Lecture 7: The Beam Element Equations.

„ §4.1 Beam Stiffness.

„ A Beam: A long slender structural component generally subjected
to transverse loading that produces significant bending effects as
opposed to twisting or axial effects.

MECH 420: Finite Element Applications

 Lecture 7: The Beam Element Equations.

„ MECH 220 and 320 leave us with...

1 Based on the
The bending moment, M = EI = EI κ
ˆ
assumption that plane
shear force, and ρ
sections remain plane
distributed load are dMˆ
internal loads. Their V =
ˆ
sense is defined according
dxˆ
to specific sign dVˆ
conventions…
w=−
ŷ dxˆ

x̂
V

MECH 420: Finite Element Applications

 Lecture 7: The Beam Element Equations.

„ Governing kinematic relationships (displacement and motion

knowledge irrespective of causal forces).
1 Mˆ ( xˆ ) d 2 vˆ( xˆ )
= κ ( xˆ ) = ≈ ; κ ( xˆ ) = beam curvature.
ρ ( xˆ ) EI dx ˆ 2

„ Give the differential relationships that exist between bending

moment, shear force, and distributed transverse load (from static
equilibrium)… 2
d vˆ( xˆ )
M = EI
dxˆ 2 By definition, these quantities
d 3 vˆ( xˆ ) must to be interpreted
V = EI
dxˆ 3 according to the civil
engineering sign convention.
d 4 vˆ( xˆ )
w = − EI
dxˆ 4

MECH 420: Finite Element Applications

 Lecture 7: The Beam Element Equations.

„ So to form our element equations we must form our own

approximation to the beam mechanics.
„ This approximate beam (or beam element) should be applicable
in all types of structural problems involving beams.

fˆ ix fˆ iy fˆ iz dˆ ix dˆ iy dˆ iz
K (the stiffness matrix)
i = 1..N i = 1..N

Defined in terms of a Cartesian reference frame

MECH 420: Finite Element Applications

 Lecture 7: The Beam Element Equations.

„ Step 1: Set the element type: An important step as we are

identifying the state variables
of the beam element.

M̂ M̂

MECH 420: Finite Element Applications

 Lecture 7: The Beam Element Equations.

„ We have introduced some limitations by requiring that only

nodal loads exist.
„ Comparing Figures 4.1 and 4.2:
3
d vˆ( xˆ )
fˆ1 y = +Vˆ = EI
dxˆ 3 xˆ =0
d 2 vˆ( xˆ ) Since we have not included
mˆ 1z = − M = EI
ˆ
distributed loads in the
dxˆ 2 xˆ =0
analysis, we only see up to
3
ˆf = −Vˆ = − EI d vˆ( xˆ ) third order differentials of
2y
dxˆ 3 xˆ = L the displacement function v.
d 2 vˆ( xˆ )
mˆ 2 z = + M = EI
ˆ
dxˆ 2 xˆ = L

MECH 420: Finite Element Applications

 Lecture 7: The Beam Element Equations.

„ Step 2: Select a displacement function for vˆ( xˆ ) .

„ Given our assumption/limitation that…

d 4 vˆ( xˆ )
w = − EI 4
=0
d xˆ

„ A conforming element is one that will ensure:

„ Compatibility/Continuity: a continuous displacement and rotation
exist within a single beam element and across element boundaries.
That is, a smooth first derivative of v(x) exists.
„ Completeness: a constant shear force can exist within the element.
That is v(x) can be differentiated up to 3 times.

MECH 420: Finite Element Applications

 Lecture 7: The Beam Element Equations.

„ So we choose a cubic function to approximate vˆ( xˆ ) :

vˆ( xˆ ) = a4 + a3 xˆ + a2 xˆ 2 + a1 xˆ 3
„ The displacement function must interpolate the nodal
generalized displacements. This ensures compatibility.

vˆ(0) = a4 = dˆ1 y
dvˆ
= a3 = tan(φ1 ) ≈ φˆ1
dxˆ xˆ =0 Assuming
small
vˆ( L) = a1 L3 + a2 L2 + a3 L + a4 = dˆ2 y transverse
displacements
dvˆ
= 3a1 L2 + 2a2 L1 + a3 = tan(φ2 ) ≈ φˆ2
dxˆ xˆ = L

MECH 420: Finite Element Applications

 Lecture 7: The Beam Element Equations.

„ In a matrix form… ⎧ dˆ1 y ⎫

⎪ ⎪
⎪ φˆ1 ⎪
vˆ( xˆ ) = [ N1 N2 N3 N4 ] ⎨ ⎬
⎪dˆ2 y ⎪
⎪ ˆ ⎪
⎩ φ2 ⎭

N1 =
L
1
3 ( 2 ˆ
x 3
− 3 ˆ
x 2
L + L3
)
N 2 = 3 ( xˆ 3 L − 2 xˆ 2 L2 + xL
ˆ 3)
1 Shape functions that
L blend the nodal
displacements over the
N 3 = 3 ( −2 xˆ 3 + 3 xˆ 2 L )
1
element domain.
L
Eq. (4.1.7) of Logan.
N 4 = 3 ( xˆ L − xˆ 2 L2 )
1 3
L

MECH 420: Finite Element Applications

 Lecture 7: The Beam Element Equations.

„ Step 3: Define the stress-strain relationships.

„ Also a means to recover any stress-strain knowledge after
obtaining the state variables of the model.

dvˆ
uˆ ( xˆ ) = − y
dxˆ
duˆ
ε x ( xˆ ) =
dxˆ
d 2 vˆ
∴ ε x ( xˆ ) = − y 2
dxˆ
d 2 vˆ
∴ σ x ( xˆ ) = − Ey 2
dxˆ

MECH 420: Finite Element Applications

 Lecture 7: The Beam Element Equations.

„ Step 4: Derive the element equations…

„ Can we express the nodal forces in terms of the displacement
function?

( )
3
d vˆ( xˆ ) EI
fˆ1 y = +Vˆ = EI 3
= 3
12dˆ1 y + 6 Lφˆ1 − 12dˆ2 y + 6 Lφˆ2
dxˆ xˆ =0 L

mˆ 1z = − M = EI
ˆ d 2 vˆ( xˆ )
=
dxˆ 2 xˆ =0 L3
EI
6(Ldˆ + 4 L2φˆ − 6 Ldˆ + 2 L2φˆ
1y 1 2y 2 )
( )
3
ˆf = −Vˆ = − EI d vˆ( xˆ ) =
EI
−12dˆ1 y − 6 Lφˆ1 + 12dˆ2 y − 6 Lφˆ2
2y 3 3
dxˆ xˆ = L L

mˆ 2 z = − M = EI
ˆ d 2 vˆ( xˆ )
=
EI
dxˆ 2 xˆ = L L3
6 Ld (
ˆ + 2 L2φˆ − 6 Ldˆ + 4 L2φˆ
1y 1 2y 2 )

MECH 420: Finite Element Applications

 Lecture 7: The Beam Element Equations.

„ And in matrix form…

6 L ⎤ ⎧ d1 y ⎫
⎧ fˆ1 y ⎫ ˆ
⎡ 12 6L −12
⎪ ⎪ ⎢ 2 ⎥
⎪ ⎪
⎪ mˆ 1z ⎪ EI ⎢ 4 L2 −6 L 2 L ⎥ ⎪ φˆ1 ⎪
⎨ ⎬= 3 ⎨ ⎬
⎪ f2 y ⎪ L ⎢
ˆ 12 −6 L ⎥ ⎪dˆ2 y ⎪
⎪mˆ ⎪ ⎢ ⎥
⎩ 2z ⎭ ⎣SYM 4 L2 ⎦ ⎪ φˆ ⎪
⎩ 2 ⎭

k̂

MECH 420: Finite Element Applications