06-Bending Beams

SME 3033 – FINITE ELEMENT METHOD
Bending of Prismatic Beams

(Initial notes designed by Dr. Nazri Kamsah)
Steel I-beams used in a roof construction.

5-3 General Loading Conditions
For our analysis, we will consider three types of loading, as illustrated
below.
Note: Positive loads are shown.
These are: Global coordinate system.
a) Distributed load, p, over a length l;

b) Concentrated load, Pm, at point m;
c) Concentrated moment, Mk, at point k.
5-4 Deformation of the Neutral Axis
Due to the applied loads, the beam experiences an in-plane (x-y plane)
deformation.
The deformed shape of the beam’s neutral axis is shown.
Note: Positive deformation is shown.
Deformation at any point is characterized by two parameters:

a) Vertical deflection, v
b) Rotation or Slope, v’
5-5 Elementary Beam Equations
For small deformations, elementary beam theory states,
M  My d 2v M
stress,  y strain,    curvature, 2 
I E EI dx EI
Note:
The beam’s cross-section
is considered symmetric
with respect to the plane of
loading (x-y plane).
5-6 Finite Element Formulation
The beam is subdivided into four sections or elements, connected by nodes.
Each node has 2 degrees of freedom. At node i, they are 2 displacement
components: Q2i-1 (vertical deflection) and Q2i (slope or rotation).
x Global coordinate
system
Positive
deformations
 Local coordinate system
q  v1 v'

1 v2 v ' T
2
5-7 Hermite Shape Function
We define Hermite shape functions, so as to obtain the deformation at
any point along a single beam element. It is given in a general form,
H i  ai  bi  ci 2  di 3 i  1,2,3,4
Note: a, b, c, and d are coefficients.

The 4 shape functions are expressed in terms of , as
H1 
1
4
1   2 2    or
1
4
2  3   3 
H 2  1      1
1
4
2
or
1
4
1  2   3 
H 3  1    2   
1
4
2
or
1
4
 2  3   3 
H 4  1      1
1
4
2
or
1
4
1    2   3 
Values of the Hi at local nodes 1’ ( = -1) and 2’ ( = +1) are,
H1 H1’ H2 H2’ H3 H3’ H4 H4’
 = -1 1 0 0 1 0 0 0 0
=1 0 0 0 0 1 0 0 1
5-8 Displacement Function
The deformation at any point on a beam element can be expressed in
terms of the Hermite shape functions as,
 dv   dv 
v    H1v1  H 2    H v  H 4 
 d  1
3 2
 d  2
We need to replace the bracket terms. Using chain rule of differentiation,
dv dv dx le dv
   
d dx d 2 dx
Recall,
2  x1  x2   x2  x1  dx le

  x  x1   1  x   
 2 1
x  x  2   2  dξ 2
 dv 
Note: The term   at local node 1 is v’1 and at node 2 is v’2.
 dx 
Substituting the bracket term, v() can now be expressed as,
le le
v    H1v1  H 2v1  H 3v2  H 4v2'
'
2 2
In a condensed matrix form,
v     H q
where  le le 
 H    H1 H 2 H 3 H4 
 2 2 
 q1   v1 
q   v ' 
q   2    1 
 q3  v2 
q4  v2' 
5-9 The Potential Energy Approach
We now develop finite element formulation for a single beam element using
the potential energy approach.
The total potential energy, pp of the entire beam is given by
2
1  d 2v 
EI  2  dx   pv dx   Pm vm   M k vk'
L L
2 0
pp 
 dx  0
m k
   
Internal strain energy Potential energy due to distributed load,
concentrated force and concentrated
moment
Note: p is the distributed load; Pm is point load at point m; Mk is the moment

applied at point k; vm is deflection at point m; vk’ is slope at point k.
5-10 Element Stiffness Matrix
The stiffness matrix [k]e for a single beam element is now derived using
the potential energy approach.
The internal strain energy of a single beam element ,
2
1 L  d 2v  le …..(i)
U e   EI  2  dx with dx  d
2 0  dx  2
We need to express (d2v/dx2) in terms of H,  and le. Recall,

dv 2 dv d 2v  4 d 2v 
   2 2 
dx le d dx 2
 e
l d  
Assignment:
Substitute v = [H]{q} and simplifying, yields Derive the term Ue=f()
from eqn (i)
2 T
 d 2v  T 16  d H   d H 
2 2
 2   q 4  2   2  
q …..(ii)
 dx  le  d   d 
Also,
 d 2H  3   1  3  l e 3  1  3  l e  …..(iii)
  
2        
 d   2  2 2 2  2  2
Substitute Eqs.(ii), and (iii) into Eq.(i) and substituting dx = (le/2)d, we obtain,
 9 2 3 9 2 3 
 4    1  3  le    1  3  le 
8 4 8
 
  1  3  2  1  9  2 
2 2
3
   e l     1  3  le   le 
1 T 8EI  4  8  16  
Ue  q 3   d q
1
2 le   9 2 3 
  e
1
    1  3 l
 4 8 
  1  3  2 
2
 Symmetric   le 
  4  
Integrating each term in the matrix and noting that,

1 2 1 1
1      d  0;  d  2;
2
d ;
3 1 1
the internal strain energy can now be written in condensed matrix form as,
Ue  q k  q
1 T e
2
where [k]e represents the element stiffness matrix, given by
q1 q2 q3 q4 Connectivity with local

nodal DOFs
 12 6le 12 6le 
 2
6le 2le2 
EI  6le 4le
k 
e
 3
le  12 6le 12 6le 
 
 e
6l 2le
2
6le 4le2 
Exercise 5-1
An overhang beam carries transverse loads as shown.
Cross-section:
b = h = 92.12 mm;
A = 8.485e3 mm2
Model the beam using two elements. Use E = 120 GPa, and I = 6 x 106 mm4.
a) Write the stiffness matrix, [k]e for each element;
b) Assemble the global stiffness matrix, [K] for the entire beam.
5-11 Element Load Vector
The distributed load, p acts along the length of an element. It has to be
transformed into equivalent concentrated forces, acting at the nodes.
The potential energy due to the distributed load p is
L
 p   pv dx
0
le
Substitute for v   H q and dx  d we obtain,
2
le
 p   p  H q d
1
1 2
Substituting for [H] and rearranging yields,
ple  le le 
H 4   d q
1
p 
2 1  H1 2
H2 H3
2 
Expanding Hi, integrating every terms with respect to we get,
 ple ple2 ple ple2 

p     q
 2 12 2 12 
which can be written in a condensed matrix form as,
 p  f  q
eT
where {f}eT is the equivalent nodal force vector due to the distributed load
p, given by
T
 ple 2
pl 
2
f e
 ,
pl e
,
ple
,  e

 2 12 2 12 
Physical Interpretation
p
Actual loading
condition 1 2
le
ple ple
Equivalent nodal 2 2
forces 1 2
2
pl ple2
e 
12 12
T
Vector of the  pl 2
pl 
2
equivalent nodal   fe  e
pl
e ple
 e

forces  2 12 2 12 
Exercise 5-2
Reconsider the overhang beam in Exercise 5-1.
Cross-section:
b = h = 92.12 mm;
A = 8.485e3 mm2
Use E = 120 GPa, I = 6 x 106 mm4.
For the beam under the loading shown,

a) Write the vector of equivalent nodal forces for section AB;
b) Assemble the global load vector for the entire beam.
5-12 System of Linear Equations
For a single beam element with distributed load p, the system of linear
equation can be expressed as,
k q   f 
Expanding, we have
q1 q2 q3 q4
 12 6le  12 6le   v1   pl2e 
 2  '   ple2 
EI  6le 4le2  6le 2le   v1   12 
    ple 
l 3  12  6le 12  6le  v2   2 
 2  '   ple2 
 e
6l 2l 2
e  6le 4le  v2   12 
Note: Connectivity with local nodal degrees of freedom is shown.

Exercise 5-3
Cross-section:
b = h = 92.12 mm;
A = 8.485e3 mm2
Use E = 120 GPa, I = 6 x 106 mm4.
a) Assemble the global system of linear equations (SLEs);

b) Impose the boundary conditions, and write the reduced SLEs;
c) Solve for the unknown nodal degrees of freedom;
d) Find the vertical deflection, v at the middle of section AB.
5-13 Shear Force and Bending Moment
Bending Moment
Bending moment M at any point along the beam element is,
d 2v …(i)
M  EI 2
dx
It was shown that, with v     H q
d 2v 4 d 2v
 2 2
dx 2
le d
1 1 
4
 2 4 6 q1 
le
 2  6 q 2   6 q3 
le
2  6 q 4
le  8 4 8 
d 2v 1 1
 2 6 q1   2  6q2  2  6q3  2  6q4 …(ii)
1 1
2
dx le 2le le 2le
Substituting eq.(ii) into eq.(i) and simplifying yields,
M  2 6q1  3  1le q 2  6q3  3  1l e q 4 

EI
le
Note: Recall that,
 q1   v1 
 q   v' 
 2  1
  
q3  v2 
q4  v'2 
Shear Force
Shear force V at any point along the beam element,
dM d 3v
V  EI 3 …(iii)
dx dx
It can be shown that, with v     H q
d 3v 8 d 3v
 3 3
dx 3
le d
d 3v 8  1 1 
 6 q 
le
6 q   6 q 
le
6 q …(iv)
dx 3 le3  4
1 2 3 4
8 4 8 
Substituting eq.(iv) into eq.(iii) and simplifying yields,
V  3 2q1  le q2  2q3  le q4 
6 EI
le
Exercise 5-4
Cross-section:
b = h = 92.12 mm;
A = 8.485e3 mm2
Use E = 120 GPa, I = 6 x 106 mm4.
a) Estimate the bending moment and shear force at the midpoint of

section AB.
b) Compute the reaction forces at support B.
Example 5-1
For a beam with the loading shown below, determine: (a) the slopes at
nodes 2 and 3, and (b) the vertical deflection at midpoint of section 2-3.
Equivalent nodal forces for

section 2-3.
Solution
1. Stiffness matrix for each element,
Q1 Q2 Q3 Q4
 12 6  12 6 
3  
 6 4  6 2
k 1  800 10  
13
 12  6 12  6
 
 6 2 6 4 
Q3 Q4 Q5 Q6
 12 6  12 6 
3  
 6 4  6 2
k 2  800 10  
13
 12  6 12  6
 
 6 2  6 4 
2. Assemble global stiffness matrix for entire beam,
Q1 Q2 Q3 Q4 Q5 Q6
 12 6  12 6 0 0
 6 4  6 2 0 0 
 

5  12  6 24 0  12 6  N
K   8  10  
 6 2 0 8  6 2 
m
 0 0  12  6 12  6
 
 0 0 6 2 6 4 
3. Equivalent nodal force vector due to  6000

distributed load p, on element 2   1000 
 
 f 2   N, Nm
 6000
 1000 
4. Assemble global load vector,  0 
 0 
 
 6000
F    
  1000 
 6000
5. Write the global system of linear  
 1000 
equations,
 12 6  12 6 0 0  Q1   0 
 6 4  6 2 0 0  Q   0 
  2   

5  12  6 24 0  12 6  Q3   6000
8 10      
 6 2 0 8  6 2 Q
 4    1000 
 0 0  12  6 12  6 Q5   6000
    
 0 0 6 2  6 4  Q6   1000 
6. Impose the boundary conditions. We have,
Q1  Q2  Q3  Q5  0
Using the elimination method, the global SLEs reduced to,
8 2 Q4   1000
8  10 
5
   
 2 4  6  
Q 1000 
7. Solving for the unknown degrees of freedom, we obtain,
Q4   2.679  10 4 
  4  radians
 6   4.464  10 
Q
which are the slopes at nodes 2 and 3 respectively.
8. The vertical deflection at any point on the element is given by,
v  H1q1  H 2 q2  H 3q3  H 4 q4

le le
2 2
At the midpoint of the element 2,  = 0. So that,
H1 
1
1   2 2     1 1  02 2  0  1
4 4 2
H 2  1      1  1  0 0  1 
1 2 1 2 1
4 4 4
H 3  1    2     1  0 2  0 
1 2 1 2 1
4 4 2
H 4  1      1  1  0 0  1  
1 2 1 2 1
4 4 4
Also, for element 2, q1 = 0, q2= Q4 = -2.679e-4, q3 = 0, q4 = Q6 = 4.464e-4.
Substituting these into v(), we get
v0  H1q1 
le l
H 2 q2  H 3q3  e H 4 q4
2 2

 1  1 
 1  1  1 

 0      2.679 10 4   0      4.464 10 4
1

2  2  4  4  2  4 
v0  8.93 10 5 m
4-14 Plane Frame Structure
Plane structures is made up of rigidly connected members. Each member
can be treated as a beam. Axial loads exist, thus axial deformations occur
in frame structures. Elements of the frame structure can be in different
orientation.
Consider a single frame element.

Note: Each local node has three
degrees of freedom, i.e. two
displacement components and
one rotational component.
Nodal displacement vector in global coordinate system is given by:
q  q1 q2 q3 q4 q5 q6 
T
Nodal displacement vector in local coordinate system is given by:

q'  q1 ' q2 ' q3 ' q4 ' q5 ' q6 '
T
Note that the rotational components, q3’ = q3 and q6’ = q6,
The local DOFs transform into the global DOFs according to a relation
q'  Lq
where [L] is the transformation matrix given by,
 l m 0 0 0 0 
 m l 0 0 0 0 

 0 0 1 0 0 0 
L   
 0 0 0 l m 0 
 0 0 0 m l 0 
 
 0 0 0 0 0 1 
Note: l and m are the direction cosines for the frame element.
Note: q2’, q3’, q5’, and q6’ are the beam degrees of freedom, while q1’ and q4’
are similar to the displacements of a 1-D element. Combining the stiffness
matrices for a beam and 1-D elements gives stiffness matrix for a frame
element, i.e.
q’1 q’2 q’3 q’4 q’5 q’6
 EA EA 
 l 0 0  0 0 
le
 e 
 12 EI 6 EI 12 EI 6 EI 
 0 0  
le3 le2 le3 le2
 
 6 EI 4 EI 6 EI 2 EI 
 0 0  
le2 le le2 le
 k '   EA 
e
EA 
  0 0 0 0 
 le le 
 12 EI 6 EI 12 EI 6 EI 
 0   0  
 le3 le2 le3 le2 
 6 EI 2 EI 6 EI 4 EI 
 0 0  
 le2 le le2 le 
As shown in the derivation of a truss element, the element strain energy is

given by:
1
    q '
T e
Ue  q ' k '
2
1
U e  q  L   k '  L q
T T e
Therefore the element stiffness matrix for a single frame element,

in global coordinates is:
k    L k '  L
e T e
Element Force Vector
Suppose a uniformly
distributed load p acts on a
frame element.
We need to trans-form p
into equiva-lent nodal
forces.
It can be shown that:
q '  f '  q  L  f '

T T T
T
 pl e pl2
pl e pl 
2
where  f '  0 e
0  e
 (in local coordinate)
 2 12 2 12 
Recall,  f   LT  f '

Example 4-2
For a portal frame structure shown, determine the displacements and
rotations at joints 1 and 2.
Solution
Step 1: Element Element No 1st Node 2nd Node
connectivity
1 1 2
2 3 1
3 4 2
Step 2: Element stiffness matrices

Element 1
Q1 Q2 Q3 Q4 Q5 Q6
 141 .7 0 0  141 .7 0 0 
 
 0.784
 0 0.784 56.4 0 56.4 
 0  56.4 2708 
k  k ' 
1 1
 10 
4
56.4 5417 0

  141 .7 0 0 141 .7 0 0 
 0  0.784  56.4 0 0.784  56.4
 
 0 56.4 2708 0  56.4 5417 
Element 2 & 3 (Local coordinate)
For element 2 Q7 Q8 Q9 Q1 Q2 Q3
 212.5 0 0  212.5 0 0 
 0 2.65 127 0  2.65 127 
 
 0  127 4063 
   
2  3 
k '  k '  10  4
 212 .5
127
0
8125
0
0
212 .5 0 0

 
 0  2.65  127 0 2.65  127
 
 0 127 4063 0  127 8125 
The transformation matrix [L] for element 2 and 3, where l = 0 and m =1, is as
follows:
0 1 0 0 0 0
 1 0 0 0 0 0

0 0 1 0 0 0
L    k    L k '  L
2 T 2
0 0 0 0 1 0
0 0 0  1 0 0
 
 0 0 0 0 0 1
Element 2 & 3 (Global coordinate)
 2.65 0  127  2.65 0  127
 0 212 .5 0 0  212.5 0 
 
  127 4063 
   
k 2   k 3   10 4 
 2.65
0
0
8125 127
127 2.65
0
0 127

 
 0  212.5 0 0 212.5 0 
 
  127 0 4063 127 0 8125 
Step 3: Assemble the global stiffness matrix

 144.3 0 127  141.7 0 0 
 0 213 .3 56 .4 0  0.784 56 .4 
 
 127 56.4 13542 0  56.4 2708 
K   10 4  
  141.7 0 0 144 .3 0 127 
 0  0.784  56.4 0 213.3  56.4
 
 0 56.4 2708 127  56.4 13542 
Step 4: Establish
 3000 
the load vector   3000 
 
 72000
F    
 0 
  3000 
 
 72000
Step 5: Write the system of linear equations K Q  F 

 144.3 0 127  141.7 0 0  Q1   3000 
 0 213 .3 56 .4 0  0.784 56 .4  Q    3000 
  2   
 127 56.4 13542 0  56.4 2708  Q3   72000
   
4
10  
  141.7 0 0 144 .3 0 127 Q
 4   0 
 0  0.784  56.4 0 213.3  56.4 Q5    3000 
    
 0 56.4 2708 127  56.4 13542  Q6   72000
  
Step 6: Solving the system of linear equations gives us the unknown

displacements and rotations, i.e.
 0.092 in 
  0.00104 in 
 
  0.00139 rad 
Q   
 0.0901 in 
  0.0018 in 
 
 3.88  10 rad 
5

06-Bending Beams

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06-Bending Beams

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SME 3033 – FINITE ELEMENT METHOD

Bending of Prismatic Beams

Steel I-beams used in a roof construction.

These are: Global coordinate system.

a) Distributed load, p, over a length l;

Note: Positive deformation is shown.

Deformation at any point is characterized by two parameters:

q  v1 v'

H i  ai  bi  ci 2  di 3 i  1,2,3,4

Note: a, b, c, and d are coefficients.

Values of the Hi at local nodes 1’ ( = -1) and 2’ ( = +1) are,

H1 H1’ H2 H2’ H3 H3’ H4 H4’

Substituting the bracket term, v() can now be expressed as,

Note: p is the distributed load; Pm is point load at point m; Mk is the moment

We need to express (d2v/dx2) in terms of H,  and le. Recall,

Integrating each term in the matrix and noting that,

q1 q2 q3 q4 Connectivity with local

Expanding Hi, integrating every terms with respect to we get,

 ple ple2 ple ple2 

which can be written in a condensed matrix form as,

Use E = 120 GPa, I = 6 x 106 mm4.

For the beam under the loading shown,

Note: Connectivity with local nodal degrees of freedom is shown.

Use E = 120 GPa, I = 6 x 106 mm4.

a) Assemble the global system of linear equations (SLEs);

Substituting eq.(ii) into eq.(i) and simplifying yields,

M  2 6q1  3  1le q 2  6q3  3  1l e q 4 

Note: Recall that,

Substituting eq.(iv) into eq.(iii) and simplifying yields,

Use E = 120 GPa, I = 6 x 106 mm4.

a) Estimate the bending moment and shear force at the midpoint of

Equivalent nodal forces for

3. Equivalent nodal force vector due to  6000

which are the slopes at nodes 2 and 3 respectively.

8. The vertical deflection at any point on the element is given by,

v  H1q1  H 2 q2  H 3q3  H 4 q4

Consider a single frame element.

Nodal displacement vector in global coordinate system is given by:

Nodal displacement vector in local coordinate system is given by:

As shown in the derivation of a truss element, the element strain energy is

Therefore the element stiffness matrix for a single frame element,

q '  f '  q  L  f '

Recall,  f   LT  f '

Step 2: Element stiffness matrices

Step 3: Assemble the global stiffness matrix

Step 5: Write the system of linear equations K Q  F 

Step 6: Solving the system of linear equations gives us the unknown

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