14

The Corotational
Description:
2D C1 Beam

141

Chapter 14: THE COROTATIONAL DESCRIPTION: 2D C1 BEAM

142

14.1 INTRODUCTION
In this Chapter we use the CR description to construct a geometrically nonlinear, 2-node BernoulliEuler plane beam. Unlike Chapter 9 we will do a C 1 (Hermitian) beam from the start, since with
CR it is as easy to do C 1 or C 0 , and the former has a much better geometric stiffness matrix.
14.2 CR BEAM KINEMATICS
The CR formulation of the beam motion is quite similar to that of the bar element in many respects,
and much of the development can be reused. Only the major differences will be noted here.
14.2.1 Coordinate Systems
As in Chapter 9, we consider a plane, straight, prismatic beam element with two nodes. The element
is initially aligned with the global X axis in the initial configuration C0 , with the origin O0 located
at the element midpoint. This configuration is assumed to be straight and undeformed although it
may be under initial uniform axial stress with resultant N 0 . The bar properties include the elastic
modules, E, the cross section area A0 and the moment of inertia I0 about the neutral axis. The
length in C0 is L 0 .
The motion on the {X, Y } plane carries it to the current configuration C. The corotated configuration
C R is selected as depicted in Figure 14.1:
1.

The longitudinal axis passes through the current position of the end nodes. This defines the
local axis x e . The origin of {x e , y e } is placed halfway between the nodes. This forms an angle
with X .

2.

The C R nodes are placed at an equal distance from the C nodes. Hence the corotated axes
{x Re , y Re }, including origin, coincide with {x e , y e }.

The new ingredient is the rotation angle about Z or z. With C R chosen as indicated, the deformation
part of these rotations is easily extracted: = .
Other possibilities for selecting C R are possible. The foregoing choice has the advantage of being
compatible with that of the bar element discussed in the previous Chapter.
14.2.2 Degrees of Freedom
The beam element has six degrees of freedom, which are placed in the vectors

u X1
uY 1

1
u=
,
u X2

uY 2
2

1
u eX 1
2d
e
uY 1 0

e
1 1
u e = e = 1 .
u X 2 2 d
e

u Y 2 0
2e
2

(14.1)

See Figure 14.2 for a picture of the global displacements and Figure 14.3 for the deformation
displacements.
142

143

14.2
_
// Y

= +

_
// Y

P (xR ,yR )
uY 2

P(x,y)

Corotated C R_

1(x1 ,y1)

Base or initial configuration

2(X2, Y2 )
uX 2

uY 1

_
Y

_
// X
// X

2(x2 ,y2)

Current C

Y, y

CR BEAM KINEMATICS

C0

X, x
uX
1(X1, Y1 )

Figure 14.1. Kinematics of corotational C 1 plane beam element.

2
2

//X, x

C
1

uY2

uX1

//X, x
1

uY1

C0

uX2

20

10

Figure 14.2. Global element displacements.

ye
-d/2

_
1

CR

d/2

_
2
2

L0
L

xe

Figure 14.3. Deformational displacements in element system.

143

144

Chapter 14: THE COROTATIONAL DESCRIPTION: 2D C1 BEAM

Proceeding as in Chapter 13, we can obtain the following relation:

u e
1 L (1 c )
u X1 u X0
s 0
0
0 0
c

x1
2 0
e

u y1 s c 0

0
0 0
L s

2 0
uY 1 uY 0

e 0

0 1
0
0 0
1

e

u = e =

+1
s 0 u X 2 u X 0 2 L 0 (c 1)
0 0 c
u x2 0

1
u y2 0
0 0 s c 0 u Y 2 u Y 0
L
s

2 0
e

0
0
0
0
0
1

2
2

(14.2)

Here c and s and the angle are implicitly defined by the displacements through the trigonometric
relations
Ly
Ly
Lx
s = sin =
(14.3)
, c = cos =
, = arctan
L
L
Lx
where L x = L 0 + u X 2 u X 1 , L y = u Y 2 u Y 1 , and

(14.4)
L = L 2x + L 2y
is the bar length in the current configuration, ignoring the bending deformation.
We note the following relations
L
L
L
L
=
= c ,
=
= s ,
u X 2
u X 1
u Y 2
u Y 1
s2
c
c
s c
c
c
=
=
=
=
,
,
u X 2
u X 1
L
u Y 2
u Y 1
L
c2
s
s
s c
s
s
,
,
=
=
=
=
u X 2
u X 1
L
u Y 2
u Y 1
L

=
=
=
= ,
,
u X 2
u X 1
L
u Y 2
u Y 1
L

L
L
=
= 0,
1
2
c
c
=
= 0,
1
2
s
s
=
= 0,
1
2

=
= 0.
1
2

(14.5)

which are useful in the calculations that follow.

14.2.3 Partial Derivatives
The first and second partial derivatives of the deformations d, 1 and 2 with respect to the node
displacements are necessary for the computations of internal forces and stiffness matrices.
Using (14.5) and Mathematica, one obtains for the first derivatives:
u e
x1
u ey1

e
1
e
u x2
e
u y2
2e

1
c
2

s c L 0 /L

s /L

=
12 c

s c L 0 /L
s /L

1
s
2

c2 L 0 /L
c /L
12 s
c2 L 0 /L
c /L

0
12 c
0 s c L 0 /L
1
s /L
1
0
c
2
0 s c L 0 /L
0
s /L
144

12 s
c2 L 0 /L
c /L
1
s
2
c2 L 0 /L
c /L

u X 1
0

0
u Y 1

0
1

(14.6)
0 u X 2

0 u Y 2
1
2

145

14.2
_
// Y

_
// Y

= +

// X

C
uY 2

_
X

1(x1 ,y1)
2(X2, Y2 )
uX 2

uY 1

_
Y

_
// X

2(x2 ,y2)

Y, y

CR BEAM KINEMATICS

C0

X, x
uX
1(X1, Y1 )

Figure 14.4. Beam element with arbitrarily oriented initial configuration C0 ,

forming an angle with X . Corotated configuration not shown
to reduce clutter.

Since u ex1 = u ex2 = 12 d, 1e = 1 , and 2e = 2 we get

c
d
1 = s /L
s /L
2

s
c /L
c /L

0
1
0

c
s /L
s /L

The second derivatives of deformation variables are

s2
s c
s c
c2

2d
1 0
0
=
2

s c
u u
L s
s c
c2

0
0

2s c
c2 s 2

1
2 1
0
= 2
u u
L
2s c
s 2 c2

c2 s2
2s c
0
2
s c2
2s c
0
145

0
0
0
0
0
0

s
c /L
c /L

s2
s c
0
s2
s c
0

0 2s c
0 s2 c2
0
0
0 2s c
0 c2 s2
0
0

u X 1
u Y 1

0

1
0

u X 2

1
u Y 2
2

s c
c2
0
s c
c2
0

0
0

0
0

s2 c2
2s c
0
2
c s2
2s c
0

0
0

0
0

(14.7)

(14.8)

(14.9)

146

Chapter 14: THE COROTATIONAL DESCRIPTION: 2D C1 BEAM

2s c
c2 s 2

1
2 2
0
= 2
u u
L
2s c
s 2 c2

c2 s2
2s c
0
2
s c2
2s c
0

0 2s c
0 s2 c2
0
0
0 2s c
0 c2 s2
0
0

0
0

0
0

s2 c2
2s c
0
2
c s2
2s c
0

(14.10)

14.2.4 Arbitrary Initial Configuration

The foregoing relations can be generalized to the case of a initial configuration C0 not aligned
with the X axis as shown in Figure 14.4. Given the node coordinates and displacements shown
in the figure, it is easily shown (Section 9.4) that cos = X 21 /L 0 , sin = Y21 /L 0 , cos =
cos( + ) = x21 /L, sin = sin( + ) = y21 /L, cos = (X 21 x21 + Y21 y21 )/(L L 0 ) and
sin = (X 21 y21 Y21 x21 )/(L L 0 ).
The preceding transformation rules remain correct if is replaced by = + , except for the
deformation angle computation, which remain 1 = 1 and 2 = 2 because the s are
measured from X .
The relation between deformational and global displacements become
d = L L 0 = u X 21 c + u Y 21 s + L 0 (1 c )
1 = 1
2 = 2
The first derivatives of d=eformation variables are

c
d
1 = s /L
s /L
2

s
c /L
c /L

0
1
0

(14.11)

c
s /L
s /L

s
c /L
c /L

u X 1
u Y 1

1
0

u X 2

1
u Y 2

(14.12)

2
The second derivatives of deformation variables are
2
s
s c
s c
c2

2
1 0
d
0
=
2

s c
u u
L s
s c
c2

0
0

2
2s c c s2
c2 s 2 2s c

1
2 1
0
0
= 2
2

s c2
u u
L 2s c
s 2 c2 2s c

0
0
146

0
0
0
0
0
0

s2
s c
0
s2
s c
0

0
0
0
0
0
0

2s c
s2 c2
0
2s c
c2 s2
0

s c
c2
0
s c
c2
0

0
0

0
0

s2 c2
2s c
0
2
c s2
2s c
0

0
0

0
0

(14.13)

(14.14)

147

14.3

THE DEFORMATIONAL STRAIN ENERGY

N
M2
V

C
M1
V
N

M20
V0

N0

C0

N0

V0
M10

Figure 14.5. Beam stress resultants depicting positive sign conventions. Axial forces N
and transverse shear forces V are constant along the length, but the bending
moments M vary linearly. Hence two nodal values of M are required.

2s c
c2 s 2

2 2
1
0
= 2
u u
L
2s c
s 2 c2

c2 s2
2s c
0
s2 c2
2s c
0

0
0
0
0
0
0

2s c
s2 c2
0
2s c
c2 s2
0

s2 c2
2s c
0
c2 s2
2s c
0

0
0

0
0

(14.15)

14.2.5 Stress Resultants

The stress resultants in the reference configuration (either C0 or C R ) are N 0 , M10 and M20 . The initial
shear force is V 0 = (M10 M20 )/L 0 . See Figure 14.5 for sign conventions.
Denote by N , V and M the stress resultants in the current configuration. Whereas N and V are
constant along the element, M = M(x e ) varies linearly along the length because this is a Hermitian
or model, which relies on cubic transverse displacements. Consequently we will define its variation
by the two node values M1 and M2 . The shear V is recovered from equilibrium as V = (M1 M2 )/L,
which is also constant. The stress resultants can be obtained from the deformations as
E A0
2E I0
d, M1 = M10
(21 + 2 ),
L0
L0
2E I0
M1 M2
L0
2E I
(1 + 22 ), V =
(1 2 ).
= V0
+
M2 = M20 +
L0
L
L
L L0
N = N0 +

147

(14.16)

Chapter 14: THE COROTATIONAL DESCRIPTION: 2D C1 BEAM

148

14.3 THE DEFORMATIONAL STRAIN ENERGY

The next step in the CR formulation is to work out the deformational strain energy of the beam.
The basic choices are:
1.

A linear beam

2.

A nonlinear TL beam

The strain energy of the beam for small strains can be written
U = Ua + Ub + Ug

(14.17)

where U a , U b and U g are the energy taken by axial (bar) deformation, bending deformation, and
initial-stress geometric effects, respectively. We adopt the following energy expressions:
U a = N 0 d + 12 (N N 0 )d 2 = N 0 L 0 e + 12 E A0 L 0 e2 ,

T

E I0 4 2
1
b
0
0
1 1
U = M2 2 M1 1 + 2
,
2
2
L0 2 4

T 0

N L 0 4 1
1
g
1 1
U =2
.
1 4
2
2
30

(14.18)

The 2 2 matrices appearing in U b and U g may be derived from those given in Chapters 5 and 15,
respectively, of Przemienieckis book.1 This book, howevr, omits the initial stress terms.
14.4 INTERNAL FORCE VECTOR AND TANGENT STIFFNESS MATRIX
The internal force vector and tangent stiffness matrix of the corrotational element are then obtained
by the usual formulas:
p
U
(14.19)
,
K=
= K M + KG
p=
u
u
To develop these quantities it is necessary to find the first and second partial derivatives of d, 1 and
2 in terms of the node displacements.
14.4.1 Internal Force Vector
Using the partial derivatives compiled above and Mathematica, one obtains the following expression
for the internal forces.
p = pa + pb + pg
1

J. S. Przemieniecki, Theory of Matrix Structural Analysis, Dover, New York, 1985.

148

(14.20)

149

14.4

INTERNAL FORCE VECTOR AND TANGENT STIFFNESS MATRIX

where
pa =

U a
= N [ c
u

0 ]T

U b
= [ V s V c M1 V s V c M2 ]T
u
N 0 L0
U g
=
pg =
[ 3s (1 + 2 )/L 3c (1 + 2 )/L 41 2
u
30
3s (1 + 2 )/L 3c (1 + 2 )/L 42 1 ]T
pb =

(14.21)

14.4.2 Material Stiffness Matrix

Carrying out the computations one obtains the following compact expression for the material
stiffness:
(14.22)
K M = TT K M0 T
where

K M0

EA
L

=
EA

0
12E I
L3
6E I
L2
0
12E3 I
L
6E I
L2

0
6E I
L2
4E I
L

ELA

0
6E2I
L
2E I
L

EA
L
0

0
0

0
12E3 I
L
6E
2I
L
0
12E I
L3
6E2I
L

0
6E I
L2
2E I
L

6E
I
2
L
4E I
L

(14.23)

is the stiffness matrix of the linear beam element, and T is the transformation matrix

c
s

0
T=
0

0
0

s
c
0
0
0
0

0
0
0
0
1
0
0 c
0 s
0
0

0
0
0
s
c
0

0
0

0
1

(14.24)

which introduces the effect of finite rigid body motions.

14.4.3 Geometric Stiffness Matrix
The expression for the geometric stiffness is a bit more complicated. It can be presented in a
compact form as follows:
(14.25)
KG = TT KGN T + KGV
149

Chapter 14: THE COROTATIONAL DESCRIPTION: 2D C1 BEAM

where T is the transformation matrix (14.24),

Hermitian beam element under axial force:

0
0
0 36

N
0 3L
KGN =

0
30L 0

0 36
0 3L

1410

KGN is the well known geometric stiffness for a

0
3L
4L 2
0
3L
L 2

0
0
0 36
0 3L
0
0
0 36
0 3L

0
3L

L 2

3L
4L 2

(14.26)

and the remaining term introduces the effect of varying moments through the transverse shear force
in C:

sin 2
cos 2 0 sin 2
cos 2
0
sin 2
0
cos 2 sin 2 0 cos 2

V
0
0
0
0
0
0

(14.27)
KGV =

cos 2
0
sin 2
cos 2 0
L sin 2

cos 2
sin 2
0 cos 2 sin 2 0
0
0
0
0
0
0
in which sin 2 = 2s c and cos 2 = c2 s2 .

1410

1411

Exercises

Homework Exercises for Chapter 14

The Corotational Description: 2D C1 Beam
EXERCISE 14.1

Complete the derivation of p for the 2-node C 1 beam element and implement in Mathematica, using the same
inputs as in Chapter 9 Addendum. (Implemented and posted on Web)
EXERCISE 14.2

Complete the derivation of K for the 2-node C 1 beam element and implement in Mathematica, using the same
inputs as in Chapter 9 Addendum. (Implemented and posted on Web)
EXERCISE 14.3

A plane 2-node C 1 beam element has properties L 0 = 6, E = 3000, A0 = 2, I0 = 12, N 0 = 5 in the initial
state C0 along X , with node 1 at (0,0) and node 2 at (L 0 , 0). The beam rotates by 45about the origin
so that at
the current configuration C node 1 stays at {0, 0} while node 2 moves to {(L 0 + d)/ 2, (L 0 + d)/ 2}, where
d = L 0 /1000. The rotational freedoms at C are 1 = 2 = 45 = /4 radians. Compute p, K M and KG at the
current configuration, and compare those quantities with those of the C 0 beam element presented in Chapter
9, using RBF for the latter.
Note: A Mathematica implementation of this C 1 element has been posted on the Web as a Mathematica 4.1
Notebook PlaneBeamC1.nb. The element checks out when moving about the reference configuration C0 .
It gives excellent buckling values for the problem of Exercise 9.3. More tests are needed, however, for an
arbitrary configuration to make sure the internal force vector and the tangent stiffness are consistent.
EXERCISE 14.4

Confirm the previous statement by repeating the buckling calculations of Exercise 9.3 using the CR beam
element provided in the Mathematica Notebook mentioned above (extract the material and stiffness matrices,
ignore the rest). Compare the speed of convergence of the CR and TL element for the cantilever buckling
problem.

1411