Finite element method for structural dynamic

and stability analyses

Module-4

Analysis of grids and 3D frames

Lecture-12: 3D frames

Prof C S Manohar
Department of Civil Engineering
IISc, Bangalore 560 012 India

1
 P t  2D beam (frame)
element
u2  t  , P2  t  u5  t  , P5  t 

u1  t  , P1  t  u4  t  , P4  t 
 
EI , AE, m, l , c
u3  t  , P3  t  u6  t  , P6  t 

Recall
2D beam (grid)
element
u3  t  , P3  t  u5  t  , P5  t 

u1  t  , P1  t  u2  t  , P2  t 
 

u4  t  , P4  t  u6  t  , P6  t 
2
 u3  t  , P3  t  u6  t  , P6  t 

u1  t  , P1  t  u4  t  , P4  t 
 

u2  t  , P2  t  u5  t  , P5  t 

2-noded element with 3 dofs per node

  x, t   u1  t  1  x   u4  t  2  x 
v  x, t   u3  t  1  x   u2  t  2  x   u6  t  3  x   u5  t  4  x 

3
  JGl 2 JGl 2 
 EI 0 0  0 0 
 EI 
 0 4l 2
6l 0 2l 2
6l 
EI  0 6l 12 0 6l 12 

K 3
l  JGl 2
JGl 2

 0 0 0 0 
 EI EI 
 0 2l 2
6l 0 4l 2
6l 
 0 6l 12 6l 12 
 0
140 I m 70 I m 
 m 0 0 0 0 
m
 
 0 4 l 2
22 l 0 3 l 2
13 l 
ml  0 22l 156 0 13l 54 
M  
420  70 I m 140 I m 
 m 0 0 0 0 
m
 
 0 3 l 2
 13 l 0 4 l 2
 22 l 
 0 13l 54 0 22l 156  4
 2-noded element with
3D beam element 6 dof-s per node.

u  x, t  , v  x, t  , w  x, t  ,  x, t  11
5
2 8
1 4 10
3 7
9
6 E, G, I x , I y , I z ,  , A, J , l 12

y Translation in m
  Force in N

x
Rotation in rad
  Force in Nm
z 5
  u    
L 2 L 2
1 1
U   AE   dx   GJ   dx
20  x  20  x 
Axial deformation Twisting
2 2
1
L
 v 12
 w L 2
  EI z  2  dx   EI y  2  dx
20  x  20  x 
Bending@z Bending@y

    
2
   
2

 with J =    y   z   dA 
  x   z   
 A   
L L L L
1 1 1 1
T   mu dx
2
 I m 2
dx +  mv 2
dt   mw 2
dt
20 20 20 20
Axial deformation Twisting Bending@z Bending@y

 
 with I m     y  z  dA 
2 2
6
 A 
  x, t   u4  t  1  x   u10  t  2  x 
u  x, t   u1  t  1  x   u7  t  2  x 
v  x, t   u2  t  1  x   u6  t  2  x   u8  t  3  x   u12  t  4  x 
w  x, t   u3  t  1  x   u5  t  2  x   u9  t  3  x   u11  t  4  x 
L  T  U ; L  L u1  t  , u2  t  , , u12  t  , u1  t  , u2  t  , , u12  t 
d  L  L
   0; i  1, 2, ,12  MU  KU  0
dt  ui  ui

7
 1 7 u  0, t   u1  t  ; u  l , t   u7  t 
u  x, t   u1  t  1  x   u7  t  2  x 
  0, t   u4  t  ;  l , t   u10  t 
4 10
  x, t   u4  t  1  x   u10  t  2  x 
v  0, t   u2  t  ; v  0, t   u6  t  ;
2 8
v  l , t   u8  t  ; v  l , t   u12  t 
6
12 v  x, t   u2  t  1  x   u6  t  2  x 
 u8  t  3  x   u12  t  4  x 
w  0, t   u3  t  ; w  0, t   u5  t  ;
5 11
w  l , t   u9  t  ; w  l , t   u11  t 
3 9 w  x, t   u3  t  1  x   u5  t  2  x 
 u9  t  3  x   u11  t  4  x 
 11
u  x, t  , v  x, t  , w  x, t  ,  x, t 
5

2 8
1 4 10
3 7
9
6 E, G, I x , I y , I z ,  , A, J , l 12
1 7 4 10
AE  1 1 1 GJ  1 1 4
1 K   K   1 1  10
7 L  1 1  7 L  
2 6 8 12
 12 6l 12 6l  2
4 10  2
6l 2l 2  6
EI z  6l 4l
K 3
l  12 6l 12 6l  8
2 8  
 6l 2l
2
6l 4l 2  12
6 3 5 9 11
12  12 6l 12 6l  3
5 11
EI y  6l 4l 2 6l 2l 2  5
K 3 
l  12 6l 12 6l  9
3 9  
 6l 2l 2
6l 4l 2  11
 Equivalent nodal forces

L L
1 7 P1  t    f x  x, t  1  x  dx; P7  t    f x  x, t  2  x  dx
0 0

L L

4 10 P4  t    mx  x, t  1  x  dx; P10  t    mx  x, t  2  x  dx
0 0

L L
P2  t    f y  x, t 1  x  dx; P6  t    f y  x, t 2  x  dx
2 8 0 0

6 L L
P8  t    f y  x, t 3  x  dx; P12  t    f y  x, t 4  x  dx
12 0 0

L L

5 11 P3  t    f z  x, t 1  x  dx; P5  t    f z  x, t 2  x  dx

0 0
L L

3 P9  t    f z  x, t 3  x  dx; P11  t    f z  x, t 4  x  dx

9 0 0
 1 2 3 4 5 6 7 8 9 10 11 12
A A 1
 BZ BZ BZ BZ  2

 By By By By 3
 
 T T 4
 By By By By 5
 
 BZ BZ BZ Bz  6
K  7
A A
 
 BZ BZ BZ Bz  8
 By By By By 9
 
 T T  10
 
 By By By By  11
 BZ BZ BZ BZ  12
11
  AE AE 
 l 0 0 0 0 0  0 0 0 0 0 
l
 
 0 12 EI z
0 0 0
6 EI z
0 
12 EI z
0 0 0
6 EI z 
 l3 l2 l3 l2 
 
 0 12 EI y 6 EI y 12 EI y 6 EI y
0 0  0 0 0  0  0 
 l3 l2 l3 l2 
 GJ GJ 
 0 0 0 0 0 0 0 0  0 0 
 L l 
 6 EI y 4 EI y 6 EI y 2 EI y 
 0 0  0 0 0 0 0 0 
 l2 l l2 l 
 6 EI z 4 EI z 6 EI z 2 EI z 
 0 0 0 0 0  0 0 0 
l2 l2
K 
l l 
 AE AE 
 0 0 0 0 0 0 0 0 0 0 
 l l 
 0 
12 EI z
0 0 0 
6 EI z
0
12 EI z
0 0 0
6 EI z 
 2 
 l3 l2 l3 l
 
 0 0 
12 EI y
0
6 EI y
0 0 0
12 EI y
0
6 EI y
0 
 l3 l2 l3 l2 
 
 0 GJ GJ
0 0  0 0 0 0 0 0 0 
 L L 
 6 EI y 2 EI y 6 EI y 4 EI y 
 0 0  0 0 0 0 0 0 
 l2 l l2 l 
 6 EI z 2 EI z 6 EI z 4 EI z 
 0 0 0 0 0  0 0 0 
 l2 l l2 l 
 140 0 0 0 0 0 70 0 0 0 0 0 
 0 156 0 0 0 22l 0 54 0 0 0 13l 

 0 0 156 0 22l 0 0 0 54 0 13l 0 
 
 0 140 I m 70 I m
0 0 0 0 0 0 0 0 0 
 m m 
 0 0 22l 0 4l 2 0 0 0 13l 0 3l 2 0 
 
ml  0 4l 2 3l 2
22l 0 0 0 0 13l 0 0 0
M  
420  70 0 0 0 0 0 140 0 0 0 0 0 
 0 54 0 0 0 13l 0 156 0 0 0 22l 
 
 0 0 54 0 13l 0 0 0 156 0 22l 0 
 70 I m 140 I m 
 0 0 0 0 0 0 0 0 0 0 
 m m 
 0 0 13l 0 3l 2 0 0 0 22l 0 4l 2 0 
 
 0 13l 0 0 0 3l 2 0 22l 0 0 0 4l 2 

13
 Coordinate transformation

Y y
A  x, y, z 
A X ,Y , Z 
 ŷ
 x
ĵ
x̂
X
iˆ
Z k̂ ẑ
Global Local
z

iˆ, ˆj , kˆ  Unit vectors along X , Y , and Z respectively

xˆ, yˆ , zˆ  Unit vector along x, y, and z respectively
A  Xiˆ  Yjˆ  Zkˆ
A  xxˆ  yyˆ  zzˆ
14
Component of A along x-axis, is obtained by considering

 
x  xˆ. Xiˆ  Yjˆ  Zkˆ  X cos( xX )  Y cos( xY )  Z cos( xZ )
Similarly, we get

 
y  yˆ. Xiˆ  Yjˆ  Zkˆ  X cos( yX )  Y cos( yY )  Z cos( yZ )

z  zˆ.  Xiˆ  Yjˆ  Zkˆ   X cos( zX )  Y cos( zY )  Z cos( zZ )

 x   cos xX cos xY cos xZ   X 

     
 y   cos yX cos yY cos yZ   Y 
 z   cos zX cos zZ   Z 
   cos zY

15
Properties of transformation matrix T1

x X   cos xX cos xY cos xZ 

   
Denote x =  y  , X   Y  , T1  cos yX cos yY cos yZ  , & OA  l
z Z 
     cos zX cos zY cos zZ 
 x  T1 X
l2  xt x  X t X
 X tT1tT1 X  X t X  T1tT1  I  T11  T1t
 T1 is an orthogonal matrix

If the two coordinate systems coincide, x  X .

 x  T1 x    1 is an eigenvalue of T1.

If  is an eigenvalue of T1  T1  
1 1
 T T   T   T  
t t t
 is also an eigenvalue of T1 16
1 1 1 1
 
 11
u  x, t  , v  x, t  , w  x, t  ,  x, t 
5

2 1 4 8
10
3 7
9
6 12
 u1   cos xX cos xY cos xZ  U1  u4   cos xX cos xY cos xZ  U 4 
        
u2   cos yX cos yY cos yZ  U 2  ; u5   cos yX cos yY cos yZ  U 5 
u   cos zX cos zZ  U 3  u6   cos zX cos zY cos zZ  U 6 
 3  cos zY
u7   cos xX cos xY cos xZ  U 7  u10   cos xX cos xY cos xZ  U10 
        
u8   cos yX cos yY cos yZ  U 8  ; u11   cos yX cos yY cos yZ  U11 
u   cos zX cos zZ  U 9  u12   cos zX cos zY cos zZ  U12 
 9  cos zY

 T  0 0 0 
 
 0 T  0 0   cos xX cos xY cos xZ 
u    U  ; T  cos yX cos yY cos yZ 
 0 0 T  0  
   cos zX cos zY cos zZ 
 0 0 0 T  
  T  0 0 0 
 
 0 T  0 0   cos xX cos xY cos xZ 
u    U  ; T  cos yX cos yY cos yZ 
 0 0 T  0  
   cos zX cos zY cos zZ 
 0 0 0 T  
u  TU  U  T 1u  T t u
1 t 1 t t 1 t
V  u Ku  U T KTU  U KU with K  T t KT .
2 2 2
1 t 1 t t 1 t
Similarly we get u Mu  U T MTU  U MU with M  T t MT
2 2 2
 Following the usual procedures of assembling and introduction of
boundary conditions, the governing equations can be obtained as
MU  CU  KU  F  t  ;U  0   U 0 ;U  0   U 0
18
Procedure for evaluating elements of T matrix
Consider a 2-noded 3D beam element with the two nodes named
as I and J.
Let  xi , yi , zi  and  x j , y j , z j  be the coordinates of nodes I and J
in the global coordinate system.
Let P be a point located in the local x - y plane (and not on the x -axis)
where y is one of the principal axis of the beam cross section.
Let  x p , y p , z p  be the coordinates of the point P in the global
coordinate system.

19
 P

Y y x
J
ĵ
z
k̂ X
iˆ
Z I
x j  xi y j  yi z j  zi
Evaluation of DC - s of x - axis : cos xX  ;cos xY  ;cos xZ 
l l l
Evaluation of DC - s of z - axis
Consider a plane formed by any two vectors in the local x - y plane. Any vector Z
along z -axis would be perpendicular to this plane.
Let the two vectors be (a) vector X along the line joining I and J along the
local x-axis, and (b) vector P from I to point P.
 Z  X P 20
 IY P
OI=xi iˆ  yi ˆj  zi kˆ 
J
OJ=x j iˆ  y j ˆj  zk kˆ IP IX
y
OP=xP iˆ  yP ˆj  z P kˆ x
I z
IZ  IX  IP IZ
IY  IZ  IX

Y
ĵ
k̂ X
O iˆ
Z

21
Let iˆ, ˆj , &kˆ be unit vectors along global X , Y , and Z axes
respectively.
iˆ ˆj kˆ
 z x iˆ  z y ˆj  z z kˆ  x j  xi y j  yi z j  zi
xP  xi yP  yi z P  zi
zx zy zz
 cos zX  ;cos zY  ;cos zZ 
Z Z Z
with
z x   y j  yi   z P  zi    z j  zi  y p  yi 
z y   z j  zi   xP  xi    x j  xi  z p  zi 
z z   x j  xi   yP  yi    y j  yi  x p  xi 

Z  z x2  z y2  z z2 22
Evaluation of DC - s of y - axis
Consider Y =vector along the y -axis and the unit vectors
X 1 & Z1 along x and z axes respectively.
 Y=Z  X 1

iˆ ˆj kˆ
 yx iˆ  y y ˆj  y z kˆ  cos zX cos zY cos zZ
cos xX cos xY cos xZ
yx yy y
 cos yX  ;cos yY  ;cos yZ  z
Y Y Y
with
yx  cos xZ cos zY  cos xY cos zZ
y y  cos xX cos zZ  cos xZ cos zX
yz  cos xY cos zX  cos xX cos zY
Y  y x2  y y2  y z2 23
 Example 1
O
O  0, 0, 0  D
A  0, 0,3
B  0, 4, 0 
C  3.5, 0,3
D  3.5, 0, 0  A C
E=210 109 N/m 2
 =7800 kg/m3
B  =0.25;
y B=0.2 m
D=0.2 m
x D

z B
24
 5
2 1 4
3
6

z
25
 0 0 1 0 -1 0 
T1  OA    0 1 0  ; T1  OB   1 0 0 
-1 0 0  0 0 1 
 0.7593 0 0.6508  1 0 0
T1  OC    0 1.0000 0  ; T1  OD   0 1 0 
-0.6508 0 0.7593  0 0 1 
DOF-s :1, 2,3, 4,5, 6
3.4696 0 0.8987 -0.0238 0.0105
0
 0 2.1237 0 -0.0238 0 0.0197 


9 0.8987 0 3.5868 0.0105 0.0197 0 
K  10  
 0 -0.0238 0.0105 0.0834 0 -0.0100 
-0.0238 0 0.0197 0 0.0984 0 
 
0.0105 0.0197 0 -0.0100 0 0.0821
26
 1.6778 0 -0.0271 0 -0.3731 0.2615
 0 1.7035 0 -0.3731 0 0.4639 
 

3 -0.0271 0 1.6921 0.2615 0.4639 0 
M  10  
 0 -0.3731 0.2615 0.3979 0 -0.1422 
-0.3731 0 0.4639 0 0.5015 0 
 
0.2615 0.4639 0 -0.1422 0 0.4888 
 -0.0004 0.0009 -0.0004 0.0092 -0.0255 -0.0123 
 -0.0013 -0.0001 0.0002 -0.0256 -0.0098 -0.0148
 
 0.0003 -0.0012 -0.0007 -0.0067 -0.0073 0.0305 
 
 0.0191 0.0002 -0.0483 -0.0150 0.0050 -0.0309 
 0.0012 -0.0428 0.0014 0.0142 -0.0127 -0.0389 
 
 -0.0348 -0.0025 -0.0311 0.0163 0.0255 0.0121 
Nat freqs (Hz): 61.76 69.44 79.25 211.30 277.03 309.04
27
First mode

28
6 dof model
 First mode Second mode

Third mode Fourth mode

366 dof model 29

O 1.5, 4,1.75  O
A  0, 0,3.5 
B  3, 0,3.5 
C  3, 0, 0 
C
D  0, 0, 0  D

y
A
B

E=210 109 N/m 2 x

 =7800 kg/m3 D
z
 =0.25;
B=0.2 m B
30
D=0.2 m
 5

2
1 4
3
6

D C

y
A
B

z 31
 -0.3249 -0.8664 0.3791  0.3249 -0.8664 0.3791 
T1  OA   0.9363 -0.3511 0  ; T1  OB   0.9363 0.3511 0 
0.1331 0.3549 0.9254   -0.1331 0.3549 0.9254
0.3249 -0.8664 -0.3791 -0.3249 -0.8664 -0.3791
T1  OC   0.9363 0.3511 0  ; T1  OD   0.9363 -0.3511 0 
0.1331 -0.3549 0.9254  -0.1331 -0.3549 0.9254
DOF-s :1, 2,3, 4,5, 6
0.7806 0 0 0 0 0.0273
 0 5.4674 0 0 0 0 
 
 0 0 1.0575 0.0273 0 0 
K  10 
9

 0 0 0.0273 0.0885 0 0 
 0 0 0 0 0.0365 0 
 
 0.0273 0 0 0 0 0.0855 

32
  2.1168 0 0 0 0 1.2072 
 0 1.9752 0 0 0 0 
 
 0 0 2.1084 1.2072 0 0 
M  10 
3

 0 0 1.2072 1.0473 0 0 
 0 0 0 0 0.3011 0 
 
1.2072 0 0 0 0 1.0032 
Nat freqs (Hz): 44.43 44.86 55.41 179.33 198.53 264.79
-0.0030 0 0 -0.0387 0 0 
 0 0 0 0 0 0.0225 
 
 0 -0.0022 -0.0000 0 -0.0373 0 
=  
 0 -0.0283 -0.0000 0 0.0448 0 
 0 -0.0000 0.0576 0 -0.0000 0 
 
-0.0278 0 0 0.0490 0 0 

33
First mode 34
 Second mode
First mode

Fourth mode 35
Third mode 462 dof model
 -0.3249 -0.8664 -0.3791 0 0 0 0 0 0 0 0 0 
 0.9363 -0.3511 0 0 0 0 0 0 0 0 0 0 
 
-0.1331 -0.3549 0.9254 0 0 0 0 0 0 0 0 0 
 
 0 0 0 -0.3249 -0.8664 -0.3791 0 0 0 0 0 0 
 0 0 0 0.9363 -0.3511 0 0 0 0 0 0 0 
 

T 
0 0 0 -0.1331 -0.3549 0.9254 0 0 0 0 0 0 
0 0 0 0 0 0 -0.3249 -0.8664 -0.3791 0 0 0 
 
 0 0 0 0 0 0 0.9363 -0.3511 0 0 0 0 
 0 0 0 0 0 0 -0.1331 -0.3549 0.9254 0 0 0 
 
 0 0 0 0 0 0 0 0 0 -0.3249 -0.8664 -0.3791
 
 0 0 0 0 0 0 0 0 0 0.9363 -0.3511 0 
 0 0 0 0 0 0 0 0 0 -0.1331 -0.3549 0.9254 

1
T 'T  I  T  T '

36
 Additional considerations
• Inclusion of rotary inertia (Rayleigh’ beam theory)

• Presence of axial loads

• Beams on elastic foundations

• Beams rotating about an axis

• Deep beams and influence of shear deformation

• Exact analysis of 3D frames 37

 Beam vibrations : Additional consideration

Rayleigh's beam theory : Rotary inertia

w
u  x, t    z ; v  0; w  w  x, t 
x x
u 2w
 xx    z 2 ;  yy  0;  zz  0 y
x x
1  u v 
 xy      0
2  y x  z
1  u w  1  w w 
 xz           0
2  z x  2  x x 
1  v w 
 yz      0
2  z y 
2w
 xx   Ez 2
x
 all other stress components=0  38
 2
1 
L
 w   w 
2
1 2
 2   2w  l
U      Ez 2   z 2  dxdA   E   z dA  2  dx
2 0 A x  x  2 0 A   x 
2
1
l
 2w 
  EI z  2  dx with I z   z 2 dA
20  x  A
l
T  t       u 2  w2  dAdx
1
20A

  w 
2

2
l 2
1
      z   w  dAdx
2 0 A  xt  

2
1        
2
 
l 2 l
w 1 w
     z 2 dA   dx      dA   dx
2 0 A   xt  2 0 A   t 
2
 2w   w 
l l 2
1 1
   Iz   dx   m   dx
20  xt  2 0  t 
Rotary inertia Inertia against translation

New terms in mass matrix
39
 Effect of axial loads

P P

Work done by the axial load = P

  change in length of the beam

 dw 
2
 1  dw  
2

ds  dx  dw  dx 1  
2 2
  dx 1    
 dx   2  dx  
40
Length of the beam in the deformed configuration
l
 1  dw 2  1  dw 
l 2

S   1     dx  l     dx
 2  dx  
0 
2 0  dx 
2
1  dw 
l
  S l    dx
2 0  dx 
2
P  dw 
l
Work done=    dx
2 0  dx 
2
  w   w 
l 2 L 2
1 1
U   EI z  2  dx +  P   dx
20  x  2 0  x 
2
 w  w 
l 2 l 2
1 1
T t     I z   dx   m   dx
20  xt  2 0  t 

41
Beam on elastic foundation  Winkler's model 
2
 w 
2
 
l 2 L l
1 1 w 1
U   EI z  2  dx +  P   dx   k  x  w 2
dx
20  x  2 0  x  20
2
 w  w 
l 2 l 2
1 1
T t     I z   dx   m   dx
20  xt  2 0  t 

42
  d

Beam rotating about a vertical axis

Centrifugal force
l
1  x 2

P  x     A 2 d   Al 2  2 1  2 
x
2  l 
 
2
  w   
x   w 
2
1 1
l 2 L 2
1
U   EI z  2  dx +    A 2l 2 1  2     dx
20  x  2 0  2  l    x 
2
 w  w 
l 2 l 2
1 1
T t     I z   dx   m   dx
20  xt  2 0  t 
43
Transverse vibrations of beams including shear deformation
and rotary inertia  Timoshenko's beam theory 
Plane cross sections which are normal to the neutral
axis before bending remain plane but do not remain
orthogonal to the neutral axis

z, w

x, u


u  x, t    z  x, t  ; v  0; w  w  x, t 
u 
 xx   z ;  yy  0;  zz  0
x x
1  u v  1  u w  1  w 
 xy      0;  xz         
2  y x  2  z x  2  x 
1  v w 
 yz    0
2  z y 
  w 
 xx   Ez ;  xz  G    
x  x 
 all other stress components=0 
1  l
2   
2
 w  
U     Ez   dA    xz     dA dx
2 0  A  x  A  x  
45
Simplifying Assumption :
 w 
 xz  G      Shear stress (according to the postulated
 x 
displacement field) is uniformly distributed across depth.
This is not true. Shear stress is ditributed parabolically across depth.


A
xz dA  kAG xz

kA=reduced section; k  5 / 6 for rectangle cross section; k =1/1.175 for

circular cross section.

1    
l 2
 w  
2

U    EI   dA  kAG      dx
2 0   x   x  

46
 l
T  t       u 2  w2  dAdx
1
20A
l l
1 1
    z 2 2 dAdx     w2 dAdx
20A 20A

2   1 2 
l l
1
     z dAdx   w    dAdx
2

20 A  2 0 A 
 w 
l l 2
1 1
     
2
I dx m   dx
2 0  t 
z
20
Rotary inertia Inertia against translation

New terms in mass matrix

1
l
1  w 
l

1    
22

l
w  
2

L    I z dx   m 
2
 dx    EI   dA  kAG      dx
20 2 0  t  2 0   x   x  
Develop FE model by treating w and  as nodal variables and by interpolating
w and  within the element in terms of the nodal values.
47
 Dynamic stiffness matrix for 3D frames

• The dynamic stiffness matrix (without using polynomial

interpolations) can also be derived for the three-
dimensional beam element.

• The resulting formulations again lead to exact solutions

for system FRF-s for grid and 3d frame structures.

48
 1 7

 cot 1l -cosec1l  2 m 2  ih2 x  ic2 x

D  AE1   ; 1 
 cosec1l cot  l  AE 1  ih1x  ic1x 

4 10

 cot 2l -cosec2l  2 I m 2  ih2  ic2

D  GJ 2   ; 2 
 cosec2l cot 2l  GJ 1  ih1  ic1 
 2 8
6
12

 33 0 33 0 
 
 0 32 0 32 
D  EI y
 33 cos 3l 33 sin 3l 33 cosh 3l 33 sinh 3l 
 2 
 3 sin 3l 32 cos 3l 32 sinh 3l 3 cosh 3l 
2

1
 0 1 0 1 
  0 3 0  m  2
 ih2 y  ic2 y
 3  ;4 
 sin 3l cos 3l sinh 3l cosh 3l  EI y 1  ih1 y  ic1 y 
3

 
3 cos 3l 3 sin 3l 3 cosh 3l 3 sinh 3l 
 5 11

3 9

 43 0 43 0 
 
 0 42 0 42 
D  EI z
 43 cos 4l 43 sin 4l 43 cosh 4l 43 sinh 4l 
 2 
 4 sin 4l 42 cos 4l 42 sinh 4l 4 cosh 4l 
2

1
 0 1 0 1 
  4 
 4 0 0  ; 
4 m  2
 ih2 z  ic2 z
 sin 4l cos 4l sinh 4l cosh 4l  EI z 1  ih1z  ic1z 
4

 
4 cos 4l 4 sin 4l 4 cosh 4l 4 sinh 4l 
 1 2 3 4 5 6 7 8 9 10 11 12
A A 1
 BZ BZ BZ BZ  2

 By By By By 3
 
 T T 4
 By By By By 5
 
 BZ BZ BZ Bz  6
D 7
A A
 
 BZ BZ BZ Bz  8
 By By By By 9
 
 T T  10
 
 By By By By  11
 BZ BZ BZ BZ  12
52
 More issues
• Rotors
• Bending-torsion coupling
• Curved beams: bending axial deformation coupling
• Coupling between bending about two orthogonal axes
• Beams with pre-twist
• Laminated beams
• Higher order theories
• …

53
Numerical integration of equations of equillibrium

Consider a N -dof system

MU  CU  KU  R U  t  ,U  t  , t   F  t 
U  0   U 0 ;U  0   U 0

Remarks:
This equation constitutes a set of semi-discretized
system of coupled second order ode-s. That is,
these equations have been obtained after discretizing
the spatial variables.
This set of equations constitutes a set of initial value
problems. 54