Free planar vibration of structures composed of rigid bodies and elastic beam segments

This article presents free vibration analysis of structures composed of rigid bodies connected with elastic beam segments. It is assumed that the mass centers of rigid bodies are not located on the neutral axes of undeformed elastic beam segments as well as rigid bodies perform planar motion in the same plane and their mass centers are located in that plane. For determination of natural frequencies of the system, modification of the conventional continuous-mass transfer matrix method has been performed. The elastic beam segments are treated as Euler-Bernoulli beams. Numerical example is presented.