Duke University

Department of Civil and Environmental Engineering

CEE 541. Structural Dynamics
Fall 2012
Henri P. Gavin
STRUCTURAL ELEMENT
STIFFNESS MATRICES AND MASS MATRICES
1 Preliminaries
This document describes the formulation of stiness and mass matrices for structural elements
such as truss bars, beams, plates, and cables(?). The formulation of each element involves the
determination of gradients of potential and kinetic energy functions with respect to a set of
coordinates dening the displacements at the ends, or nodes, of the elements. The potential
and kinetic energy of the functions are therefore written in terms of these nodal displacements
(i.e., generalized coordinates). To do so, the distribution of strains and velocities within the
element must be written in terms of nodal coordinates as well. Both of these distributions
may be derived from the distribution of internal displacements within the solid element.
1.1 Displacements
Figure 1. Displacements within a solid continuum.
A component of a time-dependent displacement u
i
(x, t), (i = 1, , 3) in a solid continuum
can be expressed in terms of the displacements of a set of nodal displacements, u
n
(t) (n =
1, , N) and a corresponding set of shape functions
in
.
u
i
(x, t) =
N

n=1

in
(x
1
, x
2
, x
3
) u
n
(t) (1)
=
i
(x) u(t) (2)
u(x, t) = [(x)]
3N
u(t) (3)
2 CEE 541. Structural Dynamics Duke University Fall 2012 H.P. Gavin
Engineering strain, axial strain
ii
, shear strain
ij
.

ii
(x, t) =
u
i
(x, t)
x
i
(4)

ij
(x, t) =
u
i
(x, t)
x
j
+
u
j
(x, t)
x
i
(5)
(6)
Displacement gradient
u
i
(x)
x
j
=
N

n=1

x
j

in
(x
1
, x
2
, x
3
) u
n
(t) (7)
u
i,j
(x) =
N

n=1

in,j
(x) u
n
(t) (8)
Strain-displacement relations

ii
(x, t) =
N

n=1

in,i
(x) u
n
(t) (9)

ij
(x, t) =
N

n=1
(
in,j
(x) +
jn,i
(x)) u
n
(t) (10)
Strain vector

T
(x, t) = {
11

22

33

12

23

13
} (11)
(x, t) = [ B(x) ]
6N
u(t) (12)
Stress vector

T
(x, t) = {
11

22

33

12

23

13
} (13)
Stress-strain relationship (isotropic elastic solid)
_

11

22

33

12

23

13
_

_
=
E
(1 + )(1 2)
_

_
1
1
1
12
2
12
2
12
2
_

_
_

11

22

33

12

23

13
_

_
(14)
= [ S(E, ) ]
66
(15)
Structural Element Stiness Matrices and Mass Matrices 3
1.2 Potential Energy and Stiness
Consider a system comprising an assemblage of linear springs, with stiness k
i
, each with an
individual stretch, d
i
. The total potential energy in the assemblage is
V =
1
2

i
k
i
d
2
i
If displacements of the assemblage of springs is denoted by a vector u, not necessarily equal
to the stretches in each spring, then the elastic potential energy may also be written
V (u) =
1
2
u
T
Ku
=
1
2
n

i=1
u
i
f
i
=
1
2
n

i=1
u
i
n

j=1
K
ij
u
j
where K is the stiness matrix with respect to the coordinates u. The stiness matrix K
relates the elastic forces f
i
to the collocated displacements, u
i
.
f
1
= K
11
u
1
+ + K
1j
u
j
+ + K
1N
u
N
f
i
= K
i1
u
1
+ + K
ij
u
j
+ + K
iN
u
N
f
N
= K
N1
u
1
+ + K
Nj
u
j
+ + K
NN
u
N
A point force f
i
acting on an elastic body is the gradient of the elastic potential energy V
with respect to the collocated displacement u
i
f
i
=

u
i
V
The i, j term of the stiness matrix may therefore be found from the potential energy function
V (u),
K
ij
=

u
i

u
j
V (u) (16)
1.3 Strain Energy and Stiness in Linear Elastic Continua
V ( u) =
1
2
_

(x, t)
T
(x, t) d (17)
=
1
2
_

(x, t)
T
S(E, ) (x, t) d
=
1
2
_

u(t)
T
B(x)
T
S(E, ) B(x) u(t) d
=
1
2
u(t)
T
_

_
B(x)
T
S(E, ) B(x)
_
NN
d u(t) (18)
4 CEE 541. Structural Dynamics Duke University Fall 2012 H.P. Gavin
Elastic element stiness matrix

f
E
=
V
u
=

K
E
u

K
E
=
_

_
B(x)
T
S(E, ) B(x)
_
NN
d (19)
1.4 Geometric Strain
Figure 2. Axial strain due to transverse displacement.
x: axial deformation due to transverse displacement du
y
without displacement in the x
direction (du
x
= 0).
(dx + x)
_
cos
_
arctan
_
du
y
dx
___
= dx (20)
_
1 +
x
dx
__
cos
_
arctan
_
du
y
dx
___
= 1 (21)
x
dx
= csc
_
arctan
_
du
y
dx
__
1 (22)

xx
=
x
dx

1
2
_
du
y
dx
_
2
(23)
The approximation is accurate to within -0.01% for du
y
/dx < 0.01, -1.0% for du
y
/dx < 0.20,
and to within -0.1% for du
y
/dx < 0.07.
Large deection strain-displacement equations:

ii
=
u
i
x
i
+
1
2
_
u
j
x
i
_
2
+
1
2
_
u
k
x
i
_
2
(24)
= u
i,i
+
1
2
u
2
j,i
+
1
2
u
2
k,i
(25)

ij
=
u
i
x
j
+
u
j
x
i
+
u
i
x
j
u
j
x
j
+
u
j
x
i
u
i
x
i
(26)
= u
i,j
+ u
j,i
+ u
i,j
u
j,j
+ u
j,i
u
i,i
(27)
Structural Element Stiness Matrices and Mass Matrices 5
1.5 Kinetic Energy and Mass
The impulse-momentum relationship states that
_
f dt = (m u)
f =
d
dt
(m u)
f =
d
dt
_

u
1
2
m u
2
_
f =
d
dt
_

u
T
_
,
where T is the kinetic energy.
Consider a system comprising an assemblage of point masses, m
i
, each with an individual
velocity, v
i
. The total kinetic energy in the assemblage is
T =
1
2

i
m
i
v
2
i
If displacements of the assemblage of masses are dened by a generalized coordinate vector
u, not necessarily equal to the velocity coordinates, above, then the kinetic energy may also
be written
T( u) =
1
2
u
T
M u
=
1
2
n

i=1
u
i
n

j=1
M
ij
u
j
where M is the constant mass matrix with respect to the generalized coordinates u. The
mass matrix M relates the inertial forces f
i
to the collocated accelerations, u
i
.
f
1
= M
11
u
1
+ + M
1j
u
j
+ + M
1N
u
N
f
i
= M
i1
u
1
+ + M
ij
u
j
+ + M
iN
u
N
f
N
= M
N1
u
1
+ + M
Nj
u
j
+ + M
NN
u
N
The i, j term of the constant mass matrix may therefore be found from the kinetic energy
function T,
M
ij
=

u
i

u
j
T( u) =

u
i

u
j
T( u) (28)
6 CEE 541. Structural Dynamics Duke University Fall 2012 H.P. Gavin
1.6 Inertial Energy and Mass in Deforming Continua
T( u,

u) =
1
2
_

| u(x, t)|
2
d (29)
=
1
2
_

u(x, t)
T
u(x, t) d
=
1
2
_

u(t)
T
(x)
T
(x)

u(t) d
=
1
2

u(t)
T
_

_
(x)
T
(x)
_
NN
d

u(t) (30)
Consistent mass matrix
T
u
= 0 (31)
T

u
=
_

_
(x)
T
(x)
_
NN
d

u(t) (32)

f
I
=
d
dt
_
T

u
_
=
_

_
(x)
T
(x)
_
NN
d

u(t) (33)

M =
_

_
(x)
T
(x)
_
NN
d (34)
2 Bar Element Matrices
2D prismatic homogeneous isotropic truss bar.
Uniform uni-axial stress
T
= {
xx
, 0, 0, 0, 0, 0}
T
Corresponding uni-axial strain
T
= (
xx
/E) {1, , , 0, 0, 0}
T
.
Incremental strain energy dV =
1
2

T
d =
1
2

xx

xx
d =
1
2
E
2
xx
d
2.1 Bar Displacements
Figure 3. Truss bar element coordinates and displacements.
Structural Element Stiness Matrices and Mass Matrices 7
u
x
(x, t) =
_
1
x
L
_
u
1
(t) +
_
x
L
_
u
3
(t) (35)
=
x1
(x) u
1
(t) +
x3
(x) u
3
(t) (36)
u
y
(x, t) =
_
1
x
L
_
u
2
(t) +
_
x
L
_
u
4
(t) (37)
=
y2
(x) u
2
(t) +
y4
(x) u
4
(t) (38)
(x) =
_
1
x
L
0
x
L
0
0 1
x
L
0
x
L
_
(39)
_
u
x
(x, t)
u
y
(x, t)
_
= (x) u(t) (40)
2.2 Bar Strain Energy and Elastic Stiness Matrix
Strain-displacement relation

xx
=
u
x
x
+
1
2
_
u
y
x
_
2
(41)
=
x1,x
u
1
+
x3,x
u
3
+
1
2
{
y2,x
+
y4,x
}
2
(42)
=
_

1
L
_
u
1
+
_
1
L
_
u
3
+
1
2
__

1
L
_
u
2
+
_
1
L
_
u
4
_
2
(43)
=
_

1
L
0
1
L
0
_
u +
1
2
__

1
L
_
u
2
+
_
1
L
_
u
4
_
2
(44)
= B u +
1
2
__

1
L
_
u
2
+
_
1
L
_
u
4
_
2
(45)
B =
_

1
L
0
1
L
0
_
. (46)
Strain energy and elastic stiness
V =
1
2
_

xx
E
xx
d (47)

K
E
=
_
L
x=0
_
B
T
E B
_
Adx (48)
= EA
_
L
x=0
_

_
1/L
2
0 1/L
2
0
0 0 0 0
1/L
2
0 1/L
2
0
0 0 0 0
_

_
dx (49)
=
EA
L
_

_
1 0 1 0
0 0 0 0
1 0 1 0
0 0 0 0
_

_
(50)
8 CEE 541. Structural Dynamics Duke University Fall 2012 H.P. Gavin
2.3 Bar Kinetic Energy and Mass Matrix
T =

u
T
_

_
(x)
T
(x)
_
NN
d

u(t) (51)

M =
_
L
x=0

_
(x)
T
(x)
_
Adx (52)
= A
_
L
x=0
_

_
(1
x
L
)
2
0 (1
x
L
)(
x
L
) 0
0 (1
x
L
)
2
0 (1
x
L
)(
x
L
)
(
x
L
)(1
x
L
) 0 (
x
L
)
2
0
0 (
x
L
)(1
x
L
) 0 (
x
L
)
2
_

_
dx (53)
=
1
6
AL
_

_
2 0 1 0
0 2 0 1
1 0 2 0
0 1 0 2
_

_
(54)
2.4 Bar Stiness Matrix with Geometric Strain Eects
V =
1
2
_
L
0

xx
E
xx
Adx (55)
=
EA
2
_
L
0
_
_
u
x
x
+
1
2
_
u
y
x
_
2
_
_
2
dx (56)
=
EA
2
_
L
0
_
_
_
u
x
x
_
2
+
u
x
x
_
u
y
x
_
2
+
1
4
_
u
y
x
_
4
_
_
dx (57)
Substitute
u
x
x
=
1
L
u
1
+
1
L
u
3
(58)
u
y
x
=
1
L
u
2
+
1
L
u
4
(59)
to obtain
V =
EA
2L
_
( u
3
u
1
)
2
+
1
L
( u
3
u
1
)( u
4
u
2
)
2
_
(60)
So,
V
u
=
EA
L
_

_
1 0 1 0
0 0 0 0
1 0 1 0
0 0 0 0
_

_
_

_
u
1
u
2
u
3
u
4
_

_
+
EA( u
3
u
1
)
L
2
_

_
0 0 0 0
0 1 0 1
0 0 0 0
0 1 0 1
_

_
_

_
u
1
u
2
u
3
u
4
_

_
(61)
=

K
E
u +
N
L

K
G
u (62)
Structural Element Stiness Matrices and Mass Matrices 9
3 Bernoulli-Euler Beam Element Matrices
2D prismatic homogeneous isotropic beam element, neglecting shear deformation and rotatory
inertia.
3.1 Bernoulli-Euler Beam Coordinates and Internal Displacements
Consider the geometry of a deformed beam. The functions u
x
(x) and u
y
(x) describe the
translation of points along the neutral axis of the beam as a function of the location along
the un-stretched neutral axis.
Figure 4. Beam element coordinates and displacements.
We will describe the deformation of the beam as a function of the end displacements ( u
1
, u
2
, u
4
, u
5
)
and the end rotations ( u
3
, u
6
). In a dynamic context, these end displacements will change
with time.
u
x
(x, t) =
6

n=1

xn
(x) u
n
(t)
u
y
(x, t) =
6

n=1

yn
(x) u
n
(t)
The functions
xn
(x) and
yn
(x) satisfy the boundary conditions at the end of the beam and
the dierential equation describing bending of a Bernoulli-Euler beam loaded statically at
the nodal coordinates. In such beams the eects of shear deformation and rotatory inertia
are neglected. For extension of the neutral axis,

x1
(x) = 1
x
L

x4
(x) =
x
L
10 CEE 541. Structural Dynamics Duke University Fall 2012 H.P. Gavin
and
x2
=
x3
=
x5
=
x6
= 0 along the neutral axis. For bending of the neutral axis,

y2
(x) = 1 3
_
x
L
_
2
+ 2
_
x
L
_
3

y3
(x) =
_
x
L
2
_
x
L
_
2
+
_
x
L
_
3
_
L

y5
(x) = 3
_
x
L
_
2
2
_
x
L
_
3

y6
(x) =
_

_
x
L
_
2
+
_
x
L
_
3
_
L
and
y1
=
y4
= 0.
(x) =
_
1
x
L
0 0
x
L
0 0
0 1 3
_
x
L
_
2
+ 2
_
x
L
_
3
_
x
L
2
_
x
L
_
2
+
_
x
L
_
3
_
L 0 3
_
x
L
_
2
2
_
x
L
_
3
_

_
x
L
_
2
+
_
x
L
_
3
_
L
_
(63)
_
u
x
(x, t)
u
y
(x, t)
_
= (x) u(t) (64)
These expressions are analytical solutions for the displacements of Bernoulli-Euler beams
loaded only with concentrated point loads and concentrated point moments at their ends.
Internal bending moments are linear within beams loaded only at their ends, and the beam
displacements may be expressed with cubic polynomials.
3.2 Bernoulli-Euler Beam Strain Energy and Elastic Stiness Matrix
In extension, the elastic potential energy in a beam is the strain energy related to the uni-
form extensional strain,
xx
. If the strain is small, then the extensional strain within the
cross section is equal to an extension of the neutral axis, (u
x
/x), plus the bending strain,
(
2
u
y
/x
2
)y.

xx
=
u
x
x


2
u
y
x
2
y
=
6

n=1

xn
(x) u
n

6

n=1

2
x
2

yn
(x) y u
n
(65)
=
6

n=1

xn
(x) u
n

6

n=1

yn
(x) y u
n
=
6

n=1
B
n
(x, y) u
n
= B(x, y) u (66)
where
B(x, y) =
_

1
L
,
6y
L
2

12xy
L
3
,
4y
L

6xy
L
3
,
1
L
,
6y
L
2
+
12xy
L
3
,
2y
L

6xy
L
2
_
. (67)
Structural Element Stiness Matrices and Mass Matrices 11
The elastic stiness matrix can be found directly from the strain energy of axial strains
xx
.
V =
1
2
_

xx
E
xx
d (68)

K
E
=
_
L
x=0
_
A
_
B(x, y)
T
E B(x, y)
_
dA dx. (69)
Note that this integral involves terms such as
_
A
y
2
dA and
_
A
ydA in which the origin of the
coordinate axis is placed at the centroid of the section. The integral
_
A
y
2
dA is the bending
moment of inertia for the cross section, I, and the integral
_
A
ydA is zero.
It is also important to recognize that the elastic strain energy may be evaluated separately
for extension eects and bending eects. For extension, the elastic strain energy is
V =
1
2
_
L
x=0
EA (
xx
)
2
dx
=
1
2
_
L
x=0
EA
_
6

n=1

xn
(x) u
n
_
2
dx
and the ij stiness coecient (for indices 1 and 4) is

K
ij
=

u
i

u
j
1
2
_
L
x=0
EA
_
6

n=1

xn
(x) u
n
_
2
dx
=
_
L
x=0
EA

xi
(x)

xj
(x) dx. (70)
In bending, the elastic potential energy in a Bernoulli-Euler beam is the strain energy related
to the curvature,
z
.

z
=

2
u
y
x
2
=
6

n=1

2
x
2

yn
(x) u
n
=
6

n=1

yn
(x) u
n
The elastic strain energy for pure bending is
V =
1
2
_
L
x=0
EI (
z
)
2
dx
=
1
2
_
L
x=0
EI
_
6

n=1

yn
(x) u
n
_
2
dx
and the ij stiness coecient (for indices 2,3,5 and 6) is

K
ij
=

u
i

u
j
1
2
_
L
x=0
EI
_
6

n=1

yn
(x) u
n
_
2
dx
=
_
L
x=0
EI

yi
(x)

yj
(x) dx. (71)
12 CEE 541. Structural Dynamics Duke University Fall 2012 H.P. Gavin
3.3 Bernoulli-Euler Beam Kinetic Energy and Mass Matrix
The kinetic energy of a particle within a beam is half the mass of the particle, Adx, times
its velocity, u, squared. For velocities along the direction of the neutral axis,
u
x
(x) =
6

n=1

xn
(x)

u
n
,
The kinetic energy function and the mass matrix may be by substituting equation (63) into
equations (30) and (34).
T =

u
T
_

_
(x)
T
(x)
_
NN
d

u(t) (72)

M =
_
L
x=0

_
(x)
T
(x)
_
Adx (73)
It is important to recognize that kinetic energy and mass associated with extensional velocities
may be determined separately from those associated with transverse velocities. The kinetic
energy for extension of the neutral axis is
T =
1
2
_
L
x=0
A ( u
x
)
2
dx
=
1
2
_
L
x=0
A
_
6

n=1

xn
(x)

u
n
_
2
dx
and the ij mass coecient (for indices 1 and 4) is

M
ij
=

u
i

u
j
1
2
_
L
x=0
A
_
6

n=1

xn
(x)

u
n
_
2
dx
=
_
L
x=0
A
xi
(x)
xj
(x) dx. (74)
For velocities transverse to the neutral axis,
u
y
(x) =
6

n=1

yn
(x)

u
n
,
the kinetic energy for velocity across the neutral axis is
T =
1
2
_
L
x=0
A ( u
y
)
2
dx
=
1
2
_
L
x=0
A
_
6

n=1

yn
(x)

u
n
_
2
dx
and the ij mass coecient (for indices 2,3,5 and 6) is

M
ij
=

u
i

u
j
1
2
_
L
x=0
A
_
6

n=1

yn
(x)

u
n
_
2
dx
=
_
L
x=0
A
yi
(x)
yj
(x) dx. (75)
Structural Element Stiness Matrices and Mass Matrices 13
3.4 Bernoulli-Euler Stiness Matrix with Geometric Strain Eects
The axial strain in a Bernoulli-Euler beam including the geometric strain is

xx
=
u
x
x


2
u
y
x
2
y +
1
2
_
u
y
x
_
2
(76)
The potential energy with geometric strain eects is
V =
1
2
_
L
x=0
_
A

xx
E
xx
dA dx (77)
=
1
2
_
L
0
E
_
A
_
u
x
x


2
u
y
x
2
y +
1
2
_
u
y
x
_
2
_
2
dx (78)
=
1
2
_
L
0
E
_
A
_
u
2
x,x
2u
x,x
u
y,xx
y + u
x,x
u
2
y,x
+ u
2
y,xx
y
2
u
y,xx
u
2
y,x
y +
1
4
u
4
y,x
_
dAdx (79)
Note that
_
A
ydA = 0 and
_
A
y
2
dA = I and neglect u
4
y,x
so that
V =
1
2
_
L
0
EA
_
u
2
x,x
_
dx +
1
2
_
L
0
EI
_
u
2
y,xx
_
dx +
_
L
0
EA
_
u
x,x
u
2
y,x
_
dx . (80)
Substitute
u
y,x
=
6

n=1

yn
(x) u
n
(81)
u
y,xx
=
6

n=1

yn
(x) u
n
(82)
u
x,x
=
6

n=1

xn
u
n
=
N
EA
(83)
and dierentiate with respect to u
i
and u
j
to obtain,

K
ij
= EA
_
L
0

xi

xj
dx + EI
_
L
0

yi
(x)

yj
(x) dx + N
_
L
0

yi
(x)

yj
(x) dx (84)
so that,

K =

K
E
+
N
L

K
G
(85)
14 CEE 541. Structural Dynamics Duke University Fall 2012 H.P. Gavin
3.5 Bernoulli-Euler Beam Element Stiness and Mass Matrices
For prismatic homogeneous isotropic beams, substituting the expressions for the functions

xn
and
yn
into equations (70) - (75), or substituting equation (67) into equation (69) and
(63) to equation (73) results in element stiness matrices

K
E
,

M, and

K
G
.

K
E
=
_

_
EA
L
0 0
EA
L
0 0
12EI
L
3
6EI
L
2
0
12EI
L
3
6EI
L
2
4EI
L
0
6EI
L
2
2EI
L
EA
L
0 0
sym
12EI
L
3

6EI
L
2
4EI
L
_

_
(86)

M =
AL
420
_

_
140 0 0 70 0 0
156 22L 0 54 13L
4L
2
0 13L 3L
2
140 0 0
sym
156 22L
4L
2
_

_
(87)

K
G
=
N
L
_

_
0 0 0 0 0 0
6
5
L
10
0
6
5
L
10
2L
2
15
0
L
10

L
2
30
0 0 0
sym
6
5

L
10

2L
2
15
_

_
(88)
Structural Element Stiness Matrices and Mass Matrices 15
4 Timoshenko Beam Element Matrices
2D prismatic homogeneous isotropic beam element, including shear deformation and rotatory
inertia
Consider again the geometry of a deformed beam. When shear deformations are included
sections that are originally perpendicular to the neutral axis may not be perpendicular to
the neutral axis after deformation. The functions u
x
(x) and u
y
(x) describe the translation of
Figure 5. Deformation of beam element including shear deformation.
points along the neutral axis of the beam as a function of the location along the un-stretched
neutral axis. If the beam is not slender (length/depth < 5), then shear strains will contribute
signicantly to the strain energy within the beam. The deformed shape of slender beams is
dierent from the deformed shape of stocky beams.
The beam carries a bending moment M(x) related to axial strain
xx
and a shear force, S
related to shear strain
xy
. The potential energy has a bending strain component and a shear
strain component.
V =
1
2
_

T
d
=
1
2
_

xx

xx
d +
1
2
_

xy

xy
d
=
1
2
_
L
0
_
A
M(x)y
I
M(x)y
EI
dA dx +
1
2
_
L
0
_
A
SQ(y)
Ib(y)
SQ(y)
GIb(y)
dA dx
=
1
2
_
L
0
M(x)
2
EI
2
_
A
y
2
dA dx +
1
2
_
L
0
S
2
GI
2
_
A
Q(y)
2
b(y)
2
dA dx
=
1
2
_
L
0
M(x)
2
EI
dx +
1
2
_
L
0
S
2
G(A/)
dx (89)
where the shear area coecient reduces the cross section area to account for the non-uniform
distribution of shear stresses in the cross section,
=
A
I
2
_
A
Q(y)
2
b(y)
2
dA .
For solid rectangular sections = 6/5 and for solid circular sections = 10/9 [2, 3, 4, 5, 8].
16 CEE 541. Structural Dynamics Duke University Fall 2012 H.P. Gavin
4.1 Timoshenko Beam Coordinates and Internal Displacements
(including shear deformation eects)
The transverse deformation of a beam with shear and bending strains may be separated into
a portion related to shear deformation and a portion related to bending deformation,
u
y
(x, t) = u
(b)y
(x) + u
(s)y
(x) (90)
where
EIu

(b)y
(x) = M(x) = M
1
_
1
x
L
_
+ M
2
_
x
L
_
(91)
G(A/)u

(s)y
(x) = S(x) =
1
L
(M
1
+ M
2
) (92)
It can be shown that the following shape functions satisfy the Timoshenko beam equations
(equations (90), (91) and (92)) for transverse displacements.

y2
(x) =
1
1 +
_
1 3
_
x
L
_
2
+ 2
_
x
L
_
3
+
_
1
x
L
_

y3
(x) =
L
1 +
_
x
L
2
_
x
L
_
2
+
_
x
L
_
3
+
1
2
_
x
L

_
x
L
_
2
_

y5
(x) =
1
1 +
_
3
_
x
L
_
2
2
_
x
L
_
3
+
x
L

_

y6
(x) =
L
1 +
_

_
x
L
_
2
+
_
x
L
_
3

1
2
_
x
L

_
x
L
_
2
_

_
The term gives the relative importance of the shear deformations to the bending deforma-
tions,
=
12EI
G(A/)L
2
= 24(1 + )
_
r
L
_
2
, (93)
where r is the radius of gyration of the cross section, r =
_
I/A, is Poissons ratio. Shear
deformation eects are signicant for beams which have a length-to-depth ratio less than 5.
To neglect shear deformation, set = 0. These displacement functions are exact for frame
elements with constant shear forces S and linearly varying bending moment distributions,
M(x), in which the strain energy has both a shear stress component and a normal stress
component,
V =
1
2
_
L
0
EI
_
6

n=1

(b)yn
(x) u
n
_
2
dx +
_
L
0
G(A/)
_
6

n=1

(s)yn
(x) u
n
_
2
dx (94)
where the bending and shear components of the shape functions,
(b)yn
(x) and
(s)yn
(x) are:
Structural Element Stiness Matrices and Mass Matrices 17

(b)y2
(x) =
1
1 +
_
1 3
_
x
L
_
2
+ 2
_
x
L
_
3
_

(s)y2
(x) =

1 +
_
1
x
L
_

(b)y3
(x) =
L
1 +
_
x
L
2
_
x
L
_
2
+
_
x
L
_
3
+
1
2
_
2
x
L

_
x
L
_
2
_

(s)y3
(x) =
L
1 +
_
1
2
x
L
_

(b)y5
(x) =
1
1 +
_
3
_
x
L
_
2
2
_
x
L
_
3
_

(s)y5
(x) =

1 +
_
x
L
_

(b)y6
(x) =
L
1 +
_

_
x
L
_
2
+
_
x
L
_
3
+
1
2
_
_
x
L
_
2
_

(s)y6
(x) =
L
1 +
_
1
2
x
L

_
4.2 Timoshenko Beam Element Stiness Matrices
The geometric stiness matrix for a Timoshenko beam element may be derived as was done
with the Bernoulli-Euler beam element from the potential energy of linear and geometric
strain,

K
ij
= EA
_
L
0

xi
(x)

xj
(x) dx
+ EI
_
L
0

(b)yi
(x)

(b)yj
(x) dx
+ G(A/)
_
L
0

(s)yi
(x)

(s)yj
(x) dx
+ N
_
L
0

yi
(x)

yj
(x) dx (95)
where the displacement shape functions (x) are provided in section 4.1.
18 CEE 541. Structural Dynamics Duke University Fall 2012 H.P. Gavin
4.3 Timoshenko Beam Element Stiness and Mass Matrices,
(including shear deformation eects but not rotatory inertia)
For prismatic homogeneous isotropic beams, substituting the previous expressions for the
functions
xn
(x) and
(b)yn
(x), and
(s)yn
(x) into equation (95) and (73), results in the
Timoshenko element elastic stiness matrices

K
E
, mass matrix

M, and geometric stiness
matrix

K
G

K
E
=
_

_
EA
L
0 0
EA
L
0 0
12
1+
EI
L
3
6
1+
EI
L
2
0
12
1+
EI
L
3
6
1+
EI
L
2
4+
1+
EI
L
0
6
1+
EI
L
2
2
1+
EI
L
EA
L
0 0
sym
12
1+
EI
L
3

6
1+
EI
L
2
4+
1+
EI
L
_

_
(96)

M =
AL
840
_

_
280 0 0 140 0 0
312 + 588 + 280
2
(44 + 77 + 35
2
)L 0 108 + 252 + 175
2
(26 + 63 + 35
2
)L
(8 + 14 + 7
2
)L
2
0 (26 + 63 + 35
2
)L (6 + 14 + 7
2
)L
2
280 0 0
sym
312 + 588 + 280
2
(44 + 77 + 35
2
)L
(8 + 14 + 7
2
)L
2
_

_
(97)

K
G
=
N
L
_

_
0 0 0 0 0 0
6/5+2+
2
(1+)
2
L/10
(1+)
2
0
6/52
2
(1+)
2
L/10
(1+)
2
2L
2
/15+L
2
/6+L
2

2
/12
(1+)
2
0
L/10
(1+)
2
L
2
/30L
2
/6L
2

2
/12
(1+)
2
0 0 0
sym
6/5+2+
2
(1+)
2
L/10
(1+)
2
2L
2
/15+L
2
/6+L
2

2
/12
(1+)
2
_

_
(98)
Structural Element Stiness Matrices and Mass Matrices 19
4.4 Timoshenko Beam Element Mass Matrix
(including rotatory inertia but not shear deformation eects)
Consider again the geometry of a deformed beam with linearly-varying axial beam displace-
ments outside of the neutral axis. The functions u
x
(x, y) and u
y
(x, y) now describe the
Figure 6. Deformation of beam element showing axial-direction displacements u
x
(x, y, t) outside
the neutral axis.
translation of points anywhere within the beam, as a function of the location within the
beam. We will again describe these displacements in terms of a set of shape functions,

xn
(x, y) and
yn
(x), and the end displacements u
1
, , u
6
.
u
x
(x, y, t) =
6

n=1

xn
(x, y) u
n
(t)
u
y
(x, t) =
6

n=1

yn
(x) u
n
(t)
The shape functions for transverse displacements
yn
(x) are the same as the shape functions

yn
(x) used previously. The shape functions for axial displacements along the neutral axis,

x1
(x, y) and
x4
(x, y) are also the same as the shape functions
x1
(x) and
x4
(x) used
previously. To account for axial displacements outside of the neutral axis, four new shape
functions are derived from the assumption that plane sections remain plane, u
x
(x, y) =
u

(b)y
(x)y.

x2
(x, y) =

y2
y = 6
_
x
L

_
x
L
_
2
_
y
L

x3
(x, y) =

y3
y =
_
1 + 4
x
L
3
_
x
L
_
2
_
y

x5
(x, y) =

y5
y = 6
_

x
L
+
_
x
L
_
2
_
y
L

x6
(x, y) =

y6
y =
_
2
x
L
3
_
x
L
_
2
_
y
20 CEE 541. Structural Dynamics Duke University Fall 2012 H.P. Gavin
Because
yn
,
x1
and
x4
are unchanged, the stiness matrix is also unchanged. The kinetic
energy of the beam, including axial and transverse eects is now,
T =
1
2
_
L
x=0
_
h/2
y=h/2
b(y)
_
6

n=1

xn
(x, y)

u
n
_
2
dy dx +
1
2
_
L
x=0
A
_
6

n=1

yn
(x)

u
n
_
2
dx
and the mass matrix coecients are found from

M
ij
=

u
i

u
j
T(

u)
Evaluating equation (28) using the new shape functions
x2
,
x3
,
x5
, and
x6
, results in a
mass matrix incorporating rotatory inertia.

M = AL
_

_
1
3
0 0
1
6
0 0
13
35
+
6
5
r
2
L
2
11
210
L +
1
10
r
2
L
0
9
70

6
5
r
2
L
2

13
420
L +
1
10
r
2
L
1
105
L
2
+
2
15
r
2
0
13
420
L +
1
10
r
2
L
0
sym
1
3
0 0
13
35
+
6
5
r
2
L
2

11
210
L +
1
10
r
2
L
1
105
L
2
+
2
15
r
2
_

_
(99)
Beam element mass matrices including the eects of shear deformation on rotatory inertia
are more complicated. Refer to p 295 of Theory of Matrix Structural Analysis, by J.S.
Przemieniecki (Dover Pub., 1985).
Structural Element Stiness Matrices and Mass Matrices 21
5 Coordinate Transformations for Bars and Beams
5.1 Beam Element Stiness Matrix in Local Coordinates,

K
3EI
L
3

3EI
L
2

6EI
L
2

12EI
L
3


EI
L

3EI
L
2

3EI
L

4EI
L

6EI
L
2

EI
L

2EI
L

6EI
L
2


3EI
L
3

3EI
L
2

6EI
L
2

12EI
L
3

_

_
N
1
V
1
M
1
N
2
V
2
M
2
_

_
=
_

_
EA
L
0 0
EA
L
0 0
12EI
L
3
6EI
L
2
0
12EI
L
3
6EI
L
2
4EI
L
0
6EI
L
2
2EI
L
EA
L
0 0
sym
12EI
L
3

6EI
L
2
4EI
L
_

_
_

_
u
1
u
2
u
3
u
4
u
5
u
6
_

f =

K u
22 CEE 541. Structural Dynamics Duke University Fall 2012 H.P. Gavin
5.2 Beam Element Stiness Matrix in Global Coordinates, K
Geometric relationship between u and u: u = T u
u
1
= u
1
cos + u
2
sin u
2
= u
1
sin + u
2
cos u
3
= u
3
where
T =
_

_
c s 0
s c 0 0
0 0 1
c s 0
0 s c 0
0 0 1
_

_
c = cos =
x
2
x
1
L
s = sin =
y
2
y
1
L
The stiness matrix in global coordinates is K = T
T

K T
K =
_

_
EA
L
c
2 EA
L
cs
EA
L
c
2

EA
L
cs
+
12EI
L
3
s
2

12EI
L
3
cs
6EI
L
2
s
12EI
L
3
s
2
+
12EI
L
3
cs
6EI
L
2
s
EA
L
s
2

EA
L
cs
EA
L
s
2
+
12EI
L
3
c
2 6EI
L
2
c +
12EI
L
3
cs
12EI
L
3
c
2 6EI
L
2
c
4EI
L
6EI
L
2
s
6EI
L
2
c
2EI
L
EA
L
c
2 EA
L
cs
+
12EI
L
3
s
2

12EI
L
3
cs
6EI
L
2
s
sym
EA
L
s
2
+
12EI
L
3
c
2

6EI
L
2
c
4EI
L
_

_
f = K u
Structural Element Stiness Matrices and Mass Matrices 23
5.3 Beam Element Consistent Mass Matrix in Local Coordinates,

M
_

_
N
1
V
1
M
1
N
2
V
2
M
2
_

_
=
AL
420
_

_
140 0 0 70 0 0
156 22L 0 54 13L
4L
2
0 13L 3L
2
140 0 0
sym
156 22L
4L
2
_

_
_

u
1

u
2

u
3

u
4

u
5

u
6
_

f =

M

u
24 CEE 541. Structural Dynamics Duke University Fall 2012 H.P. Gavin
5.4 Beam Element Consistent Mass Matrix in Global Coordinates, M
Geometric relationship between u and u: u = T u
u
1
= u
1
cos + u
2
sin u
2
= u
1
sin + u
2
cos u
3
= u
3
where
T =
_

_
c s 0
s c 0 0
0 0 1
c s 0
0 s c 0
0 0 1
_

_
c = cos =
x
2
x
1
L
s = sin =
y
2
y
1
L
The consistent mass matrix in global coordinates is M = T
T

M T
M =
AL
420
_

_
140c
2
16cs 22sL 70c
2
16cs 13sL
+15s
2
+54s
2
140s
2
22cL 16cs 70s
2
13cL
+156c
2
+54c
2
4L
2
13sL 13cL 3L
2
140c
2
16cs 22sL
sym +156s
2
140s
2
22cL
+156c
2
4L
2
_

_
f = M u
Structural Element Stiness Matrices and Mass Matrices 25
6 2D Rectangular Plate Plane-Stress Element Matrices
2D, plane-stress, isotropic, homogeneous plate element.
Uniform thickness h.
Approximate element stiness and mass matrices based on assumed distribution of internal
displacements.
For plane-stress elasticity, the stress-strain relationship simplies to
_

xx

yy

xy
_

_
=
E
1
2
_

_
1 0
1 0
0 0
1
2
(1 )
_

_
_

xx

yy

xy
_

_
(100)
or
= S (101)
6.1 2D Plate Coordinates and Internal Displacements
Consider the geometry of a rectangular plate with edges aligned with a Cartesian coordinate
system. The functions u
x
(x, y, t) and u
y
(x, y, t) describe the in-plane displacements of the
plate as a function of the location within the plate. Internal displacements are assumed to
Figure 7. 2D Plate element coordinates and displacements.
vary linearly within the plate.
u
x
(x, y, t) = c
1
x
a
+ c
2
x
a
y
b
+ c
3
y
b
+ c
4
u
y
(x, y, t) = c
5
x
a
+ c
6
x
a
y
b
+ c
7
y
b
+ c
8
The eight coecients c
1
, , c
8
may be found uniquely from matching the displacement
coordinates at the corners.
u
x
(0, 0) = u
1
, u
y
(0, 0) = u
2
u
x
(0, b) = u
3
, u
y
(0, b) = u
4
u
x
(a, b) = u
5
, u
y
(a, b) = u
6
u
x
(a, 0) = u
7
, u
y
(a, 0) = u
8
26 CEE 541. Structural Dynamics Duke University Fall 2012 H.P. Gavin
resulting in internal plate displacements
u
x
(x, y, t) = (1 x)(1 y) u
1
(t) + (1 x) y u
3
(t) + x y u
5
(t) + x(1 y) u
7
(t) (102)
u
y
(x, y, t) = (1 x)(1 y) u
2
(t) + (1 x) y u
4
(t) + x y u
6
(t) + x(1 y) u
8
(t) (103)
where x = x/a and y = y/b so that
( x, y) =
_
(1 x)(1 y) 0 (1 x) y 0 x y 0 x(1 y) 0
0 (1 x)(1 y) 0 (1 x) y 0 x y 0 x(1 y)
_
(104)
and
_
u
x
(x, y, t)
u
y
(x, y, t)
_
= ( x, y) u(t) (105)
Strain-displacement relations

xx
=
u
x
x
=
1
a
u
x
x

yy
=
u
y
y
=
1
b
u
y
y

xy
=
u
x
y
+
u
y
x
=
1
b
u
x
y
+
1
a
u
y
x
so that
_

xx

yy

xy
_

_
=
_

1
a
(1 y) 0
y
a
0
y
a
0
1
a
(1 y) 0
0
1
b
(1 x) 0
1
b
(1 x) 0
x
b
0
x
b

1
b
(1 x)
1
a
(1 y)
1
b
(1 x)
y
a

x
b
y
a

x
b
1
a
(1 y)
_

_
_

_
u
1
u
2
u
3
u
4
u
5
u
6
u
7
u
8
_

_
(106)
or
(x, y, t) = B(x, y) u(t)
6.2 2D Plate Strain Energy and Elastic Stiness Matrix
V =
1
2
_
A
(x, y, t)
T
(x, y, t) h dx dy (107)
=
1
2
u(t)
T
_
A
_
B(x, y)
T
S(E, ) B(x, y)
_
88
h dx dy u(t) (108)
Elastic element stiness matrix

K
E
=
_
A
_
B(x, y)
T
S(E, ) B(x, y)
_
88
h dx dy (109)
Structural Element Stiness Matrices and Mass Matrices 27
6.3 2D Plate Kinetic Energy and Mass Matrix
T(

u) =
1
2
_
A
| u(x, y, t)|
2
h dx dy (110)
=
1
2

u(t)
T
_
A

_
(x, y)
T
(x, y)
_
88
h dx dy

u(t) (111)
Consistent mass matrix

M =
_
A

_
(x, y)
T
(x, y)
_
88
h dx dy (112)
6.4 2D Plate Element Stiness and Mass Matrix

K
E
=
Eh
12(1
2
)

_
4c +
2
c
(1 )
3
2
(1 + ) 2c
2
c
(1 )
3
2
(1 3) 2c
1
c
(1 )
3
2
(1 + ) 4c +
1
c
(1 )
3
2
(1 3)
4
c
+ 2c(1 )
3
2
(1 3)
4
c
+ c(1 )
3
2
(1 + )
2
c
c(1 )
3
2
(1 3)
2
c
2c(1 )
4c +
2
c
(1 )
3
2
(1 + ) 4c +
1
c
(1 )
3
2
(1 3) 2c
1
c
(1 )
3
2
(1 + )
4
c
+ 2c(1 )
3
2
(1 3)
2
c
2c(1 )
3
2
(1 + )
2
c
c(1 )
4c +
2
c
(1 )
3
2
(1 + ) 2c
2
c
(1 )
3
2
(1 3)
4
c
+ 2c(1 )
3
2
(1 3)
4
c
+ c(1 )
4c +
2
c
(1 )
3
2
(1 + )
4
c
+ 2c(1 )
_

_
(113)
where c = b/a.

M =
abh
36
_

_
4 0 2 0 1 0 2 0
0 4 0 2 0 1 0 2
2 0 4 0 2 0 1 0
0 2 0 4 0 2 0 1
1 0 2 0 4 0 2 0
0 1 0 2 0 4 0 2
2 0 1 0 2 0 4 0
0 2 0 1 0 2 0 4
_

_
(114)
Note, again, that these element stiness matrices are approximations based on an assumed
distribution of internal displacements.
28 CEE 541. Structural Dynamics Duke University Fall 2012 H.P. Gavin
References
[1] Clough, Ray W., and Penzien, Joseph, Dynamics of Structures, 2nd ed. (revised), Com-
puters and Structures, 2003.
[2] Cowper, G.R., Shear Coecient in Timoshenko Beam Theory, J. Appl. Mech.,
33(2)(1966):335-346
[3] Dong, S.B, Alpdogan, C., and Taciroglu, E. Much ado about shear correction factors in
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[4] Gruttman, F., and Wagner, W., Shear correction factors in Timoshenkos beam theory
for arbitrary shaped cross-sections, Comp. Mech. 27(2001):199-207.
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vibrating beams, J. Phys. D: Appl. Phys. 11 (1978): 1979-1988;
[6] Paz, Mario, Structural Dynamics Theory and Computation, Chapman & Hall, 2000.
[7] Przemieniecki, J.S., Theory of Matrix Structural Analysis, Dover, 1985.
[8] Rosinger, H.E., and Ritchie, I.G., On Timoshenkos correction for shear in vibrating
isotropic beams, J. Phys. D: Appl. Phys., 10 (1977): 14611466.