Lecture Notes

In
Computer Aided Design (CAD)

Fourth Year
Mechanical Design & Production Department
Computer Aided Design CAD

5.3. Beam Elements

➢ The analysis of beam is limited to a straight with uniform depth and at least
one axis of symmetry. Also, discussion is limited to concentrated loads, with
loads lie in the plane of the symmetry.
➢ A straight beam is modeled by a line segment with vertical displacement and
rotation at each end.
➢ The beam is characterized by Young Modulus 𝑬 and Moment of Inertia 𝑰.

𝑽𝟏 𝑽𝟐

𝑬, 𝑰 𝑥
𝜽𝟏 𝜽𝟐
1 2

Thus, the element displacement vector {𝑑}𝑒 is

{𝑑}𝑒 𝑇 = {𝑉1 𝜃1 𝑉2 𝜃2 } (1)

Total Energy

Π𝑒 = 𝑈𝑒 + 𝑊𝑒

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𝐸 2 𝑇
Π𝑒 = ∫ 𝜀𝑥𝑥 𝑑𝑉 − {𝑑}𝑒 {𝐹}𝑒 (2)
2
𝑉

the force vector {𝐹}𝑒 can be expressed as

{𝐹}𝑒 𝑇 = {𝑆𝐹1 𝑀1 𝑆𝐹2 𝑀2 }

consider now the internal energy 𝑈𝑒

𝐸 2
𝑈𝑒 = ∫ 𝜀𝑥𝑥 𝑑𝑉
2
𝑉

𝑑2𝑉
according to the beam theory; 𝜀𝑥𝑥 = −𝑦 , then
𝑑 𝑥2

(a) (b)

(c)
Beam segment (a) before deformation and (b) after deformation; (c) Angle of rotation
of cross section ABCD

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2
𝐸 2
𝑑2𝑉
𝑈𝑒 = ∫ 𝑦 ( 2 ) 𝑑𝑣
2 𝑑𝑥
𝑣

2
𝐸 𝐿 𝑑2𝑉
𝑈𝑒 = ∫ ( 2 ) 𝑑𝑥 ∫ 𝑦 2 𝐴 𝑑𝑥
2 0 𝑑𝑥
𝐴

But

∫ 𝑦 2 𝐴 𝑑𝑥 = 𝐼
𝐴

2
𝐸 𝐼 𝐿 𝑑2𝑉
∴ 𝑈𝑒 = ∫ ( ) 𝑑𝑥 (5)
2 0 𝑑 𝑥2

Displacement Equation

𝑑4𝑉
= 𝑞(𝑥)
𝑑 𝑥4

Therefore, four boundary conditions should be applied:

𝑎𝑡 𝑥 = 0 → 𝑉(𝑥 = 0) = 𝑉1 & 𝜃(𝑥 = 0) = 𝜃1

𝑎𝑡 𝑥 = 𝐿 → 𝑉(𝑥 = 𝐿) = 𝑉2 & 𝜃(𝑥 = 𝐿) = 𝜃2

With no distributed load 𝑞(𝑥) , then

𝑑4𝑉
=0 (6)
𝑑 𝑥4

Equation (6) have the general solution

𝑉(𝑥) = 𝛼1 + 𝛼2 𝑥 + 𝛼3 𝑥 2 + 𝛼4 𝑥 3 (7)

The complete cubic displacement function Eq. (7) is appropriate because there are
four total degrees of freedom (a transverse displacement 𝑉𝑖 and a small rotation 𝜃𝑖
at each node). The cubic function also satisfies the basic beam differential
equation—further justifying its selection. In addition, the cubic function also
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satisfies the conditions of displacement and slope continuity at nodes shared by

two elements.

Application of boundary condition yields

𝑉(𝑥 = 0) = 𝑉1 → 𝛼1 = 𝑉1 (8𝑎)

𝜕𝑉
(𝑥 = 0) = 𝜃1 (𝑥 = 0) → 𝛼2 = 𝜃1 (8𝑏)
𝜕𝑥

𝑉(𝑥 = 𝐿) = 𝑉2 = 𝛼1 + 𝛼2 𝐿 + 𝛼3 𝐿2 + 𝛼4 𝐿3

∴ 𝑉2 = 𝑉1 + 𝜃1 𝐿 + 𝛼3 𝐿2 + 𝛼4 𝐿3 (8𝑐)

𝜕𝑉
(𝑥 = 𝐿) = 𝜃2 (𝑥 = 𝐿) = 𝛼2 + 2𝛼3 𝑥 + 3𝛼4 𝑥 2
𝜕𝑥

𝜃2 = 𝜃1 + 𝛼3 𝐿 + 𝛼4 𝐿2 (8𝑑)

solution of equation it for 𝛼𝑖 yields

• 𝛼1 = 𝑉1
• 𝛼2 = 𝜃1
• 𝛼3 =
3 1
(𝑉2 − 𝑉1 ) − (2𝜃1 + 𝜃2 ) (9)
𝐿2 𝐿
3 1
• 𝛼3 = (𝑉1 − 𝑉2 ) − (𝜃1 + 𝜃2 )
𝐿3 𝐿2

we have

𝑉(𝑥) = 𝑁1 𝑉1 + 𝑁2 𝜃1 + 𝑁3 𝑉2 + 𝑁4 𝜃2

𝑉(𝑥) = [ 𝑁]{𝑑}𝑒 (10)

From equations (9) & (10) we get the definition of the shape functions

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3𝑥 2 2𝑥 3
• 𝑁1 = 1 − +
𝐿2 𝐿3
2𝑥 2 𝑥3
• 𝑁2 = 𝑥 − +
𝐿 𝐿2
(11)
3𝑥 2 2𝑥 3
• 𝑁2 = −
𝐿2 𝐿3
𝑥2 𝑥3
• 𝑁2 = − +
𝐿 𝐿2

Return to the strain energy, Eqn. (5)

2
𝐸 𝐼 𝐿 𝑑2𝑉
∴ 𝑈𝑒 = ∫ ( ) 𝑑𝑥 (5)
2 0 𝑑 𝑥2

𝑉1
2 2
𝑑 𝑉 𝜕 𝑁1 2 2
𝜕 𝑁2 𝜕 𝑁32 𝜕 𝑁4 𝜃1
=[ ]{ }
𝑑𝑥 2
𝜕𝑥 2 𝜕𝑥 2 𝜕𝑥 2 𝜕𝑥 2 𝑉2
𝜃2

𝑑2𝑉
= [𝐵]{𝑑}𝑒
𝑑 𝑥2
2
𝑑2𝑉 𝑇
( 2 ) = {𝑑}𝑒 [𝐵]𝑇 [𝐵]{𝑑}𝑒
𝑑𝑥

Return to the total energy equation (2) & (5)

𝐸 2 𝑇
Π𝑒 = ∫ 𝜀𝑥𝑥 𝑑𝑉 − {𝑑}𝑒 {𝐹}𝑒 (2)
2
𝑉

2
𝐸 𝐼 𝐿 𝑑2𝑉
𝑈𝑒 = ∫ ( ) 𝑑𝑥 (5)
2 0 𝑑 𝑥2

𝐿
1 𝑇 𝑇
Π𝑒 = (∫ 𝐸𝐼 {𝑑}𝑒 [𝐵]𝑇 [𝐵]{𝑑}𝑒 𝑑𝑥 ) − {𝑑}𝑒 {𝐹}𝑒
2
0

𝐿
1 𝑇 𝑇
Π𝑒 = {𝑑}𝑒 (∫ 𝐸𝐼 [𝐵]𝑇 [𝐵] 𝑑𝑥 ) {𝑑}𝑒 − {𝑑}𝑒 {𝐹}𝑒
2
0

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𝑇
By differentiating w.r.t {𝑑}𝑒

𝐿
𝜕Π𝑒
𝑇 = 𝐸𝐼 (∫ [𝐵]𝑇 [𝐵] 𝑑𝑥 ) {𝑑}𝑒 − {𝐹}𝑒
𝜕{𝑑}𝑒
0

Minimization total energy:

𝜕Π𝑒
𝑇 =0
𝜕{𝑑}𝑒

𝐸𝐼 (∫ [𝐵]𝑇 [𝐵] 𝑑𝑥 ) {𝑑}𝑒 − {𝐹}𝑒 = 0

0

i.e.,

[𝐾]𝑒 {𝑑}𝑒 − {𝐹}𝑒 = 0

∴ [𝐾]𝑒 = 𝐸𝐼 ∫[𝐵]𝑇 [𝐵] 𝑑𝑥

0

𝐿𝐵1
𝐵
[𝐾]𝑒 = 𝐸𝐼 ∫ { 2 } [𝐵1 𝐵2 𝐵3 𝐵4 ] 𝑑𝑥 (12)
𝐵3
0 𝐵4

With

𝜕 2 𝑁𝑖
𝐵𝑖 = , 𝑠𝑢𝑐ℎ 𝑡ℎ𝑎𝑡
𝜕𝑥 2

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−6 12 𝑥
𝐵1 = + 3
𝐿2 𝐿
−4 6 𝑥
𝐵2 = + 2
𝐿 𝐿
(13)
6 12 𝑥
𝐵3 = 2 − 3
𝐿 𝐿
−4 6 𝑥
𝐵2 = + 2
𝐿 𝐿
From Eqn. (12)

𝐿 𝐵12 𝐵1 𝐵2 𝐵1 𝐵3 𝐵1 𝐵4
𝐵𝐵 𝐵22 𝐵2 𝐵3 𝐵2 𝐵4
[𝐾]𝑒 = 𝐸𝐼 ∫ [ 1 2 𝐵3 𝐵4 ] 𝑑𝑥 (14)
𝐵1 𝐵3 𝐵2 𝐵3 𝐵32
0
𝐵1 𝐵4 𝐵2 𝐵4 𝐵3 𝐵4 𝐵42

From (13) into (14), we get

12 6𝐿 −12 6𝐿
𝐸𝐼 4𝐿2 −6𝐿 2𝐿2 ]
[𝐾]𝑒 = 3 [ 6𝐿 (15)
𝐿 −12 −6𝐿 12 −6𝐿
6𝐿 2𝐿2 −6𝐿 4𝐿2

which is the element stiffness matrix of a beam in local coordinate system.

Finally, the element equilibrium equations are

12 6𝐿 −12 6𝐿 𝑉1 𝑆𝐹1
𝐸𝐼 6𝐿 4𝐿2 2
−6𝐿 2𝐿 ] {𝜃1 } = { 𝑀1 }
[ (15)
𝐿3 −12 −6𝐿 12 −6𝐿 𝑉2 𝑆𝐹2
6𝐿 2𝐿2 −6𝐿 4𝐿2 𝜃2 𝑀2

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Example:
𝑁
𝐸 = 20 × 106
𝑐𝑚2
𝐼 = 2500 𝑐𝑚4

𝑽𝟏 𝟐𝟎, 𝟎𝟎𝟎 𝑵 𝑽𝟐 𝑽𝟑
1 2

𝜽𝟏 2 𝜽𝟐 𝜽𝟑
1
𝟓𝟎𝟎 𝟓𝟎𝟎

Calculate the deflection under the load and draw shear force and bending moment
diagram of the beam

Solution:
For one element:

𝐸𝐼 20 × 106 × 2500
3
= 3
= 400 𝑁/𝑐𝑚2
𝐿 500

• 6𝐿 = 3000 𝑐𝑚
• 4𝐿2 = 1,000,000 𝑐𝑚2
• 2𝐿2 = 500,000 𝑐𝑚2

Element No. 1#

12 3000 −12 3000 𝑉1 𝑆𝐹1

1,000,000 −3,000 500,000 ] { 𝜃1 } 𝑀
400 [3000 = { 1}
−12 −3000 12 −3000 𝑉2 𝑆𝐹2
3000 500,000 −3000 1,000,000 𝜃2 𝑀2

Element No. 2#

12 3000 −12 3000 𝑉2 𝑆𝐹2

1,000,000 −3,000 500,000 ] { 𝜃2 } 𝑀
400 [3000 = { 2}
−12 −3000 12 −3000 𝑉3 𝑆𝐹3
3000 500,000 −3000 1,000,000 𝜃3 𝑀3

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Globalization

𝑉1 𝜃1 𝑉2 𝜃2 𝑉3 𝜃3 𝑎
𝑉1 𝑆𝐹1
12 3,000 −12 3000 0 0 𝑀1
500,000 0 𝜃1
3,000 1,000,000 −,3000 0 𝑆𝐹
400 −12 −3,000 + 3,000 3,000 𝑉2 = 2
−3000 12 + 12 −12 𝑀2
3,000 500,000 −3,000 + 3000 1,000,000 + 1,000,000 −3,000 500,000 𝜃2
𝑉3 𝑆𝐹3
0 0 −12 −3,000 12 −3,000 { 𝑀3 }
[ 0 0 3000 500,000 −3000 1,000,000] {𝜃3 }

𝜃2 𝜃3 𝑎
𝑉1 𝜃1 𝑉2 𝑉3 𝑆𝐹1
𝑉1
12 3,000 −12 3000 0 0 𝑀1
0 𝜃1
3,000 1,000,000 −,3000 500,000 0
400 −12 3,000 𝑉2 = 𝑆𝐹2
−3000 24 0 −12 𝑀2
3,000 500,000 0 2,000,000 −3,000 500,000 𝜃2
𝑉3 𝑆𝐹3
0 0 −12 −3,000 12 −3,000 { 𝑀3 }
[ 0 0 3000 500,000 −3000 1,000,000] {𝜃3 }

Applying B.C:

• 𝑉1 = 𝜃1 = 𝑉3 = 0
• 𝑀2 = 𝑀3 = 0
• 𝑆𝐹2 = −20,000 𝑁

So:

𝑉1 𝜃1 𝑉2 𝜃2 𝑉3 𝜃3 𝜃3 𝜃3
3000 0 𝑉1 𝑆𝐹1
12 3,000 −12 0
3,000 1,000,000 −,3000 500,000 0 0 𝜃1 𝑀1
−12 −3000 24 0 −12 3,000 𝑉2 = −20,000
3,000 500,000 0 2,000,000 −3,000 500,000 𝜃2 0
0 0 −12 −3,000 12 −3,000 𝑉3 𝑆𝐹3
[ 0 0 3000 500,000 −3000 1,000,000] {𝜃3 } { 0 }

24 0 3,000 𝑉2 −20,000
∴ 400 [ 0 2,000,000 500,000 ] {𝜃2 } = { 0 }
3,000 500,000 1,000,000 𝜃3 0

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Solution of this system gives:

• 𝑉2 = −3.65 𝑐𝑚
• 𝜃2 = −0.003125 𝑟𝑎𝑑
• 𝜃3 = −0.0125 𝑟𝑎𝑑

We know that:

{𝐹}1 = [𝐾]1 {𝑑}1

𝑆𝐹1 12 3000 −12 3000 0

𝑀 1,000,000 −3,000 500,000 0
{ 1 } = 400 [3000 ] { }
𝑆𝐹2 −12 −3000 12 −3000 −3.65
𝑀2 (1) 3000 500,000 −3000 1,000,000 (1) −0.003125 (1)

𝑆𝐹1 13770 𝑁
𝑀 3,755,000 𝑁. 𝑐𝑚
{ 1} = { }
𝑆𝐹2 −13,770 𝑁
𝑀2 (1) 3,130,000 𝑁. 𝑐𝑚 (1)

And.

{𝐹}2 = [𝐾]2 {𝑑}2

𝑆𝐹2 12 3000 −12 3000 −3.65

𝑀2 1,000,000 −3,000 500,000
{ } = 400 [3000 ] {−0.003125}
𝑆𝐹3 −12 −3000 12 −3000 −0
𝑀3 (2) 3000 500,000 −3000 1,000,000 (2) −0.0125 (2)

𝑆𝐹1 −6,270 𝑁
𝑀 −3,130,000 𝑁. 𝑐𝑚
{ 1} = { }
𝑆𝐹2 −6,270 𝑁
𝑀2 (2) 200 ≅ 0 𝑁. 𝑐𝑚 (2)

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Bending Moment Diagram & Shear Force Diagram:

13,770 6,270
13,770 6,270

1 2

3,755,000
3,130,000 3,130,000 200 ≅ 0

𝑀=0
𝑆𝐹 = 20,040 ≅ 20000 𝑁

3,755,000 3,130,000

−
𝑩. 𝑴. 𝑫
+
3,130,000

13,770 13,770

+
𝑺. 𝑭. 𝑫
−

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