CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 1/39

Chapter 4a – Development of Beam Equations

Learning Objectives
• To review the basic concepts of beam bending
• To derive the stiffness matrix for a beam element
• To demonstrate beam analysis using the direct stiffness
method
• To illustrate the effects of shear deformation in shorter
beams
• To introduce the work-equivalence method for replacing
distributed loading by a set of discrete loads
• To introduce the general formulation for solving beam
problems with distributed loading acting on them
• To analyze beams with distributed loading acting on
them

Chapter 4a – Development of Beam Equations

Learning Objectives
• To compare the finite element solution to an exact
solution for a beam
• To derive the stiffness matrix for the beam element with
nodal hinge
• To show how the potential energy method can be used
to derive the beam element equations
• To apply Galerkin’s residual method for deriving the
beam element equations
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 2/39

Development of Beam Equations

In this section, we will develop the stiffness matrix for a beam
element, the most common of all structural elements.

The beam element is considered to be straight and to have

constant cross-sectional area.

Development of Beam Equations

We will derive the beam element stiffness matrix by using the
principles of simple beam theory.

The degrees of freedom associated with a node of a beam

element are a transverse displacement and a rotation.
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 3/39

Development of Beam Equations

We will discuss procedures for handling distributed loading
and concentrated nodal loading.

We will include the nodal shear forces and bending moments

and the resulting shear force and bending moment diagrams
as part of the total solution.

Development of Beam Equations

We will develop the beam bending element equations using
the potential energy approach.

Finally, the Galerkin residual method is applied to derive the

beam element equations
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 4/39

Beam Stiffness
Consider the beam element shown below.

The beam is of length L with axial local coordinate x and

transverse local coordinate y.
The local transverse nodal displacements are given by vi and
the rotations by ϕi. The local nodal forces are given by fiy and
the bending moments by mi.

Beam Stiffness
At all nodes, the following sign conventions are used on the
element level:
1. Moments are positive in the counterclockwise direction.
2. Rotations are positive in the counterclockwise direction.
3. Forces are positive in the positive y direction.
4. Displacements are positive in the positive y direction.
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 5/39

Beam Stiffness
At all nodes, the following sign conventions are used on the
global level:
1. Bending moments m are positive if they cause the beam
to bend concave up.
2. Shear forces V are positive is the cause the beam to
rotate clockwise.

Beam Stiffness

(+) Bending Moment

(-) Bending Moment

CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 6/39

Beam Stiffness

(+) Shear Force

(-) Shear Force

Beam Stiffness
The differential equation governing simple linear-elastic beam
behavior can be derived as follows. Consider the beam
shown below.
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 7/39

Beam Stiffness
The differential equation governing simple linear-elastic beam
behavior can be derived as follows. Consider the beam
shown below.
w ( x )dx  dx 
 2 
 

Write the equations of equilibrium for the differential element:

 dx 
  Mright side  0  M   M  dM   Vdx  w ( x )dx  
 2 
0


 F  0  V  (V  dV )  w ( x )dx
y

Beam Stiffness
From force and moment equilibrium of a differential beam
element, we get:
dM
M right side 0   Vdx  dM  0 or V 
dx
dV
F y 0   wdx  dV  0 or w 
dx

d  dM 
w   
dx  dx 
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 8/39

Beam Stiffness
The curvature  of the beam is related to the moment by:
1 M
 
 EI
where  is the radius of the deflected curve, v is the
transverse displacement function in the y direction, E is the
modulus of elasticity, and I is the principle moment of inertia
about y direction, as shown below.

Beam Stiffness
dv
The curvature,  for small slopes   is given as:
dx
d 2v
 2
dx

Therefore: d 2v M d 2v
  M  EI
dx 2 EI dx 2

Substituting the moment expression into the moment-load

equations gives:
d 2  d 2v 
 EI   w  x 
dx 2  dx 2 
For constant values of EI, the above equation reduces to:
 d 4v 
EI  4   w  x 
 dx 
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 9/39

Beam Stiffness
Step 1 - Select Element Type

We will consider the linear-elastic beam element shown below.

Beam Stiffness
Step 2 - Select a Displacement Function

Assume the transverse displacement function v is:

v  a1x 3  a2 x 2  a3 x  a4
The number of coefficients in the displacement function ai is
equal to the total number of degrees of freedom associated
with the element (displacement and rotation at each node).
The boundary conditions are:

v ( x  0)  v1 v ( x  L)  v 2

dv dv
 1  2
dx x 0 dx x L
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 10/39

Beam Stiffness
Step 2 - Select a Displacement Function

Applying the boundary conditions and solving for the unknown

coefficients gives:
v (0)  v1  a4 v (L )  v 2  a1L3  a2L2  a3L  a4

dv (0) dv (L )
 1  a3  2  3a1L2  2a2L  a3
dx dx
Solving these equations for a1, a2, a3, and a4 gives:
2 1 
v   3 v1  v 2   2 1  2   x 3
L L 
 3 1 
   2 v1  v 2    21  2   x 2  1x  v1
 L L 

Beam Stiffness
Step 2 - Select a Displacement Function

In matrix form the above equations are: v  [N ] d 

v1 
 
d    1  [N ]  N1 N2 N3 N4 
v 2 
2 
where
1 1 3
N1 
L3

2 x 3  3 x 2L  L3  N2 
L3
x L  2 x 2L2  xL3 
1 1 3
N3 
L3

2 x 3  3 x 2 L  N4 
L3
x L  x 2L2 
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 11/39

Beam Stiffness
Step 2 - Select a Displacement Function
N1, N2, N3, and N4 are called the interpolation functions for a
beam element.
1.000 N1 1.000 N2

0.800 0.800

0.600 0.600

0.400 0.400

0.200 0.200

0.000 0.000
0.00 1.00 0.00 1.00
-0.200 -0.200

1.000 N3 1.000 N4

0.800 0.800

0.600 0.600

0.400 0.400

0.200 0.200

0.000 0.000
0.00 1.00 0.00 1.00
-0.200 -0.200

Beam Stiffness
Step 3 - Define the Strain/Displacement
and Stress/Strain Relationships
du
The stress-displacement relationship is:  x  x, y  
dx
where u is the axial displacement function.

We can relate the axial displacement to the transverse

displacement by considering the beam element shown
below:
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 12/39

Beam Stiffness
Step 3 - Define the Strain/Displacement
and Stress/Strain Relationships

dv
u  y
dx

Beam Stiffness
Step 3 - Define the Strain/Displacement
and Stress/Strain Relationships
One of the basic assumptions in simple beam theory is that
planes remain planar after deformation, therefore:

du  d 2v 
 x  x, y    y  2 
dx  dx 
Moments and shears are related to the transverse
displacement as:

 d 2v   d 3v 
m  x   EI  2  V  x   EI  3 
 dx   dx 
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 13/39

Beam Stiffness
Step 4 - Derive the Element Stiffness Matrix
and Equations
Use beam theory sign convention for shear force and bending
moment.

M+
M+

V+ V+

Beam Stiffness
Step 4 - Derive the Element Stiffness Matrix
and Equations
Using beam theory sign convention for shear force and
bending moment we obtain the following equations:
d 3v EI
f1y  V  EI  12v1  6L1  12v 2  6L2 
dx 3 x 0
L3
d 3v EI
f2 y  V  EI 3   12v1  6L1  12v 2  6L2 
dx x L
L3
2
d v EI
m1  m  EI
dx 2

L3 
6Lv1  4L21  6Lv 2  2L22 
x 0

d 2v EI
m2  m  EI 2
dx

L3 
6Lv1  2L21  6Lv 2  4L22 
x L
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 14/39

Beam Stiffness
Step 4 - Derive the Element Stiffness Matrix
and Equations
In matrix form the above equations are:

 f1y   12 6L 12 6L  v1   f1y   v1 

m   4L2 6L 2L2   1  m   
 1  EI  6L    1  1
      k  
 f2 y  L  12 6L 6L  v 2 
3
12  f2 y  v 2 
m2   
 6L 2L2 6L 4L2  2  m2  2 

where the stiffness matrix is:

 12 6L 12 6L 
 4L2 6L 2L2 
EI 6L
k 3  
L  12 6L 12 6L 
 
 6L 2L2 6L 4L2 

Beam Stiffness
Step 4 - Derive the Element Stiffness Matrix
and Equations
Beam stiffness based on Timoshenko Beam Theory

The total deflection of the beam at a point x consists of two

parts, one caused by bending and one by shear force. The
slope of the deflected curve at a point x is:
dv
  x   x
dx
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 15/39

Beam Stiffness
Step 4 - Derive the Element Stiffness Matrix
and Equations
Beam stiffness based on Timoshenko Beam Theory

The relationship between bending moment and bending

deformation is:
d  x 
M  x   EI
dx

Beam Stiffness
Step 4 - Derive the Element Stiffness Matrix
and Equations
Beam stiffness based on Timoshenko Beam Theory

The relationship between shear force and shear deformation is:

V  x   ks AG   x 

where ksA is the shear area.

CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 16/39

Beam Stiffness
Step 4 - Derive the Element Stiffness Matrix
and Equations
Beam stiffness based on Timoshenko Beam Theory

You can review the details in your book, but by including the
effects of shear deformations into the relationship between
forces and nodal displacements a modified elemental
stiffness can be developed.

Beam Stiffness
Step 4 - Derive the Element Stiffness Matrix
and Equations
Beam stiffness based on Timoshenko Beam Theory

 12 6L 12 6L 

EI  6L  4    L2 6L  2    L2  
12EI
k 3
L 1     12 6L 12 6L  ks AGL2

 6L  2    L2 6L  4    L2 
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 17/39

Beam Stiffness
Step 5 - Assemble the Element Equations
and Introduce Boundary Conditions
Consider a beam modeled by two beam elements (do not
include shear deformations):

Assume the EI to be constant throughout the beam. A force of

1,000 lb and moment of 1,000 lb-ft are applied to the mid-
point of the beam.

Beam Stiffness
Step 5 - Assemble the Element Equations
and Introduce Boundary Conditions
The beam element stiffness matrices are:
v1 1 v2 2

 12 6L 12 6L 
 4L2 6L 2L2 
EI  6L 
k (1)  3
L  12 6L 12 6L 
 
 6L 2L2 6L 4L2 
v  v 
2 2 3 3

 12 6L 12 6L 
 4L2 6L 2L2 
EI 6L
k (2)  3  
L  12 6L 12 6L 
 
 6L 2L2 6L 4L2 
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 18/39

Beam Stiffness
Step 5 - Assemble the Element Equations
and Introduce Boundary Conditions
In this example, the local coordinates coincide with the global
coordinates of the whole beam (therefore there is no
transformation required for this problem).
The total stiffness matrix can be assembled as:
 F1y   12 6L 12 6L 0 0   v1 
M   6L 4L2  
 1 6L 2L 2
0 0   1 
 
F2 y  EI  12 6L 12  12 6L  6L 12 6L  v 2 
M   3  2  
 2  L  6L 2L 6L  6L 4L  4L 6L 2L  2 
2 2 2

F3 y   0 0 12 6L 12 6L  v 3 

    
M3   0 0 6L 2L 2
6L 4L2  3 
Element 1 Element 2

Beam Stiffness
Step 5 - Assemble the Element Equations
and Introduce Boundary Conditions
The boundary conditions are: v1  1  v 3  0

 F1y   12 6L 12 6L 0 0   v01 

M   6L 4L2  
 1 6L 2L2 0 0   01 
 
F2 y  EI  12 6L 12  12 6L  6L 12 6L  v 2 
M   3   
 2  L  6L 2L 6L  6L 4L  4L
2 2 2
6L 2L2  2 
F3 y   0 0 12 6L 12 6L  v03 
    
M3   0 0 6L 2L2 6L 4L2  3 
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 19/39

Beam Stiffness
Step 5 - Assemble the Element Equations
and Introduce Boundary Conditions

By applying the boundary conditions the beam equations

reduce to:
 1,000 lb  24 0 6L  v 2 
  EI  2  
1,000 lb ft   3  0 8L 2L  2 
2

 0  L 6L 2L2 4L2   

    3

Beam Stiffness
Step 6 - Solve for the Unknown Degrees of Freedom

Solving the above equations gives:

875L3  375L2 125L2  625L 125L2  125L

v2  in 2  rad 3  rad
12EI 4EI EI

Step 7 - Solve for the Element Strains and Stresses

v1 
 
d v 
2
 d N   
2
m  x   EI  2   EI  2   1 
 dx   dx  v 2 
2 

The second derivative of N is linear; therefore m(x) is linear.

CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 20/39

Beam Stiffness
Step 6 - Solve for the Unknown Degrees of Freedom

Solving the above equations gives:

875L3  375L2 125L2  625L 125L2  125L

v2   in 2   rad 3   rad
12EI 4EI EI

Step 7 - Solve for the Element Strains and Stresses

v1 
 
d v 
3
 d 3N   1 
V  x   EI  3   EI  2   
 dx   dx  v 2 
2 

The third derivative of N is a constant; therefore V(x) is

constant.

Beam Stiffness
Step 7 - Solve for the Element Strains and Stresses
Assume L = 120 in, E = 29x106 psi, and I = 100 in4:

v 2  0.0433 in 2  7.758  105 rad 3  5.586  104 rad

Element #1:
v1 
 
d v 2
 d N   1 
2
m  x   EI  2   EI  2   
 dx   dx  v 2 
2 

EI
m1 
L3
 
6Lv1  4L21  6Lv 2  2L22  3,875 lb  ft

EI
 
m2  3 6Lv1  2L21  6Lv 2  4L22  3,562.5 lb  ft
L
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 21/39

Beam Stiffness
Step 7 - Solve for the Element Strains and Stresses
Assume L = 120 in, E = 29x106 psi, and I = 100 in4:

v 2  0.0433 in 2  7.758  105 rad 3  5.586  104 rad

Element #2:
v1 
 
d v 
2
 d N   
2
m  x   EI  2   EI  2   1 
 dx   dx  v 2 
2 

EI
m2 
L3  
6Lv 2  4L22  6Lv 3  2L23  2,562.5 lb  ft

EI

m3  3 6Lv 2  2L22  6Lv 3  4L23  0
L


Beam Stiffness
Step 7 - Solve for the Element Strains and Stresses
Assume L = 120 in, E = 29x106 psi, and I = 100 in4:

v 2  0.0433 in 2  7.758  105 rad 3  5.586  104 rad

Element #1:
v1 
 
d v  3
 d N    3
V  x   EI  3   EI  2   1 
 dx   dx  v 2 
2 
EI
f1y  3 12v1  6L1  12v 2  6L2   743.75 lb
L
EI
f2 y   12v1  6L1  12v 2  6L2   743.75 lb
L3
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 22/39

Beam Stiffness
Step 7 - Solve for the Element Strains and Stresses
Assume L = 120 in, E = 29x106 psi, and I = 100 in4:

v 2  0.0433 in 2  7.758  105 rad 3  5.586  104 rad

Element #2:
v1 
 
 d 3v   d 3N    
V  x   EI  3   EI  2   1 
 dx   dx  v 2 
2 
EI
f2 y  3 12v 2  6L2  12v 3  6L3   256.25 lb
L
EI
f3 y   12v 2  6L2  12v 3  6L3   256.25 lb
L3

Beam Stiffness
Step 7 - Solve for the Element Strains and Stresses

256.25 lb

743.75 lb F  1,000 lb

3,562.5 lb  ft
2,562.5 lb  ft

3,875 lb  ft M  1,000 lb  ft
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 23/39

Beam Stiffness
Example 1 - Beam Problem
Consider the beam shown below. Assume that EI is constant
and the length is 2L (no shear deformation).

The beam element stiffness matrices are:

v
1
1 v
2
2 v
2
2 v
3
3

 12 6L 12 6L   12 6L 12 6L 
 4L2 6L 2L2   2
6L 2L2 
EI 6L EI 6L 4L
k (1)  3   k (2)  3  
L  12 6L 12 6L  L  12 6L 12 6L 
   
 6L 2L2 6L 4L2   6L 2L2 6L 4L2 

Beam Stiffness
Example 1 - Beam Problem
The local coordinates coincide with the global coordinates of
the whole beam (therefore there is no transformation required
for this problem).
The total stiffness matrix can be assembled as:

 F1y   12 6L 12 6L 0 0   v1 
M   6L 4L2 6L 2L2  
 1 0 0   1 
 
F2 y  EI  12 6L 24 0 12 6L  v 2 
M   3   
 2  L  6L 2L
2
0 8L 6L 2L2  2 
2

F3 y   0 0 12 6L 12 6L  v 3 

    
M3   0 0 6L 2L2 6L 4L2  3 
Element 1 Element 2
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 24/39

Beam Stiffness
Example 1 - Beam Problem
The boundary conditions are: v 2  v 3  3  0

 F1y   12 6L 12 6L 0 0   v1 
M   6L 4L2 6L 2L2  
 1 0 0   1 
 
F2 y  EI  12 6L 24 0 12 6L  v02 
M   3   
 2  L  6L 2L
2
0 8L2 6L 2L2  2 
F3 y   0 0 12 6L 12 6L  v03 
    
M3   0 0 6L 2L2 6L 4L2  03 

Beam Stiffness

By applying the boundary conditions the beam equations

reduce to:
 P   12 6L 6L  v1 
  EI  2 
 0   3  6L 4L 2L  1 
2

 0  L  6L 2L2 8L2   
    2

 7L 
Solving the above equations gives:  3 
v1  2  
  PL  
1    3 
  4EI  
 2  
 1 
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 25/39

Beam Stiffness
Example 1 - Beam Problem
The positive signs for the rotations indicate that both are in the
counterclockwise direction.
The negative sign on the displacement indicates a deformation
in the -y direction.

 F1y   12 6L 12 6L 0 0   7 L 3 
M   6L 4L2 6L 2L2
 1 0 0  3 
  
F2 y  P  12 6L 24 0 12 6L   0 
M     
 2  4L  6L 2L
2
0 8L2 6L 2L2   1 
F3 y   0 0 12 6L 12 6L   0 
    
M3   0 0 6L 2L2 6L 4L2   0 

Beam Stiffness
Example 1 - Beam Problem
The local nodal forces for element 1:
 f1y   12 6L 12 6L    7L 3   P 
   2    
 m1  P  6L 4L 6L 2L   3   0 
2

    
 f2 y  4L  12 6L 12 6L   0   P 
m2   2 
 6L 2L 6L 4L   1  PL 
2

The local nodal forces for element 2:

 f2 y   12 6L 12 6L  0   1.5P 
m   6L 4L2 6L 2L2   1  PL 
 2 P       
  
 f3 y  4L  12 6L 12 6L  0   1.5P 
m3   2 
 6L 2L 6L 4L  0   0.5PL 
2
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 26/39

Beam Stiffness
Example 1 - Beam Problem
The free-body diagrams for the each element are shown
below.

Combining the elements gives the forces and moments for the
original beam.

Beam Stiffness
Example 1 - Beam Problem
Therefore, the shear force and bending moment diagrams are:
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 27/39

Beam Stiffness
Example 2 - Beam Problem
Consider the beam shown below. Assume E = 30 x 106 psi and
I = 500 in4 are constant throughout the beam. Use four
elements of equal length to model the beam.

The beam element stiffness matrices are:

vi i v ( i 1) ( i 1)

 12 6L 12 6L 
 4L2 6L 2L2 
EI  6L 
k( i )  3
L  12 6L 12 6L 
 
 6L 2L2 6L 4L2 

Beam Stiffness
Example 2 - Beam Problem
Using the direct stiffness method, the four beam element
stiffness matrices are superimposed to produce the global
stiffness matrix.
Element 1 Element 2

Element 3

Element 4
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 28/39

Beam Stiffness
Example 2 - Beam Problem
The boundary conditions for this problem are:
v1  1  v 3  v 5  5  0

Beam Stiffness
Example 2 - Beam Problem
The boundary conditions for this problem are:
v1  1  v 3  v 5  5  0

After applying the boundary conditions the global beam

equations reduce to:

24 0 6L 00  v 2  10,000 lb 
 0 8L2 2L2 00  2   0 

EI    
3
6L 2L2 8L2 6L 2L2  3    0 
L   v  10,000 lb 
0 0 6L 24 0  4
   
 0 0 2L2
0 8L2  4   0 
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 29/39

Beam Stiffness
Example 2 - Beam Problem
Substituting L = 120 in, E = 30 x 106 psi, and I = 500 in4 into
the above equations and solving for the unknowns gives:

v 2  v 4  0.048 in 2  3  4  0

The global forces and moments can be determined as:

F1y  5 kips M1  25 kipsꞏft

F2 y  10 kips M2  0
F3 y  10 kips M3  0
F4 y  10 kips M4  0
F5 y  5 kips M5  25 kipsꞏft

Beam Stiffness
Example 2 - Beam Problem
The local nodal forces for element 1:
 f1y   12 6L 12 6L   0   5 kips 
m   4L2 6L 2L2   0   25 kꞏft 
 1  EI  6L 
    
 f2 y  L  12 6L 6L  0.048  5 kips 
3
12
 
m2   6L 2L2 6L 4L2   0   25 kꞏft 

The local nodal forces for element 2:

 f2 y   12 6L 12 6L  0.048   5 kips 

m   2
6L 2L2   0  25 kꞏft 
 2  EI  6L 4L

    
 f3 y  L  12 6L 6L   0   5 kips 
3
12
 
m3   6L 2L2 6L 4L2   0  25 kꞏft 
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 30/39

Beam Stiffness
Example 2 - Beam Problem
The local nodal forces for element 3:
 f3 y   12 6L 12 6L   0   5 kips 
m   2
6L 2L2   0   25 kꞏft 
 3  EI  6L 4L

  3  
 f4 y  L  12 6L 12 6L  0.048  5 kips 
 
m4   6L 2L2 6L 4L2   0   25 kꞏft 

The local nodal forces for element 4:

 f4 y   12 6L 12 6L  0.048   5 kips 

m   4L2 6L 2L2   0  25 kꞏft 
 4  EI  6L 
  3  
 f5 y  L  12 6L 12 6L   0   5 kips 
 
m5   6L 2L2 6L 4L2   0  25 kꞏft 

Beam Stiffness
Example 2 - Beam Problem

Note: Due to symmetry about the vertical plane at node 3, we

could have worked just half the beam, as shown below.

Line of symmetry
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 31/39

Beam Stiffness
Example 3 - Beam Problem
Consider the beam shown below. Assume E = 210 GPa and
I = 2 x 10-4 m4 are constant throughout the beam and the
spring constant k = 200 kN/m. Use two beam elements of
equal length and one spring element to model the structure.

Beam Stiffness
Example 3 - Beam Problem
The beam element stiffness matrices are:
v1 1 v2 2 v2 2 v3 3

 12 6L 12 6L   12 6L 12 6L 
 4L2 6L 2L2   4L2 6L 2L2 
EI 6L EI 6L
k (1)  3   k (2)  3  
L  12 6L 12 6L  L  12 6L 12 6L 
   
 6L 2L2 6L 4L2   6L 2L2 6L 4L2 

The spring element stiffness matrix is:

v3 3 v4
v3 v4
 k 0 k 
 k k 
k (3)
  k (3)
0 0 0
 k k   
 k 0 k 
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 32/39

Beam Stiffness
Example 3 - Beam Problem
Using the direct stiffness method and superposition gives the
global beam equations.
Element 2
Element 1
 F1y   12 6L 12 6L 0 0 0   v1 
M 
 1
 6L 4L2 6L 2L2 0 0 0   1 
 
F2 y   12 6L 24 0 12 6L 0  v 2 
  EI    kL3
 M2   3  6L 2L
2
0 8L2 6L 2L2 0  2  k' 
F  L EI
 0 0 12 6L 12  k ' 6L k '  v 3 
 3y    
 M3    3 
2 2
 0 0 6L 2L 6 L 4L 0
F   k ' k '  v 4 
 4y   0 0 0 0 0
Element 3

Beam Stiffness
Example 3 - Beam Problem
The boundary conditions for this problem are: v1  1  v 2  v 4  0

 F1y   12 6L 12 6L 0 0 0   v01 

M 
 1
 6L 4L2 6L 2L2 0 0 0   01 
 
F2 y   12 6L 24 0 12 6L 0  v02 
  EI    kL3
 M2   3  6L 2L
2
0 8L2 6L 2L2 0  2  k' 
L EI
F   0 0 12 6L 12  k ' 6L k '  v 3 
 3y    
 M3    3 
2 2
 0 0 6L 2L 6 L 4L 0
F 
 4y  
 0 0 0 0  k ' 0 k '  v04 
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 33/39

Beam Stiffness
Example 3 - Beam Problem

After applying the boundary conditions the global beam

equations reduce to:
M2   8L2 6L 2L2  2   0 
  EI     
F3 y   3  6L 12  k ' 6L  v 3   P 
 M  L  2L2 6L 4L2  3   0 
 3 
Solving the above  3PL2  1 
 
equations gives: EI  12  7k '  

2  
   7PL   
3
1 kL3
v 3       k' 
   EI  12  7k '   EI
 3 
9PL2  1 
  
 EI  12  7k '  

Beam Stiffness
Example 3 - Beam Problem
Substituting L = 3 m, E = 210 GPa, I = 2 x 10-4 m4, and
k = 200 kN/m in the above equations gives:
v 3  0.0174 m
2  0.00249 rad
3  0.00747 rad
Substituting the solution back into the global equations gives:
 F1y   12 6L 12 6L 0 0 0  0 
M   6L 4L2 6L 2L2  
  0 0 0 0
1
  
F2 y   12 6L 24 0 12 6L 0  0 
  EI   
 2   3  6L 2L
M 6L 0  0.00249 rad 
2 2 2
0 8L 2L
F  L
 0 0 12 6L 12  k ' 6L k '   0.0174 m 
 3y    
 M3   0 0 6L 2L2 6L 4L2 0  0.00747 rad 
F   0 0 0 0 k ' 0 k '   0 
 4y  
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 34/39

Beam Stiffness
Example 3 - Beam Problem
Substituting L = 3 m, E = 210 GPa, I = 2 x 10-4 m4, and
k = 200 kN/m in the above equations gives:
v 3  0.0174 m
2  0.00249 rad
3  0.00747 rad
Substituting the solution back into the global equations gives:
 F1y   69.9 kN 
M   
 1  69.7 kN  m 
F2 y   116.4 kN 
   
 M2    0 
F   50 kN 
 3y   
 M3   0 
F   3.5 kN 
 4y   

Beam Stiffness
Example 3 - Beam Problem

The variation of shear force and bending moment is:

69.9 kN

46.5 kN

69.7 kNm

139.5 kNm
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 35/39

Beam Stiffness
Distributed Loadings
Beam members can support distributed loading as well as
concentrated nodal loading.
Therefore, we must be able to account for distributed loading.
Consider the fixed-fixed beam subjected to a uniformly
distributed loading w shown the figure below.

The reactions, determined from structural analysis theory, are

called fixed-end reactions.

Beam Stiffness
Distributed Loadings
In general, fixed-end reactions are those reactions at the ends
of an element if the ends of the element are assumed to be
fixed (displacements and rotations are zero).

Therefore, guided by the results from structural analysis for the

case of a uniformly distributed load, we replace the load by
concentrated nodal forces and moments tending to have the
same effect on the beam as the actual distributed load.
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 36/39

Beam Stiffness
Distributed Loadings
The figures below illustrates the idea of equivalent nodal loads
for a general beam. We can replace the effects of a uniform
load by a set of nodal forces and moments.

Beam Stiffness
Work Equivalence Method
This method is based on the concept that the work done by
the distributed load is equal to the work done by the discrete
nodal loads. The work done by the distributed load is:
L

Wdistributed   w  x  v  x  dx
0

where v(x) is the transverse displacement. The work done by

the discrete nodal forces is:

Wnodes  m11  m22  f1y v1  f2 y v 2

The nodal forces can be determined by setting

Wdistributed = Wnodes for arbitrary displacements and rotations.
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 37/39

Beam Stiffness
Example 4 - Load Replacement
Consider the beam, shown below, and determine the
equivalent nodal forces for the given distributed load.

Using the work equivalence method or: Wdistributed  Wnodes

L

 w  x  v  x  dx  m 
0
1 1  m22  f1y v1  f2 y v 2

Beam Stiffness
Example 4 - Load Replacement
Evaluating the left-hand-side of the above expression with:
w  x   w
2 1 
v ( x )   3 v1  v 2   2 1  2   x 3
L L 
 3 1 
   2 v1  v 2    21  2   x 2  1x  v1
 L L 
gives:
L
Lw L2w
 w v  x  dx 
0
2
v1  v 2  
4
1  2   Lw v 2  v1 
L2w L2w
  21  2   1  wLv1
3 2
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 38/39

Beam Stiffness
Example 4 - Load Replacement
Using a set of arbitrary nodal displacements, such as:
v1  v 2  2  0 1  1

The resulting nodal equivalent force or moment is:

L

m11  m22  f1y v1  f2 y v 2   w  x  v  x  dx

0

 wL2 2 2 L2  wL2
m1     Lw  w
 4 3 2  12

Beam Stiffness
Example 4 - Load Replacement
Using a set of arbitrary nodal displacements, such as:
v1  v 2  1  0 2  1

The resulting nodal equivalent force or moment is:

L

m11  m22  f1y v1  f2 y v 2   w  x  v  x  dx

0

 wL2 wL2  wL2

m2     
 4 3  12
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 1 39/39

Beam Stiffness
Example 4 - Load Replacement
Setting the nodal rotations equal zero except for the nodal
displacements gives:
LW Lw
f1y    Lw  Lw  
2 2
LW Lw
f2 y   Lw  
2 2
Summarizing, the equivalent nodal forces and moments are:

End of Chapter 4a