LESSON 3

62
3.7 Strut with rotational spring support

𝑑" 𝑦 where M 0 = kq 0
𝑀 = 𝑀! − 𝑃𝑦 = 𝐸𝐼 "
𝑑𝑥

d2y kq0 P
+ a 2
y = where a 2 =
dx 2 EI EI

kq0 kq 0 kq kq
y = A sin a x + B cosa x + a 2 yp = Þ yp = 2 0 = 0
P EI a EI P

dy
= Aa cos a x - Ba sin a x
dx 63
Three boundary conditions.
-kq0
(a) y = 0 at x = 0 Þ B=
P
dy q0
(b) = q0 at x = 0 Þ A=
dx a
kq0
(c) y = 0 at x = L Þ A sin a L + B cosa L + =0
P
q0 æ kq ö kq
Substitute (a) and (b) into (c): sin a L + ç - 0 ÷ cos a L + 0 = 0
a è P ø P

kL a L sin a L P
= where a 2 = Solve this equation to find a and then Pc
EI cos a L - 1 EI
64
 kL a L sin a L 𝑘𝐿
= can be converted to a relationship between P and
EI cos a L - 1 𝐸𝐼
P
where P is contained within a because a 2 =
EI

If k = 0, sinaL = 0. ð Pc = PE k=¥
If k = ¥, cosaL - 1 = 0. ð Pc = 4PE

k=0

65
Aside: Buckling in Frames

66
HLT

é ù
ê 4 EI 4 EI ú 16 EI
The stiffness matrix method gives k = ê + = . M = kq 0
L L ú L
ê ú
ë 2 2 û
67
Rigid (axially very stiff)

FL3 F 3EI
HLT which gives D = ⟹ = 3 =k
3EI D L
68
Aside - Notion of slenderness
𝑃$ 𝜋 " 𝐸𝐼
Critical stress given by 𝜎$ = =
𝐴 𝐴𝐿$ "

Properties of the cross-section: i = radius of gyration which to the 𝐼

𝑟# " =
considered buckling plane, it has the dimension of a length [m]. 𝐴

𝐿$ The slenderness contains the notions

We define the slenderness as 𝜆=
𝑟# of buckling length and inertia of the
cross-section.

So that:

𝜋 "𝐸 This is Euler’s hyperbola.

𝜎$ = " Buckling is governed by the
𝜆
slenderness.

71
Aside - Rational shapes
𝜋 "𝐸 𝐿$
𝜎$ = " 𝜆=
𝜆 𝑟#

The critical stress rises when the slenderness decreases.

Practically, it is better if the slenderness is the lowest one.

𝐼
We must distribute the material such that to maximise 𝑟# " =
𝐴

⇒ we must place the material as far as we can

from the gravity centre so the ideal shape is a
hollow circular section.

72
 𝜋 "𝐸
𝜎$ = "
𝜆
Aside - Rational shapes
Euler hyperbola
𝜎
σcr
$ 500

450

400

350

300

250

200

150

100 Weak axis!

50
λ
0
0 20 40 60 80 100
73
 𝜋 "𝐸
𝜎$ = "
𝜆
Aside - Rational shapes
Euler hyperbola
σcr
𝜎 500
$
Strong axis!
450

400

350

300

250

200

150

100 Weak axis!

50
λ
0
0 20 40 60 80 100
74
 p 2 EI
Pc =
4 L2
Since I y > Iz You must use smaller I to find Pc.

75
4.0 Modes of failure for an ideal simply supported strut
p 2 EI
Yielding P =syA Buckling P=
L2

The transition between the two failure mechanisms occurs:

p 2 EI E I
syA = , Þ L2 = p 2
L2 sy A

E I
or L =p ´ rg where rg = (radius of gyration)
sy A
A solid circular bar made of steel with radius R, the transition occurs at L » 50R 76
5.0 Analysis of elastic struts using Rayleigh’s approximate method

M0
EI
d2y P
+ y = something
dx 2 EI

It may NOT be solvable

if EI is not constant

78
The observation:

(a) when buckling occurs, the beam takes up a particular mode shape with an
arbitrary amplitude

(b) when amplitude grows,

the work done by the buckling load = elastic strain energy stored in the strut.

The Rayleigh’s Method uses this energy approach.

79
5.1 Rayleigh’s method for struts

Energy stored elastically = Work done by external loads

Elastic strain energy due to axial compression is neglected
For a linear elastic column, elastic strain energy associated with bending is:
L

ò
1
U= M k dx
2
0

where k , the curvature, so

d2y
k= 2
dx
d2y
M = EIk = EI 2
dx
2
1
L
æ d2y ö
So U = ò EI ç 2 ÷ dx .
2 0 è dx ø

80
 Energy stored elastically = Work done by external loads

Work done = PD

2
æ dy ö
d D = dx - dx 2 - dy 2 = dx - dx 1 - ç ÷
è dx ø
2
dy 1 æ dy ö
For the case where the slope is small, d D » ç ÷ dx
dx 2 è dx ø

81
 N ( x) = P

2
1 æ dy ö
Work done for dx is N ( x)d D » N ( x) ´ ç ÷ dx .
2 è dx ø
L 2 L 2
1 æ dy ö P æ dy ö
Total work = ò N ( x) ´ ç ÷ dx = ò ç ÷ dx
0
2 è dx ø 2 0 è dx ø
82
“Energy stored elastically = Work done by external loads” gives
2 2
1
L
æ d2y ö L
1 æ dy ö
2 ò0 è dx 2 ø
EI ç ÷ dx = P ò ç ÷ dx
2 0 è dx ø
leading to
L 2
1 æ d2y ö
ò EI ç 2 ÷ dx
2 0 è dx ø
Strain energy
P= L 2
(66)
1 æ dy ö
2 ò0 è dx ø
ç ÷ dx Shortening of strut

In your HLT
To use this formula, y must be known.

Procedure of the Rayleigh’s method:

(a) Choose an assumed shape (y) for the buckled strut.

The shape must satisfy the boundary conditions.

(b) Find P using the Rayleigh expression.

83
Example

Use the Rayleigh method to estimate the buckling load for a uniform simply supported
beam.

æp ö æpx ö
2
px dy d2y æp ö æpx ö
Assume y = A sin = A ç ÷ cos ç ÷ = - A ç ÷ sin ç ÷
L dx èLø è L ø dx 2 èLø è L ø

Strain energy:

Shortening:

p 2 EI
ð P= 2
which is the conventional Euler solution.
L 84
 dy
Assume y = Ax ( L - x ) = A( L - 2x ) d2y
= -2 A
dx dx 2
12EI
Using Rayleigh’s expression: P=
L2

This solution is about 22% higher than the Euler solution.

y = Ax ( L - x )
2
Can we use or y = Ax 2 ?

85
An exact solution to the buckling problem would have to satisfy

(a) equilibrium,
(b) compatibility,
(c) Hooke’s law, dy d 2 y
y, , 2
(d) boundary conditions. dx dx
Initial y
The Rayleigh solution considers only (b), (c) and (d).

So the Rayleigh solution is not exact.

dd 22yy
M ==-EI
M EI 22
dx
dx

For y = Ax ( L - x ) , the bending moment is ! =

!!"
#$ !# ! = −#$ 2(

For equilibrium,

𝑀 = −𝑃𝑦
0

86
The Rayleigh’s method with the use of deflected shapes other than the correct
one, always gives a load larger than the true buckling load.

This is because the true solution will intervene before the load gets high enough
for our guessed solution to occur.

The closer the guessed shape is to the “real” mode shape, the better the estimate
of the buckling load.

87
 k: force/length
px
Assume y = A sin
L
Strain energy
2 4
æ d2y ö 2æp ö 2æpx ö A2p 4
L L
1 1 1
strut: ò EI ç 2 ÷ dx = EI ò A ç ÷ sin ç
2 0 è dx ø 2 0 èLø
÷ dx = EI
è L ø 2 2 L3

spring:
1 1 pa 1 pa
k ( y x =a ) 2 = k ( A sin ) 2 = kA2 sin 2
2 2 L 2 L
2 2
1 2æp ö 2æpxö 1 A2p 2
L L
1 æ dy ö
Shortening: ò ç ÷ dx = ò A ç ÷ cos ç
2 0 è dx ø 20 èLø
÷ dx =
è L ø 2 2L

1 A2p 4 1 2 2 p a p4 pa
EI 3
+ kA sin EI + k sin 2
P= 2 2 L 2 L = 2 L3 L
1Ap 2 2
p 2

2 2L 2L
88
 k (force/length2)

Spring strain energy

1 2 1 px 1 px
For a short portion dx: ky dx = k ( A sin ) 2 dx = kA2 sin 2 dx
2 2 L 2 L

L 1 2 2px
Total: ò0 2
kA sin
L
dx

89
90
Example
Example 4
Estimate the buckling load for the strut. Plot the estimated buckling load as a
I1 I L L
function of where 1 > 1 . Let L0 = , and L1 = .
I0 I0 4 2

æp ö æpx ö
2
px dy d2y æp ö æpx ö
Assume y = A sin = A ç ÷ cos ç ÷ = - A ç ÷ sin ç ÷
L dx èLø è L ø dx 2 èLø è L ø

2 4 4
æp ö 2æpx ö æp ö æpx ö
L L 3 L /4
1 æd yö
2
E ò I 0 ç ÷ sin ç ÷ dx + E ò ( I1 - I 0 ) ç ÷ sin 2 ç ÷ dx
2 ò0 çè dx 2 ÷ø
EI dx
èLø è L ø èLø è L ø
P= L
P= 0
2
L /4

æp ö 2æpx ö
L
1 æ dy ö
2 ò0 è dx ø ò0 çè L ÷ø
ç ÷ dx cos ç ÷ dx
è L ø
91
 p 2 EI 0 æ æ p + 2 öö I1
P= ç 1 + ( m - 1) ç ÷÷ where m=
L2 è è 2p ø ø I0

p 2 EI 0
P0 =
L2

92
 I1
m= P
I0

P
When m Þ ¥ ,

p 2 EI 04p 2 EI 0
P= 2
= 2
= 4 P0
æLö L
4ç ÷
è4ø

For m greater than about 4.7 the Rayleigh

solution exceeds this theoretical maximum load.

93
Aside: Non-constant axial force

Energy stored elastically = Work done by external loads

px
0 Assume y = A sin
2L
2
1
L
æ d2y ö
Elastic energy = ò EI ç 2 ÷ dx
2 0 è dx ø

Work done for dx is

2
1 æ dy ö
N ( x)d D » N ( x) ´ ç ÷ dx
2 è dx ø
x
N(x) = wx L
1 æ dy ö
2

Total work = ò N ( x) ´ ç ÷ dx
0
2 è dx ø
N(x)
94
END OF LESSON 3

95