Development of Beam Equations

Professor Ali Karrech

School of Engineering

Learning resources: Chapter 4.1- 4.3 of Logan’s

book + Lecture notes
Outline (what are we expected to learn?)
• Beams;
• Beam stiffness based on Euler Bernoulli’s theory
(Bending deformation only)
• Beam stiffness based on Timoshenko’s theory (Including
Transverse Shear Deformation)

2
Beams
• A beam is a long, slender structural member generally
subjected to transverse loading that produces significant
bending effects as opposed to twisting or axial effects.
• Unlike in bars, the degrees of freedom considered in
beams are displacements and rotations.

3
Beams
• At all nodes, the following sign conventions are used:
– Moments are positive in the counterclockwise direction.

– Rotations are positive in the counterclockwise direction.

– Forces are positive in the positive ^y direction.

– Displacements are positive in the positive ^y direction.

4
 Beam stiffness based on Euler
Bernoulli (Bending deformation only)

equilibrium
dV
∑ Fy = 0 :V − (V + dV ) − w( x̂)dx̂ = 0 ⇒ w = −
dx̂
dx̂ dM
∑ M 2 = 0 : −Vdx + dM + w( x̂)dx̂ 2 = 0 ⇒ V = dx̂
curvature
1 M dv̂ d 2 v̂
κ = = , φ̂ = and κ = 2
ρ EI dx̂ dx̂

combining the above shows that

d 2 v̂ M d 2 " d 2 v̂ %
2
= ⇒ 2 $
EI 2 ' = −w(x̂)
dx̂ EI dx̂ # dx̂ &

5
Beam stiffness based on Euler
Bernoulli (Bending deformation only)
consider the dispacement: v̂(x̂)=a1x̂ 3 + a 2 x̂ 2 + a 3x̂+a 4
this expression can be used to describe 4 DOF:

v̂(0)=d̂1y =a 4 and v̂(L)=d̂ 2 y =a1L3 + a 2 L2 + a 3L+a 4

dv̂(0) dv̂(L)
= φ̂1 = a 3 and = φ̂ 2 = 3a1L2 + 2a 2 L + a 3
dx̂ dx̂

Therefore
⎡2 1 ⎤ 3
( ) ( )
v̂= ⎢ 3 d̂1y − d̂ 2y + 2 φ̂1 + φ̂ 2 ⎥ x̂ +
⎣L L ⎦
⎡ 3 1 ⎤ 2
⎣ L
( L
) ( ⎦
)
⎢− 2 d̂1y − d̂ 2y − 2φ̂1 + φ̂ 2 ⎥ x̂ + φ̂1x̂+d̂1y
6
Beam stiffness based on Euler
Bernoulli (Bending deformation only)
For constant EI we get the bending moment and
shear force (slide5)
d 2 v̂ d 3v̂
m̂(x̂)=EI 2 ⇒ V̂ = EI 3
dx̂ dx̂
where (slide 6)
⎡2 1 ⎤
( ) ( )
v̂= ⎢ 3 d̂1y − d̂ 2y + 2 φ̂1 + φ̂ 2 ⎥ x̂ 3 +
⎣L L ⎦
⎡ 3 1 ⎤ 2
( ) ( )
⎢− 2 d̂1y − d̂ 2y − 2φ̂1 + φ̂ 2 ⎥ x̂ + φ̂1x̂+d̂1y
⎣ L L ⎦

9
Beam stiffness based on
Euler Bernouli

Therefore

and
! f̂ % ! %
) 12 6L −12 6L ,#d̂1y #
# 1y # + .# #
# m̂1 # EI + 6L 4L2 −6L 2L2 ." φ̂1 &
" &= 3
# f̂2y # L + −12 −6L 12 −6L .#d̂ #
# # + .# 2y #
$ m̂ 2 ' * 6L 2L2 −6L 4L2 - φ̂
$ 2 '

stiffness matrix k̂ 10
Example
2500 N.m

2500 N

Assume an Euler-Bernouilli beam of Length L =1 m, Young

modulus E=210 GPa and moment of inertia I = 1.6e-7 m4.

1. Calculate the stiffness matrix of each element

2. Assemble the system

1. Identify & apply the boundary conditions

1. Calculate the DoFs at the nodes 11

Solution
d̂1y φ̂1 d̂ 2y φ̂ 2
d̂ 2y φ̂ 2 d̂ 3y φ̂3
# 12 6L −12 6L &
% ( # 12 6L −12 6L &
EI 6L 4L2 −6L 2L2
k (1) = 3 % (
EI
% 2 2
(
L % −12 −6L 12 −6L ( 6L 4L −6L 2L (
k (2) = 3 %
% ( L % −12 −6L 12 −6L (
$ 6L 2L2 −6L 4L2 ' % (
$ 6L 2L2 −6L 4L2 '
Globally,
! f1 % ! d1 %
# # ) 12 6L −12 6L 0 0 , # #
# M1 # + . φ1 #
+ 6L 4L2 −6L 2L2 0 0 .#
## F2 ## EI + −12 −6L 12 +12 # d 2 ##
−6L + 6L −12 6L . #
" &= " &
# M 2 # L3 + 6L 2L2 −6L + 6L 4L2 + 4L2 −6L 2L2 . # φ2 #
+ .
# F3 # + 0 0 −12 −6L 12 −6L . # d3 #
# # +* 0 2 2 .# #
#$ M 3 #' 0 6L 2L −6L 4L -# φ3 #'
$
Boundary conditions / loads
d̂1y = 0 φ̂1 = 0 d̂ 3y = 0

F2y = 2500N M 2 = 2500N.m M3 = 0 12

Solution
⎧ f ⎫ ⎡ 12 ⎤⎧ 0 ⎫
⎪ 1
⎪ 6L −12 6L 0 0
⎢ ⎥⎪ ⎪
⎪ M1 ⎪ ⎢ 6L 4L
2
−6L 2L 2
0 0 ⎥⎪ 0 ⎪
⎪ ⎪ EI ⎢ −12 −6L 12 +12 −6L + 6L −12 6L ⎥⎪ d2 ⎪
⎨ 2500 ⎬= 3 ⎢ 2 ⎥
⎨ ⎬
⎪ 2500 ⎪ L 2 2 2
⎢ 6L 2L −6L + 6L 4L + 4L −6L 2L ⎥⎪ φ2 ⎪
⎪ F3 ⎪ ⎢ 0 0 −12 −6L 12 −6L ⎥⎪ 0 ⎪
⎪ ⎪ ⎢ 0 2 2 ⎥⎪ ⎪
⎩ 0 ⎭ ⎣ 0 6L 2L −6L 4L ⎦⎩ φ3 ⎭

Therefore (after using the homogeneous BC)

⎧ 2500 ⎫ ⎡ 12 +12 −6L + 6L 6L ⎤⎧ d ⎫

⎪ ⎪ EI ⎢ ⎥⎪ 2 ⎪
⎨ 2500 ⎬ = 3 ⎢ −6L + 6L 4L2 + 4L2 2L2 ⎥⎨φ2 ⎬
⎪ 0 ⎪ L ⎢ 6L 2L 2
4L2 ⎥⎪φ ⎪
⎩ ⎭ ⎣ ⎦⎩ 3 ⎭

Which means EI/L3 = 33.6 kN.m-1

−1
⎧ d̂ ⎫ ⎛ ⎡
⎪⎪ 2 ⎪⎪ ⎜ EI ⎢ 24 0 6L ⎤⎞⎟ ⎧2500⎫ ⎧ 7.75mm ⎫
⎥ ⎪ ⎪ ⎪ ⎪
⎨φˆ2 ⎬ = ⎜ 3 ⎢ 0 8L2 2
2L ⎥⎟ ⎨2500⎬ = ⎨0.014rad ⎬
⎪ ˆ ⎪ ⎜⎜ L ⎢ 6L 2L2 4L2 ⎥⎦⎟⎟ ⎪0 ⎪ ⎪−0.0186rad ⎪
⎪⎩φ3 ⎪⎭ ⎝ ⎣ ⎠ ⎩ ⎭ ⎩ ⎭
13
Beam stiffness based on Timoshenko
Theory(Including Transverse Shear Deformation)
Unlike the Euler-Bernoulli method where plane sections
remain plane even after bending, the shear deformation
(deformation due to the shear force V) is now included.

14
Beam stiffness based on Timoshenko
Theory (Including Transverse Shear
Deformation)

The deflection consists of two parts:

dv̂
= φ̂ ( x̂) − β ( x̂)
dx̂
The relations between bending moment and bending deformation is:
dφ̂ ( x̂)
M(x̂)=EI
dx̂
The relations between shear force and shear deformation is:
V (x̂)=k s AGβ ( x̂) where k s is Timoshenko constant
15
Beam stiffness based on Timoshenko
Theory (Including Transverse Shear Deformation)
Recall that from equilibrium,

dV
∑ Fy = 0 : V − (V + dV) − w(x̂)dx̂ = 0 ⇒ w = −
dx̂
dx̂ dM
∑ M 2 = 0 : −Vdx + dM + w(x̂)dx̂ 2 = 0 ⇒ V = dx̂

Therefore,
dv̂
β ( x̂) = φ̂ ( x̂) −
dx̂
dφ̂ ( x̂)
M(x̂)=EI
dx̂
V (x̂)=k s AGβ ( x̂)
dM(x̂) d " dφ̂ % ) dv̂ ,
=V (x̂)
dx̂ $ EI ' + k s AG + − φ̂ . = 0
dx̂ # dx̂ & * dx̂ -
16
Beam stiffness based on Timoshenko
Theory
As previously, consider the dispacement: v̂(x̂)=a1x̂ 3 + a2 x̂ 2 + a3x̂+a4
dv̂
Assume that β is constant, = φ̂ ( x̂) − β = 3a1x̂ 2 + 2a2 x̂ + a3
dx̂

d ⎡ dφ̂ ⎤ ⎛ dv̂ ⎞ EI
Since ⎢ EI ⎥ + k s AG ⎜ − φ̂ ⎟ = 0, we get: 6a1g = β where g =
dx̂ ⎣ dx̂ ⎦ ⎝ dx̂ ⎠ k s AG

( )
Hence, φ̂ = a1 3x̂ 2 + 6g + 2a2 x̂ + a3

These expressions can be used to describe 4 DOF:

v̂(0)=d̂1y =a 4 and v̂(L)=d̂ 2y =a1L3 + a 2 L2 + a 3L+a 4
φ̂(0) = φ̂1 = a 3 + 6ga1 and φ̂(L) = φ̂ 2 = a1 (3L2 + 6g ) + 2a 2 L + a 3
17
Beam stiffness based on Timoshenko
Theory (Including Transverse Shear Deformation)
This leads to,

Therefore

18
Beam stiffness based on Timoshenko
Theory (Including Transverse Shear Deformation)
The stiffness matrix can be obtained, ( )

stiffness matrix k̂
! f̂ % ! %
) 12 6L −12 6L ,#d̂1y #
# 1y # + .# #
As opposed to # m̂1 # EI +
" &= 3
6L 4L2 −6L 2L2 ." φ̂1 &
(Euler-Bernoulli): # f̂2y # L + −12 −6L 12 −6L .#d̂ #
# # + .# 2y #
$ m̂ 2 ' * 6L 2L2 −6L 4L2 - φ̂
$ 2 '
19
Example
2500 N.m

2500 N

Consider a Timoshenko beam of Length L =1 m, Young modulus E=210 Gpa

Poisson’s ratio 0.3, and a square cross section (size 2 cm). Assume a
Timoshenko constant ks=5/6

1. Calculate the stiffness matrix of each element

2. Assemble the system

3. Identify & apply the boundary conditions

4. Calculate the DoFs at the nodes

5. Increase the thickness by 10 times and comment on the results

20
 Solution
d̂1y φˆ1 d̂2 y φˆ2 d̂2 y φˆ2 d̂3y φˆ3
⎡ 12 6L −12 ⎤
6L ⎡ ⎤
⎢ ⎥ 12 6L −12 6L
⎢ 6L (4L2 +12g) −6L ( 2L2 −12g) ⎥ ⎢ ⎥
(1)
k =
EI
⎢ ⎥ (2) EI ⎢ 6L (4L2 +12g) −6L ( 2L2 −12g) ⎥
L ( L2 +12g) ⎢ −12 −6L 12 −6L ⎥k = ⎢ ⎥
⎢ 6L ( 2L2 −12g) −6L (4L2 +12g) ⎥⎥
2
L L +12g ( )⎢ −12 −6L 12 −6L ⎥
⎢⎣ ⎦ ⎢ 6L ( 2L −12g) −6L (4L +12g) ⎥⎥
2 2
⎢⎣ ⎦
Globally,
⎧ ⎡ ⎤⎧
f1 ⎫ ⎢
12 6L −12 6L 0
⎥⎪
0 d1 ⎫
⎪ ⎪ ⎪
⎪ M1 ⎪ ⎢ 6L (4L2 +12g) −6L ( 2L2
−12g ) 0 0 ⎥⎪ φ1 ⎪
⎪ ⎪ ⎢ ⎥⎪ ⎪
⎪ F2 ⎪ EI ⎢ −12 −6L 12 +12 −6L + 6L −12 6L ⎥⎪ d2 ⎪
⎨ ⎬= ⎨ ⎬
⎪ M 2 ⎪ L ( L2 +12g) ⎢⎢ 6L ( 2L2 −12g) −6L + 6L (8L2 + 24g) −6L ( 2L2 −12g) ⎥⎪
⎥ φ2 ⎪
⎪ F3 ⎪ ⎢ 0 0 −12 −6L 12 −6L ⎥⎪ d3 ⎪
⎪ ⎪ ⎢ ⎥⎪ ⎪
⎪⎩ M 3 ⎪⎭ ⎢⎣ 0 0 6L (2L −12g) −6L (4L +12g) ⎥⎦⎪⎩
2 2
φ3 ⎪⎭

Boundary conditions / loads

d̂1y = 0 φ̂1 = 0 d̂ 3y = 0

F2y = 2500N M 2 = 2500N.m M3 = 0 21

Solution
⎡ 12 6L −12 6L 0 ⎤ 0
⎧ f ⎫ ⎢ ⎥⎧ 0 ⎫
1
⎪ ⎪ ⎢ 2
6L (4L +12g) −6L (2L −12g) 0
2
0 ⎥⎪ ⎪
⎪ M1 ⎪ 0
⎢ ⎥⎪ ⎪
⎪ ⎪ EI ⎢ −12 −6L 12 +12 −6L + 6L −12 6L ⎥⎪ d2 ⎪
⎨ 2500 ⎬= ⎢ ⎨ ⎬
⎪ 2500 ⎪ L ( L +12g) ⎢
2 6L ( 2L2 −12g) −6L + 6L (8L2 + 24g) −6L ( 2L2 −12g) ⎥⎪ φ2 ⎪
⎥
⎪ F3 ⎪ ⎢ 0 0 −12 −6L 12 −6L ⎥⎪ 0 ⎪
⎪ ⎪ ⎢ ⎥⎪ ⎪
⎩ 0 φ3 ⎭
⎭ ⎢⎣ 0 0 6L (2L −12g) −6L (4L +12g) ⎥⎦⎩
2 2

Therefore (after using the homogeneous BC)

⎡ ⎤
⎧ 2500 ⎫ ⎢ 24 0 6L ⎥⎧ d2 ⎫
⎪ ⎪ EI ⎢ ⎥⎪ ⎪
⎨ 2500 ⎬ = ⎢ 0 (8L + 24g)
2
( 2L2
−12g ) ⎥⎨φ2 ⎬
⎪ 0 ⎪ L ( L +12g) ⎢
2

⎩ ⎭ ⎥⎪⎩φ3 ⎪⎭
⎢⎣ 6L (2L −12g)
2
( 4L +12g) ⎥⎦
2

The constants of the problem are:

!" !" &(()*)"

𝑔= #! $%
= " = #! $
#! $#(%&')

22
Solution
⎡ 12 6L −12 6L 0 ⎤0
⎧ f ⎫ ⎢ ⎥⎧ 0 ⎫
1
⎪ ⎪ ⎢ 2
6L (4L +12g) −6L (2L −12g) 0
2
0 ⎥⎪ ⎪
⎪ M1 ⎪ 0
⎢ ⎥⎪ ⎪
⎪ ⎪ EI ⎢ −12 −6L 12 +12 −6L + 6L −12 6L ⎥⎪ d2 ⎪
⎨ 2500 ⎬= ⎢ ⎨ ⎬
⎪ 2500 ⎪ L ( L +12g) ⎢
2 6L ( 2L2 −12g) −6L + 6L (8L2 + 24g) −6L ( 2L2 −12g) ⎥⎪ φ2 ⎪
⎥
⎪ F3 ⎪ ⎢ 0 0 −12 −6L 12 −6L ⎥⎪ 0 ⎪
⎪ ⎪ ⎢ ⎥⎪ ⎪
⎩ 0 φ3 ⎭
⎭ ⎢⎣ 0 0 6L (2L −12g) −6L (4L +12g) ⎥⎦⎩
2 2

Therefore (after using the homogeneous BC)

⎡ ⎤
⎧ 2500 ⎫ ⎢ 24 0 6L ⎥⎧ d2 ⎫
⎪ ⎪ EI ⎢ ⎥⎪ ⎪
⎨ 2500 ⎬ = ⎢ 0 (8L + 24g)
2
( 2L2
−12g ) ⎥⎨φ2 ⎬
⎪ 0 ⎪ L ( L +12g) ⎢
2

⎩ ⎭ ⎥⎪⎩φ3 ⎪⎭
⎢⎣ 6L (2L −12g)
2
( 4L +12g) ⎥⎦
2

The solution is:

−1
⎧ d̂ ⎫ ⎡ ⎤ ⎧2500⎫ ⎧8.13mm ⎫
⎪⎪ 2 y ⎪⎪
L(L2
+12g) ⎢ 24 0 6L ⎥ ⎪ ⎪ ⎪ ⎪
⎨φˆ2 ⎬ = ⎢ 0 8L2 + 24g 2L2 ⎥ ⎨2500⎬ = ⎨0.0144rad ⎬
⎪ˆ ⎪ EI ⎢ 2 2 ⎥ ⎪0 ⎪ ⎪−0.0180rad ⎪
φ
⎪⎩ ⎪⎭
3 ⎢
⎣ 6L 2L 4L +12g ⎥⎦ ⎩ ⎭ ⎩ ⎭
23