The present paper is concerned with the free vibration analysis of double-walled carbon nanotubes embedded in an elastic medium and based on Eringen's nonlocal elasticity theory. The effects of the transverse shear deformation and rotary inertia are included according to the Timoshenko beam theory. The governing equations of motion which are coupled with each other via the van der Waals interlayer forces have been derived using Hamilton's principle. The thermal effect is also incorporated into

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... he formulation. Using the statically exact beam element with displacement fields based on the first order shear deformation theory, the finite element method is employed to discretize the coupled governing equations which are then solved to find the natural frequencies. The effects of the small scale parameter, boundary conditions, thermal effect, changes in material constant of the surrounding elastic medium, and geometric parameters on the vibration characteristics are investigated. Furthermore, our analysis includes nonlocal double-walled carbon nanotubes with different boundary conditions between inner and outer tubes which seem to be scarcely considered in the literature, and the corresponding given results for this case can be considered as a benchmark for further studies. Comparison of the present numerical results with those from the open literature shows an excellent agreement.