Applied Mathematics and Mechanics Published by Shanghai University,

(English Edition, Vol 25, No 10, Oct 2004) Shanghai, China

9 Committeeof Appl. Math. Mech., ISSN 0253-4827 Article ID: 0253-4827(2004)10-1166-10

SOLUTION OF GENERALIZED COORDINATE FOR WARPING

FOR NATURALLY CURVED AND TWISTED BEAMS*

YU Ai-min ( ~ ) 1 , YI Ming ( ~ ~])2

(1. Key Laboratory of Solid Mechanics of MOE, Tongji University,

Shanghai 200092, P.R. China;
2. Institute of Automobile, Tongji University, Shanghai 200092, P.R. China)
(Communicated by WU Jia-long, Original Member of Editorial Committee, AMM)

Abstract: A theoretical method for static analysis of naturally curved and twisted beams
under complicated loads was presented, with special attention devoted to the solving process
Of governing equations which take into account the effects of torsion-related warping as well
as transverse shear deformations. These governing equations, in special cases, can be
readily solved and yield the solutions to the problem. The solutions can be used for the
analysis of the beams, including the calculation of various internal forces, stresses, strains
and displacements. The present theory will be used to investigate the stresses and
displacements of a plane curved beam subjected to the action of horizontal and vertical
distributed loads. The numerical results obtained by the present theory are found to be in
very good agreement with the results of the FEM results. Besides, the present theory is not
limited to the beams with a double symmetric cross-section, it can also be extended to those
with arbitrary cross-sectional shape.
Key words: naturally curved and twisted beam; St. Venant torsional warping function;
generalized coordinate for warping; the minimum potential energy principal;
variational equation
Chinese Library Classification: TB125 Document code: A
2000 Mathematics Subject Classification: 74K10; 74S30

Introduction
There exists much literature on linear and/or nonlinear static and/or dynamic analysis of
solid cross-sectional straight and curved bars EI-6]. However, even for the small displacement
analysis of naturally curved and twisted beams, there has not been any satisfactory solution up to
now. Washizu E7] presented an approximate theory of the beams under complicated loads and
derived a system of governing equations to the statically determinate problem of the beams.
Because of the complexity of solving such equations for various boundary conditions, an
analytical method dealing with the effects of torsion-related warping as well as transverse shear

* Received date: 2002-12-10; Revised date: 2004-06-11

Biography: YU Ai-min (1948 ~ ), Professor (Tel : + 86-21-62276787;E-mail:aimin.yu@163 .corn)
1166
 Warping for Naturally Curved and Twisted Beams 1167

deformations has not been found so far. The objective of this paper is to present an analytical
method for the study of naturally curved and twisted beams, and then solutions to this problem
can be obtained by solving the governing equations of the beams. Static analysis has been
implemented and an example is given.
Let the locus of the cross-sectional centroid of a beam be a continuum curve in space, the
tangential, normal and bi-normal unit vectors of the curve l are t , n and b , respectively. The
Frenet-Serret formulae, for a smooth curve, are
t' = k i n , n' = - kit + kzb, b' = - kzn, (1)
dt
where ( t ) ' - ds' s, kl and k2 are arc coordinate, curvature and torsion of the curve,

respectively.
In the cross-section of the beam we introduce 4- and 77-directions in coincidence with the
principal axes through the centroid O1, as shown in Fig. 1. The angle between the ~-axis and
normal n is represented as 0, which is generally a function of s. If the unit vectors of O 1~ and
O1 r/are represented by ie and i v , then

{ ir = ncos0 + b s i n 0 ,
iv - n s i n 0 + beos0. (2)
From Eq. (1) the following expressions are obtained
t' = k~i~- k~i T,
i'e - k Tt + k si T, (3) <__L2) '
i'~ k~ t - k, i~,
Fig. 1 Geometry of the beam
inwhichk~ = klsinO,kr = klcosO,k, = k2 + 0 ' .
The constitutive equations can be written as
a, = Ee,,, rse = 2Ge,~, r,~ = 2 Ge~v, (4)
in which E is Young' s modulus of elasticity and G is the shear modulus of the material.

1 Internal Forces, Equilibrium Equations and Geometry Equations

Simplifying stress vectors to the centroid O 1 on the cross-section F , the principal vector Q
and principal moment M can be obtained, of which components are respectively denoted by Q,,
Qr QT and M~, M e , M T, so
Q = Q , t + Qeie + M vi T,
M = M , t + M~ie + M v i v,
where Q, is the axial force, Qe and QT are the
shear forces, M, is the torque, M e and M v are the
bending moments, as shown in Fig. 2. The
external forces and moments per unit length on the
axis are indicated by p and m as
p = p , t + pr + PTiT' Fig.2 Stress resultants developed on a typical
beam element
m = m st + m eie + m v i v,
 1168 YU Ai-min and YI Ming

The equilibrium equations are

a~
as Q } " [ K ] . { Q } + { p } = {0}
(5)
d{M}- [K].{M}- {H}.{Q}+ {m}= {0},

where
{Q}: [Q, Q, Qv] T' {M}= [Ms Me Mr/]T,
{p}= [p, p~ pv] T, {m}= [m s me mv]T ,

[ K] =
I~
The general solutions are Es'9]
- kv
ke
0
- ks
, [ H] =
[! ~
0
- 1
.

{M}: [A]'{{Mo}+~0[A]T'([H]'[A]'({Qo}+ {Q'')- {m})ds}, (6)

where { Qo} and { Mo} are integration constants, { Q" } = - fi[A]T{p }ds. If the base vectors
of special fixed right-handed rectangular coordinate system are i x , iy, i~, then

[A] = i," i~ i~ " iy ie. i~ I . (7)

1
i v "i x i v .iy i v .i,J
The geometry equations are Is'9]
a{
ds r [K].{r {o~} = C0}
(8)
d{u}- [K].{u}- { H } . { ~ p } - { e } = {0},

where
{ ~ } = [ 9s 9* 9V] T, {U} = [U s U~ UV] T,
{o~}= [o~s ,o, ~,vlT, {,}= [~, ~, %IT
The general solutions to the geometry equations are

(9)
{u}= [A]. {U0}+ [A]T'({$}+ [H]'[a]({cP0}+ {r

in which q,o} and { U0} are integration constants, { qJ" } = fs[ A ] T. { r }ds.
d0
2 The St. Venant Torsional Warping Function and Equivalent Constitutive
Equations
Assuming that the deformations of the beam consist of stretching, bending and torsion, then
the displacement field can be written in the following form:
 Warping for Naturally Curved and Twisted Beams 1169

u = Wt + Uie + Vi,1, (10)

in which

u = u~(s) - ,z~o,(s), v = uv(~) + ~o,(s),

here, ~o( $, r]) is the warping function of the St. Venant torsion of a cylindrical shaft which has
the same cross-section as the beam under consideration [1~ . Eq. (10) takes into account the
effects of torsion-related warping as well as that of transverse shear deformations. The
distributions of strain e,,, e,e and e,v, on cross-section, are

2 "~/--ggese: % - rPJ~ + [ qCgg( BJff) + kv ~~]a ' (ll)

2~Tgesv : e ~ + ~o, + [ ~ f g ( ~ - ~ ) - k e ~ ] a ,

.eee = e,/,~ = eev = 0 ,

where e,, %, %, % , ~oe, o~v are the same as Eq. ( 8 ) , and a is a generalized coordinate for
warping. Assume that the curvature is small enough to assure that [73
~g~l.
Introducing stress resultants and moments defined by

(12)

Substituting Eq. (11) into Eq. ( 4 ) , then substituting the results obtained into Eq. ( 1 2 ) , the
equivalent constitutive equations described with generalized strains and coordinate for warping can
be obtained as follows:
Qs = Qs(e,, %, ev, ~o,, co~, oJ~, a , a ' ) ,
Q~ = Qe(e,,%,%,%,oor ),
Q~ = Qv(e,,%,ev,%,w~,o~v,a,a'),
(13)
Ms = M,(e,,%,e~,%,ooe,wr

My = Mv(e,,%,%,w,,oo~,wv,a,a').
The minimum potential energy principle of the entire beam can be written as

~u-~fI({p}T'{u}+ {m}T.{~p})ds = 0. (14)

The equilibrium equations ( 5 ) described with generalized displacements can be derived and
another equation which involves the St. Venant torsional warping function is
 1170 YU Ai-min and YI Ming

At the same time, static boundary conditions at the ends of the beam can also be obtained.

3 Simplification and the Solving Process of the Generalized Coordinate for

Warping

Equations for the static problem of the beam include: the variational equation ( 1 4 ) , the
geometry equations ( 8 ) , and the equivalent constitutive equations (13) as well as Eq. ( 1 5 ) . If
the beam is assumed to have a doubly symmetric cross-section about axes O1~ and 0 1 7 , the
following properties to the warping functions are given
q~($,r/) = - ~o(- $ , 7 ) =- ~o(~, - r/). (16)
Then Eq. (13) can be reduced to
Q, = EAoe, + E k , D a , Qe = . G A o G e e e , Q,1 = GAoG,~%,
(17)
M, GJa + GIp(w, - a ) , M e = EI ewe , M~ = EI~w~,
in which, A0 is the area of the cross-section, I e and I T denote the area moments of inertia of the
cross-section around the ~- and ~ axes, and Ip = I e + 17 . The shear strain distributions Ge and Gv
can be obtained for the beam' s section In] , and the quantity J is St. Venant torsional rigidity of
the cross-section defined by

while D = lp - J . Substituting Eq. ( 11 ) into Eq. ( 4 ) , then substituting the results obtained into
Eq. ( 1 5 ) , and by application of Eq. ( 1 6 ) , we have
EI'a" + GD ( w, - a ) - EDk,e, -

+ o:0.

Substituting the 1st and the 4th expressions of Eq. ( 1 7 ) into Eq. ( 1 8 ) , we establish the
differential equation of a :
IDGJ D2(k,) 2 G(kl) 2 0 2

?Z0 +
Dk,

where
p•/;M,(s)- --Q,(s)
PEAo
= 0, (19)

Eq. (19) can be written in the form

a" + q ( s a = f(s). (20)
This is a second order ordinary non-homogeneous linear differential equation with variable
coefficients. The solution to such an equation is the sum of two functions a c, the complementary
solution to the homogeneous equation,
 Warping for Naturally Curved and Twisted Beams 1171

a"c + q ( s ) a c = 0 (21)
and any particular solution a * to
(a*)" + q(s)a* = f(s). (22)
Once the relation among kl, k, and arc coordinate s is determined, we may find its solution. The
general solving steps are as follows.
Let aa ( s ) and a2( s ) be any two linear independent solutions to the homogeneous equation
(21), then the complete solution to Eq. (20) is
= cl~,(s) + c~(s) + ~',
in which a * is a particular solution to F_xl . ( 2 0 ) . Thus, { to } and { ~ } can be expressed with
{ Q }, { M } , the generalized coordinate for warping a and integration constants cl, c2. Now the
rest is to determine integration constants {Qo}, {M0}, {q%}, { Uo} as well as cl and c 2.

4 Generalized Coordinate for Warping of a Curved Coplanar B e a m under

Horizontal and Vertical Distributed Loads
k, = 0 and 0 = 0 in Eq. (3) are just the situation of a plane curved beam (see Fig. 3). Fix
the origin of the rectangular coordinate system at the end of the beam ( s = 0 ) , the axis of the
beam being on the plane Oxy. The loads acting are
{m}= {0}, { p } = [0 Pe pv] T.
If the axis of the beam is a circle with radius a , we
have
s 1
fl = -a - , k rl = k = -a- ,
x = asin/~, y = a(1- cos/~). 0 y
Eq. (19) can be reduced to
a" -
( DGJ+k2I'GIp
)PEI, D
a + ~M,(s) = O.
J
(23)
The solution to Eq. (23) must be
a = clch~s + c2shas + a ~ (24) • A x i curved
s ofbeam
a plane

where

D
= •/G(DJ + k2_F'Ie)
l-'EIp
Fig.3 Axis of a plane curved beam

Denote f - r'EIp ' the complete solution of Eq. (23) becomes

a = clchas + c2sh6s + (k2 f+ ~2){ Mo,cosfl + Moesinfl-

Qo,~a[cosfl- _~(k 2 + t i 2 ) ] + q a 2 I s i n f l - s ( k 22+) a2a ]}" (25)

Using Eqs. (6) and ( 9 ) , we have
 1172 YU Ai-min and YI Ming

Ms = Mosc~ + Moesinfl + QovY - P,7a ( s - asin/3),

M e = - Mossinfl + Moecosfl + Qo,lX - p,lay,

M, 7 = Mo,1 + Q o , y - Qoe x + p e a y ,
Qs = Qo, cosfl + Q o # i n / 3 - p e y ,
Qe = - Qossinfl + Q o e c o s p - p e x ,

Qv = Qo,1 - P g ,

9s = 9o~COS/3 + 9 o e s i n f l + cosfl~o(OOscosfl - ~oesinfl)ds +

s i n f l ~ i ( w , sinfl + ~oecosfl)ds,

9e = - 9o~sinfl + 9 o e e ~ - sinfl o ( % e o s ~ - coesin~)ds +

eo8/~ o?
(26)

us = Uoscosfl + Uoesinfl + 9 o d + c~162176 - r +

sin/3f2(e, sinp + e e c o s / 3 ) d s - cospf2(sin,ef2o.,,Aslds+

tte = - Uossin/~ + Uoec~ + 9o,1 x - sin (escosfl - eesin/~)ds +

0

cos (r + r + sin sin ds +

0 0

u, 1 = Uo~ + 9osY - 9oe x + + sin (o~scos fl - w e s i n / 3 ) d s -

0

COSflf S0( % s i n / 3 + w, c o s f l ) d s ] d s ,

where Mos, Moe, Mo v , Qos, Qoe, Qov are the values of Ms, M e , M v , Qs, Qe, Qv at the end s = 0 ,
and 9 o s , (,Ooe, 9o~, Uos, Uoe, Uov are the values o f 9 s , 9 e , 9~, Us, Ue, U~ at s = 0,6o s , w e and es,
% are described with M , , M e , Q , , Q,1 and a b y E q . ( 1 7 ) . My and Qe are equal to z e r o .
If the b e a m is fixed at two ends s = 0 and s = l , the b o u n d a r y conditions are
s = O(p = 0), Uo, = Uoe = Uo~ = O, 9os = 9oe = 907 = O, a = O,
s = l ( / 3 = /3z), U~, = U~ = Ut~ = O, 9is = 9 ~ = 91,1 = O, as = O,
where I = h a , the integration constants d e t e r m i n e d b y the a f o r e m e n t i o n e d conditions are
 Warping for Naturally Curved and Twisted Beams 1173

Qo, = - pe a , Qoe = o, Qo,1 = P,1-2-,

Mo, = p,laZ( rC2 _ 4 , Mo~ = _ p,laZ, Mo,1 = 0

Cl = p,laZ [ 4,/" _ 7rf] (27)

rt(k z + 62) 2t~ 2 ,
fp,la 2 [re(k2 + a 2 ) 4] 1
c2 = - c l e t h ( ~ r r a ) + ( k 2 + 62) 2t~e - 7r s h ( 6 ~ a ) '

So far, the solutions to this problem have been obtained. Fig. 4 illustrates the uniform elliptical
cross-section of the beam, which is made of steel with the following properties:
E = 2. 106 x 105MPa, G = 0 . 8 1 6 x 105 MPa,
d = 7 cm, b = 3 cm, a = 48 cm.
~2 _ ~2

The St. Venant torsional warping function 9 = ~2 +

- b2 @.
We let UA and lib present the displacements in the ~-
7~
and r/- directions o f points A and B at the middle (fl = -~-)

of the beam shown in Fig. 4 , respectively, and Wc present

the displacement in the s-direction of point C on the cross-

section (fl = 4 ) ' Theoretical results for UA, Vn and Wc are

obtained using the equations developed in this paper and are Fig. 4 Elliptical cross section of
compared with a three-dimensional finite element analysis the beam
(referred as the FEM results), according to the ANSYS
program. To analyze the plane curved beam shown in Fig. 3 by the finite element method, we
partition the beam into 1 477 three-dimensional solid elements ( S O L I D 7 2 ) , and the total
numbers of nodal point are 4 2 9 9 . These cases for different values of Pc a n d p v are shown in
Figs.5(a) - (e). It is evident that the theoretical results are in close agreement with the FEM

0. 020 0.03r
fl = Tt,/2
0.016 -- Present theory Present theory
0.02I
--- FEM . . . . FEM
t~ 0.012
~0"~I - .... ..................
0.008

0.004
i J h i i i i i i - 0.01'/ . . . . . . . . .
I 0.4 0.8 1.2 16 2,0 0 0.2 0.4 0.6 0.8 .0
p~l( Nlnnn) p~l(Nlmm)

Fig.S(a) Horizontal displacement of point A rig.S(b) Horizontal displacement of point A

at the middle of the beam under at the middle of the beam under
uniformly distributed loads pC = uniformly distributed loads pe and
1 N / m m and p~ P)l = E N / r a m
 1174 YU Ai-min and YI Ming

results. A graph f o r Va is given in F i g . 5 ( c ) . We see that the displacement V8 is independent of

the applied load pc.
It is also interesting to compute the stress distributions at the root (fl = 0) of the beam under
uniformly distributed loads. Fig. 6 shows the distributions of the axial stress as on the 7-axis of
the section under uniformly distributed loads pC = 1 N / m m and pv = 2 N / m m , respectively.
Here, the axial stress distributions are in close agreement between theoretical results and the FEM
results. In the case of slender beams, the shear stresses are small compared with the axial stresses
and can be neglected.

0.20~ 0
#=~/2
0.16 Present theory
-0.~
--- FEM
-0.~
0.12
~
O.08
ff
#=n/4
0.04 - - Present theory
-0.~8
--- FEM

0 -0.010 ,
0 0.4 0.8 1.2 1.6 2.0 0:4. ' 0'.8 ' 1'.2 ' 116 ' 2.0
p~l(Nlmm ) pv/(N/mm)

Fig.5 (c) Vertical displacement of point B at Fig.5(d) Warping displacement of point C on

the middle of the beam under 7~
the cross-section (fl = ~ - ) of the
uniformly distributed loads p~ and
beam under uniformly distributed
P~
loads p~ = 1 N/mm and p~

O.010 100
fl = t r / 4 - - Present theory
0.005 60
Present theory
- - -. FEM

0 - - - FEM
20
-0.005
-20
- O. 0 1 0
-60
-0.015
- 100
-0.020
0 0.2 04 06 08 1.0 -3
y//mm

Fig.5(e) Warping displacement of point C on Fig. 6 Axial stress distributions on r/-axis at

the root of the beam under uniformly
the cross-section (fl = --E-~)
4 of the
distributed loads pe = 1 N/mm and
beam under uniformly distributed p~ = 2 N/mm
loads pe and p~ = 2 N/ram
 Warping for Naturally Curved and Twisted Beams 1175

5 Conclusions
This paper presents an efficient procedure for analyzing naturally curved and twisted beams
under complicated loads. Special care is taken to model accurately the structural behavior of the
beams. Transverse shear deformations as well as torsion-related warping are taken into account.
Besides, the present theory is not limited to beams with a double symmetric cross-section, and
can be extended to those with general cross-sections. The comparison between the numerical
results obtained by solving the present equations and the FEM results for different values of Pc and
p~ shows excellent agreement. Finally, it should be mentioned that the close agreement between
the present theory and FEM indicates that the present theory is reliable and can be used with
confidence in a variety of engineering applications.

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