Beam Elements and Plane Frame Equations

3/2/2014 Beam Elements 1
Beam Elements and

Plane Frame Equations
Beam Stiffness
A beam is a long, slender structural
member generally subjected to transverse
loading that produces significant bending
effects as opposed to axial or twisting
effects.
v
, y
y 2 y 2
d
, f
1 1
m
|
2 2
m
|
y 1 y 1
d
, f
L
1 2
Beam with positive nodal displacements,
rotations, forces, and moments.
Beam theory sign conventions for shear
forces and bending moments.
L
V V
m
m
FEM Sign Conventions
Valid at All Nodes:
1. Moments are positive counterclockwise.
2. Rotations are positive counterclockwise.
3. Forces are positive in the local y
direction.
4. Displacements are positive in the local y
direction.
w(x)
v
, y
dx
V V + dV
M + dM
M
w(x)
Force and moment equilibrium:
x
d
dM
V
x
d
dV
w
0 dM x
d V
0 dV x
d w
=
=
= +
= +
Curvature-moment relationship:
EI
M
x d
v d
x d
v d
x d
v d
EI
M
=
= u
= k =
= k
2
2
2
2
1
0
x
d
v
d
EI
: cases Some
x
w
x
d
v
d
EI
x
d
d
EI
M
x
d
v
d
4
4
2
2
2
2
2
2
=
|
|
.
|
\
|
=
|
|
.
|
\
|
=
Step 1: Select Element Type
v
, y
y 2 y 2
d
, f
1 1
m
|
2 2
m
|
y 1 y 1
d
, f
L
1 2
3 2
1 2 3 4
1y 4
3 2
2y 1
2
1 2 3
1 3
2
1
2
2 2 3
3 4

v 3a x 2a x a
dv(0)

a
dx

v a x a x a x a
v(0) d a
v(L) d a L a L a
dv(L)

3a L 2a L a
d
L a
x
'
= + +
= |
= + + +
= =
= = + + +
=
= | = + +
Step 2: Select a Displacement Function
Solve for a
i
s
3
1y 2y 1 2
3 2
2
1y 2y 1 2 1 1y
2
2 1

v d d x
L L
3 1

d d 2 x x d
L L
(
= + | + | +
(

(
| + | + | +
(

Matrix Form
1y
1
2y
2
1 2 3 4
v N d N
N N N N N

|

= =
`

|

)
=
Matrix Form
1 2 3 4
3 2
1
3
3 2
3 2
3
3 2
2 2
3 2
2
2
4
1 2

N x x 1x
L L
2 1 1

N x x
L
3

N x
N N N N N
2 3

N x
x
L L
L
L
x 1
L
=
=
= =
=
+
+ +
Collect Terms
3 2 3
1
3
3 2 2 3
2
3
3 2
3
3
3 2 2
4
3
1

N 2x 3x L L
L
1

N x L 2x L xL
L
1

N 2x 3x L
L
1

N x L x L
L
= +
= +
= +
=
Properties of Shape Functions
( )
( )
( )
( ) 0 6 6
1
) (
0 ) 0 (
6
1
0 3 2
1
) (
1
1
) 0 (
2
3
1
1
2
3
1
3 2 3
3
1
3
3
1
= =
=
=
= + =
= =
LL L
L
L
x d
dN
x d
dN
L x x
L x d
dN
L L L L
L
L N
L
L
N
( )
( )
( ) 0 6 6
1
) (
0 ) 0 (
6
1
1 3 2
1
) (
0 ) 0 (
2
3
1
1
2
3
3
2 3
3
3
3
= + =
=
+ =
= + =
=
LL L
L
L
x d
dN
x d
dN
L x x
L x d
dN
L L L
L
L N
N
( )
( )
( ) 0 4 3
1
) (
2
1 ) 0 (
3
1
0 2
1
) (
0 ) 0 (
3 3 3
3
1
2
3 2 2
3
2
4 4 4
3
2
2
= + =
=
+ =
= + =
=
L L L
L
L
x d
dN
x d
dN
L L x L x
L x d
dN
L L L
L
L N
N
( )
( )
( ) 1 2
1
) (
2
0 ) 0 (
0
1
) (
0 ) 0 (
3 3
3
1
2
2 2
3
2
4 4
3
4
4
= =
=
=
= =
=
L L
L
L
x d
dN
x d
dN
L x L x
L x d
dN
L L
L
L N
N
Shape Functions for Beam Element
-0.500
0.000
0.500
1.000
0
N
1

N
3

N
2

N
4

L
Step 3 : Define Strain/Displacement
Relationships
( )
( )
2
2
x d
v d
y y x
x d
v d
y u
x d
u d
y x
x
x
=
=
=
3
3
2
2
x
d
v
d
EI V
d
v
d
EI ) x
( m
Step 3 : Define Stress/Strain

Relationships
Step 4 : Derive the Element
Stiffness Matrix and Equations
( )
( )
2 2 1 1
3
3
3
2
2 2 1 1
3
3
3
1
12
12
) (
12
12
) 0 (

| + | =
= =
| + | + =
= =
L d L d
L
EI
x d
L v d
EI V f
L d L d
L
EI
x d
v d
EI V f
y y
y
y y
y
( )
( )
2
2
2 1
2
1
3
2
2
2
2
2
2 1
2
1
3
2
2
1
) (
) 0 (

| + | + =
= + =
| + | + =
= =
L d L L d L
L
EI
x d
L v d
EI m m
L d L L d L
L
EI
x d
v d
EI m m
y y
y y
|
|
(
(
(
(
2
y 2
1
y 1
2 2
2 2
3
2
y 2
1
y 1
L 4 L 6 L 2 L 6
L 6 12 L 6 12
L 2 L 6 L 4 L 6
L 6 12 L 6 12
L
EI
m

Stiffness Matrix
(
(
(
(
=
2 2
2 2
3
L 4 L 6 L 2 L 6
L 6 12 L 6 12
L 2 L 6 L 4 L 6
L 6 12 L 6 12
L
EI
k
Note units on k
ij
terms. Derived from direct
stiffness approach. Identical to matrix methods!
Step 5 : Assemble Element
Equations to Obtain the Global
Equations and Introduce
Boundary Conditions
Example
1000 lb
1000 lbft
x
y
1
2
1
2
3
E, I are constant through out the beam
2 2
2 2
3
) 1 (
2 y 2 1 y 1
L 4 L 6 L 2 L 6
L 6 12 L 6 12
L 2 L 6 L 4 L 6
L 6 12 L 6 12
L
EI
k
d

d

(
(
(
(
=
| |
2 2
2 2
3
) 2 (
3 y 3 2 y 2
L 4 L 6 L 2 L 6
L 6 12 L 6 12
L 2 L 6 L 4 L 6
L 6 12 L 6 12
L
EI
k
d

d
|
|
|
(
(
(
(
(
(
(
(

+ +
+ +

3
y 3
2
y 2
1
y 1
2 2
2 2 2 2
2 2
3
3
y 3
2
y 2
1
y 1
L 4 L 6 L 2 L 6 0 0
L 6 12 L 6 12 0 0
L 2 L 6 L 4 L 4 L 6 L 6 L 2 L 6
L 6 12 L 6 L 6 12 12 L 6 12
0 0 L 2 L 6 L 4 L 6
0 0 L 6 12 L 6 12
L
EI
M
F
M
F
M
F
: equations reduce and s B.C.' Impose
d
: are Conditions Boundary The

y
y
0
0
0
3
1
=
=
=
1
|
|
(
(
(
3
2
y 2
2 2
2 2
3
L 4 L 2 L 6
L 2 L 8 0
L 6 0 24
L
EI
0
1000
1000
Solve for nodal displacements and reactions
at node 1 and node 3.
Example
x
y
1
2
1
2
3
E, I are constant through out the beam
P
L
L
1y
1y
2 2
1
1
2y 2y
3 2 2 2 2
2
2
3y
3y
2 2
3
3
d
F
12 6L 12 6L 0 0
M
6L 4L 6L 2L 0 0
d F
12 6L 12 12 6L 6L 12 6L
EI
L 6L 2L 6L 6L 4L 4L 6L 2L
M
0 0 12 6L 12 6L
F

d
0 0 6L 2L 6L 4L
M

(

(
|

(

( + +

=
` ` (
+ +
|
(
(

(
(

)
|

0
0 d
0 d
3
y 3
y 2
= |
=
=
|
|
|
|
(
(
(
(
EI 4
PL
EI 4
PL 3
EI 12
PL 7
12 L 6 L 6
L 6 L 8 L 2
L 6 L 2 L 4
L
EI
0
0
P
2
2
3
2
1
y 1
2
1
y 1
2 2
2 2
3
(
(
(
(
(
(
(
(

+ +
+ +

0
0
EI 4
PL
0
EI 4
PL 3
EI 12
PL 7
L 4 L 6 L 2 L 6 0 0
L 6 12 L 6 12 0 0
L 2 L 6 L 4 L 4 L 6 L 6 L 2 L 6
L 6 12 L 6 L 6 12 12 L 6 12
0 0 L 2 L 6 L 4 L 6
0 0 L 6 12 L 6 12
L
EI
M
F
M
F
M
F
2
2
3
2 2
2 2 2 2
2 2
3
3
y 3
2
y 2
1
y 1
PL
2
1
P
2
3
0
P
2
5
0
P
M
F
M
F
M
F
3
y 3
2
y 2
1
y 1
(
(
(
(
(
(
2
2
3
2
3
0
0
4
0
4 6 2 6
6 12 6 12
2 6 4 6
6 12 6 12
3
3
2
2
2
2 2
2 2
3
3
3
2
2
PL
P
PL
P
m
EI
PL
L L L L
L L
L L L L
L L
L
EI
m
y
y
y
y
P
P
3P/L
3P/L
PL
PL
PL/2
1
2
P
5P/2
PL/2
3P/2
V
Shear Force Diagram
M
Bending Moment Diagram
-PL
PL/2
Example
x
y
1
2
1
2
3
E = 210 GPa
I = 2 x 10
-4
m
4

P = 50 kN
3 m
3 m
k =200 kN/m
|
|
|
(
(
(
(
(
(
(
(

+ +
+ +

3
y 3
2
y 2
1
y 1
2 2
2 2 2 2
2 2
3
3
y 3
2
y 2
1
y 1
L 4 L 6 L 2 L 6 0 0
L 6 12 L 6 12 0 0
L 2 L 6 L 4 L 4 L 6 L 6 L 2 L 6
L 6 12 L 6 L 6 12 12 L 6 12
0 0 L 2 L 6 L 4 L 6
0 0 L 6 12 L 6 12
L
EI
M
F
M
F
M
F
Plus stiffness from spring!
(
' '
'
'
=
=
'
(

=
k k
k k
L
EI
k
: Then
EI
kL
k
: Let
k k
k k
k
3
s
3
s
1y
1y
2 2
1
1
2y 2y
2 2 2 2
2 3
3y
2 2
3
4y
d
F
12 6L 12 6L 0 0 0
M
6L 4L 6L 2L 0 0 0
d F
12 6L 12 12 6L 6L 12 6L 0
EI

M 6L 2L 6L 6L 4L 4L 6L 2L 0
L
F 0 0 12 6L 12 6L
0 0 6L 2L 6L 4L 0
M
0 0 0
F
k
0
k
k 0 k

(

(
|

(

(
+ +

(
= + +
`
(

(
+

(

(

(

)
' '
' '
2
3y
3
4y
d

`
|

|

)
0 d
0 d
0 d
y 4
y 2
1
y 1
=
=
= |
=
|
|
|
|
(
(
(
(
'
+

m 0174 . 0
radians 00747 . 0
radians 00249 . 0
d
k 12 L 6 L 6
L 6 L 4 L 2
L 6 L 2 L 8
L
EI
P
0
0
y 3
3
2
y 3
3
2
2 2
2 2
3
Rearranging terms yields:
(
(
(
(
(
(
(
(
(
' '
' ' +
+ +
+ +

0
00747 . 0
0174 . 0
00249 . 0
0
0
0
k 0 k 0 0 0 0
0 L 4 L 6 L 2 L 6 0 0
k L 6 k 12 L 6 12 0 0
0 L 2 L 6 L 4 L 4 L 6 L 6 L 2 L 6
0 L 6 12 L 6 L 6 12 12 L 6 12
0 0 0 L 2 L 6 L 4 L 6
0 0 0 L 6 12 L 6 12
L
EI
F
M
F
M
F
M
F
2 2
2 2 2 2
2 2
3
y 4
3
y 3
2
y 2
1
y 1
kN 5 . 3
0
kN 0 . 50
0
kN 4 . 116
m kN 7 . 69
kN 9 . 69
F
M
F
M
F
M
F
y 4
3
y 3
2
y 2
1
y 1
3.5 kN
50.0 kN
116.4 kN
69.9 kN
69.7 kNm
Distributed Loads
w(x)
v
, y
1
2
L
Equivalent Loads
1
2
L
1
m
y 1
f
y 2
f
2
m

Work Equivalence Method
y 2 y 2 y 1 y 1 2 2 1 1 discrete
L
0
d distribute
discrete d distribute
d
f

m
W
x
d ) x
( v ) x
( w W
W W
+ + | + | =
=
=
Work Equivalence Method -
Example
y 1 1
2
2 1 y 2 y 1
2
3
2 1
2
y 2 y 1
3
y 2 y 2 y 1 y 1 2 2 1 1
L
0
d

2
L
1
d
L
3
x

L
1
d
L
2
) x
( v
w ) x
( w
d
f

m
d ) x
( v ) x
( w
+ |
+
(
| + |
+
(
| + | + =
=
+ + | + | =
Work Equivalence Method -
Example
( )
y 1 1
2
2 1
2
y 1 y 2
2 1
2
y 2 y 1
L
0
d
Lw
2
w L

2
3
w L
d
Lw

4
w L
d
2
Lw
x
d ) x
( v ) x
( w
|
|
|
.
|
\
|
| + | +
| + | =
}
( )
2
2 2
1
2 2 2
y 2 y 1
y 1 1
2
2 1
2
y 1 y 2
2 1
2
y 2 y 1
L
0
y 2 y 2 y 1 y 1 2 2 1 1
L
0
3
w L
4
w L
2
w L
3
w L 2
4
w L
d
Lw
2
Lw
d
Lw Lw
2
Lw
d
Lw
2
w L

2
3
w L
d
Lw

4
w L
d
2
Lw
x
d ) x
( v ) x
( w
d
f

m
d ) x
( v ) x
( w
|
|
|
.
|
\
|
+ + |
|
|
.
|
\
|
+
+
|
.
|
\
|
+
|
.
|
\
|
+
= |
|
|
.
|
\
|
| + | +
| + | =
+ + | + | =
}
}
: Terms Collect
12
wL
3
w L
4
w L
m
12
wL
2
w L
3
w L 2
4
w L
m
2
wL
Lw
2
Lw
f
2
wL
Lw Lw
2
Lw
f
2 2 2
2
2 2 2 2
1
y 2
y 1
=
|
|
.
|
\
|
+ =
=
|
|
.
|
\
|
+ =
=
|
.
|
\
|
=
=
|
.
|
\
|
+ =
: Terms Collect
Procedure also works
for a concentrated load
applied at a point other
than a node.
1
2
L
1
m
y 1
f
y 2
f
2
m

v
, y
y 2 y 2
d
, f
1 1
m
|
0 m
2 2
= |
y 1 y 1
d
, f
L
1
2
Nodal Hinge
Hinge
Nodal Hinge
v
, y
y 2 y 2
d
, f
2 2
m
|
y 1 y 1
d
, f
L
1
2
Hinge
0 m
1 1
= |
Partition Stiffness Matrix
(
(
(
(
=
2 2
2 2
3
L 4 L 6 L 2 L 6
L 6 12 L 6 12
L 2 L 6 L 4 L 6
L 6 12 L 6 12
L
EI
k

Partition Stiffness Matrix
| | | || | | |
(
(
(
(
(
(
= =

1 L 1
L L L
1 L 1
L
EI 3
k
L 6 L 2 L 6
L 4
1
L 6
L 2
L 6
L
EI
12 L 6 12
L 6 L 4 L 6
12 L 6 12
L
EI
K K K K k
2
3
condensed
2
2
2
3
2
3
21
1
22 12 11 condensed
Expand Stiffness Matrix
(
(
(
(
=
0 0 0 0
0 1 L 1
0 L L L
0 1 L 1
L
EI 3
k
2
3
Hinge
Hinge at node j
Expand Stiffness Matrix
(
(
(
(
=
2
3
Hinge
L L 0 L
L 1 0 1
0 0 0 0
L 1 0 1
L
EI 3
k
Hinge at node i
Potential Energy Approach
= =
| = O
c o =
O + = t
2
1 i
i i
S
2
1 i
iy iy y
V
x x
p
m
dS v
dV
2
1
U
U
Neglecting Body Forces.
2 2 1 1 y 2 y 2 y 1 y 1
L
0
y
x
A
x x p
d b T
d dA
2
1
| |
c o = t
{ }
2
2
2
2
1
1
{
}
{ ] [
dx
v d
y
d
d
d
d N v
x
y
y
= c
|
|
=
=
{ }
| |
{ } | |{ } d B y
L
L L x
L
L x
L
L L x
L
L x
B
dx
v d
y
x
x
6 6
12 4
6 6
12
3
2
3 3
2
3
2
2
= c
(
+
=
= c
{ } | |{ }
| | | |
{ } | || |{ } d B D y
E D
D
x
x x
= o
=
c = o
2 2 1 1 y 2 y 2 y 1 y 1
L
0
y
x
A
x x p
d b T
d dA
2
1
| |
c o = t
{ } { }
{ } { } { } P d x d v T b
x dAd
T
L
T
y
A
L
x
T
x p
2
1
0
0

c o = t
}
}} }
L
T
T T
p
0
L
T T
T
0
y
2
A
I

d B D B d dx
2

w d N dx d P
w bT
I y dA
| | | | | | | |
| |
| | | | | | | |
Same result as direct method!
p
L L
T T
0 0
L
T
0
L
T
0
0
d

I B D B dx d N w dx P

f N w dx P
k I B D B dx
ct
=
c

= +
=
Plane Frame and
Grid Equations
Stiffness Matrix
(
(
(
(
=
2 2
2 2
3
L 4 L 6 L 2 L 6
L 6 12 L 6 12
L 2 L 6 L 4 L 6
L 6 12 L 6 12
L
EI
k
Recall the stiffness matrix for a beam element.

x
|
y
, d
y 1
L
1
2
1
|
y 2
d
x
y
u
Arbitrarily oriented beam element.
|
|
(
(
(
(
(
(
|
|
(
(
2
y 2
x 2
1
y 1
x 1
2
y 2
1
y 1
y
x
y
x
d
d
d
d
1 0 0 0 0 0
0 C S 0 0 0
0 0 0 1 0 0
0 0 0 0 C S
d
d
d
C S
S C
d

(
(
(
(
=
1 0 0 0 0 0
0 C S 0 0 0
0 0 0 1 0 0
0 0 0 0 C S
T
| | | | | || |
| |
(
(
(
(
(
(
(
(
(
(

=
u =
u =
=
2
2
2
2 2
2 2
2 2
3
T
L 4 symmetric
LC 6 C 12
LS 6 SC 12 S 12 symmetric
L 2 LC 6 LS 6 L 4
LC 6 C 12 SC 12 LC 6 C 12
LS 6 SC 12 S 12 LS 6 SC 12 S 12
L
EI
k
sin S
cos C
T k
T k
x
L
1
2
1
m
y 2
f
x
y
u
Local forces on a beam element.
2
m
x 2
f
y 1
f
x 1
f
|
|
(
(
(
(
(
(
(
(
2
y 2
x 2
1
y 1
x 1
2
2
2 2
1
2
2 2
2
2
2 2 2 2
1 1
2
y 2
x 2
1
y 1
x 1
y
x
x 2
x 1
L C 4 symmetric
L C 6 C 12
0 0 C symmetric
L C 2 L C 6 0 L C 4
L C 6 C 12 0 L C 6 C 12
0 0 C 0 0 C
m
: Results Combining
d
1 1
1 1
L
AE
f
: placements forces/dis Axial

C
1
=(AE)/L
C
2
=(EI)/L
3

|
|
(
(
(
(
(
(
(
(
|
|
2
y 2
x 2
1
y 1
x 1
2
y 2
x 2
1
y 1
x 1
d
d
d
d
1 0 0 0 0 0
0 C S 0 0 0
0 S C 0 0 0
0 0 0 1 0 0
0 0 0 0 C S
0 0 0 0 S C

| |
(
(
(
(
(
(
(
(
=
1 0 0 0 0 0
0 C S 0 0 0
0 S C 0 0 0
0 0 0 1 0 0
0 0 0 0 C S
0 0 0 0 S C
T
sin S
cos C
T k
T k
T
| |
(
(
(
(
(
(
(
(
(
(
(
(
(
(
+
|
|
.
|
\
|
+
|
|
.
|
\
|
+
|
|
.
|
\
|
+
|
|
.
|
\
|

|
|
.
|
\
|
+
|
|
.
|
\
|
+
=
I 4 symmetric
S
L
I 6
C
L
I 12
AS symmetric
S
L
I 6
CS
L
I 12
A S
L
I 12
AC symmetric
I 2 C
L
I 6
S
L
I 6
I 4
C
L
I 6
S
L
I 12
AC CS
L
I 12
A C
L
I 6
C
L
I 12
AS
S
L
I 6
CS
L
I 12
A S
L
I 12
AC S
L
I 6
CS
L
I 12
A S
L
I 12
AC
L
E
k
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
A rigid plane frame is defined as a series of
beam elements rigidly connected to each other.
That is the original angles between members at
the joints remain unchanged after
deformation.Moments are transmitted from
one member to another at the joints.
Additionally, the element centroids and the
applied loads lie in a common plane. Element
stiffnesses are functions of E, A, I, L and u.
10000 lb
5000 lb-in
10 ft
10 ft
x
y
5 ft
3
2
1
1
2
3
4
E = 30 x 10
-6
psi
A = 10 in
2
I = 200 in
4
for elements 1 and 3.
I = 100 in
4
for element 2.
| |
(
(
(
(
(
(
(
(
(
(
(
(
(
(
+
|
|
.
|
\
|
+
|
|
.
|
\
|
+
|
|
.
|
\
|
+
|
|
.
|
\
|

|
|
.
|
\
|
+
|
|
.
|
\
|
+
=
I 4 symmetric
C
L
I 6
C
L
I 12
AS symmetric
S
L
I 6
CS
L
I 12
A S
L
I 12
AC symmetric
I 2 C
L
I 6
S
L
I 6
I 4
C
L
I 6
S
L
I 12
AC CS
L
I 12
A C
L
I 6
C
L
I 12
AS
S
L
I 6
CS
L
I 12
A S
L
I 12
AC S
L
I 6
CS
L
I 12
A S
L
I 12
AC
L
E
k
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
Element 1
000 , 250
120
10 30
L
E
0 . 10
120
) 200 ( 6
L
I 6
167 . 0
120
) 200 ( 12
L
I 12
1
120
0 120
L
y y
90 sin S
0
120
) 60 ( 60
L
x x
90 cos C
2. node to 1 node from Directed
6
2 2
) 1 (
1 2 o
) 1 (
1 2 o
=
=
= =
= =
=
= =
=

=
= =
| |
(
(
(
(
(
(
(
(

=
| |
800
0 10
10 0 167 . 0
400 0 10 800
0 10 0 0 10
10 0 167 . 0 10 0 167 . 0
250000 k
d d d d
2 y 2 x 2 1 y 1 x 1
symmetric
Element 2
000 , 250
120
10 30
L
E
0 . 5
120
) 100 ( 6
L
I 6
0835 . 0
120
) 100 ( 12
L
I 12
0
120
120 120
L
y y
0 sin S
1
120
) 60 ( 60
L
x x
0 cos C
6
2 2
) 2 (
2 3 o
) 2 (
2 3 o
=
=
= =
= =
=
= =
=

=
= =
| |
(
(
(
(
(
(
(
(
=
| |
400
5 0835 . 0
0 0 10
200 5 0 400
5 0835 . 0 0 5 0835 . 0
0 0 10 0 0 10
250000 k
d d d d
3 y 3 x 3 2 y 2 x 2
symmetric
Element 3
000 , 250
120
10 30
L
E
0 . 10
120
) 100 ( 6
L
I 6
167 . 0
120
) 100 ( 12
L
I 12
1
120
120 0
L
y y
270 sin S
0
120
) 60 ( 60
L
x x
270 cos C
6
2 2
) 3 (
3 4 o
) 3 (
3 4 o
=
=
= =
= =
=
= =
=
= =
| |
(
(
(
(
(
(
(
(
=
| |
800
0 10
10 0 167 . 0
400 0 10 800
0 10 0 0 10
10 0 167 . 0 10 0 167 . 0
250000 k
d d d d
4 y 4 x 4 3 y 3 x 3
| |
(
(
(
(
(
(
+
+
=
) 3 (
22
) 3 (
21
) 3 (
12
) 3 (
11
) 2 (
22
) 2 (
21
) 2 (
12
) 2 (
11
) 1 (
22
) 1 (
21
) 1 (
12
) 1 (
11
k k 0 0
k k k k 0
0 k k k k
0 0 k k
K
Assemble Global Matrix
0
0 d
0 d
0
0 d
0 d
4
y 4
x 4
1
x 1
y 1
= |
=
=
= |
=
=
Apply B.C.
| |
(
(
(
(
(
(
(
(
=
1200
5 0835 . 10
10 0 167 . 10
200 5 0 1200
5 0835 . 0 0 5 0835 . 10
0 0 10 10 0 167 . 10
250000 K
|
|
(
(
(
(
(
(
(
(
3
y 3
x 3
2
y 2
x 2
d
d
d
d
1200
5 0835 . 10
10 0 167 . 10
200 5 0 1200
5 0835 . 0 0 5 0835 . 10
0 0 10 10 0 167 . 10
250000
5000
0
0
0
0
10000
Equilibrium Equations:
|
|
rad 00149 . 0
in 00148 . 0
in 209 . 0
rad 00153 . 0
in 00148 . 0
in 211 . 0
d
d
d
d
3
y 3
x 3
2
y 2
x 2
Displacements:
(
(
(
(
(
(
(
(
=
1 0 0 0 0 0
0 C S 0 0 0
0 S C 0 0 0
0 0 0 1 0 0
0 0 0 0 C S
0 0 0 0 S C
T
For Element 1:
| |
(
(
(
(
(
(
(
(
(
(
=
=
=
1 0 0 0 0 0
0 0 1 0 0 0
0 1 0 0 0 0
0 0 0 1 0 0
0 0 0 0 0 1
0 0 0 0 1 0
T
1 S
0 C
| |{ }
| |{ }
(
(
(
(
(
(
(
(
(
(
=
=
00153 . 0
00148 . 0
211 . 0
0
0
0
1 0 0 0 0 0
0 0 1 0 0 0
0 1 0 0 0 0
0 0 0 1 0 0
0 0 0 0 0 1
0 0 0 0 1 0
d T
d T d
=
=
in lb 223000
lb 4990
lb 3700
in lb 376000
lb 4990
lb 3700
f
d T k
4990 lb
4990 lb
3700 lb
3700 lb
376000 lbin
223000 lbin
Example: Cantilever beam with a
bar element support.
x
y
45
o

500 kN
3 m
1
2
1
2
3
Bar:
A = 1.0 x10
-3
m
2
E = 210 GPa
Beam:
A = 2.0 x10
-3
m
2
I = 5.0 x10
-5
m
4
E = 210 GPa
| |
( )( ) ( ) ( )( ) ( )
( )
( )
( )
( )( ) ( )
( ) (
(
(
(
(
(
(
(
(
(
(
(

5
5
2
5
3
5
5
5
5
2
5 5
2
5
3 3
9
) 1 (
10 5 4
3
10 5 6
3
10 5 12
0 0 10 2
10 5 2
3
10 5 6
0 10 5 4
3
10 5 6
3
10 5 12
0
3
10 5 6
3
10 5 12
0 0 10 2 0 0 10 2
3
10 210
k
(
(
(
(
(
(
(
(
=
20 . 0
10 . 0 0667 . 0
0 0 2
10 . 0 10 . 0 0 20 . 0
10 . 0 0667 . 0 0 10 . 0 0667 . 0
0 0 2 0 0 2
10 70 k
6 ) 1 (
| |
( ) ( ) ( ) ( )
( ) ( )
( ) ( )
( )( )
|
|
.
|
\
|

= '
(
(
(
(
(
(

' =
o
9 3
0 2
0 0 0 2
0 2 0 0 0 2
0 0 0 2 0 0 0 2
) 2 (
45 cos
3
10 210 10 1
C
45 sin
45 sin 45 cos 45 cos
45 sin 45 sin 45 cos 45 sin
45 sin 45 cos 45 cos 45 sin 45 cos 45 cos
C k
(
(
(
(

=
354 . 0
354 . 0 354 . 0
354 . 0 354 . 0 354 . 0
354 . 0 354 . 0 354 . 0 354 . 0
10 70 k
6 ) 2 (
20 . 0
10 . 0 421 . 0
0 354 . 0 354 . 2
10 70 K
6
AFTER ASSEMBLY
AND APPLICATION OF B.C.S
|
(
(
(
(
rad 0113 . 0
m 0225 . 0
m 00338 . 0
d
d
0
500000
0
d
d
20 . 0
10 . 0 421 . 0
0 354 . 0 354 . 2
10 70
1
x 2
x 1
1
x 2
x 1
6
| |{ }
kN 670 f
kN 670 d S d C
L
AE
f
d
d
d
d
S C 0 0
0 0 S C
1 1
1 1
L
AE
f
d T k
x 3
y 1 x 1 x 1
y 3
x 3
y 1
x 1
x 3
x 1
=
= + =
(
(
(
(
=
|
(
(
(
(
m kN 3 . 78
kN 5 . 26
kN 473
m
d
d
L C 4 L C 6 0
L C 6 C 12 0
0 0 C
m
1
y 1
x 1
1
y 1
x 1
2
2 2
2 2
1
1
y 1
x 1
670 kN
670 kN
26.5 kN
26.5 kN
473 kN
473 kN
0.0 kNm 78.3 kNm
Grid Equations
A grid is a structure on which loads are applied
perpendicular to the plane of the structure, as
opposed to a plane frame where loads are applied in
the plane of the structure
x
y
z
F
1

F
4

F
3

F
2

F
5

Typical Grid Structure.
L
z 1 z 1

, m
|
z 2 z 2

, m
|
x 2 x 2

, m
|
y 2 y 2
d
, f
y 1 y 1
d
, f
x 1 x 1

, m
|
1
2
y

Step 1
2
x
1
2
x
1
x x

, m
|
x 1 x 1

, m
|
x 2 x 2

, m
|
x x

, m
|
Step 2
| |
L
x
N
L
x
1 N
N N
a a
2
1
x 2
x 1
2 1
x 1
x 1 x 2
2 1
=
=
|
|
= |
| +
|
|
.
|
\
|
| |
= |
+ = |
Step 3
max

dx
R
O
A
B
|
d
y

G

L
r
x
d

d
r
x
d

d
R
d R x
d AB
x 1 x 2
max
max
Step 4
x 1 x 2 x 2
x x 2
x 2 x 1 x 1
x x 1
x 1 x 2 x
x

L
J G
m

L
J G
m

L
J G
m
R
J
m
| | =
=
| | =
=
| | =
t
=
(
|
|
(

=
)
`
1 1
1 1
L
J G
k
1 1
1 1
L
J G
m
x 2
x 1
x 2
x 1
3
i
i
t b
3
1
J
For sections made up of thin
rectangular shapes:
t
t
t
h
b
b
1

b
2

t
1

t
2

b
b
h
t
t
t
( ) b 2 h
3
t
J
3
+ =
3
2
2
3
1
1
t b t b
3
1
J + =
( ) b 2 h
3
t
J
3
+ =
h
t
w

t
2

b
1

b
2

t
1

( ) b 2 h
3
t
J
3
+ =
t
1

t
a
b
( ) ( )
2
1
2
1
2
1
2
1
t t t b t a
t b t a t t 2
J
+

=
|
|
|
|
(
(
(
(
(
(
(
(
(
(
(
(
(
(
z 2
x 2
y 2
z 1
x 1
y 1
2 3
2
2 3 2 3
z 2
x 2
y 2
z 1
x 1
y 1
L
EI 4
0
L
GJ
symmetric
L
EI 6
0
L
EI 12
L
EI 2
0
L
EI 6
L
EI 4
0
L
GJ
0 0
L
GJ
L
EI 6
0
L
EI 12
L
EI 6
0
L
EI 12
m
Combine with basic beam element

| |
(
(
(
(
(
(
(
(
(
(
(
(
(
(
=
L
EI 4
0
L
GJ
symmetric
L
EI 6
0
L
EI 12
L
EI 2
0
L
EI 6
L
EI 4
0
L
GJ
0 0
L
GJ
L
EI 6
0
L
EI 12
L
EI 6
0
L
EI 12
k
2 3
2
2 3 2 3
Grid
| |
| | | | | |
Grid Grid
T
Grid Grid
Grid
T k
T k
C S 0 0 0 0
S C 0 0 0 0
0 0 1 0 0 0
0 0 0 C S 0
0 0 0 S C 0
0 0 0 0 0 1
T
=
(
(
(
(
(
(
(
(
=
Transformation:
L
S
L
C
i j
i j
z z
x x
=
20 ft
10 ft
10 ft
1
2
3
2
1
3
4
x
y
z
100 kip
|
|
|
|
|
|
0
0
0
0
0
0
0
0
0
z 4
x 4
y 4
z 3
x 3
y 3
z 1
x 1
y 1
Boundary Conditions
( )
( )
( )
( )
( )
( )
( )
( )
000 , 179
12 36 . 22
400 ) 10 30 ( 4
L
EI 4
4920
12 36 . 22
400 10 12
L
GJ
1000
12 36 . 22
400 ) 10 30 ( 6
L
EI 6
45 . 7
12 36 . 22
400 ) 10 30 ( 12
L
EI 12
in 110 J ksi 10 12 G
in 400 I ksi 10 30 E
3
6
3
2
3
3
3
4 3
4 3
=
=
=
=
=
=
=
=
= =
= =
: elements all For
Element 1:
447 . 0
36 . 22
10 20
L
z z
sin S
894 . 0
36 . 22
20 0
L
x x
cos C
) 1 (
1 2
) 1 (
1 2
=
= u =
=
= u =
node 2. to 1 node from Directed
Element 2:
447 . 0
36 . 22
10 0
L
y y
sin S
894 . 0
36 . 22
20 0
L
x x
cos C
) 1 (
1 3
) 1 (
1 3
=
= u =
=
= u =
node 3. to 1 node from Directed
Element 3:
1
36 . 22
10 0
L
z z
sin S
0
10
20 20
L
x x
cos C
) 1 (
1 4
) 1 (
1 4
=
= u =
=
= u =
(
(
(
(
(
(
+ +
=
) 3 (
22
) 3 (
21
) 2 (
22
) 2 (
21
) 1 (
22
) 1 (
21
) 3 (
12
) 2 (
12
) 1 (
12
) 3 (
11
) 2 (
11
) 1 (
11
k 0 0 k
0 k 0 k
0 0 k k
k k k k k k
K
Assemble Global Matrix
| |
|
|
|
| =
(
(
(
(
+ + =
rad 0169 . 0
rad 0295 . 0
in 83 . 2 d
d
299000 0 1790
0 479000 5000
1790 5000 2 . 98
0
0
100
k k k K
z 1
x 1
x 1
z 1
x 1
x 1
) 3 (
11
) 2 (
11
) 1 (
11
Applying B.C.s
d T k
Grid Grid
=
Local Forces
Procedure
1. Find k, T for element.
2. Get element nodal displacements.
3. Calculate element nodal forces.
Beams in 3D
1. Considers beam elements arbitrarily
oriented in space.
2. First considers bending about two axes.
3. Adopts a sign convention for axes
a. positive directed from node i to node j
b. positive directed along axis for which moment of
inertia is minimum.
c. positive directed along axis for which moment of
inertia is maximum.
d. right hand rule applies.

x
y
z
Bending in Two Planes
y 1 y 1
d
, f
y 2 y 2
d
, f
z 1 z 1

, m
|
z
x
y 1 y 1
m |
y 2 y 2
m |
z 1 z 1
d f

,
z 2 z 2
d f

,
z 2 z 2
m |
L
Bending in x - z Plane
^
^
z y
y
3
2
3 2 3
2 2
4
y
y
I I
I
L 4
L 6 L 12
L 2 L 6 L 4
L 6 L 12 L 6 L 12
L
I E
k
<
(
(
(
(
(

=
is That axis. the weak
y
axis principal about section - cross of inertia of moment -

Bending in x - y Plane
^
^
| |
changes. sign in resulting different, is rotation for sense Positive
is That axis. strong the
z axis principal about section - cross of inertia of moment -
y z
y
z
z
I I

I
L
L L
L L L
L L L L
L
I E
k
>
(
(
(
(
(
(
(
(
=
3
2
3 2 3
2 2
4
4
6 12
2 6 4
6 12 6 12
Add Two Bending Results, Axial
Stiffness and Torsional Stiffness
6
6
6 6
22 21
12 11 e
k k
k k
k
Gives a 12 x 12 Element Stiffness Matrix
| |
(
(
(
(
(
(
(
(
(
(
(
(
(
=
L
I E 4
0 0 0
L
I E 6
0
0
L
I E 4
0
L
I E 6
0 0
0 0
L
J G
0 0 0
0
L
I E 6
0
L
I E 12
0 0
L
I E 6
0 0 0
L
I E 12
0
0 0 0 0 0
L
E A
k
z
2
z
y
2
y
2
y
3
y
2
z
3
z
11
| |
(
(
(
(
(
(
(
(
(
(
(
(
(
(
=
L
I E 2
0 0 0
L
I E 6
0
0
L
I E 2
0
L
I E 6
0 0
0 0
L
J G
0 0 0
0
L
I E 6
0
L
I E 12
0 0
L
I E 6
0 0 0
L
I E 12
0
0 0 0 0 0
L
E A
k
z
2
z
y
2
y
2
y
3
y
2
z
3
z
12
| |
(
(
(
(
(
(
(
(
(
(
(
(
(
(
=
L
I E 2
0 0 0
L
I E 6
0
0
L
I E 2
0
L
I E 6
0 0
0 0
L
J G
0 0 0
0
L
I E 6
0
L
I E 12
0 0
L
I E 6
0 0 0
L
I E 12
0
0 0 0 0 0
L
E A
k
z
2
z
y
2
y
2
y
3
y
2
z
3
z
21
(
(
(
(
(
(
(
(
(
(
(
(
(
(
=
L
I E 4
0 0 0
L
I E 6
0
0
L
I E 4
0
L
I E 6
0 0
0 0
L
J G
0 0 0
0
L
I E 6
0
L
I E 12
0 0
L
I E 6
0 0 0
L
I E 12
0
0 0 0 0 0
L
E A
k
z
2
z
y
2
y
2
y
3
y
2
z
3
z
22
3 x 3
3 x 3
3 x 3
3 x 3
T
0 0 0
0 0 0
0 0 0
0 0 0
T
T k
T k
y x x y
z z z y z x
y z y y y x
x z x y x x
C C Generally
C C C
C C C
C C C

:
z
x
x
y
z
x x
u
y x
u
z x
u
x y
u
y y
u
z y
u
z z
u
x z
u
y z
u
n
L
z z
m
L
y y
l
L
x x
i j
i j
i j
x z
x y
x x
x z x y x x x
cos
cos
cos
k
cos j
cos i
cos u
j
l
i
m
m l
m l n - 1
1 n m l
n m l
k j i
axes. z to and x to be to chosen is axis y The
2 2
2 2 2
2 2 2
D
u
A D
n 1 cos 1 sin A
1 0 0

u
A u

y
2 1
2
y z
2
y z
y x
+ =
= + =
+ =
= + +
= u = u =
= =

k D j
D
mn
i
D
ln
0 l m -
n m l
k j i
axes. y to and x to is axis z The

u

D
1
u
+ =
= =

(
(
(
(
(
(

=
D
D
mn
D
ln
0
D
l
D
m
n m l
3D Summary
1. Need to specify direction cosines for
beam element so I
y
and I
z
can be
calculated.
2. Process can be difficult.
3. Need local directions to calculated
axial stress.

Beam Elements and Plane Frame Equations

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Beam Elements and Plane Frame Equations

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3/2/2014 Beam Elements 1

Beam Elements and

Step 3 : Define Stress/Strain

3/2/2014 Beam Elements 26

3/2/2014 Beam Elements 30

3/2/2014 Beam Elements 31

: are Conditions Boundary The

3/2/2014 Beam Elements 33

3/2/2014 Beam Elements 36

3/2/2014 Beam Elements 56

3/2/2014 Beam Elements 63

3/2/2014 Beam Elements 66

Recall the stiffness matrix for a beam element.

3/2/2014 Beam Elements 82

3/2/2014 Beam Elements 85

: placements forces/dis Axial

3/2/2014 Beam Elements 87

3/2/2014 Beam Elements 109

3/2/2014 Beam Elements 123

3/2/2014 Beam Elements 126

Combine with basic beam element

axis principal about section - cross of inertia of moment -

3/2/2014 Beam Elements 148

3/2/2014 Beam Elements 159

3/2/2014 Beam Elements 160

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