3 2
 
When θ = O ε1/2 , let

x = ε̂u, ε̂ = ε1/2 (5.8.6)

Equation (5.8.5) becomes

   
2 −1 1 2 3 2 −1 1 2 2
ü + (R − r) g u − ε̂ u + ε̂(R − r) K 1 − ε̂ u cos t = 0
3 6 3 2
(5.8.7)

Let
2
ω02 = (R − r)−1 g, K̂ = Kω02 g −1 (5.8.8)
3
Equation (5.8.7) becomes

1 1
ü + ω02 u − ε̂2 ω02 u3 − ε̂3 K̂u2 cos t = −ε̂ K̂ cos t (5.8.9)
6 2
We use the method of multiple scales to solve (5.8.9). Let

u(t; ε) = u0 (T0 , T1 , T2 ) + ε̂u1 (T0 , T1 , T2 ) + ε̂2 u2 (T0 , T1 , T2 ) + · · · (5.8.10)

where Tn = ε̂n t.. Substituting the above equation into (5.8.9) and retaining to O(ε̂2 ),
we get
5.8 Exercise 5.8 (Nonlinear Solution to the Pure Rolling of a Cylinder … 361

1 1
0 = ü + ω02 u − ε̂2 ω02 u3 − ε̂3 K̂u2 cos t + ε̂K̂ cos t
 6  2  
= D02 + 2ε̂D0 D1 + ε̂2 D12 + 2D0 D2 u0 + ε̂u1 + ε̂2 u2
  1
+ ω02 u0 + ε̂u1 + ε̂2 u2 − ε̂2 ω02 (u0 + ε̂u1 + ε̂2 u2 )3
6
1 3
− ε̂ K̂(u0 + ε̂u1 + ε̂ u2 ) cos t + ε̂K̂ cos t
2 2
2
= D02 u0 + ε̂D02 u1 + ε̂2 D02 u2 + 2ε̂D0 D1 u0
 
+ 2ε̂2 D0 D1 u1 + ε̂2 D12 + 2D0 D2 u0 + ω02 u0
1
+ ε̂ω02 u1 + ε̂2 ω02 u2 − ε̂2 ω02 u03 + ε̂K̂ cos t + · · ·
 6 
= D02 u0 + ω02 u0 + ε̂ D02 u1 + ω02 u1 + 2D0 D1 u0 + K̂ cos T0

  1
+ ε̂ D02 u2 + ω02 u2 + 2D0 D1 u1 + D12 + 2D0 D2 u0 − ω02 u03 + · · ·
2
6

Equating coefficients of like powers of ε̂ in the above equation yields

D02 u0 + ω02 u0 = 0 (5.8.11)

D02 u1 + ω02 u1 = −2D0 D1 u0 − K̂ cos T0 (5.8.12)

  1
D02 u2 + ω02 u2 = − D12 + 2D0 D2 u0 − 2D0 D1 u1 + ω02 u03 (5.8.13)
6
The solution of (5.8.11) is
−
u0 = Aeiω0 T0 + A e−iω0 T0 (5.8.14)

where A = A(T1 , T2 ). Substituting u0 into (5.8.12) yields

1
D02 u1 + ω02 u1 = −2iω0 D0 D1 Aeiω0 T0 − K̂eiT0 + cc (5.8.15)
2

CASE I:  ≈ ω0 :
We use the detuning parameter σ to quantitatively describe the nearness of  to
ω0 , i.e.,

 = ω0 + ε̂σ (5.8.16)

therefore,
362 5 Parametrically Excited Systems

1
D02 u1 + ω02 u1 = −2iω0 D0 D1 Aeiω0 T0 − K̂eiσ T1 eiω0 T0 + cc (5.8.17)
2
In order to eliminate secular terms from the above equation, there must be

1
−2iω0 D1 A − K̂eiσ T1 = 0 (5.8.18)
2
then
1
A= K̂ω0−1 σ −1 eiσ T1 (5.8.19)
4
Substituting this into (5.8.14), we can obtain the first order approximate solution
of the system

1
u= K̂ω0−1 σ −1 cos(ω0 T0 + σ T1 ) + O(ε̂)
2
1    
= K̂ω0−1 σ −1 cos ω0 + ε1/2 σ t + O ε1/2 (5.8.20)
2

CASE II:  ≈ 3ω0 :

Equation (5.8.15) becomes

1
D02 u1 + ω02 u1 = −2iω0 D0 D1 Aeiω0 T0 − K̂e3iω0 T0 + cc (5.8.21)
2
In order to eliminate secular terms from the above equation, there must be

D1 A = 0 ⇒ A = A(T2 ) (5.8.22)

Then the solution of (5.8.21) is

1 −2 3iω0 T0
u1 = ω K̂e + cc (5.8.23)
16 0
Substituting u0 , u1 into (5.8.13) yields

  1
D02 u2 + ω02 u2 = − D12 + 2D0 D2 u0 − 2D0 D1 u1 + ω02 u03
6
1 2 2 iω0 T0
= −2iω0 D2 Ae iω0 T0
+ ω0 A Ae + cc + NST (5.8.24)
2
In order to eliminate secular terms from the above equation, there must be

1 −
−2iD2 A + ω0 A2 A = 0 (5.8.25)
2
5.8 Exercise 5.8 (Nonlinear Solution to the Pure Rolling of a Cylinder … 363

Let A = 21 aeiβ , we get

1
−ia + aβ  + ω0 a3 = 0 (5.8.26)
16
Separating the real and imaginary parts of the above equation yields

a = 0
1
β = − ω0 a2 (5.8.27)
16
Near u = 0, (5.8.27) has the steady state solution

a = 0, β = 0 (5.8.28)

Therefore, the first order approximate solution of the system is

 
u = 0 + O ε1/2 (5.8.29)

This result shows that it is not possible to generate the subharmonic resonance
response under soft excitation.
CASE III:  ≈ 13 ω0 :
A similar process to the one above leads to the first order approximate solution
of the system when  ≈ 13 ω0 is
 
u = 0 + O ε1/2 (5.8.30)

(The reader is invited to complete the procedure on their own).

This result shows that it is not possible to generate the super harmonic resonance
response under soft excitation.
(c) When ẍ = εK cos 1 t, ÿ = ε cos 2 t, (5.8.4) becomes
 
2 −1 1 3
θ̈ + (R − r) (g + ε cos 2 t) θ − θ
3 6
 
2 1
+ ε(R − r)−1 K 1 − θ 2 cos 1 t = 0 (5.8.31)
3 2
 
When θ = O ε1/2 , let

x = ε̂u, ε̂ = ε1/2 (5.8.32)

Equation (5.8.5) becomes

364 5 Parametrically Excited Systems

1
ü + ω02 u − ε̂2 ω02 u3 + ε̂2 αu cos 2 t = −ε̂ K̂ cos 1 t (5.8.33)
6
 
2   1
ü + (R − r)−1 g + ε̂2 cos 2 t u − ε̂2 u3
3 6
 
2 1
+ ε̂(R − r)−1 K 1 − ε̂2 u2 cos 1 t = 0 (5.8.34)
3 2

Let
2 2 2
ω02 = (R − r)−1 g, α = (R − r)−1 , K̂ = (R − r)−1 K (5.8.35)
3 3 3

Substituting the above equation into (5.8.34) and retaining to O(ε̂2 ), it becomes

1
ü + ω02 u − ε̂2 ω02 u3 + ε̂2 αu cos 2 t = −ε̂ K̂ cos 1 t (5.8.36)
6
We use the method of multiple scales to solve the Eq. (5.8.36). Set

u(t; ε) = u0 (T0 , T1 , T2 ) + ε̂u1 (T0 , T1 , T2 ) + ε̂2 u2 (T0 , T1 , T2 ) + · · · (5.8.37)

where Tn = ε̂n t. Substituting the above equation into (5.8.36) and retaining to O(ε̂2 ),
we get

1
0 = ü + ω02 u − ε̂2 ω02 u3 + ε̂2 αu cos 2 t + ε̂ K̂ cos 1 t
 6   
= D02 + 2ε̂D0 D1 + ε̂2 D12 + 2D0 D2 u0 + ε̂u1 + ε̂2 u2
  1
+ ω02 u0 + ε̂u1 + ε̂2 u2 − ε̂2 ω02 (u0 + ε̂u1 + ε̂2 u2 )3
  6
+ ε̂ α u0 + ε̂u1 + ε̂ u2 cos 2 T0 + ε̂K̂ cos 1 T0
2 2
 
+ ε̂2 α u0 + ε̂u1 + ε̂2 u2 cos 2 T0 + ε̂K̂ cos 1 T0
= D02 u0 + ε̂D02 u1 + ε̂2 D02 u2 + 2ε̂D0 D1 u0 + 2ε̂2 D0 D1 u1
 
+ ε̂2 D12 + 2D0 D2 u0 + ω02 u0 + ε̂ω02 u1 + ε̂2 ω02 u2
1
− ε̂2 ω02 u03 + ε̂2 αu0 cos 2 T0 + ε̂K̂ cos 1 T0 + · · ·
6  
= D02 u0 + ω02 u0 + ε̂ D02 u1 + ω02 u1 + 2D0 D1 u0 + K̂ cos 1 T0

Equating coefficients of like powers of ε̂ in the above equation yields

D02 u0 + ω02 u0 = 0 (5.8.38)

D02 u1 + ω02 u1 = −2D0 D1 u0 − K̂ cos 1 T0 (5.8.39)

5.8 Exercise 5.8 (Nonlinear Solution to the Pure Rolling of a Cylinder … 365

  1
D02 u2 + ω02 u2 = − D12 + 2D0 D2 u0 − 2D0 D1 u1 + ω02 u03 − αu0 cos 2 T0
6
(5.8.40)

The solution of (5.8.38) is

−
u0 = Aeiω0 T0 + A e−iω0 T0 (5.8.41)

where A = A(T1 , T2 ). Substituting u0 into (5.8.39) yields

1
D02 u1 + ω02 u1 = −2iω0 D0 D1 Aeiω0 T0 − K̂eiT0 + cc (5.8.42)
2
In order to eliminate secular terms from the above equation, it is necessary to
consider different values of 1 , and further, if the Eq. (5.8.40) is considered, it is
also necessary to consider different values of 2 . Two cases are considered here: (i)
1 ≈ ω0 , 2 ≈ 2ω0 and (ii) 2 − 1 ≈ ω0 .
(i) 1 ≈ ω0 , 2 ≈ 2ω0 :
We use the detuning parameter σ to quantitatively describe the nearness of 1 to
ω0 , i.e.,

1 = ω0 + ε̂σ (5.8.43)

therefore,

1
D02 u1 + ω02 u1 = −2iω0 D1 Aeiω0 T0 − K̂eiσ T1 eiω0 T0 + cc (5.8.44)
2
In order to eliminate secular terms from the above equation, there must be

1
−2iω0 D1 A − K̂eiσ T1 = 0 (5.8.45)
2
then
1
A= K̂ω0−1 σ −1 eiσ T1 (5.8.46)
4
Substituting this into (5.8.14), the first order approximate solution of the system
is
1
u= K̂ω0−1 σ −1 cos(ω0 T0 + σ T1 ) + O(ε̂)
2
1    
= K̂ω0−1 σ −1 cos ω0 + ε1/2 σ t + O ε1/2 (5.8.47)
2
366 5 Parametrically Excited Systems

Therefore, when  ≈ ω0 is adopted, 2 ≈ 2ω0 is not required.

(ii) 2 − 1 ≈ ω0 :
Equation (5.8.39) becomes

1
D02 u1 + ω02 u1 = −2iω0 D1 Aeiω0 T0 − K̂ei1 T0 + cc (5.8.48)
2
In order to eliminate secular terms from the above equation, there must be

D1 A = 0 ⇒ A = A(T2 ) (5.8.49)

Thus the solution of (5.8.48) is

1
u1 =  2  K̂ei1 T0 + cc (5.8.50)
2 1 − ω02

Substituting u0 , u1 into (5.8.40) yields

  1
D02 u2 + ω02 u2 = − D12 + 2D0 D2 u0 − 2D0 D1 u1 + ω02 u03
6
− αu0 cos 2 T0
1
= −2iω0 D2 Aeiω0 T0 + ω02 A2 Aeiω0 T0 + cc + NST (5.8.51)
2
  1
D02 u2 + ω02 u2 = − D12 + 2D0 D2 u0 − 2D0 D1 u1 + ω02 u03 − αu0 cos 2 T0
6
In order to eliminate secular terms from the above equation, there must be

1 −
−2iD2 A + ω0 A2 A = 0 (5.8.52)
2

Let A = 21 aeiβ , we get

1
−ia + aβ  + ω0 a3 = 0 (5.8.53)
16
Separating the real and imaginary parts of the above equation yields

a = 0
1
β = − ω0 a2 (5.8.54)
16
(5.8.36) has the steady state solution near u = 0, i.e.,
5.9 Exercise 5.9 (The Method of Harmonic Balance to Solve Duffing’s … 367

a = 0, β = 0 (5.8.55)

Therefore, the first order approximate solution of the system is

 
u = 0 + O ε1/2 (5.8.56)

This result shows that it is not possible to generate the combined resonant response
of 2 − 1 ≈ ω0 under soft excitation.

5.9 Exercise 5.9 (The Method of Harmonic Balance

to Solve Duffing’s Equation and Stability Analysis)

Solution: (a) Use the method of harmonic balance to find the first order approximate
solution of the Duffing equation. Let the solution of the equation be

u ≈ u0 = a cos ωt (5.9.1)

Substituting it into the original equation, we get

0 = ü + ω02 u + αu3 − K cos ωt

= −aω2 cos ωt + ω02 a cos ωt
+ αa3 cos3 ωt − K cos ωt
= −aω2 cos ωt + ω02 a cos ωt
3 1
+ αa3 cos ωt + αa3 cos 3ωt − K cos ωt
4
 4 
3 3
= −aω + ω0 a + αa − K cos ωt + · · ·
2 2
(5.9.2)
4

Let the coefficient of cos ωt be zero, we can obtain the frequency–response

equation

 2  3
ω0 − ω2 a + αa3 = K (5.9.3)
4

(b) To examine the stability of the steady state solution, u0 , let

u = u0 + x (5.9.4)

where x is a small term. Substituting it into the original Duffing equation and keeping
linear terms in x yields
368 5 Parametrically Excited Systems

ẍ + ω02 x + 3αu02 x + ü0 + ω02 u0 + αu03 = K cos ωt

Considering ü0 + ω02 u0 + αu03 ≈ K cos ωt, we get

 
ẍ + ω02 + 3αu02 x = 0 (5.9.5)

(c) Substitute u0 = a cos ωt into (5.9.5), we obtain

 
ẍ + ω02 + 3αa2 cos2 ωt x = 0

i.e.,
 
3 2 3 2
ẍ + ω0 + αa + αa cos 2ωt x = 0
2
(5.9.6)
2 2

Thus, the stability of the periodic solution is transformed into determining the
stability of the solution of the Mathieu Eq. (5.9.6).
(d) We use the method of strained parameters to determine the transition curves of
equation. Since x << u0 , let the solution and parameters of the equation have the
following expansion:

x(t; ε) = εx1 (t) + ε2 x2 (t) + ε3 x3 (t) + · · · (5.9.7)

3
ω02 + αa2 = δ = δ0 + εδ1 + ε2 δ2 + · · · (5.9.8)
2
In order to let the parametric excitation term appearing in the control equation as
the higher order term, let

α = εα̂ (5.9.9)

Substituting the above three equations into (5.9.6) and retaining to O(ε3 ), we get
5.9 Exercise 5.9 (The Method of Harmonic Balance to Solve Duffing’s … 369
 
3
0 = ẍ + δ + εα̂a2 cos 2ωt x
2
  
= εẍ1 + ε ẍ2 + ε3 ẍ3 + δ0 + εδ1 + ε2 δ2 εx1 + ε2 x2 + ε3 x3
2

3  
+ εα̂a2 εx1 + ε2 x2 + ε3 x3 cos 2ωt + · · ·
2
= εẍ1 + ε2 ẍ2 + ε3 ẍ3 + εδ0 x1 + ε2 δ0 x2 + ε3 δ0 x3 + ε2 δ1 x1 + ε3 δ1 x2 + ε3 δ2 x1
3 3
+ ε2 α̂a2 x1 cos 2ωt + ε3 α̂a2 x2 cos 2ωt + · · ·
2  2 
3 2
= ε(ẍ1 + δ0 x1 ) + ε ẍ2 + δ0 x2 + δ1 x1 + α̂a x1 cos 2ωt
2
2
 
3
+ε ẍ3 + δ0 x3 + δ1 x2 + δ2 x1 + α̂a x2 cos 2ωt + · · ·
3 2
2

Equating coefficients of like powers of ε in the above equation yields

ẍ1 + δ0 x1 = 0 (5.9.10)

3
ẍ2 + δ0 x2 = −δ1 x1 − α̂a2 x1 cos 2ωt (5.9.11)
2
3
ẍ3 + δ0 x3 = −δ1 x2 − δ2 x1 − α̂a2 x2 cos 2ωt (5.9.12)
2
The solution of (5.9.10) is

x1 = b cos δ0 t + c sin δ0 t (5.9.13)

δ0 = ω 2 :

x1 = b cos ωt + c sin ωt (5.9.14)

x1 is a periodic solution with the period of T = 2π/ω. Substituting (5.9.14) into

(5.9.11) yields

ẍ2 + ω2 x2 = −δ1 (bcosωt + csinωt)

3
− α̂a2 (bcosωt + csinωt)cos2ωt
2
 
3
= − δ1 + α̂a2 (bcosωt + csinωt) + NST (5.9.15)
4

In order to eliminate secular terms from the above equation, there must be

3
δ1 = − α̂a2 (5.9.16)
4
370 5 Parametrically Excited Systems

Therefore, the transition curves emanating from δ = ω2 is

3 3  
ω02 + αa2 = ω2 − εα̂a2 + O ε2
2 4
i.e.,

9  
ω02 = ω2 − εα̂a2 + O ε2 (5.9.17)
4
Let

ω = ω0 + εσ

then the Eq. (5.9.17) can be written as

9 9
(ω − ω0 )(ω + ω0 ) − αa2 ≈ 0 ⇒ 2εσ ω0 (ω − ω0 ) − αa2 ≈ 0
4 4
i.e.,

9α̂a2
σ− ≈0 (5.9.18)
8ω0

5.10 Exercise 5.10 (The Method of Harmonic Balance

for Solving Pure Cubic Nonlinear Equations)

Solution: (a) Solve the given equation by the method of harmonic balance. Let the
approximate solution of the equation be

u ≈ u0 = a cos ωt + b cos 3ωt (5.10.1)

Substituting above equation into the original equation, we get.

0 = ü + u3 − K cos ωt
= −ω2 a cos ωt − 9ω2 b cos 3ωt + a3 cos3 ωt
+ 3a2 b cos2 ωt cos 3ωt
+ 3ab2 cos ωt cos2 3ωt + b3 cos3 3ωt − K cos ωt
3
= −ω2 a cos ωt − K cos ωt − 9ω2 b cos 3ωt + a3 cos ωt
4
5.10 Exercise 5.10 (The Method of Harmonic Balance for Solving Pure Cubic … 371

1 3 3
+ a3 cos 3ωt + a2 b cos 3ωt + a2 b cos ωt
4 2 4
3 2 3 2 3 2
+ a b cos 5ωt + ab cos ωt + ab cos 5ωt
4 2 4
3 2 3 3 1 3
+ ab cos 7ωt + b cos ωt + b cos 3ωt
4 4 4 
3 3 3 3 3
= −ω a − K + a + a b + ab + b cos ωt
2 3 2 2
4 4 2 4
 
1 3 1
+ −9ω2 b + a3 + a2 b + b3 cos 3ωt + · · · (5.10.2)
4 2 4

Let the coefficients of cos ωt and cos 3ωt be zero, we get

−ω2 a − K + 34 a3 + 34 a2 b + 23 ab2 + 43 b3 = 0
(5.10.3)
−9ω2 b + 41 a3 + 23 a2 b + 41 b3 = 0

(b) To examine the stability of the steady state solution u0 , let

u = u0 + x (5.10.4)

where x is a small term. Substituting into the original equation and keeping linear
terms in x yields

ẍ + 3u02 x + ü0 + u03 = K cos ωt

Considering ü0 + u03 ≈ K cos ωt, we get

ẍ + 3u02 x = 0 (5.10.5)

Substituting u0 into (5.10.5) yields

ẍ + 3(a cos ωt + b cos 3ωt)2 x = 0

i.e.,

3 2   
ẍ + a + b2 + a2 + 2ab cos 2ωt + 2ab cos 4ωt + b2 cos 6ωt x = 0 (5.10.6)
2
Thus, the stability of the steady state solution u0 is transformed into determining
the stability of the solution of (5.10.6).
(c) We use the method of strained parameters to determine the transition curves of
Eq. (5.10.6). Since x << u0 , it can be assumed that x is of order O(ε). In order to
make the time-varying parameter terms appear in the higher-order control equations
of x, the 3 periodic terms, cos 2ωt, cos 4ωt and cos 6ωt are of order O(ε). So, let the
372 5 Parametrically Excited Systems

solution and parameters of the equation have the following expansion:

x(t; ε) = εx1 (t) + ε2 x2 (t) + ε3 x3 (t) + · · · (5.10.7)

3 2 
a + b2 = δ = δ0 + εδ1 + ε2 δ2 + · · · (5.10.8)
2
3 2  3 2
a + 2ab = εα1 , 3ab = εα2 , b = εα3 (5.10.9)
2 2

Substituting the above three equations into (5.10.6) and retaining to O(ε3 ), we get

0 = ẍ + (δ + εα1 cos 2ωt + εα2 cos 4ωt + εα3 cos 6ωt)x

= εẍ1 + ε2 ẍ2 + ε3 ẍ3
  
+ δ0 + εδ1 + ε2 δ2 εx1 + ε2 x2 + ε3 x3
 
+ εα1 εx1 + ε2 x2 + ε3 x3 cos 2ωt
 
+ εα2 εx1 + ε2 x2 + ε3 x3 cos 4ωt
 
+ εα3 εx1 + ε2 x2 + ε3 x3 cos 6ωt
= ε(ẍ1 + δ0 x1 )
+ ε2 (ẍ2 + δ0 x2 + δ1 x1 + α1 x1 cos 2ωt + α2 x1 cos 4ωt + α3 x1 cos 6ωt)
+ ε3 (ẍ3 + δ0 x3 + δ1 x2 + α1 x2 cos 2ωt + α2 x2 cos 4ωt + α3 x2 cos 6ωt)

Equating coefficients of like powers of ε in the above equation yields

ẍ1 + δ0 x1 = 0 (5.10.10)

ẍ2 + δ0 x2 = −δ1 x1 − α1 x1 cos 2ωt − α2 x1 cos 4ωt − α3 x1 cos 6ωt (5.10.11)

ẍ3 + δ0 x3 = −δ1 x2 − α1 x2 cos 2ωt − α2 x2 cos 4ωt − α3 x2 cos 6ωt (5.10.12)

The solution of (5.10.10) is

x1 = c cos δ0 t + d sin δ0 t (5.10.13)

CASE I:δ0 = ω2 :

x1 = c cos ωt + d sin ωt (5.10.14)

x1 is a periodic solution with period 2T = 2π/ω. Substituting (5.10.14) into (5.10.11)

yields
5.10 Exercise 5.10 (The Method of Harmonic Balance for Solving Pure Cubic … 373

ẍ2 + 4ω2 x2 = −δ1 (c cos ωt + d sin ωt)

− α1 (c cos ωt + d sin ωt) cos 2ωt
− α2 (c cos ωt + d sin ωt) cos 4ωt
− α3 (c cos ωt + d sin ωt) cos 6ωt
 
1
= − δ1 + α1 c cos ωt
2
 
1
− δ1 − α1 d sin ωt + NST (5.10.15)
2

In order to eliminate secular terms from the above equation, there must be

1
δ1 = ± α1 (5.10.16)
2

Therefore, the transition curves emanating from δ = ω2 is

3 2  1  
a + b2 = δ = ω2 ± εα1 + O ε2 + · · ·
2 2
i.e.,

3 2  3   
ω2 = a + b2 ± a2 + 2ab + O ε2 (5.10.17)
2 4

CASE II:δ0 = 4ω2 :

x1 = c cos 2ωt + d sin 2ωt (5.10.18)

x1 is a periodic solution with period T = π/ω. Substituting (5.10.18) into (5.10.11)

yields

ẍ2 + 4ω2 x2 = −δ1 (c cos 2ωt + d sin 2ωt)

− α1 (c cos 2ωt + d sin 2ωt) cos 2ωt
− α2 (c cos 2ωt + d sin 2ωt) cos 4ωt
− α3 (c cos 2ωt + d sin 2ωt) cos 6ωt
 
1
= − δ1 + α2 c cos 2ωt
2
 
1
− δ1 − α2 d sin 2ωt + NST (5.10.19)
2

In order to eliminate secular terms from the above equation, there must be
374 5 Parametrically Excited Systems

1
δ1 = ± α2 (5.10.20)
2

Therefore, the transition curves emanating from δ = 4ω2 is

3 2  1  
a + b2 = δ = 4ω2 ± εα2 + O ε2 + · · ·
2 2
i.e.,

3 2   
ω2 = a + b2 ± ab + O ε2 (5.10.21)
8

5.11 Exercise 5.11 (The Quadratic Parametric Excitation

of a Linear Viscous Damping System)

Solution: (a) We use the method of multiple scales to solve the first order approximate
periodic solution of the system. Let the solution of the equation be

u(t; ε) = u0 (T0 , T1 , T2 ) + εu1 (T0 , T1 , T2 ) + ε2 u2 (T0 , T1 , T2 ) + · · · (5.11.1)

Substituting the above equation into the original equation and retaining to O(ε2 ),
we get

0 = ü + ω02 u + 2εμu̇ + 2εu2 cos 2t

   
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 u0 + εu1 + ε2 u2
   
+ ω02 u0 + εu1 + ε2 u2 + 2εμ(D0 + εD1 ) u0 + εu1 + ε2 u2
+ 2ε(u0 + εu1 + ε2 u2 )2 cos 2t
= D02 u0 + εD02 u1 + ε2 D02 u2 + 2εD0 D1 u0
 
+ 2ε2 D0 D1 u1 + ε2 D12 + 2D0 D2 u0
+ ω02 u0 + εω02 u1 + ε2 ω02 u2 + 2εμD0 u0
+ 2ε2 μD0 u1 + 2ε2 μD1 u0
+ 2εu02 cos 2t + 4ε2 u0 u1 cos 2t + · · ·
= D02 u0 + ω02 u0
 
+ ε D02 u1 + ω02 u1 + 2D0 D1 u0 + 2μD0 u0 + 2u02 cos 2T0
 
+ ε2 [D02 u2 + ω02 u2 + D12 + 2D0 D2 u0 + 2D0 D1 u1
+ 2μD0 u1 + 2μD1 u0 + 4u0 u1 cos 2T0 ] + · · ·
5.11 Exercise 5.11 (The Quadratic Parametric Excitation of a Linear Viscous … 375

Equating coefficients of like powers of ε in the above equation yields

D02 u0 + ω02 u0 = 0 (5.11.2)

D02 u1 + ω02 u1 = −2D0 D1 u0 − 2μD0 u0 − 2u02 cos 2t (5.11.3)

 
D02 u2 + ω02 u2 = − D12 + 2D0 D2 u0 − 2D0 D1 u1
(5.11.4)
−2μD0 u1 − 2μD1 u0 − 4u0 u1 cos2t

The solution of (5.11.2) is

−
u0 = Aeiω0 T0 + A e−iω0 T0 (5.11.5)

where A = A(T1 , T2 ). Let

1 iβ
A= ae (5.11.6)
2
Substituting this into (5.11.5), we can obtain the first order approximate solution
of the given equation

u ≈ u0 = a cos(ω0 t + β) + O(ε) (5.11.7)

Substituting u0 into (5.11.3) yields

D02 u1 + ω02 u1 = −2D0 D1 u0 − 2μD0 u0 − 2u02 cos 2T0

= −2iω0 D1 Aeiω0 T0 − 2iω0 μAeiω0 T0 − 2AAe2iT0
2
− A2 ei(2ω0 −2)T0 − A ei(2−2ω0 )T0 + cc + NST (5.11.8)

CASE I: When ω0 is far from 2 or 23 :

In order to eliminate secular terms from (5.11.8), we need

−A − μA = 0 (5.11.9)

The prime denotes the derivative with respect to T1 . Substituting A = 21 aeiβ into
the above equation gives

a + iaβ  + μa = 0 (5.11.10)

Separating the real and imaginary parts of the above equation yields

a = −μa, β  = 0 (5.11.11)
376 5 Parametrically Excited Systems

CASE II: When ω0 = 2 + εσ :

In order to eliminate secular terms from (5.11.8), we need
−
−2iω0 A − 2iω0 μA − 2A A e−iσ T1 − A2 eiσ T1 = 0 (5.11.12)

The prime denotes the derivative with respect to T1 . Substituting A = 21 aeiβ into
the above equation gives

1 1
iω0 a − ω0 aβ  + iω0 μa + a2 e−i(σ T1 +β) + a2 ei(σ T1 +β) = 0 (5.11.13)
2 4
Separating the real and imaginary parts of the above equation yields

1
a = −μa + ω0−1 a2 sin(σ T1 + β) a
4
3 −1 2
β = ω a cos(σ T1 + β)
4 0
Considering ω0 ≈ 2, the above equation becomes

1 3
a = −μa + a2 sin γ , aβ  = a2 cos γ (5.11.14)
8 8
where

γ = σ T1 + β (5.11.15)

CASE III: When 3ω0 = 2 + εσ :

In order to eliminate secular terms from (5.11.8), we need

−2
−2iω0 A − 2iω0 μA − A e−iσ T1 = 0 (5.11.16)

The prime denotes the derivative with respect to T1 . Substituting A = 21 aeiβ into
the above equation gives

1
iω0 a − ω0 aβ  + iω0 μa + a2 e−i(σ T1 +3β) = 0 (5.11.17)
4
Separating the real and imaginary parts of the above equation yields

1 1
a = −μa + ω0−1 a2 sin(σ T1 + 3β)a β  = ω0−1 a2 cos(σ T1 + 3β)
4 4

Considering ω0 ≈ 23 , the above equation becomes

5.11 Exercise 5.11 (The Quadratic Parametric Excitation of a Linear Viscous … 377

3 3
a = −μa + a2 sin γ , aβ  = a2 cos γ (5.11.18)
8 8
where

γ = σ T1 + 3β (5.11.19)

(b) We only determine the stability of the steady-state solution in the second case
above, readers are invited to analyze the rest of the cases on their own. Writing the
Eq. (5.11.14) as

3 9
a = −μa + a2 sin γ , aγ  = aσ + a2 cos γ (5.11.20)
8 8

Let a = γ  = 0 in (5.11.20), we obtain

3 9
−μa + a2 sin γ = 0, aσ + a2 cos γ = 0 (5.11.21)
8 8
The steady state solutions can be obtained:
(1) a = 0, γ are arbitrary constants;
(2) a = 0, γ are certain constants.
(1) a = 0 and γ = γ 0 are arbitrary constants.
Let

a = 0 + a1 , γ = γ0 + γ1 (5.11.22)

Substituting (5.11.22) into (5.11.20), we can obtain the corresponding linearized

equation

a1 = −μa1 (5.11.23)

So a1 = e−μT1 = e−εμt → 0, therefore this steady state solution is stable.

(2) a = a0 = 0, γ = γ 0
For this case, the frequency–response equation is

1 9 4
(μa)2 + (aσ )2 = a (5.11.24)
9 64
Let

a = a0 + a1 , γ = γ0 + γ1 (5.11.25)
378 5 Parametrically Excited Systems

Substituting (5.11.25) into (5.11.20), we can obtain the corresponding linearized

equation
    
a1 −μ + 43 a0 sin γ0 38 a02 cos γ0 a1
= (5.11.26)
γ1 σ a0−1 + 94 cos γ0 − 98 a0 sin γ0 γ1

For any set of steady state solutions a = a0 = 0, γ = γ 0 , one can calculate

the eigenvalues of Eq. (5.11.26), and the stability of the corresponding steady state
solutions can be determined from the sign of the real part of the two eigenvalues.

5.12 Exercise 5.12 (The Cubic Parametric Excitation

of a Linear Viscous Damping System)

Solution: (a) We use the method of multiple scales to solve the first order approximate
periodic solution of the system. Let the solution of the equation be

u(t; ε) = u0 (T0 , T1 , T2 ) + εu1 (T0 , T1 , T2 ) + ε2 u2 (T0 , T1 , T2 ) + · · · (5.12.1)

Substituting the above equation into the original equation and retaining to O(ε2 ),
we get

0 = ü + ω02 u + 2εμu̇ + 2εu3 cos 2t

  
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2
 
u0 + εu1 + ε2 u2
 
+ ω02 u0 + εu1 + ε2 u2
 
+ 2εμ(D0 + εD1 ) u0 + εu1 + ε2 u2
+ 2ε(u0 + εu1 + ε2 u2 )3 cos 2t
= D02 u0 + εD02 u1 + ε2 D02 u2 + 2εD0 D1 u0
 
+ 2ε2 D0 D1 u1 + ε2 D12 + 2D0 D2 u0
+ ω02 u0 + εω02 u1 + ε2 ω02 u2 + 2εμD0 u0
+ 2ε2 μD0 u1 + 2ε2 μD1 u0
+ 2εu03 cos 2t + 6ε2 u0 u1 cos 2t + · · ·
= D02 u0 + ω02 u0
 
+ ε D02 u1 + ω02 u1 + 2D0 D1 u0 + 2μD0 u0 + 2u03 cos 2T0
 
+ ε2 [D02 u2 + ω02 u2 + D12 + 2D0 D2 u0 + 2D0 D1 u1
+ 2μD0 u1 + 2μD1 u0 + 6u0 u1 cos 2T0 ] + · · ·
5.12 Exercise 5.12 (The Cubic Parametric Excitation of a Linear Viscous … 379

Equating coefficients of like powers of ε in the above equation yields

D02 u0 + ω02 u0 = 0 (5.12.2)

D02 u1 + ω02 u1 = −2D0 D1 u0 − 2μD0 u0 − 2u03 cos 2T0 (5.12.3)

 
D02 u2 + ω02 u2 = − D12 + 2D0 D2 u0 − 2D0 D1 u1
− 2μD0 u1 − 2μD1 u0 − 6u0 u1 cos2t (5.12.4)

The solution of (5.12.2) is

−
u0 = Aeiω0 T0 + A e−iω0 T0 (5.12.5)

where A = A(T1 , T2 ). Let

1 iβ
A= ae (5.12.6)
2
and substitute this into (5.12.5), we can obtain the first order approximate solution
of the given equation

u ≈ u0 = a cos(ω0 t + β) + O(ε) (5.12.7)

Substituting u0 into (5.12.3) yields

D02 u1 + ω02 u1 = −2D0 D1 u0 − 2μD0 u0 − 2u03 cos2T0

= −2iω0 D1 Aeiω0 T0 − 2iω0 μAeiω0 T0
2
− 3AA ei(2−ω0 )T0 + cc
3
− A ei(2−3ω0 )T0 − A3 ei(3ω0 −2)T0 + NST (5.12.8)

CASE I: When ω0 is far from 1 or 21 :

In order to eliminate secular terms from (5.12.8), we need

−A − μA = 0 (5.12.9)

The prime denotes the derivative with respect to T1 . Substituting A = 21 aeiβ into
the above equation gives

a + iaβ  + μa = 0 (5.12.10)

Separating the real and imaginary parts of the above equation yields
380 5 Parametrically Excited Systems

a = −μa, β  = 0 (5.12.11)

CASE II: When ω0 = 1 + εσ :

In order to eliminate secular terms from (5.12.8), we need

−2
−2iω0 A − 2iω0 μA − 3A A e−i2σ T1 − A3 ei2σ T1 = 0 (5.12.12)

The prime denotes the derivative with respect to T1 . Substituting A = 21 aeiβ into
the above equation gives

3
iω0 a − ω0 aβ  + iω0 μa + a3 e−i(2σ T1 +2β)
8
1 3 i(2σ T1 +2β)
+ a e =0 (5.12.13)
8
Separating the real and imaginary parts of the above equation and taking into
account ω0 ≈ 1, we get

1 1
a = −μa + a3 sinγ , aβ  = a3 cosγ (5.12.14)
4 2
where

γ = 2σ T1 + 2β (5.12.15)

CASE III: When 2ω0 = 1 + εσ :

In order to eliminate secular terms from (5.12.8), we need

−3
−2iω0 D1 Aeiω0 T0 − 2iω0 μAeiω0 T0 − A e−2iσ T1 eiω0 T0 = 0 (5.12.16)

Substituting A = 21 aeiβ into the above equation gives

1
iω0 a − ω0 aβ  + iω0 μa + a3 e−i(2σ T1 +4β) = 0 (5.12.17)
8
The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation and taking into account ω0 ≈ 21 yields

1 1
a = −μa + a3 sinγ , aβ  = a3 cosγ (5.12.18)
4 4
where

γ = 2σ T1 + 4β (5.12.19)
5.12 Exercise 5.12 (The Cubic Parametric Excitation of a Linear Viscous … 381

(b) We only determine the stability of the steady-state solution in the second case
above, readers are invited to analyze the rest of the cases on their own. Writing the
Eq. (5.12.14) as

1
a = −μa + a3 sinγ , aγ  = 2σ a + a3 cosγ (5.12.20)
4

Let a = γ  = 0 in (5.12.20), we obtain

1
−μa + a3 sinγ = 0, 2σ a + a3 cosγ = 0 (5.12.21)
4
The steady state solutions can be obtained:
(1) a = 0, γ are arbitrary constants;
(2) a = 0, γ are certain constants.

(1) a = 0 and γ = γ 0 are arbitrary constants.

Let

a = 0 + a1 , γ = γ0 + γ1 (5.12.22)

Substituting (5.12.22) into (5.12.20), we can obtain the corresponding linearized

equation

a1 = −μa1 (5.12.23)

So a1 = e−μT1 = e−εμt → 0, therefore this steady state solution is stable.

(2) a = a0 = 0, γ = γ 0
For this case, the frequency–response equation is

16(μa)2 + (σ a)2 = a6 (5.12.24)

Let

a = a0 + a1 , γ = γ0 + γ1 (5.12.25)

Substituting (5.12.25) into (5.12.20), we can obtain the corresponding linearized

equation
    
a1 −μ + 43 a02 sinγ0 41 a03 cosγ0 a1
= (5.12.26)
γ1 2σ + 3a02 cosγ0 −a03 sinγ0 γ1
382 5 Parametrically Excited Systems

For any set of steady state solutions a = a0 = 0,γ = γ 0 , one can calculate the
eigenvalues of Eq. (5.12.26), and the stability of the corresponding steady state
solutions can be determined from the sign of the real part of the two eigenvalues.

5.13 Exercise 5.13 (The High Order Nonlinear Parametric

Excitation of a Linear Viscous Damping System)

Solution: (a) We use the method of multiple scales to solve the first order approximate
periodic solution of the system. Let the solution of the equation be

u(t; ε) = u0 (T0 , T1 , T2 ) + εu1 (T0 , T1 , T2 ) + ε2 u2 (T0 , T1 , T2 ) + · · · (5.13.1)

Substituting the above equation into the original equation and retaining to O(ε2 ),
we get

0 = ü + ω02 u + 2εμu̇ + 2εun cos 2t

  
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2
 
u0 + εu1 + ε2 u2
 
+ ω02 u0 + εu1 + ε2 u2
 
+ 2εμ(D0 + εD1 ) u0 + εu1 + ε2 u2
+ 2ε(u0 + εu1 + ε2 u2 )n cos 2t
= D02 u0 + εD02 u1 + ε2 D02 u2 + 2εD0 D1 u0
 
+ 2ε2 D0 D1 u1 + ε2 D12 + 2D0 D2 u0
+ ω02 u0 + εω02 u1 + ε2 ω02 u2 + 2εμD0 u0
+ 2ε2 μD0 u1 + 2ε2 μD1 u0
+ 2εu0n cos 2t + 2nε2 u0n−1 u1 cos 2t + · · ·
= D02 u0 + ω02 u0
 
+ ε D02 u1 + ω02 u1 + 2D0 D1 u0 + 2μD0 u0 + 2u0n cos 2t
 
+ ε2 [D02 u2 + ω02 u2 + D12 + 2D0 D2 u0 + 2D0 D1 u1
+ 2μD0 u1 + 2μD1 u0 + 2nu0n−1 u1 cos 2t] + · · ·

Equating coefficients of like powers of ε in the above equation yields

D02 u0 + ω02 u0 = 0 (5.13.2)

D02 u1 + ω02 u1 = −2D0 D1 u0 − 2μD0 u0 − 2u0n cos 2T0 (5.13.3)

5.13 Exercise 5.13 (The High Order Nonlinear Parametric Excitation … 383

 
D02 u2 + ω02 u2 = − D12 + 2D0 D2 u0 − 2D0 D1 u1
− 2μD0 u1 − 2μD1 u0 − 2nu0n−1 u1 cos2t (5.13.4)

The solution of (5.13.2) is

−
u0 = Aeiω0 T0 + A e−iω0 T0 (5.13.5)

where A = A(T1 , T2 ). Let

1 iβ
A= ae (5.13.6)
2
Substituting this into (5.13.5), we can obtain the first order approximate solution
of the given equation

u ≈ u0 = a cos(ω0 t + β) + O(ε) (5.13.7)

Substituting u0 into (5.12.3) yields

D02 u1 + ω02 u1 = −2D0 D1 u0 − 2μD0 u0 − 2u0n cos 2T0

= −2iω0 D1 Aeiω0 T0 − 2iω0 μAeiω0 T0
− (Aeiω0 T0 + Ae−iω0 T0 )n ei2T0 + cc
= −2iω0 D1 Aeiω0 T0 − 2iω0 μAeiω0 T0
n
k
− Cnk An−k A ei[(n−2k)ω0 +2]T0 + cc (5.13.8)
k=0

From the above equation, when the following equation is satisfied

(n − 2k)ω0 + 2 ≈ ω0 (5.13.9)

i.e.,

2
ω0 ≈ , k = 1, 2, . . . , n (5.13.10)
1 + 2k − n

parametric resonance occurs and the first-order solution of Eq. (5.13.8) can be
obtained. Since ω 0 ≥ 0 is required,1
  + 2k − n ≥ 1, i.e., k is the integer greater
than or equal to 2n , where 2n denotes the largest integer less than or equal to 2n .
Therefore, for the case of n is an odd number, parameter resonance occurs when.

2 2 2 2
ω0 ≈ 1, , , , ..., for odd n (5.13.11)
4 6 8 n+1
384 5 Parametrically Excited Systems

For the case of n is an even number, parameter resonance occurs when.

ω0 ≈ 2, 23 , 25 , 27 , . . . , n+1
2
for even n.
(b) When (n + 1)ω0 = 2 + εσ , (5.13.8) can be written as

D02 u1 + ω02 u1 = −2iω0 D1 Aeiω0 T0 − 2iω0 μAeiω0 T0

n
k
− Cnk An−k A ei[(n−2k)ω0 +2]T0 + cc
k=0
= −2iω0 D1 Aeiω0 T0 − 2iω0 μAeiω0 T0
n
− A e−iσ T1 eiω0 T0 + NST (5.13.12)

In order to eliminate secular terms from the above equation, there must be

−n
2iω0 D1 A + 2iω0 μA + A e−iσ T1 = 0 (5.13.13)

Substituting A = 21 aeiβ into the above equation gives

ia − aβ  + iμa + 2−n ω0−1 an e−i[(n+1)β+σ T1 ] = 0 (5.13.14)

The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation and considering (n + 1)ω0 ≈ 2, we get

a = −μa + (n + 1)2−(n+1) an sinγ

aβ  = (n + 1)2−(n+1) an cosγ (5.13.15)

γ = σ T1 + (n + 1)β (5.13.16)

To analyze the stability of this set of steady-state solution, we can write (5.13.15)
as

aγ  = −μa + (n + 1)2−(n+1) an sinγ

aγ  = σ a + (n + 1)2 2−(n+1) an cosγ (5.13.17)

Let a = γ  = 0 in (5.13.17), we obtain

5.13 Exercise 5.13 (The High Order Nonlinear Parametric Excitation … 385

− μa + (n + 1)2−(n+1) an sin γ = 0,
σ a + (n + 1)2 2−(n+1) an cos γ = 0 (5.13.18)

The steady state solutions can be obtained:

(1) a = 0, γ are arbitrary constants;
(2) a = 0, γ are certain constants.

(1) a = 0 and γ = γ 0 are arbitrary constants.

Let

a = 0 + a1 , γ = γ0 + γ1 (5.13.19)

Substituting (5.13.19) into (5.13.17), we can obtain

a1 = −μa1 (5.13.20)

So a1 = e−μT1 = e−εμt → 0, therefore this steady state solution is stable.

(2) a = a0 = 0, γ = γ 0
For this case, the frequency–response equation is
σa 2
μ2 a2 + ( ) = (n + 1)2 2−2(n+1) a2n (5.13.21)
n+1

Let

a = a0 + a1 , γ = γ0 + γ1 (5.13.22)

Substituting (5.13.22) into (5.13.17), we can obtain the corresponding linearized

equation
386 5 Parametrically Excited Systems

 
a1
γ1
  
−μ + n(n + 1)2−(n+1) a0n−1 sin γ0 (n + 1)2−(n+1) a0n cos γ0 a1
=
σ a0−1 + n(n + 1)2 2−(n+1) a0n−2 cos γ0 −(n + 1)2 2−(n+1) a0n−1 sin γ0 γ1
(5.13.23)

For any set of steady state solutions a = a0 = 0, γ = γ 0 , one can calculate

the eigenvalues of Eq. (5.13.23), and the stability of the corresponding steady state
solutions can be determined from the sign of the real part of the two eigenvalues.
(c) When (n − 1)ω0 = 2 + εσ , (5.13.8) can be written as

D02 u1 + ω02 u1 = −2iω0 D1 Aeiω0 T0 − 2iω0 μAeiω0 T0

n
k
− Cnk An−k A ei[(n−2k)ω0 +2]T0 + cc
k=0
= −2iω0 D1 Aeiω0 T0 − 2iω0 μAeiω0 T0
= −2iω0 D1 Aeiω0 T0 − 2iω0 μAeiω0 T0
n−1 −iσ T1 iω0 T0
− nAA e e − An eiσ T1 eiω0 T0 + NST (5.13.24)

In order to eliminate secular terms from the above equation, there must be

−n−1
2iω0 D1 A + 2iω0 μA + nA A e−iσ T1 eiω0 T0 + An eiσ T1 = 0 (5.13.25)

Substituting A = 21 aeiβ into the above equation gives

ia − aβ  + iμa + 2−n nω0−1 an e−i[(n−1)β+σ T1 ]

+ 2−n ω0−1 an ei[(n−1)β+σ T1 ] = 0 (5.13.26)

The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation and considering (n − 1)ω0 ≈ 2, we get

a = −μa + (n − 1)2 2−(n+1) an sinγ

 
aβ  = n2 − 1 2−(n+1) an cosγ (5.13.27)

γ = σ T1 + (n − 1)β (5.13.28)

To analyze the stability of this set of steady-state solution, (5.13.15) is written as

5.13 Exercise 5.13 (The High Order Nonlinear Parametric Excitation … 387

a = −μa + (n − 1)2 2−(n+1) an sinγ

aγ  = σ a + (n + 1)(n − 1)2 2−(n+1) an cosγ (5.13.29)

Let a = γ  = 0 in (5.13.29), we obtain

−μa + (n − 1)2 2−(n+1) an sin γ = 0,

σ a + (n + 1)(n − 1)2 2−(n+1) an cos γ = 0 (5.13.30)

The steady state solutions can be obtained:

(1) a = 0, γ are arbitrary constants;
(2) a = 0, γ are certain constants.
(1) a = 0 and γ = γ 0 are arbitrary constants.
Let

a = 0 + a1 , γ = γ0 + γ1 (5.13.31)

Substituting (5.13.31) into (5.11.20), we can obtain the corresponding linearized

equation

a1 = −μa1 (5.13.32)

So a1 = e−μT1 = e−εμt → 0, therefore this steady state solution is stable.

(2) a = a0 = 0, γ = γ 0
For this case, the frequency–response equation is
σa 2
μ2 a2 + ( ) = (n − 1)4 2−2(n+1) a2n (5.13.33)
n+1

Let

a = a0 + a1 , γ = γ0 + γ1 (5.13.34)

Substituting (5.13.34) into (5.13.17), we can obtain the corresponding linearized

equation
 
a1
γ1
  
−μ + n(n − 1)2 2−(n+1) a0n−1 sin γ0 (n − 1)2 2−(n+1) a0n cos γ0 a1
= (5.13.35)
σ a0−1 + n(n + 1)(n − 1)2 2−(n+1) a0n−2 cos γ0 −(n + 1)(n − 1)2 2−(n+1) a0n−1 sin γ0 γ1

For any set of steady state solutions a = a0 = 0,γ = γ0 , one can calculate the
eigenvalues of Eq. (5.13.36), and the stability of the corresponding steady state
solutions can be determined from the sign of the real part of the two eigenvalues.
388 5 Parametrically Excited Systems

5.14 Exercise 5.14 (The Parametric Excitation of a System

with a Nonlinear Damping)

Solution: (a) We use the method of multiple scales to solve the first order approximate
periodic solution of the system. Let the solution of the equation be

u(t; ε) = u0 (T0 , T1 , T2 ) + εu1 (T0 , T1 , T2 ) + ε2 u2 (T0 , T1 , T2 ) + · · · (5.14.1)

Substituting the above equation into the original equation and retaining to O(ε2 ),
we get

0 = ü + ω02 u + εμ|u̇|n u̇ + 2εu cos 2t

 
= D02 + 2εD0 D1 (u0 + εu1 ) + ω02 (u0 + εu1 )
n
+ 2εμ(D0 + εD1 )(u0 + εu1 ) |(D0 + εD1 )(u0 + εu1 )|
+ 2ε(u0 + εu1 ) cos 2t
= D02 u0 + εD02 u1 + 2εD0 D1 u0
+ ω02 u0 + εω02 u1
n
+ εμD0 u0 |D0 u0 | + 2εu0 cos 2t + · · ·
= D02 u0 + ω02 u0 + ε[D02 u1 + ω02 u1 + 2D0 D1 u0
n
+ μD0 u0 |D0 u0 | + 2u0 cos 2t] + · · ·

Equating coefficients of like powers of ε in the above equation yields

D02 u0 + ω02 u0 = 0 (5.14.2)

n
D02 u1 + ω02 u1 = −2D0 D1 u0 − μD0 u0 |D0 u0 | − 2u0 cos 2t (5.14.3)

The solution of (5.14.2) is

−
u0 = Aeiω0 T0 + A e−iω0 T0 (5.14.4)

where A = A(T1 , T2 ). Let

1 iβ
A= ae (5.14.5)
2
Substituting this into(5.14.4), we can obtain the first order approximate solution
of the given equation

u ≈ u0 = a cos(ω0 t + β) + O(ε) (5.14.6)

5.14 Exercise 5.14 (The Parametric Excitation of a System with a Nonlinear … 389

Substituting u0 into (5.14.3) yields

n
D02 u1 + ω02 u1 = −2D0 D1 u0 − μD0 u0 |D0 u0 | − 2u0 cos 2T0
 
= −2iω0 D1 Aeiω0 T0 − Aeiω0 T0 + Ae−iω0 T0 ei2T0 + cc
 
− μ iω0 Aeiω0 T0 − iω0 Ae−iω0 T0
 
iω0 Aeiω0 T0 − iω0 Ae−iω0 T0  n
= −2iω0 D1 Aeiω0 T0 − Aei(ω0 +2)T0
− Aei(2−ω0 )T0 + cc
  n
− iω0n+1 μ Aeiω0 T0 − Ae−iω0 T0 Aeiω0 T0 − Ae−iω0 T0  (5.14.7)

 In order to further process the Eq. (5.14.7),

n we need to deal with the function
−  − 
Aeiω0 T0 − A e−iω0 T0 Aeiω0 T0 − A e−iω0 T0  , which can be expanded into a Fourier
series of complex exponential form:
  n ∞
−  −  
Aeiω0 T0 − A e−iω0 T0 Aeiω0 T0 − A e−iω0 T0  = fm eimω0 T0 (5.14.8)
m=−∞

where

 0
2π/ω  n
ω0 −  iω T − 
fm = Ae iω0 T0
− Ae −iω0 T0 Ae 0 0 − A e−iω0 T0  e−imω0 T0 dT0 (5.14.9)
2π  
0

Thus, (5.14.7) becomes

D02 u1 + ω02 u1 = −2iω0 D1 Aeiω0 T0 − Aei(ω0 +2)T0 − Aei(2−ω0 )T0 + cc

  ∞
− iω0n+1 μ Aeiω0 T0 − Ae−iω0 T0 fn eimω0 T0
m=−∞
i(ω0 +2)T0 i(2−ω0 )T0
= −2iω0 D1 Ae iω0 T0
− Ae − Ae
− iω0n+1 μf1 eiω0 T0 + cc + NST (5.14.10)

From the above equation, it can be seen that only when ω0 ≈ 1, parametric
resonance can occur.
(b) When ω0 is far from 1, in order to eliminate secular terms from (5.14.10), there
must be

2iω0 D1 A + 2iω0n+1 μf1 = 0 (5.14.11)

Let A = 21 aeiβ , then we have

390 5 Parametrically Excited Systems

 0
2π/ω

ω0  n 
f1 = Aeiω0 T0 − Ae−iω0 T0 Aeiω0 T0 − Ae−iω0 T0  e−iω0 T0 dT0
2π
0
 0
2π/ω
ω0
= ian+1 eiβ sin(ω0 T0 + β)|sin(ω0 T0 + β)|n e−i(ω0 T0 +β) dT0
2π
0
2π
1
= ian+1 eiβ sin φ|sin φ|n e−iφ d φ
2π
0
2π
an+1 eiβ
= sin2 φ|sin φ|n d φ
2π
0

 ba n+1 iβ
e (5.14.12)

Equation (5.14.11) becomes

ia − aβ  + iω0n μban+1 = 0 (5.14.13)

The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation gives

a = −μω0n ban+1 , β  = 0 (5.14.14)

where

2π
1
b= sin2 ϕ| sin ϕ|n d ϕ
2π
0
 
1 √ 1
=  (n + 3) / π  (n + 4) (5.14.15)
2 2

(c) When ω0 ≈ 0, set

ω0 = 1 + εσ (5.14.16)

In order to eliminate secular terms from the Eq. (5.14.10), there must be

−
2iω0 D1 A + A e−2iσ T1 + iω0n+1 μf1 = 0 (5.14.17)

Substituting A = 21 aeiβ and (5.14.12) into the above equation, we have

5.15 Exercise 5.15 (The Nonlinear Parametric Excitation of a System … 391

1
ia − aβ  + iω0n μban+1 + ω0−1 ae−i(2σ T1 +2β) = 0 (5.14.18)
2
The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation and taking into account ω0 ≈ 1, we get

a = −μban+1 + 21 asinγ
(5.14.19)
aβ  = 21 acosγ

where

γ = 2σ T1 + 2β (5.14.20)

5.15 Exercise 5.15 (The Nonlinear Parametric Excitation

of a System with a Linear Viscous Damping)

Solution: (a) We use the method of multiple scales to solve the first order approximate
periodic solution of the system. Let the solution of the equation be

u(t; ε) = u0 (T0 , T1 , T2 ) + εu1 (T0 , T1 , T2 ) + ε2 u2 (T0 , T1 , T2 ) + · · · (5.15.1)

Substituting the above equation into the original equation and retaining to O(ε),
we get

0 = ü + ω02 u + 2εμu̇ + εα1 un + 2εα2 u cos 2t

 
= D02 + 2εD0 D1 (u0 + εu1 ) + ω02 (u0 + εu1 )
+ 2εμ(D0 + εD1 )(u0 + εu1 ) + εα1 (u0 + εu1 )n
+ 2εα2 (u0 + εu1 ) cos 2t + · · ·
= D02 u0 + εD02 u1 + 2εD0 D1 u0 + ω02 u0 + εω02 u1
+ 2εμD0 u0 + εα1 u0n + 2εα2 u0 cos 2t + · · ·
= D02 u0 + ω02 u0 + ε(D02 u1 + ω02 u1 + 2D0 D1 u0
+ 2μD0 u0 + α1 u0n + 2α2 u0 cos 2t) + · · ·

Equating coefficients of like powers of ε in the above equation yields

D02 u0 + ω02 u0 = 0 (5.15.2)

D02 u1 + ω02 u1 = −2D0 D1 u0 − 2μD0 u0 − α1 u0n − 2α2 u0 cos 2T0 (5.15.3)

392 5 Parametrically Excited Systems

The solution of (5.14.2) is

−
u0 = Aeiω0 T0 + A e−iω0 T0 (5.15.4)

where A = A(T1 , T2 ). Let

1 iβ
A= ae (5.15.5)
2
Substituting this into (5.14.4), we can obtain the first order approximate solution
of the given equation

u ≈ u0 = a cos(ω0 t + β) + O(ε) (5.15.6)

Substituting u0 into (5.14.3) yields

D02 u1 + ω02 u1 = −2D0 D1 u0 − 2μD0 u0 − α1 u0n − 2α2 u0 cos 2T0

= −2iω0 D1 Aeiω0 T0 − 2iμω0 Aeiω0 T0
 
− α2 Aeiω0 T0 + Ae−iω0 T0 ei2T0
 n
k
+ cc − α1 Cnk An−k A ei(n−2k)ω0 T0
k=0
= −2iω0 D1 Ae iω0 T0
− 2iμω0 Aeiω0 T0
− α2 Aei(2−ω0 )T0 + cc + NST
n k
− α1 Cnk An−k A ei(n−2k)ω0 T0 (5.15.7)
k=0

CASE I: When ω0 is far from 1:

Let n be an odd number. In order to eliminate secular terms from (5.15.7), there
must be
−(n+1)/2
2iω0 D1 A + 2iμω0 A + α1 Cn(n+1)/2 A(n−1)/2 A =0 (5.15.8)

Substituting A = 21 aeiβ into the above equation, we get

ia − aβ  + iμa + 2−n α1 Cn(n+1)/2 an = 0 (5.15.9)

The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts from the above equation gives

bα1 an−1
a = −μa, β  = ,
ω0 2n
5.15 Exercise 5.15 (The Nonlinear Parametric Excitation of a System … 393

n!
b= (5.15.10)
2 (n
1
+ 1)! 21 (n − 1)!

where
n!
b= (5.15.11)
2 (n
1
+ 1)! 21 (n − 1)!

CASE II: When ω0 = 1 + εσ :

Let n be an odd number. In order to eliminate secular terms from (5.15.7), there
must be
− −(n+1)/2
2iω0 D1 A + 2iμω0 A + α2 A e−i2σ T1 + α1 Cn(n+1)/2 A(n−1)/2 A =0 (5.15.12)

Substituting A = 21 aeiβ into the above equation, we get

1
ia − aβ  + iμa + 2−n α1 Cn(n+1)/2 an + α2 ae−i(2σ T1 +2β) = 0 (5.15.13)
2
The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation gives

1 1
a = −μa + α2 asinγ , aβ  = α1 b2−n an + α2 acosγ (5.15.14)
2 2
where

γ = 2σ T1 + 2β (5.15.15)

(b) We only analyze the stability of the steady state solution in CASE II above.
Equation (5.15.14) can be written as

a = −μa + 21 α2 asinγ
(5.15.16)
aγ  = 2σ a + α1 b2−n+1 an + α2 acosγ

Let a = γ  = 0 in (5.15.16), we can obtain

1
−μa + α2 asinγ = 0, 2σ a + α1 b2−n+1 an + α2 acosγ = 0 (5.15.17)
2
The steady state solutions can be obtained:
(1) a = 0, γ are arbitrary constants;
(2) a = 0, γ are certain constants.
394 5 Parametrically Excited Systems

(1) a = 0 and γ = γ 0 are arbitrary constants.

Let

a = 0 + a1 , γ = γ0 + γ1 (5.15.18)

Substituting (5.15.18) into (5.11.20), the corresponding linearized equation is

given by
 
1
a1 = − μ − α2 sinγ0 a1 (5.15.19)
2

Therefore, this steady state solution is stable when μ ≥ 21 α2 sin γ0 and vice versa.
Since γ0 is arbitrary and depends on the initial state of the system, the stability of
the system also depends on the initial state of the system.
(2) a = a0 = 0, γ = γ 0
For this case, the frequency–response equation is

4μ2 + (2σ + α1 b2−n+1 an−1 )2 = α22 (5.15.20)

Let

a = a0 + a1 , γ = γ0 + γ1 (5.15.21)

Substituting (5.15.21) into (5.15.16), the corresponding linearized equation is

given by
    
a1 −μ + 21 α2 sinγ0 1
α a cosγ0 a1
= −1 −1
2 2 0 (5.15.22)
γ1 2σ a0 + nα1 b2 −n+1 n−2
a0 + α2 a0 cosγ0 −α2 sinγ0 γ1

For any set of steady state solutions a = a0 = 0,γ = γ 0 , one can calculate the
eigenvalues of Eq. (5.15.23), and the stability of the corresponding steady state
solutions can be determined from the sign of the real part of the two eigenvalues.

5.16 Exercise 5.16 (The Nonlinear Parametric Excitation

of the System with a Nonlinear Damping)

Solution: (a) We use the method of multiple scales to solve the first order approximate
periodic solution of the system. Let the solution of the equation be

u(t; ε) = u0 (T0 , T1 , T2 ) + εu1 (T0 , T1 , T2 ) + ε2 u2 (T0 , T1 , T2 ) + · · · (5.16.1)

5.16 Exercise 5.16 (The Nonlinear Parametric Excitation of the System … 395

Substituting the above equation into the original equation and retaining to O(ε2 ),
we get
  
0 = ü + 2εμ1 u̇ + εμ2 |u̇| n u̇ + ω02 + ε cos 2t u + εαu3
= ü + ω02 u + 2εμ1 u̇ + εω02 αu3 + εμ2 |u̇| n u̇
 
+ ε u + εαu3 cos 2t
 
= D02 + 2εD0 D1 (u0 + εu1 ) + ω02 (u0 + εu1 )
+ 2εμ1 (D0 + εD1 )(u0 + εu1 )
+ εω02 α(u0 + εu1 )3
+ εμ2 (D0 + εD1 )(u0 + εu1 ) |(D0 + εD1 )(u0 + εu1 )| n
+ εα2 (u0 + εu1 ) cos 2t + · · ·
= D02 u0 + εD02 u1 + 2εD0 D1 u0 + ω02 u0
+ εω02 u1 + 2εμ1 D0 u0
+ εω02 αu03 + εμ2 D0 u0 |D0 u0 | n + εαu0 cos 2t + · · ·
= D02 u0 + ω02 u0 + ε(D02 u1 + ω02 u1
+ 2D0 D1 u0 + 2μ1 D0 u0 + ω02 αu03
+ μ2 D0 u0 |D0 u0 | n + αu0 cos 2t) + · · ·

Equating coefficients of like powers of ε in the above equation yields

D02 u0 + ω02 u0 = 0 (5.16.2)

D02 u1 + ω02 u1 = −2D0 D1 u0 − 2μ1 D0 u0

− ω02 αu03 − μ2 D0 u0 |D0 u0 |n − αu0 cos2T0 (5.16.3)

The solution of (5.16.2) is

−
u0 = Aeiω0 T0 + A e−iω0 T0 (5.16.4)

where A = A(T1 , T2 ). Let

1 iβ
A= ae (5.16.5)
2
Substituting this into (5.16.4), we can obtain the first order approximate solution
of the given equation

u ≈ u0 = a cos(ω0 t + β) + O(ε) (5.16.6)

396 5 Parametrically Excited Systems

Substituting u0 into (5.16.3) yields

D02 u1 + ω02 u1 = −2D0 D1 u0 − 2μ1 D0 u0 − ω02 αu03

− μ2 D0 u0 |D0 u0 |n − αu0 cos 2T0
= −2iω0 D1 Aeiω0 T0 − 2iω0 μ1 Aeiω0 T0
1  
− α Aeiω0 T0 + Ae−iω0 T0 ei2T0
2
− ω02 αA3 e3iω0 T0 − 3ω02 αA2 Aeiω0 T0 + cc
 
− μ2 iω0 Aeiω0 T0 − iω0 Ae−iω0 T0
 
iω0 Aeiω0 T0 − iω0 Ae−iω0 T0  n
= −2iω0 D1 Aeiω0 T0 − 2iω0 μ1 Aeiω0 T0
1 1
− αAei(ω0 +2)T0 − αAei(2−ω0 )T0
2 2
− 3ω02 αA2 Aeiω0 T0 + cc + NST
 
− iω0n+1 μ2 Aeiω0 T0 − Ae−iω0 T0
 iω T 
Ae 0 0 − Ae−iω0 T0  n (5.16.7)

 In order to further   process (5.16.7), we  n need to first deal with the function
−  − 
Aeiω0 T0 − A e−iω0 T0 Aeiω0 T0 − A e−iω0 T0  , which can be expanded into a Fourier
series of complex exponential form:
  n ∞
−  iω T −  
−iω0 T0  −iω0 T0 
Ae iω0 T0
− Ae  Ae 0 0
− A e  = fm eimω0 T0 (5.16.8)
m=−∞

where

 0
2π/ω  n
ω0 −  iω T − 
fm = Ae iω0 T0
− Ae −iω0 T0 Ae 0 0 − A e−iω0 T0  e−imω0 T0 dT0 (5.16.9)
2π  
0

Thus (5.16.7) becomes

D02 u1 + ω02 u1 = −2iω0 D1 Aeiω0 T0 − 2iω0 μ1 Aeiω0 T0

1 1
− αAei(ω0 +2)T0 − αAei(2−ω0 )T0
2 2
− 3ω02 αA2 Aeiω0 T0 + cc + NST
  n
− iω0n+1 μ2 Aeiω0 T0 − Ae−iω0 T0 Aeiω0 T0 − Ae−iω0 T0 
= −2iω0 D1 Aeiω0 T0 − 2iω0 μ1 Aeiω0 T0
5.16 Exercise 5.16 (The Nonlinear Parametric Excitation of the System … 397

1 1
− αAei(ω0 +2)T0 − αAei(2−ω0 )T0
2 2
− 3ω02 αA2 Aeiω0 T0 − iω0n+1 μ2 f1 eiω0 T0 + cc + NST (5.16.10)

For the case of ω0 = 1+εσ , in order to eliminate secular terms from the Eq. (5.16.10),
there must be
1 − −
2iω0 D1 A + 2iω0 μ1 A + α A e−2iσ T1 + 3ω02 αA2 A +iω0n+1 μ2 f1 = 0 (5.16.11)
2

Let A = 21 aeiβ , then we have

 0
2π/ω

ω0  n 
f1 = Aeiω0 T0 − Ae−iω0 T0 Aeiω0 T0 − Ae−iω0 T0  e−iω0 T0 dT0
2π
0
 0
2π/ω
ω0
= ian+1 eiβ sin(ω0 T0 + β)|sin(ω0 T0 + β)|n e−i(ω0 T0 +β) dT0
2π
0
2π
1
= ian+1 eiβ sin φ|sin φ|n e−iφ d φ
2π
0
2π
an+1 eiβ
= sin2 φ|sin φ|n d φ
2π
0

 ba n+1 iβ
e (5.16.12)

where

2π 
1 1 √ 1
b= sin ϕ| sin ϕ| d ϕ =  (n + 3) / π  (n + 4)
2 n
(5.16.13)
2π 2 2
0

Equation (5.16.11) becomes

1 3
ia − aβ  + 2iμ1 a + αae−i(2σ T1 +2β) + αa3 + iμ2 ban+1 = 0 (5.16.14)
4 8
The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation gives

a = −μ1 a − μ2 ban+1 + 41 asinγ

(5.16.15)
aβ  = 38 αa3 + 41 acosγ
398 5 Parametrically Excited Systems

where

γ = 2σ T1 + 2β (5.16.16)

(b) Let’s analyze the stability of the steady state solution for the above case. Write
(5.16.15) as

a = −μ1 a − μ2 ban+1 + 41 asinγ

(5.16.17)
aγ  = 2σ a + 34 αa3 + 21 acosγ

Let a = γ  = 0 in (5.16.17), we obtain

1 3 1
−μ1 a − μ2 ban+1 + a sin γ = 0, 2σ a + αa3 + a cos γ = 0 (5.16.18)
4 4 2
The steady state solutions can be obtained:
(1) a = 0, γ are arbitrary constants;
(2) a = 0, γ are certain constants.
(1) a = 0 and γ = γ 0 are arbitrary constants.
Let

a = 0 + a1 , γ = γ0 + γ1 (5.16.19)

Substituting (5.16.19) into (5.16.17), we can obtain the corresponding linearized

equation
 
1
a1 = − μ1 − sin γ0 a1 (5.16.20)
4

Therefore, this steady state solution is stable when μ1 ≥ 41 sin γ0 and vice versa.
Since γ0 is arbitrary and depends on the initial state of the system, the stability of
the system also depends on the initial state of the system.
(2) a = a0 = 0, γ = γ 0
For this case, the frequency–response equation is

3
16(μ1 − μ2 ban )2 + (4σ + αa2 )2 = 1 (5.16.21)
2
Let

a = a0 + a1 , γ = γ0 + γ1 (5.16.22)
5.17 Exercise 5.17 (The Nonlinear Parametric Excitation of the System … 399

Substituting (5.16.22) into (5.16.17), we can obtain the corresponding linearized

equation
    
a1 −μ1 − (n + 1)μ2 ba0n + 41 sinγ0 41 a0 cosγ0 a1
= (5.16.23)
γ1 2σ a0−1 + 49 αa0 + 21 a0−1 cosγ0 − 21 sinγ0 γ1

For any set of steady state solutions a = a0 = 0,γ = γ0 , one can calculate the
eigenvalues of Eq. (5.16.24), and the stability of the corresponding steady state
solutions can be determined from the sign of the real part of the two eigenvalues.

5.17 Exercise 5.17 (The Nonlinear Parametric Excitation

of the System with a Nonlinear Damping and High
Order Nonlinearities)

Solution: (a) We use the method of multiple scales to solve the first order approximate
periodic solution of the system. Let the solution of the equation be

u(t; ε) = u0 (T0 , T1 , T2 ) + εu1 (T0 , T1 , T2 ) + ε2 u2 (T0 , T1 , T2 ) + · · · (5.17.1)

Substituting the above equation into the original equation and retaining to O(ε2 ),
we get

0 = ü + ω02 u + εμ|u̇|n u̇ + εα1 um + 2εα2 uk cos 2t

 
= D02 + 2εD0 D1 (u0 + εu1 ) + ω02 (u0 + εu1 )
+ εμ2 (D0 + εD1 )(u0 + εu1 )
|(D0 + εD1 )(u0 + εu1 )|n
+ εα1 (u0 + εu1 )m + 2εα2 (u0 + εu1 )k cos 2t + · · ·
= D02 u0 + εD02 u1 + 2εD0 D1 u0 + ω02 u0 + εω02 u1
+ εμD0 u0 |D0 u0 |n + εα1 u0m + 2εα2 u0k cos 2t + · · ·
= D02 u0 + ω02 u0 + ε(D02 u1 + ω02 u1 + 2D0 D1 u0
+ μD0 u0 |D0 u0 |n + α1 u0m + 2α2 u0k cos 2t) + · · ·

Equating coefficients of like powers of ε in the above equation yields

D02 u0 + ω02 u0 = 0 (5.17.2)

D02 u1 + ω02 u1 = −2D0 D1 u0 − μD0 u0 |D0 u0 |n − α1 u0m − 2α2 u0k cos 2T0 (5.17.3)
400 5 Parametrically Excited Systems

The solution of (5.17.3) is

−
u0 = Aeiω0 T0 + A e−iω0 T0 (5.17.4)

where A = A(T1 , T2 ). Substituting u0 into (5.16.3) yields

D02 u1 + ω02 u1 = −2D0 D1 u0 − μD0 u0 |D0 u0 |n

− α1 u0m − 2α2 u0k cos 2T0
= −2iω0 D1 Aeiω0 T0 − α2 (Aeiω0 T0 + Ae−iω0 T0 )k ei2T0 + cc
  n
− μ iω0 Aeiω0 T0 − iω0 Ae−iω0 T0 iω0 Aeiω0 T0 − iω0 Ae−iω0 T0 
− α1 (Aeiω0 T0 + Ae−iω0 T0 )m
k j
Ck Ak−j A ei[(k−2j)ω0 +2]T0 + cc
j
= −2iω0 D1 Aeiω0 T0 − α2
j=0
  n
− μ iω0 Aeiω0 T0 − iω0 Ae−iω0 T0 iω0 Aeiω0 T0 − iω0 Ae−iω0 T0 
m j
− α1 Cmj Am−j A ei(m−2j)ω0 T0 (5.17.5)
j=0

From the above equation, when the following equation is satisfied

(k − 2j)ω0 + 2 ≈ ω0 (5.17.6)

i.e.,

2
ω0 ≈ , j = 1, 2, . . . , k (5.17.7)
1 + 2j − k

parametric resonance occurs and the first-order solution of Eq. (5.17.5) can be
obtained. Since ω 0  ≥ 0 is required,1
  + 2k − n ≥ 1, i.e., j is the integer greater
than or equal to k2 , where k2 denotes the largest integer less than or equal to k2 .
Therefore, for the case of k is an odd number, parameter resonance occurs when

2 2 2 2
ω0 ≈ 1, , , , ..., for odd k (5.17.8)
4 6 8 k +1

For the case of k is an even number, parameter resonance occurs when.

ω0 ≈ 2, 23 , 25 , 27 , . . . , k+1
2
for even k.
(b) Let

1 iβ
A= ae (5.17.9)
2
Substituting this into (5.17.4), we can obtain the first order approximate solution
of the given equation
5.17 Exercise 5.17 (The Nonlinear Parametric Excitation of the System … 401

u ≈ u0 = a cos(ω0 t + β) + O(ε) (5.17.10)

where
 iω T a −iω and   β are determined
n by (5.17.5). The function
Ae 0 0 − Ae 0 T0 Aeiω0 T0 − Ae−iω0 T0  in (5.17.5) can be expanded into a
Fourier series of complex exponential form:
∞

 iω0 T0  n
Ae − Ae−iω0 T0 Aeiω0 T0 − Ae−iω0 T0  = fl eilω0 T0 (5.17.11)
l=−∞

where

 0
2π/ω

ω0  n 
fl = Aeiω0 T0 − Ae−iω0 T0 Aeiω0 T0 − Ae−iω0 T0  e−imω0 T0 dT0 (5.17.12)
2π
0

Thus, (5.16.7) becomes


k
j
Ck Ak−j A ei[(k−2j)ω0 +2]T0
j
D02 u1 + ω02 u1 = −2iω0 D1 Aeiω0 T0 − α2
j=0


m
j
− iω0n+1 μf1 eiω0 T0 − α1 Cmj Am−j A ei(m−2j)ω0 T0
j=0

+ cc + NST (5.17.13)

where
2π
ω0 
ω0  iω0 T0  n 
f1 = Ae − Ae−iω0 T0 Aeiω0 T0 − Ae−iω0 T0  e−iω0 T0 dT0
2π
0
2π
ω0
ω0
= ian+1 eiβ sin(ω0 T0 + β)|sin(ω0 T0 + β)|n e−i(ω0 T0 +β) dT0
2π
0
2π
1
= ian+1 eiβ sin φ|sin φ|n e−iφ d φ
2π
0
2π
an+1 eiβ
= sin2 φ|sin φ|n d φ
2π
0

 b1 an+1 eiβ (5.17.14)

402 5 Parametrically Excited Systems

2π
1
b1 = sin2 ϕ| sin ϕ|n d ϕ
2π
0
 
1 √ 1
=  (n + 3) / π  (n + 4) (5.17.15)
2 2

CASE I: (k − 1)ω0 = 2 + εσ :
For this case, considering m as an odd number, we can write (5.17.13) as

k−1 −iσ T1 iω0 T0

D02 u1 + ω02 u1 = −2iω0 D1 Aeiω0 T0 − α2 Ckk−1 AA e e
k i(ω0 +εσ )T0
− α2 A e − iω0n+1 μf1 eiω0 T0
(m−1)/2 iω0 T0
− α1 Cm(m−1)/2 A(m+1)/2 A e + cc + NST (5.17.16)

In order to eliminate secular terms from the above equation, there must be

−(m−1)/2
2iω0 D1 A + iω0n+1 μf1 + α1 Cm(m−1)/2 A(m+1)/2 A
− k−1

+ α2 Ckk−1 A A e−iσ T1 + α2 Ak eiσ T1 = 0 (5.17.17)

Substituting A = 1
2
aeiβ into the above equation and considering (5.17.14), we
have
m!
ia − aβ  + iω0n μb1 an+1 + α1 ω0−1 2−m 1 am
2 (m − 1)! 1
2 (m + 1)!
+ α2 ω0−1 2−k kak e−i[σ T1 +(k−1)β] + α2 ω0−1 2−k ak ei[σ T1 +(k−1)β] = 0 (5.17.18)

where the prime denotes the derivative with respect to T1 such that

2−m m!
b2 = (5.17.19)
2 (m
1
− 1)! 21 (m + 1)!

Considering ω0 ≈ 2/(k − 1), (5.17.18) can be written as

ia − aβ  + iω0n μb1 an+1 + b2 α1 ω0−1 am

+ α2 k(k − 1)2−(k+1) ak e−i[σ T1 +(k−1)β]
+ α2 (k − 1)2−(k+1) ak ei[σ T1 +(k−1)β] = 0 (5.17.20)

Separating the real and imaginary parts of the above equation yields

a = −μω0n b1 an+1 + α2(k − 1)22−(k+1) ak sinγ

(5.17.21)
aβ  = b2 α1 ω0−1 am + α2 k 2 − 1 2−(k+1) ak cosγ
5.17 Exercise 5.17 (The Nonlinear Parametric Excitation of the System … 403

where

γ = σ T1 + (k − 1)β (5.17.22)

CASE II: (k + 1)ω0 = 2 + εσ :

For this case, considering m as an odd number, we can write (5.17.13) as

k
D02 u1 + ω02 u1 = −2iω0 D1 Aeiω0 T0 − α2 A e−iσ T1 eiω0 T0
(m−1)/2 iω0 T0
− iω0n+1 μf1 eiω0 T0 − α1 Cm(m−1)/2 A(m+1)/2 A e
+ cc + NST (5.17.23)

In order to eliminate secular terms from the above equation, there must be

−(m−1)/2 −k
2iω0 D1 A + iω0n+1 μf1 + α1 Cm(m−1)/2 A(m+1)/2 A +α2 A e−iσ T1 eiω0 T0 = 0
(5.17.24)

Substituting A = 21 aeiβ into the above equation and considering (5.17.14)

and(5.17.19), we have

ia − aβ  + iω0n μb1 an+1 + α1 ω0−1 b2 am + α2 ω0−1 2−k ak e−i[σ T1 +(k+1)β] = 0

(5.17.25)

The prime denotes the derivative with respect to T1 . Considering ω0 ≈ 2/(k + 1),
(5.17.25) can be written as

ia − aβ  + iω0n μb1 an+1 + b2 α1 ω0−1 am + α2 (k + 1)2−(k+1) ak e−i[σ T1 +(k+1)β] = 0

(5.17.26)

Separating the real and imaginary parts of the above equation yields

a = −μω0n b1 an+1 + α2 (k + 1)2−(k+1) ak sinγ

(5.17.27)
aβ  = b2 α1 ω0−1 am + α2 (k + 1)2−(k+1) ak cosγ

where

γ = σ T1 + (k + 1)β (5.17.28)

(c) We only analyze the stability of the steady state solution for CASE II above,
and the reader is invited to complete the stability analysis for the other case. Write
(5.17.27) as
404 5 Parametrically Excited Systems

a = −μω0n b1 an+1 + α2 (k + 1)2−(k+1) ak sinγ

(5.17.29)
aγ  = σ a + (k + 1)b2 α1 ω0−1 am + α2 (k + 1)2 2−(k+1) ak cosγ

Let a = γ  = 0 in (5.17.29), we can obtain

−μω0n b1 an+1 + α2 (k + 1)2−(k+1) ak sinγ = 0

(5.17.30)
σ a + (k + 1)b2 α1 ω0−1 am + α2 (k + 1)2 2−(k+1) ak cosγ = 0

The steady state solutions can be obtained:

(1) a = 0, γ are arbitrary constants;
(2) a = 0, γ are certain constants.
(1) a = 0 and γ = γ 0 are arbitrary constants.
Let

a = 0 + a1 , γ = γ0 + γ1 (5.17.31)

Substituting (5.17.31) into (5.16.17), we can obtain

a1 = 0 ⇒ a1 = constant (5.17.32)

Therefore, this steady-state solution is stable.

(2) a = a0 = 0, γ = γ 0
For this case, the frequency–response equation is
σa
( + b2 α1 ω0−1 am )2 + (μω0n b1 an+1 )2 = [α2 (k + 1)2−(k+1) ak ]2 (5.17.33)
k +1

Let

a = a0 + a1 , γ = γ0 + γ1 (5.17.34)

Substituting (5.17.34) into (5.17.29), the corresponding linearized equation is

given by
⎡ ⎤
−μ(n + 1)ω0n b1 a0n
  − α (k + 1)2 −(k+1) k
a sin γ  
a1 ⎢ +α2 k(k + 1)2−(k+1) ak−1 sin γ0 2 0 0 ⎥ a1
⎢
=⎣ ⎥
γ1 σ a0−1 + (k + 1)b2 α1 ω0−1 a0m−2 a1 ⎦ γ1
−α2 (k + 1)2 2−(k+1) a0k sin γ0
+α2 k(k + 1)2 2−(k+1) a0k−2 cos γ0
(5.17.35)

For any set of steady state solutions a = a0 = 0,γ = γ0 , one can calculate the
eigenvalues of Eq. (5.17.36), and the stability of the corresponding steady state
solutions can be determined from the sign of the real part of the two eigenvalues.
5.18 Exercise 5.18 (Cubic Nonlinear System Subjected to Combined … 405

(d)When no parametric resonance occurs, the Eq. (5.17.13) can be written as

D02 u1 + ω02 u1 = −2iω0 D1 Aeiω0 T0 − iω0n+1 μf1 eiω0 T0


m
j
− α1 Cmj Am−j A ei(m−2j)ω0 T0 + cc + NST (5.17.36)
j=0

In order to eliminate secular terms from the above equation, there must be

−(m−1)/2
2iω0 D1 A + iω0n+1 μf1 + α1 Cm(m−1)/2 A(m+1)/2 A =0 (5.17.37)

Substituting A = 21 aeiβ into the above equation and considering (5.17.14)

and(5.17.19), we have

ia − aβ  + iω0n μb1 an+1 + α1 ω0−1 b2 am = 0 (5.17.38)

The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation gives

a = −μω0n b1 an+1 , aβ  = b2 α1 ω0−1 am (5.17.39)

5.18 Exercise 5.18 (Cubic Nonlinear System Subjected

to Combined Parametric and External Excitation)

Solution: (a) We use the method of multiple scales to obtain the first order approx-
imate periodic solution of the system. When  = 1 + εσ1 and ω0 = 1 + εσ2 , i.e.,
 ≈ ω0 , the external excitation can cause a primary resonance. In order to make the
damping, nonlinear, and excitation terms appearing simultaneously in the coefficient
of ε, we need to makes

K = εk (5.18.1)

Let the solution of the equation be

u(t; ε) = u0 (T0 , T1 , T2 ) + εu1 (T0 , T1 , T2 ) + ε2 u2 (T0 , T1 , T2 ) + · · · (5.18.2)

Substituting the above equation into the original equation and retaining to O(ε2 ),
we obtain

0 = ü + ω02 u + 2εμu̇ + εα1 u3

406 5 Parametrically Excited Systems

+ 2εα2 u cos 2t − K cos t

 
= D02 + 2εD0 D1 (u0 + εu1 )
+ ω02 (u0 + εu1 ) + 2εμ(D0 + εD1 )(u0 + εu1 )
+ α1 (u0 + εu1 )3 + 2εα2 (u0 + εu1 ) cos 2t
− K cos t
= D02 u0 + εD02 u1 + 2εD0 D1 u0
+ ω02 u0 + εω02 u1 + 2εμD0 u0
+ εα1 u03 + 2εα2 u0 cos 2t
− K cos t + · · ·
= D02 u0 + ω02 u0
+ ε(D02 u1 + ω02 u1 + 2D0 D1 u0 + 2μD0 u0
+ α1 u03 + 2α2 u0 cos 2t − k cos t) + · · · (5.18.3)

Equating coefficients of like powers of ε in the above equation yields

0 = ü + ω02 u + 2εμu̇ + εα1 u3 + 2εα2 u cos 2t − K cos t

 
= D02 + 2εD0 D1 (u0 + εu1 ) + ω02 (u0 + εu1 ) + 2εμ(D0 + εD1 )(u0 + εu1 )
+α1 (u0 + εu1 )3 + 2εα2 (u0 + εu1 ) cos 2t − K cos t
= D02 u0 + εD02 u1 + 2εD0 D1 u0 + ω02 u0 + εω02 u1 + 2εμD0 u0
+εα1 u03 + 2εα2 u0 cos 2t − K cos t + · · ·
= D02 u0 + ω02 u0 + ε(D02 u1 + ω02 u1 + 2D0 D1 u0 + 2μD0 u0
+α1 u03 + 2α2 u0 cos 2t − k cos t) + · · · + α1 u03 + 2α2 u0 cos 2t − k cos t) + · · ·

D02 u0 + ω02 u0 = 0 (5.18.4)

D02 u1 + ω02 u1 = −2D0 D1 u0 − 2μD0 u0 − α1 u03 − 2α2 u0 cos 2T0 + k cos T0
(5.18.5)

The solution of (5.18.4) is

−
u0 = Aeiω0 T0 + A e−iω0 T0 (5.18.6)

where A = A(T1 , T2 ). Let

1 iβ
A= ae (5.18.7)
2
5.18 Exercise 5.18 (Cubic Nonlinear System Subjected to Combined … 407

Substituting this into (5.18.6), we can obtain the first order approximate solution
of the given equation

u ≈ u0 = a cos(ω0 t + β) + O(ε) (5.18.8)

Substituting u0 into (5.18.5) yields

D02 u1 + ω02 u1 = − 2D0 D1 u0 − 2μD0 u0 − α1 u03

− 2α2 u0 cos 2T0 + k cos T0
= −2iω0 D1 Aeiω0 T0 − 2iω0 μAeiω0 T0
 
− 3α1 A2 Aeiω0 T0 − α2 Aeiω0 T0 + Ae−iω0 T0 ei2T0
1
+ keiT0 + cc + NST
2
= −2iω0 D1 Aeiω0 T0 − 2iω0 μAeiω0 T0
− 3α1 A2 Aeiω0 T0 − α2 Ae−2iσ2 T1 eiω0 T0
1
+ kei(σ1 −σ2 )T1 eiω0 T0 + cc + NST (5.18.9)
2
In order to eliminate secular terms from the above equation, there must be

1
2iω0 D1 A + 2iω0 μA + 3α1 A2 A + α2 Ae−2iσ2 T1 − kei(σ1 −σ2 )T1 = 0 (5.18.10)
2

Substituting A = 21 aeiβ into the above equation and taking ω0 ≈ 1 into account,
we get

3 1 1
ia − aβ  + iμa + α1 a3 + α2 e−i(2σ2 T1 +2β) − kei[(σ1 −σ2 )T1 −β] = 0 (5.18.11)
8 2 2
The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation yields

a = −μa + 21 ksinγ1 + 21 α2 asinγ2

(5.18.12)
aβ  = 38 α1 a3 − 21 kcosγ1 + 21 α2 acosγ2

where

γ1 = (σ1 − σ2 )T1 − β, γ2 = 2σ2 T1 + 2β (5.18.13)

(b) When ω0 = 1 + εσ2 ,  is far from 1, this is a nonresonant case where K = O(1).
Therefore, the Eq. (5.18.3) becomes:ss

0 = ü + ω02 u + 2εμu̇ + εα1 u3

408 5 Parametrically Excited Systems

+ 2εα2 u cos 2t − K cos t

= D02 u0 + εD02 u1 + 2εD0 D1 u0
+ ω02 u0 + εω02 u1 + 2εμD0 u0
+ εα1 u03 + 2εα2 u0 cos 2t − K cos t + · · ·
= D02 u0 + ω02 u0 − K cos t
+ ε(D02 u1 + ω02 u1 + 2D0 D1 u0 + 2μD0 u0
+ α1 u03 + 2α2 u0 cos 2t) + · · · (5.18.14)

Equating coefficients of like powers of ε in the above equation yields

D02 u0 + ω02 u0 = K cos T0 (5.18.15)

D02 u1 + ω02 u1 = −2D0 D1 u0 − 2μD0 u0 − α1 u03 − 2α2 u0 cos 2T0 (5.18.16)

The solution of (5.18.15) is

−  
u0 = Aeiω0 T0 + A e−iω0 T0 +  eiT0 + e−iT0 (5.18.17)

where
1
=  2  (5.18.18)
2 ω0 − 2

and A = A(T1 , T2 ). Let

1 iβ
A= ae (5.18.19)
2
Substituting this into (5.18.17), we can obtain the first order approximate solution
of the given equation.

u = a cos(ω0 t + β) + 2 cos t + O(ε) (5.18.20)

Substitute u0 into (5.18.16) yields

D02 u1 + ω02 u1 = −2D0 D1 u0 − 2μD0 u0

− α1 u03 − 2α2 u0 cos 2T0
= −2iω0 D1 Aeiω0 T0 − 2iω0 μAeiω0 T0
  
− α2 Aeiω0 T0 + Ae−iω0 T0 +  eiT0 + e−iT0 ei2T0
+ cc − α1 [Aeiω0 T0 + Ae−iω0 T0
5.18 Exercise 5.18 (Cubic Nonlinear System Subjected to Combined … 409
 
+  eiT0 + e−iT0 ]3
= −2iω0 D1 Aeiω0 T0 − 2iω0 μAeiω0 T0 − 3α1 A2 Aeiω0 T0
− 6α1 2 Aeiω0 T0 − α2 Ae−2iσ2 T1 eiω0 T0 − α2 ei(−2)T0
2
− 3α1 A ei(−2ω0 )T0 − α1 3 e3iT0 + cc + NST (5.18.21)

CASE I: Ω is far from 3 and 13 :

In order to eliminate secular terms from (5.18.21), we need
− −
2iω0 D1 A + 2iω0 μA + 3α1 A2 A +6α1 2 A + α2 A e−2iσ2 T1 = 0 (5.18.22)

Substituting A = 21 aeiβ into the above equation and taking ω0 ≈ 1 into account,
we get

3 1
ia − aβ  + iμa + α1 a3 + 3α1 2 a + α2 ae−i(2σ2 T1 +2β) = 0 (5.18.23)
8 2
The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation gives

1
a = −μa + α2 a sin γ2
 2 
 1 2 1
aβ = 3α1  + a a + α2 a cos γ2
2
(5.18.24)
8 2

where

γ2 = 2σ2 T1 + 2β (5.18.25)

CASE II: 3 = 1 + εσ1 :

In order to eliminate secular terms from (5.18.21), we need

2iω0 D1 A + 2iω0 μA + 3α1 A2 A + 6α1 2 A

+ α2 Ae−2iσ2 T1 + α1 3 ei(σ1 −σ2 )T1 = 0 (5.18.26)

Substituting A = 21 aeiβ into the above equation and taking ω0 ≈ 1 into account,
we get

3 1
ia − aβ  + iμa + α1 a3 + 3α1 2 a + α2 ae−i(2σ2 T1 +2β)
8 2
+ α1 3 ei[(σ1 −σ2 )T1 −β] = 0 (5.18.27)
410 5 Parametrically Excited Systems

The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation gives.

1
a = −μa − α1 3 sin γ1 + α2 a sin γ2
  2
 1 2 1
aβ = 3α1  + a a + α1 3 cos γ1 + α2 a cos γ2
2
(5.18.28)
8 2

where

γ1 = (σ1 − σ2 )T1 − β, γ2 = 2σ2 T1 + 2β (5.18.29)

CASE III:  = 3 + εσ1 :

In order to eliminate secular terms from (5.18.21), we need

2iω0 D1 A + 2iω0 μA + 3α1 A2 A + 6α1 2 A

2
+ α2 Ae−2iσ2 T1 + 3α1 A ei(σ1 −3σ2 )T1 + α2 ei(σ1 −σ2 )T1 = 0 (5.18.30)

Substituting A = 21 aeiβ into the above equation and taking ω0 ≈ 1 into account,
we get

3 3
ia − aβ  + iμa + α1 a3 + 3α1 2 a + α1 a2 ei[(σ1 −3σ2 )T1 −3β]
8 4
1
+ α2 ae−i(2σ2 T1 +2β) + α2 ei[(σ1 −σ2 )T1 −β] = 0 (5.18.31)
2
The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation gives

3 1
a = −μa − α1 a2 sin γ1 + α2 a sin γ2 − α2  sin γ3 aβ 
 4  2
1 2 3 1
= 3α1  + a a + α1 a2 cos γ1 + α2 a cos γ2 + α2  cos γ3 (5.18.32)
2
8 4 2

where

γ1 = (σ1 − 3σ2 )T1 − 3β,

γ2 = 2σ2 T1 + 2β
1
γ3 = (σ1 − σ2 )T1 − β = σ1 T1 − γ2 (5.18.33)
2

(c) We only analyze the stability of the steady state solution for CASE I above, and
readers are invited to complete the stability analysis for other cases. Write (5.18.24)
5.18 Exercise 5.18 (Cubic Nonlinear System Subjected to Combined … 411

as
1
a = −μa + α2 asinγ2
2  
1
aγ2 = 2σ2 a + 6α1 2 + a2 a + α2 acosγ2 (5.18.34)
8

Let a = γ  = 0 in (5.18.34), we obtain

−μa + 21 α2asinγ2 = 0
(5.18.35)
2σ2 a + 6α1 2 + 18 a2 a + α2 acosγ2 = 0

The steady state solutions can be obtained:

(1) a = 0, γ are arbitrary constants;
(2) a = 0, γ are certain constants.

(1) a = 0 and γ = γ 0 are arbitrary constants.

Let

a = 0 + ã, γ2 = γ20 + γ̃ (5.18.36)

Substituting (5.18.36) into (5.18.34), we can obtain the corresponding linearized

equation
 
1
!
a = − μ − α2 sinγ20 ã (5.18.37)
2

Therefore, this steady state solution is stable when μ ≥ 21 α2 sin γ20 and vice versa.
(2) a = a0 = 0,γ 2 = γ 20
For this case, the frequency–response equation is
 
1 2
4μ a + [2σ2 a + 6α1  + a a]2 = α22 a2
2 2 2
(5.18.38)
8

Let

a = a0 + ã, γ2 = γ20 + γ̃ (5.18.39)

Substituting (5.18.39) into (5.18.34), we can obtain the corresponding linearized

equation
 ˜   
a −μ+ 21 α2 sin γ20 1
α2 cos γ20 ã
˜ =
2
γ 2σ2 a0−1 + 6α1 a0−1 2 + 38 a02 + α2 a0−1 cos γ20 −α2 sin γ20 γ̃
(5.18.40)
412 5 Parametrically Excited Systems

For any set of steady state solutions a = a0 = 0,γ = γ0 , one can calculate the
eigenvalues of Eq. (5.18.10), and the stability of the corresponding steady state
solutions can be determined from the sign of the real part of the two eigenvalues.
(d) When ω0 is far from 1, this is a nonresonant case where K = O(1). Equa-
tions (5.18.3–5.18.18) still hold, and thus the first order approximate solution of the
given equation is

u = a cos(ω0 t + β) + 2 cos t + O(ε) (5.18.41)

Substitute (5.18.17) into (5.18.16) yields

D02 u1 + ω02 u1 = −2D0 D1 u0 − 2μD0 u0

− α1 u03 − 2α2 u0 cos 2T0
= −2iω0 D1 Aeiω0 T0 − 2iω0 μAeiω0 T0
  
− α2 Aeiω0 T0 + Ae−iω0 T0 +  eiT0 + e−iT0 ei2T0
+ cc
 
− α1 [Aeiω0 T0 + Ae−iω0 T0 +  eiT0 + e−iT0 ]3
= −2iω0 D1 Aeiω0 T0 − 2iω0 μAeiω0 T0
− 3α1 A2 Aeiω0 T0 − 6α1 2 Aeiω0 T0
− α2 ei(+2)T0 − α2 ei(−2)T0
2
− 3α1 A ei(−2ω0 )T0 − α1 3 e3iT0
+ cc + NST (5.18.42)

From the above equation, it can be seen that the combined resonance of the system
occurs when  ∓ 2 ≈ ω0 , or when 2 −  ≈ ω0 .
When  = 2 + ω0 + εσ1 , in order to eliminate secular terms from (5.18.12), there
must be

2iω0 D1 A + 2iω0 μA + 3α1 A2 A + 6α1 2 A + α2 eiσ1 T1 = 0 (5.18.43)

Substituting A = 21 aeiβ into the above equation gives

3
ia − aβ  + iμa + α1 ω0−1 a3 + 3α1 2 ω0−1 a + α2 ω0−1 ei(σ1 T1 −β) = 0 (5.18.44)
8
The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation gives

a = −μa − α2 ω0−1 sinγ1

5.19 Exercise 5.19 (Cubic Nonlinear System Subjected to Combined … 413
 
1
aβ  = 3α1 ω0−1 2 + a2 a + α2 ω0−1 cosγ1 (5.18.45)
8

where

γ1 = σ1 T1 − β (5.18.46)

5.19 Exercise 5.19 (Cubic Nonlinear System Subjected

to Combined Parametric and Multi-frequency
External Excitations)

Solution: (a) We use the method of multiple scales to obtain the first-order
approximate solution of the system. Let the solution of the equation be

u(t; ε) = u0 (T0 , T1 , T2 ) + εu1 (T0 , T1 , T2 ) + ε2 u2 (T0 , T1 , T2 ) + · · · (5.19.1)

Substituting the above equation into the original equation and retaining to O(ε2 ),
we obtain

0 = u + ω02 u + 2εμu + εα1 u3 + 2εα2 u cos 2t


3
− Kn cos(n t + θn )
n=1

3
= D02 u0 + ω02 u0 − Kn cos(n t + θn )
n=1
+ ε(D02 u1 + ω02 u1 + 2D0 D1 u0
+ 2μD0 u0 + α1 u03 + 2α2 u0 cos 2t) + . . . (5.19.2)

Equating coefficients of like powers of ε in the above equation yields


3
D02 u0 + ω02 u0 = Kn cos(n T0 + θn ) (5.19.3)
n=1

D02 u1 + ω02 u1 = −2D0 D1 u0 − 2μD0 u0 − α1 u03 − 2α2 u0 cos 2T0 (5.19.4)

The solution of (5.19.3) is

414 5 Parametrically Excited Systems

− 
3
 
u0 = Aeiω0 T0 + A e−iω0 T0 + n ei(n T0 +θn ) + e−i(n T0 +θn ) (5.19.5)
n=1

where
1
n =  2  (5.19.6)
2 ω0 − 2n

and A = A(T1 , T2 ). Let

1 iβ
A= ae (5.19.7)
2
Substituting this into (5.19.5), we can obtain the first order approximate solution
of the given equation


3
u ≈ u0 = a cos(ω0 t + β) + 2n cos(n T0 + θn ) + O(ε) (5.19.8)
n=1

Substituting u0 into (5.19.4) yields

D02 u1 + ω02 u1 = −2D0 D1 u0 − 2μD0 u0 − α1 u03 − 2α2 u0 cos 2T0

= −2iω0 D1 Aeiω0 T0 − 2iω0 μAeiω0 T0

3
− α2 Ae i(2−ω0 )T0
− α2 n ei(n T0 +2T0 +θn )
n=1
− α1 u03 + cc + NST (5.19.9)

where

u03 = 31 ei(31 T0 +3θ1 ) + 32 ei(32 T0 +3θ2 ) + 33 ei(33 T0 +3θ3 )
+ 3A2 Āeiω 0 T0 + 621 Aeiω 0 T0 + 622 Aeiω 0 T0
+ 623 Aeiω 0 T0 + 321 Āei(21 T0 −ω 0 T0 +2θ1 )
+ 322 Āei(22 T0 −ω 0 T0 +2θ2 ) + 323 Āei(23 T0 −ω 0 T0 +2θ3 )
+ 61 2 Āei(1 T0 +2 T0 −ω 0 T0 +θ1 +θ2 )
+ 61 3 Āei(1 T0 +3 T0 −ω 0 T0 +θ1 +θ3 )
+ 62 3 Āei(2 T0 +3 T0 −ω 0 T0 +θ2 +θ3 )
+ 31 A2 ei(2ω 0 T0 −1 T0 +θ1 ) + 32 A2 ei(2ω 0 T0 −2 T0 −θ2 )
+ 33 A2 ei(2ω 0 T0 −3 T0 −θ3 )
+ 31 22 ei(22 T0 −1 T0 +2θ2 −θ1 ) + 321 2 ei(21 T0 −2 T0 +2θ1 −θ2 )
5.19 Exercise 5.19 (Cubic Nonlinear System Subjected to Combined … 415

+ 31 23 ei(23 T0 −1 T0 +2θ3 −θ1 ) + 321 3 ei(21 T0 −3 T0 +2θ1 −θ3 )
+ 32 23 ei(23 T0 −2 T0 +2θ3 −θ2 ) + 33 22 ei(22 T0 −3 T0 +2θ2 −θ3 )
+ 61 2 Aei(2 T0 −1 T0 +ω 0 T0 +θ2 −θ1 ) + 61 2 Aei(1 T0 −2 T0 +ω 0 T0 +θ1 −θ2 )
+ 61 3 Aei(3 T0 −1 T0 +ω 0 T0 +θ3 −θ1 ) + 61 3 Aei(1 T0 −3 T0 +ω 0 T0 +θ1 −θ3 )
+ 62 3 Aei(3 T0 −2 T0 +ω 0 T0 +θ3 −θ2 ) + 62 3 Aei(2 T0 −3 T0 +ω 0 T0 +θ2 −θ3 )
+ 61 2 3 ei(2 T0 +3 T0 −1 T0 +θ3 +θ2 −θ1 )
+ 61 2 3 ei(1 T0 +3 T0 −2 T0 +θ1 +θ3 −θ2 )
+ 61 2 3 ei(1 T0 +2 T0 −3 T0 +θ1 +θ2 −θ3 )
+ 31 ei(31 T0 +3θ1 ) + 32 ei(32 T0 +3θ2 ) + 33 ei(33 T0 +3θ3 )
+ 321 2 ei(21 T0 +2 T0 +2θ1 +θ2 ) + 31 22 ei(1 T0 +22 T0 +θ1 +2θ2 )
+ 322 3 ei(22 T0 +3 T0 +2θ2 +θ3 ) + 32 23 ei(2 T0 +23 T0 +θ2 +2θ3 )
+ 321 3 ei(21 T0 +3 T0 +2θ1 +θ3 ) + 31 23 ei(1 T0 +23 T0 +θ1 +2θ3 )
+ 61 2 3 ei(1 T0 +2 T0 +3 T0 +θ1 +θ2 +θ3 ) + cc (5.19.10)

When ω0 = 1 + εσ2 and 21 + 2 = 1 + εσ1 , (5.19.9) becomes

D02 u1 + ω02 u1 = −2iω0 D1 Aeiω0 T0 − 2iω0 μAeiω0 T0 − 3α1 A2 Aeiω0 T0

− 6α1 21 Aeiω0 T0 − 6α1 22 Aeiω0 T0 − 6α1 23 Aeiω0 T0
− 6α1 1 2 3 ei(1 T0 +2 T0 +3 T0 +θ1 +θ2 +θ3 ) − α2 Aei(2−ω0 )T0 + cc + NST
(5.19.11)

In order to eliminate secular terms from the above equation, there must be

− 
3
2iω0 D1 A + 2iω0 μA + 3α1 A2 A +6α1 2n A
n=1
−
+ 3α1 21 2 ei(2θ1 +θ2 ) ei(σ1 −σ2 )T1 + α2 A e−i2σ2 T1 =0 (5.19.12)

Substituting A = 21 aeiβ into the above equation and taking ω0 ≈ 1 into account,
we get

3 3
ia − aβ  + iμa + α1 a3 + 3α1 a 2n + 3α1 21 2 ei[(σ1 −σ2 )T1 −β+2θ1 +θ2 ]
8 n=1
1
+ α2 ae−i(2σ2 T1 +2β) = 0 (5.19.13)
2
The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation gives
416 5 Parametrically Excited Systems

1
a = −μa − 3α1 21 2 sin γ1 + α2 a sin γ2
2
 
3
1 1
aβ  = 3 α1 2n + a2 a + 3α1 21 2 cos γ1 + α2 a cos γ2 (5.19.14)
n=1
8 2

where

γ1 = (σ1 − σ2 )T1 − β + 2θ1 + θ2 , γ2 = 2σ2 T1 + 2β (5.19.15)

(b) CASE I: ω0 = 1 + εσ2 , 1 + 2 + 3 = 1 + εσ1 .

In this case, (5.19.9) becomess

D02 u1 + ω02 u1 = −2iω0 D1 Aeiω0 T0 − 2iω0 μAeiω0 T0 − 3α1 A2 Aeiω0 T0

− 6α1 21 Aeiω0 T0 − 6α1 22 Aeiω0 T0 − 6α1 23 Aeiω0 T0
− 6α1 1 2 3 ei(1 T0 +2 T0 +3 T0 +θ1 +θ2 +θ3 )
− α2 Aei(2−ω0 )T0 + cc + NST (5.19.16)

In order to eliminate secular terms from the above equation, there must be

− 
3
2iω0 D1 A + 2iω0 μA + 3α1 A2 A +6α1 2n A
n=1
−
i(θ1 +θ2 +θ3 ) i(σ1 −σ2 )T1
+ 6α1 1 2 3 e e + α2 A e−i2σ2 T1 = 0 (5.19.17)

Substituting A = 21 aeiβ into the above equation and taking ω0 ≈ 1 into account,
we get

3 3
ia − aβ  + iμa + α1 a3 + 3α1 a 2n
8 n=1
1
+ 6α1 1 2 3 ei[(σ1 −σ2 )T1 −β+θ1 +θ2 +θ3 ] + α2 ae−i(2σ2 T1 +2β) = 0 (5.19.18)
2
The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation gives

1
a = −μa − 6α1 1 2 3 sinγ1 + α2 asinγ2
2
 
3
1 1
aβ  = 3 α1 2n + a2 a + 6α1 1 2 3 cosγ1 + α2 acosγ2 (5.19.19)
n=1
8 2

where
5.19 Exercise 5.19 (Cubic Nonlinear System Subjected to Combined … 417

γ1 = (σ1 − σ2 )T1 − β + θ1 + θ2 + θ3 , γ2 = 2σ2 T1 + 2β (5.19.20)

CASE II: ω0 = 1 + εσ2 , 1 + 2 = 2 + εσ1

In this case, (5.19.9) becomes

D02 u1 + ω02 u1 = −2iω0 D1 Aeiω0 T0 − 2iω0 μAeiω0 T0

− 3α1 A2 Aeiω0 T0 − 6α1 21 Aeiω0 T0
− 6α1 22 Aeiω0 T0 − 6α1 23 Aeiω0 T0
− 6α1 1 2 Aei(1 T0 +2 T0 −ω0 T0 +θ1 +θ2 )
− α2 Aei(2−ω0 )T0 + cc + NST (5.19.21)

In order to eliminate secular terms from the above equation, there must be

− 
3
2iω0 D1 A + 2iω0 μA + 3α1 A2 A +6α1 2n A
n=1
− −
+ 6α1 1 2 A ei[(σ1 −2σ2 )T1 +θ1 +θ2 ] + α2 A e−i2σ2 T1 =0 (5.19.22)

Substituting A = 21 aeiβ into the above equation and taking ω0 ≈ 1 into account,
we get

3 3
ia − aβ  + iμa + α1 a3 + 3α1 a 2n
8 n=1
1
+ 3α1 1 2 aei[(σ1 −2σ2 )T1 −2β+θ1 +θ2 ] + α2 ae−i(2σ2 T1 +2β) = 0 (5.19.23)
2
The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation gives

1
a = −μa − 3α1 1 2 asinγ1 + α2 asinγ2
2
 
3
1 1
aβ  = 3 α1 2n + a2 a + 3α1 1 2 acosγ1 + α2 acosγ2 (5.19.24)
n=1
8 2

where

γ1 = (σ1 − 2σ2 )T1 − 2β + θ1 + θ2 , γ2 = 2σ2 T1 + 2β (5.19.25)

CASE III: ω0 = 1 + εσ2 , 31 = 1 + εσ1 , 2 + 3 = 2 + εσ3

In this case, (5.19.9) becomes
418 5 Parametrically Excited Systems

D02 u1 + ω02 u1 = −2iω0 D1 Aeiω0 T0 − 2iω0 μAeiω0 T0

− 3α1 A2 Aeiω0 T0 − 6α1 21 Aeiω0 T0
− 6α1 22 Aeiω0 T0 − 6α1 23 Aeiω0 T0
− 6α1 2 3 Aei(2 T0 +3 T0 −ω0 T0 +θ2 +θ3 )
− α1 31 ei(31 T0 +3θ1 )
− α2 Aei(2−ω0 )T0 + cc + NST (5.19.26)

In order to eliminate secular terms from the above equation, there must be


3
2iω0 D1 A + 2iω0 μA + 3α1 A2 Ā + 6α1 2n A
n=1
i[(σ3 −2σ2 )T1 +θ2 +θ3 )
− 6α1 2 3 Āe
− α1 31 ei[(σ1 −σ2 )T1 +3θ1 ] − α2 Āe−i2σ2 T1 = 0 (5.19.27)

Substituting A = 21 aeiβ into the above equation and taking ω0 ≈ 1 into account,
we get

3 3
ia − aβ  + iμa + α1 a3 + 3α1 a 2n + 3α1 2 3 aei[(σ3 −2σ2 )T1 −2β+θ2 +θ3 ]
8 n=1
1
+ α1 31 ei[(σ1 −σ2 )T1 −β+3θ1 ] + α2 ae−i(2σ2 T1 +2β) = 0 (5.19.28)
2
The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation gives

1
a = −μa − 3α1 2 3 asinγ3 + α2 asinγ2 − α1 31 sinγ1
2
 
3
1
aβ  = 3 α1 2n + a2 a + 3α1 2 3 acosγ3
n=1
8
1
+ α2 acosγ2 + α1 31 cosγ1 (5.19.29)
2
where

γ1 = (σ1 − σ2 )T1 − β + 3θ1 ,

γ2 = 2σ2 T1 2β,
γ3 = (σ3 − 2σ2 )T1 − 2β + θ2 + θ3 (5.19.30)

Readers are invited to complete the rest of the cases on their own.
5.20 Exercise 5.20 (Cubic Nonlinear, Square-Damped System Subjected … 419

5.20 Exercise 5.20 (Cubic Nonlinear, Square-Damped

System Subjected to Combined Parametric
and External Excitation)

Solution: (a) We use the method of multiple scales to obtain the first order approx-
imate solution of the system. When ω0 = 1 + εσ2 ,  = 1 + εσ1 , i.e. ≈ ω0 , this
can cause a primary resonance, so let

K = εk (5.20.1)

and the solution of the equation be

u(t; ε) = u0 (T0 , T1 , T2 ) + εu(T0 , T1 , T2 ) + ε2 u2 (T0 , T1 , T2 )+ (5.20.2)

Substituting the above equation into the original equation and retaining to O(ε2 ),
we get

0 = ü + 2εμ1 u̇ + εμ2 |u̇|u̇

  
+ ω02 + ε cos 2t u + εαu3 − K cos(t − θ )
= ü + ω02 u + 2εμ1 u̇ + εμ2 |u̇|u̇ + εαu3
+ εu cos 2t − K cos(t − θ ) + · · ·
 
= D02 + 2εD0 D1 (u0 + εu1 ) + ω02 (u0 + εu1 )
+ 2εμ1 (D0 + εD1 )(u0 + εu1 )
+ εμ2 (D0 + εD1 )(u0 + εu1 ) |(D0 + εD1 )(u0 + εu1 )|
1
+ εαu03 + ε(u0 + εu1 ) cos 2T0
2
− K cos(T0 − θ ) + · · ·
= D02 u0 + ω02 u0 + ε[D02 u1 + ω02 u1
+ 2D0 D1 u0 + 2μ1 D0 u0
1
+ μ2 D0 u0 |D0 u0 | + αu03 + u0 cos 2T0 ]
2
− K cos(T0 − θ ) + · · ·
= D02 u0 + ω02 u0
+ ε[D02 u1 + ω02 u1 + 2D0 D1 u0 + 2μ1 D0 u0
1
+ μ2 D0 u0 |D0 u0 | + αu03 + u0 cos 2T0
2
− k cos(T0 − θ )] + · · · (5.20.3)

Equating coefficients of like powers of ε in the above equation yields

420 5 Parametrically Excited Systems

D02 u0 + ω02 u0 = 0 (5.20.4)

D02 u1 + ω02 u1 = −2D0 D1 u0 − 2μ1 D0 u0

1
− μ2 D0 u0 |D0 u0 | − αu03 − u0 cos2T0 + kcos(T0 − θ ) (5.20.5)
2
The solution of (5.20.4) is
−
u0 = Aeiω0 T0 + A e−iω0 T0 (5.20.6)

where A = A(T1 , T2 ). Let

1 iβ
A= ae (5.20.7)
2
Substituting this into (5.20.6), we can obtain the first order approximate solution
of the given equation

u ≈ u0 = a cos(ω0 t + β) + O(ε) (5.20.8)

Substituting u0 into (5.20.5) yields

D02 u1 + ω02 u1 = −2D0 D1 u0 − 2μ1 D0 u0 − μ2 D0 u0 |D0 u0 | − αu03

1
− u0 cos 2T0 + k cos(T0 − θ )
2
= −2iω0 D1 Aeiω0 T0 − 2iω0 μ1 Aeiω0 T0
1
− 3αA2 Aeiω0 T0 − Aei(2−ω0 )T0
2
1 i(T0 −θ )
+ ke + cc + NST
2
  
− iω02 μ2 Aeiω0 T0 − Ae−iω0 T0 Aeiω0 T0 − Ae−iω0 T0  (5.20.9)

 In order to further  process (5.20.9),

 we need to deal with
−  − 
Aeiω0 T0 − A e−iω0 T0 Aeiω0 T0 − A e−iω0 T0  , which can be expanded into a Fourier
series of complex exponential form:
   ∞

−  iω T
−iω0 T0 
− 
−iω0 T0 
Ae iω0 T0
− Ae Ae 0 0
− A e  = fm eimω0 T0 (5.20.10)
m=−∞

where
5.20 Exercise 5.20 (Cubic Nonlinear, Square-Damped System Subjected … 421

 0
2π/ω  
ω0 −  − 
fm = Aeiω0 T0 − A e−iω0 T0 Aeiω0 T0 − A e−iω0 T0  e−imω0 T0 dT0 (5.20.11)
2π
0

Thus, (5.20.9) becomes

D02 u1 + ω02 u1 = −2iω0 D1 Aeiω0 T0 − 2iω0 μ1 Aeiω0 T0 − 3αA2 Aeiω0 T0 − 21 Aei(2−ω0 )T0
+ 21 kei(T0 −θ ) − iω02 μ2 f1 eiω0 T0 + cc + NST
(5.20.12)

In order to eliminate secular terms from (5.20.12), there must be

− 1− 1
2iω0 D1 A + 2iω0 μ1 A + 3αA2 A + A e−i2σ2 T1 − kei(T0 −θ ) + iω02 μ2 f1 = 0
2 2
(5.20.13)

Let A = 21 aeiβ , then we have.

 0
2π/ω
ω0  iω0 T0  
f1 = Ae − Ae−iω0 T0 Aeiω0 T0 − Ae−iω0 T0  e−iω0 T0 dT0
2π
0
 0
2π/ω
ω0
= ia2 eiβ sin(ω0 T0 + β)|sin(ω0 T0 + β)|e−i(ω0 T0 +β) dT0
2π
0
2π
1
= ia2 eiβ sin φ|sin φ|e−iφ d φ
2π
0
2π
a2 eiβ
= sin2 φ|sin φ|d φ
2π
0
π
a2 eiβ
= sin3 φd φ
π
0
2 iβ
4a e
= (5.20.14)
3π
Considering ω0 ≈ 1, (5.20.13) becomes

3 1
ia − aβ  + iμ1 a + αa3 + ae−i(2σ2 T1 +2β)
8 4
1 4
− kei[(σ1 −σ2 )T1 −β−θ ] + iμ2 a2 = 0 (5.20.15)
2 3π
422 5 Parametrically Excited Systems

The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation gives

a = −μ1 a − 4μ3π
a + 21 ksinγ1 + 41 asinγ2
2 2
(5.20.16)
aβ  = 38 αa3 − 21 kcosγ1 + 41 acosγ2

where

γ1 = (σ1 − σ2 )T1 − β − θ, γ2 = 2σ2 T1 + 2β (5.20.17)

(b) When ω0 = 1 + εσ2 and  = 2, only hard excitation can cause resonance,
therefore K = O(1). (5.20.3) becomes

0 = D02 u0 + ω02 u0 + ε[D02 u1 + ω02 u1

+ 2D0 D1 u0 + 2μ1 D0 u0 + μ2 D0 u0 |D0 u0 |
1
+ αu03 + u0 cos 2T0 ] − K cos(T0 − θ ) + · · · (5.20.18)
2
Equating coefficients of like powers of ε in the above equation yields

D02 u0 + ω02 u0 = K cos(T0 − θ ) (5.20.19)

D02 u1 + ω02 u1 = −2D0 D1 u0 − 2μ1 D0 u0 − μ2 D0 u0 |D0 u0 |

1
− αu03 − u0 cos 2T0 (5.20.20)
2
The solution of (5.20.19) is
 
u0 = Aeiω0 T0 + Ae−iω0 T0 +  ei(T0 −θ ) + e−i(T0 −θ )
 
= Aeiω0 T0 + Ae−iω0 T0 +  ei(2T0 −θ ) + e−i(2T0 −θ ) (5.20.21)

where A = A(T1 , T2 ) and

K K K
=  2 =  2  =− (5.20.22)
2 ω0 − 2 2 ω0 − 4 6

Let A = 21 aeiβ , and substitute this into (5.20.6), we obtain the first order
approximate solution of the given equation

u ≈ u0 = a cos(ω0 t + β) + 2 cos(2t − θ ) + O(ε) (5.20.23)

Substituting u0 into (5.20.20) yields

5.20 Exercise 5.20 (Cubic Nonlinear, Square-Damped System Subjected … 423

D02 u1 + ω02 u1 = −2D0 D1 u0 − 2μ1 D0 u0 − μ2 D0 u0 |D0 u0 |

1
− αu03 − u0 cos 2T0
2
= −2iω0 D1 Aeiω0 T0 − 2iω0 μ1 Aeiω0 T0
− 3αA2 Aeiω0 T0 − 6α2 Aeiω0 T0
1
− Aei(2−ω0 )T0 + cc + NST
2
− μ2 D0 u0 |D0 u0 | (5.20.24)

In order to further process (5.20.24), we need to deal with the function

D0 u0 |D0 u0 | , which can be expanded into a Fourier series of complex exponential
form:
∞

D0 u0 |D0 u0 | = gm eimω0 T0 (5.20.25)
m=−∞

where

 0
2π/ω
ω0
gm = D0 u0 |D0 u0 | e−imω0 T0 dT0 (5.20.26)
2π
0

Thus, the Eq. (5.20.24) becomes

D02 u1 + ω02 u1 = −2iω0 D1 Aeiω0 T0 − 2iω0 μ1 Aeiω0 T0

− 3αA2 Aeiω0 T0 − 6α2 Aeiω0 T0
1
− Aei(2−ω0 )T0 − μ2 g1 eiω0 T0 + cc + NST (5.20.27)
2
In order to eliminate secular terms from (5.20.27), there must be

2iω0 D1 A + 2iω0 μ1 A + 6α2 A

− 1−
+ 3αA2 A + A e−i2σ2 T1 + μ2 g1 = 0 (5.20.28)
2

Substitute A = 21 aeiβ into the above equation and let

g1 = eiβ (g1R + ig1I ) (5.20.29)

we obtain
424 5 Parametrically Excited Systems

3 1
ia − aβ  + iμ1 a + 3α2 a + αa3 + ae−i(2σ2 T1 +2β) + μ2 (g1R + ig1I ) = 0
8 4
(5.20.30)

The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation gives

1
a = −μ1 a + asinγ2 − μ2 g1I
 4 
 1 2 1
aβ = 3α  + a a + acosγ2 + μ2 g1R
2
(5.20.31)
8 4

where

γ2 = 2σ2 T1 + 2β (5.20.32)

From (5.20.26), and taking ω0 ≈ 1 into account, we have

 0
2π/ω
ω0
g1 = D0 u0 |D0 u0 | e−iω0 T0 dT0
2π
0
2π
eiβ
= D0 u0 |D0 u0 | e−i(ω0 T0 +β) d ω0 T0
2π
0
2π
eiβ
= G 2 (φ)sgn[G(φ)](cos φ − i sin φ)d φ
2π
0

 e (giR + igiI )
iβ
(5.20.33)

where G(ϕ) = D0 u0 . From (5.20.21), we can obtain

G(φ) = D0 u0 = −ω0 asin(ω0 T0 + β) − 4sin(2T0 − θ )

= −ω0 asin(ω0 T0 + β)
− 4sin(2ω0 T0 + 2β − 2σ2 T1 − 2β − θ )
= −ω0 asinφ − 4sin(2φ − γ2 − θ )

i.e.,

G(ϕ) = −ω0 a sin ϕ − 4 sin(2ϕ − γ2 − θ ) (5.20.34)

Substituting (5.20.33) and (5.20.34) into (5.20.31) yields

5.21 Exercise 5.21 (Analysis on a Double Pendulum with Swinging Mass … 425

2π
 1 μ2
a = −μ1 a + asinγ2 + G 2 (φ)sgn[G(φ)]sinφd φ
4 2π
0
 
1 1
aβ  = 3α 2 + a2 a + acosγ2
8 4
2π
μ2
+ G 2 (φ)sgn[G(φ)]cosφd φ (5.20.35)
2π
0

5.21 Exercise 5.21 (Analysis on a Double Pendulum

with Swinging Mass Attached to Springs and Moving
Platform)

Solution: (a) The double pendulum system oscillates and two springs are in
horizontal position and at their original length when y = 0andθ1 = θ2 = 0. Since
 
x1 = l1 sin θ1 x2 = l1 sin θ1 + l2 sin θ2
; (5.21.1)
y1 = y + l1 cos θ1 y2 = y + l1 cos θ1 + l2 cos θ2

the velocities of two particles are:

v12 = ẋ12 + ẏ12 = ẏ2 + l12 θ̇12 − 2l1 ẏθ̇1 sin θ1 ≈ ẏ2 + l12 θ̇12 − 2l1 θ1 ẏθ̇1
(5.21.2)
v22 = ẋ22 + ẏ22 = ẏ2 + l12 θ̇12 + l22 θ̇22 − 2l1 ẏθ̇1 sinθ1 − 2l2 ẏθ̇2 sinθ2
+2l1 l2 θ̇1 θ̇2 cosθ1 cosθ2 + 2l1 l2 θ̇1 θ̇2 sinθ1 sinθ2
(5.21.3)
≈ ẏ2 + l12 θ̇12 + l22 θ̇22 − 2l1 θ1 ẏθ̇1 − 2l2 θ2 ẏθ̇2 + 2l1 l2 θ̇1 θ̇2

The kinetic energy of the system is

1 1 1  
T= m1 v12 + m2 v22 = m1 ẋ12 + ẏ12
2 2 2
1  
+ m2 ẋ22 + ẏ22
2
1  
= m1 ẏ2 + l12 θ̇12 − 2l1 θ1 ẏθ̇1
2
1
+ m2
 22 2 2 
ẏ + l1 θ̇1 + l22 θ̇22 − 2l1 θ1 ẏθ̇1 − 2l2 θ2 ẏθ̇2 + 2l1 l2 θ̇1 θ̇2 (5.21.4)
426 5 Parametrically Excited Systems

The potential energy of the system is

 
V = m1 g l1 (1 − cos θ1 ) − y
 
+ m2 g l1 (1 − cos θ1 ) + l2 (1 − cos θ2 ) − y
1 1
+ k1 l12 θ12 + k2 (l1 θ1 + l2 θ2 )2
2 2
1    
≈ m1 g l1 θ12 − y + m2 g l1 θ12 + l2 θ22 − y
2
1 1
+ k1 l12 θ12 + k2 (l1 θ1 + l2 θ2 )2 (5.21.5)
2 2
Substitute kinetic and potential energy into the Lagrange’s equation:

d ∂T ∂T ∂V
− =− , i = 1, 2 (5.21.6)
dt ∂ θ̇i ∂θi ∂θi

The differential equation of motion of the system can be obtained as

 
(m1 + m2 )l1 θ̈1 + m2 l2 θ̈2 − (m1 + m2 )ÿθ1 + (m1 + m2 )g + (k1 + k2 )l1 θ1 + k2 l2 θ2
=0
m2 l2 θ̈2 + m2 l1 θ̈1 − m2 ÿθ2 + k2 l1 θ1 + (m2 g + k2 l2 )θ2 = 0 (5.21.7)

When l1 = l2 = l, m1 = m2 = m and k1 = k2 = 0, (5.21.7) becomes

g − ÿ
θ̈2 + θ̈1 − θ2 = 0
l
A simple transformation of these two equations gives

1 g − ÿ
θ̈1 + θ̈2 + θ1 = 0
2 l
g − ÿ
θ̈1 + (2θ1 − θ2 ) = 0
l
g − ÿ
θ̈2 + 2 (θ2 − θ1 ) = 0 (5.21.8)
l

(b) When ÿ ≡ 0, (5.21.1) becomes

 
(m1 + m2 )l1 θ̈1 + m2 l2 θ̈2 + (m1 + m2 )g + (k1 + k2 )l1 θ1
+ k2 l2 θ2 = 0 m2 l2 θ̈2 + m2 l1 θ̈1 + k2 l1 θ1 + (m2 g + k2 l2 )θ2 = 0 (5.21.9)

If we make l1 = l2 = l, m1 = m2 = m and k1 = k2 = k, (5.21.3) becomes

5.21 Exercise 5.21 (Analysis on a Double Pendulum with Swinging Mass … 427
   2g  
θ̈1 + mk − gl θ1
+ l =0 (5.21.10)
θ̈2 − 2gl 2g
l
+ k
m
θ2

The characteristic equation is

   2
k 2g g 2
ω −
2
+ −2 =0 (5.21.11)
m l l

Therefore, the frequency of the system is

" "
# √ # √
# 2− 2 g # 2+
$k $k 2 g
ω1, 2 = + , + (5.21.12)
m l m l

The corresponding eigenmatrix is


1 −1
[] = √ √ (5.21.13)
2 2

and
 √
1
[]−1 = √ √2 1 (5.21.14)
2 2 − 21

(c) When l1 = l2 = l, m1 = m2 = m and k1 = k2 = k, (5.21.7) becomes

   2g     
θ̈1 + mk − gl θ1 ÿ 2 −1 θ1
+ l − =0 (5.21.15)
θ̈2 − 2gl 2g
l
+ k
m
θ2 l −2 2 θ2

Make a transformation

{θ1 , θ2 }T = []{u1 , u2 }T (5.21.16)

(5.21.9) becomes
      √  
ü1 ω12 0 u1 ÿ 2 − 2 0√ u1
+ − =0 (5.21.17)
ü2 0 ω22 u2 l 0 2 + 2 u2

Substituting y = εl cos t into the above equation yields

ü1 + ω12 u1 + εb1 2 u1 cos t = 0

(5.21.18)
ü2 + ω22 u2 + εb2 2 u2 cos t = 0

where
428 5 Parametrically Excited Systems
√ √
b1 = 2 − 2, b2 = 2 + 2 (5.21.19)

These are two mutually independent, single-degree-of-freedom, single-frequency

parametric excitation equations. We use the method of multiple scales to obtain their
first-order approximate solutions. Let the solutions of the equations be

un (t; ε) = un0 (T0 , T1 , T2 ) + εun1 (T0 , T1 , T2 )

+ ε2 un2 (T0 , T1 , T2 ) + · · · , n = 1, 2 (5.21.20)

Substituting the above equation(s) into the original equation and retaining to
O(ε2 ), we get

0 = ün + ωn2 un + εbn 2 un cos t

   
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 un0 + εun1 + ε2 un2
 
+ ωn2 un0 + εun1 + ε2 un2
 
+ εbn 2 un0 + εun1 + ε2 un2 cos T0 + · · ·
= D02 un0 + εD02 un1 + ε2 D02 un2
+ 2εD0 D1 un0 + 2ε2 D0 D1 un1
 
+ ε2 D12 + 2D0 D2 un0 + ωn2 un0 + εωn2 un1 + ε2 ωn2 un2
+ εbn 2 un0 cos T0 + ε2 bn 2 un1 cos T0 + · · ·
= D02 un0 + ωn2 un0
 
+ ε D02 un1 + ωn2 un1 + 2D0 D1 un0 + bn 2 un0 cos T0
+ ε2
 2   
D0 un2 + ωn2 un2 + 2D0 D1 un1 + D12 + 2D0 D2 un0 + bn 2 un1 cos T0 + · · ·
(5.21.21)

Equating coefficients of like powers of ε in the above equation yields

D02 un0 + ωn2 un0 = 0 (5.21.22)

D02 un1 + ωn2 un1 = −2D0 D1 un0 − bn 2 un0 cos T0 (5.21.23)

 
D02 un2 + ωn2 un2 = −2D0 D1 un1 − D12 + 2D0 D2 un0 − bn 2 un1 cos T0 (5.21.24)

The solutions of (5.21.22) are

−
un0 = An eiωn T0 + An e−iωn T0 (5.21.25)

where A = A(T1 , T2 ). Let

5.21 Exercise 5.21 (Analysis on a Double Pendulum with Swinging Mass … 429

1 iβn
An = an e (5.21.26)
2
Substituting this into (5.21.25), we can obtain the first order approximate solutions
of the given equations

un ≈ un0 = an cos(ωn t + βn ) + O(ε) (5.21.27)

Substituting this set of solutions into (5.21.16), we obtain first order approximate
solutions to the original equations.
Substitute un0 into (5.21.23) yields

D02 un1 + ωn2 un1 = −2D0 D1 un0 − bn 2 un0 cos T0

= −2D0 D1 An eiωn T0
1  
− bn 2 An eiωn T0 + An e−iωn T0 eiT0 + cc
2
= −2iωn D1 An eiωn T0
1
− bn 2 An ei(−ωn )T0 + cc + NST (5.21.28)
2

CASE I: Ω ≈ 2ω1 :
Introduce the detuning parameter σ such that

 = 2ω1 + εσ (5.21.29)

In order to eliminate secular terms from (5.21.28), there must be

1 −
2iω1 D1 A1 + b1 2 A eiσ T1 = 0 (5.21.30)
2 1

2iω2 D1 A2 = 0 (5.21.31)

Substituting A1 = 21 a1 eiβ1 into (5.21.30) yields

1
ia1 − aβ1 + ω1−1 b1 2 a1 ei(σ T1 −2β1 ) = 0 (5.21.32)
4
The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation and taking into account  ≈ 2ω1 gives

a1 = −ω1 b1 a1 sinγ

(5.21.33)
a1 γ  = aσ − 2ω1 b1 a1 cosγ

where
430 5 Parametrically Excited Systems

γ = σ T1 − 2β1 (5.21.34)

The steady state solution satisfies the following equations:

−ω1 b1 a1 sinγ = 0
(5.21.35)
a1 σ − 2ω1 b1 a1 cosγ = 0

It can be seen that the condition for the existence of a nonzero steady state solution
is

σ = ±2ω1 b1 (5.21.36)

Substituting this into (5.21.29), we obtain a transition curve separating stability

from instability for the system
 √ 
 = 2ω1 (1 ± εb1 ) = 2ω1 1 ± 2 − 2 ε (5.21.37)

From (5.21.31), we can obtain A2 = A2 (T2 ). And then the Eq. (5.21.28) becomes
 
1 −
i(+ω2 )T0 i(−ω2 )T0
D02 u21 + ω22 u21 = − b2  A2 e
2
+ A2 e + cc (5.21.38)
2

therefore,
−
b2 2 A2 ei(+ω2 )T0 b2 2 A2 ei(−ω2 )T0
u21 =−   −   + cc (5.21.39)
2[ω22 −  + ω2 )2 2[ω22 −  − ω2 )2

Substitute u21 into (5.21.24)

D02 u22 + ω22 u22 = −2D0 D2 u20 − b2 2 u21 cos T0

1  
= −2D0 D2 u20 − b2 2 u21 eiT0 + cc
2
= −2iω2 D2 A2 eiω2 T0
b22 4 A2
+   eiω2 T0 + cc + NST (5.21.40)
4[ω22 −  − ω2 )2

In order to eliminate secular terms from the above equation, there must be

b22 4 A2 b22 4 A2
2iω2 D2 A2 −   −   =0 (5.21.41)
4[ω22 −  + ω2 )2 4[ω22 −  − ω2 )2

therefore,
5.21 Exercise 5.21 (Analysis on a Double Pendulum with Swinging Mass … 431

A2 = α2 eiχ2 T2 (5.21.42)

where α2 is a complex number and χ2 is

b22 4 b22 4
χ2 = −   −   (5.21.43)
8ω2 [ω22 −  + ω2 )2 8ω2 [ω22 −  − ω2 )2

Thus u21 is bounded.

CASE II: Ω ≈ ω1 + ω2 :
Introduce the detuning parameter σ such that

 = ω1 + ω2 + εσ (5.21.44)

In order to eliminate secular terms from (5.21.28), there must be

D1 A1 = 0, D1 A2 = 0 ⇒ A1 = A1 (T2 ), A2 = A2 (T2 ) (5.21.45)

Equation (5.21.28) becomes

 
1 −
D02 un1 + ω22 un1 = − bn 2 An ei(+ωn )T0 + An ei(−ωn )T0 + cc (5.21.46)
2

Therefore,
−
bn 2 An ei(+ωn )T0 bn 2 An ei(−ωn )T0
un1 =−  −   + cc (5.21.47)
2[ωn −  + ωn )
2 2 2[ωn2 −  − ωn )2

Substitute un1 into (5.21.24)

D02 un2 + ωn2 un2 = −2D0 D2 un0 − bn 2 un1 cos T0

1  
= −2D0 D2 un0 − bn 2 un1 eiT0 + cc
2
b2n 4 An
= −2iωn D2 An eiωn T0 +   eiω2 T0
4[ωn2 −  − ωn )2
bn 2 An
+   eiωn T0 + cc + NST (5.21.48)
2[ωn2 −  + ωn )2

In order to eliminate secular terms from the above equation, there must be

b2n 4 An bn 2 An
2iω2 D2 A2 −  −   =0 (5.21.49)
4[ωn2 −  − ωn )2 2[ωn2 −  + ωn )2
432 5 Parametrically Excited Systems

therefore,

An = αn eiχn T2 (5.21.50)

where αn are complex numbers and χn are

b2n 4 b2n 4
χn = −  −   (5.21.51)
8ωn [ωn2 −  + ωn )2 8ωn [ωn2 −  − ωn )2

Thus, un1 are bounded.

In brief, for the case of Ω ≈ ω1 + ω2 , the first order approximate solutions of the
equations are stable.
Readers are invited to complete the analysis on the case of  ≈ ω2 − ω1 on their
own.

(d) When y = εl y1 cos(1 t + φ1 ) + y2 cos(2 t + φ2 )] is substituted into (5.21.31),
we get

ü1 + ω12 u1 + εu1 [c11 cos(1 t + φ1 ) + c12 cos(2 t + φ2 )] = 0

(5.21.52)
ü2 + ω22 u2 + εu2 [c21 cos(1 t + φ1 ) + c22 cos(2 t + φ2 )] = 0

where
√ √
c11 = 21 y1 2 − 2 , c12 = 22 y2 2 − 2 ,
√ √
c21 = 21 y1 2 + 2 , c22 = 22 y2 2 + 2 (5.21.53)

These are two mutually independent, single-degree-of-freedom, dual-frequency

parametric excitation equations, and we use the method of multiple scales to solve
their first-order approximate solutions. Let the solutions of the equations be

un (t; ε) = un0 (T0 , T1 , T2 ) + εun1 (T0 , T1 , T2 ) + ε2 un2 (T0 , T1 , T2 ) + · · · , n = 1, 2

(5.21.54)

Substituting the above equation into (5.21.32) and retaining to O(ε2 ), we get

0 = ün + ωn2 un
+ εun [cn1 cos(1 t + ϕ1 ) + cn2 cos(2 t + ϕ2 )]
   
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 un0 + εun1 + ε2 un2
   
+ ωn2 un0 + εun1 + ε2 un2 + ε un0 + εun1 + ε2 un2
× [cn1 cos(1 t + ϕ1 ) + cn2 cos(2 t + ϕ2 )] + · · ·
= D02 un0 + εD02 un1 + ε2 D02 un2 + 2εD0 D1 un0
 
+ 2ε2 D0 D1 un1 + ε2 D12 + 2D0 D2 un0
5.21 Exercise 5.21 (Analysis on a Double Pendulum with Swinging Mass … 433

+ ωn2 un0 + εωn2 un1 + ε2 ωn2 un2

+ εun0 [cn1 cos(1 t + ϕ1 ) + cn2 cos(2 t + ϕ2 )]
+ ε2 un1 [cn1 cos(1 t + ϕ1 ) + cn2 cos(2 t + ϕ2 )] + · · ·
= D02 un0 + ωn2 un0 + ε{D02 un1 + ωn2 un1 + 2D0 D1 un0
+ un0 [cn1 cos(1 T0 + ϕ1 ) + cn2 cos(2 T0 + ϕ2 )]}
 
+ ε2 {D02 un2 + ωn2 un2 + 2D0 D1 un1 + D12 + 2D0 D2 un0
+ un1 [cn1 cos(1 T0 + ϕ1 ) + cn2 cos(2 T0 + ϕ2 )]} + · · · (5.21.55)

Equating coefficients of like powers of ε in the above equation yields

D02 un0 + ωn2 un0 = 0 (5.21.56)

D02 un1 + ωn2 un1 = −2D0 D1 un0 − un0 [cn1 cos(1 T0 + φ1 )

+ cn2 cos(2 T0 + φ2 )] (5.21.57)

 
D02 un2 + ωn2 un2 = −2D0 D1 un1 − D12 + 2D0 D2 un0
− un1 [cn1 cos(1 T0 + ϕ1 ) + cn2 cos(2 T0 + ϕ2 )] (5.21.58)

The solution of (5.21.56) is

−
un0 = An eiωn T0 + An e−iωn T0 (5.21.59)

where An = An (T1 , T2 ). Let

1 iβn
An = an e (5.21.60)
2
Substituting this into (5.21.59), we can obtain the first order approximate solutions
of the given equations

un ≈ un0 = an cos(ωn t + βn ) + O(ε) (5.21.61)

Substituting this set of solutions into (5.21.16), we obtain first order approximate
solutions to the original equations.
Substitute un0 into (5.21.57) yields

D02 un1 + ωn2 un1 = −2D0 D1 un0 − un0 [cn1 cos(1 T0 + ϕ1 ) + cn2 cos(2 T0 + ϕ2 )]
1  
= −2D0 D1 An eiωn T0 − cn1 An eiωn T0 + An e−iωn T0 ei(1 T0 +ϕ1 )
2
1  iωn T0 
− cn2 An e + An e−iωn T0 ei(2 T0 +ϕ2 ) + cc
2
434 5 Parametrically Excited Systems

1
= −2iωn D1 An eiωn T0 − cn1 An ei[(1 +ωn )T0 +ϕ1 ]
2
1 i[(1 −ωn )T0 +ϕ1 ] 1
− cn1 An e − cn2 An ei[(2 +ωn )T0 +ϕ2 ]
2 2
1
− cn2 An ei[(2 −ωn )T0 +ϕ2 ] + cc (5.21.62)
2

CASE I: 1 ≈ ω2 − ω1 and 2 ≈ 2ω1 :

Introduce the detuning parameters σ1 and σ2 such that

1 = ω2 − ω1 + εσ1 , 2 = 2ω1 + εσ2 (5.21.63)

In order to eliminate secular terms from (5.21.62), there must be

1 −
2iω1 D1 A1 + c12 A ei(σ2 T1 +φ2 ) = 0 (5.21.64)
2 1

D1 A2 = 0 (5.21.65)

Substituting A1 = 21 a1 eiβ1 into (5.21.64) yields

1
ia1 − aβ1 + ω1−1 c12 a1 ei(σ2 T1 −2β1 +φ2 ) = 0 (5.21.66)
4
The prime denotes the derivative with respect to T1 . Separating the real and
imaginary parts of the above equation gives

a1 = − 41 ω1−1 c12 a1 sinγ1

(5.21.67)
a1 γ1 = σ2 a − 21 ω1−1 c12 a1 cosγ1

where

γ1 = σ2 T1 − 2β1 + φ2 (5.21.68)

Let a = γ  = 0 in (5.21.67), we can obtain

1
− ω1−1 c12 a1 sinγ1 = 0
4
1 −1
σ2 a1 − ω1 c12 a1 cosγ1 = 0 (5.21.69)
2
It can be seen that the condition for the existence of a nonzero steady state solution
is
5.21 Exercise 5.21 (Analysis on a Double Pendulum with Swinging Mass … 435

1
σ2 = ± ω1−1 c12 (5.21.70)
2
Substituting this into(5.21.63), we obtain a transition curve separating stability
from instability for the system

1  √ 
2 = 2ω1 ± εω1−1 c12 = 2ω1 1 ± 2 − 2 εy2 (5.21.71)
2
From (5.21.65) we can obtain A2 = A2 (T2 ), then (5.21.62) becomes

1 1
D02 u21 + ω22 u21 = − c21 A2 ei[(1 +ω2 )T0 +ϕ1 ] − c21 A2 ei[(1 −ω2 )T0 +ϕ1 ]
2 2
1 i[(2 +ω2 )T0 +ϕ2 ] 1
− c22 A2 e − c22 A2 ei[(2 −ω2 )T0 +ϕ2 ] + cc
2 2
(5.21.72)

therefore,

c21 A2 ei[(1 +ω2 )T0 +ϕ1 ] c21 A2 ei[(1 −ω2 )T0 +ϕ1 ]
u21 = −  −  
2[ω2 − 1 + ω2 )2
2
2[ω22 − 1 − ω2 )2
c22 A2 ei[(2 +ω2 )T0 +ϕ2 ] c22 A2 ei[(2 −ω2 )T0 +ϕ2 ]
−  −   + cc (5.21.73)
2[ω2 − 2 + ω2 )
2 2 2[ω22 − 2 − ω2 )2

Substituting u21 into (5.21.58) yields

D02 u22 + ω22 u22 = −2D0 D2 u20

− u21 [c21 cos(1 T0 + ϕ1 ) + c22 cos(2 T0 + ϕ2 )]
= −2D0 D2 u20
1     
− u21 c21 ei(1 T0 +ϕ1 ) + cc + c22 ei(2 T0 +ϕ2 ) + cc
2
= −2iω2 D2 A2 eiω2 T0
c2 c2
+{  21 +  21 
4[ω22 − 1 + ω2 ) 2 4[ω2 − 1 − ω2 )2
2

2 2
c22 c22
+   +   }A2 eiω2 T0
4[ω22 − 2 + ω2 )2 4[ω22 − 2 − ω2 )2
+ cc + NST (5.21.74)

In order to eliminate secular terms from the above equation, there must be
436 5 Parametrically Excited Systems

2iω2 D2 A2
 
2
c21 2
c21 2
c22 2
c22
−   +   +   +   A2
4[ω22 − 1 + ω2 )2 4[ω22 − 1 − ω2 )2 4[ω22 − 2 + ω2 )2 4[ω22 − 2 − ω2 )2
= 0(0.21.55) (5.21.75)

therefore,

A2 = α2 eiχ2 T2 (5.21.76)

where α2 is a complex number and χ2 is

 2 2
1 c21 c21
χ2 = − +
8ω2 ω2 − (1 + ω2 )2
2
ω2 − (1 − ω2 )2
2

2 2 
c22 c22
+ 2 + 2 (5.21.77)
ω2 − (2 + ω2 )2 ω2 − (2 − ω2 )2

Thus, u21 is bounded.

For the case of 1 ≈ ω2 − ω1 and 2 ≈ ω2 + ω1 , readers are invited to complete
the analysis on their own.

5.22 Exercise 5.22 (A Two-Frequency Parametric

Excitation of a Multi Degree-of-Freedom System
with Distinct Frequencies)

Solution: These are N mutually coupled, two-frequency parametric excitation

linear equations. We use the method of multiple scales to obtain their first-order
approximate solutions. Let the solutions of the equations be

un (t; ε) = un0 (T0 , T1 , T2 ) + εun1 (T0 , T1 , T2 )

+ ε2 un2 (T0 , T1 , T2 ) + · · · (5.22.1)

Substituting (5.22.1) into the governing equation and retaining to O(ε2 ), we get

0 = ün + ωn2 un

N
 
+ 2ε fnm cos 1 t + gnm cos(2 t + θ ) um
m=1
   
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 un0 + εun1 + ε2 un2
5.22 Exercise 5.22 (A Two-Frequency Parametric Excitation of a Multi … 437
 
+ ωn2 un0 + εun1 + ε2 un2

N
 
+ 2ε fnm cos 1 T0 + gnm cos(2 T0 + θ )
m=1
 
× um0 + εum1 + ε2 um2 + · · ·
= D02 un0 + εD02 un1 + ε2 D02 un2
+ 2εD0 D1 un0 + 2ε2 D0 D1 un1
 
+ ε2 D12 + 2D0 D2 un0 + ωn2 un0 + εωn2 un1 + ε2 ωn2 un2

N
 
+ 2ε fnm cos 1 T0 + gnm cos(2 T0 + θ ) um0
m=1

N
 
+ 2ε 2
fnm cos 1 T0 + gnm cos(2 T0 + θ ) um1 + · · ·
m=1
= D02 un0 + ωn2 un0 + ε{D02 un1 + ωn2 un1 + 2D0 D1 un0

N
 
+2 fnm cos 1 T0 + gnm cos(2 T0 + θ ) um0 }
m=1
 
+ ε {D02 un2
2
+ ωn2 un2 + 2D0 D1 un1 + D12 + 2D0 D2 un0

N
 
+2 fnm cos 1 T0 + gnm cos(2 T0 + θ ) um1 } + · · · (5.22.2)
m=1

Equating coefficients of like powers of ε in the above equation yields

D02 un0 + ωn2 un0 = 0 (5.22.3)


N

D02 un1 + ωn2 un1 = −2D0 D1 un0 − 2 fnm cos 1 T0 + gnm cos(2 T0 + θ )]um0
m=1
(5.22.4)
 
D02 un2 + ωn2 un2 = −2D0 D1 un1 − D12 + 2D0 D2 un0

N
 
−2 fnm cos 1 T0 + gnm cos(2 T0 + θ ) um1 (5.22.5)
m=1

From (5.22.3), we can obtain

−
un0 = An eiωn T0 + An e−iωn T0 (5.22.6)

where An = An (T1 , T2 ). Substituting un0 into (5.22.4) yields

438 5 Parametrically Excited Systems


N
 
D02 un1 + ωn2 un1 = −2D0 D1 un0 − 2 fnm cos 1 T0 + gnm cos(2 T0 + θ ) um0
m=1

N
 
= −2D0 D1 An eiωn T0 − fnm Am ei(1 +ωm )T0 + Am ei(1 −ωm )T0
m=1

N
 
− gnm Am ei[(2 +ωm )T0 +θ ] + Am ei[(2 −ωm )T0 +θ ] + cc (5.22.7)
m=1

CASE I: Ω 1 ≈ ω2 − ω1 and 2 ≈ ω3 − ω2 :
Introduce the detuning parameters σ1 and σ2 such that

1 = ω2 − ω1 + εσ1 , 2 = ω3 − ω2 + εσ2 (5.22.8)

then (5.22.7) becomes

D02 un1 + ωn2 un1 = −2D0 D1 An eiωn T0


N
 
− fnm Am ei(ω2 −ω1 +εσ1 +ωm )T0 + Am ei(ω2 −ω1 +εσ1 −ωm )T0
m=1

N
 
− gnm Am ei[(ω3 −ω2 +εσ2 +ωm )T0 +θ ] + Am ei[(ω3 −ω2 +εσ2 −ωm )T0 +θ ] + cc
m=1
(5.22.9)

In order to eliminate secular terms from the above equation, it is necessary to have

2iω1 D1 A1 + f12 A2 e−iσ1 T1 = 0

2iω2 D1 A2 + f21 A1 eiσ1 T1 + g23 A3 e−i(σ2 T1 +θ ) = 0 (5.22.10)
2iω3 D1 A3 + g32 A2 ei(σ2 T1 +θ ) = 0

D1 An = 0 ⇒ An = An (T2 ); for all n = 1, 2, 3 (5.22.11)

The solutions of (5.22.10) are

⎧
⎨ A1 = a1 ei(λ−σ1 )T1
A2 = a2 eiλT1 (5.22.12)
⎩
A3 = a3 ei[(λ+σ2 )T1 +θ]

where a1 , a2 and a3 are complex numbers. Substituting(5.22.12) into(5.22.10) yields

5.22 Exercise 5.22 (A Two-Frequency Parametric Excitation of a Multi … 439
⎡ ⎤⎧ ⎫
2ω1 (λ − σ1 ) −f12 0 ⎨ a1 ⎬
⎣ −f21 2ω2 λ −g23 ⎦ a2 = 0 (5.22.13)
⎩ ⎭
0 −g32 2ω3 (λ + σ2 ) a3

So the characteristic equation is

⎡ ⎤
2ω1 (λ − σ1 ) −f12 0
det ⎣ −f21 2ω2 λ −g23 ⎦=0
0 −g32 2ω3 (λ + σ2 )

i.e.,

1 1
λ − 1 (λ − σ1 )−1 − 2 (λ + σ2 )−1 = 0 (5.22.14)
4 4
where
f12 f21 g23 g32
1 = , 2 = (5.22.15)
ω1 ω2 ω2 ω3

The stability of the first order approximate solution can be determined from λ of
(5.22.14).
CASE II: 1 ≈ ω3 − ω2 and 2 ≈ ω1 + ω2 :
Introduce the detuning parameters σ1 and σ2 such that

1 = ω3 − ω2 + εσ1 , 2 = ω1 + ω2 + εσ2 (5.22.16)

then (5.22.7) becomes

D02 un1 + ωn2 un1 = −2D0 D1 An eiωn T0


N
 
− fnm Am ei(ω3 −ω2 +εσ1 +ωm )T0 + Am ei(ω3 −ω2 +εσ1 −ωm )T0
m=1

N
 
− gnm Am ei[(ω1 +ω2 +εσ2 +ωm )T0 +θ ] + Am ei[(ω1 +ω2 +εσ2 −ωm )T0 +θ ] + cc
m=1
(5.22.17)

In order to eliminate secular terms from (5.22.17), it is necessary to have.

2iω1 D1 A1 + g12 A2 ei(σ2 T1 +θ ) = 0

2iω2 D1 A2 + f23 A3 e−iσ1 T1 + g21 A1 ei(σ2 T1 +θ ) = 0 (5.22.18)
2iω3 D1 A3 + f32 A2 eiσ1 T1 = 0

D1 An = 0 ⇒ An = An (T2 ); for all n = 1, 2, 3 (5.22.19)

440 5 Parametrically Excited Systems

The solutions of (5.22.18) are

⎧  
⎪
⎪
−
i − λ +σ2 T1
⎨ A1 = a1 e
A2 = a2 ei(λT1 +θ ) (5.22.20)
⎪
⎪
⎩
A3 = a3 ei[(λ+σ1 )T1 +θ ]

where a1 , a2 and a3 are complex numbers. Substituting (5.22.20) into (5.22.18) yields
⎡ ⎤⎧ ⎫
2ω1 (λ − σ2 ) g12 0 ⎨ a1 ⎬
⎣ −g21 2ω2 λ −f23 ⎦ a2 = 0 (5.22.21)
⎩ ⎭
0 −f32 2ω3 (λ + σ1 ) a3

So the characteristic equation is

⎡ ⎤
2ω1 (λ − σ2 ) g12 0
det ⎣ −g21 2ω2 λ −f23 ⎦=0
0 −f32 2ω3 (λ + σ1 )

i.e.,

1 1
λ − 1 (λ + σ1 )−1 + 2 (λ − σ2 )−1 = 0 (5.22.22)
4 4
where
f23 f32 g12 g21
1 = , 2 = (5.22.23)
ω2 ω3 ω1 ω2

The stability of the first order approximate solution can be determined from λ of
(5.22.23).

5.23 Exercise 5.23 (A Single-Frequency Parametric

Excitation of a Three-Degree-of-Freedom System
with Repeating Frequencies)

Solution: This is a linear system having three degrees of freedom, with two of
the frequencies being equal. Without parametric excitation, the system is unstable
because x2 contains a secular or resonant term of the form t sin(ω1 t + β), where β
is a constant. To determine if the parametric excitation can stabilize the system, we
assume that all three modes are bounded and then, if possible, determine the values of
5.23 Exercise 5.23 (A Single-Frequency Parametric Excitation … 441

the parameters which are consistent with this assumption, particularly those values
at the boundaries of the region where the assumption is valid.
Although the parametric excitation might stabilize the motion, we still expect the
amplitude of the x2 -mode to be much larger than that of the x1 -mode. We do not
have any indication of the amplitude of the x3 -mode. To express our expectations
systematically, we scale the dependent variables. Without loss of generality, we make

x1 = u1 , x2 = ε−λ2 u2 , x3 = ε−λ3 u3 (5.23.1)

where the un are O(1) and the λn are positive constants to be determined in the
solution. Substituting (5.23.1) into the original equations leads to
 
ü1 + ω12 u1 + 2 εf11 u1 + ε1−λ2 f12 u2 + ε1−λ3 f13 u3 cos ωt = 0 (5.23.2)

 
ü2 + ω12 u2 + ελ2 u1 + 2 ε1+λ2 f21 u1 + εf22 u2 + ε1−λ3+λ2 f23 u3 cos ωt = 0 (5.23.3)

 
ü3 + ω32 u3 + 2 ε1+λ3 f31 u1 + ε1−λ2+λ3 f32 u2 + εf33 u3 cos ωt = 0 (5.23.4)

We are concerned with various combinations of the frequencies which can lead to a
resonant response. We therefore adopt a multiscale approach to determine a uniformly
valid approximate solution which exhibits the effects of the repeated frequency and
the resonant combinations of frequencies. We write the various time scales as

T0 = t, T1 = ελ4 t, T2 = ε2λ4 t (5.23.5)

where λ4 > 0 is a constant to be determined. In terms of these scales,

d2  
2
= D02 + 2ελ4 D0 D1 + ε2λ4 2D0 D2 + D12 + · · · (5.23.6)
dt
Assume that approximate solutions in the form

un (t; ε) = un0 (T0 , T1 , T2 ) + ελ4 un1 (T0 , T1 , T2 ) + ε2λ4 un2 (T0 , T1 , T2 ) + · · ·

(5.23.7)

Substituting (5.23.5) ~(5.23.7) into (5.23.2) ~(5.23.4) leads to

 
D02 u10 + ω12 u10 + ελ4 D02 u11 + ω12 u11 + 2D0 D1 u10
 
+ ε2λ4 D02 u12 + ω12 u12 + 2D0 D2 u10 + D12 u10 + 2D0 D1 u11
+ 2(εf11 u10 + ε1−λ2 f12 u20 + ε1−λ2+λ4 f12 u21
+ ε1−λ3 f13 u30 + ε1−λ3+λ4 f13 u31 ) cos ωT0 + · · · = 0 (5.23.8)
442 5 Parametrically Excited Systems
 
D02 u20 + ω12 u20 + ελ4 D02 u21 + ω12 u21 + 2D0 D1 u20
 
+ ε2λ4 D02 u22 + ω12 u22 + 2D0 D1 u21 + D12 u20 + 2D0 D2 u20
+ ελ2 u10 + 2(ε1+λ2 f21 u10 + εf22 u20 + ε1+λ4 f22 u21
+ ε1−λ3+λ2 f23 u30 + ε1−λ3+λ2+λ4 f23 u31 ) cos ωT0 + · · · = 0 (5.23.9)

 
D02 u30 + ω32 u30 + ελ4 D02 u31 + ω32 u31 + 2D0 D1 u30
 
+ ε2λ4 D02 u32 + ω32 u32 + 2D0 D1 u31 + D12 u30 + 2D0 D2 u30
+ 2(ε1+λ3 f31 u10 + ε1−λ2+λ3 f32 u20 + ε1−λ2+λ3+λ4 f32 u21
+ εf33 u30 + ε1+λ4 f33 u31 ) cos ωT0 + · · · = 0 (5.23.10)

We note that the governing equations of u10 , u20 and u30 are of order ε0 , i.e.,

D02 un0 + ωn2 un0 = · · · , n = 1, 2, 3 (5.23.11)

The right-hand side of the equation is either zero or a non-resonant excitation term.
Then, the solutions of un0 will contain free oscillation terms such as Ae±iωn T0 , and
thus uk0 cannot enter into the governing equations of un0 , e.g., ελ2 u10 in Eq. (5.23.9)
cannot enter into the governing equation of u20 , thus

λ2 = 0 (5.23.12)

Therefore 1 + λ2 > 0, and the possible forms of the governing equations for
u10 , u20 and u30 are
 
D02 u10 + ω12 u10 = −2 ε1−λ2 f12 u20 + ε1−λ3 f13 u30 cosωT0
D02 u20 + ω12 u20 = −2ε1−λ3+λ2 f23 u30 cosωT0 (5.23.13)
D02 u30 + ω32 u30 = −2ε1−λ2+λ3 f32 u20 cosωT0

Whether the terms on the right-hand side of the equations are retained or not
depends on the values of λi and ω. If un0 cos ωT0 can produce a resonant excitation
term whose frequency is approximately ωk , then it cannot appear in the governing
equation of uk0 .
(a) When ω ≈ 2ω1 and ω ≈ ω3 − ω1 :
In this case, both u10 cos ωT0 and u20 cos ωT0 can produce resonant terms whose
frequencies are approximately ω1 and ω3 , and u30 cos ωT0 can produce a resonant
excitation term whose frequency is approximately ω1 . Therefore, all the terms on the
right side of (5.23.12) cannot appear and the governing equations for u10 , u20 and u30
are.
Order ε0 :

D02 u10 + ω12 u10 = 0 (5.23.14)

5.23 Exercise 5.23 (A Single-Frequency Parametric Excitation … 443

D02 u20 + ω12 u20 = 0 (5.23.15)

D02 u30 + ω32 u30 = 0 (5.23.16)

From (5.23.8–5.23.10), we can see that the basic order of the control equations
of u11 , u21 and u31 is ελ4 and their basic form is
 
ελ4 D02 u11 + ω12 u11 + 2D0 D1 u10
+ 2(εf11 u10 + ε1−λ2 f12 u20 + ε1−λ2+λ4 f12 u21
+ ε1−λ3 f13 u30 + ε1−λ3+λ4 f13 u31 ) cos ωT0 = 0 (5.23.17)

 
ελ4 D02 u21 + ω12 u21 + 2D0 D1 u20 + ελ2 u10
+ 2(ε1+λ2 f21 u10 + εf22 u20 + ε1−λ3+λ2 f23 u30
+ ε1−λ3+λ2+λ4 f23 u31 ) cos ωT0 = 0 (5.23.18)

 
ελ4 D02 u31 + ω32 u31 + 2D0 D1 u30
+ 2(ε1+λ3 f31 u10 + ε1−λ2+λ3 f32 u20
+ ε1−λ2+λ3+λ4 f32 u21 + εf33 u30 ) cos ωT0 = 0 (5.23.19)

Here, we are most concerned with the resonant terms that may be involved in these
equations, and keep at least the lowest order of those resonant terms. The lowest
order resonant term to be retained in (5.23.17) is ε1−λ2 f12 u20 cos ωT0 ; the lowest-
order resonant terms to be retained in (5.23.18) are ελ2 u10 and εf22 u20 cos ωT0 ; and
the lowest-order resonant term to be retained in (5.23.19) is ε1−λ2+λ3 f32 u20 cos ωT0 .
The order for these resonant terms to be preserved is ελ4 , so

λ4 = 1 − λ2 (5.23.20)

i.e.,

λ4 = λ2 or λ4 = 1 (5.23.21)

and

λ4 = 1 − λ2 + λ3 (5.23.22)

Since λ4 is the order of the second term in (5.23.7), we want it to be the lowest
possible order. Taking into (5.23.12) account, we have

1
λ4 = λ2 = , λ3 = 0 (5.23.23)
2
444 5 Parametrically Excited Systems

Substituting the above results into (5.23.17–5.23.19) and equating coefficients of

like powers of ε, we get.
Order ε1/2 :

D02 u11 + ω12 u11 + 2D0 D1 u10 + 2f12 u20 cos ωT0 = 0 (5.23.24)

D02 u21 + ω12 u21 + 2D0 D1 u20 + u10 = 0 (5.23.25)

D02 u31 + ω32 u31 + 2D0 D1 u30 + 2f32 u20 cos ωT0 = 0 (5.23.26)

The solutions of (5.23.14) ~(5.23.16) are

u10 = A1 (T1 )eiω1 T0 + cc (5.23.27)

u20 = A2 (T1 )eiω1 T0 + cc (5.23.28)

u30 = A3 (T1 )eiω3 T0 + cc (5.23.29)

Let

ω − ω1 = ω1 + 2ε1/2 σ, ω + ω1 = ω3 + 2ε1/2 σ (5.23.30)

Substitute u01 , u02 and u03 into (5.23.24) ~(5.23.26) and eliminate the permanent
term, we get

−
2iω1 A1 + f12 A2 e2iσ T1 = 0 (5.23.31)

2iω1 A2 + A1 = 0 (5.23.32)

2iω3 A3 = 0 (5.23.33)

The prime denotes the derivative with respect to T1 . Eliminating A1 from (5.23.31)
and (5.23.32) yields

f12 − 2iσ T1
A2 + A2 e =0 (5.23.34)
4ω12
Let A2 = (Br + iBi )eiσ T1 eiσ T1 ,
we have
 
f12
Br − 2σ Bi + − σ 2
Br = 0 (5.23.35)
4ω12
5.23 Exercise 5.23 (A Single-Frequency Parametric Excitation … 445

 
f12
Bi − 2σ Br + + σ Bi = 0
2
(5.23.36)
4ω12

The nontrivial solutions of Eq. (5.23.35) and(5.23.36) can be expressed as:

(Br , Bi ) = (br , bi )eγ T1 (5.23.37)

where
f12
γ 2 = −σ 2 ± (5.23.38)
4ω12

Therefore, when

|f12 |
σ2 > (5.23.39)
4ω12

the motion is stable, and when

|f12 |
σ2 < (5.23.40)
4ω12

the motion is unstable.

|f12 |1/2
σ =± (5.23.41)
2ω1

So, the stability transition curves separating stability from instability for the
system are

|f12 |1/2
ω = 2ω1 + 2ε1/2 σ = 2ω1 ± ε1/2 + O(ε) (5.23.42)
ω1

(b) When ω ≈ ω1 and ω ≈ ω3 − ω1 :

In this case, both u10 cos ωT0 and u20 cos ωT0 can produce resonant terms whose
frequencies are approximately ω3 , therefore cannot appear in the control equation
of u30 ; u30 cos ωT0 can produce resonant terms whose frequency is approximately
ω1 , therefore cannot appear in the control equations of u10 and u20 . Therefore, only
ε1−λ2 f12 u20 cos ωT0 on the right-hand side of (5.23.17) may be retained.
Thus, if λ2 = 1, then the governing equations for u10 , u20 and u30 are (5.23.14–
5.23.16). Similar to the analyses on (5.23.17–5.23.19) in Case (a), the controlling
equations of u11 , u21 and u31 are still (5.23.24–5.23.26). However, this result omits
the resonance case ω ≈ ω1 .
If λ2 = 1, the governing equation for u10 , u20 and u30 are
446 5 Parametrically Excited Systems

D02 u10 + ω12 u10 = −2f12 u20 cos ωT0 (5.23.43)

D02 u20 + ω12 u20 = 0 (5.23.44)

D02 u30 + ω32 u30 = 0 (5.23.45)

It is required that

λ2 = 1 (5.23.46)

With this in mind, let’s examine the governing equations of u11 , u21 and u31 ,
which have the possible forms of
 
ελ4 D02 u11 + ω12 u11 + 2D0 D1 u10
+ 2(εf11 u10 + ε1−λ2+λ4 f12 u21 + ε1−λ3 f13 u30
+ ε1−λ3+λ4 f13 u31 ) cos ωT0 = 0 (5.23.47)

 
ελ4 D02 u21 + ω12 u21 + 2D0 D1 u20 + ελ2 u10
+ 2(ε1+λ2 f21 u10 + εf22 u20 + ε1+λ4 f22 u21
+ ε1−λ3+λ2 f23 u30 + ε1−λ3+λ2+λ4 f23 u31 ) cos ωT0 = 0 (5.23.48)

 
ελ4 D02 u31 + ω32 u31 + 2D0 D1 u30
+ 2(ε1+λ3 f31 u10 + ε1−λ2+λ3 f32 u20 + ε1−λ2+λ3+λ4 f32 u21
+ εf33 u30 + ε1+λ4 f33 u31 ) cos ωT0 = 0 (5.23.49)

Now (5.23.43) ~ (5.23.45) can be solved by

⎡ −
⎤
A2 A2
u10 = A1 (T1 )eiω1 T0 + f12 ⎣ ei(ω+ω1 )T0 + ei(ω−ω1 )T0 ⎦ + cc
ω(ω + 2ω1 ) ω(ω − 2ω1 )
(5.23.50)

u20 = A2 (T1 )eiω1 T0 + cc (5.23.51)

u30 = A3 (T1 )eiω3 T0 + cc (5.23.52)

If we need to keep ελ2 u10 in (5.23.48), the solution of u21 will contain a forced
oscillation term of ei(ω±ω1 )T0 . Considering ω ≈ ω1 , we can find that u21 cos ωT0 can
produce a resonant term whose frequency is approximately ω1 ; therefore, we may
keep ε1−λ2+λ4 f12 u21 cos ωT0 in (5.23.47), and ε1−λ2+λ3+λ4 f32 u21 cos ωT0 in (5.23.49).
5.23 Exercise 5.23 (A Single-Frequency Parametric Excitation … 447

Thus, we need

λ4 = λ2 = 1, λ3 = 0 (5.23.53)

In turn, (5.23.47–5.23.49) become

D02 u11 + ω12 u11 + 2D0 D1 u10 + 2(f11 u10 + f12 u21 + f13 u30 ) cos ωT0 = 0 (5.23.54)

D02 u21 + ω12 u21 + 2D0 D1 u20 + u10 + 2f22 u20 cos ωT0 = 0 (5.23.55)

D02 u31 + ω32 u31 + 2D0 D1 u30 + 2(f31 u10 + f32 u21 + f33 u30 ) cos ωT0 = 0 (5.23.56)

Let

ω = ω1 + εσ, ω + ω1 = ω3 + εσ (5.23.57)

Substituting u01 , u02 and u03 into (5.23.55) and eliminating secular terms yields

D02 u21 + ω12 u21 = −2D0 D1 u20 − u10 − 2f22 u20 cos ωT0
= −2iω1 A2 eiω1 T0 − A1 eiω1 T0
 
A2 i(ω+ω1 )T0 A2 i(ω−ω1 )T0
− f12 e + e
ω(ω + 2ω1 ) ω(ω − 2ω1 )
 
− f22 A2 ei(ω+ω1 )T0 + A2 ei(ω−ω1 )T0 + cc (5.23.58)

Eliminating secular terms from the above equation gives

2iω1 A2 + A1 = 0 (5.23.59)

Then the solution for (5.23.58) is


A2 f12
u21 = f22 + ei(ω+ω1 )T0
ω(ω + 2ω1 ) ω(ω + 2ω1 )

A2 f12
+ f22 + ei(ω−ω1 )T0 + cc (5.23.60)
ω(ω − 2ω1 ) ω(ω − 2ω1 )

Substituting u01 , u03 and u21 into (5.23.56) and eliminating secular terms yields

D02 u31 + ω32 u31 = −2D0 D1 u30 − 2(f31 u10 + f32 u21 + f33 u30 ) cos ωT0
= −2D0 D1 u30 − (f31 u10 + f32 u21 + f33 u30 )eωT0
= −2iω3 A3 eiω3 T0 + cc + NST + cc (5.23.61)
448 5 Parametrically Excited Systems

Eliminating secular terms from the above equation gives

A3 = 0 ⇒ A3 = A3 (T2 ) (5.23.62)

Substituting u10 , u30 and u21 into (5.23.54) yields

D02 u11 + ω12 u11 = −2D0 D1 u10 − 2(f11 u10 + f12 u21 + f13 u30 ) cos ωT0
 
= −2D0 D1 u10 − (f11 u10 + f12 u21 + f13 u30 ) eiωT0 + e−iωT0
−
A2
= −2iω1 A1 eiω1 T0
− f11 f12 [ ei(2ω−ω1 )T0
ω(ω − 2ω1 )
A2 A2
+ eiω1 T0 + eiω1 T0 ]
ω(ω − 2ω1 ) ω(ω + 2ω1 )
− 
A2 f12
− f12 f22 + ei(2ω−ω1 )T0
ω(ω − 2ω1 ) ω(ω − 2ω1 )

A2 f12
− f12 f22 + eiω1 T0
ω(ω − 2ω1 ) ω(ω − 2ω1 )

A2 f12
− f12 f22 + eiω1 T0
ω(ω + 2ω1 ) ω(ω + 2ω1 )
− f13 A3 ei(ω3 −ω)T0 + cc + NST (5.23.63)

Taking (5.23.57) into account we have

A2
D02 u11 + ω12 u11 = −2iω1 A1 eiω1 T0 − f11 f12 [ e2iσ T1 eiω1 T0
ω(ω − 2ω1 )
A2 A2
+ eiω1 T0 + eiω1 T0 ]
ω(ω − 2ω1 ) ω(ω + 2ω1 )

A2 f12
− f12 f22 + e2iσ T1 eiω1 T0
ω(ω − 2ω1 ) ω(ω − 2ω1 )

A2 f12
− f12 f22 + eiω1 T0
ω(ω − 2ω1 ) ω(ω − 2ω1 )

A2 f12
− f12 f22 + eiω1 T0
ω(ω + 2ω1 ) ω(ω + 2ω1 )
− f13 A3 e−iσ T1 eiω1 T0 + cc + NST (5.23.64)

Eliminating secular terms from the above equation gives

2iω1 A1
 
2
f12 2
f12
f11 f12 f11 f12 f12 f22 f12 f22
+ + + + + 2 + A2
ω(ω − 2ω1 ) ω(ω + 2ω1 ) ω(ω − 2ω1 ) ω(ω + 2ω1 ) ω (ω − 2ω1 )2 ω2 (ω + 2ω1 )2
5.23 Exercise 5.23 (A Single-Frequency Parametric Excitation … 449
⎡ ⎤
− − −
2 A
f12
⎢ f11 f12 A2 f12 f22 A2 ⎥ 2iσ T1
+ f13 A3 e−iσ T1 = 0
2
+⎣ + + 2 ⎦e
ω(ω − 2ω1 ) ω(ω − 2ω1 ) ω (ω − 2ω1 )2

i.e.,
−
iA1 + 2ω1 α1 A2 + 2ω1 α2 A2 e2iσ T1 + 2ω1 α3 e−iσ T1 = 0 (5.23.65)

where

2f12 (f11 + f22 ) f122 1 1
4ω12 α1 = + 2 + (5.23.66)
ω − 4ω1
2 2 ω (ω − 2ω1 ) 2 (ω + 2ω1 )2

f12 (f11 + f22 ) f122

4ω12 α2 = + 2 (5.23.67)
ω(ω − 2ω1 ) ω (ω − 2ω1 )2

4ω12 α3 = f13 A3 (5.23.68)

Eliminating A1 from (5.23.65) and (5.23.59) yields

−
A2 + α1 A2 + α2 A2 e2iσ T1 + α3 e−iσ T1 = 0 (5.23.69)

Let the solution of (5.23.69) be

A2 = (Br + iBi )eiσ T1 (5.23.70)

Then we can have

    
Br + iBi eiσ T1 + 2iσ Br + iBi eiσ T1 − σ 2 (Br + iBi )eiσ T1
+ α1 (Br + iBi )eiσ T1 + α2 (Br − iBi )eiσ T1 + α3 e−iσ T1 = 0 (5.23.71)

Separating the real and imaginary parts of the above equation yields
 
Br − 2σ Bi + α1 + α2 − σ 2 Br
 
= −α3 cos 2σ T1 Bi + 2σ Br + α1 − α2 − σ 2 Bi
= α3 sin 2σ T1 (5.23.72)

The prime denotes the derivative with respect to T1 . The corresponding homoge-
neous equations are
   
Br − 2σ Bi + α1 + α2 − σ 2 Br = 0Bi + 2σ Br + α1 − α2 − σ 2 Bi = 0
(5.23.73)

The nontrivial solution of (5.23.73) can be expressed as:

450 5 Parametrically Excited Systems

(Br , Bi ) = (br , bi ) exp(γ T1 ) (5.23.74)

where γ satisfies the characteristic equation

 2 
 γ + α1 − σ 2 + α2 −2σ γ 
 =0
 2σ γ γ + α1 − σ − α2 
2 2

i.e.,

(γ 2 + α1 − σ 2 )2 − α22 + 4σ 2 γ 2 = 0 (5.23.75)

therefore,
  ,
γ 2 = − α1 + σ 2 ± 4α1 σ 2 + α22 (5.23.76)

It can be seen from (5.23.70) and (5.23.74) that when the real part of γ is positive,
A2 is unbounded and hence the motion is unstable. Therefore, the critical value of
γ 2 changing from stable to unstable is γ 2 = 0. From (5.23.75), we know that

(α1 − σ 2 )2 = α22 or σ = ±(α1 ± α2 )1/2 (5.23.77)

Substituting this into (5.23.57), the transition curves separating stability from
instability for the system are

ω = ω1 ∓ ε(α1 ± α2 )1/2 + · · · (5.23.78)

5.24 Exercise 5.24 (A Two-Frequency Parametric

Excitation of a Three-Degree-of-Freedom System
with Repeating Frequencies)

Solution: This is a linear system having three degrees of freedom, with two of
the frequencies being equal. Without parametric excitation, the system is unstable
because x2 contains a secular or resonant term of the form t sin(ω1 t + β), where β
is a constant. To determine if the parametric excitation can stabilize the system, we
assume that all three modes are bounded and then, if possible, determine the values of
the parameters which are consistent with this assumption, particularly those values
at the boundaries of the region where the assumption is valid.
Although the parametric excitation might stabilize the motion, we still expect the
amplitude of the x2 -mode to be much larger than that of the x1 -mode. We do not
have any indication of the amplitude of the x3 -mode. To express our expectations
5.24 Exercise 5.24 (A Two-Frequency Parametric Excitation … 451

systematically, we scale the dependent variables. Without loss of generality, we make

x1 = ε−λ1 u1 , x2 = ε−λ2 u2 , x3 = ε−λ3 u3 , where λ1 = 0 (5.24.1)

where the un are O(1) and the λn are non-negative constants to be determined in the
solution. Substituting (5.24.1) into the original equation, we get


3

ü1 + ω12 u1 + 2 f1n cos 1 t + g1n cos(2 t + θ )]ε1−λn un = 0 (5.24.2)
n=1


3

ü2 + ω12 u2 + ελ2 u1 + 2 f2n cos 1 t + g2n cos(2 t + θ )]ε1−λn +λ2 un = 0
n=1
(5.24.3)


3

ü3 + ω32 u3 + 2 f3n cos 1 t + g3n cos(2 t + θ )]ε1−λn +λ3 un = 0 (5.24.4)
n=1

We are concerned with various combinations of the frequencies which can lead to a
resonant response. We therefore adopt a multiscale approach to determine a uniformly
valid approximate solution which exhibits the effects of the repeated frequency and
the resonant combinations of frequencies. We write the various time scales as

T0 = t, T1 = ελ4 t, T2 = ε2λ4 t (5.24.5)

where λ4 > 0 is a constant to be determined. In terms of these scales,

d2  
2
= D02 + 2ελ4 D0 D1 + ε2λ4 2D0 D2 + D12 + · · · (5.24.6)
dt
Assume that approximate solutions in the form

un (t; ε) = un0 (T0 , T1 , T2 ) + ελ4 un1 (T0 , T1 , T2 )

+ ε2λ4 un2 (T0 , T1 , T2 ) + · · · (5.24.7)

Substituting (5.24.5–5.24.7) into (5.24.2–5.24.4) leads to

 
D02 u10 + ω12 u10 + ελ4 D02 u11 + ω12 u11 + 2D0 D1 u10
+ 2(εf11 u10 + ε1−λ2 f12 u20 + ε1−λ2 +λ4 f12 u21
+ ε1−λ3 f13 u30 + ε1−λ3 +λ4 f13 u31 ) cos 1 T0
+ 2(εg11 u10 + ε1−λ2 g12 u20 + ε1−λ2 +λ4 g12 u21
+ ε1−λ3 g13 u30 + ε1−λ3 +λ4 g13 u31 ) cos(2 T0 + θ ) + · · · = 0 (5.24.8)
452 5 Parametrically Excited Systems

 
D02 u20 + ω12 u20 + ελ4 D02 u21 + ω12 u21 + 2D0 D1 u20 + ελ2 u10
+ 2(ε1+λ2 f21 u10 + εf22 u20 + ε1−λ3 +λ2 f23 u30 + ε1−λ3 +λ2 +λ4 f23 u31 ) cos 1 T0
+ 2(ε1+λ2 g21 u10 + εg22 u20 + ε1−λ3 +λ2 g23 u30 + ε1−λ3 +λ2 +λ4 g23 u31 ) cos(2 T0 + θ )
+ ··· = 0 (5.24.9)

 
D02 u30 + ω32 u30 + ελ4 D02 u31 + ω32 u31 + 2D0 D1 u30
+ 2(ε1+λ3 f31 u10 + ε1−λ2 +λ3 f32 u20
+ ε1−λ2 +λ3 +λ4 f32 u21 + εf33 u30 ) cos 1 T0
+ 2(ε1+λ3 g31 u10 + ε1−λ2 +λ3 g32 u20
+ ε1−λ2 +λ3 +λ4 g32 u21 + εg33 u30 ) cos(2 T0 + θ ) + · · · = 0 (5.24.10)

We note that the governing equations of u10 , u20 and u30 are of order ε0 , i.e.,

D02 un0 + ωn2 un0 = · · · , n = 1, 2, 3 (5.24.11)

The right-hand side of the equation is either zero or a non-resonant excitation term.
Then, the solutions of un0 will contain free oscillation terms such as Ae±iωn T0 , and
thus uk0 cannot enter into the governing equations of un0 , e.g., ελ2 u10 in Eq. (5.24.9)
cannot enter into the governing equation of u20 , thus

λ2  = 0 (5.24.12)

The other resonant terms depend on the values of ωi and i , and they are not
allowed to enter into the control equations of u10 , u20 and u30 . On the other hand,
in the governing equations of u11 , u21 and u31 , it is necessary to keep the resonant
terms as much as possible. Only in this way, we can solve the problem by eliminating
resonant terms.
(a) When ω1 ≈ 1
2
and ω3 − ω1 ≈ 2 :
From (5.24.8–5.24.10), we can see that the basic order of the control equations
of u11 , u21 and u31 is ελ4 and their basic form is
 
ελ4 D02 u11 + ω12 u11 + 2D0 D1 u10
+ 2(εf11 u10 + ε1−λ2 f12 u20 + ε1−λ2 +λ4 f12 u21
+ ε1−λ3 f13 u30 + ε1−λ3 +λ4 f13 u31 ) cos 1 T0
+ 2(εg11 u10 + ε1−λ2 g12 u20 + ε1−λ2 +λ4 g12 u21
+ ε1−λ3 g13 u30 + ε1−λ3 +λ4 g13 u31 ) cos(2 T0 + θ ) = 0 (5.24.13)

 
ελ4 D02 u21 + ω12 u21 + 2D0 D1 u20 + ελ2 u10
5.24 Exercise 5.24 (A Two-Frequency Parametric Excitation … 453
 
+ 2 ε1+λ2 f21 u10 + εf22 u20 + ε1−λ3 +λ2 f23 u30 + ε1−λ3 +λ2 +λ4 f23 u31 cos 1 T0
+ 2(ε1+λ2 g21 u10 + εg22 u20 + ε1−λ3 +λ2 g23 u30 + ε1−λ3 +λ2 +λ4 g23 u31 ) cos(2 T0 + θ )
=0 (5.24.14)

 
ελ4 D02 u31 + ω32 u31 + 2D0 D1 u30
+ 2(ε1+λ3 f31 u10 + ε1−λ2 +λ3 f32 u20
+ ε1−λ2 +λ3 +λ4 f32 u21 + εf33 u30 ) cos 1 T0
+ 2(ε1+λ3 g31 u10 + ε1−λ2 +λ3 g32 u20
+ ε1−λ2 +λ3 +λ4 g32 u21 + εg33 u30 ) cos(2 T0 + θ ) = 0 (5.24.15)

Here, we are most concerned with the resonant terms that may be involved in these
equations, and keep at least the lowest order of those resonant terms. The lowest-order
resonant terms to be retained in (5.24.14) is ελ2 u10 , so

λ4 = λ2 (5.24.16)

The lowest order resonant term to be retained in (5.24.13) is

ε1−λ3 g13 u30 cos(2 T0 + θ ), which leads to

λ4 = 1 − λ3 (5.24.17)

The lowest order resonant term to be retained in (5.24.15) is

ε1−λ2 +λ3 g32 u20 cos(2 T0 + θ ), which leads to

λ4 = 1 − λ2 + λ3 (5.24.18)

therefore,

2 1
λ4 = λ2 = , λ3 = (5.24.19)
3 3
Substituting the above results into (5.24.8)~(5.24.10), the governing equations for
u10 , u20 , u30 and u11 , u21 , u31 are.
Order ε0 :

D02 u10 + ω12 u10 = 0 (5.24.20)

D02 u20 + ω12 u20 = 0 (5.24.21)

D02 u30 + ω32 u30 = 0 (5.24.22)

454 5 Parametrically Excited Systems

Order ε2/3 :

D02 u11 + ω12 u11 = −2D0 D1 u10 − 2f13 u30 cos 1 T0 − 2g13 u30 cos(2 T0 + θ )
(5.24.23)

D02 u21 + ω12 u21 = −2D0 D1 u20 − u10 (5.24.24)

D02 u31 + ω32 u31 = −2D0 D1 u30 − 2f32 u20 cos 1 T0 − 2g32 u20 cos(2 T0 + θ )
(5.24.25)

The solutions of (5.24.20–5.24.22) are

u10 = A1 (T1 )eiω1 T0 + cc (5.24.26)

u20 = A2 (T1 )eiω1 T0 + cc (5.24.27)

u30 = A3 (T1 )eiω3 T0 + cc (5.24.28)

Let
1
ω1 = + ε2/3 σ, ω3 − ω1 = 2 − ε2/3 σ (5.24.29)
2
Substitute u01 , u02 and u03 into (5.24.23–5.24.25), we obtain
 
D02 u11 + ω12 u11 = −2D0 D1 u10 − f13 u30 ei1 T0 + e−i1 T0
 
− g13 u30 ei(2 T0 +θ ) + e−i(2 T0 +θ )
= −2iω1 A1 eiω1 T0 − g13 A3 e−i(σ T1 +θ ) eiω1 T0
− f13 A3 ei(ω3 +1 )T0 − f13 A3 ei(ω3 −1 )T0
− g13 A3 ei[(ω3 +2 )T0 +θ ] + cc (5.24.30)

D02 u21 + ω12 u21 = −2D0 D1 u20 − u10

= −2iω1 A2 eiω1 T0 − A1 eiω1 T0 + cc (5.24.31)

 
D02 u31 + ω32 u31 = −2D0 D1 u30 − 2f32 u20 ei1 T0 + e−i1 T0
 
− 2g32 u20 ei(2 T0 +θ ) + e−i(2 T0 +θ )
= −2iω1 A3 eiω3 T0 − g32 A2 ei(σ T1 +θ ) eiω3 T0
− f32 A2 ei(ω1 +1 )T0 − f32 A2 ei(ω1 −1 )T0
− g32 A2 ei[(ω1 −2 )T0 −θ ] + cc (5.24.32)
5.25 Exercise 5.25 (Parametric Excitation Analysis of Oscillations … 455

The prime denotes the derivative with respect to T1 . Eliminating secular terms in
(5.24.30–5.24.32) yields

iA1 + g13 A3 e−i(σ T1 +θ ) = 0 (5.24.33)

iA2 + A1 = 0 (5.24.34)

iA3 + g32 A2 ei(σ T1 +θ ) = 0 (5.24.35)

which has taken into account ω1 ≈ 21 . In the Eqs. (5.24.33) and(5.24.34) eliminating
A1 from the equation yields

A2 + g13 A3 e−i(σ T1 +θ ) = 0 (5.24.36)

Let

A1 = (B1r + iB1i )e−i(σ T1 +θ )/2

A2 = (B2r + iB2i )e−i(σ T1 +θ )/2 (5.24.37)
i(σ T1 +θ )/2
A3 = (B3r + iB3i )e

Therefore, we can obtain A2 and A3 from (5.24.35) and (5.24.36), and then A1
from (5.24.34). Substituting (5.24.37) into (5.24.26)~(5.24.28), we can obtain the
first order approximate solution of the system

u1 ≈ u10 = 2B1r cos[(T0 − σ T1 − θ )/2]

− 2B1i sin[(T0 − σ T1 − θ )/2]
u2 ≈ u20 = 2B2r cos[(T0 − σ T1 − θ )/2]
− 2B2i sin[(T0 − σ T1 − θ )/2]
u3 ≈ u30 = 2B3r cos[(2ω3 T0 + σ T1 + θ )/2]
− B3i sin[(2ω3 T0 + σ T1 + θ )/2] (5.24.38)

(b) When ω1 ≈ 1 and ω3 − ω1 ≈ 2 :

Readers are invited to analyze this case for themselves.

5.25 Exercise 5.25 (Parametric Excitation Analysis

of Oscillations of a Spring Pendulum)

Solution: The coordinates of the mass are

456 5 Parametrically Excited Systems

x = (l + x)sinθ
(5.25.1)
y = Y + (l + x)cosθ

The kinetic energy of the system is

1  2 
T= m ẋ + ẏ2
2
1   
= m ẋsinθ + (l + x)θ̇ cosθ ]2 + ẋcosθ − (l + x)θ̇ sinθ − Ẏ ]2
2
1  
= m[ẋ2 + l + x)2 θ̇ 2 + Ẏ 2 − 2ẋẎ cosθ + 2(l + x)θ̇ Ẏ sinθ (5.25.2)
2
The potential energy of the system is

1 2
V = kx + mg(l + x)(1 − cos θ ) (5.25.3)
2
Substitute kinetic and potential energy into the Lagrange’s equation:

d ∂T ∂T ∂V
− =−
dt ∂ ẋ ∂x ∂x (5.25.4)
d ∂T ∂T ∂V
− =−
dt ∂ θ̇ ∂θ ∂θ

we can obtain

mẍ + kx − m(l + x)θ̇ 2 + mg(1 − cos θ ) − mŸ cos θ = 0 (5.25.5)

m(l + x)θ̈ + 2mẋθ̇ + mŸ sin θ + mg sin θ = 0 (5.25.6)

Let

u = x/l, y = Y /l, ω12 = k/m, δ = g/l (5.25.7)

(5.25.5) and (5.25.6) becomes

ü + ω12 u − (1 + u)θ̇ 2 + δ(1 − cos θ ) − ÿ cos θ = 0 (5.25.8)

(1 + u)θ̈ + 2u̇θ̇ + (δ + ÿ) sin θ = 0 (5.25.9)

(a) When y ≡ 0, the equilibrium position of the system is x = θ = 0. Make the

expansion of (5.25.8) and (5.25.9) near this equilibrium point, we can obtain

1 1
ü + ω12 u − (1 + u)θ̇ 2 + δθ 2 − ÿ + ÿθ 2 = 0 (5.25.10)
2 2
5.25 Exercise 5.25 (Parametric Excitation Analysis of Oscillations … 457

 
1 3
(1 + u)θ̈ + 2u̇θ̇ + (δ + ÿ) θ − θ = 0 (5.25.11)
6

Omitting the nonlinear term of θ yields

ü + ω12 u = ÿ (5.25.12)

(1 + u)θ̈ + 2u̇θ̇ + (δ + ÿ)θ = 0 (5.25.13)

(b) When ÿ = 2ε cos 2t, (5.25.12) becomes

ü + ω12 u = 2ε cos 2t (5.25.14)

The generalized solution of u is

ue = a cos(ω1 t + β) + 2ε(ω12 − 4)−1 cos 2t, ω1 = 2 (5.25.15)

where a and β are integration constants which are the amplitude and phase of the free
oscillation, respectively, and can be determined by initial conditions. Thus, (5.25.13)
becomes

(1 + ue )θ̈ + 2u̇e θ̇ + (δ + 2ε cos 2t)θ = 0 (5.25.16)

This is a parametric excitation equation for θ .

If there is no free oscillation term in ue , i.e.a = 0, then (5.25.16) becomes
 
[1 + 2ε ω12 − 4)−1 cos 2t θ̈ − 8ε(ω12 − 4)−1 θ̇ sin 2t + (δ + 2ε cos 2t)θ = 0
(5.25.17)

Let the solution of (5.25.17) is

θ (t; ε) = θ0 (T0 , T1 , T2 ) + εθ1 (T0 , T1 , T2 ) + ε2 θ2 (T0 , T1 , T2 ) + · · · (5.25.18)

Substituting (5.25.18) into (5.25.17) and retains to O(ε), we get

0 = [1 + 2εκ cos 2t]θ̈ − 8εκ θ̇ sin 2t + (δ + 2ε cos 2t)θ

 
= [1 + 2εκ cos 2t] D02 + 2εD0 D1 (θ0 + εθ1 )
− 8εκ[(D0 + εD1 )(θ0 + εθ1 )] sin 2T0
+ (δ + 2ε cos 2T0 )(θ0 + εθ1 ) + · · ·
= D02 θ0 + εD02 θ1 + 2εD0 D1 θ0 + 2εκD02 θ0 cos 2T0
− 8εκD0 θ0 sin 2T0 + δθ0 + εδθ1 + 2εθ0 cos 2T0 + · · ·
= D02 θ0 + δθ0 + ε(D02 θ1 + δθ1 + 2D0 D1 θ0 + 2κD02 θ0 cos 2T0
458 5 Parametrically Excited Systems

− 8κD0 θ0 sin 2T0 + 2θ0 cos 2T0 ) + · · · (5.25.19)

where κ = (ω12 −4)−1 . Equating coefficients of like powers of ε in the above equation
yields

D02 θ0 + ω02 θ0 = 0 (5.25.20)

D02 θ1 + ω02 θ1 = −2D0 D1 θ0 − 2κD02 θ0 cos2T0

(5.25.21)
+8κD0 θ0 sin2T0 − 2θ0 cos2T0
√
where ω0 = δ. The solution of (5.25.20) is
−
θ0 = Aeiω0 T0 + A e−iω0 T0 (5.25.22)

Substitute θ0 into (5.25.21), we can obtain

D02 u1 + ω02 u1 = −2D0 D1 θ0 − 2κD02 θ0 cos 2T0

+ 8κD0 θ0 sin 2T0 − 2θ0 cos 2T0
= −2iω0 A eiω0 T0
 
+ κω02 Aeiω0 T0 + Ae−iω0 T0 ei2T0
 
+ 4iκω0 Aeiω0 T0 − Ae−iω0 T0 ei2T0
 
− Aeiω0 T0 + Ae−iω0 T0 ei2T0 + cc (5.25.23)

The prime denotes the derivative with respect to T1 .

When ω0 ≈ 1, let

ω0 = 1 + εσ (5.25.24)

then Eq. (5.25.23) becomes

D02 u1 + ω02 u1 = −2iω0 A eiω0 T0 + κω02 Aei(2−ω0 )T0

− 4κiω0 Aei(2−ω0 )T0
− Aei(2−ω0 )T0 + cc + NST
= −2iω0 A eiω0 T0 − 4iκω0 Ae−2iσ T1 eiω0 T0
+ κω02 Ae−2iσ T1 eiω0 T0
− Ae−2iσ T1 eiω0 T0 + cc + NST (5.25.25)

In order to eliminate secular terms from the above equation, there must be
5.25 Exercise 5.25 (Parametric Excitation Analysis of Oscillations … 459

− − −
2iω0 A + 4iκω0 A e−2iσ T1 − κω02 A e−2iσ T1 + A e−2iσ T1 = 0 (5.25.26)

Substituting A = 21 beiβ into the above equation and taking ω0 ≈ 1 into account,
we get

1 1
ib − bβ  + 2iκbe−i(2σ T1 +2β) − κbe−i(2σ T1 +2β) + be−i(2σ T1 +2β) = 0 (5.25.27)
2 2
Separating the real and imaginary parts of the above equation yields

b = −2κbcosγ − 21 (κ − 1)bsinγ
(5.25.28)
γ  = 2σ b + 4κbsinγ − (κ − 1)bcosγ

where

γ = 2σ T1 + 2β (5.25.29)

(5.25.28) are satisfied by the nonzero steady state solutions of


1   2
2σ + 4κ + κ − 1)2 sin γ = 0 (5.25.30)
4κ

Thus, the critical value of σ is

1  
σ =± 16κ 2 + (κ − 1)2 (5.25.31)
8κ
Substituting this into (5.25.24), we can obtain the transition curves separating
stability from instability for the system
√ 1  
ω0 = δ =1±ε 16κ 2 + (κ − 1)2 (5.25.32)
8κ

(c) Let θ = (1 + u)−1 ψ, then

θ̇ = (1 + u)−1 ψ̇ − (1 + u)−2 ψ u̇ θ̈
= (1 + u)−1 ψ̈ − 2(1 + u)−2 ψ̇ u̇ − (1 + u)−2 ψ ü + 2(1 + u)−3 ψ u̇2

Substituting these into (5.25.13), we get

ψ̈ + (1 + u)−1 (δ + ÿ − ü)ψ = 0 (5.25.33)

(d) When
460 5 Parametrically Excited Systems


N
ÿ = ε yn cos(n t + θn ) (5.25.34)
n=1

we substitute this into (5.25.12) and obtain


N
ü + ω12 u = ε yn cos(n t + θn ) (5.25.35)
n=1

It is assumed that due to the damping of the system, the free oscillation term in
(5.25.35) decays very quickly, so that


N
u=ε κn yn cos(n t + θn ) (5.25.36)
n=1

where

κn = (ω12 − 2n )−1 (5.25.37)

Substitute (5.25.34) and (5.25.36) into (5.25.33), we get

   

N 
N
1+ε κn yn cos(n t + θn ) ψ̈ + δ + ε αn yn cos(n t + θn ) ψ = 0
n=1 n=1
(5.25.38)

where

αn = 1 + κn 2n (5.25.39)

The method and procedure to find the solution of Eq. (5.25.38) are similar to those
in part (b) above. Readers are invited to solve on their own.

5.26 Exercise 5.26 (The Buckling of the Column

with a Nonideal Energy Source)

Solution: (a) This is a simply supported beam subjected to axial loads, which are
generated by a rotating crankshaft, and the drive motor is considered as a non-ideal
energy source.
The Euler–Bernoulli linear elastic beam model is adopted here. Neglecting the
longitudinal and rotary inertia and the transverse shear. The diagrams of motion and
forces of the beam element are shown in Fig. 5.1. The prime in each variable in the
5.26 Exercise 5.26 (The Buckling of the Column with a Nonideal Energy … 461

Fig. 5.1 A beam element for Exercise 5.26

figure indicates the partial derivative with respect to x. Applying Newton’s second
law to the beam element along z direction yields.

∂θ ∂F ∂ 2w
N + = m1 2 (5.26.1)
∂x ∂x ∂t
where m1 is the mass per unit length of the beam.
From the moment of momentum
∂M
+F =0 (5.26.2)
∂x
Using

∂w
θ≈ (5.26.3)
∂x
Combining the above three equations,we can have

∂ 2M ∂ 2w ∂ 2w
− + N = m1 (5.26.4)
∂x2 ∂x2 ∂t 2
and

∂ 2w
M = EIx (5.26.5)
∂x2
462 5 Parametrically Excited Systems

where Ix is the moment of inertia of the beam section; and combining (5.26.4) and
(5.26.5), we can obtain the governing equation for a homogeneous isotropic beam
under axial force

∂ 2w ∂w ∂ 4w ∂ 2w
m1 +c + EIx 4 − N 2 = 0 (5.26.6)
∂t 2 ∂t ∂x ∂x
in which a viscous damping term, c∂w/∂t, is added.
Let the first order mode of the beam be
πx
w(x, t) = ψ(t) sin (5.26.7)
l
Substituting (5.26.7) into (5.26.6) yields

c EIx π 4 N π 2
ψ̈ + ψ̇ + ( ) ψ+ ( ) ψ =0 (5.26.8)
m1 m1 l m1 l

From Fig. 5.1, we can obtain

N = −k1 (u0 − uB + r sin ϕ) (5.26.9)

where u0 is the initial displacement of the sliding end B of the beam along the positive
x-direction and uB is the dynamic displacement of the sliding end B of the beam along
the negative x-direction, i.e.

uB = −u(l)

The axial load N is the first order buckling load of the simply supported beam,
which is much less than the elastic ultimate load of the material. Therefore, it can be
assumed that the beam axis is inextensible. Furthermore, we can obtain the following
relation from the beam element analysis

1 
u = 1 − w 2 − 1 ≈ − w 2
2
So
l l
uB = −u(l) = − u dx = 1
2
w2 dx
0 0
l (5.26.10)
π 2ψ2
= 2l 2
cos2 πlx dx = π2 2
4l
ψ
0

Substituting (5.26.9) and (5.26.10) into (5.26.8) yields

5.26 Exercise 5.26 (The Buckling of the Column with a Nonideal Energy … 463
 4  
c π EIx k1 u0 l 2 π 2 k1 r π 4 k1
ψ̈ + ψ̇ + 4 1− 2 − 2 sin ϕ ψ + 3 ψ 3 = 0
m1 l m1 π EIx l m1 4l m1

i.e.,
 
ψ̈ + 2μψ̇ + ω2 − α1 sin ϕ ψ + α2 ψ 3 = 0 (5.26.11)

where
 
π 4 EIx k1 u0 l 2 π 2 rk1 π 4 k1 c
ω = 4
2
1− 2 , α1 = 2 , α2 = 3 , μ =
l m1 π EIx l m1 4l m1 2m1
(5.26.12)

Assuming that the crankshaft rotates at a uniform speed, the driving torque is
L(ϕ̇) and the damping torque is H (ϕ̇), we can obtain the governing equation of the
rotating part of the crankshaft by applying the moment of momentum

I ϕ̈ = L(ϕ̇) − H (ϕ̇) + Nr cos ϕ = 0 (5.26.13)

where I is the moment of inertia of the rotating part of the crankshaft. Substituting
(5.26.9) and (5.26.10) into (5.26.13), we obtain
 
π2 2
I ϕ̈ = L(ϕ̇) − H (ϕ̇) − k1 u0 + r sin ϕ − ψ r cos ϕ = 0 (5.26.14)
4l

Let

MT (ϕ̇) = L(ϕ̇) − H (ϕ̇) (5.26.15)

then
 
π2 2
I ϕ̈ = MT (ϕ̇) − k1 u0 + r sin ϕ − ψ r cos ϕ = 0 (5.26.16)
4l

It can be seen from (5.26.16) that the excitation term sin ϕ or cos ϕ will be affected
by the transverse oscillation response ψ of the beam, therefore, the system is a
non-ideal energy system.
(b) Assuming that the crankshaft rotates with an angular velocity , where ϕ =
t, (5.26.11) becomes:
 
ψ̈ + 2μψ̇ + ω2 − α1 sin t ψ + α2 ψ 3 = 0 (5.26.17)

Dividing both sides of the equation by l yields

464 5 Parametrically Excited Systems

ψ̈ ψ̇  ψ ψ
+ 2μ + ω2 − α1 sin t + α2 l 2 ( )3 = 0 (5.26.18)
l l l l
In addition,
 
α1 π 2 rk1 l 4 m1 rk1 N
≈ 2 =  EIx  = O
ω2 l m1 π 4 EIx π l2
2 EA
 
α2 l 2
π k1 l m1
4 4
lk1 N
≈ =   = O (5.26.19)
ω 2 4lm1 π EIx
4
4 l2EIx EA

where A is the cross-sectional area of the beam, EA is the elastic ultimate load of the
beam. Since N << EA, both of the above ratios in (5.26.19) are small quantities.
Meanwhile, we assume that the system is a small damping system, so we can set

μ = εμ̂, α1 = εα̂1 , α2 l 2 = εα̂2 (5.26.20)

Equation (5.26.18) becomes

 
v̈ + 2εμ̂v̇ + ω2 − εα̂1 sin t v + εα̂2 v3 = 0, v = ψ/l (5.26.21)

Let the solution of the Eq. (5.26.21) is

v(t; ε) = v0 (T0 , T1 , T2 ) + εv1 (T0 , T1 , T2 ) + ε2 v2 (T0 , T1 , T2 ) + · · · (5.26.22)

Substituting (5.26.22) into (5.26.21) and retaining to O(ε), we get

 
0 = v̈ + 2εμ̂v̇ + ω2 − εα̂1 sin t v + εα̂2 v3
 
= D02 + 2εD0 D1 (v0 + εv1 ) + ω2 (v0 + εv1 )
+ 2εμ̂(D0 + εD1 )(v0 + εv1 )
− εα̂1 (v0 + εv1 ) sin T0 + εα̂2 (v0 + εv1 )3 + · · ·
= D02 v0 + εD02 v1 + 2εD0 D1 v0 + ω2 v0 + εω2 v1
+ 2εμ̂D0 v0 + εα̂2 v03 − εα̂1 v0 sin T0 + · · ·
= D02 v0 + ω2 v0 + ε(D02 v1 + ω2 v1 + 2D0 D1 v0
+ 2μ̂D0 v0 + α̂2 v03 − α̂1 v0 sin T0 ) + · · · (5.26.23)

Equating coefficients of like powers of ε in the above equation yields

D02 v0 + ω2 v0 = 0 (5.26.24)

D02 v1 + ω2 v1 = −2D0 D1 v0 − 2μ̂D0 v0 − α̂2 v03 + α̂1 v0 sin T0 (5.26.25)

5.26 Exercise 5.26 (The Buckling of the Column with a Nonideal Energy … 465

The solution of (5.26.24) is

−
v0 = AeiωT0 + A e−iωT0 (5.26.26)

where A = A(T1 ). Substituting v0 into (5.26.25) yields

D02 v1 + ω2 v1 = −2D0 D1 v0 − 2μ̂D0 v0 − α̂2 v03 + α̂1 v0 sin T0

= −2iωA eiωT0 − 2iμ̂ωAeiωT0 − 3α̂2 A2 AeiωT0
1
− iα̂1 Aei(−ω)T0 + cc + NST (5.26.27)
2
The prime denotes the derivative with respect to T1 . It can be seen that the
resonance occurs when  ≈ 2ω. Let

 = 2ω + εσ (5.26.28)

Equation (5.26.27) becomes

D02 v1 + ω2 v1 = −2D0 D1 v0 − 2μ̂D0 v0 − α̂2 v03 + α̂1 v0 sin T0

= −2iωA eiωT0 − 2iμ̂ωAeiωT0 − 3α̂2 A2 AeiωT0
1
− iα̂1 Aeiσ T1 eiωT0 + cc + NST (5.26.29)
2
In order to eliminate secular terms from the above equation, there must be

− 1 −
2iωA + 2iμ̂ωA + 3α̂2 A2 A + iα̂1 A eiσ T1 = 0 (5.26.30)
2

Substituting A = 21 aeiβ into the above equation and taking ω0 ≈ 1 into account,
we get

3 1
iωa − ωaβ  + iμ̂ωa + α̂2 a3 + iα̂1 aei(σ T1 −2β) = 0 (5.26.31)
8 4
Separating the real and imaginary parts of the above equation yields

a = −μ̂a − 41 ω−1 α̂1 acosγ

(5.26.32)
aγ  = aσ − 43 ω−1 α̂2 a3 + 21 ω−1 α̂1 asinγ

where

γ = σ T1 − 2β (5.26.33)
466 5 Parametrically Excited Systems

by substituting(5.26.26) into (5.26.22), we can obtain the first-order approximate

solution of the system

v ≈ v0 = a cos(ωt + β) + O(ε)

ψ = lv ≈ lv0 = la cos(ωt + β) + O(ε) (5.26.34)

where a and β are given by(5.26.32) and (5.26.33).

Let the non-trivial steady state solution of (5.26.32) be a0 and γ0 and superimpose
a little perturbation

a = a0 + a1 , γ = γ0 + γ1 (5.26.35)

Substituting (5.26.35) into (5.26.32), we can obtain the corresponding linearized

equation
      
a1 − μ̂ + 14 ω−1 α̂1 cos γ0 1 −1
ω α̂1 a0 sin γ0 a1
= 4
γ1 a0−1 σ − 49 ω−1 α̂2 a0 + 21 a0−1 ω−1 α̂1 sin γ0 21 ω−1 α̂1 cos γ0 γ1
(5.26.36)

For a given set of non-trivial steady state solution a0 and γ0 , the eigenvalues of
(5.26.36) can be found, and the stability of the steady state solution can be determined
from the sign of the real part of the eigenvalues.

5.27 Exercise 5.27 (Analysis of Two-Dimensional Sound

Propagation in a Pipe with Sinusoidal Walls)

∇ 2 ϕ + ω2 ϕ = 0 (5.27.1)

∂ϕ
∂y
= ε ∂ϕ k cos kw x at y = ε sin kw x
∂x w
∂ϕ (5.27.2)
∂y
=0 at y=1

∂ 2 ϕ1 ∂ 2 ϕ1
+ + ω2 ϕ1 = −2ikm Am cos(mπ y)eikm x0
∂y2 ∂x02
− 2ikn An (x1 ) cos(nπ y)eikn x0 (5.27.3)

-  
∂ϕ1
∂y
= 21 i Aj kj kw − j2 π 2 ei(kj +kw )x0
-j=m, n  (5.27.4)
+ 21 i Aj kj kw + j 2 π 2 ei(kj −kw )x0 , at y = 0
j=m, n
5.27 Exercise 5.27 (Analysis of Two-Dimensional Sound Propagation … 467

Fig. 5.2 Pipes with

sinusoidal walls on one side
in Exercise 5.27 and 5.28

∂ϕ1
= 0 at y = 1 (5.27.5)
∂y
 
Am = 21 km−1 kn kw + n2 π 2 An e−iσ x1
(5.27.6)
An = 21 kn−1 km kw − m2 π 2 Am eiσ x1

Solution: (a) This is a two-dimensional acoustic wave propagation problem along

a pipe with a sinusoidal wave-shaped wall with minor undulations on one side, as
shown in the Fig. 5.2.
If both sides of the pipe are smooth, the problem becomes

∇ 2 ϕ + ω2 ϕ = 0
∂ϕ
∂y
= 0 at y = 0 (5.27.7)
∂ϕ
∂y
= 0 at y = 1

Using the method of separation of variables, we can obtain the solution of (5.27.7)

ϕ = A cos(nπ y)eikn x

where

kn2 = ω2 − n2 π 2

Now let the y = 1 side is still a smooth wall and the y = 0 side is a sinusoidal
wall with a slight undulation, so the solution to the Eq. (5.27.1) is assumed to be
 
ϕ = G(y)eikn x + εE(x, y)eikn x + O ε2 (5.27.8)

Near y = 0, ϕ(x, y) can be expanded as

∂ 1 ∂2
ϕ(x, y) = ϕ(x, 0) + y ϕ(x, 0) + y2 2 ϕ(x, 0) + · · ·
∂y 2 ∂y

So the boundary condition (5.27.2) can be approximated as

468 5 Parametrically Excited Systems

∂ϕ
= ε ∂ϕ k cos kw x − ε ∂∂yϕ2 sin kw x at y = 0
2

∂y ∂x w
∂ϕ (5.27.9)
∂y
=0 at y = 1

Substituting (5.27.8) into the boundary conditions of y = 0 side in (5.27.9) and

equating coefficients of like powers of ε in the above equation yields

G  (y) = 0
1 
E  (x, y) =
G(y)kn kw + iG  (y) eikw x ; at y = 0 (5.27.10)
2
1 
+ G(y)kn kw − iG  (y) e−ikw x
2
The prime denotes the derivative with respect to y. It appears that E(x, y) can be
expressed as a function of the following form:

E(x, y) = H1 (y)eikw x + H2 (y)e−ikw x (5.27.11)

Therefore, the solution of (5.27.1) can be assumed to be

ϕ = G(y)eikn x + εH1 (y)ei(kn +kw )x

 
+ εH2 (y)ei(kn −kw )x + O ε2 (5.27.12)

Substituting (5.27.12) into (5.27.1) and the boundary conditions (5.27.9) yields

0 = 2 φ + ω2 φ
= −kn2 Geikn x − ε(kn + kw )2 H1 ei(kn +kw )x
− ε(kn − kw )2 H2 ei(kn −kw )x
+ G  eikn x + εH1 ei(kn +kw )x + εH2 ei(kn −kw )x
+ ω2 Geikn x + εω2 H1 ei(kn +kw )x + εω2 H2 ei(kn −kw )x
   
= G  + ω2 − kn2 G eikn x
 
+ ε{H1 + [ω2 − kn + kw )2 H1 }ei(kn +kw )x
 
+ ε{H2 + [ω2 − kn − kw )2 H2 }ei(kn −kw )x + · · · (5.27.13)

∂ϕ ∂ϕ ∂ 2ϕ
0= − ε kw cos kw x + ε 2 sin kw x
∂y ∂x ∂y
= G  eikn x + εH1 ei(kn +kw )x + εH2 ei(kn −kw )x aty = 0
1  
− εikn kw G ei(kn +kw )x + ei(kn −kw )x
2
1  
− εiG  ei(kn +kw )x − ei(kn −kw )x + · · · (5.27.14)
2
5.27 Exercise 5.27 (Analysis of Two-Dimensional Sound Propagation … 469

∂ϕ
0= ∂y
= G  eikn x + εH1 ei(kn +kw )x + εH2 ei(kn −kw )x at y = 1 (5.27.15)

Equating coefficients of like powers of ε in (5.27.13) ~(5.27.15) yields.

Order ε0 :
 
G  + ω2 − kn2 G = 0
 
G = 0, at y = 0 (5.27.16)
G  = 0, at y = 1

Order ε1 :
 
H1 + [ω2 − kn + kw )2 H1 = 0
  1  
H1 − 2 i kn kw G + G  = 0, at y = 0 (5.27.17)
H1 = 0, at y = 1
 
H2 + [ω2 − kn − kw )2 H2 = 0
  1  
H2 − 2 i kn kw G − G  = 0, at y = 0 (5.27.18)
H2 = 0, at y = 1

The solution of (5.27.16) is

G(y) = A cos(nπ y) (5.27.19)

where A is the constant of integration and the following relation should also be
satisfied:

kn2 = ω2 − n2 π 2 (5.27.20)

By substituting (5.27.19) into (5.27.17) we can get

 
H1 + [ω2 − kn + kw )2 H1 = 0 (5.27.21)

  
H1 − 21 i kn kw − n2 π 2 A = 0, at y = 0
(5.27.22)
H1 = 0, at y = 1

The solution of (5.27.21) can be expressed as

H1 (y) = B1 sin κ1 y + C1 cos κ1 y (5.27.23)

where

κ12 = ω2 − (kn + kw )2 (5.27.24)

470 5 Parametrically Excited Systems

Substituting (5.27.23) into the boundary conditions (5.27.22) yields

 
B1 κ1 − 21 iA kn kw − n2 π 2 = 0
(5.27.25)
B1 cosκ1 − C1 sinκ1 = 0
1  
B1 = iA kn kw − n2 π 2 (κ1 sin κ1 )−1 sin κ1 C1
2
1  
= iA kn kw − n2 π 2 (κ1 sin κ1 )−1 (5.27.26)
2
1  
H1 (y) = iA kn kw − n2 π 2 (κ1 sin κ1 )−1
2 
sin κ1 sin κ1 y + cos κ1 cos κ1 y (5.27.27)

Similarly,

1  
H2 (y) = iA kn kw + n2 π 2 (κ2 sin κ2 )−1
2 
sin κ2 sin κ2 y + cos κ2 cos κ2 y (5.27.28)

where

κ22 = ω2 − (kn − kw )2 (5.27.29)

Substituting the above results into (5.27.12), we can obtain an approximate

solution to (5.27.12)

1  
φ = Acos(nπ y)eikn x + iεA{ kn kw − n2 π 2 1 (y)ei(kn +kw )x
  2  
+ kn kw + n2 π 2 2 (y)ei(kn −kw )x } + O ε2 (5.27.30)

where
 
m (y) = (κm sin κm )−1 sin κm sin κm y + cos κm cos κm y (5.27.31)
 
When κm − mπ = O(ε) and (κm sin κm )−1 = O ε−1 , m (y) is large, so the
second term on the right-hand side of (5.27.30) cannot be corrected and (5.27.30) is
invalid.
From (5.27.24), (5.27.29) and κm − mπ = O(ε), we can obtain
   
(kn ± kw )2 = ω2 − κm2 = ω2 − m2 π 2 + O ε2 = km2 + O ε2

therefore,

kw = kn ± km + O(ε) (5.27.32)
5.27 Exercise 5.27 (Analysis of Two-Dimensional Sound Propagation … 471

That is, the condition κm − mπ = O(ε) is equivalent to (5.27.32), or when the

condition (5.27.32) holds, (5.27.30) fails.
(b) When kw = kn − km + εσ , condition (5.27.32) holds and (5.27.30) fails. Now
we use the method of multiscale to solve (5.27.1) and (5.27.2). To do this, we let

ϕ(x, y) = ϕ0 (x0 , x1 , y) + εϕ1 (x0 , x1 , y) + · · · ,

x0 = x, x1 = εx (5.27.33)

Substituting (5.27.33) into (5.27.1) and (5.27.9), and equating coefficients of like
powers of ε yields

0 = ∇ 2 φ + ω2 φ
 
= D02 + 2εD0 D1 (φ0 + εφ1 )
+ ∂ 2 (φ0 + εφ1 )/∂y2 + ω2 (φ0 + εφ1 )
= D02 φ0 + εD02 φ1 + 2εD0 D1 φ0 + ∂ 2 φ0 /∂y2
+ ε∂ 2 φ1 /∂y2 + ω2 φ0 + εω2 φ1
= D02 φ0 + ω2 φ0 + ∂ 2 φ0 /∂y2
 
+ ε D02 φ1 + ω2 φ1 + 2D0 D1 φ0 + ∂ 2 φ1 /∂y2 (5.27.34)

∂φ
− ε ∂φ k coskw x0 + ε ∂∂yφ2 sinkw x0
2
0= ∂y ∂x w
∂φ0 ∂φ1 ∂ 2 φ0 (5.27.35)
= ∂x
+ε ∂y
− kw D0 φ0 coskw x0 + ∂y2
sinkw x0 , aty = 0

∂ϕ0 ∂ϕ1
0= +ε , at y = 1 (5.27.36)
∂y ∂y 1

where D0 and D1 denote the partial derivatives with x0 and x1 , respectively. Equating
coefficients of like powers of ε in (5.27.34–5.27.36) yields
Order ε0 : ∂∂xϕ20 + ∂∂yϕ20 + ω2 ϕ0 = 0
2 2

∂ϕ0 /∂y = 0 at y = 0
(5.27.37)
∂ϕ0 /∂y = 0 at y = 1

Order ε1 : ∂∂xϕ21 + ∂ 2 ϕ1
+ ω2 ϕ1 = −2 ∂x∂ 0 ϕ∂x0 1
2 2

0
∂y2

∂ϕ1
∂y
= kw ∂ϕ0
∂x0
cos kw x0 − ∂ 2 ϕ0
∂y2
sin kw x0 at y = 0
∂ϕ1 (5.27.38)
∂y
=0 at y = 1

The boundary value problem described by (5.27.37) is the same as (5.27.7). If

two modes are taken, the solution is
472 5 Parametrically Excited Systems

ϕ0 = Am (x1 ) cos(mπ y)eikm x0 + An (x1 ) cos(nπ y)eikn x0 (5.27.39)

where

km2 = ω2 − m2 π 2 , kn2 = ω2 − n2 π 2 (5.27.40)

Substitute (5.27.39) into (5.27.38), we can obtain the controlling equation of ϕ1 :

∂ 2 ϕ1 ∂ 2 ϕ1
+ + ω2 ϕ1 = −2ikm Am cos(mπ y)eikm x0 − 2ikn An cos(nπ y)eikn x0
∂x02 ∂y2
(5.27.41)
-  
∂ϕ1
∂y
= 21 i Aj kj kw − j2 π 2 ei(kj +kw )x0
- j=m, n
  (5.27.42)
+ 21 i Aj kj kw + j 2 π 2 ei(kj −kw )x0 , at y = 0
j=m, n

∂ϕ1
= 0, at y = 1 (5.27.43)
∂y

The prime denotes the derivative with respect to x1 .

It is easy to see that the excitation terms on the right side of Eq. (5.27.41) are the
solutions of the corresponding homogeneous equations. So cos(mπ y) and cos(nπ y)
cannot be involved in the solution of ϕ1 . Let

ϕ1 = Bm (x1 , y)eikm x0 + Bn (x1 , y)eikn x0 (5.27.44)

Substitute (5.27.44) into (5.27.41) yields

∂ 2 Bm
+ m2 π 2 Bm = −2ikm Am cos(mπ y) (5.27.45)
∂y2

∂ 2 Bn
+ n2 π 2 Bm = −2ikn An cos(nπ y) (5.27.46)
∂y2

Substitute (5.27.44) into (5.27.42) yields

∂Bm ikm x0 ∂Bn ikn x0 1   

e + e = i Aj kj kw − j2 π 2 ei(kj +kw )x0
∂y ∂y 2 j=m, n
1   
+ i Aj kj kw + j 2 π 2 ei(kj −kw )x0
2 j=m, n
1  
= iAm km kw − m2 π 2 eiσ x1 eikn x0
2
1  
+ iAn kn kw − j2 π 2 ei(km +kw )x0
2
5.27 Exercise 5.27 (Analysis of Two-Dimensional Sound Propagation … 473

1  
+ iAm km kw + m2 π 2 ei(km −kw )x0
2
1  
+ iAn kn kw + n2 π 2 e−iσ x1 eikm x0 , at y = 0
2
Making the coefficients of the same harmonic function on both sides of the above
equation equal, we get

∂Bm 1  
= iAn kn kw + n2 π 2 e−iσ x1 , at y = 0 (5.27.47)
∂y 2
∂Bn 1  
= iAm km kw − m2 π 2 eiσ x1 , at y = 0 (5.27.48)
∂y 2

Substitute (5.27.44) into (5.27.43), we have

∂Bm
= 0, at y = 1 (5.27.49)
∂y
∂Bn
= 0, at y = 1 (5.27.50)
∂y

Since the solution of ϕ1 cannot involve terms like cos(mπ y) and cos(nπ y), neither
Bm nor Bn can contain such terms. So we have

1 1
Bm cos(mπ y)dy = 0, Bn cos(nπ y)dy = 0 (5.27.51)
0 0

Multiplying both sides of Eq. (5.27.45) by cos(mπ y) and making the integration
of y over the interval from 0 to 1, we can obtain

1
∂Bm ∂Bm
|y = 1 − |y = 0 = −2ikm Am cos2 (mπ y)dy = −ikm Am (5.27.52)
∂y ∂y
0

Taking the boundary conditions (5.27.47) and (5.27.49) into account, we have

1 −1  
Am = km kn kw + n2 π 2 An e−iσ x1 (5.27.53)
2
Multiplying both sides of Eq. (5.27.46) by cos(nπ y), making the integration of
y over the interval from 0 to 1, and taking the boundary conditions (5.27.48) and
(5.27.50) into account, we have

1 −1  
An = kn km kw − m2 π 2 Am eiσ x1 (5.27.54)
2
474 5 Parametrically Excited Systems

(c) Let the solutions of Eqs. (5.27.53) and (5.27.54) be

Am = Fm (x1 )esx1 , An = Fn (x1 )esx1 (5.27.55)

Substituting them into (5.27.53) and (5.27.54), we obtain

1 −1  
Fm + sFm = km kn kw + n2 π 2 Fn e−iσ x1 (5.27.56)
2
1 −1  
Fn + sFn = kn km kw − m2 π 2 Fm eiσ x1 (5.27.57)
2
Let Fm = am as a constant, and then, by Eq. (5.27.57), we can obtain that Fn =
an eiσ x1 . Therefore, by (5.27.55), (5.27.53) and (5.27.54), at least, have the following
solutions:

Am = am esx1 , An = an e(s+iσ )x1 (5.27.58)

then (5.27.56) and (5.27.57) become

    
 s  − 21 km−1 kn kw + n2 π 2 am
=0 (5.27.59)
− 21 kn−1 km kw − m2 π 2 iσ + s an

From the non-trivial solution condition, we have

  
 s  − 21 km−1 kn kw + n2 π 2
det =0
− 21 kn−1 km kw − m2 π 2 iσ + s

i.e.,

1   
s2 + iσ s − km−1 kn−1 kn kw + n2 π 2 km kw − m2 π 2 = 0 (5.27.60)
4
therefore,
 ,
1   
s= −iσ ± −σ 2 + km−1 kn−1 km kw − m2 π 2 kn kw + n2 π 2 (5.27.61)
2

When km−1 kn−1 > 0 and if km > 0and kn > 0, since

km kw − m2 π 2 = km (kn − km + εσ ) − m2 π 2 = km kn − ω2 + εσ km

m2 km2 + π 2 n2 ω2
kn km − ω2 = − <0
kn km + ω2
5.28 Exercise 5.28 (Analysis of Two-Dimensional Electromagnetic Wave … 475

m2 km2 + π 2 n2 ω2
ω2 − kn km = >0
kn km + ω2

i.e., km kw − m2 π 2 < 0
If km < 0and kn < 0, since

kn kw + n2 π 2 = kn (kn − km + εσ ) + n2 π 2 = ω2 − km kn + εσ kn

i.e., kn kw + n2 π 2 > 0
Anyway
  
km−1 kn−1 km kw − m2 π 2 kn kw + n2 π 2 < 0 (5.27.62)

It follows that when km−1 kn−1 > 0, s is a pure imaginary root.

When km−1 kn−1 < 0,
  
km−1 kn−1 km kw − m2 π 2 kn kw + n2 π 2 > 0 (5.27.63)

Thus
1
s = − iσ ± p (5.27.64)
2
where
,
1 −1 −1   
p= km kn km kw − m2 π 2 kn kw + n2 π 2 − σ 2 > 0 (5.27.65)
2
and then
   
Am = am1 e−px1 + am2 epx1 e−iσ x1 /2 , An = an1 e−px1 + an2 e−px1 eiσ x1 /2 (5.27.66)

e−p x1 epx1 quickly diverges, and such divergent acoustic propagation modes cannot
occur in linear acoustic systems. Therefore, when km−1 kn−1 < 0, the corresponding
acoustic modes cannot propagate, or propagation is cut off.

5.28 Exercise 5.28 (Analysis of Two-Dimensional

Electromagnetic Wave Propagation in a Pipe
with Sinusoidal Walls)

∇ 2 ϕ + ω2 ϕ = 0 (5.28.1)
476 5 Parametrically Excited Systems

∂2ϕ ∂ ϕ 2

∂x2
+ ω2 ϕ = −εkw ∂x∂y cos kw x at y = ε sin kw x
∂2ϕ
(5.28.2)
∂x2
+ ω2 ϕ = 0 at y = 1
∂ 2 φ1∂ 2 φ1
∂x02
+
∂y2
+ ω2 φ1 = −2ikm Am sin(mπ y)eikm x0
(5.28.3)
−2ikn An (x1 )sin(nπ y)eikn x0
- 2 2 
∂ 2 ϕ1
∂x02
+ ω2 ϕ1 = 21 iπ j j π − kj kw Aj ei(kj +kw )x0
- j=m, n
 (5.28.4)
− 21 iπ j j 2 π 2 + kj kw Aj ei(kj −kw )x0 , at y = 0
j=m, n

∂ 2 ϕ1
+ ω2 ϕ1 = 0 at y = 1 (5.28.5)
∂x02
 
Am = 21 mknm kn kw + n2 π 2 An e−iσ x1
  (5.28.6)
An = 21 nkmn km kw − m2 π 2 Am eiσ x1

Solution: (a) This is a two-dimensional electromagnetic wave propagation problem

along a pipe with a sinusoidal shaped wall with minor undulations on one side as
shown Fig. 5.2
If both sides of the pipe have smooth walls, the problem becomes

∇ 2 ϕ + ω2 ϕ = 0

∂2ϕ
∂2x
+ ω2 ϕ = 0 at y = 0
∂2ϕ (5.28.7)
∂2x
+ ω2 ϕ = 0 at y = 1

Using the method of separation of variables, we can obtain the solution of (5.28.1)

ϕ = A sin(nπ y)eikn x

where

kn2 = ω2 − n2 π 2

Now let the y = 1 side is still a smooth wall and the y = 0 side is a sinusoidal wall
with a slight undulation, so the solution to the Eq. (5.28.1) with boundary condition
(5.28.2) is assumed to be
 
ϕ = G(y)eikn x + εE(x, y)eikn x + O ε2 (5.28.8)

Near y = 0, ϕ(x, y) can be expanded as

5.28 Exercise 5.28 (Analysis of Two-Dimensional Electromagnetic Wave … 477

∂ 1 ∂2
ϕ(x, y) = ϕ(x, 0) + y ϕ(x, 0) + y2 2 ϕ(x, 0) + · · ·
∂y 2 ∂y

Therefore, the boundary condition (5.28.2) can be approximated as

∂2ϕ ∂ ϕ ∂3ϕ
+ ω2 ∂ϕ
2

∂x2
+ ω2 ϕ = −εkw ∂x∂y cos kw x − ε ∂x2 ∂y ∂y
sin kw x at y = 0
(5.28.9)
∂2ϕ
∂x2
+ ω2 ϕ = 0 at y = 1

Substituting (5.28.8) into the boundary conditions of y = 0 side in (5.28.9) and

equating coefficients of like powers of ε in the above equation yields

G=0
∂2E
    
∂x2
+ ω2 −kn2 E = i 21 kn kw −ω2 − kn2 G  eikw x ; at y = 0 (5.28.10)
+i 21 kn kw + ω2 − kn2 G  eikw x

The prime denotes the derivative with respect to y. It appears that E(x, y) can be
expressed as a function of the following form:

E(x, y) = H1 (y)eikw x + H2 (y)e−ikw x (5.28.11)

Therefore, the solution of (5.28.1) can be assumed to be

ϕ = G(y)eikn x + εH1 (y)ei(kn +kw )x

 
+ εH2 (y)ei(kn −kw )x + O ε2 (5.28.12)

Substituting (5.28.12) into (5.28.1) and the boundary conditions (5.28.9) yields

0 = 2 φ + ω2 φ
= −kn2 Geikn x − ε(kn + kw )2 H1 ei(kn +kw )x
− ε(kn − kw )2 H2 ei(kn −kw )x
+ G  eikn x + εH1 ei(kn +kw )x + εH2 ei(kn −kw )x
+ ω2 Geikn x + εω2 H1 ei(kn +kw )x + εω2 H2 ei(kn −kw )x
   
= G  + ω2 − kn2 G eikn x
 
+ ε{H1 + [ω2 − kn + kw )2 H1 }ei(kn +kw )x
 
+ ε{H2 + [ω2 − kn − kw )2 H2 }ei(kn −kw )x + · · · (5.28.13)

∂ 2ϕ ∂ 2ϕ
0= + ω2 ϕ + εkw cos kw x
∂x 2 ∂x∂y
 3 
∂ ϕ 2 ∂ϕ
+ε +ω sin kw x
∂x2 ∂y ∂y
478 5 Parametrically Excited Systems

= −kn2 Geikn x − ε(kn + kw )2 H1 ei(kn +kw )x

− ε(kn − kw )2 H2 ei(kn −kw )x
+ ω2 Geikn x + εω2 H1 ei(kn +kw )x
+ εω2 H2 ei(kn −kw )x aty = 0
1  
+ εikn kw G  ei(kn +kw )x + ei(kn −kw )x
2
1  
− εin2 π 2 G  ei(kn +kw )x − ei(kn −kw )x (5.28.14)
2

∂ 2ϕ
0= + ω2 ϕ
∂x2
 3 
∂ ϕ 2 ∂ϕ
+ε + ω sin kw x
∂x2 ∂y ∂y
= −kn2 Geikn x − ε(kn + kw )2 H1 ei(kn +kw )x
− ε(kn − kw )2 H2 ei(kn −kw )x aty = 1
+ ω2 Geikn x + εω2 H1 ei(kn +kw )x + εω2 H2 ei(kn −kw )x (5.28.15)

Equating coefficients of like powers of ε in (5.28.13–5.28.14) yields

∂ 2ϕ
0= + ω2 ϕ
∂x2
 3 
∂ ϕ 2 ∂ϕ
+ε + ω sin kw x
∂x2 ∂y ∂y
= −kn2 Geikn x − ε(kn + kw )2 H1 ei(kn +kw )x
− ε(kn − kw )2 H2 ei(kn −kw )x at y = 1
+ ω2 Geikn x + εω2 H1 ei(kn +kw )x + εω2 H2 ei(kn −kw )x

Order ε0 :
 
G  + ω2 − kn2 G = 0

G = 0, at y = 0 (5.28.16)
G = 0, at y = 1

Order ε1 :

H1 + κ12 H1 = 0
 2  
κ1 H1 = 21 i n2 π 2 − kn kw G  , at y = 0 (5.28.17)
H1 = 0, at y = 1
5.28 Exercise 5.28 (Analysis of Two-Dimensional Electromagnetic Wave … 479

H2 + κ22 H2 = 0
 2  
κ2 H2 = − 21 i n2 π 2 + kn kw G  , at y = 0 (5.28.18)
H2 = 0, at y = 1

where

κ12 = ω2 − (kn + kw )2 , κ22 = ω2 − (kn − kw )2 (5.28.19)

The solution of (5.28.16) is

G(y) = A sin(nπ y) (5.28.20)

where A is the constant of integration and the following relation should also be
satisfied

kn2 = ω2 − n2 π 2 (5.28.21)

By substituting (5.28.20) into (5.28.17) we can get

H1 + κ12 H1 = 0 (5.28.22)

  
κ12 H1 = 21 inπ n2 π 2 − kn kw A, at y = 0
(5.28.23)
H1 = 0, at y = 1

The solution of (5.28.22) can be expressed as

H1 (y) = B1 sin κ1 y + C1 cos κ1 y (5.28.24)

Substituting (5.28.24) into the boundary conditions (5.28.23) yields

1  
κ12 C1 = inπ n2 π 2 − kn kw A
2

B1 sin κ1 + C1 cos κ1 = 0 (5.28.25)

Thus we can obtain

1  
C1 = inπ(κ1−2 sin κ1 )−1 A n2 π 2 − kn kw sin κ1
2
1  
B1 = − inπ(κ1−2 sin κ1 )−1 A n2 π 2 − kn kw cos κ1 (5.28.26)
2
Therefore
480 5 Parametrically Excited Systems

1  
H1 (y) = inπ A n2 π 2 − kn kw (κ1−2 sin κ1 )−1
2
(sin κ1 cos κ1 y − cos κ1 sin κ1 y) (5.28.27)

Similarly,

1  
H2 (y) = − inπ A n2 π 2 + kn kw (κ2−2 sin κ2 )−1
2
(sin κ2 cos κ1 y − cos κ2 sin κ2 y) (5.28.28)

Substituting the above results into (5.28.12), we can obtain an approximate

solution to (5.28.12)

1  
φ = Asin(nπ y)eikn x + εinπ A{ n2 π 2 − kn kw 1 (y)ei(kn +kw )x
  2  
− n2 π 2 + kn kw 2 (y)ei(kn −kw )x } + O ε2 (5.28.29)

where
 
m (y) = (κm2 sin κm )−1 sin κm cos κm y − cos κm sin κm y (5.28.30)
 
When κm − mπ = O(ε) and (κm sin κm )−1 = O ε−1 , m (y) is large, so the
second term on the right-hand side of (5.28.29) cannot be corrected and (5.28.29) is
invalid.
From (5.28.19), (5.28.21) and κm − mπ = O(ε), we can obtain
   
(kn ± kw )2 = ω2 − κm2 = ω2 − m2 π 2 + O ε2 = km2 + O ε2

therefore,

kw = kn ± km + O(ε) (5.28.31)

That is, the condition κm − mπ = O(ε) is equivalent to the condition (5.28.31),

or when the condition (5.28.31) holds, (5.28.29) fails.
(b) When kw = kn − km + εσ , the expansion (5.28.29) fails. Now we use the
method of multiscale to solve (5.28.1) and (5.28.2). To do this, we let

ϕ(x, y) = ϕ0 (x0 , x1 , y) + εϕ1 (x0 , x1 , y) + · · · , x0 = x, x1 = εx (5.28.32)

Substituting (5.28.32) into (5.28.1) and (5.28.9), and equating coefficients of like
powers of ε yields

0 = ∇ 2 φ + ω2 φ
 
= D02 + 2εD0 D1 (φ0 + εφ1 )
5.28 Exercise 5.28 (Analysis of Two-Dimensional Electromagnetic Wave … 481

∂2
+ (φ0 + εφ1 ) + ω2 (φ0 + εφ1 )
∂y2
= D02 φ0 + εD02 φ1 + 2εD0 D1 φ0
∂ 2 φ0 ∂ 2 φ1
+ + ε + ω2 φ0 + εω2 φ1
∂y2 ∂y2
∂ 2 φ0
= D02 φ0 + ω2 φ0 +
∂y2
 
∂ 2 φ1
+ ε D0 φ1 + ω φ1 + 2D0 D1 φ0 +
2 2
(5.28.33)
∂y2

∂ 2φ ∂ 2φ
0= + ω2 φ + εkw cos kw x
∂x 2 ∂x∂y
 3 
∂ φ 2 ∂φ
+ε +ω sin kw x
∂x2 ∂y ∂y
 2 
= D0 + 2εD0 D1 (φ0 + εφ1 ) + ω2 (φ0 + εφ1 )
∂(D0 φ0 )
+ εkw cos kw x
∂y
∂  2  
+ε D0 + 2εD0 D1 (φ0 + εφ1 ) sin kw x
∂y
∂φ0
+ εω2 sin kw x
∂y
= D02 φ0 + ω2 φ0 + ε{D02 φ1 + ω2 φ1
∂(D0 φ0 )
+ 2D0 D1 φ0 + kw cos kw x
∂y
 2 
∂ D0 φ0
+ sin kw x
∂y
∂φ0
+ ω2 sin kw x}, aty = 0 (5.28.34)
∂y

∂ 2φ
0= + ω2 φ
∂x2  
(5.28.35)
= D02 φ0 + ω2 φ0 + ε D02 φ1 + ω2 φ1 + 2D0 D1 φ0 , aty = 1

where D0 and D1 denote the partial derivatives with x0 and x1 , respectively. Equating
coefficients of like powers of ε in (5.28.33–5.28.35) yields
Order ε0 :
482 5 Parametrically Excited Systems

∂ 2 ϕ0 ∂ 2 ϕ0
+ + ω2 ϕ0 = 0
∂x0 2 ∂y2
∂ 2 ϕ0 (5.28.36)
∂x02
+ ω2 ϕ0 = 0 at y = 0
∂ 2 ϕ0
∂x02
+ ω2 ϕ0 = 0 at y = 1

Order ε1 : ∂∂xϕ21 + ∂ 2 ϕ1
+ ω2 ϕ1 = −2 ∂x∂ 0 ϕ∂x0 1
2 2

0
∂y2

∂ 2 ϕ1
+ ω2 ϕ1 = −2 ∂x∂ 0 ϕ∂x0 1 − kw ∂x
∂ 2 ϕ0
2

∂x02 0 ∂y
coskw x
∂ 3 ϕ0 ∂ϕ aty = 0
− ∂x2 ∂y sinkw x − ω2 ∂y0 sinkw x (5.28.37)
0
∂ 2 ϕ1 ∂ 2 ϕ0
2 + ω ϕ1 = −2 ∂x ∂x aty = 1
2
∂x0 0 1

The boundary value problem described by (5.28.36) is the same as (5.28.7). If

two modes are taken, the solution is

ϕ0 = Am (x1 )sin(mπ y)eikm x0 + An (x1 )sin(nπ y)eikn x0 (5.28.38)

where

km2 = ω2 − m2 π 2 , kn2 = ω2 − n2 π 2 (5.28.39)

Substitute (5.28.38) into (5.28.37), we can obtain the controlling equation of ϕ1 :

∂ 2 φ1 ∂ 2 φ1
∂x02
+
∂y2
+ ω2 φ1 = −2ikm A m sin(mπ y)eikm x0
(5.28.40)
−2ikn A n (x1 )sin(nπ y)eikn x0
-   i k +k x
∂ 2 ϕ1
∂x02
+ ω2 ϕ1 = 21 iπ j=m,n j j 2 π 2 − kj kw Aj e ( j w ) 0
-   (5.28.41)
− 21 iπ j=m,n j j 2 π 2 + kj kw Aj ei(kj −kw )x0 , aty = 0

∂ 2 ϕ1
+ ω2 ϕ1 = 0, at y = 1 (5.28.42)
∂x02

The prime denotes the derivative with respect to x1 .

It is easy to see that the excitation terms on the right side of Eq. (5.28.40) are the
solutions of the corresponding homogeneous equations. So sin(mπ y) and sin(nπ y)
cannot be involved in the solution of ϕ1 . Let

ϕ1 = Bm (x1 , y)eikm x0 + Bn (x1 , y)eikn x0 (5.28.43)

5.28 Exercise 5.28 (Analysis of Two-Dimensional Electromagnetic Wave … 483

Substitute (5.28.43) into (5.28.40) yields

∂ 2 Bm
+ m2 π 2 Bm = −2ikm Am sin(mπ y) (5.28.44)
∂y2

m2 π 2 Bm eikm x0 + n2 π 2 Bn eikn x0
1   
= iπ j j 2 π 2 − kj kw Aj ei(kj +kw )x0
2 j=m,n
1   
− iπ j j 2 π 2 + kj kw Aj ei(kj −kw )x0
2 j=m,n
1   1  
= iAm mπ m2 π 2 − km kw eiσ x1 eikn x0 + iAn nπ n2 π 2 − kn kw ei(kn +kw )x0
2 2
1  2 2  i(km −kw )x0
− iAm mπ m π + km kw e
2
1  
− iAn nπ n2 π 2 + kn kw e−iσ x1 eikm x0 , at y = 0
2
∂ 2 Bn
+ n2 π 2 Bm = −2ikn An sin(nπ y)
∂y2
(5.28.45)

Substitute (5.28.43) into (5.28.41) yields

m2 π 2 Bm eikm x0 + n2 π 2 Bn eikn x0
1   
= iπ j j 2 π 2 − kj kw Aj ei(kj +kw )x0
2 j=m,n
1   
− iπ j j 2 π 2 + kj kw Aj ei(kj −kw )x0
2 j=m,n
1   1  
= iAm mπ m2 π 2 − km kw eiσ x1 eikn x0 + iAn nπ n2 π 2 − kn kw ei(kn +kw )x0
2 2
1  2 2  i(km −kw )x0
− iAm mπ m π + km kw e
2
1  
− iAn nπ n2 π 2 + kn kw e−iσ x1 eikm x0 , at y = 0
2
Making the coefficients of the same harmonic function on both sides of the above
equation equal, we get

1  
m2 π 2 Bm = − iAn nπ kn kw + n2 π 2 e−iσ x1 , aty = 0 (5.28.46)
2
1  
n2 π 2 Bn = − iAm mπ km kw − m2 π 2 eiσ x1 , aty = 0 (5.28.47)
2
484 5 Parametrically Excited Systems

Substitute (5.28.43) into (5.28.42), we have

Bm = 0, at y = 1 (5.28.48)

Bn = 0, at y = 1 (5.28.49)

Since the solution of ϕ1 cannot involve terms like sin(mπ y) and sin(mπ y), neither
Bm nor Bn can contain such terms. So we have

1 1
Bm cos(mπ y)dy = 0, Bn cos(nπ y)dy = 0 (5.28.50)
0 0

Equation (5.28.44) Multiplying both sides by sin(mπ y) and integrating overy

at[0, 1] yields

1
−mπ Bm |y = 1 + mπ Bm |y = 0 = −2ikm Am sin2 (mπ y)dy = −ikm Am
0
(5.28.51)

Consider the boundary conditions (5.28.46) and (5.28.46), we have

1 n  
Am = kn kw + n2 π 2 An e−iσ x1 (5.28.52)
2 mkm

Multiplying both sides of Eq. (5.28.45) by sin(nπ y), making the integration of
y over the interval from 0 to 1, and taking into account the boundary conditions
(5.28.47) and (5.28.48), we can obtain

1 m  
An = km kw − m2 π 2 Am eiσ x1 (5.28.53)
2 nkn

(c) Let the solutions of Eqs. (5.28.52) and (5.28.53) be

Am = Fm (x1 )esx1 , An = Fn (x1 )esx1 (5.28.54)

Substituting them into (5.28.53) and (5.28.54), we obtain

1 n  
Fm + sFm = kn kw + n2 π 2 Fn e−iσ x1 (5.28.55)
2 mkm
1 m  
Fn + sFn = km kw − m2 π 2 Fm eiσ x1 (5.28.56)
2 nkn
5.28 Exercise 5.28 (Analysis of Two-Dimensional Electromagnetic Wave … 485

Let Fm = am as a constant, and then, by Eq. (5.28.56), we can obtain that Fn =

an eiσ x1 . Therefore, by (5.28.54), (5.28.52) and (5.28.53), at least, have the following
solutions:

Am = am esx1 , An = an e(s+iσ )x1 (5.28.57)

Then (5.28.52) and (5.28.53) become

    
s − 21 mknm kn kw + n2 π 2 am
  =0 (5.28.58)
− 21 nkmn km kw − m2 π 2 iσ + s an

From the non-trivial solution condition, we have

  
s − 21 mknm n2 π 2 + kn kw
det   =0
− 21 nkmn km kw − m2 π 2 iσ + s

i.e.,

1   
s2 + iσ s − km−1 kn−1 kn kw + n2 π 2 km kw − m2 π 2 = 0 (5.28.59)
4
therefore,
 ,
1   
s= −iσ ± −σ 2 + km−1 kn−1 km kw − m2 π 2 kn kw + n2 π 2 (5.28.60)
2

When km−1 kn−1 > 0 and if km > 0and kn > 0, since

km kw − m2 π 2 = km (kn − km + εσ ) − m2 π 2 = km kn − ω2 + εσ km

m2 km2 + π 2 n2 ω2
kn km − ω2 = − <0
kn km + ω2

m2 km2 + π 2 n2 ω2
ω2 − kn km = >0
kn km + ω2

therefore, km kw − m2 π 2 < 0
If km < 0 andkn < 0, since

kn kw + n2 π 2 = kn (kn − km + εσ ) + n2 π 2 = ω2 − km kn + εσ kn

therefore, kn kw + n2 π 2 > 0
Anyway
486 5 Parametrically Excited Systems

  
km−1 kn−1 km kw − m2 π 2 kn kw + n2 π 2 < 0 (5.28.61)

It follows that when km−1 kn−1 > 0, s is a pure imaginary root.

When km−1 kn−1 < 0,
  
km−1 kn−1 km kw − m2 π 2 kn kw + n2 π 2 > 0 (5.28.62)
  
Thus when km−1 kn−1 km kw − m2 π 2 kn kw + n2 π 2 > σ 2 ,

1
s = − iσ ± p (5.28.63)
2
where
,
1 −1 −1   
p= km kn km kw − m2 π 2 kn kw + n2 π 2 − σ 2 > 0 (5.28.64)
2
And then
 
Am = am1 e−px1 + am2 epx1 e−iσ x1 /2 ,
 
An = an1 e−px1 + an2 e−px1 eiσ x1 /2 (5.28.65)

e−px1 quickly diverges, and such divergent acoustic propagation modes cannot occur
in linear acoustic systems. Therefore, when km−1 kn−1 < 0, the corresponding acoustic
modes cannot propagate, or propagation is cut off.

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Chapter 6
Systems Having Finite Degrees
of Freedom

6.1 Exercise 6.1 (Internal Resonance Analysis

and Nonlinear Solution of a Double Pendulum Problem)

Solution: (a) The kinetic energy of the system is

 2  
T = 21 m1 l12 θ̇12 + 21 m2 l1 θ̇1 cosθ1 + l2 θ̇2 cosθ2 + l1 θ̇1 sinθ1 + l2 θ̇2 sinθ22
= 21 m1 l12 θ̇12 + 21 m2 l12 θ̇12 + 21 m2 l22 θ̇22 + m2 l1 l2 θ̇1 θ̇2 cos(θ2 − θ1 )
(6.1.1)

The potential energy of the system is

V = −m1 gl1 cos θ1 − m2 g(l1 cos θ1 + l2 cos θ2 ) (6.1.2)

Substitute kinetic and potential energy into the Lagrange’s equation:

d ∂T ∂T ∂V
− =− , k = 1, 2
dt ∂ θ̇k ∂θk ∂θk

we can obtain

θ̈1 + gl1−1 sin θ1 + α θ̈2 cos(θ2 − θ1 ) − α θ̇22 sin(θ2 − θ1 ) = 0

(6.1.3)
θ̈2 + gl2−1 sin θ2 + l1 l2−1 θ̈1 cos(θ2 − θ1 ) + l1 l2−1 θ̇12 sin(θ2 − θ1 ) = 0

where α = m2 l2 l1−1 (m1 + m2 )−1 .

(b) The equilibrium position of the system is θ1 = θ2 = 0. Linearizing (6.1.3) near
the equilibrium point yields

© The Author(s) 2025 487

Z. He et al., Solved Problems in Nonlinear Oscillations,
[Link]
488 6 Systems Having Finite Degrees of Freedom

θ̈1 + α θ̈2 + gl1−1 θ1 = 0

l1 l2−1 θ̈1 + θ̈2 + gl2−1 θ2 = 0

which can be written in the following matrix form:

   
α −1 1 θ̈1 α −1 gl1−1 0 θ1
+ =0 (6.1.4)
1 l1−1 l2 θ̈2 0 gl1−1 θ2

The characteristic equation of this linear system is

   
1 − αl1 l2−1 ω4 − g l1−1 + l2−1 ω2 + g 2 l1−1 l2−1 = 0 (6.1.5)

The linear natural frequencies of the system, ω1 and ω2 , are

⎡     ⎤1/2
g l1−1 + l2−1 − g 2 (l1−1 + l2−1 )2 − 4g 2 l1−1 l2−1 1 − αl1 l2−1
ω1 = ⎣   ⎦ (6.1.6)
2 1 − αl1 l2−1
⎡     ⎤1/2
g l1−1 + l2−1 + g 2 (l1−1 + l2−1 )2 − 4g 2 l1−1 l2−1 1 − αl1 l2−1
ω2 = ⎣   ⎦ (6.1.7)
2 1 − αl1 l2−1

Assuming that the corresponding normal modal matrix is [Ψ ], then using

{θ1 , θ2 }T = [Ψ ]{u1 , u2 }T (6.1.8)

we can transform (6.1.4) into

ü1 + ω12 u1 = 0
(6.1.9)
ü2 + ω22 u2 = 0

If the system yields a three-to-one internal resonance, i.e., ω2 : ω1 = 3 : 1, there

are
   
ω22 g l1−1 + l2−1 + g 2 (l1−1 + l2−1 )2 − 4g 2 l1−1 l2−1 1 − αl1 l2−1
9= 2 =    
ω1 g l1−1 + l2−1 − g 2 (l1−1 + l2−1 )2 − 4g 2 l1−1 l2−1 1 − αl1 l2−1

i.e.,

(9 + 100α)l12 − 82l1 l2 + 9l22 = 0 (6.1.10)

When l1 = l2 = l, we can obtain from (6.1.10) that a three-to-one internal

resonance occurs to the system when
6.1 Exercise 6.1 (Internal Resonance Analysis and Nonlinear Solution … 489

16
α= (6.1.11)
25
The linear natural frequency of the system is

1  −1 
ω1 = 5gl , ω2 = 5gl −1 (6.1.12)
3
The corresponding normal modal matrix is
⎡ ⎤
√4 −2 2
[Ψ ] = ⎣ 3 10 5 ⎦ (6.1.13)
√5 5
3 10 2

(c) We use the method of multiple scales to solve (6.1.3). For small but finite
 
amplitudes, we assume θ1 , θ2 = O(ε). Expanding (6.1.3) and retaining to O ε3
yields

1 1
θ̈1 + α θ̈2 + gl1−1 θ1 − gl1−1 θ13 − α θ̈2 (θ2 − θ1 )2 − α θ̇22 (θ2 − θ1 ) = 0
6 2
1 −1 3 1 −1
l1 l2 θ̈1 + θ̈2 + gl2 θ2 − gl2 θ2 − l1 l2 θ̈1 (θ2 − θ1 )2 + l1 l2−1 θ̇12 (θ2 − θ1 ) = 0
−1 −1
6 2
(6.1.14)

Let the solution of Eq. (6.1.14) be expressed as

θ1 = εθ11 (T0 , T1 , T2 ) + ε2 θ12 (T0 , T1 , T2 ) + ε3 θ13 (T0 , T1 , T2 ) + · · ·

(6.1.15)
θ2 = εθ21 (T0 , T1 , T2 ) + ε2 θ22 (T0 , T1 , T2 ) + ε3 θ23 (T0 , T1 , T2 ) + · · ·

Substituting (6.1.15) into (6.1.14) and keeping to O(ε3 ), we get

490 6 Systems Having Finite Degrees of Freedom

1 1
0 = θ̈1 + α θ̈2 + gl1−1 θ1 − gl1−1 θ13 − α θ̈2 (θ2 − θ1 )2 − α θ̇22 (θ2 − θ1 )
 6 2 
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εθ11 + ε2 θ12 + ε3 θ13
   
+α D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εθ21 + ε2 θ22 + ε3 θ23
  1  3
+gl1−1 εθ11 + ε2 θ12 + ε3 θ13 − gl1−1 εθ11 + ε2 θ12 + ε3 θ13
6
1  2
− α εθ21 − εθ11 + ε2 θ22 − ε2 θ12 + ε3 θ23 − ε3 θ13
2   
× D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εθ21 + ε2 θ22 + ε3 θ23
 
−α εθ21 − εθ11 + ε2 θ22 − ε2 θ12 + ε3 θ23 − ε3 θ13
  2
× D0 + εD1 + ε2 D2 εθ21 + ε2 θ22 + ε3 θ23
  
= ε D02 θ11 + αD02 θ21 + gl1−1 θ11 + ε2 D02 θ12 + αD02 θ22 + gl1−1 θ12

+ 2D0 D1 θ11 + 2αD0 D1 θ21 ) + ε3 D02 θ13 + αD02 θ23 + gl1−1 θ13
   
+2D0 D1 θ12 + 2αD0 D1 θ22 + D12 + 2D0 D2 θ11 + α D12 + 2D0 D2 θ21

1 −1 3 1
− gl1 θ11 − α(θ21 − θ11 ) D0 θ21 − α(θ21 − θ11 )(D0 θ21 )
2 2 2
6 2
(6.1.16)
1 −1 3 1 −1
0 = l1 l−1 −1
2 θ̈1 + θ̈2 + gl2 θ2 − gl2 θ2 − l1 l2 θ̈1 (θ2 − θ1 ) + l1 l2 θ̇1 (θ2 − θ1 )
2 −1 2

  6  2 
= D20 + 2εD0 D1 + ε2 D21 + 2D0 D2 εθ 21 + ε2 θ22 + ε3 θ23
 2  2  
+l1 l−12 D0 + 2εD0 D1 + ε D1 + 2D0 D2
2
εθ 11 + ε2 θ12 + ε3 θ13
  1 −1  3
+gl−1 2 εθ 21 + ε θ22 + ε θ23 − gl2 εθ 21 + ε θ22 + ε θ23
2 3 2 3
6
1 −1  2
− l1 l2 εθ 21 − εθ 11 + ε θ22 − ε2 θ12 + ε3 θ23 − ε3 θ13
2

2   
× D20 + 2εD0 D1 + ε2 D21 + 2D0 D2 εθ 11 + ε2 θ12 + ε3 θ13
 
+l1 I−1
2 εθ 21 − εθ 11 + ε θ22 − ε θ12 + ε θ23 − ε θ13
2 2 3 3

  2
× D0 + εD1 + ε2 D2 εθ 11 + ε2 θ12 + ε3 θ13
  2
× D0 + εD1 + ε2 D2 εθ 11 + ε2 θ12 + ε3 θ13
   −1 2
= ε l1 I−1 2 2 −1
2 D0 θ11 + D0 θ21 + gl2 θ21 + ε l1 I2 D0 θ12 + D0 θ22 + gl2 θ22
2 2 −1
 
+ 2l1 1−1 −1 2
2 D0 D1 θ11 + 2D0 D1 θ21 + ε I1 l2 D0 θ13 + D0 θ23 + gl2 θ23
3 2 −1
   
+2l1 I−12 D0 D1 θ12 + 2D0 D1 θ22 + D1 + 2D0 D2 θ21 + l1 l2 D1 + 2D0 D2 θ11
2 −1 2

1 1 −1
− gl−1 θ 3
− l 1 l (θ 21 − θ 11 )2 2
D θ
0 11 + l l
1 2
−1
(θ 21 − θ 11 )(D θ
0 11 ) 2
6 2 21 2 2
(6.1.17)

Equating coefficients of like powers of ε in (6.1.16) and (6.1.17) yields.

6.1 Exercise 6.1 (Internal Resonance Analysis and Nonlinear Solution … 491

Order ε1 :

D02 θ11 + αD02 θ21 + gl1−1 θ11 = 0

(6.1.18)
l1 l−1 −1
2 D0 θ11 + D0 θ21 + gl2 θ21 = 0
2 2

Order ε2 :

D02 θ12 + αD02 θ22 + gl1−1 θ12 + 2D0 D1 θ11 + 2αD0 D1 θ21 = 0
(6.1.19)
l1 l−1 −1 −1
2 D0 θ12 + D0 θ22 + gl2 θ22 + 2l1 l2 D0 D1 θ11 + 2D0 D1 θ21 = 0
2 2

Order ε3 :

D02 θ13 + αD02 θ23 + gl1−1 θ13 + 2D0 D1 θ12 + 2αD0 D1 θ22
   
+ D12 + 2D0 D2 θ11 + α D12 + 2D0 D2 θ21
1 1
− α(θ21 − θ11 )2 D02 θ21 − α(θ21 − θ11 )(D0 θ21 )2 − gl1−1 θ11 3
=0 (6.1.20)
2 6
l1 l2−1 D02 θ13 + D02 θ23 + gl2−1 θ23 + 2l1 l2−1 D0 D1 θ12 + 2D0 D1 θ22
   
+ D12 + 2D0 D2 θ21 + l1 l2−1 D12 + 2D0 D2 θ11

(6.1.18)–(6.1.20) can also be written in matrix form:

   −1 −1 
α −1 1 D02 θ11 α gl1 0 θ11
+ =0 (6.1.21)
1 l1−1 l2 D02 θ21 0 gl1−1 θ21
 −1  2  −1 −1   −1  
α 1 D0 θ12 α gl1 0 θ12 α 1 θ
+ = −2 D0 D1 11
1 l−1
1 2l D20 θ22 0 gl−1
1 θ 22 1 l −1
1 2l θ 21
(6.1.22)
 −1  2  −1 −1   −1  
α 1 D0 θ13 α gl1 0 θ13 α 1 θ12
+ = −2 D D
1 l1−1 l2 gl1−1 1 l1−1 l2
0 1
D02 θ23 0 θ23 θ22
 −1   
α 1  2  θ11 1 2 2 θ21
− D1 + 2D0 D2 + (θ21 − θ11 ) D0
1 l1−1 l2 θ21 2 θ11
  −1 3
−(θ21 − θ11 )(D0 θ21 ) 2 1 α θ11
− + gl−1
(θ21 − θ11 )(D0 θ11 )2 6 1 θ21
3

(6.1.23)

Apply the transformation to (6.1.21)–(6.1.23), i.e.,

{θ1n , θ2n }T = [Ψ ]{u1n , u2n }T , n = 1, 2, 3 (6.1.24)

we can obtain
492 6 Systems Having Finite Degrees of Freedom
  2 
D02 u11 ω1 0 u11
+ =0 (6.1.25)
D02 u21 0 ω22 u21
 2  2  
D0 u12 ω1 0 u12 u11
+ = −2D D
0 1 (6.1.26)
D02 u22 0 ω22 u22 u21
  2    
D02 u13 ω1 0 u13 u12  2  u11 F1
+ = −2D0 D1 − D1 + 2D0 D2 +
D02 u23 0 ω22 u23 u22 u21 F2
(6.1.27)

where

F1 = 21 Ψ11 (θ21 − θ11 )2 D02 θ21 + 21 Ψ21 (θ21 − θ11 )2 D02 θ11
+Ψ11 (θ21 − θ11 )(D0 θ21 )2 − Ψ21 (θ21 − θ11 )(D0 θ11 )2 (6.1.28)
+ 16 Ψ11 gl1−1 α −1 θ11
3
+ 16 Ψ21 gl1−1 θ21
3

F2 = 21 Ψ12 (θ21 − θ11 )2 D02 θ21 + 21 Ψ22 (θ21 − θ11 )2 D02 θ11
+Ψ12 (θ21 − θ11 )(D0 θ21 )2 − Ψ22 (θ21 − θ11 )(D0 θ11 )2 (6.1.29)
+ 16 Ψ12 gl1−1 α −1 θ11
3
+ 16 Ψ22 gl1−1 θ21
3

And Ψij is the element of the normal modal matrix [Ψ ].

The solution of (6.1.18) is
 
u11 A1 eiω1 T0 + A1 e−iω1 T0
= (6.1.30)
u21 A2 eiω2 T0 + A2 e−iω2 T0

where Ak = Ak (T1 , T2 ). Substituting (6.1.30) into (6.1.19), we obtain

 
D02 u12 + ω12 u12 = −2 iω1 D1 A1 eiω1 t − iω1 D1 A1 eiω1 T0
  (6.1.31)
D02 u22 + ω22 u22 = −2 iω2 D1 A2 eiω2 t − iω2 D1 A2 eiω2 T0

In order to eliminate secular terms from the above equation, there must be

D1 A1 = 0, D1 A2 = 0 ⇒ A1 = A1 (T2 ), A2 = A2 (T2 ) (6.1.32)

therefore

u12 = u22 = 0 (6.1.33)

Substituting (6.1.30) and (6.1.33) into (6.1.27) yields

D20 u13 + ω21 u13 = −2iω1 A1 eiω1 T0 + cc + F1 (6.1.34)

D20 u23 + ω22 u23 = −2iω2 A2 eiω2 T0 + cc + F2 (6.1.35)

6.1 Exercise 6.1 (Internal Resonance Analysis and Nonlinear Solution … 493

The prime represents the partial derivative with respect to T2 . Substituting the
transformations {θ11 , θ21 }T = [Ψ ]{u11 , u21 }T and (6.1.30) into (6.1.28) and (6.1.29)
yields

F1 = −3ω12 Ψ11 Ψ21 h21 A21 A1 eiω1 T0 − 2ω12 Ψ11 Ψ21 h22 A1 A2 A2 eiω1 T0
−2ω22 Ψ11 Ψ22 h1 h2 A1 A2 A2 eiω1 T0 − 2ω22 Ψ12 Ψ21 h1 h2 A1 A2 A2 eiω1 T0
2 1 2
−2ω12 Ψ11 Ψ21 h1 h2 A1 A2 ei(ω2 −2ω1 )T0 − ω22 Ψ11 Ψ22 h21 A1 A2 ei(ω2 −2ω1 )T0
2
1 2 1
v − ω22 Ψ12 Ψ21 h21 A1 A2 ei(ω2 −2ω1 )T0 − ω22 Ψ11 Ψ22 h22 A32 ei3ω2 T0
2 2
1
− ω22 Ψ12 Ψ21 h22 A32 ei3ω2 T0 + ω12 Ψ11 Ψ21
2
h1 A21 A1 eiω1 T0 − ω12 Ψ11
2
Ψ21 h1 A21 A1 eiω1 T0
2
+2ω22 Ψ11 Ψ22
2
h1 A1 A2 A2 eiω1 T0 − 2ω22 Ψ12 2
Ψ21 h1 A1 A2 A2 eiω1 T0
2 2
+2ω1 ω2 Ψ11 Ψ21 Ψ22 h1 A1 A2 ei(ω2 −2ω1 )T0 − ω12 Ψ11 Ψ21
2
h2 A1 A2 ei(ω2 −2ω1 )T0
2 2
−2ω1 ω2 Ψ11 Ψ12 Ψ21 h1 A1 A2 ei(ω2 −2ω1 )T0 + ω12 Ψ11
2
Ψ21 h2 A1 A2 ei(ω2 −2ω1 )T0
−ω22 Ψ11 Ψ22
2
h2 A32 ei3ω2 T0 + ω22 Ψ12
2
Ψ21 h2 A32 ei3ω2 T0
1
+ gl−1 α −1 Ψ11 A1 A1 eiω1 T0 + gl−1
4 2 −1 2
1 α Ψ11 Ψ12 A1 A2 A2 e
2 iω1 T0
2 1 (6.1.36)
1
+ gl−1 Ψ 4 A2 A1 eiω1 T0 + gl−1 1 Ψ21 Ψ22 A1 A2 A2 e
2 2 iω1 T0
2 1 21 1
1 2 1 2
+ gl−1 −1 3
1 α Ψ11 Ψ12 A1 A2 e
i(ω2 −2ω1 )T0
+ gl−1 1 Ψ21 Ψ22 A1 A2 e
3 i(ω2 −2ω1 )T0
2 2
1 1
+ gl−1 −1
1 α Ψ11 Ψ12 A2 e
3 3 i3ω2 T0
+ gl−1 Ψ21 Ψ223 3 i3ω2 T0
A2 e + cc + NST
6 6 1
F2 = −2ω22 Ψ12 Ψ22 h21 A1 A1 A2 eiω2 T0 − 3ω22 Ψ12 Ψ22 h22 A22 A2 eiω2 T0
−2ω12 Ψ12 Ψ21 h1 h2 A1 A1 A2 eiω2 T0 − 2ω12 Ψ11 Ψ22 h1 h2 A1 A1 A2 eiω2 T0
2 1 2
−2ω22 Ψ12 Ψ22 h1 h2 A1 A2 ei(ω1 −2ω2 )T0 − ω12 Ψ12 Ψ21 h22 A1 A2 ei(ω1 −2ω2 )T0
2
1 2 1
− ω12 Ψ11 Ψ22 h22 A1 A2 ei(ω1 −2ω2 )T0 − ω12 Ψ12 Ψ22 h21 A31 ei3ω1 T0
2 2
1
− ω12 Ψ12 Ψ21 h21 A31 ei3ω1 T0 + ω22 Ψ12
2
Ψ22 h2 A22 A2 eiω2 T0 − ω22 Ψ12 Ψ22
2
h2 A22 A2 eiω2 T0
2
−2ω12 Ψ12 Ψ21
2
h2 A1 A1 A2 eiω2 T0 + 2ω12 Ψ11 2
Ψ22 h2 A1 A1 A2 eiω2 T0
494 6 Systems Having Finite Degrees of Freedom

2 2
+ω22 Ψ12 Ψ22
2
h1 A1 A2 ei(ω1 −2ω2 )T0 − 2ω1 ω2 Ψ12 Ψ21 Ψ22 h2 A1 A2 ei(ω1 −2ω2 )T0
2 2
−ω22 Ψ12
2
Ψ22 h1 A1 A2 ei(ω1 −2ω2 )T0 + 2ω1 ω2 Ψ11 Ψ12 Ψ22 h2 A1 A2 ei(ω1 −2ω2 )T0
+ω12 Ψ12 Ψ21
2
h1 A31 ei3ω1 T0 − ω12 Ψ11
2
Ψ22 h1 A31 ei3ω1 T0
1
+ gl−1 α −1 Ψ12 A2 A2 eiω2 T0 + gl−1
4 2 −1 2
1 α Ψ11 Ψ12 A1 A1 A2 e
2 iω2 T0
2 1 (6.1.37)
1
+ gl−1 Ψ 4 A2 A2 eiω2 T0 + gl−1 1 Ψ21 Ψ22 A1 A1 A2 e
2 2 iω2 T0
2 1 22 2
1 2 1 2
+ gl−1 α −1 Ψ11 Ψ12 3
A1 A2 ei(ω1 −2ω2 )T0 + gl−1 Ψ21 Ψ223
A1 A2 ei(ω1 −2ω2 )T0
2 1 2 1
1 1
+ gl−11 Ψ21 Ψ22 A1 e
3 3 i3ω1 T0
+ gl−1 α −1 Ψ11
3
Ψ12 A31 ei3ω1 T0 + cc + NST
6 6 1
where

h1 = ψ21 − ψ11 , h2 = ψ22 − ψ12 (6.1.38)

To obtain (6.1.34)–(6.1.37), we did not consider the case of ω1 = ω2 . From

(6.1.34)–(6.1.37), we can find that there are two possible resonant cases: ω2 ≈ 3ω1
and ω1 ≈ 3ω2 . Without loss of generality, we assume ω2 > ω1 . In analyzing the
particular solutions of (6.1.34) and (6.1.35). We need to distinguish between the
resonant case in which ω2 ≈ 3ω1 and the nonresonant case in which ω2 is away from
3ω1 .

(1) The nonresonant case.

In this case the solvability conditions (the conditions for the eliminations of secular
terms) become

2A1 + ib11 A21 A1 + ib12 A1 A2 A2 = 0 (6.1.39)

2A2 + ib21 A22 A2 + ib22 A1 A1 A2 = 0 (6.1.40)

where

b11 = ω1−1 ω12 Ψ11 Ψ21
2
h1 − 3ω12 Ψ11 Ψ21 h21

1 1
− ω12 Ψ11
2
Ψ21 h1 + gl1−1 Ψ21
4
+ gl1−1 α −1 Ψ11
4
2 2

b12 = ω1−1 2ω22 Ψ11 Ψ222
h1 − 2ω22 Ψ12 2
Ψ21 h1 − 2ω12 Ψ11 Ψ21 h22 − 2ω22 Ψ11 Ψ22 h1 h2

− 2ω22 Ψ12 Ψ21 h1 h2 + gl1−1 α −1 Ψ11
2
Ψ122
+ gl1−1 Ψ21
2
Ψ22
2
A1 A2 A2
(6.1.41)
6.1 Exercise 6.1 (Internal Resonance Analysis and Nonlinear Solution … 495

b21 = ω2−1 ω22 Ψ12
2
Ψ22 h2 − 3ω22 Ψ12 Ψ22 h22

1 1
− ω22 Ψ12 Ψ22
2
h2 + gl1−1 α −1 Ψ12 4
+ gl1−1 Ψ22 4
2 2
−1
 2 2
b22 = ω2 2ω1 Ψ11 Ψ22 h2 − 2ω1 Ψ12 Ψ21
2 2
h2 − 2ω22 Ψ12 Ψ22 h21 − 2ω12 Ψ12 Ψ21 h1 h2

− 2ω12 Ψ11 Ψ22 h1 h2 + gl1−1 α −1 Ψ112
Ψ12
2
+ gl1−1 Ψ21
2
Ψ22
2

(6.1.42)

Let
1 iβ1 1
A1 = a1 e , A2 = a2 eiβ2 (6.1.43)
2 2
Substituting into (6.1.39) and (6.1.40), we get

1 1
a1 + iβ1 a1 + ib11 a13 + ib12 a1 a22 = 0 (6.1.44)
8 8
1 1
a2 + iβ2 a2 + ib21 a23 + ib22 a12 a2 = 0 (6.1.45)
8 8
Separating the real and imaginary parts of (6.1.44) and (6.1.45) yields

a1 = 0
a2 = 0
1 1
β1 a1 + b11 a13 + b12 a1 a22 = 0
8 8 (6.1.46)
1 1
β2 a2 + b21 a23 + b22 a12 a2 = 0
8 8
The solution of (6.1.46) is

a1 = a10 = constant, a2 = a20  = constant  

β1 = − 18 b11 a10
2
+ b12 a20
2
T2 + β10 , β2 = − 18 b21 a20
2
+ b22 a10
2
T2 + β20
(6.1.47)

The constants of integration a10 , a20 , β10 and β20 are determined by the initial
conditions. If εa1 and εa2 are written as a1 and a2 , respectively, then the above
equation becomes

a1 = a10 = constant,
 a2 = a20 = constant  
β1 = − 18 b11 a10
2
+ b12 a20
2
t + β10 , β2 = − 18 b21 a20
2
+ b22 a10
2
t + β20
(6.1.48)
496 6 Systems Having Finite Degrees of Freedom

Substitute (6.1.48), (6.1.43), (6.1.30), (6.1.33) and (6.1.24) into (6.1.15), we can
obtain the first order approximate solution of the original equation
 
θ1 a10 cos[ω1 t + β1 (t)]  
= [Ψ ] + O ε3 (6.1.49)
θ2 a20 cos[ω2 t + β2 (t)]

It can be seen that when there is no internal resonance, the motion of the double
pendulum is unconditionally stabilized.

(2) The resonant case (internal resonance ω2 ≈ 3ω1 ).

In this case we introduce a detuning parameter σ according to

ω2 = 3ω1 + ε2 σ (6.1.50)

In this case it follows from (6.1.34)–6.1.37) and (6.1.50) that the solvability
conditions are
2
2A1 + ib11 A21 A1 + ib12 A1 A2 A2 + ib13 A1 A2 eiσ T2 = 0 (6.1.51)

2A2 + ib21 A22 A2 + ib22 A1 A1 A2 + ib23 A31 e−iσ T2 = 0 (6.1.52)

where

b13 = ω1−1 ω12 Ψ11
2
Ψ21 h2 − ω12 Ψ11 Ψ21
2
h2 − 2ω12 Ψ11 Ψ21 h1 h2
+2ω1 ω2 Ψ11 Ψ21 Ψ22 h1 − 2ω1 ω2 Ψ11 Ψ12 Ψ21 h1

1 1 1 1
− ω22 Ψ11 Ψ22 h21 − ω22 Ψ12 Ψ21 h21 + gl1−1 α −1 Ψ11
3
Ψ12 + gl1−1 Ψ21 3
Ψ22
2 2 2 2

1 1
b23 = ω2−1 ω12 Ψ12 Ψ21
2
h1 − ω12 Ψ112
Ψ22 h1 − ω12 Ψ12 Ψ22 h21 − ω12 Ψ12 Ψ21 h21
2 2

1 1
+ gl1−1 Ψ21
3
Ψ22 + gl1−1 α −1 Ψ11 3
Ψ12
6 6
(6.1.53)

Substituting (6.1.43) into (6.1.51) and (6.1.52) yields

1 1 1
a1 + iβ1 a1 + ib11 a13 + ib12 a1 a22 + i b13 a12 a2 ei(σ T2 −3β1 +β2 ) = 0 (6.1.54)
8 8 8
1 1 1
a2 + iβ2 a2 + ib21 a23 + ib22 a12 a2 + i b23 a13 e−i(σ T2 −3β1 +β2 ) = 0 (6.1.55)
8 8 8
Separating the real and imaginary parts of the above equations yields
6.1 Exercise 6.1 (Internal Resonance Analysis and Nonlinear Solution … 497

a1 = 18 b13 a12 a2 sinγ

(6.1.56)
a2 = − 18 b23 a13 sinγ

β1 a1 + 18 b11 a13 + 18 b12 a1 a22 + 18 b13 a12 a2 cosγ = 0

(6.1.57)
β2 a2 + 18 b21 a23 + 18 b22 a12 a2 + 18 b23 a13 cosγ = 0

where

γ = σ T2 − 3β1 + β2 (6.1.58)

Eliminating γ from (6.1.56), we obtain

b23 a1 da1 + b13 a2 da2 = 0 (6.1.59)

i.e.,

1  
d b23 a12 + b13 a22 = 0
2
therefore,

b23 a12 + b13 a22 = E, E = b23 a10

2
+ b13 a20
2
(6.1.60)

Substitute„ and into and write εa1 and εa2 as a1 and a2 , respectively (in this case,
equations, and remain unchanged, but need to treat the prime as the derivative with
respect to time t), we can obtain the first-order approximate solution of the original
equation
 
θ1 a1 (t) cos[ω1 t + β1 (t)]  
= [Ψ ] + O ε3 (6.1.61)
θ2 a2 (t) cos[ω2 t + β2 (t)]

where a1 , a2 , β1 and β2 can be determined by„ and.

Next we analyze the equations describing amplitude and phase of the motion, ~ .
Eliminating β1 , β2 from the two equations in, we obtain

1 1 1 
a2 γ  = a2 σ + (3b11 − b22 )a12 a2 + (3b12 − b21 )a23 + 3b13 a1 a22 − b23 a13 cos γ
8 8 8
(6.1.62)

Dividing the above equation by the second equation of yields

dγ
−b23 a13 a2 sinγ da = 8σ a2 + (3b11 − b22 )a12 a2 + (3b12 − b21 )a23
 2 
+ 3b13 a1 a2 − b23 a13 cosγ
2

i.e.,
498 6 Systems Having Finite Degrees of Freedom

b23 a13 a2 d cos γ + b23 a13 cos γ da2 − 3b13 a1 a22 cos γ da2
= 8σ a2 da2 + (3b11 − b22 )a12 a2 da2 + (3b12 − b21 )a23 da2

Using, the above equation can be written as

 
b23 a13 d (a2 cosγ ) − 3b13 a1 a22 cosγ da2 = 8σ + (3b11 − b22 ) bE23 a2 da2
  (6.1.63)
+ (3b12 − b21 ) − (3b11 − b22 ) bb13 23
a23 da2

since
 
a13 d (a2 cos γ ) = d a13 a2 cos γ − 3a12 a2 cos γ da1 (6.1.64)

By substituting into the left side of, we can obtain

 
b23 d a13 a2 cos γ − 3a1 a2 cos γ (b23 a1 da1 + b13 a2 da2 )
   
E b13 3
= 8σ + (3b11 − b22 ) a2 da2 + (3b12 − b21 ) − (3b11 − b22 ) a da2
b23 b23 2
(6.1.65)

From, we can find that the second term on the left side of equation is zero, so
   
b23 d a13 a2 cosγ = 8σ + (3b11 − b22 ) bE23 a2 da2
  (6.1.66)
+ (3b12 − b21 ) − (3b11 − b22 ) bb13
23
a23 da2

Make the integration of equations, we can obtain

 
1 E
b23 a13 a2 cos γ − 8σ + (3b11 − b22 ) a2
2 b23 2
 
1 b13
+ (3b11 − b22 ) − (3b12 − b21 ) a24 = L (6.1.67)
4 b23

where L is the constant of integration. Now, let us combine, and into a single variable
differential equation. To do this, let

a12 = Eξ (6.1.68)

Then from, we can obtain

a22 = E(1 − b23 ξ )/b13 (6.1.69)

Eliminating γ from and yields

6.1 Exercise 6.1 (Internal Resonance Analysis and Nonlinear Solution … 499

Fig. 6.1 Schematic diagram

of F(ξ ) and G(ξ ) for G1
F, G
Exercise 6.1
P G2
G3


ξ 2 = F 2 (ξ ) − G 2 (ξ ) (6.1.70)

where
 1/2
F(ξ ) = ±41 b13 E 2 ξ3 (1 − b23 ξ ) 
G(ξ ) = 41 (1−bb223 ξ ) L + 21 8σ + (3b11 − b22 ) bE23
2

(6.1.71)
  2 1/2
23

E(1−b23 ξ )
+ 4 (3b12 − b21 ) − (3b11 − b22 ) bb13
1
23 b13

The functions F(ξ ) and G(ξ ) are shown schematically in Fig. 6.1. For real motions,
F 2 (ξ ) ≥ G 2 (ξ ). The points where F meets G corresponds to the vanishing of ξ .
A curve such as G2 which meets one branch of F at two different points or a curve
G3 which meets both branches corresponds to a periodic solution. In this case, ξ is
periodic and oscillates between two intersection points, and the motion is aperiodic.
Considering the curves G1 and F are tangent to each other, as shown in Fig. 6.1.
In this case, ξ has only one constant-value solution, and the motion of the system is
periodic. The nonlinear effect acts to modulate the phase of the motion so that the
nonlinear frequencies of the two modes are commensurable.
In order to analyze the steady state solution, let a1 = a2 = γ  = 0, and become.

sin γ = 0 or γ = nπ (6.1.72)

1 1 1 
a2 σ + (3b11 − b22 )a12 a2 + (3b12 − b21 )a23 + 3b13 a1 a22 − b23 a13 cos nπ = 0
8 8 8
(6.1.73)

Equation is the cubic equation of a2 . For a given set of values of σ , a1 and cos nπ ,
equation has one or three real roots, each of which corresponds to a periodic motion
of the system. Thus, the periodic motion of the system is either unique or one of
the three possible periodic motions. Figure 6.1 shows that the periodic motion is
500 6 Systems Having Finite Degrees of Freedom

unstable. With a small perturbation, a curve such as G1 may become a curve such as
G2 and the motion of the system becomes aperiodic.
For the case of the nonlinear periodic motion of the system with a constant-value
solution, we note that the frequency of the motion of the system is

ω̂1 = ω1 + ε2 β1 , ω̂2 = ω2 + ε2 β2 (6.1.74)

therefore,
   
ω̂2 − 3ω̂1 = ω2 − 3ω1 + ε2 β2 − 3β1 = ε2 σ + ε2 β2 − 3β1 = ε2 γ  = 0
(6.1.75)

Thus, the nonlinearity of the system modulates the frequency of the motion to
exactly 3 to 1, and thus the motion is periodic.

6.2 Exercise 6.2 (Internal Resonance Analysis of a Uniform

Rod Hanging from a Massless Chord)

Solution: (a) The kinetic energy of the system is

 2  2  1  1 2  2
T = 21 m l1 θ̇1 cosθ1 + 21 l2 θ̇2 cosθ2 + −l1 θ̇1 sinθ1 − 21 l2 θ̇2 sinθ2 + 2 12 ml2 θ̇2
= 21 ml12 θ̇12 + 16 ml22 θ̇22 + 21 ml1 l2 θ̇1 θ̇2 cos(θ2 − θ1 )
(6.2.1)

The potential energy of the system is

 
1
V = −mg l1 cos θ1 + l2 cos θ2 (6.2.2)
2

Substitute kinetic and potential energy into the Lagrange’s equation:

d ∂T ∂T ∂V
− =− , k = 1, 2
dt ∂ θ̇k ∂θk ∂θk

we can obtain
1 1
l1 θ̈1 + l2 θ̈2 cos(θ2 − θ1 ) − l2 θ̇22 sin(θ2 − θ1 ) + g sin θ1 = 0
2 2 (6.2.3)
1 1 1 1
l2 θ̈2 + l1 θ̈1 cos(θ2 − θ1 ) + l1 θ̇12 sin(θ2 − θ1 ) + g sin θ2 = 0
3 2 2 2

(b) The equilibrium point of the system is θ1 = θ2 = 0. Linearizing (6.2.3) near

the equilibrium point yields
6.2 Exercise 6.2 (Internal Resonance Analysis of a Uniform Rod Hanging … 501

1
l1 θ̈1 + l2 θ̈2 + gθ1 = 0
2
1 1 1
l1 θ̈1 + l2 θ̈2 + gθ2 = 0
2 3 2
which can be written in the following matrix form:
   
2l1 l2−1 1 θ̈1 2gl2−1 0 θ1
+ =0 (6.2.4)
1 23 l1−1 l2 θ̈2 0 gl1−1 θ2

The characteristic equation of this linear system is

 
ω4 − 2g 2l1−1 + 3l2−1 ω2 + 6g 2 l1−1 l2−1 = 0 (6.2.5)

The linear natural frequencies of the system, ω1 and ω2 , are

 1/2
 −1   2
ω1 = 2l1 + 3l2−1 g − g 2l1−1 + 3l2−1 − 6l1−1 l2−1
 1/2 (6.2.6)
 −1 −1
  −1 
−1 2 −1 −1
ω2 = 2l1 + 3l2 g + g 2l1 + 3l2 − 6l1 l2

Assuming that the corresponding normal modal matrix is [Ψ ], then using

{θ1 , θ2 }T = [Ψ ]{u1 , u2 }T (6.2.7)

we can transform (6.1.4) into

ü1 + ω12 u1 = 0
(6.2.8)
ü2 + ω22 u2 = 0

If the system yields an s-to-one internal resonance, i.e., ω2 : ω1 = s : 1, and let

κ = l2 /l1 , there are
 2  2   2
s2 + 1 − s2 − 1 (2κ + 3)2 − 6 s2 + 1 κ = 0 (6.2.9)

Once s is given, κ = l2 /l1 can be determined.

For small but
 finite
 amplitudes, we assume θ1 , θ2 = O(ε). Expanding (6.2.3) and
retaining to O ε3 yields

1 1 1 1
θ̈1 + l1−1 l2 θ̈2 + gl1−1 θ1 − gl1−1 θ13 − l1−1 l2 θ̈2 (θ2 − θ1 )2 − l1−1 l2 θ̇22 (θ2 − θ1 ) = 0
2 6 4 2
3 −1 3 1 3 3
l1 l θ̈1 + θ̈2 + gl2−1 θ2 − gl2−1 θ23 − l1 l2−1 θ̈1 (θ2 − θ1 )2 + l1 l2−1 θ̇12 (θ2 − θ1 ) = 0
2 2 2 4 4 2
(6.2.10)
502 6 Systems Having Finite Degrees of Freedom

Comparing (6.2.10) with (6.1.14) in the previous exercise, we can find that if the
following substitutions are made in (6.1.14):

1 −1 3
α→ l l2 , l2−1 → l2−1 (6.2.11)
2 1 2
(6.2.10) and (6.1.14) become the same.
We use the method of multiple scales to solve (6.2.10). Therefore, let the solution
of Eq. (6.2.10) be expressed as

θ1 = εθ11 (T0 , T1 , T2 ) + ε2 θ12 (T0 , T1 , T2 ) + ε3 θ13 (T0 , T1 , T2 ) + · · ·

(6.2.12)
θ2 = εθ21 (T0 , T1 , T2 ) + ε2 θ22 (T0 , T1 , T2 ) + ε3 θ23 (T0 , T1 , T2 ) + · · ·

Substituting (6.2.12) into (6.2.10), keeping to O(ε3 ), and equating coefficients of

like powers of ε, we can obtain the results similar to (6.1.18)–(6.1.20). The specific
result can be obtained by using the substitution (6.2.11) in (6.1.18)–(6.1.20).
Order ε1 :
1 3 3
D02 θ11 + l1−1 l2 D02 θ21 + gl1−1 θ11 = 0 l1 l2−1 D02 θ11 + D02 θ21 + gl2−1 θ21 = 0
2 2 2
(6.2.13)

Order ε2 :
1
D02 θ12 + l1−1 l2 D02 θ22 + gl1−1 θ12 + 2D0 D1 θ11 + l1−1 l2 D0 D1 θ21 = 0
2 (6.2.14)
3 −1 2 3
l1 l2 D0 θ12 + D02 θ22 + gl2−1 θ22 + 3l1 l2−1 D0 D1 θ11 + 2D0 D1 θ21 = 0
2 2

Order ε3 :
1
D02 θ13 + l1−1 l2 D02 θ23 + gl1−1 θ13 + 2D0 D1 θ12 + l1−1 l2 D0 D1 θ22
2
  1  
+ D12 + 2D0 D2 θ11 + l1−1 l2 D12 + 2D0 D2 θ21
2
1 −1 1 1
− l1 l2 (θ21 − θ11 ) D0 θ21 − l1−1 l2 (θ21 − θ11 )(D0 θ21 )2 − gl1−1 θ11
2 2 3
=0
4 2 6
3 −1 2 3
l1 l2 D0 θ13 + D02 θ23 + gl2−1 θ23 + 3l1 l2−1 D0 D1 θ12 + 2D0 D1 θ22
2 2
 2  3  
+ D1 + 2D0 D2 θ21 + l1 l2−1 D12 + 2D0 D2 θ11
2
3 −1 3 1
− l1 l2 (θ21 − θ11 ) D0 θ11 + l1 l2−1 (θ21 − θ11 )(D0 θ11 )2 − gl2−1 θ21
2 2 3
=0
4 2 4
(6.2.15)
6.2 Exercise 6.2 (Internal Resonance Analysis of a Uniform Rod Hanging … 503

(6.2.13)–(6.2.15) can also be written in matrix form:

   
2l1 l2−1 1 D02 θ11 2gl2−1 0 θ11
+ =0 (6.2.16)
1 23 l1−1 l2 D02 θ21 0 gl1−1 θ21
         
2l1 l2−1 1 D02 θ12 2gl2−1 0 θ12 2l1 l2−1 1 θ
2 l −1 l + = −2 D0 D1 11
1 3 1 2 D02 θ22 0 gl1−1 θ22 1 2 l −1 l
3 1 2 θ21
(6.2.17)
         
2l1 l2−1 1 D02 θ13 2gl2−1 0 θ13 2l1 l2−1 1 θ12
2 l −1 l + = −2 D0 D1
1 3 1 2 D02 θ23 0 gl1−1 θ23 1 2 l −1 l
3 1 2 θ22
     
2l1 l2−1
1   θ11 1 θ
− 2 l −1 l D12 + 2D0 D2 + (θ21 − θ11 )2 D02 21
1 3 1 2 θ 21 2 θ11
   
−1 3
−(θ21 − θ11 )(D0 θ21 )2 1 2l1 l2 θ11
− + gl1−1 3
(θ21 − θ11 )(D0 θ11 )2 6 θ21
(6.2.18)

Apply the transformation to (6.2.16)–(6.2.18), i.e.,

{θ1n , θ2n }T = [Ψ ]{u1n , u2n }T , n = 1, 2, 3 (6.2.19)

we can obtain
  2 
D02 u11 ω1 0 u11
+ =0 (6.2.20)
D02 u21 0 ω22 u21
 2  2  
D0 u12 ω1 0 u12 u11
+ = −2D D
0 1 (6.2.21)
D02 u22 0 ω22 u22 u21
  2    
D02 u13 ω1 0 u13 u12  2  u11 F1
+ = −2D0 D1 − D1 + 2D0 D2 +
D02 u23 0 ω22 u23 u22 u21 F2
(6.2.22)

where

F1 = 21 Ψ11 (θ21 − θ11 )2 D02 θ21 + 21 Ψ21 (θ21 − θ11 )2 D02 θ11
+Ψ11 (θ21 − θ11 )(D0 θ21 )2 − Ψ21 (θ21 − θ11 )(D0 θ11 )2 (6.2.23)
+ 13 Ψ11 gl2−1 θ11
3
+ 16 Ψ21 gl1−1 θ21
3

F2 = 21 Ψ12 (θ21 − θ11 )2 D02 θ21 + 21 Ψ22 (θ21 − θ11 )2 D02 θ11
+Ψ12 (θ21 − θ11 )(D0 θ21 )2 − Ψ22 (θ21 − θ11 )(D0 θ11 )2 (6.2.24)
+ 13 Ψ12 gl2−1 θ11
3
+ 16 Ψ22 gl1−1 θ21
3

and Ψij is the element of the normal modal matrix [Ψ ]. Equations (6.2.23) and (6.2.24)
can be obtained from (6.1.28) and (6.1.29) using (6.2.11).
The solution of (6.2.20) is
504 6 Systems Having Finite Degrees of Freedom
 
u11 A1 eiω1 T0 + A1 e−iω1 T0
= (6.2.25)
u21 A2 eiω2 T0 + A2 e−iω2 T0

where Ak = Ak (T1 , T2 ). Substituting (6.2.25) int (6.2.21), we obtain

 
D02 u12 + ω12 u12 = −2 iω1 D1 A1 eiω1 t − iω1 D1 A1 eiω1 T0
  (6.2.26)
D02 u22 + ω22 u22 = −2 iω2 D1 A2 eiω2 t − iω2 D1 A2 eiω2 T0

In order to eliminate secular terms from the above equation, there must be

D1 A1 = 0, D1 A2 = 0 ⇒ A1 = A1 (T2 ), A2 = A2 (T2 ) (6.2.27)

therefore

u12 = u12 = 0 (6.2.28)

Substituting (6.2.25) and (6.2.28) into (6.2.22) yields

D02 u13 + ω12 u13 = −2iω1 A1 eiω1 T0 + cc + F1 (6.2.29)

D02 u23 + ω22 u23 = −2iω2 A2 eiω2 T0 + cc + F2 (6.2.30)

The prime represents the partial derivative with respect to T2 . Substituting the
transformation {θ11 , θ21 }T = [Ψ ]{u11 , u21 }T and (6.2.25) into (6.2.23) and (6.2.24)
and the result can also be obtained from Eqs. (6.1.36) and (6.1.37) using (6.2.11)
6.2 Exercise 6.2 (Internal Resonance Analysis of a Uniform Rod Hanging … 505

F1 = −3ω12 Ψ11 Ψ21 h21 A21 A1 eiω1 T0 − 2ω12 Ψ11 Ψ21 h22 A1 A2 A2 eiω1 T0
−2ω22 Ψ11 Ψ22 h1 h2 A1 A2 A2 eiω1 T0 − 2ω22 Ψ12 Ψ21 h1 h2 A1 A2 A2 eiω1 T0
2 1 2
−2ω12 Ψ11 Ψ21 h1 h2 A1 A2 ei(ω2 −2ω1 )T0 − ω22 Ψ11 Ψ22 h21 A1 A2 ei(ω2 −2ω1 )T0
2
1 2 1
− ω22 Ψ12 Ψ21 h21 A1 A2 ei(ω2 −2ω1 )T0 − ω22 Ψ11 Ψ22 h22 A32 ei3ω2 T0
2 2
1
− ω22 Ψ12 Ψ21 h22 A32 ei3ω2 T0 + ω12 Ψ11 Ψ21
2
h1 A21 A1 eiω1 T0 − ω12 Ψ11
2
Ψ21 h1 A21 A1 eiω1 T0
2
+2ω22 Ψ11 Ψ22
2
h1 A1 A2 A2 eiω1 T0 − 2ω22 Ψ12 2
Ψ21 h1 A1 A2 A2 eiω1 T0
2 2
+2ω1 ω2 Ψ11 Ψ21 Ψ22 h1 A1 A2 ei(ω2 −2ω1 )T0 − ω12 Ψ11 Ψ21
2
h2 A1 A2 ei(ω2 −2ω1 )T0
2 2
−2ω1 ω2 Ψ11 Ψ12 Ψ21 h1 A1 A2 ei(ω2 −2ω1 )T0 + ω12 Ψ11
2
Ψ21 h2 A1 A2 ei(ω2 −2ω1 )T0
−ω22 Ψ11 Ψ22
2
h2 A32 ei3ω2 T0 + ω22 Ψ12
2
Ψ21 h2 A32 ei3ω2 T0
+gl2−1 Ψ11
4 2
A1 A1 eiω1 T0 + 2gl2−1 Ψ112
Ψ122
A1 A2 A2 eiω1 T0
1
+ gl1−1 Ψ21 A1 A1 eiω1 T0 + gl1−1 Ψ21
4 2 2
Ψ222
A1 A2 A2 eiω1 T0
2
2 1 2
+gl2−1 Ψ11
3
Ψ12 A1 A2 ei(ω2 −2ω1 )T0 + gl1−1 Ψ21 3
Ψ22 A1 A2 ei(ω2 −2ω1 )T0
2
1 1
+ gl2−1 Ψ11 Ψ123 3 i3ω2 T0
A2 e + gl1−1 Ψ21 Ψ22 3 3 i3ω2 T0
A2 e + cc + NST
3 6
(6.2.31)
506 6 Systems Having Finite Degrees of Freedom

F2 = −2ω22 Ψ12 Ψ22 h21 A1 A1 A2 eiω2 T0 − 3ω22 Ψ12 Ψ22 h22 A22 A2 eiω2 T0
−2ω12 Ψ12 Ψ21 h1 h2 A1 A1 A2 eiω2 T0 − 2ω12 Ψ11 Ψ22 h1 h2 A1 A1 A2 eiω2 T0
2 1 2
−2ω22 Ψ12 Ψ22 h1 h2 A1 A2 ei(ω1 −2ω2 )T0 − ω12 Ψ12 Ψ21 h22 A1 A2 ei(ω1 −2ω2 )T0
2
1 2 1
− ω12 Ψ11 Ψ22 h22 A1 A2 ei(ω1 −2ω2 )T0 − ω12 Ψ12 Ψ22 h21 A31 ei3ω1 T0
2 2
1
− ω12 Ψ12 Ψ21 h21 A31 ei3ω1 T0 + ω22 Ψ12
2
Ψ22 h2 A22 A2 eiω2 T0 − ω22 Ψ12 Ψ22
2
h2 A22 A2 eiω2 T0
2
−2ω12 Ψ12 Ψ21
2
h2 A1 A1 A2 eiω2 T0 + 2ω12 Ψ112
Ψ22 h2 A1 A1 A2 eiω2 T0
2 2
+ω22 Ψ12 Ψ22
2
h1 A1 A2 ei(ω1 −2ω2 )T0 − 2ω1 ω2 Ψ12 Ψ21 Ψ22 h2 A1 A2 ei(ω1 −2ω2 )T0
2 2
−ω22 Ψ12
2
Ψ22 h1 A1 A2 ei(ω1 −2ω2 )T0 + 2ω1 ω2 Ψ11 Ψ12 Ψ22 h2 A1 A2 ei(ω1 −2ω2 )T0
+ω12 Ψ12 Ψ21
2
h1 A31 ei3ω1 T0 − ω12 Ψ11
2
Ψ22 h1 A31 ei3ω1 T0
+gl2−1 Ψ12
4 2
A2 A2 eiω2 T0 + 2gl2−1 Ψ112
Ψ122
A1 A1 A2 eiω2 T0
1
+ gl1−1 Ψ22 A2 A2 eiω2 T0 + gl1−1 Ψ21
4 2 2
Ψ222
A1 A1 A2 eiω2 T0
2
2 1 2
+gl2−1 Ψ11 Ψ12
3
A1 A2 ei(ω1 −2ω2 )T0 + gl1−1 Ψ21 Ψ22 3
A1 A2 ei(ω1 −2ω2 )T0
2
1 1
+ gl1−1 Ψ213
Ψ22 A31 ei3ω1 T0 + gl2−1 Ψ11 3
Ψ12 A31 ei3ω1 T0 + cc + NST
6 3
(6.2.32)

where

h1 = Ψ21 − Ψ11 , h2 = Ψ22 − Ψ12 (6.2.33)

To obtain (6.2.29)–(6.2.32), we did not consider the case of ω1 = ω2 . From

(6.2.29)–(6.2.32), we can find that there are two possible resonant cases: ω2 ≈ 3ω1
and ω1 ≈ 3ω2 . Without loss of generality, we assume ω2 > ω1 . In analyzing the
particular solutions of (6.2.29) and (6.2.30) we need to distinguish between the
resonant case in which ω2 ≈ 3ω1 and the nonresonant case in which ω2 is away from
3ω1 .
(c) If s = ω2 : ω1 = 3 : 1, then from (6.2.9), we can obtain

3(2κ + 3)2 − 50κ = 0 (6.2.34)

The fact that the equation has no real number solution suggests that there is no
length ratio κ that corresponds exactly to s = 3, so we examine the s ∼ κ relationship
(Fig. 6.2a), which is given by (6.2.6).
  1/2
(2κ + 3) + (2κ + 3)2 − 6κ
s=  (6.2.35)
(2κ + 3) − (2κ + 3)2 − 6κ
6.2 Exercise 6.2 (Internal Resonance Analysis of a Uniform Rod Hanging … 507

Fig. 6.2 a κ ∼ s curve.

b Schematic diagram of F(ξ )
and G(ξ ) in Exercise 6.2

(a)

(b)

The minimum value of s is 3.7321 at κ = 1.52. This situation can be considered

as the internal resonance of ω2 ≈ 3ω1 .
The internal resonance of ω2 ≈ 3ω1 is investigated below. In this case, the detuning
parameter σ is introduced such that

ω2 = 3ω1 + ε2 σ (6.2.36)

In order to eliminate secular terms in (6.2.29)–(6.2.32), we need

2
2A1 + ib11 A21 A1 + ib12 A1 A2 A2 + ib13 A1 A2 eiσ T2 = 0 (6.2.37)

2A2 + ib21 A22 A2 + ib22 A1 A1 A2 + ib23 A31 e−iσ T2 = 0 (6.2.38)

where

b11 = ω1−1 ω12 Ψ11 Ψ212
h1 − 3ω12 Ψ11 Ψ21 h21

1 −1 4 −1 4
− ω1 Ψ11 Ψ21 h1 + gl1 Ψ21 + gl2 Ψ11
2 2
2

b12 = ω1−1 2ω22 Ψ11 Ψ22 2
h1 − 2ω22 Ψ12
2
Ψ21 h1 − 2ω12 Ψ11 Ψ21 h22 − 2ω22 Ψ11 Ψ22 h1 h2

− 2ω22 Ψ12 Ψ21 h1 h2 + 2gl2−1 Ψ11
2
Ψ12
2
+ gl1−1 Ψ21
2
Ψ22
2
A1 A2 A2
(6.2.39)
508 6 Systems Having Finite Degrees of Freedom


b21 = ω2−1 ω22 Ψ12 2
Ψ22 h2 − 3ω22 Ψ12 Ψ22 h22

−1 4 1 −1 4
− ω2 Ψ12 Ψ22 h2 + gl2 Ψ12 + gl1 Ψ22
2 2
2
−1
 2 2
b22 = ω2 2ω1 Ψ11 Ψ22 h2 − 2ω12 Ψ12 Ψ21 2
h2 − 2ω22 Ψ12 Ψ22 h21 − 2ω12 Ψ12 Ψ21 h1 h2

− 2ω12 Ψ11 Ψ22 h1 h2 + gl2−1 Ψ11
2
Ψ122
+ gl1−1 Ψ21
2
Ψ22
2

(6.2.40)

b13 = ω1−1 ω12 Ψ11 2
Ψ21 h2 − ω12 Ψ11 Ψ21
2
h2 − 2ω12 Ψ11 Ψ21 h1 h2
+2ω1 ω2 Ψ11 Ψ21 Ψ22 h1 − 2ω1 ω2 Ψ11 Ψ12 Ψ21 h1

1 2 1 2 −1 3 1 −1 3
− ω2 Ψ11 Ψ22 h1 − ω2 Ψ12 Ψ21 h1 + gl2 Ψ11 Ψ12 + gl1 Ψ21 Ψ22
2 2
2 2 2

1 1
b23 = ω2−1 ω12 Ψ12 Ψ21
2
h1 − ω12 Ψ11
2
Ψ22 h1 − ω12 Ψ12 Ψ22 h21 − ω12 Ψ12 Ψ21 h21
2 2

1 −1 3 1 −1 3
+ gl1 Ψ21 Ψ22 + gl2 Ψ11 Ψ12
6 3
(6.2.41)

Substituting Ak = 21 aeiβk , k = 1, 2 into (6.2.36) and (6.2.37), we get

1 1 1
a1 + iβ1 a1 + ib11 a13 + ib12 a1 a22 + i b13 a12 a2 ei(σ T2 −3β1 +β2 ) = 0 (6.2.38)
8 8 8
1 1 1
a2 + iβ2 a2 + ib21 a23 + ib22 a12 a2 + i b23 a13 e−i(σ T2 −3β1 +β2 ) = 0 (6.2.39)
8 8 8
Separating the real and imaginary parts of the above equations yields

a1 = 18 b13 a12 a2 sinγ

(6.2.40)
a2 = − 18 b23 a13 sinγ

β1 a1 + 18 b11 a13 + 18 b12 a1 a22 + 18 b13 a12 a2 cosγ = 0

(6.2.41)
β2 a2 + 18 b21 a23 + 18 b22 a12 a2 + 18 b23 a13 cosγ = 0

where

γ = σ T2 − 3β1 + β2 (6.2.42)

Eliminating γ from (6.2.40), we obtain

b23 a1 da1 + b13 a2 da2 = 0 (6.2.43)

i.e.,
6.2 Exercise 6.2 (Internal Resonance Analysis of a Uniform Rod Hanging … 509

1  
d b23 a12 + b13 a22 = 0
2
therefore,

b23 a12 + b13 a22 = E, E = b23 a10

2
+ b13 a20
2
(6.2.44)

In this case, the Eqs. (6.2.40), (6.2.41) and (6.2.44) remain unchanged, but you
need to treat the prime as the derivative with respect to timet. Substitute (6.2.19),
(6.2.25) and (6.2.28) as well as the polar expression Ak = 21 aeiβk , k = 1, 2 into
(6.2.12), and write εa1 ,εa2 as a1 , a2 , we can obtain the first order approximate solution
of the original equation:
 
θ1 a1 (t) cos[ω1 t + β1 (t)]  
= [Ψ ] + O ε3 (6.2.45)
θ2 a2 (t) cos[ω2 t + β2 (t)]

where a1 , a2 , β1 and β2 can be determined by (6.2.40), (6.2.41), (6.2.42) and (6.2.44).

Next we analyze the equations describing amplitude and phase of the motion,
(6.2.40)–(6.2.42). Eliminating β1 , β2 from the two equations in (6.2.41), we obtain

1 1 1 
a2 γ  = a2 σ + (3b11 − b22 )a12 a2 + (3b12 − b21 )a23 + 3b13 a1 a22 − b23 a13 cos γ
8 8 8
(6.2.46)

Dividing the above equation by the second equation of (6.2.40) yields

dγ
−b23 a13 a2 sinγ da = 8σ a2 + (3b11 − b22 )a12 a2 + (3b12 − b21 )a23
 2 
+ 3b13 a1 a2 − b23 a13 cosγ
2

i.e.,

b23 a13 a2 d cos γ + b23 a13 cos γ da2 − 3b13 a1 a22 cos γ da2
= 8σ a2 da2 + (3b11 − b22 )a12 a2 da2 + (3b12 − b21 )a23 da2

Using (6.2.44), the above equation can be written as

 
b23 a13 d (a2 cosγ ) − 3b13 a1 a22 cosγ da2 = 8σ + (3b11 − b22 ) bE23 a2 da2
  (6.2.47)
+ (3b12 − b21 ) − (3b11 − b22 ) bb13 23
a23 da2

since
 
a13 d (a2 cos γ ) = d a13 a2 cos γ − 3a12 a2 cos γ da1 (6.2.48)

By substituting (6.2.48) into the left side of (6.2.47), we can obtain

510 6 Systems Having Finite Degrees of Freedom
 
b23 d a13 a2 cos γ − 3a1 a2 cos γ (b23 a1 da1 + b13 a2 da2 )
   
E b13 3
= 8σ + (3b11 − b22 ) a2 da2 + (3b12 − b21 ) − (3b11 − b22 ) a da2
b23 b23 2
(6.2.49)

From (6.2.43), we can find that the second term on the left side of Eq. (6.2.49) is
zero, so
   
b23 d a13 a2 cosγ = 8σ + (3b11 − b22 ) bE23 a2 da2
  (6.2.50)
+ (3b12 − b21 ) − (3b11 − b22 ) bb13
23
a23 da2

Make the integration of Eq. (6.2.50), we can obtain

 
1 E
cos γ −
b23 a13 a2 8σ + (3b11 − b22 ) a2
2 b23 2
 
1 b13
+ (3b11 − b22 ) − (3b12 − b21 ) a24 = L (6.2.51)
4 b23

where L is the constant of integration. Now, let us combine (6.2.51), (6.2.44) and
(6.2.40) into a single variable differential equation. To do this, let

a12 = Eξ (6.2.52)

Then from (6.2.44), we can obtain

a22 = E(1 − b23 ξ )/b13 (6.2.53)

Eliminating γ from (6.2.51) and (6.2.44) yields


ξ 2 = F 2 (ξ ) − G 2 (ξ ) (6.2.54)

where
 1/2
F(ξ ) = ±41 b13 E 2 ξ3 (1 − b23 ξ ) 
G(ξ ) = 41 (1−bb223 ξ ) L + 21 8σ + (3b11 − b22 ) bE23
2

(6.2.55)
  2 1/2
23

E(1−b23 ξ )
+ 4 (3b12 − b21 ) − (3b11 − b22 ) bb13
1
23 b13

The functions F(ξ ) and G(ξ ) are shown schematically in Fig. 6.2b. For real
motions, F 2 (ξ ) ≥ G 2 (ξ ). The points where F meets G corresponds to the vanishing
of ξ  . A curve such as G2 which meets one branch of F at two different points or
a curve G3 which meets both branches corresponds to a periodic solution. In this
6.3 Exercise 6.3 (Internal Resonance Analysis of a Disc Pendulum) 511

case, ξ is periodic and oscillates between two intersection points, and the motion is
aperiodic.
Considering the curves G1 and F are tangent to each other, as shown in Fig. 6.2b.
In this case, ξ has only one constant-value solution, and the motion of the system is
periodic. The nonlinear effect acts to modulate the phase of the motion so that the
nonlinear frequencies of the two modes are commensurable.
In order to analyze the steady state solution, let a1 = a2 = γ  = 0, (6.2.40) and
(6.2.51) become.

sin γ = 0 or γ = nπ (6.2.56)

1 1 1 
a2 σ + (3b11 − b22 )a12 a2 + (3b12 − b21 )a23 + 3b13 a1 a22 − b23 a13 cos nπ = 0
8 8 8
(6.2.57)

Equation (6.2.57) is the cubic equation of a2 . For a given set of values of σ , a1

and cos nπ , Eq. (6.2.57) has one or three real roots, each of which corresponds to
a periodic motion of the system. Thus, the periodic motion of the system is either
unique or one of the three possible periodic motions. Figure 6.2b shows that the
periodic motion is unstable. With a small perturbation, a curve such as G1 may
become a curve such as G2 and the motion of the system becomes aperiodic.
For the case of the nonlinear periodic motion of the system with a constant-value
solution, we note that the frequency of the motion of the system is

ω̂1 = ω1 + ε2 β1 , ω̂2 = ω2 + ε2 β2 (6.2.58)

therefore,
   
ω̂2 − 3ω̂1 = ω2 − 3ω1 + ε2 β2 − 3β1 = ε2 σ + ε2 β2 − 3β1 = ε2 γ  = 0
(6.2.59)

Thus, the nonlinearity of the system modulates the frequency of the motion to
exactly 3 to 1, and thus the motion is periodic.

6.3 Exercise 6.3 (Internal Resonance Analysis of a Disc

Pendulum)

Solution: (a) The kinetic energy of the system is

 2  2 
T = 21 I θ̇12 + 21 m Rθ̇1 cosθ1 + r θ̇2 cosθ2 + −Rθ̇1 sinθ1 − r θ̇2 sinθ2
  (6.3.1)
= 21 m R2 + ρ 2 θ̇12 + 21 mr 2 θ̇22 + mRr θ̇1 θ̇2 cos(θ2 − θ1 )
512 6 Systems Having Finite Degrees of Freedom

The potential energy of the system is

V = −mg(R cos θ1 + r cos θ2 ) (6.3.2)

Substitute kinetic and potential energy into the Lagrange’s equation:

d ∂T ∂T ∂V
− =− , k = 1, 2
dt ∂ θ̇k ∂θk ∂θk

we can obtain
 2 
R + ρ 2 θ̈1 + Rr θ̈2 cos(θ2 − θ1 ) − Rr θ̇22 sin(θ2 − θ1 ) + gR sin θ1 = 0
(6.3.3)
r θ̈2 + Rθ̈1 cos(θ2 − θ1 ) + Rθ̇12 sin(θ2 − θ1 ) + g sin θ2 = 0

(b) The equilibrium position of the system is θ1 = θ2 = 0. Linearizing (6.3.3) near

the equilibrium point yields
 
R2 + ρ 2 θ̈1 + Rr θ̈2 + gRθ1 = 0
Rθ̈1 + r θ̈2 + gθ2 = 0

which can be written in the following matrix form:

   
m11 1 θ̈1 k11 0 θ1
+ =0 (6.3.4)
1 m22 θ̈2 0 k22 θ2
 
m11 = R2 + ρ 2 R−1 r −1 , m22 = R−1 r, k11 = gr −1 , k22 = gR−1 (6.3.5)

The characteristic equation of this linear system is

(m11 m22 − 1)ω4 − (m11 k22 + m22 k11 )ω2 + k11 k22 = 0 (6.3.6)

The linear natural frequencies of the system, ω1 and ω2 , are


(m11 k22 + m22 k11 ) −
(m11 k22 + m22 k11 )2 − 4k11 k22 (m11 m22 − 1)
ω1 =
2(m11 m22 − 1)
 (6.3.7)
(m11 k22 + m22 k11 ) + (m11 k22 + m22 k11 )2 − 4k11 k22 (m11 m22 − 1)
ω2 =
2(m11 m22 − 1)

Assuming that the corresponding normal modal matrix is [Ψ ], then using

{θ1 , θ2 }T = [Ψ ]{u1 , u2 }T (6.3.8)

we can transform (6.3.4) into

6.3 Exercise 6.3 (Internal Resonance Analysis of a Disc Pendulum) 513

ü1 + ω12 u1 = 0
(6.3.9)
ü2 + ω22 u2 = 0

If the system yields an s-to-one internal resonance, i.e., ω2 : ω1 = s : 1, there are

 2  2   2
s2 − 1 − s2 + 1 (m11 k22 + m22 k11 )2 + 4k11 k22 (m11 m22 − 1) s2 + 1 = 0
(6.3.10)

Once s is given, the relation between r, R and ρ can be determined.

For small but
 finite
 amplitudes, we assume θ1 , θ2 = O(ε). Expanding (6.3.3) and
retaining to O ε3 yields

1 1
m11 θ̈1 + θ̈2 + k11 θ1 − k11 θ13 − θ̈2 (θ2 − θ1 )2 − θ̇22 (θ2 − θ1 ) = 0
6 2 (6.3.11)
1 1
θ̈1 + m22 θ̈2 + k22 θ2 − k22 θ23 − θ̈1 (θ2 − θ1 )2 + θ̇12 (θ2 − θ1 ) = 0
6 2
We use the method of multiple scales to solve (6.3.11). Therefore, let the solution
of Eq. (6.3.11) be expressed as

θ1 = εθ11 (T0 , T2 ) + ε3 θ13 (T0 , T2 ) + · · ·

(6.3.12)
θ2 = εθ21 (T0 , T2 ) + ε3 θ23 (T0 , T2 ) + · · ·

where, from the experience of previous two exercises, the second-order term is zero,
so the second-order term in (6.3.12) is removed directly. Substituting (6.3.12) into
(6.3.11), keeping to O (ε3 ), we obtain

1 1
0 = m11 θ̈1 + θ̈2 + k11 θ1 − k11 θ13 − θ̈2 (θ2 − θ1 )2 − θ̇22 (θ2 − θ1 )
  6 2    
= m11 D02 + 2ε2 D0 D2 εθ11 + ε3 θ13 + D02 + 2ε2 D0 D2 εθ21 + ε3 θ23
  1  3
+k11 εθ11 + ε3 θ13 − k11 εθ11 + ε3 θ13
6
1 2   
− εθ21 − εθ11 + ε3 θ23 − ε3 θ13 D02 + 2ε2 D0 D2 εθ21 + ε3 θ23
2
   2
− εθ21 − εθ11 + ε3 θ23 − ε3 θ13 D0 + ε2 D2 εθ21 + ε3 θ23 + · · ·
 
= ε m11 D02 θ11 + D02 θ21 + k11 θ11

+ε3 m11 D02 θ13 + D02 θ23 + k11 θ13 + 2m11 D0 D2 θ11 + 2D0 D2 θ21

1 1
− (θ21 − θ11 ) D0 θ21 − (θ21 − θ11 )(D0 θ21 ) − k11 θ11 + · · ·
2 2 2 3
2 6
(6.3.13)
514 6 Systems Having Finite Degrees of Freedom

1 1
0 = θ̈1 + m22 θ̈2 + k22 θ2 − k22 θ23 − θ̈1 (θ2 − θ1 )2 + θ̇12 (θ2 − θ1 )
  6  2   
= D02 + 2ε2 D0 D2 εθ11 + ε3 θ13 + m22 D02 + 2ε2 D0 D2 εθ21 + ε3 θ23
  1  3
+k22 εθ21 + ε3 θ23 − k22 εθ21 + ε3 θ23
6
1 2   
− εθ21 − εθ11 + ε θ23 − ε3 θ13 D02 + 2ε2 D0 D2 εθ11 + ε3 θ13
3
2 (6.3.14)
   2
+ εθ21 − εθ11 + ε θ23 − ε θ13 D0 + ε D2 εθ11 + ε θ13 + · · ·
3 3 2 3
 
= ε D02 θ11 + m22 D02 θ21 + k22 θ22

ε3 D02 θ13 + m22 D02 θ23 + k22 θ23 + 2D0 D2 θ11 + 2m22 D0 D2 θ21

1 1
− (θ21 − θ11 ) D0 θ11 + (θ21 − θ11 )(D0 θ11 ) − k22 θ21 + · · ·
2 2 2 3
2 6

Equating coefficients of like powers of ε in above equations yields.

Order ε1 :

m11 D02 θ11 + D02 θ21 + k11 θ11 = 0

(6.3.15)
D02 θ11 + m22 D02 θ21 + k22 θ22 = 0

Order ε3 :

m11 D02 θ13 + D02 θ23 + k11 θ13 + 2m11 D0 D2 θ11 + 2D0 D2 θ21
1 1
− (θ21 − θ11 )2 D02 θ21 − (θ21 − θ11 )(D0 θ21 )2 − k11 θ11
3
=0
2 6 (6.3.16)
D02 θ13 + m22 D02 θ23 + k22 θ23 + 2D0 D2 θ11 + 2m22 D0 D2 θ21
1 1
− (θ21 − θ11 )2 D02 θ11 + (θ21 − θ11 )(D0 θ11 )2 − k22 θ21
3
=0
2 6
(6.3.15) and (6.3.16)can also be written in matrix form:
  2  
m11 1 D0 θ11 k11 0 θ11
+ =0 (6.3.17)
1 m22 D02 θ21 0 k22 θ21
  2     
m11 1 D0 θ13 k11 0 θ13 m11 1 θ11
+ = − 2D D
0 2
1 m22 D02 θ23 0 k22 θ23 1 m22 θ21
1 (6.3.18)
(θ − θ11 )2 D02 θ21 + (θ21 − θ11 )(D0 θ21 )2 + 16 k11 θ113
+ 21 21
2 (θ21
− θ11 )2 D02 θ11 − (θ21 − θ11 )(D0 θ11 )2 + 16 k22 θ21
3

Apply the transformation to (6.3.17) and (6.3.18), i.e.,

{θ1n , θ2n }T = [Ψ ]{u1n , u2n }T , n = 1, 3 (6.3.19)

6.3 Exercise 6.3 (Internal Resonance Analysis of a Disc Pendulum) 515

we can obtain
  2 
D02 u11 ω1 0 u11
+ =0 (6.3.20)
D02 u21 0 ω22 u21
  2   
D02 u13 ω1 0 u13 u11 F1
+ = −2D0 D2 + (6.3.21)
D02 u23 0 ω22
u23 u21 F2

where

F1 = 21 Ψ11 (θ21 − θ11 )2 D02 θ21 + 21 Ψ21 (θ21 − θ11 )2 D02 θ11
+Ψ11 (θ21 − θ11 )(D0 θ21 )2 − Ψ21 (θ21 − θ11 )(D0 θ11 )2 (6.3.22)
+ 16 Ψ11 k11 θ11
3
+ 16 Ψ21 k22 θ21
3

F2 = 21 Ψ12 (θ21 − θ11 )2 D02 θ21 + 21 Ψ22 (θ21 − θ11 )2 D02 θ11
+Ψ12 (θ21 − θ11 )(D0 θ21 )2 − Ψ22 (θ21 − θ11 )(D0 θ11 )2 (6.3.23)
+ 16 Ψ12 k11 θ11
3
+ 16 Ψ22 k22 θ21
3

and Ψij is the element of the normal modal matrix [Ψ ]. Equations (6.3.22) and (6.3.23)
can be obtained from (6.1.28) and (6.1.29) using the following substitution:

gl1−1 α −1 → k11 , gl1−1 → k22 (6.3.24)

The solution of (6.3.20) is

 
u11 A1 eiω1 T0 + A1 e−iω1 T0
= (6.3.25)
u21 A2 eiω2 T0 + A2 e−iω2 T0

where Ak = Ak (T2 ). Substituting (6.3.25) into (6.3.21), we obtain

D02 u13 + ω12 u13 = −2iω1 A1 eiω1 T0 + cc + F1 (6.3.26)

D02 u23 + ω22 u23 = −2iω2 A2 eiω2 T0 + cc + F2 (6.3.27)

The prime represents the partial derivative with respect to T2 . Substituting the
transformation {θ11 , θ21 }T = [Ψ ]{u11 , u21 }T and (6.3.25) into (6.3.22) and (6.3.23)
and the result can also be obtained from Eqs. (6.1.36) and (6.1.37) using (6.3.24):
516 6 Systems Having Finite Degrees of Freedom

F1 = −3ω12 Ψ11 Ψ21 h21 A21 A1 eiω1 T0 − 2ω12 Ψ11 Ψ21 h22 A1 A2 A2 eiω1 T0
−2ω22 Ψ11 Ψ22 h1 h2 A1 A2 A2 eiω1 T0 − 2ω22 Ψ12 Ψ21 h1 h2 A1 A2 A2 eiω1 T0
2 1 2
−2ω12 Ψ11 Ψ21 h1 h2 A1 A2 ei(ω2 −2ω1 )T0 − ω22 Ψ11 Ψ22 h21 A1 A2 ei(ω2 −2ω1 )T0
2
1 2 1
− ω22 Ψ12 Ψ21 h21 A1 A2 ei(ω2 −2ω1 )T0 − ω22 Ψ11 Ψ22 h22 A32 ei3ω2 T0
2 2
1
− ω22 Ψ12 Ψ21 h22 A32 ei3ω2 T0 + ω12 Ψ11 Ψ21
2
h1 A21 A1 eiω1 T0 − ω12 Ψ11
2
Ψ21 h1 A21 A1 eiω1 T0
2
+2ω22 Ψ11 Ψ22
2
h1 A1 A2 A2 eiω1 T0 − 2ω22 Ψ12 2
Ψ21 h1 A1 A2 A2 eiω1 T0
2 2
+2ω1 ω2 Ψ11 Ψ21 Ψ22 h1 A1 A2 ei(ω2 −2ω1 )T0 − ω12 Ψ11 Ψ21
2
h2 A1 A2 ei(ω2 −2ω1 )T0
2 2
−2ω1 ω2 Ψ11 Ψ12 Ψ21 h1 A1 A2 ei(ω2 −2ω1 )T0 + ω12 Ψ11
2
Ψ21 h2 A1 A2 ei(ω2 −2ω1 )T0
−ω22 Ψ11 Ψ22
2
h2 A32 ei3ω2 T0 + ω22 Ψ12
2
Ψ21 h2 A32 ei3ω2 T0
1
+ k11 Ψ11 A1 A1 eiω1 T0 + k11 Ψ11
4 2 2
Ψ12
2
A1 A2 A2 eiω1 T0
2
1
+ k22 Ψ21 A1 A1 eiω1 T0 + k22 Ψ21
4 2 2
Ψ22
2
A1 A2 A2 eiω1 T0
2
1 2 1 2
+ k11 Ψ113
Ψ12 A1 A2 ei(ω2 −2ω1 )T0 + k22 Ψ21 3
Ψ22 A1 A2 ei(ω2 −2ω1 )T0
2 2
1 1
+ k11 Ψ11 Ψ12 3 3 i3ω2 T0
A2 e + k22 Ψ21 Ψ22 3 3 i3ω2 T0
A2 e + cc + NST
6 6
(6.3.28)
6.3 Exercise 6.3 (Internal Resonance Analysis of a Disc Pendulum) 517

F2 = −2ω22 Ψ12 Ψ22 h21 A1 A1 A2 eiω2 T0 − 3ω22 Ψ12 Ψ22 h22 A22 A2 eiω2 T0
−2ω12 Ψ12 Ψ21 h1 h2 A1 A1 A2 eiω2 T0 − 2ω12 Ψ11 Ψ22 h1 h2 A1 A1 A2 eiω2 T0
2 1 2
−2ω22 Ψ12 Ψ22 h1 h2 A1 A2 ei(ω1 −2ω2 )T0 − ω12 Ψ12 Ψ21 h22 A1 A2 ei(ω1 −2ω2 )T0
2
1 2 1
− ω12 Ψ11 Ψ22 h22 A1 A2 ei(ω1 −2ω2 )T0 − ω12 Ψ12 Ψ22 h21 A31 ei3ω1 T0
2 2
1
− ω12 Ψ12 Ψ21 h21 A31 ei3ω1 T0 + ω22 Ψ12
2
Ψ22 h2 A22 A2 eiω2 T0 − ω22 Ψ12 Ψ22
2
h2 A22 A2 eiω2 T0
2
−2ω12 Ψ12 Ψ21
2
h2 A1 A1 A2 eiω2 T0 + 2ω12 Ψ112
Ψ22 h2 A1 A1 A2 eiω2 T0
2 2
+ω22 Ψ12 Ψ22
2
h1 A1 A2 ei(ω1 −2ω2 )T0 − 2ω1 ω2 Ψ12 Ψ21 Ψ22 h2 A1 A2 ei(ω1 −2ω2 )T0
2 2
−ω22 Ψ12
2
Ψ22 h1 A1 A2 ei(ω1 −2ω2 )T0 + 2ω1 ω2 Ψ11 Ψ12 Ψ22 h2 A1 A2 ei(ω1 −2ω2 )T0
+ω12 Ψ12 Ψ21
2
h1 A31 ei3ω1 T0 − ω12 Ψ11
2
Ψ22 h1 A31 ei3ω1 T0
1
+ k11 Ψ12 A2 A2 eiω2 T0 + k11 Ψ11
4 2 2
Ψ12
2
A1 A1 A2 eiω2 T0
2
1
+ k22 Ψ22 A2 A2 eiω2 T0 + k22 Ψ21
4 2 2
Ψ22
2
A1 A1 A2 eiω2 T0
2
1 2 1 2
+ k11 Ψ11 Ψ12 3
A1 A2 ei(ω1 −2ω2 )T0 + k22 Ψ21 Ψ22 3
A1 A2 ei(ω1 −2ω2 )T0
2 2
1 1
+ k22 Ψ213
Ψ22 A31 ei3ω1 T0 + k11 Ψ11 3
Ψ12 A31 ei3ω1 T0 + cc + NST
6 6
(6.3.29)

where

h1 = Ψ21 − Ψ11 , h2 = Ψ22 − Ψ12 (6.3.30)

To obtain (6.3.28) and (6.3.29), we did not consider the case of ω1 = ω2 . From
(6.3.26)–(6.3.29) we can find that there are two possible resonant cases: ω2 ≈ 3ω1
and ω1 ≈ 3ω2 . Without loss of generality, we assume ω2 > ω1 . In analyzing the
particular solutions of (6.3.26) and (6.3.27) we need to distinguish between the
resonant case in which ω2 ≈ 3ω1 and the nonresonant case in which ω2 is away from
3ω1 .
(c) If s = ω2 : ω1 = 3 : 1, then from (6.3.10) and (6.3.5), we can obtain

−9(m11 k22 + m22 k11 )2 + 100k11 k22 (m11 m22 − 1) = 0

i.e.,
 
9[ R2 + ρ 2 R−1 r −1 + 1]2 − 100ρ 2 R−1 r −1 = 0 (6.3.31)

Let
518 6 Systems Having Finite Degrees of Freedom

ρ2 R
x2 = , y2 = (6.3.32)
Rr r
Equation (6.3.31) can be written as
 
5 2 16
x− + y2 = (6.3.33)
3 9

Therefore, when the three-to-one internal resonance occurs, the parameters of the
system are constrained to an arc, as in Fig. 6.3a. For example, one set of parameters
can be taken as:
√ √
7+5 7+5
x= , y = 1 ⇒ r = R, ρ =
2
R (6.3.34)
3 3
The internal resonance of ω2 ≈ 3ω1 is investigated below. In this case, the detuning
parameter σ is introduced such that

ω2 = 3ω1 + ε2 σ (6.3.35)

In order to eliminate secular terms in (6.3.26)–(6.3.29), we need

2
2A1 + ib11 A21 A1 + ib12 A1 A2 A2 + ib13 A1 A2 eiσ T2 = 0 (6.3.36)

2A2 + ib21 A22 A2 + ib22 A1 A1 A2 + ib23 A31 e−iσ T2 = 0 (6.3.37)

where

(a) (b)

Fig. 6.3 a Occurrence of 3:1 internal resonance (x2 = ρ 2 R−1 r −1 , y2 = Rr −1 ). b Schematic

diagram of F(ξ ) and G(ξ ) for Exercise 6.3
6.3 Exercise 6.3 (Internal Resonance Analysis of a Disc Pendulum) 519

b11 = ω1−1 ω12 Ψ11 Ψ21 2
h1 − 3ω12 Ψ11 Ψ21 h21

1 1
− ω12 Ψ11
2
Ψ21 h1 + gl1−1 Ψ21 4
+ k11 Ψ11 4
2 2
−1
 2
b12 = ω1 2ω2 Ψ11 Ψ22 h1 − 2ω22 Ψ12
2 2
Ψ21 h1 − 2ω12 Ψ11 Ψ21 h22 − 2ω22 Ψ11 Ψ22 h1 h2

− 2ω22 Ψ12 Ψ21 h1 h2 + k11 Ψ11 2
Ψ12
2
+ k22 Ψ212
Ψ22
2
A1 A2 A2
(6.3.38)

b21 = ω2−1 ω22 Ψ12 2
Ψ22 h2 − 3ω22 Ψ12 Ψ22 h22

1 1
− ω22 Ψ12 Ψ222
h2 + k11 Ψ12 4
+ k22 Ψ22 4
2 2
−1
 2 2
b22 = ω2 2ω1 Ψ11 Ψ22 h2 − 2ω12 Ψ12 Ψ21 2
h2 − 2ω22 Ψ12 Ψ22 h21 − 2ω12 Ψ12 Ψ21 h1 h2

− 2ω12 Ψ11 Ψ22 h1 h2 + k11 Ψ11 2
Ψ12
2
+ k22 Ψ212
Ψ22
2

(6.3.39)

b13 = ω1−1 ω12 Ψ11 2
Ψ21 h2 − ω12 Ψ11 Ψ21 2
h2 − 2ω12 Ψ11 Ψ21 h1 h2
+2ω1 ω2 Ψ11 Ψ21 Ψ22 h1 − 2ω1 ω2 Ψ11 Ψ12 Ψ21 h1

1 1 1 1
− ω22 Ψ11 Ψ22 h21 − ω22 Ψ12 Ψ21 h21 + k11 Ψ11 3
Ψ12 + k22 Ψ21 3
Ψ22
2 2 2 2

1 1
b23 = ω2−1 ω12 Ψ12 Ψ21 2
h1 − ω12 Ψ11
2
Ψ22 h1 − ω12 Ψ12 Ψ22 h21 − ω12 Ψ12 Ψ21 h21
2 2

1 1
+ k22 Ψ21 3
Ψ22 + k11 Ψ11 3
Ψ12
6 6
(6.3.40)

Substituting Ak = 21 aeiβk , k = 1, 2 into and, we get

1 1 1
a1 + iβ1 a1 + ib11 a13 + ib12 a1 a22 + i b13 a12 a2 ei(σ T2 −3β1 +β2 ) = 0 (6.3.41)
8 8 8
1 1 1
a2 + iβ2 a2 + ib21 a23 + ib22 a12 a2 + i b23 a13 e−i(σ T2 −3β1 +β2 ) = 0 (6.3.42)
8 8 8
Separating the real and imaginary parts of the above equations yields

a1 = 18 b13 a12 a2 sinγ

(6.3.43)
a2 = − 18 b23 a13 sinγ

β1 a1 + 18 b11 a13 + 18 b12 a1 a22 + 18 b13 a12 a2 cosγ = 0

(6.3.44)
β2 a2 + 18 b21 a23 + 18 b22 a12 a2 + 18 b23 a13 cosγ = 0

where
520 6 Systems Having Finite Degrees of Freedom

γ = σ T2 − 3β1 + β2 (6.3.45)

Eliminating γ from (6.3.43), we obtain

b23 a1 da1 + b13 a2 da2 = 0 (6.3.46)

i.e.,

1  
d b23 a12 + b13 a22 = 0
2
therefore,

b23 a12 + b13 a22 = E, E = b23 a10

2
+ b13 a20
2
(6.3.47)

Combining the above results, the first order approximate solution of the original
equation can be obtained as
 
θ1 a1 (t) cos[ω1 t + β1 (t)]  
= [Ψ ] + O ε3 (6.3.48)
θ2 a2 (t) cos[ω2 t + β2 (t)]

where a1 , a2 , β1 and β2 can be determined by (6.3.43), (6.3.44), (6.3.45) and (6.3.47).

Next we analyze the equations describing amplitude and phase of the motion,
(6.3.43)–(6.3.45). Eliminating β1 , β2 from the two equations in (6.3.44), we obtain

1 1 1 
a2 γ  = a2 σ + (3b11 − b22 )a12 a2 + (3b12 − b21 )a23 + 3b13 a1 a22 − b23 a13 cos γ
8 8 8
(6.3.49)

Dividing the above equation by the second equation of (6.3.43) yields

dγ
−b23 a13 a2 sinγ da = 8σ a2 + (3b11 − b22 )a12 a2 + (3b12 − b21 )a23
 2 
+ 3b13 a1 a2 − b23 a13 cosγ
2

i.e.,

b23 a13 a2 d cos γ + b23 a13 cos γ da2 − 3b13 a1 a22 cos γ da2
= 8σ a2 da2 + (3b11 − b22 )a12 a2 da2 + (3b12 − b21 )a23 da2

Using (6.3.47), the above equation can be written as

 
b23 a13 d (a2 cosγ ) − 3b13 a1 a22 cosγ da2 = 8σ + (3b11 − b22 ) bE23 a2 da2
  (6.3.50)
+ (3b12 − b21 ) − (3b11 − b22 ) bb13 23
a23 da2
6.3 Exercise 6.3 (Internal Resonance Analysis of a Disc Pendulum) 521

since
 
a13 d (a2 cos γ ) = d a13 a2 cos γ − 3a12 a2 cos γ da1 (6.3.51)

by substituting (6.3.51) into the left side of (6.3.50), we get

 
b23 d a13 a2 cos γ − 3a1 a2 cos γ (b23 a1 da1 + b13 a2 da2 )
   
E b13 3
= 8σ + (3b11 − b22 ) a2 da2 + (3b12 − b21 ) − (3b11 − b22 ) a da2
b23 b23 2
(6.3.52)

By substituting (6.3.46) into the left side of (6.3.52), we can obtain

   
b23 d a13 a2 cosγ = 8σ + (3b11 − b22 ) bE23 a2 da2
  (6.3.53)
+ (3b12 − b21 ) − (3b11 − b22 ) bb13
23
a23 da2

Make the integration of Eq. (6.3.53), we can obtain

 
1 E
b23 a13 a2 cos γ − 8σ + (3b11 − b22 ) a2
2 b23 2
 
1 b13
+ (3b11 − b22 ) − (3b12 − b21 ) a24 = L (6.3.54)
4 b23

where L is the constant of integration. Now, let us combine (6.3.54), (6.3.47) and
(6.3.43) into a single variable differential equation. To do this, let

a12 = Eξ (6.3.55)

Then from (6.3.47), we can obtain

a22 = E(1 − b23 ξ )/b13 (6.3.56)

Eliminating γ from (6.3.54) and (6.3.49) yields


ξ 2 = F 2 (ξ ) − G 2 (ξ ) (6.3.57)

where
 
F(ξ ) = ±41 b13 E 2 ξ3 (1 − b23 ξ ) 1/2 
G(ξ ) = 41 (1−bb223 ξ ) L + 21 8σ + (3b11 − b22 ) bE23
2

2 1/2
(6.3.58)
 
23

E(1−b23 ξ )
+ 4 (3b12 − b21 ) − (3b11 − b22 ) bb13
1
23 b13
522 6 Systems Having Finite Degrees of Freedom

The functions F(ξ ) and G(ξ ) are shown schematically in Fig. 6.3b. For real
motions, F 2 (ξ ) ≥ G 2 (ξ ). The points where F meets G corresponds to the vanishing
of ξ  . A curve such as G2 which meets one branch of F at two different points or
a curve G3 which meets both branches corresponds to a periodic solution. In this
case, ξ is periodic and oscillates between two intersection points, and the motion is
aperiodic.
Considering the curves G1 and F are tangent to each other, as shown in Fig. 6.3b.
In this case, ξ has only one constant-value solution, and the motion of the system is
periodic. The nonlinear effect acts to modulate the phase of the motion so that the
nonlinear frequencies of the two modes are commensurable.
In order to analyze the steady state solution, let a1 = a2 = γ  = 0, (6.3.43) and
(6.3.49) become

sin γ = 0 or γ = nπ (6.3.59)

1 1 1 
a2 σ + (3b11 − b22 )a12 a2 + (3b12 − b21 )a23 + 3b13 a1 a22 − b23 a13 cos nπ = 0
8 8 8
(6.3.60)

Equation (6.3.60) is the cubic equation of a2 . For a given set of values of

σ, a1 and cos nπ , Eq. (6.2.57) has one or three real roots, each of which corresponds
to a periodic motion of the system. Thus, the periodic motion of the system is either
unique or one of the three possible periodic motions. Figure 6.3b shows that the peri-
odic motion is unstable. With a small perturbation, a curve such as G1 may become
a curve such as G2 and the motion of the system becomes aperiodic.
For the case of the nonlinear periodic motion of the system with a constant-value
solution, we note that the frequency of the motion of the system is

ω̂1 = ω1 + ε2 β1 , ω̂2 = ω2 + ε2 β2 (6.3.61)

therefore,
   
ω̂2 − 3ω̂1 = ω2 − 3ω1 + ε2 β2 − 3β1 = ε2 σ + ε2 β2 − 3β1 = ε2 γ  = 0
(6.3.62)

Thus, the nonlinearity of the system modulates the frequency of the motion to
exactly 3 to 1, and thus the motion is periodic.

6.4 Exercise 6.4 (Internal Resonance Analysis of a Spring

Pendulum)

Solution: (a) The kinetic energy of the system is

6.4 Exercise 6.4 (Internal Resonance Analysis of a Spring Pendulum) 523

1 1  
T= m1 l 2 θ̇ 2 + m2 ẋ2 + x2 θ̇ 2 (6.4.1)
2 2
The potential energy of the system is
 
V = 21 k (x − x0 )2 − (xe − x0 )2 + m1 gl(1 − cosθ )
(6.4.2)
+m2 gx(1 − cosθ ) − m2 g(x − xe )

where xe is the length of the spring when the system is balanced, x0 is the original
length of the spring, and m2 g = k(xe − x0 ). Here we choose the equilibrium position
as the zero potential surface of the system.
Substitute kinetic and potential energy into the Lagrange’s equation:

d ∂T ∂T ∂V d ∂T ∂T ∂V
− =− , − =−
dt ∂ ẋ ∂x ∂x dt ∂ θ̇ ∂θ ∂θ

we can obtain

m2 ẍ + kx − m2 xθ̇ 2 + m2 g(1 − cos θ ) = kxe

 2  (6.4.3)
m1 l + m2 x2 θ̈ + (m1 l + m2 x)g sin θ + 2m2 xẋθ̇ = 0

Let

ω10
2
= k/m2 , ω20
2
= g/l, m = m2 /m1 , u = x/l, ue = xe /l (6.4.4)

Equation (6.4.3) changes into

ü + ω10
2
u − uθ̇ 2 + ω20
2
(1 − cos θ ) = ω10
2
ue
  (6.4.5)
1 + mu θ̈ + (1 + mu)ω20 sin θ + 2muu̇θ̇ = 0
2 2

(b) The equilibrium position of the system is u = ue , θ = 0.

Let

u = ue + u1 , θ = u2 (6.4.6)

Substituting (6.4.6) into (6.4.5) and retaining to a third-order small quantity yields

1 2 2
ü1 + ω10
2
u1 − u1 u̇22 + ω20 u2 = 0
  2
1 + mue ü2 + (1 + mue )ω20
2 2
u2 + 2mue u1 ü2 + mu12 ü2 (6.4.7)
1
+(2mue + u1 )u̇1 u̇2 + ω202
mu1 u2 − (1 + mue )ω20 u2 = 0
2 3
6
Let
524 6 Systems Having Finite Degrees of Freedom

1 + mue 2 m
ω12 = ω10
2
, ω22 = ω20 , α = (6.4.8)
1 + mue
2 1 + mue2

Then the Eq. (6.4.7) can be written as

1 2 2
ü1 + ω12 u1 + ω20 u2 − u1 u̇22 = 0
2
1
ü2 + ω22 u2 + αω20
2
u1 u2 − ω22 u23 + (2αue + u1 )u̇1 u̇2 + 2αue u1 ü2 + αu12 ü2 = 0
6
(6.4.9)

where ω1 and ω2 are the linear natural frequencies of the system.

For small and finite amplitudes, we use the method of multiple scales to solve
(6.4.9). Let the solution of Eq. (6.4.9) be expressed as

u1 = εu11 (T0 , T1 ) + ε2 u12 (T0 , T1 ) + · · ·

(6.4.10)
u2 = εu21 (T0 , T1 ) + ε2 u22 (T0 , T1 ) + · · ·
 
Substituting (6.4.10) into (6.4.9) and keeping to O ε2 , we get

1 2 2
0 = ü1 + ω12 u1 + ω20 u2 − u1 u̇22
2
     1 2 2
= D02 + 2εD0 D1 εu11 + ε2 u12 + ω12 εu11 + ε2 u12 + ω20 εu21 + ε2 u22
2
   2
− εu11 + ε2 u12 (D0 + εD1 ) εu21 + ε2 u22
 
 2  1 2 2
= ε D0 u11 + ω1 u11 + ε D0 u12 + ω1 u12 + 2D0 D1 u11 + ω20 u21 + · · ·
2 2 2 2
2
(6.4.11)
1
0 = ü2 + ω22 u2 + αω20 2
u1 u2 − ω22 u23 + (2αue + u1 )u̇1 u̇2 + 2αue u1 ü2 + αu12 ü2
  6   
= D02 + 2εD0 D1 εu21 + ε2 u22 + ω22 εu21 + ε2 u22
   1  3
+αω20 2
εu11 + ε2 u12 εu21 + ε2 u22 − ω22 εu21 + ε2 u22
  6  
+2αue (D0 + εD1 ) εu11 + ε2 u12 (D0 + εD1 ) εu21 + ε2 u22
     
+ εu11 + ε2 u12 (D0 + εD1 ) εu11 + ε2 u12 (D0 + εD1 ) εu21 + ε2 u22
   
+2αue εu11 + ε2 u12 D02 + 2εD0 D1 εu21 + ε2 u22
 2   
+α εu11 + ε2 u12 D02 + 2εD0 D1 εu21 + ε2 u22 + · · ·
  
= ε D02 u21 + ω22 u21 + ε2 D02 u22 + ω22 u22 + 2D0 D1 u21

+ αω20 2
u11 u21 + 2αue (D0 u11 )(D0 u21 ) + 2αue u11 D02 u21 + · · ·
(6.4.12)
6.4 Exercise 6.4 (Internal Resonance Analysis of a Spring Pendulum) 525

Equating coefficients of like powers of ε in (6.4.11) and (6.4.12) yields.

Order ε1 :

D02 u11 + ω12 u11 = 0

(6.4.13)
D02 u21 + ω22 u21 = 0

Order ε2 :

D02 u12 + ω12 u12 = −2D0 D1 u11 − 21 ω20

2 2
u21
D0 u22 + ω2 u22 = −2D0 D1 u21 − αω20
2 2 2
u11 u21 (6.4.14)
−2αue u11 D02 u21 − 2αue (D0 u11 )(D0 u21 )

The solution of (6.4.13) is

 
u11 A1 eiω1 T0 + A1 e−iω1 T0
= (6.4.15)
u21 A2 eiω2 T0 + A2 e−iω2 T0

where Ak = Ak (T1 , T2 ). Substituting (6.1.30) into (6.1.19), we get

D02 u12 + ω12 u12 = −2iω1 D1 A1 eiω1 t − 21 ω20

2 2 2iω2 T0
A2 e + cc + NST
D0 u22 + ω2 u22 = −2iω2 D1 A2 e
2 2 iω2 t
+ 2αue ω02 − 2αue ω1 ω2 (6.4.16)
− αω20 2
A2 A1 ei(ω1 −ω2 )T0 + cc + NST

The internal resonance case ω1 ≈ 2ω2 is investigated below. In this case, the
detuning parameter σ is introduced such that

ω1 = 2ω2 + εσ (6.4.17)

In order to eliminate secular terms in (6.4.16), there must be

1 2 2 −iσ T1
2iω1 A1 + ω20 A2 e =0
2 (6.4.18)
 
2iω2 A2 + αω20
2
+ 2αue ω1 ω2 − 2αue ω02 A2 A1 eiσ T1 = 0

Primes denote the derivative with respect to T1 . Let

1 iβk
Ak = ak e , k = 1, 2 (6.4.19)
2
and substitute (6.4.19) into (6.4.18), we can obtain

ia1 − β1 a1 + b1 a22 e−i(σ T1 +β1 −2β2 ) = 0

(6.4.20)
ia2 − β2 a2 + b2 a1 a2 ei(σ T1 +β1 −2β2 ) = 0
526 6 Systems Having Finite Degrees of Freedom

where
1 −1 2 1  2 
b1 = ω1 ω20 , b2 = ω2−1 αω20 + 2αue ω1 ω2 − 2αue ω02 (6.4.21)
8 4
Separating the real and imaginary parts of the above equations yields

a1 = b1 a22 sinγ

(6.4.22)
a2 = −b2 a1 a2 sinγ

β1 a1 = b1 a22 cosγ

(6.4.23)
β2 a2 = b2 a1 a2 cosγ

where

γ = σ T1 + β1 − 2β2 (6.4.24)

Eliminating γ from (6.4.22), we obtain

b2 a1 da1 + b1 a2 da2 = 0 (6.4.25)

i.e.,

b2 a12 + b1 a22 = E, E = b2 a10

2
+ b1 a20
2
(6.4.26)

Combine the above results and write εa1 and εa2 as a1 and a2 , respectively (in
this case, Eqs. (6.4.22), (6.4.23) and (6.4.26) remain unchanged, but need to treat
the prime as the derivative with respect to time t), we can obtain the first-order
approximate solution of the original equation
 
u ue + a1 (t) cos[ω1 t + β1 (t)]  
= + O ε2 (6.4.27)
θ a2 (t) cos[ω2 t + β2 (t)]

where a1 , a2 , β1 and β2 can be determined by (6.4.22), (6.4.23), (6.4.24) and (6.4.26).

Next we analyze the equations describing amplitude and phase of the motion,
(6.4.22)–(6.4.26). Eliminating β1 , β2 from the two equations in (6.4.23), we obtain

a1 γ  = σ a1 + b1 a22 cos γ − 2b2 a12 cos γ (6.4.28)

Dividing the above equation by the second equation of (6.4.22) yields

b1 a1 a22 sin γ d γ = σ a1 da1 + b1 a22 cos γ da1 − 2b2 a12 cos γ da1

i.e.,
6.4 Exercise 6.4 (Internal Resonance Analysis of a Spring Pendulum) 527
 
−b1 d a1 a22 cos γ + 2a1 cos γ (b1 a2 da2 + b2 a1 da1 ) = σ a1 da1

Using (6.4.25), the above equation becomes

  1
b1 d a1 a22 cos γ + σ da12 = 0 (6.4.29)
2
Make the integration of Eq. (6.4.29), we can obtain

1
b1 a1 a22 cos γ + σ a12 = L (6.4.30)
2
where L is the constant of integration. Now, let us combine (6.4.30), (6.4.26) and
(6.4.22) into a single variable differential equation. To do this, let

a22 = Eξ (6.4.31)

Then from (6.4.26), we can obtain

E(1 − b1 ξ )
a12 = (6.4.32)
b2

Eliminating γ from (6.4.30) and (6.4.22) yields

 
1 dξ 2
= F 2 (ξ ) − G 2 (ξ ) (6.4.33)
4b1 b2 E dT1

where
  1/2
F(ξ ) = ± ξ 2 b−1
1 −ξ
  
σ Eb1
 −1 2 1/2 (6.4.34)
G(ξ ) = ± E 3 b3 L − 2b2 b1 − ξ
b2
1

The functions F(ξ ) and G(ξ ) are shown schematically in Fig. 6.4. For real motions,
F 2 (ξ ) ≥ G 2 (ξ ). The points where F meets G corresponds to the vanishing of
ξ . In general, the curve G meets the branches of F at three intersection points
corresponding to the three roots ξ1 , ξ2 and ξ3 of the right-hand side of (6.4.33). Let
ξ1 < ξ2 < ξ3 , the motion is confined between ξ2 and ξ3 because of a22 = Eξ .
When the three roots are distinct corresponding to a curve such as G1 , ξ is periodic
and oscillates between ξ2 and ξ3 , and the motion is aperiodic. In this case, the solution
for ξ can be expressed in terms of Jacobi elliptic functions as follows. First, in terms
of the ξn , we express (6.4.33) as.
 2
1 dξ
= (ξ3 − ξ )(ξ − ξ2 )(ξ − ξ1 ) (6.4.35)
4b1 b2 E dT1
528 6 Systems Having Finite Degrees of Freedom

Fig. 6.4 Schematic diagram

of F(ξ ) and G(ξ ) for
Exercise 6.4

Introducing the transformation

ξ3 − ξ = (ξ3 − ξ2 ) sin2 χ (6.4.36)

into (6.4.36) we obtain

1 dχ 
√ = ± ξ3 − ξ1 1 − η2 sin2 χ (6.4.37)
b1 b2 E dT1

where

ξ3 − ξ2
η= (6.4.38)
ξ3 − ξ1

Separating the variables in (6.4.37), putting T1 = εt, and integrating the resulting
equation yields
χ dχ
(t − t0 )κ = ∫  (6.4.39)
0 1 − η2 sin2 χ
or

sin χ = sn[(t − t0 )κ; η] (6.4.40)

where t0 corresponds to χ = 0, sn is a Jacobi elliptic function, and


κ= Eb1 b2 (ξ3 − ξ1 ) (6.4.41)

Combining (6.4.31), (6.4.36) and (6.4.40) yields

6.4 Exercise 6.4 (Internal Resonance Analysis of a Spring Pendulum) 529

a22
ξ= = ξ3 − (ξ3 − ξ2 )sn2 [(t − t0 )κ; η] (6.4.42)
E
Thus (6.4.41) and (6.4.42) show that the energy in the system continues to be
exchanged between the two modes of oscillation.
When ξ2 = ξ3 corresponding to the curve G2 , which is tangent to one of the
√ of F in Figure√6.4, ξ = ξ3 is a constant according to (6.4.42), and hence
branches
a2 = Eξ3 and a1 = E(1 − b1 ξ )/b2 . In this case, the motion of the system is
periodic. However, any small disturbance would lead to a curve such as G1 where
the roots are distinct, and hence the motion is aperiodic.
When ξ2 = ξ1 , G coincides with the ξ -axis, and hence L = σ = 0 according to
(6.4.34). Consequently it follows from (6.4.33) and (6.4.34) that ξ2 = ξ1 = 0, and
ξ3 = b−1
1 . The solution in this case can be obtained by introducing the transformation

ξ = b−1
1 sech ϕ
2
(6.4.43)

into (6.4.33) with L = σ = 0. The result is

dϕ
=κ (6.4.44)
dt
whose solution is

ϕ = (t − t0 )κ (6.4.45)

therefore

a2 = Eξ = Eb−1
1 sechϕ = Eb−1
1 sech[(t − t0 )κ] (6.4.46)

and

a1 = E(1 − b1 ξ )/b2 = Eb−1
2 tanhϕ = Eb−1
2 tanh[(t − t0 )κ] (6.4.47)

We note that L = σ = 0 demands cos γ = 0 according to (6.4.30). Hence it

follows from (6.4.23) that β1 = β2 = 0; that is, the phases are constant. Therefore,
the motion of the system consists of only amplitude-modulated motions (AMM).
When t → ∞, a2 → 0 while a1 → Eb−1 2 , leading to a motion that is independent
of the lower mode. Thus, the internal resonance in this case leads to a complete
transfer of energy from the lower mode to the higher mode.
530 6 Systems Having Finite Degrees of Freedom

6.5 Exercise 6.5 (Internal Resonance Analysis of a Uniform

Rod Hanging a Spring)

Solution: (a) The kinetic energy of the system is

 2  2 
T = 21 m 21 l θ̇cosθ + ẋ − 21 l θ̇sinθ + 1 1
2 12
ml 2 θ̇ 2
(6.5.1)
= 21 mẋ2 + 16 ml 2 θ̇ 2 − 21 ml ẋθ̇ sinθ

The potential energy of the system is

1   1
V = k (x − x0 )2 − (xe − x0 )2 + mgl(1 − cos θ) − mg(x − xe ) (6.5.2)
2 2
where xe is the length of the spring when the system is balanced, x0 is the original
length of the spring, and mg = k(xe − x0 ).
Substitute kinetic and potential energy into the Lagrange’s equation:

d ∂T ∂T ∂V d ∂T ∂T ∂V
− =− , − =−
dt ∂ ẋ ∂x ∂x dt ∂ θ̇ ∂θ ∂θ

we can obtain
1 1
ẍ + km−1 (x − xe ) = l θ̈ sin θ + l θ̇ 2 cos θ
2 2 (6.5.3)
3 3
θ̈ + gl −1 sin θ = ẍl −1 sin θ
2 2
Let

ω12 = k/m, ω22 = 3g/2l, u = (x − xe )/l (6.5.4)

Equation (6.5.3) changes into

1 1
ü + ω12 u = θ̈ sin θ + θ̇ 2 cos θ
2 2 (6.5.5)
3
θ̈ + ω22 sin θ = ü sin θ
2

(b) The equilibrium position of the system is u = 0, θ = 0. Let

u = 0 + u1 , θ = 0 + u2 (6.5.6)

Substituting (6.5.6) into (6.5.5) and retaining to a third-order small quantity yields
6.5 Exercise 6.5 (Internal Resonance Analysis of a Uniform Rod Hanging … 531

ü1 + ω12 u1 = 21 u̇22 + 21 u2 ü2

(6.5.7)
ü2 + ω22 u2 = 23 u2 ü1 + 16 ω22 u23

where ω1 and ω2 are the linear natural frequencies of the system.

For small and finite amplitudes, we use the method of multiple scales to solve
(6.5.7). Let the solution of Eq. (6.5.7) be expressed as

u1 = εu11 (T0 , T1 , T2 ) + ε2 u12 (T0 , T1 , T2 ) + ε2 u13 (T0 , T1 , T2 ) + · · ·

(6.5.8)
u2 = εu21 (T0 , T1 , T2 ) + ε2 u22 (T0 , T1 , T2 ) + ε2 u23 (T0 , T1 , T2 ) + · · ·
 
Substituting (6.5.8) into (6.5.7) and keeping to O ε2 , we get

1 1
0 = ü1 + ω12 u1 − u̇22 − u2 ü2
 2 2  
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εu11 + ε2 u12 + ε3 u13
  1   2
+ω12 εu11 + ε2 u12 + ε3 u13 − D0 + εD1 + ε2 D2 εu21 + ε2 u22 + ε3 u23
2
1  2  
− εu21 + ε u22 + ε u23 D0 + 2εD0 D1 + ε2 D12 + 2D0 D2
2 3

2 
× εu21 + ε2 u22 + ε3 u23 + · · ·
 
= ε D02 u11 + ω12 u11
 
1 1
+ε D0 u12 + ω1 u12 + 2D0 D1 u11 − (D0 u21 ) − u21 D0 u21
2 2 2 2 2
2 2
  
+ε3 D02 u13 + ω12 u13 + 2D0 D1 u12 + D12 + 2D0 D2 u11 − D0 u21 D1 u21

1 1
−D0 u21 D0 u22 − u21 D0 u22 − u21 D0 D1 u21 − u22 D0 u21 + · · ·
2 2
2 2
(6.5.9)
532 6 Systems Having Finite Degrees of Freedom

3 1
0 = ü2 + ω22 u2 − u2 ü1 − ω22 u23
 2  6  
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εu21 + ε2 u22 + ε3 u23
  3 
+ω22 εu21 + ε2 u22 + ε3 u23 − εu21 + ε2 u22 + ε3 u23
  2  
× D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εu11 + ε2 u12 + ε3 u13
1  3
− ω22 εu21 + ε2 u22 + ε3 u23 + · · ·
6  
 2  3
= ε D0 u21 + ω2 u21 + ε D0 u22 + ω2 u22 + 2D0 D1 u21 − u21 D0 u11
2 2 2 2 2
2
  
+ε3 D02 u23 + ω22 u23 + 2D0 D1 u22 + D12 + 2D0 D2 u21

3 3 1 2 3
− u21 D0 u12 − 3u21 D0 D1 u11 − u22 D0 u11 − ω2 u21 + · · ·
2 2
2 2 6
(6.5.10)

Equating coefficients of like powers of ε in (6.5.9) and (6.5.10) yields.

Order ε1 :

D02 u11 + ω12 u11 = 0

(6.5.11)
D02 u21 + ω22 u21 = 0

Order ε2 :

D02 u12 + ω12 u12 = −2D0 D1 u11 + 21 (D0 u21 )2 + 21 u21 D02 u21
(6.5.12)
D02 u22 + ω22 u22 = −2D0 D1 u21 + 23 u21 D02 u11

Order ε3 :
 
D02 u13 + ω12 u13 = −2D0 D1 u12 − D12 + 2D0 D2 u11 + D0 u21 D1 u21
1 1
+D0 u21 D0 u22 + u21 D02 u22 + u21 D0 D1 u21 + u22 D02 u21
2 2
 2  3 (6.5.13)
D0 u23 + ω2 u23 = −2D0 D1 u22 − D1 + 2D0 D2 u21 + u21 D02 u12
2 2
2
3 1 2 3
+3u21 D0 D1 u11 + u22 D0 u11 + ω2 u21
2
2 6
The solution of (6.5.11) is
 
u11 A1 eiω1 T0 + A1 e−iω1 T0
= (6.5.14)
u21 A2 eiω2 T0 + A2 e−iω2 T0

where Ak = Ak (T1 , T2 ). Substituting (6.5.14) into (6.5.12), we get

6.5 Exercise 6.5 (Internal Resonance Analysis of a Uniform Rod Hanging … 533

1 1
D02 u12 + ω12 u12 = −2D0 D1 u11 + (D0 u21 )2 + u21 D02 u21
2 2
= −2iω1 D1 A1 eiω1 T0 − ω22 A22 e2iω2 T0 + cc
3
D02 u22 + ω22 u22 = −2D0 D1 u21 + u21 D02 u11 (6.5.15)
2
3
= −2iω2 D1 A2 eiω2 T0 − ω12 A1 A2 ei(ω1 +ω2 )T0
2
3
− ω12 A1 A2 ei(ω1 −ω2 )T0 + cc
2
The internal resonance case ω1 ≈ 2ω2 is investigated below. In this case, the
detuning parameter σ is introduced such that

ω1 = 2ω2 + εσ (6.5.16)

In order to eliminate secular terms in (6.5.15), there must be

2iω1 A1 + ω22 A22 e−iσ T1 = 0

3 (6.5.17)
2iω2 A2 + ω12 A1 A2 eiσ T1 = 0
2
Primes denote the derivative with respect to T1 . Let

1 iβk
Ak = ak e , k = 1, 2 (6.5.18)
2
and substitute (6.5.18) into (6.5.17), we can obtain

1
ia1 − β1 a1 + ω1−1 ω22 a22 e−i(σ T1 +β1 −2β2 ) = 0
4 (6.5.19)
3
ia2 − β2 a2 + ω2−1 ω12 a1 a2 ei(σ T1 +β1 −2β2 ) = 0
 
8
Separating the real and imaginary parts of the above equations and taking ω1 =
2ω2 into account yields

a1 = 18 ω2 a22 sinγ

(6.5.20)
a2 = − 23 ω2 a1 a2 sinγ

β1 a1 = 18 ω2 a22 cosγ

(6.5.21)
β2 a2 = 23 ω2 a1 a2 cosγ

where

γ = σ T1 + β1 − 2β2 (6.5.22)
534 6 Systems Having Finite Degrees of Freedom

Eliminating γ from (6.5.20), we obtain

12a1 da1 + a2 da2 = 0 (6.5.23)

i.e.,

12a12 + a22 = E, E = 12a10

2
+ a20
2
(6.5.24)

Combine the above results and write εa1 and εa2 as a1 and a2 , respectively, we
can obtain the first-order approximate solution of the original equation
 
u a1 (t) cos[ω1 t + β1 (t)]  
= + O ε2 (6.5.25)
θ a2 (t) cos[ω2 t + β2 (t)]

where a1 , a2 , β1 and β2 can be determined by (6.5.20), (6.5.21), (6.5.22), and (6.5.24).

Next we analyze the equations describing amplitude and phase of the motion,
(6.5.20)–(6.5.24). Eliminating β1 , β2 from the two equations in (6.5.21), we obtain

1
a1 γ  = σ a1 + ω2 a22 cos γ − 3ω2 a12 cos γ (6.5.26)
8
Dividing the above equation by the second equation of (6.5.20) yields

1 1
ω2 a1 a22 sin γ d γ = σ a1 da1 + ω2 a22 cos γ da1 − 3ω2 a12 cos γ da1
8 8
i.e.,

1   1
− ω2 d a22 a1 cos γ + ω2 a1 cos γ (12a1 da1 + a2 da2 ) = σ a1 da1
8 4
Using (6.5.23), the above equation becomes

1  
ω2 d a22 a1 cos γ + σ a1 da1 = 0 (6.5.27)
8
Make the integration of Eq. (6.5.27), we can obtain

1
ω2 a1 a22 cos γ + σ a12 = L (6.5.28)
4
where L is the constant of integration. Now, let us combine (6.5.28), (6.5.24) and
(6.5.20) into a single variable differential equation. To do this, let

a22 = Eξ (6.5.29)
6.5 Exercise 6.5 (Internal Resonance Analysis of a Uniform Rod Hanging … 535

Then from (6.5.24), we can obtain

a12 = E(1 − 12ξ ) (6.5.30)

Eliminating γ from (6.5.28) and (6.5.20) yields

   
1 dξ 2 1 4
2
= ξ 2
− ξ − [L − σ E(1 − 12ξ )]2
108ω2 E dT1 12 3ω22 E 3

Or
 
1 dξ 2
= F 2 (ξ ) − G 2 (ξ ) (6.5.31)
108ω22 E dT1

where
 1 
F(ξ ) = ± ξ 2 12 − ξ 1/2
  1 2 1/2 (6.5.32)
G(ξ ) = ± 3ω42 E 3 L − 12σ E 12 −ξ
2

The functions F(ξ ) and G(ξ ) are shown schematically in Fig. 6.5. For real motions,
F 2 (ξ ) ≥ G 2 (ξ ). The points where F meets G corresponds to the vanishing of
ξ  . In general, the curve G meets the branches of F at three intersection points
corresponding to the three roots ξ1 , ξ2 and ξ3 of the right-hand side of (6.5.31). Let
ξ1 < ξ2 < ξ3 , the motion is confined between ξ2 and ξ3 because of a22 = Eξ . When
the three roots are distinct corresponding to a curve such as G1 , ξ is periodic and
oscillates between ξ2 and ξ3 , and the motion is aperiodic. In this case, the solution
for ξ can be expressed in terms of Jacobi elliptic functions as follows. First, in terms
of the ξn , we express (6.5.31) as
 
1 dξ 2
= (ξ3 − ξ )(ξ − ξ2 )(ξ − ξ1 ) (6.5.33)
108ω22 E dT1

Introducing the transformation

ξ3 − ξ = (ξ3 − ξ2 ) sin2 χ (6.5.34)

into (6.5.33) we obtain

1 dχ 
= ± ξ3 − ξ1 1 − η2 sin2 χ (6.5.35)
27ω2 E dT1
2

where
536 6 Systems Having Finite Degrees of Freedom

Fig. 6.5 Schematic diagram

of F(ξ ) and G(ξ ) for
Exercise 6.5


ξ3 − ξ2
η= (6.5.36)
ξ3 − ξ1

Separating the variables in (6.5.35), putting T1 = εt, and integrating the resulting
equation yields
χ dχ
(t − t0 )κ = ∫  (6.5.37)
0 1 − η2 sin2 χ
or

sin χ = sn[(t − t0 )κ; η] (6.5.38)

where t0 corresponds to χ = 0, sn is the Jacobi elliptic function, and

κ= 27ω22 E(ξ3 − ξ1 ) (6.5.39)

Combining (6.5.34) and (6.5.38) yields

a22
ξ= = ξ3 − (ξ3 − ξ2 )sn2 [(t − t0 )κ; η] (6.5.40)
E
This equation shows that the energy in the system continues to be exchanged
between the two modes of oscillation.
When ξ2 = ξ3 corresponding to the curve G2 , which is tangent to one of the
√ of F in Figure√6.5, ξ = ξ3 is a constant according to (6.5.31), and hence
branches
a2 = Eξ3 and a1 = E(1 − b1 ξ )/b2 . In this case, the motion of the system is
periodic. However, any small disturbance would lead to a curve such as G1 where
the roots are distinct, and hence the motion is aperiodic.
When ξ2 = ξ1 , G coincides with the ξ -axis, and hence L = σ = 0 according to
(6.5.32). Consequently it follows from (6.5.31) and (6.5.32) that ξ2 = ξ1 = 0, and
6.5 Exercise 6.5 (Internal Resonance Analysis of a Uniform Rod Hanging … 537

ξ3 = 1
12
. The solution in this case can be obtained by introducing the transformation

1
ξ= sech2 ϕ (6.5.41)
12
into (6.5.31) with L = σ = 0. The result is

dϕ
=κ (6.5.42)
dt
whose solution is

ϕ = (t − t0 )κ (6.5.43)

therefore
 
 1 1
a2 = Eξ = Esechϕ = Esech[(t − t0 )κ] (6.5.44)
12 12

and
 √ √
a1 = E(1 − 12ξ ) = Etanhϕ = E tanh[(t − t0 )κ] (6.5.45)

We note that L = σ = 0 demands cos γ = 0 according to (6.5.28). Hence it

follows from (6.5.21) that β1 = β2 = 0; that is, the phases are constant. Therefore,
the motion of the system consists of√only amplitude-modulated motions (AMM).
When t → ∞, a2 → 0 while a1 → E, leading to a motion that is independent of
the lower mode. Thus, the internal resonance in this case leads to a complete transfer
of energy from the lower mode to the higher mode.
(c) When ω1 ≈ 2ω2 is not satisfied, no internal resonance occurs in the first order
solution. In order to eliminate secular terms in (6.5.15), there must be

D1 A1 = D1 A2 = 0 → A1 = A1 (T2 ), A2 = A2 (T2 ) (6.5.46)

Equation (6.5.15) changes into

D02 u12 + ω12 u12 = −ω22 A22 e2iω2 T0 + cc

(6.5.47)
D02 u22 + ω22 u22 = − 23 ω12 A1 A2 ei(ω1 +ω2 )T0 − 23 ω12 A1 A2 ei(ω1 −ω2 )T0 + cc

The solution of (6.5.47) is

u12 = K1 A22 e2iω2 T0 + cc

(6.5.48)
u22 = K2 A1 A2 ei(ω1 +ω2 )T0 + K3 A1 A2 ei(ω1 −ω2 )T0 + cc

where
538 6 Systems Having Finite Degrees of Freedom

ω22 3ω12 3ω12

K1 = , K2 =    , K3 =   
4ω22 − ω1
2
2 ω1 + ω2 − ω2
2 2
2 ω1 − ω22 − ω22
(6.5.49)

Substituting (6.5.14) and (6.5.48) into (6.5.13) yields

1 1
D02 u13 + ω12 u13 = −2iω1 D2 A1 eiω1 T0 − ω22 K2 A1 A2 A2 eiω1 T0 − ω22 K3 A1 A2 A2 eiω1 T0
2 2
+ω2 (ω1 + ω2 )K2 A1 A2 A2 eiω1 T0 − ω2 (ω1 − ω2 )K3 A1 A2 A2 eiω1 T0
1 1
− (ω1 + ω2 )2 K2 A1 A2 A2 eiω1 T0 − (ω1 − ω2 )2 K3 A1 A2 A2 eiω1 T0
2 2
1 2 2 i(ω1 +2ω2 )T0
− ω2 K2 A1 A2 e − ω2 (ω1 + ω2 )K2 A1 A22 ei(ω1 +2ω2 )T0
2
1
− (ω1 + ω2 )2 K2 A1 A22 ei(ω1 +2ω2 )T0
2
1 2 2
− ω22 K3 A1 A2 ei(ω1 −2ω2 )T0 + ω2 (ω1 − ω2 )K3 A1 A2 ei(ω1 −2ω2 )T0
2
1 2
− (ω1 − ω2 )2 K3 A1 A2 ei(ω1 −2ω2 )T0 + cc
2
(6.5.50)

D02 u23 + ω22 u23 = −2iω2 D2 A2 eiω2 T0 − 6ω22 K1 A22 A2 eiω2 T0

3 1
− ω12 K2 A1 A1 A2 eiω2 T0 + ω22 A22 A2 eiω2 T0
2 2
3 2 2 3 2
− ω1 K3 A1 A2 e iω2 T0
− ω1 K3 A1 A1 A2 eiω2 T0 (6.5.51)
2 2
1 2 3 3iω2 T0
−6ω2 K1 A2 e
2 3 3iω2 T0
+ ω2 A2 e
6
3 2
− ω1 K2 A21 A2 ei(2ω1 +ω2 )T0 + cc
2
From (6.5.50) and (6.5.51), we find no internal resonance excitation. Therefore,
the system of this problem does not resonate in the first and second-order approximate
solution.

6.6 Exercise 6.6 (Internal Resonance Analysis of the Plane

Motion of a Rigid Beam Supported by a Spring)

Solution: (a) The kinetic energy of the system is

1 2 1 2
T= mẋ + I θ̇ (6.6.1)
2 2
6.6 Exercise 6.6 (Internal Resonance Analysis of the Plane Motion … 539

Let x = θ = 0 be the equilibrium position of the system, using the equilibrium

position as the zero potential surface of the system, the potential energy of the system
is
1 1
V = k1 (x − l1 sin θ )2 + k2 (x + l2 sin θ)2 (6.6.2)
2 2
Substitute kinetic and potential energy into the Lagrange’s equation:

d ∂T ∂T ∂V d ∂T ∂T ∂V
− =− , − =−
dt ∂ ẋ ∂x ∂x dt ∂ θ̇ ∂θ ∂θ

we can obtain

mẍ + (k1 + k2 )x + (k2 l2 − k1 l1 ) sin θ = 0

1  (6.6.3)
I θ̈ + (k2 l2 − k1 l1 )x cos θ + k1 l12 + k2 l22 sin 2θ = 0
2

(b) Linearizing (6.6.3) near the equilibrium position of the system x = 0 ; θ = 0,

we get

mẍ + (k1 + k2 )x + (k2 l2 − k1 l1 )θ = 0

  (6.6.4)
I θ̈ + (k2 l2 − k1 l1 )x + k1 l12 + k2 l22 θ = 0

which can be written in the matrix form as

   
m0 ẍ (k1 + k2 ) (k2 l2 − k1 l1 ) x
+ =0 (6.6.5)
0 I θ̈ (k2 l2 − k1 l1 ) k1 l12 + k2 l22 θ

Therefore, the linear natural frequencies of the system are

⎡ ⎤1/2
(k11 + k22 ) − (k11 − k22 )2 + 4k12
2
ω1 = ⎣ ⎦
2
⎡ ⎤1/2 (6.6.6)
(k11 + k22 ) + (k11 + k22 ) +
2 2
4k12
ω2 = ⎣ ⎦
2

where

k1 + k2 k2 l2 − k1 l1 k1 l12 + k2 l22
k11 = , k12 = √ , k22 = (6.6.7)
m mI I

Assuming that the corresponding normal modal matrix is

540 6 Systems Having Finite Degrees of Freedom
 
Ψ11 Ψ12
[Ψ ] = (6.6.8)
Ψ21 Ψ22

Then using
   
x u Ψ11 Ψ12 u1
= [Ψ ] 1 = (6.6.9)
θ u2 Ψ21 Ψ22 u2

we can transform (6.6.5) into

  
ü1 ω12 0 u1
+ =0 (6.6.10)
ü2 0 ω22 u2

(c) For small but finite amplitudes, we assume x, θ = O(ε)·x, θ = O(ε) Expanding
 
(6.6.3) near the equilibrium position of the system and retaining to O ε3 yields

1
mẍ + (k1 + k2 )x + (k2 l2 − k1 l1 )θ − (k2 l2 − k1 l1 )θ 3 = 0
6
 2  1 2 
I θ̈ + (k2 l2 − k1 l1 )x + k1 l1 + k2 l2 θ − (k2 l2 − k1 l1 )xθ 2 − k1 l12 + k2 l22 θ 3 = 0
2
2 3
(6.6.11)

which can be written as

   
m0 ẍ (k1 + k2 ) (k2 l2 − k1 l1 ) x
+
0 I θ̈ (k2 l2 − k1 l1 ) k1 l12 + k2 l22 θ
 (6.6.12)
1
l − k1 l1 )θ
6 (k2 2
3

− 1 =0
(k
2 2 2
l − k l
1 1 )xθ 2
+ 23 k1 l12 + k2 l22 θ 3

Using the transformation (6.6.9), we can transform (6.6.12) into

       
m0 ü1 (k1 + k2 ) (k2 l2 − k1 l1 ) u
[Ψ ] T
[Ψ ] + [Ψ ] T
[Ψ ] 1
0 I ü2 (k2 l2 − k1 l1 ) k1 l12 + k2 l22 u2
  
l − k1 l1 )θ 3  x
6 (k2 2
1
  u1
−[Ψ ]T 1 2 3  = [Ψ ] =0
2 (k 2 l 2 − k 1 l 1 )xθ 2
+ 2
3
k 1 l 2
1 + k2 l 2 θ θ u2
(6.6.13)

i.e.,

ü1 + ω12 u1 = α11 u1 u22 + α12 u12 u2 + α13 u13 + α14 u23
(6.6.14)
ü2 + ω22 u2 = α21 u1 u22 + α22 u12 u2 + α23 u13 + α24 u23

where
6.6 Exercise 6.6 (Internal Resonance Analysis of the Plane Motion … 541

α11 = b11 Ψ11 Ψ22

2
+ 2b11 Ψ12 Ψ21 Ψ22 + 3b12 Ψ21 Ψ22
2

α12 = b11 Ψ12 Ψ21

2
+ 2b11 Ψ11 Ψ21 Ψ22 + 3b12 Ψ21
2
Ψ22
α13 = b11 Ψ11 Ψ21
2
+ b12 Ψ213
, α14 = b11 Ψ12 Ψ22
2
+ b12 Ψ22
3

1 1 2  
b11 = Ψ21 (k2 l2 − k1 l1 ), b12 = Ψ11 (k2 l2 − k1 l1 ) + Ψ21 k1 l12 + k2 l22
2 6 3
(6.6.15)

α21 = b21 Ψ11 Ψ22

2
+ 2b21 Ψ12 Ψ21 Ψ22 + 3b22 Ψ21 Ψ22
2

α22 = b21 Ψ12 Ψ21

2
+ 2b21 Ψ11 Ψ21 Ψ22 + 3b22 Ψ21
2
Ψ22
α23 = b21 Ψ11 Ψ21
2
+ b22 Ψ213
, α24 = b21 Ψ12 Ψ22
2
+ b22 Ψ22
3

1 1 2  
b21 = Ψ22 (k2 l2 − k1 l1 ), b22 = Ψ12 (k2 l2 − k1 l1 ) + Ψ22 k1 l12 + k2 l22
2 6 3
(6.6.16)

We use the method of multiple scales to solve (6.6.14). Let the solution of
Eq. (6.6.14) be expressed as

u1 = εu11 (T0 , T1 , T2 ) + ε2 u12 (T0 , T1 , T2 ) + ε3 u13 (T0 , T1 , T2 ) + · · ·

(6.6.17)
u2 = εu21 (T0 , T1 , T2 ) + ε2 u22 (T0 , T1 , T2 ) + ε3 u23 (T0 , T1 , T2 ) + · · ·
 
Substituting (6.6.17) into (6.6.14) and keeping to O ε3 , we get

0 = ü1 + ω12 u1 − α11 u1 u22 − α12 u12 u2 − α13 u13 − α14 u23
   
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εu11 + ε2 u12 + ε3 u13
 
+ω12 εu11 + ε2 u12 + ε3 u13
  2
−α11 εu11 + ε2 u12 + ε3 u13 εu21 + ε2 u22 + ε3 u23
 2  
−α12 εu11 + ε2 u12 + ε3 u13 εu21 + ε2 u22 + ε3 u23 (6.6.18)
 3  3
−α13 εu11 + ε2 u12 + ε3 u13 − α14 εu21 + ε2 u22 + ε3 u23 + · · ·
   
= ε D02 u11 + ω12 u11 + ε2 D02 u12 + ω12 u12 + 2D0 D1 u11
  
+ε3 D02 u13 + ω12 u13 + 2D0 D1 u12 + D12 + 2D0 D2 u11

− α11 u11 u21
2
− α12 u11
2
u21 − α13 u113
− α14 u21
3
+ ···
542 6 Systems Having Finite Degrees of Freedom

0 = ü1 + ω12 u1 − α11 u1 u22 − α12 u12 u2 − α13 u13 − α14 u23
   
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εu11 + ε2 u12 + ε3 u13
 
+ω12 εu11 + ε2 u12 + ε3 u13
  2
−α11 εu11 + ε2 u12 + ε3 u13 εu21 + ε2 u22 + ε3 u23
 2  
−α12 εu11 + ε2 u12 + ε3 u13 εu21 + ε2 u22 + ε3 u23 (6.6.19)
 3  3
−α13 εu11 + ε2 u12 + ε3 u13 − α14 εu21 + ε2 u22 + ε3 u23 + · · ·
   
= ε D02 u11 + ω12 u11 + ε2 D02 u12 + ω12 u12 + 2D0 D1 u11
  
+ε3 D02 u13 + ω12 u13 + 2D0 D1 u12 + D12 + 2D0 D2 u11

− α11 u11 u21
2
− α12 u11
2
u21 − α13 u113
− α14 u21
3
+ ···

Equating coefficients of like powers of ε in (6.6.18) and (6.6.19) yields.

Order ε1 :

D02 u11 + ω12 u11 = 0

(6.6.20)
D02 u21 + ω22 u21 = 0

Order ε2 :

D02 u12 + ω12 u12 = −2D0 D1 u11

(6.6.21)
D02 u22 + ω22 u22 = −2D0 D1 u21

Order ε3 :
 
D02 u13 + ω12 u13 = −2D0 D1 u12 − D12 + 2D0 D2 u11
+α11 u11 u21
2
+ α12 u11
2
u21 + α13 u11
3
+ α14 u21
3
 (6.6.22)
D02 u23 + ω22 u23 = −2D0 D1 u22 − D12 + 2D0 D2 u21
+α21 u11 u21
2
+ α22 u11
2
u21 + α23 u11
3
+ α24 u21
3

The solution of (6.6.20) is

 
u11 A1 eiω1 T0 + A1 e−iω1 T0
= (6.6.23)
u21 A2 eiω2 T0 + A2 e−iω2 T0

where Ak = Ak (T1 , T2 ). Substituting (6.6.23) into (6.6.21), we obtain

D02 u12 + ω12 u12 = −2iω1 D1 A1 eiω1 T0 + cc

(6.6.24)
D02 u22 + ω22 u22 = −2iω2 D1 A2 eiω2 T0 + cc

Eliminating secular terms in the above equation gives

D1 A1 = D1 A2 = 0 → A1 = A1 (T2 ), A2 = A2 (T2 ) (6.6.25)

6.6 Exercise 6.6 (Internal Resonance Analysis of the Plane Motion … 543

therefore

u12 = 0, u22 = 0 (6.6.26)

Substituting (6.6.23), (6.6.25) and (6.6.26) into (6.6.22) yields

D02 u13 + ω12 u13 = −2iω1 A1 ei ω1 T0 + 2α11 A1 A2 A2 eiω1 T0 + 3α13 A21 A1 ei ω1 T0
2
+α12 A1 A2 ei(ω2 −2ω1 )T0 + α14 A32 e3iω2 T0 + cc + NST
(6.6.27)

D02 u23 + ω22 u23 = −2iω2 A2 eiω2 T0 + 2α22 A1 A1 A2 eiω2 T0 + 3α24 A22 A2 eiω2 T0
2
+α21 A1 A2 ei(ω1 −2ω2 )T0 + α23 A31 e3iω1 T0 + cc + NST
(6.6.28)

Primes denote the derivative with respect to T 2 . To obtain these two equations,
we did not consider the case of ω1 = ω2 . From (6.6.27) and (6.6.28), we can find
that there are two possible resonant cases:ω2 ≈ 3ω1 and ω1 ≈ 3ω2 . Without loss of
generality, we assume ω2 > ω1 . In analyzing the particular solutions of (6.6.27) and
(6.6.28) we need to distinguish between the resonant case in which ω1 ≈ 3ω2 and
the nonresonant case in which ω2 is away from 3ω1 .
(1) The nonresonant case.
In this case, ω2 = ω1 , ω2 = 3ω1 , in order to eliminate secular terms from (6.6.27)
and (6.6.28), there must be

2iω1 A1 − 2α11 A1 A2 A2 − 3α13 A21 A1 = 0

(6.6.29)
2iω2 A2 − 2α22 A1 A1 A2 − 3α24 A22 A2 = 0

Let
1 iβk
Ak = ak e , k = 1, 2 (6.6.30)
2
Substitute (6.6.30) into (6.6.29), we get

ia1 − β1 a1 − 41 α11 ω1−1 a1 a22 − 38 α13 ω1−1 a13 = 0

(6.6.31)
ia2 − β2 a2 − 14 α22 ω2−1 a12 a2 − 38 α24 ω2−1 a23 = 0

Separating the real and imaginary parts of the above equations yields

a1 = 0, a2 = 0 (6.6.32)

β1 = − 14 α11 ω1−1 a22 − 38 α13 ω1−1 a12

(6.6.33)
β2 = − 14 α22 ω2−1 a12 − 38 α24 ω2−1 a22
544 6 Systems Having Finite Degrees of Freedom

therefore

a1 = a10 , a2 = a20 (6.6.34)

 
β1 = β10 −  14 α11 ω1−1 a20
2
+ 38 α13 ω1−1 a10
2
T2 (6.6.35)
β2 = β20 − 41 α22 ω2−1 a102
+ 38 α24 ω2−1 a20
2
T2

If εa1 and εa2 are written as a1 and a2 , respectively, then the first order approximate
solution can be obtained as
  
x u u  
= [Ψ ] 1 ≈ [Ψ ] 11 + O ε3
θ u2  u21 

a10 cos[ω1 t −  41 α11 ω1−1 a20
2
+ 38 α13 ω1−1 a10
2
t + β10  3  (6.6.36)
= [Ψ ] −1 −1
 + O ε
a20 cos[ω2 t − 41 α22 ω2 a10 2
+ 38 α24 ω2 a202
t + β20

(2) The resonant case (internal resonance ω2 ≈ 3ω1 )

In this case we introduce a detuning parameter σ according to

ω2 = 3ω1 + ε2 σ (6.6.37)

Eliminating secular terms from (6.6.27) and (6.6.28), there must be

2
2iA 1 − 2α11 ω1−1 A1 A2 A2 − 3α13 ω1−1 A21 A1 − α12 ω1−1 A1 A2 eiσ T2 = 0
(6.6.38)
2iA − 2α22 ω2−1 A1 A1 A2 − 3α24 ω2−1 A22 A2 − α23 ω2−1 A31 e−iσ T2 = 0

Substituting (6.6.30) into (6.6.38) yields

ia1 − a1 β11

− 41 α11 ω1−1 a1 a22 − 38 α13 ω1−1 a13 − α12 ω1−1 a12 a2 ei(σ T2 −3β1 +β2 ) = 0
ia2 − β  a22 − 41 α22 ω2−1 a12 a2 − 38 α24 ω2−1 a23 − α23 ω2−1 a13 e−i(σ T2 −3β1 +β2 ) = 0
(6.6.39)

Separating the real and imaginary parts of the above equations yields

a1 = α12 ω1−1 a12 a2 sin γ

(6.6.40)
a2 = −α23 ω2−1 a13 sin γ
1 3
a1 β1 = − α11 ω1−1 a1 a22 − α13 ω1−1 a13 − α12 ω1−1 a12 a2 cos γ
4 8 (6.6.41)
1 3
a2 β2 = − α22 ω2−1 a12 a2 −

α24 ω2−1 a23 − α23 ω2−1 a13 cos γ
4 8
where

γ = σ T2 − 3β1 + β2 (6.6.42)
6.6 Exercise 6.6 (Internal Resonance Analysis of the Plane Motion … 545

Eliminating γ from (6.5.20), we obtain

α23 a1 da1 + 3α12 a2 da2 = 0 (6.6.43)

therefore,

α23 a12 + 3α12 a22 = E, E = α23 a10

2
+ 3α12 a20
2
(6.6.44)

Write εa1 and εa2 as a1 and a2 , respectively, we can obtain the first-order
approximate solution of the original equation
  
x u1 u  
= [Ψ ] ≈ [Ψ ] 11 + O ε3
θ u2 u21
 (6.6.45)
a (t)cos[ω1 t + β1 (t)]  
= [Ψ ] 1 + O ε3
a2 (t)cos[ω2 t + β2 (t)]

where a1 , a2 , β1 β1 and β2 can be determined by (6.6.40), (6.6.41), (6.6.42) and

(6.6.44).
Next we analyze the equations describing amplitude and phase of the motion,
(6.6.40)–(6.6.44). Eliminating β1 , β2 from the two equations of (6.6.41), we get

a2 γ  = σ a2 + 43 α11 ω1−1 a23 + 98 α13 ω1−1 a12 a2 + 3α12 ω1−1 a1 a22 cosγ
(6.6.46)
− 41 α22 ω2−1 a12 a2 − 38 α24 ω2−1 a23 − α23 ω2−1 a13 cosγ

Dividing the above equation with the first equation of (6.6.40) yields

α23 a13 d (a2 cosγ ) = 9α12 a1 a22 cosγ da2 + ω2 σ a2 da2 + 49 α11 a23 da2
+ 27 α a2 a da2 − 41 α22 a12 a2 da2 − 38 α24 a23 da2
8 13 1 2

since
 
α23 a13 d (a2 cos γ ) = α23 d a13 a2 cos γ − 3α23 a12 a2 cos γ da1

Thus, the above two equations become

 
α23 d a13 a2 cosγ = 3a1 a2 cosγ (α23 a1 da1 + 3α12 a2 da2 ) + ω2 σ a2 da2 + 49 α11 a23 da2
+ 27 α a2 a da2 − 41 α22 a12 a2 da2 − 38 α24 a23 da2
8 13 1 2

With Eq. (6.6.43), the above equation becomes

 
  9 3
α23 d cos γ = ω2 σ a2 da2 +
a13 a2 α11 − α24 a23 da2
4 8
 
27 1
+ α13 − α22 a12 a2 da2
8 4
546 6 Systems Having Finite Degrees of Freedom

Using (6.6.44) to eliminate a12 on the right-hand side of the above equation, we
get
   
−1 27

α23d a13 a2 cosγ = ω2 σ + Eα
 27
23 8
α13 − 1
4
α
 3 a2 da2
22
−1 (6.6.47)
+ 4 α11 − 8 α24 − 3α23 α12 8 α13 − 4 α22 a2 da2
9 3 1

Make the integration of Eq. (6.6.47), we can obtain

a13 a2 cos γ − (h1 σ + h2 )a22 − h3 a24 = L (6.6.48)

where L is the constant of integration and

 
1 −1 1 −2 27 1
h1 = α23 ω2 , h2 = Eα α13 − α22
2 2 23 8 4
     (6.6.49)
1 −1 9 3 −2 27 1
h3 = α α11 − α24 − 3α23 α12 α13 − α22
4 23 4 8 8 4

Now, let us combine, and into a single variable differential equation. To do this,
let

a12 = Eξ (6.6.50)

Then from (6.6.44), we can obtain

1 −1
a22 = α E(1 − α23 ξ ) (6.6.51)
3 12
Eliminating γ from (6.6.48) and (6.6.40) yields
 2
E2 dξ −1 3
2 −2
ω1 dT2
= 13 E 4 α12 ξ (1 − α23 ξ )
4α12
   2
(6.6.52)
1 −1 −1
− L+ α E(1 − α23 ξ ) h1 σ + h2 + 13 Eh3 α12
3 12 (1 − α23 ξ )

Or
 2
E2 dξ
2 −2
= F 2 (ξ ) − G 2 (ξ ) (6.6.53)
4α12 ω1 dT2

where

1 4 −1 3
F(ξ ) = ± 3
E α12 ξ (1
− α23 ξ )
   2
(6.6.54)
−1 −1
G(ξ ) = L + 13 α12 E(1 − α23 ξ ) h1 σ + h2 + 13 Eh3 α12 (1 − α23 ξ )
6.6 Exercise 6.6 (Internal Resonance Analysis of the Plane Motion … 547

The functions F(ξ ) and G(ξ ) are shown schematically in Fig. 6.6. For real motions,
F 2 (ξ ) ≥ G 2 (ξ ). The points where F meets G corresponds to the vanishing of ξ .
Considering the case of two intersection points of curves F and G, such as the
intersection of G2 and F, as well as the intersection of G3 and F in Figure 6.6. In this
case, ξ is periodic and oscillates between two intersection points, and the motion is
aperiodic.
Considering the curves G1 and F are tangent to each other, as shown in Figure 6.6.
In this case, ξ has only one constant-value solution, and the motion of the system is
periodic. The nonlinear effect acts to modulate the phase of the motion so that the
nonlinear frequencies of the two modes are commensurable.
In order to analyze the steady state solution, let a1 = a2 = γ  = 0, (6.6.40) and
(6.6.46) become

sin γ = 0 or γ = nπ (6.6.55)
   
9 1 3 3
σ a2 + α13 ω1−1 − α22 ω2−1 a12 a2 + α11 ω1−1 − α24 ω2−1 a23
8 4 4 8 (6.6.56)
 −1 2 −1 2

+ 3α12 ω1 a2 − α23 ω2 a1 a1 cos nπ = 0

Equation (6.6.56) is the cubic equation of a2 . For a given set of values of σ , a1

and cos nπ , Eq. (6.6.56) has one or three real roots, each of which corresponds to
a periodic motion of the system. Thus, the periodic motion of the system is either
unique or one of the three possible periodic motions. Figure 6.6 shows that the
periodic motion is unstable. With a small perturbation, a curve such as G1 may
become a curve such as G2 and the motion of the system becomes aperiodic.
For the case of the nonlinear periodic motion of the system with a constant-value
solution, we note that the frequency of the motion of the system is

ω̂1 = ω1 + ε2 β1 , ω̂2 = ω2 + ε2 β2 (6.6.57)

Fig. 6.6 Schematic diagram

of F(ξ ) and G(ξ ) for
Exercise 6.6
548 6 Systems Having Finite Degrees of Freedom

therefore,
   
ω̂2 − 3ω̂1 = ω2 − 3ω1 + ε2 β2 − 3β1 = ε2 σ + ε2 β2 − 3β1 = ε2 γ  = 0
(6.6.58)

Thus, the nonlinearity of the system modulates the frequency of the motion to
exactly 3 to 1, and thus the motion is periodic.

6.7 Exercise 6.7 (Analytical Solution

of a Two-Degree-of-Freedom High-order Nonlinear
Equation)

Solution: (a) From the given equation of the system, we can get
   
u2 n n
m1 ü1 = − k1 + α1 1 − u1
u1
  n  (6.7.1)
u1
m2 ü2 = − k2 − α1 −1 u2n
u2

thus
  n 
k + α 1 − u2  n
m1 ü1 1 1 u1 u1
=  n  (6.7.2)
m2 ü2 k2 − α1 u2 − 1
u1 u2

It can be seen that there exists a system of solutions u1 , u2 that satisfy

u1
= c = constant (6.7.3)
u2

In this case, the constant c should satisfy

  n 
m1 c k1 + α1 1 − 1c
=   cn
m2 k2 − α1 (c − 1)n

i.e.,
  n   
m2 k1 cn + α1 cn − 1 = m1 c k2 − α1 (c − 1)n (6.7.4)

(b) From the second equation of (6.7.1) and (6.7.3), we can obtain
 
ü2 + k2 − α1 (c − 1)n m−1
2 u2 = 0
n
(6.7.5)
6.7 Exercise 6.7 (Analytical Solution of a Two-Degree-of-Freedom … 549

Multiplying both sides of the equation by u̇2 gives

 
u̇2 d u̇2 + k2 − α1 (c − 1)n m−1
2 u2 du2 = 0
n
(6.7.6)

After integration, we can obtain

1 2 1  
u̇2 + k2 − α1 (c − 1)n m−1 n+1
2 u2 =E (6.7.7)
2 n+1

E is the constant of integration. Separating the variables for the above equation
gives

du2
dt = ±   (6.7.8)
2 E − bu2n+1

where
1  
b= k2 − α1 (c − 1)n m−1 (6.7.9)
n+1 2

Make the integration of (6.7.8), we can obtain

u2 dx
t − t0 = ± ∫   (6.7.10)
u20
2 E − bxn+1

Combining (6.7.3) and (6.7.8), we can obtain

c−1 du1
dt = ±   (6.7.11)
2 E − bc−(n+1) u1n+1

Make the integration of (6.7.11), we can obtain

u1 dx
t − t0 = ±c−1 ∫   (6.7.12)
u10
2 E − bc−(n+1) xn+1
550 6 Systems Having Finite Degrees of Freedom

6.8 Exercise 6.8 (Forced Oscillations

of a Two-Degree-of-Freedom Gyroscopic System
with Cubic Nonlinearity)

Solution: (a) The given system equations represent a linear gyroscopic system plus a
linear damping term, a cubic nonlinear term, and an excitation term. Its corresponding
linear undamped free oscillation equation is:

ü1 + I u̇2 + u1 = 0
(6.8.1)
ü2 − I u̇1 + u2 = 0

Let the solution of Eq. (6.8.1) is

u1 = Aeiω t , u2 = Beiω t (6.8.2)

The characteristic equation of the linear system can be obtained as

 
1 − ω2 iI ω A
=0 (6.8.3)
−iI ω 1 − ω2 B

So
 
−ω2 + 1 iI ω
det =0 (6.8.4)
−iI ω −ω2 + 1

i.e.,
 2 2
ω − 1 − I 2 2 ω2 = 0 (6.8.5)

The natural frequencies of that linear undamped system are:

√ √
I 2 2 + 4 − I  I 2 2 + 4 + I 
ω1 = , ω2 = (6.8.6)
2 2
Substituting ω1 and ω2 into (6.8.3), the corresponding modal vectors can be
obtained as

{1, i}T , {1, −i}T (6.8.7)

The solution of linear undamped free oscillation Eq. (6.8.1) is

u11 = A1 eiω1 t + A2 eiω2 t + cc

(6.8.8)
u21 = iA1 eiω1 t − iA2 eiω2 t + cc
6.8 Exercise 6.8 (Forced Oscillations of a Two-Degree-of-Freedom … 551

(b) For small and finite amplitudes, we use the method of multiple scales to solve
the original nonlinear equations. Therefore, let the solutions of the equations be

u1 = u11 (T0 , T1 ) + εu12 (T0 , T1 ) + · · ·

(6.8.9)
u2 = u21 (T0 , T1 ) + εu22 (T0 , T1 ) + · · ·
 
Substituting (6.8.9) into the given system equation and retaining to O ε2 yields

0 = ü1 + I u̇2 + u1 + 2εu̇1 + 2 cos t

 
= D02 + 2εD0 D1 (u11 + εu12 ) + I (D0 + εD1 )(u21 + εu22 )
+(u11 + εu12 ) + 2ε(D0 + εD1 )(u11 + εu12 ) + 2 cos T0 + · · ·
(6.8.10)
= D02 u11 + I D0 u21 + u11 + 2 cos T0

+ε D02 u12 + I D0 u22 + u12
+2D0 D1 u11 + I D1 u21 + 2D0 u11 ) + · · ·

0 = ü2 − I u̇1 + u2 + 2εu̇2 + ε2 u23

 
= D02 + 2εD0 D1 (u21 + εu22 ) − I (D0 + εD1 )(u11 + εu12 )
+(u21 + εu22 ) + 2ε(D0 + εD1 )(u21 + εu22 ) + ε2 (u21 + εu22 )3 + · · ·

= D02 u21 − I D0 u11 + u21 + ε D02 u22 − I D0 u12 + u22

− I D1 u11 + 2D0 D1 u21 + 2D0 u21 + 2 u21 3
+ ···
(6.8.11)

Equating coefficients of like powers of ε in (6.8.10) and (6.8.11) yields.

Order ε0 :

D02 u11 + I D0 u21 + u11 = −2 cos T0

(6.8.12)
D02 u21 − I D0 u11 + u21 = 0

Order ε1 :

D02 u12 + I D0 u22 + u12 = −2D0 D1 u11 − I D1 u21 − 2D0 u11
(6.8.13)
D02 u22 − I D0 u12 + u22 = −2D0 D1 u21 + I D1 u11 − 2D0 u21 − 2 u21
3

The solution of (6.8.12) is

u11 = A1 eiω1 T0 + A2 eiω2 T0 + K1 eiT0 + cc

(6.8.14)
u21 = iA1 eiω1 T0 − iA2 eiω2 T0 + iK2 eiT0 + cc

where
552 6 Systems Having Finite Degrees of Freedom
 
2 1 − 2 I 4
K1 =   2  , K2 =   2  (6.8.15)
2 I 2 4 − 1 − 2 2 I 2 4 − 1 − 2

Ak = Ak (T1 ). Substituting (6.8.14) into (6.8.13), we can obtain

  
 iω T
D02u12 + I D0 u22 + u12 = −2iω  1 A1 − iI A1 − 2iω1 A1 e
1 0

 
+ −2iω2 A2 + iI A2 − 2iω2 A2 e iω2 T0 (6.8.16)
−2iK1 ei  T0 + cc

D02 u22 − I D0 u12 + u22 = 2ω1 A1 + I A1 + 2ω1 A1 − 3i2 A21 A1

− 6i2 K22 A1 − 6i2 A1 A2 A2 eiω1 T0

+ −2ω2 A2 + I A2 − 2ω2 A2 + 3i2 A22 A2

+6i2 K22 A2 + 6i2 A1 A1 A2 eiω2 T0

+ 2K2 − 6i2 K2 A1 A1 − 6i2 K2 A2 A2

−3i2 K23 eiT0 + i2 K23 e3iT0
+32 K2 A1 ei(ω1 +)T0 − 32 K2 A2 ei(ω2 +)T0 (6.8.17)
−6i2 K2 A1 A2 ei(ω1 +ω2 +)T0 + 6i2 K2 A1 A2 ei(ω1 +ω2 −)T0
−3i2 A1 A22 ei(2ω2 −ω1 )T0 + 3i2 A21 A2 ei(2ω1 −ω2 )T0
−3i2 K22 A1 ei(2−ω1 )T0 + 3i2 K22 A2 ei(2−ω2 )T0
−3i2 K2 A21 ei(2ω1 −)T0 − 3i2 K2 A22 ei(2ω2 −)T0
+6i2 K2 A2 A1 ei(−ω1 +ω2 )T0 + 6i2 K2 A1 A2 ei(+ω1 −ω2 )T0
−32 A1 A2 ei(ω1 +ω2 )T0 + i2 A31 e3iω1 T0 − i2 A32 e3iω2 T0 + cc

Primes denote the derivative with respect to T1 . It can be seen from (6.8.16) and
(6.8.17) that there are different possibilities: internal resonance, primary resonance
and combination resonance, depending on the values of ω1 and ω2 . In the following,
we only present the solution for case (i), i.e.,ω1 +ω2 ≈ 2; for case (ii), i.e.,3ω1 ≈ 
and ω2 ≈ 3, readers are invited to complete the solution.
(i) ω1 + ω2 ≈ 2Ω:
Let

ω1 + ω2 = 2 + εσ (6.8.18)

The corresponding homogeneous equations to (6.8.16) and (6.8.17) are identical

to (6.8.1). (6.8.16) and (6.8.17) are coupled with each other, so the excitation terms
with frequencies ω1 and ω2 can induce the resonances of both u12 and u22 . To make
the equations solvable, terms with frequencies ω1 and ω2 must be eliminated at the
same time. In order to eliminate secular terms of Eqs. (6.8.16) and (6.8.17), we seek
the following special solutions for Eqs. (6.8.16) and (6.8.17):
6.8 Exercise 6.8 (Forced Oscillations of a Two-Degree-of-Freedom … 553

u12 = P11 eiω1 T0 + P12 eiω2 T0

(6.8.19)
u22 = P21 eiω1 T0 + P22 eiω2 T0

Substituting (6.8.19) into the Eqs. (6.8.16) and (6.8.17), taking (6.8.18) into
account, and equating the coefficients of eiω1 T0 and eiω2 T0 yields
   
1 − ωn2  iωn I   P1n R1n
= , n = 1, 2 (6.8.20)
−iωn I  1 − ωn2 P2n R2n

where

R11 = −2iω1 A1 − iI A1 − 2iω1 A1

R21 = 2ω1 A1 + I A1 + 2ω1 A1 − 3i2 A21 A1 (6.8.21)
−6i2 K22 A1 − 6i2 A1 A2 A2 + 3i2 K22 A2 e−iσ T1

R12 = −2iω2 A2 + iI A2 − 2iω2 A2

R22 = −2ω2 A2 + I A2 − 2ω2 A2 + 3i2 A22 A2 (6.8.22)
+6i2 K22 A2 + 6i2 A1 A1 A2 − 3i2 K22 A1 e−iσ T1

According to (6.8.4), the determinant of the coefficient matrix of Eq. (6.8.20) is

zero:
 
R1n  iωn I  
det =0
R2n 1 − ωn2

i.e.
 
1 − ωn2 R1n = iωn I R2n (6.8.23)

Substitute (6.8.21) and (6.8.22) into (6.8.23), we get

 2    
ω1 − ω1 I  − 1 (2ω1 + I )A1 = −2ω1 ω12 − 1 A1 + ω1 I  2ω1 A1 − 3i2 A21 A1
− 6i2 K22 A1 − 6i2 A1 A2 A2 + 3i2 K22 A2 e−iσ T1
(6.8.24)
    
ω22 + ω2 I  − 1 (2ω2 − I )A2 = −2ω2 ω22 − 1 A2 + ω2 I  −2ω2 A2 + 3i2 A22 A2

+ 6i2 K22 A2 + 6i2 A1 A1 A2 − 3i2 K22 A1 e−iσ T1
(6.8.25)

From (6.8.6), we have

2ω1 + I  = ω1 + ω2 ≈ 2,  2ω2 − I  = ω1 + ω2 ≈ 2

ω12 − ω1 I  − 1= 2 ω12− 1 , ω22 + ω2 I  − 1 = 2 ω22 − 1
ω1 I  = − ω12 − 1 , ω2 I  = ω22 − 1
554 6 Systems Having Finite Degrees of Freedom

Substituting this into (6.8.24) and (6.8.25) yields

A1 = (−s1 + 2iα1 )A1 + iα2 A21 A1 + 2iα2 A1 A2 A2 − iα1 A2 e−iσ T1 (6.8.26)

A2 = (−s2 + 2iα1 )A2 + iα2 A22 A2 + 2iα2 A1 A1 A2 − iα1 A1 e−iσ T1 (6.8.27)

where

ω1 ω2 3K22 3
s1 = , s2 = , α1 = , α2 = (6.8.28)
  4 4
Let
1 iβ1 1
A1 = a1 e , A2 = a2 eiβ2 (6.8.29)
2 2
Substituting (6.8.29) into (6.8.26) and (6.8.27), we get

1 1
a1 + ia1 β1 = (−s1 + 2iα1 )a1 + iα2 a13 + iα2 a1 a22 − iα1 a2 e−iγ (6.8.30)
4 2
1 1
a2 + ia2 β2 = (−s2 + 2iα1 )a2 + iα2 a23 + iα2 a12 a2 − iα1 a1 e−iγ (6.8.31)
4 2
where

γ = σ T1 + β1 + β2 (6.8.32)

Separating the real and imaginary parts of (6.8.30) and (6.8.31) yields

a1 = −s1 a1 − α1 a2 sinγ

(6.8.33)
a2 = −s2 a2 − α1 a1 sinγ

a1 β1 = 2α1 a1 + 41 α2 a13 + 21 α2 a1 a22 − α1 a2 cosγ

(6.8.34)
a2 β2 = 2α1 a2 + 14 α2 a23 + 21 α2 a12 a2 − α1 a1 cosγ

Eliminating β1 and β2 in (6.8.34) and (6.8.32) yields

3    
a1 a2 γ  = a1 a2 σ + 4α1 a1 a2 + α2 a12 + a22 a1 a2 − α1 a12 + a22 cos γ (6.8.35)
4

Let a1 = a2 = γ  = 0 in (6.8.33) and (6.8.35), we can obtain

−s1 a1 = α1 a2 sin γ (6.8.36)

6.8 Exercise 6.8 (Forced Oscillations of a Two-Degree-of-Freedom … 555

−s2 a2 = α1 a1 sin γ (6.8.37)

3    
a1 a2 σ + 4α1 a1 a2 + α2 a12 + a22 a1 a2 = α1 a12 + a22 cos γ (6.8.38)
4
Obviously, the following set of solutions can be found

a1 = a2 = 0, γ = γ0 = constant (6.8.39)

When a1 = 0and a2 = 0, we can eliminate γ from (6.8.36) and (6.8.37),

as well as from (6.8.37) and (6.8.38), and obtain
s1 2
a22 = a (6.8.40)
s2 1
  2  
a1 a2 3  2  s2 a2 2
 2  σ + 4α1 + α2 a + a 2
+ =1 (6.8.41)
α1 a1 + a22 4 1 2
α1 a1

Substituting (6.8.40) into (6.8.41) yields

  
3 s1 2 α12 − s1 s2
σ = −4α1 − α2 1 + a1 ± (s1 + s2 ) (6.8.42)
4 s2 s1

(6.8.42) and (6.8.40) are the frequency–response equation for nontrivial constant
amplitude.
The stability of steady state solution (6.8.39) is analyzed below. The linearized
equation of (6.8.33) near the equilibrium point is
  
ã1 −s1 −α1 sin γ0 ã1
= (6.8.43)
ã2 −α1 sin γ0 −s2 ã2

Its eigenvalues are

 
−(s1 + s2 ) ± (s1 + s2 )2 − 4 s1 s2 − α12 sin2 γ0
λ= (6.8.44)
2
It can be seen that when

s1 s2 > α12 sin2 γ0 (6.8.45)

the steady state solution (6.8.39) is stable, otherwise it is unstable. Thus the stability
condition is:
556 6 Systems Having Finite Degrees of Freedom

94 K24
s1 s2 > α12 or ω1 ω2 ≥ (6.8.46)
16
For a nontrivial constant solution a10 , a20 , γ0 , let

a1 = a10 + ã1 , a2 = a20 + ã2 , γ = γ0 + γ̃ (6.8.47)

The linearized equations of (6.8.33) and (6.8.35)

⎧ ⎫ ⎡ ⎤⎧ ⎫
⎨ ã1 ⎬ −s1 −α1 sin γ0 −α1 a20 cos γ0 ⎨ ã1 ⎬
ã = ⎣ −α1 sin γ0 −s2 −α1 a10 cos γ0 ⎦ ã2 (6.8.48)
⎩ 2 ⎭ ⎩ ⎭
γ̃ 1 2 3 γ̃

where
3  −2 −2

1 = α2 a10 + α1 a20 a10 − a20 cos γ0
2
3  −2 −2
 (6.8.49)
2 = α2 a20 − α1 a10 a10 − a20 cos γ0
2  −2 
−2
3 = α1 a10 a20 a10 + a20 sin γ0

The characteristic equation of (6.8.48) is

⎡ ⎤
λ + s1 α1 sin γ0 α1 a20 cos γ0
det ⎣ α1 sin γ0 λ + s2 α1 a10 cos γ0 ⎦ = 0 (6.8.50)
−1 −2 λ − 3

If all three eigenvalues of (6.8.50) have negative real parts, the non-trivial constant
solution is stable, otherwise it is unstable.

6.9 Exercise 6.9 (Forced Oscillations

of a Two-Degree-of-Freedom System with Quadratic
and Cubic Nonlinearities)

Solution: For small and finite amplitudes, we use the method of multiple scales to
solve the nonlinear equations. Therefore, let the solution of the equations be

u1 = εu11 (T0 , T1 ) + ε2 u12 (T0 , T1 ) + · · ·

(6.9.1)
u2 = εu21 (T0 , T1 ) + ε2 u22 (T0 , T1 ) + · · ·

In order to make the damping term and nonlinear term appearing in the same
order, let
6.9 Exercise 6.9 (Forced Oscillations of a Two-Degree-of-Freedom System … 557

μ1 = εμ̂1 , μ2 = εμ̂2 (6.9.2)

 Substituting
 (6.9.1) and (6.9.2) into the given system equation and retaining to
O ε2 yields

3 1
0 = ü1 + 2εμ̂1 u̇1 + ω12 u1 + ω12 u12 + ω12 u13 + α1 ω12 (u1 + 1)u22 − K cos t
  2  2  
= D02 + 2εD0 D1 εu11 + ε2 u12 + 2εμ1 (D0 + εD1 ) εu11 + ε2 u12
  3  2 1  3
+ω12 εu11 + ε2 u12 + ω12 εu11 + ε2 u12 + ω12 εu11 + ε2 u12
2 2
  2
+α1 ω12 εu11 + ε2 u12 + 1 εu21 + ε2 u22 − K cos T0 + · · ·
  
= ε D02 u11 + ω12 u11 + ε2 D02 u12 + ω12 u12 + 2D0 D1 u11

3 2 2
+ 2μ̂1 D0 u11 + ω1 u11 + α1 ω1 u21 − Kcos T0 + · · ·
2 2
2
(6.9.3)
 
0 = ü2 + 2εμ̂2 u̇2 + ω22 u2 + α2 u23 + α3 u12 + 2u1
    
u2 = D02 + 2εD0 D1 εu21 + ε2 u22 + 2εμ̂2 (D0 + εD1 ) εu21 + ε2 u22
   3
+ω22 εu21 + ε2 u22 + α2 εu21 + ε2 u22
 2    (6.9.4)
+α3 εu11 + ε2 u12 + 2 εu11 + ε2 u12 εu21 + ε2 u22 + · · ·
  
ε D02 u21 + ω22 u21 + ε2 D02 u22 + ω22 u22 + 2D0 D1 u21
+ 2μ̂2 D0 u21 + 2α3 u11 u21 ) + · · ·

(a) When  ≈ ω1 and ω2 is away from 1

2
ω1 .

In this case, we introduce the detuning parameter σ and let

 = ω1 + εσ1 (6.9.5)

In this case, the external excitation can cause the primary resonance of the system,
which must appear together with the damping and nonlinear terms in the equations
of order ε2 , for which let

K = ε2 K̂ (6.9.6)

Equating coefficients of like powers of ε in (6.9.3) and (6.9.4) yields.

Order ε1 :

D02 u11 + ω12 u11 = 0D02 u21 + ω22 u21 = 0 (6.9.7)

Order ε2 :
558 6 Systems Having Finite Degrees of Freedom

D02 u12 + ω12 u12 = −2D0 D1 u11 − 2μ̂1 D0 u11 − 23 ω12 u11
2

−α1 ω1 u21 + K̂cosT0

2 2 (6.9.8)
D02 u22 + ω22 u22 = −2D0 D1 u21 − 2μ̂2 D0 u21 − 2α3 u11 u21

The solution of (6.9.7) is

u11 = A1 eiω1 T0 + cc, u21 = A2 eiω2 T0 + cc (6.9.9)

where Ak = Ak (T1 ). Substituting (6.9.9) into (6.9.8), we get

D02 u12 + ω12 u12 = −2iω1A 1 eiω1 T0 − 2iω1 μ̂1 A1 eiω1 T0+ 21 K̂eiσ1 T1 eiω1 T0
(6.9.10)
− 23 ω12 A1 A1 + A21 e2iω1 T0 − α1 ω12 A2 A2 + A22 e2iω2 T0 + cc

D02 u22 + ω22 u22 = −2iω2 A 2 eiω2 T0 − 2iω2 μ̂2 A2 eiω2 T0

(6.9.11)
−2α3 A1 A2 ei(ω1 +ω2 )T0 − 2α3 A1 A2 ei(ω2 −ω1 )T0 + cc

Primes denote the derivative with respect to T1 . In order to eliminate the secular
terms from (6.9.10) and (6.9.11), we need

2ω1 A 1 + 2ω1 μ̂1 A1 = 21 K̂eiσ1 T1

(6.9.12)
A 2 + μ̂2 A2 = 0

therefore

K̂(iσ1 − μ̂1 ) iσ1 T1

A1 =  e , A2 = A20 e−μ̂2 T1 → 0 (6.9.13)
4ω1 σ12 + μ̂21

Considering  ≈ ω1 and ω2 is away from 21 ω1 and substituting (6.9.13) into

(6.9.9), we can obtain the first order approximate solution of the system
 
u1 = εu11 + O ε2
 
= − 2ω σK̂2 +μ̂2 [μ̂1 cos(ω1 T0 + σ1 T1 ) + σ1 sin(ω1 T0 + σ1 T1 )] + O ε2
1( 1 1)   (6.9.14)
= − 2ωK1 μ1 cos(ω1 T0 + σ1 T1 ) + O ε2
 2  2
u2 = εu21 + O ε = O ε

(b) When  ≈ ω1 and ω1 ≈ 2ω2 .

In this case, the detuning parameters σ1 and σ2 are introduced such that

 = ω1 + εσ1 , ω1 = 2ω2 + εσ2 (6.9.15)

Let

K = ε2 K̂ (6.9.16)
6.9 Exercise 6.9 (Forced Oscillations of a Two-Degree-of-Freedom System … 559

(6.9.10)–(6.9.11) still hold for the present case. Considering (6.9.15) and
eliminating secular terms in (6.9.10) and (6.9.11), we need

1
2ω1 A1 + 2ω1 μ̂1 A1 + iK̂eiσ1 T1 − iα1 ω12 A22 e−iσ2 T1 = 0 (6.9.17)
2

2ω2 A2 + 2ω2 μ̂2 A2 − 2iα3 A1 A2 eiσ2 T1 = 0 (6.9.18)

Let
1 iβ1 1
A1 = a1 e , A2 = a2 eiβ2 (6.9.19)
2 2
Substituting (6.9.19) into (6.9.17) and (6.9.18), we have

1 1
a1 + ia1 β1 + μ̂1 a1 + iω1−1 K̂ei(σ1 T1 −β1 ) − iα1 ω1 a22 e−i(σ2 T1 +β1 −2β2 ) = 0 (6.9.20)
2 4
1
a2 + ia2 β2 + μ̂2 a2 − iω2−1 α3 a1 a2 ei(σ2 T1 +β1 −2β2 ) = 0 (6.9.21)
2
Separating the real and imaginary parts of the above equations yields

1 1
a1 + μ̂1 a1 − ω1−1 K̂ sin γ1 − α1 ω1 a22 sin γ2 = 0
2 4
 1 −1 1
a1 β1 + ω1 K̂ cos γ1 − α1 ω1 a22 cos γ2 = 0
2 4 (6.9.22)
1 −1
a2 + μ̂2 a2 + ω2 α3 a1 a2 sin γ2 = 0
2
1
a2 β2 − ω2−1 α3 a1 a2 cos γ2 = 0
2
where

γ1 = σ1 T1 − β1 , γ2 = σ2 T1 + β1 − 2β2 (6.9.23)

Write εa1 and εa2 as a1 and a2 , respectively (6.9.22) can be written in the time
variable t as
560 6 Systems Having Finite Degrees of Freedom

1 1
ȧ1 + μ1 a1 − ω1−1 K sin γ1 − α1 ω1 a22 sin γ2 = 0
2 4
1 −1 1
a1 β̇1 + ω1 K cos γ1 − α1 ω1 a22 cos γ2 = 0
2 4 (6.9.24)
1 −1
ȧ2 + μ2 a2 + ω2 α3 a1 a2 sin γ2 = 0
2
1 −1
a2 β̇2 − ω2 α3 a1 a2 cos γ2 = 0
2
Therefore, the first-order approximate solution of the system is
   
u1 = εu11 + O ε2  = a1 cos[ω1 t + β1 (t)] + O ε2 
(6.9.25)
u2 = εu21 + O ε2 = a2 cos[ω1 t + β2 (t)] + O ε2

where a1 , a2 , β1 and β2 can be determined by (6.9.24) and (6.9.23).

‘ Substituting (6.9.23) into (6.9.24) yields

1 1
ȧ1 + μ1 a1 − ω1−1 Ksinγ1 − α1 ω1 a22 sinγ2 = 0
2 4
1 1
−a1 γ̇1 + σ1 a1 + ω1−1 Kcosγ1 − α1 ω1 a22 cosγ2 = 0
2 4 (6.9.26)
1
ȧ2 + μ2 a2 + ω2−1 α3 a1 a2 sinγ2 = 0
2
−a2 γ̇1 − a2 γ̇2 + σ2 a2 + σ1 a2 − ω2−1 α3 a1 a2 cosγ2 = 0

From (6.9.26), the steady state solutions of a1 , γ1 and a2 , γ2 satisfy the following
relations:
1 1
μ1 a1 − ω1−1 K sin γ1 − α1 ω1 a22 sin γ2 = 0
2 4
1 −1 1
σ1 a1 + ω1 K cos γ1 − α1 ω1 a22 cos γ2 = 0
2 4 (6.9.27)
1 −1
μ2 a2 + ω2 α3 a1 a2 sinγ2 = 0
2
σ2 a2 + σ1 a2 − ω2−1 α3 a1 a2 cosγ2 = 0

From this, we can obtain

ω22  2 
a12 = 4μ2 + (σ2 + σ1 ) (6.9.28)
α3
2

1
(2ω1 α3 μ1 a12 + ω12 ω2 α1 μ2 a22 )2 + [2ω1 α3 σ1 a12 − ω12 ω2 α1 (σ2 + σ1 )a22 ]2 = α32 Ka12
2
(6.9.29)
6.9 Exercise 6.9 (Forced Oscillations of a Two-Degree-of-Freedom System … 561

4μ1 a1 − α1 ω1 a22 sin γ2

tan γ1 = − (6.9.30)
4σ1 a1 − α1 ω1 a22 cos γ2
2μ2
tan γ2 = − (6.9.31)
σ2 + σ1

Amplitude-frequency and phase-frequency curves can be derived from (6.9.28)–

(6.9.31).
Readers are invited to complete the stability analysis of the steady state solution.
(c) When  ≈ 21 ω1 and ω1 ≈ ω2 .
In this case, the detuning parameters σ1 and σ2 are introduced such that

2 = ω1 + εσ1 , ω1 = 2ω2 + εσ2 (6.9.32)

For this  ≈ 21 ω1 second resonance, this is hard excitation, so let

K = εK̂ (6.9.33)

Equating coefficients of like powers of ε in (6.9.3) and (6.9.4) yields.

Order ε1 :

D02 u11 + ω12 u11 = K̂ cos T0

(6.9.34)
D02 u21 + ω22 u21 = 0

Order ε2 :

D02 u12 + ω12 u12 = −2D0 D1 u11 − 2μ̂1 D0 u11 − 23 ω12 u11
2
− α1 ω12 u21
2
(6.9.35)
D0 u22 + ω2 u22 = −2D0 D1 u21 − 2μ̂2 D0 u21 − 2α3 u11 u21
2 2

The solution of (6.9.34) is

u11 = A1 eiω1 T0 + K̂1 eiT0 + cc, u21 = A2 eiω2 T0 + cc (6.9.36)

where Ak = Ak (T1 ), and

K̂
K̂1 =  2  (6.9.37)
2 ω1 − 2

by substituting (6.9.36) into (6.9.35), we can obtain

562 6 Systems Having Finite Degrees of Freedom

D02 u12 + ω12 u12 = −2iω1 A1 eiω1 T0 − 2iω1 μ̂1 A1 eiω1 T0 − 2iμ̂1 K̂1 eiT0
3 3
− ω12 A21 e2iω1 T0 − ω12 K̂12 e2iT0 − 3ω12 K̂1 A1 ei(ω1 +)T0
2 2
3 2 3 (6.9.38)
− ω1 K̂1 A1 e i(−ω1 )T0
− ω12 K̂1 A1 ei(ω1 −)T0 − α1 ω12 A22 e2iω2 T0
2 2
3
−α1 ω12 A2 A2 − ω12 A1 A1 − K̂12 + cc
2
D02 u22 + ω22 u22 = −2iω2 A2 eiω2 T0 − 2iω2 μ̂2 A2 eiω2 T0
−2α3 A1 A2 ei(ω1 +ω2 )T0 − 2α3 K̂1 A2 ei(+ω2 )T0 (6.9.39)
−2α3 A1 A2 ei(ω2 −ω1 )T0 − 2α3 K̂1 A2 ei(ω2 −)T0 + cc

Primes denote the derivative with respect to T1 . Considering (6.9.32) and

eliminating secular terms in (6.9.38) and (6.9.39), we need

3
2ω1 A1 + 2ω1 μ̂1 A1 − iω12 K̂12 eiσ1 T1 − iα1 ω12 A22 e−iσ2 T1 = 0 (6.9.40)
2

2ω2 A2 + 2ω2 μ̂2 A2 − 2iα3 A1 A2 eiσ2 T1 = 0 (6.9.41)

Let
1 iβ1 1
A1 = a1 e , A2 = a2 eiβ2 (6.9.42)
2 2
Substituting (6.9.42) into (6.9.40) and (6.9.41), we have

3 1
a1 + ia1 β1 + μ̂1 a1 − iω1 K̂12 ei(σ1 T1 −β1 ) − iα1 ω1 a22 e−i(σ2 T1 +β1 −2β2 ) = 0 (6.9.43)
2 4
1
a2 + ia2 β2 + μ̂2 a2 − iω2−1 α3 a1 a2 ei(σ2 T1 +β1 −2β2 ) = 0 (6.9.44)
2
Separating the real and imaginary parts of the above equations yields

3 1
a1 + μ̂1 a1 + ω1 K̂12 sin γ1 − α1 ω1 a22 sin γ2 = 0
2 4
 3 1
a1 β1 − ω1 K̂1 cos γ1 − α1 ω1 a22 cos γ2 = 0
2
2 4 (6.9.45)
 1 −1
a2 + μ̂2 a2 + ω2 α3 a1 a2 sin γ2 = 0
2
 1 −1
a2 β2 − ω2 α3 a1 a2 cos γ2 = 0
2
where
6.9 Exercise 6.9 (Forced Oscillations of a Two-Degree-of-Freedom System … 563

γ1 = σ1 T1 − β1 , γ2 = σ2 T1 + β1 − 2β2 (6.9.46)

Write εa1 and εa2 as a1 and a2 , respectively. Then (6.9.45) can be written in the
time variable t as
3 1
ȧ1 + μ1 a1 + ω1 K12 sin γ1 − α1 ω1 a22 sin γ2 = 0
2 4
3 1
a1 β̇1 − ω1 K1 cos γ1 − α1 ω1 a22 cos γ2 = 0
2
2 4 (6.9.47)
1 −1
ȧ2 + μ2 a2 + ω2 α3 a1 a2 sin γ2 = 0
2
1 −1
a2 β̇2 − ω2 α3 a1 a2 cos γ2 = 0
2
Therefore, the first-order approximate solution of the system is
   
u1 = εu11 + O ε2  = a1 cos[ω1 t + β1 (t)] + O ε2 
(6.9.48)
u2 = εu21 + O ε2 = a2 cos[ω1 t + β2 (t)] + O ε2

where α1 , α2 , β1 and β2 can be determined by (6.9.24) and (6.9.23).

Substituting (6.9.23) into (6.9.24) yields

3 1
ȧ1 + μ1 a1 + ω1 K12 sinγ1 − α1 ω1 a22 sinγ2 = 0
2 4
3 1
−a1 γ̇1 + σ1 a1 − ω1 K1 cosγ1 − α1 ω1 a22 cosγ2 = 0
2
2 4 (6.9.49)
1
ȧ2 + μ2 a2 + ω2−1 α3 a1 a2 sinγ2 = 0
2
−a2 γ̇1 − a2 γ̇2 + σ2 a2 + σ1 a2 − ω2−1 α3 a1 a2 cosγ2 = 0

From(6.9.49), the steady state solutions of α1 , γ1 and α2 , γ2 satisfy the following

relations:

μ1 a1 + 23 ω1 K12 sinγ1 − 41 α1 ω1 a22 sinγ2 = 0

σ1 a1 − 23 ω1 K12 cosγ1 − 41 α1 ω1 a22 cosγ2 = 0
(6.9.50)
μ2 a2 + 21 ω2−1 α3 a1 a2 sinγ2 = 0
σ2 a2 + σ1 a2 − ω2−1 α3 a1 a2 cosγ2 = 0

From this, we can obtain

ω22  2 
a12 = 4μ2 + (σ2 + σ1 ) (6.9.51)
α3
2
 2  2
2 1 2 1
α3 μ1 a12 + ω1 ω2 α1 μ2 a22 + α3 σ1 a1 − α1 ω1 ω2 a2 (σ2 + σ1 ) = ω12 α32 K14 a12
2 2
3 3 3 6
(6.9.52)
564 6 Systems Having Finite Degrees of Freedom

4μ1 a1 − α1 ω1 a22 sin γ2

tan γ1 = − (6.9.53)
4σ1 a1 − α1 ω1 a22 cos γ2
2μ2
tan γ2 = − (6.9.54)
σ2 + σ1

Frequency-response and frequency-phase curves can be derived from (6.9.51)–

(6.9.54).
Readers are invited to complete the stability analysis of the steady state solution.
(d) When  ≈ 2ω1 and ω1 ≈ 2ω2 .
Readers are invited to complete the solution for this case.

6.10 Exercise 6.10 (Analysis of Forced Oscillations

of a Spring-Slider-Pendulum System)

Solution: (a) The kinetic energy of the system is

 2  2 
T = 21 m ẋ + 21 l θ̇cosθ + 21 l θ̇sinθ + 1 1
2 12
ml 2 θ̇ 2
(6.10.1)
= 21 mẋ2 + 21 ml ẋθ̇ cosθ + 16 ml 2 θ̇ 2

The potential energy of the system is

1 2 1
V = kx + mgl(1 − cos θ) (6.10.2)
2 2
The generalized forces are

Qx = F(t), Qθ = 0 (6.10.3)

Substitute the kinetic energy, potential energy, and generalized forces into the
Lagrange’s equation:

d ∂T ∂T ∂V d ∂T ∂T ∂V
− =− + Qx , − =− + Qθ
dt ∂ ẋ ∂x ∂x dt ∂ θ̇ ∂θ ∂θ

we can obtain
1 1
mẍ + ml θ̈ cos θ − ml θ̇ 2 sin θ + kx = F0 (t)
2 2 (6.10.4)
1 2 1 1
ml θ̈ + ml ẍ cos θ + mgl sin θ = 0
3 2 2
6.10 Exercise 6.10 (Analysis of Forced Oscillations … 565

Let
x 2 3g
u = , ω10 = k/m, ω20
2
= and F(t) = F0 (t)/ml (6.10.5)
l 2l
Equation (6.10.4) changes into

1 1
ü + ω10
2
u + θ̈ cos θ − θ̇ 2 sin θ = F(t)
2 2 (6.10.6)
3
θ̈ + ω20
2
sin θ + ü cos θ = 0
2

(b) Near the equilibrium position of the system u = θ = 0, we can expand (6.10.6)
and retain to third-order small quantities yields

1 1 1
ü + θ̈ + ω10
2
u − θ 2 θ̈ − θ θ̇ 2 = K cos t
2 4 2 (6.10.7)
1 1 1 2 1 2 3 1 2
u + θ̈ + ω20 θ − ω20 θ − θ ü = 0
2 3 3 18 4
The corresponding linear free oscillation equation is
   
1 1
ü ω10
2
0 u
2 + =0 (6.10.8)
1 1
2 3
θ̈ 0 13 ω20
2
θ

Let

u = B1 eiω t , θ = B2 eiω t (6.10.9)

and substitute (6.10.9) into (6.10.8), we obtain

 
ω10
2
− ω2 − 21 ω2 B1
=0 (6.10.10)
− 2 ω 3 ω20 − 13 ω2
1 2 1 2
B2

Therefore, the characteristic equation is

 
ω2 − ω2 − 1 ω2
det 10 1 2 1 2 2 1 2 =0 (6.10.11)
− 2 ω 3 ω20 − 3 ω

i.e.,
 2  2
ω4 − 4 ω10 + ω20
2
ω + 4ω10
2
ω20
2
=0 (6.10.12)

Therefore, the linear natural frequency is

566 6 Systems Having Finite Degrees of Freedom
 1/2
 2   2 
2 2
ω1 = 2 ω10 + ω20 − 2 ω10 + ω20 − ω10 ω20
2 2 2

 1/2 (6.10.13)
 2   2 2 2

ω2 = 2 ω10 + ω20
2
+ 2 ω10 + ω20 − ω10
2
ω20
2

Substituting ω1 and ω2 into (6.10.10), we can obtain a set of modes of the system
as

{B1 , B2 }T1 = {1, h1 }T , {B1 , B2 }T2 = {1, h2 }T (6.10.14)

where h1 and h2 can be obtained from (6.10.10)

 2   2 
2 ω10 − ω12 2 ω10 − ω22
h1 = , h2 = (6.10.15)
ω12 ω22

Therefore, the solution of (6.10.8) can be expressed as

u = A1 eiω1 t + A2 eiω2 t + cc
(6.10.16)
θ = h1 A1 eiω1 t + h2 A2 eiω2 t + cc

For small and finite amplitudes, we use the method of multiple scales to solve (6.10.7).
Therefore, let the solution of (6.10.7) be expressed as

u = εu11 (T0 , T1 , T2 ) + ε2 u12 (T0 , T1 , T2 ) + ε3 u13 (T0 , T1 , T2 ) + · · ·

(6.10.17)
θ = εu21 (T0 , T1 , T2 ) + ε2 u22 (T0 , T1 , T2 ) + ε3 u23 (T0 , T1 , T2 ) + · · ·
 
Substituting (6.10.17) into (6.10.7) and keeping to O ε3 , we get
6.10 Exercise 6.10 (Analysis of Forced Oscillations … 567

1 1 1
0 = ü + θ̈ + ω102
u − θ 2 θ̈ − θ θ̇ 2 − K cos t
 2 4 2  
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εu11 + ε2 u12 + ε3 u13
1   
+ D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εu21 + ε2 u22 + ε3 u23
2
  1 2
+ω10 2
εu11 + ε2 u12 + ε3 u13 − εu21 + ε2 u22 + ε3 u23
  4  
× D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εu21 + ε2 u22 + ε3 u23
1   2
− εu21 + ε2 u22 + ε3 u23 D0 + εD1 + ε2 D2 εu21 + ε2 u22 + ε3 u23
2
−K cos T0 + · · ·
 
1
= ε D02 u11 + D02 u21 + ω10 2
u11
2
 
1
+ε2 D02 u12 + D02 u22 + ω10 2
u12 + D0 D1 u21 + 2D0 D1 u11
2

1  
+ε3 D02 u13 + D02 u23 + ω10 2
u13 + 2D0 D1 u12 + D12 + 2D0 D2 u11
2
1 2  1 2 2
+D0 D1 u22 + D1 + 2D0 D2 u21 − u21 D0 u21
2  4
1
− u21 (D0 u21 )2 − K cos T0 + · · ·
2
(6.10.18)
568 6 Systems Having Finite Degrees of Freedom

1 1 1 2 1 2 3 1 2
0= ü + θ̈ + ω20 θ − ω20 θ − θ ü
2 3 3 18 4
1 2  2  
= D0 + 2εD0 D1 + ε D1 + 2D0 D2 εu11 + ε2 u12 + ε3 u13
2
2
1   
+ D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εu21 + ε2 u22 + ε3 u23
3
1 2  1 2 3
+ ω20 εu21 + ε2 u22 + ε3 u23 − ω20 εu21 + ε2 u22 + ε3 u23
3 18
1 2   
− εu21 + ε2 u22 + ε3 u23 D02 + 2εD0 D1 + ε2 D12 + 2D0 D2
4 
× εu11 + ε2 u12 + ε3 u13 + · · ·
  (6.10.19)
1 1 1 2
= ε D02 u11 + D02 u21 + ω20 u21
2 3 3
 
1 1 1 2 2
+ε2 D02 u12 + D02 u22 + ω20 u22 + D0 D1 u11 + D0 D1 u21
2 3 3 3

1 1 1
+ε3 D02 u13 + D02 u23 + ω20 2
u23 + D0 D1 u12
2 3 3
1  2 1 
+ D12 + 2D0 D2 u11 + D0 D1 u22 + D12 + 2D0 D2 u21
2 3 3
1 2 3 1 2 2
− ω20 u21 − u21 D0 u11 + · · ·
18 4

The order of the term K cos T0 is related to the value of .

(i) Ω ≈ ω1
In this case, K cos T0 cannot appear in the order of O(ε1 ). Thus, from (6.10.18)
and (6.10.19), we can obtain the order ε1 equation.
Order ε1 :
1
D02 u11 + D02 u21 + ω10
2
u11 = 0
2 (6.10.20)
1 2 1 1 2
D u11 + D02 u21 + ω20 u21 = 0
2 0 3 3
This set of equations is the same as (6.10.8), and its solution is given by (6.10.16),
i.e.,

u11 = A1 eiω1 T0 + A2 eiω2 T0 + cc

(6.10.21)
u21 = h1 A1 eiω1 T0 + h2 A2 eiω2 T0 + cc

where

Ak = Ak (T1 , T2 ), k = 1, 2
6.10 Exercise 6.10 (Analysis of Forced Oscillations … 569

If K cos T0 appears in the coefficients of ε2 , it is easy to verify that it will resonate
with u12 and u22 , and therefore

K = 2ε3 K̂ (6.10.22)

Equating coefficients of ε2 and ε3 in (6.10.18) and (6.10.19) yields.

Order ε2 :

D02 u12 + 21 D02 u22 + ω10

2
u12 = −2D0 D1 u11 − D0 D1 u21
(6.10.23)
1 2
D
2 0
u 12 + 1 2
D
3 0
u 22 + ω
1 2
u = −D0 D1 u11 − 23 D0 D1 u21
3 20 22

Order ε3 :
1  
D02 u13 + D02 u23 + ω10
2
u13 = −2D0 D1 u12 − D12 + 2D0 D2 u11 − D0 D1 u22
2
1 2  1 2 2
− D1 + 2D0 D2 u21 + u21 D0 u21
2 4
1
+ u21 (D0 u21 )2 + 2K̂ cos T0
2
1 2 1 1 2 1  2
D0 u13 + D02 u23 + ω20 u23 = −D0 D1 u12 − D12 + 2D0 D2 u11 − D0 D1 u22
2 3 3 2 3
1 2  1 2 3 1 2 2
− D1 + 2D0 D2 u21 + ω20 u21 + u21 D0 u11
3 18 4
(6.10.24)

Substituting (6.10.21) into (6.10.23) yields

1
D02 u12 + D02 u22 + ω10
2
u12 = −iω1 (2 + h1 )D1 A1 eiω1 T0
2
−iω2 (2 + h2 )D1 A2 eiω2 T0 + cc
 
1 2 1 2 1 2 2 (6.10.25)
D u12 + D0 u22 + ω20 u22 = −iω1 1 + h1 D1 A1 eiω1 T0
2 0 3 3 3
 
2
−iω2 1 + h2 D1 A2 eiω2 T0 + cc
3

In order to eliminate secular terms from the above equations, there must be

D1 A1 = 0, D1 A2 = 0 → A1 = A1 (T2 ), A2 = A2 (T2 ) (6.10.26)

from this

u12 = u22 = 0 (6.10.27)

Introduce the detuning parameter σ such that

570 6 Systems Having Finite Degrees of Freedom

 = ω1 + ε2 σ (6.10.28)

Substituting (6.10.28), (6.10.27), (6.10.26) and (6.10.21) into (6.10.24) yields

1 1 2 2
D02 u13 + D02 u23 + ω102
u13 = −2D0 D2 u11 − D0 D2 u21 + u21 D0 u21
2 4
1
+ u21 (D0 u21 )2 + 2K̂ cos T0
2 
  1 2 3 2 1 2 2
= −2iω1 A1 − iω1 h1 A1 − ω1 h1 A1 A1 − ω1 h1 h2 A1 A2 A2 + K̂e iσ T2
eiω1 T0
4 2
 
  1 2 3 2 1 2 2
+ −2iω2 A2 − iω2 h2 A2 − ω2 h2 A2 A2 − ω2 h1 h2 A1 A1 A2 eiω2 T0
4 2
 
1 2
− ω1 + ω22 + ω1 ω2 h1 h22 A1 A22 ei(ω1 +2ω2 )T0
4
 
1 2
− ω1 + ω2 + ω1 ω2 h21 h2 A21 A2 ei(2ω1 +ω2 )T0
2
4
 
1 2 2
− ω1 + ω2 − ω1 ω2 h1 h22 A1 A2 ei(ω1 −2ω2 )T0
2
4
 
1 2 2
− ω1 + ω2 − ω1 ω2 h21 h2 A1 A2 ei(ω2 −2ω1 )T0
2
4
3 2 3 3 3iω1 T0 3 2 3 3 3iω2 T0
− ω1 h1 A1 e − ω2 h2 A2 e + cc
4 4

(6.10.29)
6.10 Exercise 6.10 (Analysis of Forced Oscillations … 571

1 2 1 1 2 2 1 2 3 1 2 2
D0 u13 + D02 u23 + ω20 u23 = −D0 D2 u11 − D0 D2 u21 + ω20 u21 + u21 D0 u11
2  3 3  3 18
 4
2 1 2 1
= −iω1 A1 − i ω1 h1 A1 + ω20 h1 h22 − ω22 h1 h2 − ω12 h22 A1 A2 A2
3 3 2
  
1 2 3 3 2 2 2
+ ω20 h1 − ω1 h1 A1 A1 eiω1 T0
6 4
  
2 1 2 2 1
+ −iω2 A2 − i ω2 h2 A2 + ω20 h1 h2 − ω12 h1 h2 − ω22 h21 A1 A1 A2
3 3 2
  
1 2 3 3 2 2 2
+ ω h − ω h A A2 eiω2 T0
6 20 2 4 2 2 2
 
1 2 2 1 2  2
+ ω20 h1 h2 − 2ω1 h1 h2 + ω2 h1 A1 A2 ei(2ω1 +ω2 )T0
2 2
6 4
 
1 2 1 
+ ω20 h1 h22 − ω12 h22 + 2ω22 h1 h2 A1 A22 ei(ω1 +2ω2 )T0
6 4
 
1 2 1 
+ ω20 h1 h22 − ω12 h22 + 2ω22 h1 h2 A1 A22 ei(2ω2 −ω1 )T0
6 4
 
1 2 2 1 2  2
+ ω20 h1 h2 − 2ω1 h1 h2 + ω2 h1 A1 A2 ei(2ω1 −ω2 )T0
2 2
6 4
   
1 2 3 1 2 2 3 3iω1 T0 1 2 3 1 2 2 3 3iω2 T0
+ ω20 h1 − ω1 h1 A1 e + ω20 h2 − ω2 h2 A2 e + cc
18 4 18 4
(6.10.30)

Primes denote the derivative with respect to T2 .

The corresponding homogeneous equations to (6.10.29) and (6.10.30) are the
same as those corresponding to the two equations in (6.10.8). Since (6.10.29) and
(6.10.30) are coupled with each other, the excitation terms with frequencies ω1 and
ω2 can induce the resonances of both u13 and u23 . To make the equations solvable,
terms with frequencies ω1 and ω2 must be eliminated at the same time. In order to
eliminate secular terms of Eqs. (6.10.29) and (6.10.30), we seek the following special
solutions for those two equations:

u13 = P11 eiω1 T0 + P12 eiω2 T0

(6.10.31)
u23 = P21 eiω1 T0 + P22 eiω2 T0

Substituting (6.10.31) into the Eqs. (6.10.29) and (6.10.30), and equating the
coefficients of eiω1 T0 and eiω2 T0 yields
  
ω10
2
− ωn2 − 21 ωn2 P1n R1n
= , n = 1, 2 (6.10.32)
− 2 ωn 3 ω20 − 13 ωn2
1 2 1 2
P2n R2n

where
572 6 Systems Having Finite Degrees of Freedom

1 1
R11 = −2iω1 A1 − iω1 h1 A1 − ω12 h31 A21 A1 − ω12 h1 h22 A1 A2 A2 + K̂eiσ T2
4 2 
 2  1 2 1
R21 = −iω1 A1 − i ω1 h1 A1 + ω20 h1 h2 − ω22 h1 h2 − ω12 h22 A1 A2 A2
2
3 3 2
 
1 2 3 3 2 2 2
+ ω20 h1 − ω1 h1 A1 A1
6 4
(6.10.33)
1 1
R12 = −2iω2 A2 − iω2 h2 A2 − ω22 h32 A22 A2 − ω22 h21 h2 A1 A1 A2
4 2 
 2  1 2 2 1 2 2
R22 = −iω2 A2 − i ω2 h2 A2 + ω h h2 − ω1 h1 h2 − ω2 h1 A1 A1 A2
2
3 3 20 1 2
 
1 2 3 3 2 2 2
+ ω20 h2 − ω2 h2 A2 A2
6 4
(6.10.34)

According to (6.10.11), the determinant of the coefficient matrix of Eq. (6.10.32)

is zero:
 
R − 1 ω2
det 1n 1 2 2 n1 2 = 0
R2n 3 ω20 − 3 ωn

i.e.,
 
2 ωn2 − ω20
2
R1n = 3ωn2 R2n (6.10.35)

Substitute (6.10.33) and (6.10.34) into (6.10.35), we get

       
2i ω12 23 + h1 − ω12 − ω20 2
(2 + h1 ) A1 = ω13 21 h31 − 94 h21 A21 A1
+ω1 h1h22 ω12 − 3ω 22 h1 h2 − 23 ω12 h22 A1 A2 A2 (6.10.36)
−2ω1−1 ω12 − ω20 2
K̂eiσ T2
       
2i ω22 23 + h2 − ω22 − ω20 2
(2 − h2 ) A2 = ω23 21 h32 − 49 h22 A22 A2
(6.10.37)
+ω2 h21 h2 ω22 − 3ω12 h1 h2 − 23 ω22 h21 A1 A1 A2

Simplify the above two equations, we can obtain

2iA1 = 8α11 A21 A1 + 8α12 A1 A2 A2 + K1 eiσ T2 (6.10.38)

2iA2 = 8α21 A22 A2 + 8α22 A1 A1 A2 (6.10.39)

where
6.10 Exercise 6.10 (Analysis of Forced Oscillations … 573
 
ω13 21 h31 − 49 h21
α11 =  2  3    
8 ω1 2 + h1 − ω12 − ω20 2
(2 + h1 )
 
ω1 h1 h22 ω12 − 3ω22 h1 h2 − 23 ω12 h22
α12 =  2  3     (6.10.40)
8 ω1 2 + h1 − ω12 − ω20 2
(2 + h1 )
 
−2ω1−1 ω12 − ω20 2
K1 =  2  3    
ω1 2 + h1 − ω12 − ω20 2
(2 + h1 )
 
ω23 21 h32 − 49 h22
α21 =  2  3   2  
8 ω2 2 + h2 − ω2 − ω20 2
(2 − h2 )
  (6.10.41)
ω2 h21 h2 ω22 − 3ω12 h1 h2 − 23 ω22 h21
α21 =  2  3    
8 ω2 2 + h2 − ω22 − ω20 2
(2 − h2 )

Let
1 iβ1 1
A1 = a1 e , A2 = a2 eiβ2 (6.10.42)
2 2
Substituting (6.10.42) into (6.10.38) and (6.10.39), we get

ia1 + a1 γ1 = σ a1 + α11 a13 + α12 a1 a22 + K1 eiγ1 (6.10.43)

ia2 − a2 β2 = a23 + α22 a12 a2 (6.10.44)

where

γ1 = σ T2 − β1 (6.10.45)

Separating the real and imaginary parts of (6.10.43) and (6.10.44) yields

a1 = K1 sin γ1 (6.10.46)

a1 γ1 = σ a1 + α11 a13 + α12 a1 a22 + K1 cos γ1 (6.10.47)

a2 = 0 (6.10.48)

 
β2 = − a22 + α22 a12 (6.10.49)

Let a1 = a2 = γ1 = 0 in (6.10.46)–(6.10.48), we can obtain

K1 sin γ1 = 0 (6.10.50)
574 6 Systems Having Finite Degrees of Freedom

σ a1 + α11 a13 + α12 a1 a22 + K1 cos γ1 = 0 (6.10.51)

a2 = a20 = constant (6.10.52)

So

γ1 = 0, ±π (6.10.53)

For γ1 = 0, the frequency–response equation is given by

1 
σ =− α11 a13 + α12 a1 a20
2
+ K1 (6.10.54)
a1

and β2 is given by that

 2 
β2 = β20 − a20 + α22 a12 T2 (6.10.55)

Again, analyze the stability of the steady state solution. Let a10 , a20 and γ10 be a
set of steady state solution and make a small perturbation of a10 and γ10 , i.e.,

a1 = a10 + ã1 , γ1 = γ10 + γ̃1 (6.10.56)

Substitute (6.10.56) into (6.10.46) and (6.10.47) and make linearization, we can
obtain
   
ã1  0  K1 ã1
= −1 (6.10.57)
γ̃1 a10 σ + 3α11 a10
2
+ α12 a20
2
0 γ̃1

It follows that the condition for obtain a stable steady state solution is
−1
 
K1 a10 σ + 3α11 a10
2
+ α12 a20
2
<0 (6.10.58)

From the above results, we can find that the excitation of the first mode of this
two-degree-of freedom system does not produce significant responses in the second
mode.
(ii)  ≈ 13 ω1
In this case, K cos T0 is a non-resonant hard excitation term, so it will appear in
the equations of order ε1 . Thus, let

K = 2εK̂ (6.10.59)

Equating coefficients of like powers of ε in (6.4.11) and (6.4.12) yields.

Order ε1 :
6.10 Exercise 6.10 (Analysis of Forced Oscillations … 575

D02 u11 + 21 D02 u21 + ω10

2
u11 = 2K̂cosT0
(6.10.60)
1 2
D u
2 0 11
+ 1 2
D u
3 0 21
+ ω
1 2
u =0
3 20 21

Order ε2 :

D02 u12 + 21 D02 u22 + ω10

2
u12 = −2D0 D1 u11 − D0 D1 u21
(6.10.61)
1 2
D u
2 0 12
+ 1 2
D u
3 0 22
+ ω
1 2
u = −D0 D1 u11 − 23 D0 D1 u21
3 20 22

Order ε3 :

1  
D02 u13 + D02 u23 + ω10
2
u13 = −2D0 D1 u12 − D12 + 2D0 D2 u11 − D0 D1 u22
2
1 2  1 2 2
− D1 + 2D0 D2 u21 + u21 D0 u21
2 4
1
+ u21 (D0 u21 )2
2
1 2 1 1 2 1  2
D u13 + D02 u23 + ω20 u23 = −D0 D1 u12 − D12 + 2D0 D2 u11 − D0 D1 u22
2 0 3 3 2 3
1 2  1 2 3 1 2 2
− D1 + 2D0 D2 u21 + ω20 u21 + u21 D0 u11
3 18 4
(6.10.62)

The solution of (6.10.60) can be expressed as

u11 = A1 eiω1 T0 + A2 eiω2 T0 + K̂1 eiT0 + cc

(6.10.63)
u21 = h1 A1 eiω1 T0 + h2 A2 eiω2 T0 + K̂2 eiT0 + cc

where
 2 
4 ω20 − 2 62
K̂1 =  2  2  K̂, K̂2 =  2  2  K̂
4 ω10 − 2 ω20 − 2 − 34 4 ω10 − 2 ω20 − 2 − 34
(6.10.64)

Ak = Ak (T1 , T2 ), k = 1, 2, h1 , h2 are given by (6.10.15).

Substituting (6.10.63) into (6.10.61) yields

1
D02 u12 + D02 u22 + ω102
u12 = −iω1 (2 + h1 )D1 A1 eiω1 T0
2
−iω2 (2 + h2 )D1 A2 eiω2 T0 + cc
 
1 2 1 1 2 2 (6.10.65)
D0 u12 + D02 u22 + ω20 u22 = −iω1 1 + h1 D1 A1 eiω1 T0
2 3 3 3
 
2
−iω2 1 + h2 D1 A2 eiω2 T0 + cc
3
576 6 Systems Having Finite Degrees of Freedom

In order to eliminate secular terms from the above equations, there must be

D1 A1 = 0, D1 A2 = 0 → A1 = A1 (T2 ), A2 = A2 (T2 ) (6.10.66)

therefore

u12 = u22 = 0 (6.10.67)

Introduce the detuning parameter σ such that

3 = ω1 + ε2 σ (6.10.68)

Substitute (6.10.68), (6.10.67), (6.10.66) and (6.10.63) into (6.10.62), we can

obtain

1 1 2 2 1
D02 u13 + D02 u23 + ω10 2
u13 = −2D0 D2 u11 − D0 D2 u21 + u21 D0 u21 + u21 (D0 u21 )2
 2 4 2
  1 2 3 2 1 2 2
= −2iω1 A1 − iω1 h1 A1 − ω1 h1 A1 A1 − ω1 h1 h2 A1 A2 A2
4 2

1 2 2 3 2 3 iσ T2 iω1 T0
− ω1 K̂2 h1 A1 −  K̂2 e e
2 4

1 1
+ −2iω2 A2 − iω2 h2 A2 − ω22 h32 A22 A2 − ω22 h21 h2 A1 A1 A2
4 2

1
− ω22 K̂22 h2 A2 eiω2 T0
2
+cc + NST
(6.10.69)
6.10 Exercise 6.10 (Analysis of Forced Oscillations … 577

1 2 1 1 2 2 1 2 3 1 2 2
D0 u13 + D02 u23 + ω20 u23 = −D0 D2 u11 − D0 D2 u21 + ω20 u21 + u21 D0 u11
2  3 3  3 18
 4
2 1 2 1
= −iω1 A1 − i ω1 h1 A1 + ω20 h1 h22 − ω22 h1 h2 − ω12 h22 A1 A2 A2
3 3 2
 
1 2 3 3 2 2 2
+ ω20 h1 − ω1 h1 A1 A1
6 4
 
1 2 2 1
+ ω20 K̂2 h1 − ω12 K̂22 − 2 K̂1 K̂2 h1 A1
3 2
  
1 2 3 1 2
+ ω20 K̂2 −  K̂1 K̂22 eiσ T2 eiω1 T0
18 4
  
 2  1 2 2 1 2 2
+ −iω2 A2 − i ω2 h2 A2 + ω h h2 − ω1 h1 h2 − ω2 h1 A 1 A 1 A 2
2
3 3 20 1 2
 
1 2 3 3 2 2 2
+ ω20 h2 − ω2 h2 A 2 A 2
6 4
  
1 2 2 1
+ ω20 K̂2 h2 − ω22 K̂22 − 2 K̂1 K̂2 h2 A2 eiω2 T0
3 2
+cc + NST
(6.10.70)

Primes denote the derivative with respect to T2 .

In order to eliminate secular terms in (6.10.69) and (6.10.70), we seek the
following special solution for them:

u13 = P11 eiω1 T0 + P12 eiω2 T0

(6.10.71)
u23 = P21 eiω1 T0 + P22 eiω2 T0

Substituting (6.10.71) into (6.10.69) and (6.10.70) and equating the coefficients
of eiω1 To and eiω2 T0 , we obtain
  
ω10
2
− ωn2 − 21 ωn2 P1n R1n
= , n = 1, 2 (6.10.72)
− 2 ωn 3 ω20 − 13 ωn2
1 2 1 2
P2n R2n

where
578 6 Systems Having Finite Degrees of Freedom

1 1
R11 = −2iω1 A1 − iω1 h1 A1 − ω12 h31 A21 A1 − ω12 h1 h22 A1 A2 A2
4 2
1 2 2 3 2 3 iσ T2
− ω1 K̂2 h1 A1 −  K̂2 e
2 4  
 2  1 2 1 2 2
R21 = −iω1 A1 − i ω1 h1 A1 + ω h1 h − ω2 h1 h2 − ω1 h2 A1 A2 A2
2 2
3 3 20 2 2
   
1 2 3 3 2 2 2 1 2 2 1 2 2
+ ω20 h1 − ω1 h1 A1 A1 + ω K̂ h1 − ω1 K̂2 −  K̂1 K̂2 h1 A1
2
6 4 3 20 2 2
 
1 2 3 1 2
+ ω K̂ −  K̂1 K̂22 eiσ T2
18 20 2 4
(6.10.73)
1 1 1
R12 = −2iω2 A2 − iω2 h2 A2 − ω22 h32 A22 A2 − ω22 h21 h2 A1 A1 A2 − ω22 K̂22 h2 A2
4 2  2
 2  1 2 2 1 2 2
R22 = −iω2 A2 − i ω2 h2 A2 + ω h h2 − ω1 h1 h2 − ω2 h1 A1 A1 A2
2
3 3 20 1 2
   
1 2 3 3 2 2 2 1 2 2 1 2 2
+ ω20 h2 − ω2 h2 A2 A2 + ω K̂ h2 − ω2 K̂2 −  K̂1 K̂2 h2 A2
2
6 4 3 20 2 2
(6.10.74)

According to (6.10.11), the determinant of the coefficient matrix of Eq. (6.10.72)

is zero, i.e.,
 
R − 1 ω2
det 1n 1 2 2 n1 2 =0
R2n 3 ω20 − 3 ωn

i.e.,
 
2 ωn2 − ω20
2
R1n = 3ωn2 R2n (6.10.75)

Substitute (6.10.73) and (6.10.74), respectively, into (6.10.75), we obtain

2iA = α11 A1 + α12 A21 A1 + α13 A1 A2 A2 + κeiσ T2 (6.10.76)

2iA2 = α21 A2 + α22 A22 A2 + α23 A1 A1 A2 (6.10.77)

where
6.10 Exercise 6.10 (Analysis of Forced Oscillations … 579
 
ω12 ω12 K̂22 h1 − 23 ω12 K̂22 − 32 K̂1 K̂2 h1
α11 =  1 2   
ω1 2 ω1 (3 + 2h1 ) − ω12 − ω20 2
(2 − h1 )
 
ω14 21 h31 − 49 h21
α12 =  1 2   
ω1 2 ω1 (3 + 2h1 ) − ω12 − ω20 2
(2 − h1 )
  (6.10.78)
ω12 ω12 h1 h22 − 3ω22 h1 h2 − 23 ω12 h22
α13 =  1 2   
ω1 2 ω1 (3 + 2h1 ) − ω12 − ω20 2
(2 − h1 )
3 2 3 1 2 2 3 
 K̂ + ω ω K̂ − 3ω12 41 2 K̂1 K̂22
κ = 4 1 22 6 1 20 2 2  
ω1 2 ω1 (3 + 2h1 ) − ω1 − ω20 2
(2 − h1 )
 
ω22 ω22 K̂22 h2 − 23 ω22 K̂22 − 32 K̂1 K̂2 h2
α21 =  1 2   
ω2 2 ω2 (3 + 2h2 ) − ω22 − ω20 2
(2 − h2 )
 
ω24 21 h32 − 49 h22
α22 =  1 2    (6.10.79)
ω2 2 ω2 (3 + 2h2 ) − ω22 − ω20 2
(2 − h2 )
 
ω22 ω22 h21 h2 − 3ω12 h1 h2 − 23 ω22 h21
α23 =  1 2   
ω2 2 ω2 (3 + 2h2 ) − ω22 − ω20 2
(2 − h2 )

Let
1 iβ1 1
A1 = a1 e , A2 = a2 eiβ2 (6.10.80)
2 2
Substituting (6.10.80) into (6.10.76) and (6.10.77) yields

1 1 1
ia1 + a1 γ1 = σ a1 + α11 a1 + α12 a13 + α13 a1 a23 + κeiγ1 (6.10.81)
2 8 8
1 1
ia2 − a2 β2 = α21 a2 + α22 a23 + α23 a12 a2 (6.10.82)
2 8
where

γ1 = σ T2 − β1 (6.10.83)

Separating the real and imaginary parts of (6.10.81) and (6.10.82), we obtain

a1 = κ sin γ1 (6.10.84)

1 1 1
a1 γ1 = σ a1 + α11 a1 + α12 a13 + α13 a1 a23 + κ cos γ1 (6.10.85)
2 8 8

a2 = 0 (6.10.86)
580 6 Systems Having Finite Degrees of Freedom

 
1 1
β2 = − α21 + α22 a2 + α23 a1
2 2
(6.10.87)
2 8

The steady state response of the system corresponds to the solution of

κ sin γ1 = 0 (6.10.88)

1 1 1
σ a1 + α11 a1 + α12 a13 + α13 a1 a23 + κ cos γ1 = 0 (6.10.89)
2 8 8

a2 = a20 = constant (6.10.90)

So

γ1 = 0, ±π (6.10.91)

For γ1 = 0, the frequency–response equation is given by

 
1 1 1 1
σ =− α11 a1 + α12 a1 + α13 a1 a20 + κ
3 3
(6.10.92)
a1 2 8 8

From (6.10.87), we can obtain β2 :

 
1 1
β2 = β20 − α21 + α22 a20
2
+ α23 a12 T2 (6.10.93)
2 8

Again, analyze the stability of the steady state solution. Let a10 , a20 and γ10 be a
set of steady state solution and make a small perturbation of a10 and γ10 , i.e.,

a1 = a10 + ã1 , γ1 = γ10 + γ̃1 (6.10.94)

Substitute (6.10.94) into (6.10.46) and (6.10.47) and make linearization, we can
obtain
   
ã1  0  κ ã1
= −1 (6.10.95)
γ̃1 a10 σ + 21 α11 + 38 α12 a10
2
+ 18 α13 a20
3
0 γ̃1

It follows that the condition for obtain a stable steady state solution is
 
−1 1 3 1
κa10 σ + α11 + α12 a10
2
+ α13 a20
3
<0 (6.10.96)
2 8 8
6.11 Exercise 6.11 (Resonance Analysis on the Cylinder Rolling Without … 581

From the above results, we can find that the excitation of the first mode of this
two-degree-of freedom system does not produce significant responses in the second
mode.
(iii)  ≈ 3ω1
Readers are invited to complete the solution for this case.

6.11 Exercise 6.11 (Resonance Analysis on the Cylinder

Rolling Without Slip on the Circular Surface I)

Solution: (a) The kinetic energy of the system is

 
T = 21 M ẋ2 + 21 m1 ẋ + (R − r)θ̇ cosθ ]2 + (R − r)θ̇ sinθ ]2
θ̇ 2
+ 21 21 m1 r 2 [ (R−r)
r
] (6.11.1)
= 2 (m1 + M )ẋ2 + 43 m1 (R − r)2 θ̇ 2 + m1 (R − r)ẋθ̇cosθ
1

The potential energy of the system is

1 2
V = kx − m1 g(R − r) cos θ (6.11.2)
2
The generalized forces are

Qx = F(t), Qθ = 0 (6.11.3)

Substitute kinetic energy, potential energy, and generalized forces into the
Lagrange’s equation

d ∂T ∂T ∂V d ∂T ∂T ∂V
− =− + Qx , − =− + Qθ
dt ∂ ẋ ∂x ∂x dt ∂ θ̇ ∂θ ∂θ

we can obtain

(m1 + M )ẍ + m1 (R − r)θ̈ cos θ − m1 (R − r)θ̇ 2 sin θ + kx = F(t)

3 (6.11.4)
m1 (R − r)2 θ̈ + m1 (R − r)ẍ cos θ + m1 g(R − r) sin θ = 0
2
Let
2
u = x/(R − r), ω10
2
= k/(m1 + M ), ω20
2
= g/(R − r)
3 (6.11.5)
m = m1 /(m1 + M ), f (t) = F(t)/[(R − r)(m1 + M )]
582 6 Systems Having Finite Degrees of Freedom

Equation (6.11.4) changes into

ü + mθ̈ cos θ − mθ̇ 2 sin θ + ω10

2
u = f (t)
2 (6.11.6)
θ̈ + ü cos θ + ω20
2
sin θ = 0
3

(b) Include the viscous damping, which has the form −cx, in (6.11.4), we can obtain
the equations of motion.

(m1 + M )ẍ + m1 (R − r)θ̈ cos θ − m1 (R − r)θ̇ 2 sin θ + kx = F(t) − cẋ

3 (6.11.7)
m1 (R − r)2 θ̈ + m1 (R − r)ẍ cos θ + m1 g(R − r) sin θ = 0
2
Let

2ω10 μ = c/(m1 + M ) (6.11.8)

Considering (6.11.5), Eq. (6.11.7) becomes

ü + mθ̈ cos θ − mθ̇ 2 sin θ + ω10

2
u + 2ω10 μu̇ = f (t)
2 (6.11.9)
θ̈ + ü cos θ + ω20
2
sin θ = 0
3

(c) At the equilibrium position of the system u = θ = 0, expand (6.11.9) and retain
to the third order of smallness yields

1 ' 3
ü + mθ̈ + ω10
2
u + 2ω10 μu̇ − mθ 2 θ −mθ̇ 2 θ = Kn cos(n t + θn )
2 n=1 (6.11.10)
3 3 2 1 2 3 1
ü + θ̈ + ω20 θ − ω20 θ − u θ2 = 0
2 2 4 2
The corresponding equations for the linear undamped free oscillation are
   
1m ü ω10
2
0 u
+ =0 (6.11.11)
1 23 θ̈ 0 23 ω20
2
θ

Let

u = B1 eiω t , θ = B2 eiω t (6.11.12)

Substitute (6.11.12) into (6.11.11), we can obtain

6.11 Exercise 6.11 (Resonance Analysis on the Cylinder Rolling Without … 583
 2  
ω10 − ω2  −mω2  B1
=0 (6.11.13)
−ω2 3
2
ω20
2
− ω2 B2

Therefore, the characteristic equation is

 2  
ω10 − ω2  −mω2 
det =0 (6.11.14)
−ω2 3
2
ω20
2
− ω2

i.e.,
 2  2
(3 − 2m)ω4 − 3 ω10 + ω20
2
ω + 3ω10
2
ω20
2
=0 (6.11.15)

Therefore, the linear natural frequencies are

⎡   ⎤1/2
3 ω10
2
+ ω20
2
− 2
9(ω10 + ω20
2 2
) − 12(3 − 2m)ω10
2
ω20
2
ω1 = ⎣ ⎦
2(3 − 2m)
⎡  ⎤1/2 (6.11.16)

3 ω10
2
+ ω20
2
+ 2
9(ω10 + ω20
2 2
) − 12(3 − 2m)ω10
2
ω20
2
ω2 = ⎣ ⎦
2(3 − 2m)

Substituting ω1 and ω2 into (6.11.13), we can obtain

{B1 , B2 }T1 = {1, h1 }T , {B1 , B2 }T2 = {1, h2 }T (6.11.17)

where h1 and h2 can be obtained from (6.11.13)

ω10
2
− ω12 ω10
2
− ω22
h1 = , h2 = (6.11.18)
mω12 mω22

Therefore, the solution for the linear free oscillation (6.11.11) is

u = A1 eiω1 t + A2 eiω2 t + cc,

(6.11.19)
θ = h1 A1 eiω1 t + h2 A2 eiω2 t + cc

In order to study the internal resonance of ω2 ≈ 3ω1 , let

s = ω2 /ω1 , p = ω20 /ω10 (6.11.20)

From (6.11.16),
 √ 1/2
1+ 1−q
s= √ (6.11.21)
1− 1−q
584 6 Systems Having Finite Degrees of Freedom

Fig. 6.7 Frequency ratio of

p to s for Exercise 6.11

where

4(3 − 2m)p2
q= ≤ 1, 0 < m < 1 (6.11.22)
3(p2 + 1)2

For different m, the curves of the frequency ratio p versus s are shown in Fig. 6.7.
The internal resonance case of ω2 ≈ 3ω1 may occur when m = 0.1 to 0.9.
(d) For small and finite amplitudes, we use the method of multiple scales to solve
(6.11.10). Let the solution of Eq. (6.11.10) be

u = εu11 (T0 , T2 ) + ε3 u13 (T0 , T2 ) + · · ·

(6.11.23)
θ = εu21 (T0 , T2 ) + ε3 u23 (T0 , T2 ) + · · ·

In order for the damping and nonlinear terms to appear in the same order equation,
we specify that

μ = ε2 μ̂ (6.11.24)
 
Substitute (6.11.23) into (6.11.10) and keep to O ε3 , we obtain
6.11 Exercise 6.11 (Resonance Analysis on the Cylinder Rolling Without … 585

1 '3
0 = ü + mθ̈ + ω102
u + 2ω10 μu̇ − mθ 2 θ −mθ̇ 2 θ − Kn cos(n t + θn )
2 n=1
   
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εu11 + ε3 u13
   
+m D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εu21 + ε3 u23
    
+ω10 2
εu11 + ε3 u13 + 2ω10 ε2 μ̂ D0 + εD1 + ε2 D2 εu11 + ε3 u13
1  2    
− m εu21 + ε3 u23 D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εu21 + ε3 u23
2
   2
−m εu21 + ε3 u23 D0 + εD1 + ε2 D2 εu21 + ε3 u23
'
3
− Kn cos(n T0 + θn ) + · · ·
n=1
  
= ε D02 u11 + mD02 u21 + ω10
2
u11 + ε3 D02 u13 + mD02 u23 + ω10
2
u13
+2D0 D2 u11 + 2mD0 D2 u21 + 2ω10 μ̂D0 u11
 ' 3
1 2 2
− mu21 D0 u21 − mu21 (D0 u21 ) −
2
Kn cos(n T0 + θn ) + · · ·
2 n=1
(6.11.25)
3 3 2 1 2 3 1 2
0 = ü + θ̈ + ω20 θ − ω20 θ − üθ
 2 2 2 4
 2 2  
= D0 + 2εD0 D1 + ε D1 + 2D0 D2 εu11 + ε3 u13
2

3   
+ D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εu21 + ε3 u23
2
3 2  1 2 3
+ ω20 εu21 + ε3 u23 − ω20 εu21 + ε3 u23
2 4
1 2  2   
− εu21 + ε u23 D0 + 2εD0 D1 + ε2 D12 + 2D0 D2 εu11 + ε3 u13 + · · ·
3
2
  
3 3 2 3 3 2
= ε D02 u11 + D02 u21 + ω20 u21 + ε3 D02 u13 + D02 u23 + ω20 u23
2 2 2 2

1 2 3 1 2 2
+ 2D0 D2 u11 + 3D0 D2 u21 − ω20 u21 − u21 D0 u11 + · · ·
4 2
(6.11.26)

We present the answer to only one of 12 cases, (iv), below. Readers are invited to
complete the solutions for the rest of cases.
(iv) 1 ≈ ω1 and ω2 ≈ 3ω1 .
In this case, K1 cos 1 T0 is a resonant excitation term, which cannot appear in
the equations of order ε1 , and the other two excitation terms are non-resonant hard
excitations, which should appear in the equations of order ε1 . Thus, let
586 6 Systems Having Finite Degrees of Freedom

K1 = 2ε3 K̂1 , K2 = 2εK̂2 , K3 = 2εK̂3 (6.11.27)

Equating coefficients of like powers of ε in (6.11.25) and (6.11.26) yields.

Order ε1 :

'
3
D02 u11 + mD02 u21 + ω10
2
u11 = 2 K̂n cos(n T0 + θn )
n=2
3 3 2
D02 u11 + D02 u21 + ω20 u21 = 0 (6.11.28)
2 2

Order ε3 :

D02 u13 + mD02 u23 + ω10

2
u13 = −2D0 D2 u11 − 2mD0 D2 u21
1 2 2
−2ω10 μ̂D0 u11 + mu21 D0 u21
2
+mu21 (D0 u21 )2 + 2K̂1 cos(1 T0 + θ1 )
3 3 2 1 2 3 1 2 2
D02 u13 + D02 u23 + ω20 u23 = −2D0 D2 u11 − 3D0 D2 u21 + ω20 u21 + u21 D0 u11
2 2 4 2
(6.11.29)

The corresponding homogeneous equations to (6.11.28) are the same as (6.11.11),

so its solution can be expressed as

'
3
u11 = A1 eiω1 T0 + A2 eiω2 T0 + B1n ei(n T0 +θn ) + cc
n=2
(6.11.30)
'
3
u21 = h1 A1 eiω1 T0 + h2 A2 eiω2 T0 + B2n ei(n T0 +θn ) + cc
n=2

where Ak = Ak (T2 ), k = 1, 2, and

3(ω202
−2n )K̂n
B1n = 3(ω10
2
−2n )(ω20
2
−2n )−2m2n 2n
22n K̂n
; n = 2, 3 (6.11.31)
B2n = 3(ω10
2
−2n )(ω20
2
−2n )−2m2n 2n

Introduce the detuning parameters σ1 , σ2 such that

1 = ω1 + ε2 σ1 , ω2 = 3ω1 + ε2 σ2 (6.11.32)

Substituting (6.11.32) and (6.11.30) into (6.11.29) yields

6.11 Exercise 6.11 (Resonance Analysis on the Cylinder Rolling Without … 587

D02 u13 + mD02 u23 + ω10 2
u13 = −2iω1 (1 + mh1 )A1 − 2iω10 ω1 μ̂A1
 2  1
−mω12 h1 B22 + B232
A1 − mω12 h31 A21 A1 − mω12 h1 h22 A1 A2 A2
 2 
1 2
+ 2mω1 ω2 h1 h2 − 2mω1 h1 h2 − mω2 h1 h2 A1 A2 eiσ2 T2
2 2 2 2 2
2

+ K̂1 ei(σ1 T2 +θ1 ) eiω1 T0 (6.11.33)

+ −2iω2 (1 + mh2 )A2 − 2iω10 ω2 μ̂A2
 2  1
−mω22 h2 B22 + B232
A2 − mω22 h32 A22 A2 − mω22 h21 h2 A1 A1 A2
 2
3 2 3 3 −iσ2 T2
− mω1 h1 A1 e eiω2 T0 + cc + NST
2
3 3 2 
D02 u13 + D02 u23 + ω20 u23 = −iω1 (2 + 3h1 )A1
 2 2  
3 2  2   2 2 
+ ω h1 − ω1 B22 + B23 − 2h1 2 B22 + 3 B23 A1
2 2 2 2
2 20
   
3 2 3 3 2 2 2 3 2
+ ω20 h1 − ω1 h1 A1 A1 + ω h1 h − ω1 h2 − 2ω2 h1 h2 A1 A2 A2
2 2 2 2
4 2 2 20 2
 
3 2 2 1 2
+ ω20 h1 h2 − ω12 h1 h2 − ω22 h21 A1 A2 eiσ2 T2 eiω1 T0
4 2

+ −iω1 (2 + 3h1 )A2
  
3 2  2   2 2 
+ ω h2 − ω2 B22 + B23 − 2h2 2 B22 + 3 B23 A2
2 2 2 2
2 20
   
3 2 3 3 2 2 2 3 2 2
+ ω20 h2 h − ω2 h2 A2 A2 + ω h h2 − ω2 h1 − 2ω1 h1 h2 A1 A1 A2
2 2 2
4 2 2 20 1
 
1 2 3 1 2 2 3 −iσ2 T2 iω2 T0
+ ω h − ω h Ae e + cc + NST
4 20 1 2 1 1 1
(6.11.34)

Primes denote the derivative with respect to T2 .

In order to eliminate secular terms of Eqs. (6.11.33) and (6.11.34), we seek the
following special solutions for them:

u13 = P11 eiω1 T0 + P12 eiω2 T0

(6.11.35)
u23 = P21 eiω1 T0 + P22 eiω2 T0

Substituting (6.11.35) into (6.11.33) and (6.11.34), equating the coefficients of

eiω1 T0 and eiω2 T0 , we get
 2   
ω10 − ωn2  −mωn2  P1n R1n
= , n = 1, 2 (6.11.36)
−ωn2 3
2
ω20
2
− ωn2 P2n R2n
588 6 Systems Having Finite Degrees of Freedom

where

R11 = −2iω1 (1 + mh1 )A1 − 2iω10 ω1 μ̂A1

 2  1
−mω12 h1 B22 + B23
2
A1 − mω12 h31 A21 A1 − mω12 h1 h22 A1 A2 A2
 2 
1 2
+ 2mω1 ω2 h1 h2 − 2mω1 h1 h2 − mω22 h21 h2 A1 A2 eiσ2 T2
2 2 2
2
+K̂1 ei(σ1 T2 +θ1 )
R21 = −iω1 (2 + 3h1 )A1
  
3 2  2   
+ ω20 h1 − ω12 B22 + B23
2
− 2h1 22 B222
+ 23 B23
2
A1
2
   
3 2 3 3 2 2 2 3 2
+ ω20 h1 − ω1 h1 A1 A1 + ω h1 h − ω1 h2 − 2ω2 h1 h2 A1 A2 A2
2 2 2 2
4 2 2 20 2
 
3 2 2 1 2
+ ω20 h1 h2 − ω12 h1 h2 − ω22 h21 A1 A2 eiσ2 T2
4 2
(6.11.37)

R12 = −2iω2 (1 + mh2 )A2 − 2iω10 ω2 μ̂A2

 2  1
−mω22 h2 B22 + B232
A2 − mω22 h32 A22 A2 − mω22 h21 h2 A1 A1 A2
2
3 2 3 3 −iσ2 T2
− mω1 h1 A1 e
2
R22 = −iω1 (2 + 3h1 )A2
  
3 2  2   
+ ω20 h2 − ω22 B22 + B23
2
− 2h2 22 B22 2
+ 23 B232
A2
2
   
3 2 3 3 3 2 2
+ ω20 h2 h − ω22 h22 A22 A2 + ω20 h1 h2 − ω22 h21 − 2ω12 h1 h2 A1 A1 A2
4 2 2
 
1 2 3 1 2 2 3 −iσ2 T2
+ ω20 h1 − ω1 h1 A1 e
4 2
(6.11.38)

According to Eq. (6.11.13), the determinant of the coefficient matrix of

Eq. (6.11.36) is zero:
 
R1n  −mωn2 
det =0
R2n 23 ω20
2
− ωn2

i.e.,
 
3 ωn2 − ω20
2
R1n = 2ωn2 R2n (6.11.39)
6.11 Exercise 6.11 (Resonance Analysis on the Cylinder Rolling Without … 589

Substitute (6.11.37) and (6.1.20), respectively, into (6.11.39), we obtain

2iA1 = α11 A1 + iα12 A1 + α13 A1 A2 A2 + α14 A21 A1

2 (6.11.40)
+α15 A1 A2 eiσ2 T2 + α16 ei(σ1 T2 +θ1 )

2iA2 = α21 A2 + iα22 A2 + α23 A1 A1 A2 + α24 A22 A2 + α25 A31 e−iσ2 T2 (6.11.41)

where
   
1 = ω1 ω12 (2 + 3h1 ) − 3 ω12 − ω20 2
(1 + mh1 )
    
 2 2  3 2  2 
α11 = −−1 2ω 2
1 2h 1  B
2 22 +  2 2
B
3 23 − ω h 1 − ω 2
B + B 2
1
2 20 1 22 23
 2   
− 3 ω1 − ω20 2
mω12 h1 B22 2
+ B232
 
α12 = 6−1 1 ω10 ω1 μ̂ ω1 − ω20
2 2
  
−1
 2  2 2 2 3 2
α13 = 1 3 ω1 − ω20 mω1 h1 h2 + 2ω1 ω20 h1 h2 − ω1 h2 − 2ω2 h1 h2
2 2 2 2 2
2
  
−1 3
 2  2 3 2 3 2 3 3 2 2
α14 = 1 ω − ω20 mω1 h1 + 2ω1 ω20 h1 − ω1 h1
2
2 1 4 2
  
−1
 2  1
α15 = −1 3 ω1 − ω20 2mω1 ω2 h1 h2 − 2mω1 h1 h2 − mω2 h1 h2
2 2 2 2 2 2
2
 
3 2 2 1
− 2ω12 ω20 h1 h2 − ω12 h1 h2 − ω22 h21
4 2
 2 
α16 = −3−1 1 ω1 − ω20 K̂1 e
2 i(σ1 T2 +θ1 )

(6.11.42)
   
−1
2 = ω2 ω1 ω2 (2 + 3h1 ) − 3 ω2 − ω20 (1 + mh2 )
2 2
    
−1
 2 2  3 2  2 
α21 = −2 2ω2 2h2 2 B22 + 3 B23 −
2 2 2
ω h2 − ω2 B22 + B23
2 2
2 20
  
− 3mω22 h2 ω22 − ω20 2 2
B22 + B232
 2 
α22 = 6−1 2 ω10 ω2 μ̂ ω2 − ω20
2
  
 2  2 2 2 3 2 2
α23 = −1 3 ω 2 − ω 2
20 mω h
2 1 h 2 + 2ω 2 ω h h2 − ω 2 2
h − 2ω 2
h1 h 2
2
2 20 1 2 1 1
  
3 2  2 3 2 3 2 3 3
α24 = −12 ω2 − ω20 2
mω2 h2 A2 A2 + 2ω22 ω20 h2 h − ω22 h22
2 4 2
  
  3 1 1
α25 = −1 3 ω 2
2 − ω 2
20 mω 2 3
h
1 1 + 2ω 2
2 ω 2 3
h − ω 2 2
h
2
2 4 20 1 2 1 1
(6.11.43)

Let
590 6 Systems Having Finite Degrees of Freedom

1 iβ1 1
A1 = a1 e , A2 = a2 eiβ2 (6.11.44)
2 2
Substituting (6.11.44) into (6.11.40) and (6.11.41), we get

1 1 1 1 1
ia1 − a1 β1 = α11 a1 + iα12 a1 + α13 a1 a22 + α14 a13 + α15 a12 a2 eiγ1 + α16 eiγ2
2 2 8 8 8
(6.11.45)
1 1 1 1 1
ia2 − a2 β2 = α21 a2 + iα22 a2 + α23 a12 a2 + α24 a23 + α25 a13 e−iγ1 (6.11.46)
2 2 8 8 8
where

γ1 = σ2 T2 − 3β1 + β2 , γ2 = σ1 T2 − β1 + θ1 (6.11.47)

Separating the real and imaginary parts of Eqs. (6.11.45) and (6.11.46), we get

1 1 1 1
−a1 β1 = α11 a1 + α13 a1 a22 + α14 a13 + α15 a12 a2 cos γ1 + α16 cos γ2
2 8 8 8
(6.11.48)
1 1 1 1
−a2 β2 = α21 a2 + α23 a12 a2 + α24 a23 + α25 a13 cos γ1 (6.11.49)
2 8 8 8
1 1
a1 = α12 a1 + α15 a12 a2 sin γ1 + α16 sin γ2 (6.11.50)
2 8
1 1
a2 = α22 a2 − α25 a13 sin γ1 (6.11.51)
2 8
Utilizing (6.11.47) and combining (6.11.48) and (6.11.49), we can obtain

a1 γ2 = σ1 a1 + 21 α11 a1 + 18 α13 a1 a22 + 18 α14 a13

(6.11.52)
+ 18 α15 a12 a2 cosγ1 + α16 cosγ2

−a2 γ  1 + 3a2 γ  2 = 3σ1 a2 − σ2 a2 + 21 α21 a2 + 18 α23 a12 a2

(6.11.53)
+ 18 α24 a23 + 18 α25 a13 cosγ1

Let a1 = γ1 = a2 = γ2 = 0 in (6.11.50)–(6.11.53), we can obtain

F1 sin γ1 + α16 sin γ2 = G1 (6.11.54)

F2 sin γ1 = G2 (6.11.55)

F1 cos γ1 + α16 cos γ2 = G3 − a1 σ1 (6.11.56)

6.11 Exercise 6.11 (Resonance Analysis on the Cylinder Rolling Without … 591

F2 cos γ1 = G4 − 3σ1 a2 + σ2 a2 (6.11.57)

where
1 1
F1 = α15 a12 a2 , F2 = α25 a13
8 8
1 1
G1 = − α12 a1 , G2 = α22 a2
2
 2 
1 1 1 (6.11.58)
G3 = − α11 a1 + α13 a1 a22 + α14 a1
3
2 8 8
 
1 1 1
G4 = − α21 a2 + α23 a12 a2 + α24 a2
3
2 8 8

Solve for sin γ1 and cos γ1 from (6.11.55) and (6.11.57) and substitute them into
(6.11.54) and (6.11.56), we can obtain

α16 sin γ2 = G1 − F1 F2−1 G2 (6.11.59)

α16 cos γ2 = G3 − σ1 a1 − F1 F2−1 (G4 − 3σ1 a2 + σ2 a2 ) (6.11.60)

Eliminating γ1 in (6.11.55) and (6.11.57), and γ2 in (6.11.59) and (6.11.60), we

can obtain the frequency–response equations

(G4 − 3σ1 a2 + σ2 a2 )2 + G22 = F22 (6.11.61)

 2  2
G3 − σ1 a1 − F1 F2−1 (G4 − 3σ1 a2 + σ2 a2 ) + G1 − F1 F2−1 G2 = α16
2

(6.11.62)

Constant amplitudes a1 and a2 can be obtained from the above two equations, and
the constant phases γ1 and γ2 can be obtained through (6.11.54) and (6.11.55).
Again, analyze the stability of the steady state solution. Let a10 , a20 , γ10 and γ20
be a set of steady state solution and make a small perturbation of them, i.e.,

a1 = a10 + ã1 , a2 = a20 + ã2

(6.11.63)
γ1 = γ10 + γ̃1 , γ2 = γ20 + γ̃2

Substitute (6.11.63) into (6.11.50)–(6.11.53) and make the linearization, we can

obtain
⎧ ⎫ ⎡ ⎤⎧ ⎫
⎪
⎪ ã ⎪ l11 l12 l13 l14 ⎪ ã1 ⎪
⎨ 1 ⎪⎬ ⎢ ⎪
⎨ ⎪ ⎬
ã2 l
⎢ 21 l22 l23 l24 ⎥
⎥ 2 ã
⎪ ⎪ = ⎣ ⎦ (6.11.64)
⎪ γ̃ l31 l32 l33 l34 ⎪ γ̃ ⎪
⎩ 1 ⎪⎭ ⎪
⎩ 1⎪ ⎭
γ̃2 l41 l42 l43 l44 γ̃2
592 6 Systems Having Finite Degrees of Freedom

where
1 1 1
l11 = α12 + α15 a10 a20 sin γ10 , l12 = α15 a10 2
sin γ10
2 4 8 (6.11.65)
1
l13 = α15 a10 2
a20 cos γ10 , l14 = α16 sin γ20
8
3 1
l21 = − α25 a10 2
sin γ10 , l22 = α22
8 2 (6.11.66)
1
l23 = − α25 a10 cos γ10 , l24 = 0
3
8

−1 3 3 9 1
l31 = a10 3σ1 + α11 ã1 + α13 a20 2
+ α14 a10 2
− α23 a102
2 8 8 4

3 3 3 −1
+ α15 a10 a20 cos γ10 − α25 a10 a20 cos γ10
4 8

−1 1 3 1
l32 = a20 σ2 − 3σ1 − α21 + α13 a20 2
− α23 a10 2
(6.11.67)
2 4 8

3 3
+ α15 a10 a20 cos γ10 − α24 a20 2
8 8
 
−1 1 3 −1
l33 = a20 α25 a10 − α15 a10 a20 sin γ10 , l34 = 3α16 a10
3 2
sin γ20
8 8
 
−1 1 3 1 1
l41 = a10 σ1 + α11 + α14 a10 + α13 a20 + α15 a10 a20 cos γ10
2 2
2 8 8 4
1 1
l42 = α13 a20 + α15 a10 cos γ10 (6.11.68)
4 8
1 −1
l43 = − α15 a10 a20 sin γ10 , l44 = −α16 a10 sin γ20
8
The steady state solutions are stable if the eigenvalues of (6.11.64) have negative
real parts.

6.12 Exercise 6.12 (Resonance Analysis on the Cylinder

Rolling Without Slip on the Circular Surface II)

Solution: (a) The kinetic energy of the system is

 2  2 
T = 21 M ẏ2 + 21 m1 (R − r)θ̇ cosθ + ẏ + (R − r)θ̇ sinθ
 2
θ̇
+ 21 21 m1 r 2 (R−r)
r
(6.12.1)
= 21 (m1 + M )ẏ2 + 43 m1 (R − r)2 θ̇ 2 + m1 (R − r)ẏθ̇ sinθ
6.12 Exercise 6.12 (Resonance Analysis on the Cylinder Rolling Without … 593

Using the equilibrium position as the zero potential surface, we can write the
potential energy of the system as
 
V = 21 k (y − y0 )2 − (yc − y0 )2 + 21 m1 g(R − r)(1 − cosθ )
(6.12.2)
+(M + m1 )g(y − yc )

where y0 is the coordinate of the block when the spring is not deformed and yc is the
coordinate of the block when the system is balanced. Therefore, we have

k(y0 − yc ) = (M + m1 )g (6.12.3)

The generalized forces are

Qy = F(t), Qθ = 0 (6.12.4)

Substitute kinetic energy, potential energy, and generalized forces into the
Lagrange’s equation:

d ∂T ∂T ∂V d ∂T ∂T ∂V
− =− + Qy , − =− + Qθ
dt ∂ ẏ ∂y ∂y dt ∂ θ̇ ∂θ ∂θ

and take (6.12.3) into account, we can obtain

(m1 + M )ÿ + m1 (R − r)θ̈ sin θ + m1 (R − r)θ̇ 2 cos θ + k(y − yc ) = F(t)

3
m1 (R − r)2 θ̈ + m1 (R − r)ÿ sin θ + m1 g(R − r) sin θ = 0
2
(6.12.5)

If we consider that there is viscous damping along y direction, let the drag coef-
ficient be c, and add the drag term directly to the first equation of (6.12.5), we
get

(m1 + M )ÿ + m1 (R − r)θ̈ sin θ + m1 (R − r)θ̇ 2 cos θ + k(y − yc ) + cẏ = F(t)

3
m1 (R − r)2 θ̈ + m1 (R − r)ÿ sin θ + m1 g(R − r) sin θ = 0
2
(6.12.6)

Let
y − yc m1
u= , m= , ω10
2
= k/(m1 + M )
R−r m1 + M
ω20
2
= 2g/3(R − r), f (t) = F(t)/(m1 + M )(R − r), 2ω10 μ = c/(m1 + M )
(6.12.7)

Equation (6.11.4) changes into

594 6 Systems Having Finite Degrees of Freedom

ü + mθ̈ sin θ + mθ̇ 2 cos θ + ω10

2
u + 2ω10 μu̇ = f (t)
2 (6.12.8)
θ̈ + ü sin θ + ω20
2
sin θ = 0
3
where μ is the dimensionless damping ratio.
(b) At the equilibrium position of the system u = θ = 0, we can expand (6.12.8)
and retain to third-order small quantities, we get

'
3
ü + mθ̈ + ω10
2
u + 2ω10 μu̇ = Kn cos(n t + θn )
n=1 (6.12.9)
3 3 2 1 2 3
ü + θ̈ + ω20 θ − ω20 θ =0
2 2 4
The corresponding linear undamped free oscillation equations are
   
1m ü ω10
2
0 u
+ =0 (6.12.10)
1 23 θ̈ 0 23 ω20
2
θ

Let

u = B1 eiω t , θ = B2 eiω t (6.12.11)

and substitute them into (6.12.10), we can obtain

 2  
ω10 − ω2  −mω2  B1
=0 (6.12.12)
−ω2 3
2
ω20
2
− ω2 B2

So the characteristic equation is

 2  
ω10 − ω2  −mω2 
det =0 (6.12.13)
−ω2 3
2
ω20
2
− ω2

i.e.,
 2  2
(3 − 2m)ω4 − 3 ω10 + ω20
2
ω + 3ω10
2
ω20
2
=0 (6.12.14)

Therefore, the linear natural frequencies are

6.12 Exercise 6.12 (Resonance Analysis on the Cylinder Rolling Without … 595

⎡    2  ⎤1/2
2 2
3 ω10
2
+ ω20
2
− 9 ω10 + ω20 − 12(3 − 2m)ω10
2
ω20
2
ω1 = ⎣ ⎦
2(3 − 2m)
⎡  ⎤1/2 (6.12.15)
  2 2 2

3 ω10
2
+ ω20
2
+ 9 ω10 + ω20 − 12(3 − 2m)ω10
2
ω20
2
ω2 = ⎣ ⎦
2(3 − 2m)

Substituting ω1 and ω2 into (6.12.12), we can obtain

{B1 , B2 }T1 = {1, h1 }T , {B1 , B2 }T2 = {1, h2 }T (6.12.16)

where h1 and h2 can be obtained from (6.12.12)

ω10
2
− ω12 ω10
2
− ω22
h1 = , h2 = (6.12.17)
mω12 mω22

Therefore, the solution of the linear free oscillation (6.12.10) can be expressed as

u = A1 eiω1 t + A2 eiω2 t + cc
(6.12.18)
θ = h1 A1 eiω1 t + h2 A2 eiω2 t + cc

In order to study the internal resonance of ω2 ≈ 3ω1 , let.

s = ω2 /ω1 , p = ω20 /ω10 (6.12.19)

From (6.12.15), we can obtain

 √ 1/2
1+ 1−q
s= √ (6.12.20)
1− 1−q

where

4(3 − 2m)p2
q=  2 ≤ 1, 0 < m < 1 (6.12.21)
3 p2 + 1

For different m, the curves of the frequency ratio p versus s are shown in Fig. 6.8.
The internal resonance case of ω2 ≈ 3ω1 may occur when m = 0.1 to 0.9.
We note that the Eq. (6.12.10) is identical to the equation of the previous exercise,
(6.11.11), so the free oscillation solutions and the results for the natural frequencies
are identical to those in the previous question.
(c) For small and finite amplitudes, we use the method of multiple scales to solve
(6.12.9). Therefore, let the solution of Eq. (6.12.9) be expressed as
596 6 Systems Having Finite Degrees of Freedom

Fig. 6.8 Frequency ratio of

p to s for Exercise 6.12

u = εu11 (T0 , T2 ) + ε3 u13 (T0 , T2 ) + · · ·

(6.12.22)
θ = εu21 (T0 , T2 ) + ε3 u23 (T0 , T2 ) + · · ·

In order to let the damping and nonlinear terms appear in the same order equation,
we specify that

μ = ε2 μ̂ (6.12.23)
 
Substitute (6.12.22) into (6.12.9) and keep to O ε3 , we get

'
3
0 = ü + mθ̈ + ω10
2
u + 2ω10 μu̇ − Kn cos(n t + θn )
n=1
   
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εu11 + ε3 u13
   
+m D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εu21 + ε3 u23
    
+ω10
2
εu11 + ε3 u13 + 2ω10 ε2 μ̂ D0 + εD1 + ε2 D2 εu11 + ε3 u13
'
3
− Kn cos(n T0 + θn ) + · · ·
n=1
  
= ε D02 u11 + mD02 u21 + ω10
2
u11 + ε3 D02 u13 + mD02 u23 + ω10
2
u13
'
3
+ 2D0 D2 u11 + 2mD0 D2 u21 + 2ω10 μ̂D0 u11 ] − Kn cos(n T0 + θn ) + · · ·
n=1
(6.12.24)
6.12 Exercise 6.12 (Resonance Analysis on the Cylinder Rolling Without … 597

3 3 2 1 2 3
0 = ü + θ̈ + ω20 θ − ω20 θ
 2 2 2  4  
= D0 + 2εD0 D1 + ε2 D12 + 2D0 D2 εu11 + ε3 u13
3   
+ D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εu21 + ε3 u23
2
3 2  1 2 3
+ ω20 εu21 + ε3 u23 − ω20 εu21 + ε3 u23 + · · ·
2 4  
3 3 2 3 3 2
= ε D0 u11 + D0 u21 + ω20 u21 + ε D02 u13 + D02 u23 + ω20
2 2 3
u23
2 2 2 2

1 2 3
2D0 D2 u11 + 3D0 D2 u21 − ω20 u21 + · · ·
4
(6.12.25)

We present the answer to only one of 12 cases, (iv), below. Readers are invited to
complete the solutions for the rest of cases.
(iv) 1 ≈ ω1 and ω2 ≈ 3ω1 .
In this case,K1 cos 1 T0 is a resonant excitation term, which cannot appear in
the equations of order ε1 , and the other two excitation terms are non-resonant hard
excitations, which should appear in the equations of order ε1 . Thus, let

K1 = 2ε3 K̂1 , K2 = 2εK̂2 , K3 = 2εK̂3 (6.12.26)

Equating coefficients of like powers of ε in (6.12.24) and (6.12.25) yields.

Order ε1 :

+
3
D02 u11 + mD02 u21 + ω10
2
u11 = 2 K̂n cos(n T0 + θn )
n=2 (6.12.27)
D02 u11 + 3 2
D u
2 0 21
+ ω u
3 2
2 20 21
=0

Order ε3 :

D02 u13 + mD02 u23 + ω10 2

u13 = −2D0 D2 u11 − 2mD0 D2 u21
−2ω10 μ̂D0 u11 + 2K̂1 cos(1 T0 + θ1 ) (6.12.28)
D02 u13 + 23 D02 u23 + 23 ω20
2
u23 = −2D0 D2 u11 − 3D0 D2 u21 + 41 ω20
2 3
u21

The corresponding homogeneous equations to (6.12.27) are the same as (6.12.10),

so its solution can be expressed as

'
3
u11 = A1 eiω1 T0 + A2 eiω2 T0 + B1n ei(n T0 +θn ) + cc
n=2
(6.12.29)
'
3
u21 = h1 A1 eiω1 T0 + h2 A2 eiω2 T0 + B2n ei(n T0 +θn ) + cc
n=2
598 6 Systems Having Finite Degrees of Freedom

where Ak = Ak (T2 ), k = 1, 2, and

3(ω202
−2n )K̂n
B1n = 3(ω10
2
−2n )(ω20
2
−2n )−2m2n 2n
22n K̂n
; n = 2, 3 (6.12.30)
B2n = 3(ω10
2
−2n )(ω20
2
−2n )−2m2n 2n

Introduce the detuning parameters σ1 , σ2 such that

1 = ω1 + ε2 σ1 , ω2 = 3ω1 + ε2 σ2 (6.12.31)

Substituting (6.12.31) and (6.12.29) into (6.12.28) yields


D02 u13 + mD02 u23 + ω10 2
u13 = −2iω1 (1 + mh1 )A1 − 2iω10 ω1 μ̂A1
+K̂1 ei(σ1 T2 +θ1 ) eiω1 T0  (6.12.32)
+ −2iω2 (1 + mh2 )A2 − 2iω10 ω2 μ̂A2 eiω2 T0
+cc + NST
3 3 2 
D02 u13 + D02 u23 + ω20 u23 = −iω1 (2 + 3h1 )A1
2 2
3 2  2  3 2 3 2 3 2
+ ω20 h1 B22 + B23 2
A1 + ω20 h1 A1 A1 + ω20 h1 h22 A1 A2 A
2 4 2
3 2 2 2
+ ω20 h1 h2 A1 A2 eiσ2 T2 eiω1 T0
4
 (6.12.33)
3 2  2 
+ −iω1 (2 + 3h1 )A2 + ω20 h2 B22 + B232
A2
2
3 2 3 2 3 2 2
+ ω20 h2 hA2 A2 + ω20 h1 h2 A1 A1 A2
4 2
1 2 3 3 −iσ2 T2 iω2 T0
+ ω20 h1 A1 e e + cc + NST
4

Primes denote the derivative with respect to T2 .

In order to eliminate secular terms of Eqs. (6.12.32) and (6.12.33), we seek the
following special solutions for them:

u13 = P11 eiω1 T0 + P12 eiω2 T0

(6.12.34)
u23 = P21 eiω1 T0 + P22 eiω2 T0

Substituting (6.12.34) into (6.12.32) and (6.12.33), equating the coefficients of

eiω1 T0 and eiω2 T0 , we get
 2   
ω10 − ωn2  −mωn2  P1n R1n
= , n = 1, 2 (6.12.35)
−ωn2 3
2
ω20
2
− ωn2 P2n R2n
6.12 Exercise 6.12 (Resonance Analysis on the Cylinder Rolling Without … 599

where

R11 = −2iω1 (1 + mh1 )A1 − 2iω10 ω1 μ̂A1 + K̂1 ei(σ1 T2 +θ1 )

3 2  2  3 2 3 2
R21 = −iω1 (2 + 3h1 )A1 + ω20 h1 B22 + B23 2
A1 + ω20 h1 A1 A1 (6.12.36)
2 4
3 2 3 2 2 2
+ ω20 h1 h22 A1 A2 A2 + ω20 h1 h2 A1 A2 eiσ2 T2
2 4
R12 = −2iω2 (1 + mh2 )A2 − 2iω10 ω2 μA2
3 2  2 
R22 = −iω1 (2 + 3h1 )A2 + ω20 h2 B22 + B23
2
A2 (6.12.37)
2
3 2 3 2 3 2 2 1 2 3 3 −iσ2 T2
+ ω20 h2 hA2 A2 + ω20 h1 h2 A1 A1 A2 + ω20 h1 A1 e
4 2 4
According to the Eq. (6.12.13), the determinant of the coefficient matrix of
Eq. (6.12.35) is zero:
 
R1n  −mωn2 
det =0
R2n 23 ω20
2
− ωn2

i.e.,

 
3 ωn2 − ω20
2
R1n = 2ωn2 R2n (6.12.38)

Substitute (6.12.36) and (6.12.37), respectively, into (6.12.38), we obtain

2iA1 = α11 A1 + iα12 A1 + α13 A1 A2 A2 + α14 A21 A1

2 (6.12.39)
+α15 A1 A2 eiσ2 T2 + α16 ei(σ1 T2 +θ1 )

2iA2 = α21 A2 + iα22 A2 + α23 A1 A1 A2 + α24 A22 A2 + α25 A31 e−iσ2 T2 (6.12.40)

where
   
1 = ω1 ω12 (2 + 3h1 ) − 3 ω12 − ω20
2
(1 + mh1 )
 2   2 
α11 = 3−1 2 2 2 −1
1 ω1 ω20 h1 B22 + B23 , α12 = 61 ω10 ω1 ω1 − ω20
2

3 −1 2 2 3 (6.12.41)
α13 = 3−1
1 ω1 ω20 h1 h2 , α14 = 1 ω1 ω20 h1
2 2 2
2
 2  3 −1 2 2 2
α15 = −3−11 ω1 − ω20 K̂1 , α16 = 1 ω1 ω20 h1 h2
2
2
600 6 Systems Having Finite Degrees of Freedom
   
2 = ω2 ω1 ω2 (2 + 3h1 ) − 3 ω22 − ω20
2
(1 + mh2 )
 2   2 
α21 = 3−1 2 2 2 −1
2 ω2 ω20 h2 B22 + B23 , α22 = 62 ω10 ω2 ω2 − ω20 μ̂
2

3 −1 2 2 3 1 −1 2 2 3
α23 = 3−1
2 ω2 ω20 h1 h2 , α24 = 2 ω2 ω20 h2 , α25 = 2 ω2 ω20 h1
2 2 2
2 2
(6.12.42)

Let
1 iβ1 1
A1 = a1 e , A2 = a2 eiβ2 (6.12.43)
2 2
Substituting them into (6.12.39) and (6.12.40), we get

1 1 1 1 1
ia1 − a1 β1 = α11 a1 + iα12 a1 + α13 a1 a22 + α14 a13 + α15 a12 a2 eiγ1 + α16 eiγ2
2 2 8 8 8
(6.12.44)
1 1 1 1 1
ia2 − a2 β2 = α21 a2 + iα22 a2 + α23 a12 a2 + α24 a23 + α25 a13 e−iγ1 (6.12.45)
2 2 8 8 8
where

γ1 = σ2 T2 − 3β1 + β2 , γ2 = σ1 T2 − β1 + θ1 (6.12.46)

Separating the real and imaginary parts of the above equations yields

1 1 1 1
−a1 β1 = α11 a1 + α13 a1 a22 + α14 a13 + α15 a12 a2 cos γ1 + α16 cos γ2
2 8 8 8
(6.12.47)
1 1 1 1
−a2 β2 = α21 a2 + α23 a12 a2 + α24 a23 + α25 a13 cos γ1 (6.12.48)
2 8 8 8
1 1
a1 = α12 a1 + α15 a12 a2 sin γ1 + α16 sin γ2 (6.12.49)
2 8
1 1
a2 = α22 a2 − α25 a13 sin γ1 (6.12.50)
2 8
Utilizing (6.12.46) and combining (6.12.47) and (6.12.48), we can obtain

a1 γ2 = σ1 a1 + 21 α11 a1 + 18 α13 a1 a22 + 18 α14 a13

(6.12.51)
+ 18 α15 a12 a2 cosγ1 + α16 cosγ2

−a2 γ1 + 3a2 γ2 = 3σ1 a2 − σ2 a2 + 21 α21 a2 + 18 α23 a12 a2

(6.12.52)
+ 18 α24 a23 + 18 α25 a13 cosγ1
6.12 Exercise 6.12 (Resonance Analysis on the Cylinder Rolling Without … 601

Let a1 = γ1 = a2 = γ2 = 0 in (6.12.49)–(6.12.52), we can obtain

F1 sin γ1 + α16 sin γ2 = G1 (6.12.53)

F2 sin γ1 = G2 (6.12.54)

F1 cos γ1 + α16 cos γ2 = G3 − a1 σ1 (6.12.55)

F2 cos γ1 = G4 − 3σ1 a2 + σ2 a2 (6.12.56)

where
1 1
F1 = α15 a12 a2 , F2 = α25 a13
8 8
1 1
G1 = − α12 a1 , G2 = α22 a2
2
 2 
1 1 1 (6.12.57)
G3 = − α11 a1 + α13 a1 a22 + α14 a1
3
2 8 8
 
1 1 1
G4 = − α21 a2 + α23 a12 a2 + α24 a2
3
2 8 8

Solve for sin γ1 and cos γ1 from (6.12.54) and (6.12.56) and substitute them into
(6.12.53) and (6.12.55), we can obtain

α16 sin γ2 = G1 − F1 F2−1 G2 (6.12.58)

α16 cos γ2 = G3 − σ1 a1 − F1 F2−1 (G4 − 3σ1 a2 + σ2 a2 ) (6.12.59)

Eliminating γ1 in (6.12.54) and (6.12.56), and γ2 in (6.12.58) and (6.12.59), we

can obtain the frequency–response equations

(G4 − 3σ1 a2 + σ2 a2 )2 + G22 = F22 (6.12.60)

 2  2
G3 − σ1 a1 − F1 F2−1 (G4 − 3σ1 a2 + σ2 a2 ) + G1 − F1 F2−1 G2 = α16
2

(6.12.61)

Constant amplitudes a1 and a2 can be obtained from the above two equations, and
the constant phases γ1 and γ2 can be obtained through (6.12.53) and (6.12.54).
Again, analyze the stability of the steady state solution. Let a10 , a20 , γ10 and γ20
be a set of steady state solution and make a small perturbation of them, i.e.,

a1 = a10 + ã1 , a2 = a20 + ã2

602 6 Systems Having Finite Degrees of Freedom

γ1 = γ10 + γ̃1 , γ2 = γ20 + γ̃2 (6.12.62)

Substitute (6.12.62) into (6.12.49)–(6.12.52) and make the linearization, we can

obtain
⎧ ⎫ ⎡ ⎤⎧ ⎫
⎪
⎪ ã ⎪ l11 l12 l13 l14 ⎪ ã1 ⎪
⎨ 1 ⎪ ⎬ ⎢ ⎪
⎨ ⎪ ⎬
ã2 l l22 l23 l24 ⎥ ã
= ⎢ 21 ⎥ 2 (6.12.63)
⎪ ⎪ ⎣ l31
⎪ γ̃1 ⎪ l32 l33 l34 ⎦⎪⎪ γ̃ ⎪
⎩ ⎭ ⎩ 1⎪ ⎭
γ̃2 l41 l42 l43 l44 γ̃2

where
1 1 1
l11 = α12 + α15 a10 a20 sin γ10 , l12 = α15 a10 2
sin γ10
2 4 8 (6.12.64)
1
l13 = α15 a10 2
a20 cos γ10 , l14 = α16 sin γ20
8
3 1
l21 = − α25 a10 2
sin γ10 , l22 = α22
8 2 (6.12.65)
1
l23 = − α25 a10 3
cos γ10 , l24 = 0
8

−1 3 3 9 1
l31 = a10 3σ1 + α11 ã1 + α13 a20 2
+ α14 a10 2
− α23 a102
2 8 8 4

3 3 3 −1
+ α15 a10 a20 cos γ10 − α25 a10 a20 cos γ10
4 8

−1 1 3 1
l32 = a20 σ2 − 3σ1 − α21 + α13 a20 2
− α23 a10 2
(6.12.66)
2 4 8

3 3
+ α15 a10 a20 cos γ10 − α24 a20 2
8 8
 
−1 1 3 −1
l33 = a20 α25 a10
3
− α15 a10 a202
sin γ10 , l34 = 3α16 a10 sin γ20
8 8
 
−1 1 3 1 1
l41 = a10 σ1 + α11 + α14 a10 2
+ α13 a20 2
+ α15 a10 a20 cos γ10
2 8 8 4
1 1
l42 = α13 a20 + α15 a10 cos γ10 (6.12.67)
4 8
1 −1
l43 = − α15 a10 a20 sin γ10 , l44 = −α16 a10 sin γ20
8
The steady state solutions are stable if the eigenvalues of (6.12.63) have negative
real parts.
6.13 Exercise 6.13 (Parametric Excitation of a Stretched Wire Carrying Two … 603

6.13 Exercise 6.13 (Parametric Excitation of a Stretched

Wire Carrying Two Particles)

Solution: (a) The stretched wire cannot elongate itself, but the two ends of it can
move. The magnitude of the tension in the wire is a constant, therefore, applying
Newton’s second law to each of the mass point gives

m1 ẍ1 = P1 , m2 ẍ2 = P2 (6.13.1)

where P1 and P2 denote the resultant forces exerting on the mass points m1 and m2
by the stretched wire along x1 - and x2 - direction, respectively. Therefore,

P1 = −T1 sinθ1 + T2 sinθ2 = −Psinθ1 + Psinθ2

= − 2 Px21 1/2 + 2 P(x2 −x1 )2 1/2 (6.13.2)
(l1 +x1 ) [l2 +(x2 −x1 ) ]
P2 = −T2 sinθ2 − T3 sinθ3 = −Psinθ2 − Psinθ3
= − 2 Px22 1/2 − 2 P(x2 −x1 )2 1/2 (6.13.3)
(l3 +x2 ) [l2 +(x2 −x1 ) ]

Substitute (6.13.2) and (6.13.3) into (6.13.1), we obtain

 −1/2  −1/2
m1 ẍ1 + Px1 l12 + x12 + P(x1 − x2 ) l12 + (x2 − x1 )2 =0
2 
2 −1/2
2 
2 −1/2
(6.13.4)
m2 ẍ2 + Px2 l3 + x2 + P(x2 − x1 ) l2 + (x2 − x1 ) =0

(b) Write the Eq. (6.13.4) as

ẍ1 P x1 /l P x1 /l − x2 /l
+ + =0
l m1 l l12 /l 2 + x12 /l 2 m1 l l12 /l 2 + (x2 − x1 )2 /l 2
(6.13.5)
ẍ2 P x2 /l P x2 /l − x1 /l
+ + =0
l m2 l l32 /l 2 + x22 /l 2 m 2l l22 /l 2 + (x2 − x1 )2 /l 2

where

l = l1 + l2 + l3 (6.13.6)

Let
x1 x2 l1 l2 l3
u1 = , u2 = , r1 = , r2 = , r3 =
l l l l l
(6.13.7)
P0 P0
P = P0 p(t), ω10
2
= , ω202
=
m1 l m2 l

Then the Eq. (6.13.5) becomes

604 6 Systems Having Finite Degrees of Freedom

ω10
2
p(t)r1−1 u1 ω10
2
p(t)r1−1 (u1 − u2 )
ü1 + + =0
1 + r1−2 u12 1 + r1−2 (u2 − u1 )2
(6.13.8)
ω20
2
p(t)r3−1 u2 ω20
2
p(t)r2−1 (u2 − u1 )
ü2 + + =0
1 + r3−2 u22 1 + r2−2 (u2 − u1 )2

Expanding (6.13.8) near the equilibrium position x1 = x2 = 0 and retaining to

third order small quantities yields
 
ü1 + 2α1 u1 − α1 u2 − 3α2 u1 u22 + 3α2 u12 u2 − 2α2 u13 + α2 u23 p(t) = 0
  (6.13.9)
ü2 + −α3 u1 + α4 u2 + 3α5 u1 u22 − 3α5 u12 u2 + α5 u13 − α6 u23 p(t) = 0

where

2 −1 1 2 −3 2 −1
α1 = ω10 r1 , α2 = ω r , α3 = ω20 r2
2 10 1 (6.13.10)
 −1  1 2 −3 1 2  −3 
α4 = ω20
2
r2 + r3−1 , α5 = ω20 r2 , α6 = ω20 r2 + r3−3
2 2
When P = P0 , p(t) = 1, the linearized form of Eq. (6.13.9) is

ü1 + 2α1 u1 − α1 u2 = 0
(6.13.11)
ü2 − α3 u1 + α4 u2 = 0

Its characteristic equation is

 
2α1 − ω2 −α1
det =0 (6.13.12)
−α3 α4 − ω2

Therefore,
  1/2
(2α1 + α4 ) −
(2α1 + α4 )2 − 4(2α1 α4 − α1 α3 )
ω1 =
2
  1/2 (6.13.13)
(2α1 + α4 ) + (2α1 + α4 )2 − 4(2α1 α4 − α1 α3 )
ω2 =
2

This in turn leads to a set of modes as

{1, h1 }T , {1, h2 }T (6.13.14)

where
6.13 Exercise 6.13 (Parametric Excitation of a Stretched Wire Carrying Two … 605

2α1 − ω12 2α1 − ω22

h1 = , h2 = (6.13.15)
α1 α1

To examine the presence of internal resonance, let the frequency ratio s = ω2 /ω1 ,
then.

1+κ
s= (6.13.16)
1−κ

where
 ,  
-
4(2α1 α4 − α1 α3 ) - 4m r1 r2−1 + 2r1 r3−1
κ= 1− = .1 −   2
(2α1 + α4 )2 2 + m r1 r2−1 + r1 r3−1 (6.13.17)

m = m1 /m2 , r1 + r2 + r3 = 1

The relation between the frequency ratio s and the parameters is shown in Fig. 6.9,
as can be seen that an internal resonance of ω2 : ω1 = 3 : 1 occurs.
(c) Solve the nonlinear equation when P = P0 .
In this case, p(t) = 1 The Eq. (6.13.9) becomes

ü1 + 2α1 u1 − α1 u2 − 3α2 u1 u22 + 3α2 u12 u2 − 2α2 u13 + α2 u23 = 0

(6.13.18)
ü2 − α3 u1 + α4 u2 + 3α5 u1 u22 − 3α5 u12 u2 + α5 u13 − α6 u23 = 0

For small and finite amplitudes, we use the method of multiple scales to solve
(6.13.18). Therefore, let the solution of Eq. (6.13.18) be expressed as

u1 = εu11 (T0 , T2 ) + ε3 u13 (T0 , T2 ) + · · ·

(6.13.19)
u2 = εu21 (T0 , T2 ) + ε3 u23 (T0 , T2 ) + · · ·
 
Substitute (6.13.19) into (6.13.18) and keep to O ε3 , we get

0 = ü1 + 2α1 u1 − α1 u2 − 3α2 u1 u22 + 3α2 u12 u2 − 2α2 u13 + α2 u23

   
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εu11 + ε3 u13
   
+2α1 εu11 + ε3 u13 − α1 εu21 + ε3 u23
  2  2  
−3α2 εu11 + ε3 u13 εu21 + ε3 u23 + 3α2 εu11 + ε3 u13 εu21 + ε3 u23
 3  3
−2α2 εu11 + ε3 u13 + α2 εu21 + ε3 u23 + · · ·
  
= ε D02 u11 + 2α1 u11 − α1 u21 + ε3 D02 u13 + 2α1 u13 − α1 u23 + 2D0 D2 u11

−3α2 u11 u212
+ 3α2 u11
2
u21 − 2α2 u11
3
+ α2 u21
3
+ ···
(6.13.20)
606 6 Systems Having Finite Degrees of Freedom

0 = ü2 − α3 u1 + α4 u2 + 3α5 u1 u22 − 3α5 u12 u2 + α5 u13 − α6 u23

   
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εu21 + ε3 u23
   
−α3 εu11 + ε3 u13 + α4 εu21 + ε3 u23
  2  2 
+3α5 εu11 + ε3 u13 εu21 + ε3 u23 − 3α5 εu11 + ε3 u13 εu21 + ε3 u23
 3  3
+α5 εu11 + ε3 u13 − α6 εu21 + ε3 u23 + · · ·
  
= ε D02 u21 − α3 u11 + α4 u21 + ε3 D02 u23 − α3 u13 + α4 u23 + 2D0 D2 u21

+ 3α5 u11 u21
2
− 3α5 u112
u21 + α5 u11
3
− α6 u12
3
+ ···
(6.13.21)

Equating coefficients of like powers of ε in (6.13.20) and (6.13.21) yields.

Order ε1 :

D02 u11 + 2α1 u11 − α1 u21 = 0

(6.13.22)
D02 u21 − α3 u11 + α4 u21 = 0

Order ε3 :

D02 u13 + 2α1 u13 − α1 u23 = −2D0 D2 u11 + 3α2 u11 u21
2 − 3α u2 u + 2α u3 − α u3
2 11 21 2 11 2 21
2 2 2 u − α u3 + α u3
D0 u23 − α3 u13 + α4 u23 = −2D0 D2 u21 − 3α5 u11 u21 + 3α5 u11 21 5 11 6 12
(6.13.23)

The corresponding homogeneous equations to (6.13.22) are the same as (6.13.11),

so its solution can be expressed as

u11 = A1 eiω1 T0 + A2 eiω2 T0 + cc

(6.13.24)
u21 = h1 A1 eiω1 T0 + h2 A2 eiω2 T0 + cc

where Ak = Ak (T2 ), k = 1, 2,h1 and h2 are given by (6.13.15). Substituting

(6.13.24) into (6.13.23) yields

ω2 = 3ω1 + ε2 σ2 (6.13.25)
6.13 Exercise 6.13 (Parametric Excitation of a Stretched Wire Carrying Two … 607

D02 u23 + α3 u13 + α4 u23 = −2iω1 h1 A1 eiω1 T0 + (6α6 h1 h22 − 6α5 h22 − 12α5 h1 h2
+6α5 h1 + 12α5 h2 − 6α5 )A1 A2 A2 eiω1 T0
 
+ 3α6 h31 − 9α5 h21 + 9α5 h1 − 3α5 A21 A1 eiω1 T0
  2
+ 3α6 h21 h2 − 3α5 h21 − 6α5 h1 h2 + 6α5 h1 + 3α5 h2 − 3α5 A1 A2 ei(ω2 −2ω1 )T0
−2iω2 h2 A2 eiω2 T0 + (6α6 h21 h2 − 6α5 h21 − 12α5 h1 h2
+6α5 h2 + 12α5 h1 − 6α5 )A1 A1 A2 eiω2 T0
 
+ 3α6 h32 − 9α5 h22 + 9α5 h2 − 3α5 A22 A2 eiω2 T0
 
+ α6 h31 − 3α5 h21 + 3α5 h1 − α5 A31 e3iω1 T0 + cc + NST
(6.13.26)

Primes denote the derivative with respect to T2 . In order to eliminate the secular
terms from (6.13.25) and (6.13.26), it is necessary to distinguish between the case
where there is internal resonance of ω2 ≈ 3ω1 or not. Here we consider the case
with three-to-one internal resonance, and readers are invited to investigate the rest
of cases.
Introduce the detuning parameter σ2 such that

ω2 = 3ω1 + ε2 σ2 (6.13.27)

Equation (6.13.25) and (6.13.26) become

 
D02 u13 + 2α1 u13 − α1 u23 = −2iω1 A1 + −6α2 h1 h22 + 6α2 h22 + 12α2 h1 h2
− 6α2 h1 − 12α2 h2 + 12α2 )A1 A2 A2
 
+ −3α2 h31 + 9α2 h21 − 9α2 h1 + 6α2 A21 A1
  2 
+ −3α2 h21 h2 + 3α2 h21 + 6α2 h1 h2 − 6α2 h1 − 3α2 h2 + 6α2 A1 A2 eiσ2 T2 eiω1 T0
 
+ −2iω2 A2 + −6α2 h21 h2 + 6α2 h21 + 12α2 h1 h2
− 6α2 h2 − 12α2 h1 + 12α2 )A1 A1 A2
 
+ −3α2 h32 + 9α2 h22 − 9α2 h2 + 6α2 A22 A2
  
+ −α2 h31 + 3α2 h21 − 3α2 h1 + 2α2 A31 e−iσ2 T2 eiω2 T0 + cc + NST
(6.13.28)
608 6 Systems Having Finite Degrees of Freedom
 
D02 u23 + α3 u13 + α4 u23 = −2iω1 h1 A1 + 6α6 h1 h22 − 6α5 h22 − 12α5 h1 h2
+6α5 h1 + 12α5 h2 − 6α5 )A1 A2 A2
 
+ 3α6 h31 − 9α5 h21 + 9α5 h1 − 3α5 A21 A1
  2
+ 3α6 h21 h2 − 3α5 h21 − 6α5 h1 h2 + 6α5 h1 + 3α5 h2 − 3α5 A1 A2 eiσ2 T2 ]eiω1 T0
+[−2iω2 h2 A2 + (6α6 h21 h2 − 6α5 h21 − 12α5 h1 h2
+6α5 h2 + 12α5 h1 − 6α5 )A1 A1 A2
 
+ 3α6 h32 − 9α5 h22 + 9α5 h2 − 3α5 A22 A2
  
+ α6 h31 − 3α5 h21 + 3α5 h1 − α5 A31 e−iσ2 T2 eiω2 T0 + cc + NST
(6.13.29)

In order to eliminate secular terms of Eqs. (6.13.28) and (6.13.29), we seek the
following special solutions for them:

u13 = P11 eiω1 T0 + P12 eiω2 T0

(6.13.30)
u23 = P21 eiω1 T0 + P22 eiω2 T0

Substituting (6.13.30) into (6.13.28) and (6.13.29), equating the coefficients of

eiω1 T0 and eiω2 T0 , we get
  
2α1 − ωn2 −α1 P1n R1n
= , n = 1, 2 (6.13.31)
−α3 α4 − ωn2 P2n R2n

where

R11 = −2iω1 A1 + −6α2 h1 h22 + 6α2 h22 + 12α2 h1 h2
− 6α2 h1 − 12α2 h2 + 12α2 )A1 A2 A2
 
+ −3α2 h31 + 9α2 h21 − 9α2 h1 + 6α2 A21 A1
  2
+ −3α2 h21 h2 + 3α2 h21 + 6α2 h1 h2 − 6α2 h1 − 3α2 h2 + 6α2 A1 A2 eiσ2 T2
 (6.13.32)
R21 = −2iω1 h1 A1 + 6α6 h1 h22 − 6α5 h22 − 12α5 h1 h2
+ 6α5 h1 + 12α5 h2 − 6α5 )A1 A2 A2
 
+ 3α6 h31 − 9α5 h21 + 9α5 h1 − 3α5 A21 A1
  2
+ 3α6 h21 h2 − 3α5 h21 − 6α5 h1 h2 + 6α5 h1 + 3α5 h2 − 3α5 A1 A2 eiσ2 T2
6.13 Exercise 6.13 (Parametric Excitation of a Stretched Wire Carrying Two … 609

R12 = −2iω2 A2 + −6α2 h21 h2 + 6α2 h21 + 12α2 h1 h2
− 6α2 h2 − 12α2 h1 + 12α2 )A1 A1 A2
 
+ − 3α2 h32 + 9α2 h22 − 9α2 h2 + 6α2 A22 A2
 
+ −α2 h31 + 3α2 h21 − 3α2 h1 + 2α2 A31 e−iσ2 T2
 (6.13.33)
R22 = −2iω2 h2 A2 + 6α6 h21 h2 − 6α5 h21 − 12α5 h1 h2
+6α5 h2 + 12α5 h1 − 6α5 )A1 A1 A2
 
+ 3α6 h32 − 9α5 h22 + 9α5 h2 − 3α5 A22 A2
 
+ α6 h31 − 3α5 h21 + 3α5 h1 − α5 A31 e−iσ2 T2

According to Eq. (6.13.12), the determinant of the coefficient matrix of

Eq. (6.13.31) is zero:
 
R1n −α1  
det = 0 ⇒ α4 − ωn2 R1n + α1 R2n = 0 (6.13.34)
R2n α4 − ωn2

Substitute (6.13.32) and (6.13.33), respectively, into (6.13.34), we obtain

2
2iA1 = b11 A1 A2 A2 + b12 A21 A1 + b13 A1 A2 eiσ2 T2 (6.13.35)

2iA2 = b21 A1 A1 A2 + b22 A22 A2 + b23 A31 e−iσ2 T2 (6.13.36)

where
 
1 = ω1 α4 − ω12 + α1 h1
  
b11 = −1
1 α 4 − ω 2 −6α h h2 + 6α h2 + 12α h h − 6α h − 12α h + 12α
1 2 1 2 2 2 2 1 2 2 1 2 2 2
 
+ α1 6α6 h1 h22 − 6α5 h22 − 12α5 h1 h2 + 6α5 h1 + 12α5 h2 − 6α5
  
b12 = −1
1 α 4 − ω 2 −3α h3 + 9α h2 − 9α h + 6α
1 2 1 2 1 2 1 2
 
3 2
+ α1 3α6 h1 − 9α5 h1 + 9α5 h1 − 3α5
  
b13 = −1
1 α 4 − ω 2 −3α h2 h + 3α h2 + 6α h h − 6α h − 3α h + 6α
1 2 1 2 2 1 2 1 2 2 1 2 2 2
 
2 2
+ α1 3α6 h1 h2 − 3α5 h1 − 6α5 h1 h2 + 6α5 h1 + 3α5 h2 − 3α5
(6.13.37)
610 6 Systems Having Finite Degrees of Freedom
 
2 = ω2 α4 − ω22 + α1 h2
  
b21 = −1
2 α4 − ω22 −6α2 h21 h2 + 6α2 h21 + 12α2 h1 h2 − 6α2 h2 − 12α2 h1 + 12α2
 
+ α1 6α6 h21 h2 − 6α5 h21 − 12α5 h1 h2 + 6α5 h2 + 12α5 h1 − 6α5
  
b22 = −1
2 α4 − ω22 3α6 h32 − 9α5 h22 + 9α5 h2 − 3α5
 
+ α1 3α6 h32 − 9α5 h22 + 9α5 h2 − 3α5
  
b23 = −1
2 α4 − ω22 −α2 h31 + 3α2 h21 − 3α2 h1 + 2α2
 
+ α1 α6 h31 − 3α5 h21 + 3α5 h1 − α5
(6.13.38)

Let
1 iβ1 1
A1 = a1 e , A2 = a2 eiβ2 (6.13.39)
2 2
Substituting (6.13.39) into (6.13.35) and (6.13.36), we get

1 1 1
ia1 − a1 β1 = b11 a1 a22 + b12 a13 + b13 a12 a2 eiγ (6.13.40)
8 8 8
1 1 1
ia2 − a2 β2 = b21 a12 a2 + b22 a23 + b23 a13 e−γ (6.13.41)
8 8 8
where

γ = σ2 T2 − 3β1 + β2 (6.13.42)

Separating the real and imaginary parts of the above equations yields

a1 = 18 b13 a12 a2 sinγ

(6.13.43)
a2 = − 18 b23 a13 sinγ

−a1 β1 = 18 b11 a1 a22 + 18 b12 a13 + 18 b13 a12 a2 cosγ

(6.13.44)
−a2 β2 = 18 b21 a12 a2 + 18 b22 a23 + 18 b23 a13 cosγ

Eliminating γ from (6.13.43), we get

b23 a1 da1 + b13 a2 da2 = 0 (6.13.45)

i.e.,

b23 a12 + b13 a22 = E (6.13.46)

6.13 Exercise 6.13 (Parametric Excitation of a Stretched Wire Carrying Two … 611

Utilizing (6.13.42) and eliminating β1 , β2 from (6.13.44), we get

a2 γ  = σ2 a2 + 38 b11 a23 − 18 b22 a23 + 38 b12 a12 a2

(6.13.47)
− 18 b21 a12 a2 + 38 b13 a1 a22 cosγ − 18 b23 a13 cosγ

The above equation is divided by the second equation of (6.13.43), then we can
obtain

−b23 a2 a13 sinγ d γ = 8σ2 a2 + 3b11 a23 − b 22 a23 + 3b12 a12 a2
(6.13.48)
− b21 a12 a2 + 3b13 a1 a22 cosγ − b23 a13 cosγ da2

since
 
d a2 a13 cos γ = −a2 a13 sin γ d γ + cos γ a13 da2 + 3 cos γ a2 a12 da1

the Eq. (6.13.48) becomes

 
b23 d a2 a13 cosγ = (8σ2 a2 + 3b11 a23 − b22 a23 + 3b12 a12 a2
(6.13.49)
−b21 a12 a2 )da2 + 3a1 a2 (b13 a2 da2 + 3b23 a1 da1 )cosγ

Using (6.13.45) and (6.13.46), the above equation becomes

 
b23 d a2 a13 cosγ = 8σ2 a2 da2 + Eb−1  312 − b21 )a2 da2
23 (3b
−1 (6.13.50)
+ (3b11 − b22 ) − b13 b23 (3b12 − b21 ) a2 da2

Make the integration of (6.13.50), we can obtain

1
b23 a13 a2 cos γ − 4σ2 a22 + Eb−1 (3b12 − b21 )a22
2 23 (6.13.51)
1  4
− (3b11 − b22 ) − b13 b−1 23 (3b12 − b21 ) a2 = L
4
where L is the constant of integration.
Now, let us combine (6.13.51), (6.13.46) and (6.13.43) into a single variable
differential equation. To do so, let

a12 = Eξ (6.13.52)

Then from (6.13.46), we can obtain

a22 = Eb−1
13 (1 − b23 ξ ) (6.13.53)

Eliminating γ from (6.13.51) and (6.13.43) yields

612 6 Systems Having Finite Degrees of Freedom

1 2 −1 1 −2 2 −2

ξ  2 = 16 E b13 ξ (1 − b23 ξ )3 − 16 E b13 b23 4Eb−1 13 σ2 (1 − b23 ξ )
+L − 21 E 2 b−1 b−1
(3b12 − b 21 )(1 − b 23 ξ )
 13 23
 2 2
+ 41 (3b11 − b22 ) − b13 b−123 (3b 12 − b21 ) E 2 b−2
13 (1 − b23 ξ )

Or write as

ξ 2 = F 2 (ξ ) − G 2 (ξ ) (6.13.54)

where
 
F(ξ ) = ± 41 [E 2 b−1
13 ξ 1 − b23 ξ )
3 1/2

G(ξ ) = ± 41 E −1 b13 b−1 −1

23 {4Eb13 σ2 (1 − b23 ξ ) (6.13.55)
+L − 21 E 2 b−1 −1
13 b23 (3b12 − b21 )(1 − b23 ξ)
+ 4 (3b11 − b22 ) − b13 b−1
1 2 −2
23 (3b12 − b21 ) E b13 (1 − b23 ξ ) }
2

The functions F(ξ ) and G(ξ ) are shown schematically in Fig. 6.9. For real motions,
F 2 (ξ ) ≥ G 2 (ξ ). The points where F meets G corresponds to the vanishing of ξ .
A curve such as G2 which meets one branch of F at two different points or a curve
G3 which meets both branches corresponds to a periodic solution. In this case, ξ is
periodic and oscillates between two intersection points, and the motion is aperiodic.
Considering the curves G1 and F are tangent to each other, as shown in Fig. 6.9.
In this case, ξ has only one constant-value solution, and the motion of the system is
periodic. The nonlinear effect acts to modulate the phase of the motion so that the
nonlinear frequencies of the two modes are commensurable.
In order to analyze the steady state solution, let a1 = a2 = γ  = 0, (6.13.47) and
(6.13.43) become

sin γ = 0 or γ = nπ (6.13.56)

1 1 1
σ2 a2 + (3b11 − b22 )a23 + (3b12 − b21 )a12 a2 + a1 a22 (3b13 − b23 a1 ) cos nπ = 0
8 8 8
(6.13.57)

Equation (6.13.57) is the cubic equation of a2 . For a given set of values of σ , a1

and cos nπ , Eq. (6.13.57) has one or three real roots, each of which corresponds to
a periodic motion of the system. Thus, the periodic motion of the system is either
unique or one of the three possible periodic motions. Figure 6.9 shows that the
periodic motion is unstable. With a small perturbation, a curve such as G1 may
become a curve such as G2 and the motion of the system becomes aperiodic.
For the case of the nonlinear periodic motion of the system with a constant-value
solution, we note that the frequency of the motion of the system is

ω̂1 = ω1 + ε2 β1 , ω̂2 = ω2 + ε2 β2 (6.13.58)

6.13 Exercise 6.13 (Parametric Excitation of a Stretched Wire Carrying Two … 613

(a)

(b)

Fig. 6.9 a Relations between frequency ratio s and parameters (m = m1 /m2 , r 1 = l 1 /l, r 2 = l 2 /l,
r 3 = l 3 /l) b Schematic diagram of F(ξ ) and G(ξ ) for Exercise 6.13

therefore,
   
ω̂2 − 3ω̂1 = ω2 − 3ω1 + ε2 β2 − 3β1 = ε2 σ + ε2 β2 − 3β1 = ε2 γ  = 0
(6.13.59)

Thus, the nonlinearity of the system modulates the frequency of the motion to
exactly 3 to 1, and thus the motion is periodic.
 
(d) When P = P0 1 + ε2 cos t , p(t) = 1 + ε2 cos t, (6.13.9) becomes
  
ü1 + 2α1 u1 − α1 u2 − 3α2 u1 u22 + 3α2 u12 u2 − 2α2 u13 + α2 u23 1 + ε2 cos t = 0
  
ü2 + −α3 u1 + α4 u2 + 3α5 u1 u22 − 3α5 u12 u2 + α5 u13 − α6 u23 1 + ε2 cos t = 0
(6.13.60)

Equation (6.13.60) is a two-degree-of-freedom parametric excitation system. We

use the method of multiple scales to solve it.  
Substituting (6.13.19) into (6.13.60), retaining to O ε3 term, and then equating
coefficients of like powers of ε, we get.
614 6 Systems Having Finite Degrees of Freedom

Order ε1 :

D02 u11 + 2α1 u11 − α1 u21 = 0

(6.13.61)
D02 u21 − α3 u11 + α4 u21 = 0

Order ε3 :

D02 u13 + 2α1 u13 − α1 u23 = −2D0 D2 u11 + 3α2 u11 u21
2
− 3α2 u11
2
u21
+2α2 u11
3
− α2 u21
3
− 2α1 u11 cost + α1 u21 cost
(6.13.62)
D02 u23 − α3 u13 + α4 u23 = −2D0 D2 u21 − 3α5 u11 u21
2
+ 3α5 u11
2
u21
−α5 u11
3
+ α6 u12
3
+ α3 u11 cost − α4 u21 cost

The solution of (6.13.61) can be expressed as

u11 = A1 eiω1 T0 + A2 eiω2 T0 + cc

(6.13.63)
u21 = h1 A1 eiω1 T0 + h2 A2 eiω2 T0 + cc

where Ak = Ak (T2 ), k = 1, 2, h1 and h2 are given by (6.13.15). Substituting

(6.13.63) into (6.13.62) yields

D02 u13 + 2α1 u13 − α1 u23 = −2iω1 A1 eiω1 T0 + −6α2 h1 h22 + 6α2 h22 + 12α2 h1 h2
− 6α2 h1 − 12α2 h2 + 12α2 )A1 A2 A2 eiω1 T0
 
+ −3α2 h31 + 9α2 h21 − 9α2 h1 + 6α2 A21 A1 eiω1 T0
  2
+ −3α2 h21 h2 + 3α2 h21 + 6α2 h1 h2 − 6α2 h1 − 3α2 h2 + 6α2 A1 A2 ei(ω2 −2ω1 )T0

−2iω2 A2 eiω2 T0 + −6α2 h21 h2 + 6α2 h21 + 12α2 h1 h2
− 6α2 h2 − 12α2 h1 + 12α2 )A1 A1 A2 eiω2 T0
 
+ −3α2 h32 + 9α2 h22 − 9α2 h2 + 6α2 A22 A2 eiω2 T0
 
+ −α2 h31 + 3α2 h21 − 3α2 h1 + 2α2 A31 e3iω1 T0
   
1 1
+ α1 h1 − α1 A1 ei(−ω1 )T0 + α1 h2 − α1 A2 ei(−ω2 )T0
2 2
 
1
+ α1 h1 − α1 A1 ei(+ω1 )T0 + cc + NST
2
(6.13.64)
6.13 Exercise 6.13 (Parametric Excitation of a Stretched Wire Carrying Two … 615

D02 u23 − α3 u13 + α4 u23 = −2iω1 h1 A1 eiω1 T0 + 6α6 h1 h22 − 6α5 h22 − 12α5 h1 h2
+ 6α5 h1 + 12α5 h2 − 6α5 )A1 A2 A2 eiω1 T0
 
+ 3α6 h31 − 9α5 h21 + 9α5 h1 − 3α5 A21 A1 eiω1 T0
  2
+ 3α6 h21 h2 − 3α5 h21 − 6α5 h1 h2 + 6α5 h1 + 3α5 h2 − 3α5 A1 A2 ei(ω2 −2ω1 )T0

−2iω2 h2 A2 eiω2 T0 + 6α6 h21 h2 − 6α5 h21 − 12α5 h1 h2
+ 6α5 h2 + 12α5 h1 − 6α5 )A1 A1 A2 eiω2 T0
 
+ 3α6 h32 − 9α5 h22 + 9α5 h2 − 3α5 A22 A2 eiω2 T0
 
+ α6 h31 − 3α5 h21 + 3α5 h1 − α5 A31 e3iω1 T0
1 1
+ (α3 − α4 h1 )A1 ei(−ω1 )T0 + (α3 − α4 h2 )A2 ei(−ω2 )T0
2 2
1
+ (α3 − α4 h1 )A1 ei(+ω1 )T0 + cc + NST
2
(6.13.65)

Primes denote the derivative with respect to T2 . In analyzing the particular solu-
tions of (6.13.64) and (6.13.65) we need to distinguish between the internal resonant
case in which ω2 ≈ 3ω1 and the other resonant and non-resonant cases. Here, we
only present the solution to case (iii) below, and readers are invited to complete the
remaining two cases themselves.
Case (iii):  ≈ 2ω1 and ω2 ≈ 3ω1 .
Introduce the detuning parameter σ2 such that

 = 2ω1 + ε2 σ1 , ω2 = 3ω1 + ε2 σ2 (6.13.66)

Equation (6.13.64) and (6.13.65) become

616 6 Systems Having Finite Degrees of Freedom
 
D02 u13 + 2α1 u13 − α1 u23 = −2iω1 A1 + −6α2 h1 h22 + 6α2 h22 + 12α2 h1 h2
− 6α2 h1 − 12α2 h2 + 12α2 )A1 A2 A2
 
+ −3α2 h31 + 9α2 h21 − 9α2 h1 + 6α2 A21 A1
  2
+ −3α2 h21 h2 + 3α2 h21 + 6α2 h1 h2 − 6α2 h1 − 3α2 h2 + 6α2 A1 A2 eiσ2 T2
   
1 1
+ α1 h1 − α1 A1 eiσ1 T2 + α1 h2 − α1 A2 ei(−σ1 +σ2 )T2 ]eiω1 T0
2 2
 

+ −2iω2 A2 + −6α2 h1 h2 + 6α2 h21 + 12α2 h1 h2
2

−6α2 h2 − 12α2 h1 + 12α2 )A1 A1 A2

 
+ −3α2 h32 + 9α2 h22 − 9α2 h2 + 6α2 A22 A2
 
+ −α2 h31 + 3α2 h21 − 3α2 h1 + 2α2 A31 e−iσ2 T2
  
1 i(σ1 −σ2 )T2
+ α1 h1 − α1 A1 e eiω2 T0 + cc + NST
2
(6.13.67)

D02 u23 + α3 u13 + α4 u23 = −2iω1 h1 A1 + (6α6 h1 h22 − 6α5 h22 − 12α5 h1 h2
+ 6α5 h1 + 12α5 h2 − 6α5 )A1 A2 A2
 
+ 3α6 h31 − 9α5 h21 + 9α5 h1 − 3α5 A21 A1
  2
+ 3α6 h21 h2 − 3α5 h21 − 6α5 h1 h2 + 6α5 h1 + 3α5 h2 − 3α5 A1 A2 eiσ2 T2

1 1
+ (α3 − α4 h1 )A1 eiσ1 T2 + (α3 − α4 h2 )A2 ei(σ2 −σ1 )T2 eiω1 T0
2 2
 
+ −2iω2 h2 A2 + (6α6 h1 h2 − 6α5 h21 − 12α5 h1 h2
2

+ 6α5 h2 + 12α5 h1 − 6α5 )A1 A1 A2

 
+ 3α6 h32 − 9α5 h22 + 9α5 h2 − 3α5 A22 A2
 
+ α6 h31 − 3α5 h21 + 3α5 h1 − α5 A31 e−iσ2 T2

1
+ (α3 − α4 h1 )A1 ei(σ1 −σ2 )T2 eiω2 T0 + cc + NST
2
(6.13.68)

In order to eliminate secular terms of Eqs. (6.13.28) and (6.13.29), we seek the
following special solutions for them:

u13 = P11 eiω1 T0 + P12 eiω2 T0

(6.13.69)
u23 = P21 eiω1 T0 + P22 eiω2 T0

Substituting (6.13.30) into (6.13.28) and (6.13.29), equating the coefficients of

eiω1 T0 and eiω2 T0 , we get
6.13 Exercise 6.13 (Parametric Excitation of a Stretched Wire Carrying Two … 617
  
2α1 − ωn2 −α1 P1n R1n
= , n = 1, 2 (6.13.70)
−α3 α4 − ωn2 P2n R2n

where

R11 = −2iω1 A1 + −6α2 h1 h22 + 6α2 h22 + 12α2 h1 h2
− 6α2 h1 − 12α2 h2 + 12α2 )A1 A2 A2
 
+ −3α2 h31 + 9α2 h21 − 9α2 h1 + 6α2 A21 A1
  2 (6.13.71)
+ −3α2 h21 h2 + 3α2 h21 + 6α2 h1 h2 − 6α2 h1 − 3α2 h2 + 6α2 A1 A2 eiσ2 T2
   
1 1
+ α1 h1 − α1 A1 e iσ1 T2
+ α1 h2 − α1 A2 ei(−σ1 +σ2 )T2
2 2

R21 = −2iω1 h1 A1 + 6α6 h1 h22 − 6α5 h22 − 12α5 h1 h2
+ 6α5 h1 + 12α5 h2 − 6α5 )A1 A2 A2
 
+ 3α6 h31 − 9α5 h21 + 9α5 h1 − 3α5 A21 A1 (6.13.72)
  2
+ 3α6 h21 h2 − 3α5 h21 − 6α5 h1 h2 + 6α5 h1 + 3α5 h2 − 3α5 A1 A2 eiσ2 T2
1 1
+ (α3 − α4 h1 )A1 eiσ1 T2 + (α3 − α4 h2 )A2 ei(σ2 −σ1 )T2
2 2

R12 = −2iω2 A2 + −6α2 h21 h2 + 6α2 h21 + 12α2 h1 h2
− 6α2 h2 − 12α2 h1 + 12α2 )A1 A1 A2
 
+ −3α2 h32 + 9α2 h22 − 9α2 h2 + 6α2 A22 A2
 
  1
+ −α2 h31 + 3α2 h21 − 3α2 h1 + 2α2 A31 e−iσ2 T2 + α1 h1 − α1 A1 ei(σ1 −σ2 )T2
2
(6.13.73)

R22 = −2iω2 h2 A2 + 6α6 h21 h2 − 6α5 h21 − 12α5 h1 h2
+ 6α5 h2 + 12α5 h1 − 6α5 )A1 A1 A2
  (6.13.74)
+ 3α6 h32 − 9α5 h22 + 9α5 h2 − 3α5 A22 A2
  1
+ α6 h31 − 3α5 h21 + 3α5 h1 − α5 A31 e−iσ2 T2 + (α3 − α4 h1 )A1 ei(σ1 −σ2 )T2
2
According to Eq. (6.13.12), the determinant of the coefficient matrix of (6.13.31)
is zero:
 
R1n −α1  
det = 0 ⇒ α4 − ωn2 R1n + α1 R2n = 0 (6.13.75)
R2n α4 − ωn2

Substitute (6.13.71), (6.13.72), (6.13.73) and (6.13.74), respectively, into

(6.13.75), we obtain
618 6 Systems Having Finite Degrees of Freedom

2
2iA1 = b11 A1 A2 A2 + b12 A21 A1 + b13 A1 eiσ1 T2 + b14 A1 A2 eiσ2 T2 + b15 A2 ei(σ2 −σ1 )T2
(6.13.76)

2iA2 = b21 A1 A1 A2 + b22 A22 A2 + b23 A31 e−iσ2 T2 + b24 A1 ei(σ1 −σ2 )T2 (6.13.77)

where
 
1 = ω1 α4 − ω12 + α1 h1
  
b11 = −1
1 α4 − ω12 −6α2 h1 h22 + 6α2 h22 + 12α2 h1 h2 − 6α2 h1 − 12α2 h2 + 12α2
 
+ α1 6α6 h1 h22 − 6α5 h22 − 12α5 h1 h2 + 6α5 h1 + 12α5 h2 − 6α5
  
b12 = −1
1 α4 − ω12 −3α2 h31 + 9α2 h21 − 9α2 h1 + 6α2
 
+ α1 3α6 h31 − 9α5 h21 + 9α5 h1 − 3α5
  1  
1
b13 = −1
1 α 4 − ω 2
1 α 1 h1 − α 1 + α 1 (α 3 − α 4 h1 )
2 2
  
−1
b14 = 1 α4 − ω1 −3α2 h1 h2 + 3α2 h21 + 6α2 h1 h2 − 6α2 h1 − 3α2 h2 + 6α2
2 2
 
+ α1 3α6 h21 h2 − 3α5 h21 − 6α5 h1 h2 + 6α5 h1 + 3α5 h2 − 3α5
  1  
1
b15 = −1
1 α 4 − ω 2
1 α h
1 2 − α 1 + α (α
1 3 − α h
4 2 )
2 2
(6.13.78)
 
2 = ω2 α4 − ω22 + α1 h2
  
b21 = −1
2 α4 − ω22 −6α2 h21 h2 + 6α2 h21 + 12α2 h1 h2 − 6α2 h2 − 12α2 h1 + 12α2
 
+ α1 6α6 h21 h2 − 6α5 h21 − 12α5 h1 h2 + 6α5 h2 + 12α5 h1 − 6α5
  
b22 = −1
2 α4 − ω22 −3α2 h32 + 9α2 h22 − 9α2 h2 + 6α2
 
+ α1 3α6 h32 − 9α5 h22 + 9α5 h2 − 3α5
  
b23 = −1
2 α 4 − ω 2 −α h3 + 3α h2 − 3α h + 2α
2 2 1 2 1 2 1 2
 
+ α1 α6 h31 − 3α5 h21 + 3α5 h1 − α5
  1  
1
b24 = −1
2 α 4 − ω 2
2 α h
1 1 − α 1 + α (α
1 3 − α h
4 1 )
2 2
(6.13.79)

Let
1 iβ1 1
A1 = a1 e , A2 = a2 eiβ2 (6.13.80)
2 2
6.13 Exercise 6.13 (Parametric Excitation of a Stretched Wire Carrying Two … 619

Substituting (6.13.80) into (6.13.35) and (6.13.36), we get

ia1 − a1 β1 = 18 b11 a1 a22 + 18 b12 a13 + 21 b13 a1 ei(σ1 T2 −2β1 )

(6.13.81)
+ 18 b14 a12 a2 ei(σ2 T2 −3β1 +β2 ) + 21 b15 a2 ei(σ2 T2 −σ1 T2 −β1 +β2 )

ia2 − a2 β2 = 18 b21 a12 a2 + 18 b22 a23 + 21 b23 a13 e−i(σ2 T2 −3β1 +β2 )
(6.13.82)
+ 21 b24 a1 e−i(σ2 T2 −σ1 T2 −β1 +β2 )

Separating the real and imaginary parts of the above equations yields

a1 = 21 b13 a1 sinγ1 + 18 b14 a12 a2 sinγ2 + 21 b15 a2 sin(γ2 − γ1 )

a1 γ1 = σ1 a1 + 41 b11 a1 a22 + 41 b12 a13 + b13 a1 cosγ1 + 41 b14 a12 a2 cosγ2 (6.13.83)
+b15 a2 cos(γ2 − γ1 )

a2 = − 21 b23 a13 sinγ2 − 21 b24 a1 sin(γ2 − γ1 )

3a2 γ1 − 2a2 γ2 = 3σ1 a2 − 2σ2 a2 + 41 b21 a12 a2 + 41 b22 a23 + b23 a13 cosγ2 (6.13.84)
+b24 a1 cos(γ2 − γ1 )

where

γ1 = σ1 T2 − 2β1 , γ2 = σ2 T2 − 3β1 + β2 (6.13.85)

Let a1 = a2 = γ1 = γ2 = 0, the equation satisfied by the constant solution is
given by

1
b13 a1 sin γ1 + b14 a12 a2 sin γ2 + b15 a2 sin(γ2 − γ1 ) = 0 (6.13.86)
4
1 1 1
σ1 a1 + b11 a1 a22 + b12 a13 + b13 a1 cos γ1 + b14 a12 a2 cos γ2 + b15 a2 cos(γ2 − γ1 ) = 0
4 4 4
(6.13.87)

b23 a13 sin γ2 + b24 a1 sin(γ2 − γ1 ) = 0 (6.13.88)

1 1
3σ1 a2 − 2σ2 a2 + b21 a12 a2 + b22 a23 + b23 a13 cos γ2 + b24 a1 cos(γ2 − γ1 ) = 0
4 4
(6.13.89)

It is clear that (6.13.86)–(6.13.89) have a set of trivial steady state solution, i.e.,
a1 = a2 = 0. The frequency–response equation corresponding to the non-trivial
steady state solution is given below. From (6.13.88) and (6.13.89), we have

12 − b223 a16 − b224 a12 b224 a12 − 12 − b223 a16
cos γ1 = , cos γ 2 = (6.13.90)
2b23 b24 a14 21 b23 a13

where
620 6 Systems Having Finite Degrees of Freedom

1 1
1 = 3σ1 a2 − 2σ2 a2 + b21 a12 a2 + b22 a23 (6.13.91)
4 4
By (6.13.86) and (6.13.88), we have
 
b15 b23 a1 a2 1
b13 sin γ1 = − b14 a1 a2 sin γ2 (6.13.92)
b24 4

From (6.13.88) and taking the expression of cos γ2 in (6.13.90) into account, we
have
  2 2 2 
b223 a14 b24 a1 − 12 − b223 a16
1− = sin2 (γ2 − γ1 ) (6.13.93)
b224 21 b23 a13

Substituting (6.13.90) into (6.13.87), we can obtain

     2
1 b13 12 − b223 a16 − b224 a12 b14 a2 b224 a12 − 12 − b223 a16
 2 + + = cos2 (γ2 − γ1 ) (6.13.94)
b215 a22 2b23 b24 a13 81 b23 a1

where
1 1
2 = σ1 a1 + b11 a1 a22 + b12 a13 (6.13.95)
4 4
Squaring both sides of (6.13.92) and substituting (6.13.90) into it, we can obtain
a frequency–response equation as the following:
 2   2 2 2 
b15 b23 a1 a2 1 b24 a1 − 12 − b223 a16
− b14 a1 a2 1−
b24 4 21 b23 a13
  2 2  (6.13.96)
1 − b223 a16 − b224 a12
= b13 1 −
2
2b23 b24 a14

Adding (6.13.93) to (6.13.94) yields another frequency–response equation:

  2 2 2 
b223 a14 b24 a1 − 12 − b223 a16
1−
b224 21 b23 a13
     2
1 b13 12 − b223 a16 − b224 a12 b14 a2 b224 a12 − 12 − b223 a16
+ 2 2 2 + + =1
b15 a2 2b23 b24 a13 81 b23 a1
(6.13.97)

Non-trivial steady state response of the system can be obtained numerically from
(6.13.96), (6.13.97) and (6.13.90).
6.13 Exercise 6.13 (Parametric Excitation of a Stretched Wire Carrying Two … 621

Again, analyze the stability of the steady state solution. Let a10 , a20 , γ10 and γ20
be a set of steady state solution and make a small perturbation of them, i.e.,

a1 = a10 + ã1 , a2 = a20 + ã2 , γ1 = γ10 + γ̃1 , γ2 = γ20 + γ̃2 (6.13.98)

Substitute (6.13.98) into (6.13.83) and (6.13.84) and make the linearization, we
can obtain
⎡ ⎤⎧  ⎫ ⎡ ⎤⎧ ⎫
1 0 0 0 ⎪
⎪ ã ⎪ l11 l11 l11 l11 ⎪ ã1 ⎪
⎢0 ⎨ 1 ⎪ ⎬ ⎢ ⎪
⎨ ⎪ ⎬
⎢ 1 0 0 ⎥ ã
⎥ 2 = ⎢ 11 l l11 l11 l11 ⎥
⎥ 2 ã
⎣0 (6.13.99)
0 a10 0 ⎦⎪ ⎪ γ̃  ⎪ ⎣ l11 l11 l11 ⎦
l11 ⎪ γ̃ ⎪
⎩ 1 ⎪ ⎭ ⎪
⎩ 1⎪ ⎭
0 0 3a20 −2a20 γ2 l11 l11 l11 l11 γ2

where

l11 = 1
b sinγ10 + 14 b14 a10 a20 sinγ20
2 13
l12 = 1
b a2 sinγ20 + 21 b15 sin(γ20 − γ10 )
8 14 10 (6.13.100)
l13 = 1
b a cosγ10 − 21 b15 a20 cos(γ20 − γ10 )
2 13 10
l14 = 1
b a2 a cosγ20 + 21 b15 a20 sin(γ20 − γ10 )
8 14 10 20

l21 = − 23 b23 a12 sinγ20 − 21 b24 sin(γ20 − γ10 )

l22 =0
(6.13.101)
l23 = 21 b24 a10 cos(γ20 − γ10 )γ̃1
l24 = − 21 b23 a10
3
cosγ20 − 21 b24 a10 cos(γ20 − γ10 )
1 3 1
l31 = σ1 + b11 a202
+ b12 a10
2
+ b13 cosγ10 + b14 a10 a20 cosγ20
4 4 2
1 1
l32 = b11 a10 a20 + b14 a10 2
cosγ20 + b15 cos(γ20 − γ10 )
2 4 (6.13.102)
l33 = −b13 a10 sinγ10 + b15 a20 sin(γ20 − γ10 )
1
l34 = − b14 a102
a20 sinγ20 − b15 a20 sin(γ20 − γ10 )
4
l41 = 21 b21 a10 a20 + 3b23 a10
2
cosγ20 + b24 cos(γ20 − γ10 )
l42 = 3σ1 − 2σ2 + 4 b21 a10 + 34 b22 a20
1 2 2
(6.13.103)
l43 = b24 a10 sin(γ20 − γ10 )
l44 = −b23 a10 3
sinγ20 − b24 a10 sin(γ20 − γ10 )

The steady state solutions are stable if the eigenvalues of (6.13.99) have negative
real parts.
622 6 Systems Having Finite Degrees of Freedom

6.14 Exercise 6.14 (Internal Resonance, Parametric

Excitation and Saturation Phenomena for a Spring
Pendulum with a Moving Support)

Solution: (a) The kinetic energy of the system is

 2  2 
T = 21 m (l + x)θ̇ cosθ + ẋsinθ + (l + x)θ̇ sinθ − ẋcosθ + l ẏ
(6.14.1)
= 21 mẋ2 + 21 m(l + x)2 θ̇ 2 + l 2 ẏ2 + ml(l + x)ẏθ̇ sinθ − ml ẏẋcosθ

Using the equilibrium position x = θ = 0 as the zero potential surface, the

potential energy of the system is

1 2
V = kx + mg(l + x)(1 − cos θ ) (6.14.2)
2
Substitute kinetic energy, potential energy, and generalized forces into the
Lagrange’s equation:

d ∂T ∂T ∂V d ∂T ∂T ∂V
− =− + Qy , − =− + Qθ
dt ∂ ẏ ∂y ∂y dt ∂ θ̇ ∂θ ∂θ

The differential equation of motion of the system is

mẍ − ml ÿ cos θ − m(l + x)θ̇ 2 = −kx − mg(1 − cos θ )

(6.14.3)
m(l + x)θ̈ + 2mẋθ̇ + ml ÿ sin θ = −mg sin θ

Let

u = x/l, ω12 = k/m, ω22 = g/l (6.14.4)

Equation (6.14.3) changes into

ü + ω12 u − (1 + u)θ̇ 2 + ω22 (1 − cos θ ) − ÿ cos θ = 0

  (6.14.5)
(1 + u)θ̈ + 2u̇θ̇ + ω22 + ÿ sin θ = 0

(b) When ÿ ≡ 0, (6.14.5) becomes

ü + ω12 u − (1 + u)θ̇ 2 + ω22 (1 − cos θ ) = 0

(6.14.6)
(1 + u)θ̈ + 2u̇θ̇ + ω22 sin θ = 0

Expanding (6.14.6) at the equilibrium position u = θ = 0 and retaining to the

third order of smallness gives
6.14 Exercise 6.14 (Internal Resonance, Parametric Excitation … 623

1
ü + ω12 u − (1 + u)θ̇ 2 + ω22 θ 2 = 0
2 (6.14.7)
1 2 3
θ̈ + ω2 θ + uθ̈ + 2u̇θ̇ − ω2 θ = 0
2
6
For small and finite amplitudes, we use the method of multiple scales to solve (6.14.7).
Therefore, let the solution be expressed as

u = εu11 (T0 , T1 ) + ε2 u12 (T0 , T1 ) + · · ·

(6.14.8)
θ = εu21 (T0 , T1 ) + ε2 u22 (T0 , T1 ) + · · ·
 
Substitute (6.14.8) into (6.14.7) and keep to O ε2 , we get

1
0 = ü + ω12 u − (1 + u)θ̇ 2 + ω22 θ 2
  2   
= D02 + 2εD0 D1 εu11 + ε2 u12 + ω12 εu11 + ε2 u12
   2
− 1 + εu11 + ε2 u12 (D0 + εD1 ) εu21 + ε2 u22
1  2 (6.14.9)
+ ω22 εu21 + ε2 u22 + · · ·
2  
= ε D02 u11 + ω12 u11 + ε2 D02 u12 + ω12 u12 + 2D0 D1 u11

1 2 2
−(D0 u21 ) + ω2 u21 + · · ·
2
2
1
0 = θ̈ + ω22 θ + uθ̈ + 2u̇θ̇ − ω22 θ 3
  6   
= D02 + 2εD0 D1 εu21 + ε2 u22 + ω22 εu21 + ε2 u22
   
+ εu11 + ε2 u12 D02 + 2εD0 D1 εu21 + ε2 u22 (6.14.10)
    
+2 (D0 + εD1 ) εu11 + ε2 u12 (D0 + εD1 ) εu21 + ε2 u22 + · · ·
  
= ε D02 u21 + ω22 u21 + ε2 D02 u22 + ω22 u22 + 2D0 D1 u21

+ u11 D02 u21 + 2(D0 u11 )(D0 u21 ) + · · ·

Equating the coefficients of the like powers of ε in (6.14.9) and (6.14.10), we get.
Order ε1 :

D02 u11 + ω12 u11 = 0

(6.14.11)
D02 u21 + ω22 u21 = 0

Order ε3 :

D02 u12 + ω12 u12 = −2D0 D1 u11 + (D0 u21 )2 − 21 ω22 u21
2
(6.14.12)
D02 u22 + ω22 u22 = −2D0 D1 u21 − u11 D02 u21 − 2(D0 u11 )(D0 u21 )
624 6 Systems Having Finite Degrees of Freedom

The solution of (6.14.11) can be expressed as

u11 = A1 eiω1 T0 + cc, u21 = A2 eiω2 T0 + cc (6.14.13)

where Ak = Ak (T1 ), k = 1, 2. Substituting (6.14.13) into (6.14.12), we get

3
D02 u12 + ω12 u12 = −2iω1 D1 A1 eiω1 T0 − ω22 A22 e2iω2 T0 + cc + ω22 A2 A2 (6.14.14)
2
 
D02u22 + ω22 u22 = −2iω2 D1 A2 eiω2 T0 + ω22 + 2ω1 ω2 A1 A2 ei(ω1 −ω2 )T0
(6.14.15)
+ ω22 − 2ω1 ω2 A1 A2 ei(ω1 +ω2 )T0 + cc

When ω1 ≈ 2ω2 , the detuning parameter σ2 is introduced such that

ω1 = 2ω1 + εσ (6.14.16)

In order to eliminate secular terms from the above two equations, it is necessary
to have
3
2iω1 D1 A1 + ω22 A22 e−iσ T1 = 0 (6.14.17)
2
 
2iω2 D1 A2 + 2ω1 ω2 − ω22 A1 A2 eiσ T1 = 0 (6.14.18)

Let
1 iβ1 1
A1 = a1 e , A2 = a2 eiβ2 (6.14.19)
2 2
3
iω1 a1 − ω1 a1 β1 + ω22 a22 e−i(σ T1 +β1 −2β2 ) = 0 (6.14.20)
8
1 
iω2 a2 − ω2 a2 β2 + 2ω1 ω2 − ω22 a1 a2 ei(σ T1 +β1 −2β2 ) = 0 (6.14.21)
4
Separating the real and imaginary parts of the above equation and taking into
account ω1 ≈ 2ω2 yields

3
a1 = ω2 a22 sin γ
16 (6.14.22)
3
a2 = − ω2 a1 a2 sin γ
4
3
a1 β1 = ω2 a22 cos γ
16 (6.14.23)
3
a2 β2 = ω2 a1 a2 cos γ
4
6.14 Exercise 6.14 (Internal Resonance, Parametric Excitation … 625

where

γ = σ T1 + β1 − 2β2 (6.14.24)

Replacing the independent variable T1 with t and keeping εa1 and εa2 as a1 and
a2 , respectively, we obtain

3
ȧ1 = ω2 a22 sin γ
16 (6.14.25)
3
ȧ2 = − ω2 a1 a2 sin γ
4
3
a1 β̇1 = ω2 a22 cos γ
16 (6.14.26)
3
a2 β̇2 = ω2 a1 a2 cos γ
4
where

γ = (ω1 − 2ω2 )t + β1 − 2β2 (6.14.27)

The first order approximate solution of (6.14.6) is

u = a1 sin(ω1 t + β1 ) + · · ·
θ = a2 sin(ω2 t + β2 ) + · · ·

(c) When ÿ = 2εK cos t, (6.14.5) becomes

ü + ω12 u − (1 + u)θ̇ 2 + ω22 (1 − cos θ ) − 2εK cos t cos θ = 0

  (6.14.28)
(1 + u)θ̈ + 2u̇θ̇ + ω22 + 2εK cos t sin θ = 0

Expanding (6.14.28) at the equilibrium position u = θ = 0 and retaining to the

third order of smallness gives
 
1 1
ü + ω12 u − (1 + u)θ̇ 2 + ω22 θ 2 − 2εK 1 − θ 2 cos t = 0
2 2
(6.14.29)
1
θ̈ + ω22 θ + uθ̈ + 2u̇θ̇ − ω22 θ 3 + 2εKθ cos t = 0
6
For small and finite amplitudes, we use the method of multiple  scales to solve
(6.14.29). Substituting (6.14.8) into (6.14.29) and retaining to O ε2 , we obtain
626 6 Systems Having Finite Degrees of Freedom
 
1 1
0 = ü + ω12 u − (1 + u)θ̇ 2 + ω22 θ 2 − 2εK 1 − θ 2 cost
2 2
 2    
= D0 + 2εD0 D1 εu11 + ε u12 + ω1 εu11 + ε2 u12
2 2

   2
− 1 + εu11 + ε2 u12 (D0 + εD1 ) εu21 + ε2 u22
1  2 (6.14.30)
+ ω22 εu21 + ε2 u22 − 2εKcosT0 + · · ·
2
  
= ε D02 u11 + ω12 u11 + ε2 D02 u12 + ω12 u12 + 2D0 D1 u11

1
−(D0 u21 )2 + ω22 u21 2
− 2εKcosT0 + · · ·
2
1
0 = θ̈ + ω22 θ + uθ̈ + 2u̇θ̇ − ω22 θ 3 + 2εKθ cost
  6   
= D02 + 2εD0 D1 εu21 + ε2 u22 + ω22 εu21 + ε2 u22
   
+ εu11 + ε2 u12 D02 + 2εD0 D1 εu21 + ε2 u22
     (6.14.31)
+2 (D0 + εD1 ) εu11 + ε2 u12 (D0 + εD1 ) εu21 + ε2 u22
 
+2εK εu21 + ε2 u22 cosT0 + · · ·
  
= ε D02 u21 + ω22 u21 + ε2 D02 u22 + ω22 u22 + 2D0 D1 u21

+ u11 D02 u21 + 2(D0 u11 )(D0 u21 ) + 2ε2 Ku21 cosT0 + · · ·

When  = 2ω2 + εσ , and  is far from ω1 , we let the coefficients of like power
of ε in (6.14.30) and (6.14.31) be zero, we get.
Order ε1 :

D02 u11 + ω12 u11 = 2KcosT0

(6.14.32)
D02 u21 + ω22 u21 = 0

Order ε3 :

D02 u12 + ω12 u12 = −2D0 D1 u11 + (D0 u21 )2 − 21 ω22 u21
2

D0 u22 + ω2 u22 = −2D0 D1 u21 − u11 D0 u21 − 2(D0 u11 )(D0 u21 )
2 2 2 (6.14.33)
−2Ku21 cosT0

The solution of (6.14.32) can be expressed as

 −1
u11 = A1 eiω1 T0 + K ω12 − 2 eiT0 + cc
(6.14.34)
u21 = A2 eiω2 T0 + cc

[Link] = Ak (T1 ), k = 1, 2 Substituting (6.14.34) into (6.14.33), we get

3
D02 u12 + ω12 u12 = −2iω1 D1 A1 eiω1 T0 − ω22 A22 e2iω2 T0 + cc + ω22 A2 A2 (6.14.35)
2
6.14 Exercise 6.14 (Internal Resonance, Parametric Excitation … 627

D02 u22 + ω22 u22 = −2iω2 D1 A2 eiω2 T0

  −1 (6.14.36)
−K 2ω2  − ω22 + ω12 − 2 ω12 − 2 A2 ei(−ω2 )T0 + cc

When  = 2ω2 + εσ , in order to eliminate secular terms from the above two
equations, there must be

D1 A1 = 0 (6.14.37)

  −1
2iω2 D1 A2 + K 2ω2  − ω22 + ω12 − 2 ω12 − 2 A2 eiσ T1 = 0 (6.14.38)

Replacing the independent variable T1 with t, (6.14.37) and (6.14.38) become

Ȧ1 = 0 (6.14.39)

  −1
2iω2 Ȧ2 + εK 2ω2  − ω22 + ω12 − 2 ω12 − 2 A2 eiεσ t = 0 (6.14.40)

Let
1 iβ1 1
A1 = a1 e , A2 = a2 eiβ2 (6.14.41)
2 2
Substituting (6.14.41) into (6.14.34), we can obtain the first-order approximate
solution of (6.14.6):
 −1  
u = εA1 eiω1 T0 + 2K ω12 − 2 cos t + cc + O ε2
 
θ = εA2 eiω2 T0 + cc + O ε2

By substituting (6.14.41) into (6.14.40), we get

1   −1
iω2 ȧ2 − ω2 a2 β̇2 + εK 2ω2  − ω22 + ω12 − 2 ω12 − 2 a2 ei(εσ t−2β2 ) = 0
2
(6.14.42)

Separating the real and imaginary parts of the above equations yields
  −1
ω2 ȧ2 = − 21 εK 2ω2  − ω22 + ω12 − 2 ω12 − 2 a2 sinγ
  −1 (6.14.43)
ω2 a2 γ̇ = εω2 a2 σ − εK 2ω2  − ω22 + ω12 − 2 ω12 − 2 a2 cosγ

where

γ = εσ t − 2β2 (6.14.44)
628 6 Systems Having Finite Degrees of Freedom

Clearly, a2 = 0 (i.e.,θ = 0) is a constant solution of the system. In this case,

(6.14.43) is linearized as
 
1   −1
ω2 ã˙ 2 = − εK 2ω2  − ω22 + ω12 − 2 ω12 − 2 sin γ0 ã2
2 (6.14.45)
   −1 
εω2 σ − εK 2ω2  − ω22 + ω12 − 2 ω12 − 2 cos γ0 ã2 = 0

So the stability condition is

  −1
εω2 σ − εK 2ω2  − ω22 + ω12 − 2 ω12 − 2 cos γ0 = 0 (6.14.46)

To make γ0 exist, there must be

    −1 

ω2 σ K 2ω2  − ω22 + ω12 − 2 ω12 − 2  ≤1 (6.14.47)

The critical condition separating stability from instability is

   
K 2ω2  − ω22 + ω12 − 2 = ±ω2 ω12 − 2 σ (6.14.48)

(d) When ÿ = 2εK cos t, (6.14.30) and (6.14.31) still hold, but the excitation
frequency takes a different value. When = ω1 + εσ1 , ω1 = 2ω2 + εσ2 there
are both parametric excitation resonances and internal resonances. Therefore,
it is necessary to specify K = εk.

Let the coefficients of the same power of ε in (6.14.9) and (6.14.10) be zero, we
can obtain.
Order ε1 :

D02 u11 + ω12 u11 = 0

(6.14.49)
D02 u21 + ω22 u21 = 0

Order ε3 :

D02 u12 + ω12 u12 = −2D0 D1 u11 + (D0 u21 )2 − 21 ω22 u21
2
+ 2kcosT0
(6.14.50)
D0 u22 + ω2 u22 = −2D0 D1 u21 − u11 D0 u21 − 2(D0 u11 )(D0 u21 )
2 2 2

The solution of (6.14.49) is still (6.14.13). Substituting (6.14.13) into (6.14.50),

we get

3
D02 u12 + ω12 u12 = −2iω1 D1 A1 eiω1 T0 − ω22 A22 e2iω2 T0 + keiT0 + cc + ω22 A2 A2
2
(6.14.51)
6.14 Exercise 6.14 (Internal Resonance, Parametric Excitation … 629
 
D02u22 + ω22 u22 = −2iω2 D1 A2 eiω2 T0 + ω22 + 2ω1 ω2 A1 A2 ei(ω1 −ω2 )T0
(6.14.52)
+ ω22 − 2ω1 ω2 A1 A2 ei(ω1 +ω2 )T0 + cc

When  = ω1 + εσ1 and ω1 = 2ω2 + εσ2 , in order to eliminate secular terms

from the above two equations, there must be

3
2iω1 D1 A1 + ω22 A22 e−iσ2 T1 − keiσ1 T1 = 0 (6.14.53)
2
 
2iω2 D1 A2 + 2ω1 ω2 − ω22 A1 A2 eiσ2 T1 = 0 (6.14.54)

Let
1 iβ1 1
A1 = a1 e , A2 = a2 eiβ2 (6.14.55)
2 2
The first order approximate solution of the original equation is
 
u = εa1 sin(ω1 t + β1 ) + O ε2 
θ = εa2 sin(ω2 t + β2 ) + O ε2

Substituting (6.14.55) into (6.14.53) and (6.14.54) yields

3
iω1 a1 − ω1 a1 β1 + ω22 a22 e−i(σ2 T1 +β1 −2β2 ) − kei(σ1 T1 −β1 ) = 0 (6.14.56)
8
1 
iω2 a2 − ω2 a2 β2 + 2ω1 ω2 − ω22 a1 a2 ei(σ2 T1 +β1 −2β2 ) = 0 (6.14.57)
4
Separating the real and imaginary parts of the above equation and taking into
account ω1 ≈ 2ω2 yields

3 k
a1 = ω2 a22 sin γ1 + sin γ2
16 ω1
(6.14.58)
3
a2 = − ω2 a1 a2 sin γ1
4
3 k
a1 β1 = ω2 a22 cos γ1 − cos γ2
16 ω1
(6.14.59)
3
a2 β2 = ω2 a1 a2 cos γ1
4
where

γ1 = σ2 T1 + β1 − 2β2 , γ2 = σ1 T1 − β1 (6.14.60)
630 6 Systems Having Finite Degrees of Freedom

Substituting (6.14.60) into (6.14.59) yields

a1 γ2 = σ1 a1 − 16
3
ω2 a22 cosγ1 + ωk1 cosγ2
   (6.14.61)
a2 γ1 + γ2 = (σ1 + σ2 )a2 − 23 ω2 a1 a2 cosγ1

From (6.14.58) and (6.14.61), we can find that the steady state solution should
satisfy the following equations:

3
ω2 a1 a2 sin γ1 = 0
4 (6.14.62)
3
(σ1 + σ2 )a2 − ω2 a1 a2 cos γ1 = 0
2
3 k
ω2 a22 sin γ1 + sin γ2 = 0
16 ω1
(6.14.63)
3 k
σ1 a1 − ω2 a22 cos γ1 + cos γ2 = 0
16 ω1

It is easy to see that there is no trivial steady state response. From (6.14.62), we
can obtain that
2(σ1 + σ2 )
sin γ1 = 0, cos γ1 = (6.14.64)
3ω2 a1

Thus (6.14.63) changes into

k
sin γ2 = 0
ω1
(6.14.65)
3 k
σ1 a1 − (σ1 + σ2 )a1−1 a22 + cos γ2 = 0
8 ω1

Eliminating γ1 from (6.14.62) an γ2 from (6.14.65), we can obtain

2
a1 = ± (σ1 + σ2 )
3 (6.14.66)
2
a2 = 4 σ1 (σ1 + σ2 ) ± ω1−1 k
3

As can be seen, a1 is independent of the excitation amplitude k, so the amplitude

a1 is saturated.
Readers are invited to complete the stability analysis of steady state response.
6.15 Exercise 6.15 (The Response of a Ship Constrained to Pitch and Roll Only) 631

6.15 Exercise 6.15 (The Response of a Ship Constrained

to Pitch and Roll Only)

Solution: (a) For small and finite amplitudes, we use the method of multiple scales
to solve the nonlinear equations presented in this exercise. Let the solution of the
equations be

ϕ = εu11 (T0 , T1 ) + ε2 u12 (T0 , T1 ) + · · ·

(6.15.1)
θ = εu21 (T0 , T1 ) + ε2 u22 (T0 , T1 ) + · · ·

In order to make the damping and nonlinear terms appear in the second-order
equation, let

μ1 = εμ̂1 , μ2 = εμ̂2 (6.15.2)

Substituting (6.15.1) and (6.15.2) into the given nonlinear equation and retaining
to O(ε2 ) yields

'
N
0 = φ̈ + ω12 φ − 2φθ + 2μ1 φ̇ − Kn cos(n t + θn )
n=1
    
= D02 + 2εD0 D1 εu11 + ε2 u12 + ω12 εu11 + ε2 u12
    
−2 εu11 + ε2 u12 εu21 + ε2 u22 + 2εμ̂1 (D0 + εD1 ) εu11 + ε2 u12
'
N
(6.15.3)
− Kn cos(n t + θn ) + · · ·
n=1
  
= ε D02 u11 + ω12 u11 + ε2 D02 u12 + ω12 u12 + 2D0 D1 u11
'
N
+ 2μ̂1 D0 u11 − 2u11 u21 ) − Kn cos(n t + θn ) + · · ·
n=1

'
N
0 = θ̈ + ω22 θ − φ 2 + 2μ2 θ̇ − Mn cos(n t + τn )
n=1
    
= D02 + 2εD0 D1 εu21 + ε2 u22 + ω22 εu21 + ε2 u22
 2  
− εu11 + ε2 u12 + 2εμ̂2 (D0 + εD1 ) εu21 + ε2 u22
'
N (6.15.4)
− Mn cos(n t + τn ) + · · ·
n=1
  
= ε D02 u21 + ω22 u21 + ε2 D02 u22 + ω22 u22 + 2D0 D1 u21
 'N
+ 2μ̂2 D0 u21 − u11
2
− Mn cos(n t + τn ) + · · ·
n=1
632 6 Systems Having Finite Degrees of Freedom

When 1 ≈ ω2 , M1 cos(1 t + τ1 ) becomes a resonant excitation term of the

Eq. (6.15.4) The resonant excitation term needs to appear in the second order equa-
tion, and the rest of excitation terms are non-resonant hard excitations and they should
appear in the first order equation. For this purpose, let

Kn = εkn , n = 1, 2, . . . , N
(6.15.5)
M1 = ε2 m1 , Mn = εmn , n = 2, . . . , N

Let the coefficients of the same power of ε in (6.15.3) and (6.15.4) be zero, we
obtain.
Order ε1 :

+
N
D02 u11 + ω12 u11 = kn cos(n t + θn )
n=1
(6.15.6)
+N
D02 u21 + ω22 u21 = mn cos(n t + τn )
n=2

Order ε2 :

D02 u12 + ω12 u12 = −2D0 D1 u11 − 2μ̂1 D0 u11 + 2u11 u21
(6.15.7)
D02 u22 + ω22 u22 = −2D0 D1 u21 − 2μ̂2 D0 u21 + u11
2
+ m1 cos(1 t + τ1 )

The solution of (6.15.6) can be expressed as

N 
+ −1
u11 = A1 eiω1 T0 + 1
2
ω12 − 2n kn ei(n T0 +θn ) + cc
n=1
N  −1 (6.15.8)
+
u21 = A2 e iω2 T0
+ 1
2
ω22 − 2n mn ei(n T0 +τn ) + cc
n=2

where Ak = Ak (T1 ), k = 1, 2. Substituting (6.15.8) into (6.15.7), we obtain

D02 u12 + ω12 u12 = −2iω1 D1 A1 eiω1 T0 − 2iω1 μ̂1 A1 eiω1 T0

(6.15.9)
+2A1 A2 ei(ω2 −ω1 )T0 + cc + NST

D02 u22 + ω22 u22 = −2iω2 D1 A2 eiω2 T0 − 2iω2 μ̂2 A2 eiω2 T0

(6.15.10)
+A21 e2iω1 T0 + 21 m1 ei(1 T0 +τ1 ) + cc + NST

Introduce the detuning parameters σ1 , σ2 such that

1 = ω2 + εσ1 , ω2 = 2ω1 + εσ2 (6.15.11)

In order to eliminate secular terms from and, we need

2iω1 A1 + 2iω1 μ̂1 A1 − 2A1 A2 eiσ2 T1 = 0 (6.15.12)

6.15 Exercise 6.15 (The Response of a Ship Constrained to Pitch and Roll Only) 633

1
2iω2 D1 A2 + 2iω2 μ̂2 A2 − m1 ei(σ1 T1 +τ1 ) − A21 e−iσ2 T1 = 0 (6.15.13)
2
Let
1 iβ1 1
A1 = a1 e , A2 = a2 eiβ2 (6.15.14)
2 2
1
iω1 a1 − ω1 a1 β1 + iω1 μ̂1 a1 − a1 a2 ei(σ2 T1 −2β1 +β2 ) = 0 (6.15.15)
2
1 1
iω2 a2 − ω2 a2 β2 + iω2 μ̂2 a2 − m1 ei(σ1 T1 −β2 +τ1 ) − a12 e−i(σ2 T1 −2β1 +β2 ) = 0
2 4
(6.15.16)

Separating the real and imaginary parts of the above equations yields

1
ω1 a1 + ω1 μ̂1 a1 − a1 a2 sin γ1 = 0
2 (6.15.17)
 1
−ω1 a1 β1 − a1 a2 cos γ1 = 0
2
1 1
ω2 a2 + ω2 μ̂2 a2 + a12 sin γ1 − m1 sin γ2 = 0
4 2 (6.15.18)
1 1
−ω2 a2 β2 − a12 cos γ1 − m1 cos γ2 = 0
4 2
where

γ1 = σ2 T1 − 2β1 + β2 , γ2 = σ1 T1 − β2 + τ1 (6.15.19)

Utilizing (6.15.19), we can write (6.15.17) and (6.15.18) as

ω1 a1 = −ω1 μ̂1 a1 + 21 a1 a2 sinγ1

ω2 a2 = −ω2 μ̂2 a2 − 41 a12 sinγ1 + 21 m1 sinγ2
(6.15.20)
ω2 a2 γ2 = ω2 σ1 a2 + 14 a12 cosγ1 + 21 m1 cosγ2
ω1 a1 γ1 + γ2 = ω1 a1 (σ1 + σ2 ) + a1 a2 cosγ1

Therefore, the steady state solution should satisfy the following equations

1
−ω1 μ̂1 a1 + a1 a2 sin γ1 = 0 (6.15.21)
2

ω1 a1 (σ1 + σ2 ) + a1 a2 cos γ1 = 0 (6.15.22)

634 6 Systems Having Finite Degrees of Freedom

1 1
−ω2 μ̂2 a2 − a12 sin γ1 + m1 sin γ2 = 0 (6.15.23)
4 2
1 1
ω2 σ1 a2 + a12 cos γ1 + m1 cos γ2 = 0 (6.15.24)
4 2
From (6.15.21) and (6.15.22), we have

2ω1 μ̂1 ω1 (σ1 + σ2 )

sin γ1 = , cos γ1 = − (6.15.25)
a2 a2

Substituting (6.15.25) into (6.15.23) and (6.15.24) yields

1 1
ω2 μ̂2 a2 + ω1 μ̂1 a12 a2−1 = m1 sin γ2 (6.15.26)
2 2
1 1
ω2 σ1 a2 − ω1 (σ1 + σ2 )a12 a2−1 = − m1 cos γ2 (6.15.27)
4 2
Eliminating γ1 from (6.15.21) and (6.15.22) and γ2 from (6.15.26) and (6.15.27),
we can obtain

a22 = 4ω12 μ̂21 + ω12 (σ1 + σ2 )2 (6.15.28)

 2
1 2 −1
ω2 μ̂2 a2 + ω1 μ̂1 a1 a2
2
 2 (6.15.29)
1 1
+ ω2 σ1 a2 − ω1 (σ1 + σ2 )a12 a2−1 = m21
4 4

From (6.15.28) and (6.15.29), we can obtain

  1/2
1 2
a1 = 2 −1 ± m − 22
4 1 (6.15.30)
a2 = 2ω1 μ̂21 + (σ1 + σ2 )2

where

1 = ω1 ω2 [2μ̂1 μ̂2 − σ1 (σ1 + σ2 )]

(6.15.31)
2 = ω1 ω2 [2μ̂1 σ1 + μ̂2 (σ1 + σ2 )]

The steady state response can be obtained from (6.15.30) and (6.15.25).
Below we discuss when does Eq. (6.15.30) have real roots. It is clear that a2 is
always a real number and does not vary with the excitation amplitude. Let
6.15 Exercise 6.15 (The Response of a Ship Constrained to Pitch and Roll Only) 635

 2 
ζ1 = 2|2 |, ζ2 = 2 1 + 22 (6.15.32)

Clearly there is ζ2 ≥ ζ1 . So.

1 ≥ 0:

when m1 > ζ2 , a1 has one positive real root (6.15.33)

1 < 0:

when ζ1 < m1 < ζ2 , a1 has two positive real roots (6.15.34)

when m1 > ζ2 , a1 has one positive real root (6.15.35)

To analyze the stability of any set of steady state response a10 , a20 , γ10 , γ20 ,
let

a1 = a10 + ã1 , a2 = a20 + ã2

(6.15.36)
γ1 = γ10 + γ̃1 , γ2 = γ20 + γ̃2

Substituting (6.15.36) into (6.15.20) and linearizing it, we obtain

⎡ ⎤⎧ / ⎫ ⎡ ⎤⎧ ⎫
ω1 0 0 0 ⎪
⎪ a ⎪ l11 l12 l13 l14 ⎪ ã1 ⎪
⎢0 ⎥⎨ /1 ⎪
⎬ ⎢ ⎥
⎪
⎨ ⎪ ⎬
⎢ ω2 0 0 ⎥ a2 = ⎢ l21 l22 l23 l24 ⎥ ã2
⎣0 (6.15.37)
0 0 ω2 a20 ⎦⎪
⎪ γ/ ⎪ ⎣ l31 l32 l33 l34 ⎦⎪
⎪ γ̃1 ⎪
⎩ /1 ⎪
⎭ ⎩ ⎪ ⎭
0 0 ω1 a10 ω1 a10 γ2 l41 l42 l43 l44 γ̃2

where
1
l13 = a10 a20 cos γ10 , l14 = 0
2
1
l21 = − a10 sin γ10 , l22 = −ω2 μ̂2
2
1 2 1
l23 = − a10 cos γ10 , l24 = m1 cos γ20
4 2
1 (6.15.38)
l31 = a10 cos γ10 , l32 = ω2 σ1
4
1 2 1
l33 = − a10 sin γ10 , l34 = − m1 sin γ20
4 2
l41 = ω1 (σ1 + σ2 ) + a20 cos γ10 , l42 = a10 cos γ10
l43 = −a10 a20 sin γ10 , l44 = 0

if all four eigenvalues of the Eq. (6.15.37) have negative real parts, the corresponding
steady state responses are stable, otherwise they are unstable.
636 6 Systems Having Finite Degrees of Freedom

(b) When 1 ≈ ω1 and ω2 ≈ 2ω1 , (6.15.3) and (6.15.4) still hold. However,
K1 cos(1 t + θ1 ) becomes the resonant excitation term of Eq. (6.15.3) and should
appear in the second order equation; and the rest of the excitation terms are non-
resonant hard excitations and they should appear in the first order equation. For this
purpose, we make

K1 = ε2 k1 , Kn = εkn , n = 2, . . . , N
(6.15.39)
Mn = εmn , n = 1, 2, . . . , N

Let the coefficients of the like powers of ε in (6.15.3) and (6.15.4) be zero, we
can obtain.
Order ε1 :

+
N
D02 u11 + ω12 u11 = kn cos(n t + θn )
n=2
(6.15.40)
+N
D02 u21 + ω22 u21 = mn cos(n t + τn )
n=1

Order ε2 :

D02 u12 + ω12 u12 = −2D0 D1 u11 − 2μ̂1 D0 u11 + 2u11 u21 + k1 cos(1 t + θ1 )
D02 u22 + ω22 u22 = −2D0 D1 u21 − 2μ̂2 D0 u21 + u11
2

(6.15.41)

The solution of the Eq. (6.15.40) can be expressed as

N 
+ −1
u11 = A1 eiω1 T0 + 1
2
ω12 − 2n kn ei(n T0 +θn ) + cc
n=2
N  −1 (6.15.42)
+
u21 = A2 e iω2 T0
+ 1
2
ω22 − 2n mn ei(n T0 +τn ) + cc
n=1

where Ak = Ak (T1 ), k = 1, 2. Substituting (6.15.42) into (6.15.41), we get

D02 u12 + ω12 u12 = −2iω1 A1 eiω1 T0 − 2iω1 μ̂1 A1 eiω1 T0 + 2A1 A2 ei(ω2 −ω1 )T0
(6.15.43)
+ 21 k1 ei(1 T0 +θ1 ) + cc + NST

D02 u22 + ω22 u22 = −2iω2 A2 eiω2 T0 − 2iω2 μ̂2 A2 eiω2 T0 + A21 e2iω1 T0 + cc + NST
(6.15.44)

Introduce the detuning parameters σ1 , σ2 so that

1 = ω1 + εσ1 , ω2 = 2ω1 + εσ2 (6.15.45)

6.15 Exercise 6.15 (The Response of a Ship Constrained to Pitch and Roll Only) 637

Therefore, in order to eliminate the secular terms in (6.15.43) and (6.15.44), there
must be
1
2iω1 A1 + 2iω1 μ̂1 A1 − 2A1 A2 eiσ2 T1 − k1 ei(σ1 T1 +θ1 ) = 0 (6.15.46)
2

2iω2 A2 eiω2 T0 + 2iω2 μ̂2 A2 eiω2 T0 − A21 e−iσ2 T1 = 0 (6.15.47)

Let
1 iβ1 1
A1 = a1 e , A2 = a2 eiβ2 (6.15.48)
2 2
By substituting (6.15.48) into (6.15.46) and (6.15.47), we obtain

1 1
iω1 a1 − ω1 a1 β1 + iω1 μ̂1 a1 − a1 a2 ei(σ2 T1 −2β1 +β2 ) − k1 ei(σ1 T1 −β1 +θ1 ) = 0
2 2
(6.15.49)
1
iω2 a2 − ω2 a2 β2 + iω2 μ̂2 a2 − a12 e−i(σ2 T1 −2β1 +β2 ) = 0 (6.15.50)
4
Separating the real and imaginary parts of the above equations yields

ω1 a1 = −ω1 μ̂1 a1 + 21 a1 a2 sinγ1 + 21 k1 sinγ2

(6.15.51)
ω2 a2 = −ω2 μ̂2 a2 − 14 a12 sinγ1

ω1 a1 β1 = − 21 a1 a2 cosγ1 − 21 k1 cosγ2

(6.15.52)
ω2 a2 β2 = − 41 a12 cosγ1

where

γ1 = σ2 T1 − 2β1 + β2 , γ2 = σ1 T1 − β1 + θ1 (6.15.53)

Utilizing (6.15.53), we can write (6.15.52) as

ω1 a1 γ 2 = ω1 a1σ1 + 21 a1 a2 cosγ1 + 21 k1 cosγ2

(6.15.54)
ω2 a2 γ1 − 2γ2 = ω2 a2 (σ2 − 2σ1 ) − 41 a12 cosγ1

Therefore, the steady state response should satisfy the following equations

1
ω2 μ̂2 a2 + a12 sin γ1 = 0 (6.15.55)
4
1
ω2 (σ2 − 2σ1 )a2 − a12 cos γ1 = 0 (6.15.56)
4
638 6 Systems Having Finite Degrees of Freedom

1 1
−ω1 μ̂1 a1 + a1 a2 sin γ1 + k1 sin γ2 = 0 (6.15.57)
2 2
1 1
ω1 σ1 a1 + a1 a2 cos γ1 + k1 cos γ2 = 0 (6.15.58)
2 2
From (6.15.55) and (6.15.56), we have

sin γ1 = −4ω2 μ̂2 a1−2 a2 , cos γ1 = 4ω2 a1−2 a2 (σ2 − 2σ1 ) (6.15.59)

Substituting (6.15.59) into (6.15.57) and (6.15.58), we get

1
ω1 μ̂1 a1 + 2ω2 μ̂2 a1−1 a22 = k1 sin γ2 (6.15.60)
2
1
ω1 a1 σ1 + 2ω2 (σ2 − 2σ1 )a1−1 a22 = − k1 cos γ2 (6.15.61)
2
Eliminating γ1 from (6.15.55) and (6.15.56) and γ2 from (6.15.60) and (6.15.61),
we can obtain the frequency–response equation

  1 4
ω22 μ̂22 + (σ2 − 2σ1 )2 a22 = a (6.15.62)
16 1
 2  2 1
ω1 μ̂1 a12 + 2ω2 μ̂2 a22 + ω1 σ1 a12 + 2ω2 (σ2 − 2σ1 )a22 = k12 a12 (6.15.63)
4
Steady state responses of the system can be obtained numerically from (6.15.59)–
(6.15.63). Since the amplitude a1 and a2 of steady state response are related to the
excitation amplitude k1 , saturation does not occur.
Again, analyze the stability of the steady state solution. Let a10 , a20 , γ10 and γ20
be a set of steady state solution and make a small perturbation of them, i.e.,

a1 = a10 + ã1 , a2 = a20 + ã2

(6.15.64)
γ1 = γ10 + γ̃1 , γ2 = γ20 + γ̃2

Substitute (6.15.64) into (6.15.51) and (6.15.54), we obtain the linearized equation
as
⎡ ⎤⎧ / ⎫ ⎡ ⎤⎧ ⎫
ω1 0 0 0 ⎪
⎪ a1 ⎪⎪ l11 l12 l13 l14 ⎪⎪ ã1 ⎪
⎢0 ⎥⎨ a/ ⎬ ⎢ l21 ⎨ ⎪ ⎬
⎢ ω2 0 0 ⎥ 2 =⎢ l22 l23 l24 ⎥
⎥ ã2
⎣0 (6.15.65)
0 0 ω1 a10 ⎦⎪ ⎪ γ/ ⎪ ⎣ l31 l32 l33 l34 ⎦⎪ γ̃ ⎪
⎩ /1 ⎪
⎭ ⎪
⎩ 1⎪ ⎭
0 0 ω2 a20 −2ω2 a20 γ2 l41 l42 l43 l44 γ̃2

where
6.15 Exercise 6.15 (The Response of a Ship Constrained to Pitch and Roll Only) 639

1 1
l11 = −ω1 μ̂1 + a20 sinγ10 , l12 = a10 sinγ10
2 2
1 1
l13 = a10 a20 cosγ10 , l14 = k1 cosγ20
2 2
1
l21 = − a10 sinγ10 , l22 = −ω2 μ̂2
2
1 2
l23 = − a10 cosγ10 , l24 = 0
4 (6.15.66)
1 1
l31 = ω1 σ1 + a20 cosγ10 , l32 = a10 cosγ10
2 2
1 1
l33 = − a10 a20 sinγ10 , l34 = − k1 sinγ20 γ̃2
2 2
1
l41 = − a10 cosγ10 , l42 = ω2 (σ2 − 2σ1 )
2
1 2
l43 = a10 sinγ10 , l44 = 0
4
The steady state solutions are stable if all four eigenvalues of (6.15.66) have
negative real parts.
(c) We only analyze case (ii) 1 + 2 ≈ ω1 and ω2 ≈ 2ω1 , and readers are invited to
complete the rest of those cases. Equations (6.15.3) and (6.15.4) still hold. However,
all excitation terms are non-resonant hard excitations. Let

Kn = εkn , Mn = εmn , n = 1, 2, . . . , N (6.15.67)

Equating coefficients of like powers of ε in (6.15.3) and (6.15.4) yields.

Order ε1 :

+
N
D02 u11 + ω12 u11 = kn cos(n t + θn )
n=1
(6.15.68)
+N
D02 u21 + ω22 u21 = mn cos(n t + τn )
n=1

Order ε2 :

D02 u12 + ω12 u12 = −2D0 D1 u11 − 2μ̂1 D0 u11 + 2u11 u21
(6.15.69)
D02 u22 + ω22 u22 = −2D0 D1 u21 − 2μ̂2 D0 u21 + u11
2

The solution of (6.15.68) can be expressed as

N 
+ −1
u11 = A1 eiω1 T0 + 1
2
ω12 − 2n kn ei(n T0 +θn ) + cc
n=1
N  −1 (6.15.70)
+
u21 = A2 e iω2 T0
+ 1
2
ω22 − 2n mn ei(n T0 +τn ) + cc
n=1
640 6 Systems Having Finite Degrees of Freedom

where Ak = Ak (T1 ), k = 1, 2. Substituting (6.15.70) into (6.15.69), we get

D02 u12 + ω12 u12 = −2iω1 A1 eiω1 T0 − 2iω1 μ̂1 A1 eiω1 T0 + 2A1 A2 ei(ω2 −ω1 )T0
(6.15.71)
+f1 ei(1 T0 +2 T0 +θ2 +τ1 ) + f2 ei(1 T0 +2 T0 +θ1 +τ2 ) + cc + NST

D02 u22 + ω22 u22 = −2iω2 A2 eiω2 T0 − 2iω2 μ̂2 A2 eiω2 T0 + A21 e2iω1 T0 (6.15.72)

where

f1 = 21 k2 m1 (ω12 − 22 )−1 (ω22 − 21 )−1

(6.15.73)
f2 = 21 k1 m2 (ω12 − 21 )−1 (ω22 − 22 )−1

Introduce the detuning parameters σ1 , σ2 so that

1 + 2 = ω1 + εσ1 , ω2 = 2ω1 + εσ2 (6.15.74)

In order to eliminate secular terms of Eqs. (6.15.71) and (6.15.72), there must be

2iω1 A1 + 2iω1 μ̂1 A1 − 2A1 A2 eiσ2 T1 − f1 ei(σ1 T1 +θ2 +τ1 ) − f2 ei(σ1 T1 +θ1 +τ2 ) = 0
(6.15.75)

2iω2 D1 A2 + 2iω2 μ̂2 A2 − A21 e−iσ2 T1 = 0 (6.15.76)

Let
1 iβ1 1
A1 = a1 e , A2 = a2 eiβ2 (6.15.77)
2 2
1
iω1 a1 − ω1 a1 β1 + iω1 μ̂1 a1 − a1 a2 ei(σ2 T1 −2β1 +β2 )
2 (6.15.78)
−f1 ei(σ1 T1 −β1 +θ2 +τ1 ) − f2 ei(σ1 T1 −β1 +θ1 +τ2 ) = 0
1
iω2 a2 − ω2 a2 β2 + iω2 μ̂2 a2 − a12 e−i(σ2 T1 −2β1 +β2 ) = 0 (6.15.79)
4
Separating the real and imaginary parts of the above equations yields

1
ω1 a1 + ω1 μ̂1 a1 − a1 a2 sin γ1 − f1 sin(γ2 + θ2 + τ1 ) − f2 sin(γ2 + θ1 + τ2 ) = 0
2
1
−ω1 a1 β1 − a1 a2 cos γ1 − f1 cos(γ2 + θ2 + τ1 ) − f2 cos(γ2 + θ1 + τ2 ) = 0
2
(6.15.80)
1
ω2 a2 + ω2 μ̂2 a2 + a12 sin γ1 = 0
4 (6.15.81)
 1 2
−ω2 a2 β2 − a1 cos γ1 = 0
4
6.15 Exercise 6.15 (The Response of a Ship Constrained to Pitch and Roll Only) 641

where

γ1 = σ2 T1 − 2β1 + β2 , γ2 = σ1 T1 − β1 (6.15.82)

Utilizing (6.15.82), we can write (6.15.80) and (6.15.81) as

1
ω1 a1 = −ω1 μ̂1 a1 + a1 a2 sin γ1 + f1 sin(γ2 + θ2 + τ1 )
2
+f2 sin(γ2 + θ1 + τ2 )
1
ω2 a2 = −ω2 μ̂2 a2 − a12 sin γ1
4 (6.15.83)
1
ω1 a1 γ2 = ω1 a1 σ1 + a1 a2 cos γ1 + f1 cos(γ2 + θ2 + τ1 )
2
+f2 cos(γ2 + θ1 + τ2 )
  1
ω2 a2 γ1 − 2γ2 = ω2 a2 (σ2 − 2σ1 ) − a12 cos γ1
4
Therefore, the steady state response should satisfy the following equations

1
ω2 μ̂2 a2 + a12 sin γ1 = 0
4 (6.15.84)
1
ω2 a2 (σ2 − 2σ1 ) − a12 cos γ1 = 0
4
1
−ω1 μ̂1 a1 + a1 a2 sin γ1 + f1 sin(γ2 + θ2 + τ1 ) + f2 sin(γ2 + θ1 + τ2 ) = 0
2
1
ω1 a1 σ1 + a1 a2 cos γ1 + f1 cos(γ2 + θ2 + τ1 ) + f2 cos(γ2 + θ1 + τ2 ) = 0
2
(6.15.85)

From, we can obtain

sin γ1 = −4ω2 μ̂2 a1−2 a2 , cos γ1 = 4ω2 a1−2 a2 (σ2 − 2σ1 ) (6.15.86)

Substituting into yields

−ω1 μ̂1 a1 − 2ω2 μ̂2 a1−1 a22

+f1 sin(γ2 + θ2 + τ1 ) + f2 sin(γ2 + θ1 + τ2 ) = 0
(6.15.87)
ω1 a1 σ1 + 2ω2 (σ2 − 2σ1 )a1−1 a22
+f1 cos(γ2 + θ2 + τ1 ) + f2 cos(γ2 + θ1 + τ2 ) = 0

Eliminating γ1 from (6.15.84) and γ2 from (6.15.87), we can obtain the frequency–
response equations
642 6 Systems Having Finite Degrees of Freedom

  1 4
ω22 μ̂22 + (σ2 − 2σ1 )2 a22 = a (6.15.88)
16 1
 2  2
ω1 μ̂1 a12 + 2ω2 μ̂2 a22 + ω1 σ1 a12 + 2ω2 (σ2 − 2σ1 )a22
  (6.15.89)
= f12 + f22 + 2f1 f2 cos(θ2 − θ1 + τ1 − τ2 ) a12

Steady state responses of the system can be obtained numerically from (6.15.85),
(6.15.86), (6.15.88) and (6.15.89). To analyze the stability of any set of constant
solutions a10 , a20 , γ10 , γ20 , let

a1 = a10 + ã1 , a2 = a20 + ã2

(6.15.90)
γ1 = γ10 + γ̃1 , γ2 = γ20 + γ̃2

Substitute (6.15.90) into (6.15.51) and (6.15.54) and make the linearization, we
can obtain
⎡ ⎤⎧ / ⎫ ⎡ ⎤⎧ ⎫
ω1 0 0 0 ⎪
⎪ a1 ⎪⎪ l11 l12 l13 l14 ⎪⎪ ã1 ⎪
⎪
⎢ 0 ω2 0 0 ⎥⎨ a/ ⎬ ⎢ l21 l22 l23 l24 ⎥⎨ ã2 ⎬
⎢ ⎥ 2 =⎢ ⎥ (6.15.91)
⎣0 0 0 ω1 a10 ⎦⎪ γ/ ⎪ ⎣ l31 l32 l33 l34 ⎦⎪ γ̃ ⎪
⎪
⎩ /1 ⎪
⎭ ⎪
⎩ 1⎪ ⎭
0 0 ω2 a20 −2ω2 a20 γ2 l41 l42 l43 l44 γ̃2

where
1 1 1
l11 = −ω1 μ̂1 + a20 sin γ10 , l12 = a10 sin γ10 , l13 = a10 a20 cos γ10
2 2 2
l14 = f1 cos(γ20 + θ2 + τ1 ) + f2 cos(γ20 + θ1 + τ2 )
1 1 2
l21 = − a10 sin γ10 , l22 = −ω2 μ̂2 , l23 = − a10 cos γ10 , l24 = 0
2 4
1 1 1
l31 = ω1 σ1 + a20 cos γ10 , l32 = a10 cos γ10 , l33 = − a10 a20 sin γ10
2 2 2
l34 = −f1 sin(γ20 + θ2 + τ1 ) − f2 sin(γ20 + θ1 + τ2 )
1 1 2
l41 = − a10 cos γ10 , l42 = ω2 (σ2 − 2σ1 ), l43 = a10 sin γ10 , l44 = 0
2 4
(6.15.92)

The steady state solutions are stable if the eigenvalues of (6.15.91) have negative
real parts.
6.16 Exercise 6.16 (The Method of Multiple Scales for Solving Free … 643

6.16 Exercise 6.16 (The Method of Multiple Scales

for Solving Free Oscillations of Systems with Slowly
Varying Frequencies)

Solution: (a) In the generalized multiscale format, the time derivatives of the variables
are
d
dt2
= ω1 D1 + ω2 D2 + εDτ + · · ·
d
dt 2 = dtd (ω1 D1 + ω2 D2 + εDτ + · · ·)
(6.16.1)
= (ω1 D1 + ω2 D2 )2 + 2ε(ω1 D1 + ω2 D2 )Dτ
+ε(Dτ ω1 )D1 + ε(Dτ ω2 )D2 + ε2 Dτ2 + · · ·

where

D1 = ∂/∂η1 , D2 = ∂/∂η2 , Dτ = ∂/∂τ (6.16.2)

Thus, substituting
 the
 expression of the solution into the equation of the system
and retaining to O ε1 yields

0 = ü1 + ω12 u1 − εα1 u1 u2


= (ω1 D1 + ω2 D2 )2 + 2ε(ω1 D1 + ω2 D2 )Dτ
+ ε(Dτ ω1 )D1 + ε(Dτ ω2 )D2 ](u10 + εu11 )
+ω12 (u10 + εu11 ) − εα1 (u10 + εu11 )(u20 + εu21 ) + · · ·

= (ω1 D1 + ω2 D2 )2 u10 + ω12 u10 + ε (ω1 D1 + ω2 D2 )2 u11 + ω12 u11
2(ω1 D1 + ω2 D2 )Dτ u10 + (Dτ ω1 )D1 u10 + (Dτ ω2 )D2 u10 − α1 u10 u20 ] + · · ·
(6.16.3)

0 = ü2 + ω22 u2 − εα2 u12


= (ω1 D1 + ω2 D2 )2 + 2ε(ω1 D1 + ω2 D2 )Dτ
+ε(Dτ ω1 )D1 + ε(Dτ ω2 )D2 ](u20 + εu21 )
+ω22 (u20 + εu21 ) − εα2 (u10 + εu11 )2 + · · ·

= (ω1 D1 + ω2 D2 )2 u20 + ω22 u20 + ε (ω1 D1 + ω2 D2 )2 u21 + ω22 u21

+ 2(ω1 D1 + ω2 D2 )Dτ u20 + (Dτ ω1 )D1 u20 + (Dτ ω2 )D2 u20 − α2 u10
2
+ ···
(6.16.4)

Equating coefficients of like powers of ε in the above two equations yields.

Order ε0 :

D12 u10 + u10 = 0

(6.16.5)
D22 u20 + u20 = 0
644 6 Systems Having Finite Degrees of Freedom

Order ε1 :

(ω1 D1 + ω2 D2 )2 u11 + ω12 u11 = −2ω1 D1 Dτ u10 − (Dτ ω1 )D1 u10 + α1 u10 u20
(ω1 D1 + ω2 D2 )2 u21 + ω22 u21 = −2ω2 D2 Dτ u20 − (Dτ ω2 )D2 u20 + α2 u10
2

(6.16.6)

in which D2 u10 = 0 and D1 u20 = 0 are taken into account. The solution of (6.16.5)
is

u10 = A1 (τ )eiη1 + cc
(6.16.7)
u20 = A2 (τ )eiη2 + cc

(b) Substituting (6.16.7) into (6.16.6) yields

(ω1 D1 + ω2 D2 )2 u11 = −2iω1 A1 eiη1 − iω1 A1 eiη1 + α1 A1 A2 eiη1 eiη2

(6.16.8)
+α1 A2 A1 e−iη1 eiη2 + cc

(ω1 D1 + ω2 D2 )2 u21 = −2iω2 A2 eiη2 − iω2 A2 eiη2 + α2 A21 e2iη1 + cc + 2A1 A1
(6.16.9)

Primes denote the derivative with respect to τ . When ω2 ≈ 2ω1 , we can induce
the detuning parameter σ (τ ) such that

σ̇ = ω2 − 2ω1 or σ = ∫(ω2 − 2ω1 )dt = η2 − 2η1 (6.16.10)

Therefore, in order to eliminate the secular terms from (6.16.8) and (6.16.9), we
need

2iω1 A1 + iω 1 A1 − α1 A2 A1 ei[σ (τ )] = 0

(6.16.11)
2iω2 A2 + iω 2 A2 − α2 A21 e−i[σ (τ )] = 0

(c) Let

1 iβ1 1
A1 = a1 e , A2 = a2 eiβ2 (6.16.12)
2 2
and substitute (6.16.12) into (6.16.11), we can obtain

1 1
iω1 a1 − ω1 a1 β1 + iω1 a1 − α1 a2 a1 ei[σ (τ )−2β1 +β2 ] = 0 (6.16.13)
2 4
1 1
iω2 a2 − ω2 a2 β2 + iω2 a2 − α2 a12 e−i[σ (τ )−2β1 +β2 ] = 0 (6.16.14)
2 4
Separating the real and imaginary parts of the above equations yields
6.16 Exercise 6.16 (The Method of Multiple Scales for Solving Free … 645

1 1
ω1 a1 + ω1 a1 = α1 a1 a2 sin[σ (τ ) − 2β1 + β2 ]
2 4 (6.16.15)
 1  1
ω2 a2 + ω2 a2 = − α2 a12 sin[σ (τ ) − 2β1 + β2 ]
2 4
1
ω2 a2 β2 = − α2 a12 cos[σ (τ ) − 2β1 + β2 ]
4 (6.16.16)
1
ω1 a1 β1 = − α1 a1 a2 cos[σ (τ ) − 2β1 + β2 ]
4
Substituting (6.16.12) into (6.16.7), we can obtain the first order approximate
solution of the system

u1 ≈ a1 cos(η1 + β1 ), u2 ≈ a2 cos(η2 + β2 ) (6.16.17)

To illustrate the numerical procedure, we assume that

ω1 = ω10 + ν1 τ, ω2 = ω20 + ν2 τ (6.16.18)

then
1
σ = σ0 + (ω20 − 2ω10 )t + ε(ν2 − 2ν1 )t 2
2 (6.16.19)
1 1
η1 = ω10 t + εν1 t , η2 = ω20 t + εν2 t 2
2
2 2
Equation (6.16.15) and (6.16.16) become

ω1 a1 = − 21 ν1 a1 + 41 α1 a1 a2 sin[σ (τ ) − 2β1 + β2 ]

(6.16.20)
ω2 a2 = − 21 ν2 a2 − 41 α2 a12 sin[σ (τ ) − 2β1 + β2 ]

ω1 a1 β1 = − 14 α1 a1 a2 cos[σ (τ ) − 2β1 + β2 ]

(6.16.21)
ω2 a2 β2 = − 41 α2 a12 cos[σ (τ ) − 2β1 + β2 ]

Substituting (6.16.18) and (6.16.19) into (6.16.15) and (6.16.16), and replacing
the time variable with t, we get

1 1
ȧ1 = − εω1−1 ν1 a1 + εω1−1 α1 a1 a2 sin[σ (t) − 2β1 + β2 ]
2 4
1 1
ȧ2 = − εω2−1 ν2 a2 − εω2−1 α2 a12 sin[σ (t) − 2β1 + β2 ]
2 4 (6.16.22)
1
a1 β̇1 = − εω1−1 α1 a1 a2 cos[σ (t) − 2β1 + β2 ]
4
1
a2 β̇2 = − εω1−1 α2 a12 cos[σ (t) − 2β1 + β2 ]
4
646 6 Systems Having Finite Degrees of Freedom

where

ω1 = ω10 + εν1 t, ω2 = ω20 + εν2 t

1 (6.16.23)
σ (t) = σ0 + (ω20 − 2ω10 )t + ε(ν2 − 2ν1 )t 2
2
Equation (6.16.17) changes into
   
1 1
u1 ≈ a1 cos ω10 t + εν1 t + β1 , u2 ≈ a2 cos ω20 t + εν2 t + β2
2 2
2 2
(6.16.24)

From the given initial conditions and ~, we have

a1 (0) cos[β1 (0)] = 1

a2 (0) cos[β2 (0)] = 0
  (6.16.25)
ȧ1 (0) cos[β1 (0)] − a1 (0) ω10 + β̇1 (0) sin[β1 (0)] = 0
 
ȧ2 (0) cos[β2 (0)] − a2 (0) ω20 + β̇2 (0) sin[β2 (0)] = 0
1 −1 1 −1
ȧ1 (0) = − εω10 ν1 a1 (0) + εω10 α1 a1 (0)a2 (0) sin[σ0 − 2β1 (0) + β2 (0)]
2 4
1 −1 1 −1
ȧ2 (0) = − εω20 ν2 a2 (0) − εω20 α2 a12 (0) sin[σ0 − 2β1 (0) + β2 (0)]
2 4
1 −1
a1 (0)β̇1 (0) = − εω10 α1 a1 (0)a2 (0) cos[σ0 − 2β1 (0) + β2 (0)]
4
1 −1
a2 (0)β̇2 (0) = − εω10 α2 a12 (0) cos[σ0 − 2β1 (0) + β2 (0)]
4
(6.16.26)

From the above two sets of equations, we obtain

cos[β2 (0)] = 0
a1 (0) cos[β1 (0)] = 1
1 −1
εω10 α2 a12 (0) cos[σ0 − 2β1 (0) + β2 (0)] = ω20 a2 (0)
4

1 −1 1 −1
εω20 α2 a12 (0) sin[σ0 − 2β1 (0) + β2 (0)] + εω20 ν2 a2 (0) cos[β1 (0)]+
4 2

1 −1
− εω10 α1 a1 (0)a2 (0) cos[σ0 − 2β1 (0) + β2 (0)] + a1 (0)ω10 sin[β1 (0)] = 0
4
(6.16.27)
6.17 Exercise 6.17 (Analysis of a Two-Degree-of-Freedom System … 647

We can solve for a1 (0), a2 (0), β1 (0), β2 (0) from the system of Eq. (6.16.27),
and then obtain a1 (t), a2 (t), β1 (t), β2 (t) from the step-by-step integration of the
system of Eq. (6.16.22).

6.17 Exercise 6.17 (Analysis of a Two-Degree-of-Freedom

System with Simultaneous Internal, Subharmonic,
and Superharmonic Resonances)

Solution: Solve by the method of multiple scale. Let the solution of the equation be

x = u11 (T0 , T1 ) + εu12 (T0 , T1 ) + · · ·

(6.17.1)
y = u21 (T0 , T1 ) + εu22 (T0 , T1 ) + · · ·

Substituting (6.17.1) into the equation of the system and retaining to O (ε1 ) yields
 
4  
0 = ẍ + x + 4cos2t − ε ẏ − 1 − x2 ẋ
3
 2 
= D0 + 2εD0 D1 (u11 + εu12 ) + u11 + εu12 + 4cos2t
4
− ε(D0 + εD1 )(u21 + εu22 ) + ε(D0 + εD1 )(u11 + εu12 )
3 (6.17.2)
−ε(u11 + εu12 )2 (D0 + εD1 )(u11 + εu12 ) + · · ·

= D02 u11 + u11 + 4cos2t + ε D02 u12 + u12

4
+ 2D0 D1 u11 − D0 u21 + D0 u11 − u11 2
D0 u11 + · · ·
3
1 4   
0 = ÿ + y − 5cos2t − ε 1 − x2 ẋ − ẏ
4 3
 2  1
= D0 + 2εD0 D1 (u21 + εu22 ) + (u21 + εu22 ) − 5cos2t
4
4 4
− ε(D0 + εD1 )(u11 + εu12 ) + ε(u11 + εu12 )2 (D0 + εD1 )(u11 + εu12 )
3 3
4
+ ε(D0 + εD1 )(u21 + εu22 ) + · · ·
3 
1 1
= D0 u21 + u21 − 5cos2t + ε D02 u22 + u22 + 2D0 D1 u21
2
4 4

4 4 2 4
− D0 u11 + u11 D0 u11 + D0 u21 + · · ·
3 3 3
(6.17.3)
648 6 Systems Having Finite Degrees of Freedom

Making the coefficients of each power of ε zero in the above two equations, we
obtain.
Order ε0 :

D02 u11 + u11 = −4cos2t

(6.17.4)
D02 u21 + 41 u21 = 5cos2t

Order ε1 :

D02 u12 + u12 = −2D0 D1 u11 − D0 u11 + 43 D0 u21 + u11

2
D0 u11
(6.17.5)
D0 u22 + 4 u22 = −2D0 D1 u21 + 3 D0 u11 − 3 D0 u21 − 43 u11
2 1 4 4 2
D0 u11

The solution of (6.17.4) can be expressed as

2
u11 = A1 eiT0 + ei2T0 + cc
3 (6.17.6)
iT0 /2 2
u21 = A2 e − ei2T0 + cc
3
where Ak = Ak (T1 ), k = 1, 2. Substitute (6.17.6) into (6.17.5), we get

D02 u12 + u12 = −2D0 D1 u11 − D0 u11 + 43 D0 u21 + u11

2
D0 u11
 iT0 (6.17.7)
= −2iA1 e + 9 iA1 e + 3iA1 A1 e + cc + NST
23 iT0 2 iT0

D02 u22 + 41 u22 = −2D0 D1 u21 + 43 D0 u11 − 43 D0 u21 − 43 u11

2
D0 u11
 iT0 /2 iT0 /2 (6.17.8)
= −iA2 e − 3 iA2 e
2
+ cc + NST

In order to eliminate secular terms from (6.17.7) and (6.17.8), we need

23
2A1 − A1 − 3A21 A1 = 0 (6.17.9)
9
2
A2 + A2 = 0 (6.17.10)
3
therefore,

A2 = A20 e−2t/3 → 0 (6.17.11)

Let
1 iβ1
A1 = a1 e (6.17.12)
2
Substituting (6.17.12) into (6.17.9), we can obtain
6.18 Exercise 6.18 (Nonlinear Oscillation Analysis of a Spherical Pendulum … 649

23 3
ω1 a1 + iω1 a1 β1 − a1 − a13 = 0 (6.17.13)
18 8
Separating the real and imaginary parts of the above equations yields

23 3
ω1 a1 = a1 + a13
18 8 (6.17.14)
β1 = 0

So, the steady state response is β1 = β10 ; a10 = 0. The linearized equation of a1
in the above equation at a10 = 0 is

23
ω1 a/1 = ã1 (6.17.15)
18
Obviously, the perturbation ã1 is divergent and hence the steady state solution
a10 = 0 is unstable. From the above results, the first order approximate solution of
the system is

4 4
x= cos 2t + O(ε), y = − cos 2t + O(ε) (6.17.16)
3 3
This solution is unstable.

6.18 Exercise 6.18 (Nonlinear Oscillation Analysis

of a Spherical Pendulum with a Moving Support)

Solution: (a) The coordinates of the absolute motion of the mass are

x = l sin θ cos ϕ
y = l sin θ sin ϕ (6.18.1)
z = l cos θ

The kinetic energy of the system is

650 6 Systems Having Finite Degrees of Freedom
  2 
1  2  d
T = m ẋ + ẏ + 2
(z − εlsint)
2 dt
 2  2
1 d d
= m (lsinθ cosφ) (lsinθ sinφ)
2 dt dt
 2 
d
+ (lcosθ ) − εlcost (6.18.2)
dt
1  2  2
= ml 2 θ̇ cosθ cosφ − φ̇sinθ sinφ + θ̇ cosθ sinφ + φ̇sinθ cosφ
2
 2 
+ θ̇ sinθ + εcost
1 2 2 
= ml θ̇ + φ̇ 2 sin2 θ + 2εθ̇ sinθ cost + ε2 2 cos2 t
2
Using the static equilibrium position as the zero potential position, the potential
energy of the system can be written as

V = mgl(1 − cos θ ) (6.18.3)

Substitute kinetic energy, potential energy, and generalized forces into the
Lagrange’s equation:

d ∂T ∂T ∂V d ∂T ∂T ∂V
− =− , − =−
dt ∂ θ̇ ∂θ ∂θ dt ∂ ϕ̇ ∂ϕ ∂ϕ

we can obtain
g 
θ̈ + − ε2 sin t − ϕ̇ 2 cos θ sin θ = 0
l (6.18.4)
ϕ̈ sin θ + 2ϕ̇ θ̇ cos θ = 0

(b) Separating the variables for the second equation of (6.18.4) yields

d ϕ̇ 2 cos θ
=− dθ
ϕ̇ sin θ

After integration

ϕ̇ sin2 θ = P (6.18.5)

where P is the constant of integration, determined from initial conditions. Substituting

(6.18.5) into the first equation in (6.18.4), we obtain
g  P 2 cos θ
θ̈ + − ε2 sin t sin θ − =0 (6.18.6)
l sin3 θ
6.18 Exercise 6.18 (Nonlinear Oscillation Analysis of a Spherical Pendulum … 651

(c) When ε = 0, (6.18.6) becomes

g P 2 cos θ
θ̈ + sin θ − =0 (6.18.7)
l sin3 θ
therefore, the equilibrium position of the system satisfies

g P 2 cos θ
sin θ − =0 (6.18.8)
l sin3 θ

(I) When ϕ̇ ≡ 0 : P ≡ 0, then the equilibrium θ can be obtained from:

θs = 0, π (6.18.9)

(II) When ϕ̇(0) = 0, θ (0) = 0 : P = 0, hence, the equilibrium θ should satisfy

P2
sin3 θs tan θs = (6.18.10)
ω02

where

ω02 = g/l (6.18.11)

(d) Different types of equilibrium positions need to be analyzed separately.

(I) θs = 0, π :

In this case, due to ϕ̇ ≡ 0 and P ≡ 0, the system becomes a single pendulum with
a movable support. If there is no support excitation, near the equilibrium position,
the linearized equation of (6.18.6) is

θ = 0 : θ̈ + ω02 θ = 0 (6.18.12)

θ = π : θ̈ − ω02 θ = 0 (6.18.13)

It is clear that the motion described by (6.18.12) is stable, while the motion by
(6.18.13) is divergent.
When there is a support excitation, (6.18.6) becomes
 
θ̈ + ω02 − ε2 sin t sin θ = 0 (6.18.14)

The stability of the steady state response of (6.18.14) is left to readers to complete.
(II) the equilibrium is given by (6.18.10).
If there is no support excitation, linearized equation of (6.18.6) near the
equilibrium position is
652 6 Systems Having Finite Degrees of Freedom
  
θ̈ + ω02 cos θs + P 2 3 sin−4 θs cos2 θs + sin−2 θs θ = 0 (6.18.15)

By (6.18.10), we have

1 1
− π < θs < π and θs = 0
2 2
therefore,
 
ω02 cos θs + P 2 3 sin−4 θs cos2 θs + sin−2 θs > 0 (6.18.16)

Therefore, the motion determined by (6.18.15) is stable.

When there is a support excitation, expand (6.18.6) near the equilibrium position
θ = θs and retain to the third order of smallness yields
 
θ̈ + ω2 θ + α1 θ 2 + α2 θ 3 + ε δ1 θ + δ2 θ 2 sin t = 0 (6.18.17)

where
 
ω2 = ω02 cosθs + P 2 3sin−4 θs cos2 θs + sin−2 θs
1  
α1 = − ω02 sinθs + P 2 12sin−5 θs cos3 θs + 8sin−3 θs cosθs
2
1 
α2 = −ω02 cosθs + P 2 60sin−6 θs cos4 θs
6  (6.18.18)
+ 60sin−4 θs cos2 θs + 8sin−2 θs
δ1 = −2 cosθs
1
δ2 = 2 sinθs
2
We use the method of multiple scales to solve (6.18.17), and let the solution of
the equation be

θ = u1 (T0 , T1 , T2 ) + εu2 (T0 , T1 , T2 ) + ε2 u3 (T0 , T1 , T2 ) + · · · (6.18.19)

 
Substituting (6.18.19) into (6.18.17) and retaining to O ε3 , we get
6.18 Exercise 6.18 (Nonlinear Oscillation Analysis of a Spherical Pendulum … 653
 
0 = θ̈ + ω2 θ + α1 θ 2 + α2 θ 3 + ε δ1 θ + δ2 θ 2 sint
   
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εu1 + ε2 u2 + ε3 u3
 
+ω2 εu1 + ε2 u2 + ε3 u3 + α1 (εu1 + ε2 u2 + ε3 u3 )2
 3  
+α2 εu1 + ε2 u2 + ε3 u3 + εδ1 εu1 + ε2 u2 + ε3 u3 sinT0
 2 (6.18.20)
+εδ2 εu1 + ε2 u2 + ε3 u3 sinT0 + · · ·
  
= ε D02 u1 + ω2 u1 + ε2 D02 u2 + ω2 u2 + 2D0 D1 u1
   
+ α1 u12 + δ1 u1 sinT0 + ε3 D02 u3 + ω2 u3 + D12 + 2D0 D2 u1

+ 2D0 D1 u2 + 2α1 u1 u2 + α2 u13 + δ1 u2 sinT0 + δ2 u12 sinT0 + · · ·

Equating coefficients of the like power of ε in the above equation yields.

Order ε1 :

D02 u1 + ω2 u1 = 0 (6.18.21)

Order ε2 :

D02 u2 + ω2 u2 = −2D0 D1 u1 − α1 u12 − δ1 u1 sin T0 (6.18.22)

Order ε3 :
 
D02 u3 + ω2 u3 = − D12 + 2D0 D2 u1 − 2D0 D1 u2 − 2α1 u1 u2
(6.18.23)
−α2 u13 − δ2 u12 sinT0 − δ1 u2 sinT0

The solution of (6.18.21) can be expressed as

u1 = AeiωT0 + cc (6.18.24)

where A = A(T1 , T2 ). Substituting (6.18.24) into (6.18.22), we get

D02 u2 + ω2 u2 = −2D0 D1 u1 − α1 u12 − δ1 u1 sinT0

= −2iωD1 AeiωT0 − 2α1 AA − α1 A2 e2iωT0 (6.18.25)
+ 21 iδ1 Aei(+ω)T0 + 21 iδ1 Aei(−ω)T0 + cc

In order to eliminate secular terms from (6.18.25), the different values of  need
to be discussed.
CASE (1):  ≈ 2ω.
In this case, induce the detuning parameter σ such that

 = 2ω + εσ (6.18.26)

In order to remove secular terms from (6.18.25), we need

654 6 Systems Having Finite Degrees of Freedom

1
2ωD1 A − δ1 Aeiσ T1 = 0 (6.18.27)
2
Let
1 iβ
A= ae (6.18.28)
2
Substituting (6.18.28) into (6.18.27), we can obtain

1
ωa + iωaβ  − δ1 aei(σ T1 −2β) = 0 (6.18.29)
2
Separating the real and imaginary parts of the above equations yields

a = 21 ω−1 δ1 acos(σ T1 − 2β)

(6.18.30)
aβ  = 21 ω−1 δ1 asin(σ T1 − 2β)

γ = σ T1 − 2β (6.18.31)

Equation (6.18.30) can be written as

a = 21 ω−1 δ1 acosγ
(6.18.32)
aγ  = σ a − 21 ω−1 δ1 asinγ

The necessary condition for the existence of a non-trivial steady state response of
(6.18.32) is

1
σ = ± ω−1 δ1 (6.18.33)
2
Substituting the above equation into (6.18.26), we can obtain the transition curve
separating the stability from instability is

1
 = 2ω ± ε ω−1 δ1 (6.18.34)
2
Therefore, the equilibrium position θs is conditionally stabilized when the system
has a support excitation and  ≈ 2ω.
CASE (2):  Stay away from 2ω.
In this case, in order to remove secular terms from (6.18.25), we need

D1 A = 0 ⇒ A = A(T2 ) (6.18.35)

Then the solution of (6.18.25) can be obtained:

6.18 Exercise 6.18 (Nonlinear Oscillation Analysis of a Spherical Pendulum … 655

1
u2 = −2ω−2 α1 AA + ω−2 α1 A2 e2iωT0 + ik1 Aei(+ω)T0 + ik2 Aei(−ω)T0 + cc
3
(6.18.36)

where
1  2  1  
k1 = δ1 ω − ( + ω)2 , k2 = δ1 ω2 − ( + ω)2 (6.18.37)
2 2
Substitute (6.18.36) and (6.18.24) into (6.18.23), we get

D02 u3 + ω2 u3 = −2D0 D2 u1 − 2α1 u1 u2 − α2 u13 − δ2 u12 sinT0 − δ1 u2 sinT0

   
−2  10 −2 2 1
= −2ω α1 A + ω α1 − 3α2 A A − δ1 (k1 + k2 )A eiωT0
2
3 2
 
+i 2α1 k1 − 2α1 k2 − ω−2 α1 δ1 + δ2 AAeiT0
 
1 1 −2
−i 2α1 k2 + δ2 + ω α1 δ1 A2 ei(2ω−)T0
2 6
1
− δ1 k2 Aei(2−ω)T0 + cc + NST
2
(6.18.38)

The prime represents the derivative with respect to T2 . In order to eliminate secular
terms from the above equation, it is necessary to distinguish between two cases where
 is far away from ω and  ≈ ω. Only the solution for the primary resonance  ≈ ω
is given below, and readers are invited to complete the solution for the other case.
When  ≈ ω, let

 = ω + εσ (6.18.39)

In order to remove secular terms from (6.18.38), we need

 
−2 10 −2 2 1
2ω α1 A − ω α1 − 3α2 A2 A − δ1 (k1 + k2 )A
3 2
 
−i 2α1 k1 − 2α1 k2 − ω−2 α1 δ1 + δ2 AAeiσ T1 (6.18.40)
 
1 1 −2 1
+i 2α1 k2 + δ2 + ω α1 δ1 A2 e−iσ T1 + δ1 k2 Ae2iσ T1 = 0
2 6 2

Let
1 iβ
A= ae (6.18.41)
2
Substituting (6.18.41) into (6.18.40), we obtain
656 6 Systems Having Finite Degrees of Freedom
 
1 10 −2 2 1
a + iaβ  − ω2 α1−1 ω α1 − 3α2 a3 − ω2 α1−1 δ1 (k1 + k2 )a
8 3 4
1  
− iω2 2k1 − 2k2 − ω−2 δ1 + δ2 a2 ei(σ T1 −β)
4   (6.18.42)
1 1 1
+ iω2 2k2 + ω−2 δ1 + α1−1 δ2 a2 e−i(σ T1 −β)
4 6 2
1 2 −1
+ ω α1 δ1 k2 ae2i(σ T1 −β) = 0
4
Separating the real and imaginary parts of the above equations yields
 
1 10 −2 2 1
a − ω2 α1−1 ω α1 − 3α2 a3 − ω2 α1−1 δ1 (k1 + k2 )a
8 3 4
1  
+ ω2 2k1 − 2k2 − ω−2 δ1 + δ2 a2 sin(σ T1 − β)
4  
1 1 1
+ ω2 2k2 + ω−2 δ1 + α1−1 δ2 a2 sin(σ T1 − β)
4 6 2
1 2 −1
+ ω α1 δ1 k2 a cos[2(σ T1 − β)] = 0 (6.18.43)
4
1  
aβ − ω2 2k1 − 2k2 − ω−2 δ1 + δ2 a2 cos(σ T1 − β)


4 
1 2 1 −2 1 −1
− ω 2k2 + ω δ1 + α1 δ2 a2 cos(σ T1 − β)
4 6 2
1
+ ω2 α1−1 δ1 k2 a sin[2(σ T1 − β)] = 0
4
Let

γ = σ T1 − β (6.18.44)

Equation (6.18.43) can be written as

a + 1 a3 + 3 a + 2 a2 sin γ + 4 a cos 2γ = 0
(6.18.45)
aγ  − σ a + 2 a2 cos γ − 4 a sin 2γ = 0

where
6.19 Exercise 6.19 (Primary Resonance Analysis … 657
 
1 10 −2 2
1 = − ω2 α1−1 ω α1 − 3α2
8 3
1 2 
2 = ω 2k1 − 2k2 − ω−2 δ1 + δ2 a2
4 
1 2 1 1
+ ω 2k2 + ω−2 δ1 + α1−1 δ2 (6.18.46)
4 6 2
1 2 −1
3 = − ω α1 δ1 (k1 + k2 )
4
1 2 −1
4 = ω α1 δ1 k2
4
The steady state response should satisfy the following equations

1 a3 + 3 a = −2 a2 sin γ − 4 a cos 2γ

(6.18.47)
σ a = 2 a2 cos γ − 4 a sin 2γ

The steady state responses a0 , γ0 can be obtained by solving (6.18.47) numerically.

To further analyze the stability of the steady state response, let

a = a0 + ã, γ = γ0 + γ̃ (6.18.48)

Substitute (6.18.48) into (6.18.45), we can obtain the linearized equation

 ˜  
a l11 l12 ã
+ =0 (6.18.49)
γ̃  l21 l22 γ̃

where

l11 = 31 a02 + 3 + 22 a0 sinγ0 + 4 cos2γ0

l12 = 2 a02 cosγ0 − 24 a0 sin2γ0 = 0
(6.18.50)
l21 = −σ
 + 22 a0 cosγ0 − 4 sin2γ0
l22 = − 2 a02 sinγ0 + 24 a0 cos2γ0

The steady state solutions are stable if all eigenvalues of (6.18.49) have negative
real parts, the steady state response is stable, otherwise it is unstable.

6.19 Exercise 6.19 (Primary Resonance Analysis

of a Two-Degree-of-Freedom Self-Excited System)

Solution: Let the solution of the equation be

658 6 Systems Having Finite Degrees of Freedom

x = u11 (T0 , T1 ) + εu12 (T0 , T1 ) + · · ·

(6.19.1)
y = u21 (T0 , T1 ) + εu22 (T0 , T1 ) + · · ·

Substituting (6.19.1) into the given system equation and retaining to O(ε) yields
   
0 = ẍ + x − ε λ0 sint + α1 1 − x2 ẋ + α2 ẏ
 
= D02 + 2εD0 D1 (u11 + εu12 ) + u11 + εu12
 
−ελ0 sinT0 − εα1 1 − (u11 + εu12 )2 (D0 + εD1 )(u11 + εu12 )
(6.19.2)
−εα2 (D0 + εD1 )(u21 + εu22 ) + · · ·

= D02 u11 + u11 + ε D02 u12 + u12 + 2D0 D1 u11

− α1 D0 u11 + α1 u11
2
D0 u11 − α2 D0 u21 − λ0 sinT0 + · · ·
 
1 1  
0 = ÿ + y − ε − λ0 sint + α3 1 − x ẋ + α4 ẏ
2
4 4
 2  1
= D0 + 2εD0 D1 (u21 + εu22 ) + (u21 + εu22 )
4
1  
+ ελ0 sinT0 − εα3 1 − (u11 + εu12 )2 (D0 + εD1 )(u11 + εu12 )
4 (6.19.3)
−εα4 (D0 + εD1 )(u21 + εu22 ) + · · ·

1 1
= D0 u21 + u21 + ε D02 u22 + u22 + 2D0 D1 u21
2
4 4

1
− α3 D0 u11 + α3 u11 D0 u11 − α4 D0 u21 + λ0 sinT0 + · · ·
2
4

Making the coefficients of the like power of ε equal to zero in the above two
equations, we get.
Order ε0 :

D02 u11 + u11 = 0

(6.19.4)
D02 u21 + 41 u21 = 0

Order ε1 :

D02 u12 + u12 = −2D0 D1 u11 + α1 D0 u11 − α1 u11

2
D0 u11 + α2 D0 u21 + λ0 sinT0
D0 u22 + 4 u22 = −2D0 D1 u21 + α3 D0 u11 − α3 u11
2 1 2
D0 u11 + α4 D0 u21 − 14 λ0 sinT0
(6.19.5)

The solution of (6.19.4) can be expressed as

u11 = A1 eiT0 + cc, u21 = A2 eiT0 /2 + cc (6.19.6)

where Ak = Ak (T1 ), k = 1, 2. Substituting this into (6.19.5), we obtain

6.19 Exercise 6.19 (Primary Resonance Analysis … 659

D02 u12 + u12 = −2D0 D1 u11 + α1 D0 u11 − α1 u11

2
D0 u11 + α2 D0 u21 + λ0 sinT0
 iT0
= −2iA1 e + iα1 A1 e − iα1 A1 A1 e − 2 iλ0 eiT0 + cc + NST
iT0 2 iT0 1

(6.19.7)

D02 u22 + 41 u22 = −2D0 D1 u21 + α3 D0 u11 − α3 u11

2
D0 u11 + α4 D0 u21 − 14 λ0 sinT0
 iT0 /2 iT0 /2
= −iA2 e + 2 iα4 A2 e
1
+ cc + NST
(6.19.8)

In order to eliminate secular terms from the above two equations, we need

1 1
2A1 − α1 A1 + α1 A21 A1 + λ0 = 02A1 − α1 A1 + α1 A21 A1 + λ0 = 0 (6.19.9)
2 2
1
A2 − α4 A2 = 0 (6.19.10)
2
can be solved directly, i.e.,

1
A2 = a20 eα4 T1 /2 (6.19.11)
2
Let
1 iβ1
A1 = a1 e (6.19.12)
2
Substituting it into (6.19.9) and get

1
a1 + ia1 β1 − α1 a1 + α1 a13 + λ0 e−iβ1 = 0 (6.19.13)
2
Separating the real and imaginary parts of the above equations yields

1
a1 − α1 a1 + α1 a13 + λ0 cos β1 = 0
2 (6.19.14)
 1
a1 β1 − λ0 sin β1 = 0
2
The steady state response should satisfy the following equations

1
α1 a13 − α1 a1 + λ0 cos β1 = 0
2 (6.19.15)
sin β1 = 0

Therefore,

β10 = nπ (6.19.16)
660 6 Systems Having Finite Degrees of Freedom

1
α1 a13 − α1 a1 + λ0 cos nπ = 0 (6.19.17)
2
The steady state response a10 can be found from (6.19.17). Substituting the above
results into (6.19.6), we can obtain the first order approximate solution of the system

x = a1 cos(t + nπ ) + O(ε)
1 (6.19.18)
y = a20 eεα4 t/2 cos t + O(ε)
2
In order to analyze the stability of the steady state responses a10 ,β10 , let
◦
a1 = a10 + ã1 , β1 = nπ + β̃1 (6.19.19)

Substituting it into (6.19.14) and linearizing the equation, we can obtain

 
ã1 = α1 1 − 3a102
ã1
1 −1
(6.19.20)
β̃1 = a10 λ0 cos nπ β̃1
2
So, the stability conditions for the steady state responses a10 , β10 are
  ◦ ◦ −1
α1 1 − 3a10
2
< 0 and a10 λ0 cos nπ < 0 (6.19.21)

In addition, one can find from (6.19.18) that the stability condition of y is

α4 < 0 (6.19.22)

6.20 Exercise 6.20 (Free Oscillation Analysis

of a Two-Degree-of-Freedom Self-Excited System
with Heavy Eigenvalues)

Solution: (a) Let the solution of the equation be

u1 = u11 (T0 , T1 ) + εu12 (T0 , T1 ) + · · ·

(6.20.1)
u2 = u21 (T0 , T1 ) + εu22 (T0 , T1 ) + · · ·

Substituting them into the control equation of the system and retaining to O(ε)
yields
6.20 Exercise 6.20 (Free Oscillation Analysis of a Two-Degree-of-Freedom … 661
 
0 = ü1 + ω12 u1 − ε α1 − α2 u12 u̇1 − εα3 u2
 
= D02 + 2εD0 D1 (u11 + εu12 ) + ω12 (u11 + εu12 )
 
−ε α1 − α2 (u11 + εu12 )2 (D0 + εD1 )(u11 + εu12 )
(6.20.2)
−εα3 (u21 + εu22 ) + · · ·

= D02 u11 + ω12 u11 + ε D02 u12 + ω12 u12 + 2D0 D1 u11

− α1 D0 u11 + α2 u112
D0 u11 − α3 u21 + · · ·
 
0 = ü2 + ω22 u2 − ε α1 − α2 u22 u̇2 − εα4 u1
 
= D02 + 2εD0 D1 (u21 + εu22 ) + ω22 (u21 + εu22 )
 
−ε α1 − α2 (u21 + εu22 )2 (D0 + εD1 )(u21 + εu22 )
(6.20.3)
−εα4 (u11 + εu12 ) + · · ·

= D02 u21 + ω22 u21 + ε D02 u22 + ω22 u22 + 2D0 D1 u21

− α1 D0 u21 + α2 u212
D0 u21 − α4 u11 + · · ·

Making the coefficient of the like power of ε equal to zero in the above two
equations, we get.
Order ε0 :

D02 u11 + ω12 u11 = 0

(6.20.4)
D02 u21 + ω22 u21 = 0

Order ε1 :

D02 u12 + ω12 u12 = −2D0 D1 u11 + α1 D0 u11 − α2 u11

2
D0 u11 + α3 u21
(6.20.5)
D0 u22 + ω2 u22 = −2D0 D1 u21 + α1 D0 u21 − α2 u21 D0 u21 + α4 u11
2 2 2

The solution of (6.20.4) can be expressed as

u11 = A1 eiω1 T0 + cc, u21 = A2 eiω2 T0 + cc (6.20.6)

[Link] = Ak (T1 ), k = 1, 2 Substituting this into (6.20.5), we get

D02 u12 + ω12 u12 = −2D0 D1 u11 + α1 D0 u11 − α2 u11

2
D0 u11 + α3 u21
 
= −2iω1 A1 + iω1 α1 A1 − 3iω1 α2 A21 A1 eiω1 T0 (6.20.7)
+α3 A2 eiω2 T0 + cc + NST

D02 u22 + ω22 u22 = −2D0 D1 u21 + α1 D0 u21 − α2 u21

2
D0 u21 + α4 u11
 

= −2iω2 A2 + iω2 α1 A2 − 3iω2 α2 A2 A2 e
2 iω2 T0
(6.20.8)
+α4 A1 e iω1 T0
+ cc + NST
662 6 Systems Having Finite Degrees of Freedom

In order to eliminate secular terms from the above two equations when ω2 =
ω1 + εσ , we need
 
2iω1 A 1 = iω1 α1 − 3α2 A1 A1 A1 + α3 A2 eiσ T1
(6.20.9)
2iω2 A 2 = iω2 α1 − 3α2 A2 A2 A2 + α4 A1 e−iσ T1

(b) Set

1 iβ1 1
A1 = a1 e , A2 = a2 eiβ2 (6.20.10)
2 2
Substituting them into (6.20.9) and get
 
iω1 a1 − ω1 a1 β1 = iω1 α1 − 3α2 a12 a1 + α3 a2 ei(σ T1 −β1 +β2 ) (6.20.11)

 
iω2 a2 − ω2 a2 β2 = iω2 α1 − 3α2 a22 a2 + α4 a1 e−i(σ T1 −β1 +β2 ) (6.20.12)

Separating the real and imaginary parts of the above equations yields
 
ω1 a1 = ω1 α1 − 3α2 a12 a1 + α3 a2 sinγ
(6.20.13)
ω2 a2 = ω2 α1 − 3α2 a22 a2 − α4 a1 sinγ

ω1 a1 β1 = −α3 a2 cos γ

(6.20.14)
ω2 a2 β2 = −α4 a1 cos γ

where

γ = σ T1 − β1 + β2 (6.20.15)

Eliminating β1 and β2 from (6.20.14), we get

 
ω1 ω2 a1 a2 γ  = ω1 ω2 a1 a2 σ + ω2 α3 a22 − ω1 α4 a12 cos γ (6.20.16)

By (6.20.13) and (6.20.16), the steady state response should satisfy the following
equations
 
ω1 α1 − 3α2 a12 a1 + α3 a2 sin γ = 0
 
ω2 α1 − 3α2 a22 a2 − α4 a1 sin γ = 0 (6.20.17)
 
ω1 ω2 a1 a2 σ + ω2 α3 a22 − ω1 α4 a12 cos γ = 0

This set of equations has trivial solution a1 = a2 = 0. For non-trivial solutions,

the frequency–response equation can be obtained as
6.21 Exercise 6.21 (Primary Resonance Analysis … 663

  α4  
ω2 α1 − 3α2 a22 a22 = − ω1 α1 − 3α2 a12 a12 (6.20.18)
α3
   2  2
ω1 α1 − 3α2 a12 a1 ω1 ω2 a1 a2 σ
  =1 (6.20.19)
α3 a2 ω2 α3 a22 − ω1 α4 a12

From this, the non-trivial steady state response, a10 , a20 and γ0 , can be obtained.
To analyze the stability of the steady state response, let

a1 = a10 + ã1 , a2 = a20 + ã2 , γ = γ0 + γ̃ (6.20.20)

Substituting (6.20.21) into (6.20.13) and (6.20.16) and linearizing the equation,
we can obtain
⎡ ⎤⎧  ⎫ ⎡ ⎤⎧ ⎫
100 ⎨ a/1 ⎬ l11 l12 l13 ⎨ ã1 ⎬
⎣0 1 0 ⎦ a/ 2 = ⎣ l21 l22 l23 ⎦ ã2 (6.20.21)
⎩ / ⎭ ⎩ ⎭
0 0 a10 a20 γ l31 l32 l33 γ̃

where

l11 = α1 − 9α2 a10

2
, l12 = ω1−1 α3 sin γ0 , l13 = ω1−1 α3 a20 cos γ0
l21 = −ω2−1 α4 sin γ0 , l22 = α1 − 9α2 a20
2
, l23 = −ω2−1 α4 a10 cos γ0
(6.20.22)
l31 = a20 σ − 2ω2−1 α4 a10 cos γ0 , l32 = a10 σ + 2ω1−1 α3 a20 cos γ0
l33 = ω2−1 α4 a10
2
sin γ0 − ω1−1 α3 a20
2
sin γ0

For the trivial steady state response a10 = a20 = 0, the coefficient matrix on the
right-hand side (6.20.22) is singular, so the trivial steady state response is unstable.
For the non-trivial solution, we can obtain three eigenvalues from (6.20.22). if all
three eigenvalues have negative real parts, then the non-trivial solution is stable,
otherwise it is unstable.

6.21 Exercise 6.21 (Primary Resonance Analysis

of Three-Degree-of-Freedom Systems with Repeating
Frequencies, Internal Resonance, Saturation
Phenomena)

Solution: (a) Let the solution of the equation be

u1 = εu11 (T0 , T1 ) + ε2 u12 (T0 , T1 ) + · · ·

u2 = εu21 (T0 , T1 ) + ε2 u22 (T0 , T1 ) + · · · (6.21.1)
u3 = εu31 (T0 , T1 ) + ε2 u32 (T0 , T1 ) + · · ·
664 6 Systems Having Finite Degrees of Freedom
 
Substituting them into the control equation of the system and retaining to O ε2
yields

1
0 = ü1 + ω12 u1 + 2εμ1 u̇1 + α1 u1 u3 + α2 u1 ü3 − 2K1 cos t
   2
 
= D02 + 2εD0 D1 εu11 + ε2 u12 + ω12 εu11 + ε2 u12
    
+2εμ1 (D0 + εD1 ) εu11 + ε2 u12 + α1 εu11 + ε2 u12 εu31 + ε2 u32
1     (6.21.2)
+ α2 εu11 + ε2 u12 D02 + 2εD0 D1 εu31 + ε2 u32 − 2K1 cos T0
2  
= ε D02 u11 + ω12 u11 + ε2 D02 u12 + ω12 u12 + 2D0 D1 u11 + 2μ1 D0 u11

1
+ α1 u11 u31 + α2 u11 D02 u31 − 2K1 cos T0 + · · ·
2
1
0 = ü2 + ω22 u2 + 2εμ2 u̇2 + α1 u2 u3 + α2 u2 ü3
   2  
= D02 + 2εD0 D1 εu21 + ε2 u22 + ω22 εu21 + ε2 u22
    
+2εμ2 (D0 + εD1 ) εu21 + ε2 u22 + α1 εu21 + ε2 u22 εu31 + ε2 u32
1    
+ α2 εu21 + ε2 u22 D02 + 2εD0 D1 εu31 + ε2 u32
2  
= ε D02 u21 + ω22 u21 + ε2 D02 u22 + ω12 u22 + 2D0 D1 u21 + 2μ2 D0 u21

1
+ α1 u21 u31 + α2 u21 D0 u31 + · · ·
2
2
(6.21.3)
1   1 d
0 = ü3 + ω32 u3 + 2εμ3 u̇3 + α1 u12 + u22 + α2 (u1 u̇1 + u2 u̇2 ) − 2K3 cos t
 2  2   2 dt 
= D0 + 2εD0 D1 εu31 + ε u32 + ω3 εu31 + ε2 u32
2 2

  1  2  2 
+2εμ3 (D0 + εD1 ) εu31 + ε2 u32 + α1 εu11 + ε2 u12 + εu21 + ε2 u22
2
1    
+ α2 (D0 + εD1 ) εu11 + ε u12 (D0 + εD1 ) εu11 + ε2 u12
2
2   
+ εu21 + ε2 u22 (D0 + εD1 ) εu21 + ε2 u22 − 2K3 cos T0

 2  1
= ε D0 u31 + ω3 u31 + ε D02 u32 + ω32 u32 + 2D0 D1 u31 + 2μ3 D0 u31 + α1 u11
2 2 2
2

1 1 1
+ α1 u21 + α2 D0 (u11 D0 u11 ) + α2 D0 (u21 D0 u21 ) − 2K3 cos T0 + · · ·
2
2 2 2
(6.21.4)

It can be seen that we need to discuss on the value of  to eliminate secular terms
from (6.21.2) and (6.21.4).
(i)  = ω3 + εσ3
6.21 Exercise 6.21 (Primary Resonance Analysis … 665

Let

K1 = εk1 , K3 = ε2 k3 (6.21.5)

Equating the coefficients of the like power of ε in (6.21.2)–(6.21.4), we get.

Order ε1 :

D02 u11 + ω12 u11 = 2k1 cosT0

D02 u21 + ω22 u21 = 0 (6.21.6)
D02 u31 + ω32 u31 = 0

Order ε2 :
1
D02 u12 + ω12 u12 = −2D0 D1 u11 − 2μ1 D0 u11 − α1 u11 u31 − α2 u11 D02 u31
2
1
D0 u22 + ω1 u22 = −2D0 D1 u21 − 2μ2 D0 u21 − α1 u21 u31 − α2 u21 D02 u31
2 2
2 (6.21.7)
1 1
D0 u32 + ω3 u32 = −2D0 D1 u31 − 2μ3 D0 u31 − α1 u11 − α1 u21
2 2 2 2
2 2
1 1
− α2 D0 (u11 D0 u11 ) − α2 D0 (u21 D0 u21 ) + 2k3 cosT0
2 2
The solution of (6.21.6) can be expressed as

u11 = A1 eiω1 T0 + k̂1 eiT0 + cc, u21 = A2 eiω2 T0 + cc, u31 = A3 eiω3 T0 + cc
(6.21.8)

where
k1
k̂1 = (6.21.9)
ω12 − 2

Ak = Ak (T1 ), k = 1, 2, 3. Substituting (6.21.8) into (6.21.7), we obtain

D02 u12 + ω12 u12 = −2D0 D1 u11 − 2μ1 D0 u11 − α1 u11 u31 − 21 α2 u11 D02 u31
= −2iω1 A1 eiω1 T0 − 2iω1 μ1 A1 eiω1 T0 − α1 A1 A3 ei(ω3 −ω1 )T0
+ 21 ω32 α2 A1 A3 ei(ω3 −ω1 )T0 + cc + NST
(6.21.10)

D02 u22 + ω12 u22 = −2D0 D1 u21 − 2μ2 D0 u21 − α1 u21 u31 − 21 α2 u21 D02 u31
= −2iω2 A 2 eiω2 T0 − 2iω2 μ2 A2 eiω2 T0 − α1 A2 A3 ei(ω3 −ω2 )T0
+ 21 ω32 α2 A2 A3 ei(ω3 −ω2 )T0 + cc + NST
(6.21.11)
666 6 Systems Having Finite Degrees of Freedom

1 1
D02 u32 + ω32 u32 = −2D0 D1 u31 − 2μ3 D0 u31 − α1 u11 2
− α1 u21
2
2 2
1 1
− α2 D0 (u11 D0 u11 ) − α2 D0 (u21 D0 u21 ) + 2k3 cos T0
2 2
1 (6.21.12)
= −2iω3 A eiω3 T0 − 2iω3 μ3 A3 eiω3 T0 − α1 A21 e2iω1 T0
2
1
− α1 A22 e2iω2 T0 + α2 ω12 A21 e2iω1 T0 + α2 ω22 A22 e2iω2 T0
2
+k3 eiT0 + cc + NST

In order to eliminate secular terms from the above three equations when ω2 =
ω1 , ω3 = 2ω1 + εσ,  = ω3 + εσ3 , we need
 
   1 2
2iω1 A1 + μ1 A1 + α1 − ω3 α2 A1 A3 eiσ T1 = 0
2
 
   1
2iω2 A2 + μ2 A2 + α1 − ω32 α2 A2 A3 eiσ T1 = 0 (6.21.13)
2
 
  1  
2iω3 A3 + μ3 A3 + α1 − ω12 α2 A21 + A22 e−iσ T1 − k3 eiσ3 T1 = 0
2

(ii)  = ω1 + εσ1

Let

K1 = ε2 k1 , K3 = εk3 (6.21.14)

Equating the coefficients of the like power of ε in (6.21.2)–(6.21.4), we get.

Order ε1 :

D02 u11 + ω12 u11 = 0

D02 u21 + ω22 u21 = 0 (6.21.15)
D02 u31 + ω32 u31 = 2k1 cosT0

Order ε2 :
6.21 Exercise 6.21 (Primary Resonance Analysis … 667

1
D02 u12 + ω12 u12 = −2D0 D1 u11 − 2μ1 D0 u11 − α1 u11 u31 − α2 u11 D02 u31
2
+2k1 cos T0
1
D02 u22 + ω12 u22 = −2D0 D1 u21 − 2μ2 D0 u21 − α1 u21 u31 − α2 u21 D02 u31
2
1 1
D0 u32 + ω3 u32 = −2D0 D1 u31 − 2μ3 D0 u31 − α1 u11 − α1 u21
2 2 2 2
2 2
1 1
− α2 D0 (u11 D0 u11 ) − α2 D0 (u21 D0 u21 )
2 2
(6.21.16)

The solution of (6.21.15) can be expressed as

u11 = A1 eiω1 T0 + cc, u21 = A2 eiω2 T0 + cc, u31 = A3 eiω3 T0 + k̂3 eiT0 + cc
(6.21.17)

where
k3
k̂3 = (6.21.18)
ω32 − 2

Ak = Ak (T1 ), k = 1, 2, 3. Substituting (6.21.17) into (6.21.16), we obtain

1
D02 u12 + ω12 u12 = −2D0 D1 u11 − 2μ1 D0 u11 − α1 u11 u31 − α2 u11 D02 u31
2
= −2iω1 A1 eiω1 T0 − 2iω1 μ1 A1 eiω1 T0 − α1 A1 A3 ei(ω3 −ω1 )T0
1
+ ω32 α2 A1 A3 ei(ω3 −ω1 )T0 + k1 eiT0 + cc + NST
2
(6.21.19)

D02 u22 + ω12 u22 = −2D0 D1 u21 − 2μ2 D0 u21 − α1 u21 u31 − 21 α2 u21 D02 u31
= −2iω2 A 2 eiω2 T0 − 2iω2 μ2 A2 eiω2 T0 − α1 A2 A3 ei(ω3 −ω2 )T0
+ 21 ω32 α2 A2 A3 ei(ω3 −ω2 )T0 + cc + NST
(6.21.20)
1 1
D02 u32 + ω32 u32 = −2D0 D1 u31 − 2μ3 D0 u31 − α1 u11 2
− α1 u21
2
2 2
1 1
− α2 D0 (u11 D0 u11 ) − α2 D0 (u21 D0 u21 ) + 2k3 cosT0
2 2
1 (6.21.21)
= −2iω3 A3 eiω3 T0 − 2iω3 μ3 A3 eiω3 T0 − α1 A21 e2iω1 T0
2
1
− α1 A22 e2iω2 T0 + α2 ω12 A21 e2iω1 T0 + α2 ω22 A22 e2iω2 T0
2
+cc + NST
668 6 Systems Having Finite Degrees of Freedom

In order to eliminate secular terms from the above three equations when ω2 =
ω1 , ω3 = 2ω1 + εσ,  = ω1 + εσ1 , we need
 
  1
2iω1 A1 + μ1 A1 + α1 − ω32 α2 A1 A3 eiσ T1 − k1 eiσ1 T1 = 0
2
 
   1
2iω2 A2 + μ2 A2 + α1 − ω32 α2 A2 A3 eiσ T1 = 0 (6.21.22)
2
 
  1  
2iω3 A3 + μ3 A3 + α1 − ω12 α2 A21 + A22 e−iσ T1 = 0
2

Equation (6.21.13) and (6.21.22) can be combined and written as

 
   1 2
2iω1 A1 + μ1 A1 + α1 − ω3 α2 A3 A1 eiσ T1 − k1 δ1s eiσ1 T1 = 0
2
 
   1 2
2iω2 A2 + μ2 A2 + α1 − ω3 α2 A3 A2 eiσ T1 = 0 (6.21.23)
2
 
  1  
2iω3 A3 + μ3 A3 + α1 − ω12 α2 A21 + A22 e−iσ T1 − k3 δ3s eiσ3 T1 = 0
2

where δns is the Kronecker symbol.

(b) Set
1 iβ1 1 1
A1 = a1 e , A2 = a2 eiβ2 , A3 = a3 eiβ3 (6.21.24)
2 2 2
Substituting (6.21.24) into (6.21.23) when s = 3 and  = ω3 + εσ3 , we get
 
1 1
iω1 a1 − ω1 a1 β1 + iω1 μ1 a1 + α1 − ω32 α2 a1 a3 ei(σ T1 −2β1 +β3 ) = 0
4 2
 
1 1
iω2 a2 − ω2 a2 β2 + iω2 μ2 a2 + α1 − ω32 α2 a2 a3 ei(σ T1 −2β2 +β3 ) = 0
4 2
  (6.21.25)
1 1
iω3 a3 − ω3 a3 β3 + iω3 μ3 a3 + α1 − ω12 α2 a12 e−i(σ T1 −2β1 +β3 )
4 2
 
1 1
+ α1 − ω12 α2 a22 e−i(σ T1 −2β2 +β3 ) − k3 ei(σ3 T1 −β3 ) = 0
4 2

Separating the real and imaginary parts of the above equations yields
6.21 Exercise 6.21 (Primary Resonance Analysis … 669
 
1 1
a1 = −μ1 a1 − ω1−1 α1 − ω32 α2 a1 a3 sin γ1
4 2
 
1 1
a2 = −μ2 a2 − ω2−1 α1 − ω32 α2 a2 a3 sin γ2
4 2
  (6.21.26)
1 1
a3 = −μ3 a3 + ω3−1 α1 − ω12 α2 a12 sin γ1
4 2
 
1 −1 1
+ ω3 α1 − ω12 α2 a22 sin γ2 + ω3−1 k3 sin γ3
4 2
 
1 1
a1 β1 = ω1−1 α1 − ω32 α2 a1 a3 cos γ1
4 2
 
1 1
a2 β2 = ω2−1 α1 − ω32 α2 a2 a3 cos γ2
4 2
  (6.21.27)
1 1
a3 β3 = ω3−1 α1 − ω12 α2 a12 cos γ1
4 2
 
1 −1 1
+ ω3 α1 − ω12 α2 a22 cos γ2 − ω3−1 k3 cos γ3
4 2

where

γ1 = σ T1 − 2β1 + β3 , γ2 = σ T1 − 2β2 + β3 , γ3 = σ3 T1 − β3 (6.21.28)

From (6.21.28), we have

2β1 = σ T1 + σ3 T1 − γ1 − γ3 , 2β2 = σ T1 + σ3 T1 − γ2 − γ3 , β3 = σ3 T1 − γ3
(6.21.29)

Substituting this into (6.21.27), we can obtain

 
1 1
a1 γ1 + a1 γ3 = σ a1 + σ3 a1 − ω1−1 α1 − ω32 α2 a1 a3 cos γ1
2 2
 
1 1
a2 γ2 + a2 γ3 = σ a2 + σ3 a2 − ω2−1 α1 − ω32 α2 a2 a3 cos γ2
2 2
  (6.21.30)
1 1
a3 γ3 = σ3 a3 − ω3−1 α1 − ω12 α2 a12 cos γ1
4 2
 
1 1
− ω3−1 α1 − ω12 α2 a22 cos γ2 + ω3−1 k3 cos γ3
4 2

Let an = 0 and γn = 0 in (6.21.26) and (6.21.30), the steady state response should
satisfy the following equations
670 6 Systems Having Finite Degrees of Freedom
 
1 1
0 = −μ1 a1 − ω1−1 α1 − ω32 α2 a1 a3 sin γ1
4 2
 
1 1
0 = −μ2 a2 − ω2−1 α1 − ω32 α2 a2 a3 sin γ2
4 2
  (6.21.31)
1 1
0 = −μ3 a3 + ω3−1 α1 − ω12 α2 a12 sin γ1
4 2
 
1 −1 1
+ ω3 α1 − ω12 α2 a22 sin γ2 + ω3−1 k3 sin γ3
4 2
 
1 1
0 = σ a1 + σ3 a1 − ω1−1 α1 − ω32 α2 a1 a3 cos γ1
2 2
 
1 −1 1
0 = σ a2 + σ3 a2 − ω2 α1 − ω32 α2 a2 a3 cos γ2
2 2
  (6.21.32)
1 −1 1
0 = σ3 a3 − ω3 α1 − ω12 α2 a12 cos γ1
4 2
 
1 1
− ω3−1 α1 − ω12 α2 a22 cos γ2 + ω3−1 k3 cos γ3
4 2

Eliminating γ1 , γ2 from the first and second equations in (6.21.31) and (6.21.32)
yields
 2
1
16μ21 a12 + 4a12 (σ + σ3 )2 = ω1−2 α1 − ω32 α2 a12 a32
2
 2 (6.21.33)
−2 1 2
16μ2 a2 + 4a2 (σ + σ3 ) = ω2 α1 − ω3 α2 a22 a32
2 2 2 2
2

Since ω1 = ω2 when μ1 = μ2 , there must be a1 = a2 = 0. When μ1 = μ2 , a1

and a2 can be either zero or non-zeros. When a1 = a2 = 0, we can eliminate γ3 from
the third equation of (6.21.31) and (6.21.32), i.e.,
 2 
μ3 + σ32 a32 = ω3−2 k32 , a1 = a2 = 0 (6.21.34)

When μ1 = μ2 , a1 = 0, a2 = 0 and a3 = 0, there is a1 = a2 , γ1 = γ2 ,

(6.21.33) degenerates to the following equation:
 −2
1  
a32 = ω12 α1 − ω32 α2 16μ21 + 4(σ + σ3 )2 (6.21.35)
2

Equations (6.21.31) and (6.21.32) degenerate into

6.21 Exercise 6.21 (Primary Resonance Analysis … 671
 
1 1
0 = −μ1 a1 − ω1−1 α1 − ω32 α2 a1 a3 sinγ1
4 2
 
1 1
0 = σ a1 + σ3 a1 − ω1−1 α1 − ω32 α2 a1 a3 cosγ1
2 2
  (6.21.36)
1 1
0 = −μ3 a3 + ω3−1 α1 − ω12 α2 a12 sinγ1 + ω3−1 k3 sinγ3
2 2
 
1 −1 1
0 = σ3 a3 − ω3 α1 − ω12 α2 a12 cosγ1 + ω3−1 k3 cosγ3
2 2

Eliminating γ1 , γ3 in (6.21.36), we get

   −1 2
1 1 2
+
μ3 a32 2ω1 ω3−1 μ1α1 − ω1 α2 α1 − ω3 α2
2
a12
2 2
   −1 2
(6.21.37)
−1 1 1 2
+ σ3 a3 − ω1 ω3
2
α1 − ω1 α2 α1 − ω3 α2
2
(σ + σ3 )a1
2
2 2
= ω3−2 k32 a32

The steady state responses can be determined by (6.21.35) and (6.21.37). From
(6.21.35), we know that a3 is a constant and independent of the excitation k3 ,
therefore, a3 is saturated. The stability of the steady state response depends on the
eigenvalues of the linearized equations of (6.21.26) and (6.21.30).
(c) When s = 1,  = ω1 + εσ1 , substitute (6.21.24) into (6.21.22), we get
 
1 1
iω1 a1 − ω1 a1 β1 + iω1 μ1 a1 + α1 − ω32 α2 a1 a3 ei(σ T1 −2β1 +β3 ) − k1 ei(σ1 T1 −β1 ) = 0
4 2
 
1 1
iω2 a2 − ω2 a2 β2 + iω2 μ2 a2 + α1 − ω32 α2 a2 a3 ei(σ T1 −2β2 +β3 ) = 0
4 2
 
1 1
iω3 a3 − ω3 a3 β3 + iω3 μ3 a3 + α1 − ω12 α2 a12 e−i(σ T1 −2β1 +β3 )
4 2
 
1 1
+ α1 − ω12 α2 a22 e−i(σ T1 −2β2 +β3 ) = 0
4 2
(6.21.38)
 
1 1
iω1 a1 − ω1 a1 β1 + iω1 μ1 a1 − k1 eiγ1 + α1 − ω32 α2 a1 a3 eiγ2 = 0
4 2
 
1 1
iω2 a2 − ω2 a2 β2 + iω2 μ2 a2 + α1 − ω32 α2 a2 a3 eiγ3 = 0
4 2
  (6.21.39)
1 1
iω3 a3 − ω3 a3 β3 + iω3 μ3 a3 + α1 − ω12 α2 a12 e−iγ2
4 2
 
1 1
+ α1 − ω12 α2 a22 e−iγ3 = 0
4 2
672 6 Systems Having Finite Degrees of Freedom

Separating the real and imaginary parts of the above equations yields
 
1 −1 1 2
a1
= ω1−1 k1 sinγ1
− μ1 a1 − ω1 α1 − ω3 α2 a1 a3 sinγ2
4 2
 
1 1
a2 = −μ2 a2 − ω2−1 α1 − ω32 α2 a2 a3 sinγ3
4 2
   
 1 −1 1 1 −1 1
a3 = −μ3 a3 + ω3 α1 − ω1 α2 a1 sinγ2 + ω3
2 2
α1 − ω1 α2 a22 sinγ3
2
4 2 4 2
(6.21.40)
 
1 1
a1 β1 = −ω1−1 k1 cosγ1 + ω1−1 α1 − ω32 α2 a1 a3 cosγ2
4 2
 
1 1
a2 β2 = ω2−1 α1 − ω32 α2 a2 a3 cosγ3 (6.21.41)
4 2
   
1 1 1 1
a3 β3 = ω3−1 α1 − ω12 α2 a12 cosγ2 + ω3−1 α1 − ω12 α2 a22 cosγ3
4 2 4 2

where

γ1 = σ1 T1 − β1 , γ2 = σ T1 − 2β1 + β3 , γ3 = σ T1 − 2β2 + β3 (6.21.42)

From (6.21.42), we can obtain

β1 = σ1 T1 − γ1
β3 = −2γ1 + γ2 − (σ − 2σ1 )T1 (6.21.43)
2β2 = −2γ1 + γ2 − γ3 + 2σ1 T1

Substituting (6.21.43) into (6.21.41) yields

 
1 −1 1 2
a1 γ1
= σ1 a1 + ω1−1 k1 cosγ1
− ω1 α1 − ω3 α2 a1 a3 cosγ2
4 2
 
   1 −1 1 2
2a2 γ1 − a2 γ2 + a2 γ3 = 2σ1 a2 − ω2 α1 − ω3 α2 a2 a3 cosγ3
2 2
  (6.21.44)
1 −1 1
2a3 γ1 − a3 γ2 = −(σ − 2σ1 )a3 − ω3 α1 − ω1 α2 a12 cosγ2
2
4 2
 
1 1
− ω3−1 α1 − ω12 α2 a22 cosγ3
4 2

For brevity, (6.21.40) and (6.21.44) are written as:

6.21 Exercise 6.21 (Primary Resonance Analysis … 673

a1 = ω1−1 k1 sinγ1 − μ1 a1 − ω1−1 1 a1 a3 sinγ2

a2 = −μ2 a2 − ω2−1 1 a2 a3 sinγ3 (6.21.45)
a3 = −μ3 a3 + ω3−1 2 a12 sinγ2 + ω3−1 2 a22 sinγ3

a1 γ1 = σ1 a1 + ω1−1 k1 cosγ1 − ω1−1 1 a1 a3 cosγ2

2a2 γ1 − a2 γ2 + a2 γ3 = 2σ1 a2 − 2ω2−1 1 a2 a3 cosγ3 (6.21.46)
2a3 γ1 − a3 γ2 = −(σ − 2σ1 )a3 − ω3−1 2 a12 cosγ2 − ω3−1 2 a22 cosγ3

where
   
1 1 2 1 1
1 = α1 − ω3 α2 , 2 = α1 − ω1 α2
2
(6.21.47)
4 2 4 2

Let an = 0, γn = 0 in (6.21.45) and (6.21.46), the steady state response should
satisfy the following equations

0 = ω1−1 k1 sinγ1 − μ1 a1 − ω1−1 1 a1 a3 sinγ2

0 = −μ2 a2 − ω2−1 1 a2 a3 sinγ3 (6.21.48)
0 = −μ3 a3 + ω3−1 2 a12 sinγ2 + ω3−1 2 a22 sinγ3

0 = σ1 a1 + ω1−1 k1 cosγ1 − ω1−1 1 a1 a3 cosγ2

0 = 2σ1 a2 − 2ω2−1 1 a2 a3 cosγ3 (6.21.49)
0 = −(σ − 2σ1 )a3 − ω3−1 2 a12 cosγ2 − ω3−1 2 a22 cosγ3

It is not obvious from (6.21.48) and (6.21.49) that whether the system yields a
trivial steady state response or not. For non-trivial solutions, (6.21.48) and (6.21.49)
can be written as:

ω1 μ1 a12 + ω2 μ2 a22 + ω3 μ3 1 2−1 a32 = k1 a1 sinγ1

−ω2 μ2 = 1 a3 sinγ3 (6.21.50)
ω3 μ3 a32 + ω2 μ2 1−1 2 a22 = 2 a12 a3 sinγ2

−ω1 σ1 a12 − ω2 σ1 a22 − ω3 (σ − 2σ1 )1 2−1 a32 = k1 a1 cosγ1

ω2 σ1 = 1 a3 cosγ3 (6.21.51)
−ω3 (σ − 2σ1 )a32 − ω2 1−1 2 σ1 a22 = 2 a12 a3 cosγ2

Eliminating γ1 , γ2 and γ3 in (6.21.50) and (6.21.51), we get

 
12 a32 = ω22 μ22 + σ12
 2
k12 a12 = ω1 μ1 a12 + ω2 μ2 a22 + ω3 μ3 1 2−1 a32
 2
+ ω1 σ1 a12 + ω2 σ1 a22 + ω3 (σ − 2σ1 )1 2−1 a32
 2  2
22 a14 a32 = ω3 μ3 a32 + ω2 μ2 1−1 2 a22 + ω3 (σ − 2σ1 )a32 + ω2 1−1 2 σ1 a22
(6.21.52)
674 6 Systems Having Finite Degrees of Freedom

The steady state responses for a1 , a2 and a3 can be determined from (6.21.52).
From the first equation of (6.21.52), we can find that a3 is constant and independent of
the excitation k1 , therefore, a3 is saturated. The stability of the steady state response
depends on the eigenvalues of the linearized equations of (6.21.45) and (6.21.46).

6.22 Exercise 6.22 (Primary Resonance Analysis

of Three-Degree-of-Freedom Systems with Internal
Resonance)

Readers are invited to complete this problem by referring to Exercise 6.21.

6.23 Exercise 6.23 (Stability Analysis of Nonlinear Forced

Oscillation of a Disk)

Solution: (a) Let the solution of the equation be

u = u0 (T0 , T1 ) + εu1 (T0 , T1 ) + · · ·

(6.23.1)
v = v0 (T0 , T1 ) + εv1 (T0 , T1 ) + · · ·

Substituting them into the control equation of the system and retaining to O(ε)
yields
 3 
0= v̈2+ v + 8ε v + u v
2

= D0 + 2εD0 D1 (v0 + εv1 ) + v0 + εv1

(6.23.2)
+8ε(v0 + εv1 )3 + 8ε(u0 + εu1 )2 (v0 + εv1 ) + · · · 
= D02 v0 + v0 + ε D02 v1 + v1 + 2D0 D1 v0 + 8v03 + 8u02 v0 + · · ·
 3 
0= v̈2+ v + 8ε v + u v
2

= D0 + 2εD0 D1 (v0 + εv1 ) + v0 + εv1

(6.23.3)
+8ε(v0 + εv1 )3 + 8ε(u0 + εu1 )2 (v0 + εv1 ) + · · · 
= D02 v0 + v0 + ε D02 v1 + v1 + 2D0 D1 v0 + 8v03 + 8u02 v0 + · · ·

Making the coefficient of the like power of ε zero in the above two equations, we
get
Order ε0 :

D02 u0 + u0 = 0
(6.23.4)
D02 v0 + v0 = 0

Order ε1 :
6.23 Exercise 6.23 (Stability Analysis of Nonlinear Forced Oscillation of a Disk) 675

D02 u1 + u1 = −2D0 D1 u0 − 8u03 − 8u0 v02 + 2kcosωT0

(6.23.5)
D02 v1 + v1 = −2D0 D1 v0 − 8v03 − 8u02 v0

The solution of (6.23.4) is

u0 = AeiT0 + Ae−iT0
(6.23.6)
v0 = BeiT0 + Be−iT0

Let
1 iα 1
A= ae , B = beiβ (6.23.7)
2 2
The first order approximate solution of the original equation is given by (6.23.1),
i.e.,

u = acos(t + α) + O(ε)
(6.23.8)
v = bcos(t + β) + O(ε)

Substituting (6.23.6) into (6.23.5) and taking into account ω = 1 + εσ , we obtain

D02 u1+ u1 = −2D0 D1 u0 − 8u03 − 8u0 v02 + 2kcosωT

 0
= − 2iA + 24A 
2
A + 16ABB + 8AB 2
− ke iσ T1 iT0
e + cc + NST (6.23.9)
D02 v1 + v1 = − 2iB + 24B2 B + 16AAB + 8A2 B eiT0 + cc + NST

In order to eliminate secular terms from the above equation, we need

2iA + 24A2 A + 16ABB + 8AB2 − keiσ T1 = 0

(6.23.10)
2iB + 24B2 B + 16AAB + 8A2 B = 0

Substituting (6.23.7) into (6.23.10) yields

ia − aα  + 3a3 + 2ab2 + ab2 e2i(β−α) − kei(σ T1 −α) = 0

(6.23.11)
ib − bβ  + 3b3 + 2a2 b + a2 be−2i(β−α) = 0

Separating the real and imaginary parts of the above equations yields

a = −ab2 sinγ + ksinν

aα  = 3a3 + 2ab2 + ab2 cosγ − kcosν
(6.23.12)
b = a2 bsinγ
bβ  = 3b3 + 2a2 b + a2 bcosγ

where
676 6 Systems Having Finite Degrees of Freedom

γ = 2β − 2α, ν = σ T1 − α (6.23.13)

Utilizing (6.23.13), we can write (6.23.12) as

a = −ab2 sinγ + ksinν

aν = σ a − 3a3 − 2ab2 − ab2 cosγ + kcosν
b = a2 bsinγ (6.23.14)
2bν + bγ  = −2σ b + 6b3 + 4a2 b + 2a2 bcosγ
b = ν

(b) Let a = b = ν = γ  = 0 in (6.23.14), the steady state response should satisfy

the following equations:

0 = −ab2 sinγ + ksinν

0 = σ a − 3a3 − 2ab2 − ab2 cosγ + kcosν
(6.23.15)
0 = a2 bsinγ
0 = −2σ b + 6b3 + 4a2 b + 2a2 bcosγ

From the third equation in (6.23.15), we can obtain

b = 0 or a = 0 or sin γ = 0 (6.23.16)

When b = 0, the fourth equation of (6.23.15) is automatically satisfied, and the

first and second Eq. (6.23.15) become

sin ν = 0, aσ − 3a3 + k cos ν = 0 (6.23.17)

So a = 0.
When a = 0, the fourth equation of (6.23.15) requires b = 0, but this makes the
first and second equations of (6.23.15) do not hold, so a = 0 is not possible.
When sin γ = 0, a = 0, otherwise there are no meaningful solutions can be found
for the first and second equations of (6.23.15). Then we can find from the second
and fourth equations of (6.23.15) that there exists a non-trivial solution to b.
To sum up, it is clear that either (i) b = 0 and a = 0 or (ii) b = 0 and a = 0 can
be found for the steady state response of the system.
(c) b = 0, a = 0.
From the first equation of (6.23.15), we get ν = 0 or π . And the frequency–
response equation can be obtained from the second equation of (6.23.15)

k
σ = 3a2 − cos ν, ν = 0 or π (6.23.18)
a
To analyze the stability of an arbitrary steady state response a0 , b0 , ν0 , γ0 , let
6.23 Exercise 6.23 (Stability Analysis of Nonlinear Forced Oscillation of a Disk) 677

a = a0 + ã, b = b0 + b̃, ν = ν0 + ν̃, γ = γ0 + γ̃ (6.23.19)

Substituting (6.23.19) into (6.23.15), we can obtain the corresponding linearized

equation:
⎡ ⎤⎧ / ⎫ ⎡ ⎤⎧ ⎫
1 0 0 0 ⎪ ⎪ a ⎪ l11 l12 l13 l14 ⎪ ã ⎪
⎢0 ⎥⎨ / ⎪
⎬ ⎢ ⎥
⎪
⎨ ⎪
⎬
⎢ a0 0 0 ⎥ ν l21 l22 l23 l24 ⎥ ν̃
⎣0 =⎢ (6.23.20)
0 1 0 ⎦⎪⎪ /
b ⎪
⎪
⎣ l31 l32 l33 l34 ⎦⎪
⎪ b̃ ⎪
⎪
⎩ ⎭ ⎩ ⎭
0 2b0 0 b0 γ/ l41 l42 l43 l44 γ̃

where

l11 = −b20 sinγ0 , l12 = kcosν0

l13 = −2a0 b0 sinγ0 , l14 = −a0 b20 cosγ0
l21 = σ − 9a02 − (2 + cosγ0 )b20 , l22 = −ksinν0
l23 = −2(2 + cosγ0 )a0 b0 , l24 = a0 b20 sinγ0 (6.23.21)
l31 = 2a0 b0 sinγ0 , l32 = 0, l33 = a02 sinγ0 , l34 = a02 b0 cosγ0
l41 = 2(4 + 2cosγ0 )a0 b0 , l42 = 0
 
l43 = − 2σ − 18b20 − (4 + 2cosγ0 )a02 , l44 = −2a02 b0 sinγ0

Since b0 = 0 and a0 = 0, (6.23.20) becomes

⎡ ⎤⎧ / ⎫
10 00 ⎪ ⎪a ⎪ ⎪
⎢ 0 a0 0 0 ⎥⎨ ν/ ⎬
⎢ ⎥
⎣ 0 0 1 0 ⎦⎪ / b ⎪
⎩ ⎪
⎪ ⎭
00 00 γ/
⎡ ⎤⎧ ⎫ (6.23.22)
0   kcosν0 0 0 ⎪⎪ ã ⎪
⎪
⎢ a−1 σ − 9a2 −a−1 ksinν0 ⎨ ⎬
0 0⎥⎥ ν̃
=⎢⎣0
0 0 0
0 a02 sinγ0 0 ⎦⎪
⎪ b̃ ⎪
⎪
⎩ ⎭
0 0 −2σ + (4 + 2cosγ0 )a02 0 γ̃

Considering ν = 0 or π and noting the steady state responses a0 , ν0 , γ0 as a, ν, γ ,

we can obtain the eigenvalues of the first three equations of (6.23.22)

 
λ1, 2 = ± a−1 σ − 9a2 k cos ν, λ3 = a2 sin γ (6.23.23)

From the fourth equation of (6.23.22), we have

−σ + (2 + cos γ )a2 = 0 (6.23.24)

Substituting (6.23.18) into (6.23.23) and (6.23.24), we get

678 6 Systems Having Finite Degrees of Freedom

 
λ1, 2 = ± −a−2 6a3 + k cos ν k cos ν, λ3 = a2 sin γ (6.23.25)

k
cos ν − a2 + a2 cos γ = 0 (6.23.26)
a
Eliminating γ in (6.23.23) and (6.23.26), we get

 
λ1, 2 = ± −a−2 6a3 + k cos ν k cos ν
   (6.23.27)
k k
λ3 = ±a 2
2 − 3 cos ν cos ν
a3 a

Therefore,
⎧  
⎨ λ1, 2 = ± −a−2 6a3 + k k
v=0
⎩ λ = ±a2 k 2 − k 
(6.23.28)
3 a3 a3
⎧  
⎨ λ1, 2 = ± a−2 6a3 − k k
v=π
⎩ λ = ±a2 − k 2 + k 
(6.23.29)
3 a 3 a 3

Assume a > 0, k > 0. If v = 0, λ1 and λ2 are two conjugate pure imaginary

roots and the steady state response is stable. If a > aA = ( 21 k)1/3 , λ3 are two real
roots which are equal but with opposite sign, and the steady state response is not
stable.
If ν = π, λ3 are two conjugate pure imaginary roots and the steady state response
 1/3
is stable. If a > aC = 16 k , λ1 and λ2 are two real roots which are equal but with
opposite sign, and the steady state response is not stable.
(d) b = 0, a = 0.
From the third equation of (6.23.15), we get γ = 0 or π . From the first equation
of (6.23.15), we get ν = 0 or π . If γ = π , we can obtain from the second and fourth
equation of (6.23.15) that

0 = σ a − 3a3 − ab2 + kcosν

0 = −σ + 3b2 + a2

which leads to
3k k
σ = 4a2 − cos ν, b2 = a2 − cos ν (6.23.30)
2a 2a
where ν = 0 or π .
6.23 Exercise 6.23 (Stability Analysis of Nonlinear Forced Oscillation of a Disk) 679

Considering the steady state responses b0 = 0, a0 = 0, γ0 = π and v0 = 0 or π

and denoting the steady state response as a, b, ν, we can obtain from (6.23.20)
that

a/ = kcosν ν̃ − ab2 γ̃

/
b = −a2bγ̃ 
ν/ = a−1 σ − 9a2 − b2 ã − 2bb̃  
γ/ = 22a − 2a−1 σ − b2 ]ã+[22b − 2b−1 σ − a2 b̃

Substitute (6.23.30) into the above equation, we get

⎧ ⎫ ⎡ ⎤⎧ ⎫
⎪
⎪ â ⎪ 0 0 k cos ν −1 ⎪ â ⎪
⎨ ⎪ ⎬ ⎢ ⎥
⎪
⎨ ⎪ ⎬
b̂ ⎢ 0 0 0 −a ⎥ b̂
= (6.23.32)
⎪ ⎪ ⎣ −2 −21 0
⎪ ν̂  ⎪ 0 ⎦⎪
⎪ ν̂ ⎪
⎩ ⎭ ⎩ ⎪ ⎭
γ̂ 3 161 0 0 γ̂

where

â = aã, b̂ = b−1 b̃, ν̂ = aν̃, γ̂ = aγ̃

k k 2k (6.23.33)
1 = a3 − cos ν, 2 = 6a + 2 cos ν, 3 = 16a + 2 cos ν
2 a a
The characteristic equation of (6.23.32)
⎡ ⎤
−λ 0 k cos ν −1
⎢ 0 −λ 0 −a ⎥
det ⎢
⎣ −2 −21 −λ
⎥=0 (6.23.34)
0 ⎦
3 161 0 −λ

i.e.,
 
  6k 2
λ4 + 8 4a4 − ka cos ν λ2 + ak 64a4 − 20ka cos ν − 2 cos ν = 0 (6.23.35)
a

therefore,
   
ν = 0 : λ4 + 8a 4a3 − k λ2 + 2a−1 k 32a6 − 10ka3 − 3k 2 = 0 (6.23.36)

   
ν = π : λ4 + 8a 4a3 + k λ2 − 2a−1 k 32a6 + 10ka3 − 3k 2 = 0 (6.23.37)

Assume a > 0, k > 0. Thus, when ν = 0, from (6.23.36), we have

4a3 − k > 0, 32a6 − 10ka3 − 3k 2 > 0 (6.23.38)

680 6 Systems Having Finite Degrees of Freedom

Then all four eigenvalues are pure imaginary roots and the steady state response
is stable. From (6.23.38), we have a > aA = ( 21 k)1/3 .
When ν = π , from (6.23.37), we know that if

32a6 + 10ka3 − 3k 2 < 0

  3 2   (6.23.39)
8a 4a + k + 8a−1 k 32a6 + 10ka3 − 3k 2 > 0

then all four eigenvalues are pure imaginary roots and the steady state response is
 3 1/3
stable. From the first inequality of (6.23.39), we can obtain a ≤ aD = 16 k . The
second inequality of (6.23.39) can be written as
 3  2  
  a3 3 a3 9 a3 3
f a3 , k = + + − >0 (6.23.40)
k 4 k 64 k 128

This leads to a3 /k > 0.10275; or a > aE , aE ≈ 0.468k 1/3 .

 3 1/3
Thus, when v = π, if · aE < a ≤ aD = 16 k , aE ≈ 0.468k 1/3 , then the
corresponding steady state response is stable.

6.24 Exercise 6.24 (Forced Oscillation of a Spherical

Pendulum)

Readers are invited to complete this problem.

6.25 Exercise 6.25 (Nonlinear Oscillation Analysis

of a Rolling Reentry Body I)

Solution: (a) when ε = 0 the corresponding linear equation of oscillation of the

system (1) is

ξ̈ − ipξ̇ + ω02 ξ = 0 (6.25.1)

This is the free oscillation equation for a gyroscopic system. Let the free oscillation
solution of the equation be

ξ = Aeiωt (6.25.2)

The characteristic equation can be obtained as

ω2 − pω − ω02 = 0 (6.25.3)
6.25 Exercise 6.25 (Nonlinear Oscillation Analysis of a Rolling Reentry Body I) 681

Therefore, the linear natural frequencies of the system are


1 1 2
ω1, 2 = p± p + ω02 (6.25.4)
2 4

(b) Let the solution of the system Eq. (1) be

ξ = εξ1 (T0 , T1 , T2 ) + ε2 ξ2 (T0 , T1 , T2 ) + ε3 ξ3 (T0 , T1 , T2 ) + · · · (6.25.5)

Substituting (6.25.5)
 into the governing equation of the system Eq. (1) and
retaining to O ε3 yields
 
0 = ξ̈ − ipξ̇ + ω02 ξ − γ ξ 2 ξ − ε2 μ1 ξ̇ − εKei(pt+φ 0 )
   
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εξ1 + ε2 ξ2 + ε3 ξ3
  
−ip D0 + εD1 + ε2 D2 εξ1 + ε2 ξ2 + ε3 ξ3
  
−ε2 μ1 D0 + εD1 + ε2 D2 εξ1 + ε2 ξ2 + ε3 ξ3
 
+ω02 εξ1 + ε2 ξ2 + ε3 ξ3
 2   

−γ  εξ1 + ε2 ξ2 + ε3 ξ3  εξ1 + ε2 ξ2 + ε3 ξ3 + · · ·
  
= ε D02 ξ1 − ipD0 ξ1 + ω02 ξ1 + ε2 D02 ξ2 − ipD0 ξ2 + ω02 ξ2

+2D0 D1 ξ1 − ipD1 ξ1 ) + ε3 D02 ξ3 − ipD0 ξ3 + ω02 ξ3 − ipD2 ξ1 − μ1 D0 ξ1
    
− γ ξ 2  ξ1 + D12 + 2D0 D2 ξ1 + 2D0 D1 ξ2 − ipD1 ξ2 − εKei(pt+φ 0 ) + · · ·
1
(6.25.6)

When K ≡ 0, making the coefficient of the like powers of ε zero in the above
equation, we get.
Order ε1 :

D02 ξ1 − ipD0 ξ1 + ω02 ξ1 = 0 (6.25.7)

Order ε2 :

D02 ξ2 − ipD0 ξ2 + ω02 ξ2 = ipD1 ξ1 − 2D0 D1 ξ1 (6.25.8)

Order ε3 :
 
D02 ξ3 − ipD0 ξ3 + ω02 ξ3 = ipD2 ξ1 + μ1 D0 ξ1 + γ ξ12  ξ1
 2  (6.25.9)
− D1 + 2D0 D2 ξ1 − 2D0 D1 ξ2 + ipD1 ξ2

According to (6.25.1), the solution of (6.25.7) can be expressed as

ξ1 = A1 eiω1 T0 + A2 eiω2 T0 (6.25.10)

682 6 Systems Having Finite Degrees of Freedom

where A1 = A1 (T1 , T2 ), A2 = A2 (T1 , T2 ). Substituting (6.25.10) into (6.25.8), we

get

D02 ξ2 − ipD0 ξ2 + ω02 ξ2 = (ip − 2iω1 )D1 A1 eiω1 T0 + (ip − 2iω2 )D1 A2 eiω2 T0
(6.25.11)

In order to eliminate secular terms from the above equation, we need

D1 A1 = D1 A2 = 0 ⇒ A1 = A1 (T2 ), A2 = A2 (T2 ) (6.25.12)

From (6.25.11), we obtain

ξ2 = 0 (6.25.13)

Substituting (6.25.10), (6.25.12) and (6.25.13) into (6.25.9), we obtain

 
D02 ξ3 − ipD0 ξ3 + ω02 ξ3 = −2D0 D2 ξ1 + ipD2 ξ1 + μ1 D0 ξ1 + γ ξ12  ξ1
= −2iω1 A1 eiω1 T0 + ipA1 eiω1 T0 + iω1 μ1 A1 eiω1 T0
−2iω2 A2 eiω2 T0 + ipA2 eiω2 T0 + iω2 μ1 A2 eiω2 T0
 2   

+γ  A1 eiω1 T0 + A2 eiω2 T0  A1 eiω1 T0 + A2 eiω2 T0
= −2iω1 A1 eiω1 T0 + ipA1 eiω1 T0 + iω1 μ1 A1 eiω1 T0
(6.25.14)
−2iω2 A2 eiω2 T0 + ipA2 eiω2 T0 + iω2 μ1 A2 eiω2 T0
 2  
+γ A1 eiω1 T0 + A2 eiω2 T0 A1 e−iω1 T0 + A2 e−iω2 T0
 
= −2iω1 A1 + ipA1 + iω1 μ1 A1 + γ A21 A1 + 2γ A1 A2 A2 eiω1 T0
 
+ −2iω2 A2 + ipA2 + iω2 μ1 A2 + γ A22 A2 + 2γ A1 A1 A2 eiω2 T0
+γ A1 A22 ei(2ω2 −ω1 )T0 + γ A21 A2 ei(2ω1 −ω2 )T0

Primes denote the derivative with respect to T2 . In order to eliminate secular terms
from the above equation, we need

−2iω1 A1 + ipA1 + iω1 μ1 A1 + γ A21 A1 + 2γ A1 A2 A2 = 0

(6.25.15)
−2iω2 A2 + ipA2 + iω2 μ1 A2 + γ A22 A2 + 2γ A1 A1 A2 = 0

Let

A1 = a1 eiθ1 , A2 = a2 eiθ2 (6.25.16)

Substituting (6.25.16) into (6.25.15), we obtain

6.25 Exercise 6.25 (Nonlinear Oscillation Analysis of a Rolling Reentry Body I) 683

−2iω1 a1 + 2ω1 a1 θ1 + ipa1 − pa1 θ1 + iω1 μ1 a1 + γ a13 + 2γ a1 a22 = 0
(6.25.17)
−2iω2 a2 + 2ω2 a2 θ2 + ipa2 − pa2 θ2 + iω2 μ1 a2 + γ a23 + 2γ a2 a12 = 0

Separating the real and imaginary parts of the above equations yields

a1 = (ω1 − ω2 )−1 ω1 μ1 a1  1 (6.25.18)

a2 = −(ω1 − ω2 )−1 ω2 μ1 a2  2 (6.25.19)

   
(ω1 − ω2 ) θ1 , −θ2 = −γ a12 + 2a22 , 2a12 + a22  (3 , 4 ) (6.25.20)

From the above results, we can obtain the solution of the given system equation
when K = 0:
 
ξ = εa1 (T2 )eiω1 T0 +iθ1 (T2 ) + εa2 (T2 )eiω2 T0 +iθ2 (T2 ) + O ε3 (6.25.21)

We can solve a1 and a2 from (6.25.18) and (6.25.19):

   
a1 = a10 exp (ω1 − ω2 )−1 ω1 μ1 T2 , a2 = a20 exp −(ω1 − ω2 )−1 ω2 μ1 T2
(6.25.22)

a2 = −(ω1 − ω2 )−1 ω2 μ1 a2 (6.25.23)

Therefore, one of a1 and a2 is always divergent, i.e. the free oscillation of the
given system is unstable.
(c) When K ≡ ε2 k, (6.25.5)–(6.25.8), (6.25.10)–(6.25.13) still hold and (6.25.9)
becomes.
Order ε3 :
   
D02 ξ3 − ipD0 ξ3 + ω02 ξ3 = ipD2 ξ1 + μ1 D0 ξ1 + γ ξ12  ξ1 − D12 + 2D0 D2 ξ1
−2D0 D1 ξ2 + ipD1 ξ2 + kei(pT0 +φ0 )
(6.25.24)

Substitute (6.25.10), (6.25.12) and (6.25.13) into (6.25.9), we get

 
D02 ξ3 − ipD0 ξ3 + ω02 ξ3 = −2iω1 A1 + ipA1 + iω1 μ1 A1 + γ A21 A1 + 2γ A1 A2 A2 eiω1 T0
 
+ −2iω2 A2 + ipA2 + iω2 μ1 A2 + γ A22 A2 + 2γ A1 A1 A2 eiω2 T0
+γ A1 A22 ei(2ω2 −ω1 )T0 + γ A21 A2 ei(2ω1 −ω2 )T0 + kei(pT0 +φ 0 )
(6.25.25)

Primes denote the derivative with respect to T2 . When p = ω1 + ε2 σ , in order to

eliminate secular terms from the above equation, one must have
684 6 Systems Having Finite Degrees of Freedom

−2iω1 A1 + ipA1 + iω1 μ1 A1 + γ A21 A1 + 2γ A1 A2 A2 + kei(σ T2 +φ0 ) = 0

(6.25.26)
−2iω2 A2 + ipA2 + iω2 μ1 A2 + γ A22 A2 + 2γ A1 A1 A2 = 0

Let

A1 = a1 eiθ1 , A2 = a2 eiθ2 (6.25.27)

Substituting (6.25.27) into (6.25.15), we can obtain

−2iω1 a1 + 2ω1 a1 θ1 + ipa1 − pa1 θ1 + iω1 μ1 a1 + γ a13 + 2γ a1 a22 + kei(σ T2 −θ1 +ϕ0 ) = 0
−2iω2 a2 + 2ω2 a2 θ2 + ipa2 − pa2 θ2 + iω2 μ1 a2 + γ a23 + 2γ a2 a12 = 0
(6.25.28)

Separating the real and imaginary parts of the above equations yields

a1 = (ω1 − ω2 )−1 [ω1 μ 1 a1 + ksin(σ

 T2 − θ1 + φ0 )] 
a1 θ1 = −(ω1 − ω2 )−1 γ a12 + 2a22 a1 + kcos(σ T2 − θ1 + φ0 )
(6.25.29)
a2 = −(ω1 − ω2 )−1 ω2μ1 a2 
a2 θ2 = (ω1 − ω2 )−1 γ 2a12 + a22 a2

From the above results, the solution of the given system when K ≡ ε2 k is
 
ξ = εa1 (T2 )eiω1 T0 +iθ1 (T2 ) + εa2 (T2 )eiω2 T0 +iθ2 (T2 ) + O ε3 (6.25.30)

where a1 , a2 , θ1 and θ2 are given by (6.25.29).

Rewrite (6.25.29) as

a1 = (ω1 − ω2 )−1 ω1 μ1 a1 + (ω


−1
1 − ω2 )  ksinβ1
a1 β1 = σ a1 + (ω1 − ω2 )−1 γ a12 + 2a22 a1 + (ω1 − ω2 )−1 kcosβ1
(6.25.31)
a2 = −(ω1 − ω2 )−1 ω2μ1 a2 
a2 β2 = (ω1 − ω2 )−1 γ 2a12 + a22 a2

where

β1 = σ T2 − θ1 + ϕ0 , β2 = θ2 (6.25.32)

Let a1 = a2 = β1 = β2 = 0, the steady state response should satisfy the following
equations

0 = (ω1 − ω2 )−1 ω1 μ1 a1 +
 (ω
−1
1 − ω2 ) ksinβ1
0 = σ a1 + (ω1 − ω2 ) γ a1 + 2a2 a1 + (ω1 − ω2 )−1 kcosβ1
−1 2 2
(6.25.33)
0 = −(ω1 − ω2 )−1ω2 μ1 a2 
0 = (ω1 − ω2 )−1 γ 2a12 + a22 a2
6.25 Exercise 6.25 (Nonlinear Oscillation Analysis of a Rolling Reentry Body I) 685

When ω1 < ω2 , the motion of the system is unstable as can be seen by the third
equation of (6.25.31) in which a2 is diverge.
When ω1 > ω2 , from the third equation of (6.25.31), the steady state solution of
a2 decays and its steady state solution is a2 = 0, so a2 = 0 is an asymptotically stable
steady state response. In this case, the fourth equation of (6.25.33) is automatically
satisfied; and a1 = 0 from the first and second equations of (6.25.33). Eliminating
β1 from the first and second equations of (6.25.33), we obtain
 2
ω12 μ21 a12 + (ω1 − ω2 )σ + γ a12 a12 = k 2 (6.25.34)

The steady state response of a1 can be determined from (6.25.34), and then the
steady state response of β1 can be obtained from the first or second equation of
(6.25.33).
In order to analyze the stability of an arbitrary non-trivial steady state response
a10 , β10 , let

a1 = a10 + ã1 , β1 = β10 + β̃1 (6.25.35)

Substituting (6.25.35) into (6.25.31), we can obtain the corresponding linearized

equation for a2 = 0.
  
a/ 1 (ω1 − ω2 )−1 ω1 μ1 (ω1 − ω2 )−1 kcosβ10 ã1
=
β/ 1 −1 −1
a10 σ + 3(ω1 − ω2 ) γ a10 −(ω1 − ω2 )−1 a10
−1
ksinβ10 β̃1
(6.25.36)

From this, we can calculate the eigenvalues of (6.25.36). a10 , β10 are stable if
both eigenvalues have negative real parts, otherwise they are unstable.
(d) When K = O(1), equating coefficients of like powers of ε in (6.25.6) yields.
Order ε1 :

D02 ξ1 − ipD0 ξ1 + ω02 ξ1 = Kei(pT0 +ϕ0 ) (6.25.37)

Order ε2 :

D02 ξ2 − ipD0 ξ2 + ω02 ξ2 = ipD1 ξ1 − 2D0 D1 ξ1 (6.25.38)

Order ε3 :
 
D02 ξ3 − ipD0 ξ3 + ω02 ξ3 = ipD2 ξ1 + μ1 D0 ξ1 + γ ξ12  ξ1
 2  (6.25.39)
− D1 + 2D0 D2 ξ1 − 2D0 D1 ξ2 + ipD1 ξ2

The solution of (6.25.37) can be expressed as

686 6 Systems Having Finite Degrees of Freedom

K
ξ1 = A1 eiω1 T0 + A2 eiω2 T0 + K̂ei(pT0 +ϕ0 ) , K̂ = (6.25.40)
ω02 − 2p2

where A1 = A1 (T1 , T2 ), A2 = A2 (T1 , T2 ). Substituting (6.25.40) into (6.25.38), we

obtain

D02 ξ2 − ipD0 ξ2 + ω02 ξ2 = (ip − 2iω1 )D1 A1 eiω1 T0 + (ip − 2iω2 )D1 A2 eiω2 T0
(6.25.41)

In order to eliminate secular terms from the above equation, we need

D1 A1 = D1 A2 = 0 ⇒ A1 = A1 (T2 ), A2 = A2 (T2 ) (6.25.42)

From (6.25.41), we can obtain

ξ2 = 0 (6.25.43)

Substitute (6.25.40), (6.25.42) and (6.25.43) into (6.25.39), we obtain

 
D02 ξ3 − ipD0 ξ3 + ω02 ξ3 = −2D0 D2 ξ1 + ipD2 ξ1 + μ1 D0 ξ1 + γ ξ12  ξ1
= −2iω1 A1 eiω1 T0 + ipA1 eiω1 T0 + iω1 μ1 A1 eiω1 T0
−2iω2 A2 eiω2 T0 + ipA2 eiω2 T0 + iω2 μ1 A2 eiω2 T0 + K̂pμ1 ei(pT0 +ϕ0 )
 
+γ (A1 eiω1 T0 + A2 eiω2 T0 + K̂ei(pT0 +ϕ0 ) )2 A1 e−iω1 T0 + A2 e−iω2 T0 + K̂e−i(pT0 +ϕ0 )
 
= −2iω1 A1 + ipA1 + iω1 μ1 A1 + γ A21 A1 + 2γ A1 A2 A2 + 2γ K̂ 2 A1 eiω1 T0
 
+ −2iω2 A2 + ipA2 + iω2 μ1 A2 + γ A22 A2 + 2γ A1 A1 A2 + 2γ K̂ 2 A2 eiω2 T0
 
+ K̂pμ1 + 2γ K̂A1 A1 + 2γ K̂A2 A2 + γ K̂ 3 ei(pT0 +ϕ0 )
+2γ K̂A1 A2 ei(ω1 T0 −ω2 T0 +pT0 +ϕ0 ) + 2γ A1 K̂A2 ei(ω2 T0 −ω1 T0 +pT0 +ϕ0 )
+γ K̂ 2 A2 ei(2pT0 −ω2 T0 +2ϕ0 ) + γ K̂ 2 A1 ei(2pT0 −ω1 T0 +2ϕ0 )
+γ K̂A21 ei(2ω1 T0 −pT0 −ϕ0 ) + γ K̂A22 ei(2ω2 T0 −pT0 −ϕ0 )
+2γ K̂A1 A2 ei(ω1 T0 +ω2 T0 −pT0 −ϕ0 ) + γ A1 A22 ei(2ω2 −ω1 )T0 + γ A21 A2 ei(2ω1 −ω2 )T0
(6.25.44)

Primes denote the derivative with respect to T2 . In order to eliminate secular terms
from the above equation, it is necessary to consider the value of p. Below we give
the solution for the case p ≈ 0. Readers are invited to complete the solution for the
remaining two cases.
(i) p ≈ 0:
In this case, let

p = ε2 σ (6.25.45)
6.25 Exercise 6.25 (Nonlinear Oscillation Analysis of a Rolling Reentry Body I) 687

Also considering p = ω1 + ω2 , we obtain

ei(2pT0 −ω2 T0 +2ϕ0 ) = ei(pT0 +ω1 T0 +2ϕ0 ) = ei(σ T2 +2ϕ0 ) eiω1 T0

(6.25.46)
ei(2pT0 −ω1 T0 +2ϕ0 ) = ei(pT0 +ω2 T0 +2ϕ0 ) = ei(σ T2 +2ϕ0 ) eiω2 T0

Therefore, in order to eliminate secular terms from (6.25.44), we need

−2iω1 A1 + ipA1 + iω1 μ1 A1 + γ A21 A1 + 2γ A1 A2 A2

+2γ K̂ 2 A1 + γ K̂ 2 A2 ei(σ T2 +2ϕ0 ) = 0
(6.25.47)
−2iω2 A2 + ipA2 + iω2 μ1 A2 + γ A22 A2 + 2γ A1 A1 A2
+2γ K̂ 2 A2 + γ K̂ 2 A1 ei(σ T2 +2ϕ0 ) = 0

Let

A1 = a1 eiθ1 , A2 = a2 eiθ2 (6.25.48)

Substituting (6.25.48) into (6.25.47), we obtain

−2iω1 a1 + 2ω1 a1 θ1 + ipa1 − pa1 θ1 + iω1 μ1 a1

(6.25.49)
+γ a13 + 2γ a1 a22 + 2γ K̂ 2 a1 + γ K̂ 2 a2 ei(σ T2 −θ1 −θ2 +2ϕ0 ) = 0
−2iω2 a2 + 2ω2 a2 θ2 + ipa2 − pa2 θ2 + iω2 μ1 a2
(6.25.50)
+γ a23 + 2γ a2 a12 + 2γ K̂ 2 a2 + γ K̂ 2 a1 ei(σ T2 −θ1 −θ2 +2ϕ0 ) = 0

Separating the real and imaginary parts of the above equations yields

(ω1 − ω2 )a1 = ω1 μ1 a1 + γ K̂ 2 a2 sin β

(ω1 − ω2 )a2 = −ω2 μ1 a2 − γ K̂ 2 a1 sin β  (6.25.51)
(ω1 − ω2 )a1 θ1 = −γ a13 + 2a1 a22 + 2K̂ 2 a1 + K̂ 2 a2 cos β
(ω1 − ω2 )a2 θ2 = γ a23 + 2a2 a12 + 2K̂ 2 a2 + K̂ 2 a1 cos β

where

β = σ T2 − θ1 − θ2 + 2ϕ0 (6.25.52)

From the above result, the first order approximate solution of the original equation
is
 
ξ = a1 ei(ω1 T0 +θ1 ) + a2 ei(ω2 T0 +θ2 ) + K̂ei(pT0 +ϕ0 ) + O ε3 (6.25.53)

where a1 , a2 , θ1 , θ2 are given by (6.25.51).

Readers are invited to complete the analysis of the steady state response of the
system and its stability.
688 6 Systems Having Finite Degrees of Freedom

6.26 Exercise 6.26 (Nonlinear Oscillation Analysis

of a Rolling Reentry Body II)

Readers are invited to complete this exercise referring to Exercise 6.25.

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Chapter 7
Continuous Systems

7.1 Exercise 7.1 (Longitudinal Oscillation Analysis

of Non-uniform, Non-linear Elastic Rods)

Solution: Applying Newton’s second law to the rod element, as in Fig. 7.1, yields

∂ 2u ∂ ∂u
ρ(x)A(x) dx = A(x)σ + [A(x)σ ]dx − A(x)σ + F(x, t)dx − 2μ dx
∂t 2 ∂x ∂t

where −2μ(∂u/∂t)dx is the linear damping involved in the rod element. The above
equation can be written as

∂ 2u ∂ ∂u
ρ(x)A(x) = [A(x)σ ] − 2μ + F(x, t) (7.1.1)
∂t 2 ∂x ∂t
The nonlinear constitutive relation is adopted in the present problem, i.e.

  ∂u
σ = E(x)e 1 + E1 (x)e + E2 (x)e2 + · · · , e = (7.1.2)
∂x
and the boundary conditions at the both ends of the rod are

u(0, t) = u(1, t) = 0 (7.1.3)

(a) Substituting (7.1.2) into (7.1.1) yields

   2 
∂ 2u ∂ ∂u ∂u ∂u
ρ(x)A(x) 2 = A(x)E(x) 1 + E1 (x) + E2 (x) + ···
∂t ∂x ∂x ∂x ∂x
∂u
− 2μ + F(x, t)
∂t

© The Author(s) 2025 689

Z. He et al., Solved Problems in Nonlinear Oscillations,
[Link]
690 7 Continuous Systems

Fig. 7.1 Longitudinal oscillating rod and rod element for Exercise 7.1

i.e.,

∂ 2u ∂ ∂u
ρ(x)A(x) = E(x)A(x)
∂t 2 ∂x ∂x
  2  3 
∂ ∂u ∂u
+ E(x)A(x)E1 (x) + E(x)A(x)E2 (x)
∂x ∂x ∂x
∂u
− 2μ + F(x, t) (7.1.4)
∂t

(b) Without damping, nonlinear and excitation terms, Eq. (7.1.4) becomes

∂ 2u ∂ ∂u
ρ(x)A(x) = E(x)A(x) (7.1.5)
∂t 2 ∂x ∂x

Let

u(x, t) = φ(x)eiωt (7.1.6)

and substitute it into (7.1.5), we can obtain

d dφ
E(x)A(x) + ω2 ρ(x)A(x)φ = 0 (7.1.7)
dx dx

From (7.1.6) and the boundary condition (7.1.3), we have

φ(0) = φ(1) = 1 (7.1.8)

(7.1.7) and (7.1.8) are the governing equation for φ(x), which is the mode shape
corresponding to the frequency ω, and its natural frequency ω.
Let ω2 = λ and assume that λ and φ are complex numbers and complex functions.
λ and φ are also the eigenvalue and mode shape function of (7.1.7) and (7.1.8),
therefore

φ(0) = φ(1) = 1 (7.1.9)

7.1 Exercise 7.1 (Longitudinal Oscillation Analysis of Non-uniform … 691

Multiplying Eq. (7.1.7) by φ and integrating over the domain [0, 1] yields

1 1  
d dφ
λ ρAφφdx = − φ EA dx
dx dx
0 0

Applying the integration by part to the right-hand side of the above equation and
taking boundary conditions into account yields

1 1
dφ dφ
λ ρAφφdx = EA dx
dx dx
0 0

therefore

EA ddxφ ddxφ dx
1
λ= 0
1
(7.1.10)
0 ρAφφdx

Both√integrals in Eq. (7.1.10) are positive real, so λ is positive real, and thus
ω = ± λ is real.
Let φ = φR + iφI , we have

d d φR
E(x)A(x) + ω2 ρ(x)A(x)φR = 0, φR (0) = φR (1) = 0 (7.1.11)
dx dx
d d φI
E(x)A(x) + ω2 ρ(x)A(x)φI = 0, φI (0) = φI (1) = 0 (7.1.12)
dx dx

It can be seen that φR and φI satisfy the same boundary-value problem, so

φI = cφR , where c is an arbitrary nonzero real number; and φ = φR (1 + ic).
Since the mode shape φ corresponding to the natural frequency ω is still the mode
shape corresponding to ω of the equation multiplying by any non-zero constant,
φR is also the mode shape corresponding to the natural frequency ω. Therefore, the
eigenfrequencies are real.
Let φn (x) and φm (x) be the mode shape functions corresponding to natural
frequencies ωn and ωm , respectively, so we have
 
d d φn
ωn2 ρAφn = − EA , φn (0) = φn (1) = 0
dx ∂x
 
d d φm
ωm ρAφm = −
2
EA , φm (0) = φm (1) = 0
dx ∂x

Multiplying these two equations by φm (x) and φn (x), respectively, integrating over
[0, 1], applying the integration by part and considering boundary conditions, yields
692 7 Continuous Systems

1 1   1
d d φn d φn d φm
ωn2 ρAφn φm dx = − φm EA dx = EA dx (7.1.13)
dx ∂x dx dx
0 0 0

1 1   1
d d φm d φn d φm
ωm2 ρAφn φm dx = − φn EA dx = EA dx (7.1.14)
dx dx dx dx
0 0 0

(7.1.13)–(7.1.14) yields

1
 2 
ωn − ωm2 ρAφn φm dx = 0
0

When ωn = ωm , we have

ρ(x)A(x)φn (x)φm (x)dx = 0

0

When ωn = ωm , φn (x) can be normalized such that

ρ(x)A(x)φn2 (x)dx = 1
0

therefore
1

ρ(x)A(x)φn (x)φm (x)dx = δmn (7.1.15)

0

Then from (7.1.13) or (7.1.14), we have

1 
0, n = m
E(x)A(x)φn (x)φm (x)dx = (7.1.16)
ωn2 , n = m
0

where the prime denotes the derivative with respect to x. Equations (7.1.15) and
(7.1.16) show that the mode shape functions φn (x) and φm (x) are orthogonal and can
be made orthonormal.
Let the nonlinear Eq. (7.1.4) be solved by
7.1 Exercise 7.1 (Longitudinal Oscillation Analysis of Non-uniform … 693

∞

u(x, t) = ψn (t)φn (x) (7.1.17)
n=1

Substituting (7.1.17) into (7.1.4) yields

∞

ρ(x)A(x) ψ̈m (t)φm (x)
m=1
 ∞

∂ 
= E(x)A(x) ψm (t)φm (x)
∂x m=1
⎧ ∞ 2
∂ ⎨ 

+ E(x)A(x)E1 (x) ψm (t)φm (x)
∂x ⎩ m=1
∞ 3 ⎫
 ⎬ ∞

+ E(x)A(x)E2 (x) ψm (t)φm (x) − 2μ ψ̇m (t)φm (x) + F(x, t)
⎭
n=1 m=1

Multiplying the above equation by φn (x) and integrating over [0, 1] yields

∞ 1

ρ(x)A(x)ψ̈m (t)φn (x)φm (x)dx
m=1 0
1  ∞

∂ 

= φn (x) E(x)A(x) ψm (t)φm (x) dx
∂x m=1
0
⎧ ∞ 2
∂ ⎨
1

+ φn (x) E(x)A(x)E1 (x) ψm (t)φm (x)
∂x ⎩ m=1
0
∞ 3 ⎫
 ⎬
+ E(x)A(x)E2 (x) ψm (t)φm (x) dx
⎭
m=1
1 ∞ 1

−2 ψ̇m (t)μφm (x)φn (x)dx + F(x, t)φn (x)dx
0 m=1 0
∞ 1

=− ψm (t) E(x)A(x)φm (x)φn (x)dx
m=1 0
⎧ ∞ 2
∂ ⎨
1

+ φn (x) E(x)A(x)E1 (x) ψm (t)φm (x)
∂x ⎩ m=1
0
694 7 Continuous Systems

∞ 3 ⎫
 ⎬
+ E(x)A(x)E2 (x) ψm (t)φm (x) dx
⎭
m=1

∞ 1 1

−2 ψ̇m (t)μφm (x)φn (x)dx + F(x, t)φn (x)dx
m=1 0 0

Considering the orthogonality of the mode shape functions, we can obtain

⎡ 1
⎤
∞ ∞
∂
ψ̈n = −ωn2 ψn + φn ⎣EAE1 ψp φp ψq φq ⎦dx
∂x p=1 q=1
0
1
⎡ ⎤
∞ ∞ ∞
∂
+ φn ⎣EAE2 ψp φp ψq φq ψr φr ⎦dx
∂x p=1 q=1 r=1
0
⎛ 1
⎞ 1
 ∞
−2 ⎝ ⎠
ψ̇m μφm φn dx + F(x, t)φn (x)dx
m=1 0 0
1  
∂   
= − ωn2 ψn + φn ψp ψq EAE1 φp φq dx
∂x p,q
0
1  
∂    
+ φn ψp ψq ψr EAE2 φp φq φr dx − 2μn ψ̇n + fn (t)
∂x p,q,r
0
1
 !
= − ωn2 ψn + ψp ψq φn EAE1 φp φ  dxq
p,q
0
1
 !
+ ψp ψq ψr φn EAE2 φp φq φr dx − 2μn ψ̇n + fn (t)
p,q,r
0

Write the above equation as

ψ̈n + ωn2 ψn = −2μn ψ̇n + Nn (ψ1 , ψ2 , . . . , ψm , . . .) + fn (t) (7.1.18)

where
1
 d d φp d φq
Nn = ψp ψq φn EAE1 dx
p,q
dx dx dx
0
7.1 Exercise 7.1 (Longitudinal Oscillation Analysis of Non-uniform … 695

1
 d d φp d φq d φr
+ ψp ψq ψr φn EAE2 dx (7.1.19)
p,q,r
dx dx dx dx
0

fn (t) = F(x, t)φn (x)dx (7.1.20)

0

In addition, the present problem assumes that the damping is assumed to be

associated with mode shape functions, i.e.

μn = μφn2 (x)dx (7.1.21)

0

and when m = n, we have

μφm (x)φn (x)dx = 0

0

In the following, we find the solution for the primary resonance case of ≈ ωm
(no internal resonance) only.
When fn (t) = Kn cos t, we can write the equation (7.1.18) as:
 
ψ̈n + ωn2 ψn = −2μn ψ̇n + gnpq ψp ψq + hnpqr ψp ψq ψr + Kn cos (7.1.22)
p, q p,q,r

where
1 1
d d φp d φq d φn d φp d φq
gnpq = φn EAE1 dx = − EAE1 dx (7.1.23)
dx dx dx dx dx dx
0 0

1 1
d d φp d φq d φr d φn d φp d φq d φr
hnpqr = φn EAE2 dx = − EAE2 dx
dx dx dx dx dx dx dx dx
0 0
(7.1.24)

Let the solution of the equation (7.1.22) be

ψn = εψn1 (T0 , T1 , T2 ) + ε2 ψn2 (T0 , T1 , T2 ) + ε3 ψn3 (T0 , T1 , T2 ) + · · · (7.1.25)

In order to let the damping, nonlinear and excitation terms appearing simultane-
ously in the third-order equation, we let
696 7 Continuous Systems

μn = ε2 μ̂n , Kn = 2ε3 kn (7.1.26)

Substituting (7.1.25) and (7.1.26) into (7.1.22) and retaining to O(ε3 ), we obtain
 
0 = ψ̈n + ωn2 ψn + 2ε2 μ̂n ψ̇n − gnpq ψp ψq − hnpqr ψp ψq ψr − Kn cos t
p,q p,q,r
   
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εψn1 + ε2 ψn2 + ε3 ψn3
 
+ ωn2 εψn1 + ε2 ψn2 + ε3 ψn3
  
+ 2ε2 μ̂n D0 + εD1 + ε2 D2 εψn1 + ε2 ψn2 + ε3 ψn3
   
− gnpq εψp1 + ε2 ψp2 + ε3 ψp3 εψq1 + ε2 ψq2 + ε3 ψq3
p,q
   
− hnpqr εψp1 + ε2 ψp2 + ε3 ψp3 εψq1 + ε2 ψq2 + ε3 ψq3
p,q,r
 
× εψr1 + ε2 ψr2 + ε3 ψr3 − 2ε3 kn cos T0 + · · ·
" #
 2  
= ε D0 ψn1 + ωn ψn1 + ε D0 ψn2 + ωn ψn2 + 2D0 D1 ψn1 −
2 2 2 2
gnpq ψp1 ψq1
p,q
 
+ε 3
[D02 ψn3 + ωn2 ψn3 + D12 + 2D0 D2 ψn1 + 2D0 D1 ψn2

+ 2μ̂n D0 ψn1 − 2 gnpq ψp1 ψq2
p,q

− hnpqr ψp1 ψq1 ψr1 − 2kn cos T0 ] + · · · (7.1.27)
p,q,r

Let the coefficient of the same power of ε in (7.1.27) be zero, we obtain.

Order ε:

D02 ψn1 + ωn2 ψn1 = 0 (7.1.28)

Order ε2 :

D02 ψn2 + ωn2 ψn2 = −2D0 D1 ψn1 + gnpq ψp1 ψq1 (7.1.29)
p,q

Order ε3 :
 
D02 ψn3 + ωn2 ψn3 = − D12 + 2D0 D2 ψn1 − 2D0 D1 ψn2 − 2μ̂n D0 ψn1
 
+2 gnpq ψp1 ψq2 + hnpqr ψp1 ψq1 ψr1 + 2kn cos T0
p,q p,q,r
(7.1.30)

The solution of (7.1.28) is

7.1 Exercise 7.1 (Longitudinal Oscillation Analysis of Non-uniform … 697

ψn1 = An eiωn T0 + cc (7.1.31)

Substituting (7.1.31) into (7.1.29) yields

D02 ψn2 + ωn2 ψn2 = −2iωn An eiωn T0

 !
+ gnpq Ap Aq ei(ωq +ωp )T0 + Ap Aq ei(ωq −ωp )T0 + cc (7.1.32)
p,q

In order to eliminate secular terms from the above equation, we need

An = 0 → An = An (T2 ) (7.1.33)

From (7.1.32), we can obtain

 !
(1) i(ωq +ωp )T0 (2) i(ωq −ωp )T0
ψn2 = gnpq npq Ap Aq e + npq Ap Aq e + cc (7.1.34)
p,q

where
$  2 %−1 $  2 %−1
(1) (2)
npq = ωn2 − ωq + ωp , npq = ωn2 − ωq − ωp (7.1.35)

Substitute (7.1.31), (7.1.33) and (7.1.34) into (7.1.30), we obtain

D02 ψn3 + ωn2 ψn3 = −2iωn An eiωn T0 − 2iωn μ̂n An eiωn T0 + kn ei T0

i(ωj +ωk −ωp )T0
+ 2gnpq gqjk (1) qjk Ap Aj Ak e
p,q,j,k
!
(2) i(ωk +ωp −ωj )T0
+ qjk Ap Aj Ak e

+ 3hnpqr Ap Aq Ar ei(ωp +ωr −ωq )T0 + cc + NST
p,q,r

= −2iωn An eiωn T0 − 2iωn μ̂n An eiωn T0 + kn ei T0


+ 2gnpq gqjk qjk(1)
Ap Aj Ak ei(ωj +ωk −ωp )T0
p,q,j,k
 (2) i(ωj +ωk −ωp )T0
+ 2gnkq gqjp qjp Ap Aj Ak e
p,q,j,k

+ 3hnpjk Ap Aj Ak ei(ωj +ωk −ωp )T0 + cc + NST
p,j,k

= −2iωn An eiωn T0 − 2iωn μ̂n An eiωn T0 + kn ei T0


i(ωj +ωk −ωp )T0
+ npqjk Ap Aj Ak e + cc + NST (7.1.36)
p,q,j,k
698 7 Continuous Systems

where
(1) (2)
npqjk = 2gnpq gqjk qjk + 2gnkq gqjp qjp + 3hnpjk (7.1.37)

Note that gnpq and hnpqr remain unchanged after permutation of subscripts, while
(1)
qjk and (2)
qjk remain unchanged after the exchange of the second and third subscripts.
Introduce the detuning parameter σ such that

= ωm + ε2 σ (7.1.38)

In order to eliminate secular terms in (7.1.36), we need

 
2iωm Am + 2iωm μ̂m Am − Am mpqpm + mpqmp Ap Ap − km eiσ T2 = 0 (n = m)
p,q
(7.1.39)
 
2iωn An + 2iωn μ̂n An − An npqpn + npqnp Ap Ap = 0 (n  = m) (7.1.40)
p,q

Let
1 iβn 1
An = an e , Am = am eiβm (7.1.41)
2 2
and substitute them into (7.1.40), we have

1   2
iωn an − ωn an βn + iωn μ̂n an − an npqpn + npqnp ap = 0 (7.1.42)
8 p,q

Separating the real and imaginary parts of the above equation yields

an + μ̂n an = 0 (7.1.43)

1   2
ωn an βn + an npqpn + npqnp ap = 0 (7.1.44)
8 p,q

From (7.1.43), we have

an = an0 e−μ̂n T2 , n = m (7.1.45)

Since μ̂n > 0, an → 0 for all n = m.

Substituting (7.1.41) into (7.1.39) and taking (7.1.45) into account, we obtain

1
iωm am − ωm am βm + iωm μ̂m am − am3 m − km ei(σ T2 −βm ) = 0 (7.1.46)
4
7.2 Exercise 7.2 (Longitudinal Oscillation Analysis of Uniform, Nonlinear … 699

where
(1) (2)
m = 2gm2 m + 2gm2 m + 3hm
1  3 1  4
d φm d φm
gm = − EAE1 dx, hm = − EAE2 dx
dx dx
0 0
1
(1)
m = − ωm−2 , (2)
m = ωm−2 (7.1.47)
3
Separating the real and imaginary parts of Eq. (7.1.46), we obtain

am = −μ̂m am + ωm−1 km sin(σ T2 − βm )

1
am βm = − ωm−1 m am3 − ωm−1 km cos(σ T2 − βm ) (7.1.48)
4
or

am = −μ̂m am + ωm−1 km sinγm

1
am γm = σ am + ωm−1 m am3 + ωm−1 km cosγm (7.1.49)
4
where

γm = σ T2 − βm (7.1.50)

Therefore, the solution to (7.1.22) is

 $ %  
(1) (2)
am cos(ωm t + βm ) + 21 am
2g
m m cos2(ωm T0 + βm ) + 21 m + O ε3 , n = m
ψn = (7.1.51)
0, n = m

where am and βm are given by (7.1.49) and (7.1.50).

Readers are invited to complete Exercise 7.1(g).

7.2 Exercise 7.2 (Longitudinal Oscillation Analysis

of Uniform, Nonlinear Elastic Rods)

Solution: (a) Substituting the expressions for axial stress σ and axial strain e into
the governing equation of the rod, we obtain

∂ 2u ∂    ∂u
ρ =E e 1 + E1 e + E2 e2 + · · · − 2ρμ + ρF(x, t)
∂t 2 ∂x ∂t
700 7 Continuous Systems
 2 2
∂ 2u ∂u ∂ 2 u ∂u ∂ u
= E 2 + 2EE1 + 3EE2
∂x ∂x ∂x 2 ∂x ∂x2
∂u
− 2ρμ + ρF(x, t)
∂t
i.e.,
 2 2
∂ 2u 2∂ u
2
∂u ∂ 2 u ∂u ∂ u ∂u
−c = 2c E1
2
+ 3c E2
2
− 2μ + F(x, t) (7.2.1)
∂t 2 ∂x 2 ∂x ∂x 2 ∂x ∂x 2 ∂t

where
E
c2 = (7.2.2)
ρ

The corresponding linear undamped free oscillation equation to (7.2.1) is given

by

∂ 2u 2∂ u
2
− c =0 (7.2.3)
∂t 2 ∂x2
Let the solution of (7.2.3) be

u = φ(x)eiωt (7.2.4)

Substituting (7.2.4) into (7.2.3) yields

ω2
φ  + φ=0 (7.2.5)
c2
therefore,

φ(x) = A sin kx + B cos kx, k = ω/c (7.2.6)

From the boundary conditions, we have

B=0 Non-trivial solution condition

−−−−−−−−−−−−−−−−→ sin k + hk cos kx = 0 (7.2.7)
A sin k + hkA cos kx = 0

So

tank = −hk (7.2.8)

The mode shape function is

7.2 Exercise 7.2 (Longitudinal Oscillation Analysis of Uniform, Nonlinear … 701

φ(x) = sin kx, k = ω/c (7.2.9)

When h = 1, the first 5 positive roots of the Eq. (7.2.8) are:

k1 = 2.0288, k2 = 4.9132, k3 = 7.9786, k4 = 11.0855, k5 = 14.2075

Let the solution of nonlinear Eq. (7.2.1) be

√ N
u= 2 ψn (t)sinkn x (7.2.10)
n=1

Substituting this into (7.2.1), we obtain

√ N
√ 
N
2 ψ̈p sin kp x + 2c2 kp2 ψp sin kp x
p=1 p=1


N
= −4c2 E1 kp kq2 ψp ψq sin kq x cos kp x
p,q

√ 
N
− 6 2c2 E2 kp kq2 kr ψp ψq ψr cos kp x sin kq x cos kr x
p,q,r

√ 
N
− 2 2μ ψ̇p (t) sin kp x + F(x, t)
p=1

√
Multiplying both sides of the above equation by 2sinkn x and making the
integration of x over [0, 1] yields


N 
N
ψ̈n + ωn2 ψn = −2μn ψ̇n + c2 npq ψp ψq + c2 npqr ψp ψq ψr + fn (t)
p, q p, q, r
(7.2.11)

where
1
√
npq = −4 2E1 kp kq2 sin kn x sin kq x cos kp xdx
0
1

npqr = −12E2 kp kq2 kr sin kn x sin kq x cos kp x cos kr xdx

0
702 7 Continuous Systems

1
√
fn (t) = 2 F(x, t) sin kn xdx (7.2.12)
0

When fn (t) = Kn cos t, the Eq. (7.2.11) becomes


N 
N
ψ̈n + ωn2 ψn = −2μn ψ̇n + c2 npq ψp ψq + c
2
npqr ψp ψq ψr + Kn cos t
p, q p, q, r
(7.2.13)

In the following, we find the primary resonance solution of (7.2.13). Thus let
≈ ωm and assume that this equation does not have any internal resonances. Let
the solution of (7.2.13) be

ψn = εψn1 (T0 , T1 , T2 ) + ε2 ψn2 (T0 , T1 , T2 ) + ε3 ψn3 (T0 , T1 , T2 ) + · · · (7.2.14)

In order to make the damping, nonlinear and excitation terms appearing

simultaneously in the third-order equation, we let

μn = ε2 μ̂n , Kn = 2ε3 kn (7.2.15)

 
Substituting (7.2.14) and (7.2.15) into (7.2.13) and retaining to O ε3 , we obtain


N 
N
0 = ψ̈n + ωn2 ψn + 2μn ψ̇n − c2 npq ψp ψq − c2 npqr ψp ψq ψr − Kn cos t
p,q p,q,r
   
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εψn1 + ε2 ψn2 + ε3 ψn3
 
+ ωn2 εψn1 + ε2 ψn2 + ε3 ψn3
  
+ 2ε2 μ̂n D0 + εD1 + ε2 D2 εψn1 + ε2 ψn2 + ε3 ψn3
   
− c2 npq εψp1 + ε ψp2 + ε ψp3 εψq1 + ε ψq2 + ε ψq3
2 3 2 3

p,q
   
−c 2
npqr εψp1 + ε2 ψp2 + ε3 ψp3 εψq1 + ε2 ψq2 + ε3 ψq3
p,q,r
 
× εψr1 + ε2 ψr2 + ε3 ψr3 − 2ε3 kn cos T0 + · · ·
" #
 2  
= ε D0 ψn1 + ωn ψn1 + ε D02 ψn2 + ωn2 ψn2 + 2D0 D1 ψn1 − c2
2 2
npq ψp1 ψq1
p,q
  
+ ε3 D02 ψn3 + ωn2 ψn3 + D12 + 2D0 D2 ψn1 + 2μ̂n D0 ψn1 + 2D0 D1 ψn2
  
− c2 npq ψp1 ψq2 + ψp2 ψq1
p,q
7.2 Exercise 7.2 (Longitudinal Oscillation Analysis of Uniform, Nonlinear … 703


−c 2
npqr ψp1 ψq1 ψr1 − 2kn cos T0 + · · · (7.2.16)
p,q,r

Let the coefficient of the same power of ε in the equation (7.2.16) be zero, we
obtain.
Order ε:

D02 ψn1 + ωn2 ψn1 = 0 (7.2.17)

Order ε2 :

D02 ψn2 + ωn2 ψn2 = −2D0 D1 ψn1 + c2 npq ψp1 ψq1 (7.2.18)
p,q

Order ε3 :
 
D02 ψn3 + ωn2 ψn3 = − D12 + 2D0 D2 ψn1 − 2D0 D1 ψn2 − 2μ̂n D0 ψn1
  
+ c2 npq ψp1 ψq2 + ψp2 ψq1
p, q

+ c2 npqr ψp1 ψq1 ψr1 + 2kn cos T0 (7.2.19)
p, q, r

The solution of the Eq. (7.2.17) is

ψn1 = An eiωn T0 + cc (7.2.20)

where An = An (T1 , T2 ). Substituting (7.2.20) into (7.2.18), we obtain

D02 ψn2 + ωn2 ψn2 = −2iωn D1 An eiωn T0

 !
i(ωq +ωp )T0
+ c2 npq Ap Aq e + Ap Aq ei(ωq −ωp )T0 + cc
p,q
(7.2.21)

In order to eliminate secular terms from the above equation, we need

D1 An = 0 → An = An (T2 ) (7.2.22)

Furthermore, we can obtain from (7.2.21) that

 !
(1) i(ωq +ωp )T0 (2) i(ωq −ωp )T0
ψn2 = c2 npq npq Ap Aq e + npq Ap Aq e + cc (7.2.23)
p, q

where
704 7 Continuous Systems
$  2 %−1 $  2 %−1
(1) (2)
npq = ωn2 − ωq + ωp , npq = ωn2 − ωq − ωp (7.2.24)

Substituting (7.2.20), (7.2.22) and (7.2.23) into (7.2.19) yields

D02 ψn3 + ωn2 ψn3

= −2iωn An eiωn T0 − 2iωn μ̂n An eiωn T0
 !
(1) i(ωk +ωj −ωp )T0 (2) i(ωk −ωj +ωp )T0
+ c4 npq qjk qjk Āp Aj Ak e + qjk Ap Āj Ak e
p,q,j,k
 !
(1) i(ωk +ωj −ωq )T0 (2) i(ωk −ωj +ωq )T0
+ c4 npq pjk pjk Āq Aj Ak e + pjk Aq Āj Ak e
p,q,j,k

+c 2
npqr Āp Aq Ar ei(ωq −ωp +ωr )T0 + Ap Āq Ar ei(ωp −ωq +ωr )T0
p,q,r
!
+Ap Aq Ār ei(ωp +ωq −ωr )T0 + kn ei T0
+ cc + NST

= −2iωn An eiωn T0 − 2iωn μ̂n An eiωn T0 + c4 gpq Āp Ap An eiωn T0
p,q

+c 2
hp Āp Ap An e iωn T0
+ kn e i T0
+ cc + NST (7.2.25)
p

where the prime denotes the derivative with respect to T2 and

(1) (1) (1) (1)
gpq = npq qnp qnp + nqp qnp qnp + npq qpn qpn + nqp qpn qpn
(2) (2) (2) (2)
+ npq qpn qpn + nnq qpp qpp + nqn qpp qpp + nqp qpn qpn

hp = 2 nppn +2 nnpp +2 npnp (7.2.26)

Introduce the detuning parameter σ such that

= ωm + ε2 σ (7.2.27)

Therefore, in order to eliminate secular terms in (7.2.25), we need

 
2iωm Am + 2iωm μ̂m Am − c2 Am c2 gpq + hp Ap Ap − km eiσ T2 = 0 (n = m)
p,q
(7.2.28)
 
2iωn An + 2iωn μ̂n An − c2 An c2 gpq + hp Ap Ap = 0 (n = m) (7.2.29)
p,q

Let
1 iβn 1
An = an e , Am = am eiβm (7.2.30)
2 2
7.2 Exercise 7.2 (Longitudinal Oscillation Analysis of Uniform, Nonlinear … 705

and substitute (7.2.30) into (7.2.29), we have

1  2 
iωn an − ωn an βn + iωn μ̂n an − an c gpq + hp ap2 = 0 (7.2.31)
8 p,q

Separating the real and imaginary parts of the above equation yields

an + μ̂n an = 0 (7.2.32)

1  2 
ωn an βn + an c gpq + hp ap2 = 0 (7.2.33)
8 p,q

The solution of (7.2.32) is

an = an0 e−μ̂n T2 , n = m (7.2.34)

Since μ̂n > 0, an → 0 for all n = m.

Substituting (7.2.32) into the Eq. (7.2.28) and taking (7.2.34) into account, we
obtain
1  
iωm am − ωm am βm + iωm μ̂m am − c2 c2 gmm + hm am3 − km ei(σ T2 −βm ) = 0
8
(7.2.35)

Separating the real and imaginary parts of the above equation yields

am = −μ̂m am + ωm−1 km sin(σ T2 − βm )

1  
am βm = − c2 c2 gmm + hm am3 − ωm−1 km cos(σ T2 − βm ) (7.2.36)
8
or

am = −μ̂m am + ωm−1 km sinγm

1  
am γm = σ am + c2 c2 gmm + hm am3 − ωm−1 km cosγm (7.2.37)
8
where

γm = σ T2 − βm (7.2.38)

The solution to the Eq. (7.2.13) is

706 7 Continuous Systems
⎧  (1)
⎨ am cos(ωm t + βm ) +2 c2 + βm )
1
mmm mmm cos2(ωm T0 , n=m
(2)
ψn = + mmm am + O ε
2 3
⎩
0 , n = m
(7.2.39)

where am and βm are given by (7.2.38) and (7.2.39).

Readers are invited to complete Exercise 7.2(e).

7.3 Exercise 7.3 (Longitudinal Oscillation Analysis

of Uniform, Nonlinear Elastic Rods)

Solution: (a) The corresponding linear undamped free oscillation equation to the
Eq. (7.2.1) is

∂ 2u 2∂ u
2
− c =0 (7.3.1)
∂t 2 ∂x2
Let the solution of the Eq. (7.2.1) be

u = φ(x)eiωt (7.3.2)

Substituting the above equation into (7.3.1), we obtain

ω2
φ  + φ=0 (7.3.3)
c2
therefore,

φ(x) = A sin kx + B cos kx, k = ω/c (7.3.4)

From the boundary conditions, we have

− h1 kA + B = 0
(sink + h2 kcosk)A + (cosk − h2 ksink)B = 0 (7.3.5)

From the non-trivial solution condition, we can obtain the eigen equation
 
1 − h1 h2 k 2 tank + (h1 + h2 )k = 0 (7.3.6)

From the first equation of (7.3.5), we have

B = h1 kA (7.3.7)
7.3 Exercise 7.3 (Longitudinal Oscillation Analysis of Uniform, Nonlinear … 707

So the mode shape function can be written as

φ(x) = A(sinkx + h1 kcoskx) (7.3.8)

After finding the eigenvalue km from the Eq. (7.3.6), we can write the corre-
sponding mode shape function as

φm (x) = cm (sin km x + h1 km cos km x), ωm = ckm (7.3.9)

where cm is chosen to normalize φm .

Let k and 2k be the two roots of the Eq. (7.3.6), then we have
 
1 − h1 h2 k 2 tan k + (h1 + h2 )k = 0
 
1 − 4h1 h2 k 2 tan 2k + 2(h1 + h2 )k = 0 (7.3.10)

Combine those two equations, we have

 
1 − h1 h2 k 2 tan2 k = 3h1 h2 k 2 (7.3.11)

Eliminating tank from the first equation of (7.3.10) and (7.3.11) yields
 
3h21 h21 k 4 + h21 + h21 − h1 h2 k 2 = 0 (7.3.12)

therefore

h21 + h21 − h1 h2
k = 0 k2 = − <0 (7.3.13)
3h21 h21

Therefore, the Eq. (7.3.6) does not have non-trivial real roots such as k and 2k,
and thus does not have a natural frequency that is twice of another natural frequency.
When h1 = 1 and h2 = 1.51883, the eigen Eq. (7.3.6) becomes
 
1 − 1.51883k 2 tank = −2.51883k (7.3.14)

The first five roots of the Eq. (7.3.14) are

k0 = 0, k1 = 1.19812, k2 = 3.59437, k3 = 6.53570, k4 = 9.59717, k5 = 12.69714

It can be seen that the non-trivial root k2 /k1 = 3.59437/1.19812 = 3.000008 ≈ 3,

and hence ω2 /ω1 = k2 /k1 ≈ 3.
Rewrite the nonlinear Eq. (7.3.1) as follows:
 2 2
∂ 2u 2∂ u
2
∂u ∂ 2 u ∂u ∂ u ∂u
−c = 2c E1
2
+ 3c E2
2
− 2μ + F(x, t) (7.3.15)
∂t 2 ∂x2 ∂x ∂x2 ∂x ∂x2 ∂t
708 7 Continuous Systems

With the present boundary conditions, we let the solution of Eq. (7.3.15) be


N 
N
u= ψn (t)φn (x) = cn ψn (t)(sinkn x + h1 kn coskn x) (7.3.16)
n=0 n=0

Substituting this into (7.3.15), we obtain

 
N
ψ̈p φp (x) + c2 kp2 ψp φp (x)
p p=0


N
= −2c2 E1 kq2 ψp ψq φp (x)φq (x)
p,q=0


N
− 3c2 E2 kr2 ψp ψq ψr φp (x)φq (x)φr (x)
p, q, r=0


N
− 2μ ψ̇p φp (x) + F(x, t) (7.3.17)
p=0

Multiplying both sides of the above equation by φn (x) and making the integration
of x over [0, 1] yields


N 
N
ψ̈n + ωn2 ψn = −2μn ψ̇n + c 2
npq ψp ψq +c 2
npqr ψp ψq ψr + fn (t)
p,q p,q,r
(7.3.18)

where
1

npq = −2E1 kq2 φn (x)φp (x)φq (x)dx

0
1

npqr = −3E2 kr2 φn (x)φp (x)φq (x)φr (x)dx

0
1

fn (x, t) = φn (x)F(x, t)dx (7.3.19)

0

When fn (t) = Kn cos t, the Eq. (7.2.18) becomes

7.3 Exercise 7.3 (Longitudinal Oscillation Analysis of Uniform, Nonlinear … 709


N 
N
ψ̈n + ωn2 ψn = −2μn ψ̇n + c2 npq ψp ψq + c
2
npqr ψp ψq ψr + Kn cos t
p,q p,q,r
(7.3.20)

In the following part, we find the solution of Eq. (7.3.20) for the case of ≈
ω1 , ω2 ≈ 3ω1 . Readers are invited to find the solution for the case of ≈ ω2 , ω2 ≈
3ω1 .
Since ω2 ≈ 3ω1 , the internal resonance excitation will be generated by a third
order nonlinear term, and Eq. (7.3.20) needs to be expanded to the third order. Let
the solution to Eq. (7.3.20) be

ψn = εψn1 (T0 , T1 , T2 ) + ε2 ψn2 (T0 , T1 , T2 ) + ε3 ψn3 (T0 , T1 , T2 ) + · · · (7.3.21)

In order to make the damping, nonlinear and excitation terms appearing

simultaneously in the third-order equation, we let

μn = ε2 μ̂n , Kn = 2ε3 kn (7.3.22)

 
Substituting (7.3.21) and (7.3.22) into (7.3.20) and retaining to O ε3 , we obtain


N 
N
0 = ψ̈n + ωn2 ψn + 2μn ψ̇n − c2 npq ψp ψq − c2 npqr ψp ψq ψr − Kn cos t
p,q p,q,r
   
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εψn1 + ε2 ψn2 + ε3 ψn3
 
+ ωn2 εψn1 + ε2 ψn2 + ε3 ψn3
  
+ 2ε2 μ̂n D0 + εD1 + ε2 D2 εψn1 + ε2 ψn2 + ε3 ψn3
   
− c2 npq εψp1 + ε ψp2 + ε ψp3 εψq1 + ε ψq2 + ε ψq3
2 3 2 3

p,q
   
−c 2
npqr εψp1 + ε2 ψp2 + ε3 ψp3 εψq1 + ε2 ψq2 + ε3 ψq3
p,q,r
 
× εψr1 + ε2 ψr2 + ε3 ψr3 − 2ε3 kn cos T0 + · · ·
" #
 2  
= ε D0 ψn1 + ωn ψn1 + ε D02 ψn2 + ωn2 ψn2 + 2D0 D1 ψn1 − c2
2 2
npq ψp1 ψq1
p,q
 
+ ε3 [D02 ψn3 + ωn2 ψn3 + D12 + 2D0 D2 ψn1 + 2μ̂n D0 ψn1 + 2D0 D1 ψn2
   
− c2 npq ψp1 ψq2 + ψp2 ψq1 − c
2
npqr ψp1 ψq1 ψr1 − 2kn cos T0 ] + · · ·
p,q p,q,r
(7.3.23)

Let the coefficient of the same power of ε in Eq. (7.3.23) be zero, we obtain
Order ε:
710 7 Continuous Systems

D02 ψn1 + ωn2 ψn1 = 0 (7.3.24)

Order ε2 :

D02 ψn2 + ωn2 ψn2 = −2D0 D1 ψn1 + c2 npq ψp1 ψq1 (7.3.25)
p,q

Order ε3 :
 
D02 ψn3 + ωn2 ψn3 = − D12 + 2D0 D2 ψn1 − 2D0 D1 ψn2 − 2μ̂n D0 ψn1
  
+ c2 npq ψp1 ψq2 + ψp2 ψq1
p,q

+ c2 npqr ψp1 ψq1 ψr1 + 2kn cos T0 (7.3.26)
p,q,r

The solution of Eq. (7.3.24) is

ψn1 = An eiωn T0 + cc (7.3.27)

where An = An (T1 , T2 ). Substituting (7.3.27) into (7.3.25), we obtain

D02 ψn2 + ωn2 ψn2 = −2iωn D1 An eiωn T0

 !
i(ωq +ωp )T0
+ c2 npq Ap Aq e + Ap Aq ei(ωq −ωp )T0 + cc
p,q
(7.3.28)

In order to eliminate secular terms from the above equation, we need

D1 An = 0 → An = An (T2 ) (7.3.29)

From (7.3.28), we can obtain

 !
(1) i(ωq +ωp )T0 (2) i(ωq −ωp )T0
ψn2 = c2 npq npq Ap Aq e + npq Ap Aq e + cc (7.3.30)
p,q

where
$  2 %−1 $  2 %−1
(1) (2)
npq = ωn2 − ωq + ωp , npq = ωn2 − ωq − ωp (7.3.31)

Substituting (7.3.27), (7.3.29) and (7.3.30) into (7.3.26) yields

D02 ψn3 + ωn2 ψn3

= −2iωn An eiωn T0 − 2iωn μ̂n An eiωn T0
7.3 Exercise 7.3 (Longitudinal Oscillation Analysis of Uniform, Nonlinear … 711
  !
(1) i(ωp +ωk +ωj )T0 (2) i(ωp +ωk −ωj )T0
+ c4 npq qjk qjk Ap Aj Ak e + qjk Ap Aj Ak e
p,q j,k
  !
(1) i(ωk +ωj −ωp )T0 (2) i(ωk −ωj −ωp )T0
+c 4
npq qjk qjk Ap Aj Ak e + qjk Ap Aj Ak e
p,q j,k
  !
(1) i(ωq +ωk +ωj )T0 (2) i(ωq +ωk −ωj )T0
+ c4 npq pjk pjk Aq Aj Ak e + pjk Aq Aj Ak e
p,q j,k
  !
(1) i(ωk +ωj −ωq )T0 (2) i(ωk −ωj −ωq )T0
+c 4
npq pjk pjk Aq Aj Ak e + pjk Aq Aj Ak e
p,q j,k
 !
+ c2 npqr Ap Aq Ar ei(ωp +ωq +ωr )T0 + Ap Aq Ar ei(ωq +ωr −ωp )T0
p,q,r
 !
+c 2
npqr Ap Aq Ar ei(ωp −ωq +ωr )T0 + Ap Aq Ar ei(ωr −ωp −ωq )T0 + kn ei T0
+ cc
p,q,r

The prime represents the derivative with respect to T2 . The above equation can
be rewritten as

D02 ψn3 + ωn2 ψn3 = −2iωn An eiωn T0 − 2iωn μ̂n An eiωn T0 + An eiωn T0 Enp Ap Ap
p
2
+ Gn An An+1 ei(ωn+1 −2ωn )T0 + Hn−1 A3n−1 e3iωn−1 T0 + kn ei T0
+ cc + NST (7.3.32)

where
 
Enp = c2 nppn + npnp + npqp + nnpp + nppn + nqpp

(1) (1) (1) (1)
+ c4 npq qnp qnp + npq qpn qpn + nqp qnp qnp + nqp qpn qpn
q
(2) (2) (2) (2)
+ npq qpn qpn + nnq qpp qpp + nnq qpp qpp + npq qnp qnp
!
(2) (2) (2) (2)
+ nqp qpn qpn + nqn qpp qpp + nqp qnp qnp + nqn qpp qpp
 
Gn = c2 n(n+1)nn + nn(n+1)n + nn(n+1)
 (2) (2)
(1)
+ c4 nnp p(n+1)n p(n+1)n + n(n+1)p pnn pnn + nnp pn(n+1) pn(n+1)
p
!
(2) (1) (2)
+ npn p(n+1)n p(n+1)n + np(n+1) pnn pnn + npn pn(n+1) pn(n+1)
 !
(1) (1)
Hn = c2 nnnn + c
4
nnp pnn pnn + npn pnn pnn (7.3.33)
p

Introduce the detuning parameters σ1 and σ2 such that

= ω1 + ε2 σ1 , ω2 = 3ω1 + ε2 σ2 (7.3.34)
712 7 Continuous Systems

Therefore, in order to eliminate secular terms in Eq. (7.3.32), we need

 2
2iω1 A1 + 2iω1 μ̂1 A1 − A1 E1p Ap Ap − G1 A1 A2 eiσ2 T2 − k1 eiσ1 T2 = 0 (n = 1)
p
(7.3.35)

2iω2 A2 + 2iω2 μ̂2 A2 − A2 E2p Ap Ap − H1 A31 e−iσ2 T2 = 0 (n = 2) (7.3.36)
p

2iωn An + 2iωn μ̂n An − An Enp Ap Ap = 0 (n ≥ 3) (7.3.37)
p

Let
1 iβn
An = an e (7.3.38)
2
and substitute (7.3.38) into (7.3.37), we can obtain

1 
iωn an − ωn an βn + iωn μ̂n an − an Enp ap2 = 0 (7.3.39)
8 p

Separating the real and imaginary parts of the above equation yields

an + μ̂n an = 0 (7.3.40)

1 
ωn an βn + an Enp ap2 = 0 (7.3.41)
8 p

Equation (7.3.4) can be solved by

an = an0 e−μ̂n T2 , n ≥ 3 (7.3.42)

Since μ̂n > 0, an → 0 for all n ≥ 3.

Substituting (7.3.38) into (7.3.37) and (7.3.36), and taking (7.3.42) into account,
we obtain
1  
iω1 a1 − ω1 a1 β1 + iω1 μ̂1 a1 − a1 E11 a12 + E12 a22
8
1
− G1 a12 a2 ei(σ2 T2 −3β1 +β2 ) − k1 ei(σ T2 −β1 ) = 0 (7.3.43)
8
1  
iω2 a2 − ω2 a2 β2 + iω2 μ̂2 a2 − a2 E21 a12 + E22 a22
8
1 3 −i(σ2 T2 −3β1 +β2 )
− H1 a1 e =0 (7.3.44)
8
7.3 Exercise 7.3 (Longitudinal Oscillation Analysis of Uniform, Nonlinear … 713

Let

γ1 = σ1 T2 − β1 , γ2 = σ2 T2 − 3β1 + β2 (7.3.45)

and separate the real and imaginary parts from (7.3.43) and (7.3.44), we obtain

1
a1 = −μ̂1 a1 + ω1−1 G1 a12 a2 sinγ2 + ω1−1 k1 sinγ1
8
1
a1 γ1 = σ1 a1 + ω1−1 G1 a12 a2 cosγ2 + ω1−1 k1 cosγ1 (7.3.46)
8
1
a2 = −μ̂2 a2 − ω2−1 H1 a13 sinγ2
8
1   1
3a2 γ1 − a2 γ2 = −a2 σ2 + 3a2 σ1 + ω2−1 a2 E21 a12 + E22 a22 + ω2−1 H1 a13 sinγ2
8 8
(7.3.47)

From the above results, the approximate solution of Eq. (7.3.20) for the case of
≈ ω1 , ω2 ≈ 3ω1 is

ψ1 = a1 cos(ω1 t + β1 ) + b11 + b12 cos(2ω1 T0 + 2β1 )

+ b13 cos(2ω1 T0 − β1 + β2 ) + b14 cos(4ω1 T0 + β1 + β2 )
+ b15 cos(6ω1 T0 + 2β2 ) (7.3.48)

ψ2 = a2 cos(ω2 t + β2 ) + b21 + b22 cos(2ω1 T0 + 2β1 )

+ b23 cos(2ω1 T0 − β1 + β2 ) + b24 cos(4ω1 T0 + β1 + β2 )
+ b25 cos(6ω1 T0 + 2β2 ) (7.3.49)

ψn = 0, n ≥ 3 (7.3.50)

where a1 , a2 , β1 , β2 are given by (7.3.46) and (7.3.47) and

1 2 !
(2) 2 (2) 2
bn1 = c n11 n11 a1 + n22 n22 a2
2
1 2 (1) 2
bn2 = c n11 n11 a1
2
1 2 !
(2) (2)
bn3 = c n12 n12 + n21 n2 a1 a2
2
1 2 !
(1) (1)
bn4 = c n12 n12 + n21 n21 a1 a2
2
1 2 (1) 2
bn5 = c n22 n22 a2 (6ω1 T0 + 2β2 ); n = 1, 2 (7.3.51)
2
714 7 Continuous Systems

7.4 Exercise 7.4 (Nonlinear Analysis of Transverse

Oscillations of a Fixed Wire)

Solution: (a) The deformed configuration of a tensioned string and the initial coor-
dinate system x1 x2 are given in Fig. 7.2(a). Point P0 denotes the unloaded position
of the observed string mass. Point P̂ denotes the post-deformation position reached
by P0 with static pre-tension, which changes the undeformed length of the string
l to l + l. Point P denotes the post-deformation position reached by P0 under a
combination of static pre-tension and dynamic loading.
Here, we denote by s the undeformed length of the string from the point O to P0 ,
by x the length of the same part after the static deformation, and by s̃ the dynamic
arc length at the same point. Also, we denote the unloaded mass density of the
string by ρ0 (s) and the cross-sectional area of the unloaded string by A0 (s), such that
s
() = ∂()/∂s. The coordinates of the point P̂ are (x, 0), where x = s + e0 ds, e0 is
0
l
the static axial strain from pre-tension, so l = e0 ds. We use (x1 , x2 ) to denote
0
the coordinates of the point P, and u, w to denote the dynamic displacements along
the direction x1 and x2 , respectively. Therefore, we have

x1 = x + u, x2 = w (7.4.1)

According to the free-body diagram shown in Fig. 7.2(b), we can obtain the axial
strain of the string
&
e = (1 + e0 + u )2 + w 2 − 1 (7.4.2)

Due to Poisson effect, the deformed cross-sectional area is

A = (1 − νe)2 A0 (7.4.3)

Fig. 7.2 String model: a Configuration and coordinate of a tensioned string; b free-body diagram
of a string element for Exercise 7.4
7.4 Exercise 7.4 (Nonlinear Analysis of Transverse Oscillations of a Fixed … 715

where ν is the Poisson ratio. Since the string is very thin, we can assume that the
stresses of each cross section are approximately uniform. Furthermore, the string is
assumed to be linearly elastic. Applying Hooke’s law and (7.4.3), we can obtain the
internal tension of the string

N (s, t) = EAe = EA0 (1 − νe)2 e (7.4.4)

where E is the Young’s modulus.

From Fig. 7.2(b) and Newton’s second law, we have

m0 (üi1 + ẅi2 ) + μ̃1 u̇i1 + μ̃2 ẇi2 = N + f˜1 i1 + f˜2 i2 (7.4.5)

where m0 = ρ0 A0 , μ̃i is the damping coefficient per unit length of the undeformed
string along the direction of xi , f˜i is the dynamic load per unit length of the undeformed
string along the direction of xi , and N is the internal force in the cross-section, which
has the following form

N   
N= 1 + e0 + u i1 + w i2 (7.4.6)
1+e

Substituting (7.4.6) into (7.4.5), we can obtain the governing equation of motion
for the string.

∂ N  
m0 ü + μ̃1 u̇ = 1 + e0 + u + f˜1 (7.4.7)
∂s 1 + e
∂ N
m0 ẅ + μ̃2 ẇ = w + f˜2 (7.4.8)
∂s 1 + e

Boundary conditions are specified at s = 0 and l for the displacement or tension:

 
N 1 + e0 + u
u or (7.4.9)
1+e
Nw
w or (7.4.10)
1+e

In static equilibrium, u = v = w = 0, f˜i = 0, e = e0 , from (7.4.7) we have

dN0
=0 (7.4.11)
ds
where N0 is the pre-tension in the string, which can be determined by (7.4.11):

N0 = EA0 (1 − νe0 )2 e0 = constant (7.4.12)

716 7 Continuous Systems

We note that A0 and e0 may be functions of s and e0 may be large strain.

Equations (7.4.7)–(7.4.10) form a complete set of governing equations for the
boundary value problem for strings, and they are completely nonlinear. Ignoring the
Poisson effect, the Eq. (7.4.4) becomes N (s, t) = EA0 e, and thus the Eqs. (7.4.7)
and (7.4.8) become
  
∂ EA0 e 1 + e0 + u
m0 ü + μ̃1 u̇ = + f˜1 (7.4.13)
∂s 1+e

∂ EA0 ew
m0 ẅ + μ̃2 ẇ = + f˜2 (7.4.14)
∂s 1 + e

The boundary conditions are specified at s = 0 and l for the displacement or

tension:
 
EA0 e 1 + e0 + u
u or (7.4.15)
1+e
EA0 ew
w or (7.4.16)
1+e

In the following, we transfer the independent variable from the undeformed

coordinate s to the static equilibrium coordinate x. Because
s

x =s+ e0 ds
0

then

dx = (1 + e0 )ds = αds

where α = 1 + e0 . From this, Eqs. (7.4.13) and (7.4.14) become

 
∂ αEA0 e ∂u
m0 ü + μ̃1 u̇ = α 1+ + f˜1 (7.4.17)
∂x 1 + e ∂x
∂ αEA0 e ∂w
m0 ẅ + μ̃2 ẇ = α + f˜2 (7.4.18)
∂x 1 + e ∂x

From (7.4.2), we have

&
e = α (1 + ux )2 + wx2 − 1 (7.4.19)

therefore
7.4 Exercise 7.4 (Nonlinear Analysis of Transverse Oscillations of a Fixed … 717

αe 1 3
= α − 1 + ux − ux2 + wx2 + ux3 − ux wx2 + · · · (7.4.20)
1+e 2 2

Substituting (7.4.20) into (7.4.17) and (7.4.18) and only keeping to the third-order
small quantities yields
 
1 ∂
m0 ü + μ̃1 u̇ − α 2 EA0 uxx = αEA0 − ux wx2 + f˜1 (7.4.21)
2 ∂x
 
∂ 1 2
m0 ẅ + μ̃2 ẇ − α(α − 1)EA0 wxx = αEA0 wx ux − ux + wx
2
+ f˜2 (7.4.22)
∂x 2

Dividing the above two equations by m0 = ρ0 A0 , we can obtain the approximate

equations ignoring the Poisson effect
 
 ∂
1
utt + μ1 ut − c12 uxx = c12 − c22 − ux wx2 + f1 (7.4.23)
∂x
2
 
 2 
2 ∂ 1 2
wtt + μ2 wt − c2 wxx = c1 − c2
2
wx ux − ux + wx
2
+ f2 (7.4.24)
∂x 2

where μn = μ̃n /m0 , fn = f˜n /m0 .

EA0 α 2 EA0 α 2 Eα 2
c12 = = = (7.4.25)
m0 ρ0 A0 ρ0
EA0 α(α − 1) EA0 αe0 N0 α
c22 = = = (7.4.26)
m0 ρ0 A0 ρ0 A0

Substituting (7.4.20) into (7.4.15) and (7.4.16) yields the boundary conditions for
the approximate equations specified at s = 0 and l for the displacement or tension:
 
1  
u or EA0 αux + − ux vx2 + wx2 (7.4.27)
2
1 2 
w or EA0 wx α − 1 + ux − ux2 + vx + wx2 (7.4.28)
2

In the following, we will combine two approximate Eqs. (7.4.23) and (7.4.24) into
one equation. To do this, we need to first consider the corresponding linear undamped
free oscillation problem.
Omitting the damping, excitation and nonlinear terms in (7.4.23)–(7.4.24), we
obtain the following uncoupled equations

utt − c12 uxx = 0 (7.4.29)

718 7 Continuous Systems

wtt − c22 wxx = 0 (7.4.30)

We use the boundary conditions

u = w = 0 at x = 0 and l (7.4.31)

Combining (7.4.29) and (7.4.31), we can obtain the mode shape of the motion
along axial direction
mπ x
ϕm (x) = sin (7.4.32)
l
The corresponding natural frequency is
mπ c1
ωm = (7.4.33)
l
where m is a positive integer. Similarly, the normalized mode shape functions for
transverse oscillation of the string are
√ nπ x
φn (x) = 2sin (7.4.34)
l
The corresponding natural frequency is
nπ c2
ωn = (7.4.35)
l
where m and k are positive integers. Since
' (
c1 α 1 + e0
= = (7.4.36)
c2 α−1 e0

For typical metallic wires within the elastic range, this is a dimensionless large value.
So, for a given frequency order (i.e., m = n), the transverse frequency is much smaller
than the longitudinal frequency of the wire from (7.4.33) to (7.4.35). Therefore, if the
excitation frequency is much smaller than the longitudinal fundamental frequency
π c1 /l, then the longitudinal inertia in Eq. (7.4.23) can be omitted. To illustrate this
point, we apply a displacement excitation, whose frequency is close to the mth order
transverse fundamental frequency, at the right end of the wire. We normalize the
displacement and time by l and l/nπ c2 in Eq. (7.4.23). Substitute

x nπ c2 t u w
ξ= , τ= , U = , W =
l l l l
into the Eq. (7.4.23), we obtain
7.4 Exercise 7.4 (Nonlinear Analysis of Transverse Oscillations of a Fixed … 719
 
n2 π 2 c22 μ1 nπ c2 c2 − c2 ∂ 1
Uτ τ + Uτ − Uξ ξ = 1 2 2 − Uξ Wξ2 (7.4.37)
2
c1 2
c1 c1 ∂ξ 2

where the longitudinally distributed excitation f1 (x, t) = 0 is assumed. For a typical

metallic wire within the elastic range, c22 /c12 << 1., so the terms containing Uτ τ and
Uτ in the above equation can be omitted, and the equation becomes
 
∂ 1
Uξ ξ ≈ − − Uξ Wξ2 (7.4.38)
∂ξ 2

After integration, we obtain

 
1
Uξ = − − Uξ Wξ2 + b(τ ) (7.4.39)
2

where b(τ ) is the integration constant. Omitting the third order term, we obtain

1
Uξ = − Wξ2 + b(τ ) (7.4.40)
2
Since it was assumed earlier that the displacement excitation is applied to the right
end of the wire, the boundary condition can be assumed to be

U (0, τ ) = 0, U (1, τ ) = P(τ ) (7.4.41)

where P(t) is the kinematic function of the right support. Integrate (7.4.40) and apply
(7.4.41), we can obtain

ξ
1
U =− Wξ2 d ξ + b(τ )ξ (7.4.42)
2
0

where
1
1
b(τ ) = Wξ2 d ξ + P(τ ) (7.4.43)
2
0

Then (7.4.40) and (7.4.41) become

1
ux = − wx2 + b(t) (7.4.44)
2
where
720 7 Continuous Systems

l
1
b(t) = wx2 dx + P(t) (7.4.45)
2l
0

Substituting (7.4.45) into (7.4.44), we obtain

l
1 1
ux + wx2 = wx2 dx + P(t) (7.4.46)
2 2l
0

Substituting (7.4.46) into (7.4.24), omitting the c22 term from the terms of the same
order containing c12 , c22 , and keeping the result to the third order, we obtain

l
c2
wtt + 2μ̂wt − c22 wxx = c12 wxx P(t) + 1 wxx wx2 dx + F(x, t) (7.4.47)
2l
0

where

μ2 = 2μ̂, f2 (x, t) = F(x, t) (7.4.48)

When P(t) = 0, (7.4.46) becomes

l
1 1
ux + wx2 = wx2 dx (7.4.49)
2 2l
0

 
It can be seen that ux = O wx2 , then the Eq. (7.4.47) becomes

l
c2
wtt − c22 wxx = 1 wxx wx2 dx − 2μ̂wt + F(x, t) (7.4.50)
2l
0

Equation (7.4.50) is the equation governing the transverse oscillations of a fixed

wire.
Let the solution of Eq. (7.4.50) be
∞
√  nπ x
w(x, t) = 2 ψn (t)sin (7.4.51)
n=1
l

Substituting (7.4.51) into(7.4.50), we obtain

7.4 Exercise 7.4 (Nonlinear Analysis of Transverse Oscillations of a Fixed … 721

∞
  √ p2 π 2∞
√ pπ x pπ x
2 ψ (t)sin + c22 2 2 ψp (t)sin
p=1
p l p=1
l l
l
⎡ ⎤2
∞ ∞
c12  √ p2 π 2 pπ x ⎣ √ qπ qπ x ⎦
=− 2 2 ψp (t)sin 2 ψp (t)cos dx
2l p=1 l l q=1
l l
0
∞
 √ pπ x
− 2μ̂ 2ψ̇p (t)sin + F(x, t) (7.4.52)
p=1
l

√
Multiplying both sides of the above equation by 2sin(nπ x/l), integrating over
[0, l] and taking into account the orthogonality of the mode shape function, we obtain
∞
c12 n2 π 4  2 2
ψ̈n + ωn2 ψn =− ψn m ψm − 2μ̂n ψ̇n + fn (t) (7.4.53)
2l 4 m=1

where
√ l
c22 n2 π 2 2 nπ x
ωn2 = , fn (t) = F(x, t)sin dx (7.4.54)
l2 l l
0

When fn (t) = δ1n K1 cos t, the Eq. (7.4.54) becomes

∞

ψ̈n + ωn2 ψn = −λ2n ψn m2 ψm2 − 2μ̂n ψ̇n + δ1n K1 cos t (7.4.55)
m=1

where

c12 n2 π 4
λ2n = (7.4.56)
2l 4
Since the Eq. (7.4.55) contains only cubic nonlinear terms, the solution of the
equation needs to be expanded to the third order to find a first-order approximate
solution. Let the solution of the equation be

ψn = εψn1 (T0 , T1 , T2 ) + ε2 ψn2 (T0 , T1 , T2 ) + ε3 ψn3 (T0 , T1 , T2 ) + · · · (7.4.57)

In order to make both the damping and nonlinear terms appearing in the third
order equation, we let

μ̂n = ε2 μ̃n (7.4.58)

Substituting (7.4.57) and (7.4.58) into (7.4.55) and retaining to O(ε3 ), we obtain
722 7 Continuous Systems

∞

0 = ψ̈n + ωn2 ψn + 2μ̂n ψ̇n + λ2n ψn m2 ψm2 − δ1n K1 cos t
m=1
   
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εψn1 + ε2 ψn2 + ε3 ψn3
 
+ ωn2 εψn1 + ε2 ψn2 + ε3 ψn3
  
+ 2ε2 μ̃n D0 + εD1 + ε2 D2 εψn1 + ε2 ψn2 + ε3 ψn3
∞
   2
+ λ2n εψn1 + ε ψn2 + ε ψn3
2 3
m2 εψm1 + ε2 ψm2 + ε3 ψm3
m=1
− δ1n K1 cos t + · · ·
   
= ε D02 ψn1 + ωn2 ψn1 + ε2 D02 ψn2 + ωn2 ψn2 + 2D0 D1 ψn1
  
+ ε3 D02 ψn3 + ωn2 ψn3 + D12 + 2D0 D2 ψn1 + 2D0 D1 ψn2
∞


+2μ̃n D0 ψn1 + λn ψn1
2
m ψm1 − δ1n K1 cos t + · · ·
2 2
(7.4.59)
m=1

The order of the external excitation K1 cos t in the above equation needs to be
determined by , i.e.,

2ε3 k1 , ≈ ω1
K1 = (7.4.60)
2εk1 , = ω1

 ≈ ω1 :
Let the coefficient of the same power of ε in Eq. (7.4.59) be zero, we obtain
Order ε:

D02 ψn1 + ωn2 ψn1 = 0 (7.4.61)

Order ε2 :

D02 ψn2 + ωn2 ψn2 = −2D0 D1 ψn1 (7.4.62)

Order ε3 :
 
D02 ψ13 + ω12 ψ13 = − D12 + 2D0 D2 ψ11 − 2D0 D1 ψ12
∞

− 2μ̃1 D0 ψ11 − λ21 ψ11 m2 ψm1
2
+ 2k1 cos T0 (7.4.63)
m=1
 
D02 ψn3 + ωn2 ψn3 = − D12 + 2D0 D2 ψn1 − 2D0 D1 ψn2
∞

− 2μ̃n D0 ψn1 − λ2n ψn1 m2 ψm1
2
,n ≥ 2 (7.4.64)
m=1
7.4 Exercise 7.4 (Nonlinear Analysis of Transverse Oscillations of a Fixed … 723

The solution of Eq. (7.4.61) is

ψn1 = An eiωn T0 + cc (7.4.65)

where An = An (T1 , T2 ). Substituting (7.4.65) into (7.4.62), we obtain

D02 ψn2 + ωn2 ψn2 = −2iωn D1 An eiωn T0 + cc (7.4.66)

In order to eliminate secular terms from the above equation, there must be

D1 An = 0 ⇒ An = An (T2 ) (7.4.67)

Then the solution to (7.4.66) is

ψn2 = 0 (7.4.68)

Substitute (7.4.65), (7.4.67) and (7.4.68) into (7.4.63) and (7.4.64), we can obtain
∞

 
D02 ψn3 + ωn2 ψn3 = − D12 + 2D0 D2 ψn1 − 2μ̃n D0 ψn1 − λ2n ψn1 m2 ψm1
2

m=1
= −2iωn A eiωn T0 − 2iωn μ̃n An eiωn T0
∞

− λ2n An eiωn T0 2m2 Am Am − λ2n n2 A2n An eiωn T0
m=2
+ cc + NST , n ≥ 2 (7.4.69)

The prime denotes the derivative with respect to T2 . In order to eliminate secular
terms from the above equation, we need
∞

2iωn An + 2iωn μ̃n An + 2λ2n An m2 Am Am + λ2n n2 A2n An = 0 , n ≥ 2 (7.4.70)
m=2

Substituting An = 21 an eiβn into the above equation yields

∞
1 1
iωn an − ωn an βn + iωn μ̃n an + λ2n an m2 am2 + λ2n n2 an3 = 0 , n ≥ 2
4 m=2
8
(7.4.71)

Separating the real and imaginary parts of the above equation yields

an = −μ̃n an , n ≥ 2 (7.4.72)

724 7 Continuous Systems

therefore

an = an0 e−μ̃n T2 → 0, n ≥ 2 (7.4.73)

and the first-order approximate solution of the equation is

ψn = an cos(ωn t + βn ) → 0, n ≥ 2 (7.4.74)

  = ω1 :
Let the coefficient of the same power of ε in (7.4.59) be zero, we obtain.
Order ε:

D02 ψ11 + ω12 ψ11 = 2k1 cos T0 (7.4.75)

D02 ψn1 + ωn2 ψn1 = 0, n ≥ 2 (7.4.76)

Order ε2 :

D02 ψn2 + ωn2 ψn2 = −2D0 D1 ψn1 (7.4.77)

Order ε3 :
 
D02 ψn3 + ωn2 ψn3 = − D12 + 2D0 D2 ψn1 − 2D0 D1 ψn2
∞

− 2μ̃n D0 ψn1 − λ2n ψn1 m2 ψm1
2
(7.4.78)
m=1

The solution of (7.4.75) is

ψ11 = A1 eiω1 T0 + k̂1 ei T0

+ cc (7.4.79)

where
 
k̂1 = k1 / ω12 − 2
(7.4.80)

The solution of (7.4.76) is

ψn1 = An eiωn T0 + cc, n ≥ 2 (7.4.81)

where An = An (T1 , T2 ). Substitute (7.4.79) and (7.4.81) into (7.4.77), we obtain

D02 ψn2 + ωn2 ψn2 = −2iωn D1 An eiωn T0 + cc (7.4.82)

In order to eliminate secular terms from the above equation, we need

7.4 Exercise 7.4 (Nonlinear Analysis of Transverse Oscillations of a Fixed … 725

D1 An = 0 ⇒ An = An (T2 ) (7.4.83)

The solution to (7.4.82) is

ψn2 = 0 (7.4.84)

Substitute (7.4.79), (7.4.81), (7.4.83) and (7.4.84) into (7.4.78), we obtain

∞

D02 ψn3 + ωn2 ψn3 = −2D0 D2 ψn1 − 2μ̃n D0 ψn1 − λ2n ψn1 m2 ψm1
2

m=1
= −2iωn An eiωn T0 − 2iωn ñn An eiωn T0
∞

− λ2n n2 A2n An eiωn T0 − 2λ2n An eiωn T0 m2 Am Am
m=2
 
− λ2n An eiωn T0 2A1 A1 + 2k̂12 + cc + NST , n ≥ 2 (7.4.85)

In order to eliminate secular terms from the above equation, we need

∞

2iωn An + 2iωn μ̃n An + λ2n n2 A2n An + 2λ2n An m2 Am Am
m=2
 
+ λ2n An 2A1 A1 + 2k̂12 = 0, n ≥ 2 (7.4.86)

Substituting An = 21 an eiβn into the above equation yields

1
iωn an − ωn an βn + iωn μ̃n an + λ2n n2 an3
4
∞  
1 1 1
+ λ2n an m2 am2 + λ2n a12 + 2k̂12 an = 0, n ≥ 2 (7.4.87)
8 m=2
2 2

Separating the real and imaginary parts of the above equation yields

an = −μ̃n an , n ≥ 2 (7.4.88)

therefore

an = an0 e−μ̃n T2 → 0, n ≥ 2 (7.4.89)

and the first-order approximate solution of the equation is

ψn = an cos(ωn t + βn ) → 0, n ≥ 2 (7.4.90)

By now, we have proved that for both ≈ ω1 and = ω1 , ψn → 0, n ≥ 2.

726 7 Continuous Systems

 ≈ ω1 :
From (7.4.65), we can obtain

ψ11 = A1 eiω1 T0 + cc (7.4.91)

Introduce the detuning parameter σ such that

= ω1 + ε2 σ (7.4.92)

Substituting (7.4.91) into (7.4.63), taking into account the results obtained earlier,
yields

D02 ψ13 + ω12 ψ13 = −2D0 D2 ψ11 − 2μ̃1 D0 ψ11 − λ2n ψ11
3
+ 2k1 cos T0
 

= −2iω1 A1 − 2iω1 μ̃1 A1 − λ1 A1 A1 + k1 eiσ T2 eiω1 T0
2 2

+ cc + NST (7.4.93)

In order to eliminate secular terms from the above equation, there must be

2iω1 A1 + 2iω1 μ̃1 A1 + λ21 A21 A1 − k1 eiσ T2 = 0 (7.4.94)

Substituting A1 = 21 a1 eiβ1 into the above equation yields

1
iω1 a1 − ω1 a1 β1 + iω1 μ̃1 a1 + λ21 a13 − k1 ei(σ T2 −β1 ) = 0 (7.4.95)
8
Separating the real and imaginary parts of the above equation yields

a1 = −μ̃1 a1 + ω1−1 k1 sinγ1

1
γ1 a1 = σ a1 − ω1−1 λ21 a13 + ω1−1 k1 cosγ1 (7.4.96)
8
where

γ1 = σ T2 − β1 (7.4.97)

Let a1 = γ1 = 0, we can obtain that the steady state solution should satisfy the
following equations

μ̃1 a1 = ω1−1 k1 sinγ1

 
1
− σ a1 − ω1−1 λ21 a13 = ω1−1 k1 cosγ1 (7.4.98)
8

Therefore, the frequency–response equation is

7.4 Exercise 7.4 (Nonlinear Analysis of Transverse Oscillations of a Fixed … 727
 2
1
σ a1 − ω1−1 λ21 a13 + μ̃21 a12 = ω1−2 k12 (7.4.99)
8

The steady state solution of the system can be found by (7.4.99) and (7.4.100).
To analyze the stability of any steady state (a10 , γ10 ), we let

a1 = a10 + ã1 , γ1 = γ10 + γ̃1 (7.4.100)

and substitute (7.4.100) into (7.4.96). After linearization, we can obtain

 *  *
a)1 −μ̃1 ω1−1 k1 cosγ10 ã1
= (7.4.101)
γ)
1
−1 3 −1 2 −1 −1
σ a10 − 8 ω1 λ1 a10 −a10 ω1 k1 sinγ10 γ̃1

The stability of the steady state solutions a10 ,γ10 can be determined by the
eigenvalues of (7.4.101).
 ≈ 3ω1 :
ψ11 is given by (7.4.79). Considering the results obtained earlier and (7.4.78), we
can obtain the governing equation for ψ13 :

D02 ψ13 + ω12 ψ13 = −2D0 D2 ψ11 − 2μ̃1 D0 ψ11 − λ21 ψ11
3
(7.4.102)

Substituting (7.4.79) into (7.4.102) yields

D02 ψ13 + ω12 ψ13 = −2D0 D2 ψ11 − 2μ̃1 D0 ψ11 − λ21 ψ11 3
 
= − 2iω1 A1 + 2iω1 μ̃1 A1 + 6λ21 k̂12 A1 + 3λ21 A21 A1 eiω1 T0
2 −2ω1 )T0
− 3λ21 k̂1 A1 ei( − λ21 k̂13 e3i T0
+ cc + NST (7.4.103)

Introduce the detuning parameter σ such that

= 3ω1 + ε2 σ (7.4.104)

In order to eliminate secular terms from (7.4.103), there must be

2
2iω1 A1 + 2iω1 μ̃1 A1 + 6λ21 k̂12 A1 + 3λ21 A21 A1 + 3λ21 k̂1 A1 eiσ T2 = 0 (7.4.105)

Substituting A1 = 21 a1 eiβ1 into the above equation yields

3 3
iω1 a1 − ω1 a1 β1 + iω1 μ̃1 a1 + 3λ21 k̂12 a1 + λ21 a13 + λ21 k̂1 a12 ei(σ T2 −3β1 ) = 0
8 4
(7.4.106)

Separating the real and imaginary parts of the above equation yields
728 7 Continuous Systems

3
a1 = −μ̃1 a1 + ω1−1 λ21 k̂1 a12 sinγ1
4
9 9
a1 γ1 = σ a1 − 9ω1 λ1 k̂1 a1 − ω1−1 λ21 a13 − ω1−1 λ21 k̂1 a12 cosγ1
 −1 2 2
(7.4.107)
8 4
Where

γ1 = σ T2 − 3β1 (7.4.108)

Let a1 = γ1 = 0, we can obtain that the steady state solution should satisfy the
following equations

3
0 = −μ̃1 a1 + ω1−1 λ21 k̂1 a12 sinγ1
4
9 9
0 = σ a1 − 9ω1 λ1 k̂1 a1 − ω1−1 λ21 a13 − ω1−1 λ21 k̂1 a12 cosγ1
−1 2 2
(7.4.109)
8 4
Therefore, the frequency–response equation is
 
−1 2 2 9 −1 2 3 2 81 −2 4 2 4
σ a1 − 9ω1 λ1 k̂1 a1 − ω1 λ1 a1 + 27μ̃21 a12 = ω λ k̂ a (7.4.110)
8 16 1 1 1 1

The steady state solution of the system can be found by (7.4.110) and (7.4.109).
To analyze the stability of any steady state (a10 , γ10 ), we let

a1 = a10 + ã1 , γ1 = γ10 + γ̃1 (7.4.111)

and substitute (7.4.111) into (7.4.107). After linearization, we can obtain

   
3 3 −1 2 2
ã1 = −μ̃1 + ω1−1 λ21 k̂1 a10 sin γ10 ã1 + ω1 λ1 k̂1 a10 cos γ10 γ̃1
2 4
 
27 18
a10 γ̃1 = σ − 9ω1−1 λ21 k̂12 − ω1−1 λ21 a10
2
− ω1−1 λ21 k̂1 a10 cos γ1 ã1
8 4
 
9 −1 2 2
+ ω λ k̂1 a cos γ10 γ̃1 (7.4.112)
4 1 1 10

Obviously, there exists a steady state solution a10 = 0, at which point the Eq.
(7.4.112) becomes
 
a)1 = −μ̃1 ã1 , σ − 9ω1−1 λ21 k̂12 ã1 = 0 (7.4.113)

therefore

ã1 = Ce−μ̃1 T2 → 0 (7.4.114)

7.4 Exercise 7.4 (Nonlinear Analysis of Transverse Oscillations of a Fixed … 729

Thus, the steady state solution a10 = 0 is stable.

For a non-trivial steady state solution a10 = 0, the Eq. (7.4.112) becomes
⎡ ⎤
 * −μ̃1 + 23 ω1−1 λ21 k̂1 a10 sin γ10 3 −1 2
ω λ1 k̂1 a10
2
cos γ10  *
ã1 4 1 ã
= ⎣ a10
−1
σ − 9ω1−1 λ21 k̂12 − 27 ω−1 λ21 a10
2 9 −1
ω λ21 k̂1 a10 cos γ10 ⎦ 1
γ̃1 18 −1 2
8 1 4 1 γ̃1
− 4 ω1 λ1 k̂1 a10 cos γ1
(7.4.114)

The stability of the steady state solutions a10 ,γ10 can be determined by the
eigenvalues of (7.4.101).
 ≈ 13 ω1 :
Readers are invited to complete this case.
When f1 (t) = K1 cos t, f3 (t) = K3 cos( t + τ ) and fn = 0, n = 1, 3, Eq.
(7.4.59) becomes
   
0 = ε D02 ψn1 + ωn2 ψn1 + ε2 D02 ψn2 + ωn2 ψn2 + 2D0 D1 ψn1
⎡ 2   ⎤
D0 ψn3 + ωn2 ψn3 + D12 + 2D0 D2 ψn1
⎢ ∞
 ⎥
+ ε3 ⎣ 2 ⎦
+ 2D0 D1 ψn2 + 2μ̃n D0 ψn1 + λ2n ψn1 m2 ψm1
m=1
− δ1n K1 cos t − δ3n K3 cos( t + τ ) + · · · (7.4.116)

When ≈ 3ω1 is adopted, the excitation term K3 cos( t + τ ) in the above

equation becomes a resonant excitation term of ψ3 due to ω3 = 3ω1 . Therefore we
specify:

K1 = 2εk1 , K3 = 2ε3 k3 (7.4.117)

Let the coefficient of the same power of ε in the Eq. (7.4.116) be zero, we obtain.
Order ε:

D02 ψ11 + ω12 ψ11 = 2k1 cos T0 (7.4.118)

D02 ψn1 + ωn2 ψn1 = 0, n ≥ 2 (7.4.119)

Order ε2 :

D02 ψn2 + ωn2 ψn2 = −2D0 D1 ψn1 (7.4.120)

Order ε3 :
730 7 Continuous Systems
 
D02 ψ33 + ω32 ψ33 = − D12 + 2D0 D2 ψ31 − 2D0 D1 ψ32 − 2μ̃3 D0 ψ31
∞

− λ23 ψ31 m2 ψm1
2
+ 2k3 cos( T0 + τ ) (7.4.121)
m=1
 
D02 ψn3 + ωn2 ψn3 = − D12 + 2D0 D2 ψn1 − 2D0 D1 ψn2
∞

− 2μ̃n D0 ψn1 − λ2n ψn1 m2 ψm1
2
, n = 3 (7.4.122)
m=1

The solution of the Eq. (7.4.118) is

ψ11 = A1 eiω1 T0 + k̂1 ei T0

+ cc (7.4.123)

where
 
k̂1 = k1 / ω12 − 2
(7.4.124)

The solution of the Eq. (7.4.119) is

ψn1 = An eiωn T0 + cc, n ≥ 2 (7.4.125)

where An = An (T1 , T2 ). Substitute (7.4.123) and (7.4.125) into (7.4.120), we obtain

D02 ψn2 + ωn2 ψn2 = −2iωn D1 An eiωn T0 + cc (7.4.126)

In order to eliminate secular terms from the above equation, there must be

D1 An = 0 ⇒ An = An (T2 ) (7.4.127)

The solution to (7.4.126) is

ψn2 = 0 (7.4.128)

Substitute (7.4.123), (7.4.125), (7.4.127) and (7.4.128) into (7.4.122), we obtain

∞

D02 ψn3 + ωn2 ψn3 = −2D0 D2 ψn1 − 2μ̃n D0 ψn1 − λ2n ψn1 m2 ψm1
2

m=1
= −2iωn An eiωn T0 − 2iωn μ̃n An e iωn T0

∞

− λ2n n2 A2n An eiωn T0 − 2λ2n An eiωn T0 m2 Am Am
m=2
 
− λ2n An eiωn T0 2A1 A1 + 2k̂12 + cc + NST , n = 1 and 3
(7.4.129)
7.4 Exercise 7.4 (Nonlinear Analysis of Transverse Oscillations of a Fixed … 731

In order to eliminate secular terms from the above equation, we need

∞

2iωn An + 2iωn μ̃n An + λ2n n2 A2n An + 2λ2n An m2 Am Am
m=2
 
+ λ2n An 2A1 A1 + 2k̂12 = 0, n = 1 and 3 (7.4.130)

Substituting An = 21 an eiβn into the above equation yields

1
iωn an − ωn an βn + iωn μ̃n an + λ2n n2 an3
4
∞  
1 2  2 2 1 2 1 2
+ λn an m am + λn a1 + 2k̂1 an = 0, n = 1 and 3
2
(7.4.131)
8 m=2
2 2

Separating the real and imaginary parts of the above equation yields

an = −μ̃n an , n = 1 and 3 (7.4.132)

Therefore,

an = an0 e−μ̃n T2 → 0, n = 1 and 3 (7.4.133)

and the first-order approximate solution of the equation is

ψn = an cos(ωn t + βn ) → 0, n = 1 and 3 (7.4.134)

From the above results, the governing equations of ψ1 and ψ3 can be rewritten as:

D02 ψ11 + ω12 ψ11 = 2k1 cos T0

D02 ψ31 + ω32 ψ31 = 0 (7.4.135)

∞

D02 ψ13 + ω12 ψ13 = −2D0 D2 ψ11 − 2μ̃1 D0 ψ11 − λ21 ψ11 m2 ψm1
2

m=1
D02 ψ33 + ω32 ψ33 = −2D0 D2 ψ31 − 2μ̃3 D0 ψ31
∞

− λ23 ψ31 m2 ψm1
2
+ 2k3 cos( T0 + τ ) (7.4.136)
m=1

The solution of the Eq. (7.4.135) has been obtained earlier as

ψ11 = A1 eiω1 T0 + k̂1 ei T0

+ cc
ψ31 = A3 e iω3 T0
+ cc (7.4.137)
732 7 Continuous Systems

Substituting (7.4.137) into (7.4.136) and taking into account ≈ 3ω1 and ω3 =
3ω1 , we obtain
∞

D02 ψ13 + ω12 ψ13 = −2D0 D2 ψ11 − 2μ̃1 D0 ψ11 − λ21 ψ11 m2 ψm1
2

m=1
= −2iω1 A1 eiω1 T0 − 2iω1 μ̃1 A1 eiω1 T0 − λ21 ψ11
3
− 9λ21 ψ11 ψ31
2

= − 2iω1 A1 + 2iω1 μ̃1 A1 + 3λ21 A21 A1

+ 6λ21 k̂12 A1 + 18A1 λ21 A3 A3 eiω1 T0
2 −2ω1 )T0
− 3λ21 k̂1 A1 ei( + cc + NST (7.4.138)

D02 ψ33 + ω32 ψ33 = −2D0 D2 ψ31 − 2μ̃3 D0 ψ31

− λ23 ψ31 ψ11 2
− 9λ23 ψ31
3
+ 2k3 cos( T0 + τ )
 
= − 2iω3 A3 + 2iω3 μ̃3 A3 + 2λ23 A1 A1 A3
2
!
+ 2λ23 k̂12 A3 + 9λ23 A3 A3 eiω3 T0
−ω3 )T0 T0 +τ )
− λ23 k̂12 A3 ei(2 + k3 ei( + cc + NST (7.4.139)

We introduce the detuning parameters σ1 and σ3 and make

= 3ω1 + ε2 σ1 , = ω3 + ε2 σ3 (7.4.140)

Thus, in order to eliminate secular terms from (7.4.138) and (7.4.139), we need

2iω1 A1 + 2iω1 μ̃1 A1 + 6λ21 k̂12 A1

2
+ 3λ21 A21 A1 + 18λ21 A1 A3 A3 + 3λ21 k̂1 A1 eiσ1 T2 = 0 (7.4.141)

2iω3 A3 + 2iω3 μ̃3 A3 + 2λ23 k̂12 A3 + 2λ23 A1 A1 A3

2
+ 9λ23 A3 A3 + λ23 k̂12 A3 e2iσ3 T2 + k3 ei(σ3 T2 +τ ) = 0 (7.4.142)

Let
1 iβ1 1
A1 = a1 e , A3 = a3 eiβ3 (7.4.143)
2 2
Substituting (7.4.143) into (7.4.141) and (7.4.142) yields

iω1 a1 − ω1 a1 β1 + iω1 μ̃1 a1 + 3λ21 k̂12 a1

3 9 3
+ λ21 a13 + λ21 a1 a32 + λ21 k̂1 a12 ei(σ1 T2 −3β1 ) = 0 (7.4.144)
8 4 4
7.4 Exercise 7.4 (Nonlinear Analysis of Transverse Oscillations of a Fixed … 733

1
iω3 a3 − ω3 a3 β3 + iω3 μ̃3 a3 + λ23 k̂12 a3 + λ23 a12 a3
4
9 1
+ λ23 a33 + λ23 k̂12 a3 ei(2σ3 T2 −2β3 ) + k3 ei(σ3 T2 −β3 +τ ) = 0 (7.4.145)
8 2
Separating the real and imaginary parts of the above equation yields

3
a1 = −μ̃1 a1 − ω1−1 λ21 k̂1 a12 sinγ1
4
9
a1 γ1 = σ1 a1 − 9ω1−1 λ21 k̂12 a1 − ω1−1 λ21 a13
8
27 9
− ω1−1 λ21 a1 a32 − ω1−1 λ21 k̂1 a12 cosγ1 (7.4.146)
4 4
1
a3 = −μ̃3 a3 − ω3−1 λ23 k̂12 a3 sin 2γ3 − ω3−1 k3 sin(γ3 + τ )
2
1 9
a3 γ3 = σ3 a3 − ω3 λ3 k̂1 a3 − ω3−1 λ23 a12 a3 − ω3−1 λ23 a33
 −1 2 2
4 8
1 −1 2 2 −1
− ω3 λ3 k̂1 a3 cos 2γ3 − ω3 k3 cos(γ3 + τ ) (7.4.147)
2

γ1 = σ1 T2 − 3β1 , γ3 = σ3 T2 − β3 (7.4.148)

Let a1  = γ1  = a3  = γ3  = 0, we can obtain that the steady state solution should

satisfy the following equations

3 −1 2 2
ω λ k̂1 a sinγ1 = −μ̃1 a1
4 1 1 1
9 −1 2 2 9 27
ω1 λ1 k̂1 a1 cosγ1 = σ1 a1 − 9ω1−1 λ21 k̂12 a1 − ω1−1 λ21 a13 − ω1−1 λ21 a1 a32
4 8 4
(7.4.149)
1 −1 2 2
ω λ k̂ a3 sin 2γ3 + ω3−1 k3 sin(γ3 + τ ) = −μ̃3 a3
2 3 3 1
1 −1 2 2
ω λ k̂ a3 cos 2γ3 + ω3−1 k3 cos(γ3 + τ ) = σ3 a3 − ω3−1 λ23 k̂12 a3
2 3 3 1
1 9
− ω3−1 λ23 a12 a3 − ω3−1 λ23 a33 (7.4.150)
4 8
Eliminating γ1 from the system of Eq. (7.4.149) yields
 2
81 −2 4 2 4 9 27
ω1 λ1 k̂1 a1 = 9μ̃21 a12 + σ1 a1 − 9ω1−1 λ21 k̂12 a1 − ω1−1 λ21 a13 − ω1−1 λ21 a1 a32
16 8 4
(7.4.151)
734 7 Continuous Systems

To analyze the stability of any steady state solution (a10 , γ10 , a30 , γ30 ), we let

a1 = a10 + ã1 , γ1 = γ10 + γ̃1

a3 = a30 + ã3 , γ3 = γ30 + γ̃3 (7.4.152)

Substituting this into (7.4.146) and (7.4.147). After linearization, we can obtain
⎡ ⎤⎧  ⎫ ⎡ ⎤⎧ ⎫
1 0 0 0 ⎪
⎪ ã ⎪ l11 l12 l13 l14 ⎪ ã1 ⎪
⎢0 ⎨ 1 ⎪ ⎬ ⎢ ⎪
⎨ ⎪ ⎬
⎢ 1 0 0 ⎥ ⎥ 3ã l l22 l23 l24 ⎥
⎥ ã3
⎣0 =⎢ 21
(7.4.153)
0 a10 0 ⎦⎪ ⎪ γ̃1  ⎪
⎪
⎣ l31 l32 l33 l34 ⎦⎪⎪ γ̃ ⎪
⎩ ⎭ ⎩ 1⎪ ⎭
0 0 0 a30 γ̃3  l41 l42 l43 l44 γ̃3

where
 
3 3
l11 = − μ̃1 + ω1−1 λ21 k̂1 a10 sin γ10 , l12 = 0, l13 = − ω1−1 λ21 k̂1 a10 2
cos γ10 , l14 = 0
2 4
 
1
l21 = 0, l22 = − μ̃3 + ω3−1 λ23 k̂12 sin 2γ30 , l23 = 0
2
$ %
l24 = − ω3−1 λ23 k̂12 a30 cos 2γ30 + ω3−1 k3 cos(γ30 + τ )
 
27 −1 2 2 27 −1 2 2 18 −1 2
l31 = σ1 − 9ω1−1 λ21 k̂12 − ω1 λ1 a10 − ω1 λ1 a30 − ω1 λ1 k̂1 a10 cos γ10
8 4 4
54 −1 2 9 −1 2 2
l32 = 0, l33 = − ω1 λ1 a10 a30 ã3 + ω1 λ1 k̂1 a1 sin γ10 , l34 = 0
4 4
1 −1 2
l41 = − ω3 λ3 a10 a30
2
 
1 27 −1 2 2 1
l42 = σ3 − ω3−1 λ23 k̂12 − ω3−1 λ23 a102
− ω3 λ3 a30 − ω3−1 λ23 k̂12 cos 2γ30
4 8 2
$ %
−1 2 2 −1
l43 = 0, l44 = ω3 λ3 k̂1 a30 sin 2γ30 + ω3 k3 sin(γ30 + τ ) (7.4.154)

The stability of the steady state solution (a10 , γ10 , a30 , γ30 ) can be determined by
the eigenvalues of (7.4.153).
Readers are invited to complete the analysis on Exercise 7.4(e).

7.5 Exercise 7.5 (Nonlinear Analysis of Transverse

Oscillations in the Plane of an Elastic Tensioned String)

Solution: (a) The governing equations for the corresponding linear undamped free
oscillation of the system are

wtt − c22 wxx = 0 (7.5.1)

Let
7.5 Exercise 7.5 (Nonlinear Analysis of Transverse Oscillations in the Plane … 735

w(x, t) = φ(x)eiωt (7.5.2)

and substitute it into (7.5.1), we obtain

d 2φ ω
+ k 2 φ = 0, k = (7.5.3)
dx2 c2

The boundary condition becomes

φ(0) − h1 φ  (0) = 0, φ(1) + h2 φ(1) = 0 (7.5.4)

The solution of (7.5.3) is

φ(x) = Csinkx + Dcoskx (7.5.5)

Applying the boundary conditions (7.5.4), we can obtain

− kh1 C + D = 0
(sink + Ch2 kcosk)C + (cosk − h2 ksink)D = 0 (7.5.6)

From the non-trivial solution condition, we can obtain the eigen equation
 
1 − h1 h2 k 2 tank + (h1 + h2 )k = 0 (7.5.7)

The equation consists of an infinite number of solutions. Let the nth solution be
kn , then the natural frequency ωn = c2 kn . The first equation of (7.5.6) is

Dn = kn h1 Cn (7.5.8)

Therefore, the nth order mode shape function is

φn (x) = Cn (sinkn x + h1 kn coskn x) (7.5.9)

Since Cn can be any non-zero constant, we have Cn = δn , where δn is the modal

(mode) normalization factor, i.e.

δn2 (sinkn x + h1 kn coskn x)2 dx = 1 (7.5.10)

0

Therefore, the mode shape function is

φn (x) = δn (sinkn x + h1 kn coskn x) (7.5.11)

736 7 Continuous Systems

The orthogonality of the mode shape functions is proved below. From (7.5.3), we
have

kn2 φn = φn , km2 φm = φm

The prime denotes the derivative with respect to x. Multiplying these two equations
by φm and φn , respectively, and integrating over [0, 1] yields

1 1 1
.
kn2 φn φm dx = φm φn dx =− φn φm dx + φn φm .10 (7.5.12)
0 0 0

1 1 1
.
km2 φn φm dx = φn φm dx =− φn φm dx + φm φn .10 (7.5.13)
0 0 0

Subtracting the above two equations and taking into account (7.5.4), we can obtain

1
 2  .
kn − km2 φn φm dx = (φn φm − φm φn ).10
0
 
= φn (1)φm (1) − φm (1)φn (1)
 
− φn (0)φm (0) − φm (0)φn (0)
 
= −h2 φn (1)φm (1) + h2 φm (1)φn (1)
 
− h1 φn (0)φm (0) − h1 φm (0)φn (0)
=0 (7.5.14)

So, when n = m, we can obtain

1 1

φn φm dx = 0, φn φm dx = 0 (7.5.15)

0 0

When h1 = 1 and h2 = 1.52, the Eq. (7.5.7) becomes

 
1 − 1.52k 2 tank + 2.52k = 0 (7.5.16)

The first five nonzero roots of this equation are:

k1 = 1.198, k2 = 3.594, k3 = 6.535, k4 = 9.597, k5 = 12.697

It can be seen that

7.5 Exercise 7.5 (Nonlinear Analysis of Transverse Oscillations in the Plane … 737

k2 ≈ 3k1 so ω2 ≈ 3ω1

When F(x, t) = F̂(x)cos t, the governing differential equation of the system

becomes
l
c2
wtt − c22 wxx = 1 wxx wx2 dx − 2μ̂wt + F̂(x)cos t (7.5.17)
2l
0

Let the solution of the equation be

∞

w(x, t) = φn (x)ψn (t) (7.5.18)
n=1

Substituting (7.5.18) into (7.5.17) yields

∞
 ∞

φn (x)ψ̈n (t) + c22 kn2 φn (x)ψn (t)
n=1 n=1

∞ l ∞ 2
c2  2 
=− 1 k φn (x)ψn (t) φr (x)ψr (t) dx
2l n=1 n r=1
0
∞

− 2μ̂ φn (x)ψ̇n (t) + F̂(x)cos t (7.5.19)
n=1

Multiplying both sides of the above equation by φm (x), and integrating over [0, 1],
we get
∞
 1 ∞
 1
ψ̈n φm φn dx + c22 kn2 ψn φm φn dx
n=1 0 n=1 0
∞  "
∞
#
c12  2 1 1
 
=− k ψn φm φn dx ψp ψq φ p φq dx
2l n=1 n 0 p,q 0
∞
 1 1
−2 ψ̇n μ̂φm φn dx + cos t φm F̂(x)dx (7.5.20)
n=1 0 0

Utilizing the orthogonality of the mode shape function, we can obtain

∞

ψ̈n + c22 kn2 ψn = −λ2n ψn αm2 ψm2 − 2μ̂n ψ̇n + Kn cos t (7.5.21)
m

where
738 7 Continuous Systems

1 1

αm2 = φ2m dx, Kn = φn F̂(x)dx, λ2n = c12 kn2 /2l (7.5.22)

0 0

Let the solution of (7.5.22) be

ψn = εψn1 (T0 , T1 , T2 ) + ε2 ψn2 (T0 , T1 , T2 ) + ε3 ψn3 (T0 , T1 , T2 ) + · · · (7.5.23)

In order to make both the damping and nonlinear terms appearing in the third
order equation, let

μ̂n = ε2 μ̃n (7.5.24)

Substituting (7.4.57) and (7.4.58) into (7.4.55) and retaining to O(ε3 ), we obtain
∞
0 = ψ̈n + c22 kn2 ψn + λ2n ψn α 2 ψ 2 + 2μ̂n ψ̇n − Kn cos t
m m m
 2   
= D0 + 2εD0 D1 + ε2 D12 + 2D0 D2 εψn1 + ε2 ψn2 + ε3 ψn3
 
+ ωn2 εψn1 + ε2 ψn2 + ε3 ψn3
  
+ 2ε2 μ̂n D0 + εD1 + ε2 D2 εψn1 + ε2 ψn2 + ε3 ψn3
∞
   2
+ λ2n εψn1 + ε2 ψn2 + ε3 ψn3 αm
2
εψm1 + ε2 ψm2 + ε3 ψm3 − Kn cos t + · · ·
m=1
   
= ε D02 ψn1 + ωn2 ψn1 + ε2 D02 ψn2 + ωn2 ψn2 + 2D0 D1 ψn1
 
+ ε3 [D02 ψn3 + ωn2 ψn3 + D12 + 2D0 D2 ψn1 + 2D0 D1 ψn2
∞

+ 2μ̂n D0 ψn1 + λ2n ψn1 αm ψm1 ] − Kn cos t + · · ·
2 2
(7.5.25)
m=1

We specify:

K1 = 2ε3 k1 ; Kn = 2εkn , n ≥ 2 (7.5.26)

Let the coefficient of the same power of ε in the Eq. (7.5.25) be zero, we obtain.
Order ε:

D02 ψ11 + ω12 ψ11 = 0 (7.5.27)

D02 ψn1 + ωn2 ψn1 = 2kn cos T0 , n ≥ 2 (7.5.28)

Order ε2 :

D02 ψn2 + ωn2 ψn2 = −2D0 D1 ψn1 (7.5.29)

7.5 Exercise 7.5 (Nonlinear Analysis of Transverse Oscillations in the Plane … 739

Order ε3 :
 
D02 ψ13 + ω12 ψ13 = − D12 + 2D0 D2 ψ11 − 2D0 D1 ψ12
∞

− 2μ̂1 D0 ψ11 − λ21 ψ11 αm2 ψm1
2
+ 2k1 cos T0 (7.5.30)
m=1
 
D02 ψn3 + ωn2 ψn3 = − D12 + 2D0 D2 ψn1 − 2D0 D1 ψn2
∞

− 2μ̂n D0 ψn1 − λ2n ψn1 αm2 ψm1
2
, n≥2 (7.5.31)
m=1

(7.5.27) and (7.5.28) can be solved by

ψ11 = A1 eiω1 T0 + cc
ψn1 = An eiωn T0 + k̂n ei T0
+ cc, n ≥ 2 (7.5.32)

where An = An (T1 , T2 ) and

kn
k̂n = , n≥2 (7.5.33)
ωn2 − 2

Substituting (7.5.32) into (7.5.29), we get

D02 ψn2 + ωn2 ψn2 = −2iωn D1 An eiωn T0 + cc (7.5.34)

In order to eliminate secular terms from the above equation, there must be

D1 An = 0 ⇒ An = An (T2 ) (7.5.35)

Therefore, the solution to (7.5.34) is

ψn2 = 0 (7.5.36)

Substituting (7.5.32), (7.5.35) and (7.5.36) into (7.5.31), and taking into account
≈ ω1 , ω2 ≈ 3ω1 , we obtain
∞

 
D02 ψn3 + ωn2 ψn3 = − D12 + 2D0 D2 ψn1 − 2μ̂n D0 ψn1 − λ2n ψn1 αm2 ψm1
2

m=1

= −2iωn An eiωn T0 − 2iωn μ̂n An eiωn T0 − 2λ2n α12 A1 A1 An eiωn T0

− λ2n αn2 A2n An eiωn T0 − 4λ2n αn2 k̂n2 An eiωn T0
∞
   +2ω1 )T0
− 2λ2n An eiωn T0 αm2 Am Am + k̂m2 − λ2n α12 k̂n A21 ei(
m=1
740 7 Continuous Systems

∞

− λ2n k̂n e3i T0
αm2 k̂m2 + cc + NST , n ≥ 2 (7.5.37)
m=2

ψ11 = A1 eiω1 T0 + cc
ψn1 = An eiωn T0 + k̂n ei T0
+ cc, n ≥ 2 (7.5.38)

The prime denotes the derivative with respect to T2 . When n ≥ 3 is used, in order
to eliminate secular terms from the above equation, there must be

2iωn An + 2iωn μ̂n An + 2λ2n α12 A1 A1 An + λ2n αn2 A2n An + 4λ2n αn2 k̂n2 An
∞
  
+ 2λ2n An αm2 Am Am + k̂m2 = 0, n ≥ 3 (7.5.39)
m=2

Substituting An = 21 an eiβn into the above equation yields

2iωn An + 2iωn μ̂n An + 2λ2n α12 A1 A1 An + λ2n αn2 A2n An + 4λ2n αn2 k̂n2 An
∞
  
+ 2λ2n An αm2 Am Am + k̂m2 = 0, n ≥ 3 (7.5.40)
m=2

From the imaginary part of the above equation, we have

an = −μ̂n an , n ≥ 3 (7.5.41)

Therefore,

an = an0 e−μ̂n T2 → 0, n ≥ 3 (7.5.42)

and

ψn1 = k̂n ei T0
+ cc, n ≥ 3 (7.5.43)

The first order approximate solution of the equation can be written as

ψn ≈ ψn1 = 2k̂n cos t, n ≥ 3 (7.5.44)

From (7.5.32), we can obtain

ψ11 = A1 eiω1 T0 + cc
ψ21 = A2 eiω2 T0 + k̂2 ei T0
+ cc (7.5.45)

Equation (7.5.30) changes into

7.5 Exercise 7.5 (Nonlinear Analysis of Transverse Oscillations in the Plane … 741

D02 ψ13 + ω12 ψ13 = −2D0 D2 ψ11 − 2μ̂1 D0 ψ11 − λ21 α12 ψ11
3

∞

− λ21 α22 ψ11 ψ21
2
− λ21 ψ11 αm2 ψm1
2
+ 2k̂1 cos T0 (7.5.46)
m=3

Substituting (7.5.45) and (7.5.43) into (7.5.46) yields

D02 ψ13 + ω12 ψ13 = −2iω1 A1 eiω1 T0 − 2iω1 μ̂1 A1 eiω1 T0 − 3λ21 α12 A21 A1 eiω1 T0
− 2λ21 α22 A1 A2 A2 eiω1 T0 − 2λ21 α22 k̂22 A1 eiω1 T0
− 2λ21 h22 A1 eiω1 T0 − 2λ21 α22 k̂2 A1 A2 ei(ω2 −ω1 − )T0

−ω1 )T0
− λ21 h22 A1 ei(2 + k1 ei T0
+ cc + NST (7.5.47)

where
∞

h22 = αm2 k̂m2 (7.5.48)
m=3

Let n = 2 in (7.5.37), we get

D02 ψ23 + ω22 ψ23 = −2iω2 A2 eiω2 T0 − 2iω2 μ̂2 A2 eiω2 T0 − 2λ22 α12 A1 A1 A2 eiω2 T0
− 3λ22 A22 A2 eiω2 T0 − 6λ22 α22 k̂22 A2 eiω2 T0 − 2λ22 h22 A2 eiω2 T0
+2ω1 )T0
− λ22 α12 k̂2 A21 ei( − λ22 α22 k̂23 e3i T0
− λ22 h22 k̂2 e3i T0

+ cc + NST (7.5.49)

Introduce the detuning parameters σ1 and σ2 so that

= ω1 + ε2 σ1 , ω2 = 3ω1 + ε2 σ2 (7.5.50)

In order to eliminate secular terms from (7.5.47) and (7.5.49), we need

2iω1 A1 + 2iω1 μ̂1 A1 + 3λ21 α12 A21 A1 + 2λ21 α22 A1 A2 A2 + 2λ21 α22 k̂22 A1
+ 2λ21 h22 A1 + 2λ21 α22 k̂2 A1 A2 ei(σ2 −σ1 )T2 + λ21 h22 A1 e2iσ1 T2 − k1 eiσ1 T2 = 0 (7.5.51)

2iω2 A2 + 2iω2 μ̂2 A2 + 2λ22 α12 A1 A1 A2 + 3λ22 α22 A22 A2

+ 6λ22 α22 k̂22 A2 + 2λ22 h22 A2 + λ22 α12 k̂2 A21 ei(σ1 −σ2 )T2
+ λ22 α22 k̂23 ei(3σ1 −σ2 )T2 + λ22 h22 k̂2 ei(3σ1 −σ2 )T2 = 0 (7.5.52)

Substitute A1 = 21 a1 eiβ1 and A2 = 21 a2 eiβ2 into (7.5.51) and (7.5.52), we obtain

3 1  
iω1 a1 − ω1 a1 β1 + iω1 μ̂1 a1 + λ21 α12 a13 + λ21 α22 a1 a22 + λ21 α22 k̂22 + h22 a1
8 4
742 7 Continuous Systems

1
+ λ21 α22 k̂2 a1 a2 ei(σ2 T2 −σ1 T2 −2β1 +β2 ) + λ21 h22 a1 ei(2σ1 T2 −2β1 )
2
− k1 ei(σ1 T2 −β1 ) = 0 (7.5.53)

1 3
iω2 a2 − ω2 a2 β2 + iω2 μ̂2 a2 + λ22 α12 a12 a2 + λ22 α22 a23
4 8
 
+ λ22 3α22 k̂22 + h22 + λ22 α12 k̂2 a12 ei(σ1 T2 −σ2 T2 +2β1 −β2 )
 
+ λ22 k̂2 α22 k̂22 + h22 ei(3σ1 T2 −σ2 T2 −β2 ) = 0 (7.5.54)

Let

γ1 = σ1 T2 − β1
γ2 = σ2 T2 − σ1 T2 − 2β1 + β2 (7.5.55)

Separating the real and imaginary parts of (7.5.53) and (7.5.54) yields

1
a1 = −μ̂1 a1 − ω1−1 λ21 α22 k̂2 a1 a2 sin γ2 − ω1−1 λ21 h22 a1 sin 2γ1 + ω1−1 k1 sin γ1
2
3 −1 2 2 3 1 −1 2 2 2  
a1 γ1 = a1 σ1 − ω1 λ1 α1 a1 − ω1 λ1 α2 a1 a2 − ω1−1 λ21 α22 k̂22 + h22 a1

8 4
1 −1 2 2
− ω1 λ1 α2 k̂2 a1 a2 cos γ2 − ω1−1 λ21 h22 a1 cos 2γ1 + ω1−1 k1 cos γ1 (7.5.56)
2

a2  = −μ̂2 a2 + ω2−1 λ22 α12 k̂2 a12 sin γ2

 
− ω2−1 λ22 k̂2 α22 k̂22 + h22 sin(2γ1 − γ2 )
  1 3
a2 γ2 − 2γ1 = (σ2 − 3σ1 )a2 + ω2−1 λ22 α12 a12 a2 + ω2−1 λ22 α22 a23
4 8
 
+ ω2−1 λ22 3α22 k̂22 + h22 + ω2−1 λ22 α12 k̂2 a12 cos γ2
 
+ ω2−1 λ22 k̂2 α22 k̂22 + h22 cos(2γ1 − γ2 ) (7.5.57)

The steady state solution of the above system of equations can be found and its
stability can be analyzed.
It can be concluded that the first order approximate solution of the system for the
case of F(x, t) = F̂(x)cos t, ≈ ω1 , ω2 ≈ 3ω1 is
 
ψ1 = a1 cos(ω1 t + β1 ) + O ε3
 
ψ2 = a2 cos(ω2 t + β2 ) + 2k̂2 cos t + O ε3
 
ψn = 2k̂n cos t + O ε3 , n ≥ 3 (7.5.58)
7.6 Exercise 7.6 (Nonlinear Analysis of Planar Transverse Oscillations … 743

7.6 Exercise 7.6 (Nonlinear Analysis of Planar Transverse

Oscillations of Elastic Tensioned Strings Under
Parametric Excitation Formed by Time-Varying
Tension)

Solution: (a) Substituting

∞
√  nπ x
w= 2 un (t)sin
n=1
l

into the governing equation of the system yields

∞ ∞
√  nπ x  √ n2 π 2  nπ x
2 ün sin + c02 1 + p(t) 2 2 un sin
n=1
l l n=1 l
l ∞ $
pπ x %2
∞ ∞
c12 √ n2 π 2  nπ x  pπ √  nπ x
=− 2 2 un sin 2 up cos dx − 2 2μ̂ u̇n sin
2l l n=1 l p=1
l l n=1
l
0

√
Multiplying the above equation by 2sin(mπ x/l) and making the integration of
x over [0, l] and taking into account the orthogonality of this mode shape function
yields
∞
c02 n2 π 2   n2 c12 π 4  2 2
ün + 1 + p(t) un = − un m um − 2μ̂n u̇n
l2 2l 4 m=1

i.e.
∞

 
ün + ωn2 1 + p(t) un = −2μ̂n u̇n − αn un
2
m2 um2 (7.6.1)
m=1

where

nπ c0 c2 π 4
ωn = , α= 1 4 (7.6.2)
l 2l

When p(t) = 2εcos t, let ε = ε̂2 , then Eq. (7.6.1) becomes

∞

ün + ωn2 un = −2μ̂n u̇n − αn2 un m2 um2 − 2ε̂2 ωn2 un cos t (7.6.3)
m=1

Let the solution of this equation be

744 7 Continuous Systems

un = ε̂un1 (T0 , T1 , T2 ) + ε̂2 un2 (T0 , T1 , T2 ) + ε̂3 un3 (T0 , T1 , T2 ) + · · · (7.6.4)

In order to make the damping, nonlinear, and the parametric excitation term
appearing simultaneously in the third-order equation, we designate μ̂n as ε2 μn .
Substituting (7.6.4) into (7.6.3) and retaining to O(ε̂3 ) yields
∞

0 = ün + ωn2 un + 2μn u̇n + αn2 un m2 um2 + 2ε̂2 ωn2 un cos t
m=1
   
= D02 + 2ε̂D0 D1 + ε̂2 D12 + 2D0 D2 ε̂un1 + ε̂2 un2 + ε̂3 un3
 
+ ωn2 ε̂un1 + ε̂2 un2 + ε̂3 un3
  
+ 2ε̂2 un D0 + ε̂D1 + ε̂2 D2 ε̂un1 + ε̂2 un2 + ε̂3 un3
∞
   2
+ αn2 ε̂un1 + ε̂2 un2 + ε̂3 un3 m2 ε̂um1 + ε̂2 um2 + ε̂3 um3
m=1
 
+ 2ε̂2 ωn2 ε̂un1 + ε̂2 un2 + ε̂3 un3 cos t + · · ·
   
= ε̂ D02 un1 + ωn2 un1 + ε̂2 D02 un2 + ωn2 un2 + 2D0 D1 un1
 
+ ε̂3 [D02 un3 + ωn2 un3 + D12 + 2D0 D2 un1 + 2D0 D1 un2
∞

+ 2μn D0 un1 + αn un1 2
m2 um1
2
+ 2ωn2 un1 cos t] + · · · (7.6.5)
m=1

Making the coefficient of the same power of ε zero in the above equation yields

D02 un1 + ωn2 un1 = 0 (7.6.6)

D02 un2 + ωn2 un2 = −2D0 D1 un1 (7.6.7)

 
D02 un3 + ωn2 un3 = − D12 + 2D0 D2 un1 − 2D0 D1 un2 − 2μn D0 un1
∞

− αn2 un1 m2 um1
2
− 2ωn2 un1 cos t (7.6.8)
m=1

The solution of (7.6.6) is

un1 = An eiωn T0 + cc (7.6.9)

where An = An (T1 , T2 ). Substituting (7.6.9) into (7.6.7) yields

D02 un2 + ωn2 un2 = −2iωn D1 An eiωn T0 + cc (7.6.10)

In order to eliminate secular terms from the above equation, there must be
7.6 Exercise 7.6 (Nonlinear Analysis of Planar Transverse Oscillations … 745

D1 An = 0 ⇒ An = An (T2 ) (7.6.11)

Then the solution of (7.6.10) is

un2 = 0 (7.6.12)

Substituting (7.6.9), (7.6.11) and (7.6.12) into (7.6.8) yields

∞

D02 un3 + ωn2 un3 = −2D0 D2 un1 − 2μ̂n D0 un1 − αn2 un1 m2 um1
2
− 2ωn2 un1 cos T0
m=1
∞

= −2iωn An eiωn T0 − 2iωn μn An e iωn T0
− 2αn An e
2 iωn T0
m2 Am Am
m=1
−ωn )T0
− αn4 A2n An eiωn T0 − ωn2 An ei( + cc + NST (7.6.13)

When = 2ω1 + εσ = 2ω1 + ε̂2 σ , in order to eliminate secular terms from the
above equation, we need
∞

2iω1 A1 + 2iω1 μ1 A1 + 3αA21 A1 + 2αA1 m2 Am Am + ω12 A1 eiσ T2 = 0 (7.6.14)
m=2
∞

2iωn An  + 2iωn μn An + 3αn4 A2n An + 2αn An
2
m2 Am Am = 0, n ≥ 2 (7.6.15)
m=n

Substituting An = 21 an eiβn into (7.6.15) yields

∞
3 1
iωn an − ωn an βn + iωn μn an + αn4 an3 + αn2 an m2 am2 = 0, n ≥ 2 (7.6.16)
8 4 m=n

From the imaginary part of (7.6.16), we have

an + μn an = 0, n ≥ 2 (7.6.17)

therefore,

an = an0 e−iμn → 0, An → 0, n ≥ 2 (7.6.18)

and

un1 → 0, n ≥ 2 (7.6.19)

Considering (7.6.18), we can rewrite Eq. (7.6.14) as

746 7 Continuous Systems

2iω1 A1 + 2iω1 μ1 A1 + 3αA21 A1 + ω12 A1 eiσ T2 = 0 (7.6.20)

Substituting A1 = 21 a1 eiβ1 into (7.6.20), we can obtain

3 1
iω1 a1 − ω1 a1 β1 + iω1 μ1 a1 + αa13 + ω12 a1 ei(σ T2 −2β1 ) = 0 (7.6.21)
8 2
Separating the real and imaginary parts of the above equation yields

1
a1 = −μ1 a1 − ω1 a1 sinγ1
2
 3 −1 3
γ1 a1 = σ a1 − ω1 αa1 − ω1 a1 cosγ1 (7.6.22)
4
where

γ1 = σ T2 − 2β1 (7.6.23)

Let a1 = γ1 = 0 in (7.6.22), we can obtain that the steady state solution should
satisfy the following two equations:

1
0 = −μ1 a1 − ω1 a1 sinγ1
2
3 −1 3
0 = σ a1 − ω1 αa1 − ω1 a1 cosγ1 (7.6.24)
4
Obviously, a10 = 0,γ1 = γ10 is a steady state solution. In this case, the
corresponding linear perturbation equation can be obtained from (7.6.22)

1
a1 = −μ1 a1 − ω1 a1 sinγ10
2
0 = σ − ω1 cosγ10 (7.6.25)

Generally speaking, (7.6.25) cannot be satisfied and hence the steady state solution
a10 = 0,γ1 = γ10 is unstable. When ε, the frequency–response equation can be
obtained from (7.6.24):
 
3 −1 2
4μ21 + σ − ω1 αa1 = ω12 (7.6.26)
4

For any set of non-trivial steady state solution a10 , γ10 , let

a1 = a10 + â1 , γ1 = γ10 + γ̂1 (7.6.27)

Substituting (7.6.27) into (7.6.22), we can obtain the linearized equations

7.7 Exercise 7.7 (Transverse Oscillation of a Hinged-Hinged Beam Excited … 747
 /
 *
a1 −μ1 − 21 ω1 sinγ10 − 21 ω1 a10 cosγ10 â1
/
= −1 9 −1 −1 (7.6.28)
γ1 σ a10 − 4 ω1 αa10 − ω1 a10 cosγ10 ω1 sinγ10 γ̂1

Finding the two eigenvalues of Eq. (7.6.28), we can determine the stability of the
non-trivial steady state solution a10 , γ10 .
Readers are invited to complete Exercise 7.6(d) and (e).

7.7 Exercise 7.7 (Transverse Oscillation

of a Hinged-Hinged Beam Excited by First-
and Second-Order Primary Resonances at u = O(w2 ))

Solution: (a) The governing equation of the beam in this Exercise is

⎡ l
⎤
1
r 2 (ẅ + 2μẇ + wxxxx ) = ⎣P(t) + wx2 dx⎦wxx + Fz (x, t) (7.7.1)
2l
0

The solution to this governing equation is

∞

w(x, t) = r k um (t)φm (x) (7.7.2)
m=1

where φm (x) is the solution to the following characteristic equation

φmiv − ωm2 φm = 0 (7.7.3)

For the hinged-hinged beam

φm = φm = 0 (7.7.4)

φm (x) is a family of orthogonal functions, i.e.,

φi φj dx = δij (7.7.5)
0

Substituting (7.7.2) into (7.7.1), multiplying by φn (x), making the integration of

x over [0, l] and taking into account the orthogonality of this mode shape function
yields
748 7 Continuous Systems

∞
 l
ün + ωn2 un = r −2 um P(t) φ  m φn dx
m=1 0
⎤
∞
  l  l 
1 2(k−1)
+ r um up uq φm φn dx φp φq dx ⎦
2l m,p,q=1 0 0
 l  l
+2 μφn2 dx u̇n + r k−4 Fz (x, t)φn dx (7.7.6)
0 0

In order to make the damping, nonlinear, and the parametric excitation term
appearing simultaneously in the same order equation, we let

l l

ε = r 2(k−1) , μφn2 dx = εμn , r −2 P(t) φm φn dx = εpnm (t)

0 0
⎛ l
⎞⎛ l
⎞ l
1
nmpq = ⎝ φm φn dx⎠⎝ φp φq dx⎠, fzn (t) = r −(k+2)
Fz (x, t)φn dx (7.7.7)
2l
0 0 0

Then (7.7.6) can be written as

⎡ ⎤
∞ ∞

ün + ωn un = ε
2 ⎣ pnm (t)um + nmpq um up uq − 2μn u̇n ⎦ + fzn (t) (7.7.8)
m=1 m, p, q=1

From the method of integration by part, nmpq can be written as

⎛ l
⎞⎛ l
⎞
1⎝
nmpq =− φm φn dx⎠⎝ φp φq dx⎠ (7.7.9)
2l
0 0

Therefore,

nmpq = mnpq = nmqp = pqnm (7.7.10)

Since P(t) = 0, pnm (t) = 0. We take the dimensionless length of the beam
l = 1; and, in turn, by Eq. (7.7.3) and (7.7.4), the natural frequency of the linear
free oscillation of the hinged-hinged beam can be obtained as ωn = n2 π 2 and the
corresponding normalized modes are
√
φn (x) = 2sinnπ x, n = 1, 2, 3, . . . (7.7.11)

Taking into account again Eq. (7.7.9), we can rewrite (7.7.8) as

7.7 Exercise 7.7 (Transverse Oscillation of a Hinged-Hinged Beam Excited … 749
" ∞
#
1 4 2  2 2
ün + n π un = −ε 2μn u̇n + π n un
4 4
m um + fzn (t), n = 1, 2, 3, . . .
2 m=1
(7.7.12)

We use the method of multiple scales to solve (7.7.12). Let the solution of the
equation be

un (t; ε) = un0 (T0 , T1 ) + εun1 (T0 , T1 ) + · · · (7.7.13)

Substituting (7.7.13) into (7.7.12) and retaining to O(ε) yields

" ∞
#
1 4 2  2 2
0 = ün + n4 π 4 un + ε 2μn u̇n + π n un m um − fzn (t)
2
m=1
 
= D02 + 2εD0 D1 (un0 + εun1 ) + n4 π 4 (un0 + εun1 )
" ∞
#
1 
+ ε 2μn D0 un0 + π 4 n2 un0 m2 um02
− fzn (t)
2
m=1

= D02 un0 + n4 π 4 un0

" ∞
#
1 4 2 
+ ε D02 un1 + n4 π 4 un1 + 2D0 D1 un0 + 2μn D0 un0 + π n un0 m2 um0
2
− fzn (t) (7.7.14)
2
m=1

Making the coefficient of the same power of ε zero in the above equation and
considering the expression of fzn (t), we obtain

D02 un0 + n4 π 4 un0 = 0 (7.7.15)

∞
1
D02 un1 + n4 π 4 un1 = −2D0 D1 un0 − 2μn D0 un0 − π 4 n2 un0 m2 um0
2
+ f˜zn (t)
2 m=1
(7.7.16)

where

f˜z1 = 2k11 cos 1 t, f˜z2 = 2k21 cos( 2t + θ ), f˜zn (t) = 0 for n ≥ 3 (7.7.17)

The solution of the Eq. (7.7.15) is

2
π 2 T0
un0 = An (T1 )ein + cc (7.7.18)

Substituting (7.7.18) into (7.7.16) yields

D02 un1 + n4 π 4 un1 = −2in2 π 2 An ein π T0 − 2in2 π 2 μn An ein π 2 T0

2 2 2

" ∞
#

m2 Am Am ein π T0
2 2
− π 4 n2 An
m=1
750 7 Continuous Systems

1
− π 4 n4 A2n An ein π T0 + cc + NST + f˜zn (t)
2 2
(7.7.19)
2
Here

1 = π 2 + εσ1 and 2 = 4π 2 + εσ2 (7.7.20)

In order to eliminate secular terms from (7.7.19), we need

∞
3 4 2
2iπ 2 A1 + 2iπ μ1 A1 + π A1 A1 + π A1
2 4
m2 Am Am − k11 eiσ1 T1 = 0 (7.7.21)
2 m=2
∞

8iπ 2 A2 + 8iπ 2 μ2 A2 + 24π 4 A22 A2 + 4π 4 A2 m2 Am Am − k21 ei(σ2 T1 +θ ) = 0
m=2
(7.7.22)
∞
3
2in2 An + 2in2 μn An + n4 π 2 A2n Ān + n2 π 2 An m2 Am Ām = 0 for n ≥ 3
2 m=n
(7.7.23)

Therefore, the first order approximate solution of the governing equation is

2
π 2 T0
un = An (T1 )ein + cc + O(ε) (7.7.24)

1 iβn 1
An = an e An = an eiβn (7.7.25)
2 2
and substitute them into (7.7.23), we can obtain
∞
3 4 2 3 1 2 2  2 3
in2 an − n2 an βn + in2 μn an + n π an + n π an m am = 0, n ≥ 3
16 8 m=n
(7.7.26)

Separating the real and imaginary parts of the above equation yields

an + μn an = 0, n ≥ 3 (7.7.27)

Therefore,

an = an0 e−μn T1 → 0 ⇒ An → 0, n ≥ 3 (7.7.28)

(c) Let
7.7 Exercise 7.7 (Transverse Oscillation of a Hinged-Hinged Beam Excited … 751

1 iβ1 1
A1 = a1 e , A2 = a2 eiβ2 (7.7.29)
2 2
substitute them into (7.7.21) and (7.7.22), and take into account (7.7.28), we have

3 4 3 1 4 2
iπ 2 a1 − π 2 a1 β1 + iπ 2 μ1 a1 + π a1 + π a1 a2 − k11 ei(σ1 T1 −β1 ) = 0 (7.7.30)
16 2
1
4iπ 2 a2 − 4π 2 a2 β2 + 4iπ 2 μ2 a2 + 3π 4 a23 + π 4 a12 a2 − k21 ei(σ2 T1 −β2 +θ ) = 0
2
(7.7.31)

Separating the real and imaginary parts of (7.7.30) and (7.7.31), we obtain

a1 = −μ1 a1 + π −2 k11 sin(σ1 T1 − β1 )

3 2 3 1 2 2
a1 β1 = π a1 + π a1 a2 − π −2 k11 cos(σ1 T1 − β1 ) (7.7.32)
16 2
1
a2 = −μ2 a2 + π −2 k21 sin(σ2 T1 − β2 + θ )
4
3 2 3 1 2 2 1
a2 β2 = π a2 + π a1 a2 − π −2 k21 cos(σ2 T1 − β2 + θ )

(7.7.33)
4 8 4
where

γ1 = σ1 T1 − β1 , γ2 = σ2 T1 − β2 + θ (7.7.34)

Then (7.7.32) and (7.7.33) become

20la1 = −μ1 a1 + π −2 k11 sinγ1

3 1
a1 γ1 = a1 σ1 − π 2 a13 − π 2 a1 a22 + π −2 k11 cosγ1 (7.7.35)
16 2
1
a2 = −μ2 a2 + π −2 k21 sinγ2
4
3 1 1
a2 γ2 = a2 σ2 − π 2 a23 − π 2 a12 a2 + π −2 k21 cosγ2 (7.7.36)
4 8 4

Let a1 = γ1 = a2 = γ2 = 0, we can obtain the equation satisfied by the steady
state solution:

μ1 a1 = π −2 k11 sinγ1
3 2 3 1 2 2
π a1 + π a1 a2 − a1 σ1 = π −2 k11 cosγ1 (7.7.37)
16 2
752 7 Continuous Systems

1 −2
μ2 a2 = π k21 sinγ2
4
3 2 3 1 2 2 1
π a2 + π a1 a2 − a2 σ2 = π −2 k21 cosγ2 (7.7.38)
4 8 4
Eliminating γ1 and γ2 from the above two sets of equations, respectively, we can
obtain the following system of frequency–response equations:
 2
3 2 3 1 2 2
μ21 a12 + π a1 + π a1 a2 − a1 σ1 = π −4 k11
2
16 2
 2
3 2 3 1 2 2 1 −4 2
μ22 a22 + π a2 + π a1 a2 − a2 σ2 = π k21 (7.7.39)
4 8 16

It can be seen that a1 and a2 are coupled with each other and are related to two
detuning parameters σ1 and σ2 . From this set of equations, the amplitude-frequency
response curve can be plotted.

7.8 Exercise 7.8 (Forced Response of a Hinged-Hinged

Beam with a Single Non-resonant Excitation
at u = O(w2 ))

Solution: (a) We use the method of multiple scales to solve (7.7.12). Let the solution
of the equation be

un (t; ε) = un0 (T0 , T1 ) + εun1 (T0 , T1 ) + · · · (7.8.1)

Substituting (7.8.1) into (7.7.12) and retaining to O(ε)yields

" ∞
#
1 4 2  2 2
0 = ün + n π un + ε 2μn u̇n + π n un
4 4
m um − fzn (t)
2 m=1
 
= D02 + 2εD0 D1 (un0 + εun1 ) + n4 π 4 (un0 + εun1 )
" ∞
#
1 4 2  2 2
+ ε 2μn D0 un0 + π n un0 m um0 − 2kn cos( t + θn )
2 m=1
= D02 un0 + n4 π 4 un0 − 2kn cos( t + θn )
" ∞
#
1 
+ε D02 un1 + n π un1 + 2D0 D1 un0 + 2μn D0 un0 + π 4 n2 un0
4 4
m2 um0
2
2 m=1
(7.8.2)

Making the coefficient of the same power of ε zero in the above equation yields
7.8 Exercise 7.8 (Forced Response of a Hinged-Hinged Beam with a Single … 753

D02 un0 + n4 π 4 un0 = 2kn cos( t + θn ) (7.8.3)

∞
1
D02 un1 + n4 π 4 un1 = −2D0 D1 un0 − 2μn D0 un0 − π 4 n2 un0 m2 um0
2
(7.8.4)
2 m=1

The solution of the Eq. (7.8.3) is

2
π 2 T0 i( T0 +θn )
un0 = An (T1 )ein + ne + cc (7.8.5)

where
Kn
n = (7.8.6)
n4 π 4 − 2

Substituting (7.8.6) into (7.8.4) and taking into account = 2π 2 + εσ =

2π 2 + εσ and ω2 − 2ω1 ≈ , we obtain

D02 un1 + n4 π 4 un1 = −2in2 π 2 An ein π 2 T0 π 2 T0

2 2
− 2in2 π 2 μn An ein
∞

in2 π 2 T0
 
− π n An e
4 2
m2 Am Am + 2
m
m=1
∞

i(m2 π 2 T0 − T0 −θm −n2 π 2 T )
− π 4 n2 An m2 m Am e
m=1
∞
1
m2 A2m ei(2m π −n π )T0
2 2 2 2
− π 4 n2 An
2 m=1
∞

i(m2 π 2 T0 +θn −θm )
− π 4 n2 n m2 m Am e
m=1
∞

i(m2 π 2 T0 +θm −θn )
− π 4 n2 n m2 m Am e
m=1
∞
1
m2 A2m ei(2m π 2 T0 + T0 +θn )
2
− π 4 n2 n + cc + NST (7.8.7)
2 m=1

In order to eliminate secular terms from (7.8.7) yields

  3  
2i A1 + μ1 A1 + π 2 A1 A1 A1 + 2 21
2
∞
  
+ π 2 A1 m2 Am Am + 2m + 4π 2 2 A2 A1 e−i(σ T1 +θ2 ) = 0 (7.8.8)
m=2
754 7 Continuous Systems

∞

   
8i A2 + μ2 A2 + 4π 2 A2 m2 Am Am + 2
m
m=2
  2 i(σ T1 +θ2 )
+ 24π A2 A2 A2 + 2
2 2
2 + 2π 2 2 A1 e =0 (7.8.9)

  3  
2i An + μn An + n2 π 2 An An Ān + 2 2n
2
∞
  
+ π 2 An m2 Am Ām + 3m = 0, n ≥ 3 (7.8.10)
m=n

Therefore, the first order approximate solution of the governing equation is

2
π 2 T0 i( T0 +θn )
un = An (T1 )ein + ne + cc + O(ε) (7.8.11)

(b) Let

1 iβn
An = an e (7.8.12)
2
and substitute it into (7.8.10), we can obtain
 
3 1
in2 an − n2 an βn + in2 μn an + n2 π 2 an an2 + 2 2
n
4 4
∞  
1 1
+ π 2 an m2 am2 + 2m = 0, n ≥ 3 (7.8.13)
2 m=n
4

Separating the real and imaginary parts of the above equation yields

an + μn an = 0, n ≥ 3 (7.8.14)

Therefore,

an = an0 e−μn T1 → 0 ⇒ An → 0, n ≥ 3 (7.8.15)

Let
1 iβ1 1
A1 = a1 e , A2 = a2 eiβ2 (7.8.16)
2 2
substitute them into (7.8.8) and (7.8.9), and take into account (7.8.15), we have

3 2  2 
ia1 − a1 β1 + iμ1 a1 + π a1 a1 + 8 2
1
16
7.8 Exercise 7.8 (Forced Response of a Hinged-Hinged Beam with a Single … 755

1   −i(σ T1 +2β1 −β2 +θ2 )

+ π 2 a1 a22 + 4 2
2 + π2 2 a1 a2 e =0 (7.8.17)
2
1  
8ia2 − 8a2 β2 + 8iμ2 a2 + π 2 a2 a12 + 4 21
2
 2  1 2
+ 3π a2 a2 + 8 2 + π 2 a12 ei(σ T1 +2β1 −β2 +θ2 ) = 0
2 2
(7.8.18)
2
Separating the real and imaginary parts of (7.8.17) and (7.8.18), we obtain

a1 = −μ1 a1 + π 2 2 a1 a2 sin(σ T1 + 2β1 − β2 + θ2 )

3 2  2  1  
a1 β1 = π A1 a1 + 8 21 + π 2 a1 a22 + 4 22
16 2
− π 2 2 a1 a2 cos(σ T1 + 2β1 − β2 + θ2 ) (7.8.19)

1 2
a2 = −μ2 a2 − π 2
2 a1 sin(σ T1 + 2β1 − β2 + θ2 )
16
1 2  2  3  
a2 β2 = π a2 a1 + 4 21 + π 2 a2 a22 + 8 22
16 8
1
+ π 2 2 a12 cos(σ T1 + 2β1 − β2 + θ2 ) (7.8.20)
16
where

γ = σ T1 + 2β1 − β2 + θ2 (7.8.21)

Then (7.8.18) and (7.8.20) become

a1 = −μ1 a1 + π 2 2 a1 a2 sinγ

3 2  2  1  
a1 β1 = π a1 a1 + 8 21 + π 2 a1 a22 + 4 2
2 − π2 2 a1 a2 cosγ (7.8.22)
16 2
1 2
a2 = −μ2 a2 − π 2
2 a1 sin γ
16
1 2  2  3  
a2 γ  − 2a2 β1 = a2 σ1 − π a2 a1 + 4 2
1 − π 2 a2 a22 + 8 2
2
16 8
1 2
− π 2
2 a1 cos γ (7.8.23)
16

Let a1 = a2 = β1 = γ  = 0, we can obtain the equation satisfied by the steady
state solution:

μ1 a1 = π 2 2 a1 a2 sinγ
3 2  2  1  
π A1 a1 + 8 21 + π 2 a1 a22 + 4 2
2 = π2 2 a1 a2 cosγ (7.8.24)
16 2
756 7 Continuous Systems

1 2
μ2 a2 = π 2 a12 sinγ
16
1   3   1 2
a2 σ1 − π 2 a2 a12 + 4 2
1 − π 2 a2 a22 + 8 2
2 = π 2
2 a1 cosγ (7.8.25)
16 8 16
Eliminating γ from each of the above two sets of equations yields a system of
frequency–response equations as

3 2  2  1   2
μ21 a12 + π A1 a1 + 8 21 + π 2 a1 a22 + 4 22 = π 4 22 a12 a22
16 2
1   3   2 1 4
μ22 a22 + a2 σ1 − π 2 a2 a12 + 4 21 − π 2 a2 a22 + 8 22 = π 2 4
2 a1
16 8 256
(7.8.26)

From this set of equations, we can plot the amplitude-frequency response curve.

7.9 Exercise 7.9 (Combined Resonance Analysis

of Hinged-Hinged Beams with Two Excitations
at u = O(w2 ))

Solution: (a) We use the method of multiple scales to solve (7.7.12). Let the solution
of the equation be

un (t; ε) = un0 (T0 , T1 ) + εun1 (T0 , T1 ) + · · · (7.9.1)

Substituting (7.9.1) into (7.7.12) and retaining to O(ε) yields

" ∞
#
1 4 2  2 2
0 = ün + n π un + ε 2μn u̇n + π n un
4 4
m um − fzn (t)
2 m=1
 
= D02 + 2εD0 D1 (un0 + εun1 ) + n4 π 4 (un0 + εun1 )
" ∞
#
1 4 2  2 2
+ ε 2μn D0 un0 + π n un0 m um0 − 2kn cos( t + θn )
2 m=1
= D02 un0 + n4 π 4 un0 − 2kn cos( t + θn )
" ∞
#
1 
+ε D02 un1 + n π un1 + 2D0 D1 un0 + 2μn D0 un0 + π 4 n2 un0
4 4
m2 um0
2
2 m=1
(7.9.2)

Making the coefficient of the same power of ε zero in the above equation yields
7.9 Exercise 7.9 (Combined Resonance Analysis of Hinged-Hinged Beams … 757

D02 un0 + n4 π 4 un0 = 2kn cos( t + θn ) (7.9.3)

∞
1
D02 un1 + n4 π 4 un1 = −2D0 D1 un0 − 2μn D0 un0 − π 4 n2 un0 m2 um0
2
(7.9.4)
2 m=1

The solution of the Eq. (7.9.3) is

2
π 2 T0 i( T0 +θn )
un0 = An (T1 )ein + ne + cc (7.9.5)

where
Kn
n = (7.9.6)
n4 π 4 − 2

Substituting (7.9.5) into (7.9.4) and taking into account = 2π 2 + εσ and

ω2 − 2ω1 ≈ , we obtain

D02 un1 + n4 π 4 un1 = −2in2 π 2 A ein π 2 T0 π 2 T0

2 2
− 2in2 π 2 μn An ein
∞

in2 π 2 T0
 
− π n An e
4 2
m2 Am Am + 2
m
m=1
∞

i(m2 π 2 T0 − T0 −θm −n2 π 2 T )
− π 4 n2 An m2 m Am e
m=1
∞
1
m2 A2m ei(2m π −n π )T0
2 2 2 2
− π 4 n2 An
2 m=1
∞

i(m2 π 2 T0 +θn −θm )
− π 4 n2 n m2 m Am e
m=1
∞

i(m2 π 2 T0 +θm −θn )
− π 4 n2 n m2 m Am e
m=1
∞
1
m2 A2m ei(2m π 2 T0 + T0 +θn )
2
− π 4 n2 n + cc + NST (7.9.7)
2 m=1

In order to eliminate secular terms from (7.9.7) yields

  3  
2i A1 + μ1 A1 + π 2 A1 A1 A1 + 2 21
2
∞
  
+ π 2 A1 m2 Am Am + 2m + 4π 2 2 A2 A1 e−i(σ T1 +θ2 ) = 0 (7.9.8)
m=2
758 7 Continuous Systems

∞

   
8i A2 + μ2 A2 + 4π 2 A2 m2 Am Am + 2
m
m=2
  2 i(σ T1 +θ2 )
+ 24π A2 A2 A2 + 2
2 2
2 + 2π 2 2 A1 e =0 (7.9.9)

  3  
2i An + μn An + n2 π 2 An An An + 2 2n
2
∞
  
+ π 2 An m2 Am Am + 2m = 0, n ≥ 3 (7.9.10)
m=n

Therefore, the first order approximate solution of the equation is

2
π 2 T0 i( T0 +θn )
un = An (T1 )ein + ne + cc + O(ε) (7.9.11)

(b) Let

1 iβn
An = an e (7.9.12)
2
and substitute it into (7.9.10), we can obtain
 
3 1
in2 an − n2 an βn + in2 μn an + n2 π 2 an an2 + 2 2
n
4 4
∞
1  
+ π 2 an m2 am2 + 2m = 0, n ≥ 3 (7.9.13)
2 m=n

Separating the real and imaginary parts of the above equation gives

an + μn an = 0, n ≥ 3 (7.9.14)

Therefore,

an = an0 e−μn T1 → 0 ⇒ An → 0, n ≥ 3 (7.9.15)

Let
1 iβ1 1
A1 = a1 e , A2 = a2 eiβ2 (7.9.16)
2 2
substitute them into (7.9.8) and (7.9.9), and take into account (7.9.15), we have

3 2  2 
ia1 − a1 β1 + iμ1 a1 + π A1 a1 + 8 2
1
16
7.9 Exercise 7.9 (Combined Resonance Analysis of Hinged-Hinged Beams … 759

1   −i(σ T1 +2β1 −β2 +θ2 )

+ π 2 a1 a22 + 4 2
2 + π2 2 a1 a2 e =0 (7.9.17)
2
1  
8ia2 − 8a2 β2 + 8iμ2 a2 + π 2 a2 a12 + 4 21
2
 2  1 2
+ 3π a2 a2 + 8 2 + π 2 a12 ei(σ T1 +2β1 −β2 +θ2 ) = 0
2 2
(7.9.18)
2
Separating the real and imaginary parts of (7.9.17) and (7.9.18), we obtain

a1 = −μ1 a1 + π 2 2 a1 a2 sin(σ T1 + 2β1 − β2 + θ2 )

3 2  2  1  
a1 β1 = π A1 a1 + 8 21 + π 2 a1 a22 + 4 22
16 2
− π 2 2 a1 a2 cos(σ T1 + 2β1 − β2 + θ2 ) (7.9.19)

1 2
a2 = −μ2 a2 − π 2
2 a1 sin(σ T1 + 2β1 − β2 + θ2 )
16
1 2  2  3  
a2 β2 = π a2 a1 + 4 21 + π 2 a2 a22 + 8 22
16 8
1
+ π 2 2 a12 cos(σ T1 + 2β1 − β2 + θ2 ) (7.9.20)
16
where

γ = σ T1 + 2β1 − β2 + θ2 (7.9.21)

Then (7.9.19) and (7.9.20) become

a1 = −μ1 a1 + π 2 2 a1 a2 sinγ

3 2  2  1  
a1 β1 = π a1 a1 + 8 21 + π 2 a1 a22 + 4 2
2 − π2 2 a1 a2 cosγ (7.9.22)
16 2
1 2
a2 = −μ2 a2 − π 2
2 a1 sinγ
16
1 2  2  3  
a2 γ  − 2a2 β1 = a2 σ1 − π a2 a1 + 4 2
1 − π 2 a2 a22 + 8 2
2
16 8
1 2
− π 2
2 a1 cosγ (7.9.23)
16

Let a1 = a2 = β1 = γ  = 0, we can obtain the equation satisfied by the steady
state solution

μ1 a1 = π 2 2 a1 a2 sinγ
3 2  2  1  
π A1 a1 + 8 21 + π 2 a1 a22 + 4 2
2 = π2 2 a1 a2 cosγ (7.9.24)
16 2
760 7 Continuous Systems

1 2
μ2 a2 = π 2 a12 sinγ
16
1   3   1 2
a2 σ1 − π 2 a2 a12 + 4 2
1 − π 2 a2 a22 + 8 2
2 = π 2
2 a1 cosγ (7.9.25)
16 8 16
Eliminating γ from the above two sets of equations, respectively, we can obtain
a system of frequency–response equations

3 2  2  1   2
μ21 a12 + π A1 a1 + 8 21 + π 2 a1 a22 + 4 22 = π 4 22 a12 a22
16 2
1   3   2 1 4
μ22 a22 + a2 σ1 − π 2 a2 a12 + 4 21 − π 2 a2 a22 + 8 22 = π 2 4
2 a1
16 8 256
(7.9.26)

From this set of equations, the amplitude-frequency response curve can be plotted.

7.10 Exercise 7.10 (Combined Resonance Analysis

of a Hinged-Hinged Beam with Three Excitations
at u = O(w2 ))

Solution: (a) We use the method of multiple scales to solve (7.7.12). Let the solution
of the equation be

un (t; ε) = un0 (T0 , T1 ) + εun1 (T0 , T1 ) + · · · (7.10.1)

Substituting (7.10.1) into (7.7.12) and retaining to O(ε) yields

" ∞
#
1 4 2  2 2
0 = ün + n π un + ε 2μn u̇n + π n un
4 4
m um − fzn (t)
2 m=1
 
= D02 + 2εD0 D1 (un0 + εun1 ) + n4 π 4 (un0 + εun1 )
" #
1 4 2  2 2 3
3
+ ε 2μn D0 un0 + π n un0 m um0 − 2 Knm cos( m t + θnm )
2 m=1
m=1

3
= D02 un0 + n4 π 4 un0 − 2 Knm cos( m t + θnm )
" m=1
∞
#
1 4 2  2 2
+ ε D0 un1 + n π un1 + 2D0 D1 un0 + 2μn D0 un0 + π n un0
2 4 4
m um0
2 m=1
(7.10.2)

Making the coefficient of the same power of ε zero in the above equation yields
7.10 Exercise 7.10 (Combined Resonance Analysis of a Hinged-Hinged … 761


3
D02 un0 + n4 π 4 un0 = 2 Knm cos( mt + θnm ) (7.10.3)
m=1

∞
1
D02 un1 + n4 π 4 un1 = −2D0 D1 un0 − 2μn D0 un0 − π 4 n2 un0 m2 um0
2
(7.10.4)
2 m=1

The solution of (7.10.3) is


3
2
π 2 T0
un0 = An (T1 )ein + nm e
i m T0
+ cc (7.10.5)
m=1

where

Knm eiθnm
nm = (7.10.6)
n π 4 − 2m
4

Substituting (7.10.5) into (7.10.4) yields

∞
1
D02 un1 + n2 π 2 un1 = −2D0 D1 un0 − 2μn D0 un0 − π 4 n2 un0 m2 um0
2
2 m=1

= −2in2 π 2 An ein π 2 T0 π 2 T0

2 2
− 2in2 π 2 μn An ein + cc + NST
∞

1
− π 4 n2 un0 m2 um0
2
(7.10.7)
2 m=1

Expanding the last term on the right-hand side of the above equation with (7.10.5)
and taking into account 1 + 2 + 3 = π 2 + εσ , we obtain

∞
1
− π 4 n2 un0 m2 um0
2
2 m=1
⎛ ⎞
1 3
= − π 4 n2 ⎝An ein π T0 + ⎠
2 2
i p T0
np e
2 p=1

∞
 2
 
3 
3
im2 π 2 T0 −im2 π 2 T0 ¯ mk e−i
× m 2
Am e + mk e
i k T0
+ Ām e + k T0

m=1 k=1 k=1

∞
 1
Ān A2m e−in π T0 e2im π T0 + An Am Ām ein π T0
2 2 2 2 2 2
= −π 4 n2 m2
m=1
2

3
2
π 2 T0
+ An ein | mk |
2
+( m1 m2 n3 + m1 n2 m3
k=1
762 7 Continuous Systems


3
1+ 2+ 3 )T0 π 2 T0
2
+ n1 m2 m3 )e
i(
+ Am eim ¯ mk nk
k=1


3
im2 π 2 T0
+ Am e ¯ nk mk + cc + NST (7.10.8)
k=1

Substituting (7.10.8) into (7.10.7) yields

 ∞
1 4 2
D02 un1 + n4 π 4 un1 = −2D0 D1 un0 − 2μn D0 un0 − π n un0 m2 um0
2
2
m=1

= −2in2 π 2 An ein

2π2T 2π2T
0 − 2in2 π 2 μn An ein 0

∞

2T
+ eiπ 0 m2 ( m1 m2 n3 + m1 n2 m3 + n1 m2 m3 )e
iσ T1

m=1
∞
 1
Ān A2m e−in π T0 e2im π T0 + An Am Ām ein π T0
2 2 2 2 2 2
− π 4 n2 m2
2
m=1

2π2T 
3
2π2T 
3
+ An ein 0 | mk |
2
+ Am eim 0 ¯ mk nk
k=1 k=1

2π2T 
3
+ Am eim 0 ¯ nk mk + cc + NST (7.10.9)
k=1

In order to eliminate secular terms from (7.10.9), we need

" #
  3  3

2iπ A1 + μ1 A1 + π A1 A1 Ā1 + 2
2 4
| 1k |
2
2
k=1
∞
" #
 3
+ π A1
4
m Am Ām +
2
| mk | 2

m=2 k=1
∞

+π 4 2
m ( m1 m2 13 + m1 m3 12 + m2 m3 11 )e
iσ T1
= 0 (7.10.10)
m=1
" #
   3 4 4 3
∗20l2in π An + μn An + π n An An An + 2
2 2
| nk | 2
2
k=1
∞
" #
 
3
+ π 4 n2 An m2 Am Am + | mk |2 = 0, n ≥ 2 (7.10.11)
m=n k=1

Therefore, the first order approximate solution of the equation is


3
in2 π 2 T0
un = An (T1 )e + nm e
i m T0
+ cc + O(ε) (7.10.12)
m=1
7.10 Exercise 7.10 (Combined Resonance Analysis of a Hinged-Hinged … 763

(b) Let

1 iβn
An = an e (7.10.13)
2
Substituting (7.10.13) into (7.10.11) yields
" #
3 2 2 1 2 3
in2 an
−n an βn
+ in μn an + n π an an + 2
2 2
| nk | 2
4 4
k=1
∞
" #
1 2 2  2 1 2 3
+ n π an m a +2 | nk | = 0, n ≥ 2
2
(7.10.14)
2 m=n
4 m
k=1

Separating the real and imaginary parts of the above equation yields

an + μn an = 0, n ≥ 2 (7.10.15)

therefore

an = an0 e−μn T1 → 0 ⇒ An → 0, n ≥ 2 (7.10.16)

Let
1 iβ1
A1 = a1 e (7.10.17)
2
Substitute it into (7.10.10) and take into account (7.10.16), we have
" #
3 2 
3
ia1 − a1 β1 + iμ1 a1 + π a1 a12 + 8 | 1k |
2
16
k=1
∞

i(σ T1 −β1 )
+π 2
m2 ( m1 m2 13 + m1 m3 12 + m2 m3 11 )e =0
m=1
(7.10.18)

Separating the real and imaginary parts of Eq. (7.10.18) yields

a1 = −μ1 a1 − π 2 E2 sinγ

3  
a1 γ  = a1 σ − π 2 a1 a12 + E1 − π 2 E2 cosγ (7.10.19)
16
where

γ = σ T1 − β1 (7.10.20)
764 7 Continuous Systems


3
E1 = 8 | 1k |
2

k=1
∞

E2 = m2 ( m1 m2 13 + m1 m3 12 + m2 m3 11 ) (7.10.21)
m=1

Let a1 = γ  = 0, we can obtain the equation satisfied by the steady state solution

− μ1 a1 = π 2 E2 sinγ
3  
a1 σ − π 2 a1 a12 + E1 = π 2 E2 cosγ (7.10.22)
16
Eliminating γ in each of the above two sets of equations yields a system of
frequency–response equations as

3 2 2  2
μ21 a12 + a12 σ − π a1 + E1 = π 4 E22 (7.10.23)
16

From this set of equations, the amplitude-frequency response curve can be plotted.

7.11 Exercise 7.11 (Parametric Resonance Analysis

on a Hinged-Hinged Beam at (u = O(w2 ))

Solution: (a) The governing equation of the present problem is still (7.7.1), and its
modal discretization equation is (7.7.8), i.e.
⎡ ⎤
∞ ∞

ün + ωn2 un = ε⎣ pnm (t)um + nmpq um up uq − 2μn u̇n ⎦ + fzn (t) (7.11.1)
m=1 m, p, q=1

We take the dimensionless length of the beam l = 1; and, in turn, by Eq. (7.7.3)
and (7.7.4), the natural frequency of the linear free oscillation of the hinged-hinged
beam can be obtained as ωn = n2 π 2 and the corresponding normalized modes are
√
φn (x) = 2sinnπ x, n = 1, 2, 3, . . . (7.11.2)

Since P(t) = 0,

l
−2
εpnm (t) = r P(t) φm φn dx
0
7.11 Exercise 7.11 (Parametric Resonance Analysis on a Hinged-Hinged … 765

l
2 −2
= −2n π r P(t)
2
sin(mπ x) sin(nπ x)dx
0

−εn2 π 2 p(t), m = n
= (7.11.3)
0, m = n

where

εp(t) = r −2 P(t) (7.11.4)

Considering again (7.7.9), we can obtain the modal discretization equation for the
beam of this problem (7.11.1) can be rewritten as
 ∞

1 
ün + n4 π 4 un = −ε 2μn u̇n + π 4 n2 un m2 um2 + π 2 n2 p(t)un + fzn (t) (7.11.5)
2 m=1

It can be seen that this is a set of parametric excitation equations.

(b) We use the method of multiple scales to solve (7.11.5). Let the solution of the
equation be

un (t; ε) = un0 (T0 , T1 ) + εun1 (T0 , T1 ) + · · · (7.11.6)

Substituting (7.11.6) into (7.11.5) and retaining to O(ε), we obtain

" ∞
#
1 4 2  2 2
0 = ün + n π un + ε 2μn u̇n + π n un
4 4
m um + π n pun − fzn (t)
2 2
2 m=1
 
= D02 + 2εD0 D1 (un0 + εun1 ) + n4 π 4 (un0 + εun1 )
" ∞
#
1 4 2  2 2
+ ε 2μn D0 un0 + π n un0 m um0 + επ 2 n2 pun0 − fzn (t)
2 m=1
= D02 un0 + n4 π 4 un0
" ∞
#
1 4 2  2 2
+ ε D0 un1 + n π un1 + 2D0 D1 un0 + 2μn D0 un0 + π n un0
2 4 4
m um0
2 m=1
+ εn2 π 2 pun0 − fzn (t) (7.11.7)

When fzn = 0, p(t) = 2p1 cos 1 t + 2p2 cos( 2 t + θ ). Making the coefficient of
the same power of ε zero in the above equation, we obtain

D02 un0 + n4 π 4 un0 = 0 (7.11.8)

766 7 Continuous Systems

∞
1
D02 un1 + n4 π 4 un1 = −2D0 D1 un0 − 2μn D0 un0 − π 4 n2 un0 m2 um0
2
2 m=1
 
− 2n2 π 2 p1 cos 1 t + 2n2 π 2 p2 cos( 2 t + θ ) un0 (7.11.9)

The solution of the Eq. (7.11.8) is

2
π 2 T0
un0 = An (T1 )ein + cc (7.11.10)

Substituting (7.11.10) into (7.11.9) yields

 ∞
1 4 2
D02 un1 + n4 π 4 un1 = −2D0 D1 un0 − 2μn D0 un0 − π n un0 m2 um0
2
2
m=1
 
− n2 π 2 p1 cos 2 t + 2n2 π 2 p2 cos( 2 t + θ ) un0
= −2in2 π 2 An ein
2π2T 2π2T
0 − 2in2 π 2 μn An ein 0

1 4 2
∞
 2π2T
 2 2 2 2 !
2m π −n π T0
− π n m2 2Am Ām An ein 0 + Ān A2m ei
2
m=1
   
1 −n π 2 T0 −n π T0 +θ
2 2 2 2
− n2 π 2 p1 Ān ei T0
− n2 π 2 p2 Ān ei + cc + NST (7.11.11)

In order to eliminate secular terms from (7.11.11) and take into account 1 =
2π 2 + εσ1 and 2 = 8π 2 + εσ2 , we need

∞
  3
2i A1 + μ1 A1 + p1 A1 eiσ1 T1 + π 2 A21 A1 + π 2 A1 m2 Am Am = 0 (7.11.12)
2 m=2
∞

   i(σ2 T1 +θ )
8i A2 + μ2 A2 + 4p2 A2 e + 24π A2 A2 + 4π A2
2 2 2
m2 Am Am = 0
m=2
(7.11.13)
∞
  3
2in2 An + μn An + n4 π 2 A2n An + n2 π 2 An m2 Am Am = 0, n ≥ 3 (7.11.14)
2 m=n

Therefore, the first order approximate solution of the equation is

2
π 2 T0
un = An (T1 )ein + cc + O(ε) (7.11.15)

(c) Let

1 iβn
An = an e (7.11.16)
2
and substitute it into (7.11.14), we can obtain
7.11 Exercise 7.11 (Parametric Resonance Analysis on a Hinged-Hinged … 767

∞
3 4 2 3 1 2 2  2 2
in2 an − n2 an βn + in2 μn an + n π an + n π an m am = 0 (7.11.17)
16 8 m=n

Separating the real and imaginary parts of the above equation yields

an + μn an = 0, n ≥ 3 (7.11.18)

therefore

an = an0 e−μn T1 → 0 ⇒ An → 0, n ≥ 3 (7.11.19)

Let
1 iβ1 1
A1 = a1 e , A2 = a2 eiβ2 (7.11.20)
2 2
substitute them into (7.11.12) and (7.11.13) and take into account that (7.11.19), we
have
1 2  2  1
ia1 − a1 β1 + iμ1 a1 + π a1 3a1 + 2a22 + p1 a1 ei(σ1 T1 −2β1 ) = 0 (7.11.21)
16 2
1
8ia2 − 8a2 β2 + 8iμ2 a2 + 3π 2 a23 + π 2 a12 a2 + 2p2 a2 ei(σ2 T1 −2β2 +θ ) = 0 (7.11.22)
2
Separating the real and imaginary parts of Eq. (7.11.20) yields

1
a1 = −μ1 a1 − p1 a1 sinγ1
2
 1 2  2 
a1 γ1 = σ1 a1 − π a1 3a1 + 2a22 − p1 a1 cosγ1 (7.11.23)
8
1
∗20la2 = −μ2 a2 − p2 a2 sinγ2
4
3 1 1
a2 γ2 = σ2 a2 − π 2 a23 − π 2 a12 a2 − p2 a2 cosγ2 (7.11.24)
4 8 2
where

γ1 = σ1 T1 − 2β1 , γ2 = σ2 T1 − 2β2 + θ (7.11.25)

Let a1 = γ1 = a2 = γ2 = 0, we can obtain the equation satisfied by the steady
state solution

− 2μ1 a1 = p1 a1 sinγ1
768 7 Continuous Systems

1  
a1 σ1 − π 2 a1 3a12 + 2a22 = p1 a1 cosγ1 (7.11.26)
8
1
− 2μ2 a2 = p2 a2 sinγ2
2
3 1 1
a2 σ2 − π 2 a23 − π 2 a12 a2 = p2 a2 cosγ2 (7.11.27)
4 8 2
Eliminating γ1 ,γ2 in the above two sets of equations, respectively, we can obtain
the system of frequency–response equations

1   2
4μ21 a12 + a12 σ1 − π 2 3a12 + 2a22 = p12 a12
8
 2
3 1 1
4μ22 a22 + a22 σ2 − π 2 a22 − π 2 a12 = p22 a22 (7.11.28)
4 8 4

From this set of equations, the amplitude-frequency response curve can be plotted.
The stability of the steady state solution is analyzed below. It can be seen from
the system of frequency–response Eq. (7.11.28) that there exists a trivial steady state
solution a10 = a20 = 0, and a non-zero steady state solution a10 = a20 = 0.
(1) Stability analysis on the trivial steady state solution a10 = a20 = 0.
Let

a1 = 0 + ã1 , γ1 = γ10 + γ̃1

a2 = 0 + ã2 , γ2 = γ20 + γ̃2 (7.11.29)

and substitute it into (7.11.23) and (7.11.27), we can obtain the corresponding
linearized equations:
 
) 1
a1 = − μ1 + p1 sinγ10 ã1
2
0 = (σ1 − p1 cosγ10 )ã1 (7.11.30)
 
1
a)2 = − μ2 + p2 sinγ20 ã2
2
0 = (σ2 − p2 cosγ20 )ã2 (7.11.31)

It can be seen from (7.11.26) and (7.11.27) that γ10 and γ20 are arbitrary when
a10 = a20 = 0, therefore, the trivial steady state solution is stable when μ1 > 21 p1
and μ2 > 21 p2 by (7.11.30) and (7.11.31). Otherwise, the trivial steady state solution
is unstable.
(2) Stability analysis of non-trivial steady state solution a10 = a20 = 0.
7.12 Exercise 7.12 (Transverse Oscillation of a Hinged-Clamped Beam … 769

Let

a1 = a10 + ã1 , γ1 = γ10 + γ̃1

a2 = a20 + ã2 , γ2 = γ20 + γ̃2 (7.11.32)

and substitute it into (7.11.23) and (7.11.24), we can obtain the corresponding
linearized equation:
⎧ ) ⎫ ⎡ ⎤⎧ ⎫
⎪
⎪ a ⎪ l11 l12 l13 l14 ⎪ ã1 ⎪
⎨ )1 ⎪⎬ ⎢ ⎪
⎨ ⎪ ⎬
γ1 l l22 l23 l24 ⎥
⎥ γ̃1
=⎢ 21
⎣ l31 (7.11.33)
⎪
⎪ a)2 ⎪
⎪ l32 l33 l34 ⎦⎪⎪ ã ⎪
⎩ ) ⎭ ⎩ 2⎪ ⎭
γ2 l41 l42 l43 l44 γ̃2

where
 
1 1
l11 = − μ1 + p1 sin γ10 , l12 = − p1 a10 cos γ10 , l13 = l14 = 0
2 2
−1 9 1 −1 2 −1
l21 = a10 σ1 − π 2 a10 − π 2 a10 a20 − p1 a10 cos γ10 ,
8 4
1
l22 = p1 sin γ10 , l23 = − π 2 a20 , l24 = 0
 2 
1 1
l31 = l32 = 0, l33 = − μ2 + p2 sin γ20 , l34 = − p2 a20 cos γ20
4 4
1
l41 = − π 2 a10 , l42 = 0
4
−1 9 1 2 −1 1 −1 1
l43 = a20 σ2 − π 2 a20 − π 2 a10 a20 − p2 a20 cos γ20 , l44 = p2 sin γ20
4 8 2 2
(7.11.34)

The stability of the steady state solution can be determined by the real parts of
these eigenvalues.

7.12 Exercise 7.12 (Transverse Oscillation

of a Hinged-Clamped Beam Under Internal
Resonance and Non-resonant Excitation at u = O(w2 ))

Solution: The governing equation of the beam in this exercise is

⎡ l
⎤
1
r (ẅ + 2μẇ + wxxxx ) = ⎣P(t) +
2
wx2 dx⎦wxx + Fz (x, t)
2l
0
770 7 Continuous Systems

the modal discretization equation for the beam of this problem is

" ∞
#
1 4 2  2 2
ün + n π un = −ε 2μn u̇n + π n un
4 4
m um + fzn (t), n = 1, 2, 3, . . .
2 m=1

Since P(t) = 0, pnm (t) = 0.

We take the characteristic length L of the beam to be half of the actual length
of the beam, then the dimensionless length of the beam l = 2; and, in turn, the
characteristic equation of linear free oscillation of a hinged-clamped beam can be
obtained from

φniv − ωn2 φn = 0 (7.12.1)

with boundary conditions:

φn (0) = φn (0) = 0 φn (2) = φn (2) = 0 (7.12.2)

where ωn is the natural frequency. The generalized solution of (7.12.1) is

φn (x) = D1 cosηn x + D2 sinηn x + D3 coshηn x + D4 sinhηn x (7.12.3)

where ωn = ηn2 . Applying the boundary conditions, we get

D1 + D3 = 0
D1 − D3 = 0
D1 cos2ηn + D2 sin2ηn + D3 cosh2ηn + D4 sinh2ηn = 0
− D1 sin2ηn + D2 cos2ηn + D3 sinh2ηn + D4 cosh2ηn = 0 (7.12.4)

Therefore,

D1 = D3 = 0 (7.12.5)

D2 sin2ηn + D4 sinh2ηn = 0
D2 cos2ηn + D4 cosh2ηn = 0 (7.12.6)

From the non-trivial solution condition, we can obtain

tan2ηn − tanh2ηn = 0 (7.12.7)

From (7.12.3), (7.12.5) and (7.12.6), we have

φn (x) = D2 sinηn x + D4 sinhηn x

7.12 Exercise 7.12 (Transverse Oscillation of a Hinged-Clamped Beam … 771

sin2ηn
= D2 sinηn x − D2 sinhηn x
sinh2ηn
D2
= (sinh2ηn sinηn x − sin2ηn sinhηn x)
sinh2ηn

i.e., the mode shape function is

φn (x) = Cn (sinh2ηn sinηn x − sin2ηn sinhηn x) (7.12.8)

where the value of Cn is taken to normalize the mode shape function φn (x).
The first five natural frequency given by (7.12.7) are

ω1 = 3.8545, ω2 = 12.491, ω3 = 26.062, ω4 = 44.568, ω5 = 68.007

(7.12.9)

We note that ω1 : ω3 ≈ 1 : 3, so there is internal resonance.

Combining the above results, we can rewrite the modal discretization equation
for the beam of this problem as
⎛ ⎞
∞

ün + ωn2 un = ε⎝ nmpq um up uq − 2μn u̇n ⎠ + fzn (t) (7.12.10)
m, p, q=1

where
⎛ l
⎞⎛ l
⎞
1⎝
nmpq =− φn φm dx⎠⎝ φp φq dx⎠, l = 2 (7.12.11)
2l
0 0

and

nmpq = mnpq = nmqp = pqnm (7.12.12)

We use the method of multiple scales to solve (7.12.10). Let the solution of the
equation be

un (t; ε) = un0 (T0 , T1 ) + εun1 (T0 , T1 ) + · · · (7.12.13)

Substituting (7.12.13) into (7.12.10) and retaining to O(ε), we get

⎛ ⎞
∞

0 = ün + ωn2 un + ε⎝2μn u̇n − nmpq um up uq
⎠ − fzn (t)
m,p,q=1
 
= D02 + 2εD0 D1 (un0 + εun1 ) + ωn2 (un0 + εun1 )
772 7 Continuous Systems
⎛ ⎞
∞

+ ε⎝2μn D0 un0 − nmpq um0 up0 uq0
⎠ − 2Kn cos t
m,p,q=1

= D02 un0 + ωn2 un0 − 2Kn cos t

⎛ ⎞
∞

+ ε⎝D02 un1 + ωn2 un1 + 2D0 D1 un0 + 2μn D0 un0 − nmpq um0 up0 uq0
⎠
m,p,q=1
(7.12.14)

Making the coefficient of the same power of ε zero in the above equation yields

D02 un0 + ωn2 un0 = 2Kn cos t (7.12.15)

∞

D02 un1 + ωn2 un1 = −2D0 D1 un0 − 2μn D0 un0 + nmpq um0 up0 uq0 (7.12.16)
m, p, q=1

The solution of the Eq. (7.12.15) is

un0 = An (T1 )eiωn T0 + ne

i T0
+ cc (7.12.17)

where
Kn
n = (7.12.18)
ωn2 − 2

Substituting (7.12.17) into (7.12.16) and taking into account εσ1 = ω2 −

3ω1 , εσ2 = 2 − 4ω1 , we obtain
∞

D02 un1 + ωn2 un1 = −2D0 D1 un0 − 2μn D0 un0 + nmpq um0 up0 uq0
m,p,q=1

= −2iωn An eiωn T0 − 2iωn μn An eiωn T0

∞
 0
+ nmpq 2Am p qe
iωm T0
+2 m p Aq e
iωq T0
+2 m Ap qe
iωp T0

m,p,q=1

+ Am Āp Aq eiωm T0 e−iωp T0 eiωq T0 + Am Ap Āq eiωm T0 eiωp T0 e−iωq T0

+ Ām Ap Aq e−iωm T0 eiωp T0 eiωq T0 + Ām Ap Āq e−iωm T0 eiωp T0 e−iωq T0
+ Ām Āp Aq e−iωm T0 e−iωp T0 eiωq T0 + Am Āp Āq eiωm T0 e−iωp T0 e−iωq T0
i(2 −ωm )T0
+ Am Ap Aq eiωm T0 eiωp T0 eiωq T0 + Ām p qe
1
i(2 −ωp )T0 i(2 −ωq )T0
+ m Āp qe + m p Āq e + cc + NST
(7.12.19)
7.12 Exercise 7.12 (Transverse Oscillation of a Hinged-Clamped Beam … 773

In order to eliminate secular terms from the above equation, we need

∞
  
2iω1 A1 + 2iω1 μ1 A1 − 2A1 11 pq +2 1 p1q p q
p, q=1
∞
 2
− A1 2( 11mm +2 1m1m )Am Am −3 1112 A1 A2 e
iσ1 T1

m=1
∞

i(σ2 −σ1 )T1
 
− A2 e 12pq +2 1p2q p q =0 (7.12.20)
p, q=1

∞
  
2iω2 A2 + 2iω2 μ2 A2 − 2A2 22pq +2 2p2q p q
p, q=1
∞

3 −iσ1 T1
− A2 2( 22mm +2 2m2m )Am Am − 2111 A1 e
m=1
∞
  
− A1 ei(σ2 −σ1 )T1 12pq +2 1p2q p q =0 (7.12.21)
p, q=1

∞
  
2iωn An + 2iωn μn An − 2An nnpq +2 npnq p q
p, q=1
∞

− 2An ( nnmm +2 nmnm )Am Ām = 0, n ≥ 3 (7.12.22)
m=1

Let
1
Q1 = 3 = −2.311, Q2 = 2111 = Q1 = −0.7703
1112
3

2(2 nmnm + nnmm ) for n = m
αmn = αnm =
6 nnnn
 
Hnm = nmpq + 2 npmq p q (7.12.23)
p, q

then (7.12.20)–(7.12.22) become

∞

2iω1 A1 + 2iω1 μ1 A1 − 2H11 A1 − A1 α1m Am Am
m=1
2
− Q1 A1 A2 eiσ1 T1 − H12 A2 ei(σ2 −σ1 )T1 = 0 (7.12.24)

2iω2 A2 + 2iω2 μ2 A2 − Q2 A31 e−iσ1 T1 − 2H22 A2

774 7 Continuous Systems

∞

− A2 α2m Am Am − H12 A1 ei(σ2 −σ1 )T1 = 0 (7.12.25)
m=1
∞

2iωn An + 2iωn μn An − 2Hnn An − An αnm Am Am = 0, n ≥ 3 (7.12.26)
m=1

Let
1 iβn
An = an e (7.12.27)
2
and substitute it into (7.12.26), we can obtain
∞
1 
iωn an − ωn an βn + iωn μn an − Hnn an − an αnm am2 = 0, n ≥ 3 (7.12.28)
8 m=1

Separating the real and imaginary parts of the above equation yields

an + μn an = 0, n ≥ 3 (7.12.29)

therefore

an = an0 e−μn T1 → 0 ⇒ An → 0, n ≥ 3 (7.12.30)

Let
1 iβ1 1
A1 = a1 e , A2 = a2 eiβ2 (7.12.31)
2 2
substitute them into (7.12.24) and (7.12.25), and take into account that (7.12.30), we
have

iω1 a1 − ω1 a1 β1 + iω1 μ1 a1 − H11 a1

1 
2
1 1
− a1 α1m am2 − Q1 a12 a2 eiγ1 − H12 a2 eiγ2 = 0 (7.12.32)
8 m=1 8 2

iω2 a2 − ω2 a2 β2 + iω2 μ2 a2 − H22 a2

1 
2
1
− a2 α2m am2 − Q2 a13 e−iγ1 − H12 a1 eiγ2 = 0 (7.12.33)
8 m=1 8

where

γ1 = σ1 T1 − 3β1 + β2 , γ2 = σ2 T1 − σ1 T1 − β1 − β2 (7.12.34)
7.12 Exercise 7.12 (Transverse Oscillation of a Hinged-Clamped Beam … 775

Separating the real and imaginary parts from (7.12.32) and (7.12.33), we obtain

1 1
20lω1 a1 = −ω1 μ1 a1 + Q1 a12 a2 sinγ1 + H12 a2 sinγ2
8 2
  1 
2
ω1 a1 γ1 + γ2 = ω1 σ2 a1 + 4H11 a1 + a1 α1m am2
2 m=1
1
+ Q1 a12 a2 cosγ1 + 2H12 a2 cosγ2 (7.12.35)
2
1
ω2 a2 = −ω2 μ2 a2 + Q2 a13 sinγ1 + H12 a1 sinγ2
8
  1 
2
ω2 a2 3γ2 − γ1 = ω2 (3σ2 − 4σ1 )a2 + 4H22 a2 + a2 α2m am2
2 m=1
1
+ Q2 a13 cosγ1 + 2H12 a1 cosγ2 (7.12.36)
2

Let a1 = γ1 = a2 = γ2 = 0 in (7.12.35) and (7.12.36), we can obtain the equation
satisfied by the steady state solution:

1 1
− ω1 μ1 a1 + Q1 a12 a2 sinγ1 + H12 a2 sinγ2 = 0
8 2
1 1
− ω2 μ2 a2 − Q2 a13 sinγ1 + H12 a1 sinγ2 = 0 (7.12.37)
8 2

1 
2
1
ω1 σ2 a1 + 4H11 a1 + a1 α1m am2 + Q1 a12 a2 cosγ1 + 2H12 a2 cosγ2 = 0
2 m=1 2

1 
2
1
ω2 (3σ2 − 4σ1 )a2 + 4H22 a2 + a2 α2m am2 + Q2 a13 cosγ1 + 2H12 a1 cosγ2 = 0
2 m=1 2
(7.12.38)

Solve the steady state solution from (7.12.37) and (7.12.38) and substitute it into
(7.12.17), we can obtain the approximate solution of un (t):

u1 ≈ u10 = a1 cos(ω1 t + β1 ) + 2 1 cos t + O(ε)

u2 ≈ u20 = a2 cos(ω2 t + β2 ) + 2 2 cos t + O(ε)
un ≈ un0 = 2 n cos t + O(ε), n ≥ 3 (7.12.39)

Note that
1 1
β1 = εσ2 t − (γ1 + γ2 )
4 4
776 7 Continuous Systems

1 3
β2 = (γ1 − 3γ2 ) − εσ1 t + εσ2 t
4 4
εσ1 = ω2 − 3ω1 , εσ2 = 2 − 4ω1

So
1 1 3 1
ω1 t + β1 = t − (γ1 + γ2 ), ω2 t + β2 = t + (γ1 − 3γ2 ) (7.12.40)
2 4 2 4
Then the Eq. (7.12.39) becomes

1 1
u1 ≈ a1 cos t − (γ1 + γ2 ) + 2 1 cos t + O(ε)
2 4
3 1
u2 ≈ a2 cos t + (γ1 − 3γ2 ) + 2 2 cos t + O(ε)
2 4
un ≈ 2 n cos t + O(ε), n ≥ 3 (7.12.41)

2
∞
Since the deflection of the beam is w(x, t) = un φn (x), the approximate solution
n=1
for the beam deflection response is

1 1
w(x, t) = a1 φ1 (x)cos t − (γ1 + γ2 )
2 4
∞ 
3 1 
+ a2 φ2 (x)cos t + (γ1 − 3γ2 ) + 2 n φn (x) cos t
2 4 n=1
(7.12.42)

7.13 Exercise 7.13 (Transverse Oscillation

of a Hinged-Clamped Beam Under Internal Resonance
and Non-resonance Excitation at u = O(w2 ))

Solution: All procedures before Eq. (7.12.18) in the previous exercise can still be
applied in this problem. Substituting (7.12.17) into (7.12.16) and taking into account
εσ1 = ω2 − 3ω1 , εσ2 = − 5ω1 , we obtain

∞

D02 un1 + ωn2 un1 = −2D0 D1 un0 − 2μn D0 un0 + nmpq um0 up0 uq0
m,p,q=1

= −2iωn An eiωn T0 − 2iωn μn An eiωn T0

∞
 3
+ nmpq 2Am p qe
iωm T0
+2 m p Aq e
iωq T0
+2 m Ap qe
iωp T0

m,p,q=1
7.13 Exercise 7.13 (Transverse Oscillation of a Hinged-Clamped Beam … 777

+ Am Āp Aq eiωm T0 e−iωp T0 eiωq T0 + Am Ap Āq eiωm T0 eiωp T0 e−iωq T0

+ Ām Ap Aq e−iωm T0 eiωp T0 eiωq T0 + Ām Ap Āq e−iωm T0 eiωp T0 e−iωq T0
+ Ām Āp Aq e−iωm T0 e−iωp T0 eiωq T0 + Am Āp Āq eiωm T0 e−iωp T0 e−iωq T0
+ Am Ap Aq eiωm T0 eiωp T0 eiωq T0
i T0 −iωm T0 −iωq T0 i T0 −iωm T0 −iωp T0
+ Ām p Āq e e e + Ām Āp qe e e
T0 −iωp T0 −iωq T0
+ m ĀA Āq e
i
e e
i T0 iωm T0 −iωp T0 i T0 iωm T0 −iωq T0
+ Am Āp qe e e + Am p Āq e e e
i T0 −iωm T0 iωq T0 i T0 −iωm T0 iωp T0
+ Ām p Aq e e e + Ām Ap qe e e
1
i T0 −iωp T0 iωq T0 i T0 iωp T0 −iωq T0
+ m Āp Aq e e e + m Ap Āq e e e + cc + NST (7.13.1)

In order to eliminate secular terms from the above equation, we need

∞
  
2iω1 A1 + 2iω1 μ1 A1 − 2A1 11pq +2 1p1q p q
p, q=1
∞
 2
− 2A1 ( 11mm +2 1m1m )Am Am −3 1112 A1 A2 e
iσ1 T1

m=1
∞

− 2A1 A2 ei(σ2 −σ1 )T1 ( 112m +2 121m ) m =0 (7.13.2)
m=1
∞
  
2iω2 A2 + 2iω2 μ2 A2 − 2A2 22pq +2 2p2q p q
p,q=1
∞

3 −iσ1 T1
− 2A2 ( 22mm +2 2m2m )Am Ām − 2111 A1 e
m=1
∞

− Ā1 ei(σ2 −σ1 )T1
2
( 112m +2 121m ) m
m=1
∞

i(σ2 −2σ1 )T1
− 2A1 Ā2 e ( 221m +2 212m ) m =0 (7.13.3)
m=1
∞
  
2iωn An + 2iωn μn An − 2An nnpq +2 npnq p q
p, q=1
∞

− 2An ( nnmm +2 nmnm )Am Ām = 0, n ≥ 3 (7.13.4)
m=1

Let
1
Q1 = 3 1112 = −2.311, Q2 = 2111 = Q1 = −0.7703
3
778 7 Continuous Systems

2( nnmm + 2 nmnm ) for n = m
αmn = αnm =
6 nnnn
 
Hnm = nmpq + 2 npmq p q,
p, q
∞
  
Gnm = nnmq +2 nmnq q (7.13.5)
q=1

then (7.13.2)–(7.13.4) become

∞

2iω1 A1 + 2iω1 μ1 A1 − 2H11 A1 − A1 α1m Am Am
m=1
2
− Q1 A1 A2 eiσ1 T1 − 2G12 A1 A2 ei(σ2 −σ1 )T1 = 0 (7.13.6)

∞

2iω2 A2 + 2iω2 μ2 A2 − 2H22 A2 − A2 α2m Am Am
m=1
2
− Q2 A31 e−iσ1 T1 − G12 A1 ei(σ2 −σ1 )T1 − 2G21 A1 A2 ei(σ2 −2σ1 )T1 = 0 (7.13.7)

∞

2iωn An + 2iωn μn An − 2Hnn An − An αnm Am Am = 0, n ≥ 3 (7.13.8)
m=1

Let
1 iβn
An = an e (7.13.9)
2
and substitute it into (7.13.8), we can obtain
∞
1 
iωn an − ωn an βn + iωn μn an − Hnn an − an αnm am2 = 0, n ≥ 3 (7.13.10)
8 m=1

Separating the real and imaginary parts of the above equation yields

an + μn an = 0, n ≥ 3 (7.13.11)

therefore

an = an0 e−μn T1 → 0 ⇒ An → 0, n ≥ 3 (7.13.12)

Let
7.13 Exercise 7.13 (Transverse Oscillation of a Hinged-Clamped Beam … 779

1 iβ1 1
A1 = a1 e , A2 = a2 eiβ2 (7.13.13)
2 2
substitute them into (7.13.6) and (7.13.7) and take into account that (7.13.12), we
have

iω1 a1 − ω1 a1 β1 + iω1 μ1 a1 − H11 a1

1 
2
1 1
− a1 α1m am2 − Q1 a12 a2 eiγ1 − G12 a1 a2 eiγ2 = 0 (7.13.14)
8 m=1 8 4

1 
2
iω2 a2 − ω2 a2 β2 + iω2 μ2 a2 − H22 a2 − a2 α2m am2
8 m=1
1 1 1
− Q2 a13 e−iγ1 − G12 a12 eiγ2 − G21 a1 a2 ei(γ2 −γ1 ) = 0 (7.13.15)
8 4 2
where

γ1 = σ1 T1 − 3β1 + β2 , γ2 = σ2 T1 − σ1 T1 − 2β1 − β2 (7.13.16)

Separating the real and imaginary parts from (7.13.15) and (7.13.16), we obtain

1 1
ω1 a1 = −ω1 μ1 a1 + Q1 a12 a2 sinγ1 + G12 a1 a2 sinγ2
8 4
  5 
2
ω1 a1 γ1 + γ2 = −ω1 σ2 a1 + 5H11 a1 + a1 α1m am2
8 m=1
5 5
+ Q1 a12 a2 cosγ1 + G12 a1 a2 cosγ2 (7.13.17)
8 4
1 1
ω2 a2 = −ω2 μ2 a2 + Q2 a13 sin γ1 + G12 a12 sin γ2
8 4
1
+ G21 a1 a2 sin(γ2 − γ1 )
2
  5 
2
ω2 a2 3γ2 − 2γ1 = ω2 a2 (3σ2 − 5σ1 ) + 5H22 a2 + a2 α2m am2
8 m=1
5 5 5
+ Q2 a13 cos γ1 + G12 a12 cos γ2 + G21 a1 a2 cos(γ2 − γ1 )
8 4 2
(7.13.18)

Let a1 = γ1 = a2 = γ2 = 0 in (7.13.17) and (7.13.18), we can obtain the equation
satisfied by the steady state solution

1 1
− ω1 μ1 a1 + Q1 a12 a2 sinγ1 + G12 a1 a2 sinγ2 = 0
8 4
780 7 Continuous Systems

1 1 1
− ω2 μ2 a2 + Q2 a13 sinγ1 + G12 a12 sinγ2 + G21 a1 a2 sin(γ2 − γ1 ) = 0
8 4 2
(7.13.19)

5 
2
5 5
− ω1 σ2 a1 + 5H11 a1 + a1 α1m am2 + Q1 a12 a2 cos γ1 + G12 a1 a2 cos γ2 = 0
8 m=1 8 4

5 
2
5
ω2 a2 (3σ2 − 5σ1 ) + 5H22 a2 + a2 α2m am2 + Q2 a13 cos γ1
8 m=1 8
5 5
+ G12 a12 cos γ2 + G21 a1 a2 cos(γ2 − γ1 ) = 0 (7.13.20)
4 2
Solving the steady state solution from (7.13.19) and (7.13.20) and substituting it
into (7.13.18), we can obtain the approximate solution of un (t)

u1 ≈ u10 = a1 cos(ω1 t + β1 ) + 2 1 cos t + O(ε)

u2 ≈ u20 = a2 cos(ω2 t + β2 ) + 2 2 cos t + O(ε)
un ≈ un0 = 2 n cos t + O(ε), n ≥ 3 (7.13.21)

Note that
1 1
β1 = εσ2 t − (γ1 + γ2 )
5 5
3 1
β2 = εσ2 t − εσ1 t + (2γ1 − 3γ2 )
5 5
εσ1 = ω2 − 3ω1 , εσ2 = − 5ω1

So
1 1 3 1
ω1 t + β1 = t − (γ1 + γ2 ), ω2 t + β2 = t + (2γ1 − 3γ2 ) (7.13.22)
5 5 5 5
In turn, Eq. (7.12.40) becomes

1 1
u1 ≈ a1 cos t − (γ1 + γ2 ) + 2 1 cos t + O(ε)
5 5
3 1
u2 ≈ a2 cos t + (2γ1 − 3γ2 ) + 2 2 cos t + O(ε)
5 5
un ≈ 2 n cos t + O(ε), n ≥ 3 (7.13.23)

2
∞
Since the deflection of the beam is w(x, t) = un φn (x), the approximate solution
n=1
for the beam deflection response is
7.14 Exercise 7.14 (Transverse Oscillation of a Clamped–Clamped Beam … 781

1 1
w(x, t) = a1 φ1 (x)cos t − (γ1 + γ2 )
5 5
∞ 
3 1 
+ a2 φ2 (x)cos t + (2γ1 − 3γ2 ) + 2 n φn (x) cos t
5 5 n=1
(7.13.24)

7.14 Exercise 7.14 (Transverse Oscillation

of a Clamped–Clamped Beam at Internal Resonance
and Resonant Excitation at u = O(w2 ))

Solution: (a) The governing equation of the beam in this exercise is still
⎡ l
⎤
1
r 2 (ẅ + 2μẇ + wxxxx ) = ⎣P(t) + wx2 dx⎦wxx + Fz (x, t) (7.14.1)
2l
0

and the modal discretization equation for the beam of this problem is also the same
as previous exercises, i.e.,
" ∞
#
1 4 2  2 2
ün + n π un = −ε 2μn u̇n + π n un
4 4
m um + fzn (t), n = 1, 2, 3, . . .
2 m=1

Since P(t) = 0, pnm (t) = 0.

We take the characteristic length of the beam L to be the actual length of the
beam, then the dimensionless length of the beam l = 1; and, in turn, the characteristic
equation for the linear free oscillation of a clamped- clamped beam can be obtained
from

φniv − ωn2 φn = 0 (7.14.2)

with boundary conditions:

φn (0) = φn (0) = 0, φn (1) = φn (1) = 0 (7.14.3)

where ωn is the natural frequency. The generalized solution of (7.14.3) is

φn (x) = D1 cosηn x + D2 sinηn x + D3 coshηn x + D4 sinhηn x (7.14.4)

where.ωn = ηn2 Applying the boundary conditions, we get

782 7 Continuous Systems

D1 + D3 = 0
D2 + D4 = 0
(7.14.5)
D1 cosηn + D2 sinηn + D3 coshηn + D4 sinhηn = 0
−D1 sinηn + D2 cosηn + D3 sinhηn + D4 coshηn = 0

Therefore,

D1 = −D3 , D2 = −D4 (7.14.6)

(cosηn − coshηn )D1 + (sinηn − sinhηn )D2 = 0

(sinηn + sinhηn )D1 − (cosηn − coshηn )D2 = 0 (7.14.7)

From the non-trivial solution condition, we can obtain

cosηn coshηn = 1 (7.14.8)

From (7.14.4), (7.14.6) and (7.14.7), we have

φn (x) = D1 (cos ηn x − cosh ηn x) + D2 (sin ηn x − sinh ηn x)

= D1 [(cos ηn x − cosh ηn x)
cos ηn − cosh ηn
− (sin ηn x − sinh ηn x)
sin ηn − sinh ηn
D1
= [(sin ηn − sinh ηn )(cos ηn x − cosh ηn x)
sin ηn − sinh ηn
−(cos ηn − cosh ηn )(sin ηn x − sinh ηn x)]

i.e., the mode shape function is

φn (x) = Cn [(sinηn − sinhηn )(cosηn x − coshηn x)

− (cosηn − coshηn )(sinηn x − sinhηn x)] (7.14.9)

√ the mode shape function φn (x).

where the value of Cn is taken√to normalize
The function D(ω) = cos ωcosh ω − 1 obtained from (7.14.8) is shown in
Fig. 7.3 and the first 5 natural frequencies are

22.4261.700120.89199.80298.43

The first 4 natural frequencies presented by the exercise are

22.37, 61.67, 120.91, 199.85

7.14 Exercise 7.14 (Transverse Oscillation of a Clamped–Clamped Beam … 783

Fig. 7.3 The function of the frequency equation for Exercise 7.14

It can be seen that the calculated values of the first 4 natural frequencies are very
close to the values given in the exercise; therefore, we adopt the values given in the
exercise in the following analyses. We note that

ω1 + ω2 + ω3 = ω4 + εσ1 (7.14.10)

Thus there is internal resonance.

Considering the above results, we can obtain the modal discretization equation
for the beam of this problem
⎛ ⎞
∞

ün + ωn2 un = ε⎝ nmpq um up uq − 2μn u̇n ⎠ + fzn (t) (7.14.11)
m, p, q=1

where
⎛ l
⎞⎛ l
⎞
1⎝
nmpq =− φn φm dx⎠⎝ φp φq dx⎠, l = 2 (7.14.12)
2l
0 0

and

nmpq = mnpq = nmqp = pqnm (7.14.13)

We use the method of multiple scales to solve (7.14.11). Let the solution of the
equation be

un (t; ε) = un0 (T0 , T1 ) + εun1 (T0 , T1 ) + · · · (7.14.14)

Substituting (7.14.14) into (7.14.11) and retaining to O(ε), we obtain

784 7 Continuous Systems
⎛ ⎞
∞

0 = ün + ωn2 un + ε⎝2μn u̇n − nmpq um up uq
⎠ − fzn (t)
m,p,q=1
 
= D02 + 2εD0 D1 (un0 + εun1 ) + ωn2 (un0 + εun1 )
⎛ ⎞
∞

+ε⎝2μn D0 un0 − nmpq um0 up0 uq0
⎠ − 2εδns kn cos t (7.14.15)
m,p,q=1

= D02 un0 + ωn2 un0 + ε D02 un1 + ωn2 un1 + 2D0 D1 un0
⎞
∞

+2μn D0 un0 − nmpq um0 up0 uq0 − 2δns kn cos t ⎠
m,p,q=1

Making the coefficient of the same power of ε zero in the above equation yields

D02 un0 + ωn2 un0 = 0 (7.14.16)

D02 un1 + ωn2 un1 = −2D0 D1 un0 − 2μn D0 un0

∞

+ nmpq um0 up0 uq0
m, p, q=1

+ 2δns kn cos t (7.14.17)

The solution of (7.14.16) is

un0 = An (T1 )eiωn T0 + cc (7.14.18)

Substituting (7.14.18) into (7.14.17) yields

D02 un1 + ωn2 un1 = −2D0 D1 un0 − 2μn D0 un0

∞

+ nmpq um0 up0 uq0 + 2δns kn cos t
m,p,q=1

= −2iωn An eiωn T0 − 2iωn μn An eiωn T0

∞
(7.14.19)
 0
+ nmpq Am Ap Aq e
iωm T0 iωp T0 iωq T0
e e
m,p,q=1

+Am Ap Aq eiωm T0 e−iωp T0 eiωq T0 + Am Ap Aq eiωm T0 eiωp T0 e−iωq T0

4
+Am Ap Aq eiωm T0 e−iωp T0 e−iωq T0 + δns kn ei T0 + cc + NST

In order to eliminate secular terms from the above equation, and take into account
ω1 + ω2 + ω3 = ω4 + εσ1 and = ωs + εσ2 , we need
7.14 Exercise 7.14 (Transverse Oscillation of a Clamped–Clamped Beam … 785

∞

 
−2iω1 A1 + μ1 A1 + A1 α1m Am Am + 8QA4 A3 A2 e−iσ1 T1 + δ1s k1 eiσ2 T1 = 0
m=1
(7.14.20)
∞

 
−2iω2 A2 + μ2 A2 + A2 α2m Am Am + 8QA4 A3 A1 e−iσ1 T1 + δ2s k2 eiσ2 T1 = 0
m=1
(7.14.21)
∞

 
−2iω3 A3 + μ3 A3 + A3 α3m Am Am + 8QA4 A2 A1 e−iσ1 T1 + δ3s k3 eiσ2 T1 = 0
m=1
(7.14.22)
∞

 
−2iω4 A4 + μ4 A4 + A4 α4m Am Am + 8QA3 A2 A1 eiσ1 T1 + δ4s k1 eiσ2 T1 = 0
m=1
(7.14.23)
∞

 
−2iωn An + μn An + An αnm Am Am = 0, n ≥ 5 (7.14.24)
m=1

where

8Q = 2( + 1324 + 1423 )
1234

2( nnmm + 2 nmnm ) for n = m
αmn = αnm = (7.14.25)
6 nnnn

Let
1 iβn
An = an e (7.14.26)
2
Substituting it into (7.14.24) yields
∞
1 
iωn an − ωn an βn + iωn μn an − an αnm am2 = 0, n ≥ 5 (7.14.27)
8 m=1

Separating the real and imaginary parts of the above equation yields

an + μn an = 0, n ≥ 5 (7.14.28)

Therefore,

an = an0 e−μn T1 → 0 ⇒ An → 0, n ≥ 5 (7.14.29)

786 7 Continuous Systems

When s = 1, the Eqs. (7.14.20)–(7.14.23) become

   
4
−2iω1 A1 + μ1 A1 + A1 α1m Am Am + 8QA4 A3 A2 e−iσ1 T1 + k1 eiσ2 T1 = 0
m=1
(7.14.30)

   
4
−2iω2 A2 + μ2 A2 + A2 α2m Am Am + 8QA4 A3 A1 e−iσ1 T1 = 0 (7.14.31)
m=1

  
4
−2iω3 A3 + μ3 A3 + A3 α3m Am Am + 8QA4 A2 A1 e−iσ1 T1 = 0 (7.14.32)
m=1

  
4
−2iω4 A4 + μ4 A4 + A4 α4m Am Am + 8QA3 A2 A1 eiσ1 T1 = 0 (7.14.33)
m=1

where (7.14.29) is taken into account.

Substitute (7.14.26) into (7.14.30)–(7.14.33), we obtain

1 
4
iω1 a1 − ω1 a1 β1 + iω1 μ1 a1 − a1 α1m am2 − Qa2 a3 a4 e−iγ1 − k1 eiγ2 = 0
8 m=1
(7.14.34)

1 
4
iω2 a2 − ω2 a2 β2 + iω2 μ2 a2 − a2 α2m am2 − Qa1 a3 a4 e−iγ1 = 0 (7.14.35)
8 m=1

1 
4
iω3 a3 − ω3 a3 β3 + iω3 μ3 a3 − a3 α3m am2 − Qa1 a2 a4 e−iγ1 = 0 (7.14.36)
8 m=1

1 
4
iω4 a4 − ω4 a4 β4 + iω4 μ4 a4 − a4 α4m am2 − Qa1 a2 a3 eiγ1 = 0 (7.14.37)
8 m=1

where

γ1 = σ1 T1 + β1 + β2 + β3 − β4 , γ2 = σ2 T1 − β1 (7.14.38)

Separating the real and imaginary parts of (7.14.35) and (7.14.37), we obtain

ω2 a2 = −ω2 μ2 a2 − Qa1 a3 a4 sinγ1 (7.14.39)

ω4 a4 = −ω4 μ4 a4 + Qa1 a2 a3 sinγ1 (7.14.40)

7.14 Exercise 7.14 (Transverse Oscillation of a Clamped–Clamped Beam … 787

The steady state solutions of a1 and a2 satisfy

ω2 μ2 a2 = −Qa1 a3 a4 sinγ1
ω4 μ4 a4 = Qa1 a2 a3 sinγ1 (7.14.41)

Eliminating γ1 from the above equation yields

ω2 μ2 a22 + ω4 μ4 a42 = 0 (7.14.42)

Therefore, a2 = a4 = 0. Separating the real and imaginary parts of the Eq.

(7.14.36), we obtain

a3 = −μ3 a3 ⇒ a3 = a30 e−μ3 T1 → 0 (7.14.43)

So

a2 = a3 = a4 = 0 (7.14.44)

Thus, the Eq. (7.14.34) becomes

1
iω1 a1 − ω1 a1 β1 + iω1 μ1 a1 − α11 a13 − k1 eiγ2 = 0 (7.14.45)
8
Separates the real part from the imaginary part of the above equation, we can
obtain

ω1 a1 = −ω1 μ1 a1 + k1 sinγ2

1
ω1 a1 γ2 = ω1 σ2 a1 + α11 a13 + k1 cosγ2 (7.14.46)
8

Let a1 = γ2 = 0 in (7.14.46), we can obtain the equation satisfied by the steady
state solution:

ω1 μ1 a1 = k1 sinγ2
 
1
− a1 ω1 σ2 + α11 a12 = k1 cosγ2 (7.14.47)
8

The frequency–response equation is

 2
1
ω12 μ21 a12 + a12 ω1 σ2 + α11 a12 = k12 (7.14.48)
8

(f) and (g) Readers are invited to complete Exercise 7.14(f) and (g).
When s = 4, substituting (7.14.26) into (7.14.20)–(7.14.23), we can obtain
788 7 Continuous Systems

1 
4
iω1 a1 − ω1 a1 β1 + iω1 μ1 a1 − a1 α1m am2 − Qa2 a3 a4 e−iγ1 = 0 (7.14.49)
8 m=1

1 
4
iω2 a2 − ω2 a2 β2 + iω2 μ2 a2 − a2 α2m am2 − Qa1 a3 a4 e−iγ1 = 0 (7.14.50)
8 m=1

1 
4
iω3 a3 − ω3 a3 β3 + iω3 μ3 a3 − a3 α3m am2 − Qa1 a2 a4 e−iγ1 = 0 (7.14.51)
8 m=1

1 
4
iω4 a4 − ω4 a4 β4 + iω4 μ4 a4 − a4 α4m am2 − Qa1 a2 a3 eiγ1 − k4 eiγ2 = 0
8 m=1
(7.14.52)

where

γ1 = σ1 T1 + β1 + β2 + β3 − β4 , γ2 = σ2 T1 − β1 (7.14.53)

and (7.14.29) is taken into account. Separating the real and imaginary parts of
(7.14.35) and (7.14.37) and taking into account (7.14.53), we can obtain

ω1 a1 = −ω1 μ1 a1 − Qa2 a3 a4 sinγ1 (7.14.54)

ω2 a2 = −ω2 μ2 a2 − Qa1 a3 a4 sinγ1 (7.14.55)

ω3 a3 = −ω3 μ3 a3 − Qa1 a2 a4 sinγ1 (7.14.56)

ω4 a4 = −ω4 μ4 a4 + Qa1 a2 a3 sinγ1 + k4 sinγ2 (7.14.57)

1 
4
ω1 a1 γ2 = ω1 σ2 a1 + a1 α1m am2 + Qa2 a3 a4 cosγ1 (7.14.58)
8 m=1

1 
4
ω2 a2 β2 = − a2 α2m am2 − Qa1 a3 a4 cosγ1 (7.14.59)
8 m=1

1 
4
ω3 a3 β3 = − a3 α3m am2 − Qa1 a2 a4 cosγ1 (7.14.60)
8 m=1

1 
4
−ω4 a4 γ1 − ω4 a4 γ2 + ω4 a4 β2 + ω4 a4 β3 = −ω4 (σ1 + σ2 )a4 − a4 α4m am2
8 m=1
− Qa1 a2 a3 cosγ1 − k4 cosγ2 (7.14.61)
7.14 Exercise 7.14 (Transverse Oscillation of a Clamped–Clamped Beam … 789

The corresponding steady state solution must satisfy

ω1 μ1 a1 = −Qa2 a3 a4 sinγ1 (7.14.62)

ω2 μ2 a2 = −Qa1 a3 a4 sinγ1 (7.14.63)

ω3 μ3 a3 = −Qa1 a2 a4 sinγ1 (7.14.64)

ω4 μ4 a4 − Qa1 a2 a3 sinγ1 − k4 sinγ2 = 0 (7.14.65)

1 
4
ω1 σ2 a1 + a1 α1m am2 + Qa2 a3 a4 cosγ1 = 0 (7.14.66)
8 m=1

1 
4
a2 α2m am2 + Qa1 a3 a4 cosγ1 = 0 (7.14.67)
8 m=1

1 
4
a3 α3m am2 + Qa1 a2 a4 cosγ1 = 0 (7.14.68)
8 m=1

1 
4
ω4 (σ1 + σ2 )a4 + a4 α4m am2 + Qa1 a2 a3 cosγ1 + k4 cosγ2 = 0 (7.14.69)
8 m=1

(7.14.62)–(7.14.69) have different steady state solutions, which are discussed

separately as follows.
The Case of a Partially Zero Steady State Solution
From the direct observation on (7.14.62)–(7.14.69) we can find that there exists
a steady state solution.

a1 = a2 = a3 = 0 and a4 TBD (7.14.70)

Then (7.14.65) and (7.14.69) become

ω4 μ4 a4 = k4 sinγ2
1
a4 ω4 (σ1 + σ2 ) + α44 a42 = −k4 cosγ2 (7.14.71)
8

The frequency–response equation is

1
ω42 μ24 a42 + a42 [ω4 (σ1 + σ2 ) + α44 a42 ]2 = k42 (7.14.72)
8
790 7 Continuous Systems

Therefore, the steady state solution a4 = 0.

The case of all non-zero steady state solutions
When a1 = 0, a2 = 0, a4 = 0, we can solve for sinγ1 from (7.14.64) and
substitute it into (7.14.65); solve for cosγ1 from (7.14.68) and substitute it into
(7.14.69):

ω4 μ4 a42 + ω3 μ3 a32 = a4 k4 sinγ2 (7.14.73)

1  1 
4 4
ω4 (σ1 + σ2 )a42 + a42 α4m am2 − a32 α3m am2 = −a4 k4 cosγ2 (7.14.74)
8 m=1 8 m=1

Eliminating γ1 from three sets of Eqs. (7.14.62) and (7.14.66), (7.14.63) and
(7.14.67), as well as (7.14.64) and (7.14.68); and eliminating γ2 from (7.14.73) yield
" #2
1
4
ω12 μ21 a12 + a12 ω1 σ2 + α1m am2 = Q2 a22 a32 a42 (7.14.75)
8 m=1
" #2
1
4
ω22 μ22 a22 + a22 α2m am2 = Q2 a12 a32 a42 (7.14.76)
8 m=1
" #2
1
4
ω32 μ23 a32 + a32 α3m am2 = Q2 a12 a22 a42 (7.14.77)
8 m=1
 2
1  1 
4 4
ω4 (σ1 + σ2 )a42
+ a42 α4m am2 − a32 α3m am2
8 m=1 8 m=1
 2
+ ω4 μ4 a42 + ω3 μ3 a32 = a42 k42 (7.14.78)

This set of equations is the frequency–response equation for the steady-state

amplitude. It can be seen that there is a non-trivial solution when a1 = 0, a2 =
0, a4 = 0; for example, whenever a1 = 0, then, by (7.14.75), we know that there
must be a2 = 0, a3 = 0, a4 = 0.
7.15 Exercise 7.15 (Transverse Oscillation of a Clamped–Clamped Beam … 791

7.15 Exercise 7.15 (Transverse Oscillation

of a Clamped–Clamped Beam Under Internal
Resonance and Non-resonance Excitation
at u = O(w2 ))

Solution: We take the characteristic length of the beam,L, to be the actual length of
the beam, then the dimensionless length of the beam l = 1. In turn, the linear free
oscillation mode function of the beam is

φn (x) = Cn [(sin ηn − sinh ηn )(cos ηn x − cosh ηn x)

− (cos ηn − cosh ηn )(sin ηn x − sinh ηn x)] (7.15.1)

where the value of Cn is taken to normalize the mode shape function φn (x). The first
five natural frequencies of the beam are

22.42 61.700 120.89 199.80 298.43

We note that

ω1 + ω2 + ω3 = ω4 + εσ1 (7.15.2)

Hence there is internal resonance. The discrete equation of the mode shape
function of the beam in this problem is
⎛ ⎞
∞

ün + ωn2 un = ε⎝ nmpq um up uq − 2μn u̇n ⎠ + fzn (t) (7.15.3)
m, p, q=1

where
⎛ l
⎞⎛ l
⎞
1⎝
nmpq =− φn φm dx⎠⎝ φp φq dx⎠, l = 2 (7.15.4)
2l
0 0

and

nmpq = mnpq = nmqp = pqnm (7.15.5)

We use the method of multiple scales to solve (7.15.3). Let the solution of the
equation be

un (t; ε) = un0 (T0 , T1 ) + εun1 (T0 , T1 ) + · · · (7.15.6)

Substituting (7.15.6) into (7.15.3) and retaining to O(ε), we get

792 7 Continuous Systems
⎛ ⎞
∞

0 = ün + ωn2 un + ε⎝2μn u̇n − nmpq um up uq
⎠ − fzn (t)
m,p,q=1
 
= D02 + 2εD0 D1 (un0 + εun1 ) + ωn2 (un0 + εun1 )
⎛ ⎞
∞

+ε⎝2μn D0 un0 − nmpq um0 up0 uq0
⎠ − 2Kn cos t (7.15.7)
m,p,q=1

= D02 un0 + ωn2 un0 − 2Kn cos t + ε D02 un1 + ωn2 un1
⎞
∞

+2D0 D1 un0 + 2μn D0 un0 − nmpq um0 up0 uq0
⎠
m,p,q=1

Making the coefficient of the same power of ε zero in the above equation yields

D02 un0 + ωn2 un0 = 2Kn cos T0 (7.15.8)

∞

D02 un1 + ωn2 un1 = −2D0 D1 un0 − 2μn D0 un0 + nmpq um0 up0 uq0 (7.15.9)
m, p, q=1

The solution of (7.15.8) is

un0 = An (T1 )eiωn T0 + ne

i T0
+ cc (7.15.10)

where
Kn
n = (7.15.11)
ωn2 − 2

Substituting (7.15.10) into (7.15.9) and taking into account ω1 + ω2 + ω3 =

ω4 + εσ1 and = ω3 − ω1 − ω2 + εσ2 , we obtain
7.15 Exercise 7.15 (Transverse Oscillation of a Clamped–Clamped Beam … 793

∞

D02 un1 + ωn2 un1 = −2D0 D1 un0 − 2μn D0 un0 + nmpq um0 up0 uq0
m,p,q=1
∞
  
= −2iωn An eiωn T0 − 2iωn μn An eiωn T0 + 2An eiωn T0 nnpq +2 npnq p q
p,q=1
∞
  
+A4 np4q + nqp4 + n4pq Ap Aq eiω4 T0 e−iωp T0 e−iωq T0
p,q=1
∞
 0
+ nmpq Am eiωm T0 Ap e−iωp T0 qe
i T0
+ Am eiωm T0 pe
i T0
Aq e−iωq T0
m,p,q=1
−i T0
+Am eiωm T0 pe Aq e−iωq T0 + Am eiωm T0 Ap eiωp T0 qe
−i T0

+Am eiωm T0 Ap e−iωp T0 qe

−i T0
+ me
i T0
Ap e−iωp T0 Aq eiωq T0
+ me
i T0
Ap eiωp T0 Aq e−iωq T0 + me
i T0
Ap e−iωp T0 Aq e−iωq T0
+Am eiωm T0 Ap eiωp T0 qe
i T0
+ Am eiωm T0 pe
i T0
Aq eiωq T0
+ me
i T0
Ap eiωp T0 Aq eiωq T0 + Am eiωm T0 Ap eiωp T0 Aq e−iωq T0
4
+Am eiωm T0 Ap e−iωp T0 Aq eiωq T0 + Am e−iωm T0 Ap eiωp T0 Aq eiωq T0
+2( 1234 + 1324 + 1423 )A1 A2 A3 e
iσ1 T1 iω4 T0
e + cc + NST
(7.15.12)

In order to eliminate secular terms from the above equation, and taking into
account ω1 + ω2 + ω3 = ω4 + εσ1 and = ω3 − ω1 − ω2 + εσ2 , we need
∞

 
− 2iω1 A1 + μ1 A1 + 2H11 A1 + A1 α1m Am Ām
m=1
+ 8QĀ2 Ā3 A4 e−iσ1 T1 + 4F Ā2 A3 e−iσ2 T1 = 0 (7.15.13)

∞

 
− 2iω2 A2 + μ2 A2 + 2H22 A2 + A2 α2m Am Ām
m=1
−iσ1 T1 −iσ2 T1
+ 8QĀ1 Ā3 A4 e + 4F Ā1 A3 e =0 (7.15.14)

∞

 
− 2iω3 A3 + μ3 A3 + 2H33 A3 + A3 α3m Am Am
m=1

+ 8QA1 A2 A4 e−iσ1 T1 + 4FA1 A2 eiσ2 T1 = 0 (7.15.15)

∞

 
−2iω4 A4 + μ4 A4 + 2H44 A4 + A4 α4m Am Am + 8QA1 A2 A3 eiσ1 T1 = 0
m=1
(7.15.16)
794 7 Continuous Systems

∞

 
−2iωn An + μn An + 2Hnn An + An αnm Am Am = 0, n ≥ 5 (7.15.17)
m=1

where
∞

8Q = 2( 1234 + 1324 + 1423 ), 4F = 2 ( 123m + 231m + 132m ) m
m=1

2( nnmm + 2 nmnm ) for n = m
αmn = αnm =
6 nnnn
 
Hnm = nmpq + 2 npmq p q (7.15.18)
p, q

Let
1 iβn
An = an e (7.15.19)
2
2
∞
Substituting it into 2iωn An +2iωn μn An −2Hnn An −An αnm Am Am = 0, n ≥ 3
m=1
yields
∞
1 
iωn an − ωn an βn + iωn μn an − Hnn an − an αnm am2 = 0, n ≥ 5 (7.15.20)
8 m=1

Separating the real and imaginary parts of the above equation yields

an + μn an = 0, n ≥ 5 (7.15.21)

therefore

an = an0 e−μn T1 → 0 ⇒ An → 0, n ≥ 5 (7.15.22)

Substituting (7.15.19) into (7.15.13)–(7.15.16) and taking into account that

(7.15.22), we have

− iω1 a1 + ω1 a1 β1 − iω1 μ1 a1 + H11 a1

1 
4
+ a1 α1m am2 + Qa2 a3 a4 eiγ1 + Fa2 a3 eiγ2 = 0 (7.15.23)
8 m=1

− iω2 a2 + ω2 a2 β2 − iω2 μ2 a2 + H22 a2

7.15 Exercise 7.15 (Transverse Oscillation of a Clamped–Clamped Beam … 795

1 
4
+ a2 α2m am2 + Qa1 a3 a4 eiγ1 + Fa1 a3 eiγ2 = 0 (7.15.24)
8 m=1

− iω3 a3 + ω3 a3 β3 − iω3 μ3 a3 + H33 a3

1 
4
+ a3 α3m am2 + Qa1 a2 a4 eiγ1 + Fa1 a2 e−iγ2 = 0 (7.15.25)
8 m=1

1 
4
−iω4 a4 + ω4 a4 β4 − iω4 μ4 a4 + H44 a4 + a4 α4m am2 + Qa1 a2 a3 e−iγ1 = 0
8 m=1
(7.15.26)

where

γ1 = β4 − β3 − β2 − β1 − σ1 T1 , γ2 = β3 − β2 − β1 − σ2 T1 (7.15.27)

Separating the real and imaginary parts of (7.15.23)–(7.15.26) and making a1 =
a2 = a3 = a4 = 0, we obtain

−ω1 μ1 a1 + Qa2 a3 a4 sinγ1 + Fa2 a3 sinγ2 = 0 (7.15.28)

−ω2 μ2 a2 + Qa1 a3 a4 sinγ1 + Fa1 a3 sinγ2 = 0 (7.15.29)

−ω3 μ3 a3 + Qa1 a2 a4 sinγ1 − Fa1 a2 sinγ2 = 0 (7.15.30)

−ω4 μ4 a4 − Qa1 a2 a3 sinγ1 = 0 (7.15.31)

1 
4
ω1 a1 β1 + H11 a1 + a1 α1m am2 + Qa2 a3 a4 cosγ1 + Fa2 a3 cosγ2 = 0 (7.15.32)
8 m=1

1 
4
ω2 a2 β2 + H22 a2 + a2 α2m am2 + Qa1 a3 a4 cosγ1 + Fa1 a3 cosγ2 = 0 (7.15.33)
8 m=1

1 
4
ω3 a3 β3 + H33 a3 + a3 α3m am2 + Qa1 a2 a4 cos γ1 + Fa1 a2 cos γ2 = 0
8 m=1
(7.15.34)

1 
4
ω4 a4 β4 + H44 a4 + a4 α4m am2 + Qa1 a2 a3 cosγ1 = 0 (7.15.35)
8 m=1
796 7 Continuous Systems

(7.15.28)–(7.15.35) control the magnitude and phase of the mode shape function.
For any set of amplitude steady state solutions, the phase is assumed to be

βn = βn T1 + τn = εβn t + τn , n = 1, 2, 3, 4 (7.15.36)

Then by the Eqs. (7.15.10) and (7.15.6), we can obtain the approximate solution
of un (t):
  
un ≈ un0 = an cos ωn + εβn t + τn
+ 2 n cos t + O(ε), n = 1, 2, 3, 4
un ≈ un0 = 2 n cos t + O(ε), n ≥ 5 (7.15.37)

2
∞
Since the deflection of the beam is w(x, t) = un φn (x), the approximate solution
n=1
for the beam deflection response is
 4 

4
   

w(x, t) = an φn (x)cos ωn + εβn t + τn + 2 n φn (x) cos t (7.15.38)
n=1 n=1

It is clear that the (7.15.28)–(7.15.35) has a zero amplitude steady state solution
a1 = a2 = a3 = a4 = 0. For non-trivial amplitude solutions, (7.15.32)–(7.15.35)
can be written as:

1 4
β1 + ω1−1 H11 + ω1−1 α1m am2
8 m=1

+ ω1−1 Qa1−1 a2 a3 a4 cosγ1 + ω1−1 Fa1−1 a2 a3 cosγ2 = 0 (7.15.39)

1 4
β2 + ω2−1 H22 + ω2−1 a2−1 α2m am2
8 m=1

+ ω2−1 Qa2−1 a1 a3 a4 cosγ1 + ω2−1 Fa2−1 a1 a3 cosγ2 = 0 (7.15.40)

1 4
β3 + ω3−1 H33 + ω3−1 α3m am2
8 m=1

+ ω3−1 Qa3−1 a1 a2 a4 cosγ1 + ω3−1 Fa3−1 a1 a2 cosγ2 = 0 (7.15.41)

1 4
β4 + ω4−1 H44 + ω4−1 α4m am2 + ω4−1 Qa4−1 a1 a2 a3 cosγ1 = 0 (7.15.42)
8 m=1

From (7.15.27), we have

7.15 Exercise 7.15 (Transverse Oscillation of a Clamped–Clamped Beam … 797

γ1 + σ1 = β4 − β3 − β2 − β1 , γ2 + σ2 = β3 − β2 − β1 (7.15.43)

Combining (7.15.39)–(7.15.42) according to the right-hand side of the two

equations of (7.15.43) yields

γ1 + σ1 + ω4−1 H44 − ω3−1 H33 − ω2−1 H22 − ω1−1 H11

1 −1  1 −1  1 −1 −1  1 −1 
4 4 4 4
+ ω4 α4m am − ω3
2
α3m am − ω2 a2
2
α2m am − ω1
2
α1m am2
8 m=1
8 m=1
8 m=1
8 m=1
 
+Q ω4−1 a4−1 a1 a2 a3 − ω3−1 a3−1 a1 a2 a4 − ω2−1 a2−1 a1 a3 a4 − ω1−1 a1−1 a2 a3 a4 cos γ1
 
−F ω3−1 a3−1 a1 a2 + ω2−1 a2−1 a1 a3 + ω1−1 a1−1 a2 a3 cos γ2 = 0
(7.15.44)

γ2 + σ2 + ω3−1 H33 − ω2−1 H22 − ω1−1 H11

1  4
1  4
1  4
+ ω3−1 α3m am2 − ω2−1 a2−1 α2m am2 − ω1−1 α1m am2
8 m=1
8 m=1
8 m=1
(7.15.45)
 
+Q ω3−1 a3−1 a1 a2 a4 − ω2−1 a2−1 a1 a3 a4 − ω1−1 a1−1 a2 a3 a4 cos γ1
 
+F ω3−1 a3−1 a1 a2 − ω2−1 a2−1 a1 a3 − ω1−1 a1−1 a2 a3 cos γ2 = 0

Let γ1 = γ2 = 0, we obtain

σ1 + ω4−1 H44 − ω3−1 H33 − ω2−1 H22 − ω1−1 H11

1  4
1 4
1  4
1 4
+ ω4−1 α4m am2 − ω3−1 α3m am2 − ω2−1 a2−1 α2m am2 − ω1−1 α1m am2
8 m=1
8 m=1
8 m=1
8 m=1
 −1 −1 −1 −1 −1 −1 −1 −1

+Q ω4 a4 a1 a2 a3 − ω3 a3 a1 a2 a4 − ω2 a2 a1 a3 a4 − ω1 a1 a2 a3 a4 cos γ1
 
−F ω3−1 a3−1 a1 a2 + ω2−1 a2−1 a1 a3 + ω1−1 a1−1 a2 a3 cos γ2 = 0
(7.15.46)

σ2 + ω3−1 H33 − ω2−1 H22 − ω1−1 H11

1 −1  1 −1 −1  1 −1 
4 4 4
+ ω3 α3m am − ω2 a2
2
α2m am − ω1
2
α1m am2
8 m=1
8 m=1
8 m=1
(7.15.47)
 −1 −1 −1 −1 −1 −1

+Q ω3 a3 a1 a2 a4 − ω2 a2 a1 a3 a4 − ω1 a1 a2 a3 a4 cos γ1
 
+F ω3−1 a3−1 a1 a2 − ω2−1 a2−1 a1 a3 − ω1−1 a1−1 a2 a3 cos γ2 = 0

(7.15.46), (7.15.47) and (7.15.28)–(7.15.31) are the equations satisfied by the

steady state solutions of a1 , a2 , a3 , a4 , γ1 , γ2 . After finding a set of steady state
solutions, we substitute them into (7.15.39)–(7.15.42) and obtain the values for
β1 , β2 , β3 , β4 by integration. Obviously, these values contain integration constants,
which need to be determined from the initial conditions.
798 7 Continuous Systems

7.16 Exercise 7.16 (Transverse Oscillation

of a Clamped-Supported Beam Under Internal
Resonance and Non-resonance Excitation
at u = O(w2 ))

Solution: We take the characteristic length of the beam L to be the actual length of
the beam, then the dimensionless length of the beam l = 1. In turn, the mode shape
function of the linear free oscillation of the beam is

φn (x) = Cn [(sin ηn − sinh ηn )(cos ηn x − cosh ηn x)

− (cos ηn − cosh ηn )(sin ηn x − sinh ηn x)] (7.16.1)

where the value of Cn Cn is taken to normalize the mode shape function φn (x). The
first five natural frequencies of the beam are

22.42 61.700 120.89 199.80 298.43

We note that

ω1 + ω2 + ω3 = ω4 + εσ1 (7.16.2)

Hence there is internal resonance. The discrete equation of the mode shape
function of the beam of this problem is
⎛ ⎞
∞

ün + ωn2 un = ε⎝ nmpq um up uq − 2μn u̇n ⎠ + fzn (t) (7.16.3)
m, p, q=1

where
⎛ l
⎞⎛ l
⎞
1⎝
nmpq =− φn φm dx⎠⎝ φp φq dx⎠, l = 2 (7.16.4)
2l
0 0

and

nmpq = mnpq = nmqp = pqnm (7.16.5)

We use the method of multiple scales to solve (7.16.3). Let the solution of the
equation be

un (t; ε) = un0 (T0 , T1 ) + εun1 (T0 , T1 ) + · · · un (t; ε) = un0 (T0 , T1 ) + εun1 (T0 , T1 ) + · · · (7.16.6)

Substituting (7.16.6) into (7.16.3) and retaining to O(ε), we obtain

7.16 Exercise 7.16 (Transverse Oscillation of a Clamped-Supported Beam … 799
⎛ ⎞
∞

0 = ün + ωn2 un + ε⎝2μn u̇n − nmpq um up uq
⎠ − fzn (t)
m,p,q=1
 
= D02 + 2εD0 D1 (un0 + εun1 ) + ωn2 (un0 + εun1 )
⎛ ⎞
∞

+ε⎝2μn D0 un0 − nmpq um0 up0 uq0
⎠ − 2Kn cos t (7.16.7)
m,p,q=1

= D02 un0 + ωn2 un0 − 2Kn cos t + ε D02 un1 + ωn2 un1
⎞
∞

+2D0 D1 un0 + 2μn D0 un0 − nmpq um0 up0 uq0
⎠
m,p,q=1

Making the coefficient of the same power of ε zero in the above equation yields

D02 un0 + ωn2 un0 = 2Kn cos T0 (7.16.8)

∞

D02 un1 + ωn2 un1 = −2D0 D1 un0 − 2μn D0 un0 + nmpq um0 up0 uq0 (7.16.9)
m, p, q=1

The solution of the Eq. (7.16.8) is

un0 = An (T1 )eiωn T0 + ne

i T0
+ cc (7.16.10)

where
Kn
n = (7.16.11)
ωn2 − 2

Substituting (7.6.10) into (7.16.9) and taking into account ω1 + ω2 + ω3 = ω4 +

εσ1 ω1 + ω2 + ω3 = ω4 + εσ1 and 2 = ω4 − ω1 + εσ2 , we obtain
∞

D02 un1 + ωn2 un1 = −2D0 D1 un0 − 2μn D0 un0 + nmpq um0 up0 uq0
m,p,q=1
∞
   iω T −iωp T0 e−iωq T0
+A4 np4q + nqp4 + n4pq Ap Aq e 4 0 e
p,q=1
∞
 3
+ −2i T0 eiωm T0 + −2i T0 eiωp T0 + −2i T0 eiωq T0 + A 2i T0 eiωm T0
nmpq Am p q e m Ap q e m p Aq e m p qe
m,p,q=1

+ m p Aq e−2i T0 eiωq T0 + Am p q e2i T0 eiωm T0

1
+ m Ap q e2i T0 eiωp T0 + m p Aq e2i T0 eiωq T0

+2( 1234 + 1324 + 1423 )A1 A2 A3 eiσ1 T1 eiω4 T0 + cc + NST

(7.16.12)
800 7 Continuous Systems

In order to eliminate secular terms from the above equation, and taking into
account ω1 + ω2 + ω3 = ω4 + εσ1 and 2 = ω4 − ω1 + εσ2 , we need
∞

 
− 2iω1 A1 + μ1 A1 + 2H11 A1 + A1 α1m Am Am
m=1
−iσ1 T1 −iσ2 T1
+ 8QA2 A3 A4 e + H14 A4 e =0 (7.16.13)

∞

 
−2iω2 A2 + μ2 A2 + 2H22 A2 + A2 α2m Am Am + 8QA1 A3 A4 e−iσ1 T1 = 0
m=1
(7.16.14)
∞

−2iω3 (A3  + μ3 A3 ) + 2H33 A3 + A3 α3m Am Am + 8QA1 A2 A4 e−iσ1 T1 = 0
m=1
(7.16.15)
 
−2iω4 A4 + μ4 A4 + 2H44 A4
∞
 (7.16.16)
+A4 α4m Am Am + 8QA1 A2 A3 eiσ1 T1 + H14 A1 eiσ2 T1 = 0
m=1
∞

−2iωn (An  + μn An ) + 2Hnn An + An αnm Am Am = 0, n ≥ 5 (7.16.17)
m=1

where

8Q = 2( 1234+ 1324 + 1423 )


2( nnmm + 2 nmnm ) for n = m
αmn = αnm =
6 nnnn
  
Hnm = nmpq + 2 npmq p q (7.16.18)
p, q

Let
1 iβn
An = an e (7.16.19)
2
Substituting it into (7.16.17) yields
∞
1 
iωn an − ωn an βn  + iωn μn an − Hnn an − an αnm am2 = 0, n ≥ 5 (7.16.20)
8 m=1

Separating the real and imaginary parts of the above equation yields
7.16 Exercise 7.16 (Transverse Oscillation of a Clamped-Supported Beam … 801

an + μn an = 0, n ≥ 5 (7.16.21)

therefore

an = an0 e−μn T1 → 0 ⇒ An → 0, n ≥ 5 (7.16.22)

Substituting (7.16.19) into (7.16.13)–(7.16.16) and taking into account that

(7.6.22), we have

− iω1 a1 + ω1 a1 β1 − iω1 μ1 a1 + H11 a1

1 
4
1
+ a1 α1m am2 + Qa2 a3 a4 eiγ1 + H14 a4 eiγ2 = 0 (7.16.23)
8 m=1 2

1 
4
−iω2 a2  + ω2 a2 β2  − iω2 μ2 a2 + H22 a2 + a2 α2m am2 + Qa1 a3 a4 eiγ1 = 0
8 m=1
(7.16.24)

1 
4
−iω3 a3  + ω3 a3 β3  − iω3 μ3 a3 + H33 a3 + a3 α3m am2 + Qa1 a2 a4 eiγ1 = 0
8 m=1
(7.16.25)

− iω4 a4  + ω4 a4 β4  − iω4 μ4 a4 + H44 a4

1 
4
1
+ a4 α4m am2 + Qa1 a2 a3 e−iγ1 + H14 a1 e−iγ2 = 0 (7.16.26)
8 m=1 2

where

γ1 = β4 − β3 − β2 − β1 − σ1 T1 , γ2 = β4 − β1 − σ2 T1 (7.16.27)

Separating the real and imaginary parts of (7.16.23)–(7.16.26) and making a1 =
a2  = a3  = a4  = 0, we obtain

1
−ω1 μ1 a1 + Qa2 a3 a4 sinγ1 + H14 a4 sinγ2 = 0 (7.16.28)
2

−ω2 μ2 a2 + Qa1 a3 a4 sinγ1 = 0 (7.16.29)

−ω3 μ3 a3 + Qa1 a2 a4 sinγ1 = 0 (7.16.30)

1
−ω4 μ4 a4 − Qa1 a2 a3 sinγ1 − H14 a1 sinγ2 = 0 (7.16.31)
2
802 7 Continuous Systems

1 
4
1
ω1 a1 β1  + H11 a1 + a1 α1m am2 + Qa2 a3 a4 cosγ1 + H14 a4 cosγ2 = 0
8 m=1 2
(7.16.32)

1 
4
ω2 a2 β2  + H22 a2 + a2 α2m am2 + Qa1 a3 a4 cosγ1 = 0 (7.16.33)
8 m=1

1 
4
ω3 a3 β3 + H33 a3 + a3 α3m am2 + Qa1 a2 a4 cosγ1 = 0 (7.16.34)
8 m=1

1 
4
1
ω4 a4 β4 + H44 a4 + a4 α4m am2 + Qa1 a2 a3 cosγ1 + H14 a1 cosγ2 = 0
8 m=1 2
(7.16.35)

Equations (7.16.28)–(7.16.35) control the magnitude and phase of the mode shape
function. For any set of amplitude steady state solutions, the phase is assumed to be

βn = βn T1 + τn = εβn t + τn , n = 1, 2, 3, 4 (7.16.36)

Then by (7.16.10) and (7.16.6), we can obtain the approximate solution of un (t)
  
un ≈ un0 = an cos ωn + εβn t + τn + 2 n cos t + O(ε), n = 1, 2, 3, 4
un ≈ un0 = 2 n cos t + O(ε), n ≥ 5 (7.16.37)

2
∞
Since the deflection of the beam is w(x, t) = un φn (x), the approximate solution
n=1
for the beam deflection response is
 4 

4
   
w(x, t) = an φn (x)cos ωn + εβn t + τn + 2 n φn (x) cos t (7.16.38)
n=1 n=1

It is clear that (7.16.28)–(7.16.35) has a zero amplitude steady state solution. For
non-trivial amplitude solutions, (7.16.28)–(7.16.35) can be written as:

1 4
β1 + ω1−1 H11 + ω1−1 α1m am2
8 m=1
1
+ ω1−1 Qa1−1 a2 a3 a4 cosγ1 + ω1−1 H14 a1−1 a4 cosγ2 = 0 (7.16.39)
2

1 4
β2 + ω2−1 H22 + ω2−1 a2−1 α2m am2 + ω2−1 Qa2−1 a1 a3 a4 cosγ1 = 0 (7.16.40)
8 m=1
7.16 Exercise 7.16 (Transverse Oscillation of a Clamped-Supported Beam … 803

1 −1 
4
β3 + ω3−1 H33 + ω3 α3m am2 + ω3−1 Qa3−1 a1 a2 a4 cosγ1 = 0 (7.16.41)
8 m=1

1 4
β4 + ω4−1 H44 + ω4−1 α4m am2
8 m=1
1
+ ω4−1 Qa4−1 a1 a2 a3 cosγ1 + ω4−1 H14 a4−1 a1 cosγ2 = 0 (7.16.42)
2
From (7.16.27), we have

γ1 + σ1 = β4 − β3 − β2 − β1 , γ2 + σ2 = β4 − β1 (7.16.43)

Combining (7.16.39)–(7.16.42) according to the right-hand side of the two

equations of (7.16.43) yields

γ1 + σ1 + ω4−1 H44 − ω3−1 H33 − ω2−1 H22 − ω1−1 H11

1  4
1 4
1  4
1 4
+ ω4−1 α4m am2 − ω3−1 α3m am2 − ω2−1 a2−1 α2m am2 − ω1−1 α1m am2
8 m=1
8 m=1
8 m=1
8 m=1
 
+Q ω4−1 a4−1 a1 a2 a3 − ω3−1 a3−1 a1 a2 a4 − ω2−1 a2−1 a1 a3 a4 − ω1−1 a1−1 a2 a3 a4 cos γ1
1  
+ H14 ω4−1 a4−1 a1 − ω1−1 a1−1 a4 cos γ2 = 0
2
(7.16.44)

1 4
1 4
γ2 + σ2 + ω4−1 H44 − ω1−1 H11 + ω4−1 α4m am2 − ω1−1 α1m am2
8 m=1
8 m=1
 −1 −1 −1 −1
 (7.16.45)
+Q ω4 a4 a1 − ω1 a1 a4 a2 a3 cos γ1
1  
+ H14 ω4−1 a4−1 a1 − ω1−1 a1−1 a4 cos γ2 = 0
2

Let γ1 = γ2 = 0, we obtain

σ1 + ω4−1 H44 − ω3−1 H33 − ω2−1 H22 − ω1−1 H11

1 −1  1 −1  1 −1 −1  1 −1 
4 4 4 4
+ ω4 α4m am − ω3
2
α3m am − ω2 a2
2
α2m am − ω1
2
α1m am2
8 m=1
8 m=1
8 m=1
8 m=1
 
+Q ω4−1 a4−1 a1 a2 a3 − ω3−1 a3−1 a1 a2 a4 − ω2−1 a2−1 a1 a3 a4 − ω1−1 a1−1 a2 a3 a4 cos γ1
1  
+ H14 ω4−1 a4−1 a1 − ω1−1 a1−1 a4 cos γ2 = 0
2
(7.16.46)
804 7 Continuous Systems

1 4
1 4
σ2 + ω4−1 H44 − ω1−1 H11 + ω4−1 α4m am2 − ω1−1 α1m am2
8 m=1
8 m=1
 −1 −1 −1 −1
 (7.16.47)
+Q ω4 a4 a1 − ω1 a1 a4 a2 a3 cos γ1
1  
+ H14 ω4−1 a4−1 a1 − ω1−1 a1−1 a4 cos γ2 = 0
2
(7.16.46), (7.16.47) and (7.16.28)–(7.16.31) are the equations satisfied by the
steady state solutions of a1 , a2 , a3 , a4 , γ1 , γ2 . After finding a set of steady state
solutions, we substitute them into (7.16.39)–(7.16.42) and obtain the values of
β1 , β2 , β3 , β4 by integration. Obviously, these values contain integration constants,
which need to be determined by the initial conditions.

7.17 Exercise 7.17 (Coupled Longitudinal and Transverse

Oscillation Analysis of Hinged-Hinged Beams
at u = O(w))

Solution: Consider the coupling of longitudinal and transverse oscillations of a

hinged-hinged beam, the equations describing the modal coordinates are
 ∞

  
ξ̈n + λ2n ξn = ε −2νn ξ̇n − nκ m ηm pηp + qηq + fxn (t)
m=1
 ∞

  
η̈n + ωn2 ηn = ε −2μn η̇n − nκ m ξm pηp + qηq + fyn (t) (7.17.1)
m=1
 1/2
nπ nπ n2 π 2
λn = , ωn = +N , p = |n − m|, q = n + m (7.17.2)
rl l l2


M
fxn (t) = 2εgn cos( 1t − τ ), fyn (t) = 2ε fnm cos( 2m t − θm ) (7.17.3)
m=1

We use the method of multiple scales to solve (7.17.1). Let the solution of the
equation be

ξn (t; ε) = ξn0 (T0 , T1 ) + εξn1 (T0 , T1 ) + · · ·

ηn (t; ε) = ηn0 (T0 , T1 ) + εηn1 (T0 , T1 ) + · · · (7.17.4)

Substituting (7.17.4) and (7.17.3) into (7.17.1) and retaining to O(ε), we obtain
7.17 Exercise 7.17 (Coupled Longitudinal and Transverse Oscillation … 805
 ∞

  
0 = ξ̈n + λ2n ξn + ε 2νn ξ̇n + nκ mηm pηp + qηq − fxn (t)
m=1
 
= D02 + 2εD0 D1 (ξn0 + εξn1 ) + λ2n (ξn0 + εξn1 )
 ∞

  
+ε 2νn D0 ξn0 + nκ mηm0 pηp0 + qηq0 − 2εgn cos( 1t − τ) (7.17.5)
m=1

= D02 ξn0 + λ2n ξn0 + ε D02 ξn1 + λ2n ξn1 + 2D0 D1 ξn0 + 2νn D0 ξn0
∞

  
+nκ mηm0 pηp0 + qηq0 − 2gn cos( 1 t − τ )
m=1
 ∞

  
0 = η̈n + ωn2 ηn + ε 2μn η̇n + nκ mξm pηp + qηq − fyn (t)
m=1
 
= D02 + 2εD0 D1 (ηn0 + εηn1 ) + ωn2 (ηn0 + εηn1 )
 ∞

   
M
+ε 2μn D0 ηn0 + nκ mξm0 pηp0 + qηq0 − 2ε fnm cos( 2m t − θm )
m=1 m=1

= D02 ηn0 + ωn2 ηn0 + ε D02 ηn1 + ωn2 ηn1 + 2D0 D1 ηn0 + 2μn D0 ηn0
∞

   M
+nκ mξm0 pηp0 + qηq0 − 2 fnm cos( 2m t − θm )
m=1 m=1
(7.17.6)

Making the coefficient of the same power of ε zero in the above two equations,
we obtain

ξ̈n0 + λ2n ξn0 = 0

η̈n0 + ωn2 ηn0 = 0 (7.17.7)

∞
  
D02 ξn1 + λ2n ξn1 = −2D0 D1 ξn0 − 2νn D0 ξn0 − nκ mηm0 pηp0 + qηq0
m=1
+ 2gn cos( 1t − τ )
∞
  
D02 ηn1 + ωn2 ηn1 = −2D0 D1 ηn0 − 2μn D0 ηn0 − nκ mξm0 pηp0 + qηq0
m=1

M
+2 fnk cos( 2k t − θk ) (7.17.8)
k=1

The solution of the Eq. (7.17.7) is

ξn0 = An (T1 )eiλn T0 + cc

806 7 Continuous Systems

ηn0 = Bn (T1 )eiωn T0 + cc (7.17.9)

Substituting (7.17.9) into (7.17.8) yields

D02 ξn1 + λ2n ξn1 = −2iλn An eiλn T0 − 2iλn νn An eiλn T0

∞

− nκ mBm
m=1
3 1
× p Bp ei(ωm +ωp )T0 + pB̄p ei(ωm −ωp )T0 + qBq ei(ωm +ωq )T0 + qB̄q ei(ωm −ωq )T0

+ gn ei( 1 T0 −τ ) + cc (7.17.10)
D02 ηn1 + ωn2 ηn1 = −2iωn Bn eiωn T0 − 2iωn μn Bn eiωn T0
∞

− nκ mAm
m=1
3 1
× pBp ei(λm +ωp )T0 + pB̄p ei(λm −ωp )T0 + qBq ei(λm +ωq )T0 + qB̄q ei(λm −ωq )T0


M
+ fnk ei( 2k T0 −θk ) + cc (7.17.11)
k=1

By (7.17.10) and (7.17.11), we can see that the internal resonance occurs when

λn ≈ ωm ± ωp or λn ≈ ωm ± ωp (7.17.12)

With (7.17.11), we can write (7.17.12) as

 2 2 1/2 1/2
n m π (n − m)2 π 2
≈m + N ± |n − m| + N
r l2 l2
 2 2 1/2 1/2
n m π (n − m)2 π 2
or ≈m + N ± |n + m| +N (7.17.13)
r l2 l2

This suggests that r is a parameter regulating internal resonance.

Since the beam theory requires a small slenderness ratio, our interest in longi-
tudinal oscillations is mainly restricted to their fundamental frequency modes, i.e.,
n = 1. In addition, when the plus sign is taken, the condition (7.17.13) is satisfied
first. Therefore, to obtain the value of the aspect ratio parameter l/r when internal
resonance occurs, we let N = 0, which yields

l  
≈ 2m2 + 2m + 1 π (7.17.14)
r
From this, it is possible to estimate the value of l/r required for the internal
resonance between the fundamental frequency mode of longitudinal oscillation and
the mth order frequency mode of transverse oscillation.
Consider the following case:
7.17 Exercise 7.17 (Coupled Longitudinal and Transverse Oscillation … 807

λ1 = ω2 + ω3 + εσI , 1 = λ1 + εσ1
22 = ω2 + εσ2 , 23 = ω3 + εσ3 (7.17.15)

In order to eliminate secular terms from (7.17.10) and (7.17.11), we need

2iλ1 A1 + 2iλ1 ν1 A1 + 6κB2 B3 e−iσI T1 − g1 ei(σ1 T1 −τ ) = 0 (7.17.16)

An + νn An = 0, n ≥ 2 (7.17.17)

2iω2 B2 + 2iω2 μ2 B2 + 6κA1 B3 eiσI T1 − f22 ei(σ2 T1 −θ2 ) = 0 (7.17.18)

2iω3 B3 + 2iω3 μ3 B3 + 6κA1 B2 eiσI T1 − f33 ei(σ3 T1 −θ3 ) = 0 (7.17.19)

Bn + μn Bn = 0, n = 2 and 3 (7.17.20)

From (7.17.17) and (7.17.20), we have

An = An0 e−νn T1 → 0, n ≥ 2
(7.17.21)
and Bn = Bn0 e−μn T1 → 0, n = 2 and 3

Let
1 iαn 1
An = an e , Bn = bn eiβn (7.17.22)
2 2
and substitute them into (7.17.16), (7.17.18) and (7.17.19), we have

iλ1 a1 − λ1 a1 α1 + iλ1 ν1 a1 + kb2 b3 e−iγI − g1 eiγ1 = 0 (7.17.23)

iω2 b2 − ω2 b2 β2 + iω2 μ2 b2 + ka1 b3 eiγI − f22 eiγ2 = 0 (7.17.24)

iω3 b3 − ω3 b3 β3 + iω3 μ3 b3 + ka1 b2 eiγI − f33 eiγ3 = 0 (7.17.25)

where

k = 23 κ, γI = σI T1 + α1 − β2 − β3 ,
(7.17.26)
γ1 = σ1 T1 − α1 − τ, γ2 = σ2 T1 − β2 − θ2 , γ3 = σ3 T1 − β3 − θ3

Separate the real and imaginary parts of (7.17.23)–(7.17.25) and let a1 = b2 =
b3 = 0, we can obtain the governing equation of the steady state solution:

λ1 ν1 a1 − kb2 b3 sin γI − g1 sin γ1 = 0

808 7 Continuous Systems

ω2 μ2 b2 + ka1 b3 sin γI − f22 sin γ2 = 0

ω3 μ3 b3 + ka1 b2 sin γI − f33 sin γ3 = 0 (7.17.27)

− λ1 a1 α1 + kb2 b3 cos γI − g1 cos γ1 = 0

− ω2 b2 β2 + ka1 b3 cos γI − f22 cos γ2 = 0
− ω3 b3 β3 + ka1 b2 cos γI − f33 cos γ3 = 0 (7.17.28)

When g1 = 0, f22 = 0, we can obtain from (7.17.27) that

λ1 ν1 a1 = kb2 b3 sin γ1
ω2 μ2 b2 = −ka1 b3 sin γ1 (7.17.29)

Eliminating γI from (7.17.29) yields

λ1 ν1 a12 + ω2 μ2 b22 = 0 (7.17.30)

So a1 = b2 = 0.
When g1 = 0, f33 = 0, we can obtain from (7.17.27) that

λ1 ν1 a1 = kb2 b3 sin γI
ω3 μ3 b3 = −ka1 b2 sin γI (7.17.31)

Eliminating γI from (7.17.30) yields

λ1 ν1 a12 + ω3 μ3 b23 = 0 (7.17.32)

So a1 = b3 = 0.
When g1 = 0, f22 = 0, f33 = 0, we can obtain from (7.17.27) and (7.17.28) that

λ1 ν1 a1 − kb2 b3 sin γI = 0
ω2 μ2 b2 + ka1 b3 sin γI − f22 sin γ2 = 0
ω3 μ3 b3 + ka1 b2 sin γI − f33 sin γ3 = 0 (7.17.33)

kb2 b3
α1 = cos γI
λ1 a1
ka1 b3 f22
β2 = cos γI − cos γ2
ω2 b2 ω2 b2
ka1 b2 f33
β3 = cos γI − cos γ3 (7.17.34)
ω3 b3 ω3 b3

From (7.17.26), we have

7.17 Exercise 7.17 (Coupled Longitudinal and Transverse Oscillation … 809

γI − σI = α1 − β2 − β3 , −γ2 + σ2 = β2 , −γ3 + σ3 = β3 (7.17.35)

Then from (7.17.34) and (7.17.35), we have

 
kb2 b3 ka1 b2 ka1 b3 f22 f33
γI = σI + − − cos γI + cos γ2 + cos γ3
λ1 a1 ω3 b3 ω2 b2 ω2 b2 ω3 b3
ka1 b3 f22
γ2 = σ2 − cos γI + cos γ2
ω2 b2 ω2 b2
ka1 b2 f33
γ3 = σ3 − cos γI + cos γ3 (7.17.36)
ω3 b3 ω3 b3

Let γI = γ2 = γ3 = 0, we obtain

 
kb2 b3 ka1 b2 ka1 b3 f22 f33
σI + − − cos γI + cos γ2 + cos γ3 = 0
λ1 a1 ω3 b3 ω2 b2 ω2 b2 ω3 b3
ka1 b3 f22
σ2 − cos γI + cos γ2 = 0
ω2 b2 ω2 b2
ka1 b2 f33
σ3 − cos γI + cos γ3 = 0 (7.17.37)
ω3 b3 ω3 b3

The above three equations are combined to give

kb2 b3
cosγI = σ2 + σ3 − σI (7.17.38)
λ1 a1

From the first equation of (7.17.33) and (7.17.38), we have

ν1
tanγI = (7.17.39)
σ2 + σ3 − σI

Solving for sinγI from the first equation of (7.17.33), substituting it into the second
and third equations of (7.17.33) and then substituting (7.17.38) into the second and
third equations of (7.17.37) yields

ω2 μ2 b22 + λ1 ν1 a12 = b2 f22 sinγ2

ω3 μ3 b23 + λ1 ν1 a12 = b3 f33 sinγ3 (7.17.40)

λ1 a12 (σ2 + σ3 − σI ) − ω2 b22 σ2 = b2 f22 cosγ2

λ1 a12 (σ2 + σ3 − σI ) − ω3 b23 σ3 = b3 f33 cosγ3 (7.17.41)

Eliminating γ2 and γ3 from these two sets of equations yields

(ω2 μ2 b22 + λ1 ν1 a12 )2 + [λ1 a12 (σ2 + σ3 − σI ) − ω2 b22 σ2 ]2 = b22 f222

810 7 Continuous Systems

(ω3 μ3 b23 + λ1 ν1 a12 )2 + [λ1 a12 (σ2 + σ3 − σI ) − ω3 b23 σ3 ]2 = b23 f332 (7.17.42)

7.18 Exercise 7.18 (Analysis of Internal and Primary

Resonances of Cylindrical Shells, Saturation
Phenomena)

Solution: (a) We use the method of multiple scales to solve the given equation by
setting the solution of the equation as

un (t; ε) = εun0 (T0 , T1 ) + ε2 un1 (T0 , T1 ) + · · · (7.18.1)

Substituting (7.18.1) into the given equation and keeping to O(ε2 ), we obtain
∞

0 = ün + ωn2 un + 2εμn u̇n − ε αnpq up uq − fn (t)
p, q
    
= D02 + 2εD0 D1 εun0 + ε2 un1 + ωn2 εun0 + ε2 un1
 
+2εμn (D0 + εD1 ) εun0 + ε2 un1
∞
    (7.18.2)
− αnpq εup0 + ε2 up1 εuq0 + ε2 uq1 − 2ε2 δns kn cos T0
p, q
  
= ε D02 un0 + ωn2 un0 + ε2 D02 un1 + ωn2 un1 + 2D0 D1 un0
∞
#

+2μn D0 un0 − αnpq up0 uq0 − 2δns kn cos T0
p, q

Making the coefficient of the same power of ε zero in the above equation yields

D02 un0 + ωn2 un0 = 0 (7.18.3)

∞

D02 un1 + ωn2 un1 = −2D0 D1 un0 − 2μn D0 un0 + αnpq up0 uq0 + 2δns kn cos T0
p,q
(7.18.4)

The solution of the Eq. (7.18.3) is

un0 = An (T1 )eiωn T0 + cc (7.18.5)

Substituting (7.18.5) into (7.18.4) yields

7.18 Exercise 7.18 (Analysis of Internal and Primary Resonances … 811

∞

D02 un1 + ωn2 un1 = −2D0 D1 un0 − 2μn D0 un0 + αnpq up0 uq0 + 2δns kn cos T0
p, q

= −2iωn An eiωn T0 − 2iωn μn An eiωn T0

∞
 !
+ αnpq Ap Aq ei(ωp +ωq )T0 + Ap Aq ei(ωp −ωq )T0 + δns kn ei T0
+ cc
p, q
(7.18.6)

In order to eliminate secular terms from the above equation and taking into account
ω3 ≈ ω1 + ω2 + εσ , = ωn + εσn , n = 1 or 2 or 3, we need
 
2iω1 A1 + μ1 A1 = (α132 + α123 )A3 A2 eiσ T1 + δ1s k1 eiσ1 T1 (7.18.7)

 
2iω2 A2 + μ2 A2 = (α213 + α231 )A3 A1 eiσ T1 + δ2s k2 eiσ2 T1 (7.18.8)

 
2iω3 A3 + μ3 A3 = (α312 + α321 )A1 A2 e−iσ T1 + δ3s k3 eiσ3 T1 (7.18.9)

An + μn An = 0, n ≥ 4 (7.18.10)

From (7.18.10), we have

An = An0 e−μn T1 → 0, n ≥ 4 (7.18.11)

When s = 1, (7.18.7)–(7.18.9) become

 
2iω1 A1 + μ1 A1 = (α132 + α123 )A3 A2 eiσ T1 + k1 eiσ1 T1 (7.18.12)

 
2iω2 A2 + μ2 A2 = (α213 + α231 )A3 A1 eiσ T1 (7.18.13)

 
2iω3 A3 + μ3 A3 = (α312 + α321 )A1 A2 e−iσ T1 (7.18.14)

Let
1 iβn
An = an e (7.18.15)
2
and substitute it into (7.18.9)–(7.18.12), we have

1
iω1 a1 − ω1 a1 β1 + iω1 μ1 a1 = (α132 + α123 )a2 a3 eiγI + k1 eiγ1
4
1
iω2 a2 − ω2 a2 β2 + iω2 μ2 a2 = (α213 + α231 )a1 a3 eiγI
4
812 7 Continuous Systems

1
iω3 a3 − ω3 a3 β3 + iω3 μ3 a3 = (α312 + α321 )a1 a2 e−iγI (7.18.16)
4
where

γI = σ T1 − β1 − β2 + β3 , γ1 = σ1 T1 − β1 (7.18.17)

Separating the real and imaginary parts of (7.18.16) yields

1
ω1 a1 + ω1 μ1 a1 = (α132 + α123 )a2 a3 sinγI + k1 sinγ1
4
1
ω2 a2 + ω2 μ2 a2 = (α213 + α231 )a1 a3 sinγI
4
 1
ω3 a3 + ω3 μ3 a3 = − (α312 + α321 )a1 a2 sinγI (7.18.18)
4
1
− ω1 a1 β1 = (α132 + α123 )a2 a3 cosγI + k1 cosγ1
4
1
− ω2 a2 β2 = (α213 + α231 )a1 a3 cosγI
4
1
− ω3 a3 β3 = (α312 + α321 )a1 a2 cosγI (7.18.19)
4
From (7.18.17) and (7.18.19), we have

1
ω1 a1 γ1 = ω1 σ1 a1 + (α132 + α123 )a2 a3 cosγI + k1 cosγ1
4
1
a1 a2 a3 γI = σ a1 a2 a3 + ω1−1 (α132 + α123 )a22 a32 + ω2−1 (α213 + α231 )a12 a32
4
−ω3−1 (α312 + α321 )a12 a22 cosγI − a2 a3 ω1−1 k1 cosγ1
(7.18.20)

Then from (7.18.18) and (7.18.20), we can obtain the corresponding equations
for steady state solution

1
ω1 μ1 a1 = (α132 + α123 )a2 a3 sinγI + k1 sinγ1
4
1
ω2 μ2 a2 = (α213 + α231 )a1 a3 sinγI
4
1
ω3 μ3 a3 = − (α312 + α321 )a1 a2 sinγI (7.18.21)
4
1
ω1 σ1 a1 + (α132 + α123 )a2 a3 cosγI + k1 cosγ1 = 0
4
1
σ a1 a2 a3 + [ω1−1 (α132 + α123 )a22 a32 + ω2−1 (α213 + α231 )a12 a32
4
7.18 Exercise 7.18 (Analysis of Internal and Primary Resonances … 813

− ω3−1 (α312 + α321 )a12 a22 ]cosγI − a2 a3 ω1−1 k1 cosγ1 = 0 (7.18.22)

Eliminating γI from the second and third equations of (7.18.21) yields

(α312 + α321 )ω2 μ2 a22 + (α213 + α231 )ω3 μ3 a32 = 0 (7.18.23)

Therefore, we need a2 = a3 = 0. In this case, the first equations of (7.18.21) and

(7.18.22) become

ω1 μ1 a1 = k1 sinγ1
ω1 σ1 a1 = −k1 cosγ1 (7.18.24)

So
 
k12 = ω12 μ21 + σ12 a12 (7.18.25)

It follows that the response in this case contains only first order modes.
When s = 2, the results are similar to the above result. In this case, the response
contains only second-order mode.
When s = 3, (7.18.7)–(7.18.9) become
 
2iω1 A1 + μ1 A1 = (α132 + α123 )A3 A2 eiσ T1 (7.18.26)

 
2iω2 A2 + μ2 A2 = (α213 + α231 )A3 A1 eiσ T1 (7.18.27)

 
2iω3 A3 + μ3 A3 = (α312 + α321 )A1 A2 e−iσ T1 + k3 eiσ3 T1 (7.18.28)

Substituting (7.18.15) into (7.18.26)–(7.18.28) yields

1
iω1 a1 − ω1 a1 β1 + iω1 μ1 a1 = (α132 + α123 )a2 a3 eiγI
4
1
iω2 a2 − ω2 a2 β2 + iω2 μ2 a2 = (α213 + α231 )a1 a3 eiγI
4
1
iω3 a3 − ω3 a3 β3 + iω3 μ3 a3 = (α312 + α321 )a1 a2 e−iγI + k3 eiγ3
 
(7.18.29)
4
where

γI = σ T1 − β1 − β2 + β3 , γ3 = σ3 T1 − β3 (7.18.30)

Separating the real and imaginary parts of (7.18.30) gives

1
ω1 a1  + ω1 μ1 a1 = (α132 + α123 )a2 a3 sinγI
4
814 7 Continuous Systems

1
ω2 a2  + ω2 μ2 a2 = (α213 + α231 )a1 a3 sinγI
4
1
ω3 a3  + ω3 μ3 a3 = − (α312 + α321 )a1 a2 sinγI + k3 sinγ3 (7.18.31)
4
1
− ω1 a1 β1  = (α132 + α123 )a2 a3 cosγI
4
1
− ω2 a2 β2  = (α213 + α231 )a1 a3 cosγI
4
1
− ω3 a3 β3  = (α312 + α321 )a1 a2 cosγI + k3 cosγ3 (7.18.32)
4
From (7.18.30) and (7.18.32), we can obtain

1  −1
a1 a2 a3 γI = σ a1 a2 a3 + ω (α132 + α123 )a22 a32 + ω2−1 (α213 + α231 )a12 a32
4 1
−ω3−1 (α312 + α321 )a12 a22 cosγI − a1 a2 ω3−1 k3 cosγ3
1
ω3 a3 γ3 = ω3 σ3 a3 + (α312 + α321 )a1 a2 cosγI + k3 cosγ3
4
(7.18.33)

Then from (7.18.31) and (7.18.33), we can obtain the corresponding equations
for the steady state solution as follows:

1
ω1 μ1 a1 = (α132 + α123 )a2 a3 sinγI
4
1
ω2 μ2 a2 = (α213 + α231 )a1 a3 sinγI
4
1
ω3 μ3 a3 = − (α312 + α321 )a1 a2 sinγI + k3 sinγ3 (7.18.34)
4
1
σ a1 a2 a3 + [ω1−1 (α132 + α123 )a22 a32 + ω2−1 (α213 + α231 )a12 a32
4
− ω3−1 (α312 + α321 )a12 a22 ]cosγI − a1 a2 ω3−1 k3 cosγ3 = 0
1
ω3 σ3 a3 + (α312 + α321 )a1 a2 cosγI + k3 cosγ3 = 0 (7.18.35)
4
Eliminating γI from the first and second equations of (7.18.34) yields

(α213 + α231 )ω1 μ1 a12 − (α132 + α123 )ω2 μ2 a22 = 0 (7.18.36)

As can be seen,a1 and a2 can be either a trivial solution or a non-trivial solution.

When a1 = a2 = 0.
From (7.18.34) and (7.18.35), we have
7.18 Exercise 7.18 (Analysis of Internal and Primary Resonances … 815

ω3 μ3 a3 = k3 sinγ3
ω3 σ3 a3 = −k3 cosγ3 (7.18.37)

So
 
k32 = ω32 μ23 + σ32 a32 (7.18.38)

When a1 = 0, a2 = 0.
From (7.18.35), we can obtain

1  −1 
(σ + σ3 )a1 a2 a3 + ω1 (α132 + α123 )a22 a32 + ω2−1 (α213 + α231 )a12 a32 cosγI = 0
4
(7.18.39)

The first equation of (7.18.34) and the Eq. (7.18.39) can be written as:

4ω1 μ1 a1
a3 sinγI =
(α132 + α123 ) a2
4(σ + σ3 )
a3 cosγI = − $ % (7.18.40)
ω1−1 (α132 + α123 ) aa21 + ω2−1 (α213 + α231 ) aa21

Eliminating γI from (7.18.40), we obtain

16ω12 μ21 a12 16(σ + σ3 )2

a32 = +$ %2
(α132 + α123 ) a2
2 2
ω1−1 (α132 + α123 ) aa21 + ω2−1 (α213 + α231 ) aa21
(7.18.41)

With (7.18.36), the above equation becomes

16ω1 ω2 μ1 μ2 (σ + σ3 )2
a32 = 1+ (7.18.42)
(α132 + α123 )(α213 + α231 ) (μ1 + μ2 )2

It can be seen that the steady state amplitude a3 is independent of the excitation
amplitude k3 , thus, u3 mode is saturated. From (7.18.38) and (7.18.42), we can see that
as the excitation amplitude k3 increases from zero, so does the steady state amplitude
a3 until it reaches the saturation value given by (7.18.42), while a1 = a2 = 0. When
the saturation phenomenon occurs, k3 reaches the critical value kc kc . Substituting
(7.18.42) into (7.18.38), we can obtain that critical value kc :
 
16ω1 ω2 ω32 μ1 μ2 μ23 + σ32 (σ + σ3 )2
kc2 = 1+ (7.18.43)
(α132 + α123 )(α213 + α231 ) (μ1 + μ2 )2
816 7 Continuous Systems

When k3 > kc , the steady state amplitude a3 is independent of the excitation

amplitude k3 and the steady state amplitude a3 is constant at the saturation value
given by (7.18.42). At this point,a1 = 0,a2 = 0 and, from (7.18.34) and (7.18.35),
a1 and a2 a2 depend on k3 .

7.19 Exercise 7.19 (Primary Resonance Analysis

of Transverse Oscillations of a Taut String)

Solution: From Sect. 7.5 of the Book or Exercise 7.4, we can write the governing
equation for the transverse oscillation of a taut string as

l
c2  2 
vtt − c22 vxx + 2μ̂vt = c12 vxx P(t) + 1 vxx vx + wx2 dx + G(x, t) (7.19.1)
2l
0

l
c2  2 
wtt − c22 wxx + 2μ̂wt = c12 wxx P(t) + 1 wxx vx + wx2 dx + F(x, t) (7.19.2)
2l
0

Expanding the displacements v and w of the string in terms of linear modes with
fixed ends, i.e.
∞
  ∞
nπ x nπ x
v(x, t) = ζn (t)sin , w(x, t) = ηn (t)sin (7.19.3)
n=1
l n=1
l

Substituting (7.19.3) into (7.19.1) and (7.19.2), taking into account the orthog-
onality of the mode shape function, we can obtain the discrete modal coordinate
equations

2
∞  
ζ̈n + ωn2 ζn = − 2μ̂n ζ̇n + n2 p(t)ζn + n2 ζn m2 ζm2 + ηm2 + gn (t)
m=1
2∞   (7.19.4)
η̈n + ωn2 ηn = − 2μ̂n η̇n + n2 p(t)ηn + n2 ηn m2 ζm2 + ηm2 + fn (t)
m=1

where

nπ c2 π 4 c12 π 2 c12 P(t)

ωn = , = , p(t) = (7.19.5)
l 4l 4 l2
l l
2 nπ x 2 nπ x
gn = G(x, t)sin dx, fn = F(x, t)sin dx (7.19.6)
l l l l
0 0
7.19 Exercise 7.19 (Primary Resonance Analysis of Transverse Oscillations … 817

In the following case, we analyze a primary resonance case. Let

gn (t) = 2Kn cos t, fn = 0, p(t) = 0, ≈ ωs (7.19.7)

where s is a given positive integer. Since (7.19.4) contains only cubic nonlinearities,
the solution of the equation is given as follows to find a first-order approximate
solution

ζn (t; ε) = εζn0 (T0 , T1 , T2 ) + ε2 ζn1 (T0 , T1 , T2 ) + ε3 ζn2 (T0 , T1 , T2 ) + · · ·

ηn (t; ε) = εηn0 (T0 , T1 , T2 ) + ε2 ηn1 (T0 , T1 , T2 ) + ε3 ηn2 (T0 , T1 , T2 ) + · · ·
(7.19.8)

In order to let the damping, the resonant excitation term and the nonlinear term
appear simultaneously in the third order equation, we make

μ̂n = ε2 μn , Kn = ε3 kn (7.19.9)

Substituting (7.19.7)–(7.19.9) into (7.19.4) and retaining to O(ε3 ), we obtain

∞
  
0 = ζ̈n + ωn2 ζn + 2μ̂n ζ̇n + n2 ζn m2 ζm2 + ηm2 − 2δns Ks cos t
m=1
   
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εζn0 + ε2 ζn1 + ε3 ζn2
 
+ωn2 εζn0 + ε2 ζn1 + ε3 ζn2
  
+2ε2 μn D0 + εD1 + ε2 D2 εζn0 + ε2 ζn1 + ε3 ζn2
 ∞ $ 2
+n εζn0 + ε ζn1 + ε ζn2
2 2 3
m2 εζn0 + ε2 ζn1 + ε3 ζn2 (7.19.10)
m=1
 2 %
+ εηn0 + ε2 ηn1 + ε3 ηn2 − 2ε3 δns ks cos T0
   
= ε D02 ζn0 + ωn2 ζn0 + ε2 D02 ζn1 + ωn2 ζn1 + 2D0 D1 ζn0
  
+ε3 D02 ζn2 + ωn2 ζn2 + D12 + 2D0 D2 ζn0 + 2D0 D1 ζn1
∞

  2 
+2μn D0 ζn0 + n 2
ζn0 m ζm0
2
+ ηm0
2
− 2δns ks cos T0
m=1
 ∞

  
0 = η̈n + ωn2 ηn + 2μ̂n η̇n + n 2
ηn 2
m ζm2 + ηm2
m=1
 2   2 
= ε D0 ηn0 + ωn ηn0 + ε D0 ηn1 + ωn2 ηn1 + 2D0 D1 ηn0
2 2
   (7.19.11)
+ε3 D02 ηn2 + ωn2 ηn2 + D12 + 2D0 D2 ηn0 + 2D0 D1 ηn1
∞

  
+ 2μn D0 ηn0 + n ηn0
2
m ζm0 + ηm0
2 2 2

m=1
818 7 Continuous Systems

Let the coefficient of the like power of ε be zero in (7.19.10) and (7.19.11), we
obtain.
Order ε:

D02 ζn0 + ωn2 ζn0 = 0

(7.19.12)
D02 ηn0 + ωn2 ηn0 = 0

Order ε2 :

D02 ζn1 + ωn2 ζn1 = −2D0 D1 ζn0

(7.19.13)
D02 ηn1 + ωn2 ηn1 = −2D0 D1 ηn0

Order ε3 :
 
D02 ζn2 + ωn2 ζn2 = − D12 + 2D0 D2 ζn0 − 2D0 D1 ζn1
∞
  2 
−2μn D0 ζn0 − n2 ζn0 m2 ζm0 + ηm0
2
+ 2δns ks cos T0
m=1
  (7.19.14)
D02 ηn2 + ωn2 ηn2 = − D12 + 2D0 D2 ηn0 − 2D0 D1 ηn1
∞
  2 
−2μn D0 ηn0 − n2 ηn0 m2 ζm0 + ηm0
2

m=1

The solution of (7.19.12) is

ζn0 = An eiωn T0 + cc, ηn0 = Bn eiωn T0 + cc (7.19.15)

where An = An (T1 , T2 ), Bn = Bn (T1 , T2 ). Substituting (7.19.15) into (7.19.13), we

obtain

D02 ζn1 + ωn2 ζn1 = −2iωn D1 An eiωn T0 + cc

(7.19.16)
D02 ηn1 + ωn2 ηn1 = −2iωn D1 Bn eiωn T0 + cc

In order to eliminate secular terms from the above equation, we need

D1 An = 0 ⇒ An = An (T2 )
(7.19.17)
D1 Bn = 0 ⇒ Bn = Bn (T2 )

By (7.19.13), we can obtain

ζn1 = 0, ηn1 = 0 (7.19.18)

Substituting (7.19.15), (7.19.17) and (7.19.18) into (7.19.14), we obtain

7.19 Exercise 7.19 (Primary Resonance Analysis of Transverse Oscillations … 819

D02 ζn2 + ωn2 ζn2 = −2D0 D2 ζn0 − 2μn D0 ζn0

∞
  2 
−n2 ζn0 m2 ζm0 + ηm0
2
+ 2δns ks cos T0
m=1
 
= −2iωn An eiωn T0 − 2iωn μn An eiωn T0 − n4 An A2n + Bn2 (7.19.19)
∞
 
−2 n An e
2 iωn T0
m2 Am Am + Bm Bm + δns ks ei T0

m=1
+cc + NST
∞
  2 
D02 ηn2 + ωn2 ηn2 = −2D0 D2 ηn0 − 2μn D0 ηn0 − n2 ηn0 m2 ζm0 + ηm0
2

m=1
 
= −2iωn Bn eiωn T0 − 2iωn μn Bn eiωn T0 − n Bn A2n + Bn2
4

∞
 
−2 n2 Bn eiωn T0 m2 Am Am + Bm Bm + cc + NST
m=1
(7.19.20)

The prime denotes the derivative with respect to T2 . Let

= ωs + ε2 σ (7.19.21)

In order to eliminate secular terms from the equation, we need

 
2iωn An + 2iωn μn An + n4 An A2n + Bn2
2
∞   (7.19.22)
+2 n2 An m2 Am Am + Bm Bm − δns ks eiσ T2 = 0
m=1
 
2iωn Bn + 2iωn μn Bn + n4 Bn A2n + Bn2
2
∞   (7.19.23)
+2 n2 Bn m2 Am Am + Bm Bm = 0
m=1

Let
1 iαn 1
An = an e , Bn = bn eiβn (7.19.24)
2 2
and substitute (7.19.24) into (7.19.22) and (7.19.23), we can obtain
 
iωn an − ωn an αn + iωn μn an + 18 n4 an3 + an b2n eiγn
2
∞   (7.19.25)
+ 41 n2 an m2 am2 + b2m − δns ks eiν = 0
m=1
820 7 Continuous Systems
 
iωn bn  − ωn bn βn  + iωn μn bn + 18 n4 an2 bn e−iγn + b3n
2∞   (7.19.26)
+ 41 n2 bn m2 am2 + b2m = 0
m=1

where

γn = 2(βn − αn ), ν = σ T2 − αs (7.19.27)

Separating the real and imaginary parts of (7.19.25) and (7.19.26), we obtain

1 4 2
ωn an  + ωn μn an + n an bn sinγn − δns ks sinν = 0 (7.19.28)
8
2
∞  
−ωn an αn + 1
8
n4 an3 + 1
4
n2 an m2 am2 + b2m
m=1 (7.19.29)
+ 18 n4 an b2n cosγn − δns ks cosν = 0
1 4 2
ωn bn + ωn μn bn − n an bn sinγn = 0 (7.19.30)
8
∞
1 4 3 1 2  2 2  1 4 2
−ωn bn βn  + n bn + n bn m am + b2m + n an bn cosγn = 0
8 4 m=1
8
(7.19.31)

When n = s, for the steady state solutions of an and bn , (7.19.28) and (7.19.30)
degenerate into

ωn μn an + 1
8
n4 an b2n sinγn = 0
(7.19.32)
ωn μn bn − 1
8
n4 an2 bn sinγn = 0

This set of equations has only trivial solution an = 0, bn = 0. Otherwise, if

an = 0, bn = 0, eliminating γn from (7.19.32) yields

an2 + b2n = 0 (7.19.33)

which contradicts with an = 0, bn = 0. Therefore,

an = 0, bn = 0, for all n = s (7.19.34)

When n = s, (7.19.28)–(7.19.31) can be written as

1 4 2
ωs as + ωs μs as + s as bs sinγs − ks sinν = 0 (7.19.35)
8
7.19 Exercise 7.19 (Primary Resonance Analysis of Transverse Oscillations … 821
 
−ωs as αs  + 18 s4 as3 + 41 s4 as as2 + b2s
(7.19.36)
+ 18 s4 as b2s cosγs − ks cosν = 0
1 4 2
ωs bs + ωs μs bs − s as bs sinγs = 0 (7.19.37)
8
1 4 3 1 4  2  1 4 2
−ωs bs βs + s bs + s bs as + b2s + s as bs cosγs = 0 (7.19.38)
8 4 8
Let
( (
s4 s4
μ = μs , (a, b) = (as , bs ), k = ks , γ = γs (7.19.39)
8ωs 8ωs3

and also consider Eq. (7.19.27), we can write (7.19.35)–(7.19.38) can be written as

a + μa + ab2 sinγ − ksinν = 0 (7.19.40)

ν − σ + 3a2 + 2b2 + b2 cosγ − a−1 kcosν = 0 (7.19.41)

b + μb − a2 bsinγ = 0 (7.19.42)

1
b γ  − ν + σ − 3b2 − 2a2 − a2 cosγ = 0 (7.19.43)
2

There are two possible steady state solutions for the amplitude: (1) b = 0, a = 0;
(2) a = 0, b = 0. In the first case, the oscillation of the string degenerates into plane
oscillation.
For the case of steady state plane oscillation of a string b = 0, a = 0, (7.19.42)
and (7.19.43) are automatically satisfied, the Eqs. (7.19.40) and (7.19.41) become

μa − ksinν = 0 (7.19.44)

−σ + 3a2 − a−1 kcosν = 0 (7.19.45)

Eliminating ν from the above equations, we can obtain the frequency–response

equation
 1/2
k2
σ = 3a2 ± − μ2 (7.19.46)
a2

For the steady state solution b = 0, a = 0, we can linearize (7.19.40)–(7.19.43)

near the steady state solution and obtain
822 7 Continuous Systems

 a + μa − (kcosν)ν

 =0
(7.19.47)
ν + 6a + a−2 kcosν a + a−1 ksinν ν = 0

 
b + μ − a2 sinγ b = 0
(7.19.48)
σ − 2a2 − a2 cosγ b = 0

Their characteristic equations can be written as

 (λ + μ)a  − (kcosν)ν
 = 0
(7.19.49)
6a + a−2 kcosν a + λ + a−1 ksinν ν = 0
 
 λ + μ − a 2
sinγ b
 =0 (7.19.50)
σ − 2a − a cosγ b = 0
2 2

(7.19.47) and (7.19.48) are two independent sets of differential equations and, of
course, the characteristic Eqs. (7.19.49) and (7.19.50) are also independent; therefore,
the value of λ obtained from (7.19.49) can be different from (7.19.50). In another
word, (7.19.47) and (7.19.48) can have different exponential forms.
From (7.19.49) and non-trivial solution condition, we have

λ= ( 2
− μ+a−1 ksinν )
3 11/2 (7.19.51)
(μ+a−1 ksinν )2 −4[μa−1 ksinν+kcosν (6a+a−2 kcosν )]
± 2

Taking into account (7.19.44) and (7.19.45), we can write the above equation as
  1/2
λ = −μ ± σ − 3a2 9a2 − σ (7.19.52)

It can be seen that when σ ≤ 3a2 or σ ≥ 9a2 , λ is a negative real root or a complex
root with a negative real part; therefore, a and ν decay. When 3a2 < σ < 9a2 ,
λ is a real root.
The frequency–response curve, which is obtained from Eq. (7.19.46), is shown
in Fig. 7.4. The spine curve equation is

σ = 3a2 (7.19.53)

Taking the positive and negative signs, respectively, in the frequency–response

Eq. (7.19.46), we can obtain branch 1 and branch 2. When σ ≤ 3a2 , the points
 are on
branch 1; and when σ ≥ 3a2 , the points are on branch 2. When k 2 /a2 − μ2 = 0,
the two branches intersect at point A on the spine curve; at this point σ = 3a2 , so
the horizontal coordinate of the intersection point A, σA , is

k2 3k 2
aA2 = , σA = 3a 2
= (7.19.54)
μ2 A
μ2
7.19 Exercise 7.19 (Primary Resonance Analysis of Transverse Oscillations … 823

Fig. 7.4 Frequency–response curve for Exercise 7.19

Clearly, aA is the maximum value of.a For branch 1, we have

 1/2
k2
σ = 3a2 + − μ2 (7.19.55)
a2

From this, we have

 2
a2 σ − 3a2 = k 2 − μ2 a2

Taking the derivative of the above equation with respect to a yields

 
  dσ
σ − 3a2 σ − 9a2 + a = −μ2 (7.19.56)
da

Let d σ/da = 0, the extreme point on branch 1 is

σ 2 − 12a2 σ + 27a4 + μ2 = 0

therefore
'
μ2
σ = 6a + 3a
2 2
1− (7.19.57)
9a4
It can be seen that the extreme point, B, on branch 1 is unique if it exists on branch
1. From (7.19.55), we know that as a decreases from aA , σ → +∞ on branch 1;
therefore, the value of point B can be the minimum. From (7.19.57), we know that
as long as there exists an extreme point B with minimum value, the coordinates of
point B satisfy σ < 9a2 . Therefore, the coordinates of each point of the AB segment
on branch 1 satisfy 3a2 < σ < 9a2 .
From the above result, we have σB < σA , aB < aA and there is only unique
minimal point B on the segment of the curve AB. Therefore, on the segment of the
824 7 Continuous Systems

curve AB (without points A and B), we have d σ/da > 0 and, from (7.19.56), we can
obtain
    dσ
σ − 3a2 9a2 − σ − μ2 = a σ − 3a2 >0
da
i.e.,
  
σ − 3a2 9a2 − σ > μ2 (7.19.58)

Therefore, from the eigenvalue obtained by (7.19.52), we know that there must be
a positive eigenvalue on the curve AB segment. Consequently, the perturbations of
the steady state solutions a and ν on the curve AB segment diverge with the growth
of time, i.e., the steady state solutions on the curve AB segment are unstable. It is
already clear that points A and B are two points on the frequency–response curve,
and their tangents are perpendicular to the σ axis.
From (7.19.50) and the non-trivial solution condition, we have

λ + μ − a2 sinγ = 0
(7.19.59)
σ − 2a2 − a2 cosγ = 0

Eliminating γ from the above equation yields

 2
(λ + μ)2 + σ − 2a2 = a4 (7.19.60)

therefore
 2  1/2
λ = −μ ± 3a − σ σ − a2 (7.19.61)

It can be seen that when σ ≤ a2 or σ ≥ 3a2 , λ is a negative real root or a

complex root with a negative real part, the perturbation system (7.19.48) is stable.
When a2 ≤ σ ≤ 3a2 , λ is a real root; in this case, the steady state solution or
the point representing the motion on the branch 2 or the upper half branch of the
frequency–response curve, as shown in Fig. 7.4.
Therefore, the steady state solution on branch 2 might make λ ≥ 0, which makes
the perturbed system (7.19.48) unstable. However, from the result of Exercise 7.19(c),
we know that the steady state solutions a and σ are inherently stable; therefore, it is
only possible that the steady state solution b = 0 is unstable, i.e., the branching of
the out-of-plane motion will diverge with the growth of time. Obviously, the steady
state solutions a and σ , which makes the steady state solution b = 0 unstable, can
only be on the CA segment of branch 2. The following is to determine the equation
that should be satisfied by the coordinate of point C.
For branch 2 of the frequency–response curve, we have
7.19 Exercise 7.19 (Primary Resonance Analysis of Transverse Oscillations … 825

 1/2
k2
σ = 3a − 2
− μ2 (7.19.62)
a2

The coordinate of point C makes λ = 0. Therefore, by (7.19.61), we have

 2  1/2
−μ + 3a − σ σ − a2 =0 (7.19.63)

Eliminating σ from (7.19.62) and (7.19.63) yields

4μ2 a8 − 4k 2 a6 + k 4 = 0 (7.19.64)

This is the equation that the coordinates aC of point C should satisfy.

 1/3
When,μ = 0 from (7.19.64), we can obtain aC = 21 k . When μ = 0 but μ/k
is very small, we let aC be
 1/3
1
aC = k + cμ2 + · · · (7.19.65)
2

Substituting (7.19.65) into (7.19.64) and retaining to O(μ2 ), we obtain

0 = 4μ2 a8 − 4k 2 a6 + k 4
 8/3     
2 1 1 2 1 5/3  
= 4μ k − 4k 2
k +6 k cμ + k 4 + O μ3
2
2 2 2 (7.19.66)
 5/3
1 1  
=4 k k − 6k 2 c μ2 + O μ3
2 2

Let the coefficient of μ2 be zero, we obtain

1
c= (7.19.67)
12k
therefore
 1/3
1 μ2  
aA = k + + O μ3 (7.19.68)
2 12k

From (7.19.68), we know that when the out-of-plane motion is unstable, damping
makes the amplitude of the out-of-plane motion larger.
826 7 Continuous Systems

7.20 Exercise 7.20 (Oscillation Analysis of a Relief Valve

with Boundary Nonlinearities)

Solution: The dynamic behavior of a relief valve which is used to protect a fluid
system from overpressure, held against a seat by a helical spring and excited by a
sinusoidal motion, is considered. The valve system under consideration is shown
in Fig. 7.5(a). It consists of a valve having a mass, m, resting on a seat having
nonlinear spring characteristics and retained by a helical spring which is considered
as a continuous system. The mechanical model of this relief valve system is shown in
Fig. 7.5(b). The linear spring is considered as a distributed parameter system whose
motion is governed by the longitudinal wave equation and its boundary conditions,
and the left end of the spring is fixed. Assume that the total mass of the linear spring
is M, the length is L, and the stiffness coefficient is K. Let the fixed end of the linear
spring be the origin of the coordinates; the displacement of the micro-segment at its
coordinates x at the instant of t is denoted by.u The ball valve, with mass m, connects
with the linear spring at the coordinate x = L + u(L, t). The seat restricts the ball
movement and is described by a massless nonlinear spring.
Here we analyze the longitudinal oscillation of the linear spring, which is regarded
as a uniform continuum (or uniform elastic rod). Its governing differential equations
and boundary conditions are:

(a)

(b)

Fig. 7.5 a Schematic diagram of a relief valve system; b mechanical model of a relief valve for
Exercise 7.20
7.20 Exercise 7.20 (Oscillation Analysis of a Relief Valve with Boundary … 827

∂ 2u KL2 ∂ 2 u ∂ 2 u KL2 ∂ 2 u
= = (7.20.1)
∂t 2 M ∂x2 ∂t 2 M ∂x2

u = 0 at x = 0 (7.20.2)

∂ 2u ∂u  
m + KL + αu + βu3 = − F̂0 + F̂1 cos t at x = L (7.20.3)
∂t 2 ∂x

where α,β are the elasticity coefficients of the nonlinear ring seat,F̂0 ,F̂1 are the
static and dynamic pressure amplitudes of the fluid, respectively. The following
dimensionless variables are introduced
' '
∗ u ∗ K ∗ x ∗ M
u = , t = t, x = , = (7.20.4)
L M L K

Substituting (7.20.4) into (7.20.1)–(7.20.3) and removing the asterisk from the
variable in the result for brevity yields

utt = uxx
u = 0, at x = 0 (7.20.5)
utt + α1 ux + α2 u + α3 u = F0 + F1 cos t, at x = 1
3

where

M Mα βL2 M F̂0 M F̂1 M

α1 = , α2 = , α3 = , F0 = − , F1 = − (7.20.6)
m mK mK mKL mKL
Let F1 = 0 and all terms with time derivatives are zeros in (7.20.5), it becomes:

uxx = 0
u = 0, at x = 0 (7.20.7)
α1 ux + α2 u + α3 u = F0 , at x = 1
3

The solution to (7.20.7) is

u = bx (7.20.8)

where

α1 b + α2 b + α3 b3 = F0 (7.20.9)

To determine the nonlinear oscillation of the system near the static equilibrium
position, let

u(x, t) = bx + v(x, t) (7.20.10)

828 7 Continuous Systems

Substituting (7.20.10) into (7.20.5) and applying (7.20.9) yields

vtt = vxx
v = 0,   at x = 0 (7.20.11)
vtt + α1 vx + α2 + 3b2 α3 v + 3bα3 v2 + α3 v3 = F1 cos t, at x = 1

The linearized equation of (7.20.11) is

vtt = vxx
v = 0,   at x = 0 (7.20.12)
vtt + α1 vx + α2 + 3b2 α3 v = F1 cos t, at x = 1

The solution of (7.20.12) can be represented by adding the forced oscillation

solution v1 and the free oscillation solution v2 , i.e.,

v(x, t) = v1 (x, t) + v2 (x, t) (7.20.13)

where v1 and v2 satisfy the following equations, respectively:

v1tt = v1xx
v1 = 0,   at x = 0 (7.20.14)
v1tt + α1 v1x + α2 + 3b2 α3 v1 = F1 cos t, at x = 1

v2tt = v2xx
v2 = 0,   at x = 0 (7.20.15)
v2tt + α1 v2x + α2 + 3b2 α3 v2 = 0, at x = 1

Let the solution to Eq. (7.20.14) be

v1 = g(x)cos t (7.20.16)

Substituting this into (7.20.14), we obtain

−
g = gxx
2

g = 0,   at x = 0 (7.20.17)
− g + α1 gx + α2 + 3b α3 g = F1 at x = 1
2 2

The generalized solution of this equation is

g(x) = Bsin x + Ccos x (7.20.18)

Substituting (7.20.18) into the boundary conditions, we obtain

7.20 Exercise 7.20 (Oscillation Analysis of a Relief Valve with Boundary … 829

C = 0  (7.20.19)
− 2
Bsin + α1 Bcos + α2 + 3b2 α3 Bsin = F1

therefore
   −1
B = F1 α1 cos + α2 + 3b2 α3 − 2
sin (7.20.20)

v1 = sin xcos t (7.20.21)

Let the solution to Eq. (7.20.15) be

v2 = ψ(x)eiωt + cc (7.20.22)

Substituting this into (7.20.15), we get

ψxx = −ω2 ψ
ψ = 0,   at x = 0 (7.20.23)
−ω2 ψ + α1 ψx + α2 + 3b2 α3 ψ = 0, at x = 1

The generalized solution of this equation is

ψ(x) = Asinωx + Dcosωx (7.20.24)

Substituting (7.20.24) into the boundary conditions, we get

 D = 0   (7.20.25)
−ω2 sinω + α1 ωcosω + α2 + 3b2 α3 sinω A = 0

From the non-trivial solution condition, we can obtain the characteristic equation:
 
α2 + 3b2 α3 − ω2 tanω + α1 ω = 0 (7.20.26)

From this, we can obtain natural frequencies ωm and the corresponding mode
shape functions

ψm (x) = Am sinωm x (7.20.27)

Substitute (7.20.27) into (7.20.22) and let Am = 21 am eiβm , we get

∞

v2 = Am sinωm xcos(ωm t + βm ) (7.20.28)
m=1
830 7 Continuous Systems

Substituting (7.20.28) and (7.20.21) into (7.20.13), we obtain the linearized Eq.
(7.20.12). Let the solution to the linearized equation be
∞

v= am sinωm xcos(ωm t + βm ) + sin xcos t (7.20.29)
m=1

When = ωn , we can obtain → ∞ by (7.20.20) and (7.20.16); therefore,

the primary resonance will occur when ≈ ωn . The orthogonality condition for the
mode shape function is given by (7.20.23), i.e.,

d 2 ψn
ωn2 ψn = −
dx2
d 2 ψm
ωm2 ψm = − (7.20.30)
dx2
Boundary conditions:

ψk (0)= 0  (7.20.31)
−ωk2 ψk (1) + α1 d ψdxk (1) + α2 + 3b2 α3 ψk (1) = 0

The two equations of (7.20.30) are multiplied by ψm (x) and ψn (x), and then
integrated over [0, 1]. By integration by parts, we obtain

1 1 1
1
d 2 ψn d ψn d ψn d ψm
ωn2 ψn ψm dx = − ψm dx = − ψm + dx (7.20.32)
dx2 dx 0 dx dx
0 0 0

1 1 1
1
d 2 ψm d ψm d ψn d ψm
ωm2 ψn ψm dx = − ψn 2
dx = − ψn + dx (7.20.33)
dx dx 0 dx dx
0 0 0

Subtracting these two equations and taking into account the boundary conditions
yields

 2  1
ωn − ωm2 ψn ψm dx = −ψm (1) d ψdxn (1) + ψn (1) d ψdx
m (1)

 0 
= −α1−1 ωn2 − ωm2 ψn (1)ψm (1)

Thus, when n = m,ωn = ωm , there are

α1 ψn ψm dx = −ψn (1)ψm (1) (7.20.34)

0
7.20 Exercise 7.20 (Oscillation Analysis of a Relief Valve with Boundary … 831

When n = m and ωn = ωm , by (7.20.32) and the boundary conditions, we have

1
d ψn d ψm  
dx = −α1−1 α2 + 3b2 α3 ψn (1)ψm (1) (7.20.35)
dx dx
0

Therefore, there is no regular orthogonality of the mode shape function of the

system of this exercise. When n = m is used by (7.20.31) and (7.20.32), we can
obtain
⎡ 1
⎤ 1
2⎣ d ψn (x) 2  
ωn α1 ψn (x)dx + ψn (1) = α1
2 2 ⎦ dx + α2 + 3b2 α3 ψn2 (1)
dx
0 0
(7.20.36)

To obtain the governing equation in discrete, modal coordinate form, let

∞

v(x, t) = ηn (t)ψn (x), ψn (x) = sinωn x (7.20.37)
n=1

and use the Lagrange equation to obtain the governing equation for.ηn
The kinetic energy of the system is

L
T= 1
2
M
L
u̇2 dx + 21 m[u̇(L)]2
0
1  ∂v dt ∗ 2 $ %2
dt ∗
= 1
2
M
L
L ∂t ∗ dt Ldx∗ + 21 m L ∂v(1)
∂t ∗ dt
(7.20.38)
0
1  $ %2
∂v 2 1 mKL2 ∂v(1)
= 21 KL2 ∂t
dx + 2 M ∂t
0

Equation (7.20.4) is adopted to obtain the above equation. In addition, we remove

the asterisk from the variable after the third equal sign.
The elastic potential energy of the spring and the potential energy of the fluid with
constant pressure are
832 7 Continuous Systems
 2
1 L
∂u 1 1
= KL dx + αu2 (L) + βu4 (L) + F̂0 u(L)
2 0 ∂x 2 4
1 ∗ 2  2 1  4
1 ∂u 1
= KL2 ∗
dx∗ + α · Lu∗ (1) + β · Lu∗ (1) + LF̂0 u∗ (1)
2 0 ∂x 2 4
1 2
1 ∂u 1 1
= KL2 dx + αL2 u2 (1) + βL4 u4 (1) + LF̂0 u(1)
2 0 ∂x 2 4
1 
1 2 2  1 ∂v 2 1  
= KL b + 2bv(1) + KL2 dx + αL2 b2 + 2bv(1)v2 (1)
2 2 0 ∂x 2
1 4 4 
+ βL b + 4b3 v(1) + 6b2 v2 (1) + 4bv3 (1) + v4 (1) + LF̂0 [b + v(1)]
4
 
1 2 1 ∂v 2 1   1
= KL dx + L2 α + 3βL2 b2 v2 (1) + βL4 bv3 (1) + βL4 v4 (1)
2 0 ∂x 2 4
(7.20.39)

Equation (7.20.9) is adopted to obtain the above equation. In addition, we remove

the constant part of the potential energy and the asterisk from the variable after the
third equal sign.
Thus, the Lagrange function L is

L=T −
∞
1  1
mKL2
= KL2 ψp (x)ψq (x)dx + ψp (1)ψq (1) η̇p η̇q
2 p,q=1 0 M
∞
1  1
d ψp d ψq  
− KL2 dx + L2 α + 3βL2 b2 ψp (1)ψq (1) ηp ηq
2 p,q=1 0 dx dx (7.20.40)
∞

−bβL4 ψp (1)ψq (1)ψr (1)ηp ηq ηr
p,q,r=1

∞
1
− βL4 ψp (1)ψq (1)ψr (1)ψs (1)ηp ηq ηr ηs
4 p, q, r, s=1

The virtual work done by the dynamic pressure of the fluid is

   
δW = −F̂1 cos t δu(1) = −LF̂1 cos ∗ t ∗ δv∗ (1)
   2
∞
(7.20.41)
= −LF̂1 cos t δv(1) = −LF̂1 cos t ψp (1)δηp
p=1

Therefore, the corresponding generalized force is

Qp = −LF̂1 ψp (1)cos t (7.20.42)

7.20 Exercise 7.20 (Oscillation Analysis of a Relief Valve with Boundary … 833

From the Lagrange equation, we have

d ∂L ∂L
− = Qn , n = 1, 2, . . . (7.20.43)
dt ∂ η̇n ∂ηn

Substituting the Lagrange function and the generalized force into (7.20.43) and
taking into account (7.20.6), we obtain
∞
 1
ψp (1)ψn (1) + α1 ψp (x)ψn (x)dx η̈p
p=1 0
∞
   1
d ψp d ψn
+ α2 + 3α3 b2 ψp (1)ψn (1) + α1 dx ηp
p=1 0 dx dx
∞
(7.20.44)

+3bα3 ψp (1)ψq (1)ψn (1)ηp ηq
p,q=1
∞

+α3 ψp (1)ψq (1)ψr (1)ψn (1)ηp ηq ηr = ψn (1)F1 cos t,
p,q,r=1

Taking into account (7.20.34), (7.20.35) and (7.20.36) and adding linear damping
artificially, we can write this set of equations as
∞
 ∞

η̈n + ωn2 ηn + 2μn η̇n + Gnpq ηp ηq + Hnpqr ηp ηq ηr = Kn cos t
p, q=1 p, q, r=1
(7.20.45)

where

Gnpq = 3bα3 n ψp (1)ψq (1), Hnpqr = α3 n ψp (1)ψq (1)ψr (1)


1
(7.20.46)
Kn = n F1 , n = ψn (1)/ ψn (1) + α1 ψn (x)dx
2 2
0

Noted that (7.20.44) can also be obtained from the governing differential equation,
(7.20.11), of the system directly. Substituting (7.20.37) into the boundary conditions
of x = 1 of (7.20.11), we obtain

2
∞ 2
∞
d ψp (1)  2
∞
ψp (1)η̈p + α1 dx
ηp + α2 + 3b2 α3 ψp (1)ηp
p=1 p=1 p=1
2
∞
+3bα3 ψp (1)ψq (1)ηp ηq (7.20.47)
p, q=1
2
∞
+α3 ψp (1)ψq (1)ψr (1)ηp ηq ηr = F1 cos t
p, q, r=1
834 7 Continuous Systems

Substituting (7.20.37) into the first equation of (7.20.11), multiplying both sides
by ψn (x) and then integrating over [0, 1] yields

∞ 1 ∞ 1
  d 2 ψp (x)
η̈p ψn (x)ψp (x)dx = ηp ψn (x) dx
p=1 p=1
d 2x
0 0

Utilizing the method of integration by parts and the boundary conditions at x = 0

yields

∞ ∞ 1 ∞ 1
 d ψp (1)   d ψn d ψp
ηp ψn (1) = η̈p ψn (x)ψp (x)dx + ηp dx
p=1
dx p=1 p=1
dx dx
0 0
(7.20.48)

Multiplying Eq. (7.20.47) by ψn (1) and then substituting (7.20.48) into (7.20.47),
we can obtain the Eq. (7.20.44).
In the following, we find the primary resonance solution of (7.20.45) when ≈
ω1 . Let

= ω1 + ε2 σ (7.20.49)

ηn (t; ε) = εηn0 (T0 , T1 , T2 ) + ε2 ηn1 (T0 , T1 , T2 ) + ε3 ηn2 (T0 , T1 , T2 ) + · · ·

(7.20.50)

In order to make the nonlinear term appear in the third order equation along with
the damping term and the excitation term, we need

2ε3 k1 , n = 1
μn = 2ε2 μ̂n , Kn = (7.20.51)
2εkn , n = 1

Substituting (7.20.50) and (7.20.51) into (7.20.45) and retaining to O(ε3 ), we

obtain
7.20 Exercise 7.20 (Oscillation Analysis of a Relief Valve with Boundary … 835

∞
 ∞

0 = η̈n + ωn2 ηn + 2μ̂n η̇n + Gnpq ηp ηq + Hnpqr ηp ηq ηr − Kn cos t
p,q=1 p,q,r=1
   
= D02 + 2εD0 D1 + ε2 D12 + 2D0 D2 εηn0 + ε2 ηn1 + ε3 ηn2
 
+ωn2 εηn0 + ε2 ηn1 + ε3 ηn2
  
+2ε2 μ̂n D0 + εD1 + ε2 D2 εηn0 + ε2 ηn1 + ε3 ηn2
∞
   
+ Gnpq εηp0 + ε2 ηp1 + ε3 ηp2 εηq0 + ε2 ηq1 + ε3 ηq2
p,q=1
∞

+ε3 Hnpqr ηp0 ηq0 ηr0 − 2ε3 kn cos T0
p,q,r=1
⎡ ⎤
∞

= εD02 ηn0 + εωn2 ηn0 + ε2 ⎣D02 ηn1 + ωn2 ηn1 + 2D0 D1 ηn0 + Gnpq ηp0 ηq0 ⎦
p,q=1
⎤
∞
 ∞

 
+ Gnpq ηp0 ηq1 + ηp1 ηq0 + Hnpqr ηp0 ηq0 ηr0 ⎦ − Kn cos T0
p,q=1 p,q,r=1
(7.20.52)

Let the coefficient of the same power of ε in (7.20.52) be zero, we get

D02 η10 + ω12 η10 = 0 (7.20.53)

D02 ηn0 + ωn2 ηn0 = 2kn cos T0 , n = 1 (7.20.54)

∞

D02 ηn1 + ωn2 ηn1 = −2D0 D1 ηn0 − Gnpq ηp0 ηq0 (7.20.55)
p, q=1
 
D02 η12 + ω12 η12 = − D12 + 2D0 D2 η10 − 2μ̂1 D0 η10 − 2D0 D1 η11
2∞   2∞
− G1pq ηp0 ηq1 + ηp1 ηq0 − H1pqr ηp0 ηq0 ηr0 (7.20.56)
p, q=1 p, q, r=1
+2k1 cos T0
 
D02 ηn2 + ωn2 ηn2 = − D12 + 2D0 D2 ηn0 − 2μ̂n D0 ηn0 − 2D0 D1 ηn1
2∞   2
∞
(7.20.57)
− Gnpq ηp0 ηq1 + ηp1 ηq0 − Hnpqr ηp0 ηq0 ηr0 , n = 1
p, q=1 p, q, r=1

The solutions to (7.20.53) and (7.20.54) are

ηn0 = An eiωn T0 + (1 − δ1n ) ˆ n ei T0

+ cc (7.20.58)
836 7 Continuous Systems

where An = An (T1 , T2 ). Substituting (7.20.58) into (7.20.55), we get

D02 ηn1 + ωn2 ηn1 = −2iωn D1 An eiωn T0

∞ $
− Gnpq Ap Aq ei(ωp +ωq )T0 + Ap Aq ei(ωp −ωq )T0
p,q=1
   
+ 1 − δ1q ˆ q Ap ei(ωp + )T0 + 1 − δ1q ˆ q Ap ei(ωp − )T0 (7.20.59)
   
+ 1 − δ1p ˆ p Aq ei( +ωq )T0 + 1 − δ1p ˆ p Aq ei( −ωq )T0
  
+ 1 − δ1p 1 − δ1q ˆ p ˆ q e2i T0
   
+ 1 − δ1p 1 − δ1q ˆ p ˆ q + cc

In order to eliminate secular terms from the above equation, we need

D1 An = 0 ⇒ An = An (T2 ) (7.20.60)

Further, by (7.20.59), we can obtain.

∞ $

ηn1 = − (1)
Gnpq Ap Aq ei(ωp +ωq )T0 + Gnpq
(2)
Ap Aq ei(ωp −ωq )T0
p,q=1
   
(3)
+Gnpq 1 − δ1q ˆ q Ap ei(ωp + )T0 + Gnpq
(4)
1 − δ1q ˆ q Ap ei(ωp − )T0
    (7.20.61)
(5)
+Gnpq 1 − δ1p ˆ p Aq ei( +ωq )T0 + Gnpq
(6)
1 − δ1p ˆ p Aq ei( −ωq )T0
(7)
  
+Gnpq 1 − δ1p 1 − δ1q ˆ p ˆ q e2i T0
   %
(8)
+Gnpq 1 − δ1p 1 − δ1q ˆ p ˆ q + cc

(k)
where Gnpq is

(1) Gnpq (2) Gnpq

Gnpq =  2 , Gnpq =  2
ωn2
− ωp + ωq ωn − ωp − ωq
2

(3) Gnpq (4) Gnpq

Gnpq =  2 , Gnpq =  2
ωn2 − ωp + ωn2 − ωp −
(7.20.62)
(5) Gnpq (6) Gnpq
Gnpq =  2 , Gnpq =  2
ωn −
2 + ωq ωn −
2 − ωq
(7) Gnpq (8) Gnpq
Gnpq = 2 , Gnpq = 2
ωn − 4 2 ωn

Substituting (7.20.58) and (7.20.60) into (7.20.57) yields

7.20 Exercise 7.20 (Oscillation Analysis of a Relief Valve with Boundary … 837

D02 ηn2 + ωn2 ηn2 = −2D0 D2 ηn0 − 2μ̂n D0 ηn0

∞
 ∞

 
− Gnpq ηp0 ηq1 + ηp1 ηq0 − Hnpqr ηp0 ηq0 ηr0
p,q=1 p,q,r=1 (7.20.63)
= −2iωn An eiωn T0 − 2iωn μ̂n An eiωn T0 + ST
+cc + NST , n = 1

where the prime denotes the derivative with respect to

T
2 ;ST denotes the resonance excitation  term generated by
2
∞   2∞
− Gnpq ηp0 ηq1 + ηp1 ηq0 − Hnpqr ηp0 ηq0 ηr0 . A closer inspection
p, q=1 p, q, r=1
shows that after substituting An = 21 an eiβn into ST and removing the factor eiβn eiωn T0 ,
the sum of the imaginary parts of all coefficients is zero. For example, the coefficients
2
∞
of the terms with non-zero imaginary parts in Gnpq ηp0 ηq1 are:
p, q=1

∞ $
 (1)    
2 Gnpq Gqn1 1 − δp1 ˆ p An A1 e−iσ T2 + Gn1q Gqnp
(3)
1 − δp1 ˆ p An A1 eiσ T2
p,q=1
%
(2)    
+Gnpq Gqn1 (4)
1 − δp1 ˆ p An A1 eiσ T2 + Gn1q Gqnp 1 − δp1 ˆ p An A1 e−iσ T2 eiωn T0

1 $
∞
(1)  
= Gnpq Gqn1 1 − δp1 ˆ p an a1 e−(iσ T2 −β1 )
2 p,q=1
 
(3)
+Gn1q Gqnp 1 − δp1 ˆ p an a1 eiσ T2 −β1
(2)  
+Gnpq Gqn1 1 − δp1 ˆ p an a1 eiσ T2 −β1
  %
(4)
+Gn1q Gqnp 1 − δp1 ˆ p an a1 e−(iσ T2 −β1 ) eiβn eiωn T0
(7.20.64)

where
(1) Gnpq Gqn1 (3) Gn1q Gqnp
Gnpq Gqn1 = ωq2 −(ωn +ω1 )2
, Gn1q Gqnp = ω2 −(ω
n+ )
2
q

Gnpq Gqn1 = (3bα3 ) n q ψn (1)ψp (1)ψq (1)ψ1 (1)

2 (7.20.65)
Gn1q Gqnp = (3bα3 )2 n q ψn (1)ψq (1)ψp (1)ψ1 (1)

Apparently.
(1) (3)
Gnpq Gqn1 = Gn1q Gqnp (7.20.66)

Therefore, the sum of the imaginary parts of the first and second terms on the
right-hand side of (7.20.64) is zero. Similarly, the sum of the imaginary parts of the
third and fourth terms on the right-hand side of (7.20.64). Thus, in order to eliminate
838 7 Continuous Systems

secular terms in (7.20.63), we substitute An = 21 an eiβn into the excitation term in

(7.20.63), the sum of the imaginary parts of all the coefficient terms must be zero
after removing the factor eiβn eiωn T0 , i.e.

an  + μ̂n an = 0, n = 1 (7.20.67)

or

an → 0, n = 1 or An → 0, n = 1 (7.20.68)

Then (7.20.53)–(7.20.57) degenerate to a unimodal (first order modal) equation,

which can be rewritten as follows:

D02 η10 + ω12 η10 = 0 (7.20.69)

D02 η11 + ω12 η11 = −2D0 D1 η10 − G111 η10

2
(7.20.70)

D02 η12 + ω12 η12 = −2D0 D2 η10 − 2μ̂1 D0 η10 − 2G111 η10 η11
(7.20.71)
−H1111 η10
3
+ 2k1 cos T0

The solution of (7.20.69) is

η10 = A1 eiω1 T0 + cc (7.20.72)

Substituting (7.20.72) into (7.20.70) yields

D02 η11 + ω12 η11 = −2iω1 D1 A1 eiω1 T0 − G111 A21 e2iω1 T0 − A1 A1 + cc (7.20.73)

In order to eliminate secular terms from the above equation, we need

D1 A1 = 0 ⇒ A1 = A1 (T2 ) (7.20.74)

Further, by (7.20.73), we can obtain

1
η11 = −ω1−2 A1 A1 + ω1−2 G111 A21 e2iω1 T0 + cc (7.20.75)
3
Substituting (7.20.72) and (7.20.74) into (7.20.71) yields

D02 η12 + ω12 η12 = −2D0 D2 η10 − 2μ̂1 D0 η10 − 2G111 η10 η11
−H1111 η10 3
+ 2k1 cos T0
(7.20.76)
= −2iω1 A1 eiω1 T0 − 2iω1 μ̂1 A1 eiω1 T0 − P1 A21 A1 eiω1 T0
+k1 eiσ T2 eiω1 T0 + cc + NST
7.20 Exercise 7.20 (Oscillation Analysis of a Relief Valve with Boundary … 839

where
 
2
P1 = − 4ω1−2 G111 − ω1−2 G111
2
− 3H1111 (7.20.77)
3

In order to remove secular terms from (7.20.76), we need

2iω1 A1 + 2iω1 μ̂1 A1 + P1 A21 A1 − k1 eiσ T2 = 0 (7.20.78)

Substituting A1 = 21 a1 eiβ1 into (7.20.78) yields

1
iω1 a1  − ω1 a1 β1  + iω1 μ̂1 a1 + P1 a13 − k1 ei(σ T2 −β1 ) = 0 (7.20.79)
8
Separating the real and imaginary parts of the above equation yields

ω1 a1  = −ω1 μ̂1 a1 + k1 sinγ1

(7.20.80)
ω1 a1 γ1  = ω1 a1 σ − 18 P1 a13 + k1 cosγ1

Therefore, the first order modal response of the system is

   
η1 = εη10 + O ε2 = εa1 cos(ω1 T0+ β1 ) + O ε2
= εa1 cos[ T0 − (σ T2 − β1)] + O ε2 (7.20.81)
= εa1 cos( t − γ1 ) + O ε2

From the above results, the primary resonance response of the system can be
written as
  
  a1cos( t − γ1 ) + O ε 2 , n = 1
ηn ≈ εηn0 + O ε2 =  (7.20.82)
O ε2 , n = 1

where εa1 has been written as a1 ;a1 and γ1 are controlled by (7.20.80). Let a1  =
γ1  = 0 in (7.20.80), we can obtain the equation satisfied by the steady state solution

ω1 μ̂1 a1 = k1 sinγ1
(7.20.83)
ω1 a1 σ − 18 P1 a13 = −k1 cosγ1

Therefore, the frequency–response equation is

 2
1
ω12 μ̂21 a12 + ω1 σ − P1 a1 a12 = k12
2
(7.20.84)
8

In order to solve (7.20.45) with subharmonic ( ≈ 2ω1 and ≈ 21 ω1 ) and

combined ( ≈ ω1 + ω2 ) resonance, we need to specify the excitation term as a
non-resonant hard excitation, and consequently, the resonance excitation term will
840 7 Continuous Systems

appear in the second order equation. Therefore, in order to let the nonlinear term
appear in the second order equation along with the damping and the excitation term,
we let

μn = 2εμ̂n , Kn = 2εkn (7.20.85)

and the solution of (7.20.45) be

ηn (t; ε) = εηn0 (T0 , T1 ) + ε2 ηn1 (T0 , T1 ) + · · · (7.20.86)

Substituting (7.20.85) and (7.20.86) into (7.20.45) and retaining to O(ε2 ), we

obtain
∞
 ∞

η̈n + ωn2 ηn + 2μn η̇n + Gnpq ηp ηq + Hnpqr ηp ηq ηr = Kn cos t
p, q=1 p, q, r=1
(7.20.87)

Substituting (7.20.50) and (7.20.51) into (7.20.45) yields

∞
 ∞

0 = η̈n + ωn2 ηn + 2an η̇n + Gnpq ηp ηq + Hnpqq ηp ηq ηr − Kn cos t
p,q=1 p,q,r=1
    
= D02 + 2εD0 D1 εηn0 + ε2 ηn1 + ωn2 εηn0 + ε2 ηn1
 
2εμ̂n (D0 + εD1 ) εηn0 + ε2 ηn1
∞
   
+ Gnpq εηp0 + ε2 ηp1 εηq0 + ε2 ηq1 − 2εkn cos T0
p,q=1
 
= ε D02 ηn0 + ωn2 ηn0 − 2kn cos T0
⎡ ⎤
∞

+ε2 ⎣D02 ηn1 + ωn2 ηn1 + 2D0 D1 ηn0 + 2μ̂n D0 ηn0 + Gnpq ηp0 ηq0 ⎦
p,q=1
(7.20.88)

Let the coefficient of the same power of ε in the Eq. (7.20.88) be zero, we obtain

D02 ηn0 + ωn2 ηn0 = 2kn cos T0 (7.20.89)

∞

D02 ηn1 + ωn2 ηn1 = −2D0 D1 ηn0 − 2μ̂n D0 ηn0 − Gnpq ηp0 ηq0 (7.20.90)
p, q=1

The solution of (7.20.89) is

7.21 Exercise 7.21 (First-Order Subharmonic Resonance Analysis … 841

ηn0 = An eiωn T0 + ˆ n ei T0
+ cc (7.20.91)

where An = An (T1 ). Substituting (7.20.91) into (7.20.90), we obtain

∞

D02 ηn1 + ωn2 ηn1 = −2D0 D1 ηn0 − 2μ̂n D0 ηn0 − Gnpq ηp0 ηq0
p, q=1

= −2iωn D1 An eiωn T0 − 2iωn An An eiωn T0

∞ $
− Gnpq Ap Aq ei(ωp +ωq )T0 + Ap Aq ei(ωp −ωq )T0 (7.20.92)
p,q=1

+ ˆ q Ap ei(ωp + )T0 + ˆ q Ap ei(ωp − )T0

%
+ ˆ p Aq ei( +ωq )T0
+ ˆ p Aq ei( −ωq )T0
+ ˆ p ˆ q e2i T0
+ cc

In order to eliminate secular terms from the above equation, we need to consider
the values of ,ωn and their combinations. It is clear that different resonance cases
such as ≈ 2ω1 , ≈ 21 ω1 and ≈ ω1 + ω2 will occur. Readers are invited to
choose one of these cases to complete the solution.

7.21 Exercise 7.21 (First-Order Subharmonic Resonance

Analysis of a Uniform Circular Plate Clamped Along
Its Edge)

Solution: The dimensionless governing equation for the symmetric responses of a

uniform circular plate is (7.21.1) to (7.21.4) (Sect. 7.6 of the Book).
 
∂ 2w 1 ∂ ∂F ∂w ∂w
+∇ w =ε
4
− 2μ + f (r, t) (7.21.1)
∂t 2 r ∂r ∂r ∂r ∂t
  
1 ∂ ∂w 2
∇ F =−
4
(7.21.2)
2r ∂r ∂r
 
∂u 1 ∂w 2 1 ∂F ∂ 2F
+ = −ν 2 (7.21.3)
∂r 2 ∂r r ∂r ∂r

u ∂ 2F ν ∂F
= − (7.21.4)
r ∂r 2 r ∂r
where

ε = 12h2 /R2
842 7 Continuous Systems

The boundary conditions for clamped edges are

w = 0, u = 0, ∂w/∂r = 0 at r = 1 (7.21.5)

Equation (7.21.3) and (7.21.4) can be combined to yield the following equation
for F:
 
1 ∂w 2 1 ∂F ∂ 2F ∂ 3F
= − 2 −r 3 (7.21.6)
2 ∂r r ∂r ∂r ∂r

Then it follows from (7.21.4) and (7.21.5) that the boundary conditions for F is

∂ 2F ∂F
−ν = 0 at r = 1 (7.21.7)
∂r 2 ∂r
In addition,w and F are required to be finite at r = 0.
Let the deflection of the circular plate be
∞

w(r, t; ε) = ψm (t; ε)φm (r) (7.21.8)
m=1

where the φm are the linear, free-oscillation modes. Thus the φm are the solutions of
the following eigenvalue problem:

∇ 4 φm − ωm2 φm = 0 (7.21.9)

φm (1) = 0, φm (1) = 0, φm (0) < ∞ (7.21.10)

The eigenvalues ωm are the natural frequencies of the plate. The φm are orthogonal
with respect to the weighting function r. The amplitude of each mode is chosen such
that
1

rφn φm dr = δnm (7.21.11)

0

Next we obtain the solution of the eigenvalue problem defined above. We rewrite
(7.21.9) in the following convenient form:
  
∂2 1 ∂ ∂2 1 ∂
+ − κm2 + + κm φm = 0
2
(7.21.12)
∂r 2 r ∂r ∂r 2 r ∂r

where κm4 = ωm2 . Thus we can obtain the four linearly independent solutions of
(7.21.12) from the following two equations:
7.21 Exercise 7.21 (First-Order Subharmonic Resonance Analysis … 843
 
∂2 1 ∂
+ − κm φm = 0
2
(7.21.13)
∂r 2 r ∂r
 2 
∂ 1 ∂
+ + κ m φm = 0
2
(7.21.14)
∂r 2 r ∂r

From (7.21.13) and (7.21.14), we obtain

φm(1) = E1 I0 (κm r) + E2 K0 (κm r) (7.21.15)

φm(2) = E3 J0 (κm r) + E4 Y0 (κm r) (7.21.16)

where the En are constants of integration; Jn ,Yn are the Bessel functions of the first
and second kind, respectively;In ,Kn are the modified Bessel functions of the first and
second kind, respectively. The complete solution is

φm = φm(1) + φm(2) (7.21.17)

The condition that φm (0) be bounded demands that E2 = E4 = 0 because both

K0 and Y0 have logarithmic singularities at the origin. Thus it follows from (7.21.10)
that

φm = Cm [J0 (κm r)I0 (κm ) − J0 (κm )I0 (κm r)] (7.21.18)

where the κm are the roots of

I0 (κ)J0 (κ) − J0 (κ)I0 (κ) = 0 (7.21.19)

and the Cm are obtained from (7.21.11).

The first five natural frequencies obtained from (7.21.19) are

ωm = 10.2158, 39.7710, 89.1040, 158.1830, 247.0050

We note that

ω1 + 2ω2 = 89.7578 ≈ ω3 (7.21.20)

Introduce the detuning parameter σ1 such that

ω1 + 2ω2 = ω3 + εσ1 (7.21.21)

Hence there is an internal resonance involving three modes.

Equations (7.21.6) and (7.21.7) suggest that it may be more convenient to solve
∂F/∂r instead of F. Thus we let
844 7 Continuous Systems

G = ∂F/∂r (7.21.22)

Substituting (7.21.22) into (7.21.7), we obtain the following boundary condition

for G:

∂G/∂r − νG = 0 at r = 1 (7.21.23)

Substituting (7.21.22) and (7.21.8) into (7.21.6), we obtain

"∞ #2
∂ 2
G ∂G 1 
r2 2 + r −G =− r ψm φm  (7.21.24)
∂r ∂r 2 m=1

The function G can be represented by an expansion in terms of a complete set of

orthogonal eigenfunctions. Because
 
d2 d
r 2 2 + r − 1 J1 (ζm r) = −ζm2 r 2 J1 (ζm r) (7.21.25)
dr dr

it is convenient to express G as follows:

∞

G(r, t) = ηm (t)J1 (ζm r) (7.21.26)
m=1

where the ζm are the roots of the following equation

ζ J0 (ζ ) − (1 + ν)J1 (ζ ) = 0 (7.21.27)

For ν = 13 , the first 12 roots of (7.21.27) are:

ζ1 = 1.545, ζ2 = 5.266, ζ3 = 9.497, ζ4 = 11.68

ζ5 = 14.84, ζ6 = 18.00, ζ7 = 21.15, ζ8 = 24.30
ζ9 = 30.59, ζ10 = 33.74, ζ11 = 36.88, ζ12 = 40.03

To obtain the functions ηm (t), we substitute (7.21.26) into (7.21.25), multiply by

r −1 J1 (ζn r) and integrate from r = 0 to r = 1. The result is
∞

ηn (t) = Snpq ψp (t)ψq (t) (7.21.28)
p, q=1

where
7.21 Exercise 7.21 (First-Order Subharmonic Resonance Analysis … 845

1
  −1
Snpq = ζn2 − 1 + ν 2 J12 (ζn ) φq φp J1 (ζn r)dr (7.21.29)
0

Using (7.21.28) we can now rewrite (7.21.26) in the following form:

∞

G(r, t) = Smnp ψn (t)ψp (t)J1 (ζm r) (7.21.30)
m, n, p=1

To obtain the equations governing the ψn , we substitute (7.21.30) and (7.21.8)

into (7.21.21), multiply by rφn from r = 0 to r = 1. The result is
⎛ ⎞
∞

ψ̈n + ωn2 ψn = −ε⎝2μn ψ̇n − nmpq ψm ψp ψq
⎠ + fn (t) (7.21.31)
m, p, q=1

where
1 1

fn (t) = rφn f (r, t)dr, μn = μrφn dr (7.21.32)

0 0

To obtain the expression for the nmpq , we consider

1   1
∂ ∂w ∂w ..1 ∂w
G φn dr = Gφn − Gφn  dr (7.21.33)
∂r ∂r ∂r 0 ∂r
0 0

The first term vanishes as a result of the boundary conditions and the symmetry
of the deflection. Substituting (7.21.8) and (7.21.30) into (7.21.33) leads to
⎡ ⎤
1    ∞ ∞ 1
∂ ∂w ⎣
G φn dr = − Skpq J1 (ζk r)φn φm dr ⎦ψm ψn ψp
∂r ∂r m, n, p=1
0 k=1 0
(7.21.34)

Using (7.21.29) leads to

1 1
∞ J1 (ζk r)φp φq dr J1 (ζk r)φm φm dr
 0 0
nmpq =  2  (7.21.35)
k=1
ζk − 1 + ν 2 J12 (ζk )

Let
846 7 Continuous Systems

= 3ω1 + εσ (7.21.36)

Following the method of multiple scales, we let

ψn (t; ε) = ψn0 (T0 , T1 ) + εψn1 (T0 , T1 ) + · · · (7.21.37)

Substituting (7.21.37) into (7.21.31) and retaining to O(ε)), we obtain

" #
2
∞
0 = ψ̈n + ωn2 ψn + ε 2μn ψ̇n − nmpq ψm ψp ψq − fn (t)
m, p, q=1

= D02 ψn0 + ωn2 ψn0 − 2Kn cos T0 + ε D02 ψn1 + ωn2 ψn1# (7.21.38)
2
∞
+2D0 D1 ψn0 + 2μn D0 ψn0 − nmpq ψm0 ψp0 ψq0
m, p, q=1

Equating coefficients of like powers of ε in the above equation yields

D02 ψn0 + ωn2 ψn0 = 2Kn cos T0 (7.21.39)

∞

D02 ψn1 + ωn2 ψn1 = −2D0 D1 ψn0 − 2μn D0 ψn0 + nmpq ψm0 ψp0 ψq0
m, p, q=1
(7.21.40)

The solution of (7.21.39) is

Kn
ψn0 = An (T1 )eiωn T0 + ne
i T0
+ cc, n = (7.21.41)
ωn2 − 2

Substituting (7.21.41) into (7.21.40) and taking into account = 3ω1 + εσ and
ω1 + 2ω2 = ω3 + εσ1 yields
∞

D02 ψn1 + ωn2 ψn1 = −2D0 D1 ψn0 − 2μn D0 ψn0 + nmpq ψm0 ψp0 ψq0
m,p,q=1
∞
 0
= −2iωn An eiωn T0 − 2iωn μn An eiωn T0 + nmpq Am Ap Aq e−iωm T0 eiωp T0 eiωq T0
m,p,q=1
iωm T0 −iωp T0 iωq T0
+Am Ap Aq e e e + Am Ap Aq eiωm T0 eiωp T0 e−iωq T0
i T0 −iωp T0 −iωq T0 −iωm T0 i T0 −iωq T0
+ m Ap Aq e e e + p Am Aq e e e
−iωm T0 −iωp T0 i T0
+Am Ap qe e e +2 m p Aq e
iωq T0
+2 m Ap qe
iωp T0
4
+2Am p qe
iωm T0
+ cc + NST
(7.21.42)
7.21 Exercise 7.21 (First-Order Subharmonic Resonance Analysis … 847

In order to eliminate secular terms from the above equation, we need

2
∞
−2iω1 A1  − 2iω1 μ1 A1 + 3 2
1111 A1 A1 + A1 2(2 1m1m + 11mm )Am Am
m=1
∞ 
2  2 2
∞
+2A1 11mp +2 1m1p m p + 3A1 eiσ T1 111m m =0
m, p=1 m=1
(7.21.43)
2
∞
−2iωn An  − 2iωn μn An + 3 2
nnnn An An + An 2(2 nmnm + nnmm )Am Am
m=n
∞ 
2 
+2An nnmp +2 nmnp m p = 0, n = 1
m, p=1
(7.21.44)

The above two equations can be written as

∞
 2
−2iω1 A1  − 2iω1 μ1 A1 + A1 α1m Am Am + 2H11 A1 + 4FA1 eiσ T1 = 0 (7.21.45)
m=1
∞

−2iωn An  − 2iωn μn An + An αnm Am Am + 2Hnn An = 0, n = 1 (7.21.46)
m=1

where

 ∞
 3
Hnk = nkmj +2 nmkj m j, F= 111n n
m, j
4 n=1
  
2 2 njnj + for n = j
αnj = αjn = nnjj
3 nnnn

Let
1 iβn
An = an e (7.21.47)
2
Substituting (7.21.47) into (7.21.46) yields
∞
1 
−iωn an  + ωn an βn  − iωn μn an + an αnm am2 + Hnn an = 0, n = 1 (7.21.48)
8 m=1

Separating the real and imaginary parts of the above equation yields

an  + μn an = 0, n = 1 ⇒ an = an0 e−μn T1 → 0, n = 1 (7.21.49)

848 7 Continuous Systems

Substituting (7.21.47) into (7.21.45) and taking into account that (7.21.49), we
obtain
1
−iω1 a1  + ω1 a1 β1  − iω1 μ1 a1 + α11 a13 + H11 a1 + Fa12 ei(σ T1 −3β) = 0 (7.21.50)
8
Separating the real and imaginary parts of the above equation yields

ω1 a1 + ω1 μ1 a1 − Fa12 sinγ = 0

(7.21.51)
−ω1 a1 γ  + ω1 a1 σ + 38 α11 a13 + 3H11 a1 + 3Fa12 cosγ = 0

where

γ = σ T1 − 3β (7.21.52)

From Eq. (7.21.51), we know that the steady state solution satisfies the following
equations:

 1 μ1 − Fa1 sinγ ) = 0
a1 (ω  (7.21.53)
a1 ω1 σ + 38 α11 a12 + 3H11 + 3Fa1 cosγ = 0

Combining the above results, we can obtain the steady-state deflection of

subharmonic resonance of the axisymmetric circular plate when ≈ 3ω1 is
   ∞

1 1 
w(r, t) = a1 φ1 (r)cos t− γ + 2 n φn (r) cos t + O(ε) (7.21.54)
3 3 n=1

where a1 and γ are given by (7.21.53).

7.22 Exercise 7.22 (First-Order Superharmonic Resonance

Analysis of a Uniform Circular Plate Clamped Along
Its Edge)

Solution: Let

3 = ω1 + εσ (7.22.1)

and

ψn (t; ε) = ψn0 (T0 , T1 ) + εψn1 (T0 , T1 ) + · · · (7.22.2)

Substituting (7.22.2) into (7.21.31) and retaining to O(ε), we obtain

7.22 Exercise 7.22 (First-Order Superharmonic Resonance Analysis … 849
" #
2
∞
0 = ψ̈n + ωn2 ψn + ε 2μn ψ̇n − nmpq ψm ψp ψq − fn (t)
m, p, q=1

= D02 ψn0 + ωn2 ψn0 − 2Kn cos T0 + ε D02 ψn1 + ωn2 ψn1# (7.22.3)
2
∞
+2D0 D1 ψn0 + 2μn D0 ψn0 − nmpq ψm0 ψp0 ψq0
m, p, q=1

Equating coefficients of like powers of ε in the above equation yields

D02 ψn0 + ωn2 ψn0 = 2Kn cos T0 (7.22.4)

∞

D02 ψn1 + ωn2 ψn1 = −2D0 D1 ψn0 − 2μn D0 ψn0 + nmpq ψm0 ψp0 ψq0 (7.22.5)
m, p, q=1

The solution of (7.22.4) is

Kn
ψn0 = An (T1 )eiωn T0 + ne
i T0
+ cc, n = (7.22.6)
ωn2 − 2

Substituting (7.22.6) into (7.22.5) and taking into account 3 = ω1 + εσ and

ω1 + 2ω2 = ω3 + εσ1 , we obtain
∞

D02 ψn1 + ωn2 ψn1 = −2D0 D1 ψn0 − 2μn D0 ψn0 + nmpq ψm0 ψp0 ψq0
m,p,q=1
∞
 0
= −2iωn A eiωn T0 − 2iωn μn An eiωn T0 + nmpq Am Ap Aq e−iωm T0 eiωp T0 eiωq T0
m,p,q=1
iωm T0 −iωp T0 iωq T0
+Am Ap Aq e e e + Am Ap Aq eiωm T0 eiωp T0 e−iωq T0
+2 m p Aq e
iωq T0
+ 2 m Ap q eiωp T0 + 2Am p qe
iωm T0
4
+ m p qe
3i T0
+ cc + NST
(7.22.7)

In order to eliminate secular terms from the above equation, we need

2
∞
−2iω1 A1  − 2iω1 μ1 A1 + 3 2
1111 A1 A1 + A1 2(2 1m1m + 11mm )Am Am
m=1
∞ 
2  2
∞
+2A1 11mp +2 1m1p m p + eiσ T1 1mpq m p q =0
m, p=1 m, p, q=1
(7.22.8)
850 7 Continuous Systems

2
∞
−2iωn An  − 2iωn μn An + 3 2
nnnn An An + An 2(2 nmnm + nnmm )Am Am
m=n
∞ 
2 
+2An nnmp +2 nmnp m p = 0, n = 1
m, p=1
(7.22.9)

The above two equations can be written as

∞

−2iω1 A1  − 2iω1 μ1 A1 + A1 α1m Am Am + 2H11 A1 + Feiσ T1 = 0 (7.22.10)
m=1
∞

−2iωn An  − 2iωn μn An + An αnm Am Am + 2Hnn An = 0, n = 1 (7.22.11)
m=1

where

 ∞


Hnk = nkmj +2 nmkj m j, F= 1mpq m p q
m, j m, p, q=1
  
2 2 njnj + for n = j
αnj = αjn = nnjj
3 nnnn

Let
1 iβn
An = an e (7.22.12)
2
Substituting (7.22.12) into (7.22.11) yields
∞
1 
−iωn an  + ωn an βn  − iωn μn an + an αnm am2 + Hnn an = 0, n = 1 (7.22.13)
8 m=1

Separating the real and imaginary parts of the above equation yields

an  + μn an = 0, n = 1 ⇒ an = an0 e−μn T1 → 0, n = 1 (7.22.14)

Substituting (7.22.12) into (7.22.10) and taking into account that (7.22.14), we
obtain
1
−iω1 a1  + ω1 a1 β1  − iω1 μ1 a1 + α11 a13 + H11 a1 + Fei(σ T1 −β) = 0 (7.22.15)
8
Separating the real and imaginary parts of the above equation yields
7.23 Exercise 7.23 (Second-Order Superharmonic Resonance Analysis … 851

ω1 a1  + ω1 μ1 a1 − Fsinγ = 0
(7.22.16)
−ω1 a1 γ  + ω1 σ a1 + 18 α11 a13 + H11 a1 + Fcosγ = 0

where

γ = σ T1 − β (7.22.17)

From Eq. (7.22.16), we know that the steady state solution satisfies the following
equations:

ω1 μ1 a1 − Fsinγ = 0
(7.22.18)
ω1 σ a1 + 18 α11 a13 + H11 a1 + Fcosγ = 0

Combining the above results, we can obtain the steady-state deflection of

subharmonic resonance of the axisymmetric circular plate when ω1 ≈ 3 is
 ∞


w(r, t) = a1 φ1 (r)cos(3 t − γ ) + 2 n φn (r) cos t + O(ε) (7.22.19)
n=1

where a1 and γ are given by (7.22.18).

7.23 Exercise 7.23 (Second-Order Superharmonic

Resonance Analysis of a Uniform Circular Plate
Clamped Along Its Edge)

Solution: Let

3 = ω2 + εσ (7.23.1)

and

ψn (t; ε) = ψn0 (T0 , T1 ) + εψn1 (T0 , T1 ) + · · · (7.23.2)

Substituting (7.23.2) into (7.21.31) and retaining to O(ε), we obtain

" #
2
∞
0 = ψ̈n + ωn2 ψn + ε 2μn ψ̇n − nmpq ψm ψp ψq − fn (t)
m, p, q=1

= D02 ψn0 + ωn2 ψn0 − 2Kn cos T0 + ε D02 ψn1 + ωn2 ψn1# (7.23.3)
2
∞
+2D0 D1 ψn0 + 2μn D0 ψn0 − nmpq ψm0 ψp0 ψq0
m, p, q=1
852 7 Continuous Systems

Equating coefficients of like powers of ε in the above equation yields

D02 ψn0 + ωn2 ψn0 = 2Kn cos T0 (7.23.4)

∞

D02 ψn1 + ωn2 ψn1 = −2D0 D1 ψn0 − 2μn D0 ψn0 + nmpq ψm0 ψp0 ψq0 (7.23.5)
m, p, q=1

The solution of (7.23.4) is

Kn
ψn0 = An (T1 )eiωn T0 + ne
i T0
+ cc, n = (7.23.6)
ωn2 − 2

Substituting (7.23.6) into (7.23.5) and taking into account 3 = ω2 + εσ and

ω1 + 2ω2 = ω3 + εσ1 yields
∞

D02 ψn1 + ωn2 ψn1 = −2D0 D1 ψn0 − 2μn D0 ψn0 + nmpq ψm0 ψp0 ψq0
m,p,q=1
∞
 0
= −2iωn An eiωn T0 − 2iωn μn An eiωn T0 + nmpq Am Ap Aq e−iωm T0 eiωp T0 eiωq T0
m,p,q=1
iωm T0 −iωp T0 iωq T0
+Am Ap Aq e e e + Am Ap Aq eiωm T0 eiωp T0 e−iωq T0
+2 m p Aq e
iωq T0
+ 2 m Ap q eiωp T0 + 2Am p qe
iωm T0
4
+ m p qe
3i T0
+ cc + NST
(7.23.7)

In order to eliminate secular terms from the above equation, we need

2
∞
−2iω2 A2  − 2iω2 μ2 A2 + 3 2
2222 A2 A2 + A2 2(2 2m2m + 22mm )Am Am
m=2
∞ 
2  2
∞
+2A2 22mp +2 1m1p m p + eiσ T1 2mpq m p q =0
m, p=1 m, p, q=1
(7.23.8)
2
∞
−2iωn An  − 2iωn μn An + 3 2
nnnn An An + An 2(2 nmnm + nnmm )Am Am
m=n
∞ 
2 
+2An nnmp +2 nmnp m p = 0, n = 2
m,p=1
(7.23.9)

The above two equations can be written as

7.23 Exercise 7.23 (Second-Order Superharmonic Resonance Analysis … 853

∞

−2iω2 A2  − 2iω2 μ2 A2 + A2 α2m Am Am + 2H22 A2 + Feiσ T1 = 0 (7.23.10)
m=1
∞

−2iωn An  − 2iωn μn An + An αnm Am Am + 2Hnn An = 0, n = 2 (7.23.11)
m=1

where

 ∞


Hnk = nkmj +2 nmkj m j, F= 2mpq m p q
m, j m, p, q=1
  
2 2 njnj + for n = j
αnj = αjn = nnjj
3 nnnn

Let
1 iβn
An = an e (7.23.12)
2
Substituting (7.23.12) into (7.23.11) yields
∞
1 
−iωn an  + ωn an βn  − iωn μn an + an αnm am2 + Hnn an = 0, n = 2 (7.23.13)
8 m=1

Separating the real and imaginary parts of the above equation yields

an  + μn an = 0, n = 1 ⇒ an = an0 e−μn T1 → 0, n = 2 (7.23.14)

Substituting (7.23.12) into (7.23.10) and taking into account that (7.23.14), we
obtain
1
−iω2 a2  + ω2 a2 β2  − iω2 μ2 a2 + α22 a23 + H22 a2 + Fei(σ T1 −β) = 0 (7.23.15)
8
Separating the real part from the imaginary part of the above equation yields

ω2 a2  + ω2 μ2 a2 − Fsinγ = 0
(7.23.16)
−ω2 a2 γ  + ω2 σ a2 + 18 α22 a23 + H22 a2 + Fcosγ = 0

where

γ = σ T1 − β (7.23.17)
854 7 Continuous Systems

From Eq. (7.23.16), we know that the steady state solution satisfies the following
equations:

ω2 μ2 a2 − Fsinγ = 0
(7.23.18)
ω2 σ a2 + 18 α22 a23 + H22 a2 + Fcosγ = 0

Combining the above results, we can obtain the steady-state deflection of

subharmonic resonance of the axisymmetric circular plate when ω2 ≈ 3 is
 ∞


w(r, t) = a2 φ2 (r)cos(3 t − γ ) + 2 n φn (r) cos t + O(ε) (7.23.19)
n=1

where a1 and γ are given by (7.23.18).

7.24 Exercise 7.24 (Combined Resonance Analysis

of a Uniform Circular Plate Clamped Along Its Edge)

Solution: Let

εσ1 = ω1 + 2ω2 − ω3 , εσ2 = 2 − ω1 − ω2 (7.24.1)

and

ψn (t; ε) = ψn0 (T0 , T1 ) + εψn1 (T0 , T1 ) + · · · (7.24.2)

Substituting (7.24.2) into (7.21.31) and retaining to O(ε), we obtain

" #
2
∞
0 = ψ̈n + ωn2 ψn + ε 2μn ψ̇n − nmpq ψm ψp ψq − fn (t)
m, p, q=1

= D02 ψn0 + ωn2 ψn0 − 2Kn cos T0 + ε D02 ψn1 + ωn2 ψn1# (7.24.3)
2
∞
+2D0 D1 ψn0 + 2μn D0 ψn0 − nmpq ψm0 ψp0 ψq0
m, p, q=1

Equating coefficients of like powers of ε in the above equation yields

D02 ψn0 + ωn2 ψn0 = 2Kn cos T0 (7.24.4)

∞

D02 ψn1 + ωn2 ψn1 = −2D0 D1 ψn0 − 2μn D0 ψn0 + nmpq ψm0 ψp0 ψq0 (7.24.5)
m, p, q=1
7.24 Exercise 7.24 (Combined Resonance Analysis of a Uniform Circular … 855

The solution of (7.24.4) is

Kn
ψn0 = An (T1 )eiωn T0 + ne
i T0
+ cc, n = (7.24.6)
ωn2 − 2

Substituting (7.24.6) into (7.24.5) and taking into account εσ1 = ω1 + 2ω2 −
ω3 andεσ2 = 2 − ω1 − ω2 yields
∞

D02 ψn1 + ωn2 ψn1 = −2D0 D1 ψn0 − 2μn D0 ψn0 + nmpq ψm0 ψp0 ψq0
m,p,q=1

= −2iωn An eiωn T0 − 2iωn μn An eiωn T0

∞
 0
+ nmpq Am Ap Aq eiωm T0 eiωp T0 eiωq T0 + Am Ap Aq e−iωm T0 eiωp T0 eiωq T0
m,p,q=1

+Am Ap Aq eiωm T0 e−iωp T0 e−iωq T0 + Am Ap Aq eiωm T0 e−iωp T0 eiωq T0

+Am Ap Aq e−iωm T0 eiωp T0 e−iωq T0 + Am Ap Aq e−iωm T0 e−iωp T0 eiωq T0
+Am Ap Aq eiωm T0 eiωp T0 e−iωq T0 + m p Aq e
2i T0 iωq T0
e
+ m Ap qe
2i T0 iωp T0
e + Am p qe
2i T0 iωm T0
e
2i T0 −iωm T0 2i T0 −iωq T0 2i T0 −iωp T0
+Am p qe e + m p Aq e e + m Ap qe e
+2 m p Aq e
iωq T0
+ m Ap qe
iωp T0
+ m Ap q e iωp T0
4
+Am p qe
iωm T0
+ Am p qe
iωm T0
+ cc + NST
(7.24.7)

In order to eliminate secular terms from the above equation, we need

2
∞
−2iω1 A1  − 2iω1 μ1 A1 + A1 α1m Am Am
m=1 (7.24.8)
2
+2H11 A1 + H12 A2 e iσ2 T1
+ 8QA3 A2 e−iσ1 T1 =0
2
∞
−2iω2 A − 2iω2 μ2 A2 + A2 α2m Am Am + 2H22 A2
m=1 (7.24.9)
+16QA1 A2 A3 e−iσ1 T1 + H12 A1 eiσ2 T1 + H23 A3 e−i(σ1 +σ2 )T1 = 0
2
∞
−2iω3 A3  − 2iω3 μ3 A3 + A3 α3m Am Am
m=1 (7.24.10)
+2H33 A3 + 8QA1 A22 eiσ1 T1 + H23 A2 ei(σ1 +σ2 )T1 = 0
∞

−2iωn An  − 2iωn μn An + An αnm Am Am + 2Hnn An = 0, n ≥ 4 (7.24.11)
m=1

Let
856 7 Continuous Systems

1 iβn
An = an e (7.24.12)
2
Substituting (7.24.12) into (7.24.11) yields
∞
1 
−iωn an  + ωn an βn  − iωn μn an + an αnm am2 + Hnn an = 0, n ≥ 4 (7.24.13)
8 m=1

Separating the real and imaginary parts of the above equation gives

an  + μn an = 0, n ≥ 4 ⇒ an = an0 e−μn T1 → 0, n ≥ 4 (7.24.14)

Substituting (7.24.12) into (7.24.8)–(7.24.10) and taking into account that

(7.24.14), we obtain

2
3
−iω1 a1  + ω1 a1 β1  − iω1 μ1 a1 + 18 a1 α1m am2 + H11 a1
m=1 (7.24.15)
+ 21 H12 a2 ei(σ2 T1 −β1 −β2 ) + Qa22 a3 ei(−σ1 T1 −β1 −2β2 +β3 ) = 0
2
3
−iω2 a2  + ω2 a2 β2  − iω2 μ2 a2 + 18 a2 α2m am2 + H22 a2
m=1
(7.24.16)
+2Qa1 a2 a3 ei(−σ1 T1 −β1 −2β2 +β3 ) + 21 H12 a1 ei(σ2 T1 −β1 −β2 )
+ 21 H23 a3 ei(−σ1 T1 −σ2 T1 −β2 +β3 ) = 0
2
3
−iω3 a3  + ω3 a3 β3  − iω3 μ3 a3 + 18 a3 α3m am2 + H33 a3
m=1 (7.24.17)
+Qa1 a22 ei(σ1 T1 +β1 +2β2 −β3 ) + 1
H a e
2 23 2
i(σ1 T1 +σ2 T1 +β2 −β3 )
=0

Separating the real part from the imaginary part of the above equation yields

1
ω1 a1  + ω1 μ1 a1 + Qa22 a3 sinγ1 + H12 a2 sinγ2 = 0 (7.24.18)
2
1 1
ω2 a2  + ω2 μ2 a2 + 2Qa1 a2 a3 sinγ1 + H12 a1 sinγ2 + H23 a3 sin(γ1 − γ2 ) = 0
2 2
(7.24.19)
1
ω3 a3  + ω3 μ3 a3 − Qa1 a22 sinγ1 − H23 a2 sin(γ1 − γ2 ) = 0 (7.24.20)
2

1 
3
1
ω1 a1 β1  + a1 α1m am2 + H11 a1 + Qa22 a3 cosγ1 + H12 a2 cosγ2 = 0 (7.24.21)
8 m=1 2
7.24 Exercise 7.24 (Combined Resonance Analysis of a Uniform Circular … 857

2
3
ω2 a2 β2  + 18 a2 α2m am2 + H22 a2 + 2Qa1 a2 a3 cosγ1
m=1 (7.24.22)
+ 21 H12 a1 sinγ2 + 21 H23 a3 cos(γ1 − γ2 ) = 0

1 
3
1
ω3 a3 β3  + a3 α3m am2 + H33 a3 + Qa1 a22 cosγ1 + H23 a2 cos(γ1 − γ2 ) = 0
8 m=1 2
(7.24.23)

where

−γ1 = β3 − 2β2 − β1 − σ1 T1 , −γ2 = σ2 T1 − β1 − β2 (7.24.24)

(7.24.24) can be rewritten as

−γ2  = σ2 − β1  − β2 , γ1  − γ2  = σ1 + σ2 − β3  + β2  (7.24.25)

Clearly there exists a trivial solution a1 = a2 = a3 = 0 in (7.24.18)–(7.24.23).

When a1 = 0, a2 = 0, a3 = 0, we can obtain the following equations from
(7.24.21)–(7.24.23) considering (7.24.25):

2
3 ! !
α1m am2 α2m am2 a22 a3
−γ2  = σ2 + 1
8 ω1
+ ω2
+ H11
ω1
+ H22
ω2
+Q ω1 a1
+ 2a1 a3
ω2
cosγ1
m=1 !
+ 21 H12 a2
ω1 a1
+ a1
ω2 a2
sinγ2 + 21 H23 ωa23a2 cos(γ1 − γ2 )
(7.24.26)
23 !
α3m am2 α2m am2
γ1  − γ2  = σ1 + σ2 + 18 ω3
− ω2
+ H33
ω3
− H22
ω2
2
! m=1
a a
+Q ω13 a23 − 2aω12a3 cosγ1 − 21 H12 ωa21a2 sinγ2 (7.24.27)
!
+ 21 H23 ωa32a3 − ωa23a2 cos(γ1 − γ2 )

Let the time derivatives in (7.24.18)–(7.24.20), (7.24.26) and (7.24.27) be zero,

we can obtain the equations satisfied by the non-trivial steady state solutions of
a1 , a2 , a3 and γ1 , γ2 :

1
ω1 μ1 a1 + Qa22 a3 sinγ1 + H12 a2 sinγ2 = 0 (7.24.28)
2
1 1
ω2 μ2 a2 + 2Qa1 a2 a3 sinγ1 + H12 a1 sinγ2 + H23 a3 sin(γ1 − γ2 ) = 0 (7.24.29)
2 2
1
ω3 μ3 a3 − Qa1 a22 sinγ1 − H23 a2 sin(γ1 − γ2 ) = 0 (7.24.30)
2
858 7 Continuous Systems

2
3 ! !
α1m am2 α2m am2 a22 a3
0 = σ2 + 1
8 ω1
+ ω2
+ H11
ω1
+ H22
ω2
+Q ω1 a1
+ 2a1 a3
ω2
cosγ1
m=1 ! (7.24.31)
+ 21 H12 a2
ω1 a1
+ a1
ω2 a2
sinγ2 + 21 H23 ωa23a2 cos(γ1 − γ2 )

2
3 !
α3m am2 α2m am2
0 = σ1 + σ2 + 1
8 ω3
− ω2
+ H33
ω3
− H22
ω2
!m=1
a1 a22 (7.24.32)
+Q ω3 a3
− 2a1 a3
ω2
cosγ1 − 21 H12 ωa21a2 sinγ2
!
+ 21 H23 a2
ω3 a3
− ωa23a2 cos(γ1 − γ2 )

Combining the above results, we can obtain the steady-state deflection of

subharmonic resonance of the axisymmetric circular plate when 2 ≈ ω1 + ω2
is
 ∞ 

3 
w(r, t) = an φn (r)cos[(ωn + εβn )t + τn ] + 2 n φn (r) cos t + O(ε)
n=1 n=1
(7.24.33)

where am and βm  are determined by (7.24.18)–(7.24.27).

Readers are invited to complete Exercises 7.25 to 7.27 by referring to Exercises
7.21 to 7.24.

7.25 Exercise 7.25 (Combined Resonance Analysis

of a Uniform Circular Plate Clamped Along Its Edge I)

7.26 Exercise 7.26 (Combined Resonance Analysis

of a Uniform Circular Plate Clamped Along Its Edge
II)

7.27 Exercise 7.27 (Axisymmetric Response of a Uniform

Circular Plate Clamped Along Its Edge with 1st to 3rd
Order Modes Subjecting To Corresponding Resonant
Excitation III)
7.28 Exercise 7.28 (Derivation of Modal Discretization Equations … 859

7.28 Exercise 7.28 (Derivation of Modal Discretization

Equations for Berger’s Equation for Axisymmetric
Oscillation Analysis of a Clamped Circular Plates)

Solution: (a) In the Berger approximation, the nonlinear forced oscillations of a

clamped plate are given by

D∇ 4 w − ρhecp2 ∇ 2 w + ρhwtt = −2μwt + f (r, t) (7.28.1)

¨
1
Ae(t) = − w∇ 2 wdxdy (7.28.2)
2
A

where A is the area of the plate, and

Eh3 E
D=   , cp2 =   (7.28.3)
12 1 − ν 2 ρ 1 − ν2

The following dimensionless variables with asterisks are induced:

'
∗ ρh ∗ h2 12 5 Dh2
r = Rr , t = R 2
t , w = w∗ , μ = 4 ρh5 Dμ∗ , f = 5 f ∗ (7.28.4)
D R R R

Taking into account

 2
∂2 1 ∂
∇4 = + (7.28.5)
∂r 2 r ∂r

Substituting this into (7.28.1) and (7.28.2), and then dropping the asterisks, we
obtain

R4 2
∇ 4w − α e∇ w + wtt = −2αμwt + f (r, t) (7.28.6)
h4
 2 
h4 1 h4 1 d w 1 dw
e(t) = − 4 rw∇ 2 wdr = − 4 rw + dr
R 0 R 0 dr 2 r dr
1 1
h4 d 2w dw
=− 4 rw 2 dr + w dr
R dr dr
 0 .1
0
 (7.28.7)
h4
dw .. 1
dw 1
dw
= − 4 rw . − d (rw) + w dr
R dr 0 0 dr 0 dr
  2
h4 1 dw
= 4 r dr
R 0 dr
860 7 Continuous Systems

where α = 12h2 /R2 . The above two equations are combined to give

1  2
dw
∇ w − α∇ w
4 2
r dr + wtt = −2αμwt + f (r, t) (7.28.8)
dr
0

Let the deflection of the circular plate be

∞

w(r, t) = ψm (t)φm (r) (7.28.9)
m=1

where the φm are the linear, free oscillation modes of the plate. The undamped free
oscillation equation of the plate is

∇ 4 w + wtt = 0 (7.28.10)

Let w(r, t) = ψm0 eωm t φm (r), the corresponding eigenvalue problem can be
obtained as:

∇ 4 φm − ωm2 φm = 0 (7.28.11)

φm (1) = 0, φm (1) = 0, φm (0) < ∞ (7.28.12)

The eigenvalue ωm are the natural frequencies of the plate. The φm are orthogonal
with respect to the weighting function r. The amplitude of each mode is chosen such
that
1

rφn φm dr = δnm (7.28.13)

0

The eigenvalue problem is solved below. Write (7.28.11) in a more convenient

form below:
 2  2 
∂ 1 ∂ ∂ 1 ∂
+ − κ 2
+ + κ m φm = 0
2
(7.28.14)
∂r 2 r ∂r m
∂r 2 r ∂r

where κm4 = ωm2 . Thus we can obtain the four linearly independent solutions of
(7.28.14) from the following two equations:
 
∂2 1 ∂
+ − κ m φm = 0
2
(7.28.15)
∂r 2 r ∂r
7.28 Exercise 7.28 (Derivation of Modal Discretization Equations … 861
 
∂2 1 ∂
+ + κm φm = 0
2
(7.28.16)
∂r 2 r ∂r

From (7.28.15) and (7.28.16), we obtain

φm(1) = E1 I0 (κm r) + E2 K0 (κm r) (7.28.17)

φm(2) = E3 J0 (κm r) + E4 Y0 (κm r) (7.28.18)

where the En are constants of integration; Jn , Yn are the Bessel functions of the first
and second kind, respectively;In ,Kn are the modified Bessel functions of the first and
second kind, respectively. The complete solution is

φm = φm(1) + φm(2) (7.28.19)

The condition that φm (0) be bounded demands that E2 = E4 = 0 because both

K0 and Y0 have logarithmic singularities at the origin. Thus it follows from (7.28.12)
and (7.28.19) that

φm = Cm [J0 (κm r)I0 (κm ) − J0 (κm )I0 (κm r)] (7.28.20)

where the κm are the roots of

I0 (κ)J0 (κ) − J0 (κ)I0 (κ) = 0 (7.28.21)

and the Cm are obtained from (7.28.13).

The first five natural frequencies obtained from (7.28.21) are

ωm = 10.2158, 39.7710, 89.1040, 158.1830, 247.0050

We note that

ω1 + 2ω2 = 89.7578 ≈ ω3 (7.28.22)

Hence there is an internal resonance involving three modes.

Substituting (7.28.9) into (7.28.8) and taking into account the eigenvalue Eq.
(7.28.11) yields

2
∞ 2
∞ 2
∞ 1
ωm2 ψm φm − α ψm ∇ 2 φm ψp ψq rφp φq dr
m=1 m=1 p, q=1 0 (7.28.23)
2
∞ 2
∞
+ ψ̈m φm = −2αμ ψ̇m φm + f (r, t)
m=1 m=1
862 7 Continuous Systems

where the prime denotes the derivative with respect to r. Multiply (7.28.23) by rφn (r)
from r = 0 to r = 1. The result is

2
∞ 1 2
∞ 1 2
∞ 1
ωm2 ψm rφn φm dr − α ψm rφn ∇ 2 φm dr ψp ψq rφp φq dr
m=1 0 m=1 0 p, q=1 0
2
∞ 1 2
∞ 1 1
+ ψ̈ m rφn φm dr = −2α ψ̇m μrφn φm dr + rφn f (r, t)dr
m=1 0 m=1 0 0
(7.28.24)

Considering the orthogonality of the φm , we obtain

2
∞ 1 2
∞ 1
ψ̈n + ωn2 ψn = α ψm rφn ∇ 2 φm dr ψP ψq rφp φq dr
m=1 0 p, q=1 0 (7.28.25)
−2αμn ψ̇n + fn (t)

where
1 1

μn = μrφn2 dr, fn (t) = rφn (r)f (r, t)dr (7.28.26)

0 0

Dealing with the Eq. (7.28.25) again. The first integral on the right-hand side of
(7.28.25) is

1 1 ! 1 1
d 2 φm 1 d φm
rφn ddrφ2m dr + φn ddrφm dr
2
rφn ∇ 2 φm dr = rφn dr 2
+ r dr
dr =
0 0 0 0
. 1 1
= rφn .10 − d φm
dr (rφn )
d + φn ∂φ
∂r
m
dr (7.28.27)
0 0
1
= − r ddrφn ddrφm dr
0

Substituting (7.28.27) into (7.28.25) yields

∞

ψ̈n + ωn2 ψn = α nmpq ψm ψp ψq − 2αμn ψ̇n + fn (t) (7.28.28)
m, p, q

where
1 1

nmpq =− rφn φm dr rφp φq dr (7.28.29)

0 0
7.29 Exercise 7.29 (Berger Equation for Nonlinear Oscillation Analysis … 863

7.29 Exercise 7.29 (Berger Equation for Nonlinear

Oscillation Analysis of Simply Supported Rectangular
Plates)

Solution: (a) In the Berger approximation, the nonlinear forced oscillations of a

simply-supported rectangular plate are given by

D∇ 4 w − ρhecp2 ∇ 2 w + ρhwtt = f (r, t) (7.29.1)

¨  2  2 
1 ∂w ∂w
Ae(t) = + dxdy (7.29.2)
2 ∂x ∂y
A

where A is the area of the plate; and

Eh3 E ∂ ∂
D=   , cp2 =   , ∇2 = 2 + 2 (7.29.3)
12 1 − ν 2 ρ 1−ν 2 ∂x ∂y

Let the deflection of the simply supported plate be w(x, y) = φ(x, y)eiωt , then the
corresponding eigenvalue problem can be obtained as:

D∇ 4 φ − ρhω2 φ = 0 (7.29.4)

φ(0, y) = φ(a, y) = 0, φ(x, 0) = φ(x, b) = 0 (7.29.5)

The oscillation mode function for a simply supported rectangular plate is given
by
nπ x mπ y
φnm (x, y) = sin sin (7.29.6)
a b
Natural frequencies are
 2
D n2 m2
ωnm
2
= + 2 (7.29.7)
ρh a2 b

Therefore, let the deflection of the plate be

∞
 ∞
 nπ x mπ y
w(x, y, t) = ψnm (t)φnm ψnm (t)sin sin (7.29.8)
n, m=1 n, m=1
a b

Substituting (7.29.8) into (7.29.2) yields

864 7 Continuous Systems

¨  2  2 
1 ∂w ∂w
e(t) = + dxdy
2A A ∂x ∂y
⎧
¨  2
1 ⎨
∞
nπ nπ x mπ y
= ψnm cos sin dxdy
2ab ⎩ A n,m a a b
⎤⎫
¨  ∞
2
⎬
mπ nπ x mπ y
+ ψnm sin cos dxdy⎦
A n,m b a b ⎭
¨  ∞ 
1  nπ pπ nπ x pπ x mπ y qπ y
= ψnm ψpq cos cos sin sin dxdy
2ab A n,m,p,q a a a a b b
¨   ∞
 
mπ qπ nπ x pπ x mπ y qπ y
+ ψnm ψpq sin sin cos cos dxdy
A n,m,p,q b b a a b b
∞
π 2  2 n2 a nπ x b
mπ y
= ψnm 2 cos2 dx sin2 dy
2ab n,m a 0 a 0 b
∞
 a b
m2
nπ x mπ y
+ ψnm
2
dx sin2
cos2 dy
n,m 0 ab2 0 b
∞  
π 2  ab n2 m2
= + 2 ψnm 2
2ab n,m 4 a2 b

i.e.,
∞  
π 2  n2 m2
e(t) = + 2 ψnm
2
(7.29.9)
8 n, m=1 a2 b

Substituting (7.29.8) and (7.29.9) into (7.29.1) and considering (7.29.4) yields

2
∞ 2
∞ ! 2
∞
p2 q2
ψnm φnm − ρhcp2 π8
2
D ωnm
2
a2
+ b2
ψnm
2
ψnm ∇ 2 φnm
n, m p, q=1 n, m
2
∞ (7.29.10)
+ρh ψ̈nm φnm = f (x, y, t)
n, m

Multiplying the above equation by φrs (x, y) and integrating over the area of the
plate, we obtain
7.29 Exercise 7.29 (Berger Equation for Nonlinear Oscillation Analysis … 865

∞
 ¨
ρh ωnm
2
ψnm φnm φrs dxdy
n,m A
∞  2
  ∞ ¨
π 2
p q2
−ρhcp2 + 2 ψpq 2
ωnm2
φrs ∇ 2 φnm dxdy (7.29.11)
8 p,q=1 a2 b n,m A
∞
 ¨ ¨
+ρh ψ̈nm φnm φrs dxdy = φrs f (x, y, t)dxdy
n,m A A

The oscillation mode function have orthogonality, i.e.

¨ 1
ab, n = r, m = s
φnm φrs dxdy = 4 (7.29.12)
0, n = r, m = s
A

Dealing with (7.29.11) again. The integral in the second term on the right-hand
side of (7.29.11) is
˜ ˜ $ %
∂ 2 φnm ∂ 2 φnm
φrs ∇ 2 φnm dxdy = φrs ∂x2
+ ∂y2
dxdy
A A
! a b
n2 m2
= −π 2 + a2 b2
sin rπx
a
sin nπx
a
dx sin sπb y sin mπb y dy (7.29.13)
 0 ! 0
− π 4ab an2 +
2 2
m2
, n = r, m = s
= b2

0, n = r, m = s

Substituting (7.29.9), (7.29.12) and (7.29.13) into (7.29.11) yields

π 4 cp2
! 2
∞ !
n2 m2 p2 q2
ψ̈nm + ωnm
2
ψnm + 8 a2
+ b2 a2
+ b2
ψpq
2
ψnm
˜ p, q=1 (7.29.14)
= 4
ρhab
φnm f (x, y, t)dxdy
A

The following dimensionless variables with asterisks are induced:

∗
ψnm =&lψnm , x = lx∗ , y = ly∗ , a = la∗ , b = lb∗
& (7.29.15)
t = l 2 ρh
D
t ∗
, ωnm = l
1
2
D ∗
ω , f = Dab
ρh nm 4l 5
f∗

where l is the characteristic width of the plate; for a square plate, l = a; for a
rectangular plate, l can be taken as the radius of gyration of the rectangular plate.
Substituting (7.29.15) into (7.29.14), and then dropping the asterisk for brevity
yields
866 7 Continuous Systems

  ∞  2 
n2 m2 p q2
ψ̈nm + ωnm
2
ψnm =α 2 + 2 2
+ 2 ψpq
2
ψnm + fnm (t) (7.29.16)
a b p, q=1
a b

where
¨
π 4 ρhl 2 cp2
α=− , fnm (t) = φnm f (x, y, t)dxdy (7.29.17)
8D
A

Note that ωnm in (7.29.16) and f in (7.29.17) have been nondimensionalized by

(7.29.15). The dimensionless natural frequency ωnm is defined as:
 2
n2 m2
ωnm
2
= + (7.29.18)
a2 b2

Adding dimensionless linear damping to (7.29.16) yields

  ∞  2 
n2 m2 p q2
ψ̈nm + ωnm
2
ψnm = α + + ψpq
2
ψnm − 2μnm ψ̇nm + fnm (t)
a2 b2 p, q=1
a 2 b2

(7.29.19)

This is the dimensionless governing equation of discrete modes of a simply-

supported rectangular plate with the Berger approximation.
Following the method of multiple scales, we let

ψnm (t; ε) = εψnm0 (T0 , T1 , T2 ) + ε2 ψnm1 (T0 , T1 , T2 ) + ε3 ψnm2 (T0 , T1 , T2 ) + · · ·

(7.29.20)

In order to let the damping, excitation and the cubic nonlinearity terms appear in
the same order equation:

μnm = ε2 μ̂nm , Knm = 2ε3 knm (7.29.21)

where knm = 0 when n = 1, m = 1.

Substituting (7.29.20) and (7.29.21) into (7.29.19) and retaining to O(ε3 ), we
obtain
7.29 Exercise 7.29 (Berger Equation for Nonlinear Oscillation Analysis … 867

∞

0 = ψ̈nm + ωnm
2
ψnm − α nm pq ψpq ψnm
2
+ 2μnm ψ̇nm − fnm (t)
p,q=1
   
= ε D02 ψnm0 + ωnm
2
ψnm0 + ε2 D02 ψnm1 + ωnm
2
ψnm1 + 2D0 D1 ψnm0
   (7.29.22)
+ε3 D02 ψnm2 + ωnm
2
ψnm2 + D12 + 2D0 D2 ψnm0 + 2D0 D1 ψnm1
⎤
∞
+2μ̂nm D0 ψnm0 − α nm pq ψpq0 ψnm0 − 2knm cos T0
2 ⎦
p,q=1

where

n2 m2
nm = + (7.29.23)
a2 b2
Let the coefficients of the like powers of ε in (7.29.22) be zero, we obtain

D02 ψnm0 + ωnm

2
ψnm0 = 0 (7.29.24)

D02 ψnm1 + ωnm

2
ψnm1 = −2D0 D1 ψnm0 (7.29.25)

 
D02 ψnm2 + ωnm
2
ψnm2 = − D12 + 2D0 D2 ψnm0 − 2D0 D1 ψnm1 − 2μ̂nm D0 ψnm0
2∞
+α nm pq ψpq0 ψnm0 + 2knm cos T0
2
p, q=1
(7.29.26)

The solution of (7.29.24) is

ψnm0 = Anm (T1 , T2 )eiωnm T0 + cc (7.29.27)

Substituting (7.29.27) into (7.29.25) yields

D02 ψnm1 + ωnm

2
ψnm1 = −2iωnm D1 Anm eiωnm T0 + cc (7.29.28)

In order to eliminate secular terms from the above equation, we need

D1 Anm = 0 ⇒ Anm = Anm (T2 ) (7.29.29)

Further, from (7.29.28), we have

ψnm1 = 0 (7.29.30)

Let
868 7 Continuous Systems

= ω11 + ε2 σ (7.29.31)

and substitute them into (7.29.26), we obtain

D02 ψ112 + ω11

2
ψ112 = −2iω11 A11 eiω11 T0 − 2iω11 μ̂11 A11 eiω11 T0
(7.29.32)
+3α 11 A11 A11 eiω11 T0 + k11 eiσ T2 eiω11 T0 + cc + NST
2 2

D02 ψnm2 + ωnm

2
ψnm2 = −2iωnm Anm eiωnm T0 − 2iωnm μ̂nm Anm eiωnm T0
(7.29.33)
+3α nm Amm Amm eiωnm T0 + cc + NST , n = 1, m = 1
2 2

In order to eliminate secular terms from these two equations, we need

−2iω11 A11 − 2iω11 μ̂11 D0 A11 + 3α 2 2

11 A11 A11 + k11 eiσ T2 = 0 (7.29.34)

−2iωnm Anm − 2iωnm μ̂nm Anm + 3α 2 2

nm Amm Amm =0
(7.29.35)
n = 1, m = 1

Let

Anm = anm eiβnm (7.29.36)

and substitute this into (7.29.35), we can obtain

 
−iωnm anm + ωnm anm βnm − iωnm μ̂nm anm + 38 α 2 3
nm amm =0
(7.29.37)
n = 1, m = 1

Separating the real and imaginary parts of the above equation yields

anm + μ̂nm anm = 0, n = 1, m = 1 (7.29.38)

So

anm = anm0 e−μ̂nm T2 → 0, n = 1, m = 1 (7.29.39)

Substituting (7.29.36) into (7.29.34) yields

  3
−iω11 a11 + ω11 a11 β11 − iω11 μ̂11 a11 + α 2 3
11 a11 + k11 ei(σ T2 −β11 ) = 0 (7.29.40)
8
Separating the real part from the imaginary part of the above equation yields


−ω11 a11 − ω11 μ̂11 a11 + k11 sinγ11 = 0
 (7.29.41)
−ω11 a11 γ11 + ω11 σ a11 + 38 α 11 a11 + k11 cosγ11 = 0
2 3
7.29 Exercise 7.29 (Berger Equation for Nonlinear Oscillation Analysis … 869

where

γ11 = σ T2 − β11 (7.29.42)

From Eq. (7.29.41), we know that the steady state solution satisfies the following
equations:

ω11 μ̂11 a11 = k11 sinγ11 

(7.29.43)
−a11 ω11 σ + 38 α 11 a11 = k11 cosγ11
2 2

From this, the frequency–response equation is

3
ω11
2
μ̂211 a11
2
+ a11
2
(ω11 σ + α 11 a11 )
2 2 2
= k11
2
(7.29.44)
8
As seen from the above results, only 1 ~ 1 mode is excited under the above resonant
excitation.
When a = b,ω12 = ω21 . Since this is still a primary resonance of the plate, the
solution to Exercise 7.29(b), (7.29.20)–(7.29.30), still holds.
When k12 = k21 , Eqs. (7.29.32) and (7.29.33) change to:

D02 ψ122 + ω12

2
ψ122 = −2iω12 A12 eiω12 T0 − 2iω12 μ̂12 A12 eiω12 T0
(7.29.45)
+3α 12 A12 A12 eiω12 T0 + k12 eiσ T2 eiω12 T0 + cc + NST
2 2

D02 ψnm2 + ωnm

2
ψnm2 = −2iωnm Anm eiωnm T0 − 2iωnm μ̂nm Anm eiωnm T0
(7.29.46)
+3α nm Amm Amm eiωnm T0 + cc + NST , n = 1, m = 2
2 2

From this, we can obtain

anm = anm0 e−μ̂nm T2 → 0, n = 1, m = 2 (7.29.47)

Hence only 1 ~ 2 mode is excited in this case.

When k12 = k21 , Eqs. (7.29.32) and (7.29.33) change to:

D02 ψ122 + ω12

2
ψ122 = −2iω12 A12 eiω12 T0 − 2iω12 μ̂12 A12 eiω12 T0
(7.29.48)
+3α 12 A12 A12 eiω12 T0 + k12 eiσ T2 eiω12 T0 + cc + NST
2 2

D02 ψ212 + ω21

2
ψ212 = −2iω21 A21 eiω21 T0 − 2iω21 μ̂21 A21 eiω21 T0
(7.29.49)
+3α 21 A21 A21 eiω21 T0 + k21 eiσ T2 eiω21 T0 + cc + NST
2 2

D02 ψnm2 + ωnm

2
ψnm2 = −2iωnm Anm eiωnm T0 − 2iωnm μ̂nm Anm eiωnm T0
(7.29.50)
+3α nm Amm Amm eiωnm T0 + cc + NST , n = 1, m = 2
2 2

From this, we can obtain

870 7 Continuous Systems

anm = anm0 e−μ̂nm T2 → 0, n = 1, m = 2 and n = 2, m = 1 (7.29.51)

Hence both 1 ~ 2 and 2 ~ 1 modes are excited.

7.30 Exercise 7.30 (Nonlinear Oscillation Analysis

of Rotating Circular Films)

Solution: In order to have a more thorough understanding of the problem, let us

first derive the nonlinear governing equations for the rotating film in the problem.
Neglecting the inertial force of the longitudinal motion of the plate, we can obtain
the equation of motion of the plate in the Cartesian coordinate system is (Sect. 7.6.1
of the Book)
   
∂ 2 Mx ∂ 2 My ∂ 2 Mxy ∂ ∂w ∂ ∂w
+ + 2 + N x + Ny
∂x2 ∂y2 ∂x∂y ∂x ∂x ∂y ∂y
   
∂ ∂w ∂ ∂w ∂ 2w
+ Nxy + Nxy + f = ρh 2 (7.30.1)
∂x ∂y ∂y ∂x ∂t
∂Nx ∂Nxy
+ = −qx (7.30.2)
∂x ∂y
∂Nxy ∂Ny
+ = −qy (7.30.3)
∂x ∂y

where qx and qy are the centrifugal loads in the rotating surface. Assuming that the
film does not resist bending, i.e., the bending moment and torque in (7.30.1) are
zeros, yields
       
∂ ∂w ∂ ∂w ∂ ∂w ∂ ∂w ∂ 2w
Nx + Ny + Nxy + Nxy + f = ρh 2
∂x ∂x ∂y ∂y ∂x ∂y ∂y ∂x ∂t
(7.30.4)

Let’s rewrite Eqs. (7.30.2)–(7.30.4) in the polar coordinate form. As shown in

Fig. 7.6a, b, we have

qr = ρ(hrdrd θ ) 2
r/rdrd θ = ρh 2
r (7.30.5)

The force equilibrium equations for the film element in radial and tangential
directions are:
   
∂Nr ∂Nrθ
Nr + dr (r + dr)d θ − Nr rd θ + Nrθ + d θ dr − Nrθ dr
∂r ∂θ
7.30 Exercise 7.30 (Nonlinear Oscillation Analysis of Rotating Circular Films) 871

(a) (b)

Fig. 7.6 a Polar coordinate, b force analysis on thin film elements for Exercise 7.30

 
∂Nθ
− Nθ + d θ drd θ + qr r drd θ = 0
∂θ
   
∂Nθ ∂Nrθ
Nθ + d θ dr − Nθ dr + Nrθ + dr (r + dr)d θ − Nrθ rd θ
∂θ ∂r
 
∂Nr θ
+ Nr θ + d θ drd θ = 0
∂θ

The above two equations are reorganized to give

∂(Nr r) ∂Nrθ
+ − Nθ = −ρh 2 2
r
∂r ∂θ
∂(Nrθ r) ∂Nθ
+ + Nrθr = 0 (7.30.6)
∂r ∂θ
Define the stress function according to the following equation F:

1 ∂F 1 ∂ 2F 1
Nr = + 2 2 − ρh 2 2
r
r ∂r r ∂θ 2
 
∂ 2F 1 ∂ 1 ∂F
Nθ = − ρh 2 r 2 , Nrθ =− (7.30.7)
∂r 2 2 ∂r r ∂θ

It is easy to verify that the Nr , Nθ , Nrθ given by the above equation automatically
satisfy the equations of equilibrium shown in (7.30.6).
In order to convert (7.30.4) into polar coordinate form, we consider the relationship
between the derivatives in two coordinate systems. First, we have
y
r 2 = x2 + y2 , tanθ = (7.30.8)
x
From this, we have
872 7 Continuous Systems

∂r x ∂r y
= = cos θ, = = sin θ
∂x r ∂y r
∂θ y sin θ ∂θ x cos θ
=− 2 =− , = 2 = (7.30.9)
∂x r r ∂y r r

Furthermore, for any function G(x, y) in the xy plane, or G(rcosθ, rsinθ ) in the
rθ plane, there are

∂G ∂G ∂r ∂G ∂θ ∂G sin θ ∂G
= + = cos θ −
∂x ∂r ∂x ∂θ ∂x ∂r r ∂θ
∂G ∂G ∂r ∂G ∂θ ∂G cos θ ∂G
= + = sin θ + (7.30.10)
∂y ∂r ∂y ∂θ ∂y ∂r r ∂θ
   
∂ 2G ∂ 2G 1 ∂G 1 ∂ 2G ∂ 1 ∂G
= cos2 θ 2 + sin2 θ + 2 2 − 2 sin θ cos θ
∂x2 ∂r r ∂r r ∂θ ∂r r ∂θ
 2   
∂ 2G ∂ 2
G 1 ∂G 1 ∂ G ∂ 1 ∂G
= sin2 θ 2 + cos2 θ + 2 2 + 2 sin θ cos θ
∂y2 ∂r r ∂r r ∂θ ∂r r ∂θ
 2   
∂ 2G 1 ∂G 1 ∂ G ∂ G
2   ∂ 1 ∂G
= − sin θ cos θ + 2 2 − 2 + cos2 θ − sin2 θ
∂x∂y r ∂r r ∂θ ∂r ∂r r ∂θ
(7.30.11)
 2   
∂ ∂2 ∂2 1 ∂ 1 ∂2
∇2G = + G = + + G (7.30.12)
∂x2 ∂y2 ∂r 2 r ∂r r 2 ∂θ 2

The relationship between the internal forces in the midplane Nx , Ny , Nxy and
Nr , Nθ , Nrθ in both coordinate systems are

Nx = Nr cos2 θ + Nθ sin2 θ − 2Nrθ sin θ cos θ

Ny = Nr sin2 θ + Nθ cos2 θ + 2Nrθ sin θ cos θ
 
Nxy = (Nr − Nθ ) sin θ cos θ + Nrθ cos2 θ − sin2 θ (7.30.13)

Nr = Nx cos2 θ + Ny sin2 θ + 2Nxy sin θ cos θ

Nθ = Nx sin2 θ + Ny cos2 θ − 2Nxy sin θ cos θ
   
Nrθ = Ny − Nx sin θ cos θ + Nxy cos2 θ − sin2 θ (7.30.14)

Substituting (7.30.7) into (7.30.13) yields

1 ∂F 1 ∂ 2F ∂ 2F
Nx = cos2 θ + 2 2 cos2 θ + 2 sin2 θ
r ∂r   r ∂θ ∂r
∂ 1 ∂F 1
+2 sin θ cos θ − ρh 2 r 2
∂r r ∂θ 2
7.30 Exercise 7.30 (Nonlinear Oscillation Analysis of Rotating Circular Films) 873

1 ∂F 1 ∂ 2F ∂ 2F
Ny = sin2 θ + 2 2 sin2 θ + 2 cos2 θ
r ∂r   r ∂θ ∂r
∂ 1 ∂F 1
−2 sin θ cos θ − ρh 2 r 2
∂r r ∂θ 2
 
1 ∂F 1 ∂ 2F ∂ 2F
Nxy = + 2 2 − 2 sin θ cos θ
r ∂r r ∂θ ∂r
 
∂ 1 ∂F  2 
− cos θ − sin2 θ (7.30.15)
∂r r ∂θ

Remove the external load f from Eq. (7.30.4) and take into account (7.30.2) and
(7.30.3), we obtain
       
∂2w ∂ ∂w ∂ ∂w ∂ ∂w ∂ ∂w
ρh = Nx + Ny + Nxy + Nxy
∂t 2 ∂x ∂x ∂y ∂y ∂x ∂y ∂y ∂x
   
∂2w ∂2w ∂2w ∂Nx ∂Nxy ∂w ∂Nxy ∂Ny ∂w
= Nx 2 + Ny 2 + 2Nxy + + + +
∂x ∂y ∂x∂y ∂x ∂y ∂x ∂x ∂y ∂y
∂2w ∂2w ∂2w ∂w ∂w
= Nx + Ny 2 + 2Nxy − qx − qy
∂x2 ∂y ∂x∂y ∂x ∂y

i.e.,

∂ 2w ∂ 2w ∂ 2w ∂ 2w ∂w ∂w
ρh = Nx + Ny + 2Nxy − qx − qy (7.30.16)
∂t 2 ∂x 2 ∂y 2 ∂x∂y ∂x ∂y

Let’s deal with the terms on the right-hand side of (7.30.16). First, we know

qx = qr cosθ, qy = qr sinθ (7.30.17)

So
∂w ∂w ∂w ∂w ∂w
qx + qy = qr cosθ + qr sinθ = ρh 2
r (7.30.18)
∂x ∂y ∂x ∂y ∂r

Using (7.30.15) and (7.30.11), we can write the first term on the right-hand side
of (7.30.16) as
 
∂ 2w 1 ∂F 1 ∂ 2F ∂ 2F ∂ 1 ∂F
Nx = cos 2
θ + cos 2
θ + sin 2
θ + 2 sin θ cos θ
∂x2 r ∂r r 2 ∂θ 2 ∂r 2 ∂r r ∂θ
   
2 ∂ w 1 ∂w 1 ∂ 2w ∂ 1 ∂w
2
× cos θ 2 + sin θ 2
+ 2 2 − 2 sin θ cos θ
∂r r ∂r r ∂θ ∂r r ∂θ
1 ∂ w
2
− ρh 2 r 2 2 (7.30.19)
2 ∂x
The second term on the right-hand side of (7.30.16) is
874 7 Continuous Systems
 
∂ 2w 1 ∂F 1 ∂ 2F ∂ 2F ∂ 1 ∂F
Ny 2 = sin θ + 2 2 sin θ + 2 cos θ − 2
2 2 2
sin θ cos θ
∂y r ∂r r ∂θ ∂r ∂r r ∂θ
   
2 ∂ w 1 ∂w 1 ∂ 2w ∂ 1 ∂w
2
× sin θ 2 + cos θ 2
+ 2 2 + 2 sin θ cos θ
∂r r ∂r r ∂θ ∂r r ∂θ
1 ∂ w
2
− ρh 2 r 2 2 (7.30.20)
2 ∂y

The third term on the right-hand side of (7.30.16) is

   
∂ 2w 1 ∂F 1 ∂ 2F ∂ 2F ∂ 1 ∂F  2 
2Nxy =2 + 2 2 − 2 sinθ cosθ − cos θ − sin2 θ
∂x∂y r ∂r r ∂θ ∂r ∂r r ∂θ
   
1 ∂w 1 ∂ 2w ∂ 2w  2  ∂ 1 ∂w
× −sinθ cosθ + 2 2 − 2 + cos θ − sin θ 2
r ∂r r ∂θ ∂r ∂r r ∂θ
(7.30.21)

After reorganization, we obtain

∂ 2w ∂ 2w ∂ 2w
Nx + N y + 2N xy
∂x2 ∂y2 ∂x∂y
2  
1 ∂ w 1 ∂F 1 ∂ 2F
= − ρh r ∇ w + 2
2 2 2
+ 2 2
2 ∂r r ∂r r ∂θ
     
1 ∂w 1 ∂ 2w ∂ 2F ∂ 1 ∂w ∂ 1 ∂F
+ + 2 2 − 2 (7.30.22)
r ∂r r ∂θ ∂r 2 ∂r r ∂θ ∂r r ∂θ

Substituting (7.30.18) and (7.30.22) into (7.30.16), we can obtain the governing
equation for the rotating film
 2   
∂ w 2 ∂w 1 ∂ 2 w 1 ∂F 1 ∂ 2F
ρh +r + r2 2
∇ w =
2
+ 2 2
∂t 2 ∂r 2 ∂r 2 r ∂r r ∂θ
 
1 ∂w 1 ∂ 2w ∂ 2F
+ + 2 2
r ∂r r ∂θ ∂r 2
   
∂ 1 ∂w ∂ 1 ∂F
−2 (7.30.23)
∂r r ∂θ ∂r r ∂θ

The following is to derive the relation between the stress function F and the
transverse displacement w. From the definition of the stress function (7.30.7), we
obtain

∇ 4 F = 4ρh 2
+ ∇ 2 (Nr + Nθ ) (7.30.24)

From (7.30.14), we can see that the Eq. (7.30.24) becomes

7.30 Exercise 7.30 (Nonlinear Oscillation Analysis of Rotating Circular Films) 875
 
∇ 4 F = 4ρh 2
+ ∇ 2 Nx + Ny (7.30.25)

By (7.30.2) and (7.30.3), we have

 
∂ 2 Nx ∂ 2 Ny ∂ 2 Nxy ∂qx ∂qy
+ +2 =− + (7.30.26)
∂x2 ∂y2 ∂x∂y ∂x ∂y

Substituting (7.30.6) into (7.30.25) yields

 
∂qx ∂qy ∂ 2 Ny ∂ 2 Nx ∂ 2 Nxy
∇ F = 4ρh
4 2
− + + + − 2 (7.30.27)
∂x ∂y ∂x2 ∂y2 ∂x∂y

The midplane strain is

   
∂u 1 ∂w 2 ∂v 1 ∂w 2 ∂v ∂u ∂w ∂w
εx = + , εy = + , γxy = + +
∂x 2 ∂x ∂y 2 ∂y ∂x ∂y ∂x ∂y
(7.30.28)

The midplane internal force can be expressed in terms of midplane strain as

Eh
Nx = (εx + νεx ) (7.30.29)
1 − ν2
Eh  
Ny = εy + νεy (7.30.30)
1−ν 2

Eh
Nxy = Ghγxy =   (1 − ν)γxy (7.30.31)
2 1 − ν2

which adopts the relationship between the elastic constants of isotropic materials
G = E/2(1 + ν).
Substituting (7.30.29)–(7.30.31) into (7.30.26) yields
 2    
∂ 2 εx ∂ 2 εy ∂ 2 εxy ∂ εx ∂ 2 εy ∂ 2 εxy 1 − ν 2 ∂qx ∂qy
+ + = −ν + − − +
∂x2 ∂y2 ∂x∂y ∂x2 ∂y2 ∂x∂y Eh ∂x ∂y
(7.30.32)

From the expression of the midplane strain (7.30.28), we can obtain the
compatibility equation for midplane strain
 2
∂ 2 εx ∂ 2 εy ∂ 2 γxy ∂ 2w ∂ 2w ∂ 2w
+ − = − (7.30.33)
∂y2 ∂x2 ∂x∂y ∂x∂y ∂x2 ∂y2

Substituting (7.30.29)–(7.30.30) into (7.30.27) yields

876 7 Continuous Systems
 
∂qx ∂qy
∇ 4 F = 4ρh 2
− +
∂x ∂y
 2 
Eh ∂ εx
2
∂ 2 εy ∂ 2 γxy ∂ εx ∂ 2 εy ∂ 2 γxy
+ + − +ν + +
1 − ν2 ∂y2 ∂x2 ∂x∂y ∂x2 ∂y2 ∂x∂y
(7.30.34)

Substituting (7.30.32) into (7.30.34) yields

   2 
∂qx ∂qy ∂ εx ∂ 2 εy ∂ 2 γxy
∇ F = 4ρh
4 2
− (1 + ν) + + Eh + −
∂x ∂y ∂y2 ∂x2 ∂x∂y
(7.30.35)

Substituting the compatibility Eq. (7.30.33) into the above equation, we obtain
  
∂qx ∂qy ∂ 2w 2 ∂ 2w ∂ 2w
∇ F = 4ρh
4 2
− (1 + ν) + + Eh[ ) − 2 (7.30.36)
∂x ∂y ∂x∂y ∂x ∂y2

Now, let’s return the Eq. (7.30.36) back into the polar coordinate system. We have

∂qx ∂qy ∂(qr cos θ ) sin θ ∂(qr cos θ )

+ = cos θ −
∂x ∂y ∂r r ∂θ
∂(qr sin θ ) cos θ ∂(qr sin θ )
+ sin θ +
∂r r ∂θ
= 2ρh 2 (7.30.37)
 2  
∂2w ∂2w ∂2w ∂ 2 w 1 ∂w 1 ∂2w
= sin2 θ cos2 θ + sin2 θ sin2 θ 2 + 2
∂x2 ∂y2 ∂r 2 ∂r r ∂r r ∂θ 2
 2  
1 ∂w 1 ∂2w ∂ 1 ∂w 2
+ sin2 θ cos2 θ + 2 − 4 sin 2
θ cos 2
θ
r ∂r r ∂θ 2 ∂r r ∂θ
 2w  ∂2w  
1 ∂w 1 ∂   ∂ 2 w ∂ 1 ∂w
+ cos4 θ + 2 + 2 sin θ cos θ cos2 θ − sin2 θ
r ∂r r ∂θ 2 ∂r 2 ∂r ∂r r ∂θ
2
 2 w  ∂  1 ∂w 
 2  1 ∂w 1 ∂
− 2 sin θ cos θ cos θ − sin2 θ + 2
r ∂r r ∂θ 2 ∂r r ∂θ

 2  2
∂ 2w 1 ∂w 1 ∂ 2w ∂ 2w
= sin2 θ cos2 θ + 2 2 − 2
∂x∂y r ∂r r ∂θ ∂r
  2
 2 ∂ 1 ∂w
+ cos2 θ − sin2 θ
∂r r ∂θ
  
 2  ∂ 1 ∂w 1 ∂w 1 ∂ 2w ∂ 2w
− 2sinθ cosθ cos θ − sin θ
2
+ 2 2 − 2
∂r r ∂θ r ∂r r ∂θ ∂r

So
7.30 Exercise 7.30 (Nonlinear Oscillation Analysis of Rotating Circular Films) 877

 2    
∂ 2w ∂ 2w ∂ 2w 1 ∂w 1 ∂ 2w ∂ 2w ∂ 1 ∂w 2
− 2 =− + 2 2 +
∂x∂y ∂x ∂y2 r ∂r r ∂θ ∂r 2 ∂r r ∂θ
 2  2  2
1 ∂w 1 ∂ w ∂ w 1 ∂ 2w
=− + 2 2 + 2
r ∂r r ∂θ ∂r 2 r ∂r∂θ
 2
2 ∂ w ∂w
2
1 ∂w
− 3 + 4 (7.30.38)
r ∂r∂θ ∂θ r ∂θ

Substituting (7.30.37) and (7.30.38) into (7.30.36) yields

∇ 4 F = 2ρh(1 − ν) 2
    2   
1 ∂w 1 ∂ 2w ∂ 2w 1 ∂ 2w 2 ∂ 2 w ∂w 1 ∂w 2
+ Eh − + 2 2 + 2 − 3 + 4
r ∂r r ∂θ ∂r 2 r ∂r∂θ r ∂r∂θ ∂θ r ∂θ
(7.30.39)

Now we have deduced all governing equations for a rotating film expressed in
terms of the transverse displacement w and the stress function F.
Let

w = Ar 2 sin2(θ ± ct)
1  4
F = Br 4 cos4(θ ± ct) + 2hEA2 + (1 − ν)ρh 2
r − Cr 2 (7.30.40)
32
Substituting (7.30.40) into the governing Eq. (7.30.23) yields

  1 
2ρh −2c2 + 2
=− 2hEA2 + (1 − ν)ρh 2
+ 48B
2
The above equation is reorganized to give

1 E 2 12B
c2 − (5 − ν) 2
= A − (7.30.41)
8 4ρ ρh

Substituting (7.30.40) into (7.30.39), we can find that the equation is automatically
satisfied.
For a free rotating circular film with radius R, the boundary conditions can be
written as

Nr (R, θ ) = 0, Nrθ (R, θ ) = 0 (7.30.42)

Combining (7.30.7) and (7.30.40), we have

1 ∂F 1 ∂ 2F 1
Nr (R, θ ) = + 2 2 − ρh r | r=R
2 2
r ∂r r ∂θ 2
878 7 Continuous Systems

1
= −12BR2 cos 4(θ ± ct) − ρh 2 R2
2
1 
+ 2hEA + (1 − ν)ρh 2 R2 − 2C = 0
2
8  
∂ 1 ∂F
Nrθ (R, θ ) = − | r=R
∂r r ∂θ
= −12BR2 sin 4(θ ± ct) = 0 (7.30.43)

So

1 1
B = 0, 2C = hEA2 − (3 + ν)ρh 2
R2 (7.30.44)
4 8

The displacement solution w = Ar 2 sin2(θ ± ct) given in (c) is a wave propagating

in the circumferential direction with a velocity c. The wave does not change with time
along the axial direction; therefore, this wave, with a definite wave form, propagates
around the central axis with an angular velocity c. When this wave form rotates at the
same speed and in the same direction as the film, it becomes a stationary wave; i.e.,
the transverse displacement, as well as the stress and strain, at any definite point on
the film does not change with time. Therefore, for stationary wave,c = . Further,
from (7.30.41) and (7.30.44), we have
2
= 2EA2 /ρ(3 + ν) (7.30.45)

For a free spinning membrane with radius R, we assume that the separated variable
solution to (7.30.39) be

r !2
w= A cos2θ ψ(t) (7.30.46)
R

Substituting (7.30.46) into (7.30.39) yields

4EhA2 2
∇ 4 F = 2ρh(1 − ν) 2
+ ψ
R4
i.e.,
 2
∂2 1 ∂ 1 ∂2 4EhA2 2
+ + 2 2 F = 2ρh(1 − ν) 2
+ ψ (7.30.47)
∂r 2 r ∂r r ∂θ R4

The right-hand side of Eq. (7.30.47) is independent of the spatial variables r and
θ , and the lowest order of the derivative of the left-hand side of the equation F with
respect to θ is second order; therefore, if we wish to obtain a polynomial solution for
F, then F can only take the quadratic and linear terms of θ . Since θ is a rotational
variable in the whole circumference, F would be a multivalued function of θ , which
7.30 Exercise 7.30 (Nonlinear Oscillation Analysis of Rotating Circular Films) 879

might cause the film to break up along any radial direction and is not allowed (or a
case that is outside of the scope of the present study). In summary, we can only take
F to be independent of θ . Thus, the Eq. (7.30.47) becomes
 2
∂2 1 ∂ 4EhA2 2
+ F = 2ρh(1 − ν) 2
+ ψ (7.30.48)
∂r 2 r ∂r R4

The solution to (7.30.48) can be assumed to be

F = a4 r 4 + a2 r 2 (7.30.49)

Substituting (7.30.49) into (7.30.48) yields

4EhA2 2
64a4 = 2ρh(1 − ν) 2
+ ψ (7.30.50)
R4

Note that the Eq. (7.30.49) cannot contain the term r 3 ; otherwise, the Eq. (7.30.50)
would have a term containing 1/r on the right-hand side.
Then, from the boundary condition (7.30.42), we have

1 ∂F 1 ∂ 2F 1
Nr (R, θ ) = + 2 2 − ρh 2 r 2 | r=R
r ∂r r ∂θ 2
1
= 4a4 R2 + 2a2 − ρh 2 R2 = 0 (7.30.51)
2
The boundary condition Nrθ (R, θ ) = 0 is automatically satisfied.
From (7.30.50) and (7.30.51), we have

1 EhA2 2
a4 = ρh(1 − ν) 2
+ ψ
32 16R4
1 EhA2 2
a2 = ρh(3 + ν) R −
2 2
ψ (7.30.52)
16 8R2
Therefore, the stress function F is

EhA2 r !4 r!2
F= −2
16 R R
1 1
ψ 2 + ρh(1 − ν) 2 r 4 + ρh(3 + ν) 2 2 2
R r (7.30.53)
32 16

Substitute the expression for the displacement w (7.30.46) and the stress function
F (7.30.53) into the governing Eq. (7.30.23), we obtain

ψ̈ + α1 ψ + α3 ψ 3 = 0 (7.30.54)
880 7 Continuous Systems

where

1 EA2
α1 = (5 − ν) 2
, α3 = (7.30.55)
2 ρR4

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Chapter 8
Traveling Waves

8.1 Exercise 8.1 (Determination on Dispersive Wave)

Solution: (a) Let the solution of the equation be

u(x, t) = aei(kx−ωt) (8.1.1)

Substituting this into the given equation gives

ω
k − ω = 0 ⇒ c0 = =1 (8.1.2)
k
It can be seen that the phase speed c0 is constant and hence the solution to the
given equation is a non-dispersive wave.
(b) Substituting (8.1.1) into the given equation, we get
ω
ω − k + ik 2 = 0 ⇒ c0 = = 1 − ik (8.1.3)
k
It can be seen that the phase speed c0 is a function of the wave number k and
therefore the solution to the given equation is a dispersive wave.
(c) Substituting (8.1.1) into the given equation, we get
ω
ω = k − k 3 ⇒ c0 = = 1 − k2 (8.1.4)
k
It can be seen that the phase speed c0 is a function of the wave number k and
therefore the solution to the given equation is a dispersive wave.
(d) Substituting (8.1.1) into the given equation, we get

© The Author(s) 2025 881

Z. He et al., Solved Problems in Nonlinear Oscillations,
[Link]
882 8 Traveling Waves

ω 
ω2 = k 2 + 1 ⇒ c0 = = 1 + k −2 (8.1.5)
k
It can be seen that the phase speed c0 is a function of the wave number k and
therefore the solution to the given equation is a dispersive wave.

8.2 Exercise 8.2 (Direct Expansion and Reformulation

Analysis of Longitudinal Waves of Semi-infinite
Uniform Rods with Material Nonlinearity)

Solution: (a) The given equation is a nonlinear control equation for a uniform
semi-infinite bar with material nonlinearity. Let the solution of the equation can
be expressed as

u(x, t) = εu1 (x, t) + ε2 u2 (x, t) + · · · (8.2.1)

Substituting this into the control equation and retaining to O(ε2 ) yields

∂ 2u ∂ 2u ∂u ∂ 2 u
0= − + 2E 1
∂x2 ∂t 2 ∂x ∂x2
 2   2 
∂ u1 ∂ u1
2
2 ∂ u2 ∂ 2 u2 ∂u1 ∂ 2 u1
=ε − + ε − + 2E1 (8.2.2)
∂x2 ∂t 2 ∂x2 ∂t 2 ∂x ∂x2

Equating coefficients of like powers of ε in (8.2.2) yields

∂ 2 u1 ∂ 2 u1
− =0 (8.2.3)
∂x2 ∂t 2

∂ 2 u2 ∂ 2 u2 ∂u1 ∂ 2 u1
− = −2E1 (8.2.4)
∂x2 ∂t 2 ∂x ∂x2
Equation (8.2.3) is a one-dimensional wave equation whose general solution for
a right-running wave is

u1 (x, t) = f (t − x) = f (s1 ), s1 = t − x (8.2.5)

Substituting (8.2.5) into (8.2.4) yields

∂ 2 u2 ∂ 2 u2 df d 2 f
− = 2E1 (8.2.6)
∂x2 ∂t 2 ds1 ds12

Let
8.2 Exercise 8.2 (Direct Expansion and Reformulation Analysis … 883

u2 (x, t) = u2 (x, s1 ) = X (x)S(s1 ) (8.2.7)

Substituting this into (8.2.6) yields

d 2X dX dS df d 2 f
S − 2 = 2E1 (8.2.8)
dx2 dx ds1 ds1 ds12

where ∂ 2 S/∂x2 − ∂ 2 S/∂t 2 = 0 has been considered. In order to make the left side
of the above equation to be a function of s1 , we need

dX
= constant ⇒ X (x) = Cx + B (8.2.9)
dx
where C, B is the constant of integration. Since BS(s1 ) is the homogeneous solution
of (8.2.6) and it need not be considered, hence X (x) = Cx. The Eq. (8.2.8) becomes

dS df 2
−2C = E1 (8.2.10)
ds1 ds1

therefore
1
S=− E1 f 2 (8.2.11)
2C
and
1
u2 = − E1 xf 2 (8.2.12)
2
Finally,

1
u = εf (s1 ) − ε2 E1 xf 2 (s1 ) + · · · (8.2.13)
2
Applying boundary conditions to the above equation yields

φ(t) = f (t) ⇒ f (s1 ) = φ(s1 ) (8.2.14)

Therefore, the approximate solution of the original equation is

1
u = εφ(s1 ) − ε2 E1 xφ 2 (s1 ) + · · · (8.2.15)
2

(b) The longitudinal strain of the rod e is

∂u 1
e= = −εφ  (s1 ) − ε2 E1 φ 2 (s1 ) + ε2 E1 xφ  (s1 )φ  (s1 ) + · · ·
∂x 2
884 8 Traveling Waves

i.e.,

1  
e = −εφ  (s1 ) − ε2 E1 φ 2 (s1 ) − 2xφ  (s1 )φ  (s1 ) + · · · (8.2.16)
2
The second term on the right-hand side of the above equation diverges as x
increases. When x = O ε−1 or larger, the second term is of the same order as the
first term or becomes of lower order. Therefore, the above expansion is not uniformly
valid.
(c) Apply the reformulation method such that

s1 = ξ + εξ1 (x, ξ ) + · · · (8.2.17)

Substituting this into the expression of strain yields

1  
e = −εφ  (ξ ) − ε2 E1 φ 2 (ξ ) − ε2 E1 xφ  (ξ )φ  (ξ ) − ξ1 φ  (ξ ) + · · · (8.2.18)
2
In order to eliminate secular terms from the above equation, we need

ξ1 = E1 xφ  (ξ ) (8.2.19)

So, the approximate expressions for e and s1 become

e = −εφ  (ξ ) + · · · (8.2.20)

s1 = ξ + εE1 xφ  (ξ ) + · · · (8.2.21)

(d) Substituting (8.2.17) into (8.2.15) yields

1
u = εφ(s1 ) − ε2 E1 xφ 2 (s1 ) + · · ·
2
1
= εφ(ξ ) + ε2 ξ1 φ  (ξ ) − E1 xφ 2 (ξ ) + · · · (8.2.22)
2

In order to eliminate secular terms from the above equation, we need

1
ξ1 = E1 xφ  (ξ ) (8.2.23)
2
So, the approximate expressions for u and s1 become

u = εφ(ξ ) + · · · (8.2.24)
8.3 Exercise 8.3 (Direct Expansion and Reformulation Analysis … 885

1
s1 = ξ + εE1 xφ  (ξ ) + · · · (8.2.25)
2
In this case, the approximate expression for the strain e becomes

∂u 1
e= = −εφ  (s1 ) − ε2 E1 φ 2 (s1 ) + ε2 E1 xφ  (s1 )φ  (s1 ) + · · ·
∂x 2
1 2 1
= −εφ (ξ ) − ε E1 xφ  (ξ )φ  (ξ ) − ε2 E1 φ 2 (ξ ) + ε2 E1 xφ  (ξ )φ  (ξ ) + · · ·

2 2
1 1
= −εφ  (ξ ) + ε2 E1 xφ  (ξ )φ  (ξ ) − ε2 E1 φ 2 (ξ ) + · · ·
2 2
i.e.,

1  
e = −εφ  (s1 ) − ε2 E1 φ 2 (s1 ) − xφ  (s1 )φ  (s1 ) + · · · (8.2.26)
2
Clearly, such results for strain diverge with x and are not uniformly valid.

8.3 Exercise 8.3 (Direct Expansion and Reformulation

Analysis of a Nonlinear Acoustic Equation)

Solution: (a) The given equation is the governing equation for the nonlinear acoustic
wave of the pipe. Since the given edge value φx (0, t) contains a constant term, let its
direct expansion be

φ(x, t) = Mx + εφ1 (x, t) + ε2 φ2 (x, t) + · · · (8.3.1)

Substituting this into the control equation and retaining to O(ε2 ) yields

1 1
0 = φtt − φxx + 2φx φxt − (1 − γ ) φt + φx2 − M 2 φxx + φx2 φxx
2 2
∂ 2 φ1 ∂ 2 φ2 ∂ 2 φ1 ∂ 2 φ2
= ε 2 + ε2 2 − ε 2 − ε2 2
∂t ∂t ∂x ∂x
  2 
∂φ1 ∂ φ1 2 ∂ φ2
2
+2 M +ε ε +ε
∂x ∂x∂t ∂x∂t
   2 
∂φ1 1 ∂φ1 2 1 2 ∂ φ1 ∂ 2 φ2
− (1 − γ ) ε + M +ε − M ε 2 + ε2 2
∂t 2 ∂x 2 ∂x ∂x
 2  2 
∂φ1 ∂ φ1 ∂ 2 φ2
+ M +ε ε 2 + ε2 2
∂x ∂x ∂x
886 8 Traveling Waves
 
∂ 2 φ1 ∂ 2 φ1 2 ∂ φ1
2
∂ 2 φ1
=ε + 2M +M −
∂t 2 ∂x∂t ∂x2 ∂x2
⎡ 2 ⎤
∂ φ2 ∂ φ2
2
2 ∂ φ2
2
∂ 2 φ2 ∂φ1 ∂ 2 φ1
⎢ ∂t 2 + 2M ∂x∂t + M ∂x2 − ∂x2 + 2 ∂x ∂x∂t ⎥
+ ε2 ⎢
⎣
⎥ (8.3.2)
∂φ1 ∂ 2 φ1 ∂φ1 ∂ 2 φ1 ∂φ1 ∂ 2 φ1 ⎦
−(1 − γ ) − (1 − γ )M + 2M
∂t ∂x2 ∂x ∂x2 ∂x ∂x2
Equating coefficients of like powers of ε in (8.3.2) yields

∂ 2 φ1 ∂ 2 φ1 2 ∂ φ1
2
∂ 2 φ1
+ 2M + M − =0
∂t 2 ∂x∂t ∂x 2 ∂x 2
∂ 2 φ2 ∂ 2 φ2 ∂ 2
φ 2 ∂ 2
φ 2 ∂φ1 ∂ 2 φ1
+ 2M + M 2
− = −2
∂t 2 ∂x∂t ∂x2 ∂x2 ∂x 2∂x∂t
+(1 − γ ) ∂t ∂x2 + (1 − γ )M ∂x ∂x2 − 2M ∂φ
∂φ1 ∂ 2 φ1 ∂φ1 ∂ 2 φ1 1 ∂ φ1
∂x ∂x2

These two equations can be written as

 2
∂ ∂ ∂ 2 φ1
+M φ1 − =0 (8.3.3)
∂t ∂x ∂x2
∂ 
∂ 2
φ2 − ∂∂xφ22 = −2 ∂φ 1 ∂ φ1
+ (1 − γ ) ∂φ 1 ∂ φ1
2 2 2

∂t
+ M ∂x ∂x ∂x∂t ∂t ∂x2 (8.3.4)
+ (1 − γ ) ∂φ 1 ∂ φ1
− 2M ∂φ 1 ∂ φ1
2 2

∂x ∂x2 ∂x ∂x2

If we make η = (1 + M )t − x, φ1 = φ1 (η), the general solution of the Eq. (8.3.3)

is

φ1 = g(η)

or

φ1 = f (ξ ), ξ = t − (1 + M )−1 x (8.3.5)

Substituting (8.3.5) into (8.3.4) yields

∂ ∂ 2
 ∂ 2 φ2
∂t
+ M ∂x φ2 −∂x2
= −2(1 + M )−2 ddgξ d 2g
dξ2
+ (1 − γ )(1 + M )−2 ddgξ d 2g
dξ2
−3 dg d 2 g
− (1 − γ )M (1 + M ) d ξ d ξ 2
+ 2M (1 + M )−3 ddgξ dd ξg2
2

= −(1 + M )−3 (1 + γ ) ddgξ ddξ 2g·

2

(8.3.6)

Let

φ2 (x, t) = φ2 (x, ξ ) = X (x)H (ξ ) (8.3.7)

8.3 Exercise 8.3 (Direct Expansion and Reformulation Analysis … 887

Substituting (8.3.7) into (8.3.6) yields

 2  d 2X dX dH 1 −3 dg 2
M −1 H + 2 = − (1 + M ) (1 + γ ) (8.3.8)
dx2 dx d ξ 2 dξ

The prime represents the derivative with respect to ξ . In order to make the left
side of the above equation to be a function of ξ , one must take

dX
= cons tan t ⇒ X (x) = Cx + B (8.3.9)
dx
where C, B are the constants of integration. Since BH (ξ ) is the homogeneous solution
of (8.3.3) it need not be considered. Hence X (x) = Cx. The equation (8.3.8) becomes

dH 1 dg 2
= − (1 + M )−3 (1 + γ ) (8.3.10)
dξ 4C dξ

Therefore
1
H (ξ ) = − (1 + M )−3 (1 + γ )g 2 (8.3.11)
4C
And
1
φ2 = − (1 + M )−3 (1 + γ )xg 2 (8.3.12)
4
thereby

1
φ(x, t) = Mx + εg(ξ ) − ε2 (1 + M )−3 (1 + γ )xg 2 (ξ ) (8.3.13)
4
From all these, we can obtain

u = ∂φ
∂x
= M − ε(1 + M )−1 g  (ξ ) − 41 ε2 (1 + M )−3 (1 + γ )g 2 (ξ )
(8.3.14)
+ 2 ε (1 + M )−4 (1 + γ )xg  (ξ )g  (ξ )
1 2

Applying boundary conditions to the above equation yields

f (t) = −(1 + M )−1 g  (t) ⇒ g  (ξ ) = −(1 + M )f (ξ ) (8.3.15)

Substituting (8.3.15) into (8.3.14), with only secular terms are retained for higher-
order terms, yields

1  
u = M + εf (ξ ) + ε2 (γ + 1)(1 + M )−2 xf (ξ )f (ξ ) + O ε3 (8.3.16)
2
888 8 Traveling Waves

Clearly, this solution diverges with x and is a non-uniform expansion.

(b) Apply the reformulation method to solve the problem. Let ξ = s+εs1 (s, x)+· · · ,
and substitute this into (8.3.16), we can obtain

1
u = M + εf (s) + ε2 f  (s) s1 + (γ + 1)(1 + M )−2 xf (s) + · · · (8.3.17)
2

In order to eliminate secular terms in the above equation, we need

1
s1 = − (γ + 1)(1 + M )−2 xf (s) (8.3.18)
2
Therefore, the solution after reformulation is

u = M + εf (s) + · · · (8.3.19)

where
1
t − (1 + M )−1 x = s − ε(γ + 1)(1 + M )−2 xf (s) + · · · (8.3.20)
2

8.4 Exercise 8.4 (Multiscale Analysis on a One-Dimensional

Wave Equation with Cubic Nonlinearity)

Solution: (a) We use the method of multiple scales to find the solution. The corre-
sponding linear homogeneous equation of the given equation is a one-dimensional
wave equation with a right-running wave solution as a function of s1 = t − x. The
nonlinear term in the equation is the cube of the partial derivatives of u with respect
to time t. In order to take this nonlinear effect into account, we introduce the slow-
varying time variable T1 = εt; therefore, the solution of the equation is set as a
function of s1 and T1 . The space and time derivatives are transformed according to:

∂ ∂ ∂ ∂2 ∂2 ∂2 ∂2
= +ε , 2 = 2 + 2ε + ε2 2
∂t ∂s1 ∂T1 ∂t ∂s1 ∂s1 ∂T1 ∂T1
(8.4.1)
∂2 ∂2
= 2
∂x 2 ∂s1

Let the solution of the given equation be

u(x, t) = u0 (s1 , T1 ) + εu1 (s1 , T1 ) + · · · (8.4.2)

8.4 Exercise 8.4 (Multiscale Analysis on a One-Dimensional Wave … 889

Substituting (8.4.1) and (8.4.2) into the given equation and keeping to O(ε), we
get

∂2u ∂2u
 3
0= ∂t 2
− + ε ∂u
∂x2 ∂t
  3 (8.4.3)
= ε 2 ∂s∂1 ∂T ∂u0
2
u0
1
+ ∂s1

Equating coefficients of like powers of ε in (8.4.3) yields

 3
∂ 2 u0 ∂u0
2 + =0 (8.4.4)
∂s1 ∂T1 ∂s1

Let the solution of the Eq. (8.4.4) is

u0 = f (s1 , T1 ) (8.4.5)

then from (8.4.2), we can obtain

u(x, t) = f (s1 , T1 ) + O(ε) (8.4.6)

f satisfies Eq. (8.4.4), i.e.,

 3
∂ 2f ∂f
2 + =0 (8.4.7)
∂s1 ∂T1 ∂s1

Write Eq. (8.4.7) as

∂g ∂f
2 = −g 3 , g = (8.4.8)
∂T1 ∂s1

Separating the variables of the above equation yields

dg
2 = −dT1 (8.4.9)
g3

After integration,

g −2 = T1 + F(s1 ) (8.4.10)

i.e.,

∂f
= [T1 + F(s1 )]−1/2 (8.4.11)
∂s1
890 8 Traveling Waves

(c) From the given initial conditions as well as Eqs. (8.4.6) and (8.4.1), we have

f (−x, 0) = asinωx (8.4.12)

∂ ∂
f (−x, 0) + ε f (−x, 0) = −aωcosωx (8.4.13)
∂s1 ∂T1

Substituting (8.4.11) into (8.4.13) yields

1 ∂
√ +ε f (−x, 0) = −aωcosωx (8.4.14)
F(−x) ∂T1

Equating the coefficients of like powers of ε in the above equation yields

1 1
√ = −aωcosωx ⇒ √ = −aωcosωs1 (8.4.15)
F(−x) F(s1 )

So

sec2 ωs1
F(s1 ) = (8.4.16)
a2 ω2

8.5 Exercise 8.5 (A Simplified Model for Wind-Induced

Oscillation of Overhead Power Lines)

Solution: (a) We use the method of multiple scales to find the solution. The corre-
sponding linear homogeneous equation of the given equation is a one-dimensional
wave equation with a right-running wave solution as a function of s1 = t − x. The
nonlinear term in the equation is the cube of the partial derivatives of u with respect
to time t. In order to take this nonlinear effect into account, we introduce the slow-
varying time variable T1 = εt; therefore, the solution of the equation is set as a
function of s1 and T1 . The space and time derivatives are transformed according to:

∂ ∂ ∂ ∂2 ∂2 ∂2 ∂2
= +ε , 2 = 2 + 2ε + ε2 2
∂t ∂s1 ∂T1 ∂t ∂s1 ∂s1 ∂T1 ∂T1
(8.5.1)
∂2 ∂2
=
∂x2 ∂s12

Let the solution of the given equation be

u(x, t) = u0 (s1 , T1 ) + εu1 (s1 , T1 ) + · · · (8.5.2)

8.5 Exercise 8.5 (A Simplified Model for Wind-Induced Oscillation … 891

Substituting (8.5.1) and (8.5.2) into the given equation and keeping to O(ε), we
get
 3
∂ 2u ∂ 2u ∂u ∂u
0= − − ε β − α
∂t 2 ∂x2 ∂t ∂t
  (8.5.3)
∂ 2 u0 ∂u0 ∂u0 3
=ε 2 −β +α
∂s1 ∂T1 ∂s1 ∂s1

Equating coefficients of like powers of ε in the above equation yields

 
∂ 2 u0 ∂u0 ∂u0 3
2 −β +α =0 (8.5.4)
∂s1 ∂T1 ∂s1 ∂s1

Let the solution of the Eq. (8.5.4) be

u0 = f (s1 , T1 ) (8.5.5)

then from (8.5.2), we can obtain

u(x, t) = f (s1 , T1 ) + O(ε) (8.5.6)

f satisfies the Eq. (8.5.4), i.e.,

 
∂ 2f ∂f ∂f 3
2 −β +α =0 (8.5.7)
∂s1 ∂T1 ∂s1 ∂s1

(b) Write the Eq. (8.5.7) as

∂g ∂f
2 = βg − αg 3 , g =
∂T1 ∂s1

Separating the variables of the above equation yields

2dg
= dT1
βg − αg 3

After integration,

g2 g2
ln = βT1 + C(s 1 ) ⇒ = B(s1 )eβT1
αg 2 − β αg 2 − β

i.e.,
892 8 Traveling Waves

−1/2
∂f α
=g= + F(s1 )e−βT1 (8.5.8)
∂s1 β

(c) From the given initial conditions as well as Eqs. (8.5.6) and (8.5.1), we have

f (−x, 0) = −asinωx (8.5.9)

∂ ∂
f (−x, 0) + ε f (−x, 0) = −aωcosωx (8.5.10)
∂s1 ∂T1

Substituting (8.5.8) into (8.5.10) yields

1 ∂
√ +ε f (−x, 0) = −aωcosωx (8.5.11)
α/β + F(−x) ∂T1

Equating the coefficients of like powers of ε in the above equation yields

1 1
√ = −aωcosωx ⇒ √ = −aωcosωs1 (8.5.12)
α/β + F(−x) α/β + F(s1 )

So

sec2 ωs1 α
F(s1 ) = − (8.5.13)
a ω
2 2 β

And then, by (8.5.8), we can get

∂f aωcosωs1
=   1/2 (8.5.14)
∂s1 α
β
a2 ω2 1 − e−βT1 cos2 ωs1 + e−βT1

In order to make the integration of (8.5.14), we write it as

acosωs1 d (ωs1 )
df =       1/2
α 2 2
β
a ω 1 − e−βT1 + e−βT1 − βα a2 ω2 1 − e−βT1 cos2 ωs1
ad (sinωs1 )
=       1/2
α 2 2
β
1 − e−βT1 + e−βT1 − βα a2 ω2 1 − e−βT1 sin2 ωs1
a ω
 1/2
1 β/α dz
= −βT
√ · (8.5.15)
ω 1−e 1 2 − z2

where
8.6 Exercise 8.6 (Wave Propagating Along a Uniform, Initially Undeformed … 893
 
e−βT1 + βα a2 ω2 1 − e−βT1
2
= α 2 2
  , z = sinωs1 (8.5.16)
β
a ω 1 − e−βT1

Make the integration of Eq. (8.5.15), we can obtain

1 β/α z
f = ( )1/2 arcsin + h(T1 )
ω 1 − e−βT1 ⎧ ⎫
 
1 β/α ⎨ α 2 2
a ω 1 − e−βT1
1/2 ⎬
β
= ( ) arcsin
1/2
  sinωs1 + h(T1 )
ω 1 − e−βT1 ⎩ e−βT1 + βα a2 ω2 1 − e−βT1 ⎭

Assume h(T1 ) = 0, then

⎧   ⎫
 1/2 ⎨ α 2 2
a ω 1 − e−βT1
1/2 ⎬
1 β/α β
f = arcsin   sinωs1
ω 1 − e−βT1 ⎩ e−βT1 + βα a2 ω2 1 − e−βT1 ⎭
(8.5.17)

When T1 → 0, the above equation becomes

⎧   ⎫
 ⎨1 β/α
1/2 α 2 2
a ω 1 − e−βT1
1/2 ⎬
β
f T 1 →0
= lim   sin(−ωx)
T1 →0⎩ ω 1 − e−βT1 e−βT1 + βα a2 ω2 1 − e−βT1 ⎭

= −asinωx (8.5.18)

Therefore, the solution (8.5.17) satisfies the initial condition (8.5.9).

Substituting (8.5.17) into (8.5.6) yields
⎧   ⎫
 1/2 ⎨ α 2 2
a ω 1 − e−βT1
1/2 ⎬
1 β/α β
u= arcsin   sinωs1
ω 1 − e−βT1 ⎩ e−βT1 + βα a2 ω2 1 − e−βT1 ⎭
(8.5.19)

8.6 Exercise 8.6 (Wave Propagating Along a Uniform,

Initially Undeformed Nonlinear Elastic bar with Linear
Damping)

Solution: (a) We use the method of multiple scales to find the solution. The corre-
sponding linear homogeneous equation of the given equation is a one-dimensional
wave equation with a right-running wave solution as a function of s1 = t − x/c. The
nonlinear term in the equation is the square of the spatial partial derivatives of u.
894 8 Traveling Waves

And the damping term is the temporal partial derivatives of u. In order to take these
nonlinear and damping effects into account, we introduce a slow-varying spatial vari-
able, x1 = εx, and a slow-varying temporal variable, T1 = εt; therefore, the solution
of the equation is set to be a function of s1 , x1 andT1 . The space and time derivatives
are transformed according to:

∂ ∂ ∂ ∂2 ∂2 ∂2 ∂2
= +ε , 2 = 2 + 2ε + ε2 2
∂t ∂s1 ∂T1 ∂t ∂s1 ∂s1 ∂T1 ∂T1
(8.6.1)
∂ 1 ∂ ∂ ∂2 1 ∂2 1 ∂2 ∂2
=− +ε , 2 = 2 2 − 2ε + ε2 2
∂x c ∂s1 ∂x1 ∂x c ∂s1 c ∂s1 ∂x1 ∂x1

Let the solution of the given equation be

u(x, t) = εu1 (s1 , x1 , T1 ) + ε2 u2 (s1 , x1 , T1 ) + · · · (8.6.2)

Substituting (8.6.1) and (8.6.2) into the given equation and keeping to O(ε2 ), we
get

∂2u 1 ∂2u
+ 2E1 ∂u ∂ u
− 2εμ ∂u
2
0= −
∂x2  c2 ∂t 2 ∂x ∂x2 ∂t 
∂ 2 u1 1 ∂ 2 u1 E1 ∂u1 ∂ 2 u1 (8.6.3)
= −2ε2 1c ∂s1 ∂x1
+ c2 ∂s1 ∂T1
+ c3 ∂s1 ∂s12
+ μ ∂u1
∂s1

Equating coefficients of like powers of ε in (8.6.3) yields

1 ∂ 2 u1 1 ∂ 2 u1 E1 ∂u1 ∂ 2 u1 ∂u1
+ 2 + 3 +μ =0 (8.6.4)
c ∂s1 ∂x1 c ∂s1 ∂T1 c ∂s1 ∂s12 ∂s1

The strain of the rod e is

∂u 1 ∂u1    
e= = −ε + O ε2 = εf (s1 , x1 , T1 ) + O ε2 (8.6.5)
∂x c ∂s1

where
1 ∂u1
f (s1 , x1 , T1 ) = − (8.6.6)
c ∂s1

Substituting (8.6.6) into (8.6.4) yields

∂f 1 ∂f E1 ∂f
+ + μcf + f =0 (8.6.7)
∂x1 c ∂T1 c ∂s1

(b) In order to examine the waves that are “nonlinearly distorted with distance”, we
let ∂f /∂T1 = 0, hence f = f (s1 , x1 ), (8.6.7) becomes
8.6 Exercise 8.6 (Wave Propagating Along a Uniform, Initially Undeformed … 895

∂f E1 ∂f
+ μcf + f =0 (8.6.8)
∂x1 c ∂s1

Let

f = Q(x1 )h(s1 , z), z = Z(x1 ) (8.6.9)

and substitute (8.6.9) into (8.6.8), we can obtain

 
  Z ∂h E1 ∂h
h Q + μcQ + cQ2 + 2h =0 (8.6.10)
cQ ∂z c ∂s1

The prime denotes the derivative with respect to x1 . In order to obtain the constant
coefficient equations of Q and h from the above equation, we select Q, Z so that they
satisfy.

Q + μcQ = 0, Z  = cQ (8.6.11)

Thus, from (8.6.10), we have

∂h E1 ∂h
+ 2h =0 (8.6.12)
∂z c ∂s1

The solutions of (8.6.11) are

 
Q = A exp(−μcx1 ), Z = Aμ−1 B − exp(−μcx1 )

where A and B are constants of integration. We take the variable z to have the same
origin as x1 , i.e. Z(0) = 0 and hence B = 1. So
 
Q = A exp(−μcx1 ), Z = Aμ−1 1 − exp(−μcx1 ) (8.6.13)

In order to solve (8.6.12), we consider the following linear equation in advance:

∂h E1 ∂h
+ 2 =0
∂z c ∂s1

The solution to this equation is

h = φ(ξ ), ξ = s1 − Dz

where D is a constant. Inspired by this, we use the parameter variation method to

solve the nonlinear Eq. (8.6.12). For this purpose, we assume that the solution of
(8.6.12) is
896 8 Traveling Waves

h = φ(ξ ), ξ = s1 − D(ξ )z (8.6.14)

In this way, we can treat φ as a function of s1 and ξ . Substituting (8.6.14) into

(8.6.12), we get

∂ξ E1 ∂ξ
+ 2φ =0
∂z c ∂s1

From (8.6.14), we can obtain

    !
∂ξ ∂D −1 ∂ξ ∂D −1
= −D(ξ ) 1 + z , = 1+z
∂z ∂ξ ∂s1 ∂ξ

So
E1
−D(ξ ) + φ(ξ ) = 0 (8.6.15)
c2
i.e.,

D(ξ ) = E1 c−2 φ(ξ ) (8.6.16)

Combining the above results and taking into account x1 = εx yields

f = exp(−εμcx)φ(ξ ) (8.6.17)

 
s1 = ξ + E1 μ−1 c−2 1 − exp(−εμcx) φ(ξ ) (8.6.18)

(c) In order to examine waves that are “nonlinearly distorted with time”, we let
∂f /∂x1 = 0, hence, f = f (s1 , T1 ) and (8.6.7) becomes

∂f ∂f
+ μc2 f + E1 f =0 (8.6.19)
∂T1 ∂s1

Comparing (8.6.19) with (8.6.8), we know that by replacing μc, E1 /c and x1

with μc2 , E1 and T1 , respectively, (8.6.8) can be changed to (8.6.19). Therefore, the
solution of (8.6.19) can be obtained just by making these substitutions in the solution
of (8.6.8), i.e.,
  
s1 = ξ + E1 μ−1 c−2 1 − exp −εμc2 t φ(ξ ) (8.6.20)

   
e = ε exp −εμc2 t φ(ξ ) + O ε2 (8.6.21)
8.6 Exercise 8.6 (Wave Propagating Along a Uniform, Initially Undeformed … 897

(d) For the nonlinear wave problem of a rod, the rightward and leftward waves in
the rod cannot be superimposed in general. The conditions for their superposition
are derived here.
The governing equations and solutions for the right-running wave have been given
by (a). Similarly, let the left-running wave solution be a function of s2 , x1 and T1 ,
s2 = t + x/c The space and time derivatives are transformed according to:

∂ ∂ ∂ ∂2 ∂2 ∂2 ∂2
= +ε , 2 = 2 + 2ε + ε2 2
∂t ∂s2 ∂T1 ∂t ∂s2 ∂s2 ∂T1 ∂T1
(8.6.22)
∂ 1 ∂ ∂ ∂2 1 ∂2 1 ∂2 ∂2
= +ε , 2 = 2 2 + 2ε + ε2 2
∂x c ∂s2 ∂x1 ∂x c ∂s2 c ∂s2 ∂x1 ∂x1

Let the solution of the given equation be

u(x, t) = εu1r (s1 , x1 , T1 ) + εu1l (s2 , x1 , T1 )

(8.6.23)
+ε2 u2r (s1 , x1 , T1 ) + ε2 u2l (s2 , x1 , T1 ) + · · ·

Substituting (8.6.23), (8.6.22) and (8.6.2) into the nonlinear control equation of
the rod and retaining to O(ε2 ) yields:

∂ 2u 1 ∂ 2u ∂u ∂u ∂ 2 u
0= − 2 2 − 2εμ + 2E1
∂x 2 c ∂t ∂t ∂x ∂x2
 
2 1 ∂ u1r 1 ∂ u1r ∂u1r 1 ∂u1r ∂ 2 u1r
2 2
= −2ε + 2 +μ + E1 3
c ∂s1 ∂x1 c ∂s1 ∂T1 ∂s1 c ∂s1 ∂s12
 
1 ∂ u1l
2
1 ∂ u1l
2
∂u1l 1 ∂u1l ∂ 2 u1l
+ 2ε2 − 2 −μ + E1 3
c ∂s2 ∂x1 c ∂s2 ∂T1 ∂s2 c ∂s2 ∂s22
 
1 ∂u1l ∂ 2 u1r ∂u1r ∂ 2 u1l
+ 2ε2 E1 3 − (8.6.24)
c ∂s2 ∂s1 2 ∂s1 ∂s22

Equating coefficients of like powers of ε in (8.6.24) yields

 
1 ∂ 2 u1r 1 ∂ 2 u1r ∂u1r 1 ∂u1r ∂ 2 u1r
+ 2 +μ + E1 3
c ∂s1 ∂x1 c ∂s1 ∂T1 ∂s1 c ∂s1 ∂s12
 
1 ∂ 2 u1l 1 ∂ 2 u1l ∂u1l 1 ∂u1l ∂ 2 u1l
+ − 2 −μ + E1 3 (8.6.25)
c ∂s2 ∂x1 c ∂s2 ∂T1 ∂s2 c ∂s2 ∂s22
 
1 ∂u1l ∂ 2 u1r ∂u1r ∂ 2 u1l
+E1 3 − =0
c ∂s2 ∂s1 2 ∂s1 ∂s22

The strain of the rod e is

 
e = ∂u = −ε 1c ∂u 1r
+ ε 1c ∂u1l
+ O ε2
∂x ∂s1 ∂s2   (8.6.26)
= εf (s1 , x1 , T1 ) + εg(s2 , x1 , T1 ) + O ε2
898 8 Traveling Waves

where
1 ∂u1r 1 ∂u1l
f (s1 , x1 , T1 ) = − , g(s2 , x1 , T1 ) = (8.6.27)
c ∂s1 c ∂s2

Substituting (8.6.27) into (8.6.25), we obtain

 
∂f 1 ∂f 1 ∂f
+ + E1 f + μcf
∂x1 c ∂T1 c ∂s1
 
∂g 1 ∂g 1 ∂g
+ − + E1 g − μcg (8.6.28)
∂x1 c ∂T1 c ∂s2
 
E1 ∂f ∂g
− g −f =0
c ∂s1 ∂s2

From the previous analyses, we know that the right-running wave f and the left-
running wave g satisfy the following two equations, respectively:

∂f 1 ∂f 1 ∂f
+ + E1 f + μcf = 0 (8.6.29)
∂x1 c ∂T1 c ∂s1
∂g 1 ∂g 1 ∂g
− + E1 g − μcg = 0 (8.6.30)
∂x1 c ∂T1 c ∂s2

Generally speaking, the superposition of right-running waves f and left-running

waves g that satisfy these equations fail to satisfy (8.6.28) unless:

∂f ∂g
g −f =0 (8.6.31)
∂s1 ∂s2

8.7 Exercise 8.7 (Modeling and Multiscale Analysis

on the High-Frequency Oscillation of a Homogenous
Visco-Elastic Rod)

Solution: (a) Applying Newton’s second law to the bar control volume yields

∂ 2u ∂(Aσ )
ρA = (8.7.1)
∂t 2 ∂x
For a uniform bar, ρ and A are constants and the above equation becomes

∂ 2u ∂σ
ρ = (8.7.2)
∂t 2 ∂x
8.7 Exercise 8.7 (Modeling and Multiscale Analysis on the High-Frequency … 899

The longitudinal strain of the bar e = ∂u/∂x. Therefore, from the approximate
constitutive relation for a homogenous visco-elastic material with high frequencies,
we can obtain:
 
∂σ ∂u ∂ 2 u ∂u
= E 1 + 2E1 − 2τ̂ (8.7.3)
∂t ∂x ∂x∂t ∂x

where the coefficients of the linear correction term, τ , are denoted as τ̂ to facili-
tate different treatments depending on different situations. (8.7.2) and (8.7.3) are
the governing equations for waves propagating along a uniform bar made of a
homogenous visco-elastic material with high-frequencies.
(b) For small but finite-amplitude waves, let τ̂ = ετ and seek an expansion in the
form

u = εu1 (s1 , s2 , x1 , T1 ) + ε2 u2 (s1 , s2 , x1 , T1 ) + · · ·

(8.7.4)
σ = εσ1 (s1 , s2 , x1 , T1 ) + ε2 σ2 (s1 , s2 , x1 , T1 ) + · · ·

The space and time derivatives are transformed according to:

∂ ∂ ∂ ∂
= + +ε
∂t ∂s1 ∂s2 ∂T1
∂ 1 ∂ 1 ∂ ∂
=− + +ε
∂x c ∂s1 c ∂s2 ∂x1
∂2 ∂2 ∂2 ∂2 ∂2 ∂2 2 ∂
2
= + + 2 + 2ε + 2ε + ε
∂t 2 ∂s12 ∂s22 ∂s1 ∂s2 ∂s1 ∂T1 ∂s2 ∂T1 ∂T12
∂2 1 ∂2 1 ∂2 1 ∂2 1 ∂2 1 ∂2 ∂2
= 2 2 + 2 2 −2 2 − 2ε + 2ε + ε2 2
∂x 2 c ∂s1 c ∂s2 c ∂s1 ∂s2 c ∂s1 ∂x1 c ∂s2 ∂x1 ∂x1
∂2 1 ∂2 1 ∂2 ∂2 ∂2 1 ∂2
=− + +ε +ε −ε
∂x∂t c ∂s1
2 c ∂s2
2 ∂s1 ∂x1 ∂s2 ∂x1 c ∂s1 ∂T1
1 ∂2 ∂2
+ε + ε2
c ∂s2 ∂T1 ∂x1 ∂T1
(8.7.5)

Substituting (8.7.4) and (8.7.5) into (8.7.2) and (8.7.3), we obtain

 2 
∂ u1 ∂ 2 u1 ∂ 2 u1 1 ∂σ1 1 ∂σ1
0 = ε ρ 2 + 2ρ +ρ 2 + −
∂s ∂s1 ∂s2 ∂s2 c ∂s1 c ∂s2
⎛ 12 ⎞
∂ u2 ∂ 2 u2 ∂ 2 u2 1 ∂σ2 1 ∂σ2
⎜ ρ 2 + ρ 2 + 2ρ ∂s ∂s + c ∂s − c ∂s ⎟
2⎜ ∂s1 ∂s2 1 2 1 2⎟
+ε ⎜ ⎟ (8.7.6)
⎝ ∂σ1 ∂ u1
2
∂ u1
2 ⎠
− + 2ρ + 2ρ
∂x1 ∂s1 ∂T1 ∂s2 ∂T1
900 8 Traveling Waves

 
∂σ1 ∂σ1 E ∂ 2 u1 E ∂ 2 u1
0=ε + + −
∂s1 ∂s2 c ∂s12 c ∂s22
⎡ ⎤
∂σ2 ∂σ2 E ∂ u2
2
E ∂ 2 u2
⎢ ∂s1 + + − ⎥
⎢ ∂s2 c ∂s12 c ∂s22 ⎥
⎢ ⎥
⎢ ∂σ1 ∂ 2 u1 ∂ 2 u1 E ∂ 2 u1 E ∂ 2 u1 ⎥
⎢+ −E −E + − ⎥
⎢
2⎢ ∂T ∂s ∂x ∂s ∂x c ∂s ∂T c ∂s ∂T ⎥
+ε ⎢
1 1 1 2 1 1 1 2 1 ⎥ (8.7.7)
⎥
⎢ −2EE 1 ∂u1 ∂ u1 + 2EE 1 ∂u1 ∂ u1 + 2EE 1 ∂u1 ∂ u1 ⎥
2 2 2
⎢ 1 2 1 2 1 2 ⎥
⎢ c ∂s1 ∂s1 2 c ∂s1 ∂s2 2 c ∂s2 ∂s1 ⎥2
⎢   ⎥
⎣ 1 ∂u1 ∂ 2 u1 1 ∂u1 1 ∂u1 ⎦
−2EE1 2 + 2τ − +
c ∂s2 ∂s22 c ∂s1 c ∂s2

Equating the coefficients of the like power of ε in the above two equations, we
obtain
   
∂ ∂ 2 ∂ ∂
ρc + u1 − − σ1 = 0 (8.7.8)
∂s2 ∂s1 ∂s2 ∂s1
   
∂ ∂ E ∂2 ∂2
+ σ1 − − u1 = 0 (8.7.9)
∂s2 ∂s1 c ∂s22 ∂s12
   
∂ ∂ 2 ∂ ∂ ∂σ1 ∂ 2 u1 ∂ 2 u1
ρc + u2 − − σ2 = c − 2ρc − 2ρc
∂s2 ∂s1 ∂s2 ∂s1 ∂x1 ∂s1 ∂T1 ∂s2 ∂T1
(8.7.10)
   2 
∂ ∂ E ∂ ∂2 ∂σ1 ∂ 2 u1 ∂ 2 u1
+ σ2 − − 2 u2 = − +E +E
∂s2 ∂s1 c ∂s2 2
∂s1 ∂T1 ∂s1 ∂x1 ∂s2 ∂x1
E ∂ 2 u1 E ∂ 2 u1 1 ∂u1 ∂ 2 u1
− + + 2EE1 2
c ∂s1 ∂T1 c ∂s2 ∂T1 c ∂s1 ∂s12
(8.7.11)
1 ∂u1 ∂ 2 u1 1 ∂u1 ∂ 2 u1
−2EE1 2 − 2EE 1
c ∂s1 ∂s22 c2 ∂s2 ∂s12
 
1 ∂u1 ∂ 2 u1 1 ∂u1 1 ∂u1
+2EE1 2 − 2τ − +
c ∂s2 ∂s22 c ∂s1 c ∂s2

For a right-running wave, let u1 = f (s1 , x1 , T1 ). , σ1 = σ1 (s1 , x1 , T1 ). and then from

(8.7.8) or (8.7.9), we have

∂ 2f ∂σ1
ρc + =0 (8.7.12)
∂s12 ∂s1

i.e.,
8.7 Exercise 8.7 (Modeling and Multiscale Analysis on the High-Frequency … 901

∂f
σ1 = −ρc (8.7.13)
∂s1

in which we take σ1 = 0 when the approximate strain ε∂f /∂s1 = 0.

(c) For the right-running wave,u1 = f (s1 , x1 , T1 ). Considering (8.7.13), we can
change (8.7.10) and (8.7.11) into
   
∂ ∂ 2 ∂ ∂ ∂ 2f ∂ 2f
ρc + u2 − − σ2 = −2ρc − ρc2 (8.7.14)
∂s2 ∂s1 ∂s2 ∂s1 ∂s1 ∂T1 ∂s1 ∂x1
   
∂ ∂ E ∂2 ∂2 ∂ 2f 2EE1 ∂f ∂ 2 f 2τ ∂f
+ σ2 − − u2 = E + 2 +
∂s2 ∂s1 c ∂s22
∂s12 ∂s1 ∂x1 c ∂s1 ∂s1 2 c ∂s1
(8.7.15)

Subtracting these two equations yields

   
− σ2 = −ρc ∂s∂1 ∂T − ρc2 ∂s∂1 ∂x
2 2
∂
∂s2
ρc ∂s∂ 2 +
∂
∂s1
u2 f
1
f
1
∂f ∂ f
2
τ ∂f
(8.7.16)
−ρE1 ∂s1 ∂s1
2 − c ∂s
1

After integration
⎡ ⎤
∂ 2f 2 ∂ f
2
  ⎢ −ρc ∂s ∂T − ρc ∂s ∂x ⎥
∂ ∂ ⎢ 1 1 1 1⎥
ρc + u2 − σ2 = ⎢ ⎥s2 + A(s1 , x1 , T1 )
∂s2 ∂s1 ⎣ ∂f ∂ 2 f τ ∂f ⎦
−ρE1 −
∂s1 ∂s12 c ∂s1
(8.7.17)

where A(s1 , x1 , T1 ) is a function to be determined. In order to eliminate secular terms

from the above equation, we need

∂ 2f 1 ∂ 2f E1 ∂f ∂ 2 f τ ∂f
+ + 2 + 3 =0 (8.7.18)
∂s1 ∂x1 c ∂s1 ∂T1 c ∂s1 ∂s1 2 ρc ∂s1

(d) For waves propagating along this uniform bar, the right-running and left-running
waves in the bar cannot be superimposed in general. The conditions for their
superposition are derived here.
For a left-running wave u1 = g(s2 , x1 , T1 ), σ1 = σ1 (s2 , x1 , T1 ), by (8.7.8) or
(8.7.9), we have
 2  
∂ ∂ ∂ ∂
ρc + u1 − − σ1 = 0 (8.7.19)
∂s2 ∂s1 ∂s2 ∂s1
902 8 Traveling Waves

∂ 2g ∂σ1
ρc − =0 (8.7.20)
∂s22 ∂s2

i.e.,

∂g
σ1 = ρc (8.7.21)
∂s2

in which we take σ1 = 0 when the approximate strain ε∂f /∂s1 = 0.

For a left-running wave, by the Eqs. (8.7.10), (8.7.11) and (8.7.21), we have
 2 
 !
∂ ∂ ∂ ∂ ∂ 2g 2 ∂g
ρc + u2 − − σ2 = −2ρc + ρc
∂s2 ∂s1 ∂s2 ∂s1 ∂s2 ∂T1 ∂s2 ∂x1
(8.7.22)
   2 
∂ ∂ E ∂ ∂2 ∂ 2g 2EE1 ∂g ∂ 2 g 2τ ∂g
+ σ2 − − 2 u2 = E + 2 −
∂s2 ∂s1 c ∂s22
∂s1 ∂s2 ∂x1 c ∂s2 ∂s22 c ∂s2
(8.7.23)

Adding these two equations together yields

 
∂ ∂ ∂2 ∂ 2g ∂ 2g
ρc + u2 + σ2 = ρc2 − ρc
∂s1 ∂s2 ∂s1 ∂s2 ∂x1 ∂s2 ∂T1
(8.7.24)
EE1 ∂g ∂ g2
τ ∂g
+ 2 −
c ∂s2 ∂s2 2 c ∂s2

In order to eliminate secular terms from the above equation, we need

∂ 2g 1 ∂ 2g E1 ∂g ∂ 2 g τ ∂g
− + 2 − 3 =0 (8.7.25)
∂s2 ∂x1 c ∂s2 ∂T1 c ∂s2 ∂s2 2 ρc ∂s2

Assuming that the right-running wave f and the left-running wave g controlled by
(8.7.18) and (8.7.25) can be superimposed, we can obtain the solution to the original
equation

u = εu1 + · · · = εf (s1 ,x1 , T1 ) + εg(s2 , x1 , T1 ) + · · · 

∂ ∂ (8.7.26)
σ = εσ1 + · · · = −ερc ∂s1
f (s1 , x1 , T1 ) − ∂s2
g(s2 , x1 , T1 ) + ···

which satisfy (8.7.10) and (8.7.11). Substituting them into (8.7.10) and (8.7.11) yields
 
σ2 = −ρc2 ∂s∂1 ∂x + ρc2 ∂s∂2 ∂x
2 2
ρc( ∂s∂ 2 + ∂ 2
∂s1
) u2 − ∂s∂ 2 − ∂s∂ 1 f g
1 1
(8.7.27)
2ρc ∂s∂1 ∂T − 2ρc ∂s∂1 ∂T − 2ρc ∂s∂2 ∂T − 2ρc ∂s∂2 ∂T
2 2 2 2
f g f g
− 1 1 1 1
8.7 Exercise 8.7 (Modeling and Multiscale Analysis on the High-Frequency … 903

   
∂ ∂ E ∂2 ∂2 ∂ 2f 1 ∂f ∂ 2 f
+ σ2 − − u2 = E + 2EE1
∂s2 ∂s1 c ∂s22 ∂s12 ∂s1 ∂x1 c2 ∂s1 ∂s12
1 ∂f ∂ 2g 1 ∂g ∂ 2 g 1 ∂g
+2τ +E + 2EE1 2 − 2τ (8.7.28)
c ∂s1 ∂s2 ∂x1 c ∂s2 ∂s2 2 c ∂s2
1 ∂f ∂ 2 g 1 ∂g ∂ 2 f
−2EE1 − 2EE1 2
c ∂s1 ∂s2
2 2 c ∂s2 ∂s12

Adding up and subtracting the above two equations, respectively, yields

 
∂ ∂ ∂ ∂ 2f ∂ 2f
ρc + u2 − σ2 = −ρc − ρc2
∂s2 ∂s2 ∂s1 ∂s1 ∂T1 ∂s1 ∂x1
(8.7.29)
∂f ∂ f
2
τ ∂f 1 ∂f ∂ g2
1 ∂g ∂ 2 f
−ρE1 − + ρE1 + ρE1
∂s1 ∂s12 c ∂s1 c2 ∂s1 ∂s22 c2 ∂s2 ∂s12
 
∂ ∂ ∂2 ∂ 2g ∂ 2g
ρc + u2 + σ2 = ρc2 − ρc
∂s1 ∂s2 ∂s1 ∂s2 ∂x1 ∂s2 ∂T1
(8.7.30)
EE1 ∂g ∂ 2 g τ ∂g 1 ∂f ∂ 2 g 1 ∂g ∂ 2 f
+ 2 − − ρE 1 2 − ρE 1 2
c ∂s2 ∂s22 c ∂s2 c ∂s1 ∂s22 c ∂s2 ∂s12

From the above two equations, we can see that the right-running wave f and the
left-running wave g are coupled with each other. The sufficient conditions that f and
g are governed by (8.7.18) and (8.7.25), respectively, is

∂f ∂ 2 g ∂g ∂ 2 f
+ =0 (8.7.31)
∂s1 ∂s22 ∂s2 ∂s12

(e) In order to examine the right-running wave with nonlinear distortion with distance,
let ∂f /∂T1 = 0, therefore, f = f (s1 , x1 ) and (8.7.18) becomes

∂F E1 ∂F τ
+ 2F + 3F = 0 (8.7.32)
∂x1 c ∂s1 ρc

in which F = ∂f /∂s1 . Let

F = Q(x1 )H (s1 , z), z = Z(x1 ) (8.7.33)

and substitute them into (8.7.32) yields

    
 τ 2 Z ∂H E1 ∂H
H Q + 3Q + Q + 2H =0 (8.7.34)
ρc Q ∂z c ∂s1
904 8 Traveling Waves

The prime denotes the derivative with respect to x1 . In order to obtain the
differential equations of Q, H with constant coefficients, we make Q and Z satisfy
τ
Q + Q = 0, Z = Q (8.7.35)
ρc3

Thus, from (8.7.34) we have

∂H E1 ∂H
+ 2H =0 (8.7.36)
∂z c ∂s1

The solution for (8.7.35) is

     
τ τ −1 τ
Q = A exp − 3 x1 , Z = A B − exp − 3 x1
ρc ρc3 ρc

where A and B are constants of integration. We take the variable z to have the same
origin as x1 , i.e., Z(0) = 0, and hence B = 1. So
     
τ τ −1 τ
Q = A exp − 3 x1 , Z = A 1 − exp − x1 (8.7.37)
ρc ρc3 ρc3

Equation (8.7.36) is the same as Eq. (8.6.12), and its solution is

H = ψ(ξ ), ξ = s1 − D(ξ )z (8.7.38)

D(ξ ) = E1 c−2 ψ(ξ ) (8.7.39)

Combining above results and taking x1 = εx into account yields

 
ετ
F = exp − 3 x ψ(ξ ) (8.7.40)
ρc
 
E1 ρc τ
s1 = ξ + 1 − exp − 3 x1 ψ(ξ ) (8.7.41)
τ ρc

where the undetermined A and function ψ are combined as ψ.

Combine (8.7.4) and (8.7.13), we have
 
∂f ετ
σ = εσ1 = −ερc = −ερcF = −ερcexp − 3 x ψ(ξ )
∂s1 ρc

i.e.
8.8 Exercise 8.8 (Modeling and Multiscale Analysis on Low-Frequency … 905
   
ετ
σ = −ερc exp − 3 x ψ(ξ ) (8.7.42)
ρc

8.8 Exercise 8.8 (Modeling and Multiscale Analysis

on Low-Frequency Oscillation of a Homogeneous
Visco-Elastic Rod)

Solution: (a) Applying Newton’s second law to the bar control volume yields

∂ 2u ∂(Aσ )
ρA = (8.8.1)
∂t 2 ∂x
For a uniform bar, ρ and A are constants and the above equation becomes

∂ 2u ∂σ
ρ = (8.8.2)
∂t 2 ∂x
The longitudinal strain of the bar e = ∂u/∂x. Therefore, from the approximate
constitutive relation for a homogenous visco-elastic material with low frequencies,
we can obtain

∂ 2u 1 ∂ 2u ∂u ∂ 2 u μ̂ ∂ 3 u
− = −2E1 − 2 (8.8.3)
∂x2 c2 ∂t 2 ∂x ∂x2 E ∂x2 ∂t

where E = ρc2 . (8.8.3) is the governing equation for waves propagating along a
uniform bar made of a homogenous visco-elastic material with high-frequency.
(b) For a small but finite amplitude right-running wave, let μ̂ = εμE and set the
solution of Eq. (8.8.3) as

u = εf (s1 , x1 , T1 ) + · · · (8.8.4)

The space and time derivatives are transformed according to:

∂ ∂ ∂ ∂2 ∂2 ∂2 ∂2
= +ε , 2 = 2 + 2ε + ε2 2
∂t ∂s1 ∂T1 ∂t ∂s1 ∂s1 ∂T1 ∂T1
(8.8.5)
∂ 1 ∂ ∂ ∂2 1 ∂2 1 ∂2 ∂2
=− +ε , 2 = 2 2 − 2ε + ε2 2
∂x c ∂s1 ∂x1 ∂x c ∂s1 c ∂s1 ∂x1 ∂x1

Substituting (8.8.4) and (8.8.5) into (8.8.3) yields

906 8 Traveling Waves

∂2u
− 1 ∂ u + 2E1 ∂u ∂2u
+ 2εμ ∂x∂ 2u∂t
2 3
0= ∂x2  c2 ∂t 2 ∂x ∂x2  (8.8.6)
−ε2 2c ∂s∂1 ∂x 1 ∂ f E1 ∂f ∂ f μ ∂3f
2 2 2
f
= 1
+ c ∂s1 ∂T1
+ c ∂s1 ∂s1
2 2 − c ∂s1
3

Equating the coefficients of the like power of ε in the above equation, we obtain

∂ 2f 1 ∂ 2f E1 ∂f ∂ 2 f μ ∂ 3f
+ + 2 − =0 (8.8.7)
∂s1 ∂x1 c ∂s1 ∂T1 c ∂s1 ∂s12 c ∂s13

Or

∂F 1 ∂F E1 ∂F μ ∂ 2F
+ + 2F − =0 (8.8.8)
∂x1 c ∂T1 c ∂s1 c ∂s12

where
∂f
F= (8.8.9)
∂s1

For a right-running wave that is nonlinearly distorted with time, let ∂f /∂x1 = 0,
hence, f = f (s1 , T1 ), and (8.8.8) becomes

∂F E1 ∂F ∂ 2F
+ F −μ 2 =0 (8.8.10)
∂T1 c ∂s1 ∂s1

(c) For waves propagating along this uniform bar, the simple right-running and left-
running waves in the bar cannot be superimposed in general. The conditions for their
superposition are derived here.
Let the simple left-running wave be

u = εg(s2 , x1 , T1 ) + · · · (8.8.11)

The space and time derivatives are transformed according to:

∂ ∂ ∂ ∂2 ∂2 ∂2 ∂2
= +ε , 2 = 2 + 2ε + ε2 2
∂t ∂s2 ∂T1 ∂t ∂s2 ∂s2 ∂T1 ∂T1
(8.8.12)
∂ 1 ∂ ∂ ∂2 1 ∂2 1 ∂2 ∂2
= +ε , 2 = 2 2 + 2ε + ε2 2
∂x c ∂s2 ∂x1 ∂x c ∂s2 c ∂s2 ∂x1 ∂x1

Substituting (8.8.12) into (8.8.3) yields

∂2u
− 1 ∂ u + 2E1 ∂u ∂2u
+ 2εμ ∂x∂ 2u∂t
2 3
0= ∂x2  c2 ∂t 2 ∂x ∂x2  (8.8.13)
2ε2 1c ∂s∂2 ∂x 1 ∂2g E1 ∂g ∂ 2 g μ ∂3g
2
g
= 1
− c ∂s2 ∂T 1
+ c 2 ∂s 2 + c
2 ∂s1 ∂s2
3
8.9 Exercise 8.9 (Transform the Burgers’ Equation into the Heat Equation) 907

Equating the coefficients of the like power of ε in the above two equations, we
obtain

∂ 2g 1 ∂ 2g E1 ∂g ∂ 2 g μ ∂ 3g
− + 2 + =0 (8.8.14)
∂s2 ∂x1 c ∂s2 ∂T1 c ∂s2 ∂s1 2 c ∂s23

Assuming that the right-running wave f and the left-running wave g controlled by
(8.8.7) and (8.8.14) can be superimposed, we can obtain the solution to the original
equation

u = εf (s1 , x1 , T1 ) + εg(s2 , x1 , T1 ) + · · · (8.8.15)

which satisfies Eq. (8.8.3). Substituting them into (8.8.3) yields

∂ 2u 1 ∂ 2u ∂u ∂ 2 u ∂ 3u
0= − 2 2 + 2E1 + 2εμ 2
∂x 2 c ∂t ∂x ∂x 2 ∂x ∂t
 2 
2 ∂ f 1 ∂ 2
f E 1 ∂f ∂ 2f μ ∂ 3f
= −ε 2
+ + 2 −
c ∂s1 ∂x1 c ∂s1 ∂T1 c ∂s1 ∂s12 c ∂s13
 2 
1 ∂ g 1 ∂ 2g E1 ∂g ∂ 2 g μ ∂ 3g
+ 2ε2 − + 2 +
c ∂s2 ∂x1 c ∂s2 ∂T1 c ∂s2 ∂s12 c ∂s23
 
E1 ∂f ∂ 2 g ∂g ∂ 2 f
− 2ε2 3 − (8.8.16)
c ∂s1 ∂s2 2 ∂s2 ∂s12

From the above equation, we can see that the right-running wave f and the left-
running wave g are coupled with each other. The sufficient conditions that f and g
are governed by (8.8.7) and (8.8.14), respectively, is

∂f ∂ 2 g ∂g ∂ 2 f
− =0 (8.8.17)
∂s1 ∂s22 ∂s2 ∂s12

8.9 Exercise 8.9 (Transform the Burgers’ Equation

into the Heat Equation)
∂ψ ∂φ
Solution: Let u = − ψδ ∂x
and u = ∂x
, then the Burgers’ equation becomes

1
φxt + φx φxx = δφxxx
2
Integrate over x, we can obtain
908 8 Traveling Waves

1 1
φt + φx2 = δφxx (8.9.1)
2 2
Since φ = −δ log ψ, we have

δ δ δ δ
φt = − ψt , φx = − ψx , φxx = − ψxx + 2 ψx2 (8.9.2)
ψ ψ ψ ψ

Substituting the above equations into (8.9.1) yields

∂ψ 1 ∂ 2ψ
= δ 2 (8.9.3)
∂t 2 ∂x

8.10 Exercise 8.10 (Stationary Solutions of the Burgers’

Equation)

Solution: Let ξ = x − ct, the original equation can be written as

df df 1 d 2f
−c +f − δ 2 =0 (8.10.1)
dξ dξ 2 dξ

Integrate over ξ , we can obtain

1 1 df
−cf + f 2 − δ =A (8.10.2)
2 2 dξ

where A is the constant of integration. (8.10.2) can also be written as

df 1  1  
= f 2 − 2cf − 2A = (f − c)2 − c2 + 2A (8.10.3)
dξ δ δ

Assuming that df /d ξ = 0 is available at f = c, then c2 + 2A > 0. Further,

(8.10.3) can be rewritten as

df 1
= (f − f1 )(f − f2 ) (8.10.4)
dξ δ

where
 
f1 = c + c2 + 2A, f2 = c − c2 + 2A (8.10.5)

Make the integration of (8.10.4) over ξ , we can obtain

8.11 Exercise 8.11 (Steady-State Solution of the Burgers’ Equation and Their … 909

1 (f1 − f2 )
f = c − (f1 − f2 ) tanh (ξ − ξ0 )
2 2δ
or
√
 c2 + 2A
u=f =c− c2 + 2A tanh (ξ − ξ0 ) (8.10.6)
δ

where ξ0 is the constant of integration. This is the traveling wave solution (stationary
solution) of the Burgers equation.

8.11 Exercise 8.11 (Steady-State Solution of the Burgers’

Equation and Their Stability Analysis)

Solution: (a) Let the traveling wave solution of the Burgers equation be

u = u(ξ ), ξ = x − ct (8.11.1)

Substituting this into the Burgers’ equation yields

du du d 2u
−c +u −ν 2 =0 (8.11.2)
dξ dξ dξ

Integrating the above equation over ξ , we obtain

1 du
−cu + u2 − ν =A (8.11.3)
2 dξ

where A is the constant of integration. (8.11.3) can be written as

du 1 2  1  2 
= u − 2cu − 2A = (u − c)2 − c2 + 2A (8.11.4)
dξ 2ν 2ν

Assuming that du/d ξ = 0 is available at u = c, then c2 + 2A > 0. Further, the

Eq. (8.11.3) can be rewritten as

du 1
= (u − u1 )(u − u2 ) (8.11.5)
dξ 2ν

where
 
u1 = c + c2 + 2A, u2 = c − c2 + 2A (8.11.6)
910 8 Traveling Waves

Make the integration of (8.11.5) over ξ , we can obtain

1 (u1 − u2 )
u = c − (u1 − u2 ) tanh (ξ − ξ0 )
2 4ν
or
√
 c2 + 2A
u=c− c2 + 2Atanh (ξ − ξ0 ) (8.11.7)
2ν

where ξ0 is the constant of integration. This is the traveling wave solution (steady
state solution) of the Burgers equation.
Notice that the traveling wave solution (8.11.7) is the constant solution of the
Burgers equation when c = 0. Therefore, let c = 0 and ξ0 = 0, then ξ = x and
(8.11.7) becomes
√
√ 2A
u = − 2Atanh x (8.11.8)
2ν
√
From the above equation, u(±∞) = ∓ 2A. Write
√
u∞ = 2A (8.11.9)

Then the constant solution of the Burgers equation u0 is

u x
∞
u0 = −u∞ tanh (8.11.10)
2ν

(b) Let u = u0 + v, where |v| |u0 |. Substituting this into the Burgers equation and
retaining the linear term only yields

∂v du0 ∂v du0 ∂ 2v d 2 u0
+v + u0 + u0 =ν 2 +ν 2 (8.11.11)
∂t dx ∂x dx ∂x dx
For a constant solution u0 , (8.11.2) becomes

du0 d 2 u0
u0 −ν 2 =0 (8.11.12)
dx dx
From (8.11.11) and (8.11.12), the control equation for the perturbation v(x, t) is

∂v ∂v du0 ∂ 2v
+ u0 + v=ν 2 (8.11.13)
∂t ∂x dx ∂x
8.12 Exercise 8.12 (Constant Solutions of the KdV Equation and Their … 911

(c) Let the general solution of (8.11.13) be

v = v(ξ ), ξ = x − ct (8.11.14)

Substituting this into (8.11.13) yields

d 2v dv dv du0
ν +c − u0 − v=0 (8.11.15)
dξ2 dξ dξ dx

Write this equation as a system of first order equations:

dv
dξ
=w
(8.11.16)
dw
dξ
= ν1 du
dx
0
v + ν1 (u0 − c)w

For the constant solution u0 , we can obtain from (8.11.5), (8.11.6) and (8.11.9) that

du0 1
= (u0 − u∞ )2 (8.11.17)
dξ 2ν

Substituting (8.11.17) into (8.11.16), we obtain

dv
dξ
=w
(8.11.18)
dw
dξ
= 2ν1 2 (u0 − u∞ )2 v + ν1 (u0 − c)w

The corresponding eigenvalues are


(u0 − c) ± (u0 − c)2 + 2(u0 − u∞ )2
λ1,2 = (8.11.19)
2ν
It can be seen that one of the eigenvalues is positive and hence the constant solution
u0 is unstable.

8.12 Exercise 8.12 (Constant Solutions of the KdV

Equation and Their Stability Analysis)

Solution: (a) The Kottweg-de Vries equation is also named as the KdV equation.
Let the traveling wave solution of the KdV equation be given by

u = u(ξ ), ξ = x − ct (8.12.1)

Substituting this into the KdV equation yields

912 8 Traveling Waves

du du d 3u
−c +u −β 3 =0 (8.12.2)
dξ dξ dξ

Integrating the above equation over ξ , we obtain

1 d 2u
−cu + u2 − β 2 = A (8.12.3)
2 dξ

where A is the constant of integration. (8.12.3) can be written as

d 2u 1  2 
= u − 2cu − 2A (8.12.4)
dξ 2 2β

(8.12.4) is multiplied by du/d ξ . After integration, we have

 2
du 1  3 
= u − 3cu2 − 6Au − 6B (8.12.5)
dξ 3β

where B is the constant of integration.

Assuming that the equation

u3 − 3cu2 − 6Au − 6B = 0 (8.12.6)

has three real roots u1 , u2 , u3 , and let u1 ≥ u2 ≥ u3 . From the relation between roots
and coefficients we have

c = 13 (u1 + u2 + u3 )
A = − 16 (u1 u2 + u2 u3 + u3 u1 ) (8.12.7)
B = 16 u1 u2 u3

(8.12.5) can be rewritten as

 2
du 1
= (u − u1 )(u − u2 )(u − u3 ) (8.12.8)
dξ 3β

For the case of β > 0, the solution of (8.12.8) is

(
u1 − u3
u = u2 − (u2 − u3 )cn 2
(ξ − ξ0 ), k , u3 ≤ u ≤ u2 (8.12.9)
12β

where
(
u2 − u3
k= (8.12.10)
u1 − u3
8.12 Exercise 8.12 (Constant Solutions of the KdV Equation and Their … 913

(8.12.9) is the traveling wave solution of the KdV equation when ε > 0 and is an
elliptical cosine wave, which is also called cnoidal waves, as shown in Fig. 8.1a.
This is a periodic function with amplitude

U = u2 − u3 (8.12.11)

The period of the function cn2 (x) is 2K(k), so the wavelength of the elliptical
cosine wave is
(
u1 − u3
L = 2K(k)/ (8.12.12)
12β

where

Fig. 8.1 a Cnoidal wave

solution of the KdV
equation, b isolator of the
KdV equation, c schematic
of V (u) for Exercise 8.12

(a)

(b)

(c)
914 8 Traveling Waves

)π/2 )1
1 1
K(k) =  dϕ = *   dx (8.12.13)
1 − k 2 sin2 ϕ 1 − x2 1 − k 2 x2
0 0

is Legendre’s complete elliptic integral of the first kind.

When u2 → u3 , k → 0. In this case, cnx → cosx; therefore, (8.12.9) becomes
(
1 1 u1 − u3
u = (u2 + u3 ) − (u2 − u3 ) cos (ξ − ξ0 ) (8.12.14)
2 2 3β

This is a simple harmonic solution.

When u2 → u1 , k → 1. In this case, cnx → sechx; therefore, (8.12.9) becomes
(
u1 − u3
u = u1 − (u1 − u3 )sech 2
(ξ − ξ0 ) (8.12.15)
12β

This is a solitary wave (Fig. 8.1b), which is often called a soliton since it remains
unchanged as it moves.
Notice that the traveling wave solution (8.12.15) is the constant solution of the
KdV equation when c = 0. In this case,

u3 = −2u1 (8.12.16)

Let ξ0 = 0, (8.12.15) can be obtained by

 1/2
u1
u = u1 1 − 3 sech 2
x (8.12.17)
4β

From the above equation, u(±∞) = u1 > 0, therefore, let

u∞ = u1 (8.12.18)

The constant solution of the KdV equation u0 is

 1/2
u∞
u0 = u∞ 1 − 3 sech2 x , u∞ > 0 (8.12.19)
4β

(b) Let w = du/d ξ in (8.12.4), we obtain

du
=w
dξ
(8.12.20)
dw
= F(u) = −V  (u)
dξ
8.12 Exercise 8.12 (Constant Solutions of the KdV Equation and Their … 915

where a prime denotes the derivative with respect to u; functions F and V are given
below:
1  2  1   
F(u) = u − 2cu − 2A = u − u1∗ u − u2∗
2β 2β (8.12.21)
 
∗ ∗
u1 = c + c + 2A, u2 = c − c2 + 2A
2

1  3 
V (u) = − u − 3cu2 − 6Au − 6B (8.12.22)
6β

The situation with c2 + 2A > 0 has been described in Exercise 8.11 (a).
Furthermore, (8.12.5) can be written as

1 2
w + V (u) = 0 (8.12.23)
2
which requires

V (u) ≤ 0 (8.12.24)

From (8.12.20), the equilibrium points of the system are

 ∗ ∗   ∗     
u1 , w1 = u1 , 0 and u2∗ , w2∗ = u2∗ , 0 (8.12.25)

Near the equilibrium position u∗ , we let u = u∗ +v, then (8.12.20) can be linearized
as
+ , + ,
dv/d ξ 0 1 v
= (8.12.26)
dw/d ξ −V  (u∗ ) 0 w

The corresponding characteristic equation is

 
λ2 + V  u∗ = 0 (8.12.27)

where
1
V  (u) = − (u − c) (8.12.28)
β

From (8.12.21), (8.12.22) and (8.12.28), we can know that:

     
(1) For the equilibrium point u1∗ , 0 , V  u1∗ = 0, V  u1∗ < 0, one of the eigen-
values is positive and another one is negative, so the equilibrium point u1∗ , 0
is the saddle point.
916 8 Traveling Waves
     
(2) For the equilibrium point u2∗ , 0 , V  u2∗ = 0, V  u2∗ > 0, two eigenvalues

are a pair of conjugate imaginary roots, so the equilibrium point u2∗ , 0 is the
center.
A schematic of V (u) is presented in Fig. 8.1c, where curve I is the potential
energy curve for the general case. For a simple harmonic solution described by
(8.12.14), there is u2 → u3 , so u2∗ → u3 , the potential energy curve becomes curve
II. For the soliton described by (8.12.15), there is u2 → u1 , so u1∗ → u1 , the potential
energy curve becomes curve III. Therefore, the equilibrium point (u1 , 0) of the soliton
(8.12.15) is the saddle point, which is unstable. Since the constant solution (8.12.19)
is a stationary soliton, it is also unstable.

8.13 Exercise 8.13 (Traveling Wave Solutions

of the Sine–Gordon Equation)

Solution: Substituting ψ = π + φ(s) into sine–Gordon equation, we obtain

φxx − φtt = −sinφ (8.13.1)

Let s = x − vt, we get

 −1
φ  + 1 − v2 sin φ = 0 (8.13.2)

where the prime denotes the derivative with respect to s. Equation (8.13.2) is a single
pendulum equation.
(1) When v → 1
 −1
In this case, 1 − v2 → ∞, which corresponds to the situation that the torsional
stiffness of the pendulum is infinity or the pendulum length is zero. Then Eq. (8.13.2)
is solved by

φ=0 (8.13.3)

Therefore, the solution to the sine–Gordon equation is

ψ =π (8.13.4)

(2) When v = 1
 −1
In this case, 1 − v2 = 0. Make the integration of (8.13.2), we obtain

1 2  −1
φ − 1 − v2 cos φ = E (8.13.5)
2
8.14 Exercise 8.14 (Characteristic Transformation and Straightforward … 917

Or write
(  
 −1
φ = ± 2 E − 1 − v2 cos φ (8.13.6)

Therefore, the solution to the sine–Gordon equation is

(  
 −1
ψ = ± 2 E − 1 − v2 cos ψ (8.13.7)

8.14 Exercise 8.14 (Characteristic Transformation

and Straightforward Expansion for Waves
Propagating Along a Uniform Elastic bar
with Material Nonlinearity)

Solution: (a) The given nonlinear governing equation for the rod can be written as

1 ∂ 2u ∂ 2u ∂u
= (1 + 2E1 e) ,e = (8.14.1)
c ∂t
2 2 ∂x 2 ∂x
Or

∂ 2u ∂ 2u 2
= ĉ 2
(e) , ĉ (e) = c2 (1 + 2E1 e) (8.14.2)
∂t 2 ∂x2
Let
∂u
v= (8.14.3)
∂t
then the following system of first order equations can be obtained by (8.14.3) and
(8.14.2):

∂e ∂v
− =0 (8.14.4)
∂t ∂x
∂v ∂e
− ĉ2 (e) =0 (8.14.5)
∂t ∂x
A linear combination of these two equations yields

∂e ∂e ∂v ∂v
p1 − p2 ĉ2 + p2 − p1 =0 (8.14.6)
∂t ∂x ∂t ∂x
918 8 Traveling Waves

Let the coefficients p1 , p2 satisfy the following conditions:

p1 p2
2
= or p1 = ±ĉp2 (8.14.7)
p2 ĉ p1

Taking the positive and negative signs, respectively, and substituting them into
(8.14.6) yields
   
∂e ∂e ∂v ∂v
ĉ − ĉ + − ĉ =0 (8.14.8)
∂t ∂x ∂t ∂x
   
∂e ∂e ∂v ∂v
ĉ + ĉ − + ĉ =0 (8.14.9)
∂t ∂x ∂t ∂x

In the t ∼ x plane, we specify a family of curves by the following equation:

dx
= −ĉ (8.14.10)
dt
Such curves are called characteristics. Thus, (8.14.8) along the characteristics
becomes
∂e ∂v ∂e ∂v
ĉ + = 0orĉ + =0 (8.14.11)
∂x ∂x ∂t ∂t
Similarly, the characteristics of (8.14.9) are specified by the following equations:

dx
= ĉ (8.14.12)
dt
(8.14.11) and (8.14.12) are called the characteristics or canonical forms of the
original problem. Squaring each of the above two equations yields the following
equation:

dx 2
( ) = ĉ2 (8.14.13)
dt

Substituting the expressions of ĉ2 and e into the above equation, we obtain
  2  
∂u dt 1 dt 1 ∂u −1/2
1 + 2E1 = ⇒ = ± 1 + 2E1 (8.14.14)
∂x dx c2 dx c ∂x

Since ∂u/∂x is a small quantity, the right-hand side of the above equation is
expanded to give
 
dt 1 ∂u
= ± 1 − E1 + higher − order terms (8.14.15)
dx c ∂x
8.14 Exercise 8.14 (Characteristic Transformation and Straightforward … 919

(b) Omitting the higher order terms in (8.14.15), we obtain

dt 1 dt 1
= − (1 − E1 e), = (1 − E1 e) (8.14.16)
dx c dx c
The two equations in (8.14.16) define two consecutive families of characteristics
in the t ∼ x plane, which are the integral curves (or solution curves) of two differential
equations, and they are denoted as the ξ and η axes, respectively. ξ and η axes form a
curve coordinate system in the t ∼ x plane, where the curve coordinates are denoted
as (ξ, η). Thus, there are

dt 1
Along ξ axis : = − (1 − E1 e)  c2 (8.14.17)
dx c
dt 1
Along η axis : = (1 − E1 e)  c1 (8.14.18)
dx c
which are shown in Fig. 8.2a. Considering (8.14.18), we have

Fig. 8.2 a Line element

involved in ∂t/∂x and ∂t/∂h,
b line element relations
formed by arbitrary two
adjacent points A and C for
Exercise 8.14

(a)

(b)
920 8 Traveling Waves

∂t t c1 x2 ∂x
= = = c1
∂η η η ∂η

i.e.,
 
∂t 1 E1 e ∂x ∂x
= −  c1 (8.14.19)
∂η c c ∂η ∂η

Similarly, we can obtain

 
∂t 1 E1 e ∂x ∂x
= − +  c2 (8.14.20)
∂ξ c c ∂ξ ∂ξ

(c) For any function F(x, t) = F(x(ξ, η), t(ξ, η)), applying the chain rule yields

∂F ∂F ∂ξ ∂F ∂η
= + (8.14.21)
∂x ∂ξ ∂x ∂η ∂x

Referring to Fig. 8.2b, noting that quadrilateral ABCD is an approximate

parallelogram, and considering (8.14.17), (8.14.18), (8.14.19) and (8.14.20), we have

∂ξ ξ ξ 1 1 1 c1
= = =  = c1 −c2 = (8.14.22)
∂x x x1 − x2 1
− 1 t c x
c1 c2 2 ξ
c1 − c2 xξ
c2 c1 ξ

∂η η η 1 1 1 c2
=− = =  = c2 −c1 =
∂x x x2 − x1 1
− 1 t c x
c1 c2 1 η
c2 − c1 xη
c1 c2 η
(8.14.23)

It should be noted that (8.14.22) implies that ∂ξ /∂x is positive and ξ increases
(or decreases) as x increases (or decreases) (Fig. 8.2b); hence, ∂ξ /∂x = ξ /x.
(8.14.23) implies that ∂η/∂x is positive and η decreases (or increases) as x
increases (or decreases) (Fig. 8.2b); hence, ∂η/∂x = −η/x. Substituting
(8.14.22) and (8.14.23) into (8.14.21), we obtain
 
∂F 1 c1 ∂F c2 ∂F
=− −
∂x c2 − c1 xξ ∂ξ xη ∂η

i.e.,
 
∂ 1 c1 ∂ c2 ∂
=− − (8.14.24)
∂x c2 − c1 xξ ∂ξ xη ∂η

With the chain rule and taking c2 = −c1 into account, we can obtain
8.14 Exercise 8.14 (Characteristic Transformation and Straightforward … 921

∂F ∂F ∂ξ ∂F ∂η ∂F ∂ξ dx  ∂F ∂η dx 
= + = onξ + onη
∂t ∂ξ ∂t ∂η ∂t ∂ξ ∂x dt ∂η ∂x dt
∂F 1 c1 1 ∂F 1 c2 1
= +
∂ξ c1 − c2 xξ c2 ∂η c2 − c1 xη c1
1 ∂F 1 1 ∂F 1
= −
c2 − c1 ∂ξ xξ c2 − c1 ∂η xη

i.e.,
 
∂ 1 1 ∂ 1 ∂
= − (8.14.25)
∂t c2 − c1 xξ ∂ξ xη ∂η

Using (8.14.24) and (8.14.25), we can replace the partial derivatives of x, t with
the partial derivatives of ξ , η in (8.14.4) and (8.14.5) and obtain
   
xξ eη + c2 vη − xη eξ + c1 vξ = 0 (8.14.26)

   
xξ vη + c2 c2 (1 + 2E1 e)eη −xη vξ + c2 c1 (1 + 2E1 e)eξ = 0 (8.14.27)

which assumes xξ = 0, xη = 0.
(d) (8.14.26) and (8.14.27) can be solved by the method of straightforward expansion.
Let the solution of the equation be

e(ξ, η) = εe1 (ξ, η) + ε2 e2 (ξ, η) + · · ·

(8.14.28)
v(ξ, η) = εv1 (ξ, η) + ε2 v2 (ξ, η) + · · ·

Substituting (8.14.28) into (8.14.26) and (8.14.27) and keeping to O(ε2 ), we obtain
   
∂e1 1 ∂v1 ∂e1 1 ∂v1
0 = ε xξ − − xη +
∂η c ∂η ∂ξ c ∂ξ
     
∂e2 1 ∂v2 ∂e2 1 ∂v2 ∂v1 ∂v1
+ ε xξ
2
− − xη + + E1 e1 xξ + xη
∂η c ∂η ∂ξ c ∂ξ ∂η ∂ξ
(8.14.29)
   
∂e1 1 ∂v1 ∂e1 1 ∂v1
0 = ε xξ − + xη +
∂η c ∂η ∂ξ c ∂ξ
     
∂e2 1 ∂v2 ∂e2 1 ∂v2 ∂e1 ∂e1
+ ε xξ
2
− + xη − + E1 e1 xξ + xη
∂η c ∂η ∂ξ c ∂ξ ∂η ∂ξ
(8.14.30)

Let the coefficient of the same power of ε be zero, we get

922 8 Traveling Waves
   
∂e1 1 ∂v1 ∂e1 1 ∂v1
xξ − − xη + =0 (8.14.31)
∂η c ∂η ∂ξ c ∂ξ
   
∂e1 1 ∂v1 ∂e1 1 ∂v1
xξ − + xη + =0 (8.14.32)
∂η c ∂η ∂ξ c ∂ξ
     
∂e2 1 ∂v2 ∂e2 1 ∂v2 ∂v1 ∂v1
xξ − − xη + = −E1 e1 xξ + xη (8.14.33)
∂η c ∂η ∂ξ c ∂ξ ∂η ∂ξ
     
∂e2 1 ∂v2 ∂e2 1 ∂v2 ∂e1 ∂e1
xξ − + xη + = −E1 e1 xξ + xη (8.14.34)
∂η c ∂η ∂ξ c ∂ξ ∂η ∂ξ

From (8.14.31) and (8.14.32), we have

∂e1 1 ∂v1 ∂e1 1 ∂v1

− = 0, + =0 (8.14.35)
∂η c ∂η ∂ξ c ∂ξ

Integrating these two equations, respectively, yields

1 1
e1 − v1 = 2f (ξ ), e1 + v1 = 2g(η) (8.14.36)
c c
From this

e1 = f (ξ ) + g(η), v1 = −cf (ξ ) + cg(η) (8.14.37)

therefore,

e = εf (ξ ) + εg(η) + · · ·
(8.14.38)
v = −εcf (ξ ) + εcg(η) + · · ·

Also make the expansion of t and x, we obtain

t(ξ, η) = t0 (ξ, η) + εt1 (ξ, η) + · · ·

(8.14.39)
x(ξ, η) = x0 (ξ, η) + εx1 (ξ, η) + · · ·

Substituting (8.14.39) and (8.14.38) into (8.14.19) and (8.14.20), respectively,

yields
 
∂t0 ∂t1 1-  . ∂x0 ∂x1
+ε = 1 − εE1 f (ξ ) + g(η) +ε (8.14.40)
∂η ∂η c ∂η ∂η
 
∂t0 ∂t1 1-  . ∂x0 ∂x1
+ε = − 1 − εE1 f (ξ ) + g(η) +ε (8.14.41)
∂ξ ∂ξ c ∂ξ ∂ξ
8.14 Exercise 8.14 (Characteristic Transformation and Straightforward … 923
 
∂t 1 E1 e ∂x ∂x
= −  c1 (8.14.42)
∂η c c ∂η ∂η
 
∂t 1 E1 e ∂x ∂x
= − +  c2 (8.14.43)
∂ξ c c ∂ξ ∂ξ

Equating the coefficients of the same powers of ε, we obtain

∂t0 1 ∂x0
− =0 (8.14.44)
∂η c ∂η
∂t0 1 ∂x0
+ =0 (8.14.45)
∂ξ c ∂ξ
∂t1 1 ∂x1 1   ∂x0
− = − E1 f (ξ ) + g(η) (8.14.46)
∂η c ∂η c ∂η
∂t1 1 ∂x1 1   ∂x0
+ = E1 f (ξ ) + g(η) (8.14.47)
∂ξ c ∂ξ c ∂ξ

Equation (8.14.44) and (8.14.45) can be solved by

t0 = A(η + ξ ), x0 = cA(η − ξ ) (8.14.48)

where A is the constant of integration. Substituting (8.14.48) into (8.14.46) and

(8.14.47), we obtain

∂t1 1 ∂x1  
− = −AE1 f (ξ ) + g(η) (8.14.49)
∂η c ∂η
∂t1 1 ∂x1  
+ = −AE1 f (ξ ) + g(η) (8.14.50)
∂ξ c ∂ξ

Integrating these two equations, respectively, yields the special solution of the
equation

1 η
t1 − x1 = −AE1 (η − ξ )f + ∫ g(s)ds (8.14.51)
c ξ

1 ξ
t1 + x1 = −AE1 ∫ f (s)ds + (ξ − η)g (8.14.52)
c η

From this
924 8 Traveling Waves

ξ η
t1 = − 21 AE1 (η − ξ )f + (ξ − η)g + ∫ f (s)ds + ∫ g(s)ds
η ξ
ξ η (8.14.53)
x1 = 21 cAE1 (η − ξ )f − (ξ − η)g − ∫ f (s)ds + ∫ g(s)ds
η ξ

Substituting (8.14.48) and (8.14.53) into (8.14.39) yields

ξ η
t = A(η + ξ ) − 21 εAE1 (η − ξ )f + (ξ − η)g + ∫ f (s)ds + ∫ g(s)ds + · · ·
η ξ
ξ η
x = cA(η − ξ ) + 1
2
εcAE1 (η − ξ )f − (ξ − η)g − ∫ f (s)ds + ∫ g(s)ds + · · ·
η ξ
(8.14.54)

Considering x(ξ, ξ ) = 0 and t(ξ, ξ ) = ξ , we can obtain

1
ξ = 2Aξ ⇒ A = (8.14.55)
2
Therefore,

/ξ /η
t = 21 (η + ξ ) − 41 εE1 (η − ξ )f + (ξ − η)g + f (s)ds+ g(s)ds + · · ·
η ξ
/ξ /η
x = 21 c(η − ξ ) + 41 εcE1 (η − ξ )f − (ξ − η)g − f (s)ds+ g(s)ds + · · ·
η ξ
(8.14.56)

From the above two equations, we can obtain

/η
t− x
c
= ξ − 21 εE1 2x
c
f (ξ ) + g(s)ds + · · ·
ξ
(8.14.57)
/ξ
t+ x
c
=η+ 1
2
εE1 2x
c
g(η) − f (s)ds + · · ·
η

8.15 Exercise 8.15 (Forced Excitations of a Nonlinear Finite

Elastic bar)

Solution: (a) The given equation is the nonlinear governing equation of forced exci-
tations of a nonlinear finite elastic bar. Let the straightforward expansion of the
solution of that equation be
8.15 Exercise 8.15 (Forced Excitations of a Nonlinear Finite Elastic bar) 925

u(x, t) = εu1 (x, t) + ε2 u2 (x, t) + · · · (8.15.1)

 
Substituting this into the governing equation and retaining to O ε2 yields

∂ 2u ∂ 2u ∂u ∂ 2 u
0 = 2 − 2 + 2E1
∂x ∂t ∂x ∂x2
 2   2  (8.15.2)
∂ u1 ∂ u1
2
2 ∂ u2 ∂ 2 u2 ∂u1 ∂ 2 u1
=ε − 2 +ε − 2 + 2E1
∂x2 ∂t ∂x2 ∂t ∂x ∂x2

Let the coefficient of the same power of ε be zero, we obtain

∂ 2 u1 ∂ 2 u1
− =0 (8.15.3)
∂x2 ∂t 2

∂ 2 u2 ∂ 2 u2 ∂u1 ∂ 2 u1
− 2 = −2E1 (8.15.4)
∂x 2 ∂t ∂x ∂x2
(8.15.3) is a one-dimensional wave equation, which can be solved by the variable
separation method. Let

u1 (x, t) = φ(x)q(t) (8.15.5)

and substitute (8.15.5) into (8.15.4), we can obtain

φ  q̈
= = −ω2 (8.15.6)
φ q

hence

φ  + ω2 φ = 0, q̈ + ω2 q = 0 (8.15.7)

and

φ(x) = A sin ωx + B cos ωx, q(t) = C cos(ωt + θ ) (8.15.8)

u1 (x, t) = (Asinωx + Bcosωx)cos(ωt + θ ) (8.15.9)

u(x, t) = ε(Asinωx + Bcosωx)cos(ωt + θ ) + ε2 u2 (8.15.10)

Applying the boundary conditions u1 (0, t) = 0 andu1 (1, t) = εpcosωt, we can

obtain

B cos(ωt + θ ) = 0
(8.15.11)
(A sin ω + B cos ω) cos(ωt + θ ) = p cos ωt
926 8 Traveling Waves

therefore

B = 0, θ = 0, A = p(sin ω)−1 (8.15.12)

From the above results, we have

u1 = p(sinω)−1 cosωtsinωx (8.15.13)

Substituting (8.15.13) into (8.15.4) yields

∂ 2 u2 ∂ 2 u2 E1 ω3 p2
− = (1 + cos 2ωt) sin 2ωx (8.15.14)
∂x2 ∂t 2 2 sin2 ω
The boundary conditions for u2 are

u2 (0, t) = u2 (1, t) = 0 (8.15.15)

Let the solution of (8.15.14) be

u2 = u21 + u22 (8.15.16)

where u21 and u22 satisfy, respectively, the following two equations:

∂ 2 u21 ∂ 2 u21 E1 ω3 p2
− = sin2ωx (8.15.17)
∂x2 ∂t 2 2sin2 ω

u21 (0, t) = u21 (1, t) = 0 (8.15.18)

∂ 2 u22 ∂ 2 u22 E1 ω3 p2
− = cos2ωtsin2ωx (8.15.19)
∂x2 ∂t 2 2sin2 ω

u22 (0, t) = u22 (1, t) = 0 (8.15.20)

Clearly, the solution to (8.15.17) and (8.15.18) can be written as

u21 = ψ1 (x) (8.15.21)

where

E1 ω3 p2
ψ1 = sin2ωx (8.15.22)
2sin2 ω

ψ1 (0) = ψ1 (1) = 0 (8.15.23)

8.15 Exercise 8.15 (Forced Excitations of a Nonlinear Finite Elastic bar) 927

therefore

E1 ωp2
u21 = ψ1 (x) = (x − sin2ωx) (8.15.24)
8sin2 ω
(8.15.19) and (8.15.20) can be solved by

u22 = ψ2 (x)cos2ωt (8.15.25)

where

E1 ω3 p2
ψ2 + 4ω2 ψ2 = sin2ωx (8.15.26)
2sin2 ω

ψ2 (0) = ψ2 (1) = 0 (8.15.27)

The special solution of (8.15.26) is

E1 ω2 p2
ψ2 (x) = − xcos2ωx
8sin2 ω
However, this special solution does not satisfy the boundary condition (8.15.27).
Superimposing the general solution on it, we have

E1 ω2 p2
ψ2 (x) = A1 sin2ωx + A2 cos2ωx − xcos2ωx (8.15.28)
8sin2 ω
Substituting (8.15.28) into (8.15.27) yields

A2 = 0
E1 ω2 p2 (8.15.29)
A1 sin2ω + A2 cos2ω = 8sin2 ω
cos2ω

therefore

E1 ω2 p2 cos 2ω
A2 = 0, A1 = (8.15.30)
8 sin 2ω sin2 ω
and
 
E1 ω2 p2 cos2ω
ψ2 (x) = sin2ωx − xcos2ωx (8.15.31)
8sin2 ω 8sin2ω
 
E1 ω2 p2 cos2ω
u22 = sin2ωx − xcos2ωx cos2ωt (8.15.32)
8sin2 ω 8sin2ω

From (8.15.32), (8.15.24) and (8.15.16), we have

928 8 Traveling Waves
 
E1 p2 ω2 1 cos 2ω sin 2ωx
u2 = (x sin 2ω − sin 2ωx) − x cos 2ωx − cos 2ωt
8 sin2 ω ω sin 2ω
(8.15.33)

From the above result, the solution of the given problem can be obtained as
p
u=ε cos ωt sin ωx
sin ω ⎡ ⎤
1
2 2⎢ (x sin 2ω − sin 2ωx) ⎥
E1 p ω ⎢ ω ⎥
+ ε2   (8.15.34)
2 ⎣ ⎦
8 sin ω − x cos 2ωx − cos 2ω sin 2ωx
cos 2ωt
sin 2ω

(b) When ω ≈ nπ , all terms in (8.15.34) tend to infinity and this solution is invalid.
The corresponding free oscillation equation to the governing equation of the rod
given in the problem is

∂ 2u ∂ 2u
− 2 =0
∂x2 ∂t (8.15.35)
u(0, t) = 0, u(1, t) = 0

It is easy to find out that the natural frequency of this set of equations is ωn =
nπ, n = 1, 2, . . .. Therefore, this case demonstrates a primary resonance.
When ω ≈ nπ , only the nth order modes are excited and the response of the other
modes decays very quickly due to damping (see Exercise 7.20). (8.15.34) becomes
p
u=ε cosωtsinωx (8.15.36)
sinω
Detuning parameter σ is introduced such that

ω = nπ + εσ (8.15.37)

Substituting this into (8.15.36) yields

p
u≈ cosnπ tsinnπ x (8.15.38)
σ cosnπ
Readers are invited to complete Exercise 8.15 (c)–(f).
8.16 Exercise 8.16 (Derivation of the Lagrangian Form of the Wave Equation … 929

8.16 Exercise 8.16 (Derivation of the Lagrangian Form

of the Wave Equation for an Inviscid Isentropic Gas)

Solution: (a) In order to derive the Lagrangian form of one-dimensional wave equa-
tion for an inviscid isentropic gas, we take the gas control volume shown in Fig. 8.3
and write the following equation according to the law of conservation of mass:
 
∂η
ρ0 dxdydz = ρ 1+ dx dydz
∂x

Therefore, the mass conservation equation (continuity equation) is

 
∂η
ρ0 = ρ 1 + (8.16.1)
∂x

Applying Newton’s second law along the x direction of the control volume shown
in Fig. 8.3 yields
 
∂ 2η ∂p
(ρ0 dxdydz) = − p + dx dydz + pdydz
∂t 2 ∂x

Therefore, the equation of conservation of momentum (or equation of motion) is

∂ 2η ∂p
ρ0 =− (8.16.2)
∂t 2 ∂x
For an isentropic gas, the equation of state is:
 γ
p ρ
= (8.16.3)
p0 ρ0

where γ = Cp /CV is the specific heat ratio or adiabatic exponent.

Fig. 8.3 The control volume

of inviscid gas for Exercise
8.16 and 8.19
930 8 Traveling Waves

(b) Substituting (8.16.3) into (8.16.2) yields

 
∂ 2η p0 ρ γ −1 1 ∂ρ
= −γ (8.16.4)
∂t 2 ρ0 ρ0 ρ0 ∂x

Substituting (8.16.1) into (8.16.4) yields

 
∂ 2η p0 ∂η −(γ +1) ∂ 2 η
= γ 1 + (8.16.5)
∂t 2 ρ0 ∂x ∂x2

Let
p0
c02 = γ (8.16.6)
ρ0

Therefore
 
∂ 2η ∂η −(γ +1) ∂ 2 η
= c0 1 +
2
(8.16.7)
∂t 2 ∂x ∂x2

8.17 Exercise 8.17 (Exact Solution of the One-Dimensional

Wave Equation for an Inviscid Isentropic Gas)

Solution: (a) Substituting the given form of solution into the wave equation of the
gas yields
 
∂f ∂η −(γ +1) ∂ 2 η
= c02 1 + (8.17.1)
∂t ∂x ∂x2

Let
∂η
g= (8.17.2)
∂x
then
∂f ∂u ∂g
= = (8.17.3)
∂x ∂x ∂t
therefore,
 2
∂f df ∂g df ∂f df ∂g ∂ 2 η ∂g
= = = , 2 = (8.17.4)
∂t dg ∂t dg ∂x dg ∂x ∂x ∂x
8.17 Exercise 8.17 (Exact Solution of the One-Dimensional Wave Equation … 931

Substituting (8.17.4) into (8.17.1) yields

 2
df
= c02 (1 + g)−(γ +1) (8.17.5)
dg
or
 
∂η −(γ +1)
f = c02 1 + (8.17.6)
∂x

The prime denotes the derivative of f with respect to ∂η/∂x.

(b) From (8.17.5), we have

df
= ±c0 (1 + g)−(γ +1)/2 (8.17.7)
dg

After integration, we have

2c0
f =u=± (1 + g)(1−γ )/2 + A (8.17.8)
1−γ

where A is the constant of integration. When the gas is undisturbed, u = 0. Assuming

that the gas is homogeneous, then g = ∂η/∂x = 0, and hence u(0) = 0. This gives

2c0
A=∓ (8.17.9)
1−γ

Therefore, Eq. (8.17.8) becomes

 
2c0 ∂η (1−γ )/2
u=± 1− 1+ (8.17.10)
1−γ ∂x

(c) Considering Eq. (8.17.3), we can obtain

df ∂f ∂x ∂f ∂t dx ∂f /∂x dx dx
= = = = (8.17.11)
dg ∂x ∂g ∂x ∂g dt ∂g/∂t dt dt

Substituting it into (8.17.7), we can obtain the characteristic line equation

 
dt 1 ∂η −(γ +1)/2
= ± , c = c0 1 + (8.17.12)
dx c ∂x

(d) From (8.17.10), we have

932 8 Traveling Waves

 
∂η 1 − γ 2/(1−γ )
1+ = 1∓ u (8.17.13)
∂x 2c0

Substituting (8.17.13) into (8.17.12) yields

 
1 − γ (γ +1)/(γ −1)
c = c0 1 ∓ u (8.17.14)
2c0

(e) From the above results, we assume that the right-running wave solution is
 x
u=F t− (8.17.15)
c
For the right-running wave
 
γ − 1 (γ +1)/(γ −1)
c = c0 1 + u (8.17.16)
2c0

Therefore, the solution can also be written as

 
x γ − 1 −(γ +1)/(γ −1)
u=F t− 1+ u (8.17.17)
c0 2c0

Below we verify that the solution (8.17.15) satisfies the wave equation for a gas,
i.e., it satisfies the following equation:
 
∂ 2η ∂η −(γ +1) ∂ 2 η
− c 2
1 + =0 (8.17.18)
∂t 2 0
∂x ∂x2

We have.

∂η ∂η dt u ∂ 2η 1 ∂u 1 ∂u
= = , 2 = = 2 (8.17.19)
∂x ∂t dx c ∂x c ∂x c ∂t
For a right-running wave, we can obtain from (8.17.13) that
 
∂η γ − 1 2/(1−γ )
1+ = 1+ u (8.17.20)
∂x 2c0

Substituting (8.17.20) and the second equation of (8.17.19) into the left side of
(8.17.18), we obtain
8.18 Exercise 8.18 (Approximate Solutions of the One-Dimensional Wave … 933

 
∂ 2η ∂η −(γ +1) ∂ 2 η
− c0 1 +
2
∂t 2 ∂x ∂x2
 
∂u c02 γ − 1 2(γ +1)/(γ −1) (8.17.21)
= 1− 2 1+ u
∂t c 2c0
∂u
= (1 − 1) = 0
∂t
It can be seen that the solution (8.17.15) satisfies the wave equation for the gas.
(f) For small and finite propagation, u is a finite small quantity, so
 
γ − 1 −(γ +1)/(γ −1) γ +1
1+ u ≈1− u (8.17.22)
2c0 2c0

Substituting (8.17.22) into (8.17.17) yields

 
x γ +1
u=F t− 1− u (8.17.23)
c0 2c0

8.18 Exercise 8.18 (Approximate Solutions

of the One-Dimensional Wave Equation for a Viscous
Isentropic Gas and Its Fourier Expansion)

Solution: (a) Because u(0, t) = u0 sinωt, we replace the variable in this equation
with the function F and obtain

ωx γ + 1
u = u0 sin ωt − + ωxu  u0 sinξ (8.18.1)
c0 2c02

(b) Because

ωx γ + 1 (γ + 1)ωu0 x ωx
ξ = ωt − + 2
ωxu = s + 2
sinξ, s = ωt − (8.18.2)
c0 2c0 2c0 c0

Rewrite (8.18.1) as
+ ,
u (γ + 1)ωu0 x
= sinξ = sin s 1 + sinξ (8.18.3)
u0 2c02 s

Since u0 is a finite small quantity, u/u0 is approximated as a periodic function of

s by expanding it into the Fourier sine series of s:
934 8 Traveling Waves

0 ∞
u
= sinξ = bn sinns (8.18.4)
u0 n=1

where

2 2π
bn = ∫ sinξ sinnsds (8.18.5)
π 0

Integrating (8.18.5) by part, we obtain

2 2π 2  2 2π
bn = ∫ sinξ sinnsds = − sinξ cosns2π
0 + ∫ cosnscosξ d ξ
π 0 nπ nπ 0
2 2π
= ∫ cosnscosξ d ξ (8.18.6)
nπ 0

From (8.18.2), we can obtain

(γ + 1)ωu0 x
s = ξ − σ sin ξ, σ = (8.18.7)
2c02

Therefore,

σ cosξ d ξ = d ξ − ds (8.18.8)

then

1 2π 1 2π 1 2π
∫ cos ns cos ξ d ξ = ∫ cos ns(d ξ − ds) = ∫ cos nsd ξ
π 0 σπ 0 σπ 0
1 2π
= ∫ cos ns(nξ − nσ sin ξ )d ξ (8.18.9)
σπ 0
1
= Jn (nσ )
σ
Substituting (8.18.9) into (8.18.6) yields

2
bn = Jn (nσ ) (8.18.10)
nσ
Substituting (8.18.10) and (8.18.7) into (8.18.4) yields

0∞  
u 4c02 1 n(γ + 1)ωu0 x ωx
= Jn ]sin[n ωt − (8.18.11)
u0 (γ + 1)ωu0 x n=1 n 2c02 c0
8.19 Exercise 8.19 (Derivation of the Eulerian Form of the One-Dimensional … 935

8.19 Exercise 8.19 (Derivation of the Eulerian Form

of the One-Dimensional Wave Equation for an Inviscid
Isentropic Gas)

Solution: (a) In order to derive the Eulerian form of one-dimensional wave equation
for an inviscid isentropic gas, we take the gas control volume and write the following
equation according to the law of conservation of mass:
  
∂ρ ∂u ∂ρ
ρudtdydz − ρ + dx u + dx dtdydz = dtdxdydz
∂x ∂x ∂t

Therefore, the equation of conservation of mass (or continuity equation) is

1 ∂ρ u ∂ρ ∂u
+ =− (8.19.1)
ρ ∂t ρ ∂x ∂x

Apply the momentum theorem to the control volume. The sum of the original
momentum of the control volume and the momentum flowing into the control volume
from t to t + dt is

p(t) = ρudxdydz + ρu2 dtdydz (8.19.2)

At t + dt instant, the sum of the momentum of the control volume and the
momentum of the outgoing control volume is
    
p(t + dt) = ρ + ∂ρ dt u + ∂u
dt dxdydz + ρ + ∂ρ
dx (u + ∂u dx)2 dtdydz
  ∂t 
∂t   ∂x 
∂x

= ρ + ∂ρ ∂t
dt u + ∂u
∂t
dt dxdydz + ρ + ∂ρ ∂x
dx u2 + 2u ∂u ∂x
dx dtdydz
(8.19.3)

Then the increment of the momentum of the control volume during time interval
dt is

dp = p(t + dt) − p(t)

 
∂ρ (8.19.4)
= ρ ∂u
∂t
dtdxdydz + u ∂t
+ u ∂ρ
∂x
+ 2ρ ∂u
∂x
dtdxdydz

Assuming that the mass in the control volume is conserved during time interval
dt and applying the momentum theorem, we obtain
 
dp
= ρ ∂u dxdydz + u ∂ρ
∂t  ∂t
+ u ∂ρ
∂x
+ 2ρ ∂u
∂x
dxdydz
dt  (8.19.5)
= pdydz − p + ∂p∂x
dx dydz

i.e.,
936 8 Traveling Waves

∂u ∂ρ ∂ρ ∂u ∂p
ρ +u +u + 2ρ =− (8.19.6)
∂t ∂t ∂x ∂x ∂x

Applying the mass conservation Eq. (8.19.1) to the above equation yields

∂u ∂u 1 ∂p
+u =− (8.19.7)
∂t ∂x ρ ∂x

This is the equation of conservation of momentum or the equation of motion.

For an isentropic gas, the equation of state is
 γ
p ρ
= (8.19.8)
p0 ρ0

where γ = Cp /CV is the specific heat ratio or adiabatic exponent.

(b) Multiplying (8.19.1) by c and −c, respectively, and adding them to (8.19.7) yields

c ∂ρ u ∂ρ ∂u ∂u ∂u 1 ∂p
+c + +u = −c − (8.19.9)
ρ ∂t ρ ∂x ∂t ∂x ∂x ρ ∂x
c ∂ρ u ∂ρ ∂u ∂u ∂u 1 ∂p
− −c + +u =c − (8.19.10)
ρ ∂t ρ ∂x ∂t ∂x ∂x ρ ∂x

where c2 = ∂p/∂ρ. (8.19.9) and (8.19.10) can be written as

 
∂u c ∂ρ ∂u c ∂ρ
+ = −(u + c) + (8.19.11)
∂t ρ ∂t ∂x ρ ∂x
 
∂u c ∂ρ ∂u c ∂ρ
− = −(u − c) − (8.19.12)
∂t ρ ∂t ∂x ρ ∂x

Considering the equation of state (8.19.8), we can immediately rewrite these two
equations as

∂J1 ∂J1
= −(u + c) (8.19.13)
∂t ∂x
∂J2 ∂J2
= −(u − c) (8.19.14)
∂t ∂x
where
ρ c 2
J1 = u + ∫ dρ = u + (c − c0 ) (8.19.15)
ρ0 ρ γ −1
8.19 Exercise 8.19 (Derivation of the Eulerian Form of the One-Dimensional … 937

ρ c 2
J2 = u − ∫ dρ = u − (c − c0 ) (8.19.16)
ρ0 ρ γ −1
p0
c02 = γ (8.19.17)
ρ0

where c0 is the speed of sound of a linear sound wave.

(c) Set up the characteristic line equation:

dx dx
= u + c, =u−c (8.19.18)
dt dt
The coordinates of the curves, ξ, η are adopted. From (8.19.13) and (8.19.14), we
can obtain
∂J1 ∂ξ dx ∂J1 ∂ξ dt ∂J1 ∂ξ dx
= −(u + c) =−
∂ξ ∂x dt ∂ξ ∂t dx ∂ξ ∂x dt

i.e.,

∂ξ ∂J1
(u + c) =0 (8.19.19)
∂x ∂ξ

therefore,

∂J1
=0 (8.19.20)
∂ξ

similarly, there are

∂J2
=0 (8.19.21)
∂η

Therefore, J1 is a constant along the curve of ξ and J2 is a constant along the curve
of η. J1 and J2 are Riemann invariants.
(d) For the present one-dimensional wave propagation, a relatively simple exact
solution to the nonlinear wave equation can be obtained.
From c2 = ∂p/∂ρ and the equation of state (8.19.8), we have
 (γ −1)/2  2/(γ −1)  
ρ c ∂ρ 2 ρ0 c (3−γ )/(γ −1)
c = c0 , ρ = ρ0 , =
ρ0 c0 ∂c γ − 1 c0 c0
(8.19.22)

Considering (8.19.22), we can rewrite (8.19.1) and (8.19.7) as follows:

938 8 Traveling Waves

∂c ∂c ∂u
+u +c =0 (8.19.23)
∂t ∂x ∂x
∂u ∂u 2 ∂c
+u =− c (8.19.24)
∂t ∂x γ − 1 ∂x

Let there exist the relation c = c(u), then

∂c ∂u ∂c ∂u dc
= c , = c where c = (8.19.25)
∂t ∂t ∂x ∂x du
Substituting (8.19.25) into (8.19.23) and (8.19.24) yields

∂u ∂u γ − 1 ∂u
c + c u + c =0
∂t ∂x 2 ∂x
∂u ∂u 2 ∂u
+u + cc =0
∂t ∂x γ − 1 ∂x

Eliminating u form the above two equations, we can obtain

γ −1 c 2
= cc
2 c γ −1
or
dc γ −1
=± (8.19.26)
du 2
The plus and minus signs of these determine the direction of propagation of the
traveling wave. The positive sign indicates a right-running wave, therefore:

γ −1
c = c0 + u (8.19.27)
2
Substituting (8.19.27) into (8.19.24) yields

∂u ∂u
+ (c0 + βu) =0 (8.19.28)
∂t ∂x
where
1
β= (γ + 1) (8.19.29)
2
Now, (8.19.23) and (8.19.24) are reduced to a single first-order Eq. (8.19.28).
Notice that the general solution of the corresponding linear equation of this
equation is
8.20 Exercise 8.20 (Derivation of Linear Inviscid Acoustic Waves … 939
 
x
u=f t− (8.19.30)
c0

Comparing (8.19.28) with the corresponding linear equation, we can suppose that
the solution to this nonlinear equation is
 
x
u=F t− (8.19.31)
c0 + βu

We can verify that (8.19.31) is exactly the solution of the Eq. (8.19.28).

8.20 Exercise 8.20 (Derivation of Linear Inviscid Acoustic

Waves in a Hardwalled Duct)

Solution: (a) Let the velocity of the fluid mass be

u = ui + vj + wk (8.20.1)

Take the control volume shown in Fig. 8.4a, which shows the mass inflow and
outflow per unit time from the control volume. From the law of conservation of mass,
we have
∂    
(ρxyz) = yz (ρu)|x − (ρu)|x+x ]+zx[(ρu)y − (ρu)y+y
∂t  
+ xy (ρu)|z − (ρu)|z+z (8.20.2)

i.e.,

∂ρ ∂(ρu) ∂(ρu) ∂(ρu)

+ + + =0 (8.20.3)
∂t ∂x ∂y ∂z

The above equation is written in vector form as

∂ρ
+ ∇ · (ρu) = 0 (8.20.4)
∂t
This is the continuity equation.
Based on the expression for the substantial derivative:

D(·) ∂(·) ∂(·) ∂(·) ∂(·) ∂(·)

= + u · ∇(·) = +u +v +w (8.20.5)
Dt ∂t ∂t ∂x ∂y ∂z

Equation (8.20.4) can be written as

940 8 Traveling Waves

(a)

(b)

Fig. 8.4 a Mass flow of the control volume of inviscid fluid, b momentum flow of the control
volume of inviscid fluid for Exercise 8.20

Dρ
+ ρ∇ · u = 0 (8.20.6)
Dt
Applying the momentum theorem to the x direction of the control volume shown
in Fig. 8.4b yields

∂
∂t (ρuxyz)
= Pyz|x − Pyz|x+x
+ρu2 yz|x − ρu2 yz|x+x
+ρuvxz y − ρuvxz y+y
+ρuwxy|z − ρuwxy|z+z

where P is the pressure on each face. The above equation can be rearranged as
 
∂(ρu) ∂ ρu2 ∂(ρuv) ∂(ρuw) ∂P
+ + + + =0
∂t ∂x ∂y ∂z ∂x

Expanding this equation and applying the continuity equation yields the equation
for the conservation of momentum along the x-direction
8.20 Exercise 8.20 (Derivation of Linear Inviscid Acoustic Waves … 941
 
∂u ∂u ∂u ∂u ∂P
ρ +u +v +w + =0
∂t ∂x ∂y ∂z ∂x

i.e.,

Du ∂P
ρ + =0 (8.20.7)
Dt ∂x
Similarly, the equations of the conservation of momentum along the y- and z-
direction can be obtained as
Dv ∂P
ρ + =0 (8.20.8)
Dt ∂y
Dw ∂P
ρ + = −ρg (8.20.9)
Dt ∂z
The above three equations can be written in vector form:

Du
ρ + ∇P = −ρgk (8.20.10)
Dt
For an isentropic fluid, the equation of state is
 γ
p ρ
= (8.20.11)
p0 ρ0

Ignoring gravity effects, the viscosity of the medium and heat conduction, we can
degenerate the continuity and momentum equations into

ρt + u · ∇ρ + ρ∇ · u = 0 (8.20.12)

ρ[ut + (u · ∇)u] + ∇P = 0 (8.20.13)

This set of equations is called Euler’s equations. The equation of state can be
written as
   
B ρ − ρ0 C ρ − ρ0 2
P − p0 = c02 (ρ − ρ0 ) 1 + + + ··· (8.20.14)
2!A ρ0 3!A ρ0

where
p0
c02 = γ (8.20.15)
ρ0
942 8 Traveling Waves

When there are no sound waves in the medium, the solutions of the above three
equations are

ρ = ρ0 , P = p0 , u = 0 (8.20.16)

This set of solutions is called the zeroth-order solutions, which describe the
stationary state of the fluid.
Now suppose there is a small perturbation to the stationary state, i.e.,

ρ = ρ0 + δρ, |δρ| << ρ0

P = p0 + p, |δρ| << ρ0 c02 (8.20.17)
u = 0 + u, |u| << c0

As a result, the continuity, momentum and equation of state become

∂(δρ)
+ u · ∇δρ + ρ0 ∇ · u + δρ∇ · u = 0
∂t
∂u ∂u
ρ0 + ρ0 (u · ∇)u + δρ + δρ(u · ∇)u + ∇p = 0
∂t ∂t

B (δρ)2
p = c02 δρ +
2!A ρ0

where the underlined terms are second-order or higher small quantities. Omitting
these terms yields

∂(δρ)
+ ρ0 ∇ · u = 0 (8.20.18)
∂t
∂u
ρ0 + ∇p = 0 (8.20.19)
∂t
p
c02 = (8.20.20)
δρ

This is the set of three-dimensional linearized wave equations for an inviscid,

non-heat-transferring fluid that neglects gravity effects.
Eliminating δρ from (8.20.18) and (8.20.20), we obtain

∂p
+ ρ0 c02 ∇ · u = 0
∂t
Then eliminate u from the above equation and (8.20.19), we can obtain
8.20 Exercise 8.20 (Derivation of Linear Inviscid Acoustic Waves … 943

∂ 2p
− c02 ∇ 2 p = 0 (8.20.21)
∂t 2
This is the three-dimensional wave equation for an inviscid fluid expressed in
terms of the wave pressure p.
For a viscous fluid, the boundary condition is un = 0. From (8.20.19), we can
obtain
∂p ∂un
= −ρ0 (8.20.22)
∂n ∂t
Therefore, the boundary conditions are

∂p
= 0on (8.20.23)
∂n

(b) Since the fluid is inviscid, it can be conjectured that the pressure at the same
cross-section of the pipe propagate along the pipe with the same velocity. Thus, for
a right running wave in a pipe, we assume that the solution of Eq. (8.20.21) is

p = ψ(y, z)exp[i(kx − ωt)] (8.20.24)

Substituting (8.20.24) into (8.20.21) and (8.20.23) yields

∂ 2ψ ∂ 2ψ
+ 2 + λ2 ψ = 0 (8.20.25)
∂y 2 ∂z
∂ψ
= 0 on (8.20.26)
∂n
where
 
ω2 = c02 k 2 + λ2 (8.20.27)

(c) For a rectangular pipe, we assume that the cross section of the pipe is 0 ≤ y ≤ a
and 0 ≤ z ≤ b, and set the solution of Eq. (8.20.25) be
nπ y mπ z
ψ =  cos cos , n, m = 1, 2, 3, . . . (8.20.28)
a b
so that the boundary conditions are automatically satisfied. Substituting (8.20.28)
into (8.20.25), we obtain
 
n2 m2
λ2 = π 2 2
+ 2 (8.20.29)
a b
944 8 Traveling Waves

Substituting (8.20.29) into (8.20.27) yields

 
n2 m2
ω = 2
c02 k +π2 2
+ (8.20.30)
a2 b2

It can be seen that the phase speed ω/k is not a constant and therefore the waves
are dispersive.
The function ψ determined by the Eqs. (8.20.28) and (8.20.30) is the natural or
acoustic mode of the traveling wave in a rectangular duct, and they are
nπ y mπ z
ψnm (y, z) = cos cos , n, m = 1, 2, 3, . . . (8.20.31)
a b
It can be seen from (8.20.30) that for a given mode, the corresponding natural
frequency ωnm and wave number knm can be multivalued; while for a given frequency
ω, there are
 2 
ω2 2 n m2
2
knm = 2 −π + 2 (8.20.32)
c0 a2 b

When the right-hand side of the above equation is less than zero, knm is an imagi-
nary number, and it can be seen from (8.20.24) that the wave is no longer a traveling
wave. Therefore, the frequency ω must make the right-hand side of (8.20.32) greater
than zero, otherwise it cannot propagate (precisely, it cannot propagate over long
distances).
Write the dispersion relation as:
 ω 2  
π 2 n2 m2
= c02 1+ 2 + 2 (8.20.33)
k k a2 b

For the given a and b, it is assumed that the mode of r ∼ s order also satisfy (8.20.33),
i.e.,
 ω 2  
π 2 r2 s2
= c02 1+ 2 + 2 (8.20.34)
k k a2 b

where r = n, s = m. In this case, the traveling wave mode of order n ∼ m has the
same wave number and phase speed as the traveling wave mode of order r ∼ s, and
these two traveling waves interact strongly, i.e., they resonate harmonically.
Readers are invited to complete the analysis on Exercise 8.20 (d).
8.21 Exercise 8.21 (Analysis on the Linear Waves Propagating on the Surface … 945

8.21 Exercise 8.21 (Analysis on the Linear Waves

Propagating on the Surface of an Inviscid Liquid
of Finite Depth)

Solution: (a) The governing equation of the problem is the two-dimensional Lapla-
cian equation for the velocity potential function φ(x, y, t) in x ∼ y plane, and the
boundary conditions are expressed in terms of the potential function φ(x, y, t) and
the elevation of the interface above its undisturbed position η(x, t). The propagation
regions are −∞ < x < ∞ and −h ≤ y ≤ 0, as shown in Fig. 8.5.
Let the governing equation of the velocity potential function φ(x, y, t) have a
separated variable solution:

φ(x, y, t) = f (x)g(y)q(t) (8.21.1)

Substituting this into the Laplacian equation of φ yields

d 2f d 2g
dx2 dy2
=− = −k 2
f g

So there’s

d 2f
+ k 2f = 0 (8.21.2)
dx2

d 2g
− k 2g = 0 (8.21.3)
dy2

Let the solution of Eq. (8.21.2) be

f (x) = exp(ikx) (8.21.4)

and the solution of Eq. (8.21.3) be

Fig. 8.5 Surface waves of a viscous-free fluid for Exercise 8.21

946 8 Traveling Waves
 
g(y) = Acosh k(y + y1 ) (8.21.5)

where A and y1 are the constants of integration. So

 
φ(x, y, t) = Acosh k(y + y1 ) exp(ikx)q(t)

Applying the boundary condition at y = −h to the above equation yields

 
A sinh k(−h + y1 ) = 0 ⇒ y1 = h (8.21.6)

If we wish to obtain a simple harmonic solution for a right-running wave, we can

take q(t) = exp(−iωt), and thus have
   
φ(x, y, t) = Acosh k(y + h) exp i(kx − ωt) (8.21.7)

Substituting (8.21.7) into the joint boundary conditions of φ and η, we obtain

∂η
= kAsinh(kh)exp[i(kx − ωt)] (8.21.8)
∂t

∂ 2η
W − η = −iωAcosh(kh)exp[i(kx − ωt)] (8.21.9)
∂x2
The solution of Eq. (8.21.8) can be set as

η(x, t) = η0 exp[i(kx − ωt)] (8.21.10)

which leads to
iωη0
A=− (8.21.11)
ksinh(kh)

Substituting (8.21.10) and (8.21.11) into (8.21.9) yields

 
ω2 = ktanh(kh) Wk 2 + 1 (8.21.12)

(b) For the case of small surface tension, W ≈ 0, so the Eq. (8.21.12) becomes

ω2 = ktanh(kh)

When h → 0, the above equation becomes

ω
ω2 ≈ hk 2 ⇒ ≈h (8.21.13)
k
8.22 Exercise 8.22 (The Method of Multiple Scales for Wave Group … 947

The phase speed is constant and hence the solution (8.21.12) represents a non-
dispersive wave, i.e., the surface wave in the shallow water region is approximated
as a non-dispersive wave.
(c) For deep water and nonnegligible surface tension,h → ∞, the Eq. (8.21.12)
becomes
 
ω2 = k Wk 2 + 1 (8.21.14)

For a positive integer n, we assume that (nω, nk) also satisfies the dispersion relation
(8.21.14) i.e.
 
(nω)2 = nk W (nk)2 + 1 (8.21.15)

then we need
1
k2 = (8.21.16)
nW
If the condition
√ (8.21.16) is satisfied, then the low-order traveling wave with wave
number k = 1/ nW √ has the same phase speed as the high-order traveling wave with
wave number k = n/W , and these two traveling waves will interact strongly, i.e.,
resonate harmonically.

8.22 Exercise 8.22 (The Method of Multiple Scales

for Wave Group Propagation Governed
by Klein–Gordon Equation)

Solution: (a) We consider the propagation of a group of waves whose frequencies

and wave numbers are around a center frequency w and wave number k. We adopt
the method of multiscale to complete this problem by introducing two slow-varying
time scales T1 and T2 , and two slow-varying space scales X1 and X2 :

T1 = εt, T2 = ε2 t and X1 = εx, X2 = ε2 x (8.22.1)

Therefore, the derivatives for the fast-varying scales t = T0 and x = X0 become

∂ ∂
∂t
= ∂T0
+ ε ∂T∂ 1 + ε2 ∂T∂ 2
∂ ∂ (8.22.2)
∂x
= ∂X0
+ ε ∂X∂ 1 + ε2 ∂X∂ 2

Let the solution of the given Klein–Gordon equation be

948 8 Traveling Waves

0
2
 
u(x, t; ε) = εn un (X0 , X1 , X2 , T0 , T1 , T2 ) + O ε3 (8.22.3)
n=0

Substituting (8.22.2) and (8.22.3) into the Klein–Gordon equation, we obtain

∂ 2u ∂ 2u
0= − 2 − γ u − εαu3
∂t 2 ∂x
 2 
∂ ∂2 2 ∂
2
∂2  
= + 2ε +ε + 2ε 2
u0 + εu1 + ε2 u2
∂T02 ∂T0 ∂T1 ∂T12 ∂T0 ∂T2
 2 
∂ ∂2 2 ∂
2
∂2  
− + 2ε +ε + 2ε 2
u0 + εu1 + ε2 u2
∂X 2 ∂X0 ∂X1 ∂X1 2 ∂X0 ∂X2
 0 
− γ u0 + εu1 + ε u2 − ε α(u0 + εu1 + ε2 u2 )3
2 2

∂ 2 u0 ∂ 2 u0
= − − γ u0
∂T0 2
∂X02
 2 
∂ u1 ∂ 2 u1 ∂ 2 u0 ∂ 2 u0
+ε − − γ u1 − 2 +2
∂T 2 ∂X02 ∂X0 ∂X1 ∂T0 ∂T1
⎛ 02 ⎞
∂ u2 ∂ u2
2
∂ u0
2
∂ 2 u0
⎜ − − γ u2 + +2 ⎟
2 ⎜ ∂T0
2
∂X02 ∂T12 ∂T0 ∂T2 ⎟
+ε ⎜ ⎟ (8.22.4)
⎝ ∂ 2 u0 ∂ u0
2
∂ u1
2
∂ u1
2 ⎠
− 2 −2 +2 −2 − αu03
∂X1 ∂X0 ∂X2 ∂T0 ∂T1 ∂X0 ∂X1

Making the coefficient of the same power of ε be zero in the above equation yields

∂ 2 u0 ∂ 2 u0
− − γ u0 = 0 (8.22.5)
∂T0 2
∂X02
∂ 2 u1 ∂ 2 u1 ∂ 2 u0 ∂ 2 u0
− − γ u1 = 2 − 2 (8.22.6)
∂T02 ∂X02 ∂X0 ∂X1 ∂T0 ∂T1
∂ 2 u2 ∂ 2 u2
− γ u2 = − ∂∂Tu20 + ∂ 2 u0
− 2 ∂T∂ 0 ∂T + 2 ∂X∂ 0 ∂X
2 2 2

∂T02
− ∂X02 ∂X12
u0 u0
1 2 2
(8.22.7)
−2 ∂T∂ 0 ∂T + 2 ∂X∂ 0 ∂X
2 2
u1
1
u1
1
+ αu03

The solution to Eq. (8.22.5) can be written as

u0 = A(X1 , X2 , T1 , T2 )ei(kX0 −ωT0 ) + cc (8.22.8)

Substituting (8.22.8) into (8.22.6), we can obtain the dispersion relation:

ω2 = k 2 − γ (8.22.9)

Substituting (8.22.8) into (8.22.6) yields

8.22 Exercise 8.22 (The Method of Multiple Scales for Wave Group … 949
 
∂ 2 u1 ∂ 2 u1 ∂A ∂A i(kX0 −ωT0 )
− − γ u1 = 2ik + 2iω e + cc (8.22.10)
∂T02 ∂X02 ∂X1 ∂T1

In order to eliminate secular terms from the above equation, we need

∂A ∂A
k +ω =0 (8.22.11)
∂X1 ∂T1

Then the solution to (8.22.10) is

u1 = 0 (8.22.12)

Substituting (8.22.8) and (8.22.12) into (8.22.7) yields

∂ 2 u2 ∂ 2 u2 ∂ A2
∂2A ∂A ∂A
∂T02
− ∂X02
− γ u2 = (− ∂T 2 +
∂X12
+ 2iω ∂T + 2ik ∂X
1 2 2 (8.22.13)
+3αA2 A)ei(kX0 −ωT0 ) + cc + NST

In order to eliminate secular terms from the above equation, we need

∂ 2A ∂ 2A ∂A ∂A
− + + 2iω + 2ik + 3αA2 A = 0 (8.22.14)
∂T12 ∂X12 ∂T2 ∂X2

From Eq. (8.22.11), we have

∂A k ∂A
=− (8.22.15)
∂T1 ω ∂X1

Applying the partial derivative with respective to T1 to (8.22.15) yields

∂ 2A k ∂ 2A k 2 ∂ 2A
= − = (8.22.16)
∂T12 ω ∂T1 ∂X1 ω2 ∂X12

And then substituting (8.22.16) into (8.22.14) yields

 
∂A k ∂A i k 2 ∂ 2A 3iα 2
+ − 1− 2 = A A (8.22.17)
∂T2 ω ∂X2 2ω ω ∂X1 2 2ω

Using the dispersion relation (8.22.9), we can obtain

k  ω2 − k 2
ω = ,ω = (8.22.18)
ω ω3

where ω = d ω/dk and ω = d 2 ω/dk 2 . Substituting (8.22.18) into (8.22.17) yields
950 8 Traveling Waves

∂A ∂A 1 ∂ 2A 3iα 2
+ ω − iω 2 = A A (8.22.19)
∂T2 ∂X2 2 ∂X1 2ω

Use (8.22.1) to replace the independent variables in the above equation with t and
x, we obtain

∂A ∂A 1  ∂ 2 A 3iε2 α 2
+ ω − iω = A A (8.22.20)
∂t ∂x 2 ∂x 2 2ω
From (8.22.11) and (8.22.14), we have

∂A ∂A 1  ∂ 2 A 3iε2 α 2
+ k + ik = A A (8.22.21)
∂x ∂t 2 ∂t 2 2k

where k  = dk/d ω and k  = d 2 k/d ω2 . Therefore, the first order traveling wave
solution of the Klein–Gordon equation is

U = a(x, t) exp[i(kx − ωt)] + cc + · · · (8.22.22)

(b) When ω is a real number, k is also a real number and the motion is a steady
state fluctuation by (8.22.22). For a given k, the amplitude of the fluctuation A is
independent of x and then (8.22.20) becomes

∂A 3iε2 α 2
= A A (8.22.23)
∂t 2ω
Let
1 iβ
A= ae (8.22.24)
2
and substitute (8.22.24) into (8.22.23), we can obtain

3iε2 α 3
ȧ + iaβ̇ = a (8.22.25)
8ω
Then

3ε2 α 2
ȧ = 0, β̇ = a (8.22.26)
8ω
therefore,

3ε2 α 2
a = a0 , β = a t + β0 (8.22.27)
8ω 0
8.22 Exercise 8.22 (The Method of Multiple Scales for Wave Group … 951

 2 
1 3ε α 2
A = a0 exp i a t + β0 (8.22.28)
2 8ω 0

Substituting (8.22.28) into (8.22.22) yields

u = a0 cos(kx − ω̂t + β0 ) + · · · (8.22.29)

where

3ε2 α 2
ω̂ = ω − a (8.22.30)
8ω 0

(c) In order to analyze the stability of steady state solution (8.22.29), we denote A as

1
A= a(x, t) exp[iβ(x, t)] (8.22.31)
2
Substituting (8.22.31) into (8.22.20) and then separating the real and imaginary
parts yields
 
∂a  ∂a  ∂β ∂a 1 ∂ 2β
+ω +ω + a 2 =0 (8.22.32)
∂t ∂x ∂x ∂x 2 ∂x
 2
∂β  ∂β 1  ∂ 2 a ∂β 3ε2 α 3
a + aω − ω − a − a =0 (8.22.33)
∂t ∂x 2 ∂x2 ∂x 8ω

We denote a and β as the superimposition of the steady state solution and the
perturbation:

a = a0 + a1 (x, t)
3ε2 α 2 (8.22.34)
β= a t + β0 + β1 (x, t)
8ω 0
Substituting (8.22.34) into (8.22.32) and (8.22.33), we can obtain the linearized
equation for the perturbation

∂a1 ∂a1 1 ∂ 2 β1
+ ω + ω a0 2 = 0
∂t ∂x 2 ∂x (8.22.35)
∂β1 ∂β 1 ∂ 2 a1 3 2 2
+ ω a0 − ω 2 −
1
a0 ε αa0 a1 = 0
∂t ∂x 2 ∂x 4ω
The solution to (8.22.35) is
952 8 Traveling Waves

a1 = a10 exp[i(Kx − t)]

(8.22.36)
β1 = β10 exp[i(Kx − t)]

Substituting (8.22.36) into (8.22.35) yields

  1
i ω K −  a10 − ω a0 K 2 β10 = 0
 2 
  (8.22.37)
1  2 3 2 2
ω K − ε αa0 a10 + ia0 ω K −  β10 = 0
2 4ω

From the non-trivial solution conditions for the system of Eq. (8.22.37), we have
 
 
2 1 2 4 3ε2 αa02
ωK − = ω K 1− (8.22.38)
4 2K 2 ωω

From (8.22.38), we can obtain:

(1) When α has the same sign as ω and 3ε2 αa02 > 2K 2 ωω ,  is a complex number
and a1 and β1 become unbounded.
(2) For any given real K and , when αω < 0,  is a real number, then a1 and β1
are bounded. Considering (8.22.18) and (8.22.9), we can obtain the sufficient
condition for a1 and β1 to be bounded is αγ > 0.
Readers are invited to complete the analyses on Exercise 8.22 (d) and (e).

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