This paper deals with the effect of shear deformation and rotary inertia on the frequencies of flexural vibration of pre-twisted and non-pre-twisted uniform and tapered cantilever beams. The equations of motion are derived and transformed into a set of linear simultaneous algebraic equations by using finite-difference solutions for the derivatives. The resulting eigenvalue matrix equation is solved for the frequency parameters by a QR transformation. The effects of various tapers, depth-to-length ratios and pre-twist angles on the frequencies of vibration are investigated for the first five modes. Results obtained are compared with those presented by other investigators where available and show good agreement. The experimental results presented also show good agreement with the corresponding theoretical values.

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