Hindawi Publishing Corporation

Advances in Acoustics and Vibration

Volume 2014, Article ID 410851, 14 pages
http://dx.doi.org/10.1155/2014/410851

Research Article
Vibration Analysis of Hollow Tapered Shaft Rotor
P. M. G. Bashir Asdaque and R. K. Behera
Department of Mechanical Engineering, National Institute of Technology Rourkela, Odisha 769008, India
Correspondence should be addressed to P. M. G. Bashir Asdaque; pmgbashir2001@gmail.com
Received 27 December 2013; Accepted 6 March 2014; Published 28 April 2014
Academic Editor: Abdelkrim Khelif
Copyright 2014 P. M. G. B. Asdaque and R. K. Behera. This is an open access article distributed under the Creative Commons
Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is
properly cited.
Shafts or circular cross-section beams are important parts of rotating systems and their geometries play important role in rotor
dynamics. Hollow tapered shaft rotors with uniform thickness and uniform bore are considered. Critical speeds or whirling
frequency conditions are computed using transfer matrix method and then the results were compared using finite element
method. For particular shaft lengths and rotating speeds, response of the hollow tapered shaft-rotor system is determined for the
establishment of dynamic characteristics. Nonrotating conditions are also considered and results obtained are plotted.

1. Introduction
Shaft is a major component of any rotating system, used to
transmit torque and rotation. Hence the study shaft-rotor
systems has been the concern of researchers for more than
a century and will continue to persist as an active area of
research and analysis in near future. Geometry of shaft is of
the main concern during the study of any rotating system.
Most papers related to shaft-rotor systems consider cylindrical shaft elements for study and analysis of rotating systems.
The first idea of transfer matrix method (TMM) was compiled by Holzer for finding natural frequencies of torsional
systems and later adapted by Myklestad [1, 2] for computing
natural frequencies of airplane wings, coupled in bending and
torsion. Gyroscopic moments were first introduced by Prohl
[3] for rotor-bearing system analysis. Lund [4] used complex
variables as the next significant advancement in the method.
An improved method for calculating critical speeds and rotor
stability of turbo machinery was investigated by Murphy and
Vance [5]. Whalley and Abdul-Ameer [6] used frequency
response analysis for particular profiled shafts to study
dynamic response of distributed-lumped shaft rotor system.
They studied the system behavior in terms of frequency
response for the shafts with diameters which are functions of
their lengths. They derived an analytical method which uses
Euler-Bernoulli beam theory in combination with TMM.
On the other hand, there are large numbers of numerical

applications of finite element techniques for the calculation

of whirling and the computation of maximum dynamic
magnitude. In this regard, Ruhl and Booker [7] modeled
the distributed parameter turbo rotor systems using finite
element method (FEM). Nelson and McVaugh [8] reduced
large number of eigenvalues and eigenvectors identified,
following finite element analysis, and the erroneous modes
of vibration predicted were eliminated. Nelson [9] again
formulated the equations of motion for a uniform rotating
shaft element using deformation shape functions developed
from Timoshenko beam theory including the effects of
translational and rotational inertia, gyroscopic moments,
bending and shear deformation, and axial load. Greenhill
et al. [10] derived equation of motion for a conical beam
finite element form Timoshenko beam theory and include
effects of translational and rotational inertia, gyroscopic
moments, bending and shear deformation, axial load, and
internal damping. Genta and Gugliotta [11] also analyzed
element with annular cross-section based on Timoshenko
beam theory having two degrees of freedom at each node.
Mohiuddin and Khulief [12] derived a finite element model
of a tapered rotating cracked shaft for modal analysis and
dynamic modeling of a rotor-bearing system, based on Timoshenko beam theory, that is, included shear deformation
and rotary inertia. Rouch and Kao [13] presented numerically
integrated formulation of a tapered beam element for rotor
dynamics.

Advances in Acoustics and Vibration

In this era of machines, tapered shafts are widely used for

rotating systems. Using the approach of Whalley and AbdulAmeer [6], the dynamic analysis of hollow tapered shaft-rotor
has been done. Later the results obtained were compared with
that obtained from finite element method. The effect of length
and speed on the dynamic analysis of the hollow tapered
shaft-rotor system is also clearly shown. Frequency response
of the rotor system for an impulse of unit force at the free
end is determined in terms of critical speeds for various rotor
speeds and shaft lengths.

2. Transfer Matrix Method

2.1. Shaft Model. The shaft model is derived in matrix form
Whalley and Abdul-Ameer [6] as
2 }
1 }
{
{
{
{
{ 2 }
}
{ 1 }
}
=

()
{
}
{
},
{
{
{2 }
}
{1 }
}
{ 2 }
{ 1 }

(1)

where

sin () + sinh ()
cos () + cosh ()
[
2
2 ()
[
[
[
(0) (sin () sinh ())

cos () + cosh ()
[
[
2
2
() = [
[
(0) (sin () sinh ())
(0) (cos () cosh ())
[
[
[
2 (0)
2 (0)
[
[ (0) (0) (sin () + sinh ()) (0) (cos () cosh ())
2 (0)

2 (0)

(0) (cos () cosh ())

(2)

(0) (sin () sinh ())

]
]
2 ()
2 (0) (0)
]
]
(0) (sin () + sinh ()) (0) (cos () cosh ()) ]
]
]
2 (0)
2 (0)
].
]
]
cos () + cosh ()
sin () + sinh ()
]
]
2
2 (0)
]
]
]
(0) (sin () sinh ())
cos () + cosh ()
]
2
2

The complete derivation is present in [6].

where
1
0 0
[ 0
1 0
() = [
[ 0 1
2
0 0
[

2.2. Rigid Disk. The output vector from the shaft will become
the input for the rigid disk model, as shown in Figure 1; that
is, for disk model, we have
3 () = 2 () ,

0
0]
].
0]
1]

(5)

Form transfer matrix method [6]

() = () () ,

3 () = 2 () ,
3 () = 2 () 2 () ,

(3)

where
11 12
],
21 22

3 () = 2 2 () + 2 () ,

() = [

where (3 (), 1 ()), (3 (), 1 ()), (3 (), 1 ()), and

(3 (), 1 ()) are the deflections, slopes, bending
moments, and shear forces at the free and fixed end,
respectively.
Hence, writing in matrix form, we have

and input-output vectors relationship is given by

(3 () , 3 () , 3 () , 3 ())

= () (2 () , 2 () , 2 () , 2 ()) ,

(4)

(6)

3
1
[ 3 ]
[ 1 ]
[
]
]
[
[ ] = () [ ] .
3
1
[ 3 ]
[ 1 ]

(7)

(8)

After applying the boundary conditions for cantilever beam,

deflection at the free end is obtained and hence leads to
transfer function.

Advances in Acoustics and Vibration

3
constant spin condition, the Lagrangian equation of motion
is given by

x + dx

y(t, x)

A(x)

y(t, x + dx)

([ ] + [ ]) { } [ ] { } + ([ ]) { } = { } ,
(12)
where

(t, x)

[ ] = () [] [] ,

my (t, x)
qy (t, x)

my (t, x + dx)

[ ] = () [] [] ,

qy (t, x + dx)

Shaft length

(13)

[ ] = () [ ] [ ] ,
0

Figure 1: Vibrating shaft element.

[ ] = () [ ] [ ] ,
0

3. Finite Element Method

[ ] = [ ] [ ] .

The vector of nodal displacements is given by

}
{
{
{ }
}
{} = { } .

{
{ }
}
{}

(9)

[] = [

So, each element is having eight degrees of freedom.

3.1. Rigid Disc. Rigid disk is having two translations and two
rotations in and direction, respectively (considering
coordinate in axial direction). For constant spin condition,
the Lagrangian equation of motion is given by
([ ] + [ ]) { } [ ] { } = { } ,

(10)

0
0
0
0

0
[0

[ ] = [
[0
[0

0
0
0
0

0
0

0
0]
],
0]
]

0
[0
[ ] = [
[0
[0

0
0
0
0

0 0
0 0 ]
].
0 ]
0 ]

1 0

2 3 0

0 1 2 0

0
0]
],
0]
0]

0 3 4 0

],

(14)

where
1 = 1 3

2
3
+2 3 ,
2

2 = 2

2 3
+ 2,

2
3
3 = 3 2 2 3 ,

where
0
[
0
[ ] = [
[0 0
[0 0

Except skew-symmetric gyroscopic matrix [ ], others are

symmetric matrices. Since the element is linearly tapered,
area and inertias are the function of the shaft-rotor length.
The translational shape function is given by

4 =

(15)

2 3
+ 2.

The rotational shape function is given by

(11)

The forcing term may include mass unbalance and other

external forces.
3.2. Finite Shaft-Rotor Element. The rotor-shaft element considered here has eight degrees of freedom, that is, four degrees
of freedom per node as in Nelson and McVaugh [8]. For

] = [ 0 1 2 0 0 3 4 0 ] .
[] = [
1 0
0 2 3 0
0 4
[ ]
(16)

The element matrices are assembled together to get the

equation of motion for the complete system.

4. Numerical Results
4.1. Rotating Condition. By using the transfer matrix
approach as in the paper of Whalley and Abdul-Ameer, we
will ultimately get the transfer function which will be plotted.
The FEM will be applied and then is compared with the
TMM approach of Whalley and Abdul-Ameer [6].

Advances in Acoustics and Vibration

Example 1. Let us consider a cantilever tubular shaft with

uniform thickness and a disc at the free end with downward
unit force, , on the disc as shown in Figure 2. The default
values of various parameters are tabulated in Table 1.
Transfer function for tubular shaft with constant thickness as shown in Figure 2 for default values is given by

1.344 + 1.016 104

.
+ 75642 + 8.401 105 + 1.589 109

(17)

Bode plots for different lengths and rotating speed have been
plotted using MATLAB software, as shown in Figures 3 and
4.
Applying FEM on the same system, we get mass, gyroscopic, and stiffness matrices. A finite hollow tapered shaft
element is shown in Figure 5.
11
[21
[
[31
[
[
= [ 41
[51
[
[ 61
[
71
[81

22
32
42
52
62
72
82

33
43
53
63
73
83

11 =

302 1
2

+ 100 +

1202

713

30 12

1212

Parameters
Length of the shaft rotor, (m)
Mass of the disk, (Kg)
Diameter of the disk, (m)
Youngs modulus of elasticity, (GPa)
Density of the material, (Kg/m3 )
Rotational speed, (rpm)
Thickness of the hollow shaft, (m)
Beginning radius, 0 (m)
End radius, 1 (m)

The stiffness matrix for hollow tapered shaft element with

uniform thickness is given by is given by

(18)

55
65 66
75 76 77
85 86 87 88 ]

60 1
2

+ 101 5 )

(10)1 ,
77 = (203 + 202 1 402 + 50 12 70 1

(5 ) ,
41 = (3003 + 1202 1 5102 + 60 12 180 1
+ 400 2 + 1213 2112 + 201 2 153 )
2 1

(10 ) ,
81 = (1203 + 602 1 2102 + 120 12 180 1
+ 200 2 + 3013 5112 + 401 2 153 )
2 1

(10 ) ,
33 = (1103 + 502 1 1902 + 20 12 70 1
+ 150 2 + 213 412 + 51 2 53 )
(5) ,

]
]
]
]
]
],
]
]
]
]

sym.

+ 100 2 + 813 1312 + 101 2 53 )

3 1

Values
0.1
0.7443
0.09
209
7800
10000
0.002
0.0050
0.0037

73 = (803 + 202 1 1302 + 20 12 40 1

where elements of the stiffness matrices are

3 (703

44
54
64
74
84

Table 1: Various parameters of the system shown in Figure 2 and

their default values.

+ 50 2 + 1113 1912 + 151 2 53 )

(5)1 ,
21 = 42 = 82 = 31 = 0,
43 = 53 = 83 = 64 = 74 = 0,
52 = 53 = 65 = 75 = 61 = 0,
65 = 86 = 71 = 87 = 0,
22 = 55 = 66 = 11 ,

51 = 62 = 11 ,

63 = 41 ,

32 = 54 = 41 ,

76 = 81 ,

72 = 85 = 81 ,

44 = 33 ,

84 = 73 .
(19)

Translational mass matrix is given by

Advances in Acoustics and Vibration

11
[21
[
[31
[
[
= [ 41
[51
[
[ 61
[
71
[81

22
32
42
52
62
72
82

33
43
53
63
73
83

44
54
64
74
84

where elements of translational mass matrix are given by

11 =

(200 + 61 13)
,
35

41 =

2 (150 + 71 11)
,
210

51 =

9 (0 + 1 )
,
70

81 =
33

73 =

2 (70 + 151 11)

,
210

77 =

3 (30 + 51 4)
,
420

43 = 53 = 83 = 64 = 74 = 0,

420

65 = 86 = 71 = 87 = 0,

22 = 55 = 66 = 11 ,

(2 (120 + 141 13))

420
140

76 =

52 = 53 = 75 = 61 = 0,

(2 (140 + 121 13))

(3 (0 + 1 ))

32 = 41 ,

63 = 54 ,

72 = 81 ,

44 = 33 ,

84 = 73 ,

85 = 76 .

Rotational mass matrix is given by

22
32
42
52
62
72
82

33
43
53
63
73
83

where elements of rotational mass matrix are given by

44
54
64
74
84

]
]
]
]
]
],
]
]
]
]

sym.

55
65 66
75 76 77
85 86 87 88 ]

51 = (32 (802 + 120 1 140

11 = 32 (802 + 120 1 140

+ 812 141 + 72 )
(70)1 ,
41 = 2 (802 + 60 1 + 2012

(280)1 ,

51 = 62 ,

(21)

11
[21
[
[31
[
[
= [ 41
[51
[
[ 61
[
71
[81

281 + 72 )

(20)

55
65 66
75 76 77
85 86 87 88 ]

21 = 42 = 82 = 31 = 0,

(50 + 31 4)
=
,
420

63 =

]
]
]
]
]
],
]
]
]
]

sym.

+ 812 141 + 72 ))
(70)1 ,
33 = 2 (1802 + 60 1 210
+ 412 71 + 72 )
(210)1 ,
63 = 2 (802 + 160 1 + 2012

(22)

Advances in Acoustics and Vibration

281 + 72 )

21 = 42 = 82 = 31 = 43 = 0,

(280) ,

53 = 83 = 64 = 74 = 0,

73 = (2 (1202 + 40 1 140
+ 1212

52 = 53 = 75 = 61 = 0,

141 + 7 ))

65 = 86 = 71 = 87 = 0,

(840) ,
2

76 =

(2002

22 = 55 = 66 = 11 ,

+ 160 1
812

280

+ 7 )

(280) ,
2

77 =

(402

32 = 41 ,

63 = 54 ,

81 = 76 ,

72 = 76 ,

84 = 73 ,

85 = 76 .

51 = 62 ,

44 = 33 ,

+ 60 1 70

(23)

+ 1812 211 + 72 )
(210)1 ,

Gyroscopic matrix is given by

11
[ 21
[
[ 31
[
[
= [ 41
[ 51
[
[ 61
[
71
[ 81

22
32
42
52
62
72
82

33
43
53
63
73
83

where the elements of the gyroscopic matrix are given by

44
54
64
74
84

]
]
]
]
]
],
]
]
]
]

skewsym.
55
65
75
85

66
76
86

(24)

77
87 88 ]

83 = (2 (1202 + 40 1 140
+ 1212 141 + 72 ))

21 = 32 (802 + 120 1 140

+ 812 141 + 72 )
1

(35l) ,
2

31 = (

(802

+ 160 1 +

2012

281 + 7 ))
1

(140) ,
2

71 = (

(2002

+ 160 1 280

+ 1812 211 + 72 )
(105)1 ,
52 = 65 = 21 ,

61 = 21 ,

82 = 71 ,

86 = 75 = 71 ,

75 = 83 ,
11 = 41 = 51 = 81 = 22 = 32 = 0,

(140)1 ,
43 = 2 (1802 + 60 1 210
+ 412 71 + 72 )
(105) ,

87 = 2 (402 + 60 1 70

42 = 53 = 64 = 31 ,

812 + 72 ))

(420)1 ,

62 = 72 = 33 = 63 = 0,
73 = 44 = 54 = 84 = 55 = 85 = 0,
66 = 76 = 77 = 88 = 0.
(25)

Advances in Acoustics and Vibration

Table 2: Various parameters of the system shown in Figure 9 and

their default values.

Bearings

Magnitude (dB)

Values
0.1
0.7443
0.09
209
7800
10000
0.001
0.0050
0.0037

80
100
120
140
101

102

103

102

103

0
45

Phase (deg)

Parameters
Length of the shaft rotor, (m)
Mass of the disk, (Kg)
Diameter of the disk, (m)
Youngs modulus of elasticity, (GPa)
Density of the material, (Kg/m3 )
Rotational speed, (rpm)
Inner radius of hollow shaft, (m)
Beginning radius, 0 (m)
End radius, 1 (m)

Bode diagram

60

90
135

Disk

180
101

Frequency (rad/s)
Ro

r(x)

L = 0.10 m
L = 0.15 m
L = 0.20 m

R1
D

Figure 3: Bode plot for different lengths with TMM.

x

Bode diagram

Figure 2: Hollow tapered shaft disc with uniform thickness.

Discretizing the tapered shaft into six elements as shown in

Figure 6 and then assembling, we get the assembled equation
of motion
[ ] { } [ ] { } + [ ] { } = { } .

Magnitude (dB)

70

75
80
85
90
95
100
0

where [ ] is the assembled mass matrix containing both the

translational and rotational mass matrices.
The assembled equation of motion is arranged in the first
order state vector form

45

[0]

[ ]

[ ]

[ ]

] {} + [

] {} = {} ,
[ ]

102.6

135

(27)

102.5

102.6
Frequency (rad/s)

{} = {

{0}

}.

{ }

(28)

The shaft rotor has been discretized into six elements of equal
length. Hence the order of assembled matrices, after applying
the fixed-free boundary condition, is 7 4 4 = 24.
MATLAB program is used to find the bode plot for
different values of shaft length and rotor speed as shown in
Figures 7 and 8 and are found to be in good agreement with
bode plots found using TMM as shown in Figures 3 and 4.
Example 2. Let us consider a cantilever hollow shaft with
uniform bore and a disc at the free end, as shown in Figure 9.
The values of various parameters are tabulated in Table 2.

102.7

7000 rpm
10000 rpm

1000 rpm
3000 rpm

where
{}
{} = { } ,
{}

102.7

90

180

[ ] [0]
[0]

Phase (deg)

(26)

102.5

Figure 4: Bode plot for various speeds with TMM.

R0

R1

Ri

Figure 5: Hollow tapered shaft finite element with uniform thickness.

Advances in Acoustics and Vibration

Bode diagram

R0

70

R1

Ri (x)
l1

l2

l4

l3

l5

Magnitude (dB)

l6

80
90
100
110
102.4

Figure 6: Discretized shaft element.

102.5

102.6

102.7

Bode diagram

60

Magnitude (dB)

Phase (deg)

80
100

Phase (deg)

135
102.5

102.6
Frequency (rad/s)

1000 rpm
3000 rpm

103

102

102.7

7000 rpm
10000 rpm

Figure 8: Bode plot for various rotor speeds (FEM).

0
45

The transfer function for hollow shaft with constant

thickness for default values is given by

90
135
180

90

180
102.4

120
140

45

102

1.344 + 1.217 104

.
3 + 90592 + 1.097 106 + 2.483 109

103
Frequency (rad/s)

The bode plots for different lengths and rotating speeds have
been plotted using MATLAB software, as shown in Figures 10
and 11.
Applying FEM in the same system, we get mass, gyroscopic, and stiffness matrices. A finite hollow tapered shaft
element with uniform bore is shown in Figure 12.
The stiffness matrix for hollow tapered shaft with uniform
bore is given by

L = 0.10 m
L = 0.15 m
L = 0.20 m

Figure 7: Bode plot for different shaft lengths (FEM).

11
[21
[
[31
[
[
= [ 41
[51
[
[ 61
[
71
[81

where elements of the stiffness matrices are

11 = 3 (1104 + 503 1 + 302 12
+ 50 13 + 1114 354 )
1

(353 ) ,
41 = (4704 + 2203 1 + 902 12

22
32
42
52
62
72
82

(29)

33
43
53
63
73
83

44
54
64
74
84

sym.

]
]
]
]
]
],
]
]
]
]

(30)

55
65 66
75 76 77
85 86 87 88 ]

+ 80 13 + 1914 105 4 )
1

(702 ) ,
81 = (1904 + 803 1 + 902 12
+ 220 13 + 4714 11054 )
1

(702 ) ,

Advances in Acoustics and Vibration

33 = (1704 + 903 1 + 402 12

21 = 42 = 82 = 31 = 0,
43 = 53 = 83 = 64 = 74 = 0,

+ 20 13 + 314 354 )

52 = 53 = 65 = 75 = 0,

(35)1 ,

61 = 65 = 86 = 71 = 87 = 0,

73 = (1304 + 403 1 + 02 12

22 = 55 = 66 = 11 ,

+ 40 13 + 1314 354 )
1

(70) ,
77 = (304 + 203 1 + 402 12

33 =
63 =
73 =

84 = 73 .

Translational mass matrix is given by

22
32
42
52
62
72
82

33
43
53
63
73
83

where elements of translational mass matrix are given by

81 =

76 = 81 ,

(31)

11
[21
[
[31
[
[
= [ 41
[51
[
[ 61
[
71
[81

51 =

32 = 54 = 41 ,

44 = 33 ,

(35)1 ,

41 =

63 = 41 ,

72 = 85 = 72 = 81 ,

+ 90 13 + 1714 354 )

11 =

51 = 62 = 11 ,

(14502 + 700 1 + 1912 2342 )

630
2 (6502 + 500 1 + 1712 1322 )
2520
(2302 + 350 1 + 2312 812 )
630

76 =

2 (1702 + 500 1 + 6512 1322 )

2520
3 (202 + 50 1 + 512 122 )
1260

53 = 83 = 64 = 74 = 0,
52 = 53 = 75 = 61 = 0,

65 = 86 = 71 = 87 = 0,
22 = 55 = 66 = 11 ,
,

(2 (1902 + 340 1 + 2512 782 ))

2520
(3 (502 + 80 1 + 512 182 ))
2520

(32)

21 = 42 = 82 = 31 = 43 = 0,

2520
1260

]
]
]
]
]
],
]
]
]
]

55
65 66
75 76 77
85 86 87 88 ]

77 =

(2 (2502 + 340 1 + 1912 782 ))

3 (502 + 50 1 + 212 122 )

44
54
64
74
84

sym.

51 = 62 ,

32 = 41 ,

72 = 81 ,

44 = 33 ,

84 = 73 ,

85 = 76 .

63 = 54 ,

(33)

Rotational mass matrix is given by

10

Advances in Acoustics and Vibration

Bearings

Disk
t(x)

Ri

Ro

R1

Figure 9: Hollow tapered shaft disc with uniform bore and vertically downward force on the disc.

11
[21
[
[31
[
[
= [ 41
[51
[
[ 61
[
71
[81

22
32
42
52
62
72
82

33
43
53
63
73
83

44
54
64
74
84

where the elements of the rotational mass matrix are given by

11 = (504 + 1003 1 + 1202 12 2402 2 + 100 13

360 1 2

514

2412 2

424 )

(140)1 ,

160 1 2 + 514 2012 2 + 144 )

51 = ( (504 + 1003 1 + 1202 12 2402 2

+ 100 13 360 1 2 + 514
+

424 ))

(140) ,
81 = (504 + 803 1 + 602 12 2002 2
160 1 2 514 +812 2 + 144 )
(560)1 ,

(34)

33 = (1504 + 503 1 + 302 12 3602 2

+ 30 13 120 1 2 +214 812 2 + 284 )
(840)1 ,
63 = (504 + 602 12 + 802 2 + 80 13

(560)1 ,
73 = ( (504 + 203 1 1202 2 + 20 13
40 1 2 + 514 1212 2 + 144 ))

(560)1 ,

55
65 66
75 76 77
85 86 87 88 ]

160 1 2 + 514 2012 2 + 144 )

41 = (504 + 602 12 + 802 2 + 80 13

2412 2

]
]
]
]
]
],
]
]
]
]

sym.

(1680)1 ,
76 = (504 + 803 1 + 602 12 2002 2
160 1 2 514 +812 2 + 144 )
(560)1 ,
77 = (204 + 303 1 + 302 12
802 2 + 50 13 120 1 2
+ 1514 3612 2 + 284 )
(840)1 ,

Advances in Acoustics and Vibration

11

21 = 42 = 82 = 31 = 43 ,

51 = 62 ,

= 53 = 83 = 64 = 74 = 0,

32 = 41 ,

63 = 54 ,

52 = 53 = 75 = 61 = 0,
65 = 86 = 71 = 87 = 0,

72 = 81 ,

44 = 33 ,

84 = 73 ,

85 = 76 .

22 = 55 = 66 = 11 ,

(35)
The gyroscopic matrix is given by

11
[ 21
[
[ 31
[
[
= [ 41
[ 51
[
[ 61
[
71
[ 81

22
32
42
52
62
72
82

33
43
53
63
73
83

44
54
64
74
84

21 = (504 + 1003 1 + 1202 12 2402 2 + 100 13

360 1 2 + 514 2412 2 + 424 )
(70)1 ,

2012 2

66
76
86

144 ))

(280) ,

77
87 88 ]

82 = 71 ,

86 = 75 = 71 ,

75 = 83 ,
32 = 62 = 72 = 33 = 63 = 0,
73 = 44 = 54 = 84 = 55 = 0,
85 = 66 = 76 = 77 = 88 = 0,

160 1 2 514 + 812 2 + 144 ))

(280)1 ,
43 = (1504 + 503 1 + 302 12 3602 2 + 30 13
120 1 2

+214

812 2

284 )

(420)1 ,
83 = ( (504 + 203 1 1202 2 + 20 13
40 1 2 + 514 1212 2 + 144 ))
(840)1 ,
87 = (204 + 303 1 + 302 12 802 2 + 50 13
120 1 2 + 1514 3612 2 + 284 )
(420)1 ,

61 = 21 ,

42 = 53 = 64 = 31 ,

(37)

71 = ( (504 + 803 1 + 602 12 2002 2

(36)

11 = 41 = 51 = 81 = 22 = 0,

31 = ( (504 + 602 12 + 802 2 + 80 13

514

55
65
75
85

52 = 65 = 21 ,

where the elements of the gyroscopic matrix are

160 1 2

]
]
]
]
]
],
]
]
]
]

skewsym.

As proceeded in Example 1, bode plots are obtained for

various shaft lengths and rotor speeds as shown in Figures
13 and 14 and are found to be in good agreement with bode
plots found using TMM as shown in Figures 10 and 11.
4.2. Nonrotating Conditions. Bode plot for nonrotating (1 or
2 rpm) tapered shaft-rotor system is slightly different from
rotating conditions in terms of amplitude. Hollow shaft with
uniform thickness is considered. Bode plots are obtained for
zero rpm as shown in Figure 15 with TMM.
Applying FEM, then for zero rpm we get the bode plot as
shown in Figure 16.

5. Conclusions
Shaft geometry plays one of the important roles in dynamic
characteristics of rotating systems. Vibration analysis with the
help of bode plots has been done for hollow tapered shaftrotor system. Both TMM and FEM have been used for the
purpose. The equation of motion for a tapered beam finite
element has been developed using Euler-Bernoulli beam

12

Advances in Acoustics and Vibration

Bode diagram

80
100
120
140
160
101

102

103

80
100
120
140

104

45
90
135
180
101

103

103
102
Frequency (rad/s)

102

103

45
90
135
180

104

Frequency (rad/s)

L = 0.10 m
L = 0.15 m
L = 0.20 m

L = 0.10 m
L = 0.15 m
L = 0.20 m

Figure 10: Bode plot for changing length for hollow tapered shaft
rotor with uniform bore.

Figure 13: Bode plot for different shaft lengths (FEM).

Bode diagram
Magnitude (dB)

80
90
100
110

102.5

102.6

102.7

70

80
90
100
110

102.8

45

45

Phase (deg)

90
135
180

102.5

102.6
102.7
Frequency (rad/s)

1000 rpm
3000 rpm

102.8

7000 rpm
10000 rpm

t(x)
R1
Ri
x

Figure 12: Hollow tapered shaft finite element with uniform bore.

102.7

102.8

102.7
Frequency (rad/s)

102.8

90
135
180

1000 rpm
3000 rpm

Figure 11: Bode plot for different speeds for hollow tapered shaft
rotor with uniform bore.

R0

Bode diagram

60

70

Magnitude (dB)

102

00
Phase (deg)

Phase (deg)

Phase (deg)

Bode diagram

60

Magnitude (dB)

Magnitude (dB)

60

7000 rpm
10000 rpm

Figure 14: Bode plot for different rotating speeds (FEM).

theory. Mass, stiffness, and gyroscopic matrices are found

and values of all these elements are stated in a systematic
manner for ease of understanding. The results obtained from
both methods are compared and are found to be in good
agreement. However, the above procedures show that the
method of TMM is simpler in calculations. Two types of
hollow tapered shafts have been analyzed, that is, one with
uniform thickness and another with uniform bore.
The length of the shaft is a vital parameter that affects
the frequency response of the shaft-rotor system. As shown

Advances in Acoustics and Vibration

Bode diagram

50

Magnitude (dB)

13

0
50
100
150

102.5

102.6

102.7

102.8

102.9

speed of the shaft decreases thereby giving larger amplitude of

vibration. Nonrotating conditions are also shown in Figures
15 and 16 as bode plots which show that any rotating system
at a very low speed vibrates with high amplitudes due to lack
of gyroscopic couple.
Effects of bearing may be included in the problem. Geared
systems and other rotary elements can be mounted instead of
discs and further calculations can be made. Multidiscs and
other complex problems can be solved using these methods.

Phase (deg)

Notations

45
90
135
180

102.5

102.6

102.7
102.8
Frequency (rad/s)

102.9

Zero rpm

Figure 15: Bode plot at zero rpm with TMM for uniform thickness
hollow tapered shaft-rotor system.
Bode diagram

Magnitude (dB)

50

0
50
100
150
102.5

102.6

102.7

102.8

102.9

102.6

102.7

102.8

102.9

Phase (deg)

0
45
90
135
180
102.5

Frequency (rad/s)
Zero rpm

Figure 16: Bode plot at zero rpm with FEM for uniform thickness
hollow tapered shaft-rotor system.

in Figures 3, 7, 10, and 13 there is increase in amplitude of

vibration for increased value of shaft length, while reducing
the whirling speed of shaft. The system exhibits this behaviour
due to the bending effect of the shaft and stiffness change. For
changing lengths, there are large differences in frequencies
even for small increase in lengths. Bode plots obtained in
Figures 4, 8, 11, and 14 show that rotating speeds have
very little effect on the critical frequencies; however with
increasing speed, the amplitude is lowered due to gyroscopic
couple. The phase angle changes abruptly for lower value
of shaft speeds than higher speeds. This is due to the fact
that there is reduction in gyroscopic couple as the rotational

():
():
:
:
():
(, ):
(, ):
(, ):
(, ):
():
:
:
:
():
:
():
:
0 :
:
1 :
:
[ ]:
[ ]:
[ ]:
[ ]:
[ ]:
[ ]:
[ ]:
{ }:
():
():
():
:
[]:
[]:

Compliance per unit of length (function)

Inertia per unit of length (function)
Length of shaft
Modulus of elasticity
System model matrix
Bending moment in - plane (function)
Shear force (function)
Vertical deflection of shaft (function)
Slope of the shaft (function)
Mass moment of inertia (function)
Material density
Shaft polar moment of inertia
Whirling frequency
Wave propagation factor (function)
Shaft-rotor rotational speed
Rigid rotor model matrix
Polar moment of inertia of disc
Beginning radius of the shaft element
Inner radius of the shaft element
End radius of the shaft element
Mass of the disc attached at free end
Translational mass matrix for disc
Rotational mass matrix for disc
Gyroscopic matrix for disc
Translational mass matrix
Rotational mass matrix
Gyroscopic matrix for element
Stiffness matrix for shaft element
External force matrix
Cross-sectional area (function)
Diametral inertia (function)
Polar inertia (function)
Rotational speed in rad/s
Translational shape function matrix
Rotational shape function matrix.

Conflict of Interests
The authors declare that there is no conflict of interests
regarding the publication of this paper.

References
[1] N. O. Myklestad, A new method for calculating natural modes
of uncoupled bending vibration of airplane wings, Journal of
the Aeronautical Sciences, vol. 11, no. 2, pp. 153162, 1944.

14
[2] N. O. Myklestad, New method of calculating natural modes
of coupled bending-torsion vibration of beams, Transactions of
the ASME, vol. 67, no. 1, pp. 6167, 1945.
[3] M. A. Prohl, A general method for calculating critical speeds
of flexible rotors, Transactions of the ASME, Journal of Applied
Mechanics, vol. 66, pp. A-142A-148, 1945.
[4] J. W. Lund, Stability and damped critical speeds of a flexible
rotor in fluid-film bearings, Transactions of the ASME, Journal
of Engineering for Industry Series B, vol. 96, no. 2, pp. 509517,
1974.
[5] B. T. Murphy and J. M. Vance, An improved method for
calculating critical speeds and rotor dynamic stability of turbo
machinery, Transactions of the ASME, Journal of Engineering
for Power, vol. 105, no. 3, pp. 591595, 1983.
[6] R. Whalley and A. Abdul-Ameer, Whirling prediction with
geometrical shaft profiling, Applied Mathematical Modelling,
vol. 33, no. 7, pp. 31663177, 2009.
[7] R. L. Ruhl and J. F. Booker, A finite element model for distributed parameter turborotor systems, Journal of Engineering
for Industry, vol. 94, no. 1, pp. 126132, 1972.
[8] H. D. Nelson and J. M. McVaugh, The dynamics of rotorbearing systems using finite elements, Transactions of the
ASME, Journal of Engineering, vol. 98, no. 2, pp. 593600, 1976.
[9] H. D. Nelson, A finite rotating shaft element using timoshenko
beam theory, Journal of Mechanical Design, vol. 102, no. 4, pp.
793803, 1980.
[10] L. M. Greenhill, W. B. Bickford, and H. D. Nelson, A conical
beam finite element for rotor dynamics analysis, Journal of
Vibration, Acoustics, Stress, and Reliability in Design, vol. 107, no.
4, pp. 421430, 1985.
[11] G. Genta and A. Gugliotta, A conical element for finite element
rotor dynamics, Journal of Sound and Vibration, vol. 120, no. 1,
pp. 175182, 1988.
[12] M. A. Mohiuddin and Y. A. Khulief, Modal characteristics of
cracked rotors using a conical shaft finite element, Computer
Methods in Applied Mechanics and Engineering, vol. 162, no. 1
4, pp. 223247, 1998.
[13] K. E. Rouch and J.-S. Kao, A tapered beam finite element for
rotor dynamics analysis, Journal of Sound and Vibration, vol.
66, no. 1, pp. 119140, 1979.

Advances in Acoustics and Vibration

International Journal of

Rotating
Machinery

The Scientific
World Journal
Hindawi Publishing Corporation
http://www.hindawi.com

Volume 2014

Engineering
Journal of

Hindawi Publishing Corporation

http://www.hindawi.com

Volume 2014

Hindawi Publishing Corporation

http://www.hindawi.com

Volume 2014

Advances in

Mechanical
Engineering

Journal of

Sensors
Hindawi Publishing Corporation
http://www.hindawi.com

Volume 2014

International Journal of

Distributed
Sensor Networks
Hindawi Publishing Corporation
http://www.hindawi.com

Hindawi Publishing Corporation

http://www.hindawi.com

Volume 2014

Advances in

Civil Engineering
Hindawi Publishing Corporation
http://www.hindawi.com

Volume 2014

Volume 2014

Submit your manuscripts at

http://www.hindawi.com

Advances in
OptoElectronics

Journal of

Robotics
Hindawi Publishing Corporation
http://www.hindawi.com

Hindawi Publishing Corporation

http://www.hindawi.com

Volume 2014

Volume 2014

VLSI Design

Modelling &
Simulation
in Engineering

International Journal of

Navigation and
Observation

International Journal of

Chemical Engineering
Hindawi Publishing Corporation
http://www.hindawi.com

Volume 2014

Hindawi Publishing Corporation

http://www.hindawi.com

Hindawi Publishing Corporation

http://www.hindawi.com

Volume 2014

Hindawi Publishing Corporation

http://www.hindawi.com

Advances in

Acoustics and Vibration

Volume 2014

Hindawi Publishing Corporation

http://www.hindawi.com

Volume 2014

Volume 2014

Journal of

Control Science
and Engineering

Active and Passive

Electronic Components
Hindawi Publishing Corporation
http://www.hindawi.com

Volume 2014

International Journal of

Journal of

Antennas and
Propagation
Hindawi Publishing Corporation
http://www.hindawi.com

Shock and Vibration

Volume 2014

Hindawi Publishing Corporation

http://www.hindawi.com

Volume 2014

Hindawi Publishing Corporation

http://www.hindawi.com

Volume 2014

Electrical and Computer

Engineering
Hindawi Publishing Corporation
http://www.hindawi.com

Volume 2014