This contribution (see also the editor version) proposes a numerical procedure capable of performing nonsmooth modal analysis (mode shapes and corresponding frequencies) of the autonomous wave equation defined on a finite one-dimensional domain with one end subject to a Dirichlet condition and the other end subject to a frictionless time-independent unilateral contact condition. Nonsmooth modes of vibration are defined as one-parameter continuous families of nonsmooth periodic orbits satisfying the local equation together with the linear and nonlinear boundary conditions. The analysis is performed using the wave finite element method, which is a shock-capturing finite volume method. As opposed to the traditional finite element method with time-stepping schemes, potentially discontinuous deformation, stress and velocity wave fronts induced by the unilateral contact condition are here accurately described, which is critical for seeking periodic orbits. Additionally, the proposed strategy introduces neither numerical dispersion nor artificial dissipation of energy, as required for modal analysis. As a consequence of the mixed time–space discretization, no impact law is needed for the well-posedness of the problem in line with the continuous framework. The frequency–energy dependency nonlinear spectrum of vibration, shown in the form of backbone curves, provides valuable insight on the dynamics. In contrast to the linear system (without the unilateral contact condition) whose modes of vibration are standing harmonic waves, the nonsmooth modes of vibrations are traveling waves stemming from the unilateral contact condition. It is also shown that the vibratory resonances of the periodically driven system with light structural damping are well predicted by nonsmooth modal analysis. Furthermore, the initially unstressed and prestressed configurations exhibit stiffening and softening behaviors, respectively, as expected.

Nonsmooth mode of vibration corresponding to the first main backbone curve


Nonsmooth mode of vibration corresponding to the second main backbone curve


Nonsmooth mode of vibration corresponding to a subharmonic backbone curve


Nonsmooth mode of vibration with internal resonance