DEVELOPMENT OF BEAM

EQUATIONS
Subject: FEM (MH-717) Prepared By:
Mr. D. S. Patel,
B.Tech. Mech. (Sem 7)
Asst. Professor,
Mechanical Engineering Department,
D. D. University , Nadiad.
 Content
2
 Introduction
 Beam element
 Euler Bernoulli Beam Theory
 Finite element formulation for beam element
 Examples
 Distributed Loading
 Examples
 Beam Element with Nodal Hinge
 Examples
 References
 Introduction
3
 What is beam?
 “It is a long, slender, structural member generally subjected to
transverse loading which causes significant bending effects
(bending deformation)”.
 These bending effects are mainly measured as transverse
displacement and rotation of various sections of the beam.
 The transverse displacement and rotation are considered as
degrees of freedom.
 Introduction
4
 What is beam?

Fig. 1 A loaded beam

 Beam Element
5
 Consider the beam element of length L as shown in Fig. 2. It has nodes 1 and 2.
 Assuming a local coordinate system (x-y) with origin at node 1.

 Let, 𝑓1y and 𝑓2y = Transverse forces at node 1 and node 2 respectively.
𝑣1 and 𝑣2 = Transverse displacements at node 1 and node 2 respectively.
𝑚1 and 𝑚2 = Bending moments at node 1 and node 2 respectively.
∅1 and ∅2 = Rotations at node 1 and node 2 respectively.

Fig. 2 A beam element

 Beam Element
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 At both the nodes,
Transverse forces and corresponding displacements are positive along +𝑦 𝑎𝑥𝑖𝑠.
 Similarly,
Bending moments and corresponding rotations are positive in counter clock wise
direction.

Fig. 2 A beam element

 Euler Bernoulli Beam Theory
7
 The governing differential equation for linear-elastic beam (Euler-Bernoulii beam) is
based on certain assumptions.
 Assumptions:
 The beam is long and slender.
 The material of the beam is uniform and isotropic.
 The beam is loaded in elastic range only (stress vs. strain curve is linear).
 cross sections of the beam are plane and perpendicular to neutral axis, before and
after bending.
 Euler Bernoulli Beam Theory
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 Let’s consider a beam subjected to distributed load as shown in Fig. 3.
 Consider a small differential beam element ‘abdc’ of dx length.
 A plane through vertical line a-c is perpendicular to longitudinal x-axis.
 Now, consider the same beam after bending as shown in Fig. 4.
 The similar plane through line a’-c’ remains perpendicular to bent x-axis.

𝒚, 𝒗

dx

Fig. 3 un-deformed beam under load w(x) Fig. 4 deformed beam under load w(x)
 Euler Bernoulli Beam Theory
9
 Now emphasize on the differential beam element of length (dx) subjected to
distributed load w(x). (see Fig. 5)
 Bending moment and shear force acting at node-1 are M and V respectively.
 And those at node-2 are M+dM and V+dV respectively.
 Beam theory sign conventions for positive bending moments (M) and shear forces (V)
are shown in Fig. 6. which will be followed for deriving differential equation of beam.

 For the equilibrium of the beam element,

 σ 𝐹𝑥 = 0 , σ 𝐹𝑦 = 0 , σ 𝑀𝑧 = 0

𝑚 𝑚

𝑉 𝑉

Fig. 5 Differential beam element Fig. 6 beam theory sign conventions

 Euler Bernoulli Beam Theory
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 σ 𝐹𝑦 = 0
𝑉 − 𝑉 + 𝑑𝑉 − 𝑤 𝑥 𝑑𝑥 = 0
−𝑑𝑉 = 𝑤 𝑥 𝑑𝑥
−𝑑𝑉
𝑤 𝑥 = (1)
𝑑𝑥
 σ 𝑀𝑧 = 0 , Taking moments about node 2
𝑑𝑥
−𝑉 𝑑𝑥 + −𝑀 + 𝑀 + 𝑑𝑀 + 𝑤 𝑥 𝑑𝑥 =0
2
𝑑𝑥
−𝑉 𝑑𝑥 + 𝑑𝑀 + 𝑤 𝑥 𝑑𝑥 =0
2

𝑚 𝑚

𝑉 𝑉

Fig. 5 Differential beam element Fig. 6 beam theory sign conventions

 Euler Bernoulli Beam Theory
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 Dividing both the sides with dx ,
𝑑𝑀 𝑑𝑥
−𝑉 + +𝑤 𝑥 =0
𝑑𝑥 2

 Since dx is very small, taking limits,

𝑑𝑥
 When dx 0,𝑤 𝑥 ≈0
2
𝑑𝑀
−𝑉 + =0
𝑑𝑥

Or
𝑑𝑀
𝑉= (2)
𝑑𝑥

𝑚 𝑚

𝑉 𝑉

Fig. 5 Differential beam element Fig. 6 beam theory sign conventions

 Euler Bernoulli Beam Theory
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 Let k is the curvature of beam axis when it is bent under transverse loading.
1
𝑘= Where, R = radius of curvature
𝑅

 From fundamental equation of bending,

𝑀 𝐸 1 𝑀 1 𝑀
= ∴ = ∴ 𝑘= = (A)
𝐼 𝑅 𝑅 𝐸𝐼 𝑅 𝐸𝐼

Where, M = Bending moment

E = Young’s modulus
I = Moment of inertia about Z axis.
𝑅

Fig. 7 Portion of deflected curve of beam Fig. 8a Radius of deflected curve at 𝑣 (x)
 Euler Bernoulli Beam Theory
13 𝑑𝑣
 From Fig. 8b , tan ∅ =
𝑑𝑥

 For very small value of angle ∅ , tan ∅ ≈ ∅

𝑑𝑣
∴∅=
𝑑𝑥

 Also, 𝑑𝑠 = 𝑅 𝑑∅
1 𝑑∅
∴𝑘= =
𝑅 𝑑𝑠
 As ∅ is very small and 𝑑∅ is even smaller than ∅,
1 𝑑∅
𝑑𝑠 ≈ 𝑑𝑥 ∴𝑘= = (B)
𝑅 𝑑𝑥

𝑑∅
𝑑𝑠 𝑅
∅ 𝑑𝑣
𝑑𝑠
𝑑𝑥

Fig. 7 Portion of deflected curve of beam Fig. 8b Radius of deflected curve at 𝑣 (x)
 Euler Bernoulli Beam Theory
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 From equations A and B,
𝑀 𝑑∅
=
𝐸𝐼 𝑑𝑥
𝑑 𝑑𝑣 𝑑2 𝑣
= =
𝑑𝑥 𝑑𝑥 𝑑𝑥 2
𝑑2 𝑣
𝑀=𝐸 𝐼 2 (3)
𝑑𝑥
 Earlier we derived,
𝑑𝑀
𝑉=
𝑑𝑥
𝑑 𝑑2𝑣
= 𝐸 𝐼 2
𝑑𝑥 𝑑𝑥
𝑑3 𝑣
𝑉=𝐸 𝐼 3 (4)
𝑑𝑥
 We also derived,
−𝑑𝑉
𝑤 𝑥 =
𝑑𝑥
𝑑𝑉
∴ −𝑤 𝑥 =
𝑑𝑥
 Euler Bernoulli Beam Theory
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 Hence,
𝑑4 𝑣
−𝑤 𝑥 = 𝐸 𝐼 4
𝑑𝑥
 For constant E and I and considering only nodal forces and moments on the beam
(Neglecting distributed loading).
 We get,
𝑑4 𝑣
𝐸 𝐼 4 =0 (5)
𝑑𝑥
 Equation (5) is the fourth order differential equation of beam
 Finite element formulation for beam element
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 A general procedure of Finite element analysis of beam element.
 Step 1. Select the Element Type:
 Considering a beam element as shown in Fig. 9 with nodal forces and corresponding
displacements.
 Let, 𝑓1y and 𝑓2y = Transverse forces at node 1 and node 2 respectively.
𝑣1 and 𝑣2 = Transverse displacements at node 1 and node 2 respectively.
𝑚1 and 𝑚2 = Bending moments at node 1 and node 2 respectively.
∅1 and ∅2 = Rotations at node 1 and node 2 respectively.

Fig. 9 Beam element subjected to transverse forces and moments

 Finite element formulation for beam element
17
 Step 2 Define a Displacement Function :
 Assuming, a cubic displacement function for the transverse displacement variation
along x (length of beam).
𝑣 𝑥 = 𝑎1 𝑥 3 + 𝑎2 𝑥 2 + 𝑎3 𝑥 + 𝑎4 (a)
 A cubic displacement function is selected because there are four d.o.f (𝑣1 , ∅1 , 𝑣2 , ∅2 ).
 A cubic function also satisfies basic differential equation of beam. Moreover, it satisfies
the conditions of displacement and slope continuity at nodes shared by two elements.

 Now, we will express 𝑣 𝑥 as function of nodal displacements (𝑣1 , ∅1 , 𝑣2 , ∅2 ).

 Earlier we derived that slope/ rotation function for the beam element,
𝑑𝑣
∅ 𝑥 =
𝑑𝑥
∅ 𝑥 = 3 𝑎1 𝑥 2 + 2 𝑎2 𝑥 + 𝑎3 (b)
 Finite element formulation for beam element
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 Step 2 Define a Displacement Function :
 Applying boundary conditions,
 Putting boundary values of x in equations (a) and (b).
 At node 1, x = 0
𝑣 0 = 𝑣1 = 𝑎4 ∴ 𝑎4 = 𝑣1 (i)
∅ 0 = ∅1 = 𝑎3 ∴ 𝑎3 = ∅1 (ii)
 Similarly at node 2, x = L
𝑣 𝐿 = 𝑣2 = 𝑎1 𝐿3 + 𝑎2 𝐿2 + 𝑎3 𝐿 + 𝑎4 (iii)
∅ 𝐿 = ∅2 = 3 𝑎1 𝐿2 + 2 𝑎2 𝐿 + 𝑎3 (iv)
 Substituting values of 𝑎3 and 𝑎4 in equations (iii) and (iv),

𝑣2 = 𝑎1 𝐿3 + 𝑎2 𝐿2 + ∅1 𝐿 + 𝑣1 (v)
∅2 = 3 𝑎1 𝐿2 + 2 𝑎2 𝐿 + ∅1 (vi)
 Solving equations (v) and (vi) to obtain values of 𝑎1 and 𝑎2 , we get,
 Finite element formulation for beam element
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 Step 2 Define a Displacement Function :
2 1
𝑎1 = 𝑣1 − 𝑣2 + ∅1 + ∅2 (vii)
𝐿3 𝐿2
−3 1
𝑎2 = 𝑣1 − 𝑣2 − 2∅1 + ∅2 (viii)
𝐿2 𝐿
 Substituting values of 𝑎1 , 𝑎2 , 𝑎3 and 𝑎4 in equations (a) and (b),
2 1 −3 1
𝑣 𝑥 = 𝑣1 − 𝑣2 + ∅1 + ∅2 𝑥 3 + 𝑣1 − 𝑣2 − 2∅1 + ∅2 𝑥 2 + ∅1 𝑥 + 𝑣1 (ix)
𝐿3 𝐿2 𝐿2 𝐿
2 1 −3 1
∅ 𝑥 =3 𝑣1 − 𝑣2 + ∅1 + ∅2 𝑥 2 + 2 𝑣1 − 𝑣2 − 2∅1 + ∅2 𝑥 + ∅1 (x)
𝐿3 𝐿2 𝐿2 𝐿

 Writing equations (ix) in matrix form,

𝑣(𝑥) = 𝑁 𝑑
𝑣1
∅1
Where, 𝑑 = 𝑣 = vector of D. O. F. And 𝑁 = 𝑁1 𝑁2 𝑁3 𝑁4
2
∅2
 Finite element formulation for beam element
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 Step 2 Define a Displacement Function :
2𝑥 3 3𝑥 2
𝑁1 = − +1
𝐿3 𝐿2
𝑥3 2𝑥 2
𝑁2 = − +𝑥
𝐿2 𝐿
−2𝑥 3 3𝑥 2
𝑁3 = +
𝐿3 𝐿2
𝑥3 𝑥2
𝑁4 = −
𝐿2 𝐿

 Where, N1 , N2 , N3 and N4 are shape functions for beam element.

 They are also known as hermite cubic interpolation (cubic spline) functions.
 Finite element formulation for beam element
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 Step 3 Define the Strain/Displacement and Stress/ Strain relationships
 Assume following strain/displacement relationship,
𝑑𝑢
𝜀𝑥 (𝑥, 𝑦) =
𝑑𝑥
where, 𝑢 = axial displacement function

Fig. 10 Beam segment before deformation Fig. 11 Beam segment after deformation
 Finite element formulation for beam element
22
 Step 3 Define the Strain/Displacement and Stress/ Strain relationships
 From the deformed configuration of the beam as shown in Fig. 11 and Fig. 12.
𝑑𝑣
𝑢 = −𝑦
𝑑𝑥
𝑑 𝑑𝑣 𝑑2 𝑣
∴ 𝜀𝑥 𝑥, 𝑦 = −𝑦 = −𝑦 2
𝑑𝑥 𝑑𝑥 𝑑𝑥

Fig. 11 Beam segment after deformation Fig. 12 Angle of rotation of c/s ABCD
 Finite element formulation for beam element
23
 Step 3 Define the Strain/Displacement and Stress/ Strain relationships
 According to Hooke’s law,
𝜎𝑥 = 𝐸 𝜀𝑥
𝑑2 𝑣 𝑀 𝑀𝑦 𝑀
∴ 𝜎𝑥 = −𝐸 𝑦 = −𝐸 𝑦 =− = −𝐼
𝑑𝑥 2 𝐸𝐼 𝐼 ൗ𝑦
𝑀
∴ 𝜎𝑥 = −
𝑍

 Expressing bending moment and shear force in terms of transverse

displacement.
𝑑2 𝑣
𝑚=𝐸 𝐼 2
𝑑𝑥
𝑑3 𝑣
𝑉=𝐸 𝐼 3
𝑑𝑥
 Finite element formulation for beam element
24
 Step 4 Derive the Element Stiffness Matrix and Equations
 Deriving equations by direct equilibrium approach.
 We now relate the finite element method(nodal) and beam theory sign conventions,
𝑓1y = 𝑉 , 𝑓2y = −𝑉 , 𝑚1 = −𝑚 and 𝑚2 = 𝑚
2 1 −3 1
𝑣 𝑥 = 𝑣1 − 𝑣2 + ∅1 + ∅2 𝑥 3 + 𝑣1 − 𝑣2 − 2∅1 + ∅2 𝑥 2 + ∅1 𝑥 + 𝑣1
𝐿3 𝐿2 𝐿2 𝐿
𝑑2 𝑣
𝑚=𝐸 𝐼 2
𝑑𝑥
12 6 −6 2
𝑚=𝐸𝐼 𝑣1 − 𝑣2 + ∅1 + ∅2 𝑥 + 𝑣1 − 𝑣2 − 2∅1 + ∅2
𝐿3 𝐿2 𝐿2 𝐿

𝑚 𝑚

𝑉 𝑉

Fig. 13 finite element sign conventions Fig. 14 beam theory sign conventions
 Finite element formulation for beam element
25
 Step 4 Derive the Element Stiffness Matrix and Equations
𝑑3 𝑣
𝑉=𝐸 𝐼 3
𝑑𝑥
12 6
𝑉=𝐸𝐼 𝑣1 − 𝑣2 + ∅1 + ∅2
𝐿3 𝐿2

 Now,
𝑑3 𝑣
𝑓1y = 𝑉 = 𝐸 𝐼
𝑑𝑥 3 𝑥=0
𝐸𝐼
𝑓1y = 12𝑣1 + 6𝐿∅1 − 12𝑣2 + 6𝑙∅2 (A)
𝐿3
𝑑2 𝑣
𝑚1 = −𝑚 = −𝐸 𝐼
𝑑𝑥 2 𝑥=0
𝐸𝐼
𝑚1 = 6𝐿𝑣1 + 4𝐿2 ∅1 − 6𝐿𝑣2 + 2𝐿2 ∅2 (B)
𝐿3
𝑑3 𝑣
𝑓2y = −𝑉 = −𝐸 𝐼
𝑑𝑥 3 𝑥=𝐿
𝐸𝐼
𝑓1y = −12𝑣1 − 6𝐿∅1 + 12𝑣2 − 6𝑙∅2 (C)
𝐿3
 Finite element formulation for beam element
26
 Step 4 Derive the Element Stiffness Matrix and Equations
𝑑2 𝑣
𝑚2 = 𝑚 = 𝐸 𝐼
𝑑𝑥 2 𝑥=𝐿
𝐸𝐼
𝑚2 = 6𝐿𝑣1 + 2𝐿2 ∅1 − 6𝐿𝑣2 + 4𝐿2 ∅2 (D)
𝐿3

 Writing equations (A), (B), (C), and (D) in matrix form,

𝑓1y 12 6𝐿 −12 6𝐿 𝑣1
𝑚1 𝐸 𝐼 6𝐿 4𝐿2 −6𝐿 2𝐿2 ∅1
= 3
𝑓2y 𝐿 −12 −6𝐿 12 −6𝐿 𝑣2
𝑚2 6𝐿 2𝐿2 −6𝐿 4𝐿2 ∅2
𝑓 = 𝐾 𝑑
Where, 𝑓 = Force vector
𝐾 = Stiffness matrix
𝑑 = Displacement/ D. O. F. vector
 Finite element formulation for beam element
27
 Step 5 Assembling element equations to obtain Global set of equations
 This step applies only if the beam is discretized in more than one beam elements. (see
Fig. 15)
 Let’s assume two beam elements connected at node 2, having same moment of
inertia (I), modulus of elasticity (E) and length (L).

Fig. 15 A beam discretized into two beam elements

 Finite element equations for element 1
𝑓1y 12 6𝐿 −12 6𝐿 𝑣1
𝑚1 𝐸𝐼 6𝐿 4𝐿2 −6𝐿 2𝐿2 ∅1
= 3 𝑣2 𝑓 (1) = 𝐾 (1) 𝑑 (1) (a)
𝑓2y 𝐿 −12 −6𝐿 12 −6𝐿
𝑚2 6𝐿 2𝐿2 −6𝐿 4𝐿2 ∅2
 Finite element formulation for beam element
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 Step 5 Assembling element equations to obtain Global set of equations
 Where,
𝑓 (1) = force vector of element 1

𝐾 (1) = stiffness matrix of element 1

𝑑 (1) = displacement/ d.o.f. vector of element 1
 Finite element equations for element 2
𝑓2y 12 6𝐿 −12 6𝐿 𝑣2
𝑚2 𝐸 𝐼 6𝐿 4𝐿2 −6𝐿 2𝐿2 ∅2
= 3 𝑓 (2) = 𝐾 (2) 𝑑 (2) (b)
𝑓3y 𝐿 −12 −6𝐿 12 −6𝐿 𝑣3
𝑚3 6𝐿 2𝐿2 −6𝐿 4𝐿2 ∅3
 Where,
𝑓 (2) = force vector of element 2
𝐾 (2) = stiffness matrix of element 2
𝑑 (2) = displacement/ d.o.f. vector of element 2
 Finite element formulation for beam element
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 Step 5 Assembling element equations to obtain Global set of equations
 Assembling equations (a) and (b),
𝑓1y 12 6𝐿 −12 6𝐿 0 0 𝑣1
𝑚1 6𝐿 4𝐿2 −6𝐿 2𝐿2 0 0 ∅1
𝑓2y 𝐸𝐼 −12 −6𝐿 24 0 −12 6𝐿 𝑣2
= ∅2
𝑚2 𝐿3 6𝐿 2𝐿2 0 8𝐿2 −6𝐿 2𝐿2
𝑓3y 0 0 −12 −6𝐿 12 −6𝐿 𝑣3
𝑚3 0 0 6𝐿 2𝐿2 −6𝐿 4𝐿2 ∅3
𝑓 = 𝐾 𝑑 (c)
 Where,

𝐾 = ෍ 𝐾 𝑒 = Global Stiffness matrix

𝑁
𝑒=1
𝑓 =෍ 𝑓 𝑒
= Global Force vector 𝑁
𝑒=1
𝑑 = ෍ 𝑑𝑒 = Global Displacement(DOF) vector.
𝑒=1
 Finite element formulation for beam element
30
 Step 6 solve for the nodal displacements
 Determine the displacements by imposing loading and boundary conditions and
simultaneously solving a set of equations, 𝑓 = 𝐾 𝑑

 Step 7 solve for the element forces and stresses

 Finally, determine element forces by back substitution of the displacements into
equations, 𝑓 = 𝐾 𝑑
 Also determine stress and strain in each element.
 Examples
31
 Example 1: Consider a beam as shown in Fig.1 having fixed support at the left end and
hinge at the right end. A downward force of 5000 N and a moment of 2500 N-m C.C.W
act at the mid-length of the beam. Let modulus of elasticity, (E)= 200 GPa and moment
of inertia (I)= 4 × 10−4 𝑚4 throughout the entire beam length of 6 m. Determine
displacement and rotation at mid-length of the beam, and reactions at end supports.

2500 N-m

5000 N

Fig. 1 Fixed-hinged beam (example 1)

 Solution:
 Examples
32
 Step 1: Discretization of beam (Finite element model of the beam)
 We discretize the beam into two elements as shown in Fig. 2
 A node at the mid-length of the beam is included as applied force and moment are acting
at that point.

Fig. 2 Finite element model of beam (example 1)

 Step 2: Evaluating element stiffness matrices (Writing elemental equations)
 Element-1:
𝑣1 ∅1 𝑣2 ∅2
12 6𝐿 −12 6𝐿 𝑣1
𝐸𝐼
𝐾 (1) = 6𝐿 4𝐿2 −6𝐿 2𝐿2 ∅1 (1)
𝐿3
−12 −6𝐿 12 −6𝐿 𝑣2
6𝐿 2𝐿2 −6𝐿 4𝐿2 ∅2
 Examples
33
 Step 2: Evaluating element stiffness matrices (Writing elemental equations)
 Element-2:
𝑣2 ∅2 𝑣3 ∅3
12 6𝐿 −12 6𝐿 𝑣2
𝐸𝐼
𝐾 (2) = 6𝐿 4𝐿2 −6𝐿 2𝐿2 ∅2 (2)
𝐿3
−12 −6𝐿 12 −6𝐿 𝑣3
6𝐿 2𝐿2 −6𝐿 4𝐿2 ∅3

 Combining equations (1) and (2) to get global stiffness matrix by direct stiffness
method.
𝑣1 ∅1 𝑣2 ∅2 𝑣3 ∅3
12 6𝐿 −12 6𝐿 0 0 𝑣1
6𝐿 4𝐿2 −6𝐿 2𝐿2 0 0 ∅1
𝐸𝐼
𝐾 = −12 −6𝐿 24 0 −12 6𝐿 𝑣2 (3)
𝐿3
6𝐿 2𝐿2 0 8𝐿2 −6𝐿 2𝐿2 ∅2
0 0 −12 −6𝐿 12 −6𝐿 𝑣3
0 0 6𝐿 2𝐿2 −6𝐿 4𝐿2 ∅3
 Examples
34
 Step 3: Writing global set of finite element equations

𝑣1 ∅1 𝑣2 ∅2 𝑣3 ∅3
𝑓1y 12 6𝐿 −12 6𝐿 0 0 𝑣1
𝑚1 6𝐿 4𝐿2 −6𝐿 2𝐿2 0 0 ∅1
𝐸𝐼 𝑣2
𝑓2y = −12 −6𝐿 24 0 −12 6𝐿 𝑓 = 𝐾 𝑑 (4)
𝐿3
𝑚2 6𝐿 2𝐿2 0 8𝐿2 −6𝐿 2𝐿2 ∅2
𝑓3y 0 0 −12 −6𝐿 12 −6𝐿 𝑣3
𝑚3 0 0 6𝐿 2𝐿2 −6𝐿 4𝐿2 ∅3
 Step 4: Applying load and boundary conditions,

𝑣1 ∅1 𝑣2 ∅2 𝑣3 ∅3
𝑓1y = 0 𝑣1 = 0
12 6𝐿 −12 6𝐿 0 0
𝑚1 = 0 6𝐿 4𝐿2 −6𝐿 2𝐿2 0 0 ∅1 = 0
𝑓2y = −5000 = 𝐸 3𝐼 −12 −6𝐿 24 0 −12 6𝐿 𝑣2 (5)
𝐿
𝑚2 = 2500 6𝐿 2𝐿2 0 8𝐿2 −6𝐿 2𝐿2 ∅2
𝑓3y = 0 0 0 −12 −6𝐿 12 −6𝐿 𝑣3 = 0
𝑚3 = 0 0 0 6𝐿 2𝐿2 −6𝐿 4𝐿2 ∅3
 Examples
35
 Step 5: Using elimination approach

𝑣1 ∅1 𝑣2 ∅2 𝑣3 ∅3
𝑓1y = 0 𝑣1 = 0
12 6𝐿 −12 6𝐿 0 0
𝑚1 = 0 6𝐿 4𝐿2 −6𝐿 2𝐿2 0 0 ∅1 = 0
𝑓2y = −5000 = 𝐸 3𝐼 −12 −6𝐿 24 0 −12 6𝐿 𝑣2 (5)
𝐿
𝑚2 = 2500 6𝐿 2𝐿2 0 8𝐿2 −6𝐿 2𝐿2 ∅2
𝑓3y = 0 0 0 −12 −6𝐿 12 −6𝐿 𝑣3 = 0
𝑚3 = 0 0 0 6𝐿 2𝐿2 −6𝐿 4𝐿2 ∅3
−5000 24 0 6𝐿 𝑣2
𝐸𝐼
2500 = 𝐿3 0 8𝐿2 2𝐿2 ∅2 (6)
0 6𝐿 2𝐿2 4𝐿2 ∅3
−5000 24 0 18 𝑣2
200×109 × 4×10−4
2500 = 33
0 72 18 ∅2
0 18 18 36 ∅3
−5000 24 0 18 𝑣2
2500 = 2962962.96 0 72 18 ∅2
0 18 18 36 ∅3
 Examples
36
 Step 5: Using elimination approach
−5000 = 71111111.11 𝑣2 + 53333333.28 ∅3 (7)
2500 = 213333333.1 ∅2 + 53333333.28 ∅3 (8)
0 = 53333333.33 𝑣2 + 53333333.28 ∅2 + 106666666.6 ∅3 (9)

 Solving equations (7), (8), (9) simultaneously, we get,

𝑣2 = −1.1425 × 10−4 𝑚
∅2 = −2.9296 × 10−6 𝑟𝑎𝑑
∅3 = 5.8593 × 10−5 𝑟𝑎𝑑
 Step 6: Determining reaction forces/moments
𝑓𝑅 = 𝐾 𝑑 − 𝐹
0
𝑓1y 12 18 −12 18 0 0 0 0
𝑚1 = 2962962.96 18 1.1425 × 10−4 −
36 −18 18 0 0 0
𝑓3y −2.9296 × 10−6
0 0 −12 −18 12 −18 0 0
5.8593 × 10−5
 Examples
37
 Step 6: Determining reaction forces/moments
𝑓𝑅 = 𝐾 𝑑 − 𝐹
0
𝑓1y 12 18 −12 18 0 0 0 0
𝑚1 = 2962962.96 18 1.1425 × 10−4 −
36 −18 18 0 0 0
𝑓3y −2.9296 × 10−6
0 0 −12 −18 12 −18 0 0
5.8593 × 10−5
𝑓1y = 2962962.96 −12 × 1.1425 × 10−4 + 18 × −2.9296 × 10−6
𝑓1y = −4218.46 𝑁
𝑚1 = 2962962.96 −18 × 1.1425 × 10−4 + 18 × −2.9296 × 10−6
𝑚1 = −6249.57 𝑁. 𝑚
𝑓3y = 2962962.96 −12 × 1.1425 × 10−4 − 18 × −2.9296 × 10−6 − 18 × 5.8593 × 10−5
𝑓3y = −7030.93 𝑁
 If reactions 𝑓2y , 𝑚2 and 𝑚3 are calculated , their values would be zero.
 Examples
38
 Example 2: Determine the displacement and rotation under the force and moment
located at the center of the beam shown in Fig.1 The beam is fixed at each end. A
downward force of 10 kN and an applied moment of 20 kN.m C.C.W act at the center
of the beam. Let modulus of elasticity, (E)= 210 GPa and moment of inertia (I)= 4 ×
10−4 𝑚4 throughout the entire beam length of 6 m. Also determine reactions at the
fixed supports.

Fig. 1 Fixed-fixed beam (example 2)

 Solution:
𝑣2 = −1.339 × 10−4 𝑚 , ∅2 = 8.928 × 10−5 𝑟𝑎𝑑
𝑓1y = 10000 𝑁 , 𝑚1 = 12500 𝑁. 𝑚 , 𝑓3y = 0 𝑁 , 𝑚1 = −2500 𝑁. 𝑚
 Distributed Loading
39
 Previously, we discussed finite element formulation of beam subjected to concentrated
loads and moments.
 Sometimes, beams are subjected to distributed loads.
 Let’s consider a fixed-fixed beam subjected to a Uniformly Distributed Load (U.D.L) w as
shown in Fig. 1.
 The reactions as determined by structural analysis of the beam on the basis of
elementary structural mechanics is shown in Fig. 2.

Fig. 1 Fixed-fixed beam subjected to U.D.L. Fig. 2 Fixed-ends reactions of the beam

 As we know, actions and reactions are equal in magnitude but opposite in directions.
 Distributed Loading
40
 So, we replace U.D.L. by concentrated nodal forces and moments, which will have
same effects on the beam as the actual U.D.L.
 This system of nodal forces and moments is called statically equivalent force system of
U.D.L. (see Fig. 3).

Fig. 2 Fixed-ends reactions of the beam Fig. 3 The statically equivalent force system
 Distributed Loading
41
 Work Equivalence Method:
 This method is useful to replace the distributed load by its statically equivalent system of
forces (discrete loads).
 The rationale behind this method is that the work done by the distributed load W(x) to
cause transverse displacement field v(x) is same as work done by nodal forces
𝑓𝑖 , 𝑚𝑖 𝑖=1,2 (discrete loads) to cause nodal displacements 𝑣𝑖 , ∅𝑖 𝑖=1,2 (arbitrary
displacements).
 To understand this, let’s consider a beam subjected to a distributed Load W(x) in the
transverse displacement field v(x) as shown in Fig. 4.

Fig. 4 A beam subjected to U.D.L. Fig. 5 A beam subjected to statically equivalent force system
 Distributed Loading
42
 Work Equivalence Method:
 Work done by this distributed load w(x) is given by,
𝐿
𝑊𝑑𝑖𝑠𝑡𝑟𝑖𝑏𝑢𝑡𝑒𝑑 = ‫׬‬0 𝑤 𝑥 𝑣(𝑥) 𝑑𝑥 (i)

 Work done by the nodal forces 𝑓1𝑦 , 𝑚1 , 𝑓2𝑦 , 𝑚2 to cause nodal displacements 𝑣1 , ∅1 ,
𝑣1 , ∅1 respectively is given by, (see Fig. 5)
𝑊𝑑𝑖𝑠𝑐𝑟𝑒𝑡𝑒 = 𝑓1y 𝑣1 + 𝑚1 ∅1 + 𝑓2y 𝑣2 + 𝑚2 ∅2 (ii)

Fig. 4 A beam subjected to U.D.L. Fig. 5 A beam subjected to statically equivalent force system
 Distributed Loading
43
 Work Equivalence Method:
 According to work equivalence method,
𝑊𝑑𝑖𝑠𝑡𝑟𝑖𝑏𝑢𝑡𝑒𝑑 = 𝑊𝑑𝑖𝑠𝑐𝑟𝑒𝑡𝑒 (iii)
𝐿
න 𝑤 𝑥 𝑣(𝑥) 𝑑𝑥 = 𝑓1y 𝑣1 + 𝑚1 ∅1 + 𝑓2y 𝑣2 + 𝑚2 ∅2
0
 Evaluating L.H.S. of equation (iii),
𝐿
𝑊𝑑𝑖𝑠𝑡𝑟𝑖𝑏𝑢𝑡𝑒𝑑 = ‫׬‬0 𝑤 𝑥 𝑣(𝑥) 𝑑𝑥
𝐿
= −𝑤 ‫׬‬0 𝑣(𝑥) 𝑑𝑥

Fig. 4 A beam subjected to U.D.L. Fig. 5 A beam subjected to statically equivalent force system
 Distributed Loading
44
 Work Equivalence Method:
 Earlier we derived,
2 1 −3 1
𝑣 𝑥 = 𝑣1 − 𝑣2 + ∅1 + ∅2 𝑥 3 + 𝑣1 − 𝑣2 − 2∅1 + ∅2 𝑥 2 + ∅1 𝑥 + 𝑣1
𝐿3 𝐿2 𝐿2 𝐿
𝑊𝑑𝑖𝑠𝑡𝑟𝑖𝑏𝑢𝑡𝑒𝑑
𝐿 2 1 −3 1
= −𝑤 ‫׬‬0 𝑣1 − 𝑣2 + ∅1 + ∅2 𝑥 3 + 𝑣1 − 𝑣2 − 2∅1 + ∅2 𝑥 2 + ∅1 𝑥 + 𝑣1 𝑑𝑥
𝐿3 𝐿2 𝐿2 𝐿
𝐿
2 1 𝑥4 −3 1 𝑥3 𝑥2
= −𝑤 𝑣1 − 𝑣2 + ∅1 + ∅2 + 𝑣1 − 𝑣2 − 2∅1 + ∅2 + ∅1 + 𝑣1 𝑥
𝐿3 𝐿2 4 𝐿2 𝐿 3 2
0

Fig. 4 A beam subjected to U.D.L. Fig. 5 A beam subjected to statically equivalent force system
 Distributed Loading
45
 Work Equivalence Method:
𝑊𝑑𝑖𝑠𝑡𝑟𝑖𝑏𝑢𝑡𝑒𝑑

2 1 𝐿4 −3 1 𝐿3 𝐿2
= −𝑤 𝑣1 − 𝑣2 + ∅1 + ∅2 + 𝑣1 − 𝑣2 − 2∅1 + ∅2 + ∅1 + 𝑣1 𝐿
𝐿3 𝐿2 4 𝐿2 𝐿 3 2

𝑤𝐿 𝑤 𝐿2 𝑤 𝐿2 𝑤 𝐿2
= − 𝑣1 − 𝑣2 − ∅1 + ∅2 + 𝑤 𝐿 𝑣1 − 𝑣2 + 2∅1 + ∅2 − ∅1 − 𝑤 𝐿 ∅1 (iv)
2 4 3 2

 R.H.S. of equation
𝑊𝑑𝑖𝑠𝑐𝑟𝑒𝑡𝑒 = 𝑓1y 𝑣1 + 𝑚1 ∅1 + 𝑓2y 𝑣2 + 𝑚2 ∅2 (v)

Fig. 4 A beam subjected to U.D.L. Fig. 5 A beam subjected to statically equivalent force system
 Distributed Loading
46
 Work Equivalence Method:
 According to work equivalence method,
𝑊𝑑𝑖𝑠𝑡𝑟𝑖𝑏𝑢𝑡𝑒𝑑 = 𝑊𝑑𝑖𝑠𝑐𝑟𝑒𝑡𝑒
 So, combining equation (iii), (iv) and (v),

𝑓1y 𝑣1 + 𝑚1 ∅1 + 𝑓2y 𝑣2 + 𝑚2 ∅2 =
𝑤𝐿 𝑤 𝐿2 𝑤 𝐿2 𝑤 𝐿2
= − 𝑣1 − 𝑣2 − ∅1 + ∅2 + 𝑤 𝐿 𝑣1 − 𝑣2 + 2∅1 + ∅2 − ∅1 − 𝑤 𝐿 ∅1 (vi)
2 4 3 2

 Now taking arbitrary displacements, and putting their values in equation (vi).

Fig. 4 A beam subjected to U.D.L. Fig. 5 A beam subjected to statically equivalent force system
 Distributed Loading
47
 Work Equivalence Method:
 𝒗𝟏 = 𝟏 , ∅𝟏 = 𝟎 , 𝒗𝟐 = 𝟎 , ∅𝟐 = 𝟎
𝑤𝐿 𝑤𝐿 𝒘𝑳
𝑓1y = − +𝑤𝐿−𝑤𝐿 =− ∴ 𝒇𝟏𝒚 = −
2 2 𝟐

 𝒗𝟏 = 𝟎 , ∅𝟏 = 𝟏 , 𝒗𝟐 = 𝟎 , ∅𝟐 = 𝟎
𝑤 𝐿2 2 𝑤 𝐿2 𝑤 𝐿2 𝑤 𝐿2 𝒘 𝑳𝟐
𝑚1 = − + − = − ∴ 𝒎𝟏 = −
4 3 2 12 𝟏𝟐

 𝒗𝟏 = 𝟎 , ∅𝟏 = 𝟎 , 𝒗𝟐 = 𝟏 , ∅𝟐 = 𝟎
𝑤𝐿 𝑤𝐿 𝒘𝑳
𝑓2y = −𝑤𝐿 =− ∴ 𝒇𝟐𝒚 = −
2 2 𝟐

 𝒗𝟏 = 𝟎 , ∅𝟏 = 𝟎 , 𝒗𝟐 = 𝟎 , ∅𝟐 = 𝟏
𝑤 𝐿2 𝑤 𝐿2 𝑤 𝐿2 𝒘 𝑳𝟐
𝑚2 = − + = ∴ 𝒎𝟐 =
4 3 12 𝟏𝟐
𝑇
𝒘𝑳 𝒘 𝑳𝟐 𝒘𝑳 𝒘 𝑳𝟐
𝑓𝑑 = − − −
𝟐 𝟏𝟐 𝟐 𝟏𝟐
𝑓𝑑 = A force vector of equivalent nodal forces and moments for distributed load.
 Distributed Loading
48
 Work Equivalence Method:

Fig. 4 A beam subjected to U.D.L. Fig. 5 A beam subjected to statically equivalent force system

Fig. 6 The equivalent nodal force system

 Distributed Loading
49
 When a beam is subjected to distributed load in addition to concentrated loads and
bending moments,
 Following general formulation is used,
𝑓 = 𝑓𝑎 + 𝑓𝑑
where, 𝑓 = Global force vector
𝑓𝑎 = A force vector of concentrated loads and bending moments
𝑓𝑑 = A force vector of equivalent nodal forces and moments for
distributed load.
 Governing equation,
𝑓 = 𝐾 𝑑
 Examples
50
 Example 3: A beam is subjected to a uniformly distributed load (w) = 4 kN/m as shown
in figure. Whose one end is fixed and the other is free. Let E = 210 Gpa, I = 4 × 10−4 𝑚4
and L= 2.5 m. Determine deflections at free end of the beam.

Fig. 1 Fixed-free beam (example 3)

 Solution:
 Examples
51
 Step 1: Discretization of beam (Finite element model of the beam)
 The beam is only subjected to distributed load.
 So, discretizing the beam by a single element and considering equivalent nodal forces and
moments of the given U. D. L. as shown in Fig. 2.

Fig. 2 Finite element model of beam (example 3)

 Step 2: Evaluating element stiffness matrices (Writing elemental equations)
 Element-1:
𝑣1 ∅1 𝑣2 ∅2
12 6𝐿 −12 6𝐿 𝑣1
𝐸𝐼
𝐾 (1) = 6𝐿 4𝐿2 −6𝐿 2𝐿2 ∅1 (1)
𝐿3
−12 −6𝐿 12 −6𝐿 𝑣2
6𝐿 2𝐿2 −6𝐿 4𝐿2 ∅2
 Examples
52
 Step 2: Evaluating element stiffness matrices (Writing elemental equations)
 Since there is only one element, the global stiffness matrix ,
𝑣1 ∅1 𝑣2 ∅2
12 6𝐿 −12 6𝐿 𝑣1
𝐸𝐼
𝐾 = 𝐾 (1) = 6𝐿 4𝐿2 −6𝐿 2𝐿2 ∅1 (2)
𝐿3
−12 −6𝐿 12 −6𝐿 𝑣2
6𝐿 2𝐿2 −6𝐿 4𝐿2 ∅2
 Step 3: Writing global force vector.
 The beam is subjected to distributed load only,
 Its equivalent nodal forces and moments can be given by,
𝒘𝐿 𝒘𝐿
− −
𝟐 𝟐
𝑓1y 𝒘 𝐿𝟐 𝒘 𝐿𝟐
𝑚1 − −
𝟏𝟐 𝟏𝟐
𝑓𝑑 = = 𝒘𝐿 𝑓 = 𝑓𝑑 = 𝒘𝐿 (3)
𝑓2y − −
𝑚2 𝟐 𝟐
𝒘 𝐿𝟐 𝒘 𝐿𝟐
𝟏𝟐 𝟏𝟐

where, 𝑓 = Global force vector

 Examples
53
 Step 4: Writing global set of finite element equations
𝑓 = 𝐾 𝑑
𝒘𝐿
−
𝟐
𝒘 𝐿𝟐 12 6𝐿 −12 6𝐿 𝑣1
− ∅1
𝟏𝟐
=
𝐸𝐼 6𝐿 4𝐿2 −6𝐿 2𝐿2 (4)
−
𝒘𝐿 𝐿3 −12 −6𝐿 12 −6𝐿 𝑣2
𝟐 6𝐿 2𝐿2 −6𝐿 4𝐿2 ∅2
𝒘 𝐿𝟐
𝟏𝟐

 Step 5: Applying load and boundary conditions,

4×103 ×2.5
−
𝟐
12 6(2.5) −12 6(2.5) 𝑣1 = 0
4×103 ×2.52
− 210×109 ×4×10−4 6(2.5) 4(2.5)2 −6(2.5) 2(2.5)2 ∅1 = 0
12
=
4×103 ×2.5 2.53 −12 −6(2.5) 12 −6(2.5) 𝑣2
−
𝟐 6(2.5) 2(2.5)2 −6(2.5) 4(2.5)2 ∅2
4×10 ×2.52
3

12
 Examples
54
 Step 5: Applying load and boundary conditions,
−5000 12 15 −12 15 𝑣1 = 0
−2083.33 15 25 −15 12.5 ∅1 = 0
= 5376000 (5)
−5000 −12 −15 12 −15 𝑣2
2083.33 15 12.5 −15 25 ∅2
 Step 6: Using elimination approach
−5000 12 15 −12 15 𝑣1 = 0
−2083.33 15 25 −15 12.5 ∅1 = 0
= 5376000
−5000 −12 −15 12 −15 𝑣2
2083.33 15 12.5 −15 25 ∅2
−5000 12 −15 𝑣2
= 5376000 (6)
2083.33 −15 25 ∅2
−5000 = 6451200𝑣2 − 8064000∅2 (7)
2083.33 = −8064000𝑣2 + 13440000∅2 (8)
 Solving equations (7) and (8) simultaneously, we get,
𝑣2 = 2.3515 × 10−3 𝑚 = 2.3515 𝑚𝑚 , ∅2 = 1.24 × 10−3 𝑟𝑎𝑑
 Beam Element with Nodal Hinge
55
 Sometimes, a beam may have an internal hinge as shown in Fig. 1.
 This causes a discontinuity in the slope (rotation) of deflection curve of the beam at the
point where the hinge is provided.
 Use of an internal hinge makes structure more flexible.
 The reason is, bending moment at internal hinge is always zero which isolates bending
moment distribution for each of the members (elements),
 so the member can freely rotate about the internal hinge without resisting the bending
moment.

L L

Fig. 1 A beam with internal hinge

 Beam Element with Nodal Hinge
56
 Now, we will formulate finite element equations of the beam with nodal hinge.
 Consider a beam discretized into two beam elements and a nodal hinge at node 2
separating both the elements. (Fig. 2).
 To take into account this nodal hinge, we consider the hinge to be either at right end
of element 1 or at left end of element 2.

1 2

1 2 3

L L

Fig. 2 A beam discretized in two elements and nodal hinge

 Beam Element with Nodal Hinge
57
 To take into account this nodal hinge, we consider the hinge to be either at right end
of element 1 or at left end of element 2. (Fig. 3 (a) & (b)).
 In general, bending moment at node 2 , 𝑚2 = 0
(1) (2)
 Rotation at node-2 is different for both the elements, ∅2 ≠ ∅2 ≠ 0
 Now, consider the beam element with nodal hinge at right end of element 1. (Fig. 3(a))
 We know,
𝑓 = 𝐾 𝑑

𝑚2 = 0
(1) (2)
∅2 ≠ ∅2 ≠ 0
𝑚1 , ∅1 1
𝑚2 , ∅2 𝑚2 , ∅2 2 𝑚3 , ∅3

2
3

𝑓1𝑦 , 𝑣1 𝑓2𝑦 , 𝑣2 𝑓2𝑦 , 𝑣2 𝑓3𝑦 , 𝑣3

(a) (b)
Fig. 3 A beam with nodal hinge at (a) right end of element 1, (b) left end of element 2
 Beam Element with Nodal Hinge
58 𝑣1
𝑓1y 12 6𝐿 −12 6𝐿
𝑚1 𝐸𝐼 6𝐿 4𝐿2 −6𝐿 2𝐿2 ∅1
= 3 𝑣2
𝑓2y 𝐿 −12 −6𝐿 12 −6𝐿
𝑚2 6𝐿 2𝐿2 −6𝐿 4𝐿2 ∅2
 Since nodal hinge is at node-2, 𝑚2 = 0 and ∅2 ≠ 0 .
 Now, we will partition stiffness matrix 𝐾 , force vector 𝑓 , and D.O.F. vector 𝑑 to
condense out (eliminate) degree of freedom ∅2 associated with 𝑚2 .
𝑓1y 12 6𝐿 −12 6𝐿 𝑣1
𝑚1 𝐸𝐼 6𝐿 4𝐿2 −6𝐿 2𝐿2 ∅1
= 3 𝑣2 (1)
𝑓2y 𝐿 −12 −6𝐿 12 −6𝐿
𝑚2 6𝐿 2𝐿2 −6𝐿 4𝐿2 ∅2
𝑓1 𝐾11 𝐾12 𝑑1
3×1 = 3×3 3×1 3×1 (2)
𝑓2 𝐾21 𝐾22 𝑑2
1×1 1×3 1×1 1×1
𝑓1y 𝑣1
Where, 𝑓1 = 𝑚1 , 𝑓2 = 𝑚2 , 𝑑1 = ∅1 , 𝑑2 = ∅2
𝑓2y 𝑣2
 Beam Element with Nodal Hinge
59
12 6𝐿 −12 6𝐿
𝐸𝐼 𝐸𝐼 𝐸𝐼 𝐸𝐼
𝐾11 =
𝐿3
6𝐿 4𝐿2 −6𝐿 , 𝐾12 = 𝐿3 2𝐿2 , 𝐾21 = 𝐿3 6𝐿 2𝐿2 −6𝐿 , 𝐾22 = 𝐿3
4𝐿2
−12 −6𝐿 12 −6𝐿
 Writing equation (2) in expanded form.
𝑓1 = 𝐾11 𝑑1 + 𝐾12 𝑑2 (3)
𝑓2 = 𝐾21 𝑑1 + 𝐾22 𝑑2 (4)
 From equation (4)
𝑓2 − 𝐾21 𝑑1 = 𝐾22 𝑑2
𝑑2 = 𝐾22 −1
𝑓2 − 𝐾21 𝑑1 (5)
 Substituting 𝑑2 from equation (5) in equation (3)
−1
𝑓1 = 𝐾11 𝑑1 + 𝐾12 𝐾22 𝑓2 − 𝐾21 𝑑1
−1 −1
𝑓1 = 𝐾11 𝑑1 − 𝐾12 𝐾22 𝐾21 𝑑1 + 𝐾12 𝐾22 𝑓2
 Rearranging terms,
−1 −1
𝑓1 − 𝐾12 𝐾22 𝑓2 = 𝐾11 − 𝐾12 𝐾22 𝐾21 𝑑1
 Beam Element with Nodal Hinge
60
𝑓1 − 𝐾12 𝐾22 −1
𝑓2 = 𝐾11 − 𝐾12 𝐾22 −1
𝐾21 𝑑1 (6)
𝑓c = 𝐾𝑐 𝑑1 (7)
Where, 𝑓c = 𝑓1 − 𝐾12 𝐾22 −1
𝑓2 (a)
= 𝑐𝑜𝑛𝑑𝑒𝑛𝑠𝑒𝑑 𝑓𝑜𝑟𝑐𝑒 𝑣𝑒𝑐𝑡𝑜𝑟
−1
𝐾𝑐 = 𝐾11 − 𝐾12 𝐾22 𝐾21 (b)
= 𝑐𝑜𝑛𝑑𝑒𝑛𝑠𝑒𝑑 𝑠𝑡𝑖𝑓𝑓𝑛𝑒𝑠𝑠 𝑚𝑎𝑡𝑟𝑖𝑥
 Substituting partitioned parts of matrix 𝐾 , and vectors 𝑓 and 𝑑 from equation (2) in
equations (a) and (b).
−1
𝑓c = 𝑓1 − 𝐾12 𝐾22 𝑓2
𝑓1y 12 6𝐿 −12
𝐸𝐼 𝐿3 1
𝑓c = 𝑚1 − 3 6𝐿 4𝐿2 −6𝐿 𝑚2
𝐿 𝐸 𝐼 4𝐿2
𝑓2y −12 −6𝐿 12
 Since, 𝑚2 = 0
𝑓1y
𝑓c = 𝑓1 = 𝑚1 (c)
𝑓2y
 Beam Element with Nodal Hinge
61 −1
𝐾𝑐 = 𝐾11 − 𝐾12 𝐾22 𝐾21
12 6𝐿 −12 6𝐿 3
𝐸𝐼 𝐸𝐼 𝐿 1 𝐸𝐼
=
𝐿3
6𝐿 4𝐿2 −6𝐿 −
𝐿3
2𝐿2 𝐸 𝐼 4𝐿2 𝐿3 6𝐿 2𝐿2 −6𝐿
−12 −6𝐿 12 −6𝐿
12 6𝐿 −12 6𝐿
𝐸𝐼 𝐸𝐼 1
= 3 6𝐿
𝐿
4𝐿2 −6𝐿 −
𝐿3
2𝐿2 4𝐿2 6𝐿 2𝐿2 −6𝐿
−12 −6𝐿 12 −6𝐿
12 6𝐿 −12 6𝐿
𝐸𝐼 𝐸𝐼 3 1 −3
= 3 6𝐿
𝐿
4𝐿2 −6𝐿 −
𝐿3
2𝐿2 2𝐿 2 2𝐿
−12 −6𝐿 12 −6𝐿
12 6𝐿 −12 9 3𝐿 −9
𝐸𝐼 𝐸𝐼
= 3 6𝐿
𝐿
4𝐿2 −6𝐿 −
𝐿3
3𝐿 𝐿2 −3𝐿
−12 −6𝐿 12 −9 −3𝐿 9
3 3𝐿 −3
𝐸𝐼
= 3 3𝐿
𝐿
3𝐿2 −3𝐿
−3 −3𝐿 3
1 𝐿 −1
3𝐸𝐼
= 3 𝐿
𝐿
𝐿2 −𝐿 (d)
−1 −𝐿 1
 Beam Element with Nodal Hinge
62
 Finite element equations for element 1 with nodal hinge at right end (node-2):
 Substituting 𝑓c from equation (c) and 𝐾𝑐 from equation (d) into equation (7).
𝑓c = 𝐾𝑐 𝑑1
𝑓1y 1 𝐿 −1 𝑣1
3𝐸𝐼
𝑚1 = 3 𝐿 𝐿2 −𝐿 ∅1 (8)
𝐿
𝑓2y −1 −𝐿 1 𝑣2
 Since, 𝑚2 = 0 and ∅2 ≠ 0 in general, we expand equation (8) to include ∅2
𝑓1y 1 𝐿 −1 0 𝑣1
𝑚1 3𝐸𝐼 𝐿 𝐿 2 −𝐿 0 ∅1
= 3 (9)
𝑓2y 𝐿 −1 −𝐿 1 0 𝑣2
𝑚2 0 0 0 0 ∅2
 Beam Element with Nodal Hinge
63
 Similarly, if we consider the beam element 2 with nodal hinge at left end.
 Finite element equations for element 2 with nodal hinge at left end (node-2):
𝑓2y 1 −1 𝐿 𝑣2
3𝐸𝐼
𝑓3y = 𝐿3 −1 1 −𝐿 𝑣3 (10)
𝑚3 𝐿 −𝐿 𝐿2 ∅3
 Since, 𝑚2 = 0 and ∅2 ≠ 0 in general, we expand equation (8) to include ∅2
𝑓2y 1 0 −1 𝐿 𝑣2
𝑚2 3𝐸𝐼 0 0 0 0 ∅2
= 3 (11)
𝑓3y 𝐿 −1 0 1 −𝐿 𝑣3
𝑚3 𝐿 0 −𝐿 𝐿2 ∅3
 Examples
64
 Example 4: Determine slope at node 2, and deflection and slope at node 3 for the
beam with internal hinge located at node 3, as shown in Fig. The beam is fixed at both
the ends and provided with roller support at node 2. Let E = 210 GPa, I = 2 × 10−4 𝑚4 .

1 2 3 4

Fig. 1 A beam with internal hinge (example 4)

 Solution:
 Examples
65
 Step 1: Discretization of beam (Finite element model of the beam)
 The beam is subjected to U.D.L. only and has an internal hinge.
 It has been discretized in three elements as shown in Fig. 2.

𝒎𝟒 , ∅𝟒
𝒎𝟏 , ∅𝟏 𝒎𝟐 , ∅𝟐 𝒎𝟑 , ∅𝟑 W=10 kN/m

1 2 3 4
1 2 3

𝒇𝟏𝒚 , 𝒗𝟏 𝒇𝟑𝒚 , 𝒗𝟑 𝒇𝟒𝒚 , 𝒗𝟒

𝒇𝟐𝒚 , 𝒗𝟐

Fig. 2 Finite element model of beam (example 4)

 Examples
66
 Step 2: Evaluating element stiffness matrices (Writing elemental equations)
 Element-1:
12 6𝐿 −12 6𝐿 12 12 −12 12
𝐾 (1) =
𝐸𝐼 6𝐿 4𝐿2 −6𝐿 2𝐿2 = 𝐸 𝐼 12 16 −12 8
𝐿3 −12 −6𝐿 12 −6𝐿 8 −12 −12 12 −12
6𝐿 2𝐿2 −6𝐿 4𝐿2 12 8 −12 16
𝑣1 ∅1 𝑣2 ∅2
1.5 1.5 −1.5 1.5 𝑣1
𝐾 (1) = 𝐸 𝐼 1.5 2 −1.5 1 ∅1 (1)
−1.5 −1.5 1.5 −1.5 𝑣2
1.5 1 −1.5 2 ∅2
 Element-2:
 Assuming the hinge to be on right side node (node-3) of element 2.
1 𝐿 −1 0 1 1 −1 0
𝐾 (2) =
3𝐸𝐼 𝐿 𝐿2 −𝐿 0 =3𝐸𝐼 1 1 −1 0
𝐿3 −1 −𝐿 1 0 −1 −1 1 0
0 0 0 0 0 0 0 0
 Examples
67
 Step 2: Evaluating element stiffness matrices (Writing elemental equations)
𝑣2 ∅2 𝑣3 ∅3
3 3 −3 0 𝑣2
𝐾 (2)
=𝐸𝐼 3 3 −3 0 ∅2 (2)
−3 −3 3 0 𝑣3
0 0 0 0 ∅3
 Element-3:
 We do not consider the hinge to be part of element 3 as it is already
considered to be at right node (node-3) of element 2.
12 6𝐿 −12 6𝐿
𝐸 𝐼 6𝐿 2 −6𝐿 2
𝐾 (3)
= 3 4𝐿 2𝐿
𝐿 −12 −6𝐿 12 −6𝐿
6𝐿 2𝐿2 −6𝐿 4𝐿2
𝑣3 ∅3 𝑣4 ∅4
12 6 −12 6 𝑣3
𝐾 (3) = 𝐸 𝐼 6 4 −6 2 ∅3 (3)
−12 −6 12 −6 𝑣4
6 2 −6 4 ∅4
 Examples
68
 Step 2: Evaluating element stiffness matrices (Writing elemental equations)
 Combining equations (1), (2)and (3), the global stiffness matrix ,
𝐾 = 𝐾 (1) + 𝐾 (2) + 𝐾 (3)
𝑣1 ∅1 𝑣2 ∅2 𝑣3 ∅3 𝑣4 ∅4
1.5 1.5 −1.5 1.5 0 0 0 0 𝑣1
1.5 2 −1.5 1 0 0 0 0 ∅1
−1.5 −1.5 4.5 1.5 −3 0 0 0 𝑣2
𝐾 = 1.5 1 1.5 5 −3 0 0 0 ∅2 (4)
0 0 −3 −3 15 6 −12 6 𝑣3
0 0 0 0 6 4 −6 2 ∅3
0 0 0 0 −12 −6 12 −6 𝑣4
0 0 0 0 6 2 −6 4 ∅4
 Step 3: Writing global force vector.
 The beam is subjected to distributed load on element 3. Its equivalent nodal forces and
moments can be given by,
𝒘𝐿
−
𝟐
𝑓3y 𝒘 𝐿𝟐 −5000
𝑚3 − −833.33
𝟏𝟐
𝑓𝑑 = = 𝒘 𝐿 =
𝑓4y − −5000
𝑚4 𝟐
𝟐
833.33
𝒘𝐿
𝟏𝟐
 Examples
69
 Step 3: Writing global force vector.
 The beam is subjected to distributed load on element 3. Its equivalent nodal forces and
moments can be given by,
𝒘𝐿
−
𝟐
𝑓3y 𝒘 𝐿𝟐 −5000
𝑚3 − −833.33
𝟏𝟐
𝑓𝑑 = = 𝒘𝐿 =
𝑓4y − −5000
𝑚4 𝟐
833.33
𝒘 𝐿𝟐
𝟏𝟐

 And Global Force Vector is given by,

𝑓1y 0
𝑚1 0
𝑓2y 0
𝑚2 0
𝑓 = = (5)
𝑓3y −5000
𝑚3 −833.33
𝑓4y −5000
𝑚4 833.33
 Examples
70
 Step 4: Writing global set of finite element equations
 Step 5: Applying load and boundary conditions.
𝑓 = 𝐾 𝑑
𝑣1 ∅1 𝑣2 ∅2 𝑣3 ∅3 𝑣4 ∅4
0 1.5 1.5 −1.5 1.5 0 0 0 0 𝑣1 = 0
0 1.5 2 −1.5 1 0 0 0 0 ∅1 = 0
0 −1.5 −1.5 4.5 1.5 −3 0 0 0 𝑣2 = 0
0 = 𝐸 𝐼 1.5 1 1.5 5 −3 0 0 0 ∅2 (6)
−5000 0 0 −3 −3 15 6 −12 6 𝑣3
−833.33 0 0 0 0 6 4 −6 2 ∅3
−5000 0 0 0 0 −12 −6 12 −6 𝑣4 = 0
833.33 0 0 0 0 6 2 −6 4 ∅4 = 0
 Step 6: Using elimination approach
 Examples
71
 Step 6: Using elimination approach
𝑣1 ∅1 𝑣2 ∅2 𝑣3 ∅3 𝑣4 ∅4
0 1.5 1.5 −1.5 1.5 0 0 0 0 𝑣1 = 0
0 1.5 2 −1.5 1 0 0 0 0 ∅1 = 0
0 −1.5 −1.5 4.5 1.5 −3 0 0 0 𝑣2 = 0
0 = 𝐸 𝐼 1.5 1 1.5 5 −3 0 0 0 ∅2 (6)
−5000 0 0 −3 −3 15 6 −12 6 𝑣3
−833.33 0 0 0 0 6 4 −6 2 ∅3
−5000 0 0 0 0 −12 −6 12 −6 𝑣4 = 0
833.33 0 0 0 0 6 2 −6 4 ∅4 = 0
0 5 −3 0 ∅2
−5000 = 210 × 109 × 2 × 10−4 −3 15 6 𝑣3
−833.33 0 6 4 ∅3

0 5 −3 0 ∅2
5 𝑣3
−5000 = 420 × 10 −3 15 6 (7)
−833.33 0 6 4 ∅3
 Examples
72
 Step 6: Using elimination approach
0 = 21 × 107 ∅2 − 12.6 × 107 𝑣3
−5000 = −12.6 × 107 ∅2 + 63 × 107 𝑣3 + 25.2 × 107 ∅3
−833.33 = 25.2 × 107 𝑣3 + 16.8 × 107 ∅3
 Solving above equations we get,
∅2 = −1.276 × 10−5 𝑟𝑎𝑑
𝑣3 = −2.126 × 10−5 𝑚
∅3 = 2.693 × 10−5 𝑟𝑎𝑑
 References
73
1. Daryl L. Logan, ‘First Course in the Finite Element Method', Thomson Publications.