Beam 028

Sec. 5.
Uniform Straight Beam Element
111
equation of equ,îlibriun! for a beam element in the unloaded region.
=0
dx*
CHAPTER
(5.1)
Tlie solution to E q . (5.1) is a cubic polynomial function o t x ,

(5.2)
t'(.x) = a , + Oj.x -I- fljX^ + QtX^
where the constants a,, a^, a , and a, are obtained by using the conditions at
both nodal points,
^
f.
^
,
,
<
B e a m
d P l a n e
F r a m e
E l e m e n t s
V = V,
y-
9v
and =9,
at .r = 0
Sx
V = V2
(5.3)
dv
and = 6 2
at .r = L
dx
Application of boundary conditions (5.3) yields
5.1 U N I F O R M S T R A I G H T B E A M
10
0
0 I 0
1 L O
LO
1 2JL
ELEMENT
A straight beam element of uniform cross section is shown in Fig. 5.1. The
longitudinal axis of the element lies along the x axis. The element has constant
moment of inertia /, modulus of elasticity E , and length L . The element is
assumed to have two degrees of freedom at each end (nodal point): a transverse
deflection u and an angle of rotation or slope 6 (or d v / d x ) . Corresponding
to the two degrees of freedom, v and 6, a transverse shear force Y and a
bending moment M , respectively, act at each nodal point.
0
0
a.
(5.4)
a,
3 L ^ Ja.
In inverse form, Eq. (5.4) becomes

0
-31
(5.5)
- 2 O 3L -L=
L 2
-2
J .62
or symbolically.
(5.5a)
{a}=m{q}
F.I
Substituting the solution for a's in Eq. (5.5) into Eq. (5.2) gives
3x:'
2.x'
u(.x) = u, -f x(?, - y r " !

Figure 5.1 Straight beam element with uniforrn cross section.
2.x'
x'
3x:'
x'
"""TJ"^ ~ X ^ ^
2.x'
5.1.1 D i s p l a c e m e n t F u n c t i o n
Tlie deflection behavior of the beam clement is described by a displacement function v [ x ) . It is desirable that this function satisfies the differential
no
After rearranging, we obtain the final form:

y(x) =/,(-x)t;, +/2(x)e, +/3(x)t;2+/.(x)0j
112
Beam and Plane Frame Elements
Chap. 5
Sec.
5.1
113
words; by setting
where
0,
= I and
0 , = U; = ^2
<?i = I and t;, = t'2 =
^''"-(f)'-<l)'
(5.7)
Tlie functions obtained in Eq. (5.7) are called s h a p e f u n c t i o n s . If we vary the

value of J: from 0 to L , we obtain four curves as shown in Fig. 5.2 for the four
shape functions, respectively.
Physically, each of the four shape functions represents the denection
curve for the beam element produced by setting the corresponding degree
of freedom to be one and the rest degrees of freedom to be zero. In other
02
= 0
= 0
Vi = I
and V, = 6, = 62 = 0
B2 - I
and
we obtain f , ( x ) , f 2 { x ) , f j ( x ) ,
= e, =
1;,
U2
=0
and f ( x ) , respectively.
It is seen that the deflection curve represented by the displacement

function (5.6) is obtained as the linear superposition of the curves produced
by the four degrees of freedom.
5.1.2
Stiffness Equations
Tlic stiffness equations for this beam element can be obtained by using
Castigliano's theorem, introduced in Chapter 3:
(5.8)
dq,
where F, is the nodal force or moment, q, the nodal displacement or.rotation

degree of freedom, subscript / the degree of freedom number, and U the strain
energy.
The strain energy for a beam element with uniform cross section has
been given in Chapter 3 as
11,-1
'|<A)
(5.9)
Equation (5.9) indicates that we need the expression
/jt.v)
dx
-2=f"ix)v, +r2{x)o,
+rAx)v2+f:ix)e2
/jt.v)
/r(x) = - ^ + i 2 - J
/z(x) =
4 + 6-^
(5.10)
/;(x)=|2-i2p
0.5
A//.
1.0
Figure 5.2 Plots of the four shape func

tions associated with c
Uj. andfljfor
a beam element.
- 1 + 6-^2
4 .
114
Chap. 5
Substttutrng tnc displacement function (5.6) into the strain energy

expression (5.9) and then performing partial diflerentialion of the energy
expression w.th respect to the degree of freedom t, as indicated in Castig!iano-s
theorem (5.8) gives
dv,
2 .0
E I
U"{x)v,
+ r A x ) 0 , +/;(x)t)2+/;(x)0j]/r(x) dx
(5.11)
where
k
E I
^f x M f i i x )
dx
k,2 = E I
r , i x ) M x ) dx
(5.12)
L
k
E I
dx
m x ) m x )
fc
=E I
mx)f:{x)dx
Equations (5.12) can be generalized to the standard form

h
E l
n i x ) f ; ( x ) dx
- -^Y.^
or ynibolically,
{F}=[k]{q}
(5.l4a>
The method using shape functions to derive the stiflness matrix as

described in Eq. (5.13) is general. It is particularly systematic and convenient
for deriving the stiflness equations for the sophisticated finite elements such
as plate and shell elements with known shape functions. It is also systematic
and convenient for deriving the matrices that account for the effects of inertial
and axial or middle surface forces.
,
For those finite elements with high numbers of degrees of freedom such
as in the case of plates and shells, the solution for shape functions may become
cumbersome. It is customary to use existing mathematical polynomial functions (e.g., Hermitian polynomials) as the shape functions. However, for those
displacement functions whose shape functions are hard to find, we can simply
operate on the constants (called the generalized coordinates) instead of the
shape functions. Such a procedure is demonstrated by using the present beam
clement as an example.
We first rewrite the expression 3ô/dx^
based on the original form of the
displacement function (5.2),
(5.15)
(5.13)
which gives the stiflness matrix for the beam element. As an example let
' = ; = 1 and we find that
/
Sec. 5.1
Substituting Eq. (5.15) into the strain energy expression (5.9) gives
x V
(20, + 6a^x)^
dx
'2-^' . 48x'\
{[a,
fl,
a , a , \
"0
AEIL
"I
eEIL^
) .04.
By using the same procedure, we obtain the stifiness equations.
(5.16)
= H>J[k]{a}
The elements in matrix [k] arc obtained by ustrig the following partial diflerentiation procedure:
1*
U=I,2.3,4
(5.17)
Substituting Eq. (5.5a) for the constants into Eq. (5.16), we obtain
l / = U<jJ[T]'-[kIT]{q}
(5.18)
Chap. 5
Alternatively, we can write the strain energy expression as one-half of

the sum of the products of the nodal forces and the corresponding nodal
degrees of freedom:
Sec. 5.2
Beam Element Oriented Arbitrarily
117
We then take moment about nodal point 2,

IM,=
Y , L - M ,
- M,
= (first row)(L) - (second row) - (founh row)

E T /]2 _ 6 _ 6\
M,
L \
M2
+
(5.19)
/
\
f,+ ( 6 - 4 - 2 ) f l ,
L )
12 6
6\
r + 7 + 7h'=
Lj
+ (6-2-4)0:
Substituting the stillness equations (5.14a) for the nodal forces, we have
t/ = U'?J[k]{q}
(5.20)
Although in separate forms, the two strain energy expressions in Eqs.

(5.18) and (5.20) should be the same. Thus we conclude that
[k] = [T]^[k][T]
EI
L"
EI
-3L
0" ' L'
0 '
L'
-2L'
L'
3L
-2
AL
-3L
-2L'
i L
- V
6L^
-2
\2
\2
L'
L'
6
L
^ 6L
12
\2
11
n L \
. 2
L .
I:' :
' ' Singular matrix. Because the first and third rows in the stiffness matrix
[k] are only difiierent by a sign, [k]'is a singular matrix. There is no inverse
for matrix [k] and consequently there is no solution.
The fact that the element stiffness matrix is singular can be interpreted
physically. Tlie element, without support, is an unstable free body. It will be
stable and the stillness matrix will no longer be singular if it is properly
supported. For example, if the element is clamped at nodal point (1) (i.e.,
u, =
= 0), there are only two degrees of freedom, uând 5,, left. The stiffness
equations then reduce to
12
El
L
M l
wlipre the stiffness matrix is no longer singular for the supported stable element.
' From the reasons explained here, we know that the stiffness matrix for
u finite element is always singular.
which is the same as that obtained in Eq. (5.14) by using the shape functions.
5.1.3 P r o p e r t i e s of t h e B e a m E l e m e n t S t i f f n e s s
(5.21)
L
L
which again satisfies moment equilibrium condition.
Equations
Equilibrium. If we consider the beam element as shown in Fig. 5.1 as

a free body, it must be in equilibrium under the four nodal forces which are
related to the four nodal degrees of freedom by the stillness matrix in Eq. (5.14).
It is seen in the stiffness matrix [k] that tht first row and the third row
are exactly identical but with opposite signs. This means that forces Y, and
Vj are equal in magnitude but opposite in direction. So the equilibrium in
the transverse direction of the beam is satisfied.
B.2 B E A M
ELEMENT ORIENTED
IN T W O - D I M E N S I O N A L
(PLANE
FRAME
ARBITRARILY
PLANE
ELEMENT)
In the case of plane frame structures, the beam elements arc no longer
liiiii/ontal. Tliey can be arbitrarily oriented in a two-dimensional plane. Such
kincnts are subjected to axial force, shear force, and betiding moment. To
iDjir with the plane frame problem, an element must possess three degrees
(if freedom at each nodal point: two displacement components u and t> in the
mid y directions, respectively, and an angle of rotation 6. Such an element
li ihown in Fig. 5.3. Corresponding to the degiees of freedom u, 0, Q, there
118
Chap. 5
Sec. 5.2
fru 3 r
equations are
EA
X,
Y,
M,
Y,
Af,
Fijure S3
Arbitrarily oriented plane frame element.
are two forces X , Y, and a bending moment M , respectively, at each nodal

point. This element is oriented arbitrarily at a counterclockwise angle i with
the global x axis. It has modulus of elasticity E , cross-sectional area A, moment
of inertia 7, and length JL
To derive the 6 >- 6 stiflness matrix for this element, we first combine
the 2 x 2 stiflness matrix for the truss bar element and the 4 x 4 stiflness matrix
for the beam element to a 6 x 6 matrix. We then transform this 6 x 6 matrix
from the local coordinates to the global coordinates (general reference
coordinates).
5.2.1 A x i a l - F l e x u r p I B e a m E l e m e n t
along the Local X Direction
When a truss bar element and a beam element are combined, we

obtain the axial-flexural beam element shown in Fig. 5.4. The stiflness
EA
12/
6/
12f
L'
L'
L'
L'
6EI
A EI
6 EI
2EI
Xt
119
EA
EA
0
0
12E/
L'
6/
L'
6/
6EI
I2f
L'
L'
6EI
L'
2EI
6EI
4 EI
L'
This stillness matrix is composed of four submatrices among which two are
zero submatrices. The two nonzero submatrices are along the main diagonaL
One is associated with the axial behavior and the other is associated with the
Ilexural behavior. Such an arrangement of the submatrices indicates that the
axial stiflness submatrix and the flexural stiflness submatrix are uncoupled.
In other words, the solution for the axial displacements and the solution for
the transverse deflections and rotations can be carried out separately and
independently.
Wlien this element is oriented in the two-dimensional plane with an angle
<fi with the X axis, the stiflness matrix in Eq. (5.22) must undergo a coordinate
transformation procedure. In that case, the axial and flexural submatrices are
no longer uncoupled.
, For the convenience of assemblage, it is desirable to number all the
degrees of freedom at each nodal point in a certain sequence. For this purpose,
we rearrange Eq. (5.22) as
(
r' EAE A
1 f 1 lyJ-L
EEA
A
I XV, I
0
0
u,
AWJ^
0
0
0
L
L
6/
12/
I2/
6/
0
0
Y,
L'
U
L'
M,
&
Figure 5.4
E.A.I.L
Axial-Dcxural beam element oriemed along the x axis.
X2
Y2
M2
6 EI
L'
A EI
I2/
6/
L'
L'
6 EI
2 EI
L'
0
EA
L
0
0
6EI
2 EI
L'
12E/
L'
e,
(5.23)
6/
L'
6/
A EI
L'
120
Chap. S
or symbolically,
{F} = [k]{q}
(5.23a)
Sec.
5.2
Tlie six nodal forces and bending moments in a local coordinate system
are transformed into those in a global coordinate system:
where the bars indicate that the formulation is with reference to a set of local
coordinates.
A?i
X2
Ml
0
0
0
0
0
0
0
0
0
M,
0
0
0
0
A
0 -M
0
0
M
A
0
0
Y.
M2.
M
A
0
0
0
0
0
0
Y,
5.2.2 C o o r d i n a t e T r a n s f o r m a t i o n
An axial-flexural beam element with its longitudinal axis lying along the
X axis is shown in Fig. 5.5. The axes { x , y ) are the local coordinate axes and
{ x , y ) are the global or reference coordinate axes. The x axis is oriented at
an angle <^ measured counterclockwise from the x axis. To distinguish between
the two coordinate systems, bars are added to all the symbols for the nodal
forces and degrees of freedom that are with reference to the local coordinates.
In
Y,
(5.24)
where A and fi are direction cosines and sines defined as

A = cos
(5.25)
/i = sill <>
/
Equation (5.24) can be written in symbolic form as
r
{F} = [T]{F}
(5.26)
This transformation matrix was derived in Chapter 2. It has been proven to

be an orthogonal matrix, that is,
[T]-=[T]^
(5.27)
quation (5.26) can be written in inverse form,

{F} = [Tr'{F} = [T]^{F}
.(5.28)
In the meantime, we can also transform the six nodal degrees of freedom
in the local coordinate system into those in the global coordinate system:
{q}=[T]{q}
(5.29)
where the transformation matrix [T] is the same as that for the nodal forces
and bending moments as obtained in Eq. (5.24).
Substituting Eq. (5.26) for the vector (F) and Eq. (5.29) for the vector
(q) into the stillness Eq. (5.23a) in a local coordinate system, we obtain
|,
[T]{F} = [k][T]{q}
(5.30)
Making use of the orthogonal property of matrix [T], we obtain

{F}=[T]W]{q}
Flfort 5.5 Transfornialion of an axial-llexural beam clement from local ( i , v) to

global (x,;-) coordinates.
(5.31)
The product [T]''[kIT) is called a c o n g r u e n t Iran.tformation.

Substituting Eq.
(5.23) for matrix [k] and Eq. (5.24) for matrix [T] into Eq. (5.31), we finally
obtain the stiflness matrix for a plane frame element in global coordinate
ysle
Sec. 5.3
122
123
Application of Beam Elements
Chap. 5
5.2.3 S t i f f n e s s E q u a t i o n s
2EI
TTie stiflness equations for a plane frame element oriented at an

angle <l, measured counterclockwise from the x axis are of the following form:
L
-V,
tJl
Y,
p.-'i
symmeiric
6
M,
L
"I"
4
6
X,
I"
Figure
Kj
M,
2L
l -
-I^
. "I"
5.6 Beam
and two-element
I"
t>
7>--
'''"^
(5.32) A . u. p
2_
I
El
-1
symmetric
4
3
L
ELEMENTS
(5.34)
_3_
' L
The method of assemblage and procedure of solution for using beam elements
are introduced with the aid of illustrative examples.
B e a m E x a m p l e 1 G e n e r a l procedure. Using two beam elements to model
the beam structure as shown i n F i g . 5.6a, find the deflection shape, the reaction forces
and moments, and the shear force and bending moment diagrams.
My
LI
_3
-
It must be borne i n mind that the >"s and A f s are the internal forces and
moments. When the two sets of element stiflness equations are assembled, the sum of
such internal forces or moments at each nodal point are equal to the externally applied
l^^loads P ' i at the same nodal point as shown in F i g . 5.6b. Thus
We first idealize the beam by using two beam elements as shown in Fig. 5.6b.
The total system has three nodal points and six degrees of freedom. To formulate for
the total system, we must formulate the individual elements first.
p,= y,
Py = V j o f element 1-2 + Y^ of element 2-3
For element 1-2, we have

' 12
5',
M,
1}
6
EI
' ~ L
Mi
. t
(5.35)
P , = A f i o f element 1-2 + A / j of element 2-3

symmetric
4
12
Ibl
where R is defined as the ratio between the cross-sectional area and the moment
of inertia ( A / / ) .
- -
5.3 A P P L I C A T I O N O F B E A M
''i-"i
modeling.
12
L '
- 4
f5.J3)
0,
It must also be botne i n mind that the deflections v and rotations B at each nodal
point are still the same as those for the assembled system.
With the understanding of these two ground ndes, the method o f
assemblage is simply to sum up the Y'% and Af's as indicated in E q . (5.35).
124
Chap. 5
The equations for V i and M's are given in Eqs. (5J3) and (5.34).
Sec. 5.3
125
We then rearrange the sequence o f the columns:
p,
15
P, = - P
Pi
_n
p.
~ L
p.
I
I
L'
_ EI
symm
'-I
2 !
p>
"I
(5.36)
P.= P i .
12 3
4+4
3
_ L
P = 0
p,=?
_3_
- T ^
Pj=?
The dashed lines bracket the two element stiflness matrices. The overtapped portion
contains the stiffness terms that resulted from the superposition of the terms in the two
individual element stiffness matrices.
We have three boundary support conditions:
u, = 9, = i,3 = 0
L
3
Pj=?
L
L
12
~L'
~Z3
L'
L-
/\
12
L-
A
KJ
12
' 0
f.
I .
0
/.
3
93=?
(5.40)
f, = 0
N o w we have six equations that can solve for six unknowns, three on each side
of the equations. M u l t i p l y i n g out E q . (5.40) gives
(5.37)
and the following externa! loading conditions:
J2
- P
P, = unknown reaction force at point I

PL
P^ = unknown reaction moment at point 1

P i = - P (opposite to the positive ^--direction)
(5J8)
P^ = P L
El
L
L'
_2
L\
3
L
l_
(5.41)
^5 = unknown reaction force at point 3

P = 0
Following the boundary conditions (5.37), we rearrange E q . (5.36) such that D,,
B , , Uj (or P , , P j , P5) are together. We first rearrange the sequence of the rows:
\2
_6
]5
P.
P.
P,
EI
~ L
Ps
?
~ z
_J2
L'
6
- T
' L
2
L'
3
- f
'L
(5.42)
_3
3_
L
6
L
(5.39)
It is noted that Eq. (5.41) can be obtained by simply crossing out the first, second,
nn<f fifth rows as well as columns in the system stilTness matrix in E q . (5.36). Thus we
til) not have' to go through the tedious process o f rearranging rows and columns to
obtain such reduced equations.
In conventional structural theory, boundary constraints increase the number of
ilrgrees o f redundancy and consequently complicate the problem by increasing the
number o f equations. In the finite element method, boundary constraints reduce the
number o f degrees of freedom and consequently simplify the problem by decreasing
the number o f equations.
126
Chap. 5
Sec.
Equation (5.41) may be solved by the method of matrix inverse. Tlie adjoint
method given in Sec. 2.13.1 is recommended.
28
"2
276/
5.3
The internal shear forces and bending moments are obtained by substituting the
known quantities of nodal point degrees of freedom into each individual element
stiflness matrix.
- P
For
element 1-2, we have, from E q . (5.33),

_]2
PL
L
_30
_39
A/,
PL'
33
L
6
_ E I
' " L
11
(5.43)
46
21
not needed
53P
L'
-10
' 216EI
127
Appliealion of Beam Elements
10
ft'
216
EI
46
I6PL
[ 216 E I J
Y2
Af,
L'
3
EI
L'
46
(_._ .oj
^
IIIMIlin
Z3
J
EI
L
Figure 5.7
Fig. 5.6.
Deflection curve, shear diagram, and moment diagram for the bea
EI
23
7P
-9
J
(5.45)
46
PL'
I 276 /
n
U
The sign conventions of the V s and Af's are defined in Fig. 5.1. With the results
obtained in Eqs. (5.44) and (5.45), we can plot the shear force and bending moment
diagrams in F i g . 5.7. It is seen that the amount of drop in shear force at nodal point
2 is caused by the external load P and it is equal to P. The amount o f drop in bending
moment at point 2 is equal to the external moment P L The point o f zero moment is
the point o f inflection which is customarily termed as hinge by structural engineers.
Tlie external reaction forces and bending moments at the supports can be obtained
from E q . (5.42):
-T
' L
o
53P
-10
L-
7 PL
0
4
12
PL
46
33 P L '
' L
52r
216EI
Moment
TP '
^-IOPL''
216
_2_
Yy
Shear
23
element 2-3, we have, from E q . (5.34),
Equations (5.37) and (5.43) provide the solution for all six degrees of freedom. The
corresponding deflection curve for the beam is shown in Fig. 5.7. At this point, if we
want to know the deflection at a certain point, we can simply substitute the coordinate
value of the point and the nodal degree of freedom values into the displacement
function (5.6) of the element.
(5.44)
-53P
iiPL-
PL
46
46
2IPL
33
216
EI
46
7P
' L
~46j
which, of course, agree with those obtained for V , , Af and Y,, respectively, in Eqs.
(5.44) and (5.45). The use of E q . (5.42) is actually not necessary. In the solution of
Ihr StilTness equations for a system, it is a general practice simply to eliminate the rows
ind columns that correspond to the zero degrees of freedom instead of rearranging
tnd partitioning the matrix as done in Eqs. ( 5 J 9 ) through (5.42).
12S
Chap. 5
B e a m E x a m p l e 2 M e t h o d of matri x partitioning and reduction.

Using
three elements to model the beam structure as shown in Fig. 5.8, find the defiection
shape, the shear force and bending moment diagrams, and the reaction forces and
moment.
Sec. 5.3
129
Boundary and loading conditions are

t>, = 9, = t;, = Uj =
(5.47)
P-, = - P
i
i
Tlie total stillness matrix may be reduced from 8 x 8 to 4 x 4 by crossing out the rows
and columns corresponding to the zero degrees of freedom.
'8
L
^6 = 0
/"j.*!
^.Sj
Ci
^.Sj
/"j.":
Figure
p,.e,
p , = - p
- 6
P.-Ô
Pj.uj
fj.u.
Beam and three-element modeling.
For this problem, the three-element stillness matrices are the same. The total
stillness equations are assembled as
' 12
i'
6
L
L
' L
0
0
~ L
1
1
n
u
e>
(5.48)
- L \'
L
4
04
L^2l
[Q2
(5.49)
{0}=(K]{Q,}+[K,j]{Q,}
(5.50)
{P2)=[Kj,]{Q,}+(K,j]{Q2l
(5.51)
Equation (5.50) can be rewritten as
12
6 ] "24
L 1 L'
1
It is recommended to assemble the element stiflness equations and take into

account the zero degrees of freedom simultaneously [i.e., to form Eq. (5.4S) directly
without forming E q . (5.46)]. Such a step is crucial in computer programming because
the size of D I M E N S I O N can be reduced and consequently core storage can be saved.
Equation (5.48) can be solved by inverting the 4 x 4 stillness matrix. Instead, we
can use a partition scheme by taking advantage of the zero-loading conditions so that
we only have to invert two.matrices of smaller sizes. Such a reduction procedure may
result in easier hand computation or less computer time. To illustrate this procedure,
we first write the partitioned matrix equations (5.48) in symbolic form:
1
1
1
1
Multiplying out E q . (5.49) yields
'i
\
I
2
1
'
symmetric
4
6 r/24
0 "
; 0
t
[Pl
12
L'
6
_ E I
0
\2
[
8
/
12
{Q.} = -[Kr'[K,2]{Q2}
(5J2)
It is remembered that we should invert [ K , , ] instead of [ K , j ] . Submatrix [ K i j ] is

Dll-diagon.il and it may well be a singular or non-square matrix. Substituting E q . (5.52)
Into E q . (5.51) gives
=[KJ{Q2}
wlicfc [K] is the reduced matrix.
(5.53)
Sec. 5.3
130
131
Chap. S
It is s n that in the reduction method, we have only to invert the submatrix
d^fii'
n
' c ' " f "'^ "^''^
""'"^ f^^defined m E q . (5.48) mto Eq. (5.53), we obtain
_2_
0 Q
'30
15
Substituting the submatrices
_2_
30
EI
' L
36
_22
5L'
~5L
22
52
SL
15
15
\2
_6
L'
_1
Inflection
point
Shear
III!
(5.54)
From Eqs. (5.53) and (5.54).
'13
IJ_
{Q.) =
EI
11 "
21
14Z,
11
Moment
1 0 .
.141.
13Z.
PL'
(5.55)
EI
The rest of the degrees of freedom are obtained by substituting Eq. (5.55) into Eq. (5.52);
5L
15
5I
15".
y.
-3
2L
-9 '
y.
P -2L
V,
-'^
y.
'-
Pj = A / , =
12P
I6P
T1,e internal shear forces and bending moments are found bv substituting the
foregoing defiect.ons and rotations into the element stiflness equations. We find for
elements 1-2, 2-3, and 3-4, respectively.
upward
PL
(5.56)
Thus we can construct the deflection curve shown in Fig. 5.9.
The resulting shear and moment diagrams are plotted in Fig. 5.9. These diagrams
provided the reaction forces and moments:
Pi = ^ i =
EI
V,
Deflection curve, shear diagram, and moment diagram for the beam in
3P
PL'
Af,
y.
Figure 5.9
Fig. 5.8.
PL
- P
0
counterclockwise
downward
upward
B e a m E x a m p l e 3 T r e a t m e n t of s y m m o t i i c a l and a n t i s y m m e t r i c a l loading
and s u p p o r t i n g conditions.
Using three elements to model the beam structure as
shown in Fig. 5.10, find the deflection shape, the shear force and bending moment
diagrains, and the reaction forces and moments.
For this problem, the total stiflness matrix equations are precisely the same as
thai given in E q . (5.46). Because of the antisymmetrical type of loads, the boundary
132
0i
EI
Chap. 5
r
.
'"'j
133
Tlie process to treat the antisymmetrical conditions (i') = -i'2) and (9] = 0j) is simply
lo subtract the third column from the first and add the fourth column to the second
In the matrix in E q . (5.58). In the resulting four equations (5.59). we see that the first
jet of two equations are parallel to the second set of two equations. We can choose
either set. For the first set.
0
L
Sec. 5.3
- F
0 . ^L
re.
^.Sj
L
T
10
le solution is
PL'
. e, J
Figure S.10
f-5L
I62/[
(5.60)
From this example we can generalize tlie method of reduction of stilTness matrix
whenever we can relate two degrees of freedom. For example, if we know
Antisymmetrically loaded beam and three-element modeling,
and loading conditions can be specified as

97 = ( - 6 ) 9 :
' ' i = 0i = i.'4=fl4 = O
The method of reduction is simply to
(5.57)
1. Eliminate the seventh row.

2. A d d ( - 6 ) X (seventh column) to the second column.
Eliminate the seventh column.
^'r'^r"' r " " " " '

degrees of freedom given in E q . (5.57):
" " ' " ' " " ^ 'hat are related to the four
24
p , = - p
P. = 0
p , = p
P. = 0
_
Replacing i ; , by -
fl,
n
~L'
L
_ 6
24
L'
'
(5.58)
h =
L'
EI
'
"36
t'
6
L
10
6L
M,
Yi
27
-13
Y,
~27
. 7/..
.A'l
.A/2
-7t
Y>
M,
14
-TL
M,
13
_ P
7L
27
-13
6L
B e a m Example 4 Alternative solution for B e a m E x a m p l e 3.

F o r symmetrical or antisymmetrical problems, it is a common practice to analyze only one
portion of the structure cut out from the lines of symmetry or antisymmetry. For Beam
l-.xample 3, we can model only half of the beam by using two elements as shown in
Fig. 5.12.
10
36
V:
_ P
The deflection curve, shear force, and bending moment diagrams are plotted in
Fig. 5.11. The reactions, forces, and moments are given by Y,, M , , Y,, and M , .
by e,, and multiplying out E q . (5.58) yields

-p
-14
13
M,
"2
8
]2
The internal shear forces and bending moments are found by substituting the
foregoing deflections and rotations into the element stiflness equations. We find for
elements 1-2, 2-3, and 3-4, respectively.
(5.59)
The boundary conditions for the present antisymmetrical case are

t)i = e, = tij = 0
lly imposing such boundary conditions, we can reduce the total stiflness equations
liiim 6 x 6 to 3 x 3 . Thus we have only to assemble a 3 x 3 stiflness matrix by collecting
the peitinent terms in the two element stiflness matrices instead of forming the larger
134
Beam end Plane Frame Elements
Sec. 5.3
Chap. 5
135
but unnecessary 6 x 6 stillness matrix.

12
96
24
24
L= EI .
P.
24
Vl
4
24
L'
0,
or
18
' 108
-P
Sheir
F-
12
24
-
80
2592/
-5t
- P
_48
03
The solution is obtained by inverting the stiffness matrix,
SjT
' ".J
i
^
I
Xloment
18
'-
24 -1
not
needed
PL'
162/
Figure 5.11 Deflection curve, shear diagram, and moment diagram for the bean
in Fig. 5.10.
27
2
where the results for Vi and

agree with those obtained in E q . (5.60). Substituting
these results into the two-element stiffness matrices, respectively, we find
Y,
_ P
6L
V,
~27
-13
Ml
-14
' 13
W,
>
and
. 'L.
A/,
Y,
27
Ah
-7
14
0
which provides us with precisely the same shear and moment diagrams as those shown
P.. 9 J
P6,,
in Fig. 5.11.
B e a m E x a m p l e 5 T r e a t m e n t of elastic supports.
Let us consider the same
problem as Beam Example I with the addition of two elastic springs: an extensional
spring with constant a (lb/in.) and a rotational spring with constant P (in.-lb/rad).
The values for the elastic constants are assumed as
ZEl
" V
' ' l . "I
Figure 5.12
Fy. U,
/j, V,
Two-clement modeling for half of the beam shown in Fig. 5.10.
The beam and its two-element modeling are shown in Fig. 5.13.
(5.61)
136
Chap. 5
Sec.
5.3
137
r
the main diagonal of the stiflness matrix. We see in E q . (5.62) that the stiflness terms
along the main diagonal have the same physical meaning as the elastic spring constants.
They are always positive.
Substituting E q . (5.61) into Eq. (5.63), we can solve for the unknowns:
2EI
A
V in /
'.
"2
21
m7.
12
4
, '"i."!
Figure 5.13
Pj.]
3"
JL
0-pe,
-P
PL
~
I
3 EI
3/
L'
L'
3 EI
8 7
2 EI
L'
i5/
iEI
2EI
L '
11
35
L'
-J
V2^
123
>'l
M,
47Z.
120 -123
and
"
"2
(5.63)
4 EI
It is seen that in order to include the eflect of a spring associated with the degree
of freedom i , we simply have to add the spring constant to the stiflness jerm k^^ along
<
. 76
PL
y,
27
P
44 i .
120 - 2 7
My
.lot,
The resulting deflection curve and shear and moment diagrams are shown in Fig. 5.14.
The force at point 2 and the bending moment at point 3 due to the springs are
PL' \
(5.62)
Replacing the spring force and moment to the right-hand side of the equations (5.62)
results in
L'
The internal shear forces and bending moments are obtained by substituting the
nodal displacements and rotations into the stiflness equations for elements 1-2 and
2-3, respectively.
11
L'
iEIf
~ L
35
29
El
PL
-P
i-5j
Without considering the springs, the stiflness matrix for the beam system is given
in Eq. (5.41). Taking the spring eflect into account, we add the spring force and moment
lo the existing loads in E q . (5.41):
3
L'
.;
The eflect of the two elastic springs is to produce a resistant force of

-oi'j
and a resistant moment -/3fl, in addition to the existing external loads.
Such elastic force and moment always have a negative sign which means that
they are acting in the directions opposite (resistant) to the positive directions
of V end 9, respectively.
L'
(-6L]
Pj.B,
j5
6 -
240/
>
Beam with elastic supports and two-element modeling.
-P-aV;
'
L \/
12
upward
clockwise
which agree with the amount of jump at point 2 in the shear diagram and the amount
of jump at point 3 in the moment diagram.
B e a m E x a m p l e 6 B e a m w i t h prescribed d i s p l a c e m e n t s .
In engineering
application, there are cases where beams are given initial deflections and rotations due
to circumstances such as thermal expansion or misfit. For such type of problems, we
have to partition the total stiflness matrix into four submatrices based on two groups
of quantities: tjie known degrees of freedom (or the corresponding unknown reaction
forces) and the known forces and moments (or the corresponding unknown degrees
iif freedom).
An example is shown in Fig. 5.15. Let it be assumed that a small hole is punched
ihinugh the middepth point of cross-section 2. This point is then pushed upward by
a deflection of A and held by a momentless pin. It is desired to find (a) the slope
nt nodal point 2, (b) the force required to produce the deflection A at point 2, and
(c) the shear and moment diagrams.
138
Chap. 5
Sec. 5.3
139
and unnecessary 6 x 6 stillness matrix.

12
Inricciion
point
'J
24
12
or
6
EI\
Shear
P, = 0J ' L
n i m H I ' M111 MM
L
T
(5.64)
12
_ltiplying out E q . (5.64) yields .
36F/, ( , E l
(5.65)
6/
I2/
0 = rA +
B,
(5.66)
Moment
Equation (5.66) gives
which is the slope (clockwise) at point 2. Subsdtuting the solution for
into E q .
Fig. 5.14 Deflection cur%e. shear diagram, and moment diagram for the beam
m Fig. 5.13.
(5.65) gives
Two elements arc used to idealize the beam. Tlie boundarj' conditions arc
which is the force required to produce an upward deflection A at point 2.

Tlie internal shear forces and bending moments are obtained by substituting the
nodal displacements and rotations into the two element stillness matrices, respectively.
t;, =
9, =
tj =
63 = 0
plus the special condition that
V2
-15"
M,
/A - 7
15
By imposing the boundary conditions, we can reduce the total stillness matri.x from
6 x 6 to 2 x 2 . T l i u s we only have to as.semble a 2 x 2 stillness matrix by Collecting the
pertinent terms in the two-element stiflness matrices instead of assembling the tedious
El
Figure 5.15
33/A
2EI
Beam with initial defleciion al midspan.
.-8^
and
M,
'
EI^
18
8
Y,
-18
My
.10.
Tlie deflection curve and the shear and moment diagrams are shown in Fig. 5.16.
I he negative slope at point 2 shows that element 1-2 is bent with more curvature than
elrment 2-3. Tills agrees with the physical reality that the former element has less
bending rigidijy than the latter, l l i e jump at point 2 in the shear diagram has a value
of 3 3 / A / ' , which is the force required to hold point 2 at a distance A from its
iiiKinal position.
B e a m E x a m p le 7 B e a m c o n n e c t e d w i t h truss bars.
A n example o f a beam
iiiiinected to truss bars is shown in Fig. 5.17. The beam is assumed to be inextensible
with a bending rigidity EI. Tlie truss bars are assumed to have hinge connections at
'"'h ladie
"gi<^>ty A of both imss bars is assumed to be equal to 2 4 / / O.
140
Beam and Plana Frame Elemenu
Chap. 5
Sec. 5.3
To formulate the stiflness matri.x for such a problem that has two types of
elements, we simply superimpose the stillness terms for both types of elements thai
-ie associated with the common pairs of degrees of freedom. T o demonstrate the
procedure, let us first formulate the total stillness equations for the beam modeled by
two elements.
Inflection
point ~-
'
141
Imposing the boundary conditions that

0, = 9i = t)j = 03 = 0
; hve
22
Shear
_6
L'
L ' L
24
(5.67)
to
S
o
o
We then formulate the total stiflness equations for the truss bar elements. Imposing
the boundary conditions and the ine.xtensible beam condition that
Moment
96
di
>^ a.^
-1+^
I2
" =
4+S
= "s = Uj = "2 = 0
we obtain, from E q . (4.17),

PA
5 2
UJ
(PJ) = Y ^ ^ ' " ' ('50) + s i n ' (30)]{t.-,}
(5.68)
Superimposing Eqs. (5.67) and (5.68), we obtain the stillness matrix for the total system.
108/
EA ] 8 /
^ I L
e
p . - p \
L'
(5.69)
I2/
18/
L'
L J
where the sum of the unbalanced vertical force P, at beam joint 2 and the unbalanced
vertical force P J at truss joint 2 must be equal to the net external load P3, or - P in
this case.
Equation (5.69) can be solved by setting A = 2 4 / / ^
PL'
-p
:il6/
Of
]20
' L
L'
I86/ ,
-2L
3,
I he axial forces in the two truss bars are obtained by using E q . (4.24),
5,4 = - Y I C O S ( I 5 0 )
Figure S.I7
Beam connected to two truss bars.
sin(l50)J
4P
^23 = 5:4 =
(both in tension)
Vt-Vil
31
Sec.
142
5.4
5.4.1
The
Beams Under Distributed Loads
143
Chap. 5
Worlt-Equivalenl Loads
internal shear forces and bending moments for the two beam elements are
7
1'/
M,
M,
3L
~3\
-7
-20
Y,^
and
<
20
-6L
My
.4t
-4t
Y,
The resulting deflection curve, shear, and moment diagrams are shown in F i g .
5.18. The unbalanced force at point 2 due to the load P and the vertical components
of the axial forces in two truss bars is equal to 21P/3\.
This force is equal to the
amount of jump in the shear force diagram for the beam.
In the work-equivalent load method, we set the work produced by the

unknown nodal concentrated loads to be equal to the work produced by the
actual distributed load. This method is convenient when the distributed load
can be described by a mathematical function.
Consideritig a beam element, the work done by the equivalent but
unknown nodal loads is in the form
W = \{Y,
M,
(5.70)
Y, M , \
On the other hand, the work done by the distributed loads due to the deflection
of the beam element can be obtained as -
p{x)v(x)
TP
(5.71)
dx
where the deflection function is defined in Eq. (5.6) as
31
Shear
.P
f(x)=l/,(.x)
M x )
M x )
(5.6)
U x ) \
TOP
31
PL
The work given in Eq. (5.70) should be equal to the work given in Eq.
(5.71). Thus we have
p{x)Mx)
Y,
dx
i
Moment
pix)Mx)
M,
dx
(5.72)
p{x)fi(x)
dx
L
F{X)UX)
Figure 5.18 Deflection cur\'c, shear diagram, and moment diagram for the beam
in Fig. 5.17.
dx
or hi generaf form.
5.4
B E A M S UrJDER DISTRIBUTED L O A D S
In the examples illustrated in Sec. 5.3,''tlie forces and bending moments applied
are all concentrated al the nodal points. In practical engineering applications,
the loads are not always concentrated. For such cases, we must transform the
distributed loads to concentrated loads so that we can apply them at the nodal
points. Two common methods are suppested as follows.
F, =
p ( x ) f M d x
(5.73)
whete i denotes the dcgree-of-frccdom number. We see in Eq. (5.73) that the
work-equivalent load associated with a certain degree of freedom i is obtained
Sec. 5.4
144
Ctiap. 5
b y integrating the p r o d u c t o f the d i s t r i b u t e d l o a d f u n c t i o n a n d the i-th shape
which agrees with the solution obtained using Castiglianos theorem, demonstrated in
Example 3.3 o f CiiAptcr 3.
f u n c t i o n o v e r the element l e n g t h . S u c h a d e f i n i t i o n can be g e n e r a l i z e d to other

types o f finite elements, s u c h as plate a n d shell finite elements.
B e c a u s e s u c h l o a d s are f o u n d o n the basis o f functions that are consistent
w i t h the a s s u m e d shap e f u n c t i o n s , they are often c a l l e d consistent
loads.
Fijure 5.19
Let it be desired to find the slope and deflection at the free end.
Figure 5.20 Cantilever

linearly distributed load.
beam
under
We can use one element to model this beam. Taking into account the fixed-end
bnditions, we have the following simple stillness equations:
Beam under uniformly distributed load.
Because of symmetry, we can model only half of the beam and use only one
beam element with length 1/2. The boundar)' conditions for this beam element are
Y,
Tlie stiflness equation for this case is

_24
P
24
96
The work-equivalent loads for the downward uniform distributed load -p

obtained by using Eq. (5.72):
+2
dx = -'48
20
</x = -
30
lus we have the solution
I2;
Equation (5.74) can be solved as
''_0-X
.:
.El
t'l
can be
0
24 /
_PoX
Y,
0
3'
(5.74)
I'
'12
6"
L'
l l i e two work-equivalent loads can be found by using E q . (5.72):
j.,
"[^-^(7)^4.
'12
EI
"
EI
Figure
B e a m E x a m p le 8 B e a m under uniformly distributed l o a d .

Figure 5.19
shows a beam with both ends simply supported and under uniformly distributed load
p . Let it be desired to find the slope at the end (I) and defiection at the midspan (2).
lUllllilUliUIIUmTnTTT
B e a m E x a m p l e 9 C a n t i l e v e r b e a m under linearly varying load.

5.20 shows a cantilever beam under a linearly varying distributed load
6
- ~ L
12
L \
_ ^
3pL
20
[
30
48
30
EI
J_
(5.77)
24
24E/
5/
16
(5.75)
It must be noted that the shape functions used to find the work equivalent loads
fill lleam Examples 8 and 9 are obtained as the exact solution to the diflerential
146
Ctiap. 5
equation o f beam (5.1). This is why the answers we obtained by using only oiie element
are exact.
Sec. 5.4
147
Let us then model the left half of the beam by using two beam elements, 1-2 and
2-3,-each with length L = 1/4. F o r each element we apply a concentrated load p L / 2
at each end. The stillness equations are
5.4.2. S t a t i c a l l y E q u i v a l e n t L o a d s
0
pL
12
6
L
-pL
' L
' L
\2E1
. L
**
ny
02
12
L'
'
12
02
12
! L '
the method o f substitution described i n Eqs. (5.49) through (5.53). we obtain
(5.78)
.
0.
_ i _
I
I
I 24
~ L
Hence
I
I
EL
12
12
~ L'
J
L
"12
equations can be rearranged and partitioned as
~ L'
L'
0
12
24
~I
EI
~ L
~ L
-pL
B e a m E x a m p l e 10 B e a m under uniformly distributed load.

Let us consider
the same simply supported, uniformly loaded beam shown in Fig. 5.19. Because of
symmetry, we have to model only one half of the beam.
First, let us model the left half of the beam by one element 1-2 with length
L = 1/2. Tlic total load on the beam element is p L We apply p L / 2 to each of the two
nodal points. The stillness equations are
I n the s t a t i c a l ly e q u i v a l e nt l o a d m e t h o d , we have o n l y to find the

c o n c e n t r a t e d l o a d s that are i n statical e q u i l i b r i u m w i t h the d i s t r i b u t e d l o a d s.
T h i s is d o n e b y s i m p l y a s s i g n i ng the total d i s t r i b u t e d loads ove r one h a l f o f
the element to o n e n o d a l p o i n t and those over the other h a l f o f the element
to the o t h er n o d a l p o i n t . A l t h o u g h this a p p r o x i m a t e m e t h o d appears to be
c r u d e , it is c o n v e n i e n t a n d versatile. It can cope w i t h c o m p l e x a n d a r b i t r a r i l y
d i s t r i b u t e d l o a d i n g c o n d i t i o n s i n an a p p r o x i m a t e sense. T h i s m e t h o d p r o v i d e s
results w i t h g o o d a c c u r a c y w h e n sufficient n u m b e r o f elements is used.
2.
-1
7L - 1
(5.80)
Substituting L by 1/2 in E q . (5.78) and multiplying out the two equations gives
-pL
.Ell.
EI
32
]_
6 EI
(5.79)
96
Compared with the exact solutions given in Eq. (5.75), the one-element results for
slope fl, and deflection t'; are obviously smaller in absolute magnitude, l l i e errors are
25% for fl, and 20% for v^, respectively.
16
-11
-11
(5.81)
8J
The iolution is
8
u'
6 E I .11
16.
p L ' [27
(5.82)
148
Besm and Plane Frame Elements
Chap. 5
Sec. 5.5
149
A::clication of Plane Frame Elements
At this stage, we can substitute //4 for L and obtain the final solution:
f
9/ "1
1024
191
">
fl,
__P!1
EI
1536
5
128
7
I 256 ,
Compared to the exact solutions, we find that by using two elements the errors are
reduced lo 6 j % for fi, and 5.00% for ti,, respectively.
It is expected that the errors will be reduced even further as the number of
elements used is increased. With the aid of a computer, results are obtained for cases
with various numbers of elements and are compared with exact solution in Table 5.1.
The negative signs in the table indicate that all the results are less than exact solutions
in absolute magnitude. It is seen that for a three-element model (for half of the beam)
the defiection reaches a satisfactory level of accuracy.
Figure 5.21
Inextensible square frame.
to find the deflection shape, the shearing force diagram, and the bending moment
diagram.
Because the square frame is a structure of double symmetry, only a quadrant
need be modeled and two elements, 1-2 and 2-3, are used. Tlie reason that we assume
TABLE
5.1
Percentage Errors of M a x i m u m Deflection
aod
tlie members to be inextensible is to eliminate the axial degrees of freedom so that we
Slope for 1 Uniformly Loaded Simply Supported Beam

Number of
Elements for
Half the Beam
can obtain a simpler example for demonstrating the necessary procedure. The present
I
Error in Midspan
Deflection (%)
Error in Slope
at End (%)
2
3
4
5
6
7
t
9
10
-20.000
-5.000
-2.220
-1.250
-0.800
-0.560
-0.408
-25.000
-6.250
-2.776
-1.563
-I.OOO
-0.688
-0.510
-0.391
-0.309
-0.250
-0..1I3
-0.247
-0.200
5.5 A P P L I C A T l O r J OF P L A N E F R A M E
UJ
g s a.
i
C.
UJ
2 3
5
ELEIVIENTS
The m e t h o d o f assemblage a n d p r o c e d u re o f s o l u t i o n s for u s i n g plane frame

elements are i n t r o d u c e d w i t h the aid o f illustrative e x a m p l e s .
Frame Example 1 Inextensible square (rame.
A square frame subjected
l o a p a i r o f paning forces P is shown in Fig. 5.21. It is assumed that the frame members
arc inextensible and that the right angles at the joints are preserved. Let it be desired
:r
formulation for the plane frame elements is by no means to be limited by such

an assumption.
The boundary conditions for the two-element model shown in F i g . 5.21 are
OI FLI" OJ - UJ =FLJ- 0
"SI
due to symmetry
due to inextensibility
= 0
UJ
As a result, we have only lo formulate a set of three stiflness equations which are
assembled from the two element stiflness equations defined in E q . (5.32). The direction
lines and cosines are
thus we
hmtt
A = 0
and
fx. = I
for element 1-2
A = 1
and
/i = 0
for element 2-3
150
Chap. 5
Sec. 5.5
Application of Plane Frame Elements
151
The solution is
-1.
60
288 /
5L
L'
PL'
not needed
(5.83)
48 /
3JL
The internal shearing forces and bending moments can be obtained by substituting
the resulting nodal displacements and slopes into the element stillness equations (5 J 2 ) .
Inflection
point
X,
r 22
L'
"I
v>
Af,
_ /
_j2
Xi
v
Afj
L'
0
I PL
/ PL'
\J 4 8 / )
2
0
PL
Shear
6^
_
2
not needed
5t

0
6
Vi
M,
Xy
0
12
I
6
_ EI
~ L
"I
not needed
\)
22
L'
6
L
1 J
]I
0"
PL
8
31,
Plljuie 5.22 Deflection shape, shear

itiRRram, and moment diagram for the
linriie in Fig. 5.21.
' 12
"2
L'
not needed
Frame E x a m p le 2 Extensible square frame.

If the members in the square
frame shown in Fig. 5.21 are not assumed to be inextensible, we have one extia degree
of freedom (u, ^ 0) in addition to what we had in Frame Example 1. l l i u s wc have a
V//////////////A
1*1 of four stiRness equations.
PL
Tlie delleclion curve, the shearing force, and the bending moment diagrams are shown
in Fig. 5.22.
It is important to note that the forces
and
in element 2-3 are obtained as
zero, which obviously should be equal to - P / 2 and P / 2 , respectively. This is caused
by the imposition of inextensible assumption that
= 0. Let us now disregard the
condition of inextensibility.
^
3PL
Moment
12
12
J2
6
L
L'
~ L
"i
"2
6
L
12
L'.
02
"3
ny using the method o f partitioning and substitution as described in Eqs. (5.49)

! (5.53). we obtain
02
."3J
_ 3 '2 -2 " i
~ 5 L . L - L . "2.
Sec. 5.5
152
153
Chap. 5
and
-I
24 i
' SL'
-I
I +
10
SAL'
247
The solution is
SAL'
+ 24/
uJ
E A
PL
5 PL'
2EA
48/
PL
2EA
and
^2
PL'
Figure 5.23
The solutions for flj and v, are the same as those obtained in the inextensible case [ E q .
(5.83)]. The solutions for u, and Uj are, however, diHerent. It is seen that when the
eflect of axial rigidity E A is included in the stiflness matrix of element 2-3 by setting
U j ?! 0, the magnitudes of the displacements u, and
are both increased by an amount
of P L / 2 E A .
W h e n the new values for the displacements and rotations are substituted into
the two element stiflness equations, respectively, we find
f
Y,
X2
2
0
Y2
M2
2
0
PL
. 8 .
and
P
2
0
PL
M2
Xz
Y2
3 PL
P
Ancisymmetrical Z frame.
(5.84)
48 / .31.
*
P
X,
2
0
Yy
M,
PL
.
8 .
Compared with those found in the inextensible case, X j and X , now possess values
of - P / 2 and P / 2 , respectively, instead of zero. The axial forces for this problem are
thus properly included.
Frame E x a m p l e 3 A n t i s y m m e t r i c a l Z frame.
Figure 5.23 shows an antisymmetrical Z frame under two concentrated loads P at points 2 and 3. A l l members have
the same length L , axial rigidity E A , and bending rigidity E l . Let it be required to
find the deflection shape and the shear force and bending moment diagrams by using
three frame elements.
The fixed conditions at points I and 4 provided that

H,
= u, = 8, =
U4 = I;,
= 04 = 0
Wc have a set of six stiflness equations:
0
-p
12
L'
6
- P
0
EI
" L
L
12
L'
0
6
L
0
-R
-R
Vl
62
6
L
12
"1
6 "
0
6
L
"3
"3
By
Tills is a problem of antisymmetrical frame under a pair of loads acting along

liw axis of antisymmetry. The displacements and rotations have the following relations:
"2 =
02=
-"3
"3
154
Chap. 5
i Sec. 5.5
155
Such anlt-symmetrical conditions can be imposed by subtracting the fourth column

rlT
T fh" H
r
n
'
Irom the third in the stillness matrix above;
^"btracting the sixth column
0
12
6
L
12
L'
6
-p
0
0
_ E I
L
-p
12
6
L
12
L'
6
-6
The first or fourth equation gives

Shcir
Tl,e
second and third (or fifth and sixth) equations give the same results:
PlJ
f-1
'6EI
Clearly, hey can be disregarded at the beginning of the formulation. TTiis is due to
the^fact that all three members carry only bending moments and shear forces, no axial
1-2 are obtained by multiplying its stillness matrix by the six nodal degrees of freedom.
0'
Y,
Xi
Yi
PL
3
1
IL
M,
= P
3
0
-1
L
Fijiirt 5.24
3.
' "
'"'^
"'^"'"^
3.
Deflection shape, shear diagram, and moment diagram for the frame
in Fig. 5.23.
Because of antisymmetry, the shear forces and bending moments for element 1-2 are
in F i r 5 . 2 r
"'^
^l'"-"
Franie Example 4 Inextensible square frame c o n n e c t e d t o truss bars.

Figure 5.25 shows an inextensible square frame braced by four truss bars whose
nds are connected to the frame by hinges. The square frame has constant bending
llgldity E l . For simplicity o f solution, all truss bars are assumed to have the same
i x l a l rigidity with E A = \ 2 - J 2 E I / L ' . The frame is loaded by a pair o f parting forces P.
Let it be required to find the defiection shape and the shear force and bending moment
diDKrams for the frame, and the axial forces in the truss bars.
Because of symmetry, only a quadrant need be analyzed. The quadrant contains
iwii frame elements, 1-2 and 2-3, and a truss bar element, 1-3, as shown i n F i g . 5.25.
I l l ' boundary conditions for the quadrant are
D, = 0, = U3 =fl3= 0
"1 = 0
due to symmetry
due to inextensibility ofihe frame member
"!1
156
Chap, J
v-v^. 5.5
Application of Plane Frame Elenients
T-e solution is
108
144
576/
~L
PL-
not needed
'?6EI
84
dellection curve for the structure is shown in Fig. tli
:,ie internal shear forces
sr-; bending moments are obtained by substituting I'r.t tzvzm
for displacemeius and
Figure 5.25
Inextensible square frame braced by truss bars.
As a result, we have only to assemble a set of three stiffness equations for the twj
frame elements and a set of two stiflness equations for the truss bar element.
For the two-frame-element system.
- 12
L'
El
'~ L
0
6
8
6
(5.S5)
I
12
i ' t H l i L j . TT
"3
3P
For the truss bar clement with length - J l L and axial rigidity M - J l E l / L r , we have, frem
Eq.(4.l7),
u,
EA
~ v 2 l L-5
6 EI
1 - l "
" L> . - 1
!J
1.
Shear
3F
"1
"3J
m 11 IT
Due to symmetry, the loading conditions for the quadrant are

P
A " , - I - = external load = - -
i n
^flTTlIIIlIIII^^
Y',+ Y; = O
The total stillness equations are obtained by the superposition of Eqs. (5.85) and I S S ^ l
p
0
0
11
6
L
L
_
L'
'
6^
L
4
6
j8
L '
Moment
"1
"l
ll(uri
03
5.26
Defleciion
shape,
shear
i l t a | i a m . and moment diagram for the

liitina i n F i g . 5.25.
158
Chap. 5
rotations into the two element stiflness equations, respectively,

-6'
y,
p
M,
=s:
X2
16
5L
yi
and
Ml
X,
16
{My.
. L
: fixed conditions at two bases provide that
2
-
- L
0
-2
.3Z..
The shear force and bending momeiit diagrams are plotted in Fig. 5.26.
The axial force i n the truss bar is found by using E q . (4.24),
EA
5,_3=-p7[cos45'
rip
in
Xi
y.
Sec. 5.5
PL?
sin45J' 96EI
(tension)
In the shear diagram we can see that there is a j u m p of 3 P / 4 at nodal point 1. Tliis
force is equal to the unbalanced force between the externa! load P and the horizontal
components P / 4 of the tensile forces in the two truss bars. Such tensile forces in truss
bars also cause a jump of shear force of P / 4 at nodal point 3.
Frame E x a m p l e 5 Portal frame w i t h incline d c o l u m n s .
Figure 5.27 shows
a portal frame with columns inclined at 45. .\\e members have the same length
L, axia' rigidity E A , and bending rigidity 1. A ho. izonlal load P is applied at joint
2. Let it be desired to find the deflection shape and the shear force and bending moment
diagrams.
El
u, = u, = 9, =
U4
= tij =
= 0
(?4
e have a total of six stiflness equations for the three-element system:
p,;
_ 6_
0
0
symmetric
18
W2
_/
-R
L
Pi
_n
3R _6_
"3
2 "^LR
18
"3
3V2
3V2-6
whereP=A/f.
Because this is a symmetrical frame and the load is perpendicular to the axis of
lymmetry, it is expected that the deflection shape will be antisymmetrical, as shown
In Fig. 5.28. The displacements and rotations at points 2 and 3 can be related as follows:
"2 = "3
02=-t;j
Thr three antisymmetrical conditions are imposed by adding the fourth column to the
H I M . subtracting the fifth column from the second, and adding the sixth column to the
third, respectively, i n the foregoing stiflness matrix.
R
Pi
Ponal frame with inclined columns.
Three frame elements are used to model the structure. Tlie direction sines and
cosines of the three elements are
A=
-'2
A= l
v'2
and M = "7=
-Jl
and
/i =
and
^ = ^
for element 1-2

for element 2-3
v'2
forelemeiil
0
0
30
2 L'
375
l2-3v'2
El
L
P3
2L '
0
Figure 5.27
l ^ ' V
2 JL'
R
2 ^ V
2^2
30
2~L'
I2-3V2
iJi
12-3^2
L
10
37i
L
(5.87)
3J2-I2
L
10
It l i Mn in Eq. (5.87) that the first set of three equations and the second set of three
..(.MiiiMis are identical provided that the two horizontal loads at points 2 and 3 are
160
Chap
Sec. 5.5
161
Let us adopt the first set o f three equations in Eqs. (5.87) to obtain our solution.
The determinant of the 3 x 3 stillness matri.x, excluding E l / L , is
K 144
| K | = (l32-l-72y2)p +
Using the adjoint method o f inverse, we obtain the solution
"2
5R+-
138-l-72v'2
L'
42 + 3672
-5R-I-
LI E l
((66 - 3 7 2 ) R
not needed
72(1+72)
L'
5 K L ' + 6(23+1272)1. '
PL'/El
. - 1
- 5 R L ' + 6(7 + 6v'2)L
288 + 2 4 ( 1 1 + 6 7 2 ) R L ' . 3 ( 2 - 7 2 ) / ? L ' - 7 2 ( l + 7 2 )
(5.88)
Because this is an antisymmetrical problem, the results obtained i n E q . (5.88)

are sulficient for us to plot the deflection curve as shown in Fig. 5.28.
Substituting the results obtained for nodal displacements and rotations into the
stiflness equations for elements 1-2 and 2-3, respectively, we obtain the nodal forces
and bending moments. For element 1-2, we have
Moment
Y,
2(11 +
6v/I)
M,
2^L'
2 L '
37i
2 L'
equal: that is,
372
_EI
~ L
375
2 L '
375
L
2
375
2 L '
375
4-
371
2^1'
-372
L
A
-24-2(11+675)RL'
To satisfy this requirement, we split the load P and make
2 4 - 2 ( 4 + 375)RL'
2(l+275)(6+RZ,')L
48+ 4(11+672) R L '
24 + 2(11+675) R L '
- 2 4 + 2(4 +375) K L '
[-12 + (4 + 372)/?L']L
Sec. 5.5
Beam and Plane-Frame Elements
162
163
Chap. 5
Based on the expression for 1', and A / , given in E q . (5.89), we can easily show that
or
_ p
2 .
For a basic bending problem such as this, the eflect of axial displacements in
the members may contribute very little to the deflection. It is customary to assume
the members are inextensible,
24 + 2(1 l+672)/?Z.'
( l + 2v^)(6 + K L ' ) P L
M,
24 + 2 ( l l + 6 7 2 ) i ? L '
-y..
[-12 + (4 + 372)KJL']PL
M2
48 + 4 ( l l + 6 > / 2 ) R L '
PL'lJBl
Y2
2 4 - 2 ( 4 + 3N/2)i?Z.'
M2
[ 1 2 - ( 4 + 3v/2)RL']JL
X,
5Z,
-5L
(5.92)
24(11+671) . 3 ( 2 - 7 1 )
(5.90)
48 + 4 ( l l + 6 7 2 ) i ? L '
= oo
Based on inextensible assumption, we can obtain a modified set of results for displacements, rotations, forces, and bending moments as those obtained in Eqs. (5.88) to
(5.91). Tills is done by simply dividing both the numerators and denominators o f those
resulting expressions by R L ' and then setting R L } equal to infinity.
For displacements and rotations we have
-X,
X2
PL' = ^
(5.89)
0
- 2 4 + 2(4 + 3>/2)RL'
[12-(4 + 3-/2)RI-]L
ll is seen that u, and

are equal in magnitude but opposite in sign. It means that
nodal point 2 is deflected in a d i r e a i o n at 45 with the horizontal line or perpendicular
lo the axis o f element 1-2. Within the limit of small defiection theory, such a conclusion
grecs with the assumption that element 1-2 is inextensible.
For element 3-4,
X,
X3
M3
X,
1-1
M2
P
(5.91)
X,
I w. J
Y2
W2
where ihe forces V | and bending moments A^, and AJj are given in E q . (5.89) for
element 1-2.
It is desirable at this point to check equilibrium by considering tire entire frame
as a free body:
^
'
^1 *ltinciit 2-3, we have

X2
I F , = y,+ y 4 = i ' , - i ' , = o
Yi
-2(4 + 372)
M2
- ( 4 + 375)L
X3
Y,
= p f - 4 V
(5.93)
M,
>'i(>+^)L-2W.
4(11+675)
0
2(4 + 375)
-(4 + 37?|L
(5.94)
164
Chap. 5
Based on Eqs. (5.93), (5.94), and (5.91), we can plot the shear force and bending
moment diagrams as shown in F i g . 5.28.
It is noted that in this problem the inclined columns are not perpendicular to
the loads. They are subjected to transverse as well as axial loads. In order to transmit
axial load, the axial rigidity E A (or R ) must be included in the stillness matrix such
as we have done in this problem. If E A is not included, the solution will be incorrect.
For example, the supposedly downward displacement Oj in E q . (5.88) will be positive
if R is set lo zero.
Sec. 5.5
For this symmetrical bending problem, the axial displacements in vertical columns
do not contribute to bending and those in horizontal floor members contribute little
to bending. The customary assumption of inextensibility may not alter the solution
but does simplify the stiflness matrix. For the six-element model shown in Fig. 5.29,
we have the following zero-displacement conditions:
9,
U , = U, =
= r, =
Frame Exampl e 6 T w o - s t o r y frame under uniformly distributed load.
Figure 5.29 shows a two-story frame structure under uniformly distributed load
p on the second floor. The lengths and bending rigidities are marked in the figure. Let
it be desired to find the deflection shape and the shear force and bending nioment
diagrams by using six frame elements.
0
n/P'
~ 3
12
4 + 24
12
12
24 + 4
i:.
12
El
4 + 4 + 24_
ll is noted that because of the assumption of inextensibility, the forces ^'3 and
l.iund in E q . (5.95) are not needed in the formulation (5.96).
To impose the symmetrical conditions that
El
(5.96)
u , = Uj = Uj = i' = fii =
2
_ El
L
WWW
12EI
u,
= Uj = I); = Uj = Pj =
We have a set of four stiflness equations:
Vlcnglh^
16B
Y,
2 = -fls
El
fl, = -Bt
Wt xiinply subtract the fourth column from the first and the third column from the
Figure 5.29 Two-sior}' frame under uniform load on the second floor.
Mcuiid in the stiflness matrix in E q . (5.96):

0
It has been shown in Sec. 5.4.1 that work-equivalent loads or consistent loads
concentrated al nodal points can be obtained to replace Ihe uniformly distributed load
p . Using E q . (5.7) for shape functions and E q . (5.72) for work equivalent loads, we
find for element 3-4,
6
~L
M,
Y.
where the length for the elemirnt is 2/.
=P'=
~ L
1
2'
^'
16
-2
-16
.-20
-2
-1
12
Ell
3
20
'
Ell
3
(5.95)
1h* D m (>r the last) two equations give the solution:
f l2]_ //' [ n
Byl
\_
.
3 .
(5.97)
474/l-10j
Ihe internal shear forces and bending moments are obtained by substituting the
IfltHllnii for rotations and the zero displacements into the individual stiflness equations
ec. 5.5
166
Application of Plano'Frama Elomants
167
Chap. 5
for elements 1-2, 2-3, 2-5, and 3-4, respectively.

-3
X,
Y,
M,
x.
X2
Y2
M,
Xy
0
237
27
0
Pl
237^
Y,
-8/
-27
0
2/
-19/
(5.98)
X2
Y2
M,
X,
Y,
2pl'
79
Xy
0
1
Y,
My
20pl'
X,
79
Y,
M,
-1
0
0
-1
0
0
1
At this point it should be remembered that element 3-4 is subjected to a uniformly

distributed load. The bending moments M , and M , obtained in Eq. (5.98) for element
3- 4 should be superimposed by the fixed-end moments (work equivalent moments)
caused by the uniformly distributed load. The real bending moment at point 3 acting
o n element 3-4 is
Figure 5 JO
My-lpP-^pl'^^pl'
(5.99)
Such a superposition procedure is explained in Fig. 5.30. By the same token, we know
the real shear force at point 3 acting on element 3-4 is
Y, = 0 + Y = P '
(5100)
Because the computations are carried out by computers in practical applications,

it is popular to use statically equivalent concentrated loads. In that case, such a
superposition procedure is no longer needed. The simplicity is, however, gained at the
expense of the need for more elements.
Because of symmetry, the shear forces and bending moments obtained in Eqs.
(5.98) through (5.100) are sufficient for us to plot the shear and moment diagrams for
the whole frame as shown in Fig. 5.31. Due to the assumption of inextensibility, the
axial forces are not obtainable from Eq. (5.98). It is obvious that the columns 1-3 and
4- 6 are under axial compressive forces of pl. The beam 2-5 is under an axia! tensile
force of IOp//79 and the beam 3-4 is under an axial compressive force o ( 9 p l / 1 9 . These
two values are obtained from the jumps in shear force at points 2 and 3, respectively.
Frame E x a m p l e 7 A r c h w i t h variable m o m e n t o f inertia.
Figure 5.32 shows
a parabolic arch with both ends fixed and under uniformly distributed load. The
Superposition of bending moments due to end rotations and uniforaily
distributed load p .
centroidal axis of the arch is represented by the equation

y = ft
-'7
where h is the rise and 21 is the width between two supports. The moment of inertia
of the arch is defined as
I { x ) = I , sec a
where a is the slope of the tangent to the parabolic curve and

is the moment of
Inertia at the crown of the arch. Such design is widely used in the arch bridge and
other types of constructions.
Sec. 5.5
168
1G9
Chap. 5
P
l l l l l l l l l l l l i l l l l l l l T n TTT
7(.v)= / , l l + i ' fill
y '
^^-^
;i
1
Shtar
Figure 5J2
199p/'
474
Moment
Figure 5.31 Defleciion shape, shear

diagram, and bending moment diagram
for the frame in Fig. 5.29.
In this example, the parameters are assumed to have the following values for a
steel box arch:
; = 8 3 f t - 4 i n . = 1000in.
/> = ^ = 500in.
;, = I 0 - i n . '
p = 6000 lb/ft = 500 l b / i n .
= 30xl0''psi
Parabolic j r c h with variable cross section.
For this symmetrical problem, we have to model only half of the arch. We use
six diHerent modelings with 2, 4, 6, 8, 12, and 16 elements, respectively. In each of
the six models, the nodal points are equally spaced along the x direction. The constant
moment of inertia for each element is approximated by the average of their values at
both ends. Statically equivalent concentrated loads are applied.
For the case of inextensible arch, an exact solution is available in Ref. 5.1. The
solution gives the reaction forces and moments at the ends and the crown which are
listed in Table 5.2. By setting A = 1000/, the inextensible frame element solution is
obtained and given in Table 5.2. It is seen that both the deflections and bending
moments for this problem are so small that they can be considered as zero everywhere.
Tills is actually a pure axial force problem without bending. It is seen in Table 5.2
that the results for reaction forces converge monotonically. In fact, these results are
within 3% of accuracy at the eight-element level. A more realistic value o f /(.t)/I000
is then used for the cross-sectional area A . Tlie results are presented in Table 5.3. It
is seen that the deflections and bending moments are considerably larger in the extensible
case.
TABLE5.2
Results for the Arch with Variable Moment of Inertia (Ine.ttenslble Case)
Number of
Elements for
Half Arch
Horizontal
Reaction at
End (kips)
Vertical
Reaction at
End (kips)
Bending
Moment at
End (kip-in.)
Bending
Moment at
Crown (kip-in.)
Deflection
at Crown
(10"'in.)
2
4
6
8
12
16
Ref. 5.1
442
470
480
485
490
492
500
442
470
4S0
485
490
492
500
0.002
0.012
0.020
0.027
0.041
0.055
0
0.018
0.067
0.148
0.261
0.585
0.040
0
5.82
6.98
7.65
8.13
8.81
9.29
171
Chap. 5
170
T A B L E S3
Chap. 5
Results for the Arch with Variable Moment of Inertia (Extensible Ca.)
Number of
Elements for
Half Arch
Horizontal
Reaction at
End (kips)
Vertical
Reaction at
End (kips)
Bendiiig
Moment at
End (kip-in.)
Bending
Moment at
Crown (kip-in.)
Deflection
at Crown
(in.)
2
4
6
<
12
16
4SI
467
47
48L
451
467
476
481
485
488
1,595
6,971
9,634
11.913
15,264
17,412
11,489
11,707
10.466
10,066
9,790
9,697
0.433
0J77
OJ75
0.375
0.375
0J74
5.6
485
488
CONCLUDING
Problems
REIV1ARKS
The
f o r m u l a t i o n a n d s o l u t i o n procedures illustrated i n this chapter are based
on
the stiflness m e t h o d . T h e method finds displacements a n d rotations first,
P R O B L E M S
Derive all 16 terms in the stiflness matrix for a beam element using the equation
k,j = EI
/r(x)/;(x)
5.2. Using the beam element stiflness formulation given in Eq. (5.14), find (a) the
'f
displacements and rotations at all nodal points, (b) Ihe shear force diagrams, and
k
(c) the bending moment diagram for the problems given in Fig . P5.2. Use workR
equivalent loads for distributed loads. Unless otherwise specified, all beam memRi
bers are assumed as inextensible with bending rigidity E l .
p.
Using the plane frame element stiflness formulation given in Eq. (5.32), find (a)
Rj
the displacements and rotations at all nodal points, (b) the shear force diagram,
mt,.and (c) the bending moment diagram for the problems given in Fig. P5.3. Use
K .
work-equivalent loads for distributed loads. Unless otherwise defined, all frame
members are assumed as inextensible with bending rigidity E I . A l l right angles are
assumed to be preserved after bending.
w h i c h are then used to find the internal forces a n d b e n d i n g moments at each

-PL
nodal point.
Because the zero displacements a n d rotations result in r e d u c t i o n a n d

L
s i m p l i f i c a t i o n o f the stiffness matrix , this m e t h o d is partict<larly advantageous

The
for structures with h i g h n u m b e r o f constraints or h i g h degrees o f r e d u n d a n c y .

f o r m u l a t i o n a n d s o l u t i o n procedures are systematically presented
so that they can be straightforwardly a d o p t e d for c o m p u t e r p r o g r a m m i n g . A
Pn
F o r t r a n p r o g r a m for the static analysis o f plane frames, a user's m a n u a l , a n d

the i n p u t a n d output d a t a for an e x a m p l e o f a stairway frame are given i n
Sec.
13.1.
By p r o p e r rearrangement, the stiffness f o r m u l a t i o n s for beam element [ E q .
(5.14)] a n d frame element [ E q . (5.32)] can be reduce d to the same f o r m as the

w e l l - k n o w n c o n v e n t i o n a l slope-defiections equations (see, for e x a m p l e , Ref.
5.2). In this chapter, the f o r m u l a t i o n s a n d the notations are the same as those
ll
(c)
presented by M a r t i n [5.3].
R E F E R E N C E S
5.1.
Parcel, R. B.,and M o o r m a n, R. B. B . , Analysis

of S l a i i c a l ' . y I n d e l e r m i n a i c
John Wiley & Sons, Inc., New York, 1955, p. 430.
5.2. Maney, G . A . , E n g i n e e r i n g Sludies,''No.
Simclures,
I, University of Minnesota. 1915.
5.3. Martin, H . C , I n i r o d u a i o n lo M a t r i x M e l l w d s o f S l r u a u r a l Analysis,

Book Company, New York, 1966, Chaps. 4 and 8.
McGraw-Hill
(fl
tc)
Figure P5.2
Figure P5.2 (continued)

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Sec. 5.

Uniform Straight Beam Element

equation of equ,^ilibriun! for a beam element in the unloaded region.

Tlie solution to E q . (5.1) is a cubic polynomial function o t x ,

t'(.x) = a , + Oj.x -I- fljX^ + QtX^

Application of boundary conditions (5.3) yields

In inverse form, Eq. (5.4) becomes

u(.x) = u, -f x(?, - y r " !

After rearranging, we obtain the final form:

Beam and Plane Frame Elements

Uniform Straight Beam Element

<?i = I and t;, = t'2 =

Tlie functions obtained in Eq. (5.7) are called s h a p e f u n c t i o n s . If we vary the

It is seen that the deflection curve represented by the displacement

where F, is the nodal force or moment, q, the nodal displacement or.rotation

Figure 5.2 Plots of the four shape func

Beam and Plane Frame Elements

Substttutrng tnc displacement function (5.6) into the strain energy

Equations (5.12) can be generalized to the standard form

Uniform Straight Beam Element

The method using shape functions to derive the stiflness matrix as

By using the same procedure, we obtain the stifiness equations.

Beam and Plane Frame Elements

Alternatively, we can write the strain energy expression as one-half of

Beam Element Oriented Arbitrarily

We then take moment about nodal point 2,

= (first row)(L) - (second row) - (founh row)

Although in separate forms, the two strain energy expressions in Eqs.

0" ' L'

which again satisfies moment equilibrium condition.

Equilibrium. If we consider the beam element as shown in Fig. 5.1 as

Beam and Plane Frame Elements

Arbitrarily oriented plane frame element.

are two forces X , Y, and a bending moment M , respectively, at each nodal

When a truss bar element and a beam element are combined, we

Beam Element Oriented Arbitrarily

Axial-Dcxural beam element oriemed along the x axis.

Beam and Plane Frame Elements

Beam Element Oriented Arbitrarily

where A and fi are direction cosines and sines defined as

This transformation matrix was derived in Chapter 2. It has been proven to

quation (5.26) can be written in inverse form,

Making use of the orthogonal property of matrix [T], we obtain

Flfort 5.5 Transfornialion of an axial-llexural beam clement from local ( i , v) to

The product [T]''[kIT) is called a c o n g r u e n t Iran.tformation.

Beam and Plane Frame Elements

Application of Beam Elements

TTie stiflness equations for a plane frame element oriented at an

Py = V j o f element 1-2 + Y^ of element 2-3

For element 1-2, we have

P , = A f i o f element 1-2 + A / j of element 2-3

For element 2-3, we have

Beam and Plane Frame Elements

Application of Beam Elements

We then rearrange the sequence o f the columns:

and the following externa! loading conditions:

P, = unknown reaction force at point I

P^ = unknown reaction moment at point 1

^5 = unknown reaction force at point 3

Beam and Plane Frame Elements

element 1-2, we have, from E q . (5.33),

Appliealion of Beam Elements

element 2-3, we have, from E q . (5.34),

Beam and Plane Frame Elements