Contents

1 Beams 2
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2 Element Equation of a two-Dimensional Beam Subjected to nodal forces . . . . . . . . . . . . . . . . . 2
1.2.1 The Displacement Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2.2 The Element Stiffness Matrix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2.3 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2.4 Home work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Chapter 1

Beams

Contents
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2 Element Equation of a two-Dimensional Beam Subjected to nodal forces . . . . . . . . . 2
1.2.1 The Displacement Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2.2 The Element Stiffness Matrix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2.3 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2.4 Home work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1.1 Introduction
Even though beams and bars have similar geometric morphology, in addition to axial forces, beams carry bending
moments and shear forces. Beams are usually used in bridges, foundations, structures, etc.
Since the bending moment and shear forces cause rotation and deflection in a direction normal to the beam’s axis,
the nodal parameters in a beam element 1-2 are shown in the following figure.

1.2 Element Equation of a two-Dimensional Beam Subjected to nodal

forces
1.2.1 The Displacement Function
Taking into account that a two-dimensional (2D) beam element has four degrees of freedom (u1 , θ1 , u2 , θ2 ), a suit-
able polynomial u(x) for displacements distribution along the beam’s axis should contain four unknown constants.
Therefore, the displacement function should have the following functional form:

u(x) = a3 x3 + a2 x2 + a1 x + a0 (1.1)

Figure 1.1: A two-node truss member of a three-dimensional truss.

Using Equation (1.1), the following conditions:

u(0) = u1 (1.2)
du(x)
|x=0 = θ1 (1.3)
dx
u(L) = u2 (1.4)
du(x)
|x=L = θ2 (1.5)
dx
yield the following equations:

a0 = u1 (1.6)
a1 = θ1 (1.7)
3 2
a3 L + a2 L + a1 L + a0 = u2 (1.8)
3a3 L2 + 2a2 L + a1 = θ2 (1.9)

The solution of the matrix equation yields

    
 a0 
  1 0 0 0 
 u1 


a1
  0 1 0 0 

θ1

=
 − 32 (1.10)
− L2 3
− L1  

 a2 
  2
L
1
L2  u2 

a3 − L23 1
θ2
   
L3 L2 L 2

Since the parameters a0 , a1 , a2 , a3 are now known, Equation (1.1) can be written in the following form:
   
  u1 
   
 u1 

3 2 1 2 1  θ1  2 3 2 3 1  θ1 
u(x) =x − 3 2 +x − 2 − −
L3 L2 L L   u2 
 L L L2 L  u2 

θ2 u2
   
    (1.11)
 u1 
   u1 
 
   θ1     θ1 
+x 0 1 0 0 + 1 0 0 0

 u2  
 u2 
θ2 θ2
   

or  

 u1 

θ1
 
u(x) = [N1 N2 N3 N4 ] (1.12)

 u2 

θ2
 

where N1 , N2 , N3 , and N4 are shape functions given by

1
2x3 − 3x2 L + L3


N1 = (1.13)
L3
1
x3 L − 2x2 L2 + xL3


N2 = (1.14)
L3
1
−2x3 + 3x2 L


N3 = (1.15)
L3
1
x3 L − x2 L2


N4 = (1.16)
L3

1.2.2 The Element Stiffness Matrix

As it is known from the mechanics of solids, the internal forces, that is, bending moments m(x) and shear forces f (x)
can be correlated to the displacement distribution u(x):

d3 u(x)
f (x) = EI (1.17)
dx3
2
d u(x)
m(x) = EI (1.18)
dx2
Taking into account Equation (1.12), the above expressions yield:
 

 u1 

EI
   θ1 
f (x) = L3 · 12 6L −12 6L ·

 u2 

θ2
 
  (1.19)

 u1 

EI
  θ1 
· 12x − 6L 6Lx − 4L2 2

m(x) = L3
−12x + 6L 6Lx − 2L ·

 u2 

θ2
 

Therefore, taking into account the nomenclature of the Figure, the following boundary conditions can be formulated:

f (0) = f1 (1.20)
m(0) = −m1 (1.21)
f (L) = −f2 (1.22)
m(L) = m2 (1.23)

Figure 1.2: A two-node truss member of a three-dimensional truss.

Equations can be written in matrix form providing the following element equation:
    

 f1   12 6L −12 6L 
 u1 
2
2L2 
 EI 
m1 6L 4L −6L θ1
  
= 3   (1.24)

 f2   L  −12 −6L 12 −6L   u2 
m2 6L 2L2 −6L 4L2 θ2
   

Once the nodal displacements u1 , θ1 , u2 , θ2 are known, the distribution of displacements u(x), shear forces f (x), and
bending moments m(x) along the beam can be calculated using Equations cited below.
It should be noted that Equation (1.24) corresponds to a 2D beam element subjected to only nodal forces. In cases
of beams loaded by varying loads between the nodes, equivalent nodal forces should be derived to simulate the effects
of the varying loads.
To this aim, the beam element should be assumed to rest on fixed supports on both ends, and then the equivalent
nodal loadings simulating the varying load effects should be computed. These equivalent nodal loadings should be
added to the ends of each element as external loads.
Taking into account the values F1 , M1 , F2 , M2 of the equivalent nodal forces as well as the nomenclature of the
last Figure, the element Equation (1.24) can now be written in the following form:
      

 f1 
 12 6L −12 6L 
 u1  
 −F1 
6L 4L2 −6L 2L2 
 EI 
m1 θ1 −M1
    
= 3    − (1.25)

 f2 
 L −12 −6L 12 −6L    u2   −F2 
2 2   
m2 6L 2L −6L 4L θ2 M2
    
 Figure 1.3: A two-node truss member of a three-dimensional truss.

1.2.3 Example
Determine the displacements, bending moments, and shear forces for the following continuous beam.
Data
L=8.0 m, q=3 kN/m, E=200 GPa, I=125×10−6 m4
(a) Equivalent Nodal Forces
Since the element Equation (1.25) corresponds to a beam element subjected to only nodal forces, the first step for
the solution of the above problem is the transformation of the uniform load q to equivalent nodal forces. Taking into
account the Table, the following simulation of the given structure should be used:
where the equivalent loads acting on the nodes of each element are given by the following formulae:

F1 = qL/2 = 12, 000N, M1 = qL2 /12 = 16, 000N m

F − 2 = qL/2 = 12, 000N, M2− = qL2 /12 = 16, 000N m

F2+ = q(2L)/2 = 24, 000N, M2+ = q(2L)2 /12 = 64, 000N m

F3 = q(2L)/2 = 24, 000N, M3 = q(2L)2 /12 = 64, 000N m
(b) Local Element Equations
 Figure 1.4: A two-node truss member of a three-dimensional truss.

Figure 1.5: A two-node truss member of a three-dimensional truss.

The second step for the solution of the above problem is the derivation of the element equations. Taking into
account Equation, as well as the nodal forces acting on each node, the following element equations can be obtained:
Element 1, nodes 1-2
      

 f1  12 6L −12 6L 
 u1  
 −12, 000 

6L 4L2 −6L 2L2 
 EI 
m1 θ1 −16, 000
    
= 3    − (1.26)

 f2  L −12 −6L 12 −6L    u2   −12, 000 
2 2   
m2 6L 2L −6L 4L θ2 16, 000
    

Element 2, nodes 2-3

      

 f1 
 12 6L −12 6L  u1
 
 
 −24, 000 

EI  2 2 
m1 6L 4L −6L 2L θ1 −64, 000
    
= 
3  −12 −6L
 − (1.27)

 f2 
 (2L) 12 −6L   u2
 
  −24, 000 
  
m2 6L 2L2 −6L 4L2 θ2 64, 000
    

(c) Expansion of Element Equations in Global Coordinates

(d) Structural Equation in Global Coordinates
The structural equation in global coordinates can be obtained by superposition of the above expanded element
equations. Therefore, adding the above element equations the following global equation can be obtained:
      

 F1  585, 937.5 2, 343, 750 −585, 937.5 2, 343, 750 0 0 
 u1 
 
 −12, 00 
M1  2, 343, 750 1.25 × 107 −2, 343, 750 6, 250, 000 0 0 θ1  −160, 000

     

   
  
 
    −585, 937.5 −2, 343, 750 1, 171, 875
   
F2 2, 343, 750 −585, 937.5 4, 687, 500  u2 −36, 000
   
=  −
M2 
   2, 343, 750
 6, 250, 000 −7, 031, 250 6.25 × 107 −4, 687, 500 2.5 × 107   θ2 
 
 −48, 000 
F 0 0 −585, 937.5 −4, 687, 500 585, 937.5 −4, 687, 500 u −24, 000 
     
3 3

 
  
 
 
 
      
M3 0 0 4, 687, 200 2.5 × 107 −4, 687, 500 5 × 107 θ3 64, 000
    

(e) Boundary Conditions

the types of supports as well as the nodal forces, the six following boundary conditions can be specified: (a)
Boundary conditions for nodal displacements

u1 = 0, θ1 = 0 u2 = 0 u3 = 0

(b) Boundary conditions for nodal forces

M2 = 0 M 3 = 0
    
u1 

  
 0  
θ1  0 

    

 
 
 

u2  0

  
 


 
 
 

θ2  −0.0016

  
 


 
 
 

u3  0

  
 


 
 
 

θ3 0.00208
   
The solution is: {X} = =

 F1   
 8250  
M 6000 
   
1 

 
 
 
  
F 42, 000
   
2 

 
 
 

  
M 0
   
2 

 
 
 

  
F 21, 750
   
3 

 
 
 

  
M3 0
   
(g) Displacements, Shear Forces, and Bending Moments
Knowing the nodal displacements {u1 , θ1 , u2 , θ2 , u3 , θ3 }, the displacements u(x), shear forces f (x), and bending
moments m(x) for any point x of the beam can be derived by different Equations respectively.

Element 1, nodes 1-2

Derivation of displacements

N1 = 0.00195 512 − 24x2 + 2x3

N2 = 0.00195 512x − 128x2 +
8x3
(1.28)
N3 = 0.00195 24x2 − 2x3

N4 = 0.00195 −64x2 + 8x3
 

 0
  0 
u(x) = N1 N2 N3 N4 

 0  (1.29)
−0.0016


= −0.000003125 −64x2 + 8x3

Derivation of shear forces

 
0
EI  
f (x) = 3 · [12 6L − 12 6L] · 0 = −3750 (1.30)
L
−0.0016
 

Derivation of bending moments

 
 0
 

EI  2 2
  0 
m(x) = 3 · 12x − 6L 6Lx − 4L − 12x + 6L 6Lx − 2L ·
L 
 0 
 (1.31)
−0.0016
 

= −78.125(−128 + 48x)

Element 2, nodes 2-3

Derivation of displacements

N1 = 0.0002444096 − 48x2 + 2x3

2 3
N2 = 0.0002444096x − 512x + 16x

(1.32)
N3 = 0.00024448x2 − 2x3

N4 = 0.000244−256x2 + 16x3
 

 0 

−0.0016
 
u(x) = [N1 N2 N3 N4 ] (1.33)

 0 

0.00208
 
 = −3.90625 × 10−7 4096x − 512x2 + 16x3


(1.34)
+ 5.0781249 × 10−7 −256x2 + 16x3

Derivation of shear forces

 
EI  0 − 0.0016 
f (x) = 3 · [12 − 6(2L) − 12 6(2L)] · 0 = 2250 (1.35)
L
0.00208
 

Derivation of bending moments

 
0 
 

EI  2 2
 −0.0016
 
m(x) = 3 · 12x − 6(2L) 6(2L)x − 4(2L) − 12x + 6(2L) 6(2L)x − 2(2L) ·
L  0 
(1.36)
 
0.00208
 

=48, 828.125(−0.0016(−1024 + 96x)

+ 0.002079(−512 + 96x))