L4/1

LECTURE 4/11: BEAM MODEL

1 Beam assumptions and models

2 Beam equations in Cartesian coordinates

3 Constitutive equations


y
z
, y y
Q R
, N M
,
z z
Q R
x
L4/2

LEARNING OUTCOMES

, Student knows the kinematic and kinetic assumptions of the Bernoulli and
Timoshenko beam models,

, is able to write the virtual work expression of Timoshenko beam model, and derive
the strong forms of Bernoulli and Timoshenko beam problems, and

, is able to derive the constitutive equations of Timoshenko and Bernoulli models for
homogeneous, isotropic and linearly elastic material.

L4/3

THIN BODY DISPLACEMENT ASSUMPTIONS

Bar: ( , , ) ( ) u x y z u x =
G G


String: ( , , ) ( ) u s n b u s =
G G


Straight beam: ( , , ) ( ) ( ) ( , ) u x y z u x x y z u = +
G
G G G


Curved beam: ( , , ) ( ) ( ) ( , ) u s n b u s s n b u = +
G
G G G


Thin slab: ( , , ) ( , ) u x y z u x y =
G G



Membrane: ( , , ) ( , ) u s n b u s n =
G G



Plate: ( , , ) ( , ) ( , ) ( ) u x y z u x y x y z u = +
G
G G G



Shell: ( , , ) ( , ) ( , ) ( ) u s n b u s n s n b u = +
G
G G G



translation
rotation
relative position
rigid body motion
L4/4

RIGID BODY KINEMATICS

The concept of relative motion is important in connection with the rigid body motion (then
0
r r
v a = =
G G
)


Position
P A AP
r r = +
G G G


Velocity
P A AP
v v e = +
G G G G


Acceleration
P A AP AP
( ) a a o e e = + +
G G G G G G G


Usually the origin of the material coordinate system is placed at the mass center. The
origin can also be placed at joint or fixed point or any other convenient point!
y
z
x
e
G

P
r
G

A
r
G
AP
G

P
X
A
Z
Y
O
L4/5

BEAM MODEL KINEMATICS








Timoshenko
P
( 0) u =
G
Bernoulli
P
( 0) u =
G

Normal planes to the (material) axis of beam remain planes (Timoshenko) and normal to
the axis (Bernoulli) in deformation. Mathematically
Q P PQ
u u u = +
G
G G G

(see Kul-49.1100
rigid body motion).
w
x
z
P
P
Q
Q

w
x
z
P
P
Q
Q
w'
L4/6

TIMOSHENKO ASSUMPTIONS







Kinematic assumption: Normal planes to the (material) axis of a beam remain planes in
deformation ( ) ( ) ( ) u ui vj wk i j k yj zk | u = + + + + + +
G G G
G G G G G
G


Kinetic assumption: Stress components 0
zz yy
o o = = .
Pure tension or torsion in x-direction and bending in xz-plane or xy-plane or any
combination of these can be obtained by additional restrictions on the displacement field!
fdV
G
x
y
z
t dA
G
{ }
t
L cO =
]0, [ L O =
{0}
u
cO =
L4/7

BERNOULLI ASSUMPTIONS







Kinematic assumption: Normal plane to the (material) axis of a beam remains a plane in
deformation and normal to the axis ( ) ( ) ( ) u ui vj wk i w j v k yj zk | ' ' = + + + + +
G G G
G G G G G
G


Kinetic assumption: Stress components 0
zz yy
o o = = .
The kinematic assumption of the Bernoulli model is more severe than that of the
Timoshenko model. Timoshenko model is more general and the modeling error is smaller!
fdV
G
x
y
z
t dA
G
{ }
t
L cO =
]0, [ L O =
{0}
u
cO =
L4/8

COMPONENT REPRESENTATIONS




0
x
N b ' + =

0
x
N b ' + =




0
y y
Q b ' + =

(
y z z
Q R c ' = )




0
z z
Q b ' + =

(
z y y
Q R c ' = + )


0
x
M c ' + =

0
x
M c ' + =


0
y z y
R Q c ' + =

0
y z y
R b c '' ' + + =



0
z y z
R Q c ' + + =

0
z y z
R b c '' ' + =



The number of additional constitutive equations needed for a closed equation system
differs in Timoshenko and Bernoulli models.
y
z
, y y
Q R
, N M
,
z z
Q R
x
Timoshenko Bernoulli
L4/9

BERNOULLI BEAM IN PLANE (xz)






Equilibrium: 0
zz
EI w b '''' + = ]0, [ x L e
Natural boundary condition:
zz
EI w R '' =

and

zz
EI w T ''' =

x L =
Essential boundary condition: 0 w = and 0 w' = 0 x =
The purpose is to find a ( ) w x satisfying all the equations. If the external forces and
material parameters are constants, analytical solution is a polynomial in x.
0
y z y
R b c '' ' + + = equilibrium
constitutive
L
b
T
x
R
z
y zz
R EI w'' =
equilibrium
z y y
Q R c ' = +
L4/10

EXAMPLE. Consider the Bernoulli beam of the figure. Material properties E and G,
cross-section properties A, 0
z
S = ,
zz
I , and loading b

are constants. Determine the
deflection and rotation ( w u ' = ) at the free end x L = .







Answer
4
(
8
)
zz
bL
w
EI
L =

and

3
( ) ( )
6
zz
b
L w L
L
EI
u ' = =


L
b
z
x
L4/11

TIMOSHENKO BEAM IN PLANE (xz)






Equilibrium: ( ) 0 GA w b u '' ' + + = and ( ) 0
zz
EI GA w u u '' ' + =

]0, [ x L e
Natural boundary condition:
zz
EI R u' =

and

( ) GA w T u ' + =

x L =
Essential boundary condition: 0 u = and 0 w = 0 x =
The purpose is to find a ( ) w x and a ( ) x u

satisfying all the equations. If the external forces
and material parameters are constants, analytical solution is a polynomial in x.
y zz
R EI u' =
( )
z
Q GA w u ' = +
0
y z y
R Q c ' + =
0
z z
Q b ' + =
equilibrium constitutive
L
b
T
x
R
z
L4/12

EXAMPLE. Consider the Timoshenko beam of the figure. Material properties E and G,
cross-section properties A, 0
z
S = ,
zz
I , and loading b

are constants. Determine the
deflection and rotation ( w u ' = ) at the free end x L = .







Answer
2 4
2
4
( )
8
zz
zz
EI GAL
w
bL
EI
L
L
GA
=
+

and

3
(
6
)
zz
bL
I
L
E
u =



b
L
x
z
Timoshenko effect
~ 1+(t/L)
2

L4/13

PRINCIPLE OF VIRTUAL WORK

The principle of virtual work
int ext
0 W W W o o o = + = u U o e
G
is just another
representation of the balance laws of continuum mechanics. It is important due to its wide
applicability and physical meanings of the terms.

int int
c
( : )
V V
W w dV dV o o o oc = =
} }
I I


ext ext
( )
V V
V V
W w dV f u dV o o o = =
} }
G
G


ext ext
( )
A A
A A
W w dA t u dA o o o = =
} }
G
G


The details of the expressions vary case by case, but the principle itself does not!

V
u o
G
t dA
G
f dV
G
P
P
0 u o =
G
A
L4/14

VIRTUAL WORK DENSITY OF BEAM

Thin slab (thin body in one-dimension) is called also elasticity problem in two dimensions.
The thin slab boundary value problem is given by

int
( ) W F u M F i o o ou ou
O
' ' =
G G G G G G
G


ext
0
w u b c o o ou
O
= +
G G
G G


ext
0
w u T R o o ou
cO
= +
G G G
G


in which

F i dA o =
}
G G
I

and

M i dA o =
}
G G
G I


x
y
z
,
z z
Q R
, y y
Q R
, N M
y z
F Ni Q Ni Q j Q k = + = + +
G G I G G G
y z
M Mi R Mi R j R k = + = + +
G G G G G G
stress resultants
L4/15

- In vector notation, the kinematic assumption of the beam model, gradient operator,
gradient of the relative position vector and displacement gradient are

0
( , , ) ( ) ( ) ( , ) u x y z u x x y z u = +
G
G G G



i j k
x y z
c c c
V = + +
c c c
G G G



I ii V =
I GG
G

&

I ii jj kk = + +
GG I GG GG


- Displacement gradient becomes (the representation is chosen to match the curved
beam case to be discussed later)

0 0
( )( )
x y z x x
u i j k u i u i u u u V = c + c + c + = c + c V
G G G G G G G G
G G G G G G



basic kinematics
L4/16

0
( ) u iu i ii I u u u ' ' V = + +
G G G I G G GG
G G G


Above I u
G I
is anti-symmetric so that its symmetric part vanishes. This is obvious
from (we use summation convention)

( )
i i j j i j ikj k
I e e e e e e u u u = =
G I
G G G G G

c
( ) ( ) ( ) ( )
j i ikj k j i jki k i j ikj k
I e e e e e e e e e I u u u u u = = = =
G G I I
G G G G G G


- Definition of the small strain
c
[ ( ) ] / 2 u u c = V + V
I G G
gives

0
) ( ) ( u iu i ii I u u u ' ' V = + +
G G G I G G GG
G G G



c 0 c
( ) ) ( ( ) u u i i i i I u u u ' ' V = + +
G G G I G G G G
G G G


L4/17

0 0
1
[ ( ) ( ) ( ) ( ) ]
2
iu u i i i i i i i c u u u u ' ' ' ' = + + + + +
G G G G G G G G G G G G
I G G G G

- Assuming that
c
o o =
I I
, the virtual work of internal forces per unit volume becomes (we
have used e.g. the vector identity ( ) ( ) a b c a b c =
G G
G G G G

)

int
c c
: :
V
w o o oc o oc = =
I I I I



int
c 0 0
1
: [ ( ) ( ) ( ) ( ) ]
2
V
w i u u i i i i i i i o o o o ou ou ou ou ' ' ' ' = + + + + +
G G G G G G G G G G G G
G G I G G

int
c 0 c c
1
[( ) ( ) ( ) ( ) ( )]
2
V
w i i u i i i i i o o o o o o ou o o ou ' ' = + + + + +
G G G G G G G G G
G I I I I I I G

int
0
[( ) ( ) ( ) ( ) ( )]
V
w i u i i i o o o o ou o ou ' ' = + +
G G G G G G
G I I I G

L4/18

int
0
[( ) ( ) ( ) ]
V
w i u i i i o o o o ou o ou ' ' = +
G G G G G G
G I I I G

- As dV dAdx = and dx d = in this case, the virtual work of internal forces simplifies
to

int
0
[( ) ( ) [( ) ] ] W i dA u i dA i dA i d o o o o ou o ou
O
' ' = + O
} } } }
G G G G G G
G I I I G

int
0
[ ( ) ] W F u M F i d o o ou ou
O
' ' = + + O
}
G G G G G G
G


where F i dA o =
}
G G
I

and

M i dA o =
}
G G
G I



- If the surface forces are acting on the end surfaces only, the virtual works of external
volume and surface forces become (vector identity ( ) ( ) a b c a b c =
G G
G G G G

used again)


(important definitions! )
stress resultants
L4/19

ext
0 0
( ) ( ) ) ( )
V
V V
W f u dV u f dV u b c d o o o ou o ou
O
= = + = + O
} } }
G G G G G
G G G G G
,


ext
0 0
( ) ( ) ( )
A
A A
W t u dA u t dA u T R o o o ou o ou
cO
= = + = +

} }
G G G G
G G
G G G G
,


where b f dA =
}
G G
,

( ) c f dA =
}
G
G G
,

F t dA =
}
G
G

and ( ) M t dA =
}
G
G
G






force resultants
L4/20

EQUILIBRIUM EQUATIONS OF BEAM


0 F b ' + =
G G

in O



0 M i F c ' + + =
G G G
G
in O



0 nF F =
G G
or 0 u u =
G G
on cO


0 nM M =
G G
or 0 u u =
G G
on cO

Constitutive equations of the form
0
( , ) M M u u =
G G G
G
,

0
( , ) F F u u =
G G G
G

(Bernoulli or
Timoshenko) are needed in displacement analysis and also in statically indeterminate
cases!
y z
F Ni Q Ni Q j Q k = + = + +
G G I G G G
y z
M Mi R Mi R j R k = + = + +
G G G G G G
x
y
z
,
z z
Q R
, y y
Q R
, N M
division into two parts
L4/21

- Integration by parts in the virtual work expression
int ext ext
V A
W W W W o o o o = + + gives
a more convenient form for deducing the strong form:

0
[ ( ) ] W F u M F i d o o ou ou
O
' ' = + + O+
}
G G G G G G
G



0 0
( ) ( ) u b c d u F M o ou o ou
cO
O
+ O+ +

}
G G G G G
G G G

0 0
[ ( ) ] ( ) W F u M F i d u nF nM o o ou ou o ou
cO
O
' ' = + O + +

}
G G G G G G G G G
G G



0 0
( ) ( ) u b c d u F M o ou o ou
cO
O
+ O+ +

}
G G G G G
G G G

0
[( ) { ( ) } ] W F b u M F i c d o o ou
O
' ' = + + + O+
}
G G G G G G
G G



0
[ ( ) ( )] u nF F nM M o ou
cO
+ + +

G G G G G
G

L4/22

- According to the principle of virtual work 0 W o =

( , ) u U o ou e
G
G
. If u o
G

and ou
G

are
chosen to vanish on cO,

the basic lemma of variational calculus implies


0 F b ' + =
G G

and

0 M i F c ' + + =
G G G
G

on

O

- If u o
G

and

ou
G

are varied without any restrictions on the boundary (first the field
equations are used to get rid of the first line of the virtual work expression), the basic
lemma of variational calculus gives

0 nF F =
G G
and

0 nM M =
G G
on

cO

- The boundary terms vanish if 0 u o =
G

and/or

0 ou =
G

on cO

by definition of U . Then
one may not deduce the condition above. However, 0 u o =
G

on

u
cO implies that u u =
G G

on

u
cO and 0 ou =
G

on

u
cO implies that u u =
G G

on

u
cO .

differential equations
natural boundary conditions
L4/23

EXAMPLE. Consider a beam loaded by its own weight and clamped at its left end
(figure). Determine F
G

and M
G
as functions of x by using the beam equations 0 F b ' + =
G G

and 0 M i F c ' + + =
G G G
G
and the traction type boundary conditions 0 nF F =
G G
and
0 nM M =
G G
at the free end.







Answer 0
y z
N Q M R = = = =

& ( )
z
Q gA L x =

&
2
( ) / 2
y
R gA x L =



L
z
x
gA
L4/24

- In a statically determinate case one may solve the beam equations for stress resultants
no matter the material. In the case of the figure, traction vanishes at the right end so
that 0 F =
G

and

0 M =
G
.

The force and moment load per unit length are b gAk =
G G

and

0 c =
G
, respectively. Hence we get

0 F b ' + =
G G

:

( ) 0
y z
Ni Q j Q k gAk ' + + + =
G G
G G

]0, [ x L e ,


0 M i F c ' + + =
G G G
G

:

( ) ( ) 0
y z y z
Mi R j R k i Ni Q j Q k + + + + + =
G G
G G G G G

]0, [ x L e ,

0 nF F =
G G

:

0
y z
Ni Q j Q k + + =
G
G G
x L = ,


0 nM M =
G G

:

0
y z
Mi R j R k + + =
G
G G
x L = .


Solution to the equations system can be obtained by simple integrations.
L4/25

LINEAR ELASTICITY

The generalized Hooks law of an isotropic homogeneous material can be expressed as:



Strain-stress:
1
1
1
1
xx xx
yy yy
zz zz
E
c v v o
c v v o
v v
c o


(

(
=
` `
(

(

) )

&
2
1
2
2
xy xy
yz yz
zx zx
G
c o
c o
c o


=
` `

) )


Strain-displacement:
,
,
,
xx x x
yy y y
zz z z
u
u
u
c
c
c




=
` `

)
)

&
, ,
, ,
, ,
1
2
xy x y y x
yz y z z y
zx z x x z
u u
u u
u u
c
c
c
+


= +
` `

+
)
)




in which E

is the Youngs modulus, v

the Poissons ratio, and / (2 2 ) G E v = +

the shear
modulus. Using these, one may deduce the uni-axial, and bi-axial (plane) stress and
(plane) strain relationships needed in the engineering models.
L4/26

TIMOSHENKO BEAM CONSTITUTIVE EQUATIONS

Constitutive equations of the form
0
( , ) M M u u =
G G G
G
,

0
( , ) F F u u =
G G G
G

follow from the
generalized Hookes law, definition of the small strain and kinetic assumptions of

T
( )
[ ( ) )
[ ( ) )
y z
z
y
E Au S S
i
F j G A v S
G A w S
k
u
|
u |
' ' ' +


' ' =
` `

' ' + +
) )
G
G G
G
,

T
[( ) ( ) ( )]
( )
( )
z y yy zz
z yz zz
y yy zy
G v S w S I I
i
M j E u S I I
k E u S I I
u |
u
u
' ' ' + + + +



' ' ' = +
` `

' ' ' +
)
)
G
G G
G


The moments of area

A dA =
}
,
i
S idA =
}
,
ij
I ijdA =
}

, { , } i j y z e
depend on the cross-section and positioning of the material coordinate system. A clever
selection of the material coordinate system may simplify the relationships!

Bernoulli constraints
0 & 0 v w u ' ' = + =
L4/27

- Strain-displacement relationship was derived earlier when discussing the equilibrium
equations (the components of relative position vector, rotation and displacement are
yj zk = +
G G
G
, i j k u | u = + +
G G G G
and

0
u ui vj wk = + +
G G G
G
)

0 0
1
[ ( ) ( ) ( ) ( ) ]
2
iu u i i i i i i i c u u u u ' ' ' ' = + + + + +
G G G G G G G G G G G G
I G G G G

( ) ( ) ( )
2 2
ij ji ik ki
u y z ii v z w y c u | u |
+ +
' ' ' ' ' ' ' = + + + + +
G G GG GG G G
GG
I

- If the material is homogeneous and isotropic and the normal stress components
0
yy zz
o o = = (actually small compared to the other components), the stress-strain
relationship and traction t i o =
G G
I
acting on a typical cross section become

: ( 2 2 2 2 ) : E Eiiii Gijji Gjiij Gikki Gkiik o c c = = + + + +
I
GG G G I GGGG GGGG GGGG G G GG
I I I

L4/28


2 2 2 2
ii ij ji ik ki
Eii Gij Gji Gik Gki o c c c c c = + + + +
G G GG GG GG G G
I

( ) ( ) ( ) t i iE u y z jG v z kG w y o u | u | ' ' ' ' ' ' ' = = + + + + +
G G G G G
I

- Constitutive equations follow from the definitions of stress resultants



T
( )
[ ( ) )
[ ( ) )
y z
z
y
E Au S S
i
F j G A v S
G A w S
k
u
|
u |
' ' ' +


' ' =
` `

' ' + +
) )
G
G G
G



T
[( ) ( ) ( )]
( )
( )
z y yy zz
z yz zz
y yy zy
G v S w S I I
i
M j E u S I I
k E u S I I
u |
u
u
' ' ' + + + +



' ' ' = +
` `

' ' ' +
)
)
G
G G
G

L4/29

- In concise form, the constitutive equations and parameters taking into account the
cross-section geometry and the material can be written as

0 1
1 c 2
( )
I I F u i
I I M
u
u
( ' +

( =
` `
(
'

) )
G I I G G
G
G I I G



E Eii Gjj Gkk = + +
GG I GG GG


0
I EdA =
}
G I


1
I E dA =
}
I I
G


2
( ) I E dA =
}
I I
G G




these may depend on x
L4/30

BERNOULLI BEAM CONSTITUTIVE EQUATIONS

In the thin beam limit, the solution satisfies the Bernoulli constraints 0 v ' = and
0 w u ' + = and the shear force components
y
Q and
z
Q become reaction forces to be solved
from the equilibrium equations of the beam:

T
( )
y z
y z
z y
E Au v S w S
i
F j Q G S
k Q G S
|
|
' '' ''



' =
` `

' +
)
)
G
G G
G

&

T
[ ( )]
( )
( )
yy zz
z yz zz
y yy zy
G I I
i
M j E u S v I w I
k E u S v I w I
|
' +



' '' '' =
` `

' '' '' + +
)
)
G
G G
G
,





A clever selection of the material coordinate system simplifies the relationships
considerably!
these do are not needed in solving
displacements and rotations!
L4/31

MOMENTS OF AREA

Cross-section geometry of bars and beams is described by the moments of area:

Zero moment: A dA =
}


First moments:
i
S idA =
}
{ , } i y z e

Second moments:
ij
I ijdA =
}

, { , } i j y z e


&
rr yy zz
I I I = +


The moments depend on the material coordinate system selection. Usually the location is
chosen so that 0
z y zy yz
S S I I = = = = . The notation above may differ from that used in
mechanics of materials.

L4/32

EXAMPLE. Determine the moments of area of a circular cross-section, when the x-axis
of the material coordinate system is chosen to coincide with the geometrical axis. The
radius of the circular cross-section is R.







Answer
2
A R t =



&
4
4
yy
I R
t
=

&
4
4
zz
I R
t
=

&
4
2
rr yy zz
I I I R
t
= + =
z
y
x O

G
P
r
G
r
G
L4/33

- In the polar coordinate system dA rd dr | = & cos sin yj zk r j r k | | = + = +
G G
G G
G
(angular
position from the y-axis i.e. rotation | along the x-axis)

2
2
0 0
R
A rd dr R
t
| t = =
} }

2
0 0
cos 0
R
y
S r rd dr
t
| | = =
} }

&
2
0 0
sin 0
R
z
S r rd dr
t
| | = =
} }

2
2 4
0 0
( cos )
4
R
yy
I r rd dr R
t
t
| | = =
} }
&
2
2 4
0 0
( sin )
4
R
zz
I r rd dr R
t
t
| | = =
} }

2
0 0
sin cos 0
R
zy yz
I I r r rd dr
t
| | | = = =
} }

&

2
2 4
0 0
2
R
rr
I r rd dr R
t
t
| = =
} }



Moments of area of the usual cross-sections are standard textbook material!

L4/34

HOW DOES A PLANE DEFORM IN REALITY?

, Actually a normal plane to the axis does not remain a plane in deformation unless the
cross-section is circular. Warping effect and thereby also the modelling error may
become large when the cross section is open in particular.

, In St.Venant torsion theory, cross-sections rotate as rigid bodies in plane
perpendicular to the axis of rotation but are free to warp in the direction of the axis.


does not warp
warps a lot
z
y