Dynamics of the double-beam system under moving loads have been paid much attention due to its wide applications in reality from the analytical point of view but the previous studies are limited to the simply supported boundary condition. In this study, to understand the vibration mechanism of the system with various boundary conditions, the double-beam system consisted of two general beams with a variety of symmetric boundary conditions (fixed-fixed, pinned-pinned, fixed-pinned, pinned-fixed and fixed-free) under the action of a moving force is studied analytically. The closed-form frequencies and mode shapes of the system with various symmetric boundary conditions are presented by the Bernoulli-Fourier method and validated with Finite Element results. The analytical explicit solutions are derived by the Modal Superposition method, which are verified with numerical results and previous results in the literature. As found, each wavenumber of the double-beam system is corresponding to two sub-modes of the system and the two sub-modes associated with the first wavenumber of the system both contribute significantly to the vibration of the system under a moving force. The analytical solutions indicate that the mass ratio, the bending stiffness ratio, the stiffness ratio of contact springs and the speed ratio of the moving force are the factors influencing the vibrations of the system under a moving force. The relationships between these dimensionless parameters and the displacement ratio of the system are investigated and presented in the form of plots, which could be referred in the design of the double-beam system.
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