Chapter 4

Development of Beam Equations
Introduction
In this section, we will develop the stiffness matrix for a beam element, the
most common of all structural elements. The beam element is considered to be
straight and to have constant cross-sectional area. We will derive the beam element stiffness matrix by using the principles of simple beam theory.
The degrees of freedom associated with a node of a beam element are a
transverse displacement and a rotation. We will discuss procedures for handling
distributed loading and concentrated nodal loading. We will include the nodal
shear forces and bending moments and the resulting shear force and bending
moment diagrams as part of the total solution.
To further acquaint you with the potential energy approach for developing
stiffness matrices and equations, we will again develop the beam bending element equations using this approach. Finally, the Galerkin residual method is applied to derive the beam element equations.
Beam Stiffness
A beam is a long, slender structural member generally subjected to transverse
loading that produces significant bending effects as opposed to twisting or axial
effects. The bending deformation is measured as a transverse displacement and
a rotation. The degrees of freedom at each node of a beam element will be a
transverse displacement and a rotation (as opposed to only an axial displacement for the bar element).
Consider the beam element shown below. The beam is of length L with axial
local coordinate x and transverse local coordinate y . The local transverse nodal
displacements are given by d iy and the rotations by iy . The local nodal forces
i . We initially neglect all axial efare given by fiy and the bending moments by m
fects.
CIVL 7117 Finite Elements Methods in Structural Mechanics
Page 143
At all nodes, the following sign conventions are used:

1.
Moments are positive in the counterclockwise direction.
2.
Rotations are positive in the counterclockwise direction.
3.
Forces are positive in the positive y direction.
4.
Displacements are positive in the positive y direction.
The differential equation governing simple linear-elastic beam behavior can be

derived as follows. Consider the beam shown below.
Write the equations of equilibrium for the differential element:

Page 144
dx
0
(
M
dM
)
M
Vd
x
w
(
x
)
d
x
=
=
+
+

right side
2
Fy = 0 = V (V + dV ) w ( x )dx
dx 2 0
From force and moment equilibrium of a differential beam element, we get:
right side
=0
=0
wdx dV = 0
Vdx + dM = 0
or
or
V=
w =
dM
dx
dV
dx
w =
d dM
dx dx
The curvature k of the beam is related to the moment by:
M
EI
where is the radius of the deflected curve, v is the transverse displacement
function in the y direction, E is the modulus of elasticity, and I is the principle
k=
moment of inertia about y direction, as shown below.
The curvature for small slopes = dv / dx is given as:
d 2v
k= 2
dx
Therefore:
d 2v M
=
dx 2 EI
d 2v
M = EI 2
dx
Page 145
Substituting the moment expression into the moment-load equations gives:

d 2 d 2v
EI
= w (x )
dx 2 dx 2
For constant values of EI, the above equation reduces to:
d 4v
EI 4 = w (x )
dx
Step 1 - Select Element Type
We will consider the linear-elastic beam element shown below.
Step 2 - Select a Displacement Function
Assume the transverse displacement function u is:

v = a1 x 3 + a2 x 2 + a3 x + a4
The number of coefficients in the displacement function, ai, is equal to the total
number of degrees of freedom associated with the element (displacement and
rotation at each node). The boundary conditions are:
v( x = 0) = d1y
dv( x = 0)
= 1
dx
v( x = L ) = d 2 y
dv( x = L )
= 2
dx
Page 146
Applying the boundary conditions and solving for the unknown coefficients gives:
v(0) = d1y = a4
v(L ) = d 2 y = a1L3 + a2 L2 + a3 L + a4
dv(0)
= 1 = a3
dx
dv(L )
= 2 = 3a1L2 + 2a2 L + a3
dx
Solving these equations for a1, a2, a3, and a4 gives:
) (
1
1
2
3
v = 3 d1y d 2 y + 2 1 2 x 3 + 2 d1y d 2 y 21 + 2
L
L
L
L
In matrix form the above equations are:
) x
+ 1 x + d1y
{}
v = [N ] d
where
d 1y

d = 1
d 2 y
2
and
{}
[N ] = [N1 N 2 N 3 N 4 ]
N1 =
1
(2x 3 3 x 2L + L3 )
3
L
N2 =
1 3
(x L 2x 2L2 + xL3 )
3
L
N3 =
1
( 2x 3 + 3 x 2 L )
3
L
N4 =
1 3
(x L x 2 L2 )
3
L
Page 147
N1, N2, N3, and N4 are called the shape functions for a beam element.
1.000
1.000
N1
0.800
0.800
0.600
0.600
0.400
0.400
0.200
0.200
0.000
0.00
-0.200
1.000
1.00
0.000
0.00
-0.200
1.000
N3
0.800
0.800
0.600
0.600
0.400
0.400
0.200
0.200
0.000
0.00
-0.200
1.00
N2
0.000
0.00
-0.200
1.00
N4
1.00
Step 3 - Define the Strain/Displacement and Stress/Strain Relationships
The stress-displacement relationship is:

du
dx
where u is the axial displacement function. We can relate the axial displacement
to the transverse displacement by considering the beam shown below:
x (x, y ) =
Page 148
ds dx
u = y
dv
dx
dv
dx
One of the basic assumptions in simple beam theory is that planes remain planar
after deformation, therefore:
2
dx
(x, y ) = y d
Moments and shears are related to the transverse displacement as:

d 2v
(x ) = EI 2
m
dx
d 3v
V (x ) = EI 3
dx
Step 4 - Derive the Element Stiffness Matrix and Equations
Using beam theory sign convention for shear forces and bending moment we
obtain the following equations:
3
f = V = EI d v(0) = EI 12d + 6L 12d + 6L
1y
1
2y
2
1y
dx 3
L3
d 3v(L ) EI
f2 y = V = EI
= 3 12d1y 6L1 + 12d 2 y 6L2
3
dx
L
1 = m
= EI
m
2 = m
= EI
m
d 2v(0) EI
= 3 6Ld1y + 4L21 6Ld 2 y + 2L22
2
dx
L
d 2v(L ) EI
= 3 6Ld1y + 2L21 6Ld 2 y + 4L22
2
dx
L
)
Page 149
In matrix form the above equations are:

f1y
12

1 EI 6L
m
= 3
f2 y L 12
6L
2
6L
12
4L2
6L
6L
2L
6L
12
6L d1y

2L2 1

6L d2 y
4L2 2
where the stiffness matrix is:
12
EI 6L
k= 3
L 12
6L
6L
12
6L
6L
12
2L2
6L
4L
6L
2L2
6L
4L2
Step 5 - Assemble the Element Equations and

Introduce Boundary Conditions
Consider a beam modeled by two beam elements, shown below:
Assume the EI to be constant throughout the beam. A force of 1,000 lb and moment of 1,000 lb-ft are applied to the mid-point of the beam. The beam element
stiffness matrices are:
Page 150
(1)
12
EI 6L
= 3
L 12
6L
d
(2)
1y
2y
6L
12
4L2
6L
6L
12
2y
12
EI 6L
= 3
L 12
6L
2L
6L
2L2
6L
4L2
6L
d
3y
6L
12
4L2
6L
6L
12
2L2
6L
6L
2L2
6L
4L2
In this example, the local coordinates coincide with the global coordinates of the
whole beam (therefore there is no transformation required for this problem). The
total stiffness matrix can be assembled as:
12
6L
6L
0
0 d1y
12
F1y
6L
M
6L
4L2
2L2
0
0 1
1
F2 y EI 12 6L 12 + 12 6L + 6L 12 6L d 2 y
M = 3

2L2 6L + 6L 4L2 + 4L2 6L 2L2 2
2 L 6L
F3 y
0
12
6L
0
12 6L d 3 y

6L 4L2 3
0
6L
2L2
M3
0
The boundary conditions are:
d 1y = d 3 y = 1 = 0
By applying the boundary conditions the beam equations reduce to:
1,000 lb
24 0
EI
2
1,000 lb ft = 3 0 8L
L 6L 2L2
0
6L d 2 y

2L2 2
2
4L 3
Page 151
Solving the above equations gives:

875L3 375L2
lb
12EI
d 2 y
2
125L 625L
rad
2 =
4EI
2
125L 125L rad
EI
Example 1 - Beam Problem
Consider the beam shown below. Assume that EI is constant and the length is
2L.
The beam element stiffness matrices are:

d
(1)
1y
12
EI 6L
= 3
L 12
6L
2y
6L
12
4L2
6L
6L
12
2L
6L
6L
2L2
6L
4L2
Page 152
(2)
2y
12
EI 6L
= 3
L 12
6L
3y
6L
12
4L2
6L
6L
12
2L
6L
6L
2L2
6L
4L2
The local coordinates coincide with the global coordinates of the whole beam
(therefore there is no transformation required for this problem). The total stiffness
matrix can be assembled as:
6L 12 6L
0
0
12
6L 4L2 6L 2L2
0
0
12 6L
0
EI 12 6L 24
K = 3
0
8L2 6L 2L2
L 6L 2L2
0
12 6L 12 6L
0
0
6L 2L2 6L 4L2
0
The governing beam equations are:
6L 12 6L
0
0 d 1y
12
F1y
6L 4L2 6L 2L2
M
0
0 1
F2 y EI 12 6L 24
12 6L d 2 y
0
=
M

3
2
0
8L2 6L 2L2 2
2 L 6L 2L
F3 y
0
12 6L 12 6L d 3 y
0

0
6L 2L2 6L 4L2 3
M 3
0
The boundary conditions are:

d 2y = d 3y = 3 = 0
Page 153
By applying the boundary conditions the beam equations reduce to:

P
12
EI
0 = 3 6L
0 L 6L
6L
4L
2L2
6L d 1y

2L2 1
8L2 2

7L
3
d 1y
PL2
=
3
1
4EI
2
1
The positive signs for the rotations indicate that both are in the counterclockwise
direction. The negative sign on the displacement indicates a deformation in the
y direction.
6L 12 6L
0
0 7 L 3
12
F1y
6L 4L2 6L 2L2
3
M
0
0
1

F2 y P 12 6L 24
12 6L 0
0
M =
2
2 6L 2L2 1
4
L
6
L
2
L
0
8
L
2

F3 y
0
12 6L 12 6L 0
0

2 6L 4L2 0
M
0
0
6
2
L
L
3

The local nodal forces for element 1:
f1y
6L 12 6L 7 L 3 P
12

4L2 6L 2L2 1 0
1 P 6L
m
=
L
4
L
L
12
6
12
6
0
f
2y
2L2 6L 4L2 0 PL
6L
2
Page 154

f2 y
6L 12 6L 0 1.5P
12

4L2 6L 2L2 1 PL
2 P 6L
m
=
=
L
4
L
L
12
6
12
6
f
3y
0 1.5P
2L2 6L 4L2 0 0.5PL

6L
3
The free-body diagrams for the each element are shown below.
Combining the elements gives the forces and moments for the original beam.
Therefore, the shear force and bending moment diagrams are:
Page 155
Consider the beam shown below. Assume E = 30 x 106 psi and I = 500 in.4 are
constant throughout the beam. Use four elements of equal length to model the
beam.

d
(i )
iy
12
EI 6L
= 3
L 12
6L
( i +1) y
6L
12
4L2
6L
6L
12
2L2
6L
i +1
6L
2L2
6L
4L2
Using the direct stiffness method, the four beam element stiffness matrices are
superimposed to produce the global stiffness matrix. As shown on the next page.
The boundary conditions for this problem are:
d 1y = d 3 y = d 5 y = 1 = 5 = 0
Page 156
Element 4
Element 1
Element 3
Element 2
Page 157
After applying the boundary conditions the global beam equations reduce to:
24 0
0 8L2
EI
6L 2L2
3
L
0
0
0
0
0 d 2 y 10,000 lb
0
0 2
0

8L2 6L 2L2 3 =
0

0 d 4y
6L 24
10,000 lb

2L2
0
8L2 4
0
6L
2L2
Substituting L = 120 in., E = 30 x 106 psi, and I = 500 in.4 in the above equations
and solving for the unknowns gives:
d 2 y = d 4 y = 0.048 in
2 = 3 = 4 = 0
The global forces and moments can be determined as:

F1y = 5 kips
M 1 = 25 kipsft
F2 y = 10 kips
M2 = 0
F3 y = 10 kips
M3 = 0
F4 y = 10 kips
M4 = 0
F5 y = 5 kips
M 5 = 25 kipsft

f1y
12

1 EI 6L
m
= 3
f2 y L 12
6L
2
6L
4L2
6L
2L2
12
6L
12
6L
6L 0 5 kips
2L2 0 25 k ft
6L 0.048 5 kips
4L2 0 25 k ft

f2 y
12

2 EI 6L
m
= 3
f3 y L 12
6L
3
6L
4L2
12
6L
6L
2L2
12
6L
6L 0.048 5 kips
2L2 0 25 k ft
6L 0 5 kips
4L2 0 25 k ft
Page 158

f3 y
12

3 EI 6L
m
= 3
f4 y L 12
6L
4
6L
4L2
6L
2L
12
6L
12
6L
6L 0 5 kips
2L2 0 25 k ft
6L 0.048 5 kips
4L2 0 25 k ft

f4 y
12

4 EI 6L
m
= 3
f5 y L 12
6L
5
6L
4L2
12
6L
6L
2L2
12
6L
6L 0.048 5 kips
2L2 0 25 k ft
6L 0 5 kips
4L2 0 25 k ft
Note: Due to symmetry about the vertical plane at node 3, we could have worked
just half the beam, as shown below.
Page 159
Consider the beam shown below. Assume E = 210 GPa and I = 2 x 10-4 m4
are constant throughout the beam and the spring constant k = 200 kN/m. Use
two beam elements of equal length and one spring element to model the structure.

d
k (1)
12
EI 6L
= 3
L 12
6L
(2)
1y
2y
12
EI 6L
= 3
L 12
6L
6L
2y
12
6L
6L
12
2L2
6L
4L
3y
6L
12
4L2
6L
6L
12
2L2
6L
6L
2L2
6L
4L2
3
6L
2L2
6L
4L2
Page 160
The spring element stiffness matrix is:

d 3y
d 3y 3
d 4y
d 4y
k 0 k
k
k = 0 0 0
k 0 k
Using the direct stiffness method and superposition gives the global beam equations.
(3)
k
=
k
k
k
(3)
6L 12 6L
0
0
0 d1y
F1y
12

M
6L
4L2 6L 2L2
0
0
0 1
1
F2 y
12 6L 24
0
6L
0 d 2 y
12
EI

2L2
0
8L2
2L2
0 2
6L
M 2 = 3 6L
F L 0
0
12 6L 12 + k ' 6L k ' d 3 y
3y

2
2
M
0
6L
2L
4L
0 3
6L
3
0

F
0
k ' d 4 y
0
0
0
0
k'
4y
kL3
k' =
EI

d 1y = d 2 y = d 4 y = 1 = 0
6L
2L2 2 0
8L2
M 2
EI

F3 y = 3 6L 12 + k ' 6L d 3 y = P
M L 2L2
6L
4L2 3 0
3

3PL2
EI
2
7PL3
d 3 y =
EI 2
3 9PL
EI
12 + 7k '
1
12 + 7k '
1
12 + 7k '
kL3
k' =
EI
Page 161
Substituting L = 3 m, E = 210 GPa, I = 2 x 10-4 m4, and k = 200 kN/m in the

above equations gives:
d 3 y = 0.0174 m
2 = 0.00249 rad
3 = 0.00747 rad
Substituting the solution back into the global equations gives:
F1y 69.9 kN
M
1 69.7 kN m
F2 y 116.4 kN

M 2 =
F 50 kN
3y
0
M 3
F
4 y 3.5 kN
A free-body diagram, including forces and moments acting on the beam is shown
below.
Page 162
Distributed Loadings
Beam members can support distributed loading as well as concentrated nodal

loading. Therefore, we must be able to account for distributed loading. Consider
the fixed-fixed beam subjected to a uniformly distributed loading w shown the figure below. The reactions, determined from structural analysis theory, are called
fixed-end reactions. In general, fixed-end reactions are those reactions at the
ends of an element if the ends of the element are assumed to be fixed (displacements and rotations are zero). Therefore, guided by the results from structural analysis for the case of a uniformly distributed load, we replace the load by
concentrated nodal forces and moments tending to have the same effect on the
beam as the actual distributed load.
The figure below illustrates the idea of equivalent nodal loads for a general
beam. We can replace the effects of a uniform load by a set of nodal forces and
moments.
Page 163
Work Equivalence Method
This method is based on the concept that the work done by the distributed
load is equal to the work done by the discrete nodal loads. The work done by the
distributed load is:
Wdistributed = w (x ) v (x ) dx
0
where v (x ) is the transverse displacement. The work done by the discrete nodal
forces is:
11 + m
22 + f1y d1y + f2 y d2 y
Wnodes = m
The nodal forces can be determined by setting Wdistributed = Wnodes for arbitrary
displacements and rotations.
Wdistributed = Wnodes
Example 4 - Load Replacement
Consider the beam, shown below, and determine the equivalent nodal forces
for the given distributed load.
Using the work equivalence method or:
Wdistributed = Wnodes
we get:
w (x ) v (x ) dx = m
L
1 1
22 + f1y d1y + f2 y d2 y
+m
Page 164
Evaluating the left-hand-side of the above expression using w (x ) = -w and v (x )

equal to:
1
2
v (x ) = 3 d1y d2 y + 2 1 + 2
L
L
) x
) (
1
3
+ 2 d1y d2 y 21 + 2
L
L
) x
+ 1x + d1y
gives:
w v (x ) dx =
L
Lw
L2w
L2w
L2w
d1y d 2 y
1 + 2 Lw d 2 y d1y +
1 wLd1y
21 + 2
2
4
3
2
Using a set of arbitrary nodal displacements, such as:

d 1y = d 2 y = 2 = 0
1 = 1
The resulting nodal equivalent force or moment is:

L2
wL2
wL2 2 2
1 (1) =
L w + w =
m
3
2
12
4
Using another set of arbitrary nodal displacements, such as:
d1y = d 2 y = 1 = 0
2 = 1
The resulting nodal equivalent force or moment is:

wL2 wL2 wL2
m2 (1) =
=
3 12
4
Setting the nodal rotations equal zero except for the d1y and d2 y gives:
LW
Lw
f1y (1) =
+ Lw Lw =
2
2
LW
Lw
f2 y (1) =
Lw =
2
2
Page 165
General Formulation
We can account for the distributed loads or concentrated loads acting on a

beam elements by considering the following formulation for a general structure:
F = Kd F0
where F0 are the equivalent nodal forces, expressed in terms of the globalcoordinate components. These force would yield the same displacements as the
original distributed load. If we assume that the global nodal forces are not present (F = 0) then:
F0 = Kd
We now solve for the displacements, d, given the nodal forces F0. Next, substitute the displacements and the equivalent nodal forces F0 back into the original
expression and solve for the global nodal forces.
Example 5 - Load Replacement
Consider the beam, shown below, determine the equivalent nodal forces for
the given distributed load.
The work equivalent nodal force are shown above. Using the beam stiffness
equations, with the boundary conditions applied, we can solve for the displacements
wL
2 EI 12
wL2 = 3
L 6L
12
6L d 2 y

4L2 2
Page 166
Therefore:
wL4
d 2 y 8EI
= wL3
2
6EI
In this case, the method of equivalent nodal forces gives the exact solution for
the displacements and rotations.
To obtain the global nodal forces, we will first define the product of Kd to be Fe,
where Fe is called the effective global nodal forces. Therefore:
6L 12 6L 0
F e 1y
12
e
2
6L 2L2 0
M 1 EI 6L 4L
wL
e = 3
F 2 y L 12 6L 12 6L 8 EI
2
M e 1
6L 4L2 wL 6 EI
6L 2L
4
Simplifying the above expression gives:

wL
2
F e 1y 5wL2
e
M 1 12
e = wL
F 2 y
M e 2 22
wL
12
Using the above expression and the fix-end moments in:
F = Kd F0
gives the correct global nodal forces as:
Page 167
wL wL
2 2
F1y 5wL2 wL2
M

1 12 12
= wL wL =

F2 y
2
2

M 2
2
2
wL wL
12 12
wL
wL2
Example 6 - Cantilever Beam
Consider the beam, shown below, determine the vertical displacement and rotation at the free-end and the nodal forces, including reactions. Assume EI is
constant throughout the beam.
We will use one element and replace the concentrated load with the appropriate
nodal forces. The beam stiffness equations become:
P
2 EI 12 6L d 2 y
PL = 3
L 6L 4L 2
8
Therefore:
5PL3
d 2 y 48EI
= PL2
2
8EI
To obtain the global nodal forces, we begin by evaluating the effective nodal
forces.
Page 168
F e 1y
12
e
M 1 EI 6 L
e = 3
F 2 y L 12
M e 1
6L
6L
4 L2
12
6L
6L
2 L2
12
6L
6 L 5 PL 48 EI
4 L2 PL 8 EI
6L
2 L2
Simplifying the above expression gives:

P
2
F e1y 3PL
e
M 1 8
e = P
F 2 y
M e1 2
PL
8
Using the above expression in the following equation, gives:
F = Kd F0
The correct global nodal forces as:
P P
2 2 P
F1y 3PL PL PL
M

1 8 8 2
= P P =
F2 y 0
M2 2 2
PL PL
8 8 0
In general, for any structure in which an equivalent nodal force replacement is
made, the actual nodal forces acting on the structure are determined by first
evaluating the effective nodal forces Fe for the structure and then subtracting off
the equivalent nodal forces F0 for the structure. Similarly, for any element of a
structure in which equivalent nodal force replacement is made, the actual local
nodal forces acting on the element are determined by first evaluating the effecCIVL 7117 Finite Elements Methods in Structural Mechanics
Page 169
tive local nodal forces f( e ) for the element and then subtracting off the equivalent
local nodal forces f0 associated only with the element.
Beam Element With Nodal Hinge
Consider the beam, shown below, with an internal hinge. An internal hinge
causes a discontinuity in the slope of the deflection curve at the hinge and the
bending moment is zero at the hinge.
2 is zero and we can

For a beam with a hinge on the right end, the moment m
partition the matrix to eliminate the degree of freedom associated with 2 .
12
EI 6L
k = 3
L 12
6L
6L
4L2
6L
2L2
12
6L
12
6L
6L
2L2
6L
4L2
We can condense out the degree of freedom by using the partitioning method
discussed earlier. Recall, the form of kc
k c = [K 11 ] [K 12 ][K 22 ] 1 [K 21 ]
12
EI
k c = 3 6L
L
12
6L
4L2
6L
12
6L
EI 2 1
6L 3 2L 2 [6L
L
6L 4L
12
2L2
6L ]
Page 170
Therefore, the condensed stiffness matrix is:

L 1
1
3EI
k c = 3 L L2 L
L
1 L 1
The element force-displacement equations are:
f1y
L 1 d1y
1
3EI

1 = 3 L L2 L 1
m
f L 1 L 1 d
2y
2y
2 = 0
Expanding the element force-displacement equations and maintaining m
gives:
f1y
L 1
1

1 3EI L L2 L
m
= 3
f2 y L 1 L 1
0
0
0
2
0 d1y

0 1

0 d 2 y
0 2
1 = 0 gives:
The element force-displacement equations maintaining m
f1y
1

1 3EI 0
m
= 3
f2 y L 1
L
2
0 1 L d1y

0 0
0 1

0 1 L d 2 y
0 L L2 2
Page 171
Example 7 - Beam With Hinge
In the following beam, shown below, determine the vertical displacement and
rotation at node 2 and the element forces for the uniform beam with an internal
hinge at node 2. Assume EI is constant throughout the beam.
The stiffness matrix for element 1 (with hinge) is:

d
k (1)
1y
2y
a 1
1
2
a
3EI a a
= 3
a 1 a 1
0
0
0
0 d1y

0 1

0 d 2 y
0 2
The stiffness matrix for element 2 (without hinge) is:

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

d 1y = d 3 y = 1 = 3 = 0
Page 172
3 12
a3 + b3
EI
6
b 2
d 2 y P
=
2 0
6
b2
4
b
a 3 b 3P
3
3
d 2 y 3 b + a EI
=
a 3 b 3P
2
2 b3 + a3 EI
The element force-displacement equations for element 1 are:
f1y
a 1
1
3EI
2
1 = 3 a a
0
a
f a 1 a 1
2y
a 3 b 3P
3(b 3 + a 3 )EI
Therefore:
b 3P
3
3
f b + a
1y ab3P
1 = 3
m
3
b +a
f2 y b3P
3
3
b +a
Page 173
The element force-displacement equations for element 2 are:
f2 y
6b 12 6b 3
12

2 EI 6b 4b 2 6b 2b 2
m

= 3
2
b
b
b
12
6
12
6
f3 y
2
2
m
6b 2b 6b 4b
3
Therefore:
(
(
a 3 b 3P
b3 + a3 EI
a3b 2P
b3 + a3 EI
)
)
a 3P
b3 + a3
f2 y
2
m
3
f3 y a P
3
m
3
3 b + a
3
ba P
b3 + a3
Potential Energy Approach to Derive Beam Element Equations
Lets derive the equations for a beam element using the principle of minimum
potential energy. The procedure for applying the principle of minimum potential
energy is similar to that used for the bar element. The total potential energy, p, is
defined as the sum of the internal strain energy U and the potential energy of the
external forces :
p = U +
The differential internal work (strain energy) dU in a one-dimensional beam element is:
U =

1
2
dV
Page 174
For a single beam element, shown below, subjected to both distributed and concentrated nodal forces, the potential energy due to forces (or the work done
these forces) is:
= Ty v dS
S
Piy d iy
i =1
m
i
i =1
If the beam element has a constant cross-sectional area A, then the differential
volume of the beam is given as:
dV = dA dx
and the differential element where the surface loading acts is given as:
dS = b dx
where b is the width of the beam element. Therefore the total potential energy is:
2
p = 21 x x dA dx Ty vb dx Piy d iy m i i
x A
i =1
The strain-displacement relationship is:
x = y
d 2v
dx 2
Page 175
We can express the strain in terms of nodal displacements and rotations as:
12 x 6L
L3
6 xL 4L2
L3
x = y
or:
{}
12 x + 6L
L3
6 xL 2L2
d
L3
{ } = y [B]{d}
x
where [B] is:

12 x 6L
[B ] =
L3
6 xL 4L2
L3
12 x + 6L
L3
6 xL 2L2
L3
The stress-strain relationship in one-dimension is:
{ } = [E ]{ }
x
where E is the modulus of elasticity. Therefore:
{ } = y [E ][B]{d }
x
The total potential energy can be written in matrix form as:
{ }{ }
T
T
T
p = 21 { x } { x } dA dx bTy {v} dx d P
x V
If we define, w = bTy as a line load (load per unit length) in the y direction and
the substitute the definitions of x and x the total potential energy can be written
in matrix form as:
{}
{}
{}
{ }{ }
L
T
T
E 2 T T
y d [B ] [B ] d dAdx w d [N ]T dx d P
0
x A 2
p =
Use the following definition for moment of inertia:

I = y 2dA
A
Page 176
Then the total potential energy expression becomes:
{}
{}
{}
{ } {P }
L
T
EI T T
p =
d [B ] [B ] d dx w d [N ]T dx d
x 2
0
Differentiating the total potential energy with respect to the displacement and rotations ( d1y , d2 y , f1, f2 ) and equating each term to zero gives:
{}
{}
EI [B ] [B ] dx d w [N ]T dx P = 0
T
The nodal forces vector is:
{f} w [N ] dx {P } = 0
L
The elemental stiffness matrix is:
[k ] = EI [B] [B] dx
T
Integrating the above matrix expression gives:

12
6L
EI
k = 3
L 12
6L
[]
6L
4L2
6L
2L2
12
6L
12
6L
6L
2L2
6L
4L2
Galerkins Method to Derive Beam Element Equations
The governing differential equation for a one-dimensional beam is:

d 4v
EI 4 w = 0
dx
We can define the residual R as:
Page 177
d 4v
N i d x = 0
EI
0 d x 4
i = 1, 2, 3, and 4
If we apply integration by parts twice to the first term we get:
EI (v )N dx = EI (v )(N )dx + EI [N (v ) (N )(v )]

L
xxxx
xx
i , xx
xxx
i , x
xx
where the subscript x indicates a derivative with respect to x .

Since v = [N ] d , then the second derivative of v with respect to x is:
{}
12 x 6L
v xx =
L3
or
6 xL 4L2
L3
12 x + 6L
L3
{}
6 xL 2L2
d
L3
{}
v x x = [B ] d
Therefore the integration by parts becomes:

L
]{ }
(Ni ,xx )EI [B] dx {d } Niw dx + NiV (Ni ,x )m d
L
0
=0
i = 1, 2, 3, and 4
The above expression is really four equations (one for each Ni) and can be written in matrix form as:
L
{}
T
T
T
T
[B] EI [B] dx d = [N ] w dx + [N ]x m [N ] V
0
L
0
The interpolation function in the last two terms can be evaluated:
[N ]x (x = 0 ) = [0 1 0 0]
[N ]x (x = L ) = [0 0 0 1]
[N ](x = 0 ) = [1 0 0 0]
[N ](x = L ) = [0 0 1 0]
Page 178
Therefore, the last two terms of the matrix form of the Galerkin formulation become (see the figure below):
i = 1 V (0)
i =2
(0 )
m
V (L )
i =4
(L )
m
i =3
When beam elements are assembled, as shown below, two shear forces and two
moments form adjoining elements contribute to the concentrated force and the
concentrated moment at the node common to both elements.
Page 179
Problems:
11.
Verify the four beam element equations are contained in the following matrix expression.
{}
{}
EI [B ] [B ] dx d w [N ]T dx P = 0
T
12.
Do problems 4.6, 4.11, 4.19, 4.23, 4.29 and 4.34 on pages 181 - 187 in
your textbook A First Course in the Finite Element Method by D. Logan.
13.
Work problem 4.21 (on page 185 in your textbook A First Course in the Finite Element Method by D. Logan) using the SAP2000 analysis system
(you may used any available structural analysis software system). Start
with one element and increase the number of beam elements until you get
good agreement with the exact solution. Plot you results for each discretization to the exact solution. How many elements are enough to accurately
model this problem?
Page 180

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Development of Beam Equations

CIVL 7117 Finite Elements Methods in Structural Mechanics

At all nodes, the following sign conventions are used:

Moments are positive in the counterclockwise direction.

Rotations are positive in the counterclockwise direction.

Forces are positive in the positive y direction.

Displacements are positive in the positive y direction.

The differential equation governing simple linear-elastic beam behavior can be

Write the equations of equilibrium for the differential element:

From force and moment equilibrium of a differential beam element, we get:

The curvature k of the beam is related to the moment by:

moment of inertia about y direction, as shown below.

The curvature for small slopes = dv / dx is given as:

CIVL 7117 Finite Elements Methods in Structural Mechanics

Substituting the moment expression into the moment-load equations gives:

Step 1 - Select Element Type

We will consider the linear-elastic beam element shown below.

Step 2 - Select a Displacement Function

Assume the transverse displacement function u is:

CIVL 7117 Finite Elements Methods in Structural Mechanics

CIVL 7117 Finite Elements Methods in Structural Mechanics

Step 3 - Define the Strain/Displacement and Stress/Strain Relationships

The stress-displacement relationship is:

CIVL 7117 Finite Elements Methods in Structural Mechanics

Moments and shears are related to the transverse displacement as:

Step 4 - Derive the Element Stiffness Matrix and Equations

CIVL 7117 Finite Elements Methods in Structural Mechanics

In matrix form the above equations are:

where the stiffness matrix is:

Step 5 - Assemble the Element Equations and

Consider a beam modeled by two beam elements, shown below:

CIVL 7117 Finite Elements Methods in Structural Mechanics

CIVL 7117 Finite Elements Methods in Structural Mechanics

Solving the above equations gives:

Example 1 - Beam Problem

The beam element stiffness matrices are:

CIVL 7117 Finite Elements Methods in Structural Mechanics

The boundary conditions are:

CIVL 7117 Finite Elements Methods in Structural Mechanics

By applying the boundary conditions the beam equations reduce to:

Solving the above equations gives:

CIVL 7117 Finite Elements Methods in Structural Mechanics

The local nodal forces for element 2:

2L2 6L 4L2 0 0.5PL

Therefore, the shear force and bending moment diagrams are:

CIVL 7117 Finite Elements Methods in Structural Mechanics

Example 2 - Beam Problem

The beam element stiffness matrices are:

CIVL 7117 Finite Elements Methods in Structural Mechanics

The global forces and moments can be determined as:

The local nodal forces for element 1:

The local nodal forces for element 2:

CIVL 7117 Finite Elements Methods in Structural Mechanics

The local nodal forces for element 3:

The local nodal forces for element 4:

CIVL 7117 Finite Elements Methods in Structural Mechanics

Example 3 - Beam Problem

The beam element stiffness matrices are:

CIVL 7117 Finite Elements Methods in Structural Mechanics

The spring element stiffness matrix is:

The boundary conditions for this problem are:

Solving the above equations gives:

CIVL 7117 Finite Elements Methods in Structural Mechanics

Substituting L = 3 m, E = 210 GPa, I = 2 x 10-4 m4, and k = 200 kN/m in the