THEORY & ANALYSIS

---OF---

YEONG-81N YANG
Departmenl of Civil EngIneering
National Taiwan UniYerslty

SHYH-RONG KUO
DepaItrTIent 01 Harbof and RiYer

National Taiwan

El~.*.-~_~o"'ilQ

ooean UrWersitY

PRENTICE HALL
New York London Toronlo Sydney Tokyo Singapore

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Contents

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fOl'l'word
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ACMO"'IflIC_nlJ
Ust or SymbolJ

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1 Introduction
1.1

BlI!kground

1.2 Notation and nomeDCLa1Ure

1.3 Ddinition of stnillil
\,). 1 Grtta-ugrangc stnoin tcnsor
1.3.2 Green SInI;a increment tell$Ol"
1.3.3 Updated GrD stnin illCll'menl ttnsor
1.4

Ddlniticla of $lrC$5CS
1.4. 1 Seamd PioIaKirdIhoff' IIU'CSS tensor

1.4.2
1.4.3
1.4.4

I.S

Cludly wess ttnsor

Updated Kirchhoff Stn:s5 I(mar

T'ransfonnation rules
Incrcmentl' constitutive laws

4
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,-Prirw;iplc of winual dispiace""'lllS

Incre .... ntal L.a&;ran,ian rom1u~lions
1.1.1 TouJ Laglln&ian {ormuiltion
1.7.2 Updltcd i.Agangian formulation

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References

2 Linur Anllyslf and E"m~nt Quali ty " "'

2. , Discretization of i\tIUCIures
2.' Derivltion of clemcnt slirrntSS ~lrices

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2.2.4

Planar frame dement

Spaclc frame dement

~imcll5io""llnlSS

clement

Planar and 5pk'e

elcmcnlS

trllSS

62

Formation of structure equalions

66

Solution of limulliJleOUS equations

Quality IeSIS (or linear elements

" . 2..5.1

ConvCf,CO enlcna

The ~ldJ \ell

~3
Eigenvalue test
Rigid body Ie$! for nonliMH ck"",nu
2.6.1 hxnmcnlJl' Jliffness equations
2.6.2 Rigid body rule for initially Sl/'l:sscd clements
2.6.3 Ri,id body lUI
Gcneralize4 ci,cnvlhle leSI for nonlinear clcmc/lUi
2.5.2

26

",

References

,.,

Noa.lincar TnlSHS a nd IJl(ftlMnbl CollSlltuUvc L..wl

lotrodoction

l2 Formulation of nonlinear planar trusS cle""111

Pbysical intClpl'Clllion of dement ml~

,.,
l.6

,".

3.3.1 Mcm\x. forces duc 10 stretching

3.3.2 Mcm\xr forces due 10 rigid body rOUlion
lIighc:r order stiffness matrices in symmetric form
Genertliulion 10 llIree-dimcnsionaJ ca5e

Fora: _cry pI'OQCdllru based 00

malri~

cqullions

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3.' Case 51udies by

finil~ dement I~h

Two.lMmb(r
uuss
3 .7. ]
3.72 204-membu shallow dome
3.' hlCfcmcnLal CODSIilU!i~ laws
3.' formulas for caJcullT;ng dl!ICnl (oras
3.9.1 TauJ.form foonulas
3.9.2 lnculMnwform formulas
3.10 Euci ~lulioM for 11. and UL formulat ions
3. 10.1 Uneuly (Iascie maleri.1 (!Mlen.1 A)
3.] 0 .2 NonlillC~rly elutk: mlterial (mile rial 1/)

3.11 !ncrcmcmal(orm vs.. 1OI11form solUlloM

Rdercoces

..,

NonlJ llur An. lysll of Planar Fnm.,.

' .2

'3

lnuoduClion
PriDcipk of virtual displKClIICnlJ
4.2. 1 Two-dimensional beam
. 2..2 Statics.nd kinematics
. 2.3 OeIM:.aI vs. simplif~ theofy
Differential equations and boulldaty conditions
4.3.1 Oenenllhcol)' of two-dimensio ...1 beams
4.3.2 Rigid body lest

4.3.3 SimplifK'd IhWI)' of Iwo-<IimcMionaJ be.ms

IneremcnW eLement SliffDeSS equatlonl
4.4.1

4.4.2

.,

..,

..,

4....3

Ekment matrices bued on gene",] theory

Elemenl matrices bastd on 'Implifted \1Icofy
Other elemeot matritts

RiJid body

IeSI

for tineariud element

Be_Ill force roc:overy prottduus

4.6.1 Natural deformation .ppn:acb
4.6.2 E.uemaJ stiffness IpprOKb
HiJber order pI&rW frame element
4.7.! PrillCipk of vlnu.l displaeo::mencs
4.7.2 Equations of equilibrium fOl" sMar Wesse5
4.7.3 Derivltion of virtu.l went terml

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4.1. 4

FiDife ele:lIKn, formut..!ion

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RiSid body !<:Sf for higher Ofdcr ele:mcnt

' .9 Bowin" rotation, and Olhtr ddOfmltioa tfftcts
4.10 NumcriQl c;<:unplts
4.10.1 W illiam', toggle
4. 10.2 Axially-oompresscd cantile:vcr

200
20'

4 .10.3 Cantilever under ihtar IoId

4.10.4 Pinfltd.fiud squarc diamond rnmt:
4.10.5 Rigidjointed ilqu.1fC fnomc
RtfereDCU

209
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r u nda_n, als of Nonlinur ThfOl)' of Span r,..mH

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In troduction
SU,;':' and kine ..... tic:$

5.2.1
5.2.2

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Prebvckling stlge
Buct Jins ,!lge
Equations of ~uilibrium f(ll ao.s.sectionll fOfCCll
Roulional proptrlic$ of IIlOCnHIIS

5.4.1
5.4.2

Momcnll ccrw:nliu J.IIess rCIUltanlS

Momcnls gcrw:nlc<:l by external ckvkes
Principle of vmual displa<:cmcnlS
w~ins

5.5.1
5.5.2

SIno;" energy due 10 Ii"",

5.5.3

Elctemal vinual work iocrcmt:n1

Gt:nenol VI. simplirlCd theory

5.5.4

Potential ener&)' due 10 inilialSlteue5

Diffcrential equations and boul'ldlry condnions

5.6.1 GellCnltheory of IOlid beams

5.6.2 Simpliroed lMory of.solid beams
Te:st of thcorie5 by rigid body rule:
Applications of incremental theories
5.8.1 Axially OOOIpresscd OI)lumns
5.8.2 Torsionally loaded OI)l\unns
Lateral bucklin, of IIIg1c:d frames witb in-plIllC
l~dings

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Symmeuic (rame I- Simply t.uppo<tcd 0111 of

plane
.1.9,2 Symmeuic frame 2- Fixcd 0111 ot pla.nc
.1.9.3 Anglcd r",me with fixed base
.1 .10 Duetling of angled frames under IOfSionalloadil\&S
.1.10.1 f\lnr.WnnLll equllion$lnd conditions
.1.10.2 ROialioMl pfOpenies of IppLic4 lorlluu
S.IO.3 SoIUlions for various lOnionalloads
.1.10.4 Numerical txamples
RefffCII5

Stl ",,~"

Malrk .. for Nonlinur Anll,'sl, of Span ~'n mcl

IntrodlKt ion
' .2 Illustrative case: .... ltriL buckling of pLlUlar r",1IKS
' .3 Joinl equilibrium conditions for planar frlllKS
6 .3.1 SU'lCtUra/ joUllS w;lh two ooallfdcd mcmbel'$
6.3.2 Suuctural joinll; with Ihrce WRIICCIcd members
6.3.3 ElemenlS with moment Ipplic4 .. free cnd
Finile clement formulalion- Rtduced case
6.4.1 BaSlic Ind acometric stiffneu mauicu
6.4.2 Joinl moment maui.
6.4.3 Applic4 mOment mal';.
6,4.4 Elements with one end flU
'.J Finite clement fo.mulalion-Gcl>l:nl case
6 ..1 .1 E1aslic stiffness mall;.
6..s .2 Geometric Sliffnus mau;x lined on generaL

...

6..s .3

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286
288
300
302

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321
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Geomeuic stiffness mau;,t based on iimpliliw

EJElcmal vinUllI work iI!o;nmc:nt

6.S..s Element stiffness equatIOn
Rigid body ~SI
JOi/l1 e<juiltbr;um conditions for $pKe frllllCl
EffeClS of exlcrnally Applied momentS
Prooedurc for reoovery of element forttl

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362
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,6.10 Numerical examples

6.10.] Symmetric fTJ.me I- Simply supported OUI o r
,,~

6.10.2 Symmeu>c frame 2- Fi~cd oul 01 plane

6.10.3 Symmetric franw. 1 with lip ~n'
6.10.4 Fiue! Ingll frame wltlt momcnt kJad
6 .10.5 Find angle<! r"'me w;,h inpI.ne w.
6.10.6 Find 'n,ltd frame. win. IaIcnl """..
6.10.1 Find IngJed frame ",;tII rorsional load
6.10.8 Single ~am in bo:l!ding
6.10.9 Angkd (",me in bending
RcfcmlCeS

7 ThNI')' I nd Analy5i:5 on Ruckllnl or CurYflI ~. ms

7.' lmrodUC1ion
7.' !It.lics and kinematics of CIIrvod solid bnms
1.2. 1

DISpI.uIM!IlS.!IId 'lnoins

7.2.2

Slre5KI and ~S'Iion.1 rOf(:~s

7.' Equations of equilibrium rOf crossseCliooll fO'a4
Principk or .. inual displ.act;menlJ
1.U Strain t"".gy due 10 line.. uial SlrlIin
7 .2 Sm.;" energy due 10 liMar.\hear sini ns
1.4.3 POlen"., ene.gy due 10 uial Wen

,..

1.4.4 l'oIenli,1 eMlgy due 10 tninsvcf$C she., SllesKS

7.'
7.7

7..4.5 POItnhal energy dIM: 10 normalsues5 "n

7.4.6 PoIenlial energy due 10 dislOl1iom11 shear stress
1.4.7 PQlenlial enelgy due 10 !IIdial $UC:U
1.4.8 External .. il1ual wurlts
1 ..9 Incftmcntil ";111111 wort equation
Differen!ial (qUl!ioas and bounduy cond;UDR!I
Rigid body lesl
Buckling Inalysis by analy!ical Il'P"'*'h
1.1.1 CUrvtd bum ",*1 unirorm bendi~g
1.7.2 CUrved beam
nodial loads
Finile demenl fOlmul'I>on

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ln1c.poIa,ioo funclions
7.8..l ElclMn' $Iif(ness cqUilioo
7.' BpcklinS 'nlIlysis by CUl"~-bwn c1CllW'nl approach
~,m under unif<llm bendIng
7.9.'
7.9.2 a.l'lcd bc~ IIndt. radial loads
7.9.3 CUm:d bum with lhl\lSl or pull IoIds
7.10 Il\ICklillJ .nalYlis: by SlrlIiglll-bum clemen. approach
7.10.1 CUrvN belm under u,,;Conn bending
7.8.1

o.,..,w

7. 10.2 euIVed beam IIndt. ,adi.lload!l

1.10.l Curved beam wilh one end damped

1.11 T heory derived (10m sLraiglubcam c'IualioM

1.11.1 CUrved beam under uniform bending
7.11.2 Curved bum uRdc:r radial l()IIds
Kcff . trltt!

,.,
.,

Pl"OCflIuru for GfOrnttric No"lillu r An.ly.l~

InmldllCtion
Updalin. of dcmc:nt geomclIy
8.2.1 RcfcKIK'e Hes of clement nodes
8.2 .2 Element axes and nodIl section Ue5
'.3 Calculalion of natural deformations

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CllcuLalioo of ckment forces

512

RtduC1 ion of procedures 10 two-dlmentional case

Incremental and ilCl1Ilivc mclhods of solulion
8.6.1 Notat;on for inaemcnl.J.ircrlItivc Inllysis
8.6.2 Purc incrcmcnw melhod
8.6.3 Smcmenl or problem ror lnO"emenlllilcrativc

3D

lnalysis
8.6.4 NewtOP-Raphson method
U.s Oisplxcmelll control melhod
8.6.6 Arc length melhod
8.6.7 WOI"k ron1Tol melhod
TlIeory in N I dimeMional sp;ICC
Comments Oil nisling ..,Iulinn melho<\$
8.8.1 NewlollRJph.o1l method

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8.8.2 Oispl:ott.mnt cont rol meU,ad

8.8.l Arc length method
8.8.4 Work control method
8.9 Gcnerllliml displacement toIllrOl method
8.10 GcnenoJ YS. Qlrrerli sairr_ plrllmelcn
8.11 Algorithm for geomctrk nonl iM" anaIyt:is
8.12 /'Juml:ric:al examples
8.12. 1 1'wo-membcr truss
8.12.2 Shallow .rch
8.12.3 Circular arch wilh ~mr"ll load
8.12.4 Circular Ilch under uniform bending
RefefC'1ICU
Apptndl. A
I.JsI or In lr,nl Malrls
Apptndll B
i>nIHdun for Unumfd Buckl inl Analysis
Apptad!1 C
Etrtd or T "'lIaIlfd H'eMr Ordtr Terms
AuUlo r Indu
SutUKlladex

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Foreword

The seardI fOf ways 10 rcpraenl tile true nonIinurily ofstJUctures I""
back 10 Renl;$S3nCI: times, lnd )mSCn! theories of nonlinur elastic .nd
inelastic behavior are the usulc of approximately two hundred yo:an of
~y development. But only r~nlJy has the compulCr mack il
possible 10 put mucb of Ihis knowledge to ulle ;n design. In !he mid
1970s,' grOUp.1 Comrn joined the drive to uploil this opponunilY
and to advance. If we could, the existing knowledge of IIOnlilitar
heh.aviot. By thaI time, small computers powclful enough 10 enable
design etlallIfS 10 11K hitherto impnaicablc mell'lo<ls of analysis wt:re
on the horizon and, jllSl .. imponanl, interactive computet gnphiQ WI
enable them 10 m.inl.lin control of the InalYlis and aid them in
inlc<prctinglhe onen complex results was I rulity.
After romplclilli I Master's program .1 the Nationa1 Taiwan
University in 1980, V_g,Sin Yan& join! the Cornell CJOlIP IS
gaduate "lIdenl and received his donontc in 1984. His resc:artb was
on nonunIform torsion and tile inclusion of its effects in I larger
program for the elastic IIOnlin.ar .ulysis of lhrdimcnsional ' 11
frames. He returned 10 Taiwan In 1M same year aDd has continued to
develop the line of rescardl 5W1od in Ithaca. DIU in doing SO, be bas
gone far beyond the originl.llM~ In I sbon time, be has become.
reoo&nize<l IUloority ;n lesurcb directed towards roduc;n, basic
Jlii

principles of aUuctur.J mechanics 10 practiable oompulalional proce.work doM by Profe$$Oi Yan, and billludcnts, nocably Dr.
Shyb Ron, Kuo, hall bcerr widely published In leadi", professional
journals. II is known for its precision, imaginalion, and lhe insighl il
has gi~en inlo complu problems of nonlineJr behavior.
This book is in pan I synthesis of thll ruelrdt and ., sudI, ;1
upruses OM poinl of ~icw in In evol~ing fie ld in whieb there lIe still
numerous Ipproac:hu. But it is more thm tha.. In its coverage of
undr:rlYiD& principles aDd OIbcr COoDtemporary ruearcb, ir is I lulbook
from which IlIe stlllkn. Qn obtain I .borough ulllkrslanding of 1M
51a.e-of.tM111 of nonlinear elutic ..... ,ysis of framed structures. And
il shook! be I basic I~roe for IlIe resurche .
This book, theref. ., is limel)'. I. J.hould prove 10 be map
contribution to .M cause of advancing the lime when realislic trCalmenl
of suuaum nonlineari.), be<;(l~ routiM prxrioe.
du,,~s. ~

W. MrG~ l,e
I1 haa, NY

Preface

This book has bem wrinea in recognition of tile great advlllCel in

~nl yCIll5 of the geomtlfie Il(Inlinur analysis of framed stnICturu,
and tile lact of ~Il-orpnlzcd book dedicated 10 this sub;ect. It bas
b'n ~Ioped as result of the resew:h worD conducted by the
autbon and co-workus, part of whicb has :appeamI in I scm of
ledlllial pa~rs, limrd I' tbe application of tile finite clem<:nl mcO>od
10 nonHDUr lnJly$i.s of framed Sln>duru. However, this book II DO(
inl(lKied IMrely as I collection Of repetition of any previous wom. To
meet the pcda,ogital needs. the materills acquired from different
sou.r<:q llave bttll updated &ad r>rpniud ia I unified IlWIDI:r, while
new romtituC'nlS have been added 10 n:1kcI tile t'Um:nl trend toward
I'llionaJlzatiou of _l!Dear aru.l)'5i.s proooiures. We be!it.lc thai with
!he pt"C$tllllMthodolo&Y. I~rs sbuuld be ""Ie 10 di$a)vc. the myl.lery
,and beauty of structural nonlinearity.
Over !be pW tluee dtadts, tbr. rlllile eknxlll IMthod, stim"ll,ed
by !hi: rapidly growing power of electronic:: digitll o;oml"'lers, has
SUl:lI&tllened its po$ition ip Q(lmpulaticNW ElKCbanics from its urly
$IagC of pcrfonning linear analyses for simple probLcIllS into an en of
conducting the mofC dullicnaing tub, such 1$ DOfllillur, inclutic.
dylWllic aoalyses and 10 011, for problems thai _ len, hundred, or
Ihou$lnd times more complk.llcd than Lho$e ever aucmpled btCore.

Nowadays, many people I~IICIIO view !be fmile ~Ie_nl "",!bod as

well-ulablisMd I0OI WI c:an be readily appIkd 10 !be solution of
various oonliocar problema. Expcriwce "- 5bowJI III tbal1his c:an be
100 optimistk in many cues. as !be varioIIs pbuc:s involvc<l in a
_liMar analysis an: not as definile and $Uli."lforwud as lho$e of !be
linear ... alysis. It is not uncommon lhal !be procedures (not .11 of
which .re viliib~) undertaken by differenl rt$earcht .. for cert.in
problems are persondependenl or even problem-6ependcnl. Such
11II.tion <;an be vcry confusina 10 ""'uale J.ludenll IlIId resurchcn
new 10 this area of ruc:,",h.
J~ as !be mtclwIiaI of materials lay !be JfOIIJIdwoR for Iiour
",.Iysis of SlrllCturc:s., the priooplc:s of <;(lfI1;nuum mcdlanial provi/X
the foundalion fOf _linear anaIysi$. While !lie principia of ODII.inU
urn mccbanial arc sufrliXnt by !bemsclves fOf describing the nonlinear
behavior of sotld SlrllCtures. !bey are not strictly followed by researcbcrs who treal ineremenlll _linear .... lysis as dirt extension Or
repelted application of liM" .nalysis. T o obI.in physically meaningful
IOlu. ioll$ for _lincar problems. many factors h.ve 10 be OCNISKlered
before. finite elernenl analy.is program cart be put \0 work. These
IItoukl inelude !be underlying element theory, _linear cluncnt quality.
c:onRitutive Ia...... joint equilibrium COIIditiocIs. Internal forces calwIa
lion, struct\In: a-tty updILing, inc:rc_nl.llilemive solUlion
1Cbcmcs, and propwa reliabili.y, among 0Ibcn.. All tbc$e flClOr1: ei!bcr
do not have or cannot be ditedly ellkndcd from tlKir counterparts in
lillClf analysis. It is not alwlYS obvious to numeric:allllllyslS bow.l1
these (lCIors can be oonsidered following Ihe guidelines of tIM: principles of oonlinuum mechanias..
In this book, we intend 10 present physically qualified procedures for
_linear ... alysis of elastic framc<l SlNUures. Panio:\Iw emphasis will
be placed on !be derintion of physitally maniqful tlIeorie$ and !be
C#lblishrnmt of. dirca lillk between !be nnite clement prooccIures aIId
!beif tIlIdcrtying theories. Methods t.bat are ODft$i$tcnt ",ith!be fwIob.men\.ll mcdwtial lUlu will be ptopoo;ed fOf Yllidatina the underlying
belm theory, fOllCSli", the _linear clement quality. for deflDing t~
constitut ive la ...... for (:Ileulating the element forces, for performing the
iterative SOlution sarch, for debugging the hidden aiding errors, and
10 fonh. By so doing. we IIopc lhal !be gap bclw~n 11M: Ihcoll:tical
prineipLes and computation.l prooedUrt5 can II least be nmowed down
10 a minimum, if not dosed. It should be I6ded that all tile formu~
lions presc:ntal Mil: are based on tile stiff_ or displaoemelu method.,
fot ilS relative usc in implemcnUltion in eompariloa ....ith the fkaibilily

xvii
or (ora: _Ibod.
This book is wriucn for engi ..... '" and ... oenti", woo are """I].
-.:quainled with the tllcory of matrill SUUClUnJ aIIIIlysas and have ~
some uPOSUIl! to the mechanics of dcfOl"llUble bodies. The materials
pruentcd bell! nn be: ~1tW as the subjKI maltcr of. thlu-credit.
houl, ORe-Kmestcr COUISt on adYanttd 51ructUIII analysis for tbe i5Cnior
level undelgraduate or graduale sludenls who have Ilkcn coulStS on
finite elemenl method 01 malt i. structulII analysis. 1'01 researd~rs
already working on the nonlilltilr and buckling behavior' of slructures,
lbe book 0((.1& I Slate-of-Ille-an leview of lbe OXImpulltlional proce_
dules thaI are deeply rooted in ooolinuum mhanics pr1nciplQ.. The
crileria pruenled in the tUt CUI be employed 10 ehed: wlwlhcy have
adlievtd, while lhc p=uc:nl fnmcwork c;an be relted upon 10 utcnd
lUCardl into arus DOl c:ovend by !he lUI, sudlas nonunifarm 10rsion.
upcml members, plmk and ykld m1tInisms, eanhquake effeas,
dynamic and impacl loadings. nono:ot\5ervllive loadings. elC. Thc
IcnSOI noutlions adopted bere sboold plesenl no problems 10 firsl ycar
graduate or senior unde rgraduale students. since in most <;aSCS, lhe
prerequisile knowledge on leDSOn does not go beyond !heir mOSt
flUldart>cnuol definit ions. with only. limited number of operalions
performed 011 them.
Ortly suucturrs thaI are of \Ix frame Iype. and composed of solid
cross sealoas are ronsideml ill lhc lUI, whicta include in pania.>lar the
following four calegories o f .IlI\ICtIlrcS: uusscs. pllllll frames. spKe
fn.mes, and curved beams. Eadt of these fOUl calcSOries is C/Jvend in
"parale chaptel, upcthe Jpace frames, whid! ". coyered by two
ehaplers. The lUI hn been organized in a ptogIessive mantler in Ihal
il sc.rtS wilh lhe simpiesl theory of lrusses and ends wil h lhe mosl
compliated theo)ry of curved bc:ams, followed by chapter on nonlintil solulion pr-oc:edure$.
In ChapleT I. the "nins,
and oonsIltuli~e laws thlt are 10
be u.sed tlIrougiloul the boot are filS! introduced. The principle of
virtual displacements llUillble for incRmenUlI farm"laliom of the
lIgrangian type is the:n delived, whid\ l.ys very IIItlural foundal.ion
for .11 the theories to be dcli~ed in laltt ehaplCrs.
In the firsl half of Orapler 2, Cl)nvcntionallincar Ilnalysis procedures
for framed structUles Ire oullined, followed by review of the qualilY
lests for line.r and nonUnell finlle elements. Of Ihese IeSU, Ille rigid
body Ies! appua 10 be of pamnount imposance .inoc il provides Ihe
guidelincs for alatLalina the element forces in a Slcp-by-SlCp nonlinear aIIIIlysis. The planar and space truss clements are derived in

wessa.

Jviii
OJap'er 3. Of paniClllar inte~ in this chapteT is the formulation of
1M pi'"Odure for obtaining exKl solmions for trusses of . ny complexity loaded into the range of large suains. Two key issues are addressed
in this regard: tile updating \If material coRStants and tile aolcuJatioll of
bar fOI"5.
In a.lplcr 4, planar frame elemen15, as wen as buckling differential
equations and nalUral boundary conditions, Ire derived for lwo-dimensional beams based on tbe Bernoulli-Euler hypDthesis of plane sections.
This chapler gives us I very good example of how pDwerfultbe rigid
body \eSI can be. II can be used nOi only in the tesl of a finile elemenl
and ils underlying tbeory, but also for calculating the member fOl"ccs in
an incremental nonliDe.af analysis.
One key step in the buckling analysis of space frames is that an
phys.ical relalions ~ld be established (or lhe buckling configuration
of a wuaure, based on tile Pfinciple$ of continuum mhanics. By
Slicking rll1T1 ly t\l Ihis rule, In loalytiao) appro;och based on the COm_
monly used buckling equations is prUenled in OIapicr 5 for Ihe
analysis o( the lateral buckling IoIod of some simple (rames, whicb are
tlIt:n iranslated into the finite elemenl equations in ClI'plCf 6. The
physical link belwun the two a~ helps in Tcsolving some
existing conlrOversies on the illH:kling of space: frames. Also presented
in a.apler 6 is I general thne-dimensional elemenl suitable for the
analysis of space framcs.
In OIaptet 7, a comprehensive treatment o( the bl>CkJing of Cllrved
bea./n$ is Pf~nted. One (eature of the curv.d beam equations presented in this chapler is that they can be derived either from the principle
of virtual displacements or (rom the SlTaight beam equations. By
sticking to the rule that IU physical relations should be established for
!he buckling configuration of a struclUle, il is demOnSlnlted that the
straighl-ileam element can be employed 10 y~ld solutions that are as
accurate as lho$e by the QIfVed_beam de"",n!. In Ihis regard. previous
arguments conarning \he. inappliCllbility of straightbeam elemeots to
modeling the bu~kling of eurved beams have bn shown 10 be invalid.
The book concludes with OIapter 8 On the procedure of iT\Cfemenlal
nonlinear analysis for structures o( the framed type, with surrlC~Dt
details given. Particular emphases are placed on the updating of
geometry of structures involving finite rotations and the solulion of
nonlinear matrix equations by iterative procedures.
In shOI"1, thi5 book is intended to serve as a bridge that connecl5 the
tnld.itional continuum mechanics with modI:m computational pr0cedures. "The endeavor to ..... it. this book is result of !be excitement

.nd ellallen", t/W have bo:en uperien<;ed during our $hody of the
Slability IltKI nonlintar behaylors of framed Slnocturq. In the tUI,
referenee to any l"eviOlls wo.k is indiclted by the author or luthon'
name followed by lbe publi<;alion yeas in parentllesu. All refe.el>CCS
arc listed in alphabelical ordel' by the last name of the first author at 1IIc
end of cadi dIapIer. In jnpll'in& 1IIc lIWIuscript, ~ycr,"1: nve
IlOl deVOled the lime nquired 10 acknowledge the adtie... IMnu: of cadi
indi ... id..al raearcller workin& in 1IIc UIM Irta. We would like to
utend our lillCCre apologiel to all those wllo&e works hive not been
mentioned here bUI whoK "'ritings, lturu, 01 communicalions have
shaped OIl' lhiniting and OUr approKh to the subjt mIIlC
A latie portion of 1M ICKardI 'QUltS presented here has been
spon$OIcd through I Kra of reliC:arcch projc:CI$ spOIUOIed by I/.e
NatiOlLlI ScicllC'l: Council of the Republic of Cltina on topia Idlled to
1IIc nonlinear and buckling beha ... iors of f",med sirunu ru and curved
beams. The Kniol author has bun lhe I"ineipal investigalor
III
Illne projects.
'The following acknowledgmcnl5 ue made by the IiCnior auLbor.
FirSl of IU, he would like 10 upres5 hill hiJ.hc:st gnuitudc to his former
adviser during his ~ulte Sludy II Comel] Uni ...."ity, Professor
Emeritus William McGuire, for introducing him 10 lhe ;OI((eSI;og flCld
of 51lUClunl nonlineu mtthania and for Inspiring him to conduct
re5Cu~hcs that have .>'eol"",lIy led 10 1IIc wl;ling or this boolt. Owing
the prepantion of 11M: lIWtusalpl. he has . eaiVl:d constant encourageIMnl and spilitlW support from his colleagues at !he National Taiwan
Univ.Il;ty and ocher irmilutes, which Jbould include, in PfJti<;:uIIl,
PTofessols Y. N. Olen (Dean, College of Engineering), Clti nL>en Ycn
(former Dean, College or Enginrios), ChauSbroung Ych, OIing
o.um Olem, Ow:n-Oiana 1<.10, l-Oiau Tsal, Tsuna-Wu Un, YungHsiang Oten, PaQ<-ll!.ii Wang. Ilong- Ki IIong. R. Y. Tan, JellD-Qtuan
Ow:m, OIinHsiung Lob, (iwo-Fong Un, K. C. 0wIg. Kth-Qtyuan
Tsai, Vi-Lung Mo, Lai-Yun Wu, and OtenOIeng eMn. Mlny of his
fonne'g",dua!e S!\tdenl$, including Uang)enq Lcu, Ming-Shan Shieh,
longDar Yau, and J ungHuli Chou, have contribuled in various fonns
10 tIM: ompletenc:<s of the booIt.
'The Iongtime friendship from ~k DyiWei OwIglnd many of the
friends.1 lbc nelIby OIina EngiDeC.ing ConsuIWll$, Inc., $bOu1d Ilso
he acknowledged. 'They are well aware o f Ihe amoonl of cffon needed
10 complece che emi,e manu5Clipe.
Special thinks lie due 10 hi5 wife Ru_Wong, Iwo daughlell Judy
and Carol, and !he linle $0<1 far their flequenl sacrif.ce or ... kendll and

or

IiO as 10 rnabk lite, II~ and the!ir dad to wo<. on lhe

book every possible mInute. In !iIIort, the! completIon of the book
would !lOt be a rnlity WIthout tile urw;ondit ional .JUppon of hill famity
members. tile team effon of his ~te It\llknr., and the! ellCOUl1lge
IlKnt of hili oollu,ues .nd frioends from different placa.
1lIe earnersrudy ropy of the! manuwipt was prcpaml by Miss
Hiley_Shu Ni of 0& Dotwin, and Editin, Sc:rvica Cornplny. We

IIolidlya.

apprtciate very much ber expertise in p<eparing the carnc:11l.rcady copy

.nd he r patient rupons<: 10 aU OIIr demands. Finally, We are grateful
1(l OIIr production and acquisition editon at Prentice il ali, Dr. u.: Mini
Ang and Ms. Jen:ne Tan, for their ICCIInial _'SialIC(.
Y. Il. Y.. ~g

S. R.

KMO

Taipei, Taiwan, Rrpublic of OIina

. ..

-'i' '..
, I ".

Acknowledgments

Parts of the materials presented in this book bay~ been baKd on papers
publW!ed by the authors and oo-workcri in I number of journals,
especially those listed in the ~rcn:1lCCS below. Efrons hive been
undertaken 10 upda.e and rewrite the materials aequi.red from eac:b
1IOIlroC, such IhIl unified and procre5Sivc pre5(lItatioG can be adlic:Ytd
throughout tbe book. The IU!bon; would like 10 thank the copyright
holders for permission .0 usc 1M Aid materials In the book; in particu
tar, the followinl' (I) The materials from KIlO and Yang (1991), KIlO
t './' (\993), UU and Yang (l99O). and YanS and 1<1.10 (l 99tb. 1991c,
1992) arc n:produocd by permission of ASCE. (2) The mateNJ f'(ND
Yang . nd Leu (1991) is n:prodooed by permission of Elscvier Scienc:e
Publishers avo (3) Yang and Shkh (1990) was oria,inaUy publi5hcd in
the AIM JOfmal. (4) Y""I and KIlO (1991 1). wpyriahl 1991, rqrint
cd .... ilh permission from Pcrpmoa Pres$ Ltd., Olford. UK.

Rtftruc:es
KIOO, S. R., .nd Yang, Y. B. (1991), "New Iheof)' on buckling o f
curved beams, ' J . En,. MK~. , ASCE. 117(8), 1698-1 17.
KIlO, S. R., Vang. Y. B., .nd 0>00, J. II. (1993). "Nonlwu IlII.Ilysis

nil
of ~ frames ... ilh finite fOIltionlo," J . Sln,c,. t:~,. ASCE, 119(1).
1-1$.
leu, L J., Ind Yang, Y. B. (1990), "Effects
rigid body and 5UC\C.hin, on nonlinear arWysi$ ofu-." J . S"yct. C~, .. ASCE, 11 '(10),

or

2S82-l>8.
YIII" Y. B., and KIlO, S. R. (19911), "Out-d-piIM ",,"Iina of IllgIed
fnmea,"/~I. J . ,1111. Sci., 3)(1). 5s-61.
YIlII" Y. B., and KIlO, S. R. (199]b). "Consi~nl f~ b\K:klina
lna]y.is by finite element IlKlhod," J S'rNCt. E~,., ASCE, 117(4).
10$3-69.
YllIIa, Y. B., Ind KIlO, S, R. (199lt), "Buc:klinll of (rimes under
~lrlou5 torsional ]oadings," J. Eft,. MuA., ASCE, I 17(8), 1681-97.
Ylna, Y. B., .nd Kuo. S. R. (1992), 'Frame bu(itlinllanl lysis ... ith
full consi!lclltion of joint compatibililies,' J . Eft,. Mull., ASCE,
11 8(5),811-89.
YII\&. Y. B., and leu, L J, (1991), 'ConsIiluti~c I..... and force
IOVcl)' proo;edu~ in nonlinear ..... Iysis of Iruues,' Ctlmp. M~lll.
AppL M1t. E~,., n , 121-31.
Yang. Y. B.. and Sbieh, M. S. (1990), 'Solution metllod for nonlinear
problenl$ with multiple aitial pointI,. AIM J., 28(12). 2110-16.

List of Symbols

Ie",

A &eMnl &uidl:line 10 the notation UKd ill the

i$ given in Seclion 1.2. The followina; ill lis! of the ,ymbols USI:(\ IlIrougbool e.cll
chaple,. ALl the symbol' are defined wilen they fLrSl appeu in the
.eKL TIle left ,uperscripl of I symbol dcllOle lhe oonfigunriQn in
which the qUlnti,y 0IJrl, while. lite: Loft liub$Cripl di:=noles !he
configurlIllon 10 which the quanlily is lIII:asured. The Idl subscriplS
may be dropped in lho$e cues wilen: the ,.fnem:. oonfigu'liion con
be easily icknlificd, Quantities lilal Ire generaled during cach
illaCment.l seep Ire denoted wilh no Ii'll liupcrscriptS. Matrices and
.. ectors are c""lO$Cd by brt(:kcll I J aDd bnceI { }, respectively.
A

rAr

[A I
" _ , a.

G,._ ,I>.
C
C

C,
C,

Irea of member aoss 5e(1ions

Inlisymmetric paIl of [i,] matrix (Ch. 6)
mall;" [AI in global un (Ot. 6)
inlcgrlliion ronmnlS (01. 7)
intc8J3I11on CO/ISWII$ (01. 7)
nltOid of CfOIi KClion
bounduy C'IIlVe of CfOIi $lion (Ols. 5, 7)
inllial undcrOfmed configuration
las! alcut_ted ronfigunltion

uii;

uiv

CUtRnL dleformed configuIIILion

CURcnL dleformed oonfiguIIILioft (01 . 8)
bsI alcubted oonfigullliioft (CII. 8)
OOIISIilulivc twfflCicn15 refellN 10 Co and C,
curved-bcllm twfflCicnt maLrias II %.0 and

C,
C,
C"

,f:... ,C~

[CJ. [C,I

%./(0..7)
COIl$InIint vcaar (OL. 8)
cunent lIiITJ!CS5 puametcr (Ot. 8)
(OL.7)

(C)

CSP

COl.

D,
(D(

('(

"

"'"
",,"
(,}

{e'
Ie,}, {e,1
(i,). {l,}
F... F..

'F.. 'F,. 'F.

'F.. 'F,. 'F.

iF.
F
(F}

f
f,

l!~ !t.

lI. :"
If}

(nllies in diagonal malli. {D]

diagonal matrix
diITelential opelaLor
vwor for higher order deliul ivt$ of dlsplaecment5
(<>' ~
Ienglh of in finilcsimal line clement (O!. I)
modulllS of elasticity
infUlilalmal ~illl {linear components of ~
infllliLe5imal stnins {linear components of ,.~
inftni't$imal smins (linur components of tf.J
IImch of ItUA member
base vwor (OL. 6)
avenae of {pt vIOn .. clement IIOdc:I (O!. 8)
nontUIliud vCClOl of {el (O!. 8)
vectors defined in Figur~ 8.S(b) (Ot. 8)
nonnlliud vectors for Ie,} and (e,) (0.. 8)
lineal and nonlinear fOlce inclcmenl$ of truss
member
mc:mber forces I]oog \he. I ', Y', and .-axes II C,
mc:mber forces liong lhe I', r-, and . -axes II C,
nial force of \ruSS mc.mber actina II C, and IefeRed 10 C,
force vector (O!. 6)
inlCnW demeot forttS summed II SlrIK1UTll nodes
(OL, I)
single-valued constitutive function (01 . 1)
.sin + + 2
-2 (01, 7)
body forces II C, and C" referred 10 C.
body forces II C, and C.. referred 10 C,
fOlg: inaemenls from C, to C,

00$+

...

"..",5""""

If,},

fot componenlS generated by [t,llnd

(CIt. 4)

{I. I

Is,l

Ii.}, (i,), Ii.I

.lenw:nt force

Ii.}

elemenl fot vector (OfrespoDding to Ill,}

I!Km~. actions comspondlllj to {I'I (Ap\xn. 8)
clement force. at C, .nd C" .derrcd to C,

til

{'f}, I'f}

{wI,

I~I,

VIOn

~ing

{wI

clement forca at C,.OO rd.rred 10 C,

fJ}

.... ar modulus
sbear modulus con$Kkring the Wagner dfed
(CIt. 7)
gellfntlizcd stiffneu ~ter (01. 8)
defiMd in (7.11.56) (CIt. 7)

,""

COfISIaI>t ~tCl

H,

(Ch. 8)

height of beam (CIt. 4) Of lever arm or moment

(CIt. 7)
subnuuUr in Is,l (Ch. J)
mOlllCnlS of illfnio about r- . nd l-Ues

1'1
I,. I,

II}

Kkntity malrD

dilrll:nsionleSl coordinak (_ x/L)

,
'.K
"

,J

~"

1'1

[1(,1, 11(,[,

to

/K,[

IOrsitmal romtant
JKClbiaru: (Ch. I)
stiffllC$$ CO(rrlCicms in IKJ maUD
WIgncr efft
stNCtUfC stiffJ>Q$ matri~
clutic, geometric, 100 joint moment matri. for
~ruetUfC

[I(~[

appli0:4 /IIOIIKnt

[1(:':1

integral matri~
stiffness matrix COJrCSfXM><Iio. 10
(Ap\xn. 8 )
11(,1, (1(,], and 11(,1 evaluated at {,,} (Ap\xn. 8)
[1(.1 .valulled I t {PI (A~n. 8j
genemized SliffllC$$ maUD defined in (&.7.7)
(Ch. 8)
generalized Sliffneu mllri~ defined In (8.7.8)
(Ch.8)
J(-'F, I EIJ (0.. 7) or coRStnint iranw:tcr (0.. 8)
.Iemeot stiffness m.tri~ in local and glohal CXlOtdi-

[k[

[I.:,J, (k,l, IX,I

Ik.l
(1.:,..,1

' ' HI

(.1, (I]

mwi~

for

WlICtUfC

' '1

~~

~I

u",,~,

[i.1
[.t,1

cllSlic lIiff_ mlInu

geometric stiffness matrix

[.t.l.

u lo,n'. stiffnus mllr;K

submatrica in [Je,l (01. 4)
Induoed momt:nt mltr;x

[.t,I" [.,h. [t,!.

[.t,]
[t}l

joint IIlOl1Knt matrix

l.t~l

/.t,]. [t,l. [.tIl

'.
,

' L, 't., 't.

{'{
/, ... ,11

M.
M~

'M,.

'/II,. 'M,

'. 'M,. 'M,

(MI

1M)
N

[N.J. (N.I

"
"

length of infinitesimal clement (0.. 7)

direction cosines
applied IJIOIIWnl
(filial moment
morm:nl$ about the Z 'o JI", and z_ues .1 C,
_ i l l S about the r -, y-, and znes II C,
moment vectOr (0. 6)
_ l i t yec\O( (a... 6)
{M} VCClor IIliMformed 10 g10balucs (Ch. 6)
lOIal numller of degrees of frdom of 5tnw;Iurc
ooeff.aelll m.1fit:es (Ch. 1)
101.1 number of degrees of freedom of clement
nomber of infinitesimal tkmcnl1i (ClI . 7)

difCClion CCllllIIu
IIn~ YeclOf
OS uis (0.. 8)
lilKII .nd cubic interpolation functions
His of rOIalion (Oa. 8)
.pplkd .:rlal load
axla! buckling Ioad$ in lorsioPal.nd fleulal modea
(01. S)

.Ion,

(~.)

OS
P
p... p... p..
P

{PI
{PI.

{fol
{'PI, {'PI

,,).{pl
")

length of Slruclural member .1 C.. C, nd C,

lower triangular mauix

(01. 2)

,",
(" ,),

IWlied mornc:n. lIUIui.

&ubmau;oe$ (Ch. 2)
entries ia Il.] m.trix

force vector
"lU<;tI/.r~

kd

c:oncenlnUe4 loads II $!ructulal !lOdes (0. 2)

. efCKntt Iod V(:dOl' (0. 8)
Ipplied loads for SlructuK II e,and C J
r<>rOeS in local and global coordinaleJ
sectioa axes for elclIICnI nodeI (01. g)

xxvii

(i)

(p)

fO.I. [Q,I

,,

~~

(f,)

~ R.

:,R

:R, :R

I')
(R',...)

,,,.
5'... 5"..

'S.

projcdions of {PIon'S pl'l\(: (ClI. 8)

norm~liw.l ' -eao< of (p', (01. 8)
c:oofflCient mauica (0.. 7)
patalMt~ fO\' i<knlifyinS QT- I. OT2, and ST

's, 's

.S" ,5.
's

:S"
:S,
'So
's
~.

IS)

[SL. [SL

("]' (',I, 1',1

",L.. [',I,.. ["1.,

ref.KI'Itt axes for nock" (01. 8)

utcrnal vinual "''Oft (01. 2)
ndius of narv.d bum (CII.7)
ntemal vinual WOflr. 11 C, Ind C,. ,dened 10 C,
ntcmll vinual WOf~ " C, and C,. .ef.ned 10 C,
100lliQn matrix

unbalanced forces raullin, frl)m

lion (0.. 8)
radill$ of gyralion

ilen_

position veClOT (01. 8)

position vlor .fI tOIllion (01. 8)
linear and nonIillUl components of J.hur wcS..
(CII. ")
surf~ an=a of body I, C.. C ,. and C,
Kirchhoff strus inm:mcnll
C. and C,
plane aormallO '.i-axis (CII. 8)
2nd Pio!l. Kircbhoff ,I~.I C, and C,
surfllClC' wilh displl~m.nl$ pres<;ribed (01. I)
$urfaoe wilh tractions prescribed (0. I)

,.f.,mlto

updatcd Kirchhoff Stresses

symmelrk pan of [k,1 malrix (0 [l,])

tl'll1$f~1 m~lIi~ fOI CUlVed .nd ~l1Iig.ht elements
(O!. 7)
[SL matr;~ in T.ylor's upllnsion (Apptn. q
sin t (01. 7)
higM ...xde. "lUnas mallica
equivlllonL ~jffness m.1lio;e:t; for I' ,~
and (,.1
(Ot. 3)

[.,).

T, T.

applied torque

T... 1...
I~
[T.). [T. I

critical IOlque

[TO]. [TO]

pK~dinll

m'nsformation of uu f'l)III C, to C, (CII. 2)

transformation millix for in .nd oul-ofp1ant
dislIlamcnlS
C(Jtffic~nl matrices (Ch. 7)

XXyiiI

(TI, ITF]
[TR]

CO(fflCicn' ml/fices (Ch. 7)

transfel mall;" for ~ wm of fini.e Itni'''

(00.7)
dc.finc4 in (8.7.1 1) and (S.7.12) (Ot. 8)

{T,I, {T,I

Y'(lq

, ,,I,

swf_ l1aCIiollII .. C, and C .. ,trelled 10 C.

~_

!I,

surfacel1aCliolllll' C, and C" reftrIed 10 C,

ar,,1 el""gll,on of beam (Ots. 4 , S)
SI ln energy (a.. 2)
SlruCiUri: displaccmcn. Yee/or
SInICIure dis~mcnts Qlfrespondins 10 (~)

, ,~

U,
U,

{U}

'O}

(Appen. B)

"

" .. y .. "'.

(II I.
(II I.
(11,1, {II.}
(MI, (~) . (';'1

(Ii)

~ntroidaJ dispb<;c:lDCnts aJona ;t., Y". and .ans

displlN'mcn' inatlDClIIS
.iaid 'IlIns1 ions along ;t-, Y', and ,ares
dispboernents Iiong ;t_, ,-, and ,axes
displiccmen'J II C, and C,
clemen. diJplaccmcn' Yee/ors in lonl and global
arel
nalUllI1 dc.fonnllion vedor
rigid body d.isplIocmcn' YedOf
in and OUI.of.plane IIOCbI dis9bctmcnl$ (0.. 7)
element c:omponcn. displKcmmt yo:(\OIlI
clemen. displ.aocmcnl$ cor,espondinl'o (~)

IAppen. H)
V.W.I.

v 'v V
(VI)' (V,..,)

X, r. Z
.r, y, :
1,;, f

,.'i,.r, ..,'j,r, "'f

1'1

II, y
~,

,In
If ,

II, V

"illya! work inacmen.

"olume of bod, I I C. C" and C,
lillIe "tc.o. for elemcnt.s j and j + I (0.. 7)

$InK;IUIC (global) OOOI'dina.c ares

demeo. (Ioe:ol) o;oordinalC axu
clemen. ares (0. 8)
$l.l1ionary Ins dc.fincd in F'"urc .5.2 (0.. 5)
AlIMIIwy ax .. ckfinc4 in FiCUrc .5.3 (0. 5)
lnnsformllion mllm for curved beam (0.. 7)
lOrSionll paramcici dc.fined in (5.$.33) (05 . .5-7)
on hogonal coordinale axes (0. 6)
section axes fOl elemenl norIeI (0. 8)
aublelKkd Ingk of curved be.m (0.. 7)
IllInsforrna.ion mllm
inclined up: between membcn / Ind J + 1

(01. 7)

11M,. 11M,. IJ.M,

.S
IJ.II. IJ. IJ.~'

.,

."

(A,). (11 , 1

(AP)
(AU)

{AU/I. (IJ.U,)

.0

loW elongation of beam (0.. 4)

"",mbe, defonnations due 10 various dfccts
(Ch. .)
linear Ind nonlinn! ronlpotlC'nli of deformllion
(01 . )
inclllocd Il"IIImCnt inac"",nlS
arc length incn"",nt (01 . 8)
II, - " ". - w and .... - .... for Iru$iI membe,
(01. 3)
displacemen1 inn.ment (01. 8)
work increment (01. 8)
in Ind out-ofplane di$pI~menli of curved beam
(0. 7)
load incrcmmlS (OI. 8)
dispbccmenl incremcnl5 (01. 8)
displ.amenl vtorl oornspondi", 10 {/Ind
(R',..) {OI. 8}
tobtion ;natmenl (CII. 8)
symbol preding w;nUll quanl;ties (variational

Optrator)
GU, GV

v...uuion in strain ene' D .nd in potenti.1 energy

"

K>onccker delll
Green strain iocum.nt,
updated Gr.en sua;n ineremenlS
Euler slrain incremenIJ
G.ecn.Lagrange fil,.illl II C, and C1

~,

,'.

-.c.. :e,

c, ,

"..
"

9 .. Ell' 9,

0,

0" 0,. 0,
0", 6,.. 0"

'M, I GJ -IIR (Ot. 7)

embedded axes defined in Figu,.. 5.2-5.3 (01. 5)

defined in (7.1l.25) (Ch. 7)
nonlinear I;OIIlporKnIJ of tilt
nonlinea, comporKnIJ of ,~~

nltural roulion (01 . )

n.lural routions about Z.:/". and ..u.. (0.. 8)
rotalion about ..axis (01. 2)
rigid body roution
rotations (increments) about
Ind zue$
rigid routions about Z', y. and l'Ues

Z.,....

...

u .. .,,,._

Ill,}
[A[

(A,), [A,). '"

,,
,
",,
,
A

" , I/o, v

,,
~,

"eM,
it. C

.p, 'p. ' p

0

. '.

'l

'l

[OJ
[OJ

rkmcnt component displxemcnt V1OI

eigenvaluc ""uix (0.. 1)
(AI rnalru in Taylor'. up&nsion (Appen . q
load filClo. (ClI. 8)
ci&cnvaluc (Q. 2), Cl'itkal ~ fK:lQl (Appon. B)
defined in (5.9.8) 01' (S.10.33) (0.. 5)
dcfillCd in (8.3.26) (01. 8)
load inaemcnl p,arameter (Ch. 8)
di=lioa cosines (01. 2)
defined in (ljIIIlions (H.8) Of (5.10.33) (01. 5)
(Cf,GJ) (ClI, 7)
unit norm.l to $u.facc o f body
IcfeKflCC lJtC5 fOI clement nod (Ot. 8)
defined in (7.11.90) (Ch. 7)
R + I (radial roordilUlle) (01. 7)
density of material It C.
and C,
defined in (1.11.97) (01. 7)
Q,UI,:hy $UUSU II C, and C,
lnIISformalion rmtrill from Ioa.I 10 &Iobal axes

m
[VJ

..

'"
'

C,.

(01. 6)
modal matrix (01. 1)
defined in equltj()n$ (5.9.8) or (S. 10.33) (ClI. 5)
z/R (tangential coordinate) (Cli. 7) or ri&id rotation
(01.8)
cicenvtdor (01. 1)
inverse of (41) mal.ix (01. 7)
in ('P) (0.. 7)
defined in (7.11.z.) ICh. 1)
r(lUtions (00. I)

V"""

Righl .upersa-ip!5
I, _ ,j-I,;
number of incremental SIC,. (01. 8)
Righl5Ubscripts

-,'
,'. J

", y, z
CI , p, T

nodes A and B of 5llUdUni member

indcJ for coordinalf. Uf.S
lui ilcntiVf. Sttp (0.. 8)
coordinatt ilia
coordinalf. ilia (01. 6)

XlIX;

l"''''st-~
2

O. I ... 1- 1./

member numbcr
numbcr or il~ral ;ve

51~p$

(0.. 8)

un SUpefKIipu
0, 1.2

un

OC(.'UITing ronfigunuions: C. C,. C,

su~ripts

O. \, 2

rcf~~~

COnfig\lflllions: C.

C,. C,

Chapler 1

Introduction

1.1

Background

pu~ of SIllICNral analysis is to determine tbc: 5trU5eS, $lf1.iM,

Ktmg f01'CC$, and displalIImts of given stlUCCu rc undtr given
IolIding conditiom. EIa5eiI on the anal)";s results, IllUCCural engineers
Ire able to clltck whelher a pcoposl design meets the requirements of
,tlequate lesisWICC 10 a romb;ntlon of loading conditions and, if
ntceSSllry, 10 revise a pcoposed design until .11 such requirements are
met. At tbc: present time. illlUI' elastic analysis rellllins the staple of
1be 6esign pl'ofessioo, in the Kn5e that the results obtained from ....,h
analysis have boen UKd primarily IS 1be basis for the calculation o f
forta and Wesse!I &lid for the proponionill& o f lillUdurai rmmbef'l..
One drawbadr. of linear elastic anal)";' hIS boen its inability to
reflea the real bclllvior of structures undtr abnormal or ultimate
loading ronditions, since almost.ll structures bchJve in some nonlinear
manner prior to reaching their limit of resislance. For thlJ reason, IIlO$t
modem codes based on the ultimate strength deliign ronpI have
inrorponlled certain provisions for s\fu(:lUral engiMers to rons.ider tile
nonlinear or $CO(lnd order effccu using cilber UK! or approximate
analysis LedutOques (A1SC 1986). The basic: c:onsideBtlon here ;, lhal
a more realislie evallLllion of the otrength of suuctures "Pin$I the

The

I .. ,

'

ratlun: ooodilions, Or tIM: fa<;lor of saftty. QlII be Icl!kvtd only by

IlnIlys<:'Illw. We into JQro\lIII various noruillUr dfcctS.. In tht (\esign
of Itr\IaurelI of peculiar types 01 of special Imponano:e, ;\ is lISIIally

recommended llIa\ nonlinear llIIlIIyscs be ~ed 10 invutigw: the

behaviors of structuru under abDOOllalloadina conditions.
Ano!ber fKlo. thaI (;1111 for llIe necessity of _ l inear lmIysis
CIIn be allribulcd 10 the tkvclopmcnl of high-strength mllcri.al$ in an:u
IUch as II<:l'O$piI enginring. m.chanical engineering. and high-rise
building OOIISlIUClion. wile,. the: weight of 1M design WUC!ure is of

major CODCem. Applk:alion of weh malt,;ab In !hue areas, though

enabling 5lnICtUm engineen 10 achieve a liplrr design.. willllOnnJlUy
introduce Nin dcgrus of nonlinearity in lIE SU\l(tum I~. It
is the responsibility of SUlIdom cogine<11 10 ensure thai all the
opI'llIlioruol functions of tile design 5UUClUre ~ IlOl iJllpaired by sud!
noniincu dftclll under tIM: worki", or uuemc ~in8 conditions.
Obviously, the role of nonlinear analysis ba$ bomc mudl more
imporlanl tlwl ever d~ \0 lh. illCJQ$ing use of light, high-slJt;ngth
mal.rials in lh. industry. II should be noted th.l, in addilion to
slrjn&enl design requirements. the advancement in JOlution methods, 1M
expansion in compuler _mory, &lid, m()$t dirtly, the drastic decline
in c:omputiDg casu are OIbcr f-aors WI m.ke room for lIODlinur
iWllysi&.
Two difJmnt classes of DMlioearitics can be identified. The first
class consisIs of "QI~tyJ _liIotQ,iq, whiclJ IriIcI from dlanges ill the
pIIysical respooae of mlterial 10 SlfCSS and appeIft in \be form of
pa.thpelldcnl Ind nonuniquc roos\itutivc laws. The essenlial
computalional problem in the an.lysis of problem, involving mlterial
nonlinearity is Ihat equations of equilibrium mus' be wriuen for 1M
~ure using material properties that depend on "1111 ... , but tIw: strlins
are \101 known in advaoce. The!oeCODd class oonsisIs of ,<'OIfItltk
_Iiltttl, iq, also rereu! 10 tos the K<:oad order cfJccu, whid! are
prodlIo;ed by fiDilc deformatioos coupled with cbaose in stiffness of.
wuc:ture wxltr applied Io.... jpp In this lUI, only lIOIIIiMlrily of tht:
geomwic: type will be ronsidcml, while material oonllnearities and
ti~DI problems will be entirely ucl\ldeod.
One ""nli,1
fealure: of geometric nonlinear analysis is thlt tIw: equations of
equilibrium of I ItlUClure must be written for the deformed geometry,
which is \101 known In IdYallOe. It is (MIly wben the defonnllions of
the ilnIcture are to $IllIlllhal \be equations of equilibrium written for
the deformed coafiSUllllion can be coosickred idcoticallO tho5e for the
milia! ooafJ&WIIlion. In thill c:ue.!lIe DOOIiMar analysis tedIIca 10 the
OOGvcnliotlal linear analysis.

3
All of !he suuaUrc$ that Ire analyud in thil tut Ire called
# rvUMTQ. A framed WUC!II,e eonsisls of members that are
loll, ill O(lDlparison witlllbtir cross-sec!ional dimensions. """" as width
and depth. Members of this $Oft are called sknder dClmnts and Ire
con,-cntionally repr~nted by li~ ek:!DCnlS in the finite cLement
.nalysis. Five categories of framed llruClu<a will be analyud in this
IU'! planar uussc:s, space lruS$U, planar frames. spKC frames, and
curved beams, which appell in I~ order of incfeasin, compluity.
ElclI of these cal.gonea repreKnls class of S\ructures h.ving specirlC
clwXterislks. In thil lUI, the joinlS of planar .nd space frunes are
assumtd to be "'id<tHI~lu. and \bose of the planar .nd spaI~ ut pUllrU<OtIflurtd. 11 should be mentioned thaI extension of
lhe pracOI OOOIUI 10 include types of SlruCturaJ join!$, such as
u",i.,lrid .",,,,,u,liOfts, ~nlS basically no diffKIIlty.
During re.;enl yeaJ1 of lUeuch on !lie nonhMIf beh.viors of
structures, we have notKcd very intricate siluation in lhe lilo.,lur.:
mrr ..,nt rescardW:rs orten predict differenl numerical solutions for the
urn. nonlinear probl~ms, reprdless of!he faC! chac ;(\enc;cal kilKm.cic
and m.l~rial assumptions hlv, bn claimed co be IIKd. In many
cases. .sucb di(fe,,~1ICU Qnnol be auributed simply 10 lhe use of
different ~~p s~ ill the inm:mtnlll 5OJIICion ~ One dired
COIIKqllulce from !hil; Ills bn the generlcion of II'IOf'e lhan one
~ CIIrves,.sucb as \oIckIc:ncaion CIIrves, in the JIme pIoc for.
Jiven problem. The number of response CIIN" is likely 10 inaeag for
many OOII.Iinear problem$, &I IlK pro<.:edure for pc:rfonnin& cM.mlinear
analysis has n01 been unirtt .nd cli<re are researchers wnlinuOlisly

"o.ttI

Jlfoducin& their reKarch results.

While for rlain elns" of nonlinear prohkms the difference
amon, the 5OIulionI pmlicted by various raeard!cn can be loleno.led
or IUribuled purely 10 facton sucb 1$ the use of differenl $Icp sizes. Ihe
Arne is DOt ~urily we for oeller OOII.Iinear probkm.l, for instlJltt,
fOC' tbosc invotvin& hll'p dcfonnalions and threc..dinx:nsional roulions
ill Ille po6lbuck1inll Ian",. If we believe that there ui5tJ I unique or
crue solution 10 I paniculu nonlinear probkm with prescribed boundary
Ind kridin& condilions. Ihcn Ihc .ppc:m.nce of more than ooc 5Olution
(usin& the same or sufficiently small load ~ep sizes) for I sin&le
problem is obviously. relkction of lhe eblOlk silualion in the lIate-of
lheatl res.earch on II>c nonlillC~1 mechanic:s of structures. AI Ihis poinl,
we &Ie faced wilh lhe most challc:n,in, '1UCSlion: C...
by a"y
.. ea.... die Pq1e,U:I,;ry 01 <>lie soI"li"" <wu lire orlrerl for die ..,... e
_Ime", proIIlUI N"der corulde,ar;"'"

_jlU""

w~ hive 10 Iodmit WI ans.... erlng !hi, q~lion can be very

difflOJlt, MalIK a r><N>Iinear analysis Q)nlJl;ns I number or eoonPUUl-

lionaI pIwcs of "'hid! many have I'I()I bRa unifJed or are subjled 10
up .... ots of diffnen! levels. What is more, 1M underlyioglbeoria
and IOlulion prooedum of IIlOSI 1IuIic:a1 publicatiofts have no! been
displ.l~ 10 I okg.., lhat is clear enough for I matMmatical Of
phYla' judgmenllO be rn*, noI 10 mention !be possibili.y of hidden
tm:Jf1 in computer codc:s.
From the poin! of oompulCf programming. we mly 'pLKe Ihe
aboye qUe$Ii<Jn by 1be following ooc; Is Ir poUt"I", 10 dewlop rra;"
("/I~,I" ",. clIs~'I", ,~'"

accuracy, CINlJiJfClfC'/. ""d COIII'CrgClfU of

"o,,/lntll' 0""/),1/$ so ,!t". rhe s.."'''' dcg,ee of COIt/idCIIU tI$ ,Aal for
liMa, IMil/ySU C/l1I be! .dievcd /M "",dincQ, ."alysis!
Thil question bas actually becolM the dr;yi"a foroo of OO[ rcan!
rue.reh on llruaun.l noolinearitiu. In 1hls lut. we 50hall scan from
tHe 1OOIi1 l'un\bmenlll principia of mccllanks .1Id \kvelop ruin <;ril~
ria,ln panicul.r, the rigid body (ritcria, for _linn. analysis. Such
ailma will tbe:n be employed ill various phues of the nonlinea.
1.D.lI)\~ 10 tJWIIC tIw !bey are oonsislenl with basic mechanics
pri~pIa.. Throughout tk tnl, tk following pIwes are (:I)n$Klered
most imponlnl 10 III ICt:IItlle lIOalinelr anIIysis: (1) specifICation of
inaemc:nlll eonstilUlive laws, (2) qvallly of nonlinear dements, (3)
cqILilibrilLm c:ondilions for struClWlI joints, (4) rotIllooIl properties of
applkel moments, (5) force recovery prooeduru, and (IS) \Irge rotItion
effects. The pIIljlOIe of this lei' is 10 pRlICnl I tborough ttUtmc:Ol of
nch of tl>ese phases, .imed II developing tltional p!'oo;cdILres thai arc
free of Iny IJllbiguities.

1.2 Notation and Domenclatut't

All numc:ne.l procedures fOi DODlineIr an.alysis have 10 SWI from tk
bask me<:hanics prilIcipIes. 111 the remlini", pan of this chapter, the
fundamental mecllank:l equalions 10 be ill'lObd in lllo:!' chaplers fOi
linear .nd nonIiDur finite elemenl analyset will rlrSl be sulllllllriud.
Botb
/onro1lu.rilM aDd
!orJul"ri_ have been
proposed fOi desc:n'bing tbe mocion of IIOlid bodies. In the Eulerian
formulalion, 1M 1p",I,,1 Ct>oTdin4lru, i.e., the coordinates IS$OclIted with
the deformtd body, are employtd as the reference COOIdin.lles, while in
Ihe Lagrangian formulation, the "'~'eri4l1 ~oord'''4Ilu, Ihal is. the

EMluIJo,.

L",r-a",'''''

1.1 Ii_ _ ."" _ _ "' ..,..

eootdinatell uaoa.led ... ith \be body before it ddonnJ, arc employed
instcad. The ~ fonnu\.alion ill pII1icularly suitable for the
sup-by.llcp J>OGlin.ear llDlIIyllls of fOlid bodies, in ....1Iic:h We are
interested in \be history of deformalion of cKh poinl of \be body during
tile loading pro$S. In oontnst, !be EuleliaA fOfmu\.aUon has been
widely .dopc<l in the analysis of nuid medllniQ probLems, ill wllicb
,"enlion was focused on the motion of !be DlIlerial tltrou&ll.lopecif.c.
..ontrol volume. In Ibis lexl, " c shall rulIict OUT disamions prim3Jily
\0 formul.tions of !be l..qrIDgiao type.
Wrth tlte Lagrangian ~, the formuillion of incremental
theori for nonlinear .nalysis begins by dividing tile kniding path of
IoOlid body Into I numbel of equilibrium oonfigurations. M.r.hown
in Figure 1.1, Ihrec oonfigu""ioll$ of the body tan be conceiyed in
terms of lI.tional)l Cartesian coordinale .ySlem: lbe initial ulKkformed configuration (Co>, the laS! kllO ..n deformed configuration (C,),
.nd the current deformed configu",lion (C,). It is assumed thai ,lillie
slale yariablc:a s\lth as Slresscs. strains. and displa~menlS. tQ8('lhr:r wilh
the leNding bistory, are Uowa up \0 the C, ronfiguraOOn. Our problem
is Ihr:n 10 formulale III irxnmcntal theory fOf delerminil\& III the SUlle
variables of !he body in \be =111 ddorrncd oonr"umion C"
ISSlImit:rg!hat the uu:mallnadinp atling on !be body I I C, haye been
ina"used by IIIlIIi amount. The step c:h&ractermn, !be deformation
prCMSS of tile body fROM !BE C, \0 \be C, (II.f"u"'llon ...iII be rderml
10 typita.lIy as an lIte'tlll~I..1 sttp. Wbile 11M: deformllions wilbin Ibe
inm:mental JlCp from C, 10 C, are assumed \0 be genen.l ly IIIlIII,Ibe

'"

6
KtCUmulated defomwions of !he body from C. 10 C, 01' C, an be
arbitrarily wge..
Dqlc:nding 011 wbich previous wnfiguntion is sdecltd IS Ibc
reference lUte for C$Ubli$hina the governing equ.acioM or the body II
the current ODIIfiguralion C .. IWO types of t..vanJiaa fonnulllion can
funhc. be identified. In the Npd.led L"S,,,,,,I.,, for"'~IDI/Dft, the IQ\
calculated configuration C, is $eleae.:! .... the ,derenoc sule, whereas
in the lo,a/ LIIg.D"g/"" formulal/on, the initial undeformed configuration C. is usro for 1M. same purpose. BoIh the updlled and 1(11.11
Lagrangian (onnul.lion. !IUIy be reprded 11$ !he spc<:..l cases of the
ICllu,,1 L<I",,",iu /o.IfIM/II,iOfl thaI adopI$ an arbilrafy kllOWll ronfigu
rllion bclWun C. and C, IS the reference (CamlIO n "I. 1979). In
this lUI, we shaD adopI primarily !he updlltd I..aJrIlIJian fOfttlulalioo
for most appIicatioas, for its hi&ber efficiency in dulin, with the beamtype $II\IaUrtS in terms of tile romputalion dfons required, in
eompa,isoa with the 1011.\ Ugran,ian formulation <B-the.nd Boloutcbi
]979).
1M tensor notation and nomenclature used by Balhe tlili. (1975)
will be' adopIed throusJloul lhe lUI with Iligbl modifICation. whkb
llave beelI &bowl! 10 be wry elJtttiYe for the formolalioo of i:rIcnmcnlal
IIIeorits for IIOIllinear probk:11IJ. Einslcin's summation COIIY~IIIion ..ill
be W\IJIKd far udiICmoriailum wilb repclltcd dummy inde:J:. That
is 10 MY, wheDevcr \be AmC index appears twice in INJ.bcmr,lical
l~rm, lhe irKIe:x il lll be given all pOlSible nha and lhe ImlllS added

lO,ethe:r,
Description of lhe motion of. solid body is bued on [he: three
conn,u"lions, C. C".nd Ct. 80111 left superscriptS Ind subscripts on
Iymbol Ire used to clellOlC these configul1ltions. A left lupersaipt
dedOte$ the COI1r"unttion in whid! the quantity OCWB, 'The abKDOe of
Iud! I superscript indiQotes IlIaI the quunify is III increment bc:1WO
C, and C'" A lett subscript denotes lhe configunttion wi\b respea 10
"hid! lhe quantity is lMuwed. However, if \be quantity under
COIIIidenotion occurs in \be AmC CODfigunttion in whicb if is measured,
!he left sub5c:ript may II1II be used; for instaDc:c:, the Cauchy lIresses 1\
C, /lUIy be denoted by
or
the surfaoe merions II C, may be
dellOled by ." or ~~ and so 0/1.
When I solid body cluinges ilS configW'ltioo from C. thrOllgll C,
10 C, under some ph~ical lIoClioni ( Figure l.l). we impose the

'l, l,.

lSIumption tbII 1M dian,. is CQntinoous. Le., neighborhoods ar~

changed inlO ... igllhorhood$. We shall dcnoIe lhe volume of \be...tid
body in lhe three coafi&llratiooa. by tv, 'V, 'v; \be su.rfacc arc. by -A,

'A, 'A; kDd the specifIC mass by ' p, ' po ' p . FurtMr. we shall <knote the
QDOfdinateS of an arbiuuy material point P wilhin the body in tIM: three
conflpf1lllonl C.. C" and C, by ("x" .~ .... ,). ('.r,. IX,. '.r,), and
(';t" ...... '><,), rapcctiveLy, wJw:re the light subKriptl rern to the
ooordinate axes (Fi&Un 1.1). The nolJItioa for the displacements of
point P can be defillCd in I similar WIlY; fOf ;MUJIC)e, .... e U\all 11K the
I'IOIllion
'11') and ('.0" ' "'' ' .. J 10 denote the IOUI displacements
of point P" 11M: C , and C, oonfiiullit ions rupectivdy . It follows IlIaI
tIM: coordinates of point P 1\ C, and C, can be wrincn as follows:

C-,. '"''

, . '..,

'x~

(; & 1,2,3)

(1.2.1)

(1_1,2,3)

(1.2.2)

and tIM: di$placement in<:umen\S of point P from C, 10 C, are simply

(1 - 1,2,3)

(1.2.3)

With the praeOI _lion for !be ClOOfdinales aod displaotmenlS, _ are
rudy 10 summ.me some: of the most usel'ul AM and WC$S tensors
for the il'lCn=ow nonlinear anaIy'ltS in the following d!a~crs.
Througllout tIM: teal, IM:W symbols will be icknlifoed wbert !bey first

appear.

1.3

Oefln ltlon or strains

In principII:, varioul strain and Slless ICnson an be emp1oy~ in the

Mlldy of aeomctrk IIOOlineu probkms for solid bodies. However. if
the objct;tive if; 10 establish .ID dfedivc proadure for gcnc:12l finhe
elemenc analysis, then only. few WeN and $Uaia measures need ~
oonsidered. To chis end, we shall ruuid our dilQlllioa 10 tbe ~o
I..aj;Jange $Uaia ICBI(lrS .ocI inf.rulesim.aJ Urtin celllOO in Ibis se<:tion,
and lhe second Pio"-](i,chllofJ stresIlCRSOn and Caudly Im$I censors
in the tc:<:tioa 10 follow, 1$ Iltey are tbe mosI usefuilltlin loci was
IllUSUru 10 formuillions of lhe layangian Iype. F()f lhe cues where
lhe usc of "Grn-ugmlge" ml y resuJl in lhe composilion oflOO many
wOlds in Ilingic Ie('hnicalcerm, "Gleen" will be u!lCd 1$ loonlumd.

,.

Cons.ickr I HIIC ekmcnt PQ of Ienl1h ' <4 iD ilS origi",J C, confipra1ion

whlcl! has IAbo the length '<4 in the C, COnfigura1ion Ind lJ$ in tile C,
configuration (f.igu. e 1.1). The GreuLilgratlge .tr"i~ t.~.t1I"' ~ and
~ of the body It the C. and C, Wllfigura1io1U respectively, with
respect 10 the C. configuration can be dcfitl(d by tile following

formulas:
(L3.I)

(1.3.2)
in which
dl~,d'~,

(1.3.3)

('dlf. d '.c, d '~,

( 1.3.4)

(Odl)' J G~t d OLI

(1.3.5)

..., '

(1.3.6)

('dsj'

Since

gILt d"z

(U.7)
we can write

(J.3.8)

(1.3.9)

Making lIX of cquatiolU (1.3.$). ( 1.3.8). and (1.3.9), 101: can derive
from cq\IltiolU (1.3. 1) Ind (1.3.2) the fo11owi1l& expressions for ll1e
Gr~nLagrange strain tensors
and ~

ir.

- J

(1.3.10)

, -.!(.:I'
.>:,.:I'.<._,,)
2 a'x a'x

ri,

(1 .3. 11)

j"

..'htr~ "~ dellOl~$ ,he. Kroneckcr deill.. 1"0' I. /. 6, . I: and for

j.
6 O. By tile usc of (1.2. 1) and (1.2.2). we Can (unht' upr.5.~ the
"TIlliS in lorm. of the displaamenl romponenl. 115 follows:

.
, ",,
_.!(alll' ,'.
, ",,
,(a'iaO.../, .,'

z
~r 2

~
f

2 ;1'...

:.::.l

alII,)

(U.12)

alII,)

(1.3.13)

a'lI.
a'x, a'x,

a'."

.lOx, olGA'J

wber. il is noIed thai 1bc ',1IIIIlC1r)' of 1bc .w..io I(nsor IIoIIIs, ic..,
~.!e 'nd:".~
Y.in~ unabr~ _'ion, we shill n:~ the C, disflac.;mcnu
('II " uf. II,) by (ll. >", 'w); the C, COOfrlllllllU
-x,> by
('x, 'y, ,): 1M C, displacements ('II " 'II" 'II,,) by (II , 'v, ' ...); and
!he C, coordinates ('x" 'x,. 'x,) by
'Z). Then:for., the componenlS of GI n_ Lagrange "ra;n lellS(lr ~" , C, can be ",riUen explidlly
u follows:

r. ,. . "

ex, ',.

,'.
"'. ,', .~[(:::r .(:~r .(:~r1
,

0-

~. :~ ~ [(:~r (:~J .(:~rl

~..

a~

, '

! ir "')'
2Ra~

(''')'

aOz

("'rl
aOz

(l.J.I4I)

(L3.14b)

(13.1",

"

,--

..-

,~

a'II

(1 .). I4d)

,~

(1.3.J<4e)

(1.3.1 41)

(1.J.l4&)

and those of the ttllSOl' ~, I\ C, ~ be obtainc4 by switching tbe left

.uperseripl in each symbol of equal ion (1.3.1 4) from "2' \0 "]",

In aD inaemeaw formulalioll, \be diffcrt::1IDC between the IWO strains

~ and ~ is defined &I the C'UII Slrll'" Uu;,oro,1I.' ItJUOr oIli

~f~'-~f

(1.3.15)

which Is equivAlent 10
(1.3.16)

By the substitution of c\IlIlioas (1.3.12) and (1.3.13) intO (1.3.15), we

caa wri~

~. "" 0'1,

"'lIl a...
._a~

a':rl

(1.3.17)

(1.3.18)

/.)

..

~"'--

and tM _IUI~'" c""'f'O"~"'s . 'If are

".

(1.3.19)

Ii lhould be noced thai in equations ( 1.3.18) and (\.3.19) tM quantity

'M
, denoco:s the tQtaJ d~l_nts of the body from C. to C, and the

quantity M, the disp/amcnl inqcmcnts from C, to C,.

For the special case of linea: anllyail, tlt~rc will be 00 initial
dispIJc~m(nt$ '"'' implying that the tWO configurations C, and C. arc
icknlic;oJ, i.t, C, C.. aad thai 1M Gtn-ugrange $lrlin te/15Ol"
vanisbes, i.e., ~ O. FunMr, it is N5lImed ttgl 1M displament
iDcrcments M, are so small t/utt the ~ and products of tlttir tim
derivatives an be neglected. For such problems, the diStinction
between the two configurations C, and C, disappears, since it is
immllerial whether the derivatives arc "'adated II the position of
point before Of after deformation . By nc:gkaing 1M ItOfllinc:ar
WlllPOOCDts and the initial displattment effects, the Green $trI.in
in.cnment lellSOf <At reduca 10 the ;"fUl;les,,,,.1 sIr";,, IC1lS0I",,"

<I,

, .5.),

o l(OM'

2 O;{ O;{

( 1.3.20)

where III tile left 5UpcT5tTipu for the displacements and coordinates
have been dropped. In unlbridged IIQlation, we hve
(1.3.2Ia)

(1 .3.2Ib)

(1.3.2lc)

2 ....

"

." . .

. _

ih

( I.J.21d)

"

2,. ..
"

,- ,

.. ..

2,. " -

Ow

a,

2,.,

(1 .3.2Ie)

. 2 ......

(I .J.21f)

In rng.inrin, uJage, 11M: lIrIin oompoMfll! , . (I .. j) doubled, i.e.,

:z,.... ar~ callo:d the ShCII';1I811r1l;'U T.. which repreKnt!he dccruse in

..

lhe right angle inilillily formed by Ihe sidts puali.l to the:lt' and

x(

However, lhc C()nOI:pI of inrmilesim.aJ Sln.in tensor is IlOl

lesuicIW 10 hnclf anal)'$i$ ~;bed above.. UI 11$ 00CISidn IlIc
gcDCral c:ase of. body moving from C.IO C, by' number of incumcn
\.ll 5'cps and then from C, 10 C, by. single ilKnmcnla] Slep. Though
the accumuillcd displacements '~I of the body from C. to C, can be
arbitrarily wgc, lhc inacmenlal displaeemenlS~, within the incremental
.tcp from C, to C, I,e 5rD.tlJ by definition. In tbis cue, if we ref., lhc
suainJ 10 !be C, oonfigumioll, we c:an dcflM the EMler IUIIUt'ttlJl# ~
(or the body'I' C.. wilb .deunce 10 tbe ues "' tIM: $arne oonficuralion
C, as follows:
(I.J.22)
Substillllini tqu.tions (1.3.3) Ind (1.).4) into equation (1.3.22) lnd
lIIMing thaI

d'x

(1.3.23)

(1 .3.24)

From equalions (1.2. \) through (1.2.3), we have

(1.3.2S)

,J~"'whidl an be SUbstilUled inlo equalion (1.) ,24) 10 y~ld

"
(1.3.26)

For 1M pruenl cue. lbo: linear part of lbe Eukr wain ~nsor ,.. is
called tM infinitesimal S1~n teMOf ,e,:

(1.3 ,27)

which is identical in form 10 1M inronitesimal SlBin kllSOr t/', gi~n in

equation (1.),20). na:pt WI the refeanc:c aMlfipration is du.nge<llo

C.
LJ.J

Upda led GI'ftI1 stnln

ille~menll~lI5Or

The GrIILagrul,e strain 1e11SOf:", introduced above for lbe body at

C, has been af.lred to the initial configuration C. whicb is useful In
tbo: lotal Lagrulgian fonnul.tion. With lbe updated I...agrangian formulation. we Dd 10 af the waiD tensor of the body II tbc C, aMlfip... tion 10 lhe C, configu ...1ion illSle~. Such. ~train tensor, denoted u
or :e.. is CIIJIed tbc "PfI"'td (j,u~ '''"I~ /IIcrt"'t'" 'tJlH'
(Washizu 1982), ...1!kh an be defiPed iii follows:

,e.

(1.3.28)
Following the proee4u from equltion (1.3.22) 10 (1.3.26), it is easy
10 derive the SUlIin iDaC1llCnlS
IS

,e.-

1,

!(a.a'x,r, atx,
a liI

Similarly, tbc SUlIiD inc:umenl$

(J.J.29)

,e.- an be dc:compoKd inlO rwo pans

,..,

"

( 1.3.30)

.5.)
,'.,

and 11K IIOIIlinear rompollCnlS

I'I)~

(1 .3.31)

as

(1.3.32)

As ""tWo. of flK1. the possibility uisu for lhe rducnce

((lnfigunlion of the .'linin tensors 10 ehange from one 1'1 the DlMr. In
_
\2IU, for insunec. We may need 10 uansform the updated Orn
stnifl inaeRlen! tensor
which is ....asu,ed II C I' to lhe Grcen lIU1Iin
increment IeIl$Ot JI. .. which is meuured I' C. To derive the lr&nSfotmation rule for the two Itraln tensors ,I, and of!(t> let UI cxlll.'lider their
dc finillol11 as giVC'n in eqUilioll$ (1.3.28) and ( 1.3. 16). By lbe use of
cqul,iOl1 ( 1.3.1). we can obtaiJI the following ""Ie of Il1IlI$f(HmllioD for
Ie. and ..., from theK definitions:

,t"

(\.3.33)

(1.3.34)

1bex relations n:pr~nl ulCtly the tralI$formation rules for ICnson of

the seoond order, such as strains and litres:su, [rom one n:fercrw:e
ronfigurllion 10 the Othe.. SimiU: transformalion equations CIJI be
established fOf other 5IJlIin 1Cn.wn wilen Ihe reference configuration is
to be elwtJed. In the analysis of large &U1Iin problems by tile updalCd
lagranail.n approach. when: aU quant ities have bun referral 10 the
moving configuration C" we nud 10 ",fer all tbe strains . nd st,esses

"

\0 fi~o:d

common ronfigunllion. such as tile C. ronfilUrilion, befo,~

tbe constitutive oodflCienu can be oonsislO:ntly dcriw:d for tile
JliUClural IMmMrJ a' each ~mcnlat step (sec &aion 3.8).
RcI.tionl $llCh as , , - givcn in (IJ.33) and (1.J.34) provide 1M basis
(01' performinS the necessary uaMfonnation.

1.4 Definition or stresses

Allhough variou, kinds of Slress tensor! hive been proposed by
.Iasticilns and mathematician. in Ihe 11M" only lhe ,neu tensors lhal
Ire oonjugll. in 'erms of energy 10 th. Slrain tensors presented in Ih.
p'.oedi"g section will be discussed lie . Such .Iress and Slrain tensors
I.e Il>O$l dfCClivc 10 the Llgrangian formulations 10 be presented in
L.tcr chaplets. In this section, we wI! diSCUII first tM 1011,1 Piol.KI,cltltol! "'UI IUtHI. For cases "'IIen: 1M "'" of "second fiolaKirc:hboIT" may .uull in l~i<;aI h:rms W I ue 100 long 10 be ~cd
in l1li efficient OOIIUIIUOK:alion, "Kircllbofr wiLl be IIKd as. shonlla,w,t

1.4.1

SKond PIoI.KIn:hhorhlrHS IUsor

To define tM Kirchhoff ,tr(Ss "'1lSOf, C(N\$idcr I point P enclosed by

an infinitesimal rtttangular parallckpiJKd althe initial oonfiguntion C.
by Ihe follo ..... ing sil surfaces:

As the body contlinit\& the point P moves from C. to C, and then to

C .. we obKrve that this infinitesimal rmangubr ~l1e1epiJKd will be
deformed into a SlraiMd infinitnimal pailIlkkpiJKd (no Iongu r\-

Ingular) , I tile C, and C, ronfigurltions (F""",. e 1-2). The Kirchhoff

SlltsSeI I.e ck:fiMd IS the iatcmal forcu per unit Uti actIna along the
IIIIrmal and t..... o lat\&cntial diredions of eacIt of the ,ide JItIfkltS of the
[IarIl1depiJKd .t the ck:formc<l configurations (Wuhiw 1982). Only
the lit.cue. acting on one lick: oflhc panllclcpiJKd Ire shown in figure
1.2. The Kirchhoff Stml leMOn It the C, and C, configurat ions tre
denoted by
and ~Sr respectively. In In inaemcntl' analYlis, the
kcond Piola Kirchhoff wess tensor at C, can be deeomJlO$Cd:

:s.

..

16

'

""?p

,,,.
"".

""-----::---;
. . . ...
~

....

.,.,

1.4.2

OS, ~ OS,

(1.4.2)

.,;~

c"ucby,llUI lt n_

TIle CawcltJ' '''UI I(~_ i$ chlracterittd by 1M facl Ihal il is Ilw~ys

upressed witll rtsjXCI 10 tbe configuration ill whiclllhe 51"_ occur.
11 is alio known ... lhe: EIlIt!:, ,frus 111_. 'The pbyskal mUlling for
Cloudy
can be usily .ppKC'illtd (rom tile 8llIphicai illustrat ion
Jhown in FiaUJc 1.3. Consider .pin 1M motion of I gCMfic: poim P,
whicb is clIClosed 11 C, by all infinitesimal rUIlgubr paraLIeWpiped
wilh \he following si. surfaces:

"'t'S$oeS

I.." '"

COIISI.,

'J,'

d1J, '" COIISI.

Ind at C. by .nother infiniluimal rec:ungular

following loUt ~Ifacu:

(I. 1, 2,3)

(1.4.3)

~'"lIek:piped

Wilh the

"
c.

ox. 'x. _'x.

,k-;:--'Xo.
Ox"

'x.

'Jr,

')C,

'lI.

'T.

""Ow: Cauchy ,tr<'SSCS

and 'Tt are ckfin.ed as tM intemal forces per
unit ~'.cIing along t~ normal and two llIngenHal dire<;lions of nch
of t~ silk I\ItflttS of 1M paralldepipeds defined by flIIIItiom (1.4.3)
and (1 .4.4) for !be C, aDd C, alIIfigurtiions, rcspc:ctively.
11w: Cluchy sUtiIi tensor k I natural p/lysicll concept. but is
inconvenient fo, nonlintar analysis, in which we must relate $lI<'SSCS to
"rains. If the 51rains were tefmed 10 the initial configuration of
continuum. it would IK nco.uary 10 ckfUIC lhe strcsKS with rcspeCIto
the I&rI1e alIIfiguration. In this tcprd. lhe Cauchy slress tensor
an
Itt ,eI.ted 10 lhe seoond FiolaKirchhoff $trC$S tensor
II folloW$:
(Fung 196.5):

:S.

't.

(1 .4.5)

(1.4.6)

..

18

'

where p add 'p ,cpn:soenl 1M II\.lSS densi,ics of.1Ie: ml.erial ., C. and

C, .c::s.pW.ivcly.

1.4.3

Updl ltd KIrchhoff ItrHI ICHOr

II is possible 10 ddi~. third Idod of stl'C:Sl I.MOT called lhe ~pdd'etl

Kirchhoff S'reSS WIsor ,
Consider the infini.csimal .cClangular
panJlelcpiped COIIlainilll the poiol l' I' C Lendosed by lbe six l'lf1keS
Jivcn by fiIII.lion (1 .4.3) (tee also f igure 1.4). The CallCby sUesse$
kti", .. this rectangular pualleLcpiped arc deDOled by ' t .. As 100& as
the body a.>ntaining the point P IDO\U from C, 10 C.. Ihis rcaan&\llar
panllelepiped ....iII ~ ddonncd uuo an infillilCSimal paraLlelepiped at
1M. C, configunllion, wIIidI is no longer ~lar. In this case, tile
eoordinatc$ '''', of the body at C, are employed 1$ the m.atc:n.l roordinlte l)'$Um fot the body It tile C, OOlIfigutition. Tbe updated
Kirthlloff stresses lS, ate Ikfincd as rhe intcmaJ ro~ pel unit area
.cling along the normal and two W1genlial directions of cacb of the
.ide Hrfaoes of the parallelepiped 11 the C, wnfigWlllions (Washizu
1982). 10 an i.rI=mcnUlI analysis, tM updated Kirchhoff $lr~:S,
ean be decomposed as follOW$:

-.

l~

o ,,----;::-1:C
' x. .' ~....
"Jr, 'X. OX,

'f

'"T",

(1.4.7)

"

't,

.... hcr~
&bouJd be .ecopittd III tIM: Kirchhoff SIrUSU acting I' and
re'cncd lO.be C, COfIr"ullIlion. i.e . 't~. :S., and
will be called Ihe
""''''ed KIFdlwff .,U~ i"c'tillc~, W.JDr (\Vashizu 1982).

1.~.4

,s.

Tn n5 ronn.uio~

rulu

~ Oouchy Sl.ess tensor

"',chlloff $IKS.'l I.n_

't, .'

C, can be- ,el.ted 10 Ihe upd~l.d

;Sf by Ihe following formulas:

'0 a'A', a'x, I
,s --"-t

al ...

'p el'...

( 14.8)
"

(1.4.9)

... he.e ' p p,,~scms the mass dell$ity of lbe material ., .he C, c:oo.fig\IllIlion. Sin thc C.uchy suus Iemot' I" is symmetric, c'l~lions
(1.4.5) .nd (IA.8) indicate that boIh thc sea,md PioIaKirdlhoff stless
ICIIJOf
and !be updl.cd Kircllhoff .suess tensor :Sf lie .I!o

:S,

Iymrmlrie.
lbc ulinsformilion betwffn the Stcond Piol.,Kirdlho/l stress
wilb different rc:f.n:n ronfigullIliOO$ is abo po55iblc. For
iMance, from eqIIl' ioruI (1.4.6) and (1.4.9). IJ~ can derive Ih.

'.1IJOfI

following . elation:

r,
I

Of

0"

a.f, aO"j I S

--"-_

P ,0.1', ,0 X.

(1 .4.10)

0"

Similuly, [be following .dation uisu fOf.he body" Co:

1
OS,

" a'x
"

-0
.I", _ Ji"
--"---~

'p a'x

.... Ile'c il should be n::wgnizcd Ihal ' T

(1.4. LI) from cqtWion (1.4. 10) yields

$IrcS5e$

.S.

and

,s.;

'"
.:SO'

(IA.II)

SutH'1clin& cqullion

.k ,dation for the ;m-Il'mcnlal

... ....

20

ao.r, a'x/ S
rO'a'a""
p x, x,
~

Of

I ..

(1.4. 12)

......J;. _

inversely.

(1 .4. \3)
The preceding ''''v .c!alions an: pI"icululy ~rulln the n.lculltio<l of
the material OO(rrlCknlS for large JlI1I;n probLems in inaermnlal
IIOnliMar analyses based on the updated Lagr1Ulgian fOlmulalion, IS will
be demonstrated in Seetion 3.10.
Before o;orw;Judrng Ibis sedion, lei us lum 10 the rel"ions among
!be mut dellS;lies 'p, Ip, .nd ' p of malerWs II different configuralions.
Fa. maleri.1s thai obey tbe I.w of COIIKrvation of m:us, .... hich will
always be the cue willlin the conlUI of NeWlon;.n Imchanics, we an
.... rite

'.

f'Pd~, d~d~ fPdo.r,d~d~

~
where 'V is the volume occupied I I C, by the ma'c,iallhal occupied the
volume IV .' CO' By. e/wlge of lhe v'riables of in'cIIlI,jon from

'x,

10 ..... we have

f'p!J dOx,d.l;,dGlJ

( IAIS)

.',, a',, a',,

a', , a'~ a',,

, la.I', a'~ a '~ .'~

a',, .',, a'~ a',,

,J

.',
a',,

-'

a'~ a'~
a'~ a',

(1.4.l6)

"

By tqUIllons (1.4.14) and (1.4.15). we WI $how thaI the following

,dalion mUSl bold for any INleri.l :

(1.4. 17)
Con$eqllCnlly. equations (1.4.5) and (1.4.6) can be

""x, a.l",

I
-, " ,
J-

~wlill(n,

a'a'
.1",
x.

~.

( 1.4, [8)

( 1.4.19)
Similarly. by defrning Ihc: Jacobian determinant ~ as

a'., a'., a'.,

a'., a '~ a'~
01

1 .1", "
jJ .

a'

"

a'~ a'~ a'~

a'., a'. , a'~

a'., a'., a'..,
a'., a'~ a'.,

(1.4.20)

llle foUowing relalion rcmaillS valid:

'p - 'p!J
It follows thai equations (1.4.8) and (1.4.9)

(1.4.21)

c:an be Icwritten as
( 1.4.22)

(1.4.23)

,M......'...

"

In 1M form~lal;on of inc.rmenlalrhcories for _Ii,..,., problems

...e DUd 10 Kite! appropriately ronjuptc was and Slnin ",usuru..
By "ronjup\e" ...-co .....:on tIw che stress and strain ,"eUII," Klecud
.... itll I(spec! 10 ox""'in ",fc"'Me c:onfigUllcion <:an comisIenely
ttpl'ocnl !he eMIgy mo:asure of the body I' lIS allrene ronfigunlion.
Any uprus.ions willi SItUS and Sln;n meuuru thaI Ire MIl approprilid)' conjugate .re
lMm5e:ivCS lad:ing I valid p/lysical basis. One
SUle "'I)' of KI(<;Iin, appropriately conjuplc Slre5S and slnin meUl/res
Is 10 QIl)' OUt tile ckrivation of the pri.nc:ipLe of yinull displamcnl5
for the theory in qllUlion (Malvern 1(69). If the amen! dcfOlmed
Wnfilluf1l!ion C, is selected as 1M ",feren, il will be shown in Section
1.6 thaI Ihe Cauchy Slress teosor 't j and Infinitcsimal SIn;" [(nWI >".
furm Wfljuptc pair. By the application of Irlndo.malion rules, we
shall show in Section 1.7 lhill for tile 100al ugrangian formulation,
which is ,dened (0 tbe Co ronfigurllion, we may ,de(! tbe Kl.1,Ind
Piola.Ki.chhorr.mss ICIlSO< is, and Qrcen'U&rlnge ~njn lensor~.
IS 1M C'OfIjuple pair, and IIIaI for 1M updatc4 laanngl.n fO)f11lulation,
of .... hich the reference configuration is Klecctd 10 be C , ..... e may selea
1M uj,dattd Kirchhoff suess ICnsor !Sf aIId IIpdaltd Green linin
ilKUlMnl tensor ,e. _ the pouiblc: pair of candidates. 1lM: selc:Clion
of approprialel)' C'OfIjuple stJtsIand linin meas\lrta is .150 important
in !he der;Vlltion of malUial QOC:ffw;lenlS for inerc .... nt.1 ~lllltive
laws.

lit

1.5

Incremenlal

consliluth'e laws

Constitutive relations, equilibrium conditions, and compatibility

conditions an lhe tluu m(I$! essential ~it\ICnts that muS! be
COfISldertd in the analysis of boundary,vllue prob~ms. In the
Ii.enture, I geal number of maleriallaws have bun prop<l$d, whi<;h
cover a wide spUUm of "'"'terials from elUlie, viscoelUlie, lO plUlic
behaviors, aIId 10 Oft (Fling 1965; Malvern 1969). Out objeam in this
section is II()! 10 f!I.Ike a comple:te JU~)' of all 1M COIISlilulivc laws
av,ilable: In the litenlun:. IlI5Ie.d, we shall fGall on the derivalion o f
effenivc [IIocedures for incorponllon in the lncJe.... nlll _linear
anal)'sil of cllsli<; SlfUClures based on the lagrangian formulat ions.
In the derivation of finite element matrices for incrrmentll
oonlinc:1r analysis. il is nccusary 10 specify the &trCSI,s1nln .ela1ions
in In Incremental form. For the 100ai La&rlngi.n formUlation. the

J.J I~~" '

to .....

(:O!ISIitutive law
increment teMOl"

be u~ . in. terms of the Kirchhoff suess

and Green strain onerermnl tCMOl" ,eo'

4;arI

~.

(105. 1)
.... hile for the updated Lagnn&W1 formulalion. it can be upresslln
terms of the updated Kirdlhoff SItUS inc.ermnIICIl$I)I,s~ and updated
G~en litra;n incrcment l(n50f '-.:
(1 .5.1)

,.c""

.... bc~
and IC"" denote ~ il>cremtnlal corunil\llivc \e1LSOI"I .... itb
raped 10 !be C. and C, confJgUrations, rupectivcly,

ConventionaUy, ~ incremental IIIIleriall ...... (1.5.1) and (I.S.2)

.... ith idenlica.l coc:fficienl!., i.e.,,.c,,,. IC.... have been employed in the
IOIal .nd updated I..a&rangian fonnlliatiorts In \he derivalion of
incremental equations of equilibrium for v.riouI finite clcmcnl$. Since
the ptopeny of the m.terial bu been specirocd in an incrcmenll.l or
pieawise sense, $Ucb aD assumption of identif;al IIIIterial coc:ffocXnl$
docs nOl imply idenlical material propeniu in ~ lotal or IoCCIImul'ted
IiCIlSe for bntlI (onnulalions. As.sud!, the resulting loadfieclion
CUNU calculated by botb ~ for !he same problem can be of
liiilllirlcant differc!IoOI:. Even with the $III'Ie formulation, the Cllcul.lcd
responsa (:;In still be lfl'ectcd by the Slop lilzu UKd in cadi run, if lhe
incremcnuJ constitutive law as derIDed in (1.5.1) Of (U2) is ISSIImed
to hive oonSllnl malerial <:lXffocienl$. This is e$pecially true for
problems of which structural members may c:xpetWlICC I~., .JI,~ln~ in
tlCrtain ranges, c.a., in !he postbuckJin& rcspon5C. To .o:$OIve the
diffe.enec bel .... n the resull$ obtained by lhe toIal and updated U&ran
aian fonnulat ions, il is ~qui:ed that the transformation IIlIe 10 be pre.
Knted below .I.....ys be performed fOf convcnina Ibe material coc:ffi.
cienlll used in one formulation to !be Ollot. (Vana and Leu 1990, 1991).
It should be noted that for problelll$ of which !be SUllins of $UUCl.unl
membcra are dmcd 10 be small,.sud! an cffca ill acncnJly $111111 and
can be nealected. In other word$, under the condition of J.mall :;Irains,
lhe use of identical material coc:fflCients for ~ inaem~nll.l L...... in
udt lnaemental step of ,lIOIIliDear analysis may resull in fndiatly
the lime resuLts usin& eiiber \he total or updated Lagnnaian formul
lions.
8y suhstitlilina equations (1.5. 1) and (1.5.2) into equation
(1.4.12), alona with tile usc of equation (L3 .33), _ obIain the

,..,
(oJlowinll.rans(onna.ion rule (or .he l:QfIl.i.u.ive 'ensors:

,cO'
or

(1.5.3)

inver$ely,

(1.5.4)

With .h~ .wo equations, only ooc: Kt of roc:rrK:icnLS, i.c.,.c>' or IC....

need be prescribed. The ocher Je' of codftdenLS can be obtained
IlmpJy by uansfomoaUon. In doina so, We an tbe.dore cnso", 'hat lbe
material propenies implkd by tbe tOlal and updated ugrantian
fonnul.,lons an: physically ldet!1ic:aJ 10 cadi OIl1tr, provided tMI lilt
same stcp sius are used in bOIb fomoulations.
Another question in illCfemcnlll formulalions penains 10 lbe way
1M incremental malerial roc:fflcicnts
and IC""
speciroed.
Among tile greal number of a1lcl1lltives uisting In tbe literature, .1Ie
simplest method is 10 define tile malerial law in temu of tbc seoond
Piola-Kitchboff 6trC$$CS :s~ and OrecnUpnge slr'ins~.. whim I'"
energetially oonjugau:, based 0fI uperi.rnenlll lUll or by postulation.

.c""

,.e

(1 .5.5)
where I is I sinp-value funaion.. A Khc:ml.k dr:iwing of tqIIllion
(1.5.5) is given in Figulc 1.5. Auuming lha'lhe lDOlion of.1Ie body
(10m C. to C, ean be divided in10 an infinite number of infinitesimal
steps and tMt C , is infinitesimally close 10 C.. from equation (1 _505) ..-c
can (k. ive tile following diffe"'ntill law for the material a, lhe C,
ronfiguralion:

( 1.5.6)

fGtJ

where
reprcsc:nll lilt tangent modulus o f lilt. SU"esS-stnin aJ~
c""Julto:<! II C, . If the step from C, 10 C, is not infinitesimal but of
fini.e li~. we may fepla the differential quantilies
Ind
by
llIe SUUII and stnin illClTIDCnll
and .,.. rupectivcly. Ind ",wri.e
equation (Jo5.6) a$ fol!ow"

.S,

.t;S.

"'tI,

slop' " /,(,'<,,)

d!SiJ

"sf f/~f> oCr

(U.?)

A c:omparison of equllion (1 .5.7) .... ilb ( 1.5. 1) rl:veals Ihal lhc m~lcrial
coe fftcienls..c". an ~ IppI"OXima.lCly laken Q !he tanlenl modu ha
/'~J of I,," 51reuSUlIm a live. The: errors inlroduoo:! by Ihis
lineamed approximation can ~ rcmovtd Ihroulh I continuou.s upc.blinl
of Ihe male rial coefftcients in In itwlliv. pro<:eu. Once the sel of
coefftdents.c"" is determined, I,," Olbtr 51:1 of c;oeffkicna
CIII be
obtained usinl!he trnISfoonllion rule of equation (1.5.4).

,C""

1.6

Prilldple

or virtual displacements

For a body in equilibrium ll lbe deformed C(HIfilunliion C" the inlemal

(CallChy) Slreues 'tf .1 .ny poinl of I body dIould salisfy I,," tqualions
of equilibrium II Ihli particular confilunl1ion C, .Ionll,," lhree IX~
using Ih. Cartesi.n roo. dinalts (Fung 1965):

(1.6. 1)

,----

,..,

(\.6.2)

where 't. dellOlts tbe oomponrnts o f body (orca pcr un il volume

refmed 10 Il1e C, conl'ipralioa. In unabfid,ed nolalion, " '. have

a', ', a',

-"
a'. - " a', '1. .. 0
a', a', a',
'--'-" '--'" -'--'" ~, .. 0
a',
a'.
a',
a'.

,..,

" "

a"
a"
a', a',
'I, ..
a" a"

'---"-

" "

(1 .6 .3)

(1.6.4)

(U.s)

(1.6.6)

" ",

The equations of equilibrium mUll be Sltisfted II aU points lhrou&houl

tlw. volume of the body COIISide.td.
In ,eneral, Ihe surface ea S of the body can be divided inlo 110'0
parts: the pan S, over whid! the eXlernal surfMlC II'aClionI arc "'.Ia'ibed and IlM: part S, ovn whicb !he di$plaamenu are pre$l;l'ibed.
The boundaJy conditions associated with the prescribed lractions lie
called tbe .... ,~rlll Of .. b~ Ic/J1 bowtul..ry .Mdj,itHu. and those.
'uochlc'II ..ith Ihe prncribed displ.umcnll an: QUed lbe ,"H,wric
or . ..,Id lx>I<~dllry COlldIlWM. In In cnet malysls, it is KqUired thll
both types of boundary coodilions are A lisfted by the body 1\ !he C,
c:onflgUralion.

The l\lIul1l1 boundlry conditions can be given as follow5:

's
where

'r, denolts !he J'If~ surface lrKlions

(\.6.7)
pcr unit area and ";

tbe romponenrs of 1M. direction cos.ines of lb. unit normal v \0 the.

surface of Lhc body al Ihe point under consideration. In unabridged
notation, equation (1.6.7) C:ID be .... iuen 11$

"

,_/pit:

"

.,f ""'-I ~I".&...,..""

"

m " " "

" m m " " ",

I "

,~

" m I "

(1.6.8)

m " " ",

m

on 'S" wbere the dirc:c(ion cosines I. m, and" are defined as

1 - ros<'-",v),

m - cos('y,v).

/I .

cos(':,v)

(1.6.9)

A stress rlCld thaI satisfies (be equBtions of equilibrium (1.6.1) in the

interior of the body aoo the boundary renditions (1.6.7) for which

JUl"face ttactions ne prescribed is "",ned

I s/Q.jctll/y Iid",jS!ibte

suess

field.
On the other hand, wilen I displacement field satisfies all lbe
boundary roIldWons with pres<.:libed displacements and possesses
continuous first derivatives in the in(cliOI' of the body, it will be called
a HnematicQlly admi.<sible displacement field . Since the virtual
displacements to be oonsidem;! an: /lddiriIlQ/ displacements from the
equilibrium OOIIfiguration, any virtual displacement component must be
:teIO wherever the corTt'SpOnding aclua] displacemcDl is prescribed. By

leUing 6w, denote tile infinitesimal vinuaJ displacements from tile equi
librium configuration C,. the rigid boundary conditions can be
e~pressed as follows:
611,
01,

's,

(\.6.10)

in unabridged notation,
611 0

'

611,

's,

(1.6.11)

If the forcu are assumed to lemain unchanged during the villual

displacement 611~ the urern QI virtual work 'R done by the surface tractions '" and body forces 'f, can be given by

1=

28

( 1.6.12)

in which the surf!ll:e I.e. is assumed 10 ~ 's. 'S, + '5,. ~d on ~

fact lha1 't 't~ "I fOf the part 'S, with JlUSCfib(d lractionJ and lila!
h , .. 0 for the pan 'S, ""ith presaibed displa<;ements, ~ can fcwrile
the prcoo:dina: cqu..tioo as)

'R

f't " 61/ '115

"

'.

(L6.13)

'

Following t.tllvcm (1969). we an transfonn the rust

volume lntcgnl by the din.gtnott theon:m:

inle~

~)) 'dV

to a

( 1.6.14)

The terms in tbe paunllleses v.nisla by lhe equaoo... of equilibrium

(1.6.1). By dt<:omfl(l5inllihe dtrivllivC$ of the virtuII displaccmcnlS
611, inl0 lWO pans as the s!",ins 61", and rotations 6101"

,'.,

(1.6.15)

a'...,)
, ='"

6~. ---.

2I (""
a'...

(1.6. 16)

(1.6.17)

"
( 1.6.18)

MoreOver,;1 can be $hown Ih.1 'f, ~"'f . 0, because " a is symmetric

.J>Cl
is skc ....-symmeuie. Thus equation ( 1.6.1 4) wC$ the f(lf1ll

b,"',

(1.6.19)
So far we have provw thaI if the "less rleLd is 5UOtically ~miui
ble. the following ,el.tion will be ... alid f(lf any admissible vinual displacement 6w;

f
Iy

"f 6,.., JdV ..

't,6",ldS

'!, liM, 'dY

(1 .6.20)

'V

The converse pmposilion StaleS 1mu if the virtu.ll work equal ion
(1 .6.20) is valid for tvery kinem.tica.l.ly admissible virtual displacement
rleld, \ben the $IJeSS rICk! is swi<:ally Idmissibk, i.e.,;1 will Ntisfy the
equations of equililKium insKk the body and the boundary conditions
wi\b prC$CnDcd surfllDt traction&.. A proof for the conVcrx propo5ilioa
can be found elsewhere (Malvern 1969). II is dear (1'OnI the above
SlIlcmenlS thaI the pr;"clplc of virl,,~1 dlspl,,,e"'e~u as conveyed by
eqUllion (1.6.20) serves as a ncttS$llry and lufficient condilion fos
upRssing the equilibrium of a solid body "'llh prc5aibcd boundary
oondilions. Another nKSSlIgc conveyed by this equalion is the
coajupl(ncss of the CIIudly SlI'eS5 lelllOl'
and iIlfinitcsiroal 5tnill
UntOl'~. ill terms of "irlual work.
Compued wilb tlte principle of minimum potential eocIIY and
other energy methods, tlte pl'inciple of "inull displattmeots lias the
advantage thai il is J>OIruuieted 10 mauri.lla"" of the dlSlic type or
IoIdinS'l of the COnKI"ali"e Iype (path- independent loadings), because
110 _mplions have been made ill the foregoing deri"alions either on
!lit mauria] Laws or loading fonQions. AnoIJIu advanuge of the
~n.clple ohinual displaarMnts is tIIII the gtOtm'tric _Iincu efflS
an be: easily COflJide~ through inclU$lon of the DOIIlinuI' wain
OOInponents ill the incremcnul l.og:nngian formulations, as will be
iIIown in the following ICClion. For these 'Ca$(l1l5, the pl'iociple of

'f,

JO

' .... l

,1M

vinuaJ displ.Kl::ments will be: adopted ud.m"~ly in the le.1 as !he basill
for deriving the theories for v.rious structural elemenll.

1.7

Incremental Lagrangian rormulaUons

A fund' IMolI I difficulty

!p

the 'ppliCilion of Ihe principle of vUtuII

displaamcn15 pruenlcd iJIlhe foem 01 equalioo (1 .6.20) is Ihal it has

IKen rdared 10 the c, configuration ofth. body, which is unkllOWn (or
IIOnliour problem bc:fore the equation illOl~. This is different
from the problem confronting us in tinear an.lysis, in which the
displa<:c:menlS ue usumW to be 10 smlIl lllal Ihe d1an~ in goom.try
of the Slructu~ an be oc,ledc:d and that.n quanlitic$ can be refmed
10 !he Initial oonfigunltion C. whidl is kDown beforelwld. To
oye~ thit particular problem wilh nonlineal analym, ....e can

InIlI$fonn the reference confipralion from C. 10 any other known

configuntions. In the IOI:ll Lagrangian formolation, the initi.1
unde formed configulilion C. isRIe<:kd as the lefuence, "'MUU in the
updated lagJangiall fonnuluion, the last o;aku.llted COIlfigul'8'ion C, is
"t~ed for \he s.m. purpose. In this SIion, we shall doemonstnte
how the vinuaJ won equatioa (1.6.20) can be transformed 10 \hoSe wilh
reference 10 lhe known configW1ltiom of C. and C, for lbe lotal and
updated ~ fonnul-'ioaI mpedmly. and !ben proceed 10
derive 1M incremental virtual woft equalions for each formulation.
1"he raulling equ.lions KIVe as !be basis fOf!be derivalion of .Jl linite
elemenu to follow in Ihis lUI.

1.1.1 TOlll

u'....'iln formDll1iotI

In ~ lotaIlqraogjan fOfrDuJalion, all quantiliel adopted in the vinUli

upreaions should be rderred to lhe iniHai conrlguration C.. One
key ;,.sue in Ihill fonnulalion illO ~!be folJ.owing ,clatio!l:

wort;

f It , 6~, IdY . f ;s,6:e, dV

"

:S,

(\.1.1)

in which
dtnotel the KOOad Piob KirdIhoff ~_ and ~ the
IUtlXialed Grttn-l..ag:nngt stninJ. T o!llil end, we ha~ 10 eJlabll$h

"

firs1 tM rdation bel"'n ' " and :So and IMt belween 6,... and 6~

Sipoe the . elation belween ' , _ and :S~ is available in fqUl tions ( US)
and (1.4.6). ln the following we need 10 Cl,)D()entratc only 00 !be leillion
between the vinullWainJ

b,.., and 6;'r

NOIin& thaI "I'x, 0, from eqIlIlions (1..3. \) and ( 1..).) we CUI

obtain !he followina:

(1.7.2)

(1 .7.3)

which can be substituted inlo equation (1.7.2) 10 yield

( 1.7.4)
Funh , $;rn;c

,'.,

a6111)

(1 .7.5)

from equation (1.3 .27), we oluain

(1.7.6)

Sy the. dlaio rule,

(1 .7.1)

"
(1.7.8)

(1.7.9)

By I~ use of I~ rcLalions in ( 1.4.6) ,00 (1 .7.9) _nd DOlinl lhat for

conserved mass pJV. ' p'oW, we an I~refore pr<I'o'e the validily of
the rclltion liven in (1.7.1). FfOI1I this eqtIItion, il is evident that I~
sccood Piob Kirchlloff
and Grn\..agran&e strains ~ are

SI.fU8C$!s.

tMrgetically c:onjuptc.
F\tnhtr, by defllli",!he IUrface tnlClions ~, IDd body fO((:e5
with respea 10 !he C. ronfi&uralion as

i f.

(1.7.10)

(1 .7.1 1)

the followi", uillions can be wrillen MWTdingly

(1 .7.12)

f '/, 611, 'dS f ~ 611, OdS

"

(1 .7.13)

With the relations Jiven in ( 1.7.1), (1.7.12), and (1.7.13). we are able
to transform tile uft~n ronfiguration of the virtual work equation
(1.6.20) from the C, 10 the C. c:onfiguntion:

f:S.. 6!e,~dY. f: r,611,odS

~

(1.7. 14)

,..~-~,~,~,:_~,_.,., ~'"'

33

-hM.'

of which the nt~m.1 v;lIu.l WOft on thc right-hand side wiU be

derW1ed 1S:,rt througbout lll tut. i.e .

(1.7.15)

~ vil'1ual wmt cquatioP 1$ given in (1.7.14) is by itself I nonlineat

cqua1ion of equilibrium for the body unde, eonside .... lion. Though the
reference lias been changed (rom the: I;IIfl'Cnt mnfiguralion C, to the
initial c:onr""rllion C. the equation um.ins In nan Slate_ol of
~uilibril,lJll fO\' the $IJUCIUI'C under consick ....lion. It thcnforc c:an be
USII$' v.lid basis for deriving the incremcnlal nonlinu.r equ.tions
In the locall...agmlgian formulation, a5 wm be do:monstn.te<I below.
Acc:on1iD& 10 eqlWioRS (13.IS) and (13.17), we can write

{1.7.16}
WMre tbe linear and nonlinear componenlllire obtainable from (1.3.18)
IUId {1.3. I9}.lhat is,

(1.7.17)

(1.7.18)

SI1USeS:S

Sy subslitutilll equation (1.4.2) for lbc

jlllo the vil1l1l1 work
f
equation (1.7 ") and mlti"g 11K 01 (1.7.16) for the lInIill$ 6:,r.. we
obll.iQ

f, ~f6... faY. f, !s, 60'1, 'dV

wllere

loR is defined as

.,

- OR - OR

(1.7.19)

(1.1.20)
For I body in equilibrium I' C,. !he foilowiQl can be wriuen:

!It f

, ~,I 6u, OdS f ~ 611, dV

(1.7.21)

",hich can be Qbuoined simpl y by _irching ,II !he supcrscriplS in

cqultiou ( 1.7.15) from "2" 10 "I ', A pIlpical int~clltion for
eqtIIItioa (1 .1.19) can be pnn 1$ fo1low1.; The flfSl !erm 011 !be lefthand $ide represenll 1M dIan&e in suaill eDUIY (in varialional form)
durin. !he iDcn:mental Jlep from C, 10 C, ...,;I tbe Krond !erm !he
change in poIential cnerIY due: 10 lbo: initl'" 5Uessa ~r The Ienm ~
and
on 1M right-hand sick rCprcKDI the exlernal vinu.l works done
by the surface uactions 11>11 body forces acting on Lbo: bodY'1 C, and
C 1 rcsplivcly. To puL it IOgctllcr, equation (1.7. 19) StllCS that the
dirresellCC bet"'"n 11M: virtual "'orb done by ulemll Igencies II C.
and lh.clK I( C, is equal 10 me incr~ in tile. wain energy and
potential enuiJ' of !he body duriJI& the motion from C, 10 C.. SilIce
no appro~iDwioN have been made in 1M liI:riVllion of equation
(1 .7.19), Ibis eqtllltioa ~mailll ... uaa ib.lemcnt of 1M equilibrium of
the body II C> iD which aU quantities of 1M body II
in(:ludi"l the
inili.tJ ~~". ue a$$UJIIed 10 be bIOwI1 .1 the beginning of cac:h
ilKUmeotai Step in I nonline'l anllysi$..
For lhe cuts ",here aillhe suess increments..s, ean be lelaled 10
the slllIin ineKmems tl. by tbe incremc:ntal constitutive II'" given in
(1.!l . I), equation (1.7.19) can be ~wriucn as follOWJ:

iR

C,.

tC.,,,E.~6 ...,dY.

~S, 6.'l,dV ' ~ - ~

(1 .7.22)

Either equation (1.7.19) Of (1 .7.22) CU\IlOI be solved directly, since !hey

.~ nonlinear in the displac>:ment incn:mcolS"~ For problems of ",hich

lhe slllIin increments ean be OOMsilk,ed small within e&Cb incremental

"cp. IpproJimate solutions ean be obtained by making lbe following

usumplions:

"

(1.7.23)

(1.7.24)

Accordinsly. tqIl&lion (1.1.22) red_to

gC'I'>lrlll"rI,odV .

~Sf 6o'l,odV . !oR . ~

(1.7.25)

Thil is the li/ICarized version of the incremental equation of equilibrium

(Of describing the motion of the body from C, 10 C, with ,derence 10
thI: axes I' 11M: ilIil;a! undoformcd confl&\ln.tion C..

1.7.1

Updated La,",,,,,",o formu la UolI

In \be IIpd1tcd LIgran&iaD formublion, .u physical qllIDlilic:s should be

rdcncd 10 the last akubled oonfigunlioa C, ins~. 'l'bI: ftISI
COIIa'm here is 10 prove the validity of the following ,dllion:

ll, lJ ~f ' dV

.~

~S, 6 1~' 'dV

(1.1.26)

Iy

where il sl>ould be OOItd thaI the tWO symbols ,I, and :., be identical,
i.e., Ie, :'''' SiDCe the rdation between the CalK:hy Itresses 'T
, and
the Jotoond Piol.-Kirdlhoff ~ :S. is a1rndy Ivailable in (1.4.8)
and (1.4.9), only the ,dation betwn the infini\eS.ima' stn.iDs 6"., and
G.ccn . l..agran~ ltnIins 6 ,~ Us 10 be derived.

Notillllhal 64'. ,.0, from equatioIII (1.3.18) and (1.3-3). we can

obtain the folkrwm, . elation:

(1.7.21)
Using equations (\.7.3) and (1.7.5). we hi""

36

6..,
d'x~ d'"
r",

.........
(1 .1.28)

8y the chain rule,

(1.1.29)

Hence,

',<, 3.1

rH

a'x a'x

;.",:.:1,.:...::1

a'" a'

(L7.30)

(\.7.31)

By the use of e~U'lions (1.4.9) .nd (\.7.31) and DOlinll thlt f(ll'
IRSefVCd m.as.I'p dV. ' p'dV, we can w,dcnc prove the validity of
the relation given In (1.7.26}. This equation implies thaI tbe KCOI\d
Plola.KirC'hbofl ~ruses :s~ and G'un .....J1UI&c SlI.ins ,~ arc
CDCrgetically _juptc.
Similarly, by defining 1M IIlIrfxc tnctions :" and body fOl'CC$
with respect!o the C , configunllion IS

:1.

(1.7.32)

(1.7.33)

IIIe following rellrion can

wriucn

f '"", 'dS f "" .,, 'dS

"

f
Os

(1.1.34)

"

)'jh,'dS -

f
IS

~h,LdS

(1.7.35)

"

With the relalions givtn in (1.7.26), (1.7.34), and (1.7.35), we are able
10 trU5(onn the rcftrcocc ronfigunuion of the vinu.al work equation
(1.6.20) from C, IO

C,'

f :.,h,'dS f
"

~h, 'dV

(1.7.36)

'r

of .... hich the ule"",1 vinual wad on 1he right-hand side wilt be
dcr>(lled as:R (or 'R wilh subscrip'"'" dropped) Ihrou&houllhe lext,

I.e.
!R ..

f :"~ ~I 'dS f V. 611, 'd V

"

(1.7.37)

'r

The vinult work tqUalion as givaI in (1.7.36) ill exact and nonJinur in
the iI1<n::menl&l disphK:c:ments Mr This tqllllUon c:an be used as. valid
basis for de. ivi", the incremental stiffneu eqwotiofts for various finite
ckllXlIlJ usiaa lhe upd:l1Cd ~ fomulation.
Acoordin& 10 equatioa (13.(0), we QD writ"
( 1.1.38)
where lhe linel. and nonlinear components <;:In be obl.lined from
(\.3.31) Ind (1.3.32) as follows;

6,t, .. -I (""
--

2 a'A'

(1.7.39)

(1 .7.40)

By substilUting equation (L4.7) for !be IlfUloet !sf Into Ibe Vinllal wort
equllion ( 1.1.36) and making use of (1 .7.38) for 1M vinuII 5tno.inll
we oblain

",II!f'

"

, ...

IS~6'''f'dV'

,~

1,.6,'l,'dV ..

~R

-:It

....

(1 .7.41)

'f

:R

f I~, 6'~f 'dV

(1 .7.42)

"
For I body in

~quil;brjum

:R ..

II C,. we can write

:,,611,

}
'dS

~ 611, 'dV

(1.7.43)

I~

'1

<;;In be obu.iDed II In IIIaIogy of IlIc. equilibrium c:ondilioll given

in (1,7.3) for the body at C .. A pI:Iysical .n'erpreutioG for equllion
(1.7.41) Can be &ivai follows: Thr. first term on IlIc.lc:fI-hlnd lidc
represenlS I/>e change in.tnln energy (in vlriational form) during the
increment flom C, ,0 C,. the second term the dumge in po'cnliaJ
energy due 10 the initial wu.es I~" and the terms ~ and!R on the
righI-band lilk rc~nlllle nlCmal vinlial wodlJi done by tile IWface
trIaions and body forca latng 0I'I1hc
C, and C" rc:spcaivcly.
When all tlIr. turns ate put to&e'iler, equatiCNI (1 .7.41) $lale$ LILa. the
difference of the vinuaJ woru doDe by eJllemaJ mechanisms., Cland
C, will be transformed ;nlo Ihe slrain energy Ind poIen,ial energy
increments of the body durin, Ihe illO'l'mcnl.1 step from C, 10 C..
Since no UIUIIlpcioa hu ~n mad!: in tbc doIIV"ion, equ.uion ( 1.7.41)
rcmaill5 an n~ IUlmlCnI of !be equilibrium of tbo body I I C, willi
rcfermcc 10 the C, o;onfil1lration. Moreover, il hu bern prrKnlw in
form par1icularly suitahle for the inqcmcnl11 nonlinear Il\IIlySis of
solid hodies.
For ~ wben: the &ltesse& ,sf an bII rrliled 10 the $11lins ,~
hy the iDc.nIlH:IIW constitutive ' - lIS siven in (1.5.2)';1 is convenienl
10 rc .... ritr equ.lion (1.1.041) billie foilowu,S form :

whic;h

body.,

f
't'

Ie,.,

l~lIl1 ,~.l dV.

f
'.

llrlll'l,

'dV. ;R -:R

(1 .7.44)

"

",,1M:rc: Ie"" UPfe$C:nlll !be _iN. iye cocff..:ifcnu, 1I.s.bould be

('"~ized Ilw !hi, tqu.alioo ,emains valid only fOf eLUlie bodies rOf
.... bidl all !be stress c:ompoMOIS ,s, .;an be ~Lated to !be stn.iq
COfIIPO"WIS 1~ by the il"lCttmcnlal cons!i!U';Vf law ( 1.5.2). For ca5oe$

wbcrc: some SI!'eSS oompoMnlS o;:an~ be ,dllCd 10 the stnin compoMilts, modir.aolions have 10 be made 10 ac:coUn! for slJdl facl. One
.ypial example of this is on the slud), of two- and Ihlee-dimcnsional

bUms employing lbe IkmouUi-Eulcr hypolbesis of pllllc 5CCIions for

deJi;rLbing 1M <,:ross-StionaJ displacements. For problems of ibis $(ln.
!be thear SI..,5SCS cannot be related to the shut strains by lbe constitu_
Ii"" bws. bUI must be deulmincd from .he conditions o f equilibrium,
bcguse $Mal' deformations are completely resuaincd II each cross
iCCIion of !he beam. A prottdurc: for considering such dfeas will be
~nted in Section 4.7.
Eilher eqIIllion ( 1.7.41) Of (1 .7.44) cannot be solved directly.
Illite they arc nonHncu in .he displacement increment, M~ Approllimile soluljons can be obll.iDed by making Ihe following auumptions:

(1 .7.45)

(1.7.46)

Accordingly, eqwolion (1.1.44) reduct'S 10

,CjII,t .. 6 ,

'v

t'. 'dV f

'~i 6,'1, 'dV ..

'v

ThiI b !he linearized vemoa of !he itw:rernental equation of equilibrium

fOl' describing the motion of the body (rom C, to C" with all physical
pArarMters rdemd 10 the lui calculated conr."nllion C,.

Refere nces
American IlI$titute of Steel Construaioo ( 1986), MQ,,~.t pI Slut
ClM.Jr... clw.r-L<Md" Raul."ce FIICIP' Ou;,,, , lst cdn, American
Institute of Steel Conwvction, l~ OIic1&o, IL

,....

'-

Balhe, K, J" Ramm, E", and Wilson, E" 1- (1975), "fi nite demenl
fwmulalioo for I.", deformalion dY""mic analysis,' 1M, ) , N"",~,
M~I., E~", ',35l-86,
K, I I; and Bolourchi,

Bathe,

S, (1979), "1I1,e d;,,;placemcnl Analysis or

three-dimensional bcllll WUdII'CS: I~l, J, II ..",", MCIA, E~,_ , I",

96 1-86,
CcscoIIO, S" Frey, F" and FOndel, 0, (1979), "'foul and updated
Lagrangian dcsaiplions in nonlinur structural analys~: I umned

IJlPIO"ch," in Glowinski, R" Rodin, E, Y" Ind

Zienkiew~

0,

C,

(cds), E~.rv M CIIuHb ill Fillile EI.",ul A~.Iy.i., John Wiley, New

YOO:, N,Y" 283 96.

Fung, Y, C (l96S), Fo"nd./iD~J of $olid MIInlcs, P,cnli Hall,
Englewood Oiffs, NJ.

Malvern, L E. (1969), inlrodMCIIOII lei II. MullnlCI 0/ "

Mcdi""" Ptenti lIall, EnaJewood Oirr$, NJ ,

Ct>~lin ..1)JU

Wl$hizu, K. (1982), V"""Iit>u1 MclluHls ill EI"./icrlJ nd PI.mid/y,

3rd <dn, Perg,omoll Press, OdOld, England,
Yan&. Y, S ., lad U:u, L J. (1990). "Pw .t.,lCkliog analysis o f IJUSrSeS
with '?fious Llgrangian formulations,' AIM J" 11(5), 946-48.
Yang, Y, S., and U:u, L J, (1991), "Con:l1ilul iv< 1aWl! and fora:
recovery proc:edun:s ia DMIinat lIIIIysis of 1nISSoe$," C_p. Melli,
AppL M u ll, E~,,, '2, 121-31,

Chapler 2

Linear Analysis and

Element Quality Test

2.1 Dlscrttl:r.alion or structures

In 1)1IicaI suuaunl analysis, \be crog..seaional behavior of each
member of. fnme4 suuaure under ccrtl.in loading conditions can be
delcribed by lite so-called ruvu~j~r dilf~r~~rltll eq~"I/(JM (W djlf~r~~
li,,1 tq""ll(Ju of tq"lIibr/"",. A fnmed SlruClule, IS w<:1I1S SUUtwres
of othel types, is said to possess an infinite number of degrees of
freedom, betausc tile behavior of the $InItIure il known only wben the
behaviof .1 every polDt of the Sln.Idure is known. To aMlyu \be
belllviof of the ttrudure, we !IUd to $Olve the boundary-v.lue problem
for the lU\ldure c:onsi<kml. A problem AIcb 1$ 1lIi1 ""ill rypically
Indude one Itt of differelllial e<jIlItiorIs (or the lUUCluraI members, and
IIIIIIbo:r Itt o( _tinuiry ODDdilioos (or inru<:orUlltd members. 1$ Wl'1I
II boundary CODcIitioas for supports or for regioN. of !he atnK:l\U"e with
prqaibed displlClCmc.ol$. TboIIp in lbeory, direct solution of \be
...... lIldaty_va!\It problem will )'KId uKt 1UU1rs, its: application in
practioc ill u,",mely limiwl. u.l even ditocMln,ing be<:ausc of the
ltt:me.ncIous effort required in formulal.ingthe problem and in finding
~ 5OIution (or tile problem. It is only ror very simple frames or
lndividul l members willt very simpk loading c:onditions tlllt r;u.c:h all
approach hu eVer bun attempted by <escart hell.

"

"

'The !iniac clement melbod is aimiIN 10 <>the. nwneric:aJ mcUlods,

such as the finite diffc.cncc method and boundary element method, in
that it approKimaleS !be original structural system that has an Infmite
nWllber of de~ of frftdom by. Jimplirled INlbematic:al model IbM

1m OIIly flllile numbcl of degreu of freedom. By rcplacinglhe origi.

nal differeDlial equatiOllll and continuity conditions by the fmite element
malfill: equations, We IlOl only m111CC the nllmber of degrees of freedom
for the problem COns.idc:Icd., but also timunVC'nl the insUlll'lOllnlable
diffICUlties involved in classical .,Iulian pnx:edura.
1be flniae dement procedure tOl' an.alyzing suuo;:!ura of the
fnme\l type bl.'led on Ihe linear theory can be lummarized as foliollo'S.
Fint, the cnlif1l framed 'U"t!\l,e is broken down inlo I number of line
dements which

~ coru>eaed

10

other II Ihe IIOdaI points or

nodes.. Each dement is given an clemenl number and nch 1IOCk. node
number. Nexl, the stiffness equaTionS lie derived for each clemenl in
tenn. of !he nodIl deguu of frelom. This s.ltp CIlSUI'CS tile equilibrium of iDdividual ckmcllU 10 be satisfoell in ..... uk or .""nae _ _
By tn.ns!onnllll \be: clcment stifIncM equations from Ioc:al aJOfdinale$
for each elemoent 10 I common gklbal coordinllc l)'$Icm, we then bave
,II dIe element equationl usembkd 10 yield the struculre ItiffJlC$S
equations. This 5Iep, in eoaln$l, e!I$U~ tbt uti$fldion of compIItibllity and equilibrium ooaditions for !be Hltire _un 11 eadI oodal
point. Further, by impo&illl appropriale geometric: bounduy conditions,
!he 'trvetu~ will ~hieve ill kinematic 'lability, in the sense thlt rigid
body motioDl are ~moved, IS indated by the po&itive definlltlltSi of
the Stiffness lIlIIriJI. For. Jiven ICI of applied loadings, the oodal
displactmtnts can then be 1OIvec1 from tbt ItJudItn: atiffntSS equations.
1bc: final 5Itp in finite element 1.1111)'$;' is the processing nf elements
10 obtain qlWllitits such IS forctJ and $UC$$CS, for the p"rpoM: of
desianin& mtlIIbcr aou sealoos.
As .... Stlled ~, the disaruzltion or ideIolizMion of
$U\lClUreI constitutes !be first step in the (mite element analysis
proccdu~. In this step, usumplions hive to be made regalding the
,eGmell)', auu seaions, 0DIIfIeCti0ns, mIICIiab, ~ ODIIditions,
and Ioadiaa conditions.. It is wilb .fuc:h assumptions that SlnIdU.e
originally 1ppear1Dg as I continuum .. iIb eomplel Ioadi.., and
bounduy conditions can be approxlmlted by I mathematical model
wilb a finite numbcr of del'ees of fR>Cdom to such an exlcnt \hat
ac:auate anaI)'fis can be carritd out. All tbt iDformatioo ptrtainiD& to
the l1nK:ture model should be prepared IS !Ix illpul data before. finite
clelnt.nt analysis program can be excl;Utcd
Conventlnnally, the data prcparllion -.C of I finite clement
analysis was referred to III tbt prcprou"" phuc. ill contrU! with the

 " of'-~-"

J.1 Do"

4)

ilIt p/IaSc: for uution of analysis program', and the !'OJlp'O

fOI im~rpI'ct'lioo of analysis results, Although n"ous
~ have been developed in the puc to enhance the dfici~ncy
dlta prcpMUion, for instance, using !he tcchniqu~ of ince~ivc
of
cer p1Ip/lit:I ( puqucno el .. I. 1983). dIolI pupuatJ(ln rCIDa'1I$ !be
,:oIII~ilicJ,1
of. fini1e demmc 1UI,lysis, in telms of lhe liIM. and
spcnc by (ngiMe" in design offl&. One reUOfl fOf chi, is 'hac
:;"'O~dUle for de'elmining.nd checking che gcornel/klll'yOOt of
$lIVdU1U is icenltive in na,ure, and thai for large, complex SlructUru,
hu""" em....S all: ,~I)' likd)' '0 oo;ur.
In Ihit.nl, il is usumcd lhal 11M: leaders arc "R~y Kqll.inlcd
".i!h 1M proccdUTC for liM.r lUIalysis and 11M: preparalion of SllII(1ure
dill required by such. proccdulc. Therefore, no .l1empl wi]l be: made
10 conside. 11M: ekmcnlll)' programming aspccu of finile elcmcm
.... lysis. Th.oughout tIM: Inl, $l/U(tuntl rncmbcl1l lhal art n rl)' only
axial forca, IlUCh as the bncing membe:rs commonly used in Sleel
rramcWOl'kl, will be: referred 10 as lhe bD. o. "yn ./.IPleMJ, In
UJIII/ISI, wuaural mc.mbe:", lhal can resist nisI, flexural, Ind eVen 1(11.
J.ionallClions. such .. bums and eoIumns., will be referred 10 15 lhe
be..", 01" fT ...e duo ... u . In lhe KClion 10 follow, 1he stiffness millitn
for ...... ioIIs fn.me and truss elemcnts based on the linear elaslic
ISSUmpr ionJ will be: derived fil'$l.

n;i"

2.2

p/I'"

""It

Deri va tion or clement stiffneSS matrices

A liMIi e1l5lic .nllYli, distinguishes it~lf from the nonlinear Inalysis

in thaI .he cqII.lions of equilibrium for the body or stnw;:lurc under
eonsidcllllion a ... CSI~blishcd at the iniliat undcrorrncd eonfiguralion C,.
wilh 11M: effect of change in gWIIICl1)' of the $11\lC!ure assumed 10 be
IIC'gligibte. For problenu of this IYPC, there will be no ,n'liat displau
IIlCnl$ or in ilillloadinp, i.e., '~ 0 and~".:".!t, . :". O. Th is
means lhal confiXuralions C. and C, an idenlical, i.e., C C" Ind lhal
Ibc Ulemll vi"ual works : R and lit IS defined in equa1ions (1.7.21)
aDd (1.7.43) an be laken as u:ro. Moreover, lbe displacemenl incre.
~~ts It , from C, 10 C, arc $0 sman lhal lhe 5quarC5 and produC!s o f
1lM:" derivatives CIIn be I>C'gIeCI~. Thus, no nonliMlr components o f
tIM: stllliltS need be considered. Both lbe IOIIl and Updaled Grn.
~~nge stra;n ICII$OIS "'. and ,t, reduce 10 the same infinllesimal
SlIIIln ten50. , i.e., p(~ It, rI' ,~, t~ in liMar analys is.

.
With 11M: foregoing assumptioas, I linuJ analysis

I;U

be

C(HIsidercd I 'pecial cue of. nonlinear analy,js that requires '1.dy

0/ /o<Idilt,. SillOO no difference am 1M: made belWeCll
the touI aDd Upclalcc.1 l...Ij:raD&ian formulation$, both equ.tiorl$ (1.7.22)
.nd (1.7.44) ,educe identically 10 11M: follow;ns form:

I""I~ iIIC'_~'"

(2.2.1 )

where the ellernal vinu.al wQrt R Ii defmed as

(2.2.2)

with I. denoling the awl...,. tncIioos and {, the body fom::s. In

equations (2.2.1) aDd (2..2.2). QCb variable has been wriuell witb illlefl
subsaipt and super'Kripl dropped. siace it is known that all qU"lIilies
In these IWO equations OCCUI in 11M: C. oonfiguration and are referred 10
11M: ume COIIflguration. 10 !he folJowiag. Lbe stiffness IIIalliceII will be
derived for various frame and InISS ckmmU based on equatiol'l (2..1.1).
For the purpose of ilIustn.tion, lhe proc:edure employed in deriving the
planar frame clement will be presenced wilh lufflcient detail .

2.2.1 Pli lln rnmt tle_OI

leI (.r. y) be I KI of ortbogooaI CarteWa coordinaltt with the zaxis
denoting tbc oentroi<lal His 'If \be planar frame ckment m Figum
2. 1(1). For lhis element, onLy lhe axial suaiQ ~.. is signifll,2/ll; the
OllIe, suUn rompon.cnts caD be wea as ~tO. Cotueq~lItiy. equation
(2..2.1) reduoc$ to

(2..2.3)

wllett: E dellOles Youna'l modulus and the inteption is lake .. ~r 1M

cOlin volume V of ~ beam.
From equation ( 1.3.2II). the uial W'I.iD ~g It. ,cncric point H

.,

'l.
+-1,---=+--.
I-

(.J

- yv'

(bJ

of tIN: beam <;:I.n be related 10 the uial displacement N, II the same

pouu

IS

..

'. ' -

(2.2.4)

&sed on the Bernoulli-Euler hYPOlh~i$ I;fOSS Stion Ih.al is planar

and normaJ to 11M: Iongitl>dinal uis of 1M beam remains planar and
IIOrm:;lIlo the Arne uis afier do:forml lion. As. ronsrqUCIlC'C , the u ial
and (r:oRSverse displacements w, llId ", of I geMric p<linl N can be
related 10 the di$pbQemenl5 N and v of tile n!tOiI! C of the beam I'

tile sam~ cross KCtioa (F1gwe 2.1{b)J 15

"

(2.2.5)

II - ",, '

In which I prime denotes differentiation wi1.b ,upe<:t 10 $ . SubslilUling

C<;j,,*,cion (2.2.5) for M. ia C<;jUllioa (2.2.4) yields

F~nbc:l, by liubstitutingw
equllion (2.2.3). we have

pre~ding c~ssion

fot!he

/ y"!'iy":llU R

Slno;n~"

inlO

(2.2.8)

.. he", L dellOlC:S !he Ic:ngtb of !be beam, A \be o;roswec:!ional __ ,

assumed 10 bec:oruunt throuJbout tile Ic:ngtb of the member, and I,!he
momM. of inertia of Ihe cma: sedioa abou. !he louis,

/ of"'"

(2.2.9)

In arriving It equation (2.2.8), the following onhogonalily <:OIIdilioo for

principal ~nuoidal ooordinl1C$ IW been adopted,

L1~ 0

(2.2.10)

At llIi, positioa, we an: l'I!IIIIy 10 proceed with the derivation of

the ClI!emal yinllll wort !erm R. By De&Jtai.. the body (QKU" :lDd
usuming the $lIffxc lIlIICIioos I, 10 be c::onttnlrlk(l only ill !he twO mils
A and B of the clement, the external yinual work R. done by the
SII'(Ke lIlIICIion$ I, II end B c:an be inlegr.rled over the: C/O$S$Cdional
Uta A. of the end,
(2.2.11)

IIIMTe It is IS!iwned l~l A A

posiljv~

\.lk(n

wilen

~d

l~

",rf_

"

and" an
along the positive)t. and y.ues, lespeCand

Ilk1ions I,

u~ly.

BasnI on !be oonditions of equilibrium, rile uial force F... shear

1\ Stion 8 am be related 10 the

foroo F,.. and belldina; moment M.

surfKt: lJaClions', as
F".

L, ',ItA

(2.2.12)

F,.

(2.2. 13)

"

l, dA

(2.2. 14)

Substilurina equations (2.2.5) and (2.2.6) for tile disp!attllM:ntlll. Ind

", inlO tqullioo (2.2.1 1), and mating UK of tile preceding n preaions
for thc nodal action.!., we an o;aJcuta\e the n leml'
work R. as
the following produa;

v,"val

(2.2. 15)
wlw:u ( ... )Ihoold be recogniml as the displacement veaor auocialcd
with tile centroid of Stion 8 of the beam Ind V.l the corre5p01ldin,
fora: vtaor,

(2..2.16)

(2.2.17)

W~IC e

v; for mill! rOOItions.

limilar minner, the external vinual work R done by the

"".face lrlctions I, II tDd A can be wrineR as

In

.
(2.2.18)
FoJ\Qwing the AIIIC pro<>edure, we Cian fll.nMr Upre&I the ulenuol
.. inuaJ work R. in !emu of 11M: DOdaI quantities II end A ,

(2.2.19)
in which

(2.2.20)
(2.2.21)
with 6 ~: fOf smlll rotations.
Consequently, the 100ai utonw .. inual wo,k R \:all
1.$ the sum of R. in (2.2.15) Ind R. in (2.2. 19),

obtained

when (M) npr$ol$ !he ek:menl d~mcnt "CdOr and {f} the
associated foroe .. tor (Re Figun 2.2).
(2.2.23)
(2.2.24)

1bu.&, we hI..e shown that !be ..if1ual won: equAli.oIl of cquilibrituD

(2.2.3) <;<III ~ wriucn IS follows for !be pImar frame element

(2.2.25)
115hould be noted thlt with the present sign C(MIYenliofl for DOdaI forces
(_ Figure 2.2(b). I direct fora: isllbn pos.Itlve when loCIiog rigbt
....1Uds or upwards, IIId bending IIIOtDeDt is poIJ~ ",bea counle,
doctwi:se. SIIdIalip C(MIYenlion is different from !be 6dorrnation

"

Dtri>'o- ." ,I...""

"\If- ....,,""'

'I
"',

~.(;:~

.,

r { : - A

r"....

"'.*.
~ -

"

"~I
~

"

.,

t..:. - -,
.7;:

1.1 PlaIW f"-- de .... ft': (.) Nodol dtgrea of r.eecIDm:

(b) Nodil fot<:u all<! ID(I",~II".

sign oonvenlion commonly used in ,IM: study of me<;l\ani<.:s problems,

in whicb an uial fom: is wen positive wilen ;1 uDds 10 elonplc the
body on which j, Ict$,' shel' fora: is posilive when il lends 10 rOlale
lbe body in rountercloetwi$e SCn$C on the ".y pIarw:. and. bendin&
IIlOmenl is pl)Silivc when il lends 10 defonn the body in a concave
upwards mannc, (5eC Figure 2.3).

I [=~,=::::11 I'
"

,.(1'----', _-'1 )~

so

LI...... ..... 1)0.......

,/non, 0 ...1..,. Tu'

As ,. side ,emark, we like [0 emphasiu lhat a finite demom

formull!ion based on the preceding vinual wru\( uprusion ;$ just as
raliOflaJ as (hal bucd on the ,~.~iJJg diff~r.nrigl cquD.i()M and
tw,,~daf)' ctHIdiljo~s fOllhe problem considered. Though such a finite
clemenl formulalion can be carried 0111 wilhoul any knowledge of Ih.
aswcia,ed governing differential equal ions, when starl ing from the
principle of vin"ai displKC'mcnLs. as will be prescnlllalcr on in ' his
section, a preview of these equations provides valuable clues for KI _
, ing Ille inlcrpolalion funccions and nodal degrees of freedom in I finite
clement formulalWn. f or Ihe presclll problem, Ihe governing equalions
will be derived as the Eliler.l.llgrilng. equations of Ihe funct;onal Nscd

on Ihe varial;oruoJ prQUdufIIIl.

First, lei us integral. equalion (j2.2S) by pans 10 oolain Ihe vin,,_
al quantities h and /Iv,

1,v"ll/lv)dr

(2.2.26)

Rewriting,

- (M - h '~/I ,, ~L - (F 1 "/I~/I,,IL 0
"101'10
wh~re the

(2.2.27)

follQWing relations have bc:tn utilized for the nodal displace-

ments,

. ."., " ."., ,,, e

. -....

,,, e

fo r :c - L

(2.2.29)

and tbc: follQWing for \he forces a1 \he two tDd$,

-F

-F

AI

. -M

"'rx - 0

-"''''.'~''
F.. - Fz- F,. - Fyo

M,. - M.

[or x - L

(2.2.30)
(2.2.31)

"

Admitting lhal !be vinual displamenlS h .1Id lw art arbitrvy

in nalu,e, from equation (l.2.27) we can obtain lhe differential
equations of equilibrium as !he EulcrLagranac eqUllions of Ibc

(unctionaJ.
.t" 0

(2.2.32)

EI ~ "" 0

(2.2.33)

along "jlh the boundary oondiliom for the 1WO ends of !he lKam,

.t,, '

(2.2.34)

6 .. . 0

6v' 0

M _ E/ v"

(2..2.35)

(2.>3"

,!;v -

F - EJ

ylft

"'M't lbe: rJJ$l Sotl of conditions, i.e., b 0, tw' 0, and lw z; 0, is

Down as the 8ftH11C"''' boouui.a'1 cONiifio,u, and \he KWIId SCI as the
~8,",.1 """"da,., cOMtiitiolu. The diffe~ntial equations of equilibrium
as derived above in (2.2.32) and (2.2.33) I'c encely "Ilid fOf planar
rome clemenll! free of l.IIy dislributed loads. f or such problems, the
uaer ,01,,';011 for the uial displacemrnl " can be ,epc_ole<! by
fUllCIion linear in r and thaI for the transverse displaoemem v by I

cubic function.
In the above deriv"ion, we have shown that the vinull "'Ofl:
equation as presented in (2.2.25) iii equivalent 10 the ~vcming
diffeltntial equalioos and boundary Wlldilio ... oommonly used in
cllSIli<;a1 lILlIlysis. Thus, equation (2.2.15) remains iucl f a valid
SlalelMlIl o( ~uilibrium of ~ planar fL'llM CIcIMOI under 1M action
of uiaJ (0((:01. sitar forces, IDd beodina momenL1 II alO therefou be
IUCd IS the basis for derivi"8 ~ ISSOcilled planar frame element, as
will be ~ted belo....
In I di$pl~mcot-based fioile elemenl formulation, the dispbccmenLS II any point ... ithin finitt clemenl aon be rellLed 10 llto6c. U the
nodIl points of tile rmitc clement by properly chosen IIUCrpolllli<Ht or
lIIapc fo~eli<JlI$. Errors lila, arise if tile inlcrpolJlion functions do not
Qlisfy nactly the &'Ivem in, differenlial eqUlltions of the $IIbject
element under considcnuion. For 1M. planar f",me clement, we an

interpolate the nil.! di$pl.""ment w and transverse displac<:ment v by

linea. and cubic functions respectively,
(2.231)

(2.238)
where, by Jeuing i "xJL, Ihe interpolation functions {II,} and
be wrilleD as follows:

{~.I

cu

(22..39)

.tld Ihe displacement Vec!OfS {ijl 100

{~I

are defined as
{224 1)

(2.242)
As was $Ute<! previously. lhe above interpolation fUllCIions are euCi rOf
planar frame elementS lhat arc free of any dislIibuted INds. By
SubslilUling equal ions {2.2.37) and (2238) for Ihe displacemenlS u and
~ inlO equalion (2.2.2.5), we obtain

(2.243)
where di. dxlL and a prime denotes differentiation with respecllO the
dimensionless coordinate i.
To facilil8.te the presenl derivslion, il is convenient to introduce
the following notation for integrals involving various shape functions

(Rajasekaran (977):

53
(2.2.44)

"'Io(re 1M Jub$c:npu ',. aDd - denote the ckgru of tile inlerpolalion

fWlcuo!lS, tM SIlptnaipls
and 'r' denote 1M (Ink. of differen'QI_
,ion .nd .~. represclWi 1M upoMOI of llie multiplying fac10f i.
V.riou$ (nrep matrio::! bae4 on Ibis definition have bn g;"'cn in
Appcnd;~ A.
Using (he.rove _I;on rOl' the (nlegnls, cqualion (2.2.43) CIIn
be: ,ewriucn ;n a lIIQ.e compaC1 fonn,

1&;,T !2![K,"I~ liil 16;I T EI'IK::'lI;;j [6uI T [f1 (2.2.45)

L'

"'01111, thallbc virtual dispba::mcolll (6ii) and (6~) ...0: rorrelaled IQ

(6u) [_ cqualioas (ll41). (2.2.42). and (2.2.2J)J. by applying tile
arbinary natUAi of yin""l displacements, ....c can derive 1M equ.tions

of equilibrium fOf the clenc:nt from equ.ation (2.2.43):

(2.2.41)

wlle.c the nodal foru Vedol$1i.1 and

ment VIOn (oi) and (i') respectively.

if,) c:orrespond 10 the displace

(2.248)

VI -IF
,

"

M
-!!

(2.2.49)

With tbe IIIbrtulrioes (K::'I and [K:"J Jiven in AJIPC'ndi" A , the

cqllliions of equilibrium as given in (2.2.46) Ind (2.2.47) rot the axial
Ind nuuol .aions can be C(lmbiMd ;0 m.tr;~ form,

(2.2.50)

"

...-Mte Ik] .epruenlS Ibc d.uric IriJf"UII Ma"h, I") 1M displaccmenl

vector, and {f} the fOf()l: YCCIOr of tht. planar frune "LcIMnt. For the
pruent ~ both 1M 1M} and {/} wecton luiv" ~n slWII in ~iooru
(1.2.23) and (2.2.2-4) respectively. The stiffness mwi~ [ll can be given
IS folJ(nII'S;

<

121,

6EI,

L'

L'

.U,
L

It)

<

L
0
0
<

12E1,

6EI,

LI

L'

_ 6EJ,

L'

12/,

_ W,

"
"...'""

lU,

(2.2.5])

L'

'U,
L

From this equ ion, il can be seen Iba' tlw: uial and bendina actions of
the planar fnme demeo! .re 001 coupled. The eluti<; Itiffneu mal,ix
hu olien bn re-rcncd 10 all the [l,) rnalli~, 10 distinsulsh il from the
gcometrk IIiff1'le$l matlLt!l,) in lIOoJjne:.. anllysu.

2.1.2

SpII fnI_ cLemenl

Ea:tcnsion of the fcng0iD8 procedure 10 derivation of !be stillPe$S

mauix (Of I spICC frame element is quilf.lIJ'ai&II.forwml. Only those

equations thai ue (li",cnt or ~ no! c:ovcrcd by the plllI'W case will
be preseOted herem. In this rtprd, we !10k IMI in addiliolllO!be uial
.min eM call5ed by axial and bending KlioN. the shear strains .... and
c .. cauSC<i by the torsional lClion of the member ,hould

inoorporated in 11M: CM.gy expression of equllloo (2.2.1). I.e.,

rust

be

"
".hc:~ G is \be sbw" modulus. 1M f.cwr .". hal been iacluded in
tejUllion (2.2.52) 10 III:Q)UlII fOi the diffucnce bctwn:n tbe nulllcmltio;:al shew stnins (~.,. ~.,) and coginUTing s.but
(Y..,. T.J. 1bt.y
have I difference of ty,~ lilnC$, Le., c" ~T" and c ~T ...
The di5pllttmcnlS of. generic point of the sp&oc rnome .,kmenl
no .... contain ch,e<: Q,)mpooenlS II" M,. and w, 110/1& the three coordinate
lies It, ynd z. 1lascd on (IK: Bernoulli-Eule r hypo1 hesis (1)1 bendi ng
and 51. Vena"l" theory of IOrllion. the followin, d~pllmenl foe ld can
be wrillen,

Stnm.

It, I< -

y.. ' -

!W '

(2.2.53)

z6,

(1.2.5<)

..... "

(1.2.'~

It

/I

.... -

.,Mre '" dcnoIeI the displaccment of the centroid C alon& the z-uis
and e, the .nll~ of lWi5.I of the member. A:ofdingly, the throe &l11I;n
components become

(2.2.56)
(US7)
(2.2.58)
whe.e il caa be SD WI 1M sbur SUllins.,,, and c.. are allIKd by the
lOniooal lI;tion aloM.
Subslilutina 1M pru:ed.in, CIprusionl for urai/ll inlo equatioo
(2.2.S2) yields tbe following yirtual work equation,

wM,e J i$ !he lO... ional COIl$l&DI, and I, .ncI I, afe !he moIMnl$ of
i""nia of tM cross section .bout the y- and . -aril ' espectively.

(2..2..60)

I, . f.,'"

(2.2.61)

In addition 10 tllultion (2..2. 10). lhe following OI}hogonalilY conditions

for prineipal centroidal eoordinll1es havt bun uK<! in !he dt,i'lltion of

(2.2.59),
(2.2.62)

f.. y.r. dA 0

(2..2.63)

With 'egard to tilt utematvinull work R, we flI"Sl IIOIt thlt !he

upruslon for R. in (2.2.11) should M modified to Include the
contribution from the third direction "

('2.2.64)
whc~

I, dtlllMes tbe tractiollll on the .section of node B Ilong the :_axis.

The same modiftcation should alJo M made fOllht vinu.al work R. in
(2..2.18). Based OIIlhe COIIdiliolll of equilibrium., tbret more eompnIICnlS o f wess resultaots CUI be defined fOl lht space frune clement..
in addition 10 those of (2.2.12)-{1.2.14). They aft tIIo sbear force F..
along tile zuis, ModiDg momen. 101., boultbe ,...uis, ancl torsion 1.1..
about the z -axis,

(2.2.65)

(2.2.66)

(2.2.67)

,.,

.....

"

0<rlW'- t>I._~

substitulinll eqIIIDons (2.2..S3)-{2..2..SS) for the displ..:e .... nlS Inlo

tUition (2.2.64). and urUizin, the SlrUI resultant defInitions In
Z. 12)-(2.2.14) and (2.2.6SKl.2.67), In c1pression ilknliaol in form
\hI1 of equation (1:.1.15) can be oblained for the virlual work R,_
~o ..eV(I' the dispiKemcnr and force veaon in this upression should
be .ugnlC'nled as follOws for end B of the bum:
a

(2.2.68)

(2.2.69)

0,.. _: for the

where
tJu,11M

<:aK of small loutions. Thus, we hive shown

o f si1 degrs of fnedom, Le., thtu 1rlJ\Slatiolll and three:
fOUIIions, em properly IKWUIlI for !he utcmal virtual work usocialed
with each end of the space fl'VlM: cle .... nt. Correspondin, to these;
DOdal degrees of freedom , Lhere ue six slress resultants, I.e., llu-u
(orca IIId ~ momenlS. A grlpbk:aI repracllWion of tbe nodal
qUlnliliei for the lpace frame element is given in Figure 2.4.
Similarly, ~ llIJy show tIw lile rel.lion (2.2.19) remains valid
(01' R, for md A of !he apace &arne element, Hoept tIw !be displ_
rmnl and force VC~IO!'$ for Ihis clld should be augmented U (oUOVo'S:
IJSC

(1.2.70)

(2.2.11)

a,. _:

.... heltis auumed. Realiring!hal It " R, R.. we can pro~d 10 show [hllthe virtual work equation for the space fnmc clemen!

1>,116,,
11 El1.. " 6 .. "

we' 6e'.,....
'''~
(2.2.72)

In ....hich

"
,1

I'"
---.!:....':.

fc:'-____!'fr;. ~ ~

Iu..

1><\

/..
/,

(.

;..

'I

I'"

.- .. ...ti

,I~

I~

/,

;..

I..

(
fI ~ U

---

I ...

Iio

....

"

Sf*C &ame ckmeac: (I) Nodal de,,", ot fnonIom;

(b) Nodal fta - '

iDOi'kiI1S.

puviow./y, I vinua) wort equ..tion such as the Ollt. Jiven

in (2,2.72) scrve$ . . . valid buis for derlvalion of the spa frame
dernen.. However, LQ provide judgments ,cllrding the scllion of
A$ WU Slattd

"

interpolation fulKtiom and element dcgrus of freedom , I n overview o f

the usoc:iatcd diffcrcnl ill e<jWltions and boundary ~ ilions is slill

hclpM.

folloWing the same lines of derivl1ion, 1lIe differen.ial eq ......ions

Ille usoeialed wilh IIIe space frame:

dement can be 6eriVfll from equation ~ 72). For IlIe sake of bfevity,
,,"]y the diffm:nti.1 equations WI arc: not c:overed by the plllllu case:
are h5led bdow :

and boundary conditions !hal

"" l1li

(2.2.75)

(2..2.76)

GJe" - 0

ComspondinVy. 1M I"0mcuic: and ILItur:al bounduy <;OndiLioos are

6,..' - 0

&"" 0

611' 0

"

M~

-El,w

F 1 ....

(2.2.78)

M GIll.

(2.2.79)

As Cln be seen from equations (2.2.75) alld (2.2.76). the UK! solUlions
for the lrarl$"crse displacement w .nd Ingle of twist
can be
rcprestntcd by. cubit and liMar fllllClion 1e5pec1;vely. h folLows lhal

e,

the ll11r1$Vcrsc di~aoe....,nl .. and Inal. of !""is! e, fo.!be spa.ce flllme

dement can be inlerpolatW as folio ....:

(2.2.80)
(2.2.81)

in whid!
(2.2.82)

.,
(2.2.83)
By inlerpotali1l& the displacements M, ~, ... , and &, by their nodal
!!epees of freedom , i.e., through $I,Ib$Utution of (2.2.37). (2..2.38).
(2.2.80). and (2.2.81). from equation (2.2.72) we can obtain the
followillJ:

It/w IT 5:[K~ Iw[ [661T

L'

GJIK:I~ tiil
L

_ [6I1JT If! (2.2.84)

Sin the virtual displacements (6ii). {6~1 , and (66)lrc COIl'claCW IO

{hi [see (2.2.41). (2.2.42), (2.2.82). (2.2.83), and (2.2.73)1. we caJt
take advantage of their IrbiUUy nature to obtain the following matri~
equation... from equ..tion (2.2.&4):
(2.2.85)

(2.286)
ill addition to tbo:/$e prucnted in cqu.tions (2.2.46) Ind (2.2.47). 1lM:
force vectors {{,lind If.} are ddinod as

if ,T

IF

_.:...:l!

F.

(2.2.87)

(2.2.88)
CombiDin& equations (2.2.8S) aDd (22.86) wiIb c'{\Ialions (2.2M).Dd
(2.2.47) yieLds the Slitrneu equations f()! lhe space (!'lillie element,
[k]{l/) {fl, in whkh the ckllKnl dispba:mcnt \'lOr (III and Coree
vcc;\OI'ill are cUell)' those: defined in equations (2.2.73) and (2.2.74)
respectively. 1M Sliffness matriz [I:) for the space frune ci(menl,
which has a dimtnsiOll of 12 x 12, can be given as follows:

~-"' -..."...--

"

~ [t'l (.l::IJ

(2.2.89)

(kJ

It1 1.1::1'

..~re 1M submatriccs an

"L

0
121,

L'

' I,

121,

L'

It,1

_ 61,

41,

_ 121,

L'
0

1.1::1

----'
L'

--L

6EJ,
L'

_ 6/,

L'

121

'1,

".

(2.2.!IOa)

L'

GJ

A
-L

L'

GJ

6EJ,

L'

'I
----'
L'

21,

L
0

(2.~)

0
21,

..

"

t_"...,.... _11"_
0
121,

L'

12/,

L'

Ik,I

0
OJ

l.l.J

-.

tiEl,

L'
0

"I,
L

QNIi(y T#n

0
~ 61,

L'
0
(2.2.9Oc)

,0
0
<El,

Oae-dlmellSloal l II"IUII t lt:meol

A In.W dement distingui$he$ ilSel! from I r",~ element in [lui Ibc~

iI DO lesistanc:e apinsI beDdwS actions. As both cn<b of tbc IrUU
clement an: _1PCd 10 be hu.p, it o;:an be mlted as I spcciaI Q5C of
the planar frame clement ""ilb uro moment of inertia I, JUbjcaed to
uro be nding momenlS. The follow ins Is. summary of the procedure
for !be derivlliol'l of the onc..timcnsional U\ISI ."'melll.
For U\ISI clement with O(lIISWtt (:rl)Q teaions, !he uill
displ~menl II. can be interpreted as displaoement of the oenwid of
the aou section., I.e., II II. Substituting equation (2.2.4) for the Qial
smin tg UIIO equatioa (2.2.3), 1100& with the 11K of (2.2..22). yields
(2.2.91)

For one-dimellSiooallnlU cielllCnt, tbe following dcfLnilions Cln be

adopled (or the nodal displacement and fora: ved(ll"l CFi,ure 2.5):
(2.2.")

"

~~ ", .-~..nu.

,..

--

,.)

,
,

63

- - -

, ,..
- --

1'11.... 2,5 O!Ie4imermanal "'" ok_ftt: (a) NodIoI do,,", of frtedom:

(b) Nooal forteS.

(2.2.93)

Jince only uial deforrrurions and loClions are involved.

Adopll"8 the PIM linear interpol'rioJa .. 1M OM in tqUllion
(2.2.37) fOf \he uial di$plaa:fikm . , ..., carr write
(2.2.94)

{"I

hal !e" defined in

(2.2.92). SubstilUtln8 Ihe prtcedin8 expression for tM ui.l di5p1ace
ment w inlo cq~liOll (2.2.91), and usin8 1M notarion of (2.2.44). we
wllin

where: the clement displacement vcctOf

(2.2.~)

By the Ifburary lIIlure of the virtual displacement {II..}. it is possible:

10 derive

(2.2.96)

in 'ymbolic fOm! 1.$ [k){. } _ {f} . For tbe one-ilimtll5ion.lllrUSII

elellH:m, the 511ffllU.\: maUiE Ik] is simply

Dr

.
..
L

It)

(2.2.97)

wlIicll is Ihc simpksl ~iff_ matriJ: llIal can be found for singk
clemenl in SlnIaliral mhanicl.. Again, il should be Idded llIal ;n the
nonlinear analysis (If \J1IS5eI in t.lel chaplel'S, the claslic Iliffnus m.lfill:
[t] will "50 be rcremd 10 ill tbe (k.! m.trix.

,
One basic clwKtuistic of the truss or bar element is thai ;t Qln .e:sist
DIM War forces or belldi", momenlS. Such.
chlneteristic remaim InIe ,cptdle:ss or whetMr the demenl is one,
two-, or thn:e-dimelt!lionl'. To ldlieve I .ySlcmatk: trUI_III for the
assembly of dement Sliffncu malri<:es in the analysis of planar and
~ IrusScs, ;1 is eonvcoicnl lo have "llhe ckmcnlltilIness equatiom
I"pnetlu:d io IIUdI mlMCl' 10 iDdlldr. the effects of r _ &lid
displJc:cmcnll in the ~ diredioal. For instanoe, the clispllcc.menl v:lOI I~) and rome VOCIOf {J} can be augmented f(IT Ihc
"~~, dC"'~1f1 as follows;

only uiaJ forces, but

pI""",

(2.2.98)
{1.2.99)

These w: .Iso clepieted in Figllre 2.6. For this Iwo.(!imensionaJ caK,

the stiffness mllTix Ii] can be IU!'Mlllo:d by addina u ro entries 10 the
rows and O(lt\lmftS COtteSpo..di", 10 tile ImISYCt$e displattmenll as

It)

EA
L

"-L

. ..

"-

0
0

EA

(2.2.100)

,.,

~.,_

\'
r,

I'
,.. 1'"
--,
fl, .... 1.'

"

"'11->- ~

--

I'r ,.

I~ ~

,.,

",

--

PI ...... INSl dtmml: (I) Nodal dc11ft' of freedom:

(b) Nodal fortes.

On ~ OIlIer hand, for IIJMC~ n.u tI.... ~III, !he diJp!acemrnl vectOr
1M} and fora VKUlf V} c:&II be au&IMnled 10 consist of tIm:e ..."ees
of f.~m cadi DOCIe of the ell:ment:

I'

(2.2.101)
(2.2.102)

TIv:se are plotte<! in F"lgure 27.

$Iill_ malli.llk[ is

Il)

Cone5pondin&lr. the augmented

EA
L

00

00
00

EA
0 0
L

0
0

00
00

EA
0 0
L

EA
L

0 0

0 0

00

00

o0

~-

(2.2.103)

.
I'
"", ...
T
7 ,---;-7,,- ... 1\10

;{~

~
( .)

( .)

from the above upressioll$ of the stiffness mllrix It). 11 is obvious !hal

I truss clement cannot resist .ny traosvcrse sheu foroes.

Before elating 11111 Jediol!, one commu\ should be given for !be
clemenl loads In !be fongoi"l derivations, we hive IU$IImW lhatllli
tbc applied loads an lXNICI:otnolcd aI the DOdal poilus .imply for the
We of c:oavcnicnc:e. Sud! all _mptioa should IlOl be regarded ...
res:lricIion or Ibe theory. if it is ruliZ1Cd IbM &lI1<*1s DOl .ppIitd on !be
nodal points of an ckment can be -Uy tn.nsfonnni mto IlIose 1\ the
nodal points bI$o!(I 011 the """""'pI of lumped loads or COII$iskDI DOdaI

-.
2.3

Fonnalton or structure

~uallon5

A fulldamental aspect of !be IJWl'U; ..uuaural analy,is is 10 IJe&I

lllJudurc as an _mblap: of linile dCIJ\CDIl. I. . . linnr analysis

67

lJ , ........ .,- - -

LO ing tbc stiffness method. the f("mullli~. of SlruCiurc .equ.~ioll5

(PIP Yrall)' scparltro in10 IW(J pam pI',UJnlll& 10 1M IndIvidual
IS
the uscmbl.,e. Each of lhe twO paru is formed in terms

."';.nd

dc:;:ng>nlctry, JUlies, and ronstiMive cqualioll5. In the preding

of .
bave ban prdtnted for deriving the dement stiffness

- ."--.hods
.
fqU.ljo1!S,

[tllwl [/1

(2.3.1 )

bued on the plillCiplc of vinual

di5pla~mCnls. In Ihis section, We

~I procd 10 demoPSlrJ.1C 110... 11le: stiffnc:ss eqlllltions for fIlCh

clement

be assembled 10 fonn the SUUC1u,e stiffness equations.

IXlIUJ

[PI

(2.3.2)

follow;n, tile prooedure of dir'l stiffness method. Here 1,1,7) dcIl(lLC$

the iliffr>e$l m.ui:c, {U} 1M d.ispboo:mcnl ~ctor. 100 [p} 1M load
VK'IOf of the SlIUdIin. 11 is 110( the pIIrp<:IK .... e 10 IILlkc In inlclIJivc
~nl.1ion 00 oJl variations of the procedure. Standard textbooks on
III&lrU suuo;runJ ..... ysis or (mite eicment method, IIICb as McGuire
aod Gall'&hcl (1979), Balhe and Wilson (1976). Rao ( 1982), and Cook
f'.1. (1989), may be ODOliuhed for more oXtails. In this KCtion. only
the IDOSt fundamental ful1,Ire:s of the prooedure JeadinglO the StnlClure
~ulliO!\l .... iIl be higl1ligJl1ed.
Fil'$l of all, ....e....,.c tNl all thr. clemenl equalions der;\'ed in 1lIc
pm:o:diQg s.eaion have bn rtferred 10 lheir tle'"t~1 or /qcll/ coo,dl.
BdOfe ~ equl1ions QQ be IISKmbled 10 form thr. W\ICIIIIC
equIUons, 1lIcy mll$l be uansformed from lIIei. individUIII Ioeal coordi
III~ 10 tile S''''t'UN! o. ,1oIxr/ coo,d",,,,a, To lIIis end, !he IIf'kn
IItlOll of cadi finite element mll$l be sp:ciflCd ""ith rcspcd 10 the

.'a.

comrooa global coordinate sYllCm,

To define the orienlalion of a space f..me clcmenl willi ruped
~!be gIoba] COOfdinate Ues X, Y, and t, ....e normally attach 10 tach
e . fIlent an element COOfdinalc .ystem .., y, and . "The ..... is, conv.

:;rul

y IIkea 10 be thr. LItis of tile line cl.ment, is uniquely delermined

J the direaion veao. lhal ntends from node A 10 node B of lbe
~e::nt ~ shown in Fig.....e 2.1, tIIe ,""axis a n be COIlvcnienuy tlUn
wh ' h 1he m~ principal axis of the f;f()SS swion of the mtmbel, of
IC lhe d"e.:t ion an be delCnniDcd either tbrough lhe specifw:alioa

68

'I

-{'
Ft, un 1.'

--

.,

Element o;:oordinalel.

of I thin! node 011 1M uis or I dirKtion ve<:!pf with ",femw;e 10 \be

aJobaI coordinates. The ,,-ulS, on!be.r IImd. eIIn be computed as
the cross product of the two VedOfS Wt represent the.,. and ,-UC:i..
With the local Del X, Y. and z speciroed for each element, the orienta.
tion of each element of the 5!1\ItWft. with respectlo the global axes X,
Y. and Z I;aJI be completely <klermincd. Sinc:c I truss element hal
nellller I ma}or IIOf millOf uis, the y- and z-Uell of the bar element can
be' arbitmily amornW 10 be any pair of pelpC'ndieular ucs lying on
planes normal 10 the ..ull of 1M tlemcllt.
F~ 1.9 ~. fora VSOJ /> with ill OOIIIpooe:1IlS erpressed
both in local roordillalC l)'SIem (z, ,. z) and In the aJobal coordiaale
Iystem
Y, Z). U.m" rupec:tively, \be Iymbols .I., p., and ". with
IPP'opiate IUbsaipu, 10 designate !be direction eosine of \be *"&k
between !be 5Ubsaipltd lOQI axis Ind tach of the
X, Y, and Z
nes, we can n:"-Ie the Q)l[lponenlS of the force Ytt!or ,. in the loca l
sY$lem to Iho$e In the glohaJ syStem as follOWS:

ex.

,lob&!

"

"

F~"'-"''''I'''-'

'. '. '.

""
'. '.

(2.3.3)

IPI - [yll,llJ

(2.3.4)

IJ "'. I::!
or. in shor1 f(>l1ll,

in ",hleb (P)lnd lPllknole the components of the ro,~ yeao' {>'n

tbe loW and glob,l./ coordinate sySCCRlS, respo:c1ivdy. With the prucot
OOIluon, In clernen1 manu Of "'WO!' with ,deft,," 10 the global
coooIilW is ck5ignaleG b~ I 1ui1 .... The rotation mlltix [y I is
knoW" 10 be an 0ftII0&0nlI m.lrm-, because of the faa Iba, its inverse
i, equal 10 ilS Uampo5C', i.e., [y]"' [r]' (McGuire and Gallagher
\9'79). ROgniringlhal the arne rule of tnonsIormation applic:s to the
dired foroes. momrnlS, translationl, and roulions. we can usc equation
(2.3.") dire<:tly ill rompilin, the fon:e and displacemcnl1nnsformation
eqUlliollll (or the 'pace frame tlcmclll,

til [rub

(2.3.S)

(23.6)
.. he", 1he transformalion manix II'] for the IpKe frame element with
lwelvf. degrfU of freedom is simply

hi

rrl

Iy I

(2.3.7)

hi
hi

I~ equations (2..35) and (2.3.6), (M) and (J} denote the elemenl
dlspll~mcnl and force VeClOl"S for the ~ frame element, which hive
been definl in (2.2.73) and (2.2.74), rupedivcly. and 1"1 and {1}
denote the eom5ponding quantities In !he global coordinate 'yll(lII.

Oearly, tile transronN.lioo matrix In is onhoaonal, as !he submatrices

h I contained in il an OfIho&onal.
Now, by subslitutiD& 1IIe

~lalioDl

(2.3.5) and (2.3.6) into tbe

elemenl Sliff_ eljlWioo (2.3.1), _ p:I

(2.3.8)

Using 1M propc:ny of onhoaonalily for the WI mallix, l.e.,

(rl'(r] /I),

(n'ln

rr)T[k)[rHII I til

(2.3.9)

Thus, we have shown lhal 1M elemenl IIiffllUl equations an be

tn.nsformcd 10 the global QOOrdWIC$"
(2.3.10)
whe~

It)

the matrix (I) in tile global QOOrdinala is ~1aIed 10 the IIIMrb

in the local c:oonlinalU.,

(2.3.11)
and the load ~eclor {}} is defined as

(2.3.12)

,,/>fI,......

The po:ccdilll IWO eljWllioos defillC .... haI ill ealk<l

frll1lS/f>r...n-. The IraDSformed matrix 11) will be sym..nellic, 10 Ioa&
as IIIe. matrix It) is symmetric.
The InInsfonnalioa equalions for oIltcr typc:s of ekmenlS, SlId! lIS
tIIc. planar frame clement, and p/lIlI.r Ind spII;e tnass clenw:nlS, an be
conside~ .. tpe<:ial CI.';oeS of the equations deri~td above for tile ~
frame clement. For nample, for 1 pllIw frame clement lying 00 lhe
X Y plane, there will be only thlu degrees of freedom, Le., tWO
translations .nd one rGUllion, exisling It eac.h end of the clemenl. In
thil cue, the Illlnsfonnalioo m..rix (11 reduces to

,
~~.-l-_
X
"I.~r< :. 10

for in .1emtnllnd WUCIUI\! coordinates- pl.""

Q$<.

(2.3.13)

and !he r(lIalioll m'lri~

hi is simply

"[ ,. 'j

hi ~7
,

",

(2..3.1 4)

-A,.

where l, -I',.. COOfil and 1', .

linCl: , wilh Cl dc:DOIing Ihe .ngle
bc,w n Ihe local J: and llie global X (lOO. dinale u.s (see Figure 2.10).
Once lhe clement mauices and clemenl v.Clon arc lransformcd
"', lIIc &lob-I COOIdinalc system, 11M: PUI slCP iii 10 ronstrllClllIe master
shffl\eSf; equations for lhe cnti, e SlJUCtUIC based on lhe conditions of
.D"'I"".obility .1 nodal points of the SUUClUlC. By <>;H1lpalibiliIY, we
III<~ tllal.n the clcmelU$ meeting .11 romrnon DO&. Mve identically
Ihc _
dispba:mcnts fOI aU ends of !he clements usoci.tcd " 'jlb!he
~ Morrovu, the $Iiffncss roeff..xnu lIld )old rompone .... of .111l1c clements eomsponding1(1 Ihc:oK ckgrKS of freedom al
!be <:Ommon node COn be ",mmcd up to obIa;n tilt nel Sliffnesses and
IoNs fOf .hal pill1iculu node.
, The dfl of ,ewalned boundary CCIIKIilioRs an be di,eclly
COrJSidc.cd in lhe __ mbly of 1M SlI\ICIII'. 51iffnev eq.ILions. Lhrough
the use of an idenlificalion malrix for distinguiShing (he ..:tive from (he
~ive (restrained) degrus of fteeOOm for each element. Let E
note (he (ot~l number of elemenlS of which the 5t1U\:ture is composed,

c:omrnoq

lie.

~I~!P

:lI1111(l

(L1"("t)

speD[ P~I"'U~ ~I

"f1u!od ItpOU :H.jl II ~lddl

glOU:Ip "(J) J()p;I" ~41 ~J:>II""

,.,

"IJ)

IJI 3: -

IJ )

0 1 PQlJ!potu

Plnosp

(s ITU tIO!llnb~ '~Jn I:MUIS;oI,j1 JO Slu!od ItpOU ~41 II 051" 1/"1 J1UOKU~I~
~ \10 ~IUO IOU P:I!ldob:ll1 ~ [1I1U~n;ol,j1 ~~"""XCI J1l:lll~ ~JO\U
~ JO.:I ":KI~ 8u!41~WOII JO SPO:O( [!pO<! IU~IS!WOO jO I(b;)uoo ~I ~II
{~ 101" iWOJ IU:Nl3\~ ~I II! P:lopnl:lll! u;I\(1 p!.I1 f1U:Nl~~;I\(1 UO ~111O

p:I!lddr ~11 Inll "Slu!od I'POII II ~1]:l:ll!P P:I!ldd, IOU ~ .. SJ*lIIIUJ~n

XlI IIQI 1IO!ll:I!ldw! ;1\(1 S1III!IU. "IJ:Ip!SUOO II~~ ~Alq Iu~w~l~ 4X~
41!'" P~II!:JO$S' s!U!Prol XI I ~luO 'ssaJOJd ~IIIW~ ~MI<I'l ~I ul
"p~ I Jn wOI)'I:lIJ
JO IN!8:1p P""!IJ.IIr:u JO i);nJP ~I 41!'" I lu:ItU~I~ JO JOPM :a;)JOJ
p'Iv:ltUfnl :>III (1IIl> p!.I1 r!JIIW '""JJPs p~lu2wlInl :Mjl I! Ic.rl'l :lI"'I....

,.,

(91""Z)

...

l.fi :I . I"

,.,
(sn-t)

Iq)JI

3: - Ixl

$1 UO!I!I'PI :l!lJ.Iq~I' ~q P""!IIQO 1><1 uu ~mlJn.llS 20[1

pco[ ~ pili IX]I!J\ew "'"'JJ11$ 20[1 '011111011 PI "uaop
-~:lIJ JO S~2J!;,p P""!"1S21 241 01 8u!pUOOsmoo r~fllu~ '"'I1l1U!121:>P ~q
pili p!IIU~ ~WWnp;oI,j1 VI f()J:n; IU!P"IJIi! ~II '~l~A!]:l;K!RJ " "N pili

JO (J) JOIA

LvI rflllw -JJ!II

'"'fl JO UO!su;>W!P ;oI,j1 01 jlu;ruJInl ~1I'nidtJO.) 1><1 UU ~~41 '~12AI I
-~I I " .. pili ~ " .. UO!~U:lUl!P '"'11 )0
1II:ltU3\~ '"'fl JO
JUPO'A
:a;)/OJ pul IfI rfll1W ~JJ!I$ ~1 ;)JU!S "1"~W~12 """'I ;l;>eds , JOj
9 II pili 'IU~W212 ssnJ1 .. Vlld I JOJ , II 'IU:lUl"l~ :lUlU) ~ I JOj
11 II 'IU2W2!1 2WiUJ JI"Ild, JOJ 9. II '~'lSUI JOJ '~Afq ~,'t. "11I:ItU
-"12 ~I!U!J I JOJ ~IJ JO SJlj::>P JO l:.qwn u "'II ~1OU3\I" In "~ 12A!1
-~ '\ "N pili N" N)O UOPnJ2Wtp 1 ~""4 m.... wop~J )O nOllll3\l
2A!lJI '"'11 ~ruo JO IullS!JDOO :I11IlJOUf '"'fl JO (J) JO]:)2"' ptOI pili l:Il
r!JllW rnuJJ!IS 241 ":I-\U "WGP"OlIJ JO P~lt3\l1""'!UJn' :Mj l llu!pnl~n
:nl:MUl$ '"'fl JO ~'J JO sJ!:Ip ~A1P1 JO nqwnu [1101 ~ql N pul
N " N '"2"1 ';un]:)nJl! ~41 JO (J) JO);nA ptOI pili

al'

1UJ.

o<i!r..-o ~ _.,.op. .. ~

tl>

"

1,1

~." , , .

-_-

"

It should be IIOI~ I~I bodl equalions (2.3.1S) and (2.3.16)

.emain VlIlid even if lhe auemblaae conlains diffe.enl Lypn of
elemenlS. In (his case, LlIe number of element degrees of fludc)m. II.
may e!wlge (rom .lemenl to ekmenL. II $hOu1d be ado:.kd (hal, in
practice. lbe upansion of lhe clemen( mmiccs [.fW] and (l 1iJ) from
lheir original dimensions of ~ ,,~ and ~ " I to malcb LlIc: dimensions
of lhe SUUC!u", maujcu IKI Ind (PI, i.e., N " Nand N )( I , is 1101
necessary. One simple way ill to fi/"5l identify lbe IoCIlions of (lie
cnlties of !be clemc:nl mllrK:e$ [l"ll and (ii'l) in the SU\ICIurc malrices
[KJ Ind (PI, rcsplivdy. Ind (hen add (hem 10 (he ui$1ing vlllIC$ in
tlIose Ioo;ations as we loop /)VC' all IlIe elc:mc:nlS, i.c., w,lh IlIe indeJr I
,~ngini: from 1 10 E. In Ihe prcJWalion of Ille fini(e clement mesh,
,,"c alLxb 10 exh node of IlIe at6C111blagc a node number, and ach
dement an clemen( numbel. The connccdon of each elemenl 10 (he
assemblage.nd therefore, IlIe MUons of lhe enuiQ of 1iV').nd awl
in IKI and (PI rcspec1i~ly. can be dttennilltd from the tkgrtts of
fI.cdom US(lciatcd with the labels of tbe nodal poin~ II Lhc IWO ends
of each clement.
The procedure [H.-nLed in Lbill5ection ferves only 10 tkmansl/ale
the bask concepI involved in the formation 0( the stl1>C1ure stiffness
equations. Variant!: of !be prooc:dure Lbal Lake into accoonl lhe
.rr.dency of IlIe o;OmpuLer mellIOf)' and OIher flClon., such as (he
symmelry and Mlllkdntsli of tbe stiffllt5ll mat';ces.. Irt aVlilable
elsewhere. Readers intelfSkd In such Lopes sIIould refn to finil.
elemenl ICltbooks, such as BalM and W ilson (1976) Ind Tong Ind
ROSKIIO$ ( 1977). for more informlLion.

2.4 Sol ution or simultaneous equations

Assume Ihat a 5HUC1Ufe is p.-operly resLnLinoed against rigid body
motions and Ihat III rcwained degrees of freedom of Ibc $trUctU~ hlve
been rel/lOVed in lhe fonnalion of Lhe $LruC1UrC stiffness cq~aLions:

IKllUI (PI

(2.4. I)

"'here [K] den(lles Ibc Sl,ffllt5ll malri~, (Ul tM dis.placemcnl vector.

Ind (I') (he load vectOi" of the 1I11>C1UIe. If the $UUCfUr. has I lou! of
.. activc desrees of freedom, Ih(cn Ihe "reding matrix equatiofo will

"

rone.in " simullancous C<ju'liOII5. One typal problem in tbe finite

clement analysis is \0 solve th is I of" simultaneous equations. For
tinur problem.. tile IIlrr_ maw [KJ is usumc<l 10 be c:onsllnl,
whc~as for nonline" p!'oblerm, the stiffness mllri" [KJ can be
ClIprC$$ed &I fWldions of tile inilial displacements Of clement foroes.
In thill sec:lion, OIIl)' linear probleml will be dull wilh.

Methods for solvilll I system of equations of large Ofllrl can be

clusirotd dlMr as direcl ",alwlh or i'tr"rr.c ".cllwds. An ilcnli~
method differs from the diTl mctbods in thaI the lOlulion of the
algebraic system is obtained by ad ilerat;"c pootSS, of whicb the
number of ilcnulons can be very large. As ilcflilive mctbods I re IlOl
SIIilloblc for the $Olulioa of -.lillW' syllcms 10 be diJcussed In Chapler
8, whicb may involve iuntionl of oeller 10ft 10 account for the
variation in I llff_ of the ItIU<;IUJC, they ~ ududcd from the prue:nl

diKussioa.
AmOflJ the dil'ta methods, 0111$$;.0 elimination has been wKkly
~d in the solution of IiImilllneous equations. Description or the
prottdure"for Gaussian elimination can be f(lUnd in a1most llll)' IC%lbook
on matrl. tInICIure llIIalysis or finllf. clement analysis. In this sedioa,

we shall fOQl5 on IK

di~

methods tbal rely 011 IK decomposilion

SCMmes, especially on !bole _lhods Lbat can be effectively MIopted

iD IOlvins .ystems not oaly oflK liable IIIWre, of wtlidllK stiffness
m.tri~ is fHJSili.-e-#t{",ift, but . 150 of IK ulIlIt.ble nature, of which the
stiff_ matm mIIy be p(UUi.-e-#JltIlh{udle or IItde/Uolle. Such.
QOnsKkration is extn:mdy imPOfWU in the solution of iric:allods for
SlrUctures by the eigc:nv.luc .pproach or in the fOlution of postbuctling
behaviors for strucNres II$ID& inlulll(lIl1.1-iterative approachel.
For. CO/ISelVllive ItlUClurc, 'the lIliffness m.trix IK1will .lw.ys
be lymmc:Uio;. In this _ , the Itiff_ mallU: IX] c:an be filoClOfed IS
followl:

IKI

(L)[DIiLt

(2.4.2)

By po.nivc_dodlaile, we _
lllal aU IlM: eijeaval_ of I mltrix an:
By positivC1mlIdof"",;"" .... lilt... 11111 . 11 IlM: .i,.nYllua In:

poIiri~

grell Ihln 01" equ. 11O ""fl). Alld by I_r",i ... we m.... thl! th ".DVlh,eo
of I mauilt an: . ;Ibe, poslthoc, z.oto, ..... pti~
'By c:tIMe/VaIi,.. 1InICNn:. we mean l1li1 !lie _rt done by lhe loadinp
Ipplied 10 tba WUC:lu.~ depelMll OOIly ... the milial l lId rlllal CODl'lpnotioat of

"'-=

"

where ILl iii lower lI'iangular ml1rix and [0] ;s diagonal malriJ,

(LI

'"
r." L"

D,
IDJ

D,

'. '. '.

(2.4.3)

,
D,

By expansion,

"' ..
E, LWD,L,.

(j d: / _ 1,2, __ , 11)

(2.4.4)

Sinc:c !be stiffness matrix [XI is symmetric, namdy, K, K,. the

l"ecediDS exprc"ions rontain II most n(1I .. 1)12 ilMkpcndc:ntequations,
bIn !here arc "(II + 1}'2 cnlriel of L, and" mira of D, 10 be evaluated. We tbercforc hIve .t least II free chokes ill usigning tile val\1C5
of L, IlDd Dr
With the Clio/est, IfWbd, all of the II entries D, of !be diJ.&oDal
matrix [DJ an Jel equal 10 unity. In aocordan.ce, we have the following

rttUrrcDC formulas fOf Li-

L~.

...

(2.4.!i)

K,- Ei.!

"'

(/ > j)

(2.4.6)

Which may be applied by columns. Onr. drawbKlt wilh the a.olky

IMthod is Ihal il works only for positivc.dertnite S)'Jlcms. For l)'SIems
IlIaI He DOl pCIIIitiv~llnitc. we may encounter nUlm'rkaI diff"teuUies
luch as the ~~1ICe of IM:galive numbers wilhin the IIqIIUC roo! of
tqualioQ (2.4.5) in Qk:u~liDg!he diagoll&l enlr1e$ L,.. Beause of Ihis
'eslriClion, the mctllod is DOl recommended for 11K beyond the to/ulion
of pl)Sitjyeflllite systems..

"

A1IUnltively, IlIC may cl>c>oK 10 oel the ~ d;agolLll entries L.

equal EO unily. In this f;aSC, the 'J<:u~nc:e formulu for L, and D, lie

as foUows:

(2.4.7)

D, "

,.,
K,

L" D, L;

'. ---""'n'D,- -

(I > j)

(1.4.8)

This method bas ba tefemd 10 as 1M ..odijhtl ClloU4ky ", /ootl or

Iriple'f~clorl", _./toJ. SiIKC the square. roo! is no longer n:quiml, the

numerical diffl(tllries auocialcd with Ihe original QlQlesky ~11Iod

have ~ circumvented. Accordingly, the modifwl method e.P be
dfec:tiveJ)' IIsecI iDeM solutioo of both positive-defmite and indefmite
s)'5Iemt.
~ ,ide remark, we like 10 mention !bat lbe modified OlOlesky
decomposition bas olher important propertiea, in addition \(l Ibe
computation advanrages $Uted &bovc. One property is thai the
determinant of the stiffness matrix IKJ is equal 10 thl. of 1M diapal
matrix (DJ.

del/X I dc:t(L)[DJ[LjT

II
,., D,

(2.4.9)

based on the fad thaI all 1M diqoaal eatries of the Iowcr lfian&ular
main. [t.J are equal 10 OM, thereby muing del[L] I. The SOP<I
~rty has been referred \0 as the Slur", stqutnn P'''fH'''Y. It Ilates
thai the number of negative enlties in 1M diagonal matrix [DJ II equal
to the number of negative eilC'lIYIlues for the stiffness mauiJr (K).
of Ihc$I: propenies, the modified OIoluty dewmposition an
be advaolageousJy used in ll1e posIbuclc.ling analysis of structures
iDvolvina tbe twWLioJ\ from stable 10 WlStIoble pIwts. and "ice nrsl.
By RpIacin& tbe SlifflltSl matris [K) by [LIIO][LI'. the ltruc1ur~
stiff_ c'llWion5 become

Beca",.,

(2.4.10)

,. ~""".I_--'
~ displamcnt veaor

lUI

caf1

77
be IIOlved in three 5t~ps. First, by

kUma [DJ[L)'{U t .. {G}, equation (2.4.10) 7CdUl:S to

(LIlG) .. [PI

(24.n)

SInce [LI Is lowcr triangular matrix, we may detcrmine (G) by

f(IfWud SUbs1itution Slaning from !he first equllion of the system. This
will yield the following for ~ach element of the (G) V~ClOf:

(2.4.12)
...bere fOf I I ,,e have G I "F,fL". The second stcp Is to divide both
side:l of [OJ(L]'{U) .. {O} by [01, ladin& to

ILtlUI .. [HI

(2.4.13)

wbere IH) .. [OI ' {G) or, equivalenlJy, H,. GIO~ The rmal stcp is 10
1101"" !he preceding equalion fOf lUI. Th;'..." be KCOmpli5hed in.
Ilmple proce$I by ~kward substirution suning from !he 11$1 equation
of the 'yllem. The following is the ,eame~ formula for each
clement of {UI:

U, - (H, LflU)
l..
J .... ,

(2.4.14)

w~ iet U," HJl._.

Thul, we have sbownllow the SUU<;lUIC stiffness equltions caf1 be
aoIvtd by \he decomposition method. Aftcr the stnIdUnI displacemcnlS
lUI ani obtained, tile dispI~mcnlS It the IWO ends of cad! clemeal
CilII be dttennlncd from the ~tric c:onneClioa of the elemcntla!he
ItructUnl, .. ith \bose fOf the rC$lniJl,td dcgrus of frdom set equal to
lCro, if there arc Iny. NO!( that the element displacemenlS directly
UI~cd from {U} have been upres.wd in the &labal roordinates,
"'!leh un be transformed inlo lhe dement coordinates to yield the

"'heu fori

~~n'

SlaI1

displacement vtctor {1I}. 10 linear analysis, we can multiply

clement displacemenlS lu} by the clcmc:ot sliffllCSKS [k}1O obWn

"

the clcmcll~ fOKell (J} in the same Q)(Irdi...;,u. The proo;edu'CI deac:ribcd in this Ition and tho: prcccdina IItioII Nt lypK::al for the
analysis of $IlUdullIl (I1Imu and lruMeS COfIttrning lhe linear behav_

""
2.S

Q ua lity

I~

ror li near dt meDl.!i

Before wt uolt Ibou. the qualil), of finite clenxnl analysil, kt us brieny

review KIfllC bu~ f~l\Ires of Ole mO$I notable Ipproximllc prIXlCdurc,
lhe R,ylclgA.R'" itmAod, for $(lIving the boundary-value problcml.
Willi this nxlhod, rJIe rIM Slep is 10 approJ.imate !he UI(:I ~isplve
menl (!tId 0(' structure by fulldions which contain I finite number of
indqlende.nt eoefflcicn". By subIIituti", !he Ilial displacement rtcld
into Ibe poIenlial of !be JUIJCIIIre, and by rt:<IUirin& 1M JIO(mlill 10 be
minimum, tile varialional prilKipl~ ~ be employed 10 derive I ~t
of simuluneous algebraic eqllltions, from which tile Inde~ndeDI
c:odfodents caD be determined.. ~ basi<: ~il'Clnc:nl with the Ray_
lcigh.Riu. method is that tile I$SlImed functions mUSI be kinematiClUy
admiAlble, ilia. is, lhey m\ISC SIIlisfy !be: internal WI1I~tibilily and
Jeon1C'IIX bounduy ooaditlons. 'There is, howevcr, no rcquimncnl on
the satisfaction of tile natural boundary oondiliona. If We CIl1 repruenl
the: trial displacement field by ~ of fUDdions W I form I oomplete KI, tben by Iddinl more rUlidions In Ihe Krles, tbe trill displxcment field will converge to !be eua 5OIul ion ror 1M problem
(Shamel ilIId Dym 19&5).
The fmile clemenl mc!hod tin be rcprdcd 15 I variant of !be
Rl yleigh- Ritz melhod. With mia method, I SlnlCfure is brok.en down
!n1O I oumber of fmite elemcnlS whid! Ire conneaed I I IIOdLI poiDu..
The approxim.Itc dlspIXCmct'll field of Ihe IInK:Iure iI deeermined from
Ihe displKemeRlJ II Ihe nodal points, Indudlna the IOlema! nodal
points, if there are llDy, through the use of Ulle'poMlUM /MIlCIiotu (abo
bIow'a NllIape fiutcrW<u) fOf ~ fmile elemwl- The JOeUracy of !he
finile clement .naly~is tin be improw:d through r",emene of !he fini!c
clement rIIC$b IIscd 10 model Ihe Jlr\II:IUrC, i.e., by ~ !he
'No\c Ibat in Iddi... 10 !be irI.. ~lantal IIOdaJ points, Inle....... .odal
poialS .... y aho uiN .. ilblll fllllle. delll(~~ Howev.r. IK depca of
freedom ~",d wi'" 1M bnen>tlllOdal poialJ .... 11 .... )" be .Iim ..... ttd by
1M "lie COIId ..... lior. PfOOCdure.

~-I-'-'-

"

mbel of nodal degrees of ~dom, TarMr Ih.n [brOllgh addilion of

~ fulldlonllO rhe ,ri.1 series. To en.lure.~vergtna: of the. rmil~
ekcmcnl solutions 10 Ih;c u-.:t one, a:rtIoln crn~ bve to be Ja1:":~'
All rhese crirer;> flll 1010 three groups conCC'.nlng the compatibIlity,
""",plc:tellCSS, and stability, of the finite clement II5oI:d. ~~ elements
tbat fulfil .11 tbeK aitenl, the convergena: characteristics of the:
apptOJ[im.atc solutions cu be lbown 10 be monotonic or DCUly
asycnplOl!l;.

1.5.1 Con.-trgcllre criteria

Willi ,espccIlO Ihe rompdibilily of fUlilc clements, it is TUlllimi WI
~ displlccmenlS within the elements and acroll the dement boundorin: be c:ontinuou$.. For elcmentJ WI employ polynomial funaions tOl'
ialcrpolaring rhe demeot di$pllamenlS, wbich is Lhe case for tile frame
and IJUSS elements to be discussed Ihro\J.ghoIat tbe Itlll, Lbc:rc is no
problem in IIU.lnll.inina' OOIItiollOllS dispbcenxnl field wilbin the fUl;!e

clemenl.
Eklmnts thai satisfy both the IlIIpatibilily and COOIpletcneu
ClDllditions arc called COlIforM;'" eluoG'ltJ, while !hose that saiUry only
the condition of complelcnt$S but violate the oondition of inICrclcmcnl
compuibility an Cllled IIDf1CtHlfqr",iII, or incoMplJfible ~I_t"ts. A
~nformin, el~ment Qn still be u.Kd in practice to yield
mailS, if 1M dC'ment CUI apprOIiCb !hi: state of \XIIISUnt stn.iJI as \be
fmite dement mesh is relined. One difference I~ that the manJ>C1 of
cortverscnce uhibited by fioite element models with IIODQ)IIformiog
elements 1liiy not be monotonic. II sboItld be mentioned thai the
elements fQ be diseuuc:d in this tU t, includin, the trusS demcnt, frame
clemeOt, &od curved beam tlemenr. eilOO two- or thne-dimensiollll, all
~I in the QtelOry of conform in, elcmenl$, as they all satisfy the
Icrclemcnt compatibility condirioos.
f.. __ n.e uquiremcnt of compietcllCSl Implies thlt the displacement
'""""Ions of the elements must be ~Ic to reIRKot both the ,/,Id bod)'
~ II1c
Jrr"", JUllu. From the point of rmile clement
I ull"on, we woold e~pea tbe assumed di$plarmnt rleld of I finite
;,:'.ent fQ be able to reptUeol the cua displaamc:nt field IS closoe as
dlspJlbIe. II ...ill be found that this Is not lUIinly $0) if the c:boscn
it . o.ee~ents .110 such thaI siraining of !be clement Is possible wben
lU~ed 10 rigid body motions. Thus, the ability of I fInile
Ial nl ~ lepreso.ntthe rigid body ItIOde$ bea>mes the mosl fundamen
requirement. In I r",ile elclllt'nl formUlation thaI employs 1M

,ood

=q
olc!e

COIlS'"",

pol)'llOrDiai f\mctions .. IlIc inlcrpobtion functions. !be ri&id body

modes can be easily COftSideKd through inclusion of IlIc COOSWIt and
lillCar terms in !be po!yllOmial_ics.
Fr(lm , physical point of .. ie .... !be necessity for finite dements
10 represent tile OIJnstlnt 6ln.in $Utes can be ulWkr$lood if ... e try to U$C
more and more elemenll to model, structure. In tile limit u the finite
e]emenll get smiller 100 smaller, tile 6ln.in in each dcment I.hould
Ipproach I consllnt "Ilue. Sudt. capability ill uscntial 10 tile
modeling of SllUCtIIra dIowin& complex varillion in 1Uaia. In beams
and plates. ...lIcre bending deformations arc involved, IlIc 6ln.illJ IIbould
be intclpR'lCd IS !be gencmi=! SU1Iins. Obviously,!be $tate of
oonsUnt smillS iDOOi PClIItes !be rigid bod)' mocks IS special case
... ith UfO strains.
By ,"bilit)' . ... e mun thlt tile solution of tile Itructure Sliffl>CSl
equltions (2.4.1) mu" remain bounded and unique. This implies that
the stiffness matrix [K] must be lIOII5ingl'llr and the ItlUClun: must be
~]e, given jUSl cnough rCSlaint OIJIIditiOtl$ to prevcnt rigid body
moiions. For, Sllble stnIeIure, !be displaoemenll (U) sol..ed ffom
equation (2.4.1) OIJntlUlllO zero eocrgy modes. 1M stability condition
bas ududed !be potSibility of 1liiy di ..CfSCnce or numcrical overfJow
ill !be solution process.. It is therefore I IUfficient condition of
coovcrgeDCe. In COOItaSl, !be oomplctenes:l and compatibility conditions
mentiCIIIIXI above rcpresent men:ly I _ I ) ' condition of CO<Iv<r

.'=

2.5.2 The patch test

AU the above requirements, Wt is, !be constant wain oooditions, ri&id
body capabilities, intCrckmml compatibility. and stability conditiola$,
can be chtcked by a aimple Ic:st origiIWed b)' Irons, now kllOWll as !be
IH'lcio laf (Baz!eJ,ey CI a/. 1965; Taylor ~I II. 1986). I.n this ICSI, ",e
rl/"$l I$$Cmble I "patc:b" of dements ill such I .... y lhM II least OIIC
node is completely SUtn)tlnded by tie_nil. Boundary IIOde:s are
Ioackd by OIJfI5istenlly derived nodal loads com:spondilll lO. $Ute of
ronstant stress. Inlemal nodes are llCilhc:r loldtd nor restrailled. To
prevent ~ patch from ri&id body motion, onl~ , minimum number of
IC$tllinl$ ..-I be provick:d 10 the boundary IIOdcs. By solving the
Itl\lClllre stiffness cquatloos, we obtain the nodal displ_ments (U)
and compulc the ckmmt stresses (or SUlins) Ihc:rdroID. i! the
computed stresIICI (or 1IIniDI) wilhiD eKtI t~ment do 'I'" with the
""act vatues: ",ilhiD otrtaiQ toIcranccs, Ibm the pllc:b Ic:st IIlIid 10 be

-.

JJ a-~""'Jo<----

81

'I'be aboVe procedure ha$ the advantaF IbaIlJIY sin,..t1arily of the

[KJ matri. can be immwillely <klectW. This represenlJ. cbect on the
$Illnlil)' of the demelll$ of wbic.b the ~Id! is ma!k. 11 sboulcl be
menliOnecllh-, in I Slanclan:l paId! lestllll pos.sible c:onstant !illlin Slates
of the element dloulc1 be euminw. Thus, AJI element i.
~id<rI 10 hive mel aU the coovcr~nc:e crileria if il can pass the
patch test. When elements of llIis Iype are us! in mOllelinl the
wuctuJe, jl can IN: assurfll Ihat the IpprtlJimate solulions will converge
In the exact one upon mo:sh ufincmen\.
The lest procedure tkscnblabovc Jerv<:s bcNh as I n........ary and
IUIfKienl condition for the CO<Ive.~nc:e of tbe finite elemenl solulion
10 thceuCl one. Theoretically lpCaklng. the patd! lestlw 10 be pasoed
for elemenlJ with infinilesimal $ju. However, for mOl5l ele/MnlJ whieh
IIcIopIlhc polynomials IS the interpolation funetions, the J*Ch I;~ d ill
not ;., fact ente. inlO our COft$idel1ltion. And tbe uquiRmenl that the
patdlle$l be pused COf any elemcnlliu becomes $llndlnI. O<usionIUy,.III element Wt Cails 10 pass tbe patcll tesl when il Is of finite ske
mIly pIAl the patdl K$l wMn it be<:omes infinitesimally small. FOf
JudI dementi, the paid! Ie$I is Aiello 1M: pused in the weak $ell$e, ancI
convergence 10 correct re$ullJ can still be
Varian" of the pa\Cllle$I exisl in the literature. f or ill$tance,.III
&ilemale version of \be paId! Ie$I is 10 laig;a a sel of clispIIIof;emenlS
lUI COfISistent with the constanl strain atlte 10 ,II nodaL degrees of
trdorn, IDd then comp.lIe the nodal f0rQC5 (I" 11$ follow$:

clemancltd

_ rflI.

11'1 IK]IUI

(1.5. 1)

If all the nodaL forces inside the bound.afy of the paId! can . epresen t the
l:OIlespondin& SlSle of constant ~ then the patd!lest is uid to 1M:
pISSed. Si_ I lest of Ihis form verifies only the ulisfadion of the
buic: diffeRntia[ equalions, but not of the aabililY concIilion r.nd the
~imalion in boundary conditions, itlCrvcI me. ely as I ......."3'1'
COQdnlGll for convfr~DCC.

1.s.J

Ell~nul~ lest

~ ci~n~alw lest can deled !he instabilily,

laek of inyariance, and

tie 'defCCl$ of , 5in&k clement, by wIIKb the quality of compclin,

~~1lI c:an 1M: eslimlted (Cook et "'. 1989). It is one of !he mosl

"

widdy used pro:4u~ for checkill& \be ekmeot quality. Considtr \be
following eigo:nYlllue rqu&lion for an IIIIrtStrained finite eJemem:
((t] - ~ llllllIJ

.. [01

whe~

[t) lepresents the oomplc\e clement matrix. (I] is unit matrix,

.I. [be eigo:llvalue, and (It) the \XII1'esponding ci,en~ector. TM." arc as
many ci&eovalues l , as Ibcre arc degrees of [rudora in \be cigo:nvottof
{II}. Lellhc eigenvtof (II), be nmn.alizcd sudllhaI
(2.5.3)

We un premuhiply <:{JulliQn (2.S.2) by {"I~ 10 oblain

2U .. .I.,

(2.5 . )

.. litre U, is \be stnin energy of !he ekment aMOCiaLed with tbe eigenYK'lOf {"}r
As can be _n from equalioa (2.5.4).. c:onsislcnl stiffness matriI
It] abou1d yield. :tI:IO "l,my.llle, Le., l , .. 0, if !he auoda,ed
eigenvector {It}, represents. riaid body mode. For. rwo-dilMlI$ional
finile clemen!, three line.,.l)' independent rigid body motions are
possible. Therefore, the elgo:nvlluu AI obl.l.ined from equation (2.5.2)
.hou]d ()()ntlin three uro roots. Similarly, for thru-dimensionll finite
clements, tbere should be 5;'; uro I'OOt$ 1, 10 ac>;lI)Unl for III possibk
rigid body motions. In IUlin f",ite cicment, we fusc cbcdr; WIllie:
stiff_1I:IIIIU (.tJ ha$ as many UfO C~lIvalues as upeclcd.. Too few
$UUCJlI\ha1 !he elemul! will be artifICially $lnined .. bua IIIIb;ec:Icd 10
rip! body motioas. Too many IUJ&CIIS WI =u.in kinds of mechanism IIIve beeo inlroduced inlO the tlemenl ill the formulation w.,e
(clue to inconsislencies in Ihcofy) or ill the programming su&C (dIK 10
hlddc:n coding CllOrs). A finile clement baving 100 mlAy uro
ei,enY'lues m.y Lose i!li ltibiJity uOOt. particular mcab paucms or
loading eondilions.
The basic idea. ;n Ibis Sfdion is 10 shed light on the phyt.ial
prineiplclunderlyinllhe various IQIlI WI have!lun frcqurntly used
mille liknlu<c for linuJ clements. SiIIcc!he linuJ .lcmcnlli presenled
in Sedioa 2.2 do nDI vinllle lAy of !he COIDpatibilily, compk:~
and ltability require .... nl$, il is conflfDltd \hal I.bey an all paM !he

OJ
(eS1$

p.csenlcd in chis scClion.

In lhe sections to follow. we shall

prottcd 10 cklllOftSlr.llle bow the ri&id body (\lies p<aOQlcd bo:.cia

call

be extended La 11M: LeSting of nonlinear demenl.$ in incremenlal form .

2.6

Rigid body

I~t

for nonlinear elements

One feature with appIlcatiol!s of IhI: rigid body CIDIIOepl delcribN ita !he
p!KC<Iing section is III.tllley Irc re51rictfd 10 linear problems. in which
finite dClMol is assumed to be: fue of l.IIy initill stresses or aodal
forces, befol'C IlIr. external IoadI an applied.. [n I ,_Incally
IIOnl;Mlr analysis, however, I finitt clement willlyplcaUy be deformed
_ 8C1Cd uporl by I Itt of IIOdaI fCll'Ca Iba1 are In equilibrium It the
beginning of each ;nch:mcntl./ step, I(l long as iterations Ire perf(mned
I' eacb Slcp LO eMule equllibrium of tile 5truCIUl'C. ObvioIIsly, the
pilch tesI &lid eigenvalue leSt, ",hid! have '-II devised for elemenl.$
wllb 110 inilial fo~, callJlOl be dlreclly applied 10 the oonlinear casea.
Wbenenr the pomelric DODlinwity of I IUUaUrc is c:onc:emed,
~ is ~"r)' 10 introduce I ,c_t"k II/Dlleu IftQ'riz in addiliOJl 10
the eUn.k Il/ffitt.U ..aITu, using the 5tiff_ fonr.ulation. The elastic

SlifJness m..auix. bel", derived from IhI: lIlDin energy. will gcncrllI:
un.. dement forces when IUbjected 10 rltJd body motions, if it is
propu\y derived or if it CIII pus !be patdltesl. The geomt1ric Itiffnc:a
matrix, .... hicl1 reprucnLl: !he effCCl of initi.1 forces on tM. finite clement
d~ 10 ,comeuy chan&c, will in ICncrW prod\M:e IIOIIZero forces wben
subjected to riJid body motions. TbUl, the 1COfI'C'!ric: Itiffness matrix
conuoilLS the most important meuag< reprdm, the rigid body bellavior
of an initially stTU$oed clemc:nL lfowcver, 10 CJlminco the qllality of.

nonlincu finite clement, we c:annol rely on the geometric stiffness

mall'il alone:, btlt mUS! wlLSider the incremental stiffnesa cquatioa IS a
"'boll: to 5ee if !be clement c:an really cope: with the rigid body motion
(Y&Dg lnd OIiou 1981).

Bt:forc we discuss the rigid body tm for nonlinear clemcoLS, let ul

briefly outline: the procedure for obtainin, the incremental lIifr_
equations for nonlinc:1t finite clc_nLl:, which is the procedure 10 be
ILSCd extensively in the chaplers 10 foUow.

.
As was shown in Figure 1.1. in an incremental formulation lhe
history of mOl ion of a body can be described by IhRe \ypial configu ....
lions: IlIe initial undeformed CQIlf"Ul'1Ilion C. the la.st calculated
configuration C" and the CUlTCnL deformed configun.lion C,. In an
updated ugnongian fonnulation, all physical parameters are referred \0
the lasl QlculalCd configuration C,. ahhough I~ cqualions llf equilibrium are established for lhe body II tilt: cuneol oonfiguniltion C,_ Based
on the principle of vinull worl<, !he following equation of equilibrium
can be wriucn fOl' Ihe body during the mOlion from C, 10 C,:

f ,Cf/IIJ ,ttl6,t. 'dV f 'c. &,I'J , 'dV .. ~R -

:R (2.6. 1)

'r

'f

whe.., some higllt. order terms have been neglected, as can be seen
from !he derivations leading 10 equation (\.7.47). [n this equation, the
fit\\ integral ,epresents!he strain energy of lilt: body due 10 the.Lulie
strains ,. " and the ","rood inlcgrallhe potential of the initi.al Jtresses 't,
.cting on the body. Both bav~ been "pressed in variational form.
Correspondingly, Ihe terms On the rig.ht-band side, i.e.,
and ~.
represent the eatemal vinual wom doDe by Ihe loads acting on !be
danent ill. C, and
respeclively.
10 finile de~nt formulation, we shall relale Ihe slrains 10 ....
displaoemeolS al generic point, and then to Ihe displaeemenlll II die
nodal points through Ihe use of inlerpoillion fun<:lions. Simultaneously,
we shall relate the initial Stresses 10 Ibe cross-sectional forces, and then
10 those allhe nodal points based on Ihe condilions of equjJjbdum. 8y
so doing, the inlegnilerms in eqlJ.lllion (2..6.1) can be represented by
products of matrix and vee!or 1$ follows,-

iR

C,.

f ICllllltl/&IC~ ldY .. [tllI \T[k,l (11\

(2.6.2)

"

f 'l,6 I'1, 'dY

[611IT(!,) !II)

(2.6.3)

"

'See, for example. Scctlons 3.2 and . fOf <!tlllill of Ibe proct"d=.

8S

where [1:.1 is tile duci<: sti ffness minix, It,] the gcomellic: st,rrlle!$
m~lIix. and {.. , the displ.amelll5 of the (Iomenl g<:nenued d\lr;ng 11M:
hKrcmenl from C, 10 C,. As5umina lbal only wDCC:lllnucd nod.alloads
arc allowed to let on the ,,",0 ends of the elemenl, (rom equationl
( 1.1.43) and (1.7.37) we may dcrivf.the following upre.ssiOll$ for the
extcrnal >'inual work :11 and ;R:

(2.6.4)

(2.6.5)
.,\I(rc l'n dcllOl~ the initial. fortU WI arc .lready Kling on the
element al
and
tile nodal forces leIing on the ekmenlll C..
Substituting equations (2.6.2)-(2.65) into equation (2.6.1) and
liking the a,billary DaMe of virtual dispba.m-nts {6M}. we can
express the inaemenral equations of equilibrium for 11M: finile elc.men!
.. C, b\1I rdcrmllO the Uel II C, as

C,.

en

(26.6)

[1:,11111 It,lIul I'll - l'rl

{'n

.... here. for the JlfC$enl purposes, lhe initial force vwor
has been
movt(! to the len-hand aide. A phY5icai interpretation of equal ion
(2.6.6) can be J,ivcn as follows: By inrn:asina the nodal forttS acting
011 the ekment from
to
funbc:r ddOflNlions (.. ) may OCCUI
with the de~nt, resulting in !be rnoIion of !he ele~nt from C, to C..
Duling this f/l0ce5S o f defo<l1lation, the inc'~fl\en!S In the IIIXbI (wees,
I.e., I'J} - I'll, will be lUi$Ied DOt only by the elastic 'Clions
Ifneratc.d by the [i .l m,"ilt, but ,Iso by !he fOfttS induced by the
(~&e in swmetry as represented by the li,l malJix.
The only auump!ion wilh the incremenlal stiffllCSI equa lion
(2..6. 1) is tllalthc $loins occurring .... ithin each increment.l S!ep should
be to ~'lIthlllhc .ppro.im~ions implied by equations ( 1.1.45) and
(1 .1.46) ~m.in Yalid. Beyond this, no rulridioo lias been plJd On
the type of motion for lhe element 10 displaa: from C, to C , . As.
<<<1111, the ;ncrement.a l S!iffllCss equations should be able 10 cope with

I'n

('n.

:::!.:ype. of lllOIions fo< fin ite demc:nlS IIw. are initially S1~, which
.Id Indude motiom or the risid body ty.,c, as the minimum
~uuemen1 .

.
Wi,h regard 10 lhe rigid body motion, the following comments
can be made. Firsl, I finite element thaI satisfIeS the ~tch res! Of ilS
eq",w.lcnt in !be Iinell' acllSe does no! proessorily imply that it will.1so
satisfy 1M rigid body aitcriI in 1M _linea. ICIISC, because 1M elU1ie
stiffness matrix [i,1 &lid geometric Slillness matrix [,1,,1 "'n been
deri~ed from leoos of diffeRnt natUle in Ihe v;nllil WQ.I< uprusion.
Second. jUSlI$ a linear clemen! ml, rlil In pass tile qulli.), lesl, 10 100,
I _liMar fmill: element may r,illa mt the rigid body requucmeuts.
Third, !lie quality of. nonlineN clement cannol be oonside~ uliable
WM'-U it violalcs rhe rigid body rule. FinaUy. Iltbougb IlM:.rove
discussions have been restricted In problems wilh sman Sllllins, lhe
same rigid body aileli. Cln be oonskkred as lbe limit ~ for lesting

clements ,nvolving large wains

2.6.2

Of

indastie RUIICrial propenict..

RIgid body rule for In ltla Uy llresseci dcrrwnl$

Consider I bar sittiJl& on the surflOl: of tIw: earth and subjcc:lro 10

II1IIv;tationa! force P at tbe top. For equHibriwn ruclion of the same
magnitude P will be fonned I' the bottom [Figure 2.11(1). Sucb.
loading condition can be regarded AI the C, c:onriguralion of !he bar.
Now, suppose WI the ea"h TOIales IS a rigid body by an angle 8,. In
1OCOrdanoe, the bar will move 10 the C, oonfJgU.1lII1on in the rDannef
s.hown in Figure 2..1l(b). From Ibis figure, we observe WIllie line of
ac:Iion of fora: P rOUtes wilh lhe movement, while il5 mignillllk
remains unelwlgeli. An overall result is lhe malntcnAnCcof equilibrium
of the bar in Ibe C, confi~ion .
Whal we like 10 &trc$$ ~re is thai if the bar is rcpraclllN by

1
'oJ
Vi l a ... 1.11

"J

Inillilly IoocIed bar. (I ) Before riSid body roIallOft;

(b) Af'I<f riJid body roIa,ioa.

87
rlflil~

ekment and loaded by an arbiuary sel of forces ... ~'1"jM"'''''' at

..
hieb
is 1M sillWion nonnaUy cncounlcud II tile ~liMinl of cach
C
~~nlal Slcp ill IlIOCIliM..- anaJ)'$is, tbe finite clemenl mUM be able
10 ~nl for the rigid body motion from C, 10 C... In other words,
M'!o~" a fool,c dcmcII' Is ~bilcd /0 a ,/,,;.1 body "'OIioN, lite iJIi/itl/
fa. u s "c111l8 "" lite t/ement i~ CqN;ti/";" ,,, ,,' Cp i.e., IHf<1n. Ihe '/rUl
/w4tt rolol/"", "....., ,olme or 1'.1I1/0IC will. rhe rlrld body "''''/011.
,,'Jolle Iltcir "'.,lIillidu ,e",.I" ""clr/JlIg(d, MJ as /0 prese"", flte
t q.lIlibri"", qillte c"'..ell' C ~ I. ..., .,,,,, lilt ,irUi body IIIOf/Oll . This
is aacd)' !he phiJ05Op/Iy \IPdc:rlying IIIe rigid body (w proposed by
Yan, . nd OIiou (1987) for DOIIliMar t!cmc:n\$.

For (be present purposes. lhe Iwo-(iimensional frame clement shown in

Figu/c 2.2 will be selco.:lcd u Ihe vehicle for iJiustralins the rigid body
IXIfICtpl involved. f or this clemenl, (be displacement vcctor

I"}

is

(2.6.7)
The tlwie ltiffness matriJ; Ik.l.nd aeo-rrie stiflnea matrix (.1,1 are
readily lvlililblc in (2.2.5 1) .nd (4,4.17) rapcaivtly. II should ~
IIOled 111.1 Lbe force p&r1Imeltl1 Ippearing in the l.t,l m.lIix are
components of Ihe inilial force vector I'f} acting on lhe elemenl in Ille
C, wnfigunlion. ~ impofUlU ~h'raClerislK: Wilh Lbe Injll.1 fOfoel is
11111 they lie in equilibrium II
IS an ~ $Cen from f"1JU.e 2..12(.).
Bue.cI on the f;O!KIilions of equilibrium. !he shear forca lCIing on the
two ends of the dCmenl .1 C, an be related 10 Ille bending I1IOIIlCnts

C,.

u
IF

- 'F

'M 'M
..
..

(26.8)

Aroordingly. llle inili.1 fowes {'f} Jeling on lhe elemenlll C, lie

I'/IT .

{-IF~

'M 'M

'M

'F

88

,.J

, ,
\

"'i'"\

\~

(2..
"J

f ~ 1.11

llIitiaUy streM<d clement: (a) ~ II&kI body

(b) Aller rip! body mutiooo.

rouuc.:

For the pruenl purposes .....e shall assume Ihal the element is
force<llo move from the C, to the C, ronfigun.lion by rigJd body
'OI.llion 6" which, auumcd to be $RIall in magnitude, an be rtprescnleo! by !be rollow~ displacement vcaor (~)~

t~l~ 10 0 0, 0

Le,

B,I

(2.6.10)

To c:onduct the rigid body lest, '"-C bave to dtedI: jf all the IcntlJ i111he
clement stiffness equation (2..6.6) can work lastlller 10 .eprescnt the
.iSid body effect. Fim, il is easy to s.how thaI the eilSlK: forces
seneraled by the (~.l matrix duriog the rigid body mllllion lie UIO.

(2.6.11)
Such R$Uh is _

surpn.i .... if we ruli>:e thai the clasUe stiffness

1.6

/t~....,.

.... ,.. ..' _.-

"

malriJ [t.las given in equation (2.2.S I) is UK! ff)f beam demenlS rue
of dis!ributed~. ",bicb wiUIIO! induce any rorees upon rigid body
motions. In contlVl, !be forca genen!ed by !be aeomeuic aiffJless
IIIJW It,1 duri",!be rigid body roution art: neilher uro nor in equi.
librium. as caD be Iftn from !be following:

."

'M . 'M
L

1t,J1,,-I-

'F.&..

or

(2.6.12)
As !he (maJ step in the .,., we have ro subsrilU!e all !he lenos
calcula!ed above inro !he irlmmenlll stirr_ equation ro IU if !he
ruuhing fOfr:e$l'n prflIiaed by \he tqUl!ioD ff)f!be finite element.,
i.e . al'1er !he rigid body toIIlion 0 can really OOfIfonn 10 Ihe rigid
body Law. To this end. we my SIIbslitule equl1iollS (2.6.9). (26. I I),
and (2.6. 12) inln equa!1on (2.6.6).1.Dd alcullle the ~I!ing forr:e$
as follows:

e,.

{'n

-'F &

'F

.,

' M 'M
L

'M ,1M

1M..} (2.6.13)

which ha~ also been pIoUed in F"tglUe 212(b) for Ilx: case of $lDail
toIItioI\$ 0,. From thili figuu, we can observe thai !he inilial forces
lIding on the planar fnme element have been toIIlW by an amount
equal 10 the rigid body rotation, wbile !heir magnitudes n:m.in
ulldwlaw. N.tunll" the ability of !be derived planar (nme elemeol
to llerrl wilb riaid body motions IIu been confirmed.. At this position,
we Ilke to point OIl! 11111 the abo~ tesl has been perfonnw for tbe case
of rigid mll!ion, limply because'be clemeot can easily ~ with !he
trivia] caK$ of riaid tnnsJa!ion. Theorelially. Ibc lest should be
COIIdueted for all ptIIIIible types of rigid mOtion for a (toile clemen!.
AnoWr observllion from Ilx: rigid body \(S! Is thai Ihe elemen.
forea
lCIing on the planar frame elcmUI .rt.r the rigid body
rotation. when n:fened 10 the e, axes, can be retlted 10 tbe inilial
foms {'n by !be followin, rclalion:

en

'"

(2.6 .14)

wbese!lle matriJI
the C, uu,

[11 SUnds fOf!be lnMfonmllioo (rom !be C, &xes 10

111

I
I
[RJ

[ltJ

(26.15)

For sman rigid rora,ions 8.. the rotation IIIJlri~ [It I is

I -0, 0
IR)

(2..6. 16)

TIlt; followi.n& ~mub will be. made 011 tbc rigid body Its! (Of
oonlillut rlDite clements: F"IJSI, tbe~ is vi"....:I1), 110 restriction on the
mAJDilude or rip! TOtatiaas for the rigid body IIw 10 be valid. By
assuminllhe rigid rotation 8, 10 be """II, we ~ in flCllalkina about
the 1IIu,1",,,,,, requircmcQI5 thai mUSt be s;ltisficd by finite clemenl.
In liIkIilion, il is well kllOWll WI the 1IIl11lrotation assumption coven
wide range o f applications. For IIuunce, in Ill! incn:menl.ol ~iDur
analysis, 1M dcformatiOPs oa:wrlII, wilbin elIdI illCl'emental IICp.
indudina the rotiliooa, are o~n IS5Umed 10 be ""all, whieb indi<;ate$
that the lIMOCialcd rigid body displacements are likely 10 be ,mall.
Second, 1M lW<HIimcnsional frame clement derived in OIaptcr 4
"presents merely OM o f the vet)' f_ ckmcnts tluil have bn
demonstrated 10 pallbe rigid body 1m. 115hou1d be ~ WI most
of the nonlinur CICmcDIlI existi", in the literature remain non~led.
For clemcnts whose lI;ffness matrices can be wtiuen in In expli~i'
fonn, "'ell 11$ those giycn in (2.2.51) and (U.l1).1bc rigid body tesI
caD be earried OUI by hand calculation as described above. " _ e r,
(or elc:menl5 .. bOK stiffness ....!fica c:an only be ~ by
numuical integntion, the IesI has II) be performed ill$U:..:I by a
romp.ner program . In this regan!, the seleclion of the initial forces
{'J}, ..hkh must be in equilibri\ll!l by thernselvct before the rigid
rowioa oocu!$, 10 cover all po&$iblc load combinltions bcromc$ a
critical is$ue.
Third, for clements invotvina rotational degrees of frudom ill the
three-dimensional sense, such as thsu.c!imensional frame clements., the
moments Induced by the initial nodal moments undergoing rigid

"

rot.tionS .... v. to be considered io tbe CIIJo;ula,ion of the clement fomes

In tbe C1 state, as will be ad~ in ChapleTS.s and 6.

en

Fill.llly, formulation of finite dements based 011 tbe Inru:mental

virtual work equatioa (1 .1.47) is no! I foolproof prooedu~. Even

sWtin& from 1M WM basil, many flC'lOfS, web lIS the kiDcrmlic
byporllUiS for aelS Icdionll displltCmenlS, &Dd Jeloclion of IIOIbI
de~(S and shape funclioM, may .rced tbe quali'y of the derived

clement.

In the finile clement derivalion, i1 is 1\01 unusual thaI

Q)l\Sidcnlions made from the <;OflIplitalional aspocts may IlOl satisfy
completely the mccb:&nlct requircmenlS, sucb as !be lIIO$I fund.amem.1
rigid body .equin:ments.

2.7 Gc nenlh:ed eige nvalue leSt for nonlinear

elements
In !he preding rigid body test, tbe finite clement ;s _med 10 be
acted upon by I leI of inilial forces I'll in equilibrium. Since the
initi.1 (<)fees {'I} lie auumed 10 be known in advance for nch
intremcnw Slop in I nonllnear analys~, the geometric ItiffllC$S .....\fiJI
[i,1 can lbercforc be c:akuJaIcd for thai pank:lllar Slep (see. for ilIstancc,
C<jI1Ilion (1.4.17)]. For a 'NUl rigid body rocaDOQ e.. !he assoNled
displacemenl ve<.'tOl' I" J. can abo be easily ddermined. SiD 11I1erm5
011 the left.hand side of the Inrn:IMntll stiffness equations (2..6.6) are
koown, we can reidily obtain the for V1or I'n as the right-hand
lide of the equation, which represents Ihc nodrol fOKeS pre<!i(led by the
mathclllllic:ol model for the dement dter the rigid rotation. According
to 1M rip body Ia.... , the forca {'n have 10 be icknticIllD magnitudes
to tile initill forca
but different in Ihc dirKtions of lCtioni due
10 the rigid body rotItion. This SoeI'\'CS as 1M criteri. for judging lhe
legitimacy of Ihc derive<! clement.
In tIM: generalized eigenvalue test, we take I view different from
~~ of 1M rigid body te5t. First, for 1/1 elelMnt lCted upon by I 5Ct of
mltill fon:es
and ... bjll 10 I ri&id body rotItion 6" the forces
{'J} ICtIna On the element after the rigid body _ion can be deter?lined using the rigid body I.w. Since.lI terms on both sides of Ihe
'ncrement. 1stiffllC$ll equ.tion (2.6.6) are known, and .inee tile equalion
has 10 he 5.llisfil for the element 10 be in equilibrium .t C.. il
~.mes possible 10 aw,i .. the equation in an eigenvalue fonn. n..:
leptunaq of the derived llifTnc:s.s rnitrica can then be judgc4 from the
a.turt of the ei~ruoou, in puticuJar, the number of:r.em roou, IOlved
from lh is equalion. The following is a IUnlmary of the procedure

{'n,

{'n

92
pr<lpOWl by Yana e'.1. (1992). Again, Ihc planar frame tic_III will
be adopIed as Ihc vehicle for illll$UUin& the _ p i involved.

FOf the planar frame element, Ihc initial f _ l'fl ~ina oa !hi:
clement thai mcellhc conditions of equilibrilllll aM enrny tIIo5c given
La rqllalion (2.6.9). Aeoord.iDg 10 Ihc rigid body I.w, Ihc resultinl
foroc5
.,;1m, oa 1M tlelllClll after Ihc rigid body rotaliQQ will be
directed .1011j; tM rowed axes, with tbeir ~illKles nl:llIIinlna equ.ol
10 the initial forctl {'I} [see ~UlljOM (2.6.13) or (2.6.1.()]. By
dcdl>Ctinlllhc initial fOTCe$ ('/} from the resulting f_
1'1}, we obtain

en

e,

an: generated by the lniliJol forces upon the

riaid body ,"OIion from C, 10 C,:

the force col1lponc nu tbal

I'll - 111 -

(IT) -

lilli'll

(2.7.1)

where Ihe transfotn'Lllio)q matrix IT] has bn defined in (2.6.IS) Il!d [I)
i$ unil m~Lru.. For small rigid body mUllion,

e.""
- "1,
the rigid body r _
IMIlI

vector (1/) as

(2.7.2)

1'1} - {'/} can f~r be relaleci lo the dispI_

l'!l - I'll .. [t,J.III]

(2.7.3)

where the urm.al stillnus mafli< [k.L can be wrincn as follows:

'M

.'M

"
-"
,
'F

0
0
0

It.!. ..

'M .IM

"

0
0

"

'F

--"

'M ,1 M

"

'F
Sym"",rr/c

'M - 1M

0
0
0

(2.H)

93

in whleh 1M nonuro lerms on !he fil'$l and fourth columns have been
added LO makc tile malriJt. symmcnic one ~ oa tbe condition tIw
~M
for rigid body 1lIOIKms. ~ fellur. wilb !be [.t,L m.nix
given hnein is thac [I has been derived dirttlty from the ekment force
vectors I'll and I'/}, having nothing 10 do wilh 11M: $IiffDc,U mallias
[t,l.nd Il,l 01' !be stuopo:: fUllCtions IlJCd in deriving Ihc$c m,trices.
8y $Ub$tituting equation (2.7.3) into 1M incrr:mcnLaI stiffness
equ.ci(Hl$ (2.6.6), we obllin the following equation:
.....

(2.7.5)
which is the equlliQtl thaI mUSI be ulisfi.d by lily consislem finite
elf .... n!. To detect tbr. rigid body model implitd by !he elemenl, we
caD then solve !be folJowiD& tigcoYiIue problem:

Uk.] [.4:,1 - It,l. - .1,11])(111 .. (01

(2.7.6)

ill ""hid! .I, is the eigenvalue. The precediDg equation has ~n (.fflnd
10 as the gencraliud eigenyalue tes!. This equation differs from the
following C(j\La11on in th.1 the erred of the inilial forces 1'1) hill been
dilly Well inlo account!

([ot.) It) - "(/lHul .. (01

(2.7.7)

The Iatler shoulcl be avoided in ~iee due 10 ilS lack of oollSIsccncy.

For the sptcial case where the element ill free of Iny initia! 5lrtSSe$,
i.e .
{'J) {OJ. (i,L (i,l. 10]. lhe geDcrJliud cigenval~ lesI
reduces 10 lIM: convenlional one ()(}fIC1I:ming !he quality of the (i.]

en

matrix.
([k.l -

.I.[IIl[~1

[O[

(2.7.8)

Since I rigid body million ClIISeI no energy lnput to the initi.Uy

"rUSed e!emenl, it is required thaI. "tero eigenv.l..e .\. be obtained for
eacb of the rigid body modes. As .;oIlSCqUCDCC. three zero fOOU
COtruponding to !he three rigid body modes sIIo\Ild be obWfted for I
tWO-dirmnsion.! element. In fld. 11\ eigenvalue anaIYlis based on

equllion (2.7.6) has spedfiaUy &hown Ihal lhe prucnl frame clemenl
This b.u lbe indicalion thlt III IS$IImplionl
employed in deriving the (t.1 and (t,1 mllrica of the element ~
ronsistenl with rigid body requirements. in tbe limit of $mall rigid body

.,uses 5UCh I lei!.

rot&lioP$.

Before closinllhis dlapleT, we like to point OUt thai the_pi

of rigid body mOlion has not rcivell adequate auention in the pW
from ~rs WOI'ti"ll on nonIi_ problcm$. JU$I as a l i _ fmlte
elemenl IIu to be thoroughly le5Ied before il can be applied to practical
probkms, a nonlinul finite clement has to be subjeeled It least to the
AIM level of le5Iing. if DOt suiaer, before il can be c:oosidtred acceptable. A dangcfOU$ Ippt'OICh in nonlinear analysia is to regard the
formu~tion of nonlinear finite clementS IS a foolproof process, Sly,
based on the virtual work cquatioa (1.7.47) or any OIbcr equivalent
forms, bIIt say nothing lbout the quality of the derived cleUKnt and the
associllcd aaalysis procedure.
The rigid body _ p t described in this dlapter SCIVC$ DOl only
IS a useful 1001 in the formulation lUge for dctectinllhe thcon:tical
flaws o f new finite element, bul also as I debuuinl aid in the
proamnming SII&C for finding possible ooding elJOr$. AltbOlJa,b only
the quality of nonlinear clements is >IICCmed herein, rnIIIy other
flClOlli llUy a{fed the relialJilily of. 5lep-bY$tep nonlinear analYIis.
One sudI factor II !be prooedUJc for recovering and IIpdating the
clement fort:CS at cadi ilKTClMntalltc:p_ Numerical upcrimelltS bavc
shown that bad ruullS mly appell if the rigid body efftct is not
properly ImIted in !be rmIYery and updating of clement r_.
Anolbcr factor relates to the Slep-by~tep IIpda1inl of the nodal
orientations o f each clement in the three-dimensional space, in wbich
the non-commutative IIIIUJe of ri&id r1)Iations is of major COIIOeffi. We
shill rome bad< to Ihesc points in laler chapters. Other probletnS thai
remain to be invC$lipted include, for insuno;e, the ability of higher
order clements to deal ... ith wgc as well as $maU rigid body IOllItions.
Ind lhe Ipplicllion of rigid body t'OIK:Cpt to problems involvinl
material nonJinearilles.

References
Balbc. K. J., and Wilson, E. L (1976), N"Ift~riCllI Me/hod. in Finite
Elute,,/ A~"Iy~", Prentice Hall, Eogkwood amI, NJ .

"

B.>ulty, O. P., ~ung. Y. K.. lr(m$, B. M., and Zienkiewic%. O. C.

(1965). "TrilUlgular elc"",nts in plak b(!lding---conformmg and
nonconform ing 5OluliollJ., in Pr(>r:. COllI. "" }.IOltiJl Me.ItDtlI I~
S"" . "",./ Meduiu. W,igbl-PaucrSOl1 Air Force Base, Ohill,

547-76.
Coot, R. D., M.lk"" D. S ., and PIe&ha, M. E. ( 1989),

CO~CtpU ud
ItpP/kill/tnI' of Fill /It Etc",c.' "'''''/ysil, )td edn, John Wiley, Ne ....

YOI'k, N.Y.
McGuire, W., and OILlagbcr, R. H. ( 1979), MDI,iz SlrMctom,1 A~ ..ly';J.
John Wiley, New YOI'k. N.Y .
PcsqUCD. C I., McGuire, W. and Abe l, J. F. (1983). "Inlfl1OCl,ve
gJaphicll preprocessing of Ihrcc-dimensional flll"",d struCtures,"
C_Pf'" S"MCL, 11(1), 1- 12.
Rajascka'ln, S. (1 977), "Finite clemenl method for plastic bc1Omcolumns,' in TIr~ 0/ B.""..cO/MItt"S. Val. 2: SfH'Ct 8th.IIN lind

F.o and Al5ula, T., McGraw-lIiL1, New York,

N.Y., S)9-{;(l8.
bo, S. S. ( 1982), Tile FIfIJu Et.",.", Mtt},oJ '" E",i"tUI"I, I'(:rpDeslSn. by Olen, W.

mon Press. Odord, Engl~nd.

Shames, I. H., Ind Oym, C L (19&S), E" er" ""d

FUlil~ EICI1I~'"

Me,hods ill StruCfu, .. 1 M ed,miQ. McGnlw. U il~ N~w York, N.Y.

Tlylor, R. L , Simo, J. C, ~nkie.. ~ O. C. and ChIn, A. C II.

(1986), "11tc palch lCil- A condilion for l$KSIing FEM COnver'
gena:; 1",. J . N.. ".e~. Me,A. E",., 22(1), 39-62.
Tong, P., Ind R05KtlO$, J. N. (1977). Flltile Ele",e1ll Melhod Basic
T.ch"~ ..e ""d l",ple",e1l''''ion. MIT Press, Cambridge, MA.
YIJli. Y. B., and Chiou, H. T. {1931}, "Rigid body mGlion ICiI for
IIOI'Ilintir analysis ..ith be~m dtmcnl~: J . E",. M u ir., ASCE,
11 3(9), 1404-19.
Yan~ Y. 8 ., Otou, 1. H., 100 Leu, L J. (1992). "Rigid body consider
. tlOnS for nonlinelr finite dement analys.is., Int. J . N..",er. MerJo.
E,., . 33(8), IS97~ I O.

Chapter 3

Nonlinear Trusses and

Incremental Constitutive Laws

3.1

Int roduction

In an inen:me maJ nonli~Jf Inalysis tllat IlICOfJ>O<"rl:S ire.. rive proce.

dURa .t eacll inen:memaJ Slep (01 Klllev;ng tile equilibrium of
ItflltlUfU. th. different pIoases can be id<ntirkd. The fim 01"
prtdiuor ph~ involves solution of the displlccment ifICTemcnls from
tile incremental equations of equilibrium for tile ItflK1UIC . The seoood
or to,.1 phasr; is c:on.cemed wilb lecovery of tile element f~
incn:rroents from the displattment ina.menu obtainn! by tile pmlidor_
The resulting f _ tellng OQ eadI c~ment It tile end of cao;to
illCftlllCnllll s lep can therdore be obtainnl as tile ICCUmula1ion of all
forcc incn:"",nts geQe .. led bdorc .nd durinlille a.fRnl ,r.p. ID 1M
third pn.seofa.... "is. equilibrium o(the S1nIetUre is dltcd ID .MU~
tIIIt OI)n~llena: of itc.. rioa is achieved in the t>CW dd<lf1M4 conti",
"lion. Nun.:ly. by summinl tile ek"",nl f _ It each node and
comparin& them with the ulcmallolds, tile unballnad fOlas for !he
IIf1K1Ulc can be calculated. ~never tlle unbalanced forcu appear 10
be non~&li&;ble , iteralion (or equilibrium (I( the llruc1UfC involving I~
firsr and second p/l1Soe$ should be lepuled
a..pter 8 fOI I
c:omplCle description of llIe Slep-bY"'IICP I nalysis pma:du.e involving

<_

llIe foregoing thr phases).

"

"

Ald.CluJ!! Dume,OUS proc:edurc:s ...."" been propo$Cd for ""nonnLbo !>OfI1illCif analysis of StruClU~ KC f~ i~ooe: OIajes .~
~_'11 (1981), il.J1Il$1Iw obsaml>ell do "1St 1D!he 101C:1'u,~ wlOI
~~allal paN of nonlinear analysis. This is tspiaJJylJ\lC W,,",II

fOIIICIi'" body characler4lic$ of ,"" nnile ck:men.. are ~mM, for

~ in lhe U'eltlMnl ofhi&/ICr order "'..... pl:rtlinina 10 <iv'lion

01 lemrn! sciff_ malrices, "'hid! are e>:nlnl 10 !he 'ecQVU)' and

e lUlJ of ck:mcnl forca and, lberdorc, can .((teI ,"" equilibrium
::killa of Sln>C!uro:$ in an inaemenLal-ileralivc nonllMar analysis.
Th is ehapcel is divid\ jnlQ twO major parIS. In lhe rU'Sl part
(~ 3.2-3.7). we shall ~ wnce.ned mainly w;lh the derivation
01 finole ckn>Cnf equations for the. truss element, llId the formulation
111 foIcc-displattment relations fw cakulltina lhe clement foroes in In
IKfttHOW nonlineal' analysis. To searl, ,he finite element equationl
01 ICplllibl1l1m will he derivN in Section 3.2 for two-dimensional
_
ckmenl ba$ftI on lhe vinllal work cqullioII presented in Section
17.2, 11\ particular, rqu.alion (1.7.44), usi", 1M updaLcd lagrangian

'''ion With regard 10 the higber order lerms, it will be sbown

II Scaloa 3.3 thai !he \nlIK:alion of I hi&her order Itrm from !be
-ft
fOfflll,laIion depends IlOl only on !he order of the Itrm il$lelf,
. . aim 01\ bow il affecu w rigid body behayjor. In OAkr no! 10
...... tile li&i<! body ~ ..... some unns mllSl be IUlud as." enl;l)' and
-*fflI tosewr UIrov.ghoul !be derivalion. Any IUtmpllO lelain
PIlI of lhtm .... bile ncglttling!he remlining .... illlnduce fK:l;I;OUI forcc&
for clementi ijndergoing rigid body , ou_ion.. Sijch deftclS can be
Qn.iI
10 the corrcaor to yield Utct>rr;, clement forces, which
...... Ill _ull in In incorrecc count ofunb.J~ forces. Obviously,
lID l\IIlan1 an be madt for !be xcuracy of tbe soluliOll. In the ume
~ !be riJid bod)' char.urislics or Ibe INU clement will also be
In Sect~ 3.4, it. will be delOOllSU1lled tha.t all !be higher
lor-. ~- denved In Secticm :U an be prettnled In I symmetric
of ~ appears 10. be partiallul), COfIyenient from lbe lWIdpoinl
s.c., ) I pt"OfJ;rurunlDJ. The procedures thaI an 10 be pruotn,ed in
,., ~III .2 I~ 3.4 ~or lbe planar U'USS clemenl an be easily uuDded
~~"'ionaJ case, as .... ill be $bO.... n in Sc<1ion ).5. or
" - tle~:!t'?' ill !be COfISidenlion of rigid body dwac!crislics of
10itb tile
.. ,~ ~he fora "'rove/), proc:edurcs in Section 3.6, Iiong
In
SI\>doa of 1....0 uamples in Seclion 3.7.
~ 0 seCOnd pan of the chapltr (SeaioRS 3.11-3.1 1). We shall
lie 3!tp funhc, 10 demOl\SlfllC how lhe rons,iw!ivc I...... can

0"",

=::ed.

:e

98
be \X)lI$iSlcntly implemented in an incrememal nonUnear analysis. IIlih,
tither the 1<;Ilal Lagrangian (TL) or updated lagrangian (Ul.) formula.
tions. In Scdion l.8, il is DOted thaI for slrudura with large stn.ill$
which is the casc 10 be encountered in !be poslbuckling analysis IJf

dome-shaped UUil$eS, the use of identical elastic modulus in tbe

inerem.nu.] constitutive laws does no! imply identical stress-sllain
n:latioll5, in terms of the second PiolaKirchhoff SlIl:sse5 and Grun.

Lagrange slnins, for formulations with different reference COOJdilllllcs.

Rcgardleu of which formulation is used, il is important to have lhe
incrememal COM!;lut;". law derived from a consiSlent unified origiD
and updated lcalrding to appropriate transformation rules \0 KC(lunt for
the change of oonfigurllion of the body II each ineromentll step.
In Section 3.9, two SCIS of equations based 01\ the inm:menlll
constitutive laws will be derivcd for rtcX)vering Ihe bar fOr<:e5. One set
will be ",ferred 10 IS the i"cre"'elt/~/ form, and the othel sct as 1M
IQtDll orm . The incremental fOnD was the one m05l commonly ldopted
by lesearcheTll in the literature. With this set of equations, tb8
constitutive coeffICients Ire assumed 10 be piecewise linear, in the sc_
that they remain constant within eadI i~mental step and vary flOlll
step 10 step. The bal forces aleulaled from these eqUlltions arc: ill
general apploximate, Slep-siD: dependent, and even erroneous. III
contrast. the IOtalform equations lepresent set of exact and fully
nonlinear eqUlltions by tbemselvel. For ases whele the Slrainll calUKll
be legalded as small, it is sUggesled that tile total-form eqUiltiOdi
always be uscd $<) as to IV<)id!be tnon that may be introduced by lb8
linearization of constitutive laws.t e~ illCl'l:mtntal step in nonlinear
analysis. In Section 3.10, uact solutions have been presented for.
two-member truss using the total-form equations based on an integration process fOI both the total Lagrangian (TL) and updated I..IIpgilll
(Ul.) formulatiOn!. The differellCe between the solutioos obtained by
the incrementalform and lOCalform equations can be appleciated from
the numerical examples presented in Section 3. 11.
A latge portion of the materials to be presented in the l'iTlll part
of the chaptel has been obtained from Leu and Yang (1990), while the
second part follows basicaUy the S&OIe lines of derivatioo as tlIo5e given
in Vang aDd Leu (1990, 19911). The materials acquired from the
source papers ha.vc becn complctely digested. leorganiud, IJIII
supplemented in such I maJIMI thBl smoothel and more systemll ic
presemation be mainl.lined throughout the text based on the unified
IlOtation.

J.J

F_ _ '-"'~~""'-""

Formulation

J.

~' . - sIIoWn

or nonlinear plana r truss element

"

in Figure J .I, Ihc lIIOIioII of body c:an be dacribed by

J\rCC .yp,cal configul1Itioos in In ;n=menlal II<)nlinnr an.lysi$: lhe

~'ial updefortnfil eonfigun.ion C. lbe last f;lIJcuLlIN oonfigul'lIlion Ct.
pol tbe cumn. deformed eonfigunlion C,. In tIM: updated ugrangilon
fOfnlulalion .IM: lnt kllQwn eoofigurtuion C, i$ UJe<j IS 11M: rd.~
~figu",lIon for es,.bli<lhi", the equation of equilibrium for.he body
II.be cufTt'nl eonfigur.llion C,. Ba$cd on Ihc 51",;n Ind suess measu,es
I"'t~nlw in &Clion~ 1.3 and 1.4, the vinual work cquI,km of
fQUilibrium can be w,ine" (Of tile body in I fully nonlincar incn:menlll

(ann IS lhe one given in (1.7.44), i ..

f ,Cll'llc,,6,E, 'dV f 't,6,'l, 'dV .!R -: R

'V

(3.2. 1)

"

whtt. 115 dtfincd in Ouoplcr I , ,Ctllcknotu the incnmcnt.1 consIilu-

"ve cocrflCienlS. 't, Ihc Duchy (loili.l) sm-, If,!he updl!lcd G, "

SlBin incnrncnlS. and ,'I, the _linear wmponcnlS of the Slnoin

iJlcumcnl$ ,",. All thc:$e qlWlT;lic$ have been r.n ed 10 !he C,
COIIfillUrllion. In ~qua. ion (3.2.1).:R and:R dcllOl~ the vinual worlt$
!loot by the external loads .cting on.be body a. C, and C, lupea;vdy

..

~R

f :"6 ~, IdS f :" 6~, IdV

I,
'r
:R f 'lj6, t. 'dV

'

.......
"'"
I

.,.

e,

..

\~~

"",

(3.2.2)

(3.2.3)

'00
wMr~ :W. and

:1.

fCprQI'nI the surfxe u.nioM and body for.:ea

rrspeclively. Kling on tbe: body It the C, ronr"uralion .
It should be: noIed lhal the domains of inl(gralion In !he fe:going
Ihtu equalioM, i.e., the volum~ 'V and surface lrel 's, have bn
defined for lhe body II the C, configuration. for I body in C<Juilibrium
II C,' the ulemll virtull wtl,k :R can be: wriuen IS

:R

f :'j h j'dS f:t, 6.., 'dY

's

(3.2.4)

'v

and:t.

""litre :',
are !be $Urfaee uaaiom and body forca., lespI.i"ely,
Kling on the body 11 C,. For lbe sal::e of limp/kity in llIe pre$l:nI
lIndy, ...c shall ncaJect llIe cITed of body foroet :" and:Jr AI. resull,
the e~lemal vinuII WOfU lit and
reduce 10

:It

!It f :,,6.., 'dS

(3.2.5)

'dS

(3.2.6)

'.
:R . f :,,611,
'.

By deC(>mpolina 1M "",in incremc:nlS

nonlinear componenls,

,e.- inlo 1M linear and

(3.2.7)

we obIain from equation (3.2.1) an illOl'mc:nlal equllion of equilibrium

for the body lit C. 11$ follows:

when: the left supl:rscripl"l" for V and lhe left JUbsaiplS "I" for C;o.o
~.. 'I.. 'R, and 'R have bc:cn dropped for duil" because III tbesc
variables an: kno"'"/l 10 be: ref(ned to 11M: ~ caku~cd configunlion
C, . II should be: lIIMed thai !he term ' R .... been relocated on 11M: leRhand side of equation (3.2.8) 10 lignify lhal it .epresenlS pan of the

'"

tfel;t of initial SIUSKS. Al this point, we like 10 emphas~ thaI

~,tlon (3.2..8) n=maill$ an enet ~1'L ..... n' of equilibrium of I~ body
allbe r;Urrenl configuration C, with rdu~ooe 10 ~ tOordilUllC'S of the
bodY a. configunllioa
because nO) approximation has been made in
the for.goinS deriy.tion. Naturally, this equation can be UMd
valid
baSis (or the formulalion of I gn:1' _my of finite elements fOf solid
mcchanics problems. [n the following,. plaILI" Ir\lU clement suitable
for the inaemen\.l] nonlinear analysis will be derived based on Ihi!
COlUllion. This clemenl serves 15 I vcry good example for us 10

C,.

II!.

physically InvC'Stigate lhe .ffls of ,trelehing and rigid body 100ItrollS

Implied by the nonlinear $lrain cQmpo... nll. The signif",arw;:c. of luch
tff~ in oonlinear analysis will also be highlighted in lhe sections 10

follow.
FOf. truSS ckment. we nd loconsKlcr only tbeul.) component
of !be IlI'eSS and Slrain lellSOl'S. Dtnoting tbe Inilial uialllteSli by " ...
uial WIIln increment by c" (a. u + ....J. and uial SlIess IDcn:ment by
S... ... e can upress the mcuml:nW constitutiVt 1_ (IS.2) as fOllows:

S", el..

(3.2.9)

... Ilert E ,xDOkS the moduhd of elasticity of the material. for the
pltsent ~, ~.tion (3.2.8) redu<:a 10

.f

....

E., 6., dY.

f>'....
IT 6T} dY. IR _ 2R

(3.2.10)

Consickr a tnm element of leogth L in figu: 3.2, in which the C,

ODOnIilWcs II aad, IIave ~o ,xnoctd wilh tile len SlIpcl"Sl:lipts orniutd
for duily. let .... IIId B deBOlt the IW(I ends of the member, and (M,~)
tile axi.ll aad ~IK dispb<:emeotS of the member It KCtion II.
which hive been gmel1Iltd during the mcummw $Iep from C, 10 C..
The d~mtotS (., v) may be interpol.led by linear functions as
fOllows:

"

_ M ( I __ )

v v( I - -)

,
".-L

v'I

(3.2.1\)
(3.212)

"2

Fl J .I

o.&rea of fi'Hdom for planar' .....

~lcmct\l .

wher~ C",. ~J and (II., vJ ,xllOle (he displacemcnlJ II ,he twO ends o f
lhe member. According 10 equations (1 .3.31) and ( 1.3.32). lhe linear
and nonli nra, pans of lhe uial 'Irain QII be uJnSKd as

..
- _.. ,
..

A.

(3.2.13)

. A"J)

(3.2. 14)

"

where

(3.2.15)
As

InISS okrnc:nt

in Figure 3.2, !lie nodal displktnM:nl vectOr fOI the

is
(3.2.16)

I~r

,'F 'F

'F,.I

(UI7)

' F 'F 'F ,

(3.2. 18)

I:t1 T ,'F

'F

"

00'
... IK:~ it J/IOULd be noted !hal for. IfI.ISII .1.,...01 in equilibrium at \he
C coofiguration, the transverse lihear forces 'F.. and 'F,. are identically
e~u.1 to zero, and the uial fo.<:es acting On the ......0 ends of the
elemenL are o:<j~ in magnitude bul oppOISitc in din:ction., that is,
' F.. " - 'F... M~tr, the initial ui.al f(lfCe 'F, CIII be reilled 10 !he:
initi.1 $IrS 'e.. by

. f.'" ..

'F

(3.2.19)

where A denOLlS tM cross-scdional ..... of the member at C,.

f or \he sake of limplicity, we sIt:oJt auumc thIot only Ioadmp of

the c:onc:eotnlled type are Illl~ 1O.a on Ihe two ends of Ilw: InlSa
okmen!, wllik Ioadiop of \he dilill'ibv.1ed type will be conside.cd only
wilen lbey are rcpllKled by stalically equivalent nodal loads. In
tcCOlanee. uclt of the It..... in cqultioa (3..2.10) can be derived as
follows:

(3.2.21)

,.L ,(")Lv
f " .'I... dY . f .. , !!<J
1. 1"L .(!!!).
L
L r
r

(3.2.22)

(3.2.23)

(3.2.25)

where [i,lls the clastic stiffness m(llru. [A-,Ithe ItOmtl';C suffn=

~Iltht' mdt' nonllnca, stiffn=
m,l/,Ict s.
The clastic 111_ matrix [k,11w been liycn previously as the
Ii] matrix in (U98), The gcomeuicstiffnas malriJ [t,1 for the pI&nar
truss e!elmnt
be liven as folloW$:

",a"ix, and [s,l, (s,l. and [s,1 the

'*'

'F
L

s"""'_

.,
, o
,

and the higher order sli ffne5S m, lrK:es Is,),

uprtssed in terms of 4 11 and tlV as follows;

(s,1

[sJ

E.<

and

0 0 -0 0
0 0
0
0

2L1 - All

A.

..

[s,l.

(3.2.26)

..

2411

4..

All

2L2 - 2411
- loy

- 2411

[sll

Cln

be

(3.2.27)

- 11 .. - 411

2411

- 411

lo y

411

(3.2.28)

)411 1 ,.110"

Is,!

EA

'"

24~4v

_3t.1I1 _lIvl

- 211114"

34,,1' 11.1/2

- 20116"

_l bo v _4 .,1
'

34,,' l!.,,1

211.11 4 ..

6L'

".-""

34,,1'411 2

(3.1.29)
",here the relation ' F, 'F.. h.lS been used in deriving the [*,1 mluix.
In LIIe litcl1l1ure. !he $\IIlI or the LW9 I!IaIlio;:Q [1,[ and II,] hu bee"
ttfcrrw 10 U the ~ I or Vilk,) matriJ, whereas the malriJ [sl l h.as bun
called tile ~NJ or ~.ll maLriz (Mllleu and Mucall968; ~jes and
OIurchili 1987). II will be sOOwn in Stion 3.3 (1La, the use of I.bre.e
dislillCl mauices (s,l. [sJ, and ('II. in Idditioo 10 the [.t,) and [t,1
malrices, clLlbles 11$ to analy~ the stutching and rigid body dlanc;ICfislics of trvs5 clements, ..tIilc the <;()Dventjonll notalion, Ihougll
wractive for producing symmetric nuuka, orren; no suclIldvantages.
MakinllU5e o f the expressions in (3.2.20) through (3.2.25) and
adm.iuing the llbitrary IIItIIre of vilt\lal displ.lcctncnu (611) . we QII

derive from equalion (3.2.10) lhe Incremental stiffness equation for tM

two-dirMnsional IJVSS ekllKlII as

in .. bid! \be!enn {'/} 011 the lcft. 1ww,I side rep!"*nlS the initial forces
lI:Iing on thc clemen! I ' C,; tile term
on 1M right-band $ide the

,'n

IOt&J foroa actin, on the ekmenl II C" llId lhe unuining lerms on lhe:
kfl hll/ld side denole lhe inCJcmen!l.l fOfQt$ p:Dtftled by fesiswK:c of
!be. d e rnt," 19ainst!he c'<lemll fo:c incumenl!, i.e"
[I
should be noled llul! !his c.qwlion ronlinues to be txllCt for dt:scribing
tbe: behavior o r the element from C, 10 C" on Ihe condilion !hal !he
IIIIterial property CI.D be prescribed III an iocumental manner fo[lowing
11M: COnstiTUtive LJw of (3,2.9).

{'n - {'no

Physical interpretation

or element matrices

~ r"'e IIifflltS5 mallices appuJing in equation (3.2.30) represent five

YPta of aaions p:nented by fhe ekment ulKlergoing !be incremental

106
dispilaIMnl$ (M) frum C, 10 C~ The following is. complelc list of
aU the actions auocilted with each of thc five It,fflKSS m.tric:cs.:

[t.l [II/ {-F..

(k,lI l1 /

{-IF, 611L

.1
-

[SJ(II)

01'

- 'F .!!:: 'F 4011

' L

[!,J(II[ I-F.

is21[ II J

0 F.

F~

-~

{-F_ ~"

' L

Av

IF.!!}

r;:

{3.3.2)

' L

(3.3.3)

F. 01'

-, -,

-F

(H I)

.6Vr
L

(3.3.4)

'.1'

(3.3.5)

F~

F _

- L

in which F...nd F_ dellOlC!be linar and _linear compoMnlS of lIIe

rom: inclMnli aeneD1ed duri"l !lie incR:ment.1 JlCp.
(3.3.6)

. F - AI')

, ..

..

'.'j

--t
._
21 ( .~
L2
U

(3.3.7)

In the folklwing. pIIysical inlcrprel'lion will be upkHed for each

of lCtions Jiven in equations (3.3. 1}{3.3.5).

J.3.1 Mrmbu rona due 10

t)'p(

"~Ichinl

In this JUb5tion., we man ptoc:eN to demonsUluc how the terms on

tIN: kfthand Uk of tquatioa (3.2..30) will interact widl rxll Oilier 10
~preKnt !he effects of "retching .nd rigid body roIllion for I truss
mtmhe. during!he movcrmnl from C, 10 C .. First, as ;1 shown in
f igure J.3{a). the foroes generated by 1he Is,] rnm;. IIC in effeCl to
u.ndo.-m 1M {Ofcc inrn:mcnl F.. gcncraled by ,be [k.J rnaui. from the
member uis II C, 10 thal.1 C,. Collectively, the f(H'~S generlled by
l~ IA,] 100 II,] m.llria, can be represented by lingle force direcled

JJ

"""''''",''-of' _ _

..

tlQ/lg 1M axis of 1M me~ II C, IS

I") 4 _

"

",
(1

. :,,)

(3.3.8)

(3.3.9)

'.

,.
--'

,.J
"
r7/

,..
--'

'"

',J
VI ... ~ J.l S1 .. ..,~I"I of IRISS .... mber. (I) Forcu dIIO 10 [k,1 an.cI [',1;
(tI) Forcu due 10 [',I"od / 1; (e) Foreea dIIO 10 {'fllod /l,l.

".
(33.10)
Simi'ar'y, 1M fOfOe$ p:ncrattd by tile

Is,l mal.;1 I.e in dTcCl to

transform 1M fon:e incmncnt F. gtncmcd by tbe Is,l ttl.uix from the

C, uis 10 lIM: C, uis, as an be 5n from Fi8uf~ J.J(b). n..
f;Ombi""d rellUl, can .150 be represtnted by sinsle (or kling .Iong
Ihe uis of lhe member.t the C, ronfigutalioo as foliowl:

1 (liM > _lIvl} L ,,t)

F F (I It) - ~ _
1....
2
I}

Ll

(l.J.Il)

Finally. tile It,l 1ll.1Ii>: iiOrves to Ir1Insform the initi.1 force 'F,. which
Iw tift .. "'rnst"nlcd in tbe (moe. vtctor
as 'F.. lroec equation
(3.2.17) Mel 1be. _
following], from the inilial uillO the deformed
uis I_FiJllfc 3.3(c)].
resuhing fora: lIdine Ilona the uis of the
IIXmber .. C, is

l'n

n..

(3.3.12)
T.Itin,lhe 111m oltlle .forementioned Ihru d(<<ts, We ~.in the

101.1 foroe .cting'long lhe uis of the mcmbc 1 C, as

"

)]. ',)(1
.',)
,. .1E.A
1 [<111L 2\!( L' .o.V'
L'

'F

lI'"

(3.3.1 4)

... hida is c.uctJy the formula impl~ by the inacmcnl.1 IltifftoeSill

equation (3.2.30). The IIbovc de.;v:llion Iw dtlllOllSlnled ~1 the
terma ['.11_1. ]',H"). and [k,HII, inlcrw:! ",ilb the terms li,H"}'
[I,UM I. and {'J}. respKtivdy. in accounli", for !be "nldin& effect of
various orders for !lie lr\ISS member. Compared wilh 1111: [N,) and [N,J
mltrica (or !be It,) and (.t,j matrical used by MaHeu .nd Marc:al
( 1968) and CIIajes and OIufchlU ( 193'1). Ihe adoplion of ,he thr
distinct mauices [t,), [s,j, Ind [,,) Iw dcmo,utlated il5 YCBllility in
uplalnl", lhe behavior or ,he truss member In 5lrt:'chin&.

'00

J.J I'/q-- " ' -..... " ' . - -,;...

JJ.2

Mtmbu f(fftu

du~

to rigid body rota tion

The erred of rigid body 1OIa00ll CUI 1110 be inv~ipted usi", the
present clement matrieu. For imlanOC, consider the case whe. e the
member i, rotated about its leI) end ill rigid body for an radian5
~ntcrclockwis.e.
For this IpecioJ ~, the demenl displ.eement

"ector (Ill. Is
(3.3. l5)
By definition, ,.,t have 4 ~ .. M. - M -l. and 4v y. - v, L.
AtQOrdin, 10 eqtLIlioM (3.3.6) and (3.3.7). the ljnC'll and oonLinar
force i.":femenlS reduce to F.. .. -,4 Ind F,. _ Lt .
As nn be ~n from Figure ).4(a), the foreu gt""rated by tile
mmieu [k.land [1,) counterbalance each OlheT during the rigid body
(IICIIion {w}" Similarly. the fOlCU gmer.l1ed by the malrix [s.] .110
KInLCrbalanee those ~nc:rated by the tnltrilr [s,] whrn wbjecced to the
rigid body motion [Figure 3.4{b)]. Sud! relations remain valid
reglldlcw of the mlI",itudeofthe Ingle of rOIllion. On lhe other hind.
by Idding the foroes !k,III1), IO lhe inilill forces
we ob$erve Ihlt
lhe uill foroe 'F, (_ F..). which w-. I lready acti", on the member II
C,. _ill be routed (ollowing the rigid body roQItion [F'tJUre ).,,<e)]. An
overall rQUlt of lhe above three tfftcll is that the initial foo:cs have
been din:aed .Iong the rOUled uis of the IJU5S member, while their
magnitudes remain unchanged, Implying thlt lhe equilibrium of the
IIlCmbcr Is preserved aftcr lhe rigid body roulion. [1 should be IIkkd
that 1he lbove obscTYltion regardin, the rigid body chltracteri5lia of
!be JCOInc:llic stiffness matri. [t,] Is t:On$\sIcnt with the rigid body I.....
pres.nted previously in SccIion 2.6.
In fact, by Icl1ing (II}, represent .ny rigid body motion, it Is
l'OUiblc 10 show thl! tIM: stnin increment _ .. will rellU1in eqtLIJ to uro.
Th.." we ha\'e l .... 0 Of

{'n,

().3.16)
From equations (3.3.6).nd (3.).7), il is kIlO"'" that

.-

F . -F

(3.3.17)

SUbstituting Ihe preceding upression In equali...., (3.3.13) yicldlo

'"

....
1.-

hl"'l.

,.J

--- --

-- - --I

'r..

'r..

....
I.
-~

>....

I'll

'ltu. U

-'"

(..1M.

,.J

RJpI body -'oa IJI """ mtmba: (a) Fca 1M 10 [A,!

and [I,); (b) !'oral due 10 [.,1and [I,}; (c) ~ ..... 10 I'n and Ii).

(3.3.18)
since II is lulizcd Ihat ~~ .. ('L - 'I.}I'L .. 0 for. bar undergoing rigid
body rotalion' . Again. we have .bown Ihl' for I truss member
subjled 10 any rigid body rotation, lhe inilial uial for 'F, Kling on

'"

the member will .Iways be: dirc.ttcd aloog !be (TOIl ted) .... mbe. axis
w,lh no chan", on 1M ntalllirlldc of the .cling forcc
Before cbing litis Kaion, we like 10 point out 1/"1 the Ii,]
malrix plays I very important role in dealing wilh the rigid body
beh.vior! of IlIe lruss element under the action of initial fOlco. In .ny
~.lbis matrix sJIoold DOl be: uprdtd merely IS. hight. order .ffea.
Rather, !be Il,l maw or 1M dfedl it >epreKnU should ItW')'S be
iocluded in pI'O('Cdu.es for .eco~rinll 1M element fOIC'd in an
;nacmcnUI;ktalive ooniiDCaf analysis. MOfCOYcr. in Older IIGI 10

introduce any rlCtitious foroes due 10 'ilid body lI'IOIions, both lbc [1,1
and II,J malrm 5hould eilM. appear in ~il or be omiuM ahogctM.
in fora recovery procedure. The same is liso lrue for lbe 1"'0
malri5 [1:1 and [I,J.

3.4 lJigber ord er stiffness matrices in

symmetric for m
~ hIght' order 51iffnQS matrices [. ,)Ind [I,) l"e$Cnled in Section 3.2
appnrlO be uymmetric, while tile mluix [s,1 is advantageously shown
10 be Iym .... uic. Whethe,. matrix is symmcllic Of IlOl can .ffw 1M
dfodt:ncy in impkmcnulion and Q:~tjon (If a romputc: ......Iym
JII'OIm!I. In tM literature. tM.lUm (lftM tw() rnatriots ["I and [s,1 lias
been dtllOled IS tile ~[N,I or Y.i(t,1 mauix. wllkh is known to be
symmcuic (Mllleu and Marcall968; Cllaja and Churchill 1987). In
Ibis Stion, it will be sbo\on IMt equivaknt stiffness mlllica 11,1., and
[s,1., that possns lbe pIf1kullf fe.ture of liymmetl}' can .Iso N derived
for ~ (sJ and [s,1 maukc.s rcsptttivdy, bued on lhe common
charlCteristics of the three malrica: [s,I. I"I. and it,l. By liubl/acting
the stiffness maui. IsJ., flom the sum of lI!e [s,1 and Is,l malrioes, an
cqIIivalenl stiff_ malli. II,L.,. which appean to be symlMuic, can
alMiN Ikri~ed (or the Is,l mauix.
A comparison of equation (l,l .2) with equltions (3.3.4) and
(J.3.5) s!w;,wslblt the force cornponeoll ,enented by the Is,1 and [s.1
IDatrices a.e identical in form 10 those by the It,1 mllti if 1M fOfCC
pat1IlMle. 'F, auo<:iated with ~ It,l matrix is replaced by 1M (OfCC
mc.ements F~ and Fy li-SOCUl1ed wilh the [s,J and [s,1 mluiccs.
~.SPCcti"ely . Su~h an lnalogy an also Ix observed f.om thediscusaion
.n the prca:din. Kction on tM st.elcl\i"l of tnW members, wMre il is
k_ n lhaltbe .ffect of IMlt,l, [s,I,.nd [s,.] malriccs are in dfro 10

112

uansfonn Ik fom: components 'F~ F.. (oo (t.II"I). and FR (. [s,I/"I)'

.espect,,cly. from Ihc C, uis 10 !he C. ois, and 10 muhipl, .born by
IInteli fat'lOf (I +~). Of intclUl 10 !10k is lhc fact lhal the forte
pan_Itn 'F.. F.. (-[t,JI"}). and F~ (-[S,U.)) afe III ,dlWllO 11M:
linear virtual stoia lerm 6t.. in 11M: vin\l.al worlI upreWons [see
equations (3.2.2O). (3.2.21). and (3.2.25), 11011& wilh (3.2.3) ..... hile!he
It,l, Is.l, and [s,J m~iccs are aU ~Ia~d 10 U'C _Iinul virtual Jlra;n
term " 11.,1_ cqulllOllS (l.2.22)-(3.2.24)].
Based on IIIe allllogy belween (he It,]. [s,l. and [s,1malricc:s, we
can replace (he foro. ""rnmele r 'I'; (. 'F..) in the geomtuic Slifflleu
manix [t,l of (3.2.26) by the force inClCmen15 1';, and
and oblain,
rClpCctivcly. equivalent u l"~""s rot the [s,1 _lid (s, l mmices as
follOws:

f: ..

"L.

.,
0

(lA.I)

S,...

,
[$,1.,

.,
,

'.

.,
0

.,

(l.4.2)

0
SYIIIIII,

in which tile symmetry of !be SliffMSS mltrices has bun 'e$lotcd.

Since !he matrices [sJ.., and (s.L. play. rok very similar 10 1M [to)
malrix in 1M calculation of clement forces, and lintt they rqx=nt In
dfed of an onkr hipr than the [.,[ maw, the SUm of rile twO
mat""' [1,1.. aDd [1,1.. has lODItIimc:s oon denoted as lbe .6.(l,1

matriI,

dll,1 IsJ...

f~l..

(3.4.3)

On the GIber hand, by subtraaingthe (I,L. malrix from the S~m of the
[" I and [1,1 mall~1 in (3.2.27) and (3.2.28), an l!tentative expression
can be ob,alMd for the 1',1 matrix:

"

., -.,., -.,
., .,

G<_" rIt_.ultMM_

(.1',1...

EA

u'

-" -"
"
-"

-.

'"
(3.4.4)

wbicll .gain 'ppuB 10 Ix 1)'mrnt;1ric.

Usina 1M ~pc of eqlliv.lent Jliff_ malrio;:cs, we have
demonstrated in lh;s Stion lhat lhe stiff_ m.trices [1,1.. .nd 1',1..
_ identical in form to the geometric stiffness matrix [t.L and \hal
eqlliv,'cOI .ymllKlric form exists for lhe stiffness ma!li~ Is,l. Such
char..,tc,islics enabk 115 10 indll<k IlII the bi ..... order effcas of the
truss element in. nonlinear &nal,$is in.
Slniglliforw&rd manner.
Theft is no do)ubllbal the use of the symmctJic sdffness matrices ["!.,.
[oJ... and [s,1.. will te5IIh in &",IICI efficiency of oompul.lIllon, in
oom~ison wilh the use of the oritJ,inall$ymrmtric sti ffness matrices

"Ibe.

[I,). [sJnd [1.1.

3.5

Ge neralization to th ree-d imensiona l case

The JIf'OCCdure presenled in Stions 3.2 tlIroogh 3 .4 has bee" rcstriacd

10 the planar tnISS dement. It can he casily uuDdcd w the thrudirncnsion.aJ ease: if c:onsider1llion of the oonlJibution from the third
dimension is nme'Sf." lIS will be dc/llOlISUlIted in Ihis $lion.
Fir-II of all, (or the '1*"= UUSS clement shown in Figure 3.5, the
displacements (~ , v, w) of . gencricm16S section ~ can be .dated 10 the
displacermnts (1/., v....J and (.... "" wJ at the two ends of the e~mcnt
lBiII&lInear intCTpOlltion fullCliom as

,, ,
,, ," ,
, ."

/1 - /1(1 - -)

.. - .. (I - -)

w _ w(l __ )

u_l:

(3.5.1)

(3.5.2)
(3.5.3)

'"

-",/~t:
;.:.z

B , .......

7':"

-'x'x

. ..
.._.-

Acwrding 10 o:<t"'lions (1.3.31) and (1.3.32), the linear.nd _Iinelll'

C u and 'I ... can be wr;!tcn IS

components of the nial strain e... Le.,

(3.S.4)

(JoSS)

....
411 ". - ".
For the:

..

sp;!Cf.

b.~ .

v. - v.

IlM

6 ... .... - ....

(3.5.6)

truss clement shown in Figure 3.S, the clement

displ;K:CmeOI vtttOf consists of IllJee lI.nst.tional .x~ of freedom

I' eacb end, ;Ac.,

(3.5.7)
Comspondingly, lhe fon:e vtt!ors AI C, and C 1 $hould consist of !bra
direct forteS.1 each eod of the element, i.e.,

'I'".

..

'1'

'1'

,.

'F

'F.I

(3.5.8)

(3.5.9)

'"

AS wu noted previ(HIsly, fQl ~ IrU$S ek rncnt in equilibrium ., e ,II

.!Ie ulIlISversc shu. fO\<;a VlIn i~h, i.e., 'I",.. 'F 'I",. 'F 0,"and
the axial forces on 1M two ends of lhe bar are equal in magnitude but
In
SIgn
.
,e.,'F... - 'F."
opposIte
For the proen! rhr-dimcns;""'al C,J~. each of 1M .trms in
equation (3.2..10) an bo: derived as follow$:

f" '1" '&t. . dV. f " -2, ("- r.', -,.'

'L~H 'trv
LI
(JoS. II)

'" .. dVof ~ "'(~)'~'( " )'~'(~)l dV

f",,1'1
I'

L \ LLLLLL

(J's. 12)

(3.5. 13)

" '(L
" )~t.(~)
fv '~.. ti ll.. dV . Jor" FI L
L L !!li(~)I.u
LL
(3.5,\ 4)

'R
wlw:rc the malrices

It.l.

f" U ...,dS

1&11]'1'11

[k,l. [s, ]. Is,], and

Is,) e kl>OWn

(3.5.15)
10 have a

dimension of 6 .. 6 for the ~ truss clemen!. For 1M pres.nl

1;&5(',

" _ T_ _ I0....

'"

rd,.. :

\ou...

tile elasli<; 11;(f_ mltr", [t,1 hu been Ii""" in (2.2,101) IS tile It]
malri~, the geomelrK: Slirrnea matrix [i,l it

,
'F
It, I " L

-,

0
0

"",

-,
0
0

0
0

-,
0
0

(3.5. 16)

'"
I~ J

2t"'d~

24110 ...

3& vI, &II J.lio ",J

24vtr. ...

30..,1 dll '.4"J

(3.5.20)
Aglm, makin& \I5oe of the npresskw in (3.5.10) Iltrough (3.5.1.5) and
admining the bilrary Dllure of the Utull displace .... nlS ( r.~) . we ClIn
denvc from equ~lion (3.210) L~ incnmenw equation of equilibrium
{os lhe space InISS de .... nt, which is icknlial In form '0 Ihe ~
pruenlcd in (3.2.30) for \he two-dimensional CIS&.
AI Ibis _01, il is sufficient 10 !10k thai the procedures
in Section 3.3 (Of exploiting the rigid body and IUcld;n.
chlirac1crislics of the 1ru$S cle,,",ol, in f.rms "f.be SliffllC55 mauices
[.t,I. (.t,l, [I ,). ,, ,]. and (,.1. and ~ ill Stion J..4 for deriving the
equivaknl lIiffness upl'CSSions (:all be easily extended 10 the JII. .nl
three-dimensional caM. For in5lance, tile stiffness matrices [1.1 and [s, )
an be rccasl in foon identical 10 the ICOIII(Iric lIiff_ mil';' [t,J
as follQW5:
~nled

(~

0
1

.. . :

0
0

-I

0
0

-I
0
0

Sy_.

F.
L

0
0
1

-.

-I

(3.5.21)

0
0
1

,.".

0
0

-I

0
0

-I

0
0

0
0

-I
0
0
1

(3.5.22)

u,
Similarly. 11M: equivalent matrix

",L. can be obtained by $UbUadin&: \be

Is.L, matrix from !be JUm of the rwo

"

IMIric:

b.

b.

- b.

b.
- b. - b. 0
b.
b.

EA
[$,1", .. 2L 2

-b.

..

,s,1 and (sJ, thll is.

-

-h

0
b.
b.

-h

- b.

5, lftm .

(3.5.23)

0
- b.

which p""5<'W"5 lbe cksired properly of symmclly.

3.6 Fon:e reco"ery procedures based on matrix

equations
As _ saled in Sectior1 3.1, IlII incn:nH:nla]itcllIl;ve nontiMar analysis
may be funaionally divided into illIte major phases, i.e .. lhe p'tJ ictM,
the corru/or. and the ~~mbri"" ...:"ki". ph.asa. A <;OI1Iplclt
ducripliou of the prooedurf; for _ linear analysis is iM:o in Oiapu,

8. He,e, we like to emphasize thaI il is lhe COffeclOl

ph~

thll governs

the accuracy of the wlution of . _linear analysis. For a solution 10

be acceptable, 11M: OOIl'edor or the pmadlllc for rOVering element
forc:cs has

10

be cud

Of (uti

in tbe lim;,

$oell$e, .. hile

the prtdktor

c:an be more or less appro.imlte, because it .ffeas only the speed of

convtrgenoe.
For !be ~ of recoveri", eM:1IKII1 forces, lbe illQ'emcntal
dement equations as given in (3.2.30) an I>e rewriuen.

1"11 .. (.1:,1 It,1 Is,1

I~I

l.r,l)[ul 1'/1 (l.6.1)

This equation, Or ilS ori,in given in (3.2.30), has been 6crivo:d for the
\ruS5 member with due KroUIII taken of \he Slreldlinr; UId rir;id body
dflS. Such In equ.alioft can be Aid 10 be CUe! ""ithin the: """lUI of
conlinuum mechanics principLes, because l1li Ipproximllioft his boc:n
made in lhe derivalion, u ccpt that the malerial should obey the 11101
given In (3.2.9). Thus. this equation is qualir",d f/)f rcCl,M:ry of

F , " - - " " - , , , _ _ _ ,,",-~,

ekllKnt fOfC:ell in !he analysis of nonlineal ltU55rS by iJICUmemal.

':~l1l1i,'e .ppmvbn iflhc ~riallaw 0( (3~9) is 10 ~ followW. II
sho:Ju1d be IIOted Wt all quanlities ill equatlQll (3.6.1) llave been
upt",ncd ... illl Tespt to !he axes of the Ia5I akubIcd wnfipntioll
C,.
Of in",rest is Ihe cue ... hen the wain u.er.:1DC1It ~ may br
COII$idcrcd small for eacb inerclDCntal step. For Ibis speeial case, the
L/KfCment.1 rorlSIil1,ltjvc Ia ... of (3.2.9) .educes 10
(3.6.2)

S.. - '..

In _dan<::e,!lIe terms WtlCCOUnl for the etrw! of OOIlhnar .$ln.in

'1 ... i.e., 1M 1IIatricec; ts,] and ]sJ JivaI in (3.2.21).nd (3.2.23), can ~
omincd from cqu.otiolt (3.6.1),

(3.6.3)
One put;c",Jar dn..bad: _iilllhis equation is Ill the ..... of rigid body
lIIIMions has bttn viobto=d, beatuse the fK:ti1iowl fon:es gellmlted by !be
]t.] and IsJ IIlIIrices upon rip! body rotations aln no longer ~
<XIUnlabal.nced (sec Soction 3.3.2 for interpretalion). Consequently,
this equation is ttrictly valid for inm:mc:ntal
llIat are small IlOl
only in dcfomu.tions, bul also in rotation&. II sbould IlOl ~ II$ed iD Ihc
posIbuckliDg analysis of Il'IISIeI aI-ttidI the rotalions alii ~ ~ large
.t a:nain IIOdaI points.
II is still possible 10 obtain simplified bul f.wty IIIXWlItc
tqu.aLion for <overing !he e]emenl forces. For instance. since the
erred of Ihe III maw is 10 k1 the inilial fom::l ('J) IIIOV't _ilb !be
ligid body moI~ _ may lhertfoo: include such an dJ,<;:I simply by
rtprding the rona
which an: .ain& aI C, and referred to !be C,
axes. III !he ones acting aI C, and directed IIoag the HIS of the 1m al
C" at'Q)rdiIIg 10 the rigid body Me (Scaion 2.6.2. V.,. and Olio.
]987). Also, it has bttn dtll>OllSlnkd in Scaion 3.3.2 WI lhe rona
geDttlted by the [t.l and (I,llllllrica dUll", a rigid body IIIOIioII art
alWlys in equilibrium (i.e., !hey Q)U1IIC1babnae; exfI O!he. upon rigid
body displlCCmtnIS). To 1CQIWl! for the rilid body IOUlion of !be bar
f~ C, to C" the forca generated by !he It.] and Is,) malric:a QII be
dlr'ctly .egarOed IIIItbc ODes actina at C, and dirtd,d alona!he axis of
!be: bar II C .. also _ding 10 !he ri&id body law. It (oIJaows!hlt the
resuhing (-1CIlnJ on !he bIr 11 C, an be uprcsscd ,.,ith 'tJiXct
10 !be: same config''''lIion Q

stc,.

{'n,

".
(3.6 . )

where 1M hi&hcr order stiffness matrices associated with the dfea of

SI~t~hin .. as ttpKKoted by the term Ie in cq~ion (3.3.I3),lIIvc be(:n
..... ttled. This equ.alion a.n be lpplied to problems invotYing
incremental steps that are large in I1'lUtions, but small in defomuuiofu;.

3.7

e lise studies by finite ('Iement approach

The obj:l;vc of this section is 10 numerically (vllu.te Lbc performance

of the element derived and the proa:duru pruemed In the pn:cedlnl
sections of this chapler for Luge-disp/attment anaIym of uuues. The
solution scMme adopIed bmit! for solving tbc lKIIlIinc.,- stiffness
equations is. aeneralized displ...:emenl control IIKtlIod proposed by
YaJII and Shieh ( 199(1), which will be described in details in O\apIer
8. This melhod is ~ bcause of its ClpMlility In toIvi"l problelllS
involving various aitical. poinl5, web as the limit poin., and llIap-baci:
poin!$. &sides, it has the ~lage thai tbe mp aW: a.n be adjUSII:d
ICQOfding to the vui.lion in tile !kg. of nonlinearity of the stiffness
of the "ructutt under o;onsidcration.

3.7.1 Two-mtmber truss

The two-member IIU$$ sbown in FiguH: 3.6 ill taken as tile fIr$l
uamplc. e..m of the members of the InlSs is IU$Umcd lOl b.,'c the
same CIl)S$,scclional area A and cJastic modulus C. From the ~ull$
given in FigUl'c 3.7. we obse",'c llIal very large (1TOrS OCCI,Ir in ~

&'\ .. 1

I'

"

Tf-o-

50" -

-1

,_
,

..... ....
--I' "I" (..

-'~~~~--~

U . J _
_-"-..... U.J

<-0)

'-I
I
'"
'.
~ ,l'-----~C"----"Ctc.:~i
.,-

;.::

._' -~~~~~"'""
. . . - . .

,.

'.

' \

Ctnttol Ol'pl. \In)

..

! I

li-~v~

~E ~ ~

1'I. ... 3.S

24-mtmbcr shallow dam&.

'"

.oluliool ........ the small-srr;ain equ.alion (3.6.3) is u.sed (or Clkul.'inIJ

the cl~mcnl forces, which do noI obey 1M rigid body II "", and Ih.I lhe
crTOfli dec:.UK as smaller load IlItKmenlS ~ used. In Q(lnlTUl, &00<1
181umcnl Iw been made between l'lIp.adnlbkis' (1981) solution and
the preoenl solu'ion obtained usina eilbcl the Uad version of (3.6. I)
or the approxim.llc w:rsion of (3.6.4). One (Ulan: of eqlWions (3.6.1)
100 p.6 . ) is lhal tbey both forbid ,be O(:CUfTCn~ of fictitioul forces
upon rigid body mocions. From Ibis cxampk. it is (OIKiudc:d Ilia! the
ability of. fortt _cry procedure to illCOlJlOllle fiJi<! body modes
can l ITe(:! .ignif.canlly (he accuracy of. nonllneat analysis.

3.7.2

U.rMrnbcr sluollo ... do_

The $Coood eumple Sludied Mit is the lA-member shallow dome

shown in Fi&urc 3.8, whiclllw been commonly u.scd as. benchmark
for Iesljp, ,he 1oCCUtK)' of various clement formulations and ao!u hon
a!&o,;lhlll$ (Hanpi and Kawamall 197]; Jlgannalhan cl .1. 1975;

Holur c' 11/. 1980; Plpadrakakis 1981). The dome is ti&Umed I() be
made of mcmben willi idenljw f;JlU.stion.al ~ A and cl.a$tic;
moduli E. Only tbe UIof;! version of tbe clement stiffness equation
(3.6.1 ) will be used as 11><: fO",,1I11 for /UO)vcring lhc elemen! forCleS in
the prcKnt c:asc, tbough tI>e approJimate ven.ion in (3.6.") c:an ~ used
with eqvaJ IUtte5S.
For this J*\lculu example. \be XCllrac:y of IOlutions aoA be
eVlluated by two UfO load scates due 10 tile gcomellic oollSlrainlS. In
the fLnl UfO load JUte,!IOde I lies ill tilt plane of the internal ring
nodes. As. H$U11, the vertical deflection of joint I .Ihoukl be equ.11O
2 em plus tl>e vcrtic:al delled.ion of joint 2. Tl>e corrcsponding vertical
deflections obl>.ine4 by tI>e present sclldy for joint I and joint 2 IIC
1.91178 em (downwml) and 0.08823 an (upward), fespoc1ively . This
has ~ indication that the p!metric c::ondition is satisfied with
cxllemdy high precision. It "'ould be noted Ihat 50luIions obtained by
JagaMatlwl ~, <II. (l97S ). Holzer II <II. (1980). and Papadrakakis (1981)
sum to refleet ~ same dwaaeristics II well. The ~ zero toad
llite is rud>ed wilen tile vertical position of node I is a mirror imagc
of the initial shape relative to tile internal ring nodes. from Ihis
condition. IIIe vertical def\eajoo of !lOde I $hOOk! be equ.llo " em.nd
III deflection oompolM'nlS of node 2 should be equal 10 uro. It is dell
from figll"" ).9(a}-{c) lhat Ihil condilion is again IIItisfled by the
present solution and aU previous ones, UCCpl thai o r Hangai Ilfld
KaWarnlita ( 1971).

J.'

....
i\'----

C_-'~/WI<

--

>
0

"

_ _ _

......

..... .!:t: ' ..

--

'0'

,.,

,"

-.,...

C.,."", DI,pl, (om)

--

--

\. /.

.....

- .,., -,

_ , . .... ,01 0; ..... 01

(.",)

!" cue< J.' R<sulu for 24momber Jlu.llow dome :

(l) Venal dtfle<:,ion of join, I: (b) Venical dcntclion of joinl 2:
(e) Horironw dttltction of joiftl 2.

".
3.8

Incrementa l constitulh'e laws

As was mentioMd ,"viously, in III incremental nonlineu arW)'Iis

three typial configurations ~ needed 10 ~ the moIion of a

body. ~y are the initial configuration C~ the last alculateol

contiSI!!l,,;';'n C.' and [he cuneOl desired configuration C, (Figure 3.1 ).
In tile: updated .... gnongian (Ul) formulation, !he 111$1 golcuilled
oonfi,...,.tlon C , it: _Icded as the rdrn:na: configunllion, whereas in
1he 10111 .....grangian (Tl.l fonnul"ion , !be initial undofonned configura.
lion C. is lIS1:d for 11M: same purpo$C.
With r~prd 10 the mile rial Ilw, lbe: following incremental
equation has been Il$<'d in the n. formulation [~equation (1.5.1)[.
(3.8.1)
wbcre.s. dc:QOICS the Kirchhoff IIlrCM incremenlS, flt!he Greta stula
the aslCKiau:d wnsti(ultvC cocfflCitnl5. III
CODuut, the foJ.lowillg Ills been IIsed in the UL formulltioa (see
equilion (1.5.2)),

in=Alcnts, and

.c.

(3.8.2)

,so

...!oro:
dcD(MCf the IIpd1w1 KirdIboff .uu. inc:menlS, ,... tIw:
updated Orun Itrtln incr.meoll., and Ie", IIIe lSIOcialed constitutive
eoefficicms. ~'or the special case of truss clement, only I !!.ingle

SITUS compoMnl is

IICSSU)'. The prea:ding twO equations ledut:e LO

the following for 1M n. formulation,

(3.8.3)
100 lhe following for !lie UL formulalion,

,S.. ,E

,'I..

(3.8..)

The preceding eqllalion for !be UL fOl"lnulation, or the one in (3.2.9)

with !be sub$CripU "I" ornillcd, Ills r.IrCidy been ldopItd in !he
fonnulalion of tbe pllIIIr and spe ~ e"'_nu in Seciionl3.2 and
1.5. Coo,(ntionally. lhe moduli of ela$Ocity ,. Ind ,E have been
l5$umed to remlin OOMt.ant lluoug/loul lillhe incumental steps in the
lJIalysis of nonlillt.r trusses.

'"

For the UL (ormuLaIiQn, since the updated Kirchhoff stress

'OC.~mtnl,su and Glccn strain incfemenl,u have been Icferred 10 the
;151 calculated configuration C, and since ,he C, configuralion repr~
scolS in realilY a moving oonfiguration, which needs to be updated at
each i""remenlal step, the II$e of idenlical mat.rial codflCH:nts ,
throughout aU the incremental Sleps of a II<Jnlinear analysis does nQI
necessarily imply a linear elasti<: malerial in the lOIal sense.
To avoid the ambigui1ies associated with the male, ial propenies
implied by different (ormnlalions, one simple, bUI rational, apprOaCh is
10 define ,h. mal.riallaw In terms of Ihe second Piola-Kirchhoff Slrrss
!SU and Green-Lagrange stnio ~u based On experimental dora Of by
postulation, as was given in (U.S),

:s.. . ffot..)

(3.8.5)

where / is a singlevalued function. The oexl SlCp is obtain the elastic

modulus,.E as the tangent modulus of the Slress-slrain C\lrve evaluated
at the C, configuration,
(3.8.6)
This is exactly the modulus for U$C in !be T L formulalion . According
10 the U'ansformation rule (1.5.4), the clastic: modulus ,E for the UL
formulation can be calculated as
,E

'p( ")' ,E

o;\cP;c

(3.8.7)

where ' p denotes the density of the material and ';c the uis of the
element at the C, configuration, and 'p and 'x the OOfTCSponding
quantitlcs o f the clement at !be C, configuration. From the preceding
equation, we em sa matille U$C of identical clwic moduli in the UL
lnd TL formulalion, as implied by a great number of plcvious
publications, does not imply identical suessSlni" relations because Ille
'x <XlOrdi1lllte moves from step to step in the UL analysis, which, in
general. can be vcry different from !be Ox coordinate.
Another rommon assumplion adopled by previous researchers in
nonlinear analysis is that tile elastic moduli ,ft or ,E have been laken
as conslanl ",ilAb! each ineremenlal slep, whelher using the TL or UL
form ulalion. Such an assumption was also implied in lhe derivation of
the planar and space 1IUSS e)ements in ~Clions 3.2 and 3.5. By SO

'"

doing. we arc in r.a usumiA, the strcss-SU'l;n curve of the m~lerial of

the JIIUClUrc 10 be linear ...nllin eath incnment.l step, .... hile.1I tangfnt
modvlllS ClD $Illi dIaD", from one $Icp 10 the~. The enliu
m.terial behavior, when plolled III terms of lhe teOoI>d PioII.KiJl,hIIofr
stress ;Su and Grn1..agtange SlnJn ~_ will lum 0111 10 be piecftl~
IlIIt",. A nonlinur r.naIysis of SUIK:IW'U by lllQ'tmcnlal approac:bes
employing &llCh maleri.ll bWll will result in SOlut ions that au drpetldenl
on the SICp ,ius used in tach run. Sud! an dfca can be neglected
only for problems for whid! tbe 10111 SIr.iM can be rega.dcd as
~;c.lly small. as will be ikmonstrated in the nume, ic.1 studies in
~cllon l.ll.

3.9

Formulas ror ca lculaling elemenl rorces

The ~Ults prcsenled in StcIioII 3.6 for r(IVa"in, the dement

forea have been based on the (mite ckmen! m.uiJ eqU'liool.. AI ...
alternative., we Iohall stan from \be basK strain and suess dcfmilioos and
derive !'NO ICII of formulas for calculll;... lbe clement forces. ~ set
will be fcfcned 10 as the loud.!i1'''' formulas, which arc derived by an
i'IICJ.t.1l1io1\ process by il$SuminllloIding process 10 be divided into an
infinite numbe. of infinitesimal steps. The 100llform formulas bave the
Idvlnllse of be ing a/lel.1Id fully nonlillnr. In O:Oll'/I.51,.he otber sel
of formUlas derived by assuming each Incremen,al StCp ,0 be of finile
size will be refCllt<! 10 as ,he u.c,u,cnlDI!o,,,, formu las. 1lIcy arc
IppI'oximl'c In !hatl/lc: nulnialllw is ISIUmcd 10 be pic:wise linear,
which in SCM,.] are depet>dcnl on the step ,ius used in ckh nan of
analysis. The inacrnenUoIform formulas derived in !his 5eQion arc
equivalent 10 Ibc elemenl Sliffnes& eqIIIIliona pruenttd in pl'evious
seaion$, i.e., (3.3.13). (3.6.1)' or (J.2.30).

J.9.1 Tnta'fonn fonnulas

1lIc totalform formuLas will be derived rtr$l. Consider I bar lhI1 is
stretclicd with an infInitely large number of inl'initcsimll &tepll from til<.
Cl tO llle C, conl'igurlllion. leT "I. llId"1t dcl\Olc lhe knSth and OOSS.
secdonll arc. of ,lie bar II C .. and 'I. and 'It lhe o:orrupondins
quantil ie$ II C~ BxKl formulas for calcu lalins lhe member fom! 11 C,
can be derivtd using either lhc 11. 0. UL formulation.

I_W'" --. __

1-0

TI. "",.MIII,IOII

1.rl C denote
,

all

arbitmy configuruion of the bar brl"'e.en C. and C"

~ lloe Glttn-I..agn.np strain

11

C~.nd ~u and"iH Ihc

strain and
C, 10 an infinitesimally
clo5C ~i&hbol'illl eonftglll1llion. ~ second Piol.Kirchhoff stra.I ~u
11 Lbo: final oonfigul1l1ion C, can be: obtained by inlegnlion,

~ inelfI(nts. respectivtly, of lhe bat from

(3.9.1)
",heR Ihe Iinlenl modulus oE is evalualed II ~, .. I.e . oE .I'C*..J.
On 1M. oo!KIilion thai &Jt/if%. '1.1'1. and 'pl'p . 'A"UCA'L) fo<, masa
followilll lhe la'" o f ool\Semliion. I:Ording 10 equl1ion ( 1.4.6), the
Cluchy lllUS '~u can be ,elaled 10 Ihc second Piola-Kirchhoff 5U"CSS
~uby

,,.. .-'""'' .., _~'A

,;;,'L~
' AGL
!F,

eo.u.equc:ruly. Ihc LIlia! force

lCIilll
",ferred 10 !he same roafigulilion as

011

(3.9.2)
lbe IfI(moo II C. can be:

(3.9.3)
Ihl!

ia.
(3.9.4)

This is n.aly tile lOllI-form equalion for Cllod'iing tbe element force
bI5HI on lhe TL formlllation.
UL ,.".",M/llli01/
In !he fOlelOin, TL formulation. the str~ and strai ... have bftn
~feTTCd 10 tile fi~ed ref(rena: <:OOI'dinale l)'SIem II C.. Howcvtr. in
!be UL formlllalion, all thc strCSSC$ and Slrains $ho\Ild br .derml 10 lhe
C, Q)fIfi .... lIlion, ",hich is embedded on the elemenl and lhen: f,," will
IDOve ",ill! IIIe elemenl (rom otIC step 10 tile other. FOI' the p!.Irpose o f
Obtaining cJ.oscd form expressions, "'e may conve rt Ihe UL formUlation
Into 11\ equivaknl TL formulation.
[n the UL form ulation, lhe updated Kir~hhoff SlrC$ll ilKremcnl ,s..

'"

can ~ rdaLed 10 the upcb(~d (j'n linin inaemcnl ~ .. tty tbe

diffcrcntial COII5I,IUI;"( i.Jw: ,S .. , ,t'......bere ,
This
is equlvaknllO the 11K of IIw: QOQStilul,ve II ... ,S... oE.. ~ .. in the 11.
formulation. willi 1M equivalent tangcM modulu$ of.. termined from
the IranlJorrrulion nile of (1.5.3);

ret..).

(3.9.5)
CM$equcntly, lhe uial S1rcss for the equivalent TI.. formulation Cln be
inlcglaled IS
l~

_ (<I' .. "

Jo

O".u

{3.9.6)

tr.. ~...

nd the: mcmber fora: ~, can be ealculalcd (rom equation (3.9.4). II

should be _nl~ lhal !he equations dtrivtd berein based 011 Lhe
inlfgr&ti. o procq;s li~ equation (3.9.4)' 1100& willi equations (3.11.1)
and (3.9 .6)) are CDI:I, be<:a\lK no linuriulion Iw ~n ma<.k (Of 11M:
material law. 'The)' ..iIl be rcfc"ed 10 II Ihe 10001form fonnut"s bun!
CIa [be UL fonuulatioa..

3.9.2

lnc.'f'IImCnla l-form form ulal

In Ihis lubJeelion, tbe ;ncremeR,al $rep (rom C, io C, will be assumed

10 be of fin ite size. Again, distinction must be made bclwecn
r>Onlinur .... Iysis based On lhc: 11. formulation, in which. fixed
rdcrena: eoordinll. 'ysl~m is ldopI~d, Ind InOlher one bl_,", 00 1M
UL fonnulalion, in .... hich a movill, .ef.",,," wordinale ly$l~m ;s
adopted. II .... ;U be lhuwp 10 Ihe numerical eumples

or Section

3. 11

!hal Ihe equalions ded>.... he",iQ dcpmd ,enenlly 01\ Ihe incnmental
step
u~ in each ULlI)"'1s. excqJI for !he eakI .... hco'" the elaslio;

m.e.

modulus

tE

equlls a

OODSl&JIl

usinglhe

n. fonnulalion.

, TL """"/IIliOfl
FOf 1M n. fonnuillion, Ihe inilial coofigunlion C. is III:IcClcd IS lhe
. derence. Rul izing Ihal ifxlil" 'r.fL, we may ",llle IIIe Caucby
,Irc.sa ' t y 10 the second fiolaKircbhoff II, . . and incrc~nl as

'p1 Ll(.

' ... . 0p 0L'

;,s... ,)..

(3.9.7)

'"

8y defining tbr. Green llrain ;nettmeat ~ as [see equ.tion (1.3.16)]

ILl _ 'Ll
20Ll

",,,,.

LIw. Kirdlhoff WUS incn:metll

{3.9.8)

.s.. can be obtained from tile inetTmen' l.

e<)IlSIjlUli~ Ilw given in (3.8.3).

SUbslilulioi equation (3.9.7) inlo

(3.9.3) Inc! malting 11K of equal ions (3.8.3) Ind {3.9.8}, we oblJin Ihe
IOtal nial force~, of tile bar I' C, as
2

'L

iF !.iF If.J 0t

(3 .9.9)

.. bue: the n:l.,ion 'pl'p .. ',t'LJ('A. 'L) is assumed for conxrvw mass.
and lbe fOl'tll' components iF. Ind oF. are defined as follows:

{J.9.10}

(M.ll)
Equation (3.9.10) an be proved by leuina C, coillClde with C, in
(l .II.?). For !his special cue, 'L .. 'I. , rI'." 0, Ind~. .. iF,'U"L; so
the equllion i. proved .

UL /o.IfI W/",iOll

By n:placina \be rdmnoe <IIflgUr&lion C. in equations (3.9.7) through

(U .ll) by C,' 1M fol\OWin, rqtLIOOns can be obIaillCd for the UL
fonnllllllon;

. Fl-'L

(J.9.12)

"L~':';-i,,,,L'

(3. 9.13)

, . 'L

W~IC the bar

f(lf1;'C

inm:mcnl

,F,

oF,
IE

is
_

',4

:!;'L'

The equllions derived in Ibis subsection for the Inl forces [i.e.,

130
equatioos (3.9.9) and (3.ll.I2)J lie piecewise IiIlUI', 1M. r.ccuracy of
which depends on the SlCp sizes vscd in lhe sotulioCl prooess. Sud!
equations will be rderrtd 10 .. the illCfementllfonn equations. II
J.bould be lIOIed Ih !he ;nm:menl.I(orm equllion derived hel. fo. '''UL formul.lion. i.e.. (J.9. 12), ill identical 10 one given p~viously ill
(3.3. 13) considcrin& the strc1dlilll of InISS ekmellts.
In !his S1io11, we mve pl'eKnled different formulas
iog the bar forca IISing both the TL and UL
f
fonnuillion, Ihe initial configuration C. I, IISCd as I
WMTUI in 1M UI.. formulation, the 1151 calculated
... hid! moves (fOIl! Sttp to Step, is u5f:d (Of !he aIM JIUTIIOIC. DIoe 10
Ibis fundamcnllli diffcrcooc in the "'(CIl'1IOe configuration, 10 addilioal
malriJ is required in 1M TL formutation 10 account fot the cree(( 01
Initial diJpJattments. In practic:e. the difference in !he re(cno_
c:oftfiguntions. acoompaoied by !be diffcrc:nce in the cLement ""me.,
has !lid il difflCUli 10 ineorponle boih !he TL ID<I UL fo.mull'--'
i'll sinille rompll'cr analysis proJram.
As was noItd previously, lhe UL fOfmulation is the oaIy
formulatioa thaI will be vscd uchlSively Lhrougbout the lUI. For
strudUiQ of the IJUSS type, ~~r, il rema.i.ns possibk 10 condud.
TlAype anllysis hued on I mmputer program originally desigDCd for
tile UL formulation, if oertain timple modifICations have 11n made.
The re.oa is quite obvious, as will ~ Sllled below. FIBI of all, il bII
110 DOled Ilw I nonlinear analysis procedure caD ~ fullClioaallJ
divided into Ihree pIwes, i.e., !he pmiiclor, oorreClor, and equilibriuntchecking phues, and IlIaI il is \he OOrreClOf phase lhat delermines!be
1oCaJfaC)' of the fmal tolution; !be prcdiclor phase II ilS bat caD only
affea !be spd of OOIICfgCIK'C (Sections 3.1; Yang and Leu 1991b).
Thus, if we can cbanp !he 0DtTK'I0f, i.e., !he formull for caiCIIlatilll
lhe bar foroes, used by !he UL fonnulllion Inlo Ihl1 for lhe 11..
formulation, then !he oriji.w UL-typt oompulU program can be ~
to gencfJ,1c solutions for lilt; 11.. formulatioP.
Given !he clastie modulus oE for \be 11.. formuillion and
lMumina Ihll lbe crOl5-KClion11 Irea of lbe bar n:mains unchanged
during Lhc deform.lion prooess, we can c:akuJale \be equivllenl clastic
modulus,.. willi re.(c.cooe to !be C, oonfiguration baKd on the fOllnll
order tnnSformalion ruk:

(3.9.1 4)
By replKing 11M: elUlie: modulus , in the UL formuillion by 11M:

p. "-"

. . . . - 1M

n ...., ilL ""'" _ _ _

'"

Itnt modulus ,E... we can obtain solulioos for ,lie TL formula.

t<lUi"'I,~n .1Ie: tlaslic modulus,E, using rompul(f prognoms thai are
liOn.~I"IY Uliln",d for !hi: UL formulation. A5 I maucr or faa, all the
~ype solutions to be p'C$enled in the followinlll"'o SttIIOnS hl\'e
beClI obIairted using sucb an Ipprl)Kh.

3. 10

EXliel solulions for TL alld Ul rormulaliOilS

Only tbe u,Ilalform equations will be u.se<I for solving the load
deflection curves of the two-member truss slIown in Figult 1.10. ~
~C1kH1al area of tile bars art assumed 10 remain unchanged
\lurina the deformation prottSS. FOl the pIIlpoK of obI.ining closed
form solutions, "it shall further asslllM Ihal the ulemal ~ is
11ICi5ed from UfO 10 P by an infinite number of infinItesimal steps.
Iu an iIIusualion, IWO types of matcrial will be considered helt.

(3.] 0.1 )

wbe.e E is assumed 1(1 be:. constant. [n othc:r WOlds, we bve adoplcd

E for the langenl modulus.. In orlkr to Investigate how
d,ffclent .dCltllCC configurlilions an .{feCl the c~lculll(d bl:hayior of
1M lWo.mcmbtr LnI$S, "'e shall _me 1/111 ~
tangent modulus
is used.,.11 ",cr~m~"'dl Sftplin boll1 ~ 11. and UL formulations,

!'(~ .. )

,.me

,
,

fl ..... J. l i

D<forme<llhlpc:

oflWO-""''''~r

"......

i.e., ,.E " ,E "E. As I .esull, we hive lhe following incrcmenlal

coostilUlive tow for !be TL formulalion:

,,5... " E......

(3.10.2)

which is refcl1l'd 10 Iile fiu<l configurllion C.. Ind the following for
lhe UL formul.otion:
(3.10.3)
which is rdme<110 the moving configuralion C~
BaIe<I on !be promIUIC pnsenlecl in tIM: preadiag SCCIion,
total-form equllion! can be ~ 10 analyze the twO-mcmbcr ITIIA

.a-

follows:
TL

fOr",~ I"II(}t1

Accordi", ;o equllioa (1.3.1), !be Gretn-Lagrange stn.ia

configuration is

, .

~ II

the C,

l L 1 _ GL l

(3. 10.4)

~.

2 GLl
Sub5tituti", (3.10.1) for !be SIJess ~. into equllion (3.9.4) and matJna:
use of equalion (3.10.4) for \be

suaiD:'. yid<ls !he uial fora ;F,

(3.10.5)

Base<I 011 lbe rondition of equilibrium It joinl B of \be UU$S (Figure

3.10), Iile ulemal load P can be relltecl 10 lhe ui.1 fOfOC if. u
P " - 2!F.aiD6

(3.10.6)

"'here !be angle 0 ill defined IS

lIC'~L2''::;~L:''''''''''''
siDO " .-

(3.10.7)

'L

.no:! !he angle co Is defined in Figure 3.10. [n cqUltioo (3.10.7), !he pillS
sign is ,.lcClecI when tile angle 0 is COunlClcloo.:kwiK, Ind vice velSl.
Consequcnl ly,

J-I'

1J3

-' - , . n *"11 UL""'_.'.'~

(3 .10.8)

By ,e lUlla CPfifL 0, the aiticalitnglh ' L. for lhe ulemaJ load P 10

reldl ilS utrerM values

~ ~

solved:
(3.10.9)

Correspondingly, wean calculale 1M maximum and minimum exle,,,,,'

""" P u

p-

(3.10.10)

(3.10.11)

based o n the 11. formulation .

UL /o,mM/"''''''
The UK" of equation (3, 10.3) for lbe material law In the UI.. fonnu!.aliof1
Is equivalent to the use of I tlngenl mQdulu$~ .. in the 11. formulation
lsec equation (3.9.S)! defined as
(3.10.12)

""" -

,. 11- Il"

I'I'

With thi, upreuion for the equivalent langent mQdulus

(M.6) <;In be integrated to yield

~_Eil ' 2~...

~~

,..

"

2~..

(l.IO,IJ)

oE ... cqualion

(3.10.14)

".
By substitutina eq~tioa (3.10.14) for the S!re$S iSu into (3.9.4), UId
usina: equation {l.IO.") for the su-ift ~... the uiaJ force ~. can be
aokulatnl.

" - 0,
0,.,.-,7.-"'
"
- L

(3.IQ.IS)

Followina th~ urnI' line of dcrivalion from equations (3.]0.6) to

(3.10.1 1)' we can ",Iale the ntemal load ,. to anale II 1$

,.

(3. 10.16)

(3.10.17)

Thus, we have Ihow1I !hal with \be Ul formulation, Ille critical loads
I' can be obuined as

'-

(l.IO.IS)

(3.10.19)
For the IrU$S with .. . 30" and E .. I MPa, Ibe stress-llrain
'elations and Ibe tmgcDt moduli implied by Ibe 11.. and UL formulaliom iequations (l.IO.I) and (3.10.14) bav. beta pioclrd ill Vopns
3.11 and 3.12.. or interest to DOle is that \be malCrial Impliod by the
UL formulation is in reality ~inear. It teDCb: 10 IOftca ia tc,..ion and
10 Iwden in compression. The dutio;: modulus (or lite UL formulation
can be eonsideml close to thai of !be 11.. formulation only for casu
wile", the lira; ... arc modcntcly small, say, le$11 than 0.0:5.
Assume Wit ucb IMmber of the InIA in Fi,u.c 3.10 bas an
initial lenath or ' L
em and c:ross-MctionaJ . 'U of tAo .. ]0 o;m'.
Based on cqua!jo~ (3.10.8) and (3.10.16), tile Ioadddlco;tion curves
obt.incd for the lruu with II .. 5, 30", and 60 by tbe displacement
C(Introl me!hod have been p~!ed in Figures 3.13-3.18. For .. . So,
sillOC the SlDiM remain pnaically small Cc.. _ .. O.OO38). the

.so

'"

. . . ... -.

--,...
.-_.
~

~ "

...

<

.....
.'.,.

., .,

., I
,c

..

_n

s ,, ~;"

"

"

Fie .... l. 11 SlfUl-flllill curves rOf maltrial A.

",--------,,----,

..,

"

~.......

,
",

. -' ..

"

..

iOlulions obtained by.be 11. and UL formulations 1&, ~cry wtU willt
raeh O\bcr (Figure 3.13). Ilowevcr, (Of" 30 and 60". tile ",Iulions
obllined by 1he two fonnuillions lie of great diffcrcllCC. This ~n be
easily understood, if we rcaliu Ihal for trusses wilh Cl 30 and 60' ,
ll1e 51",in ~u wil! reach Ihe muimum ,,"lun of 0.115 and 0.375,
rC$putivdy, whkh in lily ~ sIIould be regarded 1$ luae-51rain
prob~ml (Leu and Yin, 1991). For web problems. lhc tfred of using
diffcKIII !<r.renee configlUalioos for lhe iocre=ntal COIISlilUI,vc II ....
in 1M 11. and UL formul'l~ bcCOll>t$ I factof IIw cannoI be
1II:&I:1ed in pncIicc. For tbe lUlU wilb II " 30". lhc crillal loads

,,.
-,--------,

-FI,... l . U

-,
........

Lood-dellcclion _

for InIJI with mllerill A ( 01 " S").

-~----~

,- 1-,

---a
.....
...

~.~l'------"r~
. --.f----j

-.!----,,----.----,.:
.... . ~.;.~.~~~_,c_--j
.. ..
00',",," ... W (0"')

LoMI .... Ocruon curves ror " - with ml,.rial A ( 01 " 30").

FI, l ,l.

..

---a
.....
...

-' ~----_,.c_---c.-----,.c_---,.-----.
o.r........

FIC'" l .U

loMI-<ld\ection CUNes fur

m )

!nISI

with malcri.ll A ( .. . 60").

m
o!IIl;Md by tile 11. and UL fOlmul~tions IIf ,._ ...p_. O.04iIIot
and O.OSS3A rupt;"dy, aIld for a "W. the CIOrTe$pO<Iding c.itical
loads are 1'_ -P_" O.2SClOEA .nd O.4S01A. TIM: faa thIllhc UL
formulation yid<b hight. crilio;al Io.dI an be 11lrilMlted 10 the
I\lfdcning cffcet of the male,i.1 in compression, as o;an be Ken from
Fig\Uu 3.14 and 3.15.

3. 10.1

Nonlin rariy clu ck /tU len , ' (male",,1 B)

The second type (If mate, i.1 10 be ctlnsidc. cd !wldn is as.sumcd 10 be

nonUnu. in terms of the ""rond Piola.Kircbhoff ~Ires.s ~~ and Grecn.
L.lgrlnge suain :.-...

(3.LO.W)
where boIlI E. and E. au assumed 10 be eonstInl, .nd Ihe plus sign is
laten for ~u > 0, and vkc vctSa. Conc:5p()l1dingly, we 1LI'"r

f/~,,) " E

2.'-..

(3.10.21)

purposes. we shill auume 19a1n Ihal tile ume tangent

modulus i. used in the i~fI1(n ... ] Imt;lIIIiV(: laws for boll> the 11.
and UL fonnulalions. i.~. oE" ,E" f~.J. Following the same lines
of dc,i~alion IS Lho5e prcsenled previously for male rial A, the following
equations can be derived fON bodl rOl'mulllions .
For the prueat

TL

lo.",~I~tlo~

(3.\0.22)

2 .~ .. 1

(3.\0.23)

(3.10.24)

UI./o,,,,wIDr;,,,,

e-"~'~-c'~'

"

(3.10.25)

'"
E

2E.!:.t.l

<".<

1,..

(3.10.'26)

(3.10.27)
For the truss with It .. 30", .. I Mh, and E, . 10 MPI, tile.
$crus-slrain ,elations lIld the tangent moduli implied by the n . and UL
formulallom hive b(en plotted in Figures 3.16 and 3.17. Again,
signiHcaJlI ditrerena: in the maler~ behaviors implied by uch formulalion ~ be: .ppri.ate4. Sud!. difference can be l&fIOUd only
wben the st~N arc small
Assuming'L .. SO an and ' ,t .. 10 em'. the load-deflcdiQn o;ur.'(:S
fot the I/'UU with .. 30" and 60" have been plotted in F'Il'1'CI 3. 18
and 3.111. For tbe tnISII willi II .. 30", lbe critial Jo-dI obWncd by the
n. and UL formulations are P_ .. -1'_ O.0982A and O.I09OEA.
respectively, and for It .. 60'", !be OOI.espo...:ling aitical IoNs are
p _ .. -P_ .. O.!l327A. and 2.~. Thus, i1 lias Mcu ~ WI!
the f:riliQI load pmHacd by the UL formulation can be as large as
2.38 limes!llll of tbe 11.. formulation for wle Slnin probLems. Note
LIuot suc:h diJ=pancies do DOl ui$l for probk:nu wJlh small Itrains.
For instance, for IIroSS with ell .. S , almost idcnlial erilicalloads can
be obtained by the lWO formulalions.

..........
....
. ..

.

~.

III.

~,

.' .. ..
"

J.IO

'-,

HIoo_,., n

UL,.. .. ...... .

139

,.

.....
- ..."

,
-.

I
"

. ".

'. .

"

--

'

.. ,

,.

01

..........
...

, .

G-l St,.'"

-, - - - - - - ,

_
n
........

~"

"V-,

""._/

,,!.--...--;r--';:";;;~.;:~...--j.
Dono,,_

1'" ... l. I'

t...ckIo~

(em)

ana ror InISS willi .... terial If (_ .. 30").

-y------,
.0

.
<- / '
"

"'-"

...
... ........
-- n

'"

':'-

/.'

/1

.....

'''1---...--. --.,-,--;..---;1.
00'..':_ .. i ....)
1'1, l .1t

I..o&d-defl<.:tloa curves to.

\nISI

w;lh .... terial If ( _ .. 60").

3. 11

In crcmcnla l-ronn vs. tOlal -ronn so lulions

In this ~ion, boIlI1bc inacment.ll-form and the toIIIl-form equations

de riftd in StcIion 3.9 ..ilI be IIsed for Clkulilinl Lbc member fOKU.
The ruultll obuiMd with !he IOUI-fOOD equations will be rdemd 10 as
!he
5Olutions. as Lbcy arc no! affeaed by the lIep siu.s uxd in the
analyl-ia. On the other 1wKI. the solutions obt.IiMd by approaches thl t
employ tM incume"tal_form equations for Cllf;I.Illlinl the element
forces are appro~iml~ and Itep-I;," dependent. Por tM two-member
UUQ with II 60" in Filure 3.10, ar>d '5.'lum inl the materi.1 to be of
type " . Ihe solul ions oiMlined by the incremenl.lform equalions bll5Cd
on the T l .nd Ul formu illions.u compaml wilh the Ua(! solutions
in FilUtTS 3.20 and 3.21, respeclively. The corrupondinl solulion,
obtaiMd for type B malerial have .Iso been pIotled in Fil\IfCI 3.22 and
3.23.
In additipn to the two-member truss, we have .Iso luempled 10
IOlve the tWelve-member tnISI shown in PilUre 3.2-4, _ming that
all !he ban ae mldc of material o f Iype " with -.II 10 em' and
I MP. . The loId-dc:fkaion curves obtained by the n. Ind Ul
approaches wilh the inc:umental-fonn eq~tioM ha~ been compared
with the UIC! IOlutions in FiIUtTS 3.25-3.27.

u."

~'-------------.

..

, ..

- - n.

[ . acl

u . C""roc
.6666 flnc

<

....!-----"".-----,..-----~.;:::~~..------;,.
D.f lectj on W (e m)

...

..._--.,.. ,...

-.~

---

,<

.,
FI._" 3.21

_mbc.

Dorl .. ,~ w (,"')

UL lOIutiont of

"
.,"

tnw ",j,b mile"", A .

u,--_ _ _ _--,

,.

.....
--- ....

_11. 1 _

.... e-..

<
"

... 1---,-,-.--'

Pol...,,,... w ( .,)
fl,gro 3.22

..
..

11. roiutions of twO-memNl IIUM with IIIIl.rialll.

-- .... ,....
..... c-..
...
---r_

-,----~

..

...,

..

...
.ul---.-,Do"..-:".-:
,,-....-01
., (.,.,)
~

1'1,,,.. l.lJ

UL 5OIutionl of IW<>-mernt... tnw willi

lII&~ri.1 B.

'"

Y,Y

,<

.,,

"'~

0.

~""' - , 0 ,

,.

,,,

11.- [, ... ,
tHO. Tl-e... ...

.... VL-c-.

."

f ....~

- - - Ill-to ....

\/1.-""
t.

>0

\0

Jolnl , Ce ll.cHon W (em)

l .U

l.ood-dtllcctiool a.rva

rOf joinl I.

'"
~

-...
!-:==;c,L"'------j'H
- - n-h..,

.-

..

lL_c-..

- - ",--[,

U1.-c_,..

..

j,'C'C
' ;....O:,~;;.--,,-""''"--l
,
,
"
Join' 2 Dolloetlon U (em)

Fllur.3.16

-.

--- ....,
.........
...:..'.

- - 'l-l: . ...
..... lLC-..

"'--

. . (0.-......

~,

"

..

..

..

If

Join. 2 DoHod"" w 1<"')

..

Wilb regard to the solutions for ~ above tWO uamples,.he follOwing ~rva!ions can be made. FiJ'Sl, whether I male rial is lillUI or
nonlinear had bene. be judged (rom its tquivalenl form of constitutive
law in the TL formulation. S.amd, the solution ob\.:Iincd by the
incremental approach based On incrementoJ(onn "'1ualions will ooi<lCide
wilb Ihe exact 0"" only for linearly elastic materials usiog the l1..
formulation (see Figure 3.20). for which lhe fereoce configuration
remains 5utionary. Third. for formulations with nonlinear materials,
. g., for UL formulations with malerW of types II and 8 (sec Figures
3.22 and 3.23) or for TL formulalKms wilh materials of type B (see

'"
Fi,ure 3.21), the load-deflllon curvcs obtained by the. incrementalform tlju.lions ate ,cnenllJy $Icp-Soiu depeDdeDL This lias been d~
10 tile IInnrizatioo of nonlinear mllcrialllws I' each inal=rnmtal llep,
or Ihe use of constl"! materi.1 properlies for the incremental constitutive I.ws '" ~ onu &iv.n In (3.8.3) and (3.8.4)' Fillllly. aU the Ilepstu ckpendent SOIUlioos obcainnl by the IDcrcmentlll approach based on
\he ilKl'tmenl.Horm equations converge 10 \he UK! OIK:S as the step

sizes Irc reduced.

Rererenccs
Ouoju. A., .nd QurchHl, J. E. ( 1987). " Nonlinear frame In.JYlii by
finite cl.ment melbod: J. S",.tt ~,., ASCE, 111(6). 1221_3S.

Hangai, Y., and "'.warn_ta, S. (I!n l ), "Nonlinear analysis of space

frame, 'and SMp-llirough bucld ing of reticulated lhcll Itl\JCtura,'
Pr. "U, .4ssu.ritHI /<N Sltt::lllUld SIM, I $trMC''''U (lASS) Pacific
Sy"'p .. P,m II 1M Tau"", Sm.CfIiUS
SfH'CC F,.".u, Tolcyo and

,"11i

KyOlo, bpln, Seplcmbcr, 9004. 1-9-4_12.

Holur, S. M., Pllut, R. H.,.nd Somers. A. E., Jr. (1980), "SUbHity of
1.nio;e $Iructuru IInder oombiMd Ioads,' 1. E~,. M..d . DI~. ASCE,
116(2), 289-30S.
JagaMalhJn. D. S . Epstein. H. I., .nd Otris1iano. P. (1975), 'Snaj:t"
IhrGUgh bucklin&: of relk\lll!ed shcllJ.," P,Ot:. "Ufil~li.... of Civil
E~,u.un.

Part 2.!t. 727-42.

t....u. L. J . and Yang. Y. 8. (1990), "WtcII of rigid body and slmch

illl on nonlinur Jnalysis oflrusses. J . SIrMCI. E~,. ASCE, 11 6(10),
2582-98.
t....u. L J . and Yang, Y. B. (1991), Dik\lSSion o f "Posl-buck.lioa:
anaIy. of sled 'f*Z tn.wc:s,' by Hil~ C. D. Blandford, G. E.. and
Willig. S. T . (Proc. No. 2.J4(7). J. SIrWCI. En, . ASCE. 11 7(12),
3826-28.
Malleu. R. H. and Mara!. P. V. (1968). "Finite ekmcol analy. of
IlOnlinur- stnw;tun:s,' J. SIrNCI. Dh>. ASCE, t4(9), 2081-105 .
PapadJak.kis, M . (1981), "Postbucklina: analysis of ,pat;.1 SlructUmi
by vector ileralion melbods," C""'PWI. SI'WCI. 1"<.56), 393-402.
Yana. Y. 8., and Oiou, H. T. (1987). " Rigid body mcNion \e$I for
nonlinur- analysis witlt beam ekmcn1S," J . CR,. Mu ll . ASCE.
11.J(9),1 404-19.

'"

Yang, Y. B., and U:u, L J. (1990). "Postbuckling analysis of [rusKS

with various Lag.rangian formulalio ..... ,.tIM J ., 28(S), 946-8.
Yang, Y. B., and Leu, 1. J. ( 19911), "Constitutive laws and (mcc
.troVer)' pootdurts in nonlinear a.ulysis of trusses, C"",p. ", ..11.
IIppl. M~.
n, 121- 31.
Yin" Y. B., and Leu, L J. (199lb). "for recovery proadu.cs in
nonlinear MIly.is, COM!"''- Srrlll;l., 41 (6). 1255-61.

",.,

Vang. Y. B., and Shieh, M. S. (1990), Solution metbod (or nonl inear
problems with multiple c;rjt kal poinrs. AIM J ., IS( 12). 2] 10-16.

Chapter 4

Nonlinear Analysis of Planar

Frames

4.1 Introduction
NO $lJUCture is really planar or lWO-dimcllSional. Plana: frames"'1R*
Knt QflC type of idealized models th .. have bn frequently used in tile
lnalysis of buildilla fr&IDU aad atMr cngiMcrin& structures. Compll'w
with 1M J,pKe frames 10 be discuS5td in OLaptcrs 5 I.IId 6, I plllw
frame is dlaactcrUtd by ~ fKl thlt III tile members of which tile
frame is compo$Cd are Iyilll on Jingle plane, ll(lfftIally, !be vennl
pIaoe. and are subjtcUd to Ioadinp ICting on !be Ame plane
Figure 4.1 for I typical planar frame lUbjccted to In-plane loads). For
pllIW fnma thai are properly r$raincd lpiost ou.-of-ptane defomuolioN: and rowions, only tile inpllM deformation! Ind buckling beh.vion will be of practical interest. Moreover, since !be uis normal .o the
pIaoe of !be frame Is the oo]y nis about which mtIUons can occur, IIIe
rotllioo inoacmcnll gcnulted at cach nodal point of tile structure in I
stcp-by-s.cp nonlillCaT lnalYJ-is are by naMe commutative or Idditi~
Thus, 11M: problc:m of nonconunutativity USO<:i.I.tw with thne-dimcn
lional rotIlions 10 be en<:Ountertd In the study ofspa~ fram" need IIOl
be COMidertd here.

<_

,..

fI

I."

I'

"
,-

'"

'I

'I),

'----- .

f" .....

1 Typial pi.... r~

In lhis chapler. llle yinual work equal ion based on lhe updated
l.tgn.ngj"" formulalion will be employed fl/'St 10 derive 11M: linearized
budlin, differenlial equalions for 11M: two-d,mensional beam in Secliorl
" .2. By linearization. _ mean WtllM: deformalions ,eaeraU<! within
eltCh illCRmenl.l.l 5lep of 11M: nonliDeal analysi$ are $0 $mIn thaI xamd
o. higher o.tIt. terms of the displAtO:ment incmn<nlS ~lOn Ile n<glecled
wi1houl losing KCUrac:y of 1M solUlion. 1'wo theories I~ presenled in
Secliorl 4.2 for tbt IwO-dimensiooW beam. One is ~femd 10 IS lhe
1~lIu.'~. in whid! ,)1 the ins1abilily cffom associlIled .... ith Ille
nonlinear uiJI strain of !he beam will be tlken inlO ICCOUnl in the
derival;on. Tbe ocher is allied lhe Jilflplif/cd tlttOT}'. in which lhe
instabilily effom dlOC 10 uill lhof1ening of lhe member are neglected.
Befon: _ aIJI ~ with the; derivll.iQQ
tbt fmile elemenlS for
Ilruaural membed, il is ~ 10 ILly. lhe underlying budling
diffe~nlial equalions scrulloiud for describing Ille (:r(l$S-seclional
IlelLlviors of 11M: SUlKtunJ membe 1.$ will be t1emoostr11ed in Section

or

4.3.
In Seaion 4.". SWIdud finite elemenl procedures will be
employed 10 derive the; iocnmental Sliffneu equations for lhe planar
frame clemen!. Such inaemenl11 'liff~ C<lualions willlhen Ile lested
in Seclion 4.5 10 S. if lMY aln really rope with !he rigid body rule.
major co~rn here are !lie effects of inllial fors lhat arc already
acling on !he element at 11M: beginning of !he i...::n:mcntal SlCp. Tbe
force reoovtry procedures 10 be devised in Section 4.6 for 1M 1"''0dimeMional frame element, based either on the concept of naluml
deformalionJ o. external stifJnc:ss maIm. follow closely the rigid body
rule described in Sections 4.5 .nd 2.6.

or

".

In fact, it is still possible 10 propo$C'" .helMl!ve produlc OW

does n()I rely direaly on the rigid body conoepc fOt tec:overing !be
element foroes.. One $ucb possibility illO ilKllIIk all the higMr order
non1i~lIr effeClS Rpr=nte<.! by I~ nonlinear 'tn;n c:omponen~ in the
deriv.lion of the virlul l wo.k equation for lhe planar fnllne tlfmcn!, as
will be illustrated in Sc~ion 4.7. [n Seccion 4.8 il will be demorulrllied
that. properly derived hlsJ!cr orde r nonlinear clement wilh all tile
IIOIIlinear dftc:ts taken into KCOUnl can pass the rigid body Ie$! U weU.
In Section 4.9, we 5halJ pnxecd 10 $how IlIllIhe derivfd higher Older
nonlinear clement can adcqullcly accounl fot!he bowln.. 'OUlion. and
Olher nonlinear effectS of <lefornwion. lbe numerical tlllllpies
preKnled in Section 4.10 Sl'I'It 10 illustrate lbe conoepu and romputalion proo;edures prncnlcd in Ih is chapeet (Of tlH: ..,.1)'$;' of DOnlincu

planar frames .

4.2

Principle of virt ua l displacements

ConvcntJOaloUy, both the 1OtI11..agnagw. (11..) and updated l.qn.ngim

(UL) formulations blovc bmllISed in the incrcmcnlal_linear aJIIl)'lis
of franxd strucIlUlIS. WMa CXNISi$Ienlly developed, ibe IWO fonnubolions yield identical global lIirrncss matrices and nodal point fora:
vectors.. Throughoutlhis lUt, the VI... formulltion ilidopled ueh.sive
Iy for il5 rclative computltlonal dficicney in solving Stru(1urC$ of the
beam type (Bathe Ind Bolourchi 1979). A$ was SIlted previously, the
motioq of. solid body can be lkscTibed by three typical configurations:
the initial undeformed OOIIfigunlion C. the lIS( golcullted confipmiun
C,' and the current def()lllled configul'llion C.. In the VI... formullrion,
the lIS( cakulated oonr....l'llion C, is selcded as !be rdm:na: conrrJU
equilibrium for the body II \be
ration for seaing up the equalion
current configuration C ..
Ba5ed on tile Slrain and Slreu tneaSUrt:S presented in Stions 1.3
IIId ].4, the vinllal work cqPalion of e<Jui]ibrillm for 1 solid body can
be wrillcn in an incremcnlll form as the one in (1.7 .44), Ihl\ is,

or

f ICfIIl l 1l 6,l, IdV. f 'l, 6,'1 , 'dV - :R -:R

'.

'.

(4.2.1)

IJ

,_~

",...,../

,Ii,'.,_,

'"

Kung on lhe body I I C 1 llId C" . etpeCli ... tly,

!R .. f :"h,'dS
"

. f!" 6", 'dV

(4.2.2)

"

:R ..

f 'l,6,~, 'dV

(4.2.3)

"
Eacll <If.he variables in (qualiems (4.2. 1) ' (1 (4.2.3) has bn definc<J in
Chapler I,
is, we h,ve ,C... dcnOlc Ihe incrc:menlal CQnSlilUli~e
eocfficicnu., ' t~ lhe Cauclly (in;lial) SIJCsses. ,ll lhe OrecnlIgrangc
.trlIin increments, ~. the displaoemen. incremenu., '~_ alld
the Ii""..
,lid _Ii"".r rompoMnlS ofllle OreenlIgnnge linin incremenu., and
IIId if. the surface lraCtion$ ,lid body f~ retpeCli ..... y, aclina on
the body al C,," As for the UL fonnuillion, \be !Iomain$ of imcgl"llljon
In equalions (4.2.1) 10 (4.2.3) lIa... e bn 5pirlCilllly defined 10 be \be
... olume 'Valid surfK( I/T.II
of the body II the C, oonfigul"lIlion.
The SOlution 10 equ"ion (4.2.1) Qlnnot he obuined directly, since
it is _Ii""" in !be: displaoemen. iDCrcmentl.. for ~ .... here 11M:
linin ;ncremenlS IE, wilhin each iOCltmenlll step of the _linn,
Inalysis can be considered """II, .1Ie following IS5IImplions ean be
made :

,11.,

,'I.

:r,

's

,s, ~ ,CjIlI ,'.II

(4.2.4)

(4.2.5)
Accordingly, fqualion (4.2.1) redua:s 10 llle following lineariud form ;

.. ,R - '.
I
f ,CjolI " ... 6". 'dV J 'c,6,'I, 'dY'
"

(4.2.6)

"

Which is identical to the ..... in (1.7.47). In Ihe lilcrlllure, Ihis equaliOl1

or ilS cquiv.lcm form in lerms of polen.i.l C!\erg)' has often lIcen
adopted as Ihe basis for deriving llle finlle e!emenu for use in vllious

nonlinear analyses.

,so
FOf body in equilibriulII .1
be: .... ritten as

:R ~

C,. ,he c,uema' y;nul l 'A'O<'k lRcan

f :"h, 'dS

(4_2.7)

"

it. dc~e

the surface Ulctions . nd body forces. rcJptt.

lively, Kling 011 the body II C,. For the sake of simplic:ily, the effect
of body for~J U rc"",,.,nlttl by ~ lum~ cOnlaining :f. and
" 'ill be
ududcd entirely from the present derivalion. As. result , lhe Ule'nal

.... here :', and

:f,

... inu al " 'ork terms

:Hand iR reduce to
~R ..

f ;1,ihI.'dS
"

:R .. f :',6u, 'dS

(01.2.9)

"
For the case wbere distributed loads .Iong the member uil arc

excluded, the 5urracc .re. 's dcnoccs the tW(l ends Kdiol1l of lhe bum.

4.2.1 T,,'o.dl mend(lnal bum

Figure 4.2 Jho"'1 two-dimensional bam aI C, . U:l (... y) be. $eI of
otthogollal Canuian roon:Iinales such IlLaI tile x-axil coincides with the

Iy.,

f--'~

'"

ptfOidaJ u,s of tbe beam. For the pl'cs<:nt n.sc, iMre are two
aino;kpcndent suess components I,."
. , ,!nm
. ex>mponcms.
... 1...0 assocIate
VI 11$ DOle the Cluck)' JlrtSKI at C, by ' t " and 't ... and lbe: updlltcd
G",cn strain ,ncrcmcnlS by ,fy and If... Tbc Laner can be fUIlIle.
decomposed ;OID the linear and nonli ..... C(>ml"""'nll as follows:

, .. ,t ,,

,e.' ".

,1'1 .. 100 ,'. "

Coffcspondin&!y. the incremenlJI vinuII WOft equation of (qullibnurn (4_2.6) can be ,,-rinen explicitly as folLows rOf tile \WO-d,mensionl! bum:
~

(4.2.10)

. 'R - 'R

wbere" Ind G deOOle the moduli of dtilicity and rigidity, rupeaivdy,

and the (Ktors of ;l 100 2 have been added to aa:ount for 1M. symmeli),
of the $bear SUesse$ and slrains, i.e., 't ...
t" e,.. .00 '1.,.. 'l,.,
In cqullion (4.2.10). the kl'1luperscripl "\" for V and the Idt subseT.",
"I" for , G, t ... tV' '1 ... 'I ... 'R IUId 'R have bun drop(lC4 for clarity_
A$ raull, il is rel1ilcd thlt III V3dables in lhis equation have been
urns-lwith Iupt 10 !he IasI c:alcubted confilUralioa Co. The first
and KCOOd intcgnds 011 the lefl-hand si<k of equalioo (4.2.10) reprcxlIl
the chnge in Slraln ellCrgy and polenri.l cnergy. respeclivcly. caused by
the lncnmolllal ddormalion of 1M bum from C, 10 C,. The ICtlllS on
!he righlh:ond SKIt, Le., 'R _ 'R. Kprc.5Cnl rile inae"",nl in Ulemal
V;MUII work resulling hom lht lnacut of 1M liurf.c:e 111ICrions from :.r.
'1 C, 1O!r. II C,.
FOf 1M prcsenl PUrpoKS, wc sIuoll assume rUI only Ioadinp of
lhe CQ~nlr311lype lIt allowcd 10 ad II the IWO endsA and B of Ihe
beam. h follows llull the viMu.1 welt ' R done by IIIe ultmalloads on
llIe beam al C, (:1111 lie expre:ssnl as the p'odud oflhe IIOdaI f~ I'n
.nd lhe corre$pOnding viMual displ<lmenlS {hI.

't,..

(4.2. 11)
.... here lhe daspl<lmenl inaemenl VIor {It} has been shown in

Fil ulc 4.3,

IS'
'I

" j~

"j

.{:- " , - - - - - ", r.;;--:;"

~
"I.~r.

4.3

Otpus of (.do<rI of ,,,,o-<I;,,,,, ..ion. l bum.

and 1M ~ force voc:IOf

{'n for the: beam I, C, is

Similuly. the v;null wott 'R done by lbe extcl1\Illoads Kling oa

~.m I' C, can be exprus.ed as

('n

where the initial fora vcdor

can be obI.illed by switching die

$UperscriptS ;Q equation (4.2.13) from "2" to '\ ',

4.2.2

Stllks.a.d IWItmatia

The Jtn.ins .. ilQ arbitrary pow or Stioa Il can be related 10 the a.tiaI
and tn.nsvcl'k displaoemmlS, ~. and N,. " the same: point Il$

. "

(4.2.1$)

(4.2.16)

IS)

(4.2.17)

(4.2.18)

..iIl're a comma denotes differentiation with respect to 1M wordinale

following. Sased on the Bernoulli-Euler hyporMsis Ihr plane sections

of . beam remain platle Ind IIQrma! IOl rile c:cnuoidal axis of the txam
,Iler dtformalion. the disp!aremcms .. , and ", of In birrllly poinr N
IUCClion ... a n be referred III the displac<'mcnts .. and v of the nfroid
II !lie AIm swion as follows (Figure 4.4):
(4.2.19)

,, - ,

(4.2.20)

wllere I primc denoles differentiation willi rcspcct to 1;, SUb5/iruling

eqtaaIions (4.2.19) and (4.2.20) for ~ displacements II, and It, inlO
(4.2. IS)-{4.2.18) yields the linear components of the Ilrai~ .s
C.. _

II ' -

YI' ''

(4.2.21)

'\

ro--",

d:"1
~-

'"

TIle liru. ,esulunlS (iIliti.1 foroes)", .~,""'~.,.". ,.

fa CfOS5 RCtion or. two-dJmensional beam ;1If;11IIIe the uial
'F.. transvel'$e sbelI' 'F,. .1Id bending morntnt '101 ..

.'

'Fo!.""
.
, I.. ", ..

'F

'M

.'

-I. " ,...

(4.2.26)

(4.2.27)

""be,e A 6cllOles 1M aoss-sec:tional are. of 1M bum. On !be OIlIer

band, the nUoI serra "a caD be ~I.ted 10 the Slraa resulwlS as

"

'F _ 'M,1

0 _'
A

where I, denotes \he moment of

.-axis,

ille!1ia

(4.2.28)

"

of the ClO$!I seclion about the

', 0I.,'"

(4.2.29)

 [.'L [' ..;,6{- II 'V"

t

Y"V~IdA.d< - 1611t U'1l -

t'l1)

(4.2.30)

wbm iI oIIould be noted Iii dV ~ h and L denQIes 1M Ic",1ll of

\lie buill. NUl, let US perform the following ~l'IIioos: ( I) sub51il\l1C
oqIIIUOII (4-2.28) fOf the axial smss 't lnto tquI'ion (4.2.30), (2)
..poet \be b'pcr order ICrm OOIIlIinina v'v", (3) .call !be $treSS
.-JWII definitions La (4.2.2S}-{4.2.21). lI!d (4) utilize tbe following
tIftbotcNhty QOndilions for sectioos symmc:\rif; about the zaxis:
g

(4.2.31)

We can ck:.ivc Ihc following equation:

, foL I 'M.6(. "'~

- 'F76{II 'I'')}4t -

'611I'(t~ - ,~fJ)
(4.2.32)

!!:rib'~XXlIY
na
is

tbe (lillCari;w{) vinual WOIk tqllllion of equilibrium for

1M bdl.ilvior of the .W<HIimc:nsionll beam from C, iO C., in
~ to I~ inrn:15e in eJICflLJl loads from
to
It should
i~'t;:Ced lh" III equllion (4.2.32) 1M instability effed5 caused by . he
I~ d! forces 'F.. 'F,. and 'M, have III bn laken inlo KOOIInl,.nd thai
LSpllccmcms ~ and should be .ecogniud IS displa.:cmenll ofllle

I'n ,'n.

1>.
~ntroid C

for exll CfOS5 seclion. For COIIveqience of discussion ;0 tbr.

following $C:etions, elle virtual work equalion as given in (4,2.32) wiU
be referred to as tile: one bl5ed 011 1M ,e"t,~1 '~wq of lhe 1"'0-

dimensional beam.

ConvcntioMlly. tile term

M
:. In lhe expression (4.2.17) for tbc

1IOIIIinw" $tRio componenr Tlu his ,,"0 reprdc4 .. higher

order

dTeets and omined entirely fromlbe formulation of beam. type clements

(Arayns e, .1. 1979; Washizll 1982). If this is the ax, eben 1M ICrms
lSIOCialed wilh
as given ~Iow should be omined from tile IIOIIlio_
ur stnIin C(ImpoMnr 'l ..:

or!.

," ,

(4.2.33)

AlII c:onseq\lelltt, lbe virtual

won equation of equilibrium should be

I l

- ..

lu .

c:1"

modif..1l as follows;

(4.2.34)
Thil equal ion will be refemd 10 11$ the one based on the ,i"'p/ifial
Iheory o f the two-dimensional beam.
As will be 1Ihowo1l in Swion 4.4, either the general equation
(4.2.32) (If the .impliflCd equation (4.2..34) gn be adopIed IS Ille basis
for deriving !he stiffness awrioes (Of !be two-dimcllSiooa) beam
clement, rllrough subMitution of the interpolation fWlCtiom (Of o;ro5S$tiona! displacements IDd the equilibrium o:oadiliOl\$ for aosssectional rOI~ WIIIII we like 10 emphasize here is [Ita! [h~ po'llttduft.
for deriviog lhe clement stiffness mllrica is not a foolproof numeric:al
procedure, usina either the presenl vil1ua1 wmk approach Of the
potcmial cnergy Ipp'oach. Before I finite demcot c:an be SUQSfuUy
U1eCI in genenl applications, ccnajp fundameotal aspects of !he proce.
dIIre bave 10 be exlmined, as will be demonstrated itt the Kaions to
follow.
In Scctions 4.3-4.6, OUr c(fOrls will btc anlered mlinly on l/Ie
derivI!ion of differential equations and element st irrats.s equations
ba$ed On t/le geno:nl equation (4.2.32).
The simplified theory

"

_..,._fIol'~
_.. "'-'J." U*lmo..
.. .
n'" rtdu<:ed

ca5e

I S7

of the ,eneflJ theory. whidl an be usily

~sb<d rhroug/lrw\IC1ion of the equations lh.l have bo:cn obuined

:, the genenol theory, 01 derived directly from equation (4.2.34)
follOWing rhe same proa:durc. For the uk. of c;ompKtllCs.s. only the
rlflll cqU.UOIIS of the Ilimplir.ed theory will be &i"CIl in cadi Stion,
"hile Ihc: procedures leading 10 these equations will be omined.

4.3

Differential ( IUalions and boundary conditions

o..c tSSfnlial que5lion In the dr,iv,lion of. nonli..... (in;le .Ic_nr is

the jllSlirlCllioo of 1M differenti.1 equations and member force
tqUI,imlS thaI are underlying the finite .Iement. Such I jUSlificarion is
~idered ncauary. SiDOc in I1lOSL caSC$ rIM: underlyiog cqll.rioll!l
ilPplitd by numerical procedure will no! be oompktdy identical 10
\bo$e employed in C(\Ilven1ional .nalyticlol $ludies, uy, based on lhe
classic theories of beams or pilles, due 10 the indusion of complete

clUlicity upre$Sions for -tineill' strain components in Ihe virtual

work formulation. To iUUSU'Ile such fld, the vari.tional principle
..ill be adopted 10 deriye the bucl::lini di fferenti,1 ettwnion, IlIId
bou.ndary wnditioRS from lhe incremcnw yinual work tqUllian (4,2.32)
for !he rwo-dimc.woaal beam. This equation is known 10 be based <.1ft
!he St'ne~ theory. whicll ... ill be used as tile: slanini point for deriving
the plal1ll frame element io the SCCIi<.lft 10 follow. The differential
~Iions derived io this SCCIion ao be of grelt help in in1(fpreling tbe
_line., Ind boctlillJ bchavlon o( 1he plaIIar fllme dement lhal is 10

be derived .
.3.1 ~lIt~lthfOr)' of l ...o-dllMll$ionl l bt:l ms
IntClnling the incremental virluaJ work "qUllion (4.2.32) (QI the two'.I/Ikll$iona] beam by pans 10 obuin the virlual di$plaa:rneolS bw and
.. yields

".

(4.3.1)
wbcrc ;1 should be ootcd tIw for I beam wilh no dislribulcd loads, bOO!
fCIIWD COIISWlt IhrouJbouI ill
ko,d.. AdmilliDa thai !be virlual dispiacellM:nll h , 6~ and &,,' (. &8)
arc tibilrary in nature, from the preceding equllion we can .xli"" die
b~dli", tliff~,ul;1J1 ~qulilHu U lhe Euler-Lagrange equations of abe
functional for the two-dimensional beam :
the uill fora 'F, aDd IIIear foror.

'1',

<4.3.2)
I
Ell,l1N _ ' F II " ' ' F .!.,mJ. (' M .. ~fI. 'F" II. 0

',4
.r

(4.3.3)

Evidently, the effeelS of initial forus actiog 011 the bum II C, lIa~c
been Ilken ;nlO ...-:counl. As I byproduct of the vvialionaJ procedUfC,
IwO :leI. of boundary <Xlftditiorul can be gellc:rared fo. lhe IWO ends of
fbi:

beam. Tbe ""tim" bQwftda'Y eMili/I"", arc

EAII' . IF .. ' . 'N,, _ ' F .,' . i F _ 'I'
r

_/ ,,111. ' F y i _ IF

EJ " If .

<

~v '" _ (IM... ~1 _ ' F,.-II' .

' ,4

'F.' .,4.!."" . ' .41.-.. '

(4,3,4)

'F _ ' F
1

-'.41, - '.41

(4.3.5)

(4.3.6)

'"

ill whICh lite defonnalWn sign convention (Figure 2.3) sIIould be used
fOf ~ach of t~ fora: ~1C1S invOIVN. ConC$pOndin,ly, (he
It(IIf'~'riC """~dQty cQltdiribns Ire as follows:

611 .. 0

(4.3.7)

(4.3.8)

.. 0

6\<'.69 - 0

(4.J.II)

".. buc:klina differential equalioall ud 1M nlIUI'lI1 bound.lry c:ondilioftl

as pUKnled in (4.l.2}-(4.).J).Dd (4.3.4}-(4.).6) will be re ferred 10 IS

cq\LIlions for (Iu: g(nerD/ thMry of the Iwo-dimcnsioftaJ beam, l inoe
tbry ba~ bn derived from 1M vinual work equ.rion (4.2.32) of the
generll theory in lhe pr.cedi", seelion.
In Ihc literature, !be ceomelric bounduy oooditions lulVc abo
botn referred 10 as lhe uuM/Q1 /KJp" J"ry conditions. ~y rorl'elpond
10 prucribcd d~_olS HId rotations of the beam under considerItion. 011 1M olher hand, (be IIIIU",] boundary t:Ondil i~ C(lrre$pood
10 prescribed boundaly forces IIld momen.... In I Iypi<:al boundary'
.... Iue probkm, eilhcr the porndric boundary rondllioal or 1be IlIlunl
boundary conditions, but DOl balh, muse be prtscribcd It the IWO ends
" lJld B of the beam.
Allhis point, we li 10 ~nlion thaI if the ,,;nu.1 woll: equation
(4.2.32) has been .dopted uthe ba$is for Ikrivin& tile. ckmelll Jliffness
matric:a, wbidl iii exactly the ea$<I: 10 ~ foll_'ed in Seclion 4.4 for the
genellli theory, then Ihe elelMnl SliUness equalioos derived can ~
rcprdc:4 as I nu_rial tepr$'1I1Ition (or ipproximllion) of the
d,ffcun1i11 equllions given in (4.3.2).nd (4.).3) alld llIe ~Iural boundIfy COIIdilioos giveo in (O.4}-(4.3.6), if ;1 Is realized llIat the
teomelric boundary COIIdilions ~ normally enforced 10 be YIls.lied in
llIe linil. elelMlIl ..... Iysis. Any erron 1h.l1 have bn generaled
beufl'Olll can be ufclTed 10 as Ihe """.~I.. fi"" eTroTS. Moreover, we
kn"", Ihal Ihe IIIIUl1l1 boundary c:ondilions as tiven ;n (4.3.4)-{4.3.6)
c;an in effea ~ abbIined ihrou.&b inlegrallon of the governing diffeun1111 equllions (4.3.2).nd (4.).3). In Ihis c:onneclion, Ihe Iin;le elemenl
equalions, .... hicll , elite the nodIl forttS 10 !he nodal d~KCmenl$, can

160
further be fCpTded as I numerical rtpruenrarion of !be natu~
boundary conditions (4.3.4}{4.3.6), whk:h ,elile Ibe nodal fors 10 rhe
nodal displle<rncnlS and their ckriv.rjvCl.
In an incremental nonlinur anllYlis, rhe finite clement tquarions.
llong witb tbeir assembled stirrness equalions, Ire used I'lOl only in !he
prediclor pIwe for IOIvin8 the displacement iDm:menl$ of the SU\IC:Iurc,
but also in rhe CXI<TIor pha$c f(Jlr <;aku.llrin, tl1c clement fora:
;ncrcllKnlS (5e:c OLIpit. 8 (or the de5triplion of the analysIS procedure).
T o obtain rtli.lblt or JIoOCUralt solutions for nonlillClt prob~ml, it is
c$Senlia! thaI lhe clemen! Slifflll'SS equations 1(1 be employed in tbe

analysis pass lbe rigid body 1Cst, IS minimum requirement (sec

Bued on 1M fad Ihlt the clement $IiffDS eqllllions
Rpresent DOlhinl but numerical rcprexn\.ltioo of 1M natura! boundary
rondilions, it is rusolUlblc 10 up! lilal the underlyln. nalum
boundl1Y c:onditiofts $hould pass the rip:! body IesI 1$ I pR.~isite.
This SqVe5 as I minimum c:rilcriorl for justifying the legitimacy of any
nonlinear theory.

Section 4..5).

4.3.2

RIgid body Itst

10 the following. we: s/llU dclnOllSlf1l~ how the rigid body Ial c:an be
employed 10 ju!tlfy the nalut1.i boundary condilions derived previously
for lhe Iwo-dimcnsiooal beam in (4.3.4)-(4.3.6). As was shown in
Figure 403, we assume that a two-dimensional beam inilially C<juili
bralCd by' SCI of IIOIbI fortn, i.e., 'F _ 'F,., 'M 'F ... 'F,.. and 'M...
II C, i$ subjedecllO I riP body motion. According 10 !he rigid body
NIe. tile iDilial forca ICtiag on IlIe beam Ifter IlIe ngid body motion
II C. sbould remain unchanged in lnI&nitucle, while lheir directions
. 0lI1e foll(lwiDl1hc .igid rotation [$eC Seclioa 2.6 or VI.., and Oiou
(1987)1. To uaminc if lhe nalural boundary <:OOdilioml: of the bcIlYI
can properly account for such an tffo:a, let us assume IlLIt lhe rigid
body dispI~menllO be imposed on !he beam consists of uuSlllions
M. and v, along the Jl. and y-ues, and I rotation 6. iboul the %.a,ris.
UDder this particular mode of mocioa, !be displacclMDIS for the
centroid C of each cross seaion of the bcam It C, an be written IS
~

.",

(4.3. IO)

'"

Co I late

".
C, state

"' ~.x e,

"'!>ere r dcllOle$ the po:silion of the section 1M 1~ rOtation e, is

assumed 10 M $nI.U.
By substitution of !he prcding upressK>n$ for risid di$plaoe.
menls into the nllUlal boundary OOIIdili(Jll$ (4.3.4K4.3.6), the followma cl pI'usions Cln be obtained for lhe fOfCU Kling on lhe 1WO ends
of the beam Ilk, the rigid body moIion II C,:.
(4.3. 12)

IF6 IF1 - 'F1

(4.3.13)

0 :'-1 -'M

(4.3.1 4)

>6'
As I rUllI!, the fOlcu actina.1 node B of the beam after the ri&id body
motion II C, an be "Tineo as

'F

'F... - 'F'
,.,

..

<".J. IS)

(4.3. [6)

2M

. 1101

(U I7)

and 'hose aning II node A as

.. ..

' F .. 'F

- 'F, "e'

,. IF.. e,

,.

' F .. 'F

1M

.. 'M

(.0.19)

(4.3.20)

.,'hue it 5hou1d be: noted 111a1 the following relatioN; remain valid:
'F "-"
'F 'F",," - IF
'F- " -'F" 'F
'F
'F " 'F
'F,. .. ' F,. _ and 'F.... 'F,> 'F,. .. 'F" ... renslik,;n, tbe d,fferc_
helWtc~ the finile clement and deformalioa s.i&n conV(:nUoDs. TIle
member clld f<.'lrS actina on the beam a1 C, as represented by
equ.llioN; (4.3. 15)-(4.3.20) bave been dtpicled in Figure 4.5. f l'Ol1l
this figure, it is obvious lhal the initial fOKeS leIing on the bW'n aI

..

,.-.

,.--,. -

.. .

C, have rotated followinllhe rigid body rOUIlioo, while their rna&niludes ,emain unchln~d. Thus, the rigid body lese has bttn ~.
II should be mcn,i0ne4 that the rigid body moIion repruenl5
Vi:1)' common, tither than very pcaaliar, plw:nomcnon involved ill
.he buckling behavior of stru<:lural frames.. Such. fllCl an be ,easily
un<krilood if We ~ lha. fOf pllIIN frames made up of . number of
f(nK:turaJ membe. s. only "(\.lin mcmbel5 .. ill be provided willi r",.d
IUJIPOfU, whik !he ,emoining ale ,estralned (lulialLy by conliguOU'
IMmbcrs. For Ihote "",mbcrs .... ith fueed clllis, rigid body motionS

'"

'w be

f;Ompletdy prevented.. Bul for 1M rmmtKn wit" claslic

rtain rigid body motions an always oot'UI IS 11M: tnti..,
framC undergoes the bockl;", displac:emcnlS. h is only for the sptcial
~ of stnlClura ronsisting of single IMmbclS, IIICh IS cantilevers
and limply suppot'u:<1 beams. liIal !he rigid body dftcu Cln be 1>,)111.

::",.;"'1$,

pkldy IgrKnd.
~J J

SlnlpUlltd

Ih~ry

of .wo-dimtMlona l

!)fa lnS

AI ... nativel y, a simpJified rne"ry can be ulablilhtd for Ihe two_

dimensional beam , if the vinual wort equalion presented in (4.2.34)
l1li bun IdopItd as tile b-tiis
derivation . Om: '.llUre wilh this
equation is lIu" the _linn! effects auociated with the SUlIin term
II!. have bn omined. For Ihis particular ene , the buckling

or

differenl,al equations reduce 10

(4.3.21)

(4,J.22)
and the nllUll1 boundary ronditions beC(lme

Lt" I- 'F~ '

. .

.. ' F . IF

(4.3.23)

(4.3.24)

(4.3.25)

~ tomp,arison or this SCI of equations 'Nllh those of the gclle,.] theory

In ~4.3.2K4..J.6) reveals thai III tbe higher orlk. terms have been
OrnIUtd (10m lh. s implified thcoty. II is casy 10 verify lhat the
~t~fal boUndary coodi1ioos of tM simpl iliftltbrory can pass 1he rigid
"""Y t~st as .... ~II.

I ..
BorOff. clo$i.ng lila section, ihrec poinlS an be ~ here. F'LIlt,
the lest of llleol'~ by the rigid body 1\l1e, \hoIIgb Irivlll fOf the ~
planar cue, can lell us whelhe, I llleory satisfies !he mimmum
rcquircmcnlS from the pIIysM;al point of view. FOf cases wlltre lilt

JWOptny of ItIOIDCnlS undergo,,,, lhree.dimcnslonal,ouUons II. 10 be

considered in emblis.hing the bum Iheofies, the rigid body rule offers
I .. independent and simple approach for justifying sudl a considct.!lt ion,
as will be dcmonslnllni in &dian S.7.
Second, while
Plural bom ry conditioN may IlOl be di~ctIy

involved in the formulation of I finite clement , they "e in

r~lily

implied by the finite ekment de.;ved. Whe .. desired, 1M IllItural

buIIndary conditioN implied by eac.b finll. clemenl an be 6nivro, fOf
instance, using 1M YUialional.pproach described in Section 4.3.\. By
uaminin& the nallln] boundary conditions, the rigid body cMracle,.
lics of the Ofiginal theory .;an be ev.lu.ted prior 10 the finite clement
IIppfOlim.tion.
' Finally, the naluno) boundary conditions are jllSl as importlJll IS
the governing differential equ.tions fOI an.ly1.ing the bucklina
behaviors of space frames Of planar frames not rutnined .pln$I LlICQ/
displKemcnlS. In a.apcr S, it will ~ dcmons.trated lbat OM vnr
imporunt aspect In tIM: buckling analysis of space frames or plltW
frames not restrained againsl latera] displloemenlS ;s 10 have all the
natural boIIndary o:onditions COITCI;tly wr;tttn for WlICtunt jolnlS in the
buckl;n, (CJ confllllralion.

4.4

Incrementa l element slirrness equalions

]n a displaoementbasnI rmite ekment formulation, tlte displaaments

at Iny point wilhin ll'inite elcmcm can ~ related 10 tho5c It the pO(\eI
of the finite clemen! by interpolation or mlpe functions.. FormulJ!JOI\
el'l'OQ may our ball$e of the use of interpoillion functions to
JpprOI;mate the c:uc:t displacement r..1ds. For tlte Q5C of I pi.,....
fru'lle element, the displloemenu M and ~ It the oentroid of scdioCI I
may ~ rel.ted to those al the eDds of the element by the fol1()'o1o'ilIl
fuDCIions.
(4.4.1)

"

, .. _ _ """",. MIII-<u _ _

'"

lenin! j . t.lL, .... her~ L denotes til<: lell&llI of lilt: e1emcn~ 1M Linear
~ ~bic ullcrpoblion fUlidions, {-,t and III,}, an lit. upreued as
8

(4.4.5)

(4.4.6)
.. bcre each oodaJ degru of freedom has been dellned in Figure 4.3.
1.5 was SUled in Soction 2.2. IlIc abovc interpolation fuDCIions re ..... in
an Cue:! iOIUlioo 10 the liDear differential cquatiou of 1M twoduncnsionaL beam u!>der !hi: ..:tio<I of conoentrlled nodal \oadJ. Sued

the conditions of equilibrium. lhe stress resultants II .ny cross

Ition of the member I I C, Q./I be ,daled to till: foreu &I111e two eDds

Oft

u folJooq:

(4.4.7)

'F 'F

(4.4.8)

'M, - - 'M..(I - () 'M I

(4.4.9)

"'hefe !he dfects or distributed loads .Ion& tbe bum axis have been
c~chldcd from tilt: pl"cscnl ronsideflliion.

Ii_"~",,._,.

166
4.4.1

____

EIf_nl 1lUI1ri<:a btitd on ~n~ ... llhfO.,.

By .JUbslilUlilll (4.4.1) lad (4.4.2) for the displattmc:nll .....

(4.4.7}{4.4.9) for the SU"eSS resultants intO the incrclMntal vinual "'O!t.
equalion (U.32) based 00 the ~""rlIl EMory of !be lWlHIilMll$iotw
beam, we obtain

1M

1M

L1

- 1...'
.. 1111 I'1' dilli" I

(4.4.10)

where di UlL and 1M primes denote diffcrtnlil tion with ,esped 10

 ,.__ " _ _ niIf-u :

!be

ti

dlll~nsioniess

'"

mordinale i.
Using the notation or equation (2.2.) (01 the ililegnis ~aring
ill ex-II of !he teflllS on the left1wId side, we may recast IlIe preceding

equation in

more

CODlpld

form as

-,F IM_,~

- H';II

L'

I'
K.,J - [ K'''D
ll
10'[

NOIina thai the (vinlal) lUi,1 and transvene di' placemenlS {tlii) and

U~) ate conet.ud 10 !he (vinual) element displattmcnlS {h I

{eompm (4.4.5) and (4.4 .6) with (4.2.12)]. and tha. the vinual
displaecmcnu {6';;}. {6~1, and ( 6~ ) arc arbitnry by nalure, we can
derive f.om equalion (4.4.11) the cqu31ioll$ of equilibrium ({If Ille
clemenl,

".
'F" K'~'::-'
n,M,

. _-

'F..

'101. 'K1l''1 -

--{

L'

IX"111::-.
Il(",

110.

IKlJ , IV)

where I'Ll .nd ('i.l represent tIM: Q)(QpoMnl force \'Ion cotTeSpCIIIItinll 10 the d;~placc:menl veaon liil and I~), rt5ptdively. of dII

dement,

r'i.l

(4.414)

[lJ,I . 1
1'F~ 'ML .

(4.US)

and the nocIal fora vton ('l.) and I'll C:ID bo: obu.incd by switdIiJI
\be ....pcncripl of ~ variabM: in (4.4.{4) and (4.4.15) from "2" 10 "'",
With tho llibmalrices IX;', givm in Apptndu A, the equaUoaJ m
tqllilibri"rn as given in (4.4.12) and (U.I3) fOf the axial and fk,;urU
IIoCtions can be combined in malrix fonn as

(lt J [t,J)[ ul [~I - r ~ 1

(4.4. 16)

... ,..... '. ' _

Mi//-..

'"

'r' _

..ttfC (t ,] and (t,1 IcptUtnl Il1e clascic and geometric Sliffness

~ ~pI i~cly, o f tile planar frame cklmnl, {.. } IkIlOleS tM
~lDc nl incnments gcncnued durio, ,he $Icp from C, 10 C, [sec
4J.12). fll !be forces acting on !he IW(I cnell of the clement II C,
~_ (1.2.13)(. and I'll the C(lOlcspollding foroes ..:Ii... on 11M: dement
JI Co' The claslic: $IirrlleM matrix 1.4-.1 has bn dcllO((d as tbe [iJ maCro
ill Cblplcr 2, whieb wU c~plici'ly given in (:l.2's1). The Iwmelric
Juff"w matl ix [k,1 fOI the p'es-ont ~ is

(4.4.17)

'F

It,],

'u

-"
L

--.
"

--"
L

6'P. tU,' P

At'

"

'F
--"
L

".
'M

"F 121. F..

.~

--"
L

At'

'F 6J 'F
. --..2!: .

L.

(4.4. 18&)

10

2L'F.. 4/,'F..

"..,

(.t,~ ~

'F. 61,'P.
--.
At'

At'

At

'u
--"
L

--.

IF.. 61,'P..
10

---.
30

At'

L'F.. V,IF..

At

(4. ISb)

17.
'F

'M

_"_F_
,I=21C'C'F~. _ 'F. _61,'F""
SL

s,.,..

AL'

10

(4.4. 1&)

ALI

2L 'F... "'OI,~'F~
U

- AL

In equlliops (4.4.18). !be fora: paruleltl'$ 'F.., '#.., lJ>d 'M .. sbould
be recognixed as a)mpooenlS of the initial rota: vector {'J} thaI ale
known 10 be .aiDg on the t~m II the bcJinninS of !he inc:rcmcMal
lIe" i.e., at C,.
AI llIis point. we like 10 IIOI~ lllal !be ge<>!MuK PiffDeSl maud
(.1:,1 &I pteKnled llefein his been derived from !lie ~"cNlIlJlwrJ of
IwCHIirmnsional beams Ilu'ou&b equation (4.2.32) of Section 4.2. wbic:ll
ia dlarKlcriud by the illdusioa of all nonlineal' dfecu in tbe virtual
work fonnuillion. A physical inICl'Jftlalion ofl/If. illCfCmcnlai clemeDl
Iliffneu t'luation (4.4.16) folio...,,: If the forcell aclill3 on the two cnoll
of the element Ire incrused from {'ll 10 I~, Ihen tile nodIl force
i/IC.emenl$ will be resisted DOl only by the elutic loCIionlgcllCTlllcd by
the [,1,,1 matriJl, but also by tile fOflXS generated by the tlLlnge in
gromclry of tM (lelmnl, as rq>reKnlcd by the [.t,l INITix. Since the
equation is I linearized ODe, equilibrium of !be clement is valid up 10.
but IlOl including. krms of the order or the squue Of produa of dis-

placo::mcnlS.

4.4.2

Ek_nt .... lri<lfII bawd on simplified Ihtol')'

All alternative geometric stiffness m..1ril [t,) (WI also be established for
the two-dimensional bum based on equation (4.2.14) or the simpUfil1l
Ihl,">,. The result is ideul ia.1 in fonn 10 lhe equation given in (4.4.11)
bul wilh lhe submatrices defined u fOllows:

"

,-""""'",. -

.,

'F

[*,.1,

-.
,

[*,.1,

-.

(U.19a)

"

"

2L'F

"
---"

'F

'F

"

10

'F

(4.4.19b)

_ L iP...

10

'F

'F

--"

'M .'M

'M .'M

L'

"
"

. 'F

'F

'M .'M

---"
[*,.1,

on

30

'M .IM

L'

.'F

"

'F
---"

(U.I9<;)

10

2L 'F

"

A COmpliison of equallon (4.4. 19) with equa,ion (4.4.17) indiCiles lhal

whether lhe general lheory or 'implified lheol)" has been ldopled for
lhe lw(Hjimell$iollll hem! (i.e . whether ,he higher order uial5horten_
in, tffeCl
bas bun i"dueled i" ,he nonlinea. W1Ii" u",eaion 'l~
()f Sraion 4.2 in lilt vinUil wort formulalion) has fnul,ed in
COmpk'dy differen,:ufO entries in ,he ,eormlric ll'ffneu
It,l
(YaJIa el .1. 1992).

It:.

rna,,,.

172

4.4..)

N _ AwI)oIo .,,....,

r_

Otht r . "'mtnt mltrica

In lite littratu~ variations of lite pI!ICtric suff~ matr;" uist. For

11ISIaO. by MJIIing lite coupling tffea btt ...." uial and flexural
Ktions. lite following m.alJ'iJ: has I>tcn uKd by Poner 100 Powell
(1971):

'F

,'F

'F

'L

"

1L 'F

"J

"

'F

--"
L
0
0

'F

,'F 'F
----" -"-

,. "
'F

.'F
-(4.4.10)

" 0"

,'F

'F

--">L

S)'IIImttric

"
"

U 'F

Such. mAtrix an also t>r. conceived as the su~rpos:iljon of pall of the

geometric Jliffnus m.atri~ for the I1U$$ clement and the m.rri~ for the
4gec.-offreedom bum elcmtnl considerin, only IraMYeI"iC displlgenlCnl${sec F'iJUrf. . 6). Perblps,!hc simplc5l,eomelric Stiffness matrU

is tM one that has bttn obtained as the augmented matrix of the geoIIlclric stiffness mltrix fOf !he 4-do:&I'"-offm:dom belm C!elmOI by
inK"ing un. in tM rowt ItId columns rellW:d [0 the uul degrees of
ftudom, Ihat is.

.'F

"

'F

--"

.'F

'F

---" ---"

10

2L 1F

l'

1*,1 -

10

"
'F

L'F

10

JO

(U .21)

.'F

'F
---"
10

"
S".."...tric

2L1F

l'

This malri_ has been freqlM:nlly used by J)fevious researchers in [he

buddin, anal,-,is of ~ural fmnes (I'ncmienieclri 1968; Olap
1974: Olen and Lui 1987: CooIi: cllIl. 1989).
It $bOUld be pointed out 1n.1 ~h !he geomelric $tiffnus matrices
given in (H2O) Ind (U .21) fail In pass the rigid body Iesl 10 be
<:OIIducted in the followins 5edion. While such matrices can still be
used in an dsenvIIlM: bocklins analysis 10 yield good rcsullS, spttial
aorounl sboakl be I.Ilru of !he rigid body dfea if sudllIlatrica .,.., 10
be employed in an inctemenlalilel1llive oonlinear . nalysis. especially
in the: process of element rom: aokublion. In !he relDlining seaioPs
of !hi. c:luiplel on the: oon.iinur analysis of planar frames, WbcMWI.
(Iineariud) St(lmelt K: stiffllClS miUm r4,1 is mentioned, we mean the
one given in (U.I1) based on Ihc If'nerallhcOly Of !he one in (U.19)
based on !he simplified theory, unlas othe rwise noted.

4.5

Rigid body IHI for linta rized t ltmt nl

An increlmntal nonlinear analys.i5 differs from a liMa. analys.i5 in !hal

each finite element of I~ S!l\Icture considered .... iIl be ddonned and

ICled upon 1)picaJly by SCI of nodIl forc:Q thaI arc in eqlliJibrium II
the becinning of tach incn:nxllUlllcp. \\'bil. various forms of flJId
body le5I blIvc bn devised by previous ruearchen for lUIin .. tbtc
qualily of linear finite ckmenlS (sec Section 2.S for the diSCU$$ion),
they Ire IlOl directly .ppJi~k to I~ nonliMar finile elemen" MClII$C
!he e fftclll or inilial forus have not bn includW. To consider 5IICh
efftcll, a more gencnllest has been pre$oCnled in Stion 2.6 basc4 011
Ihr: rigid body II .... , ..hich uquiru lhe initial '_acting on r<n,te
etemenl to rOlate .... i,h rigid body rOlations, .... hile their magniludes
'emain unchanged. For the sake of completeness, lhe lesl conducted in
Section 2..6 ....iII be ,epcalfd herein for lhe planar frame clement.
First of Ill, the incremental ckment S!lffllCSl equation II ~nt
ed in (4.4.16) for the planar frame. clement may be rewriuen as

(UI)

where lhe el.aslio: SliffllCSl RIIIrilt It.1 has been givCd in (2.2.5 1) II tlle
It I matrix, and the geometric stiffness malro: [t,l an be eilhe, of Iho$c
given in (4.4.17), (4.4.19) and (4.4.2.0), depending on .... hich u.sumplions have been adopted in the derivation . In equation (4.5. 1). !be
effem of initial forocs an be observed IlOl only through tJw. initial
force vector {'i), but also IhrouJh tJw. aeomclric: Sliffno:u nu.trix It,)..
Eilhr:r of these IWO teflllS annot be overlooked II fl. K r1Jid body
motions If. conec:med. In an inc. emenlal nonlinear lIlllysis, il is
ISSUmed thll urllin ;tc"tion IclIcmes blIvc been performed II each
ilKRrMllw secp 10 C~ that the conditions of equilibrium arc SIIisrlCd by tbe nodal forces. ...bid! implies thai. the ;nitial foroct:
ilI
al .... ayl be in equilibrium It the be&inning of !he cumnl incumcptal
slep. I3lscd on thc condition of equilibrium, the initial fortU
acting on the demenl lIe, an be cxpl"csscd II

{'n ....

{'n

'M .'M

'M

'F

'M
l

(4.S2)

whiclllw also beea pIotled in Fig",e 4.7(&).

Suppose that the clement Is subjCCled to ig.id body , (ltIlion 6"
.... hicll ..... hen assumed to be small. can be rCpl"etoCnled by the fOllowing
displacement vedOr {II}":

,"""

"'

~~E -

'.

,.,
:L- -<- - -'

".

,.,

,
,.",..

--

:L- -<- -- .

I..

,<,

,.,
B<lt.aYior 01 bum ....IJOUI& ri&id body ItII&tioa:
(a) IlIj,ia1 fot<:Q I'n II C,; (b) Ia.iIiaI fOttU ('I) ., C.;
(e) forea smcnl<d bJ It,!; (d) RU<lltin& f _ l'n .. C~

FI,_ .... 7

>7,
[III~ [0 0

6,

L8,

8,1

(".S.J)

As ""n ~ $Un from F"l&ure 4.7(b). 1M f(l<Ce$ 1'1) tanJIOI balance by

t~rnselvcs in tile rocattd position. However, Ihis doq n()I mean IhlI
the beam has lost ilS tqllilibrium .t the C, configuration. To $ludy !he
equilibrium of beam underJOing rigid body RlUIlIons, we need 10
eumine lhe composition oftbe foree vectOr ('t}., theC, confisumioQ
bucd enlirely on the lna-emental finile element equllion derive<! III
(4.5.1).
For ,he planar rrlme eiermnl. 00 r _ will be generate<! .."
clasti.., 51iffneu n,atr i~ (.t.l w~n t-ubje<:te<! 10 tlH: rigid body lotation,

"'"

~
(lJ[ul, [01

(U ..)

Such. resull indicales tlull 00 IIrlin eMIlY will be indooed by die

bum undergoing rigid body rotation&, 1$ tile elastic StifrllC55 m.trix ItJ
his been derivtd from the strain energy Ierm in the virtual wort: . . .
lion. Consequently. we ... y lllal the IIlIlTix Ik.lltu IlIS"d the riPI
body lesl (in the linear .ensc). In conlrast, the forees generate<! b)'''
geometric $Iiflness IlUIIrix Ik,l during 1M ligid body routioo are ....
equ.110 URI. Nor are they in equilibrium . For instance. !he followitrt
arc the fo r<:es genenlle<! by 1M [l,) millfix bued on tile geMraJ IIIeoxy
in (4 .... 17):

(t,l( IO I,.{-

'M 'M
L

"

1M . IM

"

15 <.:1/1 be $Un from Figwe 4.7(.). At this point, _like 10 emphaci ...
th.:lt no conclusion can be drawn $0 far w ilb regard 10 the qu..lity nf !be
derivtd sciffnea matrix (.t,), s.iooe the preding Clprusion tcprCSCIIU
only the result of. single term in the incIemenW finite element cqtIItion (".5. 1).
The fin.1 SlOp in (he (e$l is 10 see if the ruul1ing fOlc.:s I'll
ICling 011 the tlcmentlll C, as calculated f'()m !he iDcn:men,.1 sUffDCS'
equ.tion (".5.1) <.:11\ reaUy ~ with tlH: fiJi<! body Ia.... AeoonIina 10
this equ.tion. tile fo,...,.. acting on the dement at C, art equll 10 \bC.

177
sum of Iho: ICrm.

,,~(n

puiousIy in (4.!1.2). (4.!!.4). Ind (4.5.5). thai

;,

. .,

'M " M

.,'

'/01 . IM

'F '

'

.'

-I F II

' F II "'

'M

'M

.'M..

(4.5.6)

.. hiell .... vc bun plOltcd in Figure 4.7(d)' From thiS figure, it ;s

obvious tIIal tIM: I~ulung fOfces {'f} acting On tile: bum . 1 C, ae In
equilibrium. Moreover, ",itll tIM: Jl<CS"nt as.sumplion of J./llaU rigid body
rQl31ions 6" Ihe magnitudes of 11M: le$uiting ({)foes
Ippear to be
equal 10 those or lhe initill foroc:s {'n ac1ina on the dement 0'
1I0"'c"c/, tile directions of the raulting fOlCC$ hive bun rOtated by an
Ingle equal In tbe rigid body roulion II~ Such. It'SUh is fuUy consislent with till: rigid body 11101. In Ihis reprO, _ ur IIIlt lhe derivtd
element as Kpruent! by tbe ilKumcatal ckment stiffness equation
(4.5.1) or {4.4. 16}, llonJ with tho: gCOfQ(ui<: Ilirrness malrix [t,1 of
(U .I7) for tile general theory, has passed the rigid body test. AI
lbough the fOfcgoin& condusions have bun made fot lhe ease of rigid
body roIalions, their validity can lie: confirmed for lhe t,ivial cues of
rigid body tran~lation!. As. reminder, we would like to mention thl t
the :<ame element hu bn demonstrated to pus the ",,,,,ra1i~ed
eigenvalue test in Section 2.7.
Whether a finite element passes the rigid body tUt or not depends
OIl all the assumptions adofMed in !he formulation of the finite element.
For eumple. il i! po$Sible 10 $bOw IJL;,t tbt eltment ckri~ from the
Ilmpliflfd theory for the two-dimensional bums, u typiflfd by the
geometric: stiffntss matri. in (~.4.19), can pus the rigid body test as
~II, while dcmen~ Ihal do not eonsickr the roupling etrw between
tbe Hialand Ile~untl deformltions, lS represented by lhe [*,1 mani. in
(4.4.20). Or ignore entirely Ihe uial deformations. as represe nted by
(4.4.21), nnJlOl pus (he rigid body lest. Throfttio;!llly speaking. any
finile elemenl thai does not pass the rigid body 1CSI or lhe gcnc.. l~

!'n

Altm>ali-"Cly. we

C,.

..or _m. the ro.a. J'n plalled In Rlure 4.7(d)

lIS lhe Mlmm..tliooo of the r_

~ft in F'""res 4.7(b).nd 4.7{e).

17.
eigenvalue ttst of ScC1ion 2.7 15/101 qualified for application to llIlllysi,
of ,erICDI llODliDc:ar probkms. Bad . csulu; mly ocrul in I _Iincar

anllysis if tile figid body CQncepi Of simlw concepts aft not followed
in the fon:e recovery procedure.

4.6

Elt' mt nt rorte N(O"t f}' procedu Ns

In In incn:mc~ _Iinur .... Iysis, ~ IIftd 10 know the I"C'mbu

forces II tach incremental ~tP for al lust two It~ ""IIKly. for
"kIIl'lion of the geomcuic Sliffroess matrix [k,1 and for determination
of unbalanc:ed forces II nodal points. As was mentioned j'IIeviousIy. in
an updated Lagnongi.n fonnullrioo, we l:osume the confiaul'llion C, 10
he the 1151 calcul.ted configuration and <knott tile forces actinglr this
confilUlrilion by { 'J} . litre. we ..e inlcf$cd in c:akuLlting the fOfCU
{'Il Itding on each de,,","! II the cum"! ronfigunuion C", UIIuming
that the uurnaJ to.ds ICtin& 011 the SlnKlure h.ve Ixc.. il!CfUSCd by
small ItnOUnl durilli the inc:n:lnC'ntalllep from C, 10 C.. and IMI

displltO%menr ineremenlS 1M} bave OOCUlltd within each demeol in

response 10 !he illCfUK in ulernal IoD. Two approac:hes will be
diseuS$ed in Ihis section. One is the ~"MTdJ dtfo ....",IOII "pp'O<Jell,
which has ol'len been emplo)'c<I by ruea.chcrs in tM analysis of beamtype strucIurC$. 1M other is !he txle,_llJiff~eu _ppra.-cil, which Iw
the advantage that i, an ~ promisingly generatid '0 tical wi,h strucTUfCI of Ollie. 'ypa..

Wi,h !he lII,ural dcJorma,1on approach, 1M displattmenl incrcmenll

{II} of. MIIIII dement gener-lIc<1 during .1Ie u.c,remental ~ep from C,

to C, can ~ OOfleCpluaUy tIerompoKd into two paru: ,lie rigid body

displ.a:menu {III, and the 1II1Ura! (01' member) deforma.ions {II}._ Fo.
wnvenientt, ...e shall further IS$Ume wt ia sucb pcooess. !he rigid
body mode OCCIIrs first foUowc<l by l~ natural formation mO<k.
Conskkr rust !he ri&id body moIion (II),. Acaxding 10 !he .igid
body rule of Sections 2.6 Of 4.5, fOf an dement subjled 10 a rigid
body motion, the initial fOfoxs Kling on the clemen' will .00000,e followina: 1M ri&id body rotation, while thei. magnitlldes remlin unchanged.
The result is tile pruefVlltion of fquilibrium of the ."'men. in the

rotIlI posilion. In I oompulrr program, "e mly in(:ludc su~h an

effect merely by taking the initial f(Kees{,/}, whkh "ere acting on the
beam I t C, and directed along !he lui of !he beam ... C, 1_ Figure
4.7(1)1, u the forca acting on tbe beam It C, Ind dirted Ilong tilt:
IlItS of the beam al C, [see Figure 4.7(d)1, wj.bou. making Illy tansformation of alI"- It should be empilasUed thai 5Uch a eonsidcnltioa
of tilt: rigid body eff(d$ is e.ssentill w the ealr;uLation of clement forcu
in a nonlinear solution Karch.
In tilt: followin" we shall oooa:lIoIrlIte on Lbc cakula,ion of Lbc
narural deformation vedot II/I. for lhe planar frame elcmenl. T o this
end, a ICllt:ma,ic of the deformation of the clement II C1 with respect
.0 tilt: C, ronrlJUfI'ion Iw bcc:n dra"a in Figure 4.g, in whic:b (X, 1')
dellOlc ,1It: g1~ coordinateS, and (':t, 'y) and (':t, 'y) the local coordi.
nates of the element II C, and Cl> rcspeaivcly . Forlhe present c:asc,
lilt: natural deforma.ion vector 1"1. may lit: denotl as
( .... 6.1)
in which

"""'.

9. and 9. denote the na,ural rwHom.l !he IWO ends of the

9.-&.-&,

' - - - - - - - -- ,
.......

/110''''''' ddormot_ of boalll.

(4.6.2)

,,.
(4.6.3)
in whieb 8. and a. dcnok the 'llIalion incll'menlS generated at UI~h
incmcnral $lcp for Ibe two (nd$ of lhe dement Accoo:Iing 10 Figure
4.8, the rigid body rQl4rion

e, i$

',' ~-H)

(U.4)

whtrex and j dt~c lhe proj1ions orlhe length of Ihe dement I ' C,
Iloni the '.r. aDd 'y-axes, ~ivtly, L~,
i ~I L 'I<-1I

(4.6.5)

(4.6.6)
Here, 'L denotes 1M leng.h of !be clement I I C, ('L L).
~ natural elongation U. caJI be "",]culated following \he procedure: ~cd by Bclyudlko and Hsieh (1973). FiBl, ...c I;IlI defi_
lhe chord length 'L of lhe clemem al C, u

(4.6.7)

whkh can be

Based

on

reamn~d

to yield

the following definition for the natural deformation U.:

(4.6.9)

il is easy to show that

'"
(4.6.10)

For the case when the: 'I'lin ioc, tmenl$ of Ihe clement generaled during
lhe incrementll step from C, 10 C, arc small, the length of lite beam al
C, can be tonsidcrw "qual 10 thaI of the bum II C,. i.e., 't. 't. . It
follows 11111 the bial deform.l;';'" U. of the beam an be .ppro~imat.d

Or
u~

211.. [2L(M.

- II) (il. - 11;1

(~~

"il

(4.6.11)

whcre lhe leA IlIperscript "I ' for 'L has heed dropped for clarilY. j,e.,
L ' L.
Afler tlw: natlUll] deformalions (II), of the be.m II C, have been
calculated. 1M member fo,,:e incr.menu (J} can be determined from
the incremental clemenl tqUlliC)nll as

VI - ([k.l It,!)!II},

(".6.12)

Consequently, the mcmbc. f(lfCCt {'J} of the ckment.t the C, ronfigu

ra1ion can be calculattd II the summation of the above twO effectS IS
(4.6.13)
..litre, for the rcUORJ staled previow.ty. no tn.nsfOfmalioo ofaxu is
IIdcd for tile force >'lor I'n 10 accouOI for IIIc rigid body dfea.
lIId IIIbscript "2" bas bn added 10 l'n 10 liguify that il is rd rcd
10 the displaced ua of lbe beam II C,. Willi the _mbe. f0m:5
II C, available, ~ can IMn prOCffd to calculate the aeonw:tric ltiffness
matriJ [l,1 for each element and tbe unN-lanced fOl'ces ui$ling at eKh
node of the 5tl'UClUre I t the C, IlOnfiguration.
The procedure dt5cribed above for calculating tile membel forceJ
has been rtfelrcd 10 as the "o"",Ii Jt/O.IfIQliolf .pp<fHlclt. Ono- t ey
~ep in this lJIPI'OKb has been the calculation of the natul1ll dcfoml31ion
V1or {.. , . and thl: li&id body fObtion e, f,om thl: element displacement V1Of {M}. 'The ' i&id body ..... tion e, KIVU 10 lou,e ,he initial
forces
iICIin& 011 the element from,he C, 10 the C , axes, while 'he

f:n

{'n

{'n

'"

natural deformations 1M). c:oosIjw~ II1c ooly .lOU," (0\' gcllCnling I~

force incrcmcnlS {f} . An alternative .pproach (/)I" "kulaling ~
member r _ ....ill be n:ferm:l to as !be af~r".1 IIiffious .ptNfNldt.
With this ~, the dfca of rip! body malions ;, cons.i<kno
iDdirealy througb the so-aJIed ulema] Sliff_ mau;J , as wIll be discussed below.

4.6.1

External illfTaftS . pproaeh

In Ihi, subsection, we are interested in tbe ronslf\lCllon of tile UfUIIQ/

"i!fllts. ",,"rix {k,L to aocounl for the eff! of liaid body llIOIions of
!he plllIM frame clemenl. 8y deduaiog IlIc: nlemll SliITneu malIix
II-.L from the Wlif'DI stiflne$s mall'ix (11-.1 + [t,l)' we can obu.in
II\IItrix, oneo rdcmd 10 as 1M
,.lit, 1/1&1 _nlS
(01' the ..:lions generated by IUllwaI dc:formllioas. This.pproadI
diffcn trona thc preceding """ iIIlhat 1M ripd body effects have bn
excluded from the Qll<:u.btioa of dcmem r _ ilKnmenll throu&h the
UK of an external SliITnessltllw, ~* 01 tlvouJII the IUOIUral deforgcnctal and lySlcrrw.
mations {II},_ II bas !be advllltapofbcia, _
ic, which CIIn be promisingly u tended 10 tM analysis of SUIIotIUrtS

""u",,., ,riJl_

composed of otMr types of clements.

lei U' SI.n by deriving the: UICma] lIirr_ IIIIlrill. Considc. a
bum clement under the lClion of. lei o( ini!ial forces I'J} that are in
equilibrium II C, 1_ F",,1lf'C 4.7(.)J. Suppose !hl! lhe elemen! is
subje~led 10. rigid body loUlion D. According 10 lhe rigid body law.
the Inltill forces Kling on tbc ekmenl will fOIale by In Inglc equil io
!be rigid body I'OlIlion D.. 11 follows thaI 1M forca I'/) Kling on the
dement lfier !be rigid body motion al C. must also be in equilibrium

1_ Fi",re ".7(4)1.

For !be presoetIl cue,!be I;OII\poMnts of!be fo= ~ {'/} and

I'/) WIl Alisfy!be above rule are readily those .vaibble ill (4.52) and
(4.5.6). Subuacting tbc C, foroe VeQOl' I '/} from !be C, roroe vector
('/) yields !be force compooenl5 IIw. are 10 be Induced by !be rigid
body motion :

I'll -I ~J-{-

. .

-I F D, 0

'M 'M

"'

'FAtD,

or

(4 .6.14)

fof tile case of small rigid body rotations

tion an be adopted:

e~

'"

!he followi", approxima_

. -.

e,

With this rel.tion, it is possible tn

(4.6.15)

~wlitc

equation (4.6.1 4) in the

following fonn :

!:,f! - I'll [",1.1111

"''''',e 1M ulcrn,,1

"jff"~

1M . IM

L'
'F
L

0
0

[k,I,

(4.6.16)

",,,'rix [t,1. Is deliMd as fOllows:

1M

'M 'M

L'

.'101

L'
'F
---"
L

'M .'M

L'
'F
L

Symmmk

0
0
(4.6.17)

I'

In arrivin,
~lioa (4.6.17). we bave Idded terms that will cancd
each other 10 make the o:Qlire matrix I Iymmellk one, based on !he
coodilion that M. equals M. for riSid body motions..
According 10 cqII&Uon (4.6.16). Lhe utcmalllill'_ matrix [k,t..
when m~lIipl~ by the element displlOtrmnt vector I.. }. will yield the
force components thai aN: In be indUd by the initial rOfctS {'n
undefg<ling rigid body motio:ms (huer and Powell 1971; Yang and
Mc(;uilC: 1986; Galtass and Abel 1987). Two commcn15 can be mlde
here . first, the procedure fnr deriving the uleml' stiffness mauix [t,l.
is quile suaightforward, which depends nnly nn tM nodal degrees of

".
flUdom of each elemenl. but not on the shipe funClions of lIN: clemen!
under ronsidcnllion. For this rc.l$Oll, su~h proc:cd~ can be extended
lO the derivation of the external Ilirr_ matrices for ckmcnts of OIbc:r
types. Sond, \be Irnn ('AI .. 'M.,yl.' appcarilll in 1M [t,L mllrix
of (4.6.11) ooo.espond 10 !he ttro terms of 1M (i,1 nw.riJ: in (4.4.17).
It sIIoIIld be noted WI such UIO lerms in f.a Icpusenl. CIInco::Ualion
.ffecl of lhe terms origina,ing from the Itrain term M!j2 ;n equation
(4.2.17) and Ih<* from the stn.;n term ~ ..}I .. In equation (4.2.18)
(Yang ~I .1. 1992).
By wbmeling!lle external stiffness IIIlIlrUt [t,L from the langent
stiffntss rnJlri. (1.t.1 + It,))' we obtain m.trixl ..... ICCOUnlS duly for
the cffec1 ofmemM. deformalioDS. In acrordan. lhe fom: inatmcnlS
Ul caused by deformation of lIN: clement ClIn be a.k:ulatcd U
If} .. Ut) It,] - [t,1)[III

(4.6.18)

.ffcas of rigid body moIions K~

mcrely 10 rotlle the actina dlrlions of the lnili.l foroes
from the
C, net 10 \be C, axes. The loW fora:s xli", on tile clement I , C1 can
be obuiMd ill I SInIigblforward mannt. by lWIIDIing the above IWO
cffed!; uslna the _
equation 1$ the one in (A.6.13) for ~M IW\InJ
deforma~ion IWoad!.
Wi~" N:gard 10 ~M ~I)' of ~k:me:nt f(lrCe$ in I $Iep-byJlep
_linea. Inalysis, ~M u~nnal J\iffne$$ approach appears ~o be. simple
in oonoept and gmenJ in melllodology, which nn be promising.ly
utendcd 10 the analysis of ~1lIQ oomp(*d of elements of odN:r
~ypes.. TIl;' is oertainly one adYan~ brou&ht by the utemal Jliffness
manu. OtIKr proadu~ 111M are spcciI.lIy ]ailQud for the beamtype
elements, lUCk as the Datural ""formation approach. do r>OI offer such
In odvlntlgc.
As was 1131ed previollsly. Ihe

4.7

('n

Higher ordu planar frame element

In Stioll!l A.3 and A", we hive ciemon5lT1lted how the governing

differential cqllllioM, n.ltunJ boundary c:onditionl. and the e1lS1k and
vometric stiffness matrloes. It.1 and [t,l, can be derived for the planar
r""", element from the lincariud vinllli ""Ofk ~tion (1.1.A7) or

'"

(4.2.6). 1M 51iffM$$ matrices It.land [t,] can N used alOJ\g with lhe
fOfU recovery JII'OCnIure of StcIion " .6 for oonsidtrillg tile rigid body
cllancteriillia in I Slep-by-Slep nonlinear analysis. In lhis &ceIion, we
1~1I prosen! an alternative procedure for neal in, the same problems
ba5cd on w bigMr ordt. lIIifJnes:s malfkc:S.

lei WI stan with the fully nonlillfar vinuil woO; equation (1.7.41):
If ''''
' dY.,R,R
"
f"

(o.1)

"

where tile terms:R Ind~. as defined in (4.2.8) Ind (4.2.9), repream

the: virtual works done by the ulernalloads aclina on tile body .1 C,
and C, c:$pCCUvd),. II should he DOled IIw this equation mlins In
eran S\.I1emen! of cquilibl'ium of the ,..,Iid body al c1", C, config"l'ldon,
sina no approximation has beea made in !he dcrivalion of the cqllalion.
For. two-dimensional belnI, there are two lnde~ndenl suess componenlS lIld IWO assoc:ille<l wain romponcnl$. In terms of IlIe coordinales (r, ,.) of !he beam .. e _ lIIlIy dc~ 1M. Calleh)' smues
"
&cling on the beam I I the umeconfiaunl1ion
by', ...1Id 't... U.. updat
ed Kircbboff stress il>=mcnl5 b,. ,su lIld
lJId!be updated Or"
$1 ..1" i~ments by ,<In and ,<.,.. 1M sltiln illCKmenlJ IE .. and IE",
ClIn be further decomposed ;nlO 1M linear and DOnlinear patU1 .s

.s.,.

(4.1.2)

(4.7.3)

ACOOfdingly, equation (4 .7.1) an be upalKkd as follows:

Jrr (S. .at

..

lS. at.,.IdY

f r(5. .a'l. .

2.S. ,a'l
. , .\dY

186
(4.7.4)

",lieu the faCiO. 2 h.u been added to K1CO\Inl for the symmetry of the

abe ... Iitl'USC$ and slrains, i.e., 't.,. 't,.. ~... ~,.. and 'I... '1,.. and the
ltft IUpcncript "I ' (Of V J.IId the
subsaipt 'I ' for S_ S.,. c_ e.".
'I ... 'I...,. 'R and 'R hlYe been dropped for dar;" .
AI this point, it should be DOled tbal for. planar fnme clclMnt
for wh id! the IkmoulLi-Eulcr hypolhesis is as&~med 10 apply, only the

len

normal Stre51 (Kirchlloff) increment Su Cln be related 10 the (Grn)

s tnin incf<'menl t" through the (:()nst ilUli~e law of lhe type Jiven in

( 1.5.2), or

s c.

(4.1.5)

wllerr. denotes O>e modulus of clUliclly of the ml urill. 1bc wm

;1 not twe (lith lhe shear stress increment S.,. 1$ wilt be explained in
tile following.
Aoc:ording 10 the tbeory of elasticity. the stra.iD romponenlS c_
t ... 'I ... and '1" o f &l'ncric: point II section " of the beam QII be
related 10 the displ.KcmelllS~. and., II the same point .. lboic Jiven
ill equations (4.1.15)-{4.2.18). Based on the Bemolllli-Euler hypolbesil
of plaIM: sections umaln)", pI_ and normal 10 the anlrOidil uJs of
the beam after defonnllion, the di5placcmcnts ", and ~, of tbe point an
further be related 10 the displloemcnlS and v of the centroid II the
ll/nC cross section by (4.2.19) and (4.2.20). Substituting these uples
ror the displacemmu II, and N, into 1he strain upresai0n5 in
( 4.2. ISK42.18) yieldl

,ion,

(4.7.6)
,

'. . ~("
,

...,
yv'v"l

(4.7.7)

(4.7.9)

.7 H;rn_,w-fr-_

'"

From equation (4.1.7), it is dur WI tile shear SU'llia ~ .. will always

",.nish, ,~prdless of !he Iype of ddonnalions. II!d so does !he linear
~rt of !he me.. wcss incremenl S .... if !he COIISlitulive law of lhe 1)'pC
giv~n in (1.5.2) is 10 apply. h follows Ihat baKd on 1M Bernoulli
Euler hypothesis of pl.~ S1iollJ., Ihe slle~r sueS! in=ment S., or tile
re5UILlnl shear for<:e of pllnar frame clcm~nt unn04 be del~nnined
from the conslilutivf. law. but mU$I be deuflllined il\dirtclly flOm tlw:
conditions of equilibrium . M~over. il is easy 10 verify thaI tM
suain c" does POt vaqisb for lar&c rip.! body roIrotions, al1bou&/l tile
liMar component e., "'mains equal 10 l"ro. This is obviou.sJy viollL
lion of !he rip.! body rule .
With these COIl$MXrltions in mind, il f;III hc _n that. dirca
npansion o f the shear stress lncn:ment S" in lerms of the crosssectioul displacements ~ and .tbr(MI&/l the constitutive Low is meaningless
for hcam throTies bllKd on the BernoulliEuler hypoll>esis. Rather.
indi'tcI approaches that utilil" the conditions of tquilib. ium must hc
I0Il&/11 for deriving the virtual WOft unns involving the shear stress
illCKment S.". In !he followi"" we shall first \l5C !he consti1UIive law
(,t.1.5) 10 npress!he normal Jlrca incremenl Sg in Urmll of !he crossKdiomol displxemcnl$ ~ IUId _, and then Iry 10 ,dalf. the $hear $UCSlI
illCKnlCnt S" 10 !he IKII'm&l WeD menmeal Su by tbe conditions of
tquilibrium.

war

4.1.2

Equat ions of tq lllllbri um for shear slrt_ .

By noting ~!he normal sUlin illtTemenl tu tall be decomposed inlO

the linear II!d _Ii"" components IS in (4.1.2), II!d thll the expressions for Cg and 'L. arc available in (4.7.6) .nd (4.1.8), \be normal
stress incremenl Su c:&Q hc UpI"o:$Kd in lerms of !he COQ-sedional
displacements M and _ 1$ follows:

lIe.e. tIM: fl/'St and SKOnd leflllS On 11M: right.hand side of llIe equation

stress inc:rcmentl ea~ by the line ... and _linear

ODmpGnCnl$ rqpcaivcJy, of the normal SUlI.in ' ...
'C!'UKOI the

".

!,.ec ' ~~denocc the Cauchy St.esses a<;ling on. ' .... ric point of .
two-dimensional body" C,.. By Mited,ng 1M effects of body foroes,
!be equations of equilibrium for tile ~neric point can ~ wrlncn IIee:
(1.6.1)):

.'.'..,

:J . 0

(1,1

1,2)

(4.7.11)

Since Ihe C, coordina.cs 'x/ ate unknown bdote lbe ploblem is. solved,
il wHi be more convenicnl to ",r., III quanlilics in equltion (4.7. 11) 10
the C, coordinates 'Jt~ " 'hiclluc known befOfChand. By the chain ruLe,
<Xii-xI. (i!zli/x)(iJli!zJ. and by rcl.-ling the Cou.;hy str6U '~; 10
the updated Kirdlhoff Slress ;lICrCmcnls
using equ'lion (1.4.9), we

is,

can IransfQJm lhe preceding equation from lhe unknown C, COOI'dill&lel

10 the~, eoordinale5 as follows;

(i,). Ie .. 1, 2)

(0. 12)

where ilXJi!i, r.pesent tile dcf()rmllioa pienl$. ullin, 'x, 'z,

'''' 'y,.oo 'x, .. Jr, 'x, y, lhe eq\l.l.ions implied by (4.7.12) can be
uplicilly wriuc" IS follows:

"',

Z
.;I2 '

S )'

Z
.;I1 :

"

S)'0

'(4.7.13)

wMle ;. should be _ d 1l1li is,, .. is....

From equations (1 .2.1KI .2.J) and u.sing uMbridge<! noutlOll for
the displlttlMnlS. i.e., ~ , . ~ .. and w
, w,. we tan rclate the C, >ordinates o r generic poinr to the C, coordi .... tes u

., ., ..,

'"

(4.7.1 S)
(4.7.16)

s-d on the BernoulliEuler bypotbc:sis of plane KClions,lM displace

p}Cnl5 ~, and N, of I gCMric poiOI It $eClion ~ of. l\...o-dilmnsional
beam can be related to those of the centroid I. the same S1ion by
(42.19) and (4.2.20). Substituting tbue upn$$ions for N, 100 N, into
cQI'atlons (4.1. 15) and (4.7.16) yields

'.r ..

Jl 1/ - " , '

'y y.v

(47.17)
(4.7. 18)

when: II aDd "should be rOJIIized as dispiKelmnlS of the ecolOoic!.

At I resuh, lhe <k:fonnarion gnodienlS an be Cllculaled,

.'..

.'.

(4.7.19)

.,'

(4.7.20)

E2 --'

(4.7.21)

E2

(4.7.22)

iJy

iJy

~hcn: tile primes denote differentiation wilh respect to z and the term
II ' -,....' has been dropped as it is very small compired with unity .
Substitutilll !be prcding upressioas for !hi: ddoona.ion gradients
illlo equaliorl$ (4.7. \3) IDd (4.1.14) yields

(4.7.23)

'01
iJ , "s
a;'-"
I ....

':,)
,s ~.. , !S., :S") 0

(4.7.24)

On thoe other haDd, !be cqlUlIOIIs of equilibrium for the

ICMr1c point

", -'---"
", - 0

(4.7.25)

", ",
'-'"

(4.7.26)

"

"

--A

" "

_u

where

AllIe

of the beam II C, caa hoe Wl'illCn IS

-0

"M and 't.. dellOlc!be CallChy S1tuses actio, on !be poinlll C,.

HOlm, lllal the 10lI.I

stRs$eI

.run, 011 !be poiD! .. C, can be decoIIt-

!s 't ,S.

(4.7.27)

'sI . . . ' t.,

,$"1

(4.1.28)

lS 't

(4.7.29)

" '"

''''''

and ut.ina the prwediDg equations of eqIIilibrium, " '01 obWn from
equations (0'.7.23) and (0.24) the followina:

(4.7.JO)

,,'s-o

(4.1.31)

. ,,'$ .s - o
~

,,'S $
~

... hue I prime deOOle! diITcn:nlialion wilh respc:CI to tM coordinate

followinll .nd !he lefl subscripl fOf tile II.eu componcnl$ have been
dropped for darity. namely, We hive Sy
and 5., ,5., from here
on. In arriving
equations (4.7.30) .nd (4.7.3 1), both the strCSS

I'

.s..

'"

cotnpOO('nl Sn and 1M 1Crr.ns ront.aiaing prodUCll of ~. I.Ild SI,,..

..,crtlMnlS ha'" bun ommed, &5 they .~ very $mIn for two~,,,,,nsjopal beams. Runanging Illation <4,7.)1) yields
(4.7.32)
",bieh

(2Il

be substilUted b,ack into equation (4.7.30) 10 obtain

(4.1.33)

SU'a' (he (:ldor (I .. v'~ remains uncqUllJ 10 uro in any cllcumslance,

!he follo .... ing .datioo am then be asttrtain!:

-S

(4.7.34)

This is uactly the> eqIIltiol! for .. !aliBIIIIe war 51ras ;natmeaI5.,

10 tbe normal suus ;lICff;mtlll S_ b.ascd 011 the WIIdilioM of e<jllilibnum.

On !be OIber hand, the (KirdlboO) normal 511e51 illlnmcol Sy hu

bun nprCSS! in terms or the: CJoS$$C<;Iion.1 displaccmcnlJl (~ . v) in
(4.7.10). Subslilulinglhi, upression (Of S" into the preding equIlion
yield$

"'bert the first ...... Kcond terms 00 the rightbaod sidr. c:an be luribullid 10 lhco linear and nonlintl. dfects, lesp1ivdy, of ddonnation of
tl!c bum. [1 should be IIIC'nlionnlllw in reaching c(!\I,lion (4.7.35)
IIOrne vuy high order ImnS hIve !:>etn ncgk:Clt(!. By taking imo
KWunl the boundary OOIlditions for the: two-dimensional be.m:

- 0

.-

,- ,

....""le Ir Ik~CI the 1Ici&ht of ,be bum, 1M t.IIcar snell S.,

oblail'lCd by imcgn,in, (4 .7.JS) wi,II IC$peC'l 10 COOldinl'c y,

(4.7.~)

<;all

be

E(" _ .'t . E(l" . ~L '\I"

.,. 2 4' 2 4'

(4.7.31)

By d:omposing !be sIIur SU'CSS illln.... nc S .. inlo the linear I.Dd

IlOQlinelf c:omponenla.

s., - S~ s;

(4.7 ,3.8)

and by comp.n ison wi.h equation (4.7.37), 1M follQwing nprcss;OlQ;

" n ~ obtained fOlr lhe two components of $bta. $trw;

!(" _~l..
"r \I

(0.)9)

!["
_
1'1.,1'''
2 4'

(0.40)

S'
.,
2

'"

s'

The ,,",ceding uprusions rOf !be shear UIcU oomponrnlS ~ ctwx;.

_triad by the faet WI \My have been derived from the coodiliom of
equilibrium. rather than from the COIlSIilUlive bws.

4.1.3

InrivI .lon 0' ,,1r1 PII " 'on. terms

Realitinglhl. distinction mllSl be: malk bet ..."n the axial and waring
deformation of !he Berno\lUi-EuIc, Mam as fill' as the ODnstilUti~ /.Iw
is c:oooune(l, we are reldy 11'1 Connul.l. eacb of the _erms ..onl*iDed io
the ina.meatal virtual work equation (4.1..4). Firs! of all, by the
rdalion$ ,iven in (4.1.5) {Of tile normal SIft$$ 5... in (4.7.2) (Of tile
normal straiq ' ... and in (4.7.38) for 1M. shear weu 5.,. cqultioa
(4.l .a) can be njlllDCkd 115 follows:

,OJ
(4.7.41)
III I~ follOWing, effOlU wit! be conceotrated on 1M <lcrivalion of cad!

r!lle terms in Ihi5 equatloo.

Lt:l u5 stan wilh tile terms containing the shelf streu oomponenll
and 5".,.. AOrding 10 equalioo (4.7.7), llM: vinUIJ strain 6c.,. re';'ilU equal 10 uro. It o:lJI be I$CCrtaiDed 11111 tile following two
Q

.r.

iIllcgralS vanish:
(4.1.42)

(4.1.43)
!'Jut, by the expression for lhe strain component 'lq in equalion (4.7.9)
and tOOse for the suess cornponcnu S.,. and S"q in (4.7.39) and (4.7.40),
~ Is possibk 10 <:my 0\It tbe following operationl :

(4.7.44)

(4.7.45)
where .... dcllOle5 the crost-sealooal area of the belm.
TIle remaini ... (erma in C<:I"'lion (4.7.41) can be (onmll.tcd
~oI lowi", \he proudurc pn:scntod in Section 4.2 for deriving the
rllCrctneob] virtual WOlk eqllalion (4.2.32) baKd on the linuriud
Ibeory of pI_ frames.. [0 sumnwy, we can derive: the following

resu lts:

194

(.0.46)

S~co~d

'~r"' :

(4.H7)

TAird It'''' :

Iv (Ee.. 6'1... 2S~ 6'1.JdY

. t 10L

[EAII 16(11

il.v~ (A.Il ~~6(VI.<l) ju. 101 1,..,1/6(11 V')df

(L C- I,,"')6(- I/' ...

J.

'JcU

(4.1.48)

'J.L E1~ "N /6(. '.. "')dr J.t( - EI" .... ~6( -U I.. ')dr

'

(4.7.49)

, J.L'M &(II'vI')dr

(4.7.50)

In reach,,,,

c~tion

(4.7.49). some "trt_ly

h~

order tmnl have

been nc,,",cd, AI ihit point, it should be noted lhat 1M fora: p.1lamcleD 'fIPCuin& in equations (4.7.48) through (4.7.so). i.t 1M terms
multiplied by the virtual d~acemcnts 6(u" + ..''). 6("-'), (j{II'''").

and ol(-"V), have I one!O-Onc COI'respolllitnoe, as nln be seen from

Table 4.1. Such. fcuille ....'iIl be vtry IlSef.. 1 to tile okrivllion of U...
big/ler order &liffneu matrices 1&,] and [I,) to be pruenlcd late' on.

nbk 4. 1

iI.

T~rm4<H.fIII

rortt5pondcn

(4.7.48)

(4.7.49)

(4 .7.50)

EA, '

~(I/"+v'')

'F,

EI,v-

EI,"',,'

.",

-I,....

-1,"-'"

'F

Assume that only COlIntnttd loads If. a1lowtd II .he two cno.1<i
and B of the dCrlM:Rt. lbc: external .. mUlll WOI'It terms ' R and 'R on

';&h'-hand ,ide of the 'nael'mn!al vinual work equation (4.1.4) nil

be COmputed as tbr. product of the vinull displlc:cmcnlS and the nodal
f()rcu ac1ing on ,he clement al C, and C .. respectivel y, 15 those given
In (4.2.11) and (4.2. 14). (ha( i$,

11K

\9'
(4.7.51)

(4.7.52)

ell

where the displlOl:lMnt vtclOr {II) and the (Ofte vector

(1)1 !he
plalllll frame element have been defined In (4 .2.12) and (4.2.L3), relpedively. The fQrC'e _
{'j} (lD be defmtd by IwitdtinllU the
lupersaipts in (4.2.13) from "2" to "'",

4.7.4

}';n ltt cLement form ula Uon

In the finite clement formulation, the same interpolation functions ..

Ihose puKllItd ill (4.4.1) aJId (4.4.2) wiU be uw.I for Ihe uial and
IransvCrK displacements (1/, ~). Also, the resultant forot$ ('F" 'F,. 'M J
IoCtia& It each cross section of Ihe bum Q/l be lelaled 10 the forces
kti", /)fI the two .Deb of Ihe bum based 011 the AIM conditions of
cquHlbfium in (4.4.1}-(4,4.9). Following the proo;edUIC outlined in
Sectioa 4.4, after II:nphy manipulatloal _ CUI obtain the followi",
matriJ products for each of Ihe terms in equation (4.7.4), whidJ !lave
already been upresKd in terms of !be eross-seaional displ:ta:l1M:nlJ
(II, v) aDd initial fora: JWUIItlcrs ('F" 'F,. 'MJ in cqualioDl
(4.7.46K4.7..50):
lSI IUm ~ lh )Trk.J(1I1

(4.7.53)

WI.",. lliIlITls,lIl1)

(4.754)

ltd Urm 161/1r~JlIII

(O.!iS)

4'.... ,.."'" [bl'l,tJllI)

(4,1.56)

16N1'lk,Jtlfl

(0.57)

SdilmtI

'91
in (2.2.S1). ItId the geometric stiffness ..... uix [t,l il idcnliaollO the
one gi"~n in (..... 17) for the gcno:rallbeory. In a)nl1ast, the stiffnus

matrica Is,l. [s,l, and Is,l rcpresem !he lIig/lcr or<kr effo:m of deformllion of the beam which ~ve becn iDtrodud through the indusion
of lhe nonline~r romponan of the uial linin l .. in tile material law
(4.7.5). By JIIb$tilUling Ibe upressions (4.7.S 1)-(4.7.57) into eq1IIlion
(4.7.41), and by laking the arbitrary lU!ure of tile ~inu.J displ..amcnlS
($u). We can deriye the inqcmcnlal equation of equilibrium {Of lhe
planlr frame ekmcnt Ihal takes inlo account the highu ordc:r effects of
deformation :

in whidl.U terms "'ve been u(erred 10 the ues of the beam II the C,

oonflgurllion.
Bef~ we proettd with the derivation of the hig:b(r orde, stiff.
lIdS malrices, it $bOu1d be noted tbai an illm:mental.iteratrvc llOIIlinear
anaIyiUs COfItalns basically IWO major phasa. 1M iiI'$! (pmlictor)
phase involves SOlution of the $IJUI;Iural displaoemenl inert_nlS from
lhe Slruc;tUfC incnmeolal eq1IIlions of equilibrium. The $eWnd (rome.
10\') phase, on the OIlier hand., is I;(IIImed with \he reawery or the
.km.nt fOfOCl from the clemenl displacement Incrementa obtaintd in
the fil'$l phase. II ILu bn demonstrated in Section 3.6.nd elsewbere
(leu and Vanll 1990; Vanll IJI<I leu 1991) th.t the lCCU~y of a
nonlinen solution depends primarily on lbe qullity of tbe corrector,
wherc:u the predictor an at beS1 a!Tea tbe numlxr of iter1ltions requirc:d It each illCl'emental step. Preferably, we may choose to employ
an inaemenlll equation wilb I lower de&TU of nonlinearity for the
pw;Iiclor and IIlIIIlIer one with a hiJber de&TU of _linearity for the
COrreetor, for the ute of effJdency.
With these eOQsidmtiorls in mind, It is obvious that the bigher
order stifflle$S matrices ([s,l, Isll, Is.)) an be omitted from the predic_
tor phase, but need only be in<;11Idcd In the COllector phase. In !be.
calculalion of element forca (i.e., in !be. COIleelor pIwe). it is DOl
DCaUlr)' to uprea III the bigber order stiffness matrices ([s,), Is.),
[s,/) in matri". form, ~dally for the ease .... bc:re it wUl be easier to
establish directly Ibe force-displacement relation! reprexn1cd by a
malrix thin to est.blish tile m3trUc i!Sel f. This is uaaly the ease with
tbe [s,l mllrix . lei Y.J denote 1M force romponenlJ genel1lted by tM
[s,) matrix,

".
e..dI of ~ f~ COInpollll'nli in V.} can m uprtsKd in 1erms of !be
dl$plKcmcnt rompollll'nts as fol",..,:

, ..

'.!ve L -

21 (3.., - ILL:
~
- --'
L'
"
(4.7.60)

(4.1.61)

'" (,-,]

- ' -'--" (6v .48 L - 6.., ",')

Ll

"

(4.1.62)

"

(4.7.63)

(4.1.64)

(4.7.65)

Witb rcp,d 10 tl\(l (onnuJal;on of the I.'] and [s.1 m.trices, we

first note thaI IIIeYlrc ",..."'ted from equations (4.7.48).00 (4.1.49),

199

which are idenlical ;n form 10 llie !IOUrC1: ""ualion of the [t,l ma1ti~ ;n
(4.1.50). Furthermore. il c.n be seen \hl1lhe force pa"'",cleTS appearinl in (4.7.48), i.c., ,h ', El ,"- and - EI,"- nd those in (4.7.49), i.e..,
EA(II" ... >,'>y2, 1.,,",,' and -EI.,,-.' (soe Table 4.1 fOf the ODe-COone comspondence). arc vinually those ~nt"'led by the [k,land il,)
",,!rices. U <;all be: ~rifoed by the .pp1icalioo of tile vari.lionaJ pro.
dun 10 the source cquallom oflhe [t.1 and [s, 1mluices in (4.1.46) and
(4.7.41) 10 obIain the nllural boundary COndilioM, pr(WidI some
(lltCmety higb order effC(lS have bn lleglcded.
I...d (Ii) denote ,he force c:omponcn!5 generated by lhe [t,1 maui. :

",lieu cadi of the fora; comporoenlS

<;all

be given. follows:

-,

.. - U ...!.........!

(4.7.67)

L
(4.7.68)

(4.7.69)

(4.1.10)
(4.7.71)

(4.7.72)

Th. [s,1malfiJ can tllen be obtainC<lu, ""lrix idtnlicalln form 10 llIe

[l,l maui., bill ",ilb 1be fora: panmclcrs ('F... 'M... 'M,.) of the [l,l
mluix in equation (4.4.17) replattd by the linear {om: c;omponenlS
(F_ 1>1_ M.J. SimlLatly, IlIe ''',I matrix can be obIained by replacin&
'he force panrml(rs ('F... 'M.. , 'M.) of,he [.t,1 mall;,r by,he nonlinear

200
force components (F_, M_M.,J.
Alibis posilion.;1 should be noted !hal virt\l.llUy no rutriction "been ptaced on lhc type of moIions tllrOllcJlout the derivation of lilt
incremental 51iffness equation (4.7.58) fO\' tbe planar frame dement. AI

'C$\Ih, llIili tq\l.lllioo sboIIld be able 10 cope with any type of InOtioeo
for two-dimensional beam .I.menll under 1M. action of Jfl of &tlr.
equilibrJ,ting IIOdaJ fon:es. Thil shouLd include, in paniculat, ~
of the rigid body type 10 be dikussed in 1M following section.

4.8

Rigid body test ror higher order element

Acco1ding 10 !he rlaid body "'k, wben an clement initially equilibrued

by ICI ..,r nodal f(l<CU al C, is sUbjected 10. riJid body lI1OIion, till:
inltllJ for<:es Kling on the elemenl must rotlte Of tn.nslltc wilb the_
tioa, wbile lhclr maJIIitudts ~main undlangfll. The ~I result Is
lhc preservation of equilibrium of lhc tkml:nt in !he displ'ffll poII_
(i.e., II C,). A nonlinear element is pid to pHI the rigid body lest if
tIM: associ.:Iled Incrementa] stiffness equalion an fulfil such. requiremenlo In Section 4.s, it Iw been demollilnled !hat tile ial:mrw:nIIl
$Iiffness eqlUlioa of lhc p/.lnaI' fTlfM clnnent in \be lincariled fom,
",jib !he (k.! Plilrit of (4.4.11) rOf the ,""m] thoory of (U.19) for
Ih. limplifled Iheory, can pI5IIlhe risid body test. In 1he following. ....
!hIll e:lflmi~ if tile higher order nonlinear clement equation derived m
1M prcading Stion can ptiI the: rigid body lest. This IUVa IS the
minimum crilerioa for checkina the capability of the derived d"meat
bd<n il can be< eonridcntly II$Cd in Fneralipplicatiom.
Fisure 4.7(1) $bows an element in equilibrium.1 C, with. sct of
init;"l nodal forcel {'no lbst<Ion the eondilions of equilibrium. whic.h
are the conditions thai mIlS! be salisfted by I fU!i1e element before il is
sub}tod 10 any rigid body motion, we may WTi1e

'M 'M

'M

'F

whld! is identical 10 the one siven in (4.S.2). Now. suppose the ell;menl it 5Ubjccled '0' rigid body mulion e~ wbkh may be represented
by !be di..,. ..... ment vector (M}~

2"
!ul~ 10

0 0,

-41 -160,)

hinO, 0,1

(4.8.2)

,ha,

TbC rigid body law requires

1M ruultillJ (orca I'/} acting on the
ckmcnl in the IOllned position (i.r., 11 the C, ronfigurJlioo) be equal
in lII'grlilllde \0 !he initilll forcq I'/}. bul diKC1W lloog 1M fOUlW
axes of the bum [s Figure 4.7(d),

l~fI' . {-'F..~, . IF".sinO, '

'101 '101
L

'F cosO
..'

'"",

"

'M

'M.. ' M-C05ll

'Foin6
.".-' , L
,'

.'101"sinO

..
L

"
(4.8.3)

'M..

In \he following. we may tonduo;t the rigid body Ies! by SUMliluling

I"), for ( .. ) in lhe ckmca .f,iffllCS$ equation, llong with !he fOftt
vecton
and
of (4.8.1) 100 (4,8.3). 10 see how wen this.q ......
lion is Nlif,r,.,d in !he ase of rip! body rowions.. The degree 10
which dIe equation i. satisr.cd is indical;~e of the element's capilbili,)'

en

I'n

10 ICCGmmoo;blc rigid body motions..

1.,

For the present P"l"fJO$I's,

uS
cqullioo (4 ,7.!l8)u follows;

~irfllCS$

([t,1 It,l (.t,l

I~I

~wrile

the illC'Jemcnlal .kmenl

(I,DI'" 111

[~

(4.8.4)

According'o S:Iion 4.5, it is us)' 10 vcrify thaI fUI smlil ligid body
fOilIlioos 9" rile flJl"""';nl ~qu~rion will be valid:

[t.II111, I'll
"'he,e

[t,l is

ITI

(U.s)

tile ooc liven in (4.4 .17). Sublrxring ~qualion (4.8.5)

from equ~tion (4.8.4) Ind ~pbc:;nl I"} by lu}. yields tM condition

iIIat musr be sarisrK4 by the finite elcmenl:

(4.8.6)

...",,", (0) is. nro veClor. FW1ber. since 1M 10= panunelclS in 1M

nonlinel. $liffncu ntlUKes 11:)lnd 11. 1 an: chose Icneraced by 1M. li.1
and 11,1 mluiccs, rupedivdy, 1he prcttdinl equation will be Sllisfled
on 1M condilion Ihal 1M. follow;nl equalion is ulisrled:

V' I

(4.8.7)

(Ii) [s,1lI1I1, [0]

Hcre, 1M. o;orDpont'"IS of 1M fOKe VWOl' V', an be denoted as

r M',

F'

(4.8.8)

Subseitu1in, (4.8.2) for (.. ,. ;n equation (4.8.7), Ind upanding tile

trigonometric funClion. sine, and cos6, in clle Tlylot 5!:riet., we can
obla~n tile follow;n,:

"-

F:" 4:'. F;' .

4;' and

(4.8.9)

.-

(4.8.10)

(4.8.11)

tnd

M:". M:'. M long ..

the atlglc of

riaid body fOIa1ion e, is .....11. Sly, Ic$S thin 10 degrees, 1M preceding

force components willlCTnlin IICJligibly SlNIl Ind ~.cion (4.8.7) Qn
be o;onsidcred satisrled. This has the indication th.tthe derived bigher
orde. clement can fWS the rigid body test, II IUSI for lhe case of small
rigid rot.lions. llIerdo,e. wilen the element is used In the recovery of
clemenl forces in In ;..aecnc.ntal nonlina., analy"s. ;1 un be assured
lhal 110 flClilious fon:u will be indoced, if lhe nlcmallolds lui.... been
applied in web I manne, thai 1M ,oution incremenIS JCIICf1Ued within
eac:h inc:remenul $lop are

~ically

SlNll.

203

4.9

Bowing, rolation, and other derormation effecls

The ui.1 ddormalion of beam Q\tKd by the Mndinl .aion is

usually .cf(rmlIO as the bowin& dft. Uni", 8, &Dd e . de~( IIIe
nltln! rotalion~ of !he beam at the lWO (nels (Figure 4.8), lhe uial
de(Qrmillion due 10 lhe bowing orlhe bum (U he upressed as follows
(knnillJS 1968):

(4.9.1)

For 5I111n ansks of .ot.aliOll,

.-.

8 - 6 --'--'
L

(4.9.2)
(4.9.3)

ConJequenlly, tile Dial deformation clue 10 lhe bowing effect can be

repl'escnled II

(4.9.4)

hI the following. it wiU be clernonstBled thai the hip. order dtmenl

derived Ia Section 4.7 bas Ole aopabilil)' 10 deal wilb tIH: bowing effect
IIId ocbcr cfflS of defomwion.
"'1I1t, we ....y deoompose 1M uial defonnation 6 of. beam i010
IWO components as

(4.9.5)
in .... hlch Ihe linear compooem 0 , ill

206
(49.18)
Addinl up the liM. lnd nonlinear .ffccu yields Iho: IOUJ clonp' ion
of 1M bum:
(4.9. 19)
which to our ilUtptiK i5 much smaller lhan ellher Ihe liMat or

I~

rwnljnca. compontn .
As was dernQn$lllllcd above, lhe higher onkr Sliffness matrices
(I~ll.

I''),

[',I) can adequately acrounl for 1M. nonlinear crr.CIS of

!klann_lion for the two-dimensional beam. Such I capability enables

u.s looompu1c the element for ~m.nlS Ul I. fkh il>(rcmcntal step
o f I DOnllMar analysis diroctly as the produa of 11M: demenl stiffness
rna.rilI [kllJ! displaoemenl intteIMOI v:tor I.. },
(4.9.20)

or usi", formulas equivalent 10 Ihis product. In Ihc pm:cdinll equation,

lhe m.tri~ 1*1 should be interpreted as !he ilUm of IU the clemenl
atiffness matrices [l.l, [.t,I. II,). ]1,] and 1'.1. II should be noted thai in

oonvcnlionallnalysu usmatlc_nlS thai have no higher onk r stiffness

matricu, 1M. element displacement illCll'menlS (It) shou Ld rU$1 be
oonvcr1ed into Ihe member (nalUno.l) deformations before the clement
fora increments U} can be computed. as wu dcS(fibe(i in SecliQrl 4.6.
Such . prOCC(hlle is IlOI IfqIlired jf Ibt higher Ofder stiffl\e$S matritU

hJvc bn used.

4.10

Numt.ri<:a l examplt.S

The two-dimensional franx element derived in thil chaplU will be nilmericaUy ~llulted lhfougli the analysis of sevCTlII clurie IIOnliJlur
frames. The ruullS obuined bm= will be <:ompaml with IIOlutions
Ivailable el$llwhe.e. "The generalized disp1a~mcnl tOnlrQI method
proposed by Yan& and Shieh ( 1990), which is to be described in Oapte. 8 with the algorithm givfn in Stion 8.11, has been adopted as the
metbod for tracing the nonlinear IOld-{iefle<:tion curves of each

207
problem. This omtllod Iw the advantage thlt it is 8.ncnlly stable for
.... ilh problems involving various instability phenomena su~h 8S
SIIJp-lhrougb .nd ",ap-~. Wilh regard 10 the convergence criteria,
dc~lin8

iteration fOf l:quilibrillIQ of the JllVtlvn: at eiloCh incremental slep is

ptrformed whenever the norm of the unbal~ forces or the norm of
the displamcnt incnmcnlS wilbin each iterative Step is Iltgc. than
prescllolerann: of 1<r'. Througlloollhe numeri<;ll l uamplu to;> be 1""tented in the following. ;1 ""IS found thai at mo6I, IIII' <=ydc:s of
iteration are required al nch incremental Step, indiQuing llIal lhe
method .dopIed ben: isg.nerally efficient rom~ed with other solution
50;1",,"",

All the eumplc:s 10 be pruented in Ihis $KIion have been sol~d

using the planar frame damnl dtrived in Stion 4.4 bIKd on lhe
,enenl theory, of which the It,] ma1rlx has been given In (4 .4.17).
.Iong willi lhe l\.lliwal dcfonnalion.pproKlI of Section 4.6 for _ . , .
inl the elemcnt form. It should be noted, however, 1h.l Ihe same
cnmplcs can be solved with rompanblc <.kg" of iIoIXUrKy usinalhc
higher order clement dcrivtd in Section " .7 alOllg with equation
(...9.20) for calculating the ciement forces ( Vang and Leu 1991).

4.1 0.1

\VUllam ',

t~

The. followina pcoperlif:s ","ve been _!Ded for each member 01 !he
frame .hovo'D in F1&UU ". I~.): E .. 10.3 " 10' psi (71.0 " 10' kPa),
" .. 0.183 in.1 (1.181 an '), I,,, 9.00" 10~ (O.037.S an'). In analysis.
each member of !he frame is rtpccscnltd by len frame elements. As
can be ~II from FiguJe 4.1O(b). the SOIUlion obtained prCSClltly is in
close _",IMIIt with !he analytical solution given by WiIl ;,ms ( 1964).

4.10.2

Alrla lly-c:om pl'essed

ca nl ile~fr

The. buekUna of all ulally-<:ompn'ssc:d cantilever is of interest in that

II involves very wge roti lions ]F1gure 4.11(1)]. To avoid numerical
diffICUlties auocialed with the bifurcation poim, an imperfCClion of the
moment type has been introduced I[ !he frte end ofllle cantilevtl. 1bc
cantilever was modded by 'ell elemtnll ;n [be finilC element analysis.
The numerical re5U1I given in Figure 4.11 (b) compares very well with
Ihl[ based on SombweU (I!MI).

..._____-'1'----___..1
T
,.,

--.

.. ... ',."on'

-,.

,.
"

..

....

~..

C.n .....1 O.U..,., ..... (1ft)

FI&. .~ U.

W"~liml..

'0'

1Ogk: (a) 0e0mI:1lTo (b) to-d-def\ec:liol

.-- T

QOLPL

f
1
,.,

...

OJ>

lot.,g' np DI.pIac ..... nt fill

'0'

Fi,..., U 1 Asiall, compraocd caDtileYer. (a) Geometry;

(b) I..oockIolk<lion CIII'VU.

(UIVCI.

209
4.10.3

CantlMour IID<kr . bnr load

This uample KIVU as I aood bcndllnark fOf rutinl the Qlpabiliry or

the derived element to solve problem, tilat are primarily of the :!bear
type. In the analys is. the earuilevcr ~own in Figure 4 .12(.) has ~n
divided into twenty elemelltL Figure 4.12(b) indicateslh.tgood .greemcnt hIS been obtained between the present solution and Mauiuson's
( 1981) solution.

Pj

- "U

L- 'i.
(. )

. , --------,------,-,
-

woUlnu....

P, ... nt

0 ,0

O.J

0.'

C.n..oliud Olsp lonm.nl U/ l W/ l

(,)
....... 4. 11

Caacilr.... r _ . obeat _ : (.) Gcamcuy:

(b) l..oad-donCCCioD cwvu.

0 .1

'"

u o."

Pinnednnd squa" diamond (n1M

A pimlfd-fixcd IiqIWC d.i.lmond f!'IIM is ~ eilhc:. in ~cm.ion or in

compression .... shown In FiJurts 4.13(1) and Fliurc 4.14{1}. Due to
rile symmetry condi,ions of ,be: hme, Qnly half of .be diamond f~
iI.~y>:cd. Each member orrlle fnme is represented by Itn c1cmcnlS.
1M load-deflcaion CII"'ts obtained for the frame under boIh loading
asu h.ove IIn ploued in Figures 4.13(b) and 4.14(b). along with
Mlniasson's ( 1981) .nalyrK:al SOlurions. It can be ,"en !hat good
IJreCrmnr has bn obI,iMd for both cases.

,.,
"-------"--,,
,):
I
- ..." , "
~. .... .

.........

~,

,
~

r .....

4. 1)

. ",

-/'

.. :

.' /

~-

'"

f'iAaoed.fu.d ...... di.nqwt frame ia Ie........: (a) Got..",,"),

(b) Lc.ckIeIlcaian cwva.

'"
,
~I

,.,

",-,--,--------.,
- - ... "IG .... ~

~'

..... ....... n!

!'

,,! .

,, .

OA

...

...

...

..

G.n.,,,II..d OIlplanm.n! U/l W/l

I.'

(. )
fl ....

4.10..5

U~

Pinoed./iud 5qIIIf1: dillll()Old frame ill allDpreuioII:

(I) 0e0In0\f)'; (b) t.o.dlIcioa. ___

Rillid-jointed squ," rralM

As. filllJ uampi~, I sqUilC fnm~ loaded al the midpoint of. pair of
oppoaitc ~ is &n.llyzcd. This I'mnc is wbjcctW 10 tensile f<m'C in
F:icun: 4.15{.) and 10' l;OIIIpn:ssivc f<m'C in F"IIIU 4.16{.). Only IIalf
Qr Ill\! 5ymmClri~ fnome is ldopted in IlfLIlysi.., wilh uch member
divided inlO four eJcmeDl1 from Fi&Dres 4.1S(b) ,nd 4.16(b). it can be
obs.erved !hat for bod! ioadi"ll cuu, the """,lions OOI.iMd bere agree
closely wilh those given by Malliuson (1981).

'"

"I

WI

"

lL--,--.J

"I,.J
' ~-----,------,""",

- - .. . mO Oft

..... "'-"ft'

r.',
Do

..,

J'

Cene,oliud Displacemen t U L W/l

..

"J
rlt ... 4. 15 RiJid-joinWl squan: ~ I:a _ _ (.) a-.eu,:
(b) r..o.d-dt~

turVQ.

From !hi: n~rieal Sllldic:s pn:xnlro in tllis sedion, it is 00IIIirlMd 1hI1 Ihe ltiffDeSl matrias derived ill Stion 4.4 based on !be
genc~ theory. I.e., witb the JOOOICtric iliffllCll mauiJI [t,1 of (4.4.1 1).
alon,,,,,it/1 11!c n'lu~ ckformation tedlnique for tlement forces gkublion, can be III'X'eIS(uUy employed in the nonlinear lIIalYlis of p.anar

frames involving large defonnllion$. In \his eh'pler, I varieEY of

clemen" and procuIuru hive been proposed for the nonlineu analysis
of pllllir (nmel, for inslance, the higher order .1.lnC.n! .... llIe
lineariud clemenl, \be nlcmal sti ffl\C:SS approach vs. the nllunl

'.I~

N--ntoJ~

"I

' 1

-1~----, "
"I

'0'

' ~----"----r-

- .... ""
,,~

- Pro ..,,'

~ .. ~------,.".
,--------..,o,--------.!",
Cenerollzed 01,plot,m,,, t U/L W/L

'"
clcformltioq approac:b, and the IC'/lCral theory YS. tbe limplirled theory.
otn.iOIiJIy. all kinds of c:ombinations arc possible. At this point, We
like 10 mention that !be elIurnal Sl.iffDe$S .pprOlCh for ekment forces
Qlcul.tioq has been clcmonstr1.1Cd to be performed quite well in solving
the J.ame problems 1$ .bose presented in this seClion (Vang tl ,,/. 1992).
The use of higher order stiffness matrices in the IcIVery of dement
forces hu Ilso been inve$ligated by Vlng.nd leu ( 199]) In the analysis of pllnu frames ",ith good results obt.ined.

Chapter 5

Fundamentals of Nonlinear
Theory of Space Frames

5.1

Inlroducllon

Previous rcsrudl 00 1M buckli", of ItJucl1,InJ framQ !ISing anaIytiaI

approM:beI tw beta direaed in Il'ncraJ toward the lonional.Rexunl
buckling of single members and IIIe in.plane bu~kling of pllnll fl'Ula
(TImosllcoko lJId Ocre 1%1; Vluov 1961; Chljel l974; Simitses 1976;
Olen and Lui 1987). As an be teen from the litcnturc, vny few
anaIytio;al studiellllve been 0CMIIIucwI on !he OUI~'pbM buckhlll of
planu fnmes 01' 0fI the buckling of space framu. Thill 1$ In pm d\I(
10 lhc mathemalical difficulties thaI may be involved in I~C solUlion of
tbc assoc:ialrd boundary-value probk:m, imagini", tlllt we Ill: {..:eel
with tIM: problem of salviaa luge $d of limullucou! diffmlllial
nru11ioas alon& ... ith luge Dumber of ronlinuil, conditions aDd
bcNndary condition$.. One silk cIT", of thit m.tJ>ema.tkal hindfance
hu been tile oversight of some fundamental aspects Ihal canlIOI be
dir\ly utended from the buckling analysis of sillj.lc _mbers Of
planar frames rtsUllined apiasI OUI-of-p1ane deformations.
II is InIC WI the matbcml1icaJ diff1CUltiel _nlem! in the
analytical "'lid), of space frames an be grully eased through the use
of numerical approathu, ",ell as the finite element method, along with
the .upport of modtm bigh.~rformaooe computers. How~r. in

",

m
adopti .. , any numerical mctbod, we. should be vuy c.rerul s,n it
offers l>OIhin, b.1I an approximate apprOIdI for upruoenlm,; 11K

underlyina: ~ differential ~ eoqtiBllilY c:onditions, IJld

boUJMbry conditions of the probkm ODDSidefed. Our question here is
..'hetbc. the numerical model, or the (mite CklllClll model. in particular,
an CODSblenlly uprodtitt !he behavior or the l!nICIurt u!ldc:r ronsidclllioo. If we arc able 10 describe I partkulu problem by finilC
element model, we. $bould be able 10 describe the UIM problem by an
tquivllcnl set of ,O>'cming differential equations. conlinui' y c:oodilions .
&ton: we apply iIOme ailenl, Illy, those
",.:senled in o,aplers 2 and 4, \0 leSt the legitimacy of I finite clcmCIIl
model, we should be able 10 Ipply the same mlt,i. 10 lest the
,ovcminl di(fucnli.l equations, continuily coodiliolll, . nd (Dl.tural)
bo\IDd.IIY conditions associated with the finite clemenL In Othc:. words.
we Ire sayina tIuot the ugumcnlS existinl .1 the clement formul.tion
level. if tbue au any, sbould be; seu\ed (USl at tbe fundamental
mechania cqIIItions level. IIId thaI 0IlI1 wilen we can be S\U'e of tbe
COfI$islcncy of 11M: IUldc:rtym,; PICdwIict equation. odopIed, can it be
_in&ful 10 talk about tbe legilimacy of the lIumerieloJ modd 10 be
115111 an Ipproximlte substil\llC.
BIsed on the oonsideration IhIt the f",ik ekmcnt method is
lIOtbina but I numerical substitute of tile fu!ldament.J mechanics
equations, there exists an urgent need 10 rondllCl an Inalyr ical study fo r
naln benehmark problems using the most flllldloment.J me<:hanics
equltions. It is expected that the proocduru and equltioM adopled in
web I 'lI>o.Iy can be directly trlJlSlated into the finite e lement proee_
dura, thereby providing ecrtain clues for clarifying tile arnbiguitie5
existina in the fanile ekmcnt simulation. Moreover, the SOlutions
obta.illtd arudyricaJ.ly CUI lie used II the basil for ClJibratina various
IUmcri<:al SOlutions. As part of this effort, I Km of anllyrical studies
llave ball COtIWaod by tbt writers (19911, 1991b) on the budrJina of
~ sirnpk planar frames IhIt ~ allowed 10 budrk boteraUl" or OUt
or plsne of the {moe.
The IJIlteri&l$ 10 be presented ill this cllapur follow basically the:
Aloe lines II tbo.e presented by the wten and co-worktrs in I
of 1cc:hnical pa~rs. However, tiley should not be regarded
y IS I r~tit ion of tb.osc previous works.. f or ilLSWlCe, efforts
I vc. ~en undertaken in lbis chapler 10 de, ive from the theory of
t ~lCnr the italic Ind kinematic: 1l'lllionl, Ind the equatioos of
~Ulllb"um for Closs-.sectiona.! forces, lhlt an: 10 be ldopctd in the
ormUlalion of the btM;kling theory for thru-dimen,ion.1 solid beams.

nd boun<llry condition"

""1ILbt.
::,tl

'"

With these rewio!ls and equalions,. number of nonlinear yinul] wad;

ferms lllal were pruiously leprded as of hip.
and clisc:arded
from 1M formulatioa bccIor.uc of ,lad! of appmnt physical InlcipfetJ._
lion$, an now be convened inlO rerms that ~ physically meaningful.

ordt.,

All ronscquence.1M ambiguity llSSOCilllcd with 1M virtual work fCrrtI$

COIII.lning tbe fOfsionll p&nmctcr II in previous publiea,ioru:, e.g .. Yang
and McGuire (l986a,b), un be resolved
One fcalllie IIIaI makes the buckling of Jpaot fn"," 01 1M
buckling of pWw ~ lIIu<;h ~ romplicalcd than that of aill&Je
_mbcB or pIanu frames consldHing only in.pIane deformalions hili
bccll the involvement of Ihrce-diJnc,nsional rotallOl\l.. 'The JUlie and
k~m.tic rcUolions prtSc:1IICd in Seaion S.2 and the equations of
e.quilibrium for croSNKtiolLll fCJrCc$ derived in Seaioo 53 ue !he:
prerequisite 10 file updattd Lagrangil.n formulation 10 be pr~nlcd Illcr
fOf the th.u-dimcnsio ...1fOlK! beam. In Sco;tion 5.4, we shall identi fy
the various torsional and bcooing moments a.ccordinll!O the way lbey
I.e ~nerltcd. Such. dusif.alion of momenl properties is necessary
to Ihc ~imcnsional tnalYIia., in wbicll dislincciod Iw to be made
bdwun the prtbIIctlina and buckliag c:anr"unlions of struct\u'aI
members.
The b"dding tbeory for ~ 1OIt.! bums ...iIl be
formulaled in Section SOS. Of panicular intaesl in this formulation lias
bn the Q)I1Sidention of the potential ..... gy usoei.ted with all sit
,ueu components.' 11 is becaUK of the inclwtion of aU such suess
oompGncnlS Ih~t. theory more oom~ct and phyaklUy more meaning
ful than convention.1 ones can be derived. Two forms of the buckling
tMory wiU be deriwd in Section SOS. One is cal1edtM f~~cr.1 dtcory.
in ... hid! Itlthe nonlinea. effeelS Clused by lite uill sboncni"ll oftIK
solid beam ITI: inc:IlIdcO i~ the deriViltion. The OIlier i$ called the
~;",p1i/ic4 tAco.,., ia wtaidt the nonlinear effects due 10 the uial
Ihoncning will be ncgkaed. By the rncthod of variation, the buckling
differential equations IDd bo"ndary cooditioas will be doerivecl for tbcsolid beam based 00 the IWO theories in Section S.6. For 1M purpose
of illuSU1Ition, we shin demonstrate in Sectioo S.7 thll the n.tu/1.1
b<MIndary cooditions derived for lbe three-<limensional belm based 01\
eilhe. theory ITI: qualified for de.ling with IU possible modes of rigid

Ia,.,.,

body I'OlItions.

-o:......

tioPlI1, ...,. dorw ....1"'"'""" or _

","'Ie ben ......,
ia !be fonaublioD <II !be bucklu., Ibcay for ~ouIoIlAIlOIid ~

J.J

s.. __ _

2"

All the mtdwlicsequations dc:riYed in Src1ion 5.6, .. hc1ber based

on .... general or simplirll tllco<y, Iuove bHn eonvenknlJy ~nled
in illCll'InC'ntal form.. In Src1ion 5.8, ..e shI.U slKrN that with this t~
of ~tioGs, a IWO-stage analysis can be conducted for the buctling of
strIICturC$, .. itb the rLJ$l Slage rdenin8 10 the ~boctlill& behavior and
t~ SKOnd stage the buckling beluovior of $lfU(lUn:s.
Using tIM:
fundamentll mlIanics equ.lliollll dc:rived in Section 5.6, analytltal
5OIuliollS will be $OUght in Sections 5.9 .nd 5.10 for the bllCkling lmds
of some simple planar fllllMS thai Ii: not restrkted IgaillSl Ihreedimensional rotalions. In this study, i, is wotth lI(Hing that 11M: forcedisplacel1\(nt relations for struCtuTliI membe,.., hive bun C$tlblislled
duly for the bucl:ling posilion . TIle eloKdform IIOlutiollS derived in
thue 1"0 sections serve IS the berx:hmiUl<s rot aJibflling t~ finite
e~menl procc<Iures 10 be pccxnled In OuIplu 6.

5.2 Sialic:s and kioematic:s

In dc:scribing the behavior of .lOIid beam undc:r the actioo of Ipplied
r;an be idc:nlir~.
One is alled the
!"ebuckling stage, in wbiclr the dc:formations of the beam are iU$IImcd
to be generally &mall and that the effects of change in geometry may
be ""glected. The OIher is rdened 10 IS tile buckling stage, Which is
ehlraele rlzed by the oa:urren<:e of large deformation! in directions J\OI
parallel to those of lhe pcebuckllna stage in response 10 small increase
in eXlernalloadings. In this scnion, the statk and tinemalic relalions
in connection .. itll cadi stage tluot Ii: n.tteIAry 10 the derivllion of the
butkling theory for liIrce-dilnC'nsionaJ solid beams will first be
prt$Cnted.

loads. ,wo typical sages

5.2. 1

P"buc:kling Ngc

In Ihis sub-section, ,,e dWl be intefCSted in the SUllie behavior of I

'OJrd beam in the prcbudcling stage, IS dlaractcrizcd by !he Ipplltalion
of u lemal loadings from ZCr(l II lhe C. confi&u,atlon to a rererence
10ld level smilier than tile <:rilol vllu~ I' the C, configuration. Since
the deformatiorur of the solid beam 111his ilage Ii: genellIlly small, Ihe
effects of cllange in ille gtomttly o f Ihe beam can be neglected. [I
~comes immalerial whether oonfigullIlion C. 01" C, is selected as the

"

defence, as is ty~ ia I linear lIIalYILJ. For \he PUI'pOK of

conducting the buckling In.lysis in laIc, Kctions. il " 'ill be IIIOrt
convenient to .elale .11 physical ~",,",Icrs 10 lhe C, conllgufIIllon. 1.1,
doinll 110, all Ihe , elations derived here can be readily applied in the
formulation of the bu<:kling Iheory for !lie thru..!imensionll bum Ln
Se<:lion 5.5.
As sho\o'n in Figure 5.1, "'" lh>.lIuK the ..-uis 10 dc~!he
tcnuoidaJ uis of 1l1li bum. and, and: 1he principal di.caions 01 !he
Cl'0$S KCtion. ~t II" ",. and II. de~c 1M. displattmenls of. ge~ric
point N at seclion 1; of the IOlid beam .Iongthe \hue dirc:Chons k,~.
Ind z. 'The $mins fOf tile gCM.ic point can be "'Tinen IS

.. . "...

,~

(n.l)

(S.2..2)

(S.2.3)
wMre I comma dcOOlei differentiation with ICspea 10 tile eoordillllC
following. n..: ocher QOmponc:nu: thlt IrC of liu le signirocance in lhe

liMa. IIl2oIY$is Ire

1 -f---[3->

"

_.,._-.

221

(S.2..4)

(S.2.S)

(5.26)

Based on

t~

BernoulliEuler bypocl>e5i$ of plane .w.ions remaining

plane .fter Ikform.lion. tbe displaalllt'nlS (II" "" IIJ of. g<:ncrie poinl
N ,I $lion If with a.>Oldinates ,,", :) on be ,daled to the displace-

menlS (1/, "...) of the centroid C of 11M: $a/IlC section as follows [sec
Figure 4.4 and .q~;ons (4.2.19) l!Id (4.2..20) for the lwo-dimclllional
ease]:
", 1/ -

YI" - tw '

(5 .2.7)
(5.2.8)

. ..... ,.

(5.2.9)

Sub$li1U!ing the preceding uprClioSions for the displacemenlS

1/"

",. and II, iOl0 equations (S.2.1)-{S.2.6) for the 51r1in CXlmpGnCOIS yields

Lbe followina:

(5.2.10)

(Ull)

(5.2.12)

(5.2.13)

222
As an be Ken, 1M 51111;'" It,.. It,. and ,". ..... Wa due 10 \be ~
lion of undis!oned CfO$S $oI:cliGns, lIS implied by (S.2.8) Ind (5.2.9)
Acc:ordin& 10 Hooke's I...... !lie strts$eS cu be ",bued 10 ~
5Ul.ins as follows:

(5.2.14)

(UI$)
(S.2.16)

where E and G denole 1M moduli of elasticity and liSidilY 'espeCl;ytq.

As I ~lt,

(S.2.11)

,~

-Gte'
'

(5.2 11)

(S.2.19)
Based (Id the c:onditiolls of equilibrium, we am intcJIlIte !lie ~
over the CfO$ll $l ion of !be beam 10 obtain lhc (ollowlng str5S
IUUltants: the uial force 'F.. ll'allSYersc shears 'F, and 'F.. bendi",
moments '1.1, and 'M" and IOfSioa 'N,:

.'

,~ dA

(5220)

'F, -f'fltA
. '

(5.2.21 )

'F, - !'tdA
.'

(5.2..22)

'F

223

(5.2.23)
'M

.'
.'" ""

'1

, ~f

'M ..

(5.2.24)

(5.2.2S)

c:ruu-section.al arc. of ,he beam.

SUMlituting tile cxpre$Sioo for I~ .. in (5.2.17) into (5.2.20),
(5.2.24), and (5.2.25), we can exPfeS' tile generalized $1re$SeS 'F" 'M"
and 'M, for I aoss sectioa of tilt. solid beam in terms of \be gcMm.
ized lin;", M', ~ and ... as
",bere A dcllOles

(5.2.Ul

(!I.2.27)

(5.2.28)

1M .. - I III"

'M .. Iv"

whe,e I,.nd I, npresenllhe moments of ioe"i bout they- and I-Un,

It$pIivcly, of tile cross section,

.
.

, of ,' ..

(5.2.29)

, of y'"

(5.2.30)

In Vrivin,.t (S.2.26K5.2.28), tbe following orthogonality conditions

fOl' the pl'iocipal centroidal axes hive !)ec,n adopred:
(5.2.11)
vin, (S .2.2}-{S.2.28) for . ',
5.2.17) yiellb

S
, ol

v, .nd ... and substituting tbem illlo

"

'M,

-"I,

(S.2.32)

This is txactly the formula for ""klll.ting lhe ui.! stre55 ' t~ based on
lIM: Iineat theory of solid beams.

In chis $lib-section, w~ shall hilt about the buckling behayior of.!hrttdimensional w lid bUm, U Lypirll:d by the l"octU fmm lhe C, 10 \be
C, o;(NIfiauntion. Let u.s all. beam It I Slionlf and conside, il5lefl.
IwId portion 1:$ shown in Ficure S~ The struses Ktilll 011 sectioa If
.rc euetly those uentd by tile righthand ponion of tbe bum. For
the prcsem putpOSe$, _ .....U Ittxb two sell of coordinates to tlw
centroid" C of the cross section. 'I1Ie fIlS! set is .. ft.ml1O 111 !be: 'I"
(XIOJdinales, of whicb " and C dcllOlt tile lWO principal axes of \be
cross &eetioa. NOit OW this sel of coordin.tes is usumed 10 be
embedckd at Il1e cross se<:tioII. whidllMY I'OUlC 1:$ the beam deforms..
The s.econd set of coonIinltcs is assumed 10 have &II oriaiD rUled lithe
oc:ntroid C of lhe aou Kction. II is IdclTCd 10 as Lhe '.i-';-'.! uos II

.,

".

,FI, ... 5.1

'.'

Coor\1l.lW", of bum clement II C,.

'~ ~
,

~ .~-~'
.,

~
'

.,

C,. with the ';. and 'i-ues coincideD! willi tile I'J' and ,-axes (Figure

5.2). and IS the ' .. _'1_'. axes II e" with the Iy- and 't-ues pIJ'lIlIeJ 10
the 'j. and 'f-axes (Figun: 5.3).
Since tile (mbedded COOfdinales (Il, C) .re coillCidcnl with the
('y, 'I) ue:s II C" we can write

'i .. 0..

'i., '!,

(.1.2.33)

wli(" , and dmok the pincipal ues of the Cf(l$$ section of the bam
I. Ct. In view of \he prcdin, .elations, tIM: displace_III ~meDts
.~ " ,. aIId II, of p:lleric point N aI section It OttIInina during !be
IIICnlMntaJ MCp from C, to C, are idtlllicalin form to tIIoIe liveD ill
(S.2.7}-(S.2.9), b&$nI <)II the BeI1>OllIliEukr byputhe$i$ of plane
Il iorIi Il'mainiol pIaIIc Iftn ddorm. lion.
From equalioos
(~.2. 7)-{S.2.9). tile coordinates of point N can be refcr~ 10 !he
d'lplKCd UO II the C, cnnfiguntion (Figure 5.3) u

'i * - ,. ,

(5.2.34)

5",.t8.

(5.2.lS)

(5.2.36)
wbere il IhouJd be POtCd I.baI !be anaJa of TOtatioG are derIDed

a,. _' lIld 9,. ~'.

IS.:

eF

8y !be C<.IIIditions of C<jUilibrillm, !be uial force

J, war
forces
J. torque
Ind bending moments
'MJ lelln,
00 section J( II !be C, conrlgUfitioo an be . tllted to !be sueSSQ IeIln,
00 the same Kdion It !be _
(:I)ftfigumion but willi referellCe to the

eF" 'F

eMJ,

eM"

initial C, configuratloo IS fallows.:

'F - !'SdA

. .'

(5.2.37)

'F-l'SdA
, .'

(5.2.38)

'F-l'SdA
.'

(5.2.39)

' /wi

-les 5'S'" .~).t.t

(S.HO)

'/wi1

-1('S 'Z-'S 'i)dA

(5.2.41)

.~

....

..

'M .. fes
. '"'i-'S 5).t.t

(5.2. 42 )

wbeJe Is... 'S... and'S. ckDoIe !be I:Ond Pioll-KircblJo(f slIes5JCS

KlillJ on sedion II II C" which hive bHn referred to !be C, coofigunlion. In conU"l5t,!be lix ItteSS ruultantslCling on !be ledion,l!be C,
IIIfiguntloo hive bHn liven in (5.2.20}{5.2.lS).
One particular proptlly of IIIe $Irc$l ruultanlS 11 !be C, oonfigllntioa is WI !be moments 'M.. 'M" 'M, will be .ffcatd by tile
rOUlllons 6 II" and 9.. IS implied by llIe coordinatcs 'i, '1, and 'z. For
ilUWlCe, by ..bstitutiag 1M eJ:prcuions (5.2.34)-(5.2.36) for 'j. '1. and
'z inlo equations (5.2.40}-(S.2.42), we obtain

' _1 s-.w. ~ u...,'f<.

227

to IS ,e ,dA

1M . ' IS 'zdA.. '('S ,0 - IS

,JA

' M,

JA

..

-f 'S.-, dA f ('S
A

..

...

(5.2..44)

zO IS.lO - 'S vO ) dA (5.2.45)

'2::.'

""here the undcllined !onns have bn ove,lookl In mosl p,evlous

resuld.... As will be sbown in Seclion S.S, the inclusion of such
!trm, ...ill ,esull in a moJo compKIl...:l meaningful formuillion .
FOI convcnKntt,!he stresses'S, loCIing 00 lbe cross $Cction ., C"
bul
10 C" an be decompoKd 1$

,of.,m!

, , ,

IS . rt -S

(5 .2.46)

wbere lhe IIIblcript I an be u, ~, 01" n, rt , denota lhe Caudly

"'tSKI uislilll on the scaioa 11 C r, and S, !he Upd:lltd Kirchhoff
irw:rcmenrs. Subslituling lbe preding expression fOI 's, into
e<:]uariom (S.2.4JKS.2.4S), recalling lhe definilio<l$ fo, lhe momenl$
II C, in (S .2.2JKS.2.2S), and negleaing hig.hel Older lums contlining
producu or 511eilS ...:1 displatomonl illClemenls. we can exprtsli Ihe
momtn., .hll "e Kling on seelion x . , CI 1$ follows:

"'ta

1M , ('S 'J - 'S t)dA. - ['(I, l 't .)a.t[0

JA

"'''

JA

1M, J( IS. . la.t - 'M 0 If '.

A
I,i'A'"

..

(5.2.47)

..,,

,dA)e _IfI,i'A"
'. 'dA)e1
(3.2.48)

'1.1 - J, IS... 'JdA. 'M, 0.

A

. VA "'II'tdAje, - VAItqJa.t)O
(U49j

whele lhe lenns omillcd from previous lestolches have also betn
Underlined.

228
At this position, we like 10 point out !hal the PftCCdina; cxpres.
&ions for 1M ItIOIlXnlS KI;ns 011 5eCIioIJ Jl of the be~m II C, have buD
derived bucd IIKrc1y on the BcmoulliEu~r hypoUlWs for (:1'01$sedionai displacements, a$ Implied by (S.2. 7)-{5.2.9), Ind the elasticity
definitiOn$ (S.1.40}-(S.2.42) for stress KSUllJnll over tile cross KClion.
The upl'USions givcn in (S.2.47H5.2.49) differ from those de rived
pi"o:viousty by the authors (1992) in the incl usion of the underlined
lcmlS. Such tflms will be ~iwlarly II$Cful in tbe tfUlmen! of some
eff_ IhIt "'ere puviously replied as of higher orden and Mgleaod
from the vinuII 'III'Ofk fonnU.Ilion. as will be dernorutnltw ill SccUo.
S>.

5.3 Equations of equilibrium (or crosssectlonal forca

Fot . generic point of lOUd body 10 be in equilibrium II lhe C,
ronfil""'Uon. the followina differcntW cqu.atioat of equilibrium $bould
be ulisf!ed:

.', .', ----"

.',

'-'"
.', .', .',

"'1.- 0

(U I)

.', .', .',

.', ", .',

*J., - 0

(5.3.2)

'I 0

(5.3.3)

'--'" '-'" '--'"

.', '-'"
.', .',
.', .', ",

__
a

.... here

' T... ".,. .. ".nd

't. dellOle the six romponcnlS of lbe: C.ueby

stresses acling on the poinl .1 C, ,lid '/,. 'I" .nd 'I. the body forces
I<:ling On the pouu .Iona Ihe three dirtCtionl.. In the following. we
shin danonstfIIc bow the diffcrential equltions of equilibrium can be
derived in tcrms of the CfOSI-sectional forca of I 101i<! beam from 1M
pn:din, three equations.
First, intcpatinc equlItion (S.3. I) <Mr lhe mill Jtion of thot
member, we can obtain

r"" ."-J'" .

fAat
"-", . fAcly

a::

(5.3.4)

The flf$l inlCgraI in ttw: preding fU&!ion can be .ed\ImI wilb ttw: aid
of !he luns lesullant defmition in (5.2.20). The IOIId integral in the
same equation. howeve can be convtrled into an integral llong the:
boundary curve C enclosing the: f;fOSI SttIion by G~tn's lhJrem .

Consequently, we have

(S.3.S)
when III and ~ dc_ the direaion CO$incs of !be outward unit noI'maJ
vectOr II Issoci""" willi the ~ C on the 1-" plane (Figure 5.4), i.e.,
... 00$(y, II) and" .. cos(~,u). On !be Iatenllsurface of !be beam, U
'cpI'esenled by tbc CUIVe C. we Igvc /. c:os(x, II)" O. fof ~ where
Ibe beam is f_ of any trKtions on the IakBlswface, i.e.. 'f 't,
'., .. 0, !he following coadition can be wriucn for any point on !he
boundary allVt C II the C I configuration:

., ", . ' t

It

/1 - ', -0

(5.3.6)

(_ (1.6.8) for limilar conditions for the body II C,]. Accordingly,

from equation (5 .3.5) we an derive the followi", differential equltion:

L -_ _ _ _
y

230

(5.3.7)
Similatly, inlegn.tinl (53.2) OYe'1 the cross JoeCtion yields

By Green's tl\e(Jrcm,

:1. ',~
sr- ' (' t,r' 'Ide

....

h:

f,{l

- 0

(5.3.9)

In view of (!i.1.21) and the <:OPdition

't

for points on C. the follow;ng

't,,',

, _o

ell!

ri F,

(5.3.10)

be doerivcd:

(S.3. 1I)

Apm. inlcgn.ting (5.3.3) yields

...

f -" dA

(53. 12)

By Orten's \be(ln:m,

(nl)

Wi!h the aid of (5.2.22) and the following condition for points 011 !be
OI~C:

231
1~1IIlt ll .I,O

(5.3.14)

....e can derive !he followin, differential equarion flom (S.l. Il):

(S.l.lS)

Thus. we have shown that by lnlegnting the three differential

cqualio/lS of equilibrium (S.3.l)-{S.3.3) over 1M CIOU liCClion
the
bum , we can derive three differential equatiOnl, i.e., (S.3.7), (5.3. 11).
Ind (S.) .IS), in temu of tbe cross-sectional f(M'ccs ('F., ' FI' 'FJ, which
an: v.1id for solid beams free of &111 dimibulI1oad$, In 1M fOllowing. we sluill demonstrate Ih., addition.l differenti.1 cqu"ioas
peruinin, to !be molDeDlS ('M.. '101,. 'MJ .nd other "Isller MJer
'i.uullirid of tile cross section can be dcriVfll by multiplyi", first !be
equ.lrionl of equilibrium (S.3.1HS.J.3) tty !he COQrdillllc:I (or:) and
thrn inlccnlin& ~r !be aoss seaioa. AlI.wc:ll equations ...iIl be vel}'
IUduI in the vlnu.alW'Oft formuJatioq 10 follow in Section 5.5.
Fit$!:, multiplying (5.3.1) by z, tbt:n integrali", with ruped to \hr.
uu A of !he cross section,and reamn,ing. we obuoin

or

(5.3.16)

'aMt J c " "'t "ldC -

(1.( 't

III

'F 0

(U I 7)

With tile .id of (5.3.6), the prc.dins equation red\II,'Q 10

if"" _ ' F .0

(H IS)

. Similarly, we can mulliply (S.3.1) by y. imegrJ!c ove .! ~ cross

ilechon, and re&nanse 10 obLlin

232

Dy convening the second integral into an integral lIons the boundary

curve C usinS Green', tl\eorem, l.Qd using 1M condition in (53.6), the
$tress fC$UllUlt defutitioDS in (S .2..2S) and (S .2.2 1). we QTI derive the
followiDS relation:

&114,

(53.20)

- - - F -O

'

Both equations (S.l.IS) and (5.l .20) indio::ale W.l the shear r _ CID
be o::alculaled 15 lhe dcrivltlvu or bending momenl5, II il; well known
in suuctural mechaniQ .
NUl, by mulllplylo, (S3.2) by !be coordinale J and in~snling
wilb respect 10 1M crDl!l5-ClionaI area A of the beam, afler reunDge'
fflCnt we obtaiD

Convening the KWnd integn.l inlo an inlegral along lite boundary

(Urve C, and making use of Ihe oond.llion in (S.l .IO), we obulo

l..r
't ~dA
arJA"

r 't<IdA.

JA

- 0

(53.22)

Sim",ltalleO\lSly, we ean multiply (533) by Ihe coordinate l' and

JXrfonn the same opcnlions:

By GreeD's Ibrorcm (for !be Kcond in'cgn.l) l.Qd !be ODndilion ill

(5.3 .14).

~ cad

cIerive!be following:

(S.J.2A)

Sublrxtinl (5.3.22) from (5.3.2") ,idds

__
'''. 0'
"

(5.3.25)

This Is e.uctly lbe differential ((!lIa\ioo of equilibrium for tbe 1OfsiooW

action of .mid beam..
1K abowc Iix differential flIUllioas of equilibrium, i.e.., (5.3.7).
(5.3.11), {53. IS), (U.!!), (5.3.20). and (5.3.25). are _II kDcnt<D for
solid beams.. In \be followiDJ,. il wUJ be .shown IIuoI by mulliplyin&
(S3.l) and (5.3.3) by lbe ODOfdilWa 'I and z, .espectively. and Ibt.
inlCgraling cm:r tbc CfOSS-SCI;Iional arCol A , we QII derive additional
cquatiaIIs of cquilibrilUD in It"'" of SIrcSf.n;. . . . quaIIlitits
cannoc be rcprded _ COIIYeational alIA KCliooal forces and InOIlXnts.
Sucb equations will be IIIOIt Il$Cful f !be IJUlnXnl of b.iper otOO
effe<;:ll in !be OcrMlioa of !be bIx;tlina ~ for solid bcama in

na.

Scaioa S~.
By muJtiplym, (S.J.l) by y, 0- iIIu:piaa..ith raped to \lie
aoss ....... iQn.a1 area A , and turBllJing. we obtain

By ClOIIYCrtiDJ Ibe S:OIId auegral into aD iolep along !be boIUIdary

C and in view of !Ix. COIIditioa (5.3.10), _ can dcrie !lie
folJowina eqlWioa of equilibrium:
CI,I~

~f"YdA
f""
at-. .. J!t

(5.3..27)

'--+-M"b

.,11_

n-,.,,~,_

momcnlJ. Nut, by multiplyina: (S.J.J) by z, then inle&fll1ing With

rupe~ 10 A , and RllnIl&lII& we obtain:

-'ar~
-f '"",
. f..
~

I""'"
a, .',',,..L - f " '"
iJz.

~.

(S,l,28)
Witlll~

witlt

t~

K<.r>d inlegllli transformed into I line inle&flll .Iong C 'nd

.id of (S.J, 14), equation (5 ,1.28) .edlKeS 10
(S.J.29)

One future of tItc lWO equations of equilibrium derived in (S.l.l7) and

(S.J .29) is that they an: e:qnss.ed in teJll1S of Wea,,,,I'led inlegms,
whid! 1Ia..., eonvenlionally been rcprded .II of hi&her orden and
diM:arded from tItc formulltioa of bucklin& tlIenria for .,Iid beams.
With the plaCal rellt_ (S.J.l7) and (S.J.29), we lllall demot\SUlle
in Soction s.s tllat the _lied higher oo.Ic:r lCl1Il5 can be trWed in

more comi$tenl

5.4

mannet.

Rotalional properties of moments

llIe momc:nlS 10 be considered in this te~l can be either utcm.l Klinns

Ipplied on lbe $In.1<:lurc by medw!~ devices or inlernal momcnlS
cenenlCd.u SIrcSI resulll.nlS over tbe CUI$l ~ion af each element of
!be struaure. Convelllinnllly. I C(JII$CI"Vllive direct force is defined 15
the ODe whose dirtttion IlDCI magnilude ",main undwl&ed when lhc
stl'Ul;t1lre on which tItc forer. acu is displlttd. 1Imc:c, the vector
uprcssiaa for tItc COIISoCrvllM. forer. in !be displlttd ooafiaurllion C,
appean to be identia.110 the one in the illitial eonrlJUrllion C" wbell
both are ",fermi to the same c:oon:IinalC syslCm, However, the SlJI\C is
not true willi COIUervative rnotnents.. As we Wli dIow in this $tioD,
!be direction .nd magnitude of I conservative moment in lencn1 will
chlnge 15 the J1NCtUre on which tbe moment acts il l ubje<;led to th/,
dimension.1 rotations. II follows tllat the vector upression for lhc
cotUCrvative momenl in the displaced configuration C I will be generilly
dirre/cnl from the one in thc C , configullltion.

'"

,.,

,.,

I"

- .,. ......
,
,., -
,.,

,.,

FlI .... U V.oticq types of IIICmeIIU: (I) AJ.ial: (b) Tangc:DIiaI;

(e) SemiWl&<nlial; (d') Fim kil>d quaPtmg<nlial;
(0) Seoond klo>d q_itan",ntiol.

Previously, vl1iou5 types of mollH:nts generated by difJe:nl

mechanisms hi ve been identified by Ziegler (1971). The characlcriSlic
fealure of .~b is !lie lilaMel' in which !be YCC\OI' thai defUleS it lOUIn
tlllIe _btl 10 wbich II is .ppI~ deforms. For ill$lance, Figure S.5
sbcIws four types of momenlS in I~ dispLld position, all of which Ilre
initilily of magnitude ' M, and ..:tillf, along !lie ,,-allis I. C, . [n litis
lUI, tile IJ\(lmcolS gcncnled by rotalioD of IlIe inilial moment about 1M
OIbtcr Des will !If: rerc~ \0 as !lie ilu/Me" ..""'.~Is. A momenl is
defincd as the /Ut,1I moment if lhe direClion and magniTUde of the
moment remain unchanged in 1M presence of fmile rotations IFillill'
S.5(ln whid! implies IlIaI u ro moments ..iII be inItuo;ed. In oonuut,
moment is ddiMd II ",~,t"l1/11 Of ~lIower moment if il follows
COmpletely 1M 100.lions in the ltuu-dimensionaJ space [Figure S.5(b)].

In Ihis cue, IIOIIC or llle moments induc:e<I aboullbe '-lCS perpendicular

10 the inilial uis of the momcnl an: equal 10 uro. II is possible \0
<knnt I third lype of moment called the se,../IUr"'JI'''/ "''''''tlll, " 'hieb
has the pl'openy 1ha11he illduoed moments lcncrlIlc4 llpon partialill
roISIlion lie equal 10 half of tII.o5e atDl:rlIled by a IUIlcnlia1 _
nl or

236

equal mllllitude undcrgoia& tbc same rotation IFiguu :I.5(c)l T\e

InOI1KnlS in fi,u.es 5.4.I(d) and 5.5(~) Mve bet:n rcferRd 10
lp<.,il"~'f",;.1 _""u of the firJI and SOnd kind rupcctivdy, __
only. ain&k IPOIMIII wiU ~ in<hK:ed about ~ of !he: axes perpeaojc.
ullf 10 the initial IQOIDtnl vector. The.taIOOI for identifying the two
Iypa of quasilllllgenl~l morrw:nl$ will bt. liven bter when dellin, WillI
lhe I'OUolionlll properties of bending IlIOIIICnlS.
Convcntionllly conscrva1ive force i, ddlnW in the sense ....
the work done by thai force is ~tllindot~ndent. 11 an he shown dill
the work done by. scmi- or quasi_tangential moment is p~thilHlcpca.
dent if an appropriate definition is adopted (Of the . otation oonesp 4d
in, to each type of mOlmnl (Argylis e /. 1978). Thus 1M)' . .
conservative mo~nts. II can ,150 be shown Ihl\ both the ..ill ...
tl/I&cntial moments 1ft IlOIl/;OII$Crv&tive momcnl$. A tho.. .,
discussion of the eonsVllive or _IVllive nature of ". . . .
Iyp" of IIIOll\(nts f;llD be found in Ziogler (1977) and NOris Iff.t
(1976).

ZleJler (1977) and A1gyris ef .1. (1978) hiVe identified I ben! I

momenl as the quasiWlgential moment.nd I St. Venanl ~ . . .
IIC:mitan&enlill molmnt. wilen either is gcnented as I weu resul\llll.
cao:;l1 (!JOSS section of !he SItUClul1ll mc.mbel1. Reptuenrations of ....
momenlJ are $hown in Figures 5.6 and 5.7. In each case rhe IoClimI ill
represented by a distributed stress. and aJle,,,,lively. by I

Sf,'ia'"

cquivileni <;(}Uple or couples of forces.

Based on lire SIICSI resullint definition. tile bending moments '11,

and '101. aain.g on cadi o;:ros.s section of I bum It the c, coofiJllllllhave bn defrned in (5.2.2.4) and (5.l.2S). i.e..

.'

f
,

'M

I~ U4

(5.4.1)

(5.4.2)
wllere, as was shown in Figure 5.8, 'tu dc:nor~ the uial SireS$, A tbS
area of the cross section. and y and the principal ues of the erossection of the bum II C,. To calcullte tlw: induced momenlJ for tbS
bendi", moments '101, and '101. undergoi", Ihree.dimensional fI)!IljoIIIo

j.~

137

- . . . . - ,..,... . . . , -

'I

'"

TI--- '

r '
,
1----'
1r-'"
,

F II~"

'"

5. 6 QuIs'Wlienlial bendinl momtnll: (a) N,:. (b) N r

'I
,

- I r=t-

taeh ...-

' lI, fZ

"-'-'
FI, ut J.7

kt us conside,

I 5111111

Sell'iWlgcftllOI Iorqu<..

eit:lI'em of

aiel dA

of. bisymmelrkal section

?'1 wh.ich the axial stress I~.. i$ld.ing (Figurt: S.8). WlIcn the elemenl
!' IUbjtacd 10 lorsional /'OtI.lion e !he following momenlS will be
Induced:

(5 .4.3)
(5.4.4)

,,,

- ..... -, ,.
--'T"dA

wbich am be. inlCJ"lled 10

,u,

y~ld

e
,.

..

4", 'M

fJ.M -'M6

(diu /0 ' M,)

(US)

'.w,)

(H.6)

(due

IQ

It i& nsr 10 6bow thaI the AJlIC moments as !hose given in equatioRs
(S.4.5) and (5 .. 6}can be induool by the alltrnali~ lIIC(hanisms ihowo
(HI L~ righthand side of Figures 5.6(1) and 5.6(b) undergoing the 51"'"
roIalion. Bending momcnlS that are gClICl1Ited ., stress r(Juhan!.!.,
which will induce momenll of the type $hQwn in C(jualions (5.4.5) and
(5.4.6). Ilc .durN to as q~~Sjllllllt~li,,1 ",_enls o{lh Jirst Hlld
(QT.! momenLS). Laltr, it will be IIhown 1hll theft ulscs second
kind of quasilangcnlul moments which cannol be inlcrpnlcd u
oonvcnlional strut: ' e:5Illtanl5.
The St. VClWll1Ofq1K 'M, resultiJIg from the aou-llel;tiona] sbw'
Slruses " C I hal bwI cltfmtd ill (S.lo23). i.e.,

(5.4.7)
By 1he condition of equilibrium,

".

--0
~

i1 is easy 10 show thll the following relation 1101<1$:

(5.4.8)

"9
(5.4.9)

To oI)Uin the induced IrIOItK'nlS for I St. VCIWII torque undergoing

rocatiolL$, collilidcr Fogure 5.9. If the OOf,S seaion rotales .bout the
rUis, momenl will be indIIced about the ,axi$:

d(fJ. M) .. \,8,tdA

(5.4.10)

Similarly, a wuHon .boUllhe .uis Iuds 10

(5.4. 11)

InlC,waliDt the preceding two differential qunlilie$ yic:ldllbe iDduoed

IIIOfQCnts u;

4#
,

,, !2

'M

--'!'M6
.,

(5.4.12)

(5.4.13)

'_'_o'.b f l / I i _ r-,. "~ """"

The mom~nts indlltC<l by !be St. V~IWI' w.quc are equal 10 b.a!r Of
1~ generated by ll1e tan~nLi.1 lorqK Ihown in f igllre S.S(b). Fot
thi$ reason, SI. Venanl torque lias bn rcfelTed to as !be
Ulftilll1l,entlllltO''1"e (ST torqK). Evidently. idcmiaol I1IOmcnts 4/11
and l!.M, can be indum by IlIe sc:milan8cnlj.llorq~ mcdwlIsm ~
in Figu~ 5.7 unckrgoing the $11M rouotions, if the direct fOR:ts

<;OQStituti", 1M eoupks an: assumed 10 n:main undlan&a! boll! ill

magni1Ude Ind dirtClion upon roIl'ioI!s.

5.4.2

Mo",.,nlJ gcnen ted by u leml '

de~lces

Cona:plually, moments IIId 100qua Ilttd not be vkwed u con~nlioAal

SUU1I rcsul .... ts. They can al.., be aearnted by the ~

mechanisnu shown in FiJl'ra S.\O and !5.I1. For CJlampk, Fipc 5. 10
sbow$!hal torque an bt gCMnltd by I quasi!angtnlill meehl'.._
thaI consists of. couple of direa f_
with. lever Irm dirwcd IIoa&
either the ,. Of louis. In the pruenoe of finite rolal1ons, the firll'ljV
'I" '>1III111I01,;'I IO''IU( (OT-I torque) of FIgUre S.] OJ)> will induce IIIc

folknooin& marmots!
(SAI4)

(5.4.15)

'"

'"
(.)

,. 1I....,..s,._1Ia "'-

'"

I'

1-'1-,

I'
....

'.1

,.,

Similarly, 1M
1D""t

(OT2

mom~nlS

IOf~)

iJlduud by IlII: s~C</d.ki"d ,ua$i/""fttl/ial

of Figute 5.1O(b) linde/going roIalioni Ire

oM 0

(5.4.16)
(5.-4.17)

Sending mOffi(nlS are quasitJ.ngenliai momenlS of !he first kind

... lIen If~atnl U COIIvenlioaallUal ruulWlIS. If IlII: lIrcu resulWlI
ruuiaion is Il'IIIOVed, tlley CIII be SCllenleel u quasillnSCnliai
moments of 1M lIe<;ond kind (OT-2) Of 15 semillngenlial moments..
Wben based on !he semitJ.ngenllal oiofinilion, 15 $hown in Figure S.] I,
lIN: following IQOfI1oCnll an: 10 be induced by IlII: bend"'g mornenll
ulldergoing thKe-di~nsional roIllionI:

(5.4.18)

IJ. M, !2 'M,O'
. ' IJ.M

. !'MO
2
'7

(du~ /0 ' M,)

(5.4.]9)

A liJI of IlII: momenl5 induced by vuiou$ Iypes of moment me(twlis"",

,.,
lias bn given in Table 5.1, ill wbicb the ST ~"Y for the IOrque
'M, &rid the QT. ] propt-nics for tbe IKndlnl moments 'M, and 'M, have
111'1 bun! on the SUU$ resultant ddiniliQas. The rotatioall prupenies
p<Uenled in this section for various momcnl mhaniMns should 10;)( bC'
~prdtd as fe5a1chcs mtrely ohbeol'C:lieal turiosily. They have 10 be
iocludW in IIIe esublishmenl of equilibrium c:ondilions for SUlld.u",1
joints COIInting _-coIlinur members and in the specifICation of
nat"",] bounduy roodilions for SlruClWllI nodct directly UOOt. lilt
action of applied load$. ,iDCc il is realized thai in I buckling analysis,
illl physical qUlnlities and relations should be SCI up for tile Slructure
in Ihe buckling (CJ ronfigunllioo.

Tobit f.I

MClIrMIIIS induoced b)' IOU';" of vJriaus medwli>nu

'. ,

'.
,

'.,

"

ST

4M," Ii '11,8,

4N," 0

4N," 'M,8,

4N," '101,8,

4M," 0

4M, "

QT-'

41<1, " 0

ST

fU4,"

QT-'
QT-'

fUI, _ _'M,8.

41>1, .0

flN," 0

414," 'M,8,

'''',&,

4M," 0
41.1,

K'.v,6.

AN, _-M 'M,e.

B. (_.,

4.11, _-M'N.e,

QT-'
QT-'
QT-'

ST

5.5

ROI .. "

e, (__ ')

.-'M,G.

4M._-M'U,e,

4M._Ii 'M,e,

Princil,le of virtual dispJacemenls

As Willi staled in Chlplcr I, In an updated u",lngian formulation all

quantities oe<:IllTinl within each irxnm~ntalilep of. nonlinear analysis

'<3
ate reftired 10 the lastltnown configurallOll C,_ s-t 011 the PfIIlC:1p1e
of \,Irtual displacements, ,he equation of equilibrium for a body at !he
CUllenl oonfiguralion C, is the ODe Jiven in equItions ( 1.7. 4) or
(4.2. 1). For castS where tbe sirain inacmcnlS
OC<'tl',ing .. ilhin

,t'.

each incremental step can be ooMidered reasonably small, this eql>llion

can hc li"urind lIS fQllows.:

fie..., ,twa,t, 'dV

f "i",'1f 'dV . !R - :R

"

"

(5.5. 1)

where. lIS defined in previous CMplCI$, Ie"" dcOOlts 1M 11ICK_1I1a1

ool\5lrmliyc coerr~nls. 't tile C.uchy (inilial) stresses. aoo ,e.. llId ,'I i

the 1;IIeU 100 IIOnlinur oomponenlS of rhe G,eenLagrange ill'll;n inac-

menlS.
The terms on the , iglll-hand side of (S.s .I). i.e" IN lIld ~,dcnolc
the virtual wort: doni: by lIIc U lcmal Ioa<k lCI;og on Ihe body a, C,
and C,. ,es~ivdy.

!R f :1/ ~ lIj 'dS

'.

:R. f ' ff & ,t~ldV

(S.s.2)

(S .S.3)

"
where

ly.

:'I.nd if.lknolc the wrf.u tractions and body fora:s respective_

011 rhe body II tile CUITCnl oonligur.llion C" but rdcrrcd 10

lhe last calculated oonfiguntion Ct. M ror the: up<btcd Lagnngiu
IoCItng

rormulation. the oomaitll or integration in equations (5.5.1) through

(5.5.3) have Men SJ1C',;;,cd lIS the volume 'v and IUtraa area'S or the
body I. C,.
For I body in equilibtium It C , the external virtual WOIk ~ an
be written ..

:R f :.,6.01, 'dS
a

'.

(505.4)

'~pccli ...el)'.

~ body C" In (his Ic:l<l he dfl of body

be uch.dcd for limpl icity. As. mull. \be
external mUll WOI'k IV'm5 ~ .nd
udu 10

lain, on

f~ :" and

:1. ...iII

:R

!R f :',"", 'dS

(5.5.5)

:R.. f :.611, 'dS

(5.5.6)

"
"

eonvcnlio;Jnllly. i, is assumc4 lhal only three oompoMnlS of

"rases and, oorrupondingly,
romponenll of associated Slnoill5 are
. ignifw:an. for. rhree-dimcll5ionallxlm. With lhe updated I...a&nngim
formulation. the three romponeOIS of WUJa Ire IhoK of !he Cauchy
"ruses existillJu \be C, c;onfigwalioa: ' t ... 't .... and 't .. and the \lute
components of arliN an: tIIose of !he upda'w Grn strain inc:n:menll;
,c_ ,'I' ... and Ie.... What '" like to point 0lII be,t is lhal sudI La

th,"

assumption on the components of 5m:S5C5 (ud "noins) 10 be included

in analytis re ..... ins true only when 11M: lillear behavion of !be 11..dimensional helm I,c ron<;:cmro. In. OOIIl inu nalysis, it is
na&Iry to consider.n tbe si~ compollCnlS of S'leMeI: 't... 't.,. ' t ...
't..,..
and ' t .... and .11 .be six components of Slralns: ,c... Ie", ,<I'.,.

't,..

,~

,e,..

and Ie... An approach considering all such

si~

rompoMnls

will be refcned 10 1$ \be t/(micil, .pp,,".elr .

To uptain tile reuon why, let us Ik<mpose the strains into the
linea. and nonliMa. parts as follows:

(5.5.7)

(5.5.8)

(5.5.9)

(5.5.10)

'"

(5.5. 11)

(5.S.12)

II is true that

wee linear romponenlS of lIrains

,t'". ~...

Ie. vanish

1_ (S.2.1 3)] nd Ih.1 the ronespollding oompontnt5 of stresses 't".

't,.. and 't.IlfC SlTIIIII in rmgnilllCk. However. the nonlinear compo-

,'I,...nd
5Irc$SeS ' t". 'f,.. and 't. witlilhe nonlinur components of SlI.iM 1'1".

nenlS ofstnins 1'1".

1'1. in general wilt be (liffclcnl from ~ro
and c:aa be mode:nllc in IlIIgnitude. II follows thll the product of

.'1,..

Ind , 'I ... . tsptiwly. an be fmill: in m.ognirude. This meall$ that

.11 sudl terms should be COIlSislcnlly taken intO Ka)U/lI in the
inm:menW yirtual wort equation. AI.. rtSIIll, equation (5.S.I) reduces

"

6, )dV 'R - 'R

,.,. 't....

2't 6,

(S.s.13)

in which E .nd G denote !he moduli of duticity .nd rigidity ~.

lively. and 1M floClon of 4 .nd 2 have been added 10 .cwun! for the
'ymmeuy of &he... atraina, i.e., e., ",.. e .. e... 'l ... 'I,.. 'I 'I ...
and 10 on. In ~'Iion (5.S. 13), the len super5CTipl" l " for V and 1M
left JUbsaiplS '\" for the strlIin COII1po1KOIS and vinu.l work krms
bave bn dropptd, lin it is known lhal.lllhesc variibles bave been
upra&cd witb.tspcd 10 the IMt Qlculaled wnfigul'ltion Ct. Pbyskal
melninp for equalion (S.5.Il) can bt. gi~tn u follows: lbt tntmaJ
~ittu.aJ work ~mtnt, 'R - 'R, c:aU$Cd by the incrta$e in IlUrfac:e
tractions from :', to :r~ "'ill bt. ItInsformtd into 1M strain tlltl'J)' and
potential cllerlY of 1M bam, 15 rtprt$enttd by the firsl Ind second
imc&nls on the lcft-halld Ii<k of 1M equation. the~by fC$Uliinl in the
clefornwion of the bum from lhe C, to lhe C, configuralion.

5.5.1 Slni" tlHf'lJ dH 10 li"tar stnillS

The lintar $Irain ODmpooeDIS t ... e", and ( .. have betn uprtSSed in
Itrms of the Q'OUsectionai displ..:ernents II" ",. Ind II, in
(S.210}{S.2.12).
Substituting tMse Up'esslon5 for tile strain
C'OOIponenlS into tile rlJSl mtfg<1ll of (5.5.13) yidds

where L <knotCi the length of the beam. In view of Ihe cooditiOllS ia

(S.2..3I) for the principal ccDtroidal coordi ... le$ (y, .). the: <kflllita . Ia
(5.229) and (5.2.JO) for !be momenta of incnil I, and I,. and tb&
{oIlowin& {or tile ~ COIISIaIIt J :

L(1' t'}dA. I, I,

(5.5. IS)

!he ~inl tqultion reduoes 10

(S.5.16)

This is ulCIly the SUlIin enero (in variation.al form) fOf tbrecdimensianal solid bam, in ..hidI the dfKlS of uial der~
beDding. and tonioa hive been consiOertd.

5.5.2

POItnlllll energy due 10 In itial SIrtSSt5

Bucd on the theory of elasticity, \he nonlineIJ components of straiM

'"
(5.5. 17)

(5.5. 18)

'I..

. ",..

2 ......

(5.5.19)

(5.5.20)

,.
~

(5.5.2 1)

(5.5.22)

"'Mle I comma dI:~ diffcrt:ntialiotl with re:sped 10 !be coordinlte

followina. SlIbslilUling 1~ expressions for tbe displacements " .. ",. Ind
", ill (5.2. IOK5~12) into the prea:difl& ~ yields

,
'. ~.a

..'

- :zn./e'

'"
(S.5.26)

(S.5.27)

'I"

~(wY

a!]

(5..5.28)

[n aeroen1, lhe three noolinear ~ oomjlOllCBIS 'I,.. '1 ,.. and 'I. .... ill
be llPequal \0 uro. Conventionally, they ha~ been omitted flOnl Lbc
virtual wort: formul.tion of th~nsion.al beams with no cleu
~uons

51.ttd.

hi tIM: following. '"' sball rive the poKnti&l enelV (ill

van-tiona! form) associ.ted with exb c:omponent of the milia! strcssc:s
in the KOODd iDUpai of (5.s.13). I..elus con.ider rll1llhe IlDI'IIribo.ItlOll
by the ui.a] SU'aII
Willi the aid of the expru$ion for
in
(5.2.32), the OOC fOt 'I. in (5.5.23), and LboIe. for the st/T.SI resullanlS
in (S.2.20KS.2.25). the following can be derived:

't...

't.

(5.5.29)

I J
J
K 'F L-...! IF _
A
A

(5.5.30)

'"

hi arriving. 1 equ.tion (S.S.29). the solid bm has bun assumed to be:

bisynunC1ric:aJ. in 1M SCORSe thai the conditions &ivu below .00 1'ill (5.2.31) l i t JatisrlCd by tbe coordinate uc:s:

Nul. let us consider the potential energy l$S()(:uncd will! the

sbtaz WUSCI
and
Willi the substitution of (5.5.24) lJId
(5.$.25) (os tbe nonlinear shear strains and tbe definllioru for stress

'l"

't...

resultalllS In (S.2.21}-{S.2.23), we can write

..

[.' [I F~.
(j(w'a - II '",> - IF 6(,,'0 .. ~ /)

(5.5.32)

.. J. " ""

"''0;:-"'H

1 -

(5.5.33)

Ii Ihoold Ix menlioDed!bill tile Ia$Irwo intterm in (5.5..32) ha~ often

~Q .cloUded as bi~r order terms and omined from tile analysis.

As

",II be shown in 5e<:tion 5.7, melusion of suc:b terms is eswnti.1for the

derive.:! theory to pus the rigid body test.
Now, leI us tum to the c!fecl UIOct.lcd wilh lhe Siress 't.... With
(Of '1". we CIII show thll

lhI- use of (5.5.26)

""
(5S.3()

By !he equation of cqllilibrillm ill (S.3.27) and patlial iDIC~ion, IlIe

~eedillJ equatioa can be COIlvCned into

f~ 't.l'7 6 'l17dV .. f~

I t .,1dA(B,69

~/b1b

- Jot(. 'T."YdA}'6(e,e; vIVN).t.:

(5.5.)5)

of whic;h the: inlCgral lcrm wiU anoel the penultimate inlcgnJ term ill
(5.5.32) ""Mn tru.cd ~r.
AnoIber ctrco;1 10 be ron_idem! lieu is Ibc poICOlial auoc:iaIed
willllbe SIIaa component
By the ~ 0( (5.$.21) fOf '1,. and tbe
cqllllioa of fCluilibrium ill (5.3.22), we have

't,...

lnlcgl'1uing by pam,

(S.537)

Thus, we 1Ia~ sbowa thaI the so-alltd higbt:r order term iDvolviol tbe
shear stn:ss 't,. is in rWiIy 'cbled 10 tile IOrSionaIICtlon 'M..
~ IasI erred 10 be derived in lIIis su~ioa ;. !be potcntill
associated with the stnss ODIDpooclll ' T..- Wilh lbe use of (5.5.28) for
'I nd the cqualion of equilibrium in (5.3.29), ~ (;In sIIow th.1

(5.5.38)

j.J ~"""-I~

251

InltgJI1'ng by pasts,

(5.S.J9)
11 ill intereSl'ng 10 no1C thaI lhe inlegral on the righI-hand side of lhe
tquilion "' ill uneel the corresponding lerm on lhe righI-hand side of
equilion (S .S.32), ""hieh bas bn pt"cviously ngarded as I high<r Older
effc<! associllcd ""ilh the shear Sl~ ' t" and 't.,. TIle boundary
ltmlS in (S.S.39) can 1M: maltd only .fle. lhe Ulemat vinuII work
Iurllt haye bn derived.
So far. ""e haye derivod the polenti.1encrlY _ i lted wilb each
eompo!><nt of stresses for \be thne-dirMntional beam. Al this point,
.... Iib 10 rei1cralC WI in, COItvcnlional IpproIdI, \be po1Cnlial eDetllY
~ltM witb \be three CODIpoKllts of WUI ' t ". 't,.. ..xl ' t i.e.,
!bole &iven in (S..:I.35). (S..:I..37), llId (S..:I.39). have al l been neJledtd.
SlM:b I n . W' ....... ill not IOCCpuble IS far as the rlaid body charactcrisI~ of the tlIree-dirMnsioD&i beam are eonoemcd.

S-S.J

EJlCml1 ,,1r1 ual .. ori< Incnomnl

For I three-dimensional solid beam, Ihe clemenl displacemeDI veClor

1M) C(tnsisq of Ii. degrees of frudom .. each elld of lhe elemenl
(Figure S.12). In 101.1. there will be twelve degrees of freedom associaled wilb the lWO ends A alId B of lhe clemenl.

As in previous chaplets, wc shall IMUme thaI the IIIrfaoe lrtdiollS ."

Illowed 10 act on the tWO elld CtO$S KClions of the solid beam.
Co::rnSidc r first ,he vinual W'Olk done by the lurface lracllom II end B
Of Ihe beam II C.. From equation (S.s .S),
lit

'"

I'"

I'"

...
--~~ u.~L-f:
,
.-/.,"
J.:B
/,

I..

/..

_hettA. (.A) denotc:s!be m:I of the ~.Jtioa of elld B. TIUllna

!be aJrflOe tractiofts ('t.. 'r,. \). 1M IKODd J>;oIaKifdIboIT II1eS$c$
(IS... 's... 's.), thenlUbstitutin& the Cltpressioas (S.2.7)-{S.2.9) fOf the
dUplac:e"ICIlIS ",. .,. and II, mIG the prc>dinl eqIIItion, and uaJl~
Ihc def1llilioas fo< moments ('M.. 'M,. ' M) 1I C, ill (S.2."1HS.2. 49)
.nd lhoK for the f~ ('F.. ' F,. ' FJ in (S.2.J7)-{S.2..39), we <:an show
thll

~' , fI, _', .nd the subscript b

Rearrancina:.

where it IlIoold be Il0l<<1 thaI e,

bas been ldde<I for

node B.

2"

(5.$.43)

By _itchin, ~ subsc:ripcs in the precedin, equation from b 10 <I, we

can obtain !lie virtual wort:
for node .... oftbe ~mI C.. Summing
up \hu( two effects, " can obtain the loW virtual work lit. done by
tbe IIIrflO!: tnctlons on the bum II the C, oonfigunuion:

I.

'It..

",belt tbe (klMnl di$p'K"'IIKol Vedor {.. , has been givea in (5.5.40)
and the DOdaI force vector {'t} CO\' Ihe three-dimensional beam is
defiMdu
~F

"

. -

'F

1M

(B.4S)

'"

On the owr hand, the nlesual vinual work 'R done by !be
surface U'aCtions on the beam lias been ciwn in {5.5.6}. By !be 5arne
Pfoc:eou~. the eXlcnW virtual work 'R 11 C, can be CIIlculated as

(S.H6)

{'n

where the initial foroc vector

can be obtain! by switching the
supel'Kl'ipu In equation (5.5.45) from "2" to "I",

5.5.4

GeM",1 va. IlmplHied theory

Subslituling ,II the u~ dmvtd ~ for the strain energy,

potc.ntial CIlUIY. and utcmal v;nuaJ WOfb, I.e.., (5.5.16), (5.5.29).
(S.s.32), (S.5.JS). (S.537), (5.5.39). (5.5.), and (5.5.~), into !be
incKIMn!IJ virtual WOI't equation (5.5.13) yiekk the followm,; rOf the
tbKo-dmloCnsional beam:

(5.5.47)

e,.

e,. _'

wher<: il should be noted !hal

~. and
IJId, in trelling (/Ie
Ierml assodlled wilb !he lWO ends of the bum, distinction must be

25'
made belwn the crosssect ional for<.:eS bued on \be defoonal lon sign
I;OI'IYcnlion and those based 011 the finite elemenl lign oo.wen\ion. For
jpsIWJ\Ce, It node It of tbe beam (i,e., I\;r; 0), wellavc 'M, -'101_
'101 - '1.1... and $0 011, but for node B (i.e., at JC L). we hi ve illS1cad
and 10 on. or inlucst 10 lIOIe in the de';V1Ilion
of equation (5.5.47) ;, the can.oellalion effectll bc:twun the various
~fIJIlI involving the inlCpk \hal c:anoot be: inlcrpfflni as COIwentio".!

'M:. 'M... 'M,. 'M,..

SlItSS r-sullanlS.
Based on \be (ollowinl equality:

we may Il:wl i.c fqua.1on (5.5.47) in IIIOfC II!oeful fann:

Ihl'([lJ! -

I~I)

-I-(.! 'MB )'61'1 ,'M' )."

2

"

(lIMII ).,,]f

- ('M6)-a&
"'2"'~

,.

(B.49)

'M.

where ,~ Rmilall~ntial property of the torque

&tid the
quasil.lll&totial properties or 1M beDdi"l moments 'M, Ind 'M, c:aa bo:
rudily obKlVCd flOCQ the boundary _
on the riP-iliad lick. 1'be
villu.al work equation dcri-' Mle fOlIhe thlU~i_MionallOlid beaai
diffen from tbofc derived puviously (Yaoa and McGuire 1986.; Yua
and Shue 1989) in !h2o, the tonional ~e'el Ol ill DO IIIO~ rtquired.
As a result, Ihe puent theory appears 10 be mOlt eompact. In Seaioa
S.7. it will be aIIowll that 11M: present Ihtory is also ptlylicaJ.ly mani",_
ful . in the Jen$t that the rigid body leSt can be passed.
In the litera,ull:, the term ~:. in the nonlinear axi.1 stnn.
component 'lu has often been conside,ed as higher order effects and
neglected from tM analysis (Al'gyris tl ~I, 1979; Washizu 1982). Sudl
a term COl'1'eSponds 10 the terms on the first lillte of equation (S.5.23) for
'I... thl' ill,

(S.5.5O)
If the wain eomponc:nt ~!.. W1ifC to be nc:gIcctod from tile fORSOa.,
derivation, then Ihe Imm on the kfthI.nd side of equllion (S.5.49) WI:
blve been generllcd by this ODmponc:llt, as livclI below, IhoIIld be
omitted:

lJ.'
]'F
20'

611,Q

'F'A
(!z6wlla . A1'61",Q)]",

I.L ""',6(11 '1'1.) - '''',6(1I'w'')lu

(S.5.5I)

WMn.lll IUIllytic:allOlutiOll is _"', for I pfftieular (lIsnlly $i:mpk)

probkm, we agree tW for pnaicaI rtaSOI'IS the ICrms CCnentcd by !be
DOnliMal strain componc:lII 01.. CUI be n.e8ktUd. Flom the point of
ollrnc:nc:.l compuution, however, indusioa or flK:h terms will ~I
only in marainal incfusc in the CO$! of computation, but ,..;u
lUinly add to the rationality o f the nurnc:ric:al model c:oosidc",,'
ThIlS, tMle exists 110 ,CISOtI that such terms slIould be ucllNkd ff1)II1
the fonnlliation of finite elements thll arc intended for ICnc:ra! IJ5C.
Followinl ,he: terminolOf.Y or Section 4.2, beam thory thit c:onsidc~
the nonlinc:ar cffec:ts QSO<;ialW with the ulall.lnln component .. W'

!..

Dill<""'rW ....-

OMI .......,.",. < # _

2S7

,dt,.ed 10 as 1M .,,,.r.,,ltu.ry, whik llIal which ucludes Ihese

~tclS "' ill be known as llIe simpliped 'lteory.

At llIis position. we !lave obuincd iIIe "irlual work [UIlion of

cquilibnum (SS.49) for describing 1M beh."ior of iIIe Ihree-dimensional JOlid beam from C, 10 C" in whi<:h llIe instabilily effects caused by
~ inil~1 fon:es 'F.. ' F.. ' I'.. 'M .. ' M,. and ' M, Xlina on iIIe .kmtnt
iII,'e all been wen inlo KCOUnl. It should be 1IOIe4 llIal lhe: vinuII
,..Ofk equltion of e<;juiJibriwn as gi"en in equllion (SS.49) is I
l~ one, implying iIUol tquilibrium of u.e beam is "alid up 10, but
rIOI i""llJding. lerms of iIIe onk, of u.e producIs or squares of Ihe
dospIattmtnt in<:umenUi II, v, and... In the following senion, Ihis
cquTion will be IIStd as iIIe basis for deriving the: governing diff.",nlial
tqUallOlll and nllural boundary oorniitionl for the three-dimensional
beam. twcd on bolb Ihc ,eneral and simplirled lheoriu.. In Stion
S.7, a .igod body Iesl wiD be performed for the: nalWlll houndary
<;O)ft(Iitions deri"ed, while in Seellon S.8 applicalion of the plesent
~menlallheoril'S 10 analysis of ' .... ral bucklin, problems b.sed on
~ analysis tlmique will be ilIUSlraied.

S.1i

Dirrerential

~uatioDS

lind boundllry conditions

[a cl!iI SIion,!be method of "wtion will be employed to derive u.e

pernin, differenilal .quaiions and nalural boundary conditions (or
IIItmbe.(orOl: tq\Lltions) from lite "inual work equations presenled in
Section SS for the: tJrru.-dimensional bc.m, based filS! on lhe general
ihwfy, and then on 1hc simplified ihWl)'.

5.6. t C.nfra llh Hlry oholid bel ms

Foilo-ttrinl the: prooedure of Section ~ .3. we may first inlegraie tad! of
::: ~rnu on tM leAhand side of equation (SS.47) by partS 10 obtain
6 IDte"al and boundary lerms Q(lrItaini", lite virtual displactoxnlS
&. , &~, and 6... By laking tM arbilrary naiure of "inulI di~pllCCmenlS
/ . &~. and a .., we can obtain from 1hc integral lerm~ lhe IH.d:li".
il1~Tt:"'iQI tqll,,'iOflS 1$ tM Euler-L.a&tange equliion$ of the flrnctional:

e.tr. " ' F.u II _ ' F, ,, " -

'F.,.,
" - ('M1... ")' (' M,,")' 0

(5.6. 1)

'"

Jw
' F'A
J...,""
, "" 'Fw"

. ' F1 e' ,'M, ' J' Ip"r "

(S.6.2)

'F ,, "
' M;"i N'

('M". ~N

(S.6.3)

GJe", . ie"
IMw"
' M1 ,,"

.... hc~ 1.hc. relalions 'M; 'F, and 'M; -'F, have been used (_
I'iIlUI"e S.1l for tbt. t.ign COIIvenliOD of tbt. forces IDd bendi", __

_ nu:).

One usump(ion of tbt. foregoi.., buelr:lu,& differential ~_

is tllal only eoneentnled ~ are lilowed 10 be I pplied II !be two
ends of the belm, .... hich uchidu!he coll5i1kralion o f diSlribuled loa
of Illy 'ype 110.., !be axis of !he beam. II should be DOled thaI I _

gelltral s.el oCbucklia& differentill eqIUllions 11M been 6criyed by V. .

and Shve ( 1989) consideri"l tbc effects of a Of H edionll warpin& 1M
masa inertil.
As I byprodUCI of Ihe Yarillional procedure. 1.... 0 sc\$ of bouDdIrJ'
conditions CIII be derived fOf lhe beam II ill two cock. Tbt. ~.ntMI
btI.".d"" aNldiriotu are u follows:

EAII ' .'F" '. 'Fv'. ' Fw'. 'Mw" .IM y,, .lF . 'F

""

"

(5.6-')

I
-Ely . 'F y' 'F ...!,,
- 'F e - ,II, e,'
A

(s.6.6)
I

" Me'

- El..,"'
' F",,'
'F' J.w
'Fe
1
,
11
1

'M " ... . 'Mil " .. ' F 'F

(5.6.1)

'59

,
L _____ ,

(.,
y

,
("

"Ia." S. U

ro.a.

COQvaII. for
and ........ ~'"
(I) i ., pIaM; (b)N plOM.

Sip

. .

ie/- IMw '- IM~ /. IM " 'M

-EJW"'F!.zw
".
7
A

I 'M

(5.6.8)

Vi

(5.6.9)

EJ .,III

1/ ' 'M " 'J.I

'M

.!

.,

'M e

(5.6.10)

.... here, 'he rcl.,iollll 6, v' and e, _' hive bun ulilized. Cone11lO1\d,ngly, lhe ,>mtlric """~dllry conJjliD~$ "e .. folio,"""

6.. - 0

(S .6.11)

6" - 0

(5.6.12)

6100 .. 0

(5.6.13)

68 .. 0

(5.6.1 4)

08 .. - 0100' - 0

(5.6.15)

68 - 6,,' 0

(M.16)

As WU ~ed pn;"iousJy. tile sea_Irk boundary conditions COITUpOIId

to pruaibed displacements and rot.tions of tile beam, while the IIIlIIfIII
boundary conditioas romspood 10 puenlled bouD<Iary fOta:$ ..,
moment$. Either the geometric or IlllUtI! boundaJy condition, but IIGl
botb, milia be prutfibc:d for cxh ti~m.ltk dc:y of freedom .t 1M
twO ell(!s A and B of the bam for the boundary"aluc problelll
cons.ickred.
~ buctling differential equations and natural bo\u>duJ'
conditions as derived above will be referred to 15 the ,e,,,,"dllloeOF'f fc.
tImc--dimmsional bumI., ~nce all the nonli_ Slf1Iin c:ompontllll.
including tile uial shortening repoent.d by the term
have bceII
\.lieu into ac::co\IDt in tile formulation. As was demonstrated in CbapICf
for tWlHlimellAoaal beams, a parallel theory toown as tbc I~
IhaHY can be derived as well for the three-dimensional beam b1
neglecting the term
from tile DOnlinear unin component 'l.. in IIIC
formulation of the "inUll wort equationa.

1/;...

II!..

S.6.2

Slmplifled tbfOr)'

or solid barns

By neglectin, the term s 11 , hiVe been generaled from the nonliDtl'

wai.II o;on>pooenl II!... Le., tboK &iven in eqwolion (5.5.51), frQIII

t!'"

viltlUOl work eqoal;oa (S.5 . 9), I Ro,XKI KI of buckling dirruePlill

equations can be dc:rived:

J.'

~""

__'_""do.,<

,.....

'"

(5.6.17)

/1... -

'F ... 'FIO'' . ('M" O')' . 'F"

II , 'M v"'. 0
r
(5.6.18)

Elv JII/" Fv" 'FO' . ('1010' )' " F,, " , '101",1/{. 0
'

"

'

(5.6. 19)

-"

GJO" KO " M, "'''' 'M1 v''_ O

(5.6.20)

The corruponding natural boundary CO!Idiliona arc lIS follows:

A,,'.

'F1 v' . ' p",'

.lp ' p
,

(5.6.21)

(5.6.22)

' /1"" "" F, "" "FO

" 1oI0
I '
" "

' p"
r I" M v".lp . ' F,
(5.6.23)

(5.6.204)

El ...

1.2 ' M' lI' . IM1

" M e'M 0\ ' 1. 1M 0

1

..

I,
(5.6.25)

Elv". I' M", ' .1101 , '101

,
2 '

(5.6.26)

262

n.

where usc has been madc of the relations 6, o.~' and 0," _'.
natural boundary conditions can also be Yiewed as tile equations ~
relalc the mem!>e ...,1\d actions to the IMmbe ...,nd displaa:menl$. 0fealure of the differential equations and natural boundary condit_
derived in Ihis section, either based On the general theory or lilt
simplified theory, is ,luu tlley have been presented In an incrcllleJlb,l
form for the member$ in the buckling (C,) \Xlnfiguralion.
AI this point. several remarks' can be made with regard 10 tile
foregoing two sets of buckling differential equations and .........
boundary conditions for tbe three-dimensional beam:

The first sel of buckling differential equations differ from the ~::~
",,[ in the inclusion of ttlms generated by the noolinelll strain 0
neQI u!., in [he formlilatioo of vinuitl work equations, 11 is InIc
terms of this son can be of millOf signirlClROe in
Ii

of single members, such as simply supported beams o'

will make tbe mathematical operations much more
whenever analytical solutions are desired.
of 5Ilch terms adds to w
while increasing only marginally the computational COS~~":;"' :';:'~:_:
mended !hat equations of a more general IlIIlure be used.
pouible, in a finite ekmcnt program !hat is intended

The natural boundary conditions as derived above may appear 10 be ~

limited use in w budJiog analysis of certain U"i~ial problems, suc/I_
simply supported bums and canlilevciS subjeded 10 in-plane loads, dIIe
10 the fact !hal for problems of !his son most of !he nalural bo\JIIdIIl'
conditions reduoe to those for the linear problems' and thaI rigid bodJ'
mOlions ue 001 possible because of Ihe imposition of gwrnelrit
boundary condilions. [I should be noted, h~ver, thaI sudt ..

."",.,. c:ooccmiDj tbe rigid body ctu.rxterislial nf the lwo 1hc<>tkS

.II

be Ii""n in !be -';0.. 10 follow.

jalIiIII
'"This CI>CIClil;o.. ca:I be chedcd by .. ning C, equal 10 C, and III the . forces, ""pi lho$e """t$j>OOdifll'0 tlte lIpplied loads., eq",,1 10 zero ror
".1 ....1 boundary a>ndilions. Sec Se<1ion~.8 for the exlmple.

26J
iInprUSioo is absolutely

DOt

Irue for problems OIMI ,ban 1M 'rivuol

ones.

For Sln>CIU,es of which !he eff~ of '(J<Sion elMO! ~ nc&lt~d,

speciflatioa of !be IIllUnl bouDdary conditions for Jln>nunl
m~ mbtn in.he buckling position becomes very imponlnl. One simple

(Oftect

uample of Ihis is the buckling of SlJUClunl members subjeaed 10

wrsional momenlS, of ",Iticb 1M critic::al IoIds ~ dependent upon the
propcl1y of appl~ IIIOIPCnlS undcrgoins rocalions. OIlier examples
(a!ling in Ihis Cllegory illClude the buckling of plllnar frames that
DOt rcstr~d apinst lal.ra1 Of OIII.of-plaM ddonnalions, the budl'n8
of IhKe.dilllC'nsional r,..mtS, Ind Ihe bud]ing of curved beams rno&led
by straight be.m .lem.nl$. For problemS of this $On, Ihe natun]
boundary conditions have to be included in the establishment of !be
~ilions of equilibrium {or 5\lUdunl joialS in 1M budlli"l poci.ion
(Y'III and Kuo 19911, 1991b; Vlng.' ../. 1991), ali will be demons1rat
cd ;n !)(ctions ' .9 and .U O.

"r.

Pra .", vs. prev;""s ,itroTiu

beams of wbido the e.!'ca of f;fIlI$itioNJ warping c:m be

ncgltro, tbe differential equations pnlKnlcd here are more general
thin the classkallhrofles Ivailable in tbe litenuu~ in that tile effectS
of inmbility caused by yarious member loClions, such as the axial
forca., bendin, _nlS, dlear fOllQ, and t~ions have ,II betn uken
into KCOUnl . In contnsl. the clusicaJ equations derived by Bleich
(19S2), Vbsov (196]). and Timoshenko and Gc~ (]961) consider only
!be tfftcts of axial fOKa and bendi", moment$, while the insubi]ity
of a bar subjected to lOISionl] loadings was treated sepanote]y by
Ziegler ( ]977). Either of ~ classical equations can be regarded as
spoda] cases of tht ~C$otlll tbeorie$ willi artain urms omined.
For IOlid

5.7

Test of Ihwrits by rigid body rule

Following tht procedure of Sectioa 4.3, we shall demonslrate ia thi'

two leIS of natural boundary conditiOnt derived
prtviou!ily for the three.dimtnsional belm can pass the 'iSid body IUf.
rl1ll, We assume that the beam is initially in equilibrium under the
action of. let of ....1 fomes .t C, and iJ: JUbjeacd to a rigid body
ll>OI ion On the I'Y plane of tht following form:

.leClion that tht

" ",

(5.7.1)

,,,,x8
,

(5.1.2)
(H3)

0,,'
0
,

(5. 7.4)

wMre II, and v. dcDOle ~ "lid U'aIISll lions Ilona the ... and )'-ail
rapeaivcly, and eO' 1M ripi rotation lboon the tur. (a5SUmed.., M
tJIIalJ). With ~ e$prttSions, we <;an obtain from (5 .6.S}-(S.6.10) lilt
following rOl the fOl'Ct'S Kling on the two ends of the beam afIer ....
rigid body mOlion:

'F . '1' - '1'0

,.

(5.7~

lp'F'F8
1
,
$"

(S.7.6)

'1' .. IF

(5.1.1)

' M .. 'M - ' M

e'"

($.1.8)

tM .IJl . IMB

(5.7.9)

' 101 .. '14

(s.7.10)

...

which have also bun plotted in Figure 5.14. This figure indicates 1M!
the initial forces ~ ... on the bum IIIvc rotaled following the riP
body rotation, while their magnitudes remain uncbllllg<d. Th\l!l, die
IC$I. has bn passed fOf this particular rip.! body IIIO<k.
Neill. lei \IS Q&Ume llIal the inilially SU'aKd beam is subjccUd
10 rigid body rotation tI,. about the ,.-axis aDd rigid body tnnsbliollt
II. and w, lions the., and z-axes. By klling

" ",

(S.7.1I)

.. .. 0 8 .. 0

(HI2)

"

(5 .7.13)

II' .. W

- xa

0 - -",' 8

"

(S .7.Io')

\bfc forca acting 00 the beam afte, the rigid body motion an be
obtained from equations (S.6.5}-{S.6.IO) IS follows:

. .

' F .. ' I' 'F.,

II

(S.1. 15)

'66

l p 'F

(5.7. 16)

."

(5.7.17)

e
."

(S.7. 18)

' F 'F 'F

' 101 .. '101 '101

(5.1.19)

' M '101

e
."

' M .. '101 - '101

(5.7.20)

From 1M ruutts liepiacd in Figure !i.1S, it is evidenl thai the 1"_

equltioas r~beams based on 1M. geaerallheooy can 1!deq"llCJy acalWII
(01' the rigid body moIioos 011 the x-z plane.
finally, lei lIS II$$llIIIe Ih.aI. the beam is subjcacd instead 10 I fi&id
rotalion 6.. about the uis of !be beam and rigid translltiODl! ~. and ..,
Ilona the ,... and Z' UU, thaI is,

lI . e, e

- 0

, -,,

(5. 7.21)

(5.7.22)

.-.
w _ w,

(5.7.23)

(S.1.2A)

For Ihis puticu.Lar ri&id body mode. !he folJowina fou can ~
obIailiN from equations (S.6.SHS.6.10):

' .. 'F

(5.1.25)

'F7 .. 'F, - 'F. e

..

(5.7.26)

,,;,

C, .tale

x
""... 5. 15

Ri&id body IDOl. . ill N pl&IIC .

' F 'F ' F

1 ""

(S.7.27)
(S.7.28)

(5.1.29)
1M

'M ' M

l'

(5.7.30)

.... hie" h)ve liso been plotted in Figure 5.16. From this r.,urc, il is
tertain ihallM natural boundary (),')OdiliolUl derived previously based on
11M: ,tncral tMory can lHIe<ju.ately IoCWUIII ror the rigid .oI.al ion aboul
lilt u i, of 11M: ~m.

26'
As can be ~n from 1M Ibov~ \eSI, wbether I $C:I of IIlIIlnI
boulldaty QOIIdilions can pass !he ricid body lest or no! depends eQlI.tl
on ~ terms containing ~ rotation an~ or 11M: flf$i ~r dcriV&l I~~
of dlSplacemo:ntJ, lhl' IS, &.. 0, (....... ), and
v). Since tbe
nalunl boundary conditions u givc n in equltions (5.6.2 1}(S.6.26) for
the Iimpliflild 1beory ronsist exactly of !be _
ith the rotIlioI!
angles as IboK in fl/UIlions (S.6.5}{S.6. IO) for tIM: gellen) theory It
is rbento." C(lnCludtd lhlllile limplified theory can pass the rigid ~
lest U well.
One important lesson from tbe above \eSI is thJ. the IDOIIIcIa
indvc>:d by tbe inilwlIlOIIleOtJ undergoing ttuee--dirnnlSlOOal rotIhOBf.
IS rcprnenled by the 111$1. boundary term 00 Il1e ,ight-hand side of tile
source equalion (5.5.47), should .lwaYI be taken inlo aount in wfitiq:
the natural boundary conditions for I Ihru-dimensional be-.
Omiulon o f any IIIcl! tehl\S (rom the Dalwal bwllduy ODDdilioal, Of
the effects 1M)' repre50ellt from the lIOU. ce C<jUalioJl, will Icsull ill
viol"ion.of the riSid body rule, wllk h obviously Is 001 phYlicall,
ac:a:ptable. Such. fact IoeCms 10 have not rccc:ivcd much 11I(lIIiOII
from previous ranrdteB.
Finally, '" lite 10 memion that DOC aU \be rigid body re ......
term" i.c 1hoIe conllining the rotation angles 6,. 0, ( _ _ '). and
(_ v'). have bun consistently considered in I~ fonn",lalion of clasaic:al
beam theorie$, SIIdI as !hose by Skid! (1952). Vlasov (I9(1).
Thnoshoellko and Oere (1961), and Gjdsvik (1981). It is tr\IC !hat fm

e, (.

te"'" . .

e,

"'I
'"

i '0--;;;-..
LJ

fl .... 5. U

C,nate

Rlaid body motIorI III y

pll~C.

~rI.in

problems for whirJI the rigid body l!1OIions arc wmpklely

prevtnled, Slid! at _ingIe _mben;, equ..lionI 111M fully qu..lirlcd for
riP body.......sc. CUI $liD be IUCd 10 yield &oocI ruullS. Howevcr, care
mllSl bt uken If _ inleDd 10 derive finilc dtments from equatiorls of
this SOf1 and lISe thcm in a gcllCm NIIIlylil PfOgJlIm for soMog the
Ioadddlettion rapoose of thfee.dimcosionaJ frame$. 10 1Itis QSC,
proper meuurcs Ihould bt taken 10 eliminllt ll1e rlCt;lious forces WI
arc likely 10 bt ind1lttd by elemenlJ irw:apllble of dealing wilh rigid
body mOlior\l..

5.8 Applications of iocreml'otaltheories

The buc:kling differential equ..tiom aDd nllum boundary WIdilions for
!be lhn:e-dUnc.woBli beam derived in Sedion 5.61tavc bee .. uprcsscd
in ilKUmalw fOOD. Doe ~ wi1.b equations of 1Itil form is WI
!hey CUI bt directly tmployed in the formutllion of lIOIIlioeu fi .. ile
tlemenlS, in .... hic:h f;IK it is Jlfcferable to hlYe aU !he relared eqwrlions
uprcsscd in inm:mmlal form. AnoIltcr advantage is the possibililY of
ronducting IWO-SUIgc analysis for anaI~1II the crilical loads of
ilnlCtUres Iltal do 111M exhibillarge deformllions prio, to buc:kling. i.e.,
"Hi1lt ntgligible prebudling deform.,ions.
1be first sugc , elllles 10 defomllllion of tile I1ruClUrc from ils
Inillal C, configur.lion 10 !be C, configuration, in respo~ 10 .pplica
lion of nleroal loadings flom zero to rUin I~el. This Sl.ge has
also been referred 10 IS the p,dJ~dll", $la,e, in which ,lie deforma
tions of till: Slructurc Ire assumed 10 bt so small thai IlII:y can be
ntglClClcd front Ille lOndstage ..... lysis 10 follow. Bascd on 1111:
&mallneu of defOl'llUtions, !he inltroal foroes of tadl member of !he
structure corresponding 10 I rcfcrena: load level can bt deltrmined by
the conventional linear anaIy5is prooo:!urc. On IIIe OIlier hand, !he
IOnd m,c refers 10 bifurcalion of the SIruCIure from the initially
~ configuration {CJ 10 the rmal bucklu., conrl&l'ralion {CJ. It
" characterized by the faa \hal tltc external loIdinp acting on tltc
structure remain generally DOfl5Iant, while displ.lmelllS of large
mlanilUIk art OCCUr in directions 001 panoUel 10 1Il0$l: of the
prebuckling disp!aments. 1bc $ec:ond " .ge i5 also known u the
b~dllnl stille. Of major c:oncem in I bllCkling .nllysis is 10 delermine
Ihe cri.ie.l load leyel lhal may lesul, in Ihe (birurnlioll) buckling or.
5lructure, o. in 1111: transition of the Slroctule from .1Ie prebuctling stage
to Ihe blltkling stage.

,,.
5.&. 1 AlIlally

c:om~

C:Olumu

rwo-suae

The followi", ;, an iUlI$lraliaa o(!lIe pKlC'edUlc for

anal)'ill.
Considu atn><;I\UllI member subj1ecllO I eomJlfUlive foro. p I~
FIJWC 5. 17. For the u.ke of s.implieily, we sllJlI is.W1M IIIaI the
limplified Ihcofy applies. AI the lil'Sl su.ge (Of Slep) from C,IO C,.!lIe:
u lemal romprasivc \old is inausro from 0 10 P. For Ihi! parTicular

"p, .Uthe ini1i11 (0Ka'~ equal 10 uro, Le., 'F,. 'F, 'F, 'M,
.. 'M, .. '101, .. 0, and the only ulCrruol IrnId is 'F, .. -Po From
equations ($.6.21)-{$.6.26), the MI"",! botJnd~IY coodilions a~:
,4,,' -P, -EI.~" .. -1;.... ": OJe: .. -1, .. I.~ .. 0, which
represent cxadlr tile f0n:e5 admg on Lht column ,I the end of Ihis
s ... ge. H.~ .. ,~, W, and e. idIould be inl.'prcll as d,splloCements or
the column occurring Mille tim stage.
From the tutlils obI,innl'llhe end orille fll$l $II,.,. ~ 111,'. the
following inr_ion IVailabk II the beginning 0( the 5UOIId sUge(or
Slep), _tlith Ipin is rdened 10 as the C, c:onfigur:lllion: 'F -1' and
'F, .. 'F, .. '101, '101, 'M, .. 0. Since tbe extemalloads".lIII.n
oonstanl during the buckling process. "''C can therefore upress the
U\(fnal load II die rlKl of IIIC 51q> (I.r., at CJ as: 'F, . 'F, -1'.
From cqualicHu (S.6.17)-{'i.6.20), thr followilll nonlrivial buckling
diffrrcnlial cqualions can be obtained:

EJ W""

p.., "

(S.8. 1)

(S.8.2)

I I
GJO" - p .L-.....10" 0

A'

\
I

'fI

(S.8.3)

,.,

~.;M

," _

e,

whc.e .,,.., and

should DOW be inlupre~d as !he buckling deforma.
lions of the sInICIure oec:uni"l'" !he scwnd $I.Igc. Since 11M: prcoedi"l
equations au UDOO\lple<!, they can be 101~e<! Independenlly. Firsl of all,
tile criliI;aJ. load for !he colUIIIQ 10 bu(kle in !he 1OrSionai mock eaa be
obIliMd from equalion (5.83):

P . (;.1- A
"
I I

(S.8.4)

... hid! is independenl of 11M: torsional boIIndary coodilions of thc

colullln.
The gcnerallOlulions 10 (5.8.1) and (5.8.2) are

W ,,~""~'r'.

(US)
(S.g.6)

""berc

It,. J(P/EI), It, . J(P/E/J,.oo c ,' "to ... , ." II., ... au

integra

,lie boundary condilioni lie an'c n fOf !he IWO

ends of lhe column, the aiticaJ loads fOf !he colullln to buckle in lhe
nu;wallllOlkl caJI be 101ve<! from !he prcoediDa; IWO cqualio1u for eacb
of !he cases sbown in Figure S.17.
For enmple, lei us assume t1wthe column is limply $Upponed
lion COJI$WI$.

()n,x

II both ends. For this

special cue,
,,0

the _ncial boundary eondilions

,",x - OoL

(5.8.7)

(5.8.8)
and tbe natural boundlfY conditions (an be obtained from eqUlllions
(5.6.21)-(5.626) as

tF _EJ.,HI_ Pv ' 0

IF - EJ ..... -

p,..' 0

arx . 0
,",.It

. 0

(5.8.9)

(5.8.10)

al~ - O

1J1 - - E} ... "- O

2M - E} ,," - O

alll . O

(SA il )

(5.8. 12)

By enforcing !he displaoemcnl ~ 10 wisfy the ronditiona 8iven in

(S.8.7). (5 .8.9). and (5 .8.11)' the fnllowin8 clwKtuiSlic equatiod can

be derived :
(5.8. 13)

from which IIIe ailical IGad is obtained as

.'EI
.'.. --'
L'

This is aaaly tbe ailkallGad fOf tbe I' WIln 10 bvctk in tbe tk.tvral
mode or tbe xoy~. By enforcing tilt displaoemcnl ... 10 N tisf)' !be
re.....u.illi boundary rondilions, anotbcr aiticallold can be obttincd :
(S.8.1S)

UDder this !Gad, tilt Ilumn w iU buckle in tile I\e~unl mode of tile ~
plane. "The above deriVilion 1frve5 merdy as an iUllSU1Itioa or !he
pro<;edure or application of the intremcntal equations. Sohllions fOf
problell\$ w ilh Ofller bouodary ronditions in f""-&ure 5.17 can be found
from allDOSI any lulbook oa mbility (e.I . Timosbc:nko and ~"'
1961 )' ... hid! will DOl be =aplubred 11=.

5.8.2

Tonlolll ily loaded columM

Nul, leI us Insider the column 5Ubjeaed to. torque T 1\ the free epd
in Figure S.18. MOIcovcr, k l us assume tllal tile torquc T is ~neraled
by semltangentlal mhanism which Insists o f IUple of dilo:ct
foroea II the one Ihown in Filurc S.7. For tile first staae, .11 tile iIlilill

273

'1.1,,, 0, and
dlC only ulemalload is '1.1, ,, T. From equalions(S.6.21}{S.6.26). Ibc:
followi"' .... ~ boundary roadilions ear. ~ obtained: GJO: .. T and
All' .. 4:f.~" .. -1,"'- .. -EI;",' .. EI.~ .. O. lbex fetutlS QI\ be
uK<! as tile loading condiliorls for the 1KO!Id.1I1gC analyals. Namely,
1M member (oroes nisting at \lie beginning of the second suge are:
'101, .. T and 'F, .. 'F, .. 'F, .. 'M, .. '101, .. O. from equations
(S.6. I7}-{S.6.20), we have 'he following nontrivial diffc'cnlial
(OI'tS arc equaJIO zero, i.e., 'F," 'F, .. 'F," 'M," 'M, ..

equations:
(5.8.16)
E1 wi1H

Tw IN .. 0

(5.8.11)

Since Ibc: applied 1Or~ T isoftbe semiUngcnlill lype, acwrding

10 Table 5.1 II will induce IIIOI!lmI IJ.M, (a -Ii T8, .. ~ rOO") about
!he z-uil lllld UOlbc. momcDf AM, (. ~ re, " M7\0') aboullbc: ,..uis,
when f\lbjcaed 10 lJIRc..<Iimcnsioaal rotations in !he btH:tJing stage.
SIICb ~1I1S have 10 be oomidered ill Kn;", up Ihc natural boulldary
oondilions for the f,ee end B of !be column. Conakie. 1M free body of
joiot B of tile column in !be buckling position in filu", S. lg.

n.e

momcn15 actina 011 lhc uppe' side of 'he joint Ire geRerated uU'~/llly

by the moment mechanism,

I'

I'

T
,

.1

(.)

iTw'

i T\I'

-,
(')

fl .... 5.11 Toniorully IoAdI column.

'7'

~k::

-t1y "'" Tv'

~!!:

I~""

Tw'

",

1. 1

" lTv'

'M - 414

. .,

.!Tw'

1M {HI
while IhoK aclina on tho 1oW1:1 side
of tile eross KCtloa.,

(S.8. I8)

(5.8.19)

generated u.ff. ",,11y IS the

5UUI ItiU1WIIS

(5.8.20)
1M EI " II .

rw'

(S.821)

readily Ivailable tMO\I", equatioN: (S.6.2.5) and (5.6.26) ia recop;oon

of the roilowiDa rdationl: 'M, T, '101, 'M, 0, e, ~', aDd
II, . __ ', From 1M c:ondiliom of equilibrium for the II1(tmenlS Klin&
at joint B, !be foilowiD& an be wriuen:

- El w ll

EJ'II

1\>'.

!1V '

rw' !rw'

The MIUra! boundary' Wfldilionl for the sbeu forces

obtained from equations {S.6.22).nd (5.6.23) IS

(S.8.22)
(5.8.23)

II joinl B an be

21S
- Ely - Tw it .. 0

- 1 w'"

n," ..

(5.8.24)

(5.8.25)

brllOling thaI 'F,. 'F, .. 0 and 'F," 'F,. O. TIle euenlill boondary
conditions for the find end of the column art simply all fOllows:

v' ..

(5.8.26)

... .. ",' .. 0

(S.8.27)

v ..

By diffcrentiating ~.tion (5.8.11) once and mlling use of

(5.8. 16), we CIIn obtain the followin, differential equllion:

tqIlation

.....

(5.8.'28)

" _-=T,=
I'T,E1.

(5.8.29)

The gent..l SOlution to djffe",mi~1 equation (5.8.28) is

(5.8.30)

t,.

wbe",
C'" .... cJ arc integration constants. Simil.rly, the gelK'ral
solution for ... is

(5.8.3 1)

~bele 01" 01,. ... , . , arc integration constants. II should be noIed WI

III !be rcdUCIioo of the two-variable system [equations (5.8.16) and
(S.8.17)] 10 the single-variable sYSlcm [equation (5.8.28)]. tWQ .~ullne
~ ~mcwnlS haye been in~ . This problem can be resolved
Y1Ubstiluling Ihe solution for v and", back in10 Ih. original "<tuItions
Ind making IUle thaI lhey are idtmically g1ilr~d. f or instance, by
.... bstitu1ina the solutions fOf ~ and ... into equation (5.8.16), we can

'"

- .'_0-Or. 0(11_. r-,. If ..... , . . .

find thll

(''-'2)
... hid! gn be substi!Ulcd bad: inlO equation (5.8.JI) 10 yidd

-Jf.,

C sinA:;r /1

Jf',

l c' eosb d)Xl

d X d) (S.R
u,
---,

The IJ(Ilulion$ f(lf ~"wI ... muse SlIi~fy aU the boundary cond~
given in (S .8.22)-{S.8.27). FIrst, by substituting the npreuions for.
ilDd ... into the conditions given in (S.8.2.) and (5.8.25), we . . . .

c,_",_O.

Th~

which eln n",n be substituted inlo !be remaining boundary

10 resuh in tile following homogeneous equations:

-Jf"
0
- tcosll

-.t1sinkL

I
0
0

Jf."

b"","

COI~

I 0 0
I 0 0 0

00

'.

0
0 I ~
0
0

0
0
0
d.
0 0
0
d.
T
0

"

00
I 0

-.H:oIllL 00

'.

",

(5.8.36)

m
for nonuivi.allOlutioa of the incegJlltion c:oastanlS. the Iklcrminanl of
the rodr.cicnllNlrU: of 11M: puadmg homogUICOWi cq1.U'tions mu$I be
~u.J 10 zero. from (hil condition, the following characteristic equltion

a.n be obIaill(d:
(Ul7)

(5.8.38)
The "t." sign indicates that tile lorq"" Q.II be applied cilhe. aboo.n tile
jIO$ilivc or the negalive uis of the COllumn. For IIIe special case of a
circular rolumn, i.e., for ClO$$ ~Iions wilh I, " I, J, 11M: pruc:nl
solution rcduc:es 10 thai Jiven by Zkglc. (1977):

.EJ

T ' . L

(5.8.39)

The solution procedure prw:nlcd in Ihis w:ti(lll for solving lhe critical
IoIId of. lonionally Iodtd column ellI be applied 10 IOlv;1I8 llumll$
willi otM. boundary conditions aIld ",bjl~ 10 0Iher .ypu of lOfque.
No Ittempl will be made he", 10 aoIT)' out Iud! ope11I\ions, ~Wf, as
they I.e in pl'inciple a repel ilion of 11M: present procedure. For the
spttgj cuc: of I cjrtllllr oolumn, 11M: rtSUlIs for columns with various
boondal}' COIIdilions undt:. IIM:..:Iion of YUioos Iorquel are Ivailable
in ~glc. ( 1977).

Applkabilily of [he inacmenlallMories.s prucnted in SttIiGn

5.6 il far beyond that iIlllSlnlled ~ for I siagle compresKd Of
Iwi$ud member. Ceruoinly, lhI:y aD be applied 10 study lhe budl;ng
Df .ingle members subjected 1001"'" types of Iwdinp o. the bllClc ling
of planu fl&mQ leslrioCled to ddOllll in the pll/IC. of IIIe ffUloC. IU lhe
IOlutions fOf probk"" ohhi$ $01'1 lie _t>vndl ... in !he literature., we do
IlOl fed il neassary 10 pn::Knt any other eumpks in Ihi$ lUI. In ,''''
fO~lowing two l'ttlioos, the same Kt of equatioos deri~d in Seclioo 5.6
~11l be employed 10 solve IIIe b\lcklina of some angled frames
IDVOlving lOr$ional deformations. Particular cmphuis will be plaotd CHI
the cslabhshmcm of the equilib.ium conditions for strunullil joints
~nneaing nonc:oJlir!ell members In tile buckling ronfigullilion. using
I dcnved natu.a1 bOIIrrdary condilions.

278

F~ofN_r-,ofs,.- F_

5.9 LlIteral buckli ng or angled rra llies with

In pla ne loadin gs
Previous re5Catch 011 lhe Slabilily of SU\I(1unl fn-mes using I lIJlylical
Ipproaches hI$ been direatd in gCMI1I.I toward !he Iorsiollal.nullrll
buckling of single membeB.nd lhe inplane buckling of planat fllom~.
(TlIIIO$hento.nd Cku 1%1; VIasov 1961; OIajel l 974: SimilJcS 1976 '
O>en and Lui 1987). As an be $Ccn from the lilCnltule. lheu is .~
.~ent lack of a.nalytical $llldies on the lateru or OII I-of. pla",
buckling of pllII\aI frnnes SIIbj1cd 10 inplaM loads, thou", numerical
results are available else.... here (Argyri' er al. 1979; Eli. 1986). Wbik
!he fini1e eklmnl method lias often been adopItd lIS subsli rute fOl'
.n.lytical appOKbes, ill.pplio:ation 10 \be bucklina IWII)'5is of Iiwnci
in the Ihrec..:limcn$lon.aJ senile requires special !realmenl 01\ ,he
rowional de&lra of freedom (AJgyrili n ,II. 1979; VI", and McGuiu
1986a; EllG 1986). with which nor m.ny pncrising engi~B IU
familiar. In Ihis $lion. !he finite elemcnt works that take no K'WlInt
of the roIational efrects will be ,efened
\be eOfweali_ ' .~
proac~e~. The incoru.istcncies involvtd in ,hesc: .pproaches will be
highlighted in the SllIdy of some angled frames bl5Cd on rhe mcdlarlicJ
tq.... ionI derived in Secrioa S.6.
'IlIat the lattnl or OIII-ofplane buckling of I pl anar frame Is
diffeRnt from its in-pIaae. counrerpart CIII be SUIted. follows. FiI1l,
rhe crilical (buckling) load of lhe rnme is nor rktennined solely b)' !lie
fluural resistance of the membtn of which !he frame is o;:omposed
The tfreer of romo...l n:sls&anc:e lias 10 be oorts.ideml 115 wen
Secondly. thc fluUI1I1 and lorsion.allCrions of Individual mell\bef"$ an:
couploed Ihrough the cqualioos of equilibrium fOf $lrucrunl join15 . nd
lile govem ing differtnlial equarioos (Of 1oI1UCfU111 mc:mbers. _ they an:
both wrilten for !he bud;ling configliMllion. Finilly. the rIlIalion.1
prof)C'nits of applied momentS have 10 be liken intO KCJO\I/It in Jdtinl
up the n.atunl bot"".bl)' ronditioos for SItUCIul1ll joinlS d~ly acr.ed
upoll by loadings of rile momenl ,ype. rOf the PurpoloC o r illustra,ion,
,h,ee Ingkd rrames under uniform bendin, ... ill be Sluditd in !his
Itttio<r based on one of rile IUll\ors' rteem papers (1991. ). TIlt.
~min, d;nh~nlial equltions .nd Allunl bOlIndar}' oondilj,onl
adopted bert lrt rho5t derived in Sccrlon S.6 fOf the thrce..:limtllljona!
bum based on the 5impliroed rheo<y, in whkh the efreers IS$Odaled

'0

'"

wilh 1M nonlinear Slrain compotKm ,,:~ hav~ bc:~n "",leece<;!. The final
solutio ns fIJI trill ... 1 loads lie presented in d05Cd form, whkh can be
used Il'!I benchmarks for verifying tile validity of various finil_ clement
produru o;:oDa:lRing 1M I'OUlional propenies of nodalll'lOm<nLS in the
Ihrec-dimcnsioNl space.

5.9.1 Sy"mltlrK fnll"e I- Simply SUll po .... d ,,"I of plane

The angled f~ shown in Figure 5.20 is simply IUpportcd both in and

out of ilS 0WlI plane.nd is IUb;Icd 10 ..amllm bc:nding ~nLJ 1>1..

Cross sectionl of the membefs are _rncd 10 be idcntlal wilh
n.gJigib~ warping rigidity. TIle governln' diffe. ential equations of
equilibrium (()l lk left.hand member of lhe (!'time <;an be obIJllltd from
equations (S .6.19) and (S.6.20):

(S .Il.1)

(5.9 .2)

wber. E: is Young'$ mOlM ..... G the mea. modulus, ~ 1M lnnsillion

llong tbe )""uis, e, lhe Inglt: of .wist abool1bc:.r-uis.I, the moment of
i",,"i. about the ,axis, J lhe lorsiOllll] conStanl, 100 M . tile bcooing
Ih(ImCIILJ applied al the $UpporU abo\lt doc: yuis (ISS\Imed 10 bc:
COfISIanl). 11should be mentioned tMt ..-bcre npmerical aleul.lions an:
made in this KClion, 1M folklwingdauo an: M&Umcd: L. 240 mm. .
71 ,240 N/mm', G 27,190 N/mm' , J. 2.16 mm', and I, 0 .54 mm'.
lhe she.r fo. 'F,. torque 'M" and bending moment 'M, Kting on 11M:
mern"" r in the ~kling oonfig~rll ion (Le.,.1 C,) an be obllllncd frorn
.q~ationl (5.6.22), (5.6 .24), and (5.6.26) I~

B~

Fil . r. J.lI Symmtlric

;q ) ..

"'8~d

frame.

280

'F .. - El,,
, '" - M

e'

' M ..

GJe' -

/tI " I

(5.9.4)

' M, ..

/,,"
M0 e
,

(5.9.5)

whe.~ ;1 is .llud lha1 the Moding momeRI Mo ill tile only c. . .

"- rCllllre 01 ..
force K ling on (he mcmbcl before butkJing Kts in. ""t

precedina rorce-di$pl~menl relali(ms is Ihll llIey hive bn wrillClll"

the member II the bucltIing position, nube. lhtn the inilial posilioa. ..
lias bn poinled (lilt by the llIllIan (199le) Ihal well. fellure _ . .
fully mainllined in cooventiolLll finite ckmcnt uWYRa. 1lIc t Q
condiliofts fot the simple support at end A lfC

{e,>..... 0.

(w)... .. 0,

Subslinuing e;' from

eq~tion

(,," ). .... 0

(5.9.6)

(B.l) inlO(S.9.1) ytelds

(5.9.1)

ill wh ~h L denoleJi the kill!" of each member of Ihe frame

followln, definitions &It adoptc4 for the paramC1Crs,

,.

. .. m.
The;

and'"
(5.9.8)

geM"! .solution 10 equation (5.9.1) is

..
V" II L SUIL

bL<xc tK c .... dL

(S.,.9)

whc.c ", b, and c are inlegnllion constants. Throuih cnfOfCCrncnL, of

the boundlry coodilions
CQlllllon , cduce$ 10

M.....

0 and ( .. ").. . . 0 , (lie precedIng

,,,
(S.!UO)

f urthe:r. by &Ubslilulm, tIM: nprcuion for ~ into equation (5.9.2), "'~

obtain IlIe following .fu,r integration:

{I

Q), si!l 4u

0'" .,
L

(5.9.11)

wbere f and , lfC integration constants.. Simibrly. by Kuing (tlJ ...

jual to 0, the preceding eqllalion <:an be n:(ll,ICe(I t(l

e 11'\ siD....
. , fL
L

(5.9.12)

With 1M wb61iM ion of the npressionl rOf ~ and e .. lbe fOl'ce5 in

cqullioM (5.9.3)-(5.9.5) become:

(S .Il. l l)

'M -GJ (II! - Ate)

L

(5.9.14)

(5.9.15)
Both symmCllic and 1lI1isymmctric ~kl ina I rc possibk for !hill frame.

They can be anaJyud by consideriog ooly half of the frllM, as will be

demonslnltd below
Sy.... Cfr/o: /NIc. U",

To account for symmetric buckling. the continuity conditions al ;oim

B can be wriueo as

(5.9.16)

'"
(S.9. 17)

(S.9. 18)
where tile Inp II. has ""en defined in Figure S.W. From the COfIdllioa
of (S.9.11), We OO1.in f .. O. Flom 1M ~mlrn;n, eooditions. We caJI
derive tbe foUowin, ~1;Slic c~lion:
(S.9.19)
from which lhe O'ilicalioads

"'-II

be Mlc, mincd:

(5.9.20)

For lhe spc:~ial case of til .. 0, the angled f. lme reduces 10. simply
5upponcd be.m of Icnglh lL. ACCQrdingly. lhe prcttding lW<l
equations 'WI>Ce 10

(S.9.22)

which coinc:idts exactly wilb tbe res_d1liven by TirTlO5bcnko and Qefc

( 1961) for. limply supponcd beam under uniform Ixoding. In F'"ure
S.21, the. critical loads M ... given in cqvalions (S.9.20) and (5.9.21)
have bun ploned as. fulIC1ion of .nglc til .1Id dcllOlcd as [he "conC"
solutions. As can be sun, Jarger critical IoaoU e~ isl (Of the negaliv.
Ihln for the positive bo:nding taK. This appears u) be phYlically sound.
Of inte S! is rile I!a$e when [he bending moment 'M, is defined
instead fo. tbe IniliDI position of the bar, i.e"

,
.--.~-"
!- ,,
.. -.. c-.....,
-'
_
,-n~"'
, --- ~Mt
_.

Symme'rlc

__

-"

.~"

(o."~'

100< ......

-.. -..

(5.9.23)

This of (OUQI: is incoPsiSlenl, but IIa$ bun implied by many previous

rlJlile elemenl l.Dl.lyses. For \be purpose of IlIvestiplion. we may IIdopt
eQullion (5.9.23) for the btnding moment 'M, and follow the ~
procedure 10 solve for lhe critical loads:

(5.9.24)

whicb heave bun Kltlltir..d as tbe "incorred" solulioni in FIgu.re S.2 1.

As <:an be. iM:cn, the iIIc:omd approach lends 10 unoierescim"e !he
POSitive crilicaJ momenu., while ovnesliml ling UIII Mg.-live crilical
IIlomCnl5.

One difference be.1"'O 1M. bending momentt of (5.9.S) and

(5.9.23) is thll Ihc fonne. !las bee .. defined in tile ""c!li"l eonfi,W'l.
lion, bul IIIe liner in tile btili,,' confi,uration. While. IUlIstilutin, the
forme. ill the cvnditioa of (5.9.1') ",HI tulIh in anln&Jed joinl tllli is
in eqIIilibrium It Ihc bucklin, configuration, the ume is IlOl InK with
the laner.
At this position, some remlrt$ <;a!I be mldc: on the aAIlysis of the
same problem using the finile ele .... nt I!I(thod. Firs! of In, in the
formulation of I thlu-dimensional beam de .... nt, dislillClion must be
made belween moments of tile semitangenlill (S'J) type .nd those of
the quuitln,entill (OT) type, as fal IS the fOlltlonal propc:ny of tile
nod.ll moment b concerned. 'Ibc$e IWO types of momenlS diN'er in Ihe
mo .... nts induced upon rotalions in tbe three4imensiollli space (lJoee
Section 5.4). Acwrding 10 Argyris el al. (1919). Vlna I nd McGuire
( 1986a, 198&). IJWI EliIJ (1986), the Sf momenll are capllble of
ml inllining the .... Ied joints in equilibrium in Ihc b\H:II;ling position,
whilt the OT moments do DOt offer sud! a Qpllbilily. For the IIIke of
rompuison. finite tlemelll &IIaIysiI has been c:anied 001 fOf the
CUrrent uamplc using !lie lOlid beam elements derived in Ouopler 6.
11 b imponant 10 DOle IhaI the Sf and OT fillile elemenl SOlutions
eorrupond vcry well 10 the "conea" IJWI "il>OOltect" soIulions.
respedivtly, s.bown in F'IJIIU 5.21. A$ 5I.IdI, the COI1velllion&l QT
elements should not be reprded IS valid ele .... nlS {Of modeling 11M:
bucklina o f Lhne4imcPSionll frames.

fOi llUisymmel,k bucklina.,lhe followin, oonlinuity condllioRli can 1M:

specWI I I j oinl 8 :

(5.9.26)

(5.9.27)

(5.!1.2.8)
The upreuionl glven previously for the displaoemenu in (S.9.10) l1l<I
(S.9.12), and for the forca In (B.IJ)-{S.9.15) remain valid. Substiluling lhe uprualom for displ~menls Illd forCC$ inlO Ihe preceding
oontinully conditions. we obtain Ifte. lengthy <lpc:ralioRli lhe follllWing
cbll'aCleristic equalioa:

whicb can Ile solved by trial and error. Thr. ui.icallolds II..", obtained
hc~ hi ve bwl denoted as !he '~' solurion' in Figure S.22.
On llIeocMr band. ;'1lIe incorIsi$lenr upRUion (5.9.23) lias bn
used for 1M Ilellding momenr '1tI.. rbe chanclCri5lic ~ualion becomes

(5.9.30)
which can also be solved by trial .00 CIlW. From Figure 5.22, wc
obKrve llIallK ' iDcorred ' solulioB ob\.Ii~ from (5.9.30) is indepc:ndenl of IlIe sense of IlIe applied momenu., while !he ' coned' solution
oblained from (5.9.29) predicts a hiJbcr resi51anc:c for !he fl"llDC I pin51
Mpt.iVC bendi", Ihaa agaillSl posilive bending. Al lhis poinr, we like
10 .ema.k thaI tire corrupondence be.ween 1M ST (toi.e clemen.
solution and !he 'COllect" IIOlurion .emains valid. So is the correspondence bclwn IK OT solu""" and the "'''COllect ' solution. Allthcx
obKrvl lions hive ronfumed thaI !he conventional OT _ nlS ue
uDqUJ.lifted for model"" !he bldling behavior of three-dimensional
frames (Argyris ~I .1. 1979; YlIIglIId McOuiR 1986a, 198611; Elias

1986).

'"',----------------------------,
J,ntIS1 mm ,rle

r, -1'1 ,--,

.1::J.

_~ .-

__

1M ........ .

II...." .. .

tor .....

I.-/'_
j<::" ...... * _, " , *

"

,
,, "

~-

.. j-----------.----------,.----------,l.
J,noal. 0. (O.g," )

28'
5.9.2 SYlIlfMlrk rnlTlt 2- tlnd oul of pi,,,,
The same frame IS the one givcn in Figure S.20 d Jludied hen:, uoepc
thai it is fully I'dllnlined I' the suppon$ with 'espe:<:I 10 OUI-<l(-pllne
beDding IkfOl<1mlionl. The following arc Ihc boundary oondilioos rOO'
"'ppOI'tA:

(").-0 .. 0,

{e,>.",, " 0,

(v,>..... .. 0

(5.9.31)

Following tile SlIM procedure li.<:., the: one (fOOl cqU.llion (S.9.7) 10
(S.9.12)1, we can solve tile governing differentia! equations (5.9.1) and
(5.9.2) 1.1011& with the boundary conditions (5.9.3 1) for the buddin,
displamcnll; as

(5.9.32)

e .. 1I:I.(OOIi """
- I) blslDf
L
L

(5.9.33)

Again, both the symmetric and Int!symmetric bu('tlina m<.>deI IIC

possible for the preKnt case..

The same continuity conditions IS lho$e givtn in (S.\I.16}{S.9.18) ~

be applied for joint B. 8y SIIbstilulioo of lhe uprcssions for 1M fou:es
in (5.9.3)-(5.95) and IlIoK for displace_nil in (S.9ol2) and (5.9..33).
from tile continuity c:ondiliollll we tan Ikrivc lhe dmactcristic equation
IS (ollows:

sint .. 0

(5.9.34)

Correspondingly, tile critical load is

(5.9.35)

which ooincidu ...ith the result given by ArgyrU el.l. (1979) and Elias
( 1986) using flJlil~ clements of the ST Iy~ On the Olllel lland, if we
.oopI the iJlCOtlSislcnl upressioa (5.9.23) for the Mndina moment ' M ..
IIIe: following clwxIeristie cqul1ion can Ix obtained:

...LI(';
. ) . (. _.;)"",.LL
2.J.J..
~

('.9.36)

which. thougll inconea by IlSelf, ;s a function of the Ingle . 'I'M

solutions obtained from tile preceding equation (dtnoted "inoorre<;l")
have bttn rompated with the com<:l solution of (5.9.35) in Figure 5.23.
All far as the roul ional property of the Mnding moment ill c:onccmed.
we like 10 mention that the ST Ind OT finite clement solutions
prcdiCled by Algyris." .1. (1979) rorrellte vCI}' wtll willi tile: prescnt
"correct" and illCOrTOCt" solutions, rupecliV(:ly.

'The continuity conditioo$ arc the same as those givcn in

(5.9.26}{5.9 .28). Followina the same liDe$of derivation, we obtain for
the Intisymmc!rK; bl>c:klina mode the followin, dlaraderi$lH: equation:

(2J.cotct - J.1cu2ct - 2) ~ (2 - 2lcotct) . 0 (5.9.37)

In _trw. the dwaacristie ~ derived ~ on the in<;:Oll5istcnt
pression (5.9.23) for the bending IIIOIIH:nt
is

'M.

(J.Z~:

t)sin+ -{J.'cu2 2)cost 2 . 0

(5.9.38)

The CTiticalloads "'... solved from equltlonS (5.9.37) Ind (5 .9.38) have
Men plO1tcd in Figule 5.24. Similar to the previ0u5 antisymmctri<;
buckling case of fnome 1, the "inconcao approach yields I critical
vill>C lndcper><lcnt of the Rnse of the Ipplied moments, while the

288

,1,

1-

.--. - "

,,

1"

s,....""...,

"

/
,,

._-- . ..........

_
_ c..... ,
-Ir'~

,,-

,-

_.- ............
--1'1-

- -'oo' ,
' "

-...-

M,lol",,,n*,nc

C-ocI

.'
.K ..

.1.... 502'

"'vie

.'

co (1)0;,,,)

. .' (

oruc:.l ............ fer frMM: 2..... tillymmetric ......

"c:orncc" Ipproadl indica."" that the fnme bat I hip. ,eSi$taJICC

laaillSt ncplive bending than again:<t posi1ivc bendin,.

Identical Cl'OSS sections are assumed for (loCh member of !be r,ameS

T v

"
~ ,

.'

;>-

(b)

I')
n .... 5.15

,
(C)

Angled (...m with r.... ed N;ae, (a) QT- I !ll()fMnt:

(b) QT-l - . .1; (e) S f _ L

shown in ~lgufe 5.25. Since 1M moment Ipplird lillie free end C may
be subjected I() Ihree-dimensiooal rotations durill& the budli", pi(lCC$S,
\be IIIOOmnlS indv<:ed by Ihe iIlitifll bcndiP, moment M. undergoing
~ rotation! have to be wen mIG IICCOWII ill uablisbing tM llatwal
bounduy conditions for joint C in tbr. buddin, poiition. For !be

pn,:scnl pIIrpoKS, only 1M ~ t)'pCI of momml mechanisms shoWD

ill Flpru 5.2S(IHe) will be .::onsKIe.ed, whiel! dlffer in the WIly !be
moments I rll induoed upon rotations in tile Ihru-dimensionll space.
EJlccpl for Ihe natural boundary conditions. ollic.r kinematic and SIalic
relalions remain bil5ically the $&II'IC fo r the Ih'" frames shown in

Figures S.25(a)-{c). For this example, righl Jubscripu ' \ " and '2' will
be Idokd 10 quan1ilies 10 signify thll (bey .re usoc:il led wilh members
I aDd 2 ' C$ptttively, of the an&led frame.

(5.9.39)

(5.9.40)

lJId I~ for member 2 are

1,<Y;),'" Mo{O.,)" - 0

(5.9.4 1)

(H.42)
"fht; followinl arc the

geometric: boundary conditions for the fixed_

i.e., joint A of the frame:

'
(5.9.4J)

for joint B, tile conditions or equilibrium arc

(S.944)

(S.9.4S)
(5.9.~

and the conditions of contlnuity arc

(5.9.47)

(5.9.48)

(5.9.49)

The gtllCnl IOlutiollll 10 tile buckling different;al equations

(5.9.39}-{5.9.42)

(an ~

obtlinW .. rollow,:

. c,..- . d,L

(5.9.50)

S., ".l.siD.~ b Acos~ , i! g,

~
,
L
'
L
I, L

(5.9.51)

bLcm",
L

ror

member I, .00

(S .II.!i2)

(S.II.!i3)

for member 2, wllert " .. h" ... , tic. arc inlCif1'lion WIISiants. SUb$tilu
lion of (S.9S0) Ind (S.IIS1) for tile bIIckling displawncnlS in the
gcomcllic boundary wndition. (5.9.43) yields: d,
c, -ijoa " and
I, -Ab, . Accordingly, cqualiollS (5.9.50).nd (S.9.Sl) . educe tll

-b,.

(5.9.5<4)

(5.11.55)

Bcf~ the buckling Ioac:h an be 5IlIvro for the frames in Figures

5.25(I}{C), tile IlIItUraI boundary conditions for joiDt C have 10 be

lpecirlcd.

Momenl IIr the type dcpiaed in Figo.uc 5.25(.) bas been refe ..ed 10 as
quasillngcnti.1 momcOI of the. rlfSl kind, Of abbrevwed q the. QT_I
momcnL Sud! I moment, inilwly or magnitude M. wiU induce
moment of ml&llilUde M,,&., about the. lrnw, wben subjected to
rotations in the tiuce-dimcllSional space: Considc:r the fr body of
joint C of the aJI&kd frame in the. buctlin& position, as show!! in Figure
5.26(1). 1M momcBlS acting on the rigllt-hand ~ of tile joint an:
,enerated ul<'rfI,,11y by the moment mtduinism, wbile tboK acting on

"'.t.""U)'

the ~fthand side an: gcDelatcd

by the moments I'"ted as
Illeu ' C$ullanlS of the CJ(I$S 5eCIioo, readily IYlil.ble IhrOUgll (5.11.4)
'See Stkln s.~ Ind, in panicutll, Table S.l for In.. mom.nos induced by

the YI""", _ . 1 mcdu.nisms WKlcrgoiDI '~mcnslonll mwioDs.

,.

'"~

EI~.""

.,..... U. Moman cquilibriwo ,""",00nI tor joiDf C:

CI) QT.! _1M; (b)QT-l_nl; (c) Sf_al.

and (S-SI.5). 8y lhe conditions o f tquilibrium (Of the momenlS ac:tiIII

11 jotn! C, the fol lowing naron.1 boundary ronditions <;In be wrimn:

(5.9.56)

293
(5.9.57)
where tile length of member 2 is iknotcd IS

ilL .

Also. by the force

equilibrium wndicioo of joint C, the shear forR 'F" must vanish, Ihlt
;5,

Substilutioa of \be uprusions tOl' V

, and 6.. in (S.9.52) and
(5.9.53) into tbe momentequilibf,um conditions in (S.9.56) and (5.11.57)
yields tile following relltions: t, -1 0 and 1>, a -";5;nll",0)5I1._
uuilll~ -.; 0)511. and b, ; sid.....~ Q.Il rewrite equations
(5.9.52) lJId (5.9.53) IS follows:

(5.9.59)

(5.9.60)
By Ibe \ISC of the fora-di$plagellKo\ relations (S.9.3)-(S.9.s) and the
tJ:pressions for displllMnlS in (5 .9.54) and (5.9.55) for member I 100
(5.9.59) and (S .9.60) for member 2, we obuin the following from the
equilibrium conditions (5.9.44}-(5.9.46):

(5.9.61)
(5.9.62)
(S.9.6J)

telling I , . ,; tl. . , ,; 4;oA. and b , _ ,; ~a , we an rewrite

tqulliom (5.954). (5.9.55), (S.9.59), and (S.9.60) as follows:

(5.9.66)

'.,;,,,,~, . ill' ,;..

(5.9.67)

funhcrmorc, lIU~ituting !he p<ettding npreuions for displaoemfnlll

in the conllnuity conditions (5.9.48) and (5.9.49) yields the followin,
homogeneous equ.tions:

(A'amICl A.l oorCl )sIn4IWiPt - A.I~COIiP.

(AI _ ~WiCl OOIII (.~OOIP.) . 0
Three specilJ

QIICS

will

(S.9.69)

considcml in the (oIlowing.

..~.
,. ,
rl&.~

s.n

'"

,.,

111( I'=!t (I)

(b) OTl 1D(J.I.eon; (e) sr IDOODCftL

c..tilew", willi .......

ar1 a",1 II";

CalLi MemM. 2 is ofu.o lenglh: This is ulClly IIIe CI5C.NIown in

figu~ 5.27(.). for ~ .. 0, the ~nae"SlIo; cqualJQn I(duca to IIIe
follow-ina::

(5 ,9.10)

The critical Ioadi M ... 501,,1 f,OOl Ihi$ equ~lion have Men plotted in
Fillure 5.28. II &/Iould M noll that for the Jpedal C&$C of CI .. 0', lhe
(rilical 1oad5 become
M

o.t.

1!{U;VJ

(5.9.7 1)

2L

(on'_,

(_.e.o)

_ ..... 01-1
_ _ 01_2

-"

-.-~

.......

_........

Cau..l

Equal rigidilies for lonoion alld nexure: for this CI5C since
lo .. II, Le., GJ .. 1...1Id ,*, .. J{ loII). equation (5.9.69) reductS 10
eosI(1 ~>*J

..

(5.9.72)

'"
AI

0,.,.

~ "'{ll1!J

(M .73)

2(1 ~)l.

w bich are indcpclKknc of &Ilgk a .

UK J Same k:nJ1.b for _mbers I and 2: for th is case. II I IIDd
f~lion

($ .11.69) rflhKa 10

""' (1 ~)""'"' [(I. :H -:)""1'

(S.9.74)

The aitical loads M.,. obIaincd from this fQII&lion have beta plotled
for vario\q IDgies III in FiJllfc $.29 .

.-

" d

""9'-'0

r,.".. (,.,.0)

,~-

.........-.........

-.---

_0
_.
_
_101_2

- "

" ngll

a (1Wg,':'j

Q_sit.1I8~1i41 .. _au '" Ute StJII4 ~

ElIlemal moment of 1M I~ ,iven in Figu" S.2S{b) hIlS been "re~

10 lIS qllasill.n(,nli.1 moment of !he SoIId kind (QT-2). Aa:ord in& 10
Section 5.4, sudl moment initially of magnitude M . w ill iJ\dU(:C
moment of magn!!ude

-M.v; aboullhe " " axis II the buckling positiOn.

m
eonsi<krmglK equilibrium of joint C in the bucklin, """,ilion IFigu~
call obtain tbe Jlal\lnl boundary rondilions for tile joint as

s.26(b)I, _

OJ{O:">.,." 0

(5.9.75)

(5.9.76)

(5.9.71)
Following basally the ... me

~ure.

tile characlclllIic equlliCHI can

1M: derived:

(5.9.78)
In the folJowin&, Ihree JpeciaI c:ue$ will 1M: ,.",died.
C&u..1.- Member 2 is Ofz~IO kBgtb: For lhis particular cue, the frum
rcduoes LO the OIIC sbowa in Figure S.27(b). With ~ 0, eqwotion
(5.9.78) can be simplifitd 10
(S.9.79)

whkb can also 1M: derived from equation (5.9.70) by liubstituting the
0: ' (. a - 90") for It [see Flg\lres 5.27(.) and (b)]. For compacisoli, the crilic:a] loads 101__ obuintd from (5.9.79) b,lve also bec:n
ploned in FIgUn 5.28, fronl wbkh !be influence of utw.-I momenl
mechanisms OIl the buct.1inllod Q/l be uadily Kcn,
G:aic...l- Equll rigJdities for torsion and flexure: For this case, results

angle

i!kntical lo those presented in equalion (S.9.73) can be obtained.

'itt 1 Same length fOI mcmbm I and 2: For this case (~ 1),
equation (.5.9,78) udutts 10

""'. (~ - ~l"""'" -[(1' nHl""'.I 0

(S .9.80)

>0'
A COIlIparilon of 1M critical loads 101.... for \be QT-I IIId OT-2
~nlS in F""ure 5.29 ,evc.J$ !hat lhI:y ~ YH)' 5ensitiYe 10 the
manner by which !be uttmal Il'IOnIaIlS are applied.

1M semit.ngentiaJ moment M. of fiprc S.25(c) will induoe.

~nt

of magniludo: ~ M...; about !be z,-uis lIld lnother moment of

magnitude Ii Ml J4 about the 1,-Ui5 at the budding posit ion. From the
equilibrium condillons (w joint C in Figure 5.26(c), the u,ural
boundary eondiHons can be wrillen,

(S.9.B I )

(5.9.82)

(5.9.83)
AdopIlng tbe ume procedure for solving the boundary.v.lue problol1l$,
We obt.in for the pI'~nl case, the thal'lClcri~tic equllion as

12cor1l -(t ~}siD'CI)sin'&inP'

Fol,,",,;", are tIM: O\ru; spttial CISeS.
c,g 1 Manbe, 2 is of zero length: For thil case,
~ eqUition redua:s 10

cos4I

-I

0
(5.9.84)

0 lJId Ibo:
(5.9.85)

from whkh 1M ailal load is

JI{ET;UJ

(5.9.86)

,,,
At. eIIn be _II from Figure S.28, the c;ritio;a) ~ M.... for the Sf
rnonKnt. being ilw.kp"II<k," of tM an&le , is about twke as l:u~ as
t/KI5C predicted for the QT-Iand Q'f2 ~n ....
cau..l- Equal riJidities for ICJISiaq and f1ullrc: FOf this QK (1 " ..),
C'Iualion (5.9.84) rwus 10

M
a,.,.

P>+]

-I

(S.9.87)

fI.{Ul!l
(I IlL

(5.9.88)

00&( 1

which illwicc as Luge as lllat &ivu in (S.9.13).

CULl- Same \cnglb for membef$ I and 2: AsHmina members I and
2 10 be of the ume \englb, i.e.., witb P I, tile nilial loads Irc round

...
M

o,.r

.flTl!lsUJ'
L

(S.9.89)

1*[{GJ/J, *EIJGJ - 2)sjn'l/4

which have _Iso been ploued in Figure S.29. From IhiJ figure, we
observe lhat whcn 5ubj~ed 10 Ihe ST moment. Ihe fl1lme lends 10
buekle I criliealload signifocantly higher lluon I~ wilh lbe QT-\
and OT2 moments for lhe same IlDgle of GI .
In the shldy of the third frame, it bas ~n demoll5lraled thaI the
a'iric:alload for !be I.IIgIed frame 10 buckle lltenlly ~nds 10 I large:
UICQI on the way Ole momenrluactings lie applied. In Oilier words, for
frames IUbjtnllO Io.adinp of 1M _ n I IYPC, ,he .... lure of applied
IIIOmcnU; 1m 10 be Q(IfI5idered in lOIulion of lhe crilic:a11oMb. Before
clolin, this $lion, we like to 1(;lCraIe Uw ODe key $Icp in 1M atW)'Sis
or ~1Ic lCm budJinll of planar fl3lRa ills bun 1M csublishmcnl of
III kiMrna~ic and stalk relJlions in Ihe bucklin, confi,uration, which
&hould illCJIKIe, in p'nkular, conditions or equilibrium for suVC!ural
toints, II!Itural boundary oondilions, and gl)Vcrning differential equations. and Lhal in such I process, the pfOpenles or nodal moments and
torques undergoing Ihru-dimclllIional rOlllions have 10 be du ly
COnSiokrcd .

300

Po'

,,1., w_ r-,. ., ..... ,.

S.IO Buckling or angled rr.mes undt r

torsional loadings

'Tk Bllun of lOI'Siomol Of beading mornen1 CIII be dass;foed

ao;I;Qfdilll 10 ~ way by "'hid! it ill It'Mnlfd. SemitangCQIW IIIId
quujlln~mial moments .lI'C 1"'0 'YI'" of eoru.ervllivc IIIOnI(III$
commonly cncounlcltd in the de$ign of J.lru<;tunl and madlUoe

components. They are dislinguis.hcd by the (act llul diffe,en11llOmca!

inacrmnlS m.y be induced aboullhe axes potlpendicu]" 10 the ..is of
the moment when subjcc:lcd 10 finite rOlatiOIt!l in Ihe Ih,o:e-dimc/UioQaJ

space (sec S1ioo 5.4).

The instabilily of a lOI'Sionally loaded '1IIiJ.ht bar has b-.
Sludkd IS urly IS in 1883 by Grnhill, and 1.le, by nlllWi_
'e$Ul'~b(n Is Zicalcr (1971) for. bnd .eview or pnvious WOfb ..
llIis subjeelJ. Basod. on flftite clement 'ppro.dI, s..-....
Gall.gIIt. (1910) studied Ole i/utabi]ily of .;imllar sbafl IIDdtr
-clion of I scmilangcntiaJ 0\' quasilangenlial lOrquc. Of im~ iI
!he m.'lilll of aodal IIlOfIlenlS .. Kmillngcntial _ n i l In ArJ1rit'
el .1. (1979) formulation of. t1ucc-di_rt5iona] solid be:am clcmc&
II is willi llIis type of ITIOIMnl that equilibriwn of structural ; . CO!IMCIing noncollinur members o;;an be maintained in lhc roIIIIiIIII
position. Thc CDnOepi of semitangential moments wu later followed

by Vang I nd McGuire (1986a, 19861:1) .nd Elias ( 1986) in dcri'riII

stiffness mauices for thinwalled beam elements. Rw:nUy, malJdal
SludiCi ~rc carried out by YaJII.nd Yau ( 1989) on tile budI:IiaI vi
pretwisted ban under lbe .c1ion of vari0u5 end ' orques..
Theoretically .tpeakina.lboupllle fin ite elemenl "",tlIod
UKd 10 investlJllte !be effeoru of various applied _ t s 001 . .
budlm, vi space fTlmes, it suffers from tile dnowlNri IbaI
prottdure is Milller inluitively suaip,forward nor bascO 011 WI". '
wiOcly KecJ*d by pnctisiDJ engineers. For il\StlJlOe,' .... 1.... Slep is requirN in Argyris' t. ,,/. WOfk (1979). and .~_
moments and lOlItions' rallle. than conventional moments and
ate used In Elias' (1986) formulation.
.
To the best knowledge of tile ,ulbors, very rr:w lnalyt~tJ>c I.iJIIlI
hive been rondllCled On lbe budlin, of $pIoOL\
o. ,n sub~
case, on the laleral 0. oUI-of-plane buckling of planar flllmes
;.,..0.1
to in plane loadings based directly on lhe aovemin, d, ffe

call.
*

$I"""

rr.mes.

,..
equationS, joint equilibrium and COIIlinuily conditions, and geoIMtric
and nalural boundaty o;:ondjlions. All pan of I~ efforu 10 fill this ,,"P.

an an.1yliCiI study has been c:.onducled on the out..,r_plane bu<:kling of

pWW frarM$ IUbjled 10 in-plane loadings. iL, loadings acting 01\ \he
pllne of the frame (lee Stction S.9). In this S1ion, we shall proceed
furtMr 10 inveslipe the gCDCrI.I budl i", bdllvior of pbnaI' fnma
subjlcd 10 Ioadinp 001 liuicdy acti", on the: plane of !he (rlme, ill
partieUlar. Ioadinp of the lorsionallype. This type of Ioad.illgl diffcr$

Iiom tIM: in-plane Ioadinp in !bat prebuctlina ddonnations Ire 1\01

resuitled 10 occur In the plane of tho: frame.
~ lwo-membfr M&kd frames shown in FilPUS 5.JO.-S.32.
tbousJ! simple in geometry and loading. serve IS an eff.a lve vehicle
for hilhiigluillJ the """"pi$, ~u. and physical meaninp
inV(llved in the buckling analysil o f lipace fnm. Aside from
demonstrtiina the effects of various IQfSional loadings. the prescnt
lOIutlons are by IlKrnsclva benchmub for calibnling tile ac:curacy of
Varioul finite element procedures;, as (II; as the rowional propcnies I.K
roamed. II should be mentioned tlIII the ruullS presented ben: I n
YIlid In lbe.scope of elaslie lineariud bu,kling; chac d, the JlfcbockUng
ddQllllacions of stI'IIdllJU are assumed 10 be $0 $mall thai cbcy Q.II be
Deglled cncirdy from the buckling analysis. The mace rial$ presenled
horc uc tw.ed mainlJ OP one of the papers published bJ lite IUlllor$
(\991b),

~ ...

5.l(I

AlI&Jed tn."", witll QT_l

Ul<qUO: (.)

Fnom<:; (1)) JoIlIl C.

302

(_)
PI,.~

S-J I

(b)

An&kd frllK ",illl OT2 LofqIIC: (a) " ......; (b) Join! C.

'.

"

- - "

,.,
FI,M" 5.31 Angled

rrr. .... willi Sf 1OrqUC: (.) "rime; (b) Joial C.

5.10.1 fa ndamt ntal tqllltlOll1 Ind rondillons

All lh~ r~ndlm.nl.1

equations I nd c:ondillons 10 be invoked lalcr in

analysis of [be IWI).ml:mMr angled

rrame ",ill be firsllUmmlll"~.

lh~

For

)OJ
sImplicity. tbe IW(l IMmbelS of !be I'nmc ~ -..med 10 bawe idcmicol
aoss J<CIions and idcPlic:al __\l:rial ~rties.

Consider. solid beam Ktc<I upon by. pair oflOfques 'M, and I pair
of bending IIIOI1If:QIS 'M, ill the C, ODrIfiguntion as sbown in Figure
5.3). Bod1 fk~urll and torsional deformations are possibk ....ilII the
beam whal buc:tliq ~ BAed 011 Lbe $ilnplir.ro Ibwry of Section
5.6, in which the higber order shonC1li", dfecu ofLbe beam ' qwClrmcd by tile \l:1m
~e b1I1'1tsJkd from !he .. inIAl WOI't formula_
lion, tile loVC'mint; diffuel1li.al equations of equllibnum fOf I generic
atIS$ JIion JI of 1M beam can be obIaincd from cqu&liofts
(S.6.18)-{S.6.20) as follows:

-!.

(S.IO.I)

(5.10.2)

GI S" - 'M,"," - 0

(5.10.3)

wbeTc. priIM (1 ........." diffcml~ wilb Tuped \0 the coordinate

r. ~ and ... Ihe tnnslalions 1100, tile,.. and .-axes; S,w anglc of rwisI
Ibouc !hi: ,,-uis; and G Lbe moduli of elNlicily and nplily; J the
lorslo~l

oonstanl; and I, and f, Lbe !DomUiI$ of iDulia 1bou11her and

,.~

Y,V

'M,

" (-~
,/
Z,W

,..,.., 5.JJ

r- ,

-II-

CoordiDaIel of ....id kam

..su be

ti., ..

IOnica

The o;r()f$-$UliolW rena al5OCtioa ~ are available in (5.6.22)-.(5.6.26),

.. hleb c:an also be inttgrmd from (5.10.1)-.(5.10.3) by considerin, the
equilibl"ium of an infinitesimal demenl <h in Fi1ute 5.3), i.e..

(5.10.")
N'. 'M"
N - 'MO'
' F .. _OW
J

(5.10.$)

'14, .. GJO', - '14,.. '

(5.10.1i)

'1.11 .. - I1.... .

'M,,'
- 'UB ,
'

(5.10.7)

(5.10.8)
.. bere

'F, and 'F,

denote !be war forces adilll along tile y- and z

ues; '101, and 'M, tile bending moments lbouttbey- and z.ues: 1M.
denotes the torque about tbe ~-uis of tile member. II sllould be noted
that all t/lese fOl<'Cl IIlve been e$ublished for the member al tho
bucklin1 posillon.

Througboul th;. tedion, quantilie$ moeialed wilb mcmben I and 2 of

the 1.II&Ied frame ill F"1gURS 5.lO-5')2 will be dellOted with su~
' I" and "2", respectively. The gt'OIIlCbic boundary ~jtiom for \he:
frame are
(",).... .. 0

(5.10.9)

(",~"",, .. 0

(5.10.10)

(0.,), ,0/1 .. 0

(5.10.11)

(w,)., .. - 0

(5.10.12)

(w,\,-o - 0

(5.10. 13)

,II of wbich Ire eVllualed II., . 0 for the fixed su pport.

Ut L Ind ilL dellOlc lhc knaths of members I and 2, rC$plivcly, of

,he ang.led frame.. The equilibrium cooditions of lhe frame II joinl B

'"
~F,,).,.L (' F,,)..,-o

(5.10.1 4)

""bere III 6cnou:s lhc anJic bwn members I and 2. NIMc lllal lhc
pru:cdiaa; cuoditions arc valid fOl" joint 8 in lhc buekliJIl position oaly
""httI lhe associaIed cross-section.al r - . i.e, ' F", 'F", ... , dC., IIC
correctly establis.hcd fOl" lhe joinl Illhc buckling posilion, IUdt as lhose
given in (S.10.4)-{S.10.8).
, Slo~-(;OIIljnujty cOIIdilimu ~I joll", 8

For lhc presenl CISC, only the IlopH:ontinuily conditions .. joinl B IIC
ts5enli.1 10 !be c::aIculatioll or tile ailiaJ loads;
(5. 10.19)

..

,.,_.".". <1"_, r-,. ., "'- ,,__

(S-10.2n)

The: OIlIeR will not be given bm=, since IIiey are needed only "'hnllht
deformed shape of Ilk fruM is dt$ired.

The only nom:ero force for member 2 I' C, (i.e., It the beginning of !be
buckling slagel i$ ',11.1> which is equal to lhe . ppJicd torque TO' Bas.ed
on l h. for~ np'e&lions in (S.t0.4)-{~.1O.6), the natural bouDduy
rondjlioll$ lha! an not rd't.d 10 lhe pl'openies of the applied torque T.
for joint C undergo;n, fmitc rQlI.l~ o;lQ be liven IS fOllows:

(HO.21)

(S. IO.22)
(5,10.23)
01111:' ",lul:l1 boundary rondiliooll fOI joint C will be: established once
!1M: rotJtlonal propenies of the applied torque T. about Ihe three ullS
are prescribed, ., will be discussed bc.low.

5. 10..2

KOIa,,,, .., 1 pnlptrtlt:l of applied torques

Three types of torques will be coasidered ill tlIis Kction. They C&II aU
M cenerated by medwlisms coosisIing of. o;ouple or couples of dirtd
forces u IbowD ill Aprea S.34(I)-{e).
QNuil.llta,u.IIOIqNe o{fir" !IJoJ (QT-I)

The torque T. depicted ill Fi", 5.34(1) Is JeMtllc4 by I coupk at

ronSotrvll~ forces ..,;tip, on a rigid leyer 1yinl alonalhc,....xi$. SpdI
I IOfquc. n:f.rmt 10 as quasilarlgcnliaJ IOIque of the (1lSI kind (QT- I).
induces moment inen=menlS or magnitude To'" Ind 0 lbout the 1" pd
z-ues respecl!vely, when subjected to rooltioM ill the th=-di~ns;onrJ
spaa: (see Section 5.4). Consider the rree body o f joint C in tile

I, ' ,
I

T,

T,

budling posilion in FIg\l.l'e S.3O(b). The momcnllllndialled 011 the lop

side of the joint are senemed tKlemalty by tbe QT I tonion mc:dui.
Ilism, while lboK 011 the bonom side an: ~ncnltd U!ut1lllJy the
ItrUS rtsllitanl$ of the cro5S S:Iion, rudiJ'I an.ilable Ibruugb equatiollS
(S.10.6}-(S ,IO.8) based on !he flel that 'M, T, and ' M, 0 for
IIKmber 2.
from \he conditions of equilibrium for momcnlll loCI;ol'. joint C.
the following caq be wril1tn:

-I...,
, "0

(5.10.24)
(5.10.25)

Q'U..illl"S~~r;.1

"",,"e 0/ KCO<Id lUod (QT.2J

ElIIcI'DllI torque 0( the type given in FIpl! S.J4(b) has bun refcm:d 10
as quuitangentiaJ torque of \be R<XJnd kind (OT2). Aordiag 10
Sectior. S. QT2 ~ T. will iDduc:e II"IOCIKnt inc:nlMnIS of
II'IIgniludc: 0 .nd T"..' about the yo and : 'UCI respcl'!;vcly. Sucb
IriOmCD[ incnmenlS uve been indicated on the top $ide of the frtt
body for joint C in Figure 5..31(b), in addition 10 IIIosc gellCl1l1ed as
~ resullants on the bonom side, Considering the equilibrium of

JOlnl C in the buckJing position, we can w.iu, the following nalUlal

boundlry wnditions:

(5. 10.26)
O ,"l" 0

(5.10.27)

A torque genela~ed by the me<;~ i$m shown in R gU/e 5.34(c) is eall~

the scmitangenlial (ST) torque. Such a torque will indu~ mOmtnlS of
magnitude Y, To'" Ind Y, T".. about tile y- and <-ues respectively.
when 5Ubjec:tro to Ihru..dimeIlSioDII rotalions, which ha,'c been
indiealro 011 the lOp side of the r- body for ;HDt C HI R , un: 5.32(b).
From the conditions of ~uilibriulD of moments I, joint C, the
following go be wrillen:

"
. 1"'2
,

_21T." , 0
1
,
- To"'2 0
2

5.10.3

Solu tions for

(5.10.28)

(5. 10.29)

~lrIoU!llonlon,lloIIds

Witb the 1UI1u.nJ boundary conditions ginn above for each type of

-wiled lorqne. the mtieal '-Is for the angled frames shoWn in Rauru
5.30-S.32 can be dt.lermincd.

~Iting 'M" . T~ .. , and 'M". TeSin .. , we obtain !be generillOlut ion

10 equations (S.IO.IHS.I03) for member I :

 c,

., (;J

(5.10.31)

. J"

(5. 10.32)

"
,,'hffe

II,. 1>,... i, arc intcgnlioo rollSlanlS, and

n
'" El,'

. ~
n;;;

.ru;u.

(S.IO.33)

,.
(5.10.34)

Enforcement of the swmctric boundary tOndilions (!i.10.9)-{5.10.13)

tnlbl" us 10 rew,it. equations (S. IO.30)-{S. 10.32) as

V,L . .feosl
l [.(eos'
lJl'L _I]_ b' liin" ~L - l1 J1II'
h '(5.r
'1
'
L
L
(5.\0.)5)
(5.10..36)

(5.10.37)

Similarly. by lI(IIing 'hal 'M T. 11><1 'M" 0, Ihe geM D1

SOlutio<! 10 equations (S.IO.I}{S.IO.3) an be w,illen for member 2 ~s
follow"

'"
"',

l.

lL~~l. -r-""T
,,~

.....

c: ." -'J .,
1

-"

(~r
L

(S,IO_
--.

(S,IO.4O)
whc~

- b b p .. .. j , Ire integration constants. Uy lubsl"ulI"I die

precedinl di5plattrTK:nIS inlO .he ,ul1unl boullduy amdihons fOf;oill
C, i,e.. (S, IO.2IHS.IO.23), .he following roefrl(knlS an be cIoeer.
m ined :

,, .-'"
.

TI.

(5.10.42)

In addition, (rom ,he remaining natural boundary c:ondilioo5 foc joial C.

i.e., (5.10.24) and (5.10.2.5), the following an be del~'mined:
(S.IO,~)

CoAscqucnl ly. equations (S.IO.38)-{S.IO.4O) ,tdIitt 10

(S.IO' ...)

(5.10.45')

e...

I,

To'>

..!iL

(5.10.46)

.,,,,,,e ..; ,;OO5P." -b,/sinp+.

Now lei U:$ lurn ro lbe equilibriwn condilions for join, B in
(S.I O.14)-{S. IO.18). NOIing lllal for IIM'mbei I, 'M.. .. Tr;o4ll , and
'JI , T..sin . IlId IhaI for mcmbtr 2, '1.1", II T. and 'F.... 'F" .. 'F'"
.. l~,,, ..
0, ~ =y $Ub$I.;!u!e !be displaonmnt fwIctions
(S.IO.35)-{S.1031) and (S.IQ.44)-{5 .10.-46) in,o !1Ie joint equilibrium
~i'ions (5. IO.14)-{5.IO.18), and !ben iOlve for the following:

'M" ..

(5.10.47)

I,

"

!:,)5Ia. ~
1
'1{J.siD !:'cor.)

(1 -

(5.10.48)

(5.10.49)

(5.10.50)

(5.10.51)

At;

can be feen from tile pleCCding cxprusions,!1Ie coc:ff~nl$ " " ~"

. " II.nd I, bave no o;:oml.,ion wilb 0ibc:1 coc:ff!dcnlS. II fol\ow1; lllat the
underlined ICntIJ in (5.10.3S)-{S.I037) uc !he on]y lCm\S cenlT.] ro tile
cktcrmination of tbc aitic:alloack. On tile other band, an cnrnination
of the displ~n' fUDCtions (S .10.44)-{5. ]O.-46) moeals IhaI !be
cocfJk;'cntl c.. f .. and I, n:prescnt buic:aJly !be rigid body displace_nls ., join! B, "'hich apin bear no ,d"ion ro Ibc: eritial loads.
Tbosc terms lllat are esscntiallO tbc cklCrmination of tbc critical loads
ill (S.10.44}-(5. IO.46) havc abo bc:c:n underlined.
Based on the pru:edin& obKrva,ions, the slope..coatinui,y
~'ions (5 .10.19) and (5.10.20) for joint S,;o which the rigid body
d~~lacemenl$ bavc becn ucJudcd, <;lII be n:1ic4 upon 10 o;aJ<;u!atc the:
crlt,cal 1000ds. SubstiMing Ihe displaument funccions as given in
(S. IO.3S)-{S.I 0 37) II.nd (S.IO.44)-{S. IO.-46) inlo ,lie slope-continuity
COndiliOQs yields

_
.
[
Ilsia

Pt

"j

'X~,
-"... _)
2

.I.aln 11 llcor.

(5. 10.$2)

_ (1 - 1I)si.nI)si.nIlCOS

in whkh the ulatioo (S. IO.47) has oon utilized. By K ttin& ~

IktcrmiDant of the m.ltm: in 1M predin& cqllltion equal 10 u fO,

transcendent.l equation can be obtained:

f1'Oll1 wbkb the critiall Joad T.... <:an be IOlved.

In lhe rollowillJ. thr ipuial C&5Q will be C(lll$ idercd.
Cue !--Member 2 is of uro lenglll : This is c..uctly the c:anlilever
shown in Figure 5.35(.). For the pruoeDt cue, P, 0, equatioo
(5.10.53) , e(luo;es 10 1;05'1 .0, rrom which the critical load iJ obuiMd
u

)',

--:4., -"I',
;'
(al

r"~n

5.35

_
Y,

;'

Z,

Y,
(b)

,.,

-_.,

Cutikvc. ",ilb vlrious torquu, (. ) QT. ! ; (b) QT:%; (J) ST

(5.1054)

Two IUCfuI ClI~1IIC QoSC:$ sIIould be discussed be.e. First, wben

II 0, lbe canlilever is lUbj1c:d to QT- L torque.oout tbe member
uil. 1M ( rilial load fOl" this Q5e i,
(5.10.55)

whkh rcducesto lhal given by Ziegler (1977) for. eil"Clll bar with I,
equal to I.. 1M ocbc. case OIXUrs wbcn /I _1lO", whicb implies lhal
lbe a.nlilev(f is Undellhe action of I QT_] bending molllCnl witb ilS
rigid lrlJI lying llong tM yuis. 1M conespondin, nital moment is
(5.10.56)

whkh eoincidc$ with 1M n:suh given by Timodlenko and Ot.t (1961).

EI, OJ (Le.,
.1. . I') and 'I , equAtion (S.10.53) reduCClllo

!:uU Equll r.,idilies for I1c:xurc Ind lorsion: Since

cos( 1

II~

.. 0

(5.10.57)

from whkh the mticllload can be obu.incd as

T.

....

...

"

2(1'1I}L

,fE1;U. ..
"

~~2'~7""'"
2( 1'II )LW ~I-

(5.10.58)

Cuc....!- M.rnben I Ind 2 arc of equal Icntth: FOf II 1, eqlWion

(S. IO.B) ,eduas to

(5.10.59)

which can be $Olved by nume.in! approaches.

'"
AU !be tquariQnl i&IId c:oodilions employed heft Nt Ihe ume .. 1I~
of the. prcttdina Ioadin, CHe, u'Xpt !hal 1M Mlunol bouncbry
c:ood;tions (5.10.24) aad (S.IO.2S) sbould ~ .~plao;o:d by IhoK &i~tll
in (5.10.26) and (5. 1O.21) 10 Rand for tile 100atioMi effeas oflt\e QT.2
IOI'qUt. Following tbe ~me procedure,"'" an dc.i~ the charat1e.i5lic

or

equation ..

(510.60)

Again, lime Ijlial cases will be omsidtrcd.

idK.L- Membcr2 is oruro kngtb: This case isuKlly 1M 0fIC shown
in Figure S.J$(b). For ~ . O. cqu.aliocl (5.10.60) rcdu<:es 10 COIf) O.
1M o;rilidllold obCaiMd here is ide.lliallO Ihl' ,iven in (S.IO~).
Cgu 2 Equal ri&idi1ia for f1eJ1Ulf aDd torsion: For 1, GJ (i.e.,
A _ ,,),00 " 0/>, equation (5.10.60) reduces ilknlicaUy to (S.IOoS?).
ConKquenlly, tlw: WIllI crilicalload as thaI given in (5. 10..58) can be

.........

doH J Mtmben I and 1 an: of equal kna:tll: for II I,

(5. 10.60) rtduca 10 the following;

((jUIlioa

(510.61)

which can be IOlved nu_rially.

C,itical

v"l~e

[Q. ST lo'q""

U,in, 1M llalural boundary conditions of (5. 10.28) and (S.9.29).and

followin& the $line lillCS of dcrilllioo,...., can derive the d\aJaCltnstJC
equation fOl' the present Ioadin, QSe;

(5.10.62)

Solutions for lhe

lhr<:~

spec;,,1 cases

II'<:

pruenll as follow$.

,os
~-M embcl

2 is of UfO lenglh : Th is is 11K case shown in F'llI,e

S.JS(e). For Ehis case, II .0 alld tM cllarac1crist ic equition (5. 10.62)
rcdlKellO ODS., -I, from which lbe ~;Iicalload is

(S.IO.63)

For the nt/erne case: of .. . 0, !he: antileve. is S\lbjected to In ST

torque 100..11 lhe IIlfmbcr aJlls. Th'$ case lias I critical value of

(05. 10.64)

'a'ees

which again
wilh Ziegler's (1977) 'CSl)lt for Ihe sptt~1 case of
d~l.r bars with I, I .. The OIhe. Ulrc_ assumes an Inglc o f
.. . W, implying \hat !be cantilever is aaed upon by an ST bending
IIIOment .1 the frte end. The critical momenl oo..;nW from equation
(5 .10.63) i!

(o5.IO.65)

vII .... given in (S. IO.56) rOf the QT IOfqua..

and lOIl;ion: FOf 1, GJ (i.~.
l 1') and ., t . equation (S .IO.62) rcduOOi 10

"hida eqWlls

""Itt tbc

Ct 1 Equal rigidjl;u for flu ..",

00.(1 II~

(10m whiCh Ihe c.ilic~ load is obtaiDed

T.

0,..,.

II

(I. P1L

-I

(o5. IO.66)

Il$

.fE1:U...
~C''''7 " " "
}'
(1 * II)LY-" -

(5. 10.67)

.... hlCh is IWice 1M ....1"" given in (5.10.58) for."" frame with QT.I

OT2 kNldings.

Of

'"

Can

,.. ,

""fI_.~.,,-

Mernbel10 I and 1 am of cqllli ICII&III: For II ... I,

,-

e~

(S ,10,62) reduces 10

whkh can abo be solved by numerical melllS.

5, 10,4

Nu meriCiI enmplfl

rn-

To demonstrate the effect of varioul tOl$ionaJ kIMlinp. lhree

made lip ol_mben with differenl oricnt.-lions of cr....lCClionaI ...
will be lIudicd in this SCdion,

Tbia is uactly the case shown ;" FiglU'c 5.36(1). The followiaa "
am au\lmed fOf boll! member$ I and 2: ... 71,240 NImm'; G.
27,190 NJmm'; L ... 240 mm; I, ... 300 mm', I, ... O.IS mm', UId J.
0.72 mm'. The aiticallOnjlM: T.... solved bas been plotted . . . . .
lit in Fisura 5.37(a)-(c) fOf lhree len,lb ratio&.: II 0 (~
vcr): II ... I: and II ... 2. An ob5c:rvllioo of tlleK fi,urn reveals !III
following: (I) The ability of the frame 10 resiSl lonionll loadiJIp.
wMlher the OT 01' Sf torq\ICS, dre_ .lgnlrlClntly 1.$ the IaIadI
rllio II lncrcues; (2) !he: aitical vIIIIC of lbe Sf 10rque is about twIor
WI o f !he: OT lorqUC; (3) in ,cllefli, no .I",lrlerlnl diffcrena
ob5c:rvcd belwn!he: aitical valuu of !he
and OT21OOJ11'1"-

Ingle

alii'"

QT.,

./

,' 1 _/
---.,
'"
1'1,,, ..
.!,340

Eumple I'nmu: (a) I," I~ (b) I, . I~ (~) I,

I~

'"

.. _

:::=:=1

01_1

0'-1

- "~'

'-I

-1==

:'.... "(Dootr.!l

-'. ". '-

..

(.)

U ... l

-Q'-,
_ Q'-l

-"

----~----- .

.... ,, (t\ot:'1

.-

(0 )

y,
~

-QT-'

rf-__-_r_,_-_'_-~-"-"-~.,.,-,-,-...:;._..:.'1

-/---;.-----..--J.
:'_ CO (110_'
(,)
Fl, ... 5.J7

(.)

CrilicallOrq\lel fo< ("'mel willi I , * I;

~ . 0; (b)ll - I : (C) ~ .. 2.

'"
Thill is IK ease: $bOWD in Flgu~ 5.J6(b)' The foUowiag dill ~
amuned: .. 71,240 Nfmm'; G .. 21,190 Nlmm'; L .. 240 IIllII;
1,.0.18 mm' ; I," SO mm'; and J .. 0.72 mm', The analysis IUUlb
have been plotted in Figures S.38(a}{c) for tltnc length nolio.: p, .. 0
(l;IJIcilevet); II .. 1;.1Id II 2. A compuison 0( Figures S.38(')-(c)
with FiguI'CS S.37(.)-{c) indicatu theal lhe critical vllue for E!ampJe I
either illC1'e&SCS o. remains ",the. co~.nl, but never decreases. as . . .
II II Inc a5ed. However, the critic.1 value for lhe present example
dccrnses dramatically as angle Il i, ;n(I'e.sed. This ean be .1lt;bII!ed
to lhe fad Ibal in Example I, membel I Is benl .bout the ",cal; ax .. 01
tIM: cross Kdion before buckling, while in this tumple it ill .,.
initi.lly .bout tile $lJOIIg .llI.i$; !he lIlte. bas S1lons_' condeDC)' tel

"""'.

II remains InK. thallM mlical va'lId fOi the ST and OT ~

Bul the ability of thc frame ..
rms. Sf torques is only margiulJy bellC. than thai 10 resist the
torqUC$. Sud!. margiD """n VIJIi$hu lIS thc knglb mio II
II)" ruclllll& the value of 2.

de<iusc. the lePglh ratio II 'ncrM

or
ioQ_-.

EXllmp/c J-CnlU ncritM ""j/l, I, I ,

Excel" fOI the use of I,. f ]2.56 mm' and}. 25.12 mm',"",
<bt. I,e lhe sarno: as t~ used in lhe ~oedinlliwo uample.s.

!'...

""*

Figures S.39(I)-{C). _ observe thai Ihe three poinl~ mack. pl'cvioollJ

for EXimple 1 remlin valid here. One difference is 11111 for IIIe ~
e:umple, !he:re is I slighl deans<: in !he: rcsisIlnoe .gainsl IIIe ST"
OT2 lorqllCl as IIIe indiulioa angk becomes larger.
Before do5ina this section. 111: like 10 oommc:nl !hat IIIe ,......
nxnwaspecalll the analysis of the budlina of I th~
fl'llnC have been bi&hliabled through the Jludy of an angkd &-'
llUbjled 10 nrious !}'peS of lOrSionaIlotIdinp, whic:b ~ a ....
case of !be &pao;e fmIIQ. Cnwal 10 the pracnl derivaiioD is . .
oonsInIdiOll of all pbysi<:al reillions in !be buet.lillJ conGawal~ far
the frame conaidcTed, whicb include, in particular, !be UpI'lI'joc>s far
internal moments appearing IS smss /UuJtanlS and external ~
,eneralM by various mc:chanical clevlus. From lhe analysis re5\l1!s, II
is observed thll the bucklinll ~ds of In anllied frame m vel'1
sensilive 10 lhe WIly lhe lorsionalioidings Ire applied. For the \iaIlIO'd
number of special cases for which pteviou. JOJulioll$ are .~ai"'"

-r-- - _ - - - ,
e.. ....., (,..... ,

I-

-- 0''

... Ol_!
. - . II

- ' r - - -_ _----,

,
,1-

-Q'"

.. .. 0_2
--II

- r - --_---,

I-

.-

Fh ......... , _

1-0..

(".0)

- - Of.

...... Cf'l

-"

"

' - -......... _-- .----L'~~

:.0..
1
..
Q

{o." ..

(0'

"I.~ ... 5.38

CriIiaoJ """"" fOf fnmq ""i,h I, I ,'

(a) ~ - O;(b) II _I;(c) ~ .. 2

''"
c""'...... ( ,~ )

..,~---------c,----------.=---------.,.
:'_ ,,(Dot_)
,.)

F -.

_QT '

"_QT_.

_.-.-,

-+-~==c---I
--_ .....
..

-1-----.........-"(000",)
- ..,------1
,.)

I- --Q'"
f-

. .... QI_2

- "

-~-------~~~-----'-".,-,-,-,,-,-,.--'------~

,-'I-----.--.-----J.
1
: . .. (tIot ...

,.)

'1 . ...

J.
(_)

enTical IOrq_ rOl (.-mel with I, I,:

~ . 0; (b) ~ . I : (c) II _ 2.

'"

till: validity of 1M puKnl results IlaV( 1In oonrumcd. 1M u l rnpJes

presenle<! M'~ ' in Iddition I(l !hose of ~ion 5.9, an m ustd as
btndllll11b for calibrating various rlDJle e!elmnt proc:edurcs.

Refert nCH
Argyris, J. B., DunM, P. C., MaJejlnnakis, G. A., alKl Scharpf. O. W.
(11178). "On IlillC displacemenl-Small slrain analysis of SlruCluru
with rOlalional d<'grees of f' eeOOIll,' Compo Merit. App/. Me~lt. ENg.,
I ~, 401-S1, and U , 99-135.
ArIY' ;s, J. H., IIBben, 0. , Mllejannakis, O. A., and Scharpf, D. W.
(1979). 'On tile IKIffi(IricaI stiffness of. beam in space A consislent V.W. IpproIcl!,' C_p. Melli. JtppL AI" ~,., ZO, 10S-31.
BInoum , R. S., and Olllqhc:r, R. II. (1970), "Fin ile dement analysis
of lOrJioIIalfIexunI SUbili!)' probLems.,' I ltl. J . N_t., Me,lI. E",.,
1, JJ.5-S2.
Bleich, F. (1 ~2). nt BIId:litIIl Slut."" '" Mt'll
Mt<lraw-

lIilI, /'lew York, N.Y.

$tnIc'".u.

OIajel, A (1974). Priltclplu of Sln.tl~ 1 Sllbltiry neary, Prentice

Hall , Englewood Ciffs, NJ .
Olen, W. F., Ind lui, E. M. (1987), S"wc,w,.1 S,dillly- Theory and
'Itlp'tltlttl,,,,'otl, El$Cvier, New Yo, k, N.Y.
Elias, Z. M. (986), TheM}' and MtlAod$ of S',Mc,u,al Analysis, John

Wiley, New Yo,k. N.Y.

Ojdsvik., A. (1981), TAt TAeary al TAl" Walled 8ars, John Wiley,
New YOfk, N.Y.
OrunhiU , A. O. (1883), "On lhe stJengLb of shamnl when exposed
boIh 10 tonion and 10 end 1b1\l.St," in P,oe. 11U,j'~'itHt of Muh"ic./
E"l illu ,s, 182- 225 .
SicoilKs, 0 , J. (1976), A" l",rod~c,jtHI u> lilt Eills/ie S'II/>''''7 of
S"~c'uus, Pnnticc Hall, Engkwood C iffs, NJ.
TUIIOshcnko, S. P., and Gore, J. M. (1%1). TIot<H)' III Eillp" S,abi/iry,
2nd
Mc:Gnw Hill, New York, N.Y.
~, V. Z. (1961). TAiII.Walltd /Im~ Bt....u, Isrxl ProV<lm fOl'
ScientifIC Translation, Jel\lSo1!cm, lstael.
Was/!'ZII, K. (1982), Varia';OIlal Mc.bd, j" EI"Jlicil)' and Pltmlcil)',
y J.d (dn , Pc/galTKm Press, Qxfo;>rd, Enllilld.
t nl, Y. 1)., and Kuo, S. R. (l99b), "Oul-ofplane buckling of angled
f,lm: In'. J. Mech. Sci., l.J(l), S~7,

ron,

322

Yang. Y. B., .nd Koo, S. R. ( I99Jb), "Buddin, of (flI~ under

vuious torsional loadings,' J. ~t. Malo., "seE. I 17(8), 168 1-97.
YaIl&. Y. B., aDd KIlO, S. R. (1991c), "CoII$i$l.c:nc f~ buctliDt
analy.is by fLllilt cklQ(nJ method. J . $'''''tl, Ell" "SCE, 11 7{. ).
1053-69.

Yang, Y. 8., IIId KDo, S. R., (1992), "Fwne bllckJinS analy,is w.tII full
oonsidcnl1ion of joinl oom~libililies,' J . ~I' M~clt., ASCE,
11 1($), 81 1-89.

Vang, Y. D., KIlO, S. R., and Vau, J. D. (1991). 'Usc of scra.ghl_beam

Ipp'ouh to siudy buckling (If curved be.lt1I.," J. Slr~a. ",.,
ASCE. 11 1(7), 1963-78.
Vang. Y. B.. and Mc()uiu, W. ( 19861). 'Slifrnus matrix for geomc:1ric
nonlinear In']ysis,' J. $'TljCI. eft,., ASCE, 111{.), 8.B...n.
Yang, Y. B.,.nd McOl/in:, W. (1986b). "Join\ rotation Ind aeornelril:
noniillC:.lf analysis,' J. StrwcL E"I" "seE, 11 1(4), 87!)...OOs,
Van&. Y. B., and Shue, C C ( 1989), ~ of mIlilily for flaDll:!d
W\IC1I1lu---N~tive s)'SIems, Proc. N.I_.I Sdotcll: C-.
c,~ P." A: P.ytk.' SCit:IICt!: E,.,i>Ks, 13(4), 202- 10.
Vang. Y. 8.. ilIId VIII, 1. D. (l989), "Subility o( IRIwis/ee1 ban willi
various (00 1Orquc:s,. J. E"8. "'IL, ASCE, 115(4), 67148.
Zicgkr, II . (1977). Prillciple of S"~cl~'.1 SI.blliry, 2Dd edit,

Birklllu!I(r, Stuugar1, Germany.

Chap t er

Stiffness Matrices for Nonlinear

Analysis of Space Frames

6.1 Introduction
A CQmmon ~ice in !he budt.ng Inltysi$ of rigid-jointed fwnc=s lias
bn to lSKmble the geometric $IiffDeSl mallix [t,1 in exactly !he $arIIe
fashion as the elastic stirr~ malti, It,], with all the conditions of
continuity and equilibrium for sltu<:1ural joints e$tablished for the initial
geomeny of the 5truc1urc. Strictly speaking. sudlan approach remains
valid only for the IIfLIlysis of single mtmlxrs, (Of whicb the~ are no
angled joints. or of rigid-jointed pl&nar fmnea thai I.e rt.sIrktcd to
buckk in lbe plane of the frame, for whlcb the ..ondilions of equilibrium fot IitfUClUraJ joinu' ill the defOfm! eonrJiUratioa QI1 always be
maintained. In I large dcfonmtioo analysis involvina: th. 4ifMnsional fOtMions, 1M ..ondilions of equilibrium fOf 5Inw:IuraJ joints coonc:CIill, nonc:ottillear nw:mlxrs I l lhc deformed eonfl&uratioo will always be
dIfferent from those of the initial ClInfiguration. Consequcntly,!be
a>nvtntional procedun: of IWCmbliAg !be stiffDeSl m'lIioes, in
panicular, the ~metric stiffness maltilt Ik,], based on the inililtl

Such oondilions b.ve bun ,dern<! to 8rouly ali Ibe ;nle",lemen'

C()mpatiblH,y condilions in Yin. IIId K"" (t99tb, 1992).

,,.
S-Ir)' of $lrUcture does not ,....,...mily Imply lllal !be COadItao..
of equilibrjllm will be SlIWICd for suu.cwral joinlJ in tbe ~rClfaled
conrlJ'lralioo, e:specialJy wbea the rotational ~I'tit$ of .IIOdiI

momelllS m concerned..
In tile litent"re, Ibe probkm _iattd with 1M lack or oqIIililr!.
um II rotated SU\ldU.al joints bas bcca 101-' through the Qe of _
so-called scmitInJerJ1iaI monH:nlJ and rotations. or SCllCnlid II'1C
b
and IQtllionJ;, (or mudding the no<bl moments in (hi: rtnilt claDe.
analysis (AraYris .., III. 1979; YIIIi and McQuire 1986a, I~; Eli-.
1986). Thc:se formulations $hare one fu ture in common in tllll IICIdI

the IIcometrk stiffness malricell [i,l and elutic: stlftllCS$ mlUlc:e.1iJ

1111 assembled IottOI'ding \(I the initial shape of Ute SlruC'lUI'\! buecI ...
tile dilea stiffness melhod, implying thlt the IIOdaJ equil. . . .
conditions, in pai1i<:ular, ~ involving bending momenlS and ~
In: maintained only (01 !be initial shipe. TIle elf_ of joint ""
b
have beep considered indircr;tly by !tuling the IIOdal bending "

as Mrn.~tW (ST) momeDl$, .. modirlc:aOoa 10 . .

quasilanscnlial (01) propeny wbta inltrprclcd as 11M: IIreSS ,...,
of each CJO$I Slioa. ODe disadvantap of tIIesc ~ . . "!be lad: of I JlrOa& physical lirIk to the fuodamenlll me ' ,
cquatioas thai are widely II5C4 in malycical ttudicl.. For IhiJ ra... ..
c:onvenion of nod.aJ bending _nlS from tile quasitlJl&'<ntial .., . .
Kmitan,cntial definitions has otlen ~n eritleiud.
In ~ality,. consiSlenl approach for anaJyzingthe lateral
of planar frames 0' the ~lICraJ buckling of SJ:*" frames Is to
physical relations establishc.:l It 1M defonned configuration of 1M
5lruClU~ under cons.ideration, includioa: both the conditions of cqulIIIdurn for I~ural JOints and the governlna: differential ~ . .
di!lCJtte clements. In this d!apIe., we $hall first lim'l
physical link belween the fundamental mechanics equlllOftf uti
corre$pOtIding rmile element proeedurc, IlSingl 1i.t-degree~f1' ill
planar fra:nc e!emetll 115 the vehicle of iJhmration, ~. .
particular its oul-of-plaDe buckling Clplbi1ity (Sution$6.:1r44). Ii ..
be dellMNl$lraled thai if all the physio;al reLlIions, in part~, ~
o;:on!Iltions of equilibrium for stnK:t\Iral joinu. have b11 ::. ..
established for the buckling configur1llion of the SIl\IClute. ired ill
eonapl of 5e:millngeotial moments and routions !hal arc ~
previous Sllldies will be ",ndered unoo:essary.
",,"
The IforementiollCd approach will be a:cne .. U~_- _
. of
cominuum mechanics principles to derive I lhru-dt
:Iement thll is generally $IIillble for 1M buckling InalysiS

bod_
bave.

dc>'dof!iII':

rW'"

jointed space ff1.l1'la. Of si&llirlClllICe in the formulation based on tht

updilled Ls.grlngian appro.,h is tIM: adoption of the SUtK: aDd
ki ....nwic: .elilions pl'eKnted in Soeaion S.2, in .... hkh eacll qlllnllty
has bn defined with l'espect 1(1 lbe c:oIIfiguralion in .... hi'h ;1 ctI~
and !be conr"ulluion 10 whid! il is mcasIIred. Basfd on SIKh
rigorous definilions, In induced """""nl ""nUc (t,1 CIIn be derived
from the "tmlll virtual won: terms 10 ..:counl for lbe effects of
ro!. lional momenlS. By inlrodudng the condil!OIIs of equilibrium fOf
suucruraJ ;oinlS Ind by consideriag the rohlionsl propenits of applied
mornen", I general space f.ame clemenl thai 53tisfies tbe condilions
of equilibfillm of angled joinlS in lIE bllekling configuration can be
dc:nved. The malerials presented in Ihis eMpler follow buically lho$e
pl'eifnled by lbe authors in !heir previous works (199lb; 1992) .... illl
sliglll modirlClllions.

6.2 lIIuslrallvt cast: Lalt ral bucklin g of

plll nllr frdru es
To simplify 1M preKnt derivation and 10 J.lre51 the importanoe of IlSing
concct equilibfium conditioru; fOf !;Il\Ictunll joinll in lhe buckling
analYiis. only pianu frames 1M1 arc allowed 10 buckle Iate.ally will be
diKuucd in Ibis section and lhe following IWO sections. The assump
lions made hen include: (I) ~ joints for conn1ion of structural
lIIc:mbc:rs a.e rigid; (2) 1M warping dfcCl$ of the ClOSS $oI:Cllon of tacit
membe. Cln he negleClCd; and (3) Ihc: loads arc allowed 10 he applied
onlyar the nodal points.. It is rn.limI. hov.e~., tUllhe pruc:edun: can
be easily ulended 10 consider tbc: effectS of ell5lic joints, nonuniform
1Of1.Ion, and di$t:ributed Ioad$ in lIE analysis or IhrccodimcMion.1

,"- ,was

de

As

stlled in Stttion 5.1, for structures wbose ~kling

rOrn\ahon~ can he conside red small, lhe buckling load of lhe stl\lClurc

QI(

be IlLIlyud by lhe lwo-stage lechnique. In the (il'$\ or pttbM,.Ii~,

~. IlIc: .tfllCturc changes il$ shipe: from the inilial C. configuration

~ C, configurallon. in respon$f 10 the "ldual increase of lbe

::ord .Ioadli rrom u.o 10 a <!enlin (rcf~rcnce) level. Based on lhe
Uoo: i~:lOn Ihallllc: prebuckling derormations Ire small in maanituok,
'~r~ '1LI1 fo.ces of each membt. of tbe $Iructurc corresporulill8 to lhe
or
load Icvd CIIn bt dettrmil!td by the oonventional proc:cdun:
"orA! lllalyiis. In the SCIfld or ""dUn, litoge, the $IructUlC will

tRee

,26
<kned wddenly due 101M oe>:IIrrellCC of bifurcation instability
l'CSulting in dlanac of 1M wape of 1M II~UIl' from I~
configuration C, 101M buckling configuration Cl" During IIIdI

sutae4

dc-ronn.tioll process. it is conveotional \(I assume Ibll lhe IPPI~

loadings actina 011 ~ str\IttIIfC lIld !he internal "",mbe. foroe. of die
5Ir\ICtIIle caused by Ibill XI of appI;ed IoIdin&s remain col\$IQL
In this tlioo aDd tile two Kdions WI follow, ~ m i..,

only ill the buddi", behavior of !he planar (!'lIM from 11M: III

CXlflfigunlion C,IO lite bock]i", oonfiaunuion C.. In other

slulll .uumc Ihll the plcbudling dcformltioos from Co 10 C, .,..
small in magnitude , have alrudy OCCUfftd ... ilh the planar frune ....
msidollltiQa, and IhlltM internal fon:es of each member of Lbe ~
~ing 10 1M rdm:DCe IoId level II C, have beca ....
aYailabk by peadenl linear aaalysis. 'I'M Puuial diffa
J

wons.. ..

equations aDd Dalllfal boundary conditions adopctd in Ibis ~ . .

tbe. bucklin, anal)'$1s an: Lbose of !be Jimpliroed theory derived ..
Section 5.6 for !he Illlw-dimo:nsionlJ beam, in ...bkb the higher . . .
instability effKtllSSOCialCd wilh the nonlinear strain componelll 11"....
the virtual work formul.ltion have been Mgleded.
Consideri", Ihe planar frame dIoWII in Figure 6.1, we _ _ . .
each member of !be pbml frame Iyinl 011 the X-l plmc is suhje<W
iIIilialJy 10 Ihru in-plane actions, i.t., IIIe uial fora 'F" . . . . .
'F.. 1Dd bendina: II\O<IKnl 'N ,. .... itb rden:nce 10 !be demenl WOi ,.
(.r. y, zJ, .... MII !be fnme starts 10 buckle. Acoordilll 10 ; h(5.6.19) and (5.6.20) of lhe simplirled Iheory or V,ng ,nil Sbue(l _
the dilJerentilJ equalionill of equilibrium for 5ection .. of!he member 110
deform latenlly (all be written as:

L-.,
FIa_" U

Scbc .... 'ic: dUpm

or pIlIW frame.

. .

..

,.

EI,,'" -' F v". (',I(O' )" ' FO'_ O

-we" ' M,,, "

.. 0

(6.2.1)

(6.2.2)

.... berc it should be OOIcd lIlat 'F," d('J.I,)ldx and 11M: Wagner dfecl Ilas
been 1>C'Illecied for simplidty. In 11M: pro:ading 1'0110 cqu'lions, E and
G IklIOIc ,be: moduhls of elUlidty aDd rigidi.), re5pCClivciy: I prime (')
denotes diffcrcn lialioo wilh rcsp\ 10 the coordinate ... : v Ihe lranslalion
alool: .he y-uis: e, the angle o f 'w is!: J .he IQrsklnal rons'aJlt: and I,
the nWnlCnl of lnerti. aboUI ,be zuis. 1lIe Cl'OSI-5cClionlol (imen"'I)
forces., iCClion Jt an be in1cgra,I f.om equations (6.2.1) 1l1li (6.2.2)
by Q)fIsidcring l/I(. equilibrium of an infinitesimal clemen. tbt utending
from KCtionx in,he deforrmd oonfiguralion, Of obtained directly from
fqUlllions (5.6.22). (5.6.24), and (5.6.26) by noeing thaI the forces not
Iyio, on IlIo: plane of the frame, i~,
'M" and ''''.. Ire idenlicaUy
eqUllI 10 uro aI the C, ronfigUr11KJn:

'F,.

. ..

'FlI ' aIMO'

, -I,,"'.
,
, _ 'Fe

IF ..

(6.2.3)
(6.2.4)

(6.2.5)

'M,

where the quasiLangcnJial pro~rty of IIIe bendinl moment

(Je1lC",IN as a Slre5S resullanl) undergoing rotalions bas been considerN, as can be seen from !he ((om 'M,a, on !he riJlu-hand side of
equIlion (6.2..5).
Based on lhe ....('gbled residual method, equalions (6.2.1) and
(6.2..2) Qa be COIJIbined in an inl(gnol form:

J. ' [Ei ". - ' F,," ,'Me')' IF"e'lj.o."

0'

,.

J.'(-GJe"
"'r.O
o
.'Mv
7 J

~ 0

(6.2.6)

.... bcre L o:kllOICS Ih( Ifnglh of lhe beam I I C,. Ind 6 lhe varialion of

3"

(6.2.7)
~r.

by the fon:c-dispba:menl relations given;n (6.2.3)-(6.2.5) _

the following relation:

(6.ll)

, (EI"N
' - IF
(,, '68
&"II . GJe'&e')
... 1.'
o ('F,,'b

eb')
1.o
(6.2-9)
This is: uao;tly the virn."t wort equation of equilibrium for the ~
SU\ICIural members in tile C, OOIlfiguntion, In which no account lilt
been taUlI o f the eondilion$ of equilibrium for stNcIural joUl,IS,;
which discl'cle members from different dircdions are ~n nected. '~_k
same ()(IIlfiguralioa. In this cqu.atioo, 1M
and second iPte5'rcprtllcnl the. varialion III the stnin eM'IY and poilntial CIIC=
rupcaivdy. of the beam at Ihc: buckling c:onfi,,,rtUon. The
boundary term _nlS for Ihe viJ1uaJ W(Irt; daM by the. member,
'F,. 'M.. and 'M, (Nriq the (vinual) buckling deforrnlliooJ. whK:h

rtnt

for:!

329
IlOl Iyin, on the plane of the frame, ... hile the ltil boundary tenn
rtprucnlS the ~il11A1 wort done by tile moment indtK:nI by the initial
bending moment
Iyin& on \he plane of the fnmc, which ",~ins

'M,

COfl$Ilnl as the frame buckles. i.t" 'M,. 'M,.

For tile prumt P"'J)XISC. equation (6.2.9) may be

Il'<;a$t

in the

following form :

r'o(EI,,"",,".
GJ fJ'" oot)d.>:
J
'

Jr'o [IF' "'0'" - ' I', ,,,'0&

e "l'''1

-'M,v'oe'.e'lll'''i''-(b'F
,

I
1 h" M
" ao '104-)"10

In (he finite clement protedure of Seclion 6.4, it will be shown tbaltbe

uiff_ malrix derived from Ibis tqWIlion Is uymmet.jc due 10 !he
IppcanllCC oC the la5I boundary lerrn. ll1C asymmetry of the dement
Sllffness mllriK ClIn be Illributed 10 !he lick of oonjupleMSI ~cn
the btndinJ rn()nI<:nl 'M, about the z.ui, 1l1li the dis.plxcmenl
dc,lvalive v' thaI hI~ been selected IS the nodal degrees of freedom
for describing the budl ing behavior of the currenl du(rtle be"",
element: The Iymmeuy o f the MifflltSS matrix will be rCSlo/cd only

Ifter lhe COnditions of equilibrium fOl11le nodal poinl5, through which

diseme clements Irc conneacd, are (n(Ofccd (Of I~ slruC1ur~ II l~ C,
conngul"ll1io11 in t~ ekment IISKmbly procell.
lien,. w~ I;k~ 10 cmpIW;~ W t !he boundary Ifrms Ippearing in
cqIIalion (6.2.10). which ~prueDI !lie vi>1ull work done by the nodal
loads .. tht. buckling stage. arc by IMmsdves I nllural resull of
appiiQlion of 1M O"cming differcDt;al cqultionl (6.2.1) and (6.2.2)
llId tile vl.ialional pro<;edu~. No _mplion Of Ipprw:imllion Iw
IIftn inlroduced in tile deri""t;"" kadinJ 10 Ibc:se Ifrms.. In developi",
!be p/lyskallink between tile ~l)'ticallnd nnit~ clement equations in

..... For the ptu.nl case. the: bending ft'IOnI(nl'M, !IOIlyin, on lhe pllM of
be f~.rnc Is nothin, bul ~uaJ 10 the ft'IOnI(nl 'U}'. j"""".d by the: initial
<It lI<I'"g _ n l 'u, undc:.goIng the 1Olal\oll &,. s.:e Rd!li.... (\973) for in_
h dlKUniono oa 111< $election of consit,\t1l. 'OI"ionI.l <k*,cu in lorge

dc:rOmlliion In11r-is.

".

u..t

every term in lbe Illli~

d ermnl fonnubtioo bas a <:OIl'c:sponding term in the anaJ)'IQI
rounlerput, wilh no rorr~ion Of mOllification required 011 the
\he following lKliollJ, """ m.ake

$Ure

definition of each physical parameter involved.

6.3 JOiDt

~lImbriunl

conditions ror planar rnames

Before we tIlli: abou11be rondilions of equ ilibrium for SU'\ICtWal join!$.

where tWO or mou rnc:mbers or SU\lCtUl'e arc OOOMClCd, ~ propcrtiu

ohpplicd """"en~ undergoing rOlation~ in tbe thnc.dimensional 'plitt
have 10 be summariud fiTSt. For the pu:sc:nl PUrplllU, only the t~
moment mccIwtiJms sbo9iD in figwu 6.2{I)-(c) ..ill be ooaskIefCl1.
The III(Nmnl ~lIUIled by the mechanism La Figure 6.2(1) Iw bccD
ufcned 10 as Ihr. quuitangenlial moment of the flISl kind (OT-I}.1br.
one in FigUre 6.2(b) as 1M quuillDgenlial momen! of tile second kInd
(OT-2). and !he _
Rgllf" 6.2(,,)
the sc:mitan&cnlial (Sl)
mommt. F<w!llOft detail$ OIl the rotIlionaI ~.oe. of _IllS

as

. .-

~
,. , 1

....

FI,.",

'.1

.
1
~
'0'

T-

ft\Cd!"'" .....

MOIDCDI
(a) QT_I _ I I I ;
(b) OT-2 _01; (c) Sf momenL

331
~ncnued

by these mcclwlisms. rudel$ mould be referred 10 S1ion

5.;1,
'I'M moment "",",menlS induc:ed by the (hI momrnl mecha.
nisml of Flgults 6.2(.)-{c) lUlde' going rotations an be 5Umllllriud as
follows:

QT- ]: 4 M 0:
Q T- I:

'"

' M,

4""

-'Mov ';

..! ',., .. '2

.'

li M, 'MoD,

(6.3.1)

' M, 0

(6.3.2)

' M, 1.2 ' M.O

(6.3.3)

'M.

.. licIt
0e1lOltS lhe IIIlIgaillidc of the initially applied moment,.nd
4 dcn(MCi Lhe qlWllily following IS the moment inacmcnl induced
upon lowion. Collectively. il is possibk 10 platt tile prcuding IlIm=

""",lions in lhe following form:

(6.3 . )

where q equals I.O,.IId).i for QT- I, QT2. ud ST moments, KSpe<:livdy. In SccIion SA , it has been indicated Ih~l' bfnding moment 'M

gencrolled as a llreu rcsull.aJlt OVer lhe ClOSS $CllOn

of (he three.
dilmnsionll beam bilSCd OfItlle definition of (5.4.1) should bc inlcl'pUted
as I
momUL. while I lorqlK 'M, based 0Il11w: definition or (S.4.7)

QT.,

as In ST ml>fmnt.
To emphasize the physical ligniflQlI(C of the fljuilibrium
COndItions for stlUClllnol joints ia the buckling COflfigunuion C" let ul
N\Sider first the CIK ohwctural joints where ""~ members IlOl lying
lion,. w.igtn line .u conntacd.

6.3. 1 S~rutl un l joInlS .. i~ h Iwo tonnf("~td mtmhtn

Fot members i and j ~o be con~ inuous through joint 8 of Fi,u,e 6.3(1),
t~ fo Uowing continuity COIIdi!ions $houkl be utisficd:

(6.305)

"'" ,

(.,

'"

'" X,
~

(0'

",

Strw:naraI joisII .;110: (0) Two ~ mcmb",s;

(,11) 1'Iltee .--ted awmbeII.

(6.3.6)

1J~I....., (R)~I
1.'(41

(6.3.1)

~'
.

(6.J.8'

[R,J .

...'1
I-', -',

in w~ich 1M angle , deMles \he incHDed &nglf. bcIW"n mcmben i

andJ. By IlS$.IImiog tile moment
to be Kling II. point on member

'M.

I 1"11111 negligible d istance f.om ;Oint 8, and by .ea.lizina lluol 1lIe~'

plane member fOfC:C$ ~enltcd during the prcbucklilli stage n=maJlI

1M (mne buckles., i.e., 'M" 'M,. and '1<1)1 'M". .he

follow;n, conditions of tqUilibrium can be wrinen for ,oinl B ,n .be
blw;klilll oonfiguralioG:

COI\SIlJIt '"

(6.3.9)
M .'

,.,... L

".,04 ,1M0

,l U I

(6.3.10)

"
(6.).11)

or

whc~ rigJIl subscripts "r and

~vc betn added 10 '1uuuitiel 10
s ignify tNt they arc associaJed willlmemben; I.nd J. resptiYely, of
the planar frame.
AI lbis stage. "" In: rudy 10 demonstlllte bow \be: ~in,
conditions of llltinuity and conditiom ol equilibrium can be inc:orp:>Died in the virtual 'III'Ofk equation of equilibrium for the discrclC bcJJll
element in (6.2.10) through the bolindar)' UrnIS. first, from equations
(6.3.5)-(6.3.7) and (6.3.9}{6.3.1I), the followins UIIIK.ms can be

wrlnen:
(6.3.12)

.-[6~:'M.I{:::}L-

qIMG(e..

&~:. ~:r.lI)k., (IMo~:r.6)l.L

(6.3.13)

334
~M_"""_AW/7fII"~'"""
;11 .... bidl il dIould be noted thlIIR,I'[R,] equals tile UII;I matrix [I].
!he Oilier hand, remaaging equation (6.3.7) y~lds

a...

(6.3.14)

Wilh lIIe aid or equalions (6.3.6), (6.3.10). llId (6.3.1 4), llie laaI
boundary lerm in (6.2.1 0) elln be upI"esKd u follows:

(6.3.16)

Here. il"n be 5n IMI tile filS! thru krmJ On Ihe righl-Iwod side of
equallon (6.3.16) are idc:nlk:al in form 10 0I0se on lhe left, due 10 !be
enfOfc:emrnl of tile con.inuity and equilibrium ..-onditions fOf the
structUI1IJ ;Oint in !he buckling configunlioo. TIle lut term on .1It
righl_lland aide of lbc equation accounts for !he rotltional effects of
the applied mormnt 'M..

t.J

J....

'J..l

...u- .-_,.,..., t r -

Stnaetu r.J join ts with tbrH NllItfd membt-n

8a$K:alJy the same proocdurc as Ihal ror the joints with two oonnedfd
tMmben can be applied ben:. Coftsidt, the 5tnKtUraJ joint $bown in
Filu,e 6..3(b). wben: tItr members i,J, and.t noc Jyin, IIonI the lIInle
liM ano C'Ottnted. ""Ik foiloW"'1 conlinuity rorKIitions an be written
fo' joint B:
(6.3.17)

(6.3.18)

":)
-[.,[/,.:)
/
~e..

~(I..

... L

(6.3.19)

.,"

/;.L -[R,l!t)
-'I

. (~J!;:).. _,00
-,ro

(6.3.20)

"'here, by lening ~ ,dcOOle the inclined angle tlretwcen membe rs i and

.t. the rotation matrix [R,J can tire dclcnnined by repllcing the Ingle ~,
rOt ~, in equation (6.3.8). SimilarJy, the following conditions of
equilibrium an be w,illen ror joint B in the bucklin, c:onfi8ura1i0ll:
(6.3.21)

(6.3.22)

(6.3.23)

336

'M .

In whkh t~ moment
hu bun as.sumed \0 be Icclng It PGiat ..
mtmber j with Mgligiblc disunoc from joint B.
Based 011 cqualioas (6.J.11K6.J.20) &lid (6.3.21)-(6.3.23),,,
following I'dalions CIJI be establislw:d for lhe first boundary ' - ..

equalion (6.2.. 10):

-(61'1 IF.,J.....

- CO", 'FJ'f4

(61', 1F.,J....

!~:l, ..-L .IR,l':l11.,. . .1.,l':l.1.....

By !he use of eqllitions (6.3.18), (6.3.19), (6.l .22). and (6.3 .26), !be ...
boundary ~tm for LIte element I t ;c. L in equaljOQ (6.2. 10) call lit
upresscd IS follows:

-I ,M.(8.4",I -

' .i.,.,
",ae

(6.3.27)

Equ.lions (6.3.2")' (63.25). and (6.3.21) can tllen be IMIdod up 10

ridd Lboe following re$Ult:

(6.3.28)
As,in, ;1 can be observed thai the ltfll\$ on tile rigllt-hand side of
eq..alion (6.3.28). with the term involving the applied momenl '101,
uclltdcd, are identical hi form 10 \bo$e 011 1M lefl, d\le 10 the enfor<:Cmenl of the oondilionl of continuity and equilibrium for tho: $lJUCtUnJ

joim in the buckling ronfiguntion.

The procedure P'*n~ heR for Ikrivina equations (6.3.16) IDd

(6.3.28) CIII be easily extended 10 derive simn. ruull5 for ~

joiolS thai C(NIDed four 01' ~ mc.mbcfl.. AD Important coacl.won
from cqv.ations (6.3. 16) and (6.3.28) Of limilar ~ullS for tbe more
gene.al ase is m.t if beam eknxol ill CO<IDttIed '0 _, two, or more
COnligUOWi clements 110M of ilS ends, lbc:n tile first and lase boundary
turns associated willi IlIls end in equation (6.2.10) will canco:l tlIe
co"eipOndinl'cnns of lhe contiguous clements ., the same end. As
I 'eault, eqUilion (6.2,10) reduces 10 the following for In ciemenl lhal
it COMeClcd 10 other clements al both ends:

SII/fot<# /II,,,*-,,,, 11_ AMIy'" ., "-" F_ _

3"

(ElV "&"II . GJO' 6E1'1

r'
Jr'
Jdr Jo
o '

('F"I""
, - ' (.. '66 - 6,
'
, v,,

(6.3.29)
The preceding equalion differs f,om eqUcalion (6.2.10) in IhIt die
ronditions of continuity aoo flIuilibrium for SUUClunl joiolJ in ..
buckling position IIIve been OOMi5tenlly liken 1nlo account." It"
the~rore valid for elements thai l i t conneaed 10 other clementi II boIIi
elM!$, ratbu IlwI for discute tlemenlS willi 110 CXIMI:ae4 eDdl Of b
cle_1l1S with fue mils.
Of lnleTUI 10 1liiie ill thll for elulents willi c:onneac4 ends, lilt
II()daI bt:DdilIg mometIl '''', $hou1d be inrupn:tcd M Kmillna
...
moment, rather th.lD 1$ I quasitlJl&cntial rnotrIent, as is c"ilkn! from lit
pcnultimllc boundlory Imn on the left-hand lide o f equi lion (6.3.29).
The pracm fonnlllWon differs from Iho:K. Ivailable in !be lilnann"
Ibal the IICmillllJCn11al propcny of tbe DOdaI momenlS has been ~
U
resuh Ihrou&b the enforcement of the equilibrium cmcIIiofts for inl~ clelll<1llS .. slf1KIunl nodes. The r .
boundary term on the left-hand lick of equltlon (6.3.29), ~.
Ilands for the rowional dfeas of tbe applied moment 'M~ II can N
omitted 0lIl)' for dc_oil Ilw are lIIOI diJectly under the .roo- fA

M,,,,.I

applied momcnIJ.
6.3.3

ElrmtnU ."'1.11 nHllMnl applied I' fI'ft cnd

Cob$ider the ~ I25e of aD clclII<nl ooaneded 10 OIMr tlcmeats II

one end, bUI fru aDd $lIbjttd 10 llIe IDOIlKDI 'M I (be OIMr eod (..
mmenl CD of Fi&ure 6.1 for eumple). Since we h.I"t only me mbef

but no mcmbn J. all the continuity and equilibrium conditions derived

ill SWiorl 6.3.2 shnuld be mndlfted. By s.euin& &11 the qlWll;tics
I$SOCiIted widl member J equal 10 ~ro. eq\lllion (6.3.16) mIuc:a to the
fotln'Nina:
j

(6.3.30)

Br tIIis equali.oP.. the bouno.t.ry lerms associated witb the free end of lhe
demtnt in equation (6.2..10) rWu<:e 10
(&....daly IW., hi (6.2. 10)) .. %(1 - q)IMJ,6,6v " ,,' &6)

(6.3.31)
... here Ihe positive lian is taken when the end it II Jl .. L. and !he
""pli.,., l ian It .. . O. It should be lIOIed 11\111 if the Ipplied moment
is of tile ST type. i.e .. wilh q .. ~. the expression obtained from
equltion (6.3.31) becomes identical 10 the penuhimale lerm on the left
hind side of equation (6.3.29). This Iglin OOIlfinns Ihe ST nature of
!be nodal bendina moment '101, derived previously fOf dements with
Cl()fU)eaed ends.

'M.

6.4 Finite element fonnuLation- Reduttd case

fGr !be PIUpO$e of esublWoing the pbysicallint between the fundamenIII Ibhanic:$ equations and !heir f.rute elernent countcrpltt, I planar
: : : ete>mnl lUitable for investigating the out-of-plane bu(:t1ing nf
Fl
(norna ... ill be formulated in this~ . As c:an be Iftn from
lU.e 6.4. such In clement consists of three de81ces of freedom It
~h cnd:
(M.l)

"1.1. , ".

in wblch

./ 'e-"

r,.., ?~

W
.''''

eO' and e. denote the displ~mcnt derivltlvCII JI the two nidi

of the tltlMnt, i.e., e.. _ ...: and e.. _ ...;. J\ISI as in tilt 1' ...wysi$, 'we shall N6Ume thai tile ~ of twisI e. and II ......
"jspl~nt

... can be interpoLaled by linear and cubic: funa ....

resptdi'ltly,

(6.4.l)

(6.<U)

in whicb lilt displaoemc:nt Ve<1On (t.) and I~} au

(6. U )
(6.4.5)
and, u,in& Ihe dimensionle5S coonIin.lt I (_ rlL), the inttrpol.t-'
functions (~ ,) and (~, ) arc as rollOW$;
j"I I '

.. ((I-/) I)

d
(6. )

"I
In I finite ele_lIt formulation, ;1 is I"X"'SPry 10 relate the crossSKtion.l forca to those al !be two cllds of tile clement. To thi$ end,
!be followln, conditions of equilibrium c:an be utilized:

(6.4,8)

'F - 'F

(6.4.9)

'F

'M ,. - 'M
1

'"

< /(' M

,.

.IM.l

,..

(6.4.10)

IIIIbc followiQIo !be Slitfness IIIlIIrix alrTespondiollO cadi of the terms

in equation (6.3.29) will be derived.

6.4.1 Ebs(k aocl pomdric: stiIf_ ..... tl'kft

Fir1t of all, by sub5titutin, (6.4.2) and (6.4.3) for 1M displxt;mcnrs and

(6.4.8)-{6.4.IO) for the c:ross-sediona] foroes inlO lhe first two integral
ICfIIIS in equltion (6.3.29). the following upreuions ..an be derived:

(6.4.11)

J"

(6.4. 12)

In the predinl two equations, IIH: nowion [K:''1 as defined ill (2.2.44)
ILlS bHn recalled., 1*.1 dcnow the elastic aliffneu 1l\.l1ri~, IIld Ik,llht
geomclric: stiffness m.IriJ. The 11.1 mltrix CUI be given as fQllows:

IW,

61,

"

'1,

It) -

"

Ii,! malrix as

. IW,

61,

"
"
, 0
, 0
OJ
, 0" 0 OJ,

"""ri<
and the

61,

W,

121,

_ 61,

"

'1,

"

0
0

OJ
(6 .. 13)

.-

FIIoJ...It...... ,......,. _ _d '0"

.'F

"

'F

10

2'F.tIS

'u

.'F

"'F

- " -----"
_ 'M

[.t.J

10

'M

'F

10

'M
--=

_ 'F.I-

'M

30

'M

"F

---"
10

'M
---=

2'F,J.

' M

"

'F

IS

SJ>n_rric

--"
L

'"

(6.4.14)
",,1Ie~ EM .. 'M.. . '101,.. As <;afI ~ _n, the in$UbililY dfecu aUKd
by tbe iD-pl.aJ1e llClioos of !be clement, i.e., tile uial force ('FJ &lid

tKnding moments ('101,.. 'M,.), bJ,vc all been taken into lec:oun, in the
[*.1 matrll.
6.4 .2

Join. IOOment mllrix

Sub$tituti", equation (6,4.10) for !he beP<linl moment '101, into the firll
boundary term in equltion (6.3.29) yields the vlnual WOlt ~ by the
nodal moments ulldclgoing lhr-dimensional loulions:

'AI,here ;t s/Iould be Q()IC:d that ('M)... equals -'M.. >nsi<.krin, tbe

d,rrncDOe belwn the dcfOllllMion llOd finite dement .li" conventions.

'"

TIle joint moment matrix [til rdatt'S only to the TOIl tional .sepees of
freedom of the clement:

lk). [01]
(t)~

(6.4 .\6)

(.1:). [OJ
wbcre [OIls

I n~lJ

matJUllnd the otber

lUbmaui~

lot) 0

'M ~

Il)~

(6.4.17)

0 'M ~

'M~

0 'M~

au

(6.4.18)

In the foregoing denv.1ion, we have I.bow1I W.I by imposing the

joint ~nl IDIIT;" [.t/I upon the geometri(: stiffness m_1Ib: ,t,l. we
afC in fad cnfort:ing 1M condiliou of equilibrium 10 be IoIlisfIed It the
DOdaI points of the elemeot ira the buckliog collfIgunotion. '" sucll, an
dcllltnl ODtIt.a.inina the [IJ matriJI is ... id 10 be eligible for O(IIUItttion
10 other clements. II is inlclt$ting 10 l'IOIC IlIaI the ;OlD! _1l11DlUU:
[.t)1dc:.im bere is k\elllicailO Argyris' cI.I. (1979) COllection matrix,'

The Lasl boul\d.Uy W:rm in equation (6.3.29) dellOles the vUtual

work done by tile IDOIIKOI Incnments induced by the applied lDOIDCot
'M, II the free cod (I.c., It s L) ulKlergoing finite routions, wbicb can

'Beu.,

I~ of rho. IKk of oqv.ilibril1l!l of ...... d joiau KICd upoa by

quasilaQacatlal rnomeaIt " !be lNctlillj OCHIfilllftotioa. Aruns ., ./. ban
lried to moclity tile .,..llJ of IIOdaI ~ _DII
lbeit orip.IJ
~ 10 tbe ...mllaqallW 1Llhin: by Iddi"ltbe ~ ..... Iril< 10

rro.

1M [.t.l nUl!rbr.

'"
(6.4.19)

~Ol
(k,.] -l[OJ
and the IUblllll1ix Il.1. is defined

IlJ

[011

["I~

(6.4.20)

&J

0
0

0 Cj -,)IMO

<t-,)IMO

(6.4.2 1)

wIKle, equal$ 1,0, and \.i (or QT-I, QT.l, Ind ST moments re5pCctively. The [1 matrix as derived bere aocouots for the IIIOImnL
iDcnments in6uc:ed by tbe applied momcnl
undergoing rIlIllioll$.
Since this matrix is of ihe I.J.me order IS that oflhe [.t,) or [.t,] nWricts.
Ihcre is no doubt that $UCh. matrix Ihould be ilKJuded in tbe buckling
and 1IOII1;1ICa' analysis ohUUdllru frames invol ... ing t1ute-dimc..s.ionaJ
r()llIlions. To lhe IUIbon' knowlcd~ vcry few rcsclrche' l have beell
I Wan: of lbe uisICnce of thi$ matriJ; in 1M pa$L

'M,

6.......

IIo1M1I15 ... lIb OM cod flU

leI us c:omide. the fPeclal case. or an clcmcnllh.t is eonnectcd to olhel

clcn>enls I' one clld, bul ill free aDd IUbj:Ied 10 !he lDOIllC"t
at the
other end. For this particular case, DO modifoation need be made fOI
the submatrica U$Ocialed with 1M connected end.. However, for the

'M.

[.t,!,..

[01

(6.4.22)

and tile moment matrix $bould be modifoc:d as

o
[*..1..... . 0

o
o

o
(l -q)'Mo

(6.4.23)

Iccordins 10 equltion (6.3.31).

At tbis point, we hive J.bown tlllt ClCb of tlw: terms in eqllllioft
(6.3.29) can be expressed as I matrls proo;tuct. By subs!.ltulins aU tbr
matriJt products siven in (6.4.l l ). (6.4.12). (6.4.15). and (6.4.19) illlo
equllioa (6.3.29), and by wins tlw: lIbitrwy nalure of tlw: vinllll
displamtnts {"u}. the followiDa lIiff_ equation (In be derived for
tbe pllnu frame deOH:III:

(lk,] It,! [.t) liJ}l111 {O)

(6.4.24)

This equation is suitable for !he analysis of tlIe Latenl or oul-GfpbM

weldinS of planll' fr:amea, in rH:08Ilition of the f.a that 1M; conditioas
of equilibrium IIIve be(on considered for ~ ..l joints where twO or
more elements I n COnneded and where utemal moments In .pplied.
tbroush!he joint I1lOIIIC'DI malrilr: [t I and appIkd tnOIIIC:nt OIIl1'ix ,i.).
1\ should be noted Ibal due 10 the enfOftement of equilibrium c:ondilioG
for !he delllCnt lit the two nodes, the lymlllCtry of the element lIiffness
matris at.l + [i,J + 'i,J + 'i.D Iw hn re$tOI'cd.' lk 51'~
mltrices dmvcd in Ibis Rdioa, iD particular. tile. [t,1 and [t.1 matOteS.
will be nUmerically tCilted in Section 6.10 in the study of seWral

-....

AJ ...... noted pKviousty. If tb lau boundaf)' term m equatioa (6.2~

I . ' . , _ from ...... imIouJ e~ .
ruuhina element Il\lIri:!t ,.,.;,u ...... 0'11. to be _ymmetrIe. All t~ of "'"
""\IIe Is uld 10 be diK.n:.. Of DOl rudy for COIIroc:ctkin 1<1 od><r e~

......, loot: _led by the _0

6.S

Finite clement ronnulal ion- Ge neral case

'"

For 1M Ab of obtaining aaalytic:al $<>Iutions tOl' some bcnclmwk

probkms. we bav~ cmp~ the most common bucklin, equations 10
Sludy the lI&cral budling (If SOIIIC planar fmnu in Sections S.SI IDd
S. IO. One. key point ill Ibis Sludy lias been the inc:oIpon.lion of
conditions of equilibrium for Slruclural joinll where memMlS lying
alona different diuctions arc ronorelei! . To esubli,h I direl."! physiaol
link between Ihe fundamcntll IIlc.:i",ni<;s equations Ind the finite
clement coonlcrpafl, the buckling equations have ~n ron~crtctl into

inlc,",] (virtull wok) equalion baKd on 1M weighted residual

method in S1ion 6.2. Integraling Ihis equation by pIf1S yields SOme
boundary Ic:rms, lhrougll whid! tile coodilions of equilibrium for the
element nodes "'e... taten into lJCC'Ount (SIion 6 .3). By the use of
interpolation funtlions for element diJplaeemenlS and equilibrium
coodilions for ~~ forQCS, belm eltment ..,ilAbk fOf the
analysis of the LIteral budding of pI_ fnome:s _ IMII derived
(~ion 6.4). One. benefit of tbe procedure ~nled in Sco;tions
6.2-6.4 is WI tcrm-by-term interpretation bccomc:s possible for IU
In

terms involved in the r.nile element fonllld'lion. AI I ruuh, all the

ambl&uitiq associaled with the propeny of nodal momentS in pro:vious
rescll'thes hI"e been completely o;;n:umycnlC:d.
In this section, we shall proceed one step furthc:r 10 duive a
"nc:~ thtu-dimell$ion.al bQm element that will be suitable f<)r the
bucklin"naly!ls of ,cne~ space frames. It.leems that I 1000 starting
point hele is tbe principle of "inUlI displaeemc:nll bucd on the updaled
u&flllaian formulation which bave been used e_clllsiYe!y in previous
chapters, 100 tIIIt basic requiremeot is the capabilily of lhe le~
elCTIICnl 10 like into ICOOUDt III the fKlors NdrtsStd in tile ]ftOeding
KCtions of this dlapcl. Nllu~ly, we mIIy upea the elcment 10
inchllk the plllw fllme element deriye4 in Section 6.4 IS I special
CISe. Amona the factors Wt hlYe been considered, lhe conditions of
equilibrium for Jll\ICtUr&I join", ~ 10 be the IDO$t imporUnt. One
fealure of tbtK conditions is WI tbty ~ imlc"lIll of Iny elastic
IIdoonltions. In 1 fmite element formlllllion employinl the principle
of Yim.aal dispbuments, they can only be included tJuouJ,h. riaorous
I<:Count nf tM "inllil wolk done by nodal fOlt'a, as will be demon.
Itnlte4 In tile sco;!inll$ 10 fnllow.
As "'as sUlled pnYiOll$ly, the nonlinear deform.lion behavior of
~ JOlid body Cln be described by tlute typical connlurations in III
'lICrelllCntal 'nalysis: the initial ulldeformed configunltion C .. tile LIS!

Qlcullted _figuration C" IHId the Qlrnnt untaown configunlioo C,.

For 1111: casa wlll:n itcratiom are ~rformed at eadt inaemental step
of a nonIiDeu uIIlysis, III the three _rl&lIrt1tillnl are _med 10 be
In equilibrium. With the IIpdmd l...qrIn&iIn formulation. the equilibrium of a MIlid body at the C, conf"tgUrtilloo CIII be upressed with
nferena: 10 the C, conftgUmion 115 in equation ( 1.7.36). i.e.,

f ~S.6It. 'dY . :R

'.

in which the external virtu.ai WOIk

iR is

;R -f :,,611, 'dS

'.

(6.5. 1)

(6.5.2)

IICJIccdDI the effects of body f - . . In the pm:cdinj two equatiofts,

6 Ocnow; tbe variltiooll operaIOt; ;S. 11M: updllC(\ KirdIboff suases;
,.., the Orce1l-~ stn.ins; It, lite IIIrfKe trKtiom; M, tbe displlcemeal c:ompononts; IHId 'Y and '5 dmcMc the volume I!Id surface ara
IC$pe<:IiYely of the body at C,.
let x 6e1lOlc the centroidal uis and (y, J) the two principal axes
of the CJOM sectioaI of a solid beam (Fiaun 605). A$ was stated in !be
prcoedinl cMpter, .U \he six SU"eSS COIIIJIOIlCnll of a poiot Ibould be
taken Into IoCCOWIt ill calatlatiJIg the potential entlgy of \he three
dimensional IOIId beam. FoLlowing tbe procedure of Section 5.5, we

can tBnSIorm 1M _Linear iSUlaJ work equation (605.1) into a

linearized virtual work tqUlIioa for the three~imel\SionaJ soLid beam
115 fol\ow1; I'" equation (505.13):

(6.5.3)
wllere E and G dcoote \he modu.Li of elasticity and II&ldlly respeeti .. ely;
It the C.udly 5lIC11 uistinl " C ,; and e and " IIIe Linear and _linear

'"

,1
1"-

1"-

'. ~,!,,:____4
~.!f:' ...
,---

-~

I.

/...

,.,

/..

'I

I'"

I'"

~ ~ ",::-'---".,....

/...

--;-

~--

//.,.'.

/~

/.

1.,' J
fl, '.5

Spac:e frame

~km.ftI: (11 Nodal de""u of freedom;

(b) lnilia] nodal forrcs.

compo~nll of 1M 5tn.in iQ<;KIIICnLS. Fa. I btam in equilibrium II C,.

1M ~lrtull worlr. 'R done by the swfaa: lBCtiof\s 'f, I I C, over 1""
surface area S is

(6.$.")

In tile prcc:ediDf two eqllalions, all variables have bun uprC$5ed ",ilb

illde~es for the rdcrence configuration ' I' droppro for d arily.
CollSeql>Cntly, .U variables should be .ecogniud as qUlnlilics measUiro
With reference LO the 11.'11 Cllculaled oonfigurllion C,.
The fim and lCoond integrals On lhe IcfHland side of equalion
(6.5.3) ,e,,",scnt !he variation in Illiin ene,lU' and polenlil! cllt.gy

".
respeaively, associated wilh defOfllWion of the bum flOl1l C, 10 C,..
'The un... 00 1M rigllt-I\and side, Le.., ' R _ 'R, rrprexnllM int'U1!I(1II
in CJuclllll vif111&1 work.x- by 1M surface lfXtioM, .... hich ... ruuJled
in IIIe ck:formalion of the beam from C, 10 C,.. In Seclion 5.5, ;1 bas
bn dcmonslflllnilhal if consisccnt SIalic and kinematic relalions 1IlI~
~n IodQpWI tOf the lhne..dimcnsiotW beam, from equation (6.5.3) we
may derive 1M following v;nuat "'Oft equation of fquilib,;um in

incrcrmnu,l (Ofm:
/","
6", 11 . Jv
/ llv" . GJO' Il(l"d<
1
,

-J.' I-IM~'w'e/

- '/01 6(.. '8' ) - ' M Il{.. '... .. '

,

-1-(1. 11010 )'MI

2

- ,'M' ), /10

' M

II{I/'">I'''

,'M6
)'/101

(.! '101 e )'118 r

"'2"'J~

(6.5.5)

in whid! (II, Y, w) Ihould be lewgnizcd as d~ac::cmcnl incrtmcnl$ of

the centroid of
cross sec:tioa, O. dellOlH 1M angle of IW ist, A .""
Ca of the acu -'"lion, L !hi: length of 1M bum, J the ton.ion
ronslllll, I, and I, the II'IOmnIts of inertia, and k. rhe Wiper coefficient
(sec Section 5.5 for definilion of udI of lbut. pa"l!I(lcl'1~ II should
be nOled 11111 the preceding e<fIIlIlion is Identical 10 tile OM derived
prcviOllsly in a.apler S, i.e ., equation (SS.47). AS shown In ~igure
6..5(1), the displacemenl VCC\QI' {II' for lhe Ihru-dl~nsiooaJ bl:am is

'*'''

defined u

(6.5.6)

..ltich OD!\I.isu of thKe tnnsJations and tluu I'OQlioas II eadl node.

eomspoodinaJy, ~ oodI.I forces ('n Klin, on the denxlll II C, .re
thoSe depicted in Figure 6..s(b) and can be w,iuen as follo'Q:

(6.5.7)

en

Ictin& on the element al C , can be Ikfined in I

The nodal forces
simn.. way IKe equation (5.$.4S)I.
In arriving II equalioo (6.$.$). the following as:sumptiont bave
been mMle. .,.~ the BemouIli-Eulef hypolbHis
plaM seclion
applies, lhat is. thedisplaoe:mcntsof ud1 cross seclion can be lbaibed
by !bose Jivell in eqvations (S.2.7}{5.2..9). Second, the initW forteS
'F.. 'F,. ... , and 'N, have ba Ikfincd.., the sm:ss resultants onf ~
I;I"OSS s.e<:tion of the beam, .., in equ<Olions. (S.2.20}{S.2..2S). FiIllUy,
!be lJI~.r:, J. and. ba"" bcen adopted. as the prin<:iP*l oentroiI.Ul Des
of lhe bc>am, whkh satisfy the onhogonlHty condition. given in
(S.J.)I) and (5.$.31) for bisymmetrical crOK lIio~ h should be
noted thaI equalion (6.$.$) h.., bun referred 10.., the one based on Ihe
general IheOry of lhe three-dimensional $Olid bc>am, in !hJ,1 Ihe effects
represenled. by the nonlinear $Irain term ,,~~ hive been ill(looed In lhe
vinllll work formulalion.
For convenience., ...-e shalliknote the rust inlcgal on IIIe Idl_band
equ.aliOll (6.$.$) by 6U and the femaining
lide of the eqwol aign
iJllcgrab on the 5IJne lide by II V. What we .... i11 be interesled in the
fol lowing ill 10 Ikrive the clastic $liffnc:ss maul,. It.1 and geometric
lIiffneu m&1riJr 1.t,1 ffOrQ the two terms 6U and 6V, respecti-.-ely. In
displaumenlbased finite elemenl formul.tion, the d~nxnts II
lUIy point .... ithin I fmire element shoIIld be rebtcd 10 those II the
element nodes by inlerpolation functions.. For I three-dimensional
~m , the axial displacement M and the angle of \Will e, can be
Inlerpolaled. by linear functions, and llIe Inn$verse. displac:cments ~ and

or

or

'" by ClIbic function&,

(6.$.8)

'"
(6.5.9)

(6.5.10)

II, [ II ,I~

r8,1

(6.5.11)

By leninll _ slL, l/Ie lincli ,lid cubic inlcrpoll,ion func1i(NIJ

can be e~pre$$Cd as

{~I}

llId

(II))

[II,)T. HI - I) 1\

[il T [II.
[;;I T
[w)T.

Le.

[".

',I

"

r... -Le

",

[8,I T

ri.

(6.5.12)

'.1

(6.5.14)

LO.. I
- La.. )

(6.5.1S)

(6.5. 16)
(6oS. 17)

... bere each II(I(W degree of f.eedom haJ been ddillCd in fi&u.e 6.S(1}.
As ...., lUted in Section 2..2, the above intcrpolatioa funo;:tiooS ",maiD
an euct IOlu.ioa 10 the linear differential ~ioRs of !he 1I\rfedimcnsionlllOJid beam fne or any dislribll,ed IoIdI..

6.5.1 Elaslk , Uffness matrix

As was noted previou&ly, lhe first integral on LIte Icf!.hlpd side of
equation (6.5.5) ,cpr_nlS the variation in ilrain energy (6U) of I.bC

.., F ...... _ _ J<>-...

G~_

beam OCCUlTiq during the inacmc:nlllllllep frorn C, 10 C:- This leno

i1 ldential in form to 1M one given on the leftMod side of equation
(2.2.12) for the Ji*>e frame ekrnt;nt based on the linear Ibcofy. By
suMI;.uling equations (6.5,8)-(6.5.11) fOI .4 d ispl lCCmenl!., the filS!
integol in (6.s.5) <;all ~ IlUSformed into the following:

(HIS)

or

lIS

follows:

- TEl %II, TGJ 110, {6"'1 ..:..:.! IX... J I"" {66 t _ (Xu J {6,1
L'

(6.5.19)

uliog the IlOI.Ition [X;n of (2.2.44). He. e. each of 1M. submatrius

1.pre$Cnttd by [1('':1 has bo calculated in Appendix A.
Wi,h the eI.ment displ.accmc:nt YCCIOI" (II) dermcd in (6.5.6) and
11M: oomponcnt displllommtt VIOn (Ii), {~). (wt, and (e.) defined In
(6.S.14)-(6.5 .17), we aD funller combine tile terms in (6.s.19) into.

lllluu JIfOdu<:t IS 'ollowl:

(6.S.20)

[*.1 is Ihe clulic stiffness matrix for the space 'DIM element.
~.Iutic SllffMSlllUltrix (t.l . ...bid! has I dimension of 12 >< 12, has

.... h.~

bec:n ilkmifitd 11$ the [*1 mluix and given .~p1idlly in (2.2.89) !sed
on the linear theory. By multiplying the dUlic stiffness matriJ: 11:.1 by

,,.
element d.isplMlc1llCll1 vtctor (II) , we CID obtaio !he nodal AdioQs
eaused by the elastic deformations of the bam elemenl during tid!
IIMnmeolal step.
t~

In order 10 derive the geomc:ui<; stiffness ml llix Il,l for 1M lpace ftllU<:
clement, we sh.1l .dlle all the fowe$, Le., ' F" ' Fr .. " and 'M ~ inil~lly
'Cling on seelion .. of the member al C, 10 lhoK at tile two ends..
BlMd on the eondilions of equilibrium, $uch rel'liollJ can be expressed

u follows:

'F 'F

(6.5.21)

(6.5.22)

(6.5.23)

'F

(6.S.24)

'M .. 'M

'M, .. - '.'1,..(1

- /)

'M,J

(IS.S.lS)

'M, .. - 'M'..(1

- /)

'M,J

(6.5.26)

w!!ere tile nodal fon:a bave been lidded IUbicipt "." Of "b' LO
ind~1f. end" or B
!be beam (figuu 6.5(b)].
The lma& .,.,lib inilial forces 'F.. 'F,. .. and
on 1M Iefl1\aad
side of equltiorJ (6.5.5) for !he tltRe-dimensio ...1 bam element
COI'rc5pOnd to \he ICnn$ with initial SlJe$SeS 't _
I t .. 't".. ' tJO' and
' t .. on the leflband side of equation (6.5.3). They rcpruc:nt In effect,
tile variation in polcQli.a] energy ("I') of the Illfu-dimtll$ional bun!
dur;1II the deform.lIon process from C, 10 C~ With the IlUbsliMioo of
cqualk>n$ (6.S.8KIS.5.II) for !he ml5S-ieCtional di&pl..::cmenu and

or

'M.

't,..

(6.S.1I)-{605 .26) for 1M cross-Kdiooal fOfttS, each of the tenns with

the ;nitiJ,l foo:cs in (605.s) an be cxpuued ;n tellm of !he nodal
faKa Ind nodIl displlmtIIlS. For insIancc,!he followin, opcnoUons
can be carried OUt for the tenn with !he bend,ng momenl 'M,:

(6.S.27)

where it should be noced !hI1 ,I;. "fL, the primes dellOlc d,ffcrenliJ,lion with rupcct 10 !he nondimensionll eoor(IilLllc I, and the IIOI.Ition
[1(";':115 defined in (2.2.44) for \be inlegnols lias been ulilUed.
By the AII!e pI"OC%dtue, the terms containing the initial foroes on
thr lenband side of (6055) an be re~ in the followina form:

,,.

_ ,(

[(). J

In IIIIY;ng

II

'u

ua.,

~(fKII J -

L'

III

[XU

J)

(6.5.28)

the preceding eq~llion . he Wla,ner cocfficicn.

K has

been taken as 'F..(/, IJI" . ICQIfding 10 (S.5.30) and (~.21).

M~I ,!he
_wed with 1M nonliMa. uill slllin comporw:nl ~!.. lIIve been unde,linc4.
BaKd 01\ the fld thai the compoMn. displanxnt vtol'J ( .. ),

Ie"'"

1_), {wI.

Ind

16.! arc coII.I.,ed

10 tile e!fmcn. dispLacement VIOr

(.) [su .qul'ioN (6.5.6) and (6.5.14)-(6.5.17)), all the IUbmltrica in

tq'IIllion (6.S.28) can be IU&menlcd 10 a 12 " 12 malrix tone5ponding
10 ll1e twelve dcJVu-of-frttdorn displaamenl YeclOf I-I and combined
10 yield ,"" following ma.riJ produC1:
(6.5.29)

~ &comwk Sliffness mil,;" [t,1 as derived abcwe is valid {Of .'hrccdllllCnsion., solid beam baSC<l on the geMralll1cory, which differs from
~ Simplified IMofy in that lbe nonlinur SlrLin oomponenl ..... Iw
been !aun into _ . , in ,be clc:II>C'nl formul.'ion. By lening

CI "

'F

........!!

L '

--=
L '
'M

6' F

"

e "

'M

t ----.!!.

L '

6'F

....-!!:

12' F.J,

"

AL'

'M

, " ----!!
L

'58

'F

--.!!.
10

6'F';
"
AL1

'F 6' F.J

.....!!.
"
10
ALI

,.

,. ,

J l'FJ. 'FJ,

,. ,

',., '14

'M,. 'M

I -

, . - 'M-,

'M

-T'

"

AI.

l'F-'- 'J.

"

_'F.J_ * 2'';1
JO
At

'FJ. 2'F""

- JO
-'

0
b

0
0

0 -d

,
, ,
/ ,
j

[t I

"".,

0 0 0
0 -b 0
0 0 -,
0 -d
-/

-,

,
,

-,
-. -,
0
b

(6S..JOa-,)

AL

-, -,

At

0
0

-,

-I

-I

.-,

, -,
, -

-I

P -q
q

,
, ,

-,

-I

, -,

.
,

(6.5.3 1)

The geometric $I;ffne:ss matrix It,] as derivc4 above for ,be 111.dimension.! solid beam has been so.id 10 coRSi$! o f bending moments
of Ihe qu.ositangcnlili lype and lQnionaJ moments of Ihe scmillngenlial
type, as bolh of IlIem llave been defined IS the II~ ' e$\Ill.InU of the

,>9
member

(1'(1$$

sections following the dcfinilions of (S.2.23}-(S.2.25).

Sudli point ofvicw ~mlins only panly correct, lince the variation of
~nlial ellClg)' i V, flam which Lbe &romttric lIiffness matlur [t,1 is
dcrivro. ~pI'escnts only pan of the urms deali", willi the rolalional
plOpm;e, of POdlJ momeOI$. O!bc:. lerms .hat should be c:onsilkm:l in
this fcprd Include !he bounduy ~rtlI5 appel/ina: on 1M rigIIt-band side
of 1M equ.lsign of the intRlIlI:nul cx\(rml vinuII eqIIllion (6.5.5), as
will be c~pI.;Md in Section 6..5.4.

Ii.S.J

Geometric stiffness matrix biRd On ilmpll ntd Ih Nlry

In COn1laSl, I geometric Sliffness malrix [t,l based on the simplified

thwry can 1110 be derived for the space frame clement ffOOl .he vinuil
work equalioo (6.5.5) by droppiOIl\crms tiIOcialed with 1M noalinur
u.i&I stnoin component ...*.. IS giVC'o in rqualion (S.5.5 I). or below,

I2 f.'"

' F 611 111 'F

(!zaw"" ~h.o<l)L
A
r

(6.5.32)
Correspondingly, .11 the terms underl iMd in equation (6.S.27) should

be omiucd. By lenin,

.'

'M .'M

. 'F

,, '

b ~

, . -"
'F
, . -" -10'
'M
d -'-"-

'M

'M

,,' ..

2' F,..L

, . - 1Ml!! .'M~

.'

f -

A<

'14 .'M

- 'M,. .'M,.

'F,.J

'M
I -""

SIiIo<u

. -"
'M

L '

1M ~Iric Itiffncss maui.t

, ,

"'._1-

--;0'

00 0

-, -,

-, "' -.
,
/, , -, --,. -/
., "-,'
,
/
0

d,

0 "d
0
0

-k

-I

-.

(6.5.311-0)

[.,1 for 1M prestll' a5e <:all be liVeD as

k
J 0

'M
, . --"

'F,.L

ItJ

N _ , A........ .,~'_

-/

-M

-,, -,
-, "-k'
, -,

,,
-,
, ,
0

J 0
J
(6.5.34)

Here, .be bendill, momellLS and LDl'q1Ja Ippelri", ill tbe ,eomeuic
stiffness maui.t
of (6.5.34) are known LO be of.he Arne BlLure as
tlMJse ill (6.5.31), IS far IS tile rotatioRal properties are WI,..c:..x:d..

'.,1

Fill' lhree4irMnsionIl beam, tile virtual work done. by me IIIrf-=

lnClions It !be C, and C, confill'laLions "'ve beell denoted 'R and ' R
respectively. OePerll dc:rmltions for 'R and 'R ududillJ tbe effectS of
body foo:a "'ve bet:n Jiven in equaLiofts (6.5.4) and (6.5.2). In
Stion S.5, it has tlftn demonstrated that If tbe atricI staLM: IDd
kinematM: upressions, as tbose JiveD ill Sc<:tioa S2, "'vc: beell -.doped
for all tbe ~ters Involved, then fl'OtD the utcmal vU1\1&1 work
increment ('R - 'R), we Ire able LO derive I couple of ,entlS .hat were

'"

l~ilionaUy

repttkd as of hi&be. orders. which will CilnceJ the

corruponding ICrtnS on ~ knbmd side of the incmncnlal yirtual
\Io'OI'k equation (H.13) or (6.$ .3). ~l is mon:, we lie able 10 sbow
l/LII In aleul'llng the nlemal vlnual work increment (V. W.I.), boIh the
resultanl nodal
and lhe momenlll induced by the initial nodal
IPOI'Mnlll upoa rotalioas bave 10 be wen into att(lIInl. Suda. f-=t CI.II
be obse~ from the cxpl'wion on the right-hand IKk of equation

rOKCS

(5.5.4\1) Or (6.5.5). i.c.,

(6.5.35)

Here, ~ like 10 reiterate Ihll the bracketed lerm rcptuenlll the virtual
work doDc b, the mommll ~ by the torque '101, and bending
mCllnenlS
and
undltfJOiDg rotations in the three-dimensional
5JCO. II is wilh this term Ihal we can interpret I torque '101, IS

'101,

'M,

Kmil&n&cntiaJ, aDd bendin, momenll

'101,

and

'M, as quasirln&cnlial

(Sec Table 5.1 for the IIlOIIlCnlS induotd by the various 1)11" of

momenll uDderJOi.ng rouotiolls).

In

f~ilion

of the flCl lhal the moments induced by Ihe Inilial

moments upon roIalions relate only \0 the rowionaJ degrUII of frdom

of the beam dClIKnl, cqualioa (6.535) c:an be rc:wrillcn as
i.D6)
WM lt the displalIKnt yector {M} ha$l)e.en given in (6..5 .6) In(!
i""u~d

momenl mllrU: (t,] is

[01
['~

[OJ

(6.!1.37)

SIifI-# M_,.."_~ ., s,-.,_

)6'

with Itie submlt.ices

f.,). and [l,1. defiDed 1.'1

I..,. .

'M

-'M.J2

'M a

-'M

(t,l. " 'M

-'101,.

- IM~

'M.f2

(6.5.38)

(6.5.39)

Evidenl.ly, the indllQe(i moment efftclS as npresented by the It.1matrill

are of the same order as that of the geometric S!iffness matriJI 1*,1.
hw;lUJion of tuch cffeelS in the fonn~1ation of the lhf-dimensioNl
beam element is _nllal for the dt_al to pua the rigid body tell, as
will be demonSlraled in tbe lleClion to follow. Unfortunately, Iud!
cffectl have not .eocivcd Idcquate attention from ruearchers previou!ly
WOI'kina on the Jlabilily of 5J*lt frunes.. II should be DOled thai the
illltuttd motMnl matrix [tJ den-llbove (Of l linp. di5<;rele clemelll
Is &SyIIlD>dric. Suc:b. proputy can be luribUled 10 the Iacl; of
tonjugalcness between the bcnding IIIOIMnlll .nd displaeemenl
derivalivu, which bave becn utoed I$lhe nodIl paramelcn in lhe nnile
dement fonnulalion. 1bc 'ymmelry of \he stiffness !rnI1ri~ will be
raIOfed ... ben the clemen! iI Q)IUIKtcd 10 0Ibe. clcmenlS, that is, wben
the 0I)tIdi1ions of eqr.lilibrium for _ural joinl5 are Weft into KCOIIIIt
in the clement _mbl, p!1XUiS.

As . . . sutcd previously, It typical incremental SlCp in I oonliDcar

analysis, we allan ;~_ the I U"XC tnocIionI KlinJ on I beam rrom
'f, to 'I~ This will ruuU in .lD increase of tile external "inllli WOI't
from 'R to 'R. Ac:cording 10 the inaemenlaJ virtual work equation
(6.55), such an lncrease in \be tltemal virtual work, deDOled as V. W.I.
and represented by !be riJllt band Pde of !be eqWlI sign of !be tqWltion.
will be uusformed into !be MfJIia energy (6l1) and potemial eOlerJ)'
(6V) of the beam, II ~presented by the lennI on tIM: kftbaDd.KJe of

.., II.,u a.w, _

363

the cqllllion. Namely.

6U 61'. V.WJ.

(6.s.40)

By the rc.latiollS ,ive~ in cqu.ations (6.s.2O). (6.5.29). and (6.s.36) fOi

eO of the tmns in !he preceding equltion and by thc arbitrvy n~ture
of the vi"ual displa~meDlS I au}, lhe following stiffness equalion can
be derivM for the ~ fl1lmt element:
(6.5.41)
where the term involving the [t.] matrix hIS been . clocltted On the lefthand silk. In tile following seclion. ow: sh.U demOll$ll1lle that it is only
wilb the iD<;lusion of the induced moment mltdt [',)thlt thc stiffness
equltion dttiVM fOl" the spaa frame clement can pus 11K rigid body
,~ .

6.6 Rigkl body test

The only assumption .... ith the stifflll.'&5 equilion (6.5.41) dcdvM in the
prea:ding SUlion for the space flllme eltmtnt is that the displlotmenlS
OIXUrring during the incremental step from the C, 10 the C 1 configura.
tion ,hOllld he $/IIall. Beyond this, th.c:,C is vi"ually no restriction on
how the beam clement moves from C, 10 C,. One u~fultest with the
stiffness equation is to _ whethel it can .tlUy copt with !be rigid
body motion of !be beam. if the element displlCCmcnt vector 1M} is
inlctplttecl .. I ri&id body ~menl vector {MI.:

(6.6.1)

('n

Here, it dIould be DOled tIw the initial forea

act.ing 011 lilt rrnitt
clement are in equilibrium al C".nd that the cffttl$ of initial forea
are colISide,ed DOl only through the cltment for<:e vector Itn. but.oo
through !he gcomclTk stiffDtS$ m.trix [',I 'nd the indua(! moment
matrix [.,1.
ACCQrdlng to the rigid body rule, for 10 initially stleuoc:d element
subjected to I rigid body mOl ion, the initial forces Itting on the
clement must he direc1ed .Ioog lbe lot_ted axes .ftc, the . igid body

molion (l.e~ II CJ, while their magnilvda remlin uncllanged (Ke

Seelion 1.6). ~ntly. the ekment forc:q
Kling 011 1M
elcmc.tll. Wr 1M rigid body mocion c;an be /Tilted 10 lhe inilial foras
ith referellCe 10 the C, coordinates lIS fOllows:

en

en . .

(6.6.2)
where the matriJt tT] stands for the transformalion of coordinal~ axe.
of the belm from the C, IO the C, o;:onrlgu.nuion (Seelion 2.6).

1'1
1'1

(6.6.J)

1'1
1'1

aod [If I dc:~ the rotalior! m.atm.

A$ tile SInoin CDa'gy of !be beam will DOl be affected by !be riJid
body molion, il ill easy 10 verify thai !be following is valid:

It)tll), to)

(6.6.4)

Such an equalioo hu been U$N c:on~enlionally for LUling the valid.ily

of linear $LiffllCSS matrix. By lIIbsIiwting equatioo$ (6.6.2) and (6.6.3)
inw (6.6.1), it is n:quired that tile followiq n:lltiort be valid for rip!
body lDOIioa of any rypc:

It,] t") l.t,It"), all - rJJ)I~1

(6.6.5)

In !be followin& we Jhall din .... how this cqualion c;an be used 10 Lest
Lhe n lionaJity of the geomelric stiffllCSS matrix [.t,1 Ind the induoed
moment mauu. [t.1 dc:rivro.
Con$idc:r, for example, I space frame ekIMnt $Ubjeelcd 10 I riJid
body rotalion a . about the uis of the bum. For !his o:ue, we hive

a... a,.

a. a,

(6.6.6)

t"l,

to 0 0

e,

0 0 0 0 0

e,

0 OIT

(6.6.7)

and tile roc&lion maUD (ltJ is

[R]

I I
I

I 0 0
0 c:o&8, -sine, aOe,-8,

(6.6.8)

o e, e,

o sine,

e,

blKd on lhe auumplion I~I lhe angle of roucion

is small.
fil"Sl, by lhe use of equations (6.5.31) and (6.6.7), Ibe following

can be obtained:

(6.6.9)
where

V.I, - {o,

1M

.'Mo6,

0, 0,

of'

f'

"I a n - 'M~ ,1M,. _ 'M .IM 0 0 0

"~,,,,
L'
L'"

(6.6. 10)

(6.6.11)

Nul. wilb tile aid of (6.537)-(6.$39). and (6.6.7). iI is possibk 10

... w,

(6.6.12)

1f, Ir to, 0,
a

0,

0,

-'M.,

' M~lr

(6.6.13)

(6.6.14)

On 11K orhl:r hand, DSinA equalionl (6.6.3) IlIId (606.8), we can derive
11K following:

r')

(6.6.15)

(Ill - [/ ))t!fl if.1 :8,

..hen:

,..

.'

'F

-'F",.

'F

V.I

iO, -'F

1M

[0,

.'

1M IT

0,

-'M

0,

-'M",. 'M.. I T

(6.6. 16)

(6.&.I7)

FOf a beam in equilibrium II C .. the shear forces ac1ing on the

IWO ends of lhe. beam can be rellu4 10 lhe bending momenll as
follows:

'F

-'F.

'M .'M

,.

(6.6.18)

(6.6.19)

Wilh these conditions and 11K u pressions pvtn in (6.6.9), {6.6. 12).1J>d
(6.6.1S), we can verify lhat equation (6.6.5) is uaC1Jy salisrltd. Thus,
~ have shown IhIot for this partk:uJar IIII.Xk of rigid body rotation, ~
derived ek_nt. as represenled by !he. stiff_ equation (6.s.41). all
pas. 11K riAid body leSt. The capabilities of the derived demelll in
dealing with Glher rigid body nMation .nd ,... nsJ.tion modes 0;lil be
verified usina basically !he same proced ure.
Before d05ina Ihis SCCIion, we like 10 nole lhal if 11K intl\lC:Cd
moment m.aui. [t,1 wen: omiued from Ibe fonnubotion, !ben !he elelllC nl
derived will I>Ot be able 10 ac<:oromodale the rip body motion- II
~ld be nOted lhal an c1emtnt DOl qualiCoed by the rigid body I(:SI

'"

may produoc fom:s thai do not fonn an equilibrium fel I. the C,

Q)nfigllration. Ooe lesson from Ibis $eCtion is IlLaI tM rigid body 1eSI,
which lpp(atI 10 be simple and 1I.II1w.l, can be employed as I vuy
effective tool for le5lin, the: nlidity of sopbistielolW fini~ elements
such .. tIM: $pKC frame clemem.

6.7

Joint equilibrium c:onditions for space frames

The demenl 5tiffness equlllot1 (6.5A I) u dcrivcd in Seclion 6.5 i5

valid fOJr discrete dCllIC'nt in thaI the rondilions of equilibrium (or

S!rutIUra! joint$, wbe", members lying llong diff"rent directions arc
ronneacd. bav. no! been taken into account. Once IIUda conditions arc
considered, !Muil!: known as 1M joint moment mlltix (.t,l can be
dtrived.' In OIIr pre"lious WO<ks (Yang and KIlO 199tb, 1992), an
element consisting of the joial lDOlDenl millir Il,] bas been ",r.rmlto
as DOnIlC<:Ied clemen!, airw;:e il Os u.c:ly fOf ronMdion 10 other
elemenll. In this lI:ion, &t'DC:1&I II'JPIOkII for deriving the join!
moment mltrU [ll] of lbc ~ frame. elclMnl will be prrscnled. For
the prescnt putposes, only cad B of the element .... ill be <kJJI wilh. II
is le.l~ however, \b" wt'h I prottdurc am be tas.ily utended to
derive the Joint moment matrix fos the other end of the element.
ColI$ider end B of the space frame element. The indu~d moment
matrix (.1:,1. U derived in (6.S.39) for this end an be decomposc:d into
Ilyrnmeu ie pU1 (5). Ind an anlisymmeLric paM (A). IS
IkJ~

[5 ) 1A1.

(6.7.1)

in which
0

151,

-IM.J2 ''',.fl

-'M.J2

'M,.fl

(6.7.2)

I... _:~. Sc<1ion 6.4.2 fOf 1M spttial cqe of . ptana. fn"", ~nnin.d 10
~ 0111 of pia .....

'"

,,__ '''''''_''-I)0I0 <ls,...'_

0
(Al~

'M,J2 -'M,J2

-'101,.(2

'H,J2

'H,J2

_IIJ.fl

(6.7.3)

To s.implify the prescnt dcrivllioos involving censorial parametcrs, tbc

subscript "b" WI ",I.'ts quuti.y 10 uJd 8 of !be tltment will t..
ttmponrily dropped. Using !be symbol e.. 10 de_ ~rmullilioG
symbol (MIMm 1969), !he an.isyrnmell'ic: mllnJ '" I can be TCprue8I_

rou

At

~~.. 'M,

(1,1. k

1,2.,3)

(6.H)

it is implied !hat 'M

, aIM.. 'MI. 'M,. tIC.
lei [<II I denote the \JUI$formatiorl IDIIrlx f,om the local c:oordI-

w~

DIIles

or an element to the &lobal roordina'es of the SIn>C:IUlt.

lbc:I,

(6.7$)

wbere [I] dc:noles an identity matrix , or

"',.<SIN " ,

(I,l,p' 1,2, 3)

(6.1.6)

wbert " , represents 1M Kron<x:ker cIo:lllI.

Based on 1M tenson.!
opel1llions, the following relation can be shown 10 be valid:

elll.".~" e,.,

(i.J." p,

q, r '"' 1,2,3)

(6.1.1)

lbe nodal momtnl5 (M) in tbe elemcnlooorliinaics can be \1lInsformed

to the UtIId:ure coord;I\,I'es u
(6.7.8)

369

'ii, ..

~,/U,

(I, p - 1. 2, 3)

(6. 7.9)

Simil.rly, tile 1Iliisymmciric m'trU- [,4 J can ~ uansformed 10 the

global c:oordi1latn as
(6.7.10)

"

",, " 41..",41"

(I, j, p, q _ 1,2,3)

(6.7. 11)

Subscituling C<jIUIlion (6.1.4) ;nlO (6.7.11) yidlb:

A,.. .. . ....,-4,

.. i,.41... 41c/ U.

(I, J. t, p, q. , - 1,2,3)
(6.7.12)

By the fullowin, rel.tions:

I
A", ..

it.... 41...,Mt

I
A", .. ~w '101,

(1, p, q, r .. I, 2, 3)

(6.7. 14)

(p, q, r .. 1, 2, 3)

(6.7.15)

Nen, lei III consider I slJ'\I(1unl join! Qf the space frame wilen:
lyingllonJ difTmnt dinctions an: c:onnttted. For !he joinl

~ mem~rs

10 ~ In equilibrium II ,he deformed c:onfiguf1l1iQn, lbe $Urn of moments

cnncd by aU the d ements connected to tile join! .Iong the thrcc global
IJCts must equal 'Zero,

),.

L 'iP,

~ 0

ConMq~ntl7'

't'"

',.,

we

/;all

AW

"

(r - 1,2, J)

(6.7.16)

derive 1M: follow;"':

'0-'

,- . ,-'-,_,
'if'.

't"' _ e

-e

r- 1~

(6.7.17)

where p. q. r I, 2, 3. The implication here il Ihll when tbc:

.n.i5ymmetrK matrices (AI, wbich are refcrffi:l 10 the aJobal coordj_
nlleJ, m summed over all the the elemcnlS lhal $hau:. common joilll,
1he tUilltilll stiffne$$ associ.ted .... illl that joint is nothilll bui ZftO.
Thus, by enforcin& the conditioru; of equilibrium 10 be "lisrlC(! by.u
clementi connected IG Lhe $aJne joint, only the IYIrlfrH'1ric portion or IIIc
indooed momen, matrix, i~ the lSI. mllf;" in (6.7.2), IIIt$Od.Ited ..,.
WI joint lias 10 be retained ia lhe clmleRt UKmbly prootU. SudI.
,ymmelric ponioa of nwrU.: lias bHn rderred 10 .. the joint moll!
mltrU: [IJ in Section 6.4.2.
'The above derivations have been made for join! B. The_
procedure /;afI be repealed for joint A 10 derive I joint moment IMtrix
[51 baKd on the c:ondilions of equilibrium for mcmbe" meeting_' tbaI
joint. In combination, the joint momcnl malriJ fl/1 for an tlemen! tbII

;1 conMcled 10 olher elemenlS .' both ends i.

(O(

I.t)

[S]

"I.

(6.7.18)
(O(
(Sl~

where (0) deOOlCS I zero marrill of dimensioa 1)( 3 &rid !be submatrd
[5L Is

o
12

[SJ. - -'M

o
o

o
o

(6.7. 19)

ApPall'nlly, !lIe pl'tso:n! join! molll(nl m;l!li~ [t,[ reduces 10 lhe one fOl
lhe pllJlar framc in Section 6.4.2.' In ronlraSl willi the original
diSCll'!c finite cielll(n1S, all elemenl conl.ining such a joinl moment
mllIi. [SI is said 10 be ready for CXlIUIeCIion 10 otboer elements. as i!
$ltisroes &II c:ooditioos of equilibrium fOl tile two ends of tbc cklmnt
in !be deformed conrlgul1ltion. In tile litcl1llun:, the symntctric ind\lQed
moment mltrix [Sl lias 1150 been Il'ferml 10 U lIIe correction m~lfi~,
and generaled . . . resull of Ihe conversion of nodal be nding moments
from !beir quuillngcnlial Dalu, e inlo !be Kmitlngcnti.allllture (Argyris
C,"/. 1979: Yang and M~gi", 19Mb).

6.8 Effeds or Ult rn i lly applied moments

Moment!; u..1 are not generated as CJOSIo&tion&/ SlIess 'C$IIIWIS of
a beam blu by eJltemal pbysical devius will be discusstd in this
section. Consider lJI UICIJlll moment generated 11$ a coupk with I
lever arm o f /I II node B of !be beam in the C, configuralion (Figure

6.6). U! (Ill , Il, y) denote I set o f IIbillllily oricoled, orthosonal

coordi,...," 11 leCtion S, ilIld ('1. , '1., '1,) de_ the ClOfreSpOIIding
bas.e vectors ill tIM: l)'SIem. The ber arm and dired (orea ooostiluling
the COIIple in tbc C, conrlguration an be Rprucrued by vectors sud!
u
(6.8.1)

(6.8.2)
where 'p deootC$!be magnitude of!be direct fon:es. Consequently, the
c~temal momenl vector ',(/ II the C, configuralion is
(6.8.3)
in whicb 'M ' P' /I !lIOIlIenl COIIple.

Note lb..ll .... joinl _ ' " "",iii>; 'tJ liveD in (6.7. 18) ionpIu
4ilf""DI Ofdtr of demaII dcFCIof6ftdomrr-lbolol(6.~. I 6)..CUlbe
'9prtriIrtd by DDlDparia& .... clemeDI YCClOI
in (6.5.6) .. illo thaI ill

(U.I).

'_I

..

,
rl.u ~ 6.6

E..lemally applied IIIQIIICnl,

At ~ beam deforms durina 1M. incn:mellllli Skp from C, 10 C.

the tnd _ion B .... iII IUldergo rotation5 (6"
EI,) ,bout 1M . . .
U~ (a , ~ , y), whidl can be uprused ..

e.

'U4)
As result, the !tier urn of !be oouple ill tbc CI configun.lioa bb_ _

'"''
(6.8.6)

Aaumia& iIw \he; o;ou.pIe of forocs are rued In l~ir direclions. !III:
external momenl Iii aI the C, coafisumion can be writlta

Ii?

. . 'M, 'I,

_ 1M 6 '"

,...."
(6.8.8)

In yicw of C'Iuatioltll (6.S.3) IIId (6.8.0(). 1M vlrtulJ potential of \lIC

e.lemal moment 'iI II C, is

373

(6.8.9)
Sunillrly. by the USoe of equatiom (6.8.8) . nd (6.8.4), 1M virtual
potential of u~ InIl1mnl 'M.r c. is
(6.8. 10)
S~blfl(ling equalion (6.8.9) from (6.S.IO) yields tile: vinual potential
gcnualtd by the initial moment 'M. upon rl)Illions:

'MlJ. ' 68 {aB. &a, tie.)

0
00)
/,.)
[o e.e,

(6.8.11 )

IMg 0 0
0 0

ill whid! tile. Iquare malfiJr on the ri&hl-hand $ide plays the II.IIIC IDle
.. Ilw or the It.]. maw in {6.s.39}. Api.., it is pou,ible 10 decompose this m'lriJ inlO symoxtric and an antisymmcuic pari,

0 OOJ
'MoOO.
[ o 0 0 'M"
o

'M"
0

'Mrfl 0

0 (6.8. 12)

The: anlisymmetrie m.ltd OD the; right1wKI skk o f equation (6.8. 12)

has the same lJ'aII$foomolion chuaaeriscic as the IA J. malrit of (6.7.3).

Follow;", tIM: acne lilIeS of derivation .. thole or 1M preao;ling

lCClion, .... e an prove thaI this unisylltllH:lrio; malrix will I'IIICeI as well
lIM: Wfrespoodl.na terms of clemenlS COIUICded 10 the u.me joiru: .. the
Oftt upon which tbe applied mGmcnt ill actin,. M. rault. only the
'YmlMui(: portion orlbe indum:tlllOltll:nllDllrU 011 the riglU.band side
of equation (/i.8. 12) IId be COIISidued in the Clement auc:mbly
Ptocua I,If the buckling IlrLIJysis. Sucb. maui. has bun rdcmd tl,l as
lIM: 'pplied moment mllrix (.10.1 in Stttion 6.4.3. Ag.in, in comparing
the applied moment matri~ It.] derived in th i5 stion with tltat of
\6.4.21), lile dlrrerenec in the order of the element degrees of freed<:lm
III1plied by lile two matrices s.hould ~ noted.

37.

Sl#w.. II_J>wJ;_"~-t.s,o..c-.,_

6.9 Procedu re ror reconry or elemenl rorces

In. Slcp-byoSlep nonHoear analysis, dislillClion mUSI be mlde be!wn

!be coodilions of cquilibriwn fOl' !be J'Tllcnore and !hose fOf !he /Utu~
d_e"lS. A WIlSislcot analy$is requilQ!he eonditions of equilibrium
10 be satisfltCl fOl' both !he IUUCfllre and de_nt levels. The equilibri.
um o f the entire stlllClUre has been di5C\lsscd In lhe prcding two
lCdions. In Ihilsection. only !he equilibrium of illdividull elcltleoll
will be CXH>OCmrd.
The irK'mncnw Sliff_ c<paItion as prucnt~ in (6.5 . 1) Im'U
as I rigor<ll1$ basIS for calcuJatina !he elemenl f()fa: incn=mcnls U) at
eaclI ;lICfClII(ntll stCp. BI$ed on this ~tion. cadi lerm on titlle. &KIt
of tbe equil sign &hould be inclllllcd in the calculalion of the dcmem
force ioae.meoll. Letling U) dcQOle the fo~ inc:remcnts. tIIIt is,
{() {'J) - {'j}, _ have

VI (I.t.) [.t,1 [kJ)[lIl.

(6.9.1)

wilen: the illduccd momeOI mauilt [.tJ bas been liven in (6.5.31) and
{.). denotes !he utunl defonnalions obulllCd by cxcludio& the rip!
body motions from the element displaa:mcnt "ector {M}. II shoald be
noced that the symmetry of !he elcrocot stiffoeu hu been destroyed due
to the appearance of the (t,l matrix, which Is dlantClcristie of the
oollOOnjugalcneu betwcco !he bending momenLS and displKCmcnt
derivatives thlt hI~ been adopIed as the c1clII(nl nodal pltllmetCrl.
However, the asyllllmll)' ...iII resull in only mioimal incTeaK in
pn>gmnmill& efJQftS, since it Is restricted 10 lhe de_nl kYei. la
previ0u5 lOCIioos, it has been delDOll$lI1ltcd Ihlt oooe !be &liff_
matri.:a (It.1 + [t,l + (t,]) lie use!llbled t)Vi:t III ele_nlll of I
IIIIlIClUte, the Jymmcll')' of lhe lIIiffness malli. will be rulored on the
Sbuclure level, as result of the cnf~menl of equilibrium eonditions
II each joint of the suuaure..
As eqllllion (6.9.1) i5 ri,orous SUlelll(nl of equilibrillm for udI
tillile clementI! lhe C, oonf.... l1lboo, any omission of lbe terms from
1hi5 eqUBlion .. by IlSelf. violation of the conditiOl1$ of equilibrium for
lbe fmile element. FOf iostancc, by om;!!;111 lhe anlisymtnCtriC
a:>mponentlA] from the ft,] matrix irI e.qualion (6.9.1), we <;Ill (IbtIin

c/.. following equation for burn demcnl$ willi .s.emiwlgcnti2.1 oodaI

rnoments.
(6.9.2)
where Ihe join l momenl millix [ ~!I is e~aClly Ihe o~ dcfinc4 in
(6.7.18). Allemllively, b y omil1ing the [l J malrix enlirely flOm
equalion (6.9.1), we can obeain Ihc following equat ion:

VI ([t) [t,1)[II I.

(6.9.3)

wbich Is likely to be used by rcseardIcrs willi no knowledge of 1M

scmi - .nd quul'lan~ntill p~r1ics of nodal be nding monxnu .nd
IOrques. In the numerical study 10 follow, it will be ~monstrlled Iblt
neither of the preceding two cqualions can predict correel eleme nl
f~ in I slep-by-i~p MlNdinear analysis. due 10 lhelr inherent
handicap in maintaining I finile clement in equilibfium .1 lhe dcfonncd
C, oonfiguration.

6. 10 Numerical examples
In Ih is KCl ion, lhe dfeClS of lhe [lj[ and [k~1 malrices, Ihal hlvc been
derived as I result of lIIe enfQl'a::mcnl of equilibrium condilions for
$trvclunl joinll; (whefe memben of diffcfcnt directions lie connecced)
I I Ihc C, configuration, will be numerically evalul ted in lhe buckling
IlIIlysis' of Examples 6. IO. I ~. 1 0.71lld in Ille incrcmenllll nonlinell'
IlIIlysis of Enmp\cs 6.10.8 aIld 6,10.9 . The path_IrKing scheme
adop(cd here is 1hc gcnenlilled displaament COIII/Ol method devised by
V. ng and Shieh (1990), wbich will be described in o.aplCf 8 (see
Section 8.11 for Ihc .Igorilllm). For coovcnknc:c:, the .pproach that
likes no KCOIInl of joint equilibrium conditions Ind nM. liorull
pt"openie$ o f applied momenlS will be rcfcITed to at the COIIventional
'PPf~h , Comparisons will be mlde willi analytical solutions or other
nu merical SOlutions available cbewherc. In the ~lIdy of IIIc first five
cllmpl", each member of lhc frames will be rcprCKnted by four

316

clClMnts wilb 1M followin& da~ usu.med: .. 71,240

G .. 27,190 N/mm', .J .. 2. 16 mID', ',.0.$4
and L ..

m.m"

NItnm'.

:z.o IIlDL

6.10.1 Symmetric fnme I- Simpl" , "pported OII t of pin.,

The ,ymrmlric angled fl&rtle iIhoWD in Figu,e 6.7 is simply JUpponed
boIh in and (lII1 of itt own ~ and is undt. ~ adion of IlIlifotm
bcodiag IlIOIDC:ftlS Nt- The preMlli JOIutioRs, DOD$idcrin,1bc [t,l_
1fU, have been o;ompued wit.b!hose neJlecting the It,] matrix in r 'l'ft
6.8. Both potilive and negative bending _ _ WC~ 5U>dicd. A$ caD

--

E_
E

~0

,I0

.......

.. Con n ! lO/'Iol
~I
Pr... nl

--

'.

..... . "'

'

Anlil.

0;

C.." nll .... .,1

"I",;col

-..

(0.0''')

F ... ... ,.. Critical val .... for

1I!&Ied &am.. 1.

377
be setn from 1~ figure, the \XIIlvenrional approach lends 10 underesti.
maLe the positive critical momcm. while IM'IUlimltiPI the Mgarivc
critical moment. FOI this pMlk\Llar frame. IIQ distinction an be ma(k
amona the QT- I , OT-2, and Sf moments, because of tile restraint d fecc
cxencd by !he supports. lL should be OOIed lilal tile present IQIUlions
arC' in ucdklll agreement wilh the analytical solulions presented in
5lion 5.9 [sec also Yana and Kuo (19911)].

6.10.2 Symmelrit rnme 2- Flud o ut of pllne

~ frame is idcnlicalto the onc in Figure 6.7, cxpc ~l OUl-o(plane
,OlIlions are rutniMd 1\ the supports. By oomparing the prc5Cnr
...,llltions willi the conventional ODe$ in Figure 6.9, the ctreel of joint
moment matrix [til 011 the critical loads of the frame is dolDOfl$trated
to be extremely wge. One abs<I:rvlliOfl from the figure is thaI the beam
bas equa/rcsisunc:e against bunl or 0II1-ofpI_ bllCkling ull(ler the
lClio/I of eithe, positive or ... gati~ bendinl momcnlS. Apin. it s.hould
be .,;icIt<.I thlr the rvI.tionll df~ of the applkd moment M. hlH been
IIIP1l'es.sed by the suppolU. and that agreement has been mlde eithe.
willi previous finite element solutions (Ari)'.is el al. 1979) or lnalytical
IOlutioos ISeclioa ~.9 or Yq Ind KIIQ ( l 99b).

'-, - - - - - - - - - - - - - ,

,,
,

-_ .. ---- . - - ,,
.....
rl
'
.
.
M
.
-'

~ ,-

- z

,<
0

---,
- '-

... . ...
_. - -

--

~-

Angl.
fll~"

A'r'

AnOI1'1<01

A'~)'fl,
COM.nll.......
........ t.
Con.,ntlono

- ~ ----

' .J Critical yal ....

.. -- -'

""&11

( o..g," )
for

fraIM 2.

378
6.10.3
This

Symmdrie rr._ I with li p moment

e~ lU1Iple

di rfers from Ille first one in thaI

moment M. is ap-

plied I' tbe tip of lhe frame (Figure 6.10). Since Lbe lip joint is free 10
route about the thru differenl directions, Ihis cum pic allows us 10
investigate ~ cffea of applied moments through !he Ipplied moment
malJiz Il~l. As can be Kcn from Figure 6.11, significant difference
exiSlS among !he criTical values for buckling of the frame under tbe
action of QT-I , QT2, and Sf moments, wbich generaUy Clnnot be
negleacd in practice. 11 is interesting \0 note Ihaltbe solution OOlaiMd
USing tbe Wllv.lllional approacl! dO<5 no1 coincide ""ilh either of Ihe
three solutions obLllin.d for Ihe QT-I, OT-l, and ST moments. II
v~ from the high side of !be ST and QT- I I;Olulions \0 lbe low side

of the QTl solution as !be angle .. increases.

L
( b ) QT-2

(c)

ST

..,,-------------------------,

'"

_01-1

......01-2

- --"c_

Fiau'c 6.12 sbows. two-member .lIjled fnolM fIXed .1 ilS base and
subjecud 10. bendiol momenT /II. at 1M free ttld. The tolnlions obII~ fOf the QT-I, OT-2, Ind ST _DIS using !be preKnt approach
hive ~n pInned in Figure 6.13 and Ire in good agreemenl with lOOse
Jndicted by 1M authors [xt. Stion 5.9 or Yang and KIlO ( 19911))
IrSina till: aqlylim approach. Of panicular inures! in Figure 6.13 is
!be fll;l lhal !be (O!1venlion.ll approIIdI dramllialUy undc:reslimalcs the
Cl'ilic.aJ load fOf applied momni of the ST ly~.

T,
"

",

'01
-'~-----~l

. . . . . 01_1

.... 01-2
ST

_.-

C-"~'''''oj

.J----------,C-::=-..~.~',.~.~'--------_,!
~'-

6.10..5

(o.g,;!)

..0

Fixed .ngled "'me witb .-plant .beu

All showa in FiJure 6.14,!be angled frame is subjeded 10 Ill! m.p'sIIelI' F,'111Ie lip. 1'11e raWlS!lave been presenTed in Piaule 6.IS willi
1M. JIO'llive and negative ligns indicaTing the direction of lhe iJIear load
F,_ Apin, Tile diffefCDQ:S between the present $OluIions .mI 1M
convenTional ORCI ue so large that !bey canllOl be neglwl in pnctice.
No Il\alyliClJ IOlutiom are Ivailable for thill nample. For the special
c:ase of It 9()", \be prc:scnl 5OIutiom .~... 10 coincide willi Ibe
fe$UlfS given by Argyris a al. (Im~

T,
"

"

'"

'.

:!:,

"
!o.,

. ----.

"

..

"

~'Ixed

c.~

--

...,_

'

....... '. IS Criticll val_

'.10.'

--1'_- 1"'.............' "'.-.

___

ror fixed ""&It<! rn- willi

' Deled rrame ...itll

.. tenl

iD-pIaoo Iobut.

....

The Ingled framr. shown in Figure 6.16 is subjeaed 10 Illcl1Il shear

F, I. joint C. In analysis, each membt. of the frame is fcpr=nled by
four clements .... ith the following data: E .. 29,000 b i, G .. 11,200 bi.
A .. 3.\4 in.',J" 1.57 in.', 1,./," 0.785 in,', and L .. 240 in. From
the Inuits sllown in Figure 6.17, we OOselVe th.1 when 0 .. 90", the
crilical load prcdic1cd by the oonvcnlional'ppr(l3(h appears to be 30
~r"nl lowel than llIal of !be I'fl'SC'nl'pproadi.

382

",-----

..

.-

f::

--"'-

M_C, . , ...

I'"'-------....".,10-------..-------<
" ..
to

(0." ... )

6.10.7

And Ingkd tnlM .. lth tonJ,oo.1 load

The fixed Iniled fno"", subjected II) 110rque in Figu., 6.18 has bocII
studied lnaly.iaolly in Sexlion 5.10.4. TIle torque T. can be senerued
by tither of the 111_ 1DCI;1wli$ms 5hown in FIgurQ 5.)00..5.32, wbiIa
the memba CJOA sections CUI be COft$idercd a& tither of tbe IN" lypeI
IIIowa in F"I&UIC 5.36 with the Ame prope~ adopItd. The ailicII.
loads solved by the finite clement mclbod for the CIK willi II 0 " been plotted in ~lgures 6.I9(a}-{c). A romparison of IheK figurcs willi
[hose given in parts (I) of Figur,. 5.37- 5.39 indicates lbl' lhe prtsaIl
finite clement SOlutions and the previous .nalytical solutions lie ill

nallen "cemenl, while 11M: 5<)luliom obLJincd by the convtnlioaal

method ududn', tIM: II,] matrix aJC in gcner11 11()4 Kaptabk. " .
same rondvsions can be drawn by comparing tile r~lts gi~cn ill
FIgurq 6 .2O(aKt) for I' 1 wilh parts (b) of Figures 5 .37-5.39.

.I
1'1,... 6.11

Fixed oqItd f .. me lut;ted 10 IOI'IiooIIoI Iotd.

38J

,1o

I
,-

_ G'"
_0'"

- "

-Co

.. ,.,

"

'

, .....

" (c..", ..

_ Of_'.
_01_

'.

- 1,'___,
_-Co,
~

-j-------:::c.~

-+--.--,--;;-----..
:..,. " (~.!l
,.)

CriticallOrql>tS tot r........ with 0, 0: (.) I,. I,;

(b) I, . I,; (c) I, ./~

38'

-. -.

r'"
'!- _c._,
_a'_,
. .. ...... "
-1
-~

:::::':'::::::::00::::::::::::::::=1

.-

r,,

" (Oot ..

!!

(.)

n ' N .ogIoHI

f ..... (lo"")

...

-.~====l
I -,

r,

-',

_ Of_.
j- -.
_Of_,

'

..

__ c. .....,

-.

' .---

-I----::-~=====j
n. ... _
r ...... ",'.0>

-I--......::.r="--i-'-'--!
...... " ..
"
(.,..,

(.)

fl ...... 2t

Critic:al1CJn:!UCl for rnrn... ";1II

(b) I, . ',:

() ',. I~

~ I: (.)

I, ~ f~

'8S

6./D II.-rlaol_pk>

6. IOA

SlJIgW bn m III ""ndia,

'l1le li"g1e beam shown in Figule 6.21 is IC$lnoined Igainst lotatlons

aboUI the J: 1IId, ues II both ends. The following propenies Ire assu~' A .. 18 mm', J .. 2.16 mm'.I, .. 0.54 mm', I,,, 1,350 mm'.
I. " 100 mm, .. 71,24() Nlmm', Ind G .. 21,190 N/mm'. The belm
is subjected to I rcfcrcllCe momenl of 101
500 Nmm liang with.
pcnwbatiOO of M,. .. 20.0 N-mm. In the inactn<ntal nonlinelJ
malysi$, 1M load ilK:n:>Mnt fOf each SlCp is obIainc:d by mulliply;n& the
refclcncc v.lua {Of 101 .. and 101" by Iolod ill(Kmcnl p.a~lel ",
which varies as I fundion of lite &eMnl stifft1e51 panomctcI GSP ..
Foul elC>MDts art VKd {Of tile: beam. The posIbudlinJ IUpIIIISCS {Of
1M POdaJ displac:cmenll U.. (BOde..t, .. -dim:tion).nd U. (node B, ,.
direction) have been ploued .,.insllhe applied moment 101 .. in Fi gures
6.22 .nd 6.23 respectively . The critical mo>Mnt predided by the
pR_nt approach \lSiog equation (6.9.1) is 1,-455.23 N-mm, which is
wry dose to lbe lheoretial budling value of M,. .. ! (2.JEIGJ)I(2L)
.,! 1,493.3 N.mm. In conlrast, both the STmoment and conventional
approachea, wbich rely on equations (6.9.2) IlDd (6.9.3) rcspcctively,
signirocantly ,,!llkreslimltc the mlial moment$. Furthermore. the
solution predided by the present approach fOI the single beam in Figure
6.22 !how$ loopiDg clwxIcri$tic .;milar to that for the ansJed frame
ill Figulc 6.27. This similarity appears 10 be physically _nd if we
rcllil:e !!tat both Slruc:nrra are under pure bcndillg and arc allowed 10
dc(onn oul of plant. The Sf_momen! and CODYenlional SOlutions
prcxnted in Figure 6.22 are not reliable for their inability 10 nhibit
web I looping lJend.
M

"

IY
Mza

""
/,'""

"iii
L

M.b

'"

.-

-,, -

". ' ,...-,

r:i .

.--

..-

.....,,- '" ."

"1

-- ~.

01 _

'

..

..l.c----..-----
.-----,.---"...-----j.
OhplD<.men' U (mm)
W

Vlriooua 5OIuOOna fllngle bum: U

-! "'

w... ,..u

M ..

... _

~I.

!-

"-

6.10.9
~

-. -- -.
[);.1>10<."'.'"

Angled rnrM [n

U. ("'''')

..

w..dlna

following propcniu I . e assumed for 1M angled fill/IX snown in

Fi&ure 6.24: ,4. .. 18 mm',J .. 2.16 mm', t," 0.54 mm', J," 1,350 mm' ,
L .. 240 mm. t: .. 71.240 Nlmm' . and Poison's ralio v .. 0.31. Due 10
1M symmr1ty of 1M anskd frame, only the len balf is analyzed, which
is madded by ICII d ....... nlS. ~ mc~, 1t8 is: rcsln,ined IpillSl
rDt.llions aboul the x- and y-Il~ and 1mISI.lions alonllhc,.. .nd z-uU

at no<k A . lllc ""nsillion along 1M xuis at node B is also ,wni... d

To in~estig;lIe the eff~ of positi~c.1>II nepti~c bending on tM angle
f,ame, two difrerenl loading casu IrC analyzed: (I) Applied IDI.>nlenl
M.. .. -M .. " -2..50 Nmnl, In<! p"rlurbllion load F .. 0.(,)()2S N: (2)
Applied moment M" .. ~f." ISO Nmm, and p"rlurbation load F ....
0 .0015 N. In the lIepoby-stcp nonli ...... ln.aly'is, the 10id inCrl:II>Cnt {Of
each .sup is obtained by multiplying lhe lefe/Cl1Ce vlluc:s fOf M .. and F ..
tty In IdjustablollOld inclement para .... te' .1" whieh varic. _ding to
lhe GSP.
Fo! the ~ case (I), the ~I displacements U_ 11>11 U.. have
been plotted against lhe applied moment MOo in Figures 6 .25 ud 6.26,
!espectively. 'The present approach based On equation (6.9.1) predicts
I aitital moment o f ~.6 Nmm, which compares quite well woth the:

1----.. ) -

-'"

..-

- P , ...M

- _ 51 .. _

_ _ QI " ""0"1

,,',-----..c----,,----,,-----,,----",
...
..
:ou,., ~
Oi .ploeo mOM u ~

(m,.,)

_ . P, ... "'
_
ST
_
OT .... "'.",

"."'*"'

' hcofe!iall ai,ical nlue of M" .!: ("JE;IGJ)/L. 1622.2 N mm. BollI
!lie STmomen! and ~n!ional Ippfoaches are IlOl eonsidenlll
adcqu.ale (01' nonlinear lAll)'5is. DOl 0111, becau5e tlley lend 10 undetc:Rimile the crilicalloads, but b:ause!.hr., both tllCOllnttr a ttlin cit. . .
computational difflCulty,lilKh III numerical ovtlflow 0I'.1ow OOII'ICI'~nc:c.. in !.hr. ite!llion ptOOtSS.
FOI' !.hr. 10M! QK (2), only !.hr. solutions obt.aincd b, !.hr. . . . fmile element approach for U and U", hive betn P'ottcd in Figuttl 6.21
and 6.28. The positivt a itical moment of 619.6 Nmm obuilled here

or

-,,, r
.':

'''A

-'.

/'

I ~_ .

....n'
OI.plo.,.

UM

(""")

--

389

-!, --,.
"I -'.
~

-....
-~

-~

-.

.,.. DI.p.le_,

..

U.. (m",)

'

qrea very ~IJ with !be liQC:uiw;I boct.1insvaluc of 622.2 Nmm. For
IDad$ pl'edicted by ArUris
( 1979) and
Simo and Vu..()uoc ( 1986) !wed on II",,;" ,eooMtric: nonlinear analysis

e' "'.

c:omparisoR. I~ <=ritical

ue 624.n N'mm and 626 N-nun ~ivcly. from.be looping curves

or Fi&u~ 6.27.nd 6.28, we observe
clld" roUtes from 0" 10
360, !be frame rOlalcs OUI of plJne
.he .xis c:onnecting 115

'ha,

.bou,

alld u ,ums 10;1S initial oonfiguralion. H should be noted lha.

lhe poslbuC'kling s.olUlions predicted h.,e .re in good Ig.cemen! Willi
those given by Argytis (III/. (1979) aDd Simo and Va-Ouocc (1986).
JUpptlfli

References
Argyris, J. H., llilbr:n, 0., Makp.nlllkis, G. A., and Scharpf, D. w.
( 1979). "an .he ~lric:al stiffness of. bum in sp;ICe- A consis'tnt V.W. approach." C_p. Me,1I. ApPL M/o. "1. 111. lOS-Jr.
Elias, Z. M. ( 1986), TAUNJ uJ Mtlilods (>/ Sm'.f~r.1 A~"lyJis, John
Wi~y, New YOfk, N.Y.
t.lIlvtrn, l. E. (1969), 1~/f(Hi"(liOll 10 110. "'hll ia 0/" CO"""~""J
"'.dlk ... . Prentice llall, Englewood Oirrs, NJ .
Reissncr, E. ( 1973), On ooe-dirncnsi<lnal largedis rLaccm.nl finile-.
Itraln bclm theory," S,ud;uAppi. M~'Jo., L II (2). 1"he Massachusetts
InstiMe of Technology.

,90
Simo. J. C, ,lid VII..()ooc. L (1986), A three-dimensional finite'51" ;n
rod mode l. Pan II: Computltional aspects," Compo Me.h. Appl.
Mu ll. "8., n , 19-115.
Yang. Y. B., and KIlO, S. R. (199!.). Out-ofplane buckling oflnlkd
framu,' fil l. J . "'ed. Sci , J.1(I). 55-67.
Yang. Y. B., aad KIlO, S. R. (19!illb), "Consiscent fl1lm<: blldtling
InAlysis by finite clement method," J. S'rIlCI. ell,., ASCE. 117(4).

IOD-69.
YlnS. Y. D., and Kuo, S. R. (1992), ' f~ budding ..... lysis ..ilh full
c:onsioXnlloll of joint compatibilities,' J . Ell,. Mull., ASCE. I I8(S),
87 1-89.
Vl ng. Y. D., and McGuire, W. (1986io), "Slirrness mauix rOf geomenic

Smm. e",.,

nonlinear Inalysis,' J.
ASCE, 11Z(4), 853-77.
Yang, Y. B ., and McGuire, W. (19861, "Joinl rQlllion and lCOlIM:lrle

oonlinur analysis.' J . S"~CI.

e,.,., ASCE, 112(4), 879-905.

Yan&. Y. B., and SIIirh. M. S. ( 1990), "Solution method for _IIMU

probkDlll' .. ilb multipk cnlk:al poinl5,' AIM J . , 28(12), 211G-16
Yang. Y. D., and Shue, C. C. (15'89). "TheoIy of ,tabiliTy rOf fnomcd

J.IruCIuru-NolKll)tl$e ....'ive 1)'Slems,' Proc. N.,. Sci.

A : PII,. ScI.

~,.,

13(4), 202-10.

Co,,~cll, P~rr

Chapter 7

Theory and Analysis on Buckling

of Curved Beams

7.1 Introduction
Resnn:b 011 the buckling of cu~ bums cooHn\ICS to be I subjl of
intensi~ intereSl .f\c:r ~I of S1udy. It is po$Siblc 10 cile a few of
the most , elaled WOIn, e .... TImoshenko and Gere (196 1). Vlasov
(1961), Yoo (1982), Yana and K\IO (1986, 1987), P.~gelis and
Trahan (1987). and Rajasckann and Palimalllbhln (1989), among
otbe~. Conventionally. the assumptions for scnight beams have been
ldopled by the culYedbeam analysts, I.e.. 1M material of the beam is
dastic and homo&encous, the length of the ba.m is laJgc tompal'ed
with CJOSS-$CClionll dimensions, and the magnitu<lc! for transverse

displattmeol5 111: much larger than tho$e for Ioogitudillll displattmeol$

and

rouuions.

II is well known lhal discrep;lncies do niSI among the various

theories derived by ,csearc:hel1l so far, even thoOugh buieally 1M WIle
IIWImpilions have bmI adopIed in the formulation. The followiaa is a
lummary o f the methods that have been employed in 1M derivalion of
nJfYcdbeam equations. Fil'$l of IU. the equilibrium IppI"oach bas bun
uJed by Tlmoshcnko and Gne (1961) in solving for 1M crilic:alloads
of I solid cu~d beam linde' tM two lpecial cases of uniform bending

'"

'"

and uniform compression. The worb coaduded by Ojatvo ~I _I.

(1969) and Vadwajiuipban and Trahair (I97S) on tIM: budl;ol of
curved rmmIM:rs (all ~ coosidtred as opp/icatioll$ of Ibc equilibrium
approKII. EJ:prricnoe has inWaoled \hat the cqIlIIliOM derivnl by the
equilibrium II'J"'t*h, cl~ ~ by Timoshrnko lind ~~ (1961) for
IOlid curved beanu. CIa yield vay good sohuioas In JCMral. One
disadvlJllage of thill approach is thl1 it has been 'In)' dirrocuJ\ to
consider the eoup1ina effects between various ac1iofts, such as IIIe. ui~l
(OI'~, shell force, lOfque, and bmding IIlOftIellt, in I lingle (QfIIluJl lion.
Th.I: ,",conti method thai has e~, been used in tile InalYI;' of
o;urved beams is [he analogy approach employed by Vlasov ( 196J) and
Yoo ( 1982). By pos1Ulaling that at1 IMlai.)' exists between the
gtlll:noliud sUllins of straiJII. bum.s and ~ of curved beams, they
were able to st&r1 !beir formulations from !be d."in/ 51raigill-bum
lheoty. By rq>illCin&lbe gCMraliu:d SIniDs fOIl' tile litrai,/II beam with
IboK of tile curved bqm, the equatioas for the curved bam Q/I be
derived.. l lo~e,. V1ISOY (1961) bas......ned directly on the bud1ina
differential equationJ, whik 'too ( 1982) proceeded with the potaIti&I
eMIlY uprasioa, wbic:h is followed by variational plootd..u: 10
derive the diffelcnlial equ.atioll$. The fUIIllS, as .:hievnl by both au,
in geaaa!, of "UI dif!CRIIOII. He~ il should be DOted lhaI. IIw: idea
o f SIan;", willi the Anlighl-btam theory ill IlOl rncrilless, except lhaI. Ille
."alogy reillions us.ed in IlIdr dtrivalioM should be qll(Slioned.
EntrV nw:llIods suclI.., tbc priociple of v;"UlI displacenw:nll or
llIe polenllal energy meillod have Ilso been used in 1M; IlIIIlysis of
curved bums. In an tITO" 10 rc50lve Ihe c;ooOictl nisli"g among
vniou.s curved-beam tbeoric:s, lhe principk of vi"UlI di$placenw:nts bas
been applied by Yang and Kuo (I~ 1987) 10 llIe derivation o f tile
buetlina cqUiIiofts for llIin-walled curved beams. Tbc "'me problem
wu analyzed by Papangdis and Tnhair ( 1987) lIlU!g tbc potenti.1
CMrgy method, and by RajascUn.n and Padman.bIwI ( 1989) using the
priDcipk of vinual....oo. . ODe fu ture o f \be $I11dics bIXd 011 tlX-rgy
nw:tbods is lhaI. \bey arc all duived from !be so-alJed flfJl principles
for QllVed beams. willi no referellCe mack 10 \be lU1Iight-beam
equations.
A review of IIw: works c"lsti", in tIM: literature on lateral budling
of curved beams indicates that rcscarclM:rs arc faced with a very
confusing silultion . Filll, there is 11\ Ippasenl lid: of COllllistcllCY
Imong tIM: nlsting tlM:orics of curved beams, and the number of ~w
llIeorica iii still growing. A dircct and thorough C(lmp.llrison of tM
curved-beam theories IVlilable bas become rather imptllctical, because

of Ihdr difT"ernce in 1bc melhod of formulation, dennilioo or roalrol

variabLes, and higher order dfftU; consideKd. To jU$liry 1M supt:riofily
of ODe: 1hcory over 1M ocbc:rs, i! seems Lila! the only rWI)UI$C is 10 UK
indirect appoadlCS, say, by npcriml:n1.ll Of IIUmcric:rJ 1CSI;nlll$il1l
widely ~plfd modclinl5Cbc1lX$. However, because of 1M Ircmen
~ dfom l'alUued ill fabrigoting and insIaUing lIM: cwvfd-beam
specimens, \"ery few "periments bave been condl,lded so far. TO!he
knowledlc of!he IULIIoI1, lIM: bucklinglCSI c:anicd OUI by Papanlelis
and Trahalr (1988) for pinned mORO$ymmeuic: arches lubjea 10 a
nlral poin! load is l/nOnlllM: liml!ed numher of lests Ihal bave been
repol1fd on 1M oUl-of-plane buckl inl of curved beams.. It sIIoold be
Idded lbal for problems of lhe curvfd-bcam Iype, lhe: bucklingioads arc
likely 10 be vcry Knsilive 10 1M imperfcctions involved ;n lhe fabricaI;on and inslallalion of !be spocimen, whic:b in mosl cases can hardly
be avoided.
On 11M: Other hand, pmgrCSl on lIM: numeril:allcsting or o;omp.ar;.
- of curvfd-beam 1bcories bas been bindered for ,,",0 IU$OQS. FIfSl,
der;valion of !be curvcd-beam demenl is IlOl &I Wti&lllforward as 111.11
of !be Wtighl-beam elemcn~ To derive the cwvfdbeam elementS for
nistingllM:ories and include tbem in I siagIe o;ompuler propwn fot the
PUI"f"* of comparison 1esI nquiru great deal of codlllj WOllcs,
whic:h, in prkli, CID be error-proM_ Secondly, il bas been arJtUcd by
teseuchcn llIal the stnighl-beam elements ClDII01 be used 10 modellhe
buckling of curved beanu, panicu larly for lhe CUClI willi larlt
curvatures, IUlt Icnglll.lo-depch raliol<, or small walpil1l rigidity
(Bmnl.1Id EI Nimcui 1!n3; Rajasckaran and Ramm 1984; Yoo 1984).
AC(:(NdinglO llIi. argument, lhe solulions obtained wilh stnighl.beam
clements should IlOl be considered as I valid basis for judgiog the
' Ilionality of varioUl; curved-beam thc:ories.
In I rcalll paper by Y.... e1. (1991)' il IllS been poinled 001
W llhe UJlllllCDI m* by Bahnt u..I FJ Nimeiri (1973), Rajasebran
and Ramm (1984). and Yoo (1984) is, in fact, \lOt lnIC. One fU50II for
llIis is llIat !bey bave failed 10 address 1hc condi!ioa$ of equilibrium for
Slr\ICIural joints o;oaneding IIOIICOlIioear lQCalbers ID Ibc bucklinl
~guralion. As was ltated in Chaplers S Ind 6, IUCb All efJea can
be neJlc:<;Ied only for sinilc llnlghl membcn Of fo. planar frames, of
which the out-of-planc ,culions are compll:lely restrained. In I
followlna paper, 1M IUlhors (KIlO and Yang 1991) hive pnxceded one
Slep further 10 'how that !he wrvedbeam c'Iualiol\s can vit1pally be:
derived from llIe straight-beam COUnlcrparU, based merely On !he
usumpdon Ihat I;\Irved bum CIIl be rCprtSented in Ihe IImil as an

".
;nfinil~ num~r

of infinileiimll SU'IIigbl Kpnts.

In onkr 10 conccnlnlle CHI !he dfca of wrvllurc thalllllUs

cu~ beam different from straight _ , ~ efrCCl of cross..,.. I

-=

..-..ping Of nonuniform IOI'SiorI will be completely udlldocl ill

elI'pln . For ase.s ...nett references are rnadc 10 !he eqIIItioo!.
Ihcoric:s of previous WOIb o;onsooing 1M effect of lKNIunifonn ~
such In erfca will be suppressed by Kuilllille "'rping COfI.SIanI f"fIIII
to nro, A large poI'1ion orthe mltvilols 10 be prexnled in IIlIs d\apIer
has been kfjuirfll from those published by the authors in a number at'

[(c/lnka1 papers. However, significant modifications have bn IIIIdIi

[(I ln~ll>de

the effectS U$OCialed with lenni Ih.ll weu convcntianaIIJ

reprded as higIM:r ortle. terms and h.ve bn MglCCled in !he deriwalion of c:urved-bc.m lhrofies. II is only afler all such hight! Older
lennI .re properly ueaLcd thai the rigid body dllntClerwio;s Cq be
oorrectly ..xounled for by the cwved beam in the

"_.

th~;mc"""'-l

111 SKtion 7.2, the statle and ltiDemltic .datioN: will be filii
~ beams bIoKd on !he UIIImptioll of liliiii
cldormatians, _bile ia Section 7.3, the dilJe,ential equatiou af
equilibrium for member ..::lions ..ill be derivW ~ on riauelasticity equations. AU the relations presented in these two ...,..are anlnl la Ihe derintiorJ of the ineumenllli virlll&i work equll_
10 be p'exnted in Sections 7.4 and the buckling diffelential rquali0:8
and natural boundary conditions in Seelion 7.5 . The pmrquisite for.
newly delived theory to be romiden:d acaptable is thaI il mllSl ~
the IMOSl fundamentJ.1 ligid body test, whkh is uklly thl: subjed to be
di~ in SeeliOll 7.6. The diffen:nli.1 equltiom derived in Seelioa
7.5 will be applied in Sec:tion 7.7 10 obtain cloled-form solutions for
\he IWO specil.1 c:asa of unifonn bendinl and uniform com.. ;or.
CoJrupondi", 10 the IbeDrJ is tM curved-belm element pn:Koted ia
Seelioo 7.8, which .om be nllllleritally evll .... ted in Seelion 7.9. 111
Srctioo 7.10, wto sIIaIl dtmomtn.le that \he &trai&ht-belm Ipp'Olrh
~oted ill Sections 62-6.4 for pIuw frames CIII be I<$eCI IS
n:]iable .~ for lIIIlyzina the bud;ling loads of t\lrved bum
problems (YIIIII a .1. 199]). FInally, wto sIIaIl dtmansl/lle in Sedioll
7. ] 1 that the curvw-bWn equations CIII vinually be dcrivrd from !be.
claukal equations for suaighl beams based on the technique of U&IlSfer
malfix, If IIIe t\lrved beam is lfUled in tile limit IS the romposilion of
In infinite numbt:r of infinitesimal suaiaht-bnm seament!, and if the
>nditions of equilibrium fOI angled joint! in the buckling position '"'
ronsistently liken into .acounl (KIlO and Ylng 1991).

forntUwod for

1.l Soo,;u .-l _

1.2

., ..~..u_.

S ta tics and kinematics of c urved so lid bUms

'"

lUlled pm'iousIy, the nonli_ ~"-vior of I lllruclure can ~

typie.uy by Ih= roafigunllio!\s: the in;li,' ulldc:formed
(OIIfiauralion c. the lui calculated configunotion C,. and 1M currenl
dtfQllMd configuralion C. ( Figure 1.1). With the updated lIgrangian
fOll"ulllion, the equations of equilibrium lkrived for I JOlid body l Ithe
C, configuration I re referred 10 lhe lut calculated configuration C ,. In
previous ehaple", a great portion of tile effOft has been devOled to the
drrivation of Ihe incremenlal finile clement eqUllioll5 from Ihe virtual
...ork cqu~tlon, which lie necessary to the ,come/ril:: ~O/I/i"ear d""ly~u
of frames and trusses. Ho_ver. in &clion, S.8 and S.9. we have also
demonstrated 1"-1 the buckling differenti.1 equl lions and natural
bmlnd.lry conditions (both in incttmentll form) lkrived in Section 5.6,
can ~ directly employed in the /i"."rizu bM, klln, ",,"lym of
atructura for finding the rowl to.ta.
For .structures of which the prebuctling deformations can ~
_idem! small, lhe IWIHlIge IlIalysis tedtniquc dcxribed in Scdion
S.g can ~ fono-d for cooduclin& the IiIlUriz,td budlin, analysis.
Tbe first or prebudling sage rel.!c:S to the defOf~tion of 1M IllUCIure
(,0flI 1M initial C, configuratioa 10 I Slreaed C, conr"uralion, .. bile
the second Of buckling stage refers to bifurQtion of lhe stn>Cl\lre from
tile I truscd oonfiguralion C, to lhe buckHng configuration C,. By
assu minglh. prcbuckling deform.tions 10 be negligibly Im.lI, only lhe
fo.ecs lCling on tllCh member of the st/uClure will ~ of Interesl in the
firsl stage. With the distribution of ace;ng forces known for cach
member, 1/1 eigenvalue: problem can ~ formed in the second Slage for
lile structure in !he buckling position, from which !he ailicalload can
tit solVed. In chis d\aptcr, we wI! be COllttmed primarily wich lhe
bl~raJ buddin, of CUNeo! beam$. For problem$ o f chis nalure, we $hill
IOSJIImc ~t the .ffects of prtbucklina dcfolTlUltioal arc so smal! that
!hey CUI be M&Jeckd Q,lmplettly from !he boct.Iin& lnalysis.. As a
mult,!he lwo-Itqt. t~ deviled fOf the 1nerrmcnlll formuilliorl
of the Updated LagrtllJiart I~ can be Iodopted for IIlI.lyzing 1M curreDt

/<S _

ckSCribtd

PfOblcm.
In Ihis scaion, _ shall be Ullfrwed in Ihe SIalic behavior of
CUrved tltams In the prebuckJing slage, as characterized by Ihe
'pplieallon of ntcmal loadings from zero (II CJ 10 reference 10ild
level $mallcr than Ihe ailieal value (II C,). Since the deformalions of
a CUrved beam It this Itage
assumed 10 be small, the effects of
thange In [he geometry of lile nrved belm can be neglected. It

".
bcwmes immalCrill wbolher Q(lnfi,Ur;lIion Co or C, is seleclc<l" ~
.cfc.ello(, For the pu.!JII:ISe of foonulalin, the buckling eqll.lliOlll 10
follow in S:tions 7.4 and 7.5. bowcvtl, it will ~ more COIIveniallllD
,d.,e III physical pamntt .... 10 the C, confilllflliion. By I() doio" all
tile JUlie and tiMmatic rel.,ions derived in this seclion <;all be rudlIy
applied in the IOIId $laJe of tbe llIIalysis 011 \be bucklilll of aned

bums... typified by 1M process from C, 10 C..

7.2.1 Dl:!lplattnwn l$ and ' Irains

ax...

As abown in Figure 7.1, I righl-1wIded c:oordin.lle syllem 1$

The )I' and zUtl coincide with the principal ocnlJOidal ues
C%OS$ seo:IioA, while Ihu-uis is tan&en. 10 llIe curved uis of tlIe. - - .
Througboul this chapter, the t;U~ beam .. ill be &$$lImed 10 be lJI-.
On !he 1, plane. The orl&ln of Ihe cylindl'ical OOOfdin..lcs (p, t. y) II
.. ten 1\ the ttIIlCf 0 of Ibe eurvaUncLet ........ and ". denote the d~mc:nlS of. I.non.; pat GI
the ~ beam aIon& the Ihree dil~ol\J I, )I. and I. reapectiwlJ.
The ~ins for this poiDt &I C, baled 011 the. qliDdrieal COOI'~_
u follows (Boresl and LYM 1974);

of'"

,'.

...

,
pO>

"P

' . ~~
2 pCl+
~l

I .,

p
y
..... 1.1

Cwvcd bum coordimo ....

(7.2.1)

(7.2..l)

J97

, .d(~_!.)"1
2lpQ+
p
it

(7.2.3)

''''

,,'11,,<1 P clenotel !he radial coordinate and tIx tCIl50f definitions have
been adopted (01' the &I,UI' 51r1.ins, "'hid! differ from the engilll:ering
definitions by a (lido. of". By letting R dellOle the radius of tIx
CUl\'rd ~J.I1I as sIIown in Figure 7.1, il an be rtwglliud thaI ~R
and p R + z. Accordingly, we can write

(7.2.4)

(7.2.6)

11K factor R/(R + .) in IIIe preceding upress.ioM repreknl$!M tffea

0( o;wYature !hal ""kcs 1be $tUdy of curved beam much II"IIItt complicated lhan Ihl\ of the str.tight beam. The OIhe r strain c:omponenlS ,hal
m of linle signirlcana in the linear analysis ale

.
.. .,

, . '"

n.2.7)

.'.

(US)

!(3
,.. . a..)
.,

(7.2.9)

Bncd on tile usumplion of in_plane rigid CfOlSil scaions, the

lflD$vcrw displaoemcnu ~, and M. of. ,eneric point II scc:tioa. can

bot related 10 those ., the centroid C of lhe C' O$I Soeclio;m IS follows:

, ,, - dl'

(1.2.10)

II

II

,e,

(1.2.1I)

where ~ and ... dcPOle the transvem dispbctmcnlS of the ttlltroid ....
a, Is tile .oak of twisl. JII assumed \() be $DIall ill lIlagnilllclt,
Coovtnlionally, the longitudinal displ~men'~. o f the curved bcun is
dctermlned from Ibe internal .es.trlinl of vanishina Wit iIr1Ilns oa lhe
pilM orille CfOU section, .... hkh C<ln be ' (puled ali' gen.eralizalion of
tlu: ikflloulli-Eulu hypothc$is of undistoned planl' CIOIS SttIions for

bc=,

prior 10 and afler dcformatioll. Considering the c!kG

of curv.lllrC, the longitudinal displacemenl ~. <;an be CIpr~
fol~ (Villi and KIlO \986):

SIII;&ht

(7.212)

"'hert prime dclloOles diffcA:ntialion wilb respec:lIO the c:oord.inaM: L

Substitution of the upressionl for the displlUlIlmlS ..
(7.2.10}{7.2.12) inl0 (7.2.4)-{7.2.9) yields 1M AnIin (lOOIpon<lItI.
(ollow.:

,(,

It ., - -2&'

, . I(el
. , ')
2 ' RJiM
R

I...

(7.2.16)

AI

gn

he Kcn, ,he strains It".

,t_and It,. vln illh duc 10 the iUSUmP-

lion of undi5loncd Cr0i55 sections.

COfTuponing to Ibe suam wrnpooeOIS of Ihc; prcc:roin, $Cl;lion. only

thA'c oompooeol$ of wess. i.e., the DOmlalllrea& ' ....nd war $IrQSC:S
't.,. .nd "'" will be \ISoeful ""bea the lilll:a. behavior of curved beams
is _rncd. Buc:d on Hooke'$ law, the nonnaI ruca " .. can be
lel~lCd 10 lhe normal seQ;n
as "". , ..... Of

,"u

"

"

.. G(2 .. \ ..
'''I'

G(2 ..oJ
....
,

..

-G:(9' * !)-L
RR*:

(7.2. 18)

(, .'j'

(7.2.19)

Gy II

* -

R -R*t

"here and G denote the moduli of elasticity and rigidity respl'Clivdy,

and the shur stresses m assumed 10 be Qused by the torsiona, actions

.10De.

Based on the oonditioru of equilibrium, we .:an inle811l1c tile

"Iesscs OVe, Ihe C/O$$ $Cl;lioo of Ihc; beam to Db"';n the followin, six
SItus ,esultanll: lhe Ilia! fo= 'F" transvcQe sbcars 'F, lAd 'F"
l>endinS morn.nll 'M, &rid 'M" and torsion 'M,:

.-

(7.2.20)

'F-f',
,,
.'

(7.2.2 1)

'F-f ', ,,

(7.2.22)

'F - j""

.'

(7.2.23)

.'
. -f.''. ""
, f '. ""

'M

(7.2.24)

'M ..

(1.l.lS)

where A denolCS the aoIIS-KdiollaJ area of the bum.

S~bslitu'inl the upusion for 't.. in (7.2.17) 11110 (7.2.20),
(7.2.24) Ind (7.2.2.5). we can uprus the p:"'l1Ili~d SU'UIU 'F.. '101
and '101, fOf. cross 5eClion of the curved t>cam In tc,ms of the gCRerar.
lzed Slrllins as

(7.2.26)

tAl .. - 1

1M .. EJ

(",A' .!)
R

(7.2.27)

(v. _eo)
R

Where _
higher onkr IUJ1\l hlI~ bn DCgleac:d; I, and I , repn:sent
the momenlS of inertia .bout tile ,- II1d z-ues respttli~ely, of the aou
section . II slIould be noted that in arriving . 1 thne equations, the
following ortllogollliity conditions for the ptincip,al centroidlll I~es
(y, z) have been ldopccd:

(7.2.29)
Ahematively. we may .earnnJC eQWas (7.2.26}{7.2.28) in. mattiJ
form:

_I,

1:;,)-

R
0

.1,
R

,, '.!!
0
0

{.,- ~)

"0 , , '.
, --R

(7.2.30)

11
N Iftn from C'l\IJlion (1.2..lO). the in.plane deformations, as
r~pre5Cnred by lhe gt:MraHud suaiM (II ' + .. ,N) Ind (8, + ~"fR). I . e
gcMnllly coupled fOf I ~ bu.m, due to the invo/vtmcnr or the
dfeet of curn\UIC.
8y kllinS R 'ppI'OclI infinity. equations (7.2.26)-{1.2.28) redvcc
As

all

10 the fotlow;ns for the " ' light beam:

' F . E.4~ 1

' M - E/

'M

", II

, D,~ tI

(7.2..31)

(7.2.32)
(7.2.33)

" 'hich are k_... to be unooupkd. Compued widl cqu..tions

(7.2.26}{1.2.28), this KI of IDCoUpIcd equations, "'bic~ bas been ..sed
by VI..,.. (1961) and Yoo (1932) in IM;I formullrioB of curvecl-beam
theorin.. appear) to be unjllStiroed. Consequently, lhe uplaeemenr of
the &cncraliud llralns 01, $101gb! beam, i.e., M', ..... and ~'. with
those of . culVCd be.om, i.e., M' + ",IR, .... - M'fR, and ~. - 6!R, will
IlOl '.SIII! in c:orrect transformation frOfl1 the i.lraiglnbeam cquallon$
10 those for the curvtd be.ms.
FlOm equations (7.2.'26H7.2.28) Of equal ion (7.2.30). Ih.
genelilite<.! slrains can be iIO]vcd in lcnns of the gcncrlHud SI ms;

(7.2.34)

(7.2.35)

VII _

, . -'M-'

---!

I,

(7.2.36)

wl\c:re lhe lerms ronl.lining l~ fac10r IIR' have b<:cn Mglecled for lhd,

'"

SI!Iallness in mqnilude.. W ith tbe:se uJXessio<u. the IIOI'mal stress

be rel.lled 10 the member actions as

all

" .1 'F.. 'M,

RA .

'l

..

'F,),I R
,--' "' - " 'M~
" "
'M

'M

(7.2.37)
By teuing R approach infini'y, this e<JualiOll redllS to the $!l'Ilgtu.
beam fonnula (5.2.32). Note that in Vluov'! (1961) alld VOO'I (1%2)
workl, the straia.ht.bcam cq\LIlion (5.232). rather tl\ln the curved-bm
equation (7.2.37). has ~n used fortbc DOflTlal stress. which, of _rse,
is only .ppro.im.t~

7.3 EquaflollS of equiUbrium for

Cn:lss-sUopal rorces
The diffeR",;.1 eqlWioos of equilibrium for 8111 point or. solid body
at the C, configuration (i.e., before buckling OCCUI1) can be uPftSMd
in terms of the cyUndrieal eoordmates (P. t . y) in Figure 7.1 u fol\oW1
(Bores; and I..,nn 1914):

.
,.
,.

",,

(7.).1)

" 'I., 0
.~ --"'-

(73.2)

.!~ , a't., ~ , "-'" . y 0

a,
a,

.! a't.,

!~.

iJll.,

a,

"

5z
. a, -"''c',-""tt I,{ 0
a, ~

(733)

where 'f.. 'I,. and 't. dcl>Olc the body forces cKiscing I. tile point in ~"
By Ihe relations . .. ~R and P .. R + " we <;an rewrite the ~ilI1I

<0,

. (I' .!)d'
t (1..!yrr
... 1.R'" (I''!')RY.' .0
R ay
R at
zz

't

(1.J..I)

. (I. .!)i1tl1 (I ..i)a'

t
-, ,, '(I i)~o
R eb:
R "
g

ay

(1.J.5)

" ( 'ta:' ( ')'"

~ . \* -

at

R ay

( ')'

1 ,_ ----.!!.. -('t - 't.). \ * - '1.-0

Rc1t
R "
R'
(7.3.6)

... bcr~ 'I. 'I. and 'I 'I." In this ~haplcr. All ....ellas throughout ,lit.
'ext, the effeas l5&OCiated with the: body forces 'I. 'I, .1Id 'f. will ~
II<'gleded for simplicily, i.e., we leI 'I 'I, 'f. o.
1lIe equations of equilibrium All pre.5C'Rted .bove an be rtliN
upon \0 rive the differtn.ial cquarions of equilibrium for ,he troIIscctional forces of the curved beam. FiliI. by integrating cq\l.1.1Km
(7.3.4) ~r tbe cross sectioa of the member. we obuin

!1,1"'
0
R
(7.3.7)
"'hich an be rrarnnged 10 yield

"
J. --"'"
0
R

(7.l.8)

,.
TIle first and third integrals in the puading equation ClII be ~
with !M lid of tho IUCS$ resull.lllt definitions ,n (1.2.20) and (7.1.22)
mpKtivcly. TIM: second intesnJ in tho wne ~ualion, ~,e..
be con~rtcd into M integral_lona!be boundary curve C CRCIoIi", !lie

crOll section by Grccn'llht:(llcm. Conscqutnrly. we h.Iovc

' F ( ( t "!')(It'" 't

__
a.rh

o"

'F
"Ide' -'
R

.0

(7..19)

wbe,e", and" denole tile dirtClIon rosines of the OIIlwud umt non.a
v~or

II _iaud with the CIIIVe C OIl !he y,z plaPe (Ke Fipre SA).

i.e., "'. ros()o. u) and cos(z,u). Oa \be btal surfaoe oflhc ~

Le., on C, we hive /. cos(x, u) . O. For those cases where .he: " ' ill frce of Iny trxcioll$ on .he literal surface, i.e., " , 't, \.0, l1li
follow)n, condilion can be wrincn rOf any point on the boundary_
C I' 1M C, coafigunuion:
(7.3.10)
IKe (Ui.8) for similar CODditions for an clastic: body aI CJ. ... mW.,
mgt,.. we QII derive Ibo:: followiq diffaential equation from ~
(1.3.8):

'F

(7.3..11)

---! .. O
R

Similarly. inlcgnning (7.3$) over the crOll "ctian yields

f.1a~1
1 1.~I
f. ~.
ar
ra;~ '~)"
R
at~ '~)"
R
A

17

By Green'"heorcm,

In view of (7.2.21) and the condition

11"'0

(7.1. 12)

"

't III

't " 't, 0

""

(7.3.1 4)

for points on C, the followi08 can be derived:

{7.J. l 5)

0
As"in, integraling (7.).6) yields

"

J.r ---"'"
R

(7.3.16)

By Green's ,heorcm,

!L't.,.M . /(;(1'i )( \,'" . 't..II)dC' - ~t ' t.,M 0

(7.3.17)

W;lb the aid of (7.2.20) Ind (7.2.22) and tbe nalU/1l\ boundary OOftdilion
fOf po.nlS on curve C:

(7.3.18)
~ (:IJI

oo;vc from (7.3.17) !he following differential equltion:

(7.3. 19)

1M (Offill'''' three differential equations. i.e" (7.3. 11), (7.3.15),

~ (7.3.19). p!Mlin 10 1M forces ('F.. ' F,. 'FJ of .he a05S llion,
"( Ich "-ve ~n doe.ivcd by in'(&"Itin" the equations of equilibrium
7.3.4)-{7.3.6) over the aosa Rdion or ,lle bum. In Ihe followina. we

""

IIIaII dcllKNlStr1.Le thaI additional diffc,entW cqWllion$ penalniDg 10 ...

IIIOl!Ienli (' M .. 'M .. 'M J and other ~t'usrel..
'1".,.tlfi.~ of !be CfIlII
KCtioa CUI be derived by multiply;", rlflt thr. eqU&lion$ of ~

'.fI

(7.HK7.3.6) by IhI: ~ilW~, (or:) ..rld !hen inlC~ OVa . .

section. . 1bc dltfcRnUI,I . equahOn$ that "~t. IhI: fOftlta,
IIIIIIlKnl$, and b,ghe' order qualUltaes of I curved member will be "'"
uscr,II1 in tIM: virtual won fonnulation 10 be ~senl.d in !be fol~

CfOSf

~~.

f or instance, let us multiply (7.J.4) by z and intcJtl3lc WillI

rupecI 10 the: Closs-sectional .... A :

t--!!'dA.
fA&
"

iA[( R')"ay ( Rat

')"' _'t
"R "[
tl -..::.....:..!lt l _ _

d.4 . 0
(7.3.lD)

-L'T.,dA 0

(7.3.21)

By the definitions (or Sire" re.sull.ln15 in (7.2.22). (7.2.24) and G. . .'I

theo:m, _ "ave

if:, .fCl(I ' i)('t.,~

't " lAC - IF . 0 (7.3.22)

With the lid 01 (7..3.10).1be ~ equation

.'",

.:....;..J. _

'F 0

10

(7.3. 23 )

Similarly, multiply (7.3.4) by, and Int.gl1llt:

f L(1+.!)iltg '(I..!)ilt... 3l It..l", .0

f , rlt"'tJA
at
A~
R a,
R CIt
R
')
A

(7.3. 2

(1.3.25)

By ronve n ing lhe Sond in ltaraJ iJlln an inltgral alnnglhe boundary

curve C using Oreen. lheonm. and wilh lhe .id of 1M n.lural
bolindar)' condilion in (7.3.10).00 !be suus rcsuhanl ddiniti()n$ in
(7.2.21). (1.2..23). and (7.US). we c:&D show W t

'M, - IF . 0
__
R

(7.3.26)

'

NeKI, Itt us multiply equation (1.3..5) by coordinate f aoo lliten

iIIttlJlte wiib tupt 10 !be mu K<1ion ~, " of !be beam. The
rauhis

(1.3.27)

(1.3.28)

Convening lhe KCOIld integral lnKl an integral alnng the bonndary

CIIrve C, aDd m.king usc of !he CMdition in (73. 14). we obtJ.in

~_A",*""

!L If';:~

.. ....., fl(c.- .....

f,,(1 i) \,dA 0

(7.3.29)

SimulWleQuSJy. we CUI multiply (7.3.6) by c:oordina~ Y and pab

tM ume in~grltion'

Reamngins.

-fA(1 * .!)l
dA - 1f
'T ydA 0
R
R "'"
f

By Green's thcorem (for the WXll1d intcgrll), lhe condition in (73 .11),
lJ\d 1M definition for 'M, in (7.2.25), we a n show thlt

'M
_ , 0
R

(7=

Subtrxting (7.3.29) &om (7.3.32) yit:ids

iiltl.
'M
-' 0
..
R

(1.3.33)

Thi5 is uloCtly tM differential equation of equilibrium lhat relate! !be

torsional action to the bl:ndiog Jetlon of 1M eu rved beam.
The .t>ovo ,iz differential equations of equilibrium, i.e., (7.3. 11).
(7.:).1.5), (7.3.19), (7.3.23). (7.3.26), and (7.3.33), have bun u~

..

in lerms of the (orca and II>OIIIC'nlI of e.-II CTOIIS $KIion of the Qlrved
beam, which can be us;ly visullittd.. In the following. it wiil be
thown tllli by multiplying (7.loS) and (7.3.6) by Q)()nIinatu ~ and z
respectively. and then integralioll ~r thc nou-Stiomol Ina A. it is
poIoSiblc 10 den\'(: Cqwolion$ ;n terms of _
strus-n:lated quantities
which c:anooc be n:prdcd lIS ronvcntional fora'll and momenlS. Sud!
cquatiOll$ will find lppliations in 1M follo .... ;o& KClion on 11K
derivilloft of tile buckling equations for curved be.1II$, wllerc SOJm

dfe<:U lhl. Were c:on~nt;onally regarded as of higher orden: IuIvc been

consistently taken into ac:<:oum.
8 y multiplying (7.3.S) by )' .nd inlepting with rupec! to the
cross Stion A, we obtain

"(I '.i~
.
f. y&a.-t g e.t ' f... fL.(I' .i~
Rrai
R~
A

, "I.. -

(7.3.34)

(1.3.35)

By convcrtillll thc second integral inlo an ;nlc,1'l1 _LoIlg tbe bou.Jl<bry

curve C aDd in view of the condition (7..3. 14), we <:an dorivc the
followi", cqUluion of equilibrium :

(7.3.36)

in which botb in,cgn!s cannoI be iotclJIICICd as conventional

~aion.l

forces

NUl, kl

Of

us multiply (7.3.6) by z and

inlcgr1l1c with uspect 10..4:

f. ! "" . f. 1,(' .o)~

R ay . ,( . .oj'"
R Ck
A

m-

a<J05Ij-

moments.

'"
(7.3.31)
which

QII

be rearrmged '<.1 yield

-1. (I'.!.)R "" t - 11.

R " ';:d.4 - 0
~

(7.3.38)

With the KCOnd ltel intcgral Lrlnsformc<l into I line inlcgn! .~ C

and willi the aid of !be; boun<h.iy condition in (7.) .18) .nd !he defin;u.
for
in (1.1.24). tquiUion (7.3.38) rroutts 10

''1,

'M

.~

(1.3.",

From ,l'Iis equation, it ill evident till. the .tress-n:t..cd inlcgnols c.-..
be TCgarded menly u higher order terms and neglected from l1li
formlllation or allVed-bum theor)r, .. they c:aa be rel.1ed 10 ...
bending moment 'M
,.
As of now, W(: have Iohown tllal lotal of ti&hl equatioN of
equilibrium ean be derived for the curved bfa.m lIthe C, ronfigu .....
wblch c::onsWs of the tWO [IIllions for the s"ess-, elattd qlllJll;'ie$, i.I~
{7.3.36) and (7.3..39), and sU dirrcRntial eqlAlionI tOf con~
fOfte$ and moments, Le ., (7 J . I I), (7.3.15). (1.3. 19), (7.3.23), (1.3.26),
Ind (7.3.)3). One f~uln: of lhese Cqulliofts of equilibrium is thll IMY
have all beta derived from the wnc dirrerential equations of equilibm-

for I generic point given in (7.3.4)-{7.3.6). Sino: no Ipproliml. ioIII

hive been made in the prcseat deriva,ioo. !bey are nllClJy v.lid for
hofizonlllly curved belms with radius R Ihl are free of Iny IItlftI
fUrf~

lractlons.
In lhe following. 'IO't IIb:lII u lale !be a.aionI o f a panil;ulu scaiOft.
i.e .. sec1ion x. of Ihe curved beam 10 lhose 111M IWO ends O(IM b(aIII
SIIdI relallons will be useful in 1M derivallon of lhe finile ele""'pI
malrls in Seclion 7.8. F'IISI . let us oolve !he
diN'eu ......
equlliona of equilibrium (7.:U I). (7.3.19), and (7.3.'2) for lhe in pWII

wee

actions 'F" 'F, and '14, of the: horim!Iu.lIy CUlVed beam. The JOhllions
10 IhcK tqUllions lie

'F
'F

(7.3.40)

(7.3.41)

C,<:OI_ C S1l1 2

C $ln- - C

roa_

'

'M, -R(C'

<:OI.!

. c,sini) <,

(7.3.42)

.... here c,. CJo and cJ an inlCgration CQD5UnlS. By definition, IIIe forces

actin, on the: IWO elldl A and B

of !be curwd bo:am an

(7.3.43)

'M

'M, .

".

-'M I

(7.3.44)

.'ML

(7.3.4S)

7 .L

WMre L dcnoles \lie length of \lie beIIm. By .JUb$litulion of

(7.3.40)-{7.3.42) into ,lie pKading equalions, 1M following eonsu.nlS
an bo: solved:

(7.3.46)

',.

I'F
_('F .
.....

I
~

1I

'Me 'M,.
R

<:0111

(7.3.47)

(7.3.48)

n-y-.....,... .. -~<1fC...........

412

" 'here II UR dellOUS ~ JUblended IlDlk of the curved ~ <...

Filu.r~ 7. 1). SubscilUling the precedinl uprenioru: fnr the CVCff~
t " c .. IlDd t ) bad inlO (1.3.40}-{7.l .42) ritlds

I.

-sinll'"
'- 'F

'F...
P 1MJOt

1'btse are uaetlr the upressiom for relating tile in.pWM: " '. ." , . ,
curved be11'II al $lion r 10 those al the IWO ends.
Next, let us sol ... e the serolld set of differenlial equmc. til:
equilibrium Ihal deals with the OUH)fpl~/Ie lCIions 'F" 'M aDd
lhe cu .....ed beam in (7.3.1'). (7.l .26). alld (7.3.l3). Tho nail iI

'M,"

'F - t
'M

t R

t J--

SllI

'M - c, sm -R

whet. c" c.. and t. arc inlcgJlIlion consun\S. Wllh lilt. (01~
conditions imposed for the acliollJ I I lh. IWO entls A and 8
beam :

. .L.,

'M

- 'M

(7.3.55)

(7.3.56)

. .-

'M

'M

(1.3.57)

,he lhn:c constlntS c" c,. and cf can be de,c,m ined:

cos,

'M

'M

(7.3.58)

c _ . IM

(7.3.59)

..

'
which

Q./I

(7.3.60)

be substituted bad into (7.3.42}-{7.J..ts) 10 yield

' ...
"

;I
- , _. . ( -QD&-'

'M _ 'M

cosll

Rsin ll

'M

'F 'M..
,
R

'M

(7.3.61)

cos8. "' ) _ 'Ml1li_

. ,r;
=t:m-

sinll

(AuX.
R

Ilia!!

(7..3.62)

C05Pcw! _ ~)
sial!

Anll

(7.3.63)

1'btse are Uac1Jy the formu las for ,cllli", .he out-ofpllnc: actions of

...
I curvtd Mam . 1 S1ion )l 10 those ., the 1WO endl.

In Ihis S1ion, "'c Iuove Ikrivtd two KII of tqWllions. i..,~

(7.l.49)-{7.J.51) and (7.3.61)-{7.3.63). for rdatina the in-pl&lle and
(lUI-orpI."" actions of the curved brim 10 IbOK II the two eDds. All
these. equations will be USl:M in the formulation of curved-bclm
elements, in which Ilw: CfOSS-KC11ona1 forces hive 10 be Upru$Cd in
1Crm& of the nodal quanlitkt;.

7.4

Principle of virtual displacements

The upllned lagranSian (UL) formulatioG lbai has been uclvsrvdy

UKd in the previous chap/US will be adopted in Ihili .:IIaplt. tOl' !he
following re.iiOfl$. Fir$!, the lOulional behavKlrJ of nodal momenlS can
be easily tlUted following the pl'omIurt oksaibcd in OIaplCfI S and
6 . Second, lhe rigid body Ic$t as devised in SttIion 2.6 for incrtmelllal
motions QQ be direaJy applied. Third, ;1 RIVe. &I I very con_;"
basil rot Ihe deliv.'ion of the CUNeObeam eltmtnt for Il$I: in i-..o
menlalllQnlinea. analysis. Finally, the equations derivtd IIsing the UL
formulation c:aD be employed IS wdl in lhe lincalized bucklin,
usin,lhe two-wgc .... lysis ledlQiquc described in Section 5.8.
In Ibis $Cdion and the Rdloal to follow, we wll u.swne that die
bum lin experienced lhe ~buckting deformalions from C.IO C, aad
Wt au inltreSled in lhe bebavior of lhe beJm from C, 10 Cl> lbe 50called bllCkHng Slige. By ref~ning.n q~nl;lies 10 lhe C, coofigunolion, lhe incrtmental tqIWion
equilibrium for body .1 !he C,
configunolion bu ,I,tldy been Jiven in equalion (\.7.44). Byanumi.,.
!he Slnoln incremenls ocarning duringlhe incremenl.1 Slep from C, 10
C, 10 be small, Ibis equalion can be lineari~ as follows!

anaJ,....

or

f ,Ci'! ltW~,t, 'dV f " , 6,'I. 1dV ~! R -:R (1.4.1)

"

"

,C.,.

"'~ as defined in prev>ous cillplen,

cieJl()les lbe inc::Il:me ntal
COII$tilulive coeffICients. ' t . 1IIt CaucIIy 1ittaHS.1 C" and,e, .nd ,~,
lhe l i~.... nd _liM.r compoocnlS o f

lilt upcbled O,n $\filII

incremenls ,(.. In ll1i, chapler. IS
IS Ihrougboul Ihe lelI l,. 1M
effects of body for<:C$ ""ill be lOI.lly uctueXd . The term_ On lbe IIghlhind ~ of !he equalion, thaI is, ~ and
s/Ioukl therefore ~

wen

iR.

l ' ;0. ....,.

.,.w-I '__

'"

1lI.erpre.ed as .he vinuII work done by llle swflCe u.nionl Ktilll on

~ body lit C, and C, respectively,

:R

f ~r, &II,'dS

(7.4.2)

"
~R

f :.,611, 'dS

(7.4.3)

"

where :" and :" denote the su,face lrICIions ICtinS on tile body It C,
and C, respn:tively. In writing equation (7.4.3), it 1m been ISIIImed
thaI the body is in equilibriWII the beginn;ns of the inc:rtmtntll step,
i.e., lit C, (_ Se.ction 1.7). Al for Ibc UL formulation, the domlill$
of intea;ration in equations (7.4.1) to (7.4.J) have been speclrled as the
volume 'V and surface area 's of !be body lit Ct.
ConvtmionaJly, only three components of llle Cauchy stress
lClISO<, i.e., (',_ I,.,. I,..), ha~ bear inr:ludtd ill !be r_ulotion or
IIOIIli_ theoric:I for tile boriwCLtIIly CUIVI:d beam. The fourth sues
romponoem, I.e.., tile radial stress ' ~_ bas been found to be .ipirlCanl
aDd included in one of !be IO\hor$' pmr>ous WOIb (1981). Here,
distinaion mU1t be made between the l i _ and nonlinear analysis of
ltrucIural memben. Wherever the linearbehavion of curved beams are
concerned, only three rotnponenlS of tile stress teMOl' hive to be
Insidered, .ince Ihe linear parts of tile Greenlagrange s[fIins
COrresponding 10 the remaining stress components vanish uaaly.
Ilowevcr, the WIX is not TlCc:essarily true with formulltion of the
DOnlinear theofy fOf curved beams. One experience we learned in the
past (1986, 1987) is thaI if we have staned wilh only throe components
of stress ('T _ 'T.,. I~..) and three compnncnts of lI ... in (,1 ... ,I.,. ,I..),
lht~ in Ibe derivation stage we may encounter. aood number of terms
that ...ere rtpr<kd &I IIi,Au wJe, \elmS. ConventionaJly, 1M. only
WlLy to deal wilb these ICrms is 10 omit !bern. Wbil we like 10 poinl
out here is thllllOt III !be hipr order ICrms M~ in ron~o,ional
formulitiont Irr. really small in magnitude.. For instano;c, if IIlIl~ w;
COntpoDtnlS of the strtss tellSOl, ('T ... 'T.,. 't ... 't". ' t,.. '~..), IlIId their
lSsoo;i.ted IIlIin tensor, have been incorporaled in the fonnulllion from
Ibt Vfry beginning (this is cnaly ~ ap(lfOlCb to be cltmomtll,ed in
Ibi. scaion). lhen IIOme of the higher order
th., have been
!l'e~louJJy ne,lected may cancel tile terms gener.ted by the newly
~11>dtd stress a')mponents ('~". I~,.. 'T"), whJle lhe others may

'em!_

'16
rombine with the biner 10 produu _
new bul munin,hd terms.
Such. result is noc surprisilll if we lake I locH: at the orders or
masni1ude implied by all related lerms. First, \be strest COmPDnc ....
(,t", 't,.. 't.)
ne traditionally ncalec1cd ue small in llIl&niludo:
bul may /WI be equal 10 1:1:10 in &e~. Second, while the linear ~
of the strain oompo::HKnta, i.e., (,e,.. Ie,.. Ie.). COIre$pOPdina 10 tb& ura.
romplllKOIS ('t". 't". 't..) ..., equal 10 zero, !bei. _I~ ... p.Rs
(, " '" l'l,.. ,'1..) umaill in geMnl u!!equal 10 uro, whicfl an be
&!biu.rily large in mlgnilude. By multiplying the nonllllUl' ItrU!
components with tllelr co::mespondina 111e$$ components. we mlY obIabI
ICI1I15 thaI are moderate in mlgnimdc, which rcpreKnl cx.aly tile
poIenlial assoc:i.a1Cd with 1M Stm;S romponcnlS ('t". 't.... ' t..) lIlitiaUy
uisting 011 \he bum at C,. ObviooaJly, it it: illogitimate to udlllk_
IIIresJ components ('t.,. 't,.. ' t..) and !heir OOIl'UfIOIIdlna su-.
aICIlpoDmla (,11""
1 'l.J completely I'rom lfKo formul.hl. aI
nonlirlear !heo.ie:s for curved beam$. 10 this lUi, an approlCb dill
includes'aU the 5!rUII .nd Slnin ()()!IlpollC'nll in Ihe formulation of bam
theories will be .tJened 10 as the ellwicily "pp'<HId.
To this end, let \lS
dco:ompose the $iJ: $!TIin rom~
(,c_ ,e". 1~ ' .... ,e,.. ,y into the Iinw' and nonlinear pam:

th.' . .

,'I,..

rust

,'I ....

(7.4.4)

Ie., ,cq Ill.,

(7.4.5)

,f'... ,'l..

(7.4.6)

. ,'... ,'1"

(7.41)

,e,. .. ,f',. ,'1,.

(1.4.8)

,f'.. ,'1..

(7.4.9)

,l.. . Ie. . .

It....

,~

,t,. ..

where the linea. Jtrlin o:omponents ,f'_ ,f'.,..nd ,I.. bave Ilrudy been
liven in (7.2.4K7.2.6). if the displacements (.... "" .. J ~ve t>t;cn
inlcrp1ed IS the displaoemenl increments occurrinl ., the buckling

1.'

~,,-.!

--

iiUlge from C, 10 C,. fIIrthcr, if.1Ie Arne kinematic hypotheses, I.e., In_
plane rigid 1;1'051 ~ioos and vanWtin, $hear suains on lhe plane of
[he cross ~ion,

as those ldopled for IIIe prebuckHng litage ...e adople<l

for .xsmbing IIw: dispboe/1lall irl=menus (_" M
.. MJ ia the burckling
Slage, the displlccment incn:mcniS (p" M" ItJ lencno.ed Illhe bu<;kl;ng
JU&C from C, 10 C, can be reWed 10 IIw: displ.aoemeniS (M, ~,w) ofllw:
crenlroid nf.1Ie cross ~ion in exactly.he ~ mlnner as those pven
in (7.2.10}-{7.2.12). With illest. UpressiOIlll for the displaccmenl
increments (M" It,. NJ, ;. is easy 10 show WI the followiag lillW"

oomponenus of SUI;n vanish,

. . '"..,
... ." ..,.,
... ."
,

-'"

(7.4.10)

(7.4.11)

(7.4.12)

All 1M nonlinear SCnin oomponmlll can be reliled 10 the

displacement incn:mcnl$ M" M,. and M, in terms of lbe qlindrical
eoord;natcs (p, "y)(Bo.esi and Lynn 1974). Recogniring thl xJR
and p R ... (Figu.re 7. I), we aon (unhe. cXJIfUII these o;ompono:nts in
.enns of the Camsiaa c:oordinatcs (;.. ,. ,) as follow.,

,'.
(7.4.13)

".
(7.4.14)

."
. "j .33
R

....

(H.I6)

._.,,,au,

(7.4.17)

,".' ~:f .(~f .(:'fl

(7.4 II)

cl:<,

It should be DOled lhal the firs! lerM in the uP'U'ion of tile axial
,,",in (Xllllponeni
equal 10
which will be neglected from die
pl'fSenl Il00Y for il5 smallness in ml&llilU<k. Substituting the elpn:5sions in (7.2.10}{1.2..12) for the j~menl.l] dj'pl~menl5 W" wI' ilDd
It, Inlo lhe preceding equations yields

,Tlu"

,e...

(7.4.19)

...[(..~)(., -;) .+: .~jlf ~,

R

(7420)

,.<

I'_~ "' ....... I~_

+" -;)

,'.. ~l+< - i)[(' " ;) -

+.-~)j111" -

'k' - "~IR~'

ire! {~11

'"
(1.4.21)

(7.4.22)

". ~'1" -i)1

(7.4.23)

,'.' ~a: . (., - ;rj

(1.4.2-4)

U,ing tile above _lions for the wain and Aress componenll
and rulizing lbat \be lh.u $lr1I;n eomponenl$ in (7.4.10)-(7.4.12)
\'&11M, i.e., ,..... ,~. ,...... 0, fOt I bori_talIy ~ beam, we
obWa the following ilKrcmenl&l vi"~J work cq~lion fmm equation
(7A, I):

f" 6'1 dV _ 1R

- 'R

(7.4.2S)

420

n...,-,....,.. .........

o(c

in whid! \be kft SlIp"racripI "1" fOf the: VOIIlIM V and rN:-." .....
scripts ", . fOf the 5tl'lln c:ompoMnts IIld ext~I1II' work ttnns!.....
been dropped, s~ it is known IMt aU these variabiQ Ire I'd
..
configul'ltion C,. As was mentioned in SeCiions 4.2 lJld~"
f _ of 4 and 2 have been adckd 10 KCOIInt fOi the 1)'IIIIIlCtry ~ "$bear Slr10ins b.sed on \be I!talbc:mJlkaI tensor definitions, i.e.., ."
reoosniud tJw t.,. t ... t f .. '1.,. 'I,.. '1 .... '1 .. HId 1O!IIl.
In tile following, each of the inttgnl$ in the ~ .........
.
wiU be derived. To KCOUnt for lhe effect of curvature, the di~
d V can be expressed in qlind. ical COOIinltes as

dY .. pdtdpdy
... hid! may be tl'l.n.donned to the Cartesian roordinates ..

dV

Note IlIaI IlICOfpOnIioa of the lKQb;'" (It oj. :)l1l In !he inle_1I
es$Ut.ial 10 \be buckliDJ: analysis
a.rwd beams.. II lias . . .
dcmonslnucd by \be IUIborJ (1987) tJw !he 1ICaJc<1 of SIIC::b r.a
may rault in IOlutions thaI arc generally CITOlltOUS. FOf'"
extJlMOU, uro critical loads lilly be indUQed for simply ............
Rmicirclliar beam under pure bending.

or

7.4.1 Slni."",'lJ dw 10 IiDHr uial slnin

With the upression givea for f . in (7.2.13), \be ortllosOG'-litr C(IOIIlions Jiven in (7.2.29), and the uprusion for dV in (7 ....21). lbe fInI
inte~1 in equation (7.4.2S) ean be derived IS follows:

lJ.'iEAJ1. , ~rR
f,", ",,,v.
2_

.'''t.-"f
1

R'

"

.2>

" .1,*-1-.-----

......,rc L dellOlCS lbe 1(ng1h of cbe beam. This is exactly tl>e str1.in

,-riY (in vWlional form) oftbc curved bum due: 10 lIS rcsl5WlCe 10
jIII:IIIcnilli and IM:ndin&- H(re, 110 ac:c(IUnl has blIll.bn of Ihc df1
tJ. ,,-arping ddonnatioos of Ihc cross section (see Yang and KIlO (1987)
fof iJKclusiOll of slldlln dfeelJ. From this ((!Ullion, it can be seen Ihal
COUPIin, exi$tJ belwec:n tbe in.pIane ddoflnatioos .. and "', and abo
btlWtcn tbc olu..ofplane deformatioos vand e,.

7A.1 51... ln ( ntl"&)' due 10 lin ear shta r 51... lns

obsI:iWlion of ((!UatiOllS (7.2.14) and (7.2.15) (or cbe
I1ICI e .. ;nlo cbe IOIld inlegral ill (H.2S) leads 10

~hcar

scrains ( .,

.re tbe expccssion (7 . 27) IllS bn ulil~d, tbc hip. order ccrms
lCIkC\(d, I.nd !he ~I a}II$WIl J refcmd 10 IS
J ..

!/,t' . yl}dA.

(H.JO)

Thilr; I, exactly the SIrlIin energy (in variliional form) of the curved

~lm caused by chc Sl VelWlIIOlSion. The 10lal Slra;n eDe.gy stored

-. circular bum Iyilll on !he ....: pl1ne with. radius R an Ihercforc
be oblained by summing the terms given in (7.4 .28) Ind (7 ..29).

7A.J

Potenllal enel'l1 due 10 u.ial

",fUll

Sabst,l\I1ina!he uprcssjoa for 11.. in (7 . . 19) inlo!he third inccgral of

OA2S). maklne Uk of (7..21) for tN, and raIlm, the definitions for
1Irts,s fauh.nlS In (7.2.20)-(12.2S), the poIenti,l for cbe curved beam
~'lbe Klion of !he inilia! uial Slr~ 'e.. (&f1 be c.xpruscd in !he
.... Io-.-In& variational form:

."

- 2~

"e. - Ii"I ' 1[' Ii")( ' ')1 -[e,

- 2 M,6 II

IV - R

Kt.

(7.4..31)

,1

Of

J J

..L........!
A

as .... JIA fl)f $(Ilid cross &eetionJ.

7.4..

Pottlilial tH'1:1 dM 10

lraU'ftl'H

ibnr_.-

By subslilulilll {1.4.20) and (1.4.21) (or !he nonlinear com"u

fIl
the \n.lISYtrK shear strlins, '1 .. md 'I... into the fOllnh i n . '"
cqualioo (7.4.25), using (7.4.:m for dV, .1Id rec:aUin8 1M. dtfiniliolldl'
!he stress relulblnts irI (7.2.20)-{7.2.2S), we obtain

'F" I-+' -;) ..(., -;)1

-'F,.[_' -;)(". ;) . '.,1

- J,' 1

1. #

"""""'"

of _

II "

__

. ,',,,1(-" ;)(>" ;))1..

.f: V, "",,,,)+.(.; . ;) . ;)ju

+-.

WM'C the lOrIional parameter

II:

is ddin.ed .. follows:

" "" . , .
fC''-c"'::'''II

(7.<1.35)

II should be; llOIed tha! in previous formuLations of cu~d beam

Iheoricl, e.g., !bose by the IU1boB (1986, 1987), the IaslIwo integrals
in equation (7.4.34) hive been regarded merely" bigher order tenDS
. nd excluded entirely from the fonnul.tion. As we shall shQw in
l'!er ~n of this section, I more leuonablc approach is 10 rellin all
such tc.ms in !M formulation, sillCC some new but meaningful terms
can be derived !lIrough I colleCIion of aU these terms. II Is with the
incillSion of such tcrms thlt the ,x.ived cu~d be.m Iheory elIn pass
the rigid body lest in tM thn:e..:limcnsional s.ense (sec Section 7.6).

7.4.5

PotcDtla1 t H 'lJ due 10 aonnal 51"", 't....

Thoua,b tile

SlI'aI c:ompooc'U 't n is iCneraily lIIIaU, tbe noniinUT

vmud Slrlin 6IJ n a.a be arbibVi]y ~ in magnituOc. Obviously, a
.. inu.l won: term coalaining tile product of the two quantities ' ton and
6IJ n IIIould lIOI be regarded .. small in magnitude and ududed (rom
the formul.llion. SUb$tilUtinJ (7.4.22) for ,'In into the fifib integn;] on
the left_hind side o f equation (7.4.2S) yields

."
By tbe equation of equilibrium in (7.3.36) and by plniaJ integration, ...
pl'cading equation (2Q be ronvcnw inlo

(1.4.31)
Th is is uacdy the potential energy (in variational form) associlled ......
the normal $UUI 'T" perptndicular to the plane
the beam. h II
intc.$ina 10 IlOIC Wllhe; inle&nll lCrm in the pKdin, cqultioa . .
anc:ellM penultimate integnl tenD ill tIM: poceruiaJ uplUSloq (7.4.34)
derived Jlfcviously for tbr. lJal\S\'etle shear SlIusa 'I .. and 'I ...

or

7.4.6 Pottnlb l fM'V due to d blor110... 1 ~htlr lirut

lbe W'us OO<IlpGl"l(nl 'T" .elates 10 the distortion of !he (Ja.f . . . .
of thc beam, whid! is IlS\IJJly small in magnitude. Ilow'~r,""'''
multiply this suus COQlpon<'nl by 1M (viJ1ua1) nonlinear ltnIiII
:
Mnl 6'1,.. and inlcgnllc over Ibc _
of the .:rou 5e~ion. we _
oblain I vi11uaJ work term thai is DOl r>egligible in prlClice, IS . . . .
dcmonstnllcd below.

_..

SUbsliMing (7.4.23) for the nonlillCar strain component II.. "

the weh Inlei'll In equation (H .2S). 11011& wilh the up [
(7.4.27) for dV and the equation of equilibrium in (7.3.29), we -

Integraling by palls,

f.".',.dV. -{I -., 'MI''(_ -;) . (-' - ~H(

.f:I,-.,'M+i-' - ~) .

+.-~)l"

."

Obvio\l$ly. the potential associated wilh thc IIrU$ component 't,. should
IS bigher onkr terms and neJltaw, &I was
6oftC. ill COIIvenlional analysis. bea.USJe it can be dueal, rc..1ed 10 the
wrsicmal Klioll '101" Of inlen::st 10 lIOIe ill W I the iatevaJ krm in
(1.4.39) will caJlttl part orllle terms conlai"i.., the IOI'IionII parameter
" in (7.4.34).
no! ~ regarded simply

1.4.7

Poten tl. 1 tnt rtr due 10 ndlal s trall

Oy substitution of (7.4.24) for the nonlinear Q)mponcnl of the radial

ilnlln. TI ... tile expression for dV in (7.4 .27), 100 the equilibrium
condition in (7.3.39), the ""tnth integral of equltiOQ (7.4.25) can be:
delived as follows:

.[0'' . (w" ~rL

f"".""dY J'f ' .3
2R
R j
(7.4.40)
IntegTlltlna by partS,

'!nis is u lclly thc pOlentil. <ill "arialiGnal form) of th. horizootIJly

~rved beam _
illcd with Ih. radial SIres. 't. inltlilly actina (NIlhe
amite,.

'"

7.....

Exlft"llal virtu] worl<.i

The exlCmaI virtu.al WOfk IUlDS ' R and 'R on !he riJbi.hI.Qd side of~
eqIIll sign of equation (7.4.25) have betn defined III (1.4.2) and (7.4.3),
.. bich can be ......nllen ia ... uplieit form u

(7.4.42)

'R _ J.r (' rh

',, h1 ," &II)dS

(7.f.43)

WheR the left subscripl "" fOf 1M rderence configuration C, ha " dropped. For the case wbeR only nodal loads an allowed, Ihe _ _
aua S Ibould be inlCrpreleG u tIM: composition of !he IrUI fOf !be twa
(lid scelioDt, i.e., S A ..t..
8y eompuing Lbe iDut lDtllIai displ~menlS 11.. 11,. and M, fOI' dill
cwved beam in equations (1.2..10}-{7.2.12) willi thoK (Of IlIc AnipI
beam ill (S.2.7}{S.2..9),;' is easy to show !hat if !he d is", ,.
derivalive ",' is "'placed by (w' _ " fR). Of if the followin& no..- ..

adopud:
(1 ....44)

then !he equations derived in Section 5.2.2 remai" valid for tile r;grwd
beam. II follows !ba, the expressions given In ScClioo 5..5.3 fOf ....
Ultmal virtual work ' R can be dirtdly ..:IopIed for !be: curved ~
Acoord.in& 10 equation (5.5.44),

(7 .....5)

whe,.., the element displacement ycctOl' {II } is

14 ~

"'.u-/ '_"""

"'Junr 7.1

Noda!

do"".. of f,dom of ClINt<! beam.

(lilT. III. "..... 8. 8J011 8.

". "..... 8.. 8,. 8.,

(H.46)

en for tIN:

(see F.... re 7.2), aad tIM: DOdaI fon::e Veclor

C, is defined u

'F

'M

r:urv~ ~ml

It

'M 'F

(7.4.47)

On the Otlll:l hind, the external vinual work 'R done by tIN: SUlfate
trxtiilns on the belm II C, has bun given in (S.5.46), i.e.,
(H.48)
"111:/e tIN: inililJ ~ force V(dOf
!be supel"1C:l"ipu from "2' 10 "I".

1.43

l'n can be obtaiol by JWilc:hing

Inumwal.ll ylrtUll wortr; fl\ualloa

Subsr;lur;", all the expressions deri""d previously in this Kdion for tIN:

iI'lIIin energy, potential energy, and exlernal vinual WOlks, i.e., (7.4.28),
(7.4.29), (7.4.31). (7.4.34), (7.4.36), (7.4.39), (7.4.4 1), (7.4. 4SJ, lnd
(7.4.48), into the inCl"emenlill vinua] work equation (7. 4.2S) yields rhe
following fOf rhe curve<l beirm:

".

.J: 1'F,'I-+' . ;) ..(w' - i)1

-'F'I(w' - ;X-'. ;) ..~..
2if

(' 'M 6 [,
- Jo
6, . .( . ' o

- ('M. )6&

-)'1d.x
R

('!'Me )"lf

"'2"'~

where lhe roUOwill& equalily has bun uliliud:

(1 ...."

f.' '",,1(-' -;V :;)]'"

. -f: ''+. -~}, .(-'-;~r

-f: ' ';'1(_' -;}'I"" ' ','1(_'- ;}l

(7."')

$t:vcnl oommcnts can be ma<k wilh regard to the jHed,ng

cqUlion. FiI$I,.1l ~ inlegrals COIIlaining lenni thai canDO! be
regarded u coovcotiomol slm:s re5UllanLS, e .g., lOOse in (7.4.34),
(7.4.37), and (7.4.4'), have ~n canttled OUL Sond, all the
boIlndlry ~rrM ellCOllllUred during tile derivaliorlllavc eitber Qnotled
GIlt with each ocIM:r or o;ombiMd 10 ykld some K .. bul physically
mean ingful krmJ,. For instance, from the iIIduc:ed IIIOfIKnlltllnl 011 the
ri$llI-hand side of the tqual s.ign ohbe equlliool, we are Ibk: 10 identify
11M: bendi", moments as quasilangenlia/ momcnlS, and the torques ..
Kmillll&cnliIJ IIIOmC'nlS. Third., the inclusion or an the $U: .IlfCSS
components (' T... 'T.,.
I.... 't.) has enabled ... 10 derive In
equalion thai is mathem.lically more C(NJII*1 than those considering
OIIly three $IfUS compont;nts Ct... 't ... 't..). In 1M following secrion,
it will be dcmon$.lutcd thai the pfe$Cnllheory can adequately ICOOUnl
for lbe rigid body behaviors, while those ronsidering only Ihru SI'0=55
compontnts do nOI luive lucb CIJllbility. Founll, lhe 1000ionaJ
~Icr II th., was mjIIirl in previous reseuche$ (Yang and
MIIGuilt 1986; YanJI &ad KIlO 1%6, 1987) .. no RlOfe ntteSS&l)l.
ThIl5, !lie &IIlbiguily iDlJOduc:e4 by Ibis parameler Iw disappeared.
i'b!all y, b)' kuiBl!.be tadius R of !.be t'IIrved beam ~ innnil),.
'Nt; can tho .... thaI Ibis C<jU<IUon ~uoes 10 !.be one fOf lhe ilniglll beam
based 011 lhe s implirled lheory.

't_ "'"

7.5 DifTerential equations and boundary

cO ndilions

~bt

preceding seclion, each of (he (enns in lhe inacmen(al vinual

k tqullion of (~curved bum, i.e., (1'.4 .49), he bun derived and

".

up<u.w :1 in lerms of !be crou lKlioaal diJplaoemcnlS II , ~,and .... In

th is lKlion, the variationll principle ..m be cmplo~ 10 derive from
thll equal ion, the governi"! differenlial equations and n'~\lfJJ boundary
conditions (Of IDCmM forc:e equatiooJ) fOf 1.be curved beam .
Followi", the ~ o( SeI;tion " .3, we may f1Bl. iDkple
caeh of the terms QfI the Idt1\and ,ide of (7 . .49) by parts to obtIiin Lbo!:
inCesnl and bouDdary 1erms conllinlng the virtual diiplaccmenll h ,
6~. and 6 .... By taking the aibilm'y nalU~ oftbc virtual di$p1aCcmc.nts
h , 6v, and 6 ..., we Q.n obtain me boId/lll, "i/f<rrMiIIl ftllUJIUMs (Of

the horizontally CIIrvecl beam fmm lhe Inle&",1 terms IS the Eulu
Lagrange eqonlions of 1M fWlCtionlJ:

A(,. I . w
'). IM.(e"
RR '

",)
_'F' (WIl .~)
R
R'
(7.5.1)

EJ

(.~ . , .'
RI

-",-).

);!(.,. -") -'F(., _,c)

B'If

R'

.[,.,,(.:. ;)1 -'+: .;) 1 'F.(" . ;)1

-[,.,.(.--~)I .

p .')

D('~ - ':'l

i} _~('"
If'
R ) - 'F
("

-'.). 'F('" .,)

R

.,

['M,(.: . ~)r 'F,(. ;') . ['M.( - ~)r

,,(

- _

'M)(e. _") .0

IF ....:..J.

(1.S.3)

(7.5.4)

In dalvi", ~ ~in& fOIl, C<l"'tioM, !be equations of

equilibrium derived In Stian 7.3 fOl' the member forces have been
.culled.' For inst&IIce, ~ (7.3.19) and (7.3.11) have bun U$oed
in \he derivation of (7.5.1) and (7.5.2) rupeaivcly: 1M three equations
(7.3.19). (7.3.11), and (7.3.33) IISUI in (7.5.3): and 1M. two equations
(7.3.23) and (7.3.26) IUed in (7.5.4). In -'dilion, !be upression for \be
WlgMI coeffICient i in (7.4.32) bas been uliliwl. II is cuy 10 verify
tb.1 by knina the IlIdius R of 1M beam CUIVC appr~ !nfmily. the
eqv.aliofts dc:rivc<l bc~ IC<Iucc 10 lhoK for tbc 5lnight beam based on
the simplified \heQfy. i.e., equations (S.6.IJH5.6.20), .... be~ it $bOOld
be rulizc<llhlll for " ...ipl beams rree of Iny distributed loadings. 1M
followin& relations n:main valid:

'F:

'F;

'F; 'M:

O.

I,

5hould be added lhat!he budding differential equations presented here

differ from tbosc derived previously by !he author!; (1987) mlinly in 1I.e
treatment Qf terms COIIllinina tbc lOniionallClion 'M, _
As I byprodua of the VWlional procltdure. two 5C1I of
caD be dcrivccl for the CIIrvccl beam It jill twO
fllds. Tbe nGfM,,'/IIowuI.'Y COfIdiriDlu In

boundary conditions

AII IK cquau-o of equilibrium deri~ la Soctim 7.3 1m vllid rOf

"'t",be" r_ or lilY Iittra.i ilWfKe ItKfions..

CU~d

,-,. _ ....'1* , ...- , of C~ , _

.. -'F.,,' 'F("" - ..!!.) '" IF - 'F

" (II '.'!).

~'WR "
~)
RR

'

"

(7.5.S)

eG/
e, . -., '
') (e, )_., ' 'F,,' - 'M()

. E/ ,,'" _ ~

R'

"

. c( 'F .3)(.' .,,) -'F("

R'R'R

'

~)
- ' Fe"
R

_ 'M (... ~ _ " ' ) . 'F _ 'F

'

(1.5.6)

-El(.-. "). 'F(.,-,) -,.. (., .").

,

R'

_'F(N"

.,

'Fe
"

.!) . 'M("N_e,) .'F -'F

R

'

(1.S.7)

,J., . ,,)
_'I""
_,,, (., _,)
",( 'F' .3)(.,.
,,)
R
'
R
R'R

...... l

(1.5.8)

.. 'M ' M

-EI (..... .
,

.:!.)
!('''''''')
.. 1M - 'M '('Me _!IMe)
R1
2 '
"

,.

(1.5.9)

e.). !2'M'(W'. "!!') " 1M 'M (-'M e.!2 'M"e)

EI ("N_R

, .

(7.S.10)

where for the CUNW bum tbc rotIlions &, and &, should be ukcll U

',' +' -;)

& _ ,,'

(7.5. 11)

By IClling lIle radillS If of the beam CUNe approach infinity, il <:an be

verified that the preClCdill& "lions reduce to those for \be Slfai&/lt
beam based 011 \be simplified tbcory givtn in (5 .6.21}-{S .6.26).
Correspolldingly, \be ,~mic ,_".dal}' cl)ftdl,i,,~s ue as
follows:
&.. . 0

(7.5.12)

&11 _ 0

(7.5.1)

&... - 0

(7.5.14)

&& 0

(7.5. 15)

(7.5.16)

&&, - &v' - O

(7.5.17)

As ..... 5taIW previously , in the UIIlysis of beam type problems., cil/\C.

1M natural boundary condition or !he ~ boundary condition, bill
IIQI botll, must be prescribed fOf caell degree of f.cIom at the two
ends of the beam.

7.6

Ri gid body lu i

The .igid body lest inllodllted in " <;lion 2.6 h.u been lUocusfully
cmployed in tile lesting of various IlIc:odes and clcmen" derived In
prcviou.$ chlpCcn for trusses, planar fl'llme5. and 0Ip00cc fnmcs. One

.,
"",,il of !bill tcsI is WI it ill simple, ilnit:/llforMard, and p/I)'$i<:aQy
mnnina!ul. Theo~icany speakin.. it caD be yinWllly used COl' !be
IUlm, of f.IIy oonIu.ur Ibccxy for solids of aay Wpc, rcprdlca of !lie
source of DOIIliJlearity. In this RCtioll., we NIall demoll$lnue that die
lipl body Ie$t ~mains I very dfrctive 1001 for latina: tile validity of
1M Qlrvod-beam cqu.ations derived in Scdioa 7.5, whidl is eh~.
1m by rile involve_nt of I p i numlxr nonlinear lenns i~ II-.

or

differential equations and I5IOcialed naMa. boundary condition$.

Coosida' tim the c:oaK whtn I QlIVCCI bum initially stressed.
C, with the cn)UsectiCMII.1 fon:u CF" 'F,. 'F~ 'M.. 'M,. 'M.) "
iubj eaed to rigid body dispbco:mcot on the XY pl:me shown ..
Figure 1.3, wh.ich can be characteriud by rlald translations U, and V,
ILona tbe X- and Yuis respectively,.nd rigid location 9 z about thtZ.
uif. For this I2$e, the following diliplAoemtnts can be wrillea , .
action x of tile curved beam:

U,~

(7.6.1)

... . U,Iin4I

(7.6.3)

1/

,"-

,
,
,

.-

- Ur

'"

"'\,-.

f,-... 7.3

."'

'" /,
,,
0,

Ripd body

d~""'nlJ

In X _Y pi .....

<3,

,.. lIizW-._

(7.6.4)

e,

(1.6..5)

(7.6.6)
..here 41 ~R and llIe Ingle of rotalion &" Is ~umed 10 be small.
Wilb Ihis rigid body displaarmnl rleld fOI llIe curved be.m, il can be
tIIOWD 1l1li Ihe ltneraliud IInins for !lie cu~ beam . educt: 10 ,"fl),

i.e.,

,,' . '"R

" -_
e.

"R

(7.6.7)

The following relalions can ,Iso be sbown 10 be valid:

, --,

"" Nt

. . '..
'

R'

-_

","

R'

(7.6.8)

ACC'OfdingJy, we can oblain from the nalu.11 boulldary COndilions

given in (7..5.S}-{7.S.10), lhe following expressions for !he forcesading
011 ciUw::, tnd of !1M: auved beam:

IF, . ' F - 'Fe

J" cos4I

(7.6.9)

(7.6.10)

(7.6.1 1)

'M

- 'M - 'MIA_J
7\-"
IA ~)
,,-z.

' 101, '1017 , '101

'M (-&ZI aiD,)

(7.6.1 2)
(7.6.1)

'36

whc.R the coordinate.<, as implied by the ~lel lhwld be l.k~

either as 0 or L for the "'"'0 ends. lbcse arc ulClly lhe uprusiollS tOl'
the DOd:aI fOleet Id.iDS oa the beam It 1M C, (rotated) c:onfil"ratioot,
bul rdcmd [0 the C, ronrlJUraUon. With the ....1es of rowioM give..
in (7,6.4)-{7.6.6) for dlhc:t of 11M: twO cnd$ ,bout tile lhl'tt toe.! I.~
(x, y, z), il can be usily verified thaI aU the initial fOlees a<;lina 0fI1be
two ends of the. curved beam IIIve rocated following the (i,id body
rotallon e .... wIIile Ibcir m1ani1udc::5 lem.in undlan&C:d. As. rnulL, ....
rigid body ICSI is "iii 10 be pas.sed, as far as the rigid body m<Hior\l 0.
tile xr plane are g)D\.l:IIlCd.
Nut, kt us COIISider tbe cue wMn \be cwved beam is sub;leil
10 rigid body displooe_nt oa the X -Z plane, as typified by the rip!
tnnsll' ions U, and W~ aIon& the X and luis, rupeaivcly,.nd rilid
rOlllion.e,., about the Y-uis (figure 7.4). The following 1,( tIM: dif.
p,-mcnt components for Kdion .. of the cu~ beam:
II

U,~

- W,sin40 9,.R - 9 ... ~

(7.6. 1S)

- - u,

.0

(7.6.16)

..... U,sin4I W,OtIS<fI - 9,..R15in41

(7.6.17)

6, ..
,

(7.6.18)

e,..

(1.6.19)

(7.6.20)

.. bore 1M &JI&Ie of roI~tion e" is assumnl to be sman. For this

pIIIicular mode
riP! body dispbcemcnl, il is alY 10 $bow WI !he
~blions (1.6.7) Il'RlI;n VJlid. 001 ~ in (7.6.8) Pould be modirlfil

or

. '.

w" w'
R'

.. v

- - .. ....
R

..,I .! _e
R

.-R' 0
w

(7.6.21)

(7.6.22)

"

IQ ICWfdance., we can f;;Ilcu~!c from the natural boundary conditions

(7.s.s)-{7.S. IO)!he followina cxprMSioM far eithu of the two cllds of
doe CUrved beam:

(7.6.23)
(7.6.24)

. .

' F _ 'F _ 1F9

. ,.,

' M .. 'M 'Me

.",
~

(7.6.25)
(7.6.26)

o.
(7.6.27)

JM_'/J
_ 'M8

.. I't

(7.('i,28)

Willi the :aq.IeJ of rowions about Ibc: three ues (~, 1, z) given in
(7.6.18)-(7.6.20) for ucb of the t-o.o ends eonsidc:rc4, .... e CIII C(lnfil1ll
from Uw preceding upressioos lhal (he initial forces acting on the
beam Move r(lUled follow in, the rigid body fOUliofI e,.,. .... bile their
lDaJIIitudes remain undwlpl. Thi$ is fully OI,)R$istcnl wilh the rigid
body Ill .. stalte! in Section 2.6.
Finally, let us ronsick. the case when lhe bum illubjCC1cd 10 I
rigid body displxclllCoI on the Y-Z plane. By Icuina V, and W, dcllOk
the tiJid transhtionl akIn& the y. and luis, rcsptCtivcly, and e .., the
fi&id roution .boutlhe X-uil (Figure 7.5). the followin, displao:cmcots
can he wriutn for se<;tion x or lite beam:

(7.6.29)
(7.6.30)

o
Fl ..... 7.5

Rip! body disploccmeohl in Y-Z

1'1-'

,.

I.VU No/)'_

'"

... . W,eos+

(7.631)

6, . 9".

(7.6.32)

, 0

" 9"

(7.6.33)

sin t

(7.6.34)

For ' his panit-ul.r mode of rigid body displacement, both the uillions
given in (7.6.7) and (7.6.8) rema;n v.lid. In -m.nce, trw initial
forus laing on the two ends of the be.", CIJI IN: obI.ined from tile
nllllral boundary conditions (1.5.5)-(7.s.1O) u

(7.6.35)
(7.6.36)

(7.6.37)

(7.6.38)

'M
1

'M 'Mce sint' ""

'J,{(9_,

'101 'M 'Ml'Ier,_ ,

(7.6.39)
(7.6.40)

With lhe ... JIcs of rObtions given in (7.6.32)-{7.6..34) (or the thrc.
llIU (r, y, .), il can be eonHrmrd that the Inlt ill forces actina on the
lWO ends of ,he beam have ' OUted following the rigid body rOlll1ion 9 z"
whllt their m.gniludc$ rem.in ronslanl. Again, the capability of the
derived /;\lIVed beam II>eory 10 accommodate Ihe rigid body displacement on lhe YZ pi""" has been verinal.

In !his lleCtion, w~ have delllOllSU1oted !hat the derived ~

beam tllrofy, as rrpusenW:d by the natural boundary OOIIditioos
(7.J.5}-(7.5 .IO). an adequately account fOl' vinllllly all po$Sib~ ~
of ri&id body dis~lJlWt in the ~lISionai sp.ce. Such.
ruult is not lUrprising if we note that for e.m of the rigid body
displ.la:mmc. c:onsidcred, all the geOl:ralim wains (II' .../R).
(.... - ,,'IR), (v - ejR). and (e, v'IR) for tIM: curved beam reduc.:
idcnck1lUy to uro [see {7.6.7)J. As .ueh. we nil show that boll! sides
of tile differential equations given in (7.5.1)-{7.$.") limply vanislt.,
Sinoe the natural boundary oonditioll$ can be obuincd as !he integ .. tion
of the d ifferrntial equations. the forttS Induced by the rigid body
rOUlions for cloCh of the tllrcc asc. discussed above. for inSl.n. Iho$I:
containing roIltion iIJlgles e" in (7.6.9)-{7.6.14), ean be regarded as the
COn5WIli ~DUIUd during sucb iIJl inccption prooess.

7,7 Buckling a nalysis by analylkal approach

Two speQaI cases of tbt. borizodtally curved beam will be

c:onsjdcred

in !hillleCtion, for wblch aoalytical50lulionl are obllinablc. In the (jJ$I

lhe beam is IS5Umed 10 be aubjected 10 a pair of bending
momenll lying on lhe plane of the curve o( tile beam. In the second
o;:ase. radial loads uniformly distributed Ilon& the CUrve of the be~ will
be considered instead. Only the OIIt-ofpl.ne buck ling behavior of the
curved bum will be of concern. The following propcnies.re adopted
for the CJOU seetioa of the beam:A 1".4 in.' (92.9 an'); 1,.273 in.'
(11,360 an'); 1, . 93 in.' (3,870 an'); J 1.4'4 in.' (SfI.9 em') and
r 5.042 in. ( 12.81 em). In ~tion, the moduli of elascicily and
rigidity of !he IIIltCrial
liken u: E 29,000 ksi (200
and
G 11 ,200 tsi (77.2 01'1).
QK,

are

or.)

7.7.1 CU"rd bu m uadol.r ...Irorm brlldla&

Con$ider I pinned o;ircuiaf beam subjccled 10 pair of benllina
IlIOIlXnll M . as $hown in FigtlI6 7.6. The ~ngth of !he curved beam
il assumed 10 be L 403.32 in. (10.24 m). By setting 'M, M. and
'F, 'F 'M, 'M, 0 for 0 .( J: , L, IIIe OIII-ofpl.ne boclr.ling
eqUII~ of the culV(:d beam Cln be obl.intd from equations (7.5.3)
and (7.'.4):

1.1 .au..,

-/)fir" _",...,

41

'"

,C

'.J
'I.~ ..

"J

l.' Curved Ix.... in ~"irOl'm IxOOin,: {Il PilIili". bending:

(b) Ntgaliv. bendi",.

( '8

I " I#I_ ...!.

"

GJ(

,oj ( "j( "j

- _ II 0 * _

RR

* M 1 - _ II 0 * -

'R~R~'R

. 0

(7.7. 1)

(7.7.2)
Assume !be following mal functions for I~ bucklin, dis.plKemcnlS v
and II,:
(7.7.3)
... here " n iL, II I, 2, J, ... By sub$tituting !be uprasions for ~
and II, inlo tbe preoedi", two cqullions and lellinail>e dclenninant of
the equations fqUal 10 uro, we obbin !he equation fOl' !he mlal
mOlMnt ..

(7.7.4)

whue

n-,._...,..,. .. ......., <Ie......, ....

C1. +1 - ;1)(1 - ;:)AI
(7.7-,)

By KIting" I, IWO ailical moments e.n be solved fro.

(7.7.4), of wltich !he positive and DCplive ones
applied momenlS .thown in f'i,urcs 7.6(1) and
lpeclal case of I IIr.I.Ipt beam (R - _). we have

.. ltich ~ kltllUealIO IboIc available for waialtl beam$: ~ . _

For I semicircular an.:h (~ 180"), only !he De. . . . . . . . .
lIIOIMot will rcduo;e 10 ZCfO. Sueb a result cornsponck 10 . . F
of lhe Kmicirculll lid! to I'OOIrc aboot the dllmeter jow. ....
ends (TllDIJSbcn.to IlId Gere 1961)' As il is ..ell knowa, I I ei~nvil1ue IIII.lysis uch zero eigenvalue is associated \Villi 0lIl rlJIf
body mode (Cook tl .1. 1989). For the pinlW:d Jrmicireular ........
uisb only OM rigid body mode, i.e., rotation of tM arclI aIKIIIt ' :
d.ianxtet joiDiag ilS two ends. Therefore, OIIly the ~ - ...
7

applied loads IlIaI may lesul! ia buckling dencaion jnvo/vIII; . .

particular riald body mode .. m rcxII the ailical vallOt. of zaG. OIl
OIlier hand, the i~ility of. Kmlcitt:Ular lreh mar be refened -

OM Hample of 1U\IC1u.ra with Ultr",,1 V-ttric /Ml~. ,. A

originates from the inadequloC)' in &mIIge_nt of 1M SUI'fIII"'"
IIIUClUle with ulemal g_1ric: insubility may be ~

..,
...... T1mosh.n~o
_VIoIOV
~ yoo

_ P ,...nl

IDIdiIl&J in ~lUin .....semenlS, but i, can Slm remain sublc for

IoIdinp of otbo:r anangcmcolS (Hsieh 1988). [I should M oole<! lha1
both lbe positive and ntp,'ye aiticaJ loads obllincd by '(oo (1982)
~ 10 uro for the semH:iraliar ueb, which, for tbe rcQON: giveD
above, Iobould IlO'l be ",pllied as valid SOlutions.
The resu\1lI obu.;ned bere for the positive and negalive bending
CUes WclC compand with Olhc:r uiMinl SOlutions in Figures 7.7 Ind
1.8 .upco;tivcly. As can be seen, tbo: preKlI1 solutions arc in good
""~rncnl with those of Timoshenko and Gere (1961) .nd V1uov

(1961), ncglCl.1inl the cffCl,"l of warpins resistance. The di$Crcpaocy

bet..ttn the pl'esc:rd tolution and thaI of Yoo (1982) can be IHribuied
tJ the omi5sioa of the contribution of ,ad.i.al SIluses and tht. Jacobiln
~ i ")/R in tile poIcnlial eMf&)' UpI'miOD, and the use of unoouplcd
rtlacions for the gcncalizcd streues and SU'J.ins in '{oo', work.
7.7.1 Curved t>tam III1~r ndl.1 loaM

'l\e CUrved bcun 10 be II\1dicd ben: it I$$UIIIed 10 have idenliaUy lbe

IIoic: cross Kction as the one used io the precedinl example. Ho,,'cvc.,
~ loadings aIe usumed to be I'lIdillly diSIJibuled llong [be uis of tile
-.n, as shown in Figure 7.9, and \be length of the
cbanp

"":un ;,

H++O Tlmolh.n~o

"""OVlo .o

-Yoo

....... Pr... nl

. ... "

'.

S"btlndld Angl.

(Dig,,,)

Fie'" 1.1 CrilQI Vll_ for ...pti...

""""on".

'.

L tiOS.04 in. (IS.37 m). The rtdial loads q, will pn.>duce

o.:onStw uial (or F. on the beam, which can be expi fd u

10

(7.7.10)
By Jettin& '1'" F. and '1',' '1',' 'M.' '1.1,.0 in tqualiolu (7.S.3)
and (7.5.4), !be (ollowilll budJing diff eoLial tqUIIlicJIIIII an be

,.,

'"

1'1, 1" 7.' Cwvcd bum willi ndiallGads: (I) In ItDlKlD;

(b) '" <:OIIIf* 10m

.,tII.lned (or th~ curved beam:

,
,.
(,u
_
':'l _ (.0. 'O
J_

iJ
(0 Ii,oj- -"F.e
GJ

R'

(7.7.11)

As' silk remark, it should be noted that the differellti.1 equalions

pruellted ill Section 7.S havc been Ikrivcd (nr curved be'llIJ with nn
dislribulcd loads in !he radial direction. for lbe c&sc of curved beams
... bjc:ctcd 10 radial loads 'I .. SOIIIC mcdiflCllions .re needed. FLrSI of .U,
Ibe laleral LraClion 'I, in (7..3.18) is DOt equal 10 "<0. By klli",
f,.
",.t4, _ can abow 1lII1!he differential equation .. JiVCII in
(7.3.19) should be IDOIIif.ed .. i1FJar - 'FJR q~ If tbiJ equation.
iMlcad of (7.3.19), luos been employed ill IIIe variational proc:ess for
~lati.na!he shear force 'F, 10 !he uial fora: 'F" !hen I new lerm q,e,
CIII be derived, which should be included in the differenli,l eqIIIIlion
(7.5.3). By 10 doln" "'e can readily show lhalllle diITerenlialcqutlion
fOl' ,overninl UIe nexural behaviof of 'lWially loaded curved beam is
CllClly the ODC liven in (7.7.!!).
SubstilUlinltlle uprcssions for tbc bucklin, di!!placcments v and
in (7.7.3) Into tile preceding equations and lenin, IIIe determinant of
~ equations equailO ~cro yields tile foUowin, equation for the critical
uial fora::

1.

e,

(7.7.13)

(7.7.14)

(7.7.1S)

s, 1'1 GJ(,'

. _R', )'

The smi lie$! value. of F... OCXUI'S when 11 . 1. Bylc:uing R

Joron;,),. the coefflc;"nts of !he quadratic equation ~duce 1o

(7.7.16)

.ppo....a
(7.7. 17)
(7.7.18)
(7.7.19)

As faljlt, 1M followin& ailical loads caq be obtained for !he .......

b..."

.'1
----'

L' '

..

(1.7.20)

wMre the minus signs indicate th.a. Ihe loads e compressive. ~

IOhu;OM ~ idc:ntiallO those giyen in Seaioo 5.8 .1 for tIw: smi....
~.

In solving equalion (7.7.13), lWOcrilical Y.J~ CIon be obuiJIed

for the axial force, bQtb of whicllippeca. 10 be ne&lli~. The occurrenee of two IItgalivc fOOll; implies thai the curved beam may buckk
OIlly when II is in rompressjon, all sbown in Figure 7.9{b), but .,;u
n:maln SQbIc .... ben in IellSioa as shown in f"LJllre 7.11(1)' For !be
IIpCciaI cate of I Kmic:in:uJ.lJ uti! ( II 180"). OM. uro 1001 g,p be
obIaiMd from (7.7.13)' while the other is neptive.. The:tJI:<O rooI
co.. 'p:>Dds 10 1M f,ccdoIn or !he beam 10 rocalC about 1M d~
ioinina !he two ends, implying tIuol the beam is unable 10 sustain any
10Mb .. ben in oomprcuion.
The I~IIS obIaintd from (7.7.13) for lhe lilia/let !Xplivc roocs

have bern plaited apiMt the sulmndtd IngH: II in Figure 7.10, 110lIl
wilh other Uislill& 5Olulioll5. From th is figure, we Qbservc that the
presenl SOlutions agru uactly with IIIose given by Timoshcnl<o and
Otre (1961) using the equilibrium method. However, vtry lillie
correlation uisU belwecn !be ~nI SOIUllolII and llIoIe of Vlasov

.,
(1961) and Yoo (1982). ~ Ianer, appearing 10 be highly incoMiJlenl
,,'j lh cKh other, hlIve bun Cllculalcd froro lhwr;c, bHCd on the
IIlIIJogy methods.

'",------------------------------------,
. . . . . Tlmolhln ko
_

VlOIOV

. - Yoo
_
Pr...nl

"

.I.! ---~~~
50

'30

'10

Su btlnd .d ""1111 , (Olg r.. )

7.8 Finitt tlemenl rOrillulalion

"'0$1 previous ""oda on the finite clemeot model ing of curved bums
bYe been restricted 10 liiW'1r problems, among which I ~al ponion

of .from has been CXlnttnl11l1co:\ on the selection of Mapc: functions 10

Q)nside. the rigid body effects and the coupling d fed$ between
d,fferenl displ~mcnl componornts. II is well mown thai sipiflCalll
t"~

may occur due 10 1Iw: use of lower oroc. indcpcnoknLinlc!pOlafullCl ions for the normal and tangential displamen~. Sud
I'htllO rmnon , known 1$ "'c,"br"~c IQdi~" has boten examillCd by
Pralhap (\ 985) with the sou,ces of CITOr 1noOed. To cin:::umvtnt the
IUlIIorica! diffICUlties associated wilh membrane Iodin" cIKIIOluOOns
10 lilt linur differeot ial cqullions o f the curved beam have been
~ed as the shape functions by Yang'" QI. (1989). In lhi$ seo;Ilon,
hoWever, an approximate but rnor~ nuiblc approach Inscd on tM
~pI o f acncralized ~jJ\$ will be adopted. With this approach,

Got.

...
mOSI of the opentions involved in the deriv' lion of 1M stiffness
m.lrK:a for the alrved beam all be p'C$Cnted in Upliocil form, throu&b
UK of 1M Macsyma Iymbolic compulalion propam (1988).
7.8.1 InlerpobUon function.
In equation (7.2..30) of Section 7.2, "'"e have dIown ItUI! fool JCne~
izcd Jtn.ins In! HKnlial in delerminina the [HlllleClional foroet: of.
curved beam, includin, (w ' + w{R), (.... - .. 'fR), (yO - 8/R), .nd
(8, + "'fR). It is \luougb these $Uains thai various displkemenl (and
force) comPOMllts orthe CI.IlVW beam are coupled. In Section 7.6. we
bavt: fu~ demonstn.tW that for all pos.sible IIIOdes of rigid body
diJpllttmenl, 11I11IeK &enc:raIiud $lI:lins .educe identically 10 ttlU, as
indiCliled by equ'lioo (7.6.7) or lbe following!

II ' . . . . w

. .'... --- a .'

-_

8,
R

II

(7.8. 1)

This equation implie& that

w " .~ o

R'

0.82)

On tbe OIher hand, we have sbow1I in Section 7.4 lluil the $ttIiJI enell)'
(in variational form) (or the cu.rvflI bum can be given IS

(7.8.3)

From 1M <;OILSMknlion of Slnln ene,p. as well IS of the (in_plane)

bendln, moment upression in {7.2.27}, il proves convenient 10 rcpl-="
!he eenen1iz.ed Ilt1Iln term (.... _ ,,'Ill) by lhe term (.... + wIll). 10

'"

(he followin&. "'-e shall illustnte !hal if the allcrnative leI of gcncraliud
oUfllUu (,, ' + ..fR), C
wo .....(R), (~. - O/ R), and (8, .. ~'IR) are !mile<!

as indepm6c:ni variables IlId adopted as the basil for intcrpolalion of

disp~_DIS, \ben the eouplinl cffu existing
various displacc:mcnt romponenlS will be iIW~ntJ)' Implied by \be
derived displattmelll f~1d, IDd !be problem of membrane locking

11ft""""

d ement

associaled with previous researches can be circumvenlcd iIQQOfd;lIJIy.

lei us assume thatlM. gcncraliztd mains rell tin, 10 lbe !kltllrn
behaviots of 1M curved heil!ll Qln be apprOJimllcd by linear funetioms,
and (1IoK ~Ialin, 10 the axial and \ol'$iQnal deformalions as COnslanLS.
Thai is,

I
. " Rl (0' ~R . ~)_
R'
,

(7.8.4)

I/ +-- a,-

- _e.
R

.(.'R~ ~)--LR'

(7.8.6)

I
-0'R - o1 Rl

(7.8.7)

where a .. . .. " .. h ,. II" and b. are roMla/1lS. Consequently, the

following ClIplTssions can be solved for llw: d i5plamcnl componcnLS
of tile curved bum:

..,-

- a,lUIR

w-o - .,,_
' R -;r.

.~

' b~

'R

II.

- R tl.FO" -R

'/I .I ~ _

."

(7.8.8)

(7.8.9)

(7.8.10)

...

o' R
-I ( R
-b,-

I.

"l

bCOl'R

. )
b,~

(7.8.1 1)

b.. b.. and b. an. intcgnllion n:msc1nts.

Fo. the prcKnl pu.IlIOk, _ 11\.1)' R.wnK thc prccedi"l equations

w~ _.. _,. ...

in matri" form as

1::l I: :.ltl

(7.8.12)

where {il,} and t d.} denote the in-plane and out-ofplane displaoemcllb
of tile curved beam,

(1.8.13)
(7.8. 14)

(7.8. 15)
(7.8.16)
Con:~DdingJy. the coeffICieot matrices IN.jand IN.I assoe~ted willi
tile. ill-plane and oul-of-plane displlottmenll can be shown 10 bf.

I.'

IN.J

lR'

.

- -

. --

~-

(7.8.17)
0

,. ';..110._,...... ...
R , R R
(NJ
--R -, 0 -=-R
~-

,",-

-~-

'"
(7.8.18)

Ut {II,} and {I/. t !knoce!he nodal degrees offrdom U$OCialed

y,' ilh 1M in-plane.nd oot-of-plaM di$pllttmcnls 111M two ends of tile
ek mcnl (Figure 1.2):

(7.8.19)
(7.8.20)
,,-here il should K noted (hal fOI horlz.onll11y cufVed bums, the 1WO
n,QIionaJ de&'ft'lllho\lld toe defined as: 6, y' and e, . -(... ' - II/R).
By evalu'lill8 1M displarmol$ of !he beam at tile lWO ends" and 8,
iL, by klli",,, 0 fOl' nock A and by ]wing.., L for node B. we an
obtain the followin& from equatioa (7.8.12):

!::lI~ ~.l r.1

"'belc

,
0
0

[Q.I

0
0

-,

(1.8.21)

0 0
0
0 0

-... - ..
,
0

.....

-~

-.
0

-.-1 -

(7.8.22)

'"

[QJ

"'-1-.1"""*",,,, ~

, ,
-,
-,
, ,
.... , -,,
.
,
--..

-- 0

0
0

0
0 0
0

0
0

(7.8.23)

-sin40 0

.,c_*-

WMI'e it should be: lIOIed that, LfR. Equltion (7.8.21) may ~

reversed 10 yield

whf;1'e

(7.8.24)

Ihc m.uioes [TJ IlId (T. ) bave b1I derlMd as the: inYa$C of Ibc

[12.1.nd [12,1 putri<;:es respcdivcly, rclalillllO the in-pllJle.OO oul-of-

plane buckling di$pI..:emcnts oflhc tIIrvcd bum . By \cning c cos+,

,- .in40, I. <tnXI ... c)-t,f 4>sin40'" 2eo$4I- 2, the lWO rnalrices
[T,] .nd [r.] can be derived IS follow.:

""c- I

.,-,
,-,

ITJ .!
I.

,-,

,-.,

,
,-,

-.,-,-, ,-,

-,

,-t

,-,

-,
-,

..,.(-1

,-,

411 ,(-1

,-.,

,-,

.-,
I-<

,., ,-, , ,-,

.,-,
,

-'. i. 8'-i-

t ,

,-,

,.
,

'. it i,-g
(7.S.lS)

"

, - - , . . . ,

, -I

I.

I.

IT) 2(H)

I.
1-,

."

t<-.
I.

t.Jc - 1

I.

!:!

I.

1-,

I.

I.

I.

,-I

2{h")

_l

,-I

I.
. -t<
I.

-I

I.

-- -I

I-<

,- I

I.
I

.t:!

(7.8.26)

I.

f\utMllI'IIIU, 1he displaa:mcnl vtctors {II,) and (II.) as ddinnl in

(7.3.19) and (7.8.2O) "" be .~Iated 1(1 !he ~lcmeDI displaamenl (II) ill
(U.46) IS

(7.8.27)

"'htre the m. ,d. [Zl is simply

I 0 0 0 0000000 0
o 0 I 0 0000000 0
o 0 0 0 ROO 0 0 o 0 0
o 0 0 0 0 o 1 00 o 0 0
o 0 0 0 0 000 I o 0 0
000000000
0
[Z)
0100000000 o 0
o 0 0 R 0 o 00 0 0 o 0
o 0 0 0 0 ROO 0 0 o 0
o0 0 0 0 0 o ] 0 0 o0
o 0 0 0 o 0 00 0 0 0
00 0 0 o 0 o 0 0 0 o

(7.8.28)

454

n...,o_AwI)ooU ....od/ioofefC_ .....

Substituting (7.8.24) for the iCneraliud ooordlnalel (a. II}

(7.8.12), .Ioo, .... illl ~ usc: of (7.8.27). yields:

J")J[NJ[~J
~. 1 0

I.

[NJ[T) z]( I

~k

ill.!

(7.8.19)

Witll Ihi$ upo-asion for interpol.ting tile element displ~mc. . . . .

thole in Stion 7.J. i.e . (7.3.0)-(7.3.!11) and (7.3.61}-(7.3 6J), III"
.I:'--li", tile c' oss-&ectionaJ fon:es to tIIose It the element nodes. ... _
ready to dcri~ tile elemenl stirrness matrices for tile curved ~.
will be. shown in tile foUowi... so.tio<I.

,.!.l

Element Itlrrnus tqll.UOIi

lei lIS consider !be. mae_'lia! virtual won: tquttioD IhII ' Ikri-' in (7.4.49) fO\" tile cu.--i helm. F"1f$I of all, w;t11111e HI .
lioo of equal ion (7.8.29) fO\" the displacements intO IIIe lImn _ _
tum of (7.4.49). i.e.,1M fll"ll integral term on the lefihllld I.ide "' . .
equal s ip of (7.4.49). we obtalD lfitl" rurrtIIgemtnt:

.... here [t,! dcnow; tbt clastic: ",rrness matrU:. NUl, by sub$! , J
equation (7.8.29) for the displlO"'DCnts 1Ild, (73.49H73.51) . .
(7.3.61)-(7.3.63) for tile aO$Ntctional forS, We CllIl ob\IiII . .
following flam the polenHal (MIgy term of(7.4.49). i.e" the R maWiII
terms 011 tile kfi1\tnl,l1ide of (7,4.49):

6V (6 11 I T[k.HIII

(7.8.31)

where [t,1 is the: geometric: stiffness matriz. Both [t,11Ild [ ~:.:

evalllllOd b)' numeric:tl inttptioa or by tile Mx:t)'1111 I
Q)nlplltalion pro&rIlII {1988}.
".I.)
Finally, we nole thaI tile Ulemll ",inUllI wort ilKRmtnl (V. ,..
fa. tM curved bttm, 1.$ givt:n on 1he ri,II1' 1\tnI,I side of 1M. equal .J5).
of (7,4.49), ;1 idenlical 10 the one for the waighl beam III (6.!l

'"

.,;ctpl that the nodIl fOUItioa 6, should be interpreted as -( ... ' - wR).
11 foJloW1llhat the umc ulftSSion as \he one given in (6.5.36) can be
adOPIHi for the curved beam, i.e.,
(1.8.32)

,"'hue (he induced momcllt nutlill [l ,]ltas bn ,iven in (6.5 .37). By

subStituting the pre<:eding three equations inl0 (7.4.49) tnd noling the
arbillary nalurc of virtual displacements (6u), the lnctcmenlll equilion
of equilibrium fOf lhe curved beam can be Ikrivcd as follows:

[k,Hut

([k,] (tJ)[ lI) - I~I

- I'll

(7.8.33)

A3 tlp:led, !hill cq",tion is identical in form 10 the one ,iven in

(6.5.41 ) for the Jln.i&bl-beam cLement. II ~pRKn" the lincarind
deformational behavior ora.. elastic WNW beam in t~ 10 $DIalJ
iDaease in lhr.1IOdaI1oads from I'll at the C, aIfIrllUllilion 10 If/} II
Ik C, c:onflguroion. The unknowns in this equation arc the displ8ClC-

melll increments fir).

7.9 Buckling analysis by curved-beam element

approach
In Ihis HClion, the curved.beam clcmenl dc:riW:d in the preceding
aa\oq will be numerically evaluated in the buddlDgllll.lysii of three

typical uamples. For the purpose of o;:ompariJon, 1M uampLes

Jll'tStnled in Scdion 7.7 will be runalyw1, of wbid! anlIytQl
~ions are uadily .vlilablc.. Additional cnmp1c5 will be prCKnlcd
I:Onnection willi tbc $Il111y 1)11 appIH.:abilily of 1IIn.i&bIbum cl(mcnlS
:. &JIalyu the bud;linl behavior of curved beams in !be SIion 10

....

7.9. 1 Curvw bum undn unlronn M ndia l

fil'lil uample, the buckling or pinll((! curved beam under

os,
uniform beDding. all shown in Figure 7.6, will be coosiOered. The
followina propenie$ m IISSUmcd for !be beam HClion; A 3.14 ia.'
(20.26 em'); I,. f, . O.78S4 in.' {32.67 em');}. 1..51 in,' (65.35 cm');
E. 29,000 Itsl (200 Gra); and G 11,200 bj (77.2 OPa). The !enath
of !he beam is laken as L SOO ill. ( 12.1 III~ Iu sIIown in Fi~
7.6(.) and (b). the bending moments lotting on the bum Q/I 1M: eitbcr
positive or I>Cgat;".. In an eill"nvaJI>C Inl.lys;', lhe aitic&l vall>C for
the nep.;ye momc.nlS has been ob~ined IS tile lowest figcnvahoc:, WIIile
1h of the posiHv. momenlS as higher mO<k SOlutions.
For the case of. curved bum with poslHve bending molllClII5,
llie ~rcenllgc error In the prediction of lhe bucltling load IIsing tbc
Ik,;wd element is sbown in figure 7.1 1, while the SOIUlioM (or ailQl
loads arc compared with the analytical ODeS in Figlilf. 7.12. From IhcIe
fiiUru. we observe thl. very Kaln~ ~ullS IIIve betn obtained by tbc
derived clement IIIlag. t1uec-o:lcmcnt mall, of whiclllhe Cm)l'
!han S PC{OeIlI compared with analytical toIutioas for IUbIcDded ......
II up 10 ISO'". 011 1M otbe. haDd, (Of curved belJQ wilh aepaiYe
beDding mocnc:nts, the ClOD""'l"1I clwacIcri$aic:t of the aWDrriclil
IOIUliolla ae t.howu ill FI&UfC 1.13, wbile the prCKnl 101u~ _
oompan:d with analytical OIICS in F"LgURi 7.14.
rLgII11IS j .......
lb., !he ckrived element is equally sood ffW JDOdclina !he buckliat: 01

if._

n-

curved beams sutl;cded

10

rxgalive bending momenu..

'r----------------------,

_,I.

JO dOW
- 1 1 . 5 0 dOW

_ I I . to
-II
II

,10
.'!IO

dog
dog
dog

g,
.t-------.c ------.c------i
E'ern."h
No. 01

-.---

- 0--

'.

'
...., ........'" c_")

', - - - - - - ,

-............
....
--'.'00
..,..........

~'

j,
'f-~--r--1

,.,-----,

IJ.
'.

-- -,
_

,-f __

'"
The curved beam 10 be Sludicd hen: is the one shown in Figure 1.9(b)
.... hid! is pinned I, both ends and liubjeacd 10 distributed ,..:Ii.lloads.
EudJy \be same dati as tbose IIKd In the preceding tumpk will be
-OOPc<l. For. (!.Irvod beam with rId;1IS of n"vatu,c R, !be. radial
loads 'l, will prodI.Iec COD$UDI uitl rom: given by F ,Il.
Analytica.lltsU11S for !be pres.enl C&K have been pruenled in Seaioft
1.7. In tile finite dement analysis, tbe uniformly distrlbllted loads .re
ll'lnsformed into diSCKIC nodal 100ds using the concept of wwk.
equivilent loads (Cook el til. 1989~
Figure 7.1S shows the percentile error in \be solution or tlti$
problem as. fulldioQ of !he number of clements ILKd 10 rcptUCnl tbe
o;wvcd beam. From Ihi:J fll=, it <;an be obK~d IlIaI !he error is Ies$
than 4 peromt for aublcndtd anglu II ranaln& from JO" to ISO" (witb
the kngll:! L of the beam kepi constant) c,,<n if. ~ ';:I)lII.;nin& only
three elcmcnll ill ustd. The critical load ~uhs obtllned using the
derived element haY< been eurnpared wilh the llMiyticallOrulions for
various subullded angl~ II in Figure 7.16. From the lbove &l1l.I1';'"
it QII be coodvdcd WI the perfonnaJ!C'C of 1M derived c1emcQl u;
gt'Mraily ucclJcnl for curved beams under axial mmpruaioD.

_.
_,
_,
II

a }I)
,. SO
'" 90
.. 120

II _I!>O

do,
dot
""'

dog
d~

7.f

,~~.,_.

<S,

_ _ ... =4

" ,--------------------------,

_on.

-_ 2
.....1ytIe

, - o'omon'

"

.,.jc------,.------,.------,,~.;::::::::!,.
S.. b'ondod Ang" ~ (0..., ... )

U.J

C .....ftt ~a:r: ...Uh th .... st L)r pilll lol:d5

The tluti<: Lilabllity of I curvcd btam with thRIll Of puU load$, all
illawn in Fi.... 'c 1.11, lIu been invwipted by Ojalv-o t l .1. (1969)
~sina the equi1ibri~m Ipproach. In the pl"estnt sludy, the curved btam
bas been mO<lelcd by five curved elements. For I curved btam
$Ubjeded 10 lhe pull loads. the bklcltlina mO<le il found to be
lnli$ymmcllical, wbile for thai with thrull loadJ, it is symlMlrical. The
criticliloads obtained by !he prts("nt .pproach for both Ioadina cases
b.i:ve been plot,cd in Figures 1.18 and 7.19. Ali can be teen, good
I&reement Iw been ma<k wilb OjalVO'1 solutions, which confinnJ 'alin
!be reliability of the derived ekment.

.,
-9-

-'.

Po

(.j

Po

(.j

...
.",----------,

."

~"

"

'.
FIf.~

MI. _

,10

...

........ (o...,,- )

BudJiIII 0( CVMd bums w illi pIOU bds.

7.11

*,------------------,

- ...

"

""/(1'0>00'.0

.}

p, ~,

"

~\r;..
,~

,
,

,.,
1'1&.... 7.lt

~~ ,

~\

~'

'"

Cwvl bU ill : (I) QriainlI: (b) SlnIip.t-beam apprmima(ioII.

."
7. tO Buckling analysis by straight-beam element
approach
l~ $tf1,ightbeam elements canDOI be used 10 modcllhc btM:ltlilli
behaYIor of curved bums is an incon'U! argument m* by pl'cvio\I$

TIl>!

(Bab.nt and EI Nimciri 1973; Raj~bnn and Ramm 1984;

"00 1984). The inconslslenq originate5 mainly f......" tIKi. r.ilun 10
inclu<k the moment terms induced by tile bcnding moments Ini1ilily

~.lCUdll:1I

.aing

01\

members

the element ends when subjcacd 10 three-dimensional

Such an erfect can be negleded only for sinal. s!tlight

~'lionl.

D.

for planar ( rime&. of which lbe OIIt-ofplanc fOIllioos are

~plclC ly re~ined.

Consider for ill$1&llCe the horizontally curved bum with I

aublcnckd iID~ of Il and radius of curvllurc R in Figure 7.20(1).
From IlK point of ,,~'" of geometry, it is rusonable 10 ~mc t~ !he
allnd bo:am can be rcpla.ced by series of chordwjse arai&lubum
elements connected 11 rt.in po inlS as shown in Figure 7.2O(b). The
tm!'ICY of the $ub$li!u1c mood is expected to iDCl'ease as lhe number
of clements used in the rc",c.scn\.lltiol! is increased. Moreover. sin.ee we
minlCrested m.inly ill tile Iaterll or oot-ofplane buckling behavior of
tilt curved beam, only Ioadinp that are -=ting on the pbnc: nf the
turved beam will be considered. In this cut, the substitute model fOf
tilt curved beam dIown in figure 7.2O(b) is norbinl but . pllUJ (rame
Rlbjc:<:tcd to inplane loadings. of wbich eacb straight membe r may be
K\fd upon by the Hi.1 force 'F,. MCai force 'F.. and bendinl moment
'M,. Analysis of tile blleldinl behavior of pl.nar frunes of this type by
the rmile element lil'I'foa<:h It.u bull de:scribN in Sections 6.2--6.4. At
this point, "'e like to note that for .un.igllt member under tile Idioa
of in.plane fOfea, the bucklinl differential equations arc those ,ivcn
ill (6.2.1) and (6.2.2), wIlile the uoss-scctional fOf<:n
'M.. and
fOf the member in tbe bucklinl position arc those given in
(U.J}--(6.2.S). T o Inalyze Ihe critical bucltllnlload of Ihe substitute
IIIO<kl. n.cdy tile ame proc:cdure as thlt detcribed in Section 6.4 for
~ planar frarna sIIoIIld be followed. In pankular, we arc: ayilll that
the eondilioas of equilibrium sbould be esublished fOf the bIodling
I'OQlil\lration (Of eKh !lOde of the subslitute model that COIIMCI$ the
Qoordwisc elements. By $0 doin" ....., arc ~le 10 derive I /K'W matrix
C3l1cd tile ;oint moment mlmx (t,1 in addition to tbe elastic: stiffness
lltatrlx (k.] and geometric stiffness matrix (k.l in the element Itiffneu
tqualion, lIS ""lIS Slated in Section 6.4.

'F.,.

'M,

."
In fact, review of the literature fCYel Is that mo)$I "'tvious
.uc:m:hus(Ba.t..anL and EI Nimeiri 191); Raj_klran and Ramm 1984;
Ha$(op..... a "I. 1985) tryillllO simulate Ibc IalcllIl blldlin& of auved
Manu by wai&/lt-bum clements Iu~ failed 10 rcCO&ni~ t~ uis\(Qa
of JIICh joint matrix [,1,,1. 8e<.:ausc of Ihit, lbe,. ,"'cle unable 10
produce <:OITtd buckling IoNs for curved bcmlS. As $lKh, it lias boea
.r~ Lh.II 1M. stniglll-beam clement Ipproach is 001 $IIilabie for

analyting lhe buckling ~ of curved beaml. II happcMd in the

lilcllIlure thlt 1M. ,esults produced through 1M U$e of sltligill-bcua
clements wilh no knowledge o f lhe joint moment mal,i. [,tIl hive beell

miSllken &J In cvilkllCC in suppon of Yoo's (1982) curvedbeam theory

(Hasegawa ~IIJI. I?&S).
~ 1Ill1igll1beam clc .... nt derived in Slioo 6.4 will be
employed 10 1lII.1~ lhe buckling behaviors of curved beams. I u _
staled pmriously, Ihis dCR\(nl CIII adequately KCOUnl fOf cqui] ~
of angkd joints in the budJing position, due 10 inclusion of ibc jot-.
moment "'-,rill" [k,). In ibc fOUlowing numerical SIllily. the soI~
pl'ooooed by the clemcnl with joinllllOfll(III mlt,i. [t,1 will be rdcmd
10 IS !be "pKKnt demeDI," wbile thole by the one with no p.
IIIIImCnt mllriJ: ItJ the "convention.ll ~Ielll(.nt. " Throu&bout the preIICIIII
IIOOy. each ",rvtd bum is 1SSU!ned to have I length o f L ,. sao ...
(11.7 m). and will be IppcoJ;mattd by eight llraigllH.eam clclllCllll
with lhe following propertlu: ., 29.000 ksl (200 GPa): G .. 11.200 Pi
(77.2 GPa): I," I,,, 0 .7854 in.' (32.67 em'): J .. I.S7 in.' (65.3S em~
A .. 3. 14 in.' (20.26 em'); and r .. 0.707 in. (1.796 em). To provide_
C(]ual b:uis for comparison, all the: analytical solutions prCJC"Ied . . .
for the culVfll belm ha~e IIcen obtained from thei, originalthcoriel bf
seuing tbe w''Pi", CQrISUnt C(]u,1 10 ttlO, whe.eve. the Warpifll dfect
has been "'ken into acoou.DL It mould be noItd that (or all dill
uamplCIIlludkO in this sedion, the: solutio"" obtained by the ...,....
(19:87) thcoty.~ ju.. tho: ~ as thole based 01\ the thcofy I" I
in Sedioll 7.$.
!

7. 10.1 Cuvtd beam I dr l olronn M odiog

Conside pinned cimJW arm subjected 10 coostanl bending momcau
M, shown In Figu.e 7.6. For cases with positi~e and nega1i~c benWal
moments, tbe crilicalloids obtlined by the: stra ightbeam 'PP'~ bIVC
be.n compared with the i. a.nalyliall oounttllNut In Figulcs 7.21 ~
7.22. fe5pK1ivcly. $event observations atn he made MIt. Fint.

1_"

-u., MOI)ooo!o '" ~_._."

- .r----------------------,

,
1"

,- - .,

. ... ,......,
. ""lI'. ,
"
Sub'.""."
-

,
"

, .... V. 1O ......... " ko

-~,
~

- e_, ......"" ...... ,

FI._ro 7.1 1

..,

,"

(Deg ... )

c,;1;ca1 vaI\Ia few poIiIift

'.

_~IJ.

.....

'",------------------------------------,
,long.
.... r ......h.". . III ..........
_

!!-,..

-- "...

."

- - C...... "" ....

o'

.!.

'!------.-----;;;----";!
Subl .....
, (De; ... )
00 ed ~n'il'.

Fl . ... 7.J!

~Y

'..

'OG

Oitk:al VIII,," few nep';vc moments.

no di$linctioo <:an be mack lII><lq 1M anaLytical .solutions of

(L
(1961). TllIlMht-nko ,00 Gcre (1961). and Yang and Kuo
~). Scrond,!be solutions obtained by the present straightbum
Qt Ipproacb DOl OIIly dIG ... a !rend very close 10, bul _~. .

-,----------------------,

monotooically 10 the anaIytk:aI solutilms of \fbsoy (19(1). rornoshollko

and Gc~ (1961). and Yaaa aDd KIlO (1987)
Filll"' 7.23 for
conw'aenoe rate). This is \IfIdoubccdly IIlpporI of the reliability ot
the solutions obuiMd from tbeK lheoriel for the uniform bcndiJla
QKS. Finally, tIM: solutioll$ obll.i~ by Ih~ conventional stral&Jlt-bum
element Irc very poor, bUI comlate very well with Yoo'. (1982)
solutions. II ill beCIIuse of this COntl.llon tllll YOO'I SOlutions have
be<Q misllken u tile COrr! ones (H_gawl ~I.I. 19M).

<_

The r1dial 1oIdJ'l. ktiPg on the o;urvtd bum of F~ 7.9 will

~ an uill compression ofF 'Ill. Sued on the numerical and
analytical results of Figure 7.24, ~ obdInv.tiou can be made..
FIrSt, virtually lckoticalllOlutiolls ha~ bet:n obtained usin& the IMories
of ~nko ilPd Gcre (1961). YaIII lIld KIlO (1987), and \be rlDile
ckrncnl .pproacbea. Second, link differenoe tan be m.ade berwun the
ailical nlues pr~icted by the present and conventional Sll1Iighl~
dements. This can be easily expl.ined if we .ellite thl ' !hese twO
elemclIlI differ only In the rOIationl' pn.!pert)' of bendln, moments, and
Ibl\ bending momenlll ~ .~nl in the present case. Third, the
agreement of Ihe Itraight-beam SOlutions with tile .nalytical SOlutions

.'r--------------------------,

..

.~. ...
~

'"

H . ..

~oo

_
Tang a: Tlmo''''n oo
_YIooo'
- - - ~"""'" It eon nt .... al

of TlJ1>05h(:nko and Ocn: (1961) and Vang and Kuo (1987) illglI;n
suppon of the reliability of the JnKOt curved.m theory, wbkh
lndlKles Ti~nlo:.o and Gere', theory as. spKlaJ o:ase. FinaUy, the
validi,y of both V1asov (1961) and Yoo'. (1982) $Olulions Il'mains

unjllS,ilied.

7.10..)

C u.... td beam with on~ end clampH!

The preceding IWO uamples I.e rc$I,it1cd in tile type of loadings.

Tht.y have oflea been..Joplcd as the lest cases l imply baUK they can
be kllved by anaIytialapproacbes. To uamine the Itnc.a] Qlpabilily
curved-beam theory. Ibe uists an IppaKnl nd 10 consider
Ioadill&S of oW. types.. To Ibis end, the cwwd bums sIIown in
Figures 7.2S will be studied; llIey are ~ in tum 10 I horizonral
s heoll', ~rt~ sIIear, positive m<)IJIenl, and 1Ie"livc moment. TIle
curved-bum ele_pI okrived in Section 7.8 will be: employed for
producin& the curvt.H,um solutions. In FlgUKS 7.26-7.29, the resuJI$
of

obI_illed by the cuIVedbum and straight-bum clemenl Ipproa<;bc:S

have bun compared for ueh of .1Ie four IoIding cases. Two obsrvllions can be made bere. First, for . U Ihe l<>adloa cases Ih, have bun
"udied, the voJidity or the curved-bum theory, as represented by the
CUrved beam clement, h.u been confirmed by the 5trlight-\>eam clement

'"
,.,

'"

,.,

'"

,...... 7.15 CWved bum d .... pcd II ... _ ... ;110: (.) ~-...;
(b) VmicII shear, (C) I'oI.iIive _III: (d) Neplivc_

",------------,
...... c."," ho m
__
' ....n,
-

[lemon'

Con,on'fonot

.. j,,---------,.---------,,.,---------,,.
Su_

"It.'" 7.16

"",It , (OoiI_j

Cri1k:al VJJ_ for IoorizantaI sheu.

approadl. Second,!he SOlutions obI,iRW by 1M. COIIvcnlional.suaiJlll'

beam demcnL Regleding 1M ;Oint momenl tffccts In: in se-:::
erroneous. The em;.... can be grealer than I~ for tile CI9t
po$ilive bendin, ro()menl.

<6,

",-------,

- l--~-~, ..) .....

s..o .. _ _ , (0.,.
1'1,... 7.21

Oiliclt ",,1_

(Of ~r1ic1ot

"'u,.

.'r-----:::===:=J

1.~
','..
...... ~...--,
==~',M:":.,~

j'
..... . .. 7.11

Critial vlh... for pDCilivc

~RL

., , - - - - - - - - - - ,

--

" _0- _ _
_c

1'1, ..., 1.19

'

Critical vuues fQf ,",pli"" moment

...
7. 11

r-,. Mil A...J)ooit OR.~ "'~

__

Theory derh'td (rom straight. bum fl:juatKNui

Inluitivdy, ....., may CODlIKkr Wfl(:Cpnoally lul'Ktive to apply !be Ii

prin<:iples, such as Ilx. priDcipie of ~irlual wort, d;realy 10 :

.=

formlilalion of cwved-bea.m e<ju.oliot\$. IlowevCf, ;1I1be Pf(lUss of

applications, IIC'rsonll judgnKnlS Ire 11i11 IIded before IlSeful
aIR bt. derived. For iMtana:, an immedi.te requimlltnl is 10 keep
coruisltnl order of magni!udtc fOI all mathematical terms involved"
the formulation. This can be very dirrlCUll becau$e I llige numbq:
lennI eonuin the curvature cff~ lIR and iu higher powers, and die
nldiu$ of CUrvature R of !he t>e.m goD vll)' from Milly Ut(l for liliiii
rings 10 ,,;nllilly infinily (Of S!niaJ!1 bums (a tremendous varialioa iD
the order of m..gnitudc). Under Iudl circum$llll<:Q, bow WI we
oompan: !he crrtct of liB, 51.1, with Ihe derivatives of displaccuKIIIIi ..
rtUlioa ansJa7 Call. unique and widely acaptcd (J;lerion be -.doj"Cd
(CIr truncl1iDa the higher ordc. lenn$ in the derivation? A survey o(dIe
tilthlll'" $bOwt: WI lhis l'errWils 10 be the _
ambiguous pan fII
tcd!nic:al paJlC'rs dealing with curved-bam $lability. 1I..an be said . .
virtually DO papo:rs ""~ Iddre:ssed tile problem on lhe orders 01
ml&IIiludc 10 depee clear CDOUP 10 avoid uy II~
Qbv\ou$ly, "'Y COInplrUon of IWO dislind tlleories with no full
knowLedge of tlw: order of J<XU1aey implied by eadlthtory is by itself
inromplete.
Unlike lhe most recent Sludies fo r the buckl ing of curv<:d be......
In this seelion we Illill swt from tbe ~trli&hlbum theory, but f;OIISidu
I curvrd beam in the Iim;t IS tlw: romposilion of In infinite number of
infinl1eslmal Slnight beams-thc only amtmplion m..:le bere. 0advlJltage of the current approach il thlt the ambiguities associJled
wllh the trv.ncllion IIId sekction of higher order lenn, in conventional
curved-bum formulalion$ haw: been lOWly circumvented.. It sbouId be
IMmioDed that the materials to be ~nud in this section !laVe beeR
based primarily oa !be wort by !be autbora (KIlO Ind Yang 1991).

1.1 1.1 C_"ed MIlD Ulldtr unir_ Mndinll

Consider fLlll the: aseof. curvtd beam under uniform bending (Figure
l
7.6'). For Ihi, case, we shall assume thaI tile curvtd beam is OJIISlan
In ClOSS leCIions. hiving a radius of R and a .ubtended angle of II. IU
wu ,hown in Figure 7.30(1), the curvtd beam un be represenle<! by

" chord KiJIlCnlS each of length I. Such I leprescnation can be

 -!:;~
",CoF-
. '" .

,..

,. ,

,.,

H . " .. 7.JO Cwved beam modtling; <"> Soria of sll'Ii,llI bu",,;

(b) Element ur>dtr uniform bcndiDg; (c) Elcn\(nt undt. uial comptCl.<iQn.

considorul U~ in the limit wben tile numbc:r of Kamenl$ ~ ~_

c:I infin ity , i.e., .... ben Ibc: 1e",1h I of the K&fIIC'nt approaclles zero. In
this Ioection, we ~I dclllOllSU'llle 1l1li 1M budJinl equ.lliOlll for lhe
curved bum can irlulUy be derived from the cWs;cal Jln.i&hI-bWn
equations, on the condition !hat II - .. and I _ O. 11 abould bc meo_
tiooed !hal large ponioa of the mathematical opel1uionI to be
presen1ed in this $edion hive been carried 0111 by the MilQyma
Jymboli<: computation progr3m (Mile",,,,,, 1988).

A<:xo",Iing 10 Seelion 5.62, the diffe,en,ial ~Ualionl Ih.1 loyern the

Lolenl Of OUI-(lf-plllK buckling behavior of. $1I1;ghl clemen! j under
uniform bending on 1M. ;r;z pllI!e [Figure 7.3O(b)] Ire
(7.11.1)

(7.1I .2)
"'~Ie. prime denoces diffcrenli.llioo> with respect to the roordilWt x;.
I! Young's modulus, (; the shear modulus, I, Lhe momenl of Inertia

'M,

~boul the z/ Ilia; J the !orsional CQJl$l.Inl;

Ihe bendin, momenl
~boul lhe ' l uls; "I Ih. C'lnsl'lion Ilonllhe 'I uis; alld e~ i$ the anglc
of (wist about tilt. ", .,.is. Tbc: out-or-plJne actions caused by lh~

".

bud1inl ckformatiolll of tk memMr can be ...,incn II follows ($

Stloa 5.6.2):

(7.11.3)
(7.1U)

,101"

GJ"-II

'M,vJ'

(7.I1.S)

where It ahould be realiud IQI tile bending moment '1.1, is the only
IIOlIUro force actin& on tile ""'mber prior to budding. 10 Other word&,
we hI~ 'F, 'F~. 'F,. '101 '101 .. .. 0 for the "",,,,ber lithe C,

conr*Jul1uion.

Lettm, I' JCMjEl,GJ), we can ....ile the general sotutionilO

CqwolMlns (7.11.1) and (7.11.2) as follows:
(7.11.6)

IJ,

where
bl' .. Ii are arbitrary c:onSlan...
From e<jllllioDs
(7.1 1.3)-(7.11.7). rbe following ,datiom an be wrillen:
t~l..,..

(CoIlo)

(7.11.8)

wh<.
(7.11.10)

(7.11.11)

1./1

y-,. _ _ fro- _i".. _ _ _ _

'M,!CI 0

'"
0

(Col 0

0 -' M

sin II I

-'H,

'H

GJ

~"

[C,I

-'H,

(' ''',!GJ) .w .., ('''',!GJ)co. lI l 0

(7.1I.11)

..co. lI l

-1lSiA III

'M

'"I

0 - 'M

GJ

(7.11 .13)
Solving equation (7.11.8) (Of {",I and substituling it inlO (1.11.9), ,nd
ROling tllal in lhe limit when ~ -..,1 - 0, lhe functionl li nj.U and cosf1I
approach j.U and I . e$pe(l.ively, we ean rel.te tilt Slate ,,tOrS {~,l of
lht iuaighl boam al its lwo ends by lhe "DIlS/t' ",Dlrilt [SL as

[~ 1 .,4 [CJICoI-'I>'l.,oG [SJ.[~I'J'"

(7.11.1 4)

wllc. c

0
0

''''.)IGJ 0

,GJ

'I,

-/

0
0

IS], 0 -1"'.)IEI,
0
0
0

0
0
0

0
0
0
0

(7.11.15)

It <:an be proYnllhat 1M hi&her onIu I(nns in T.ylon ex.,......,. at

the..me and CO$Inc funclions IhaI hi"': been truncllnl in the limil ....
" - and I - 0 tuove U5Cnliaily 110 effect on IIIe deriVlltion of . .
equolions 10 follow (see Appendix C).
From the conditiOll5 of equilibrium and c:ontinuily, !he fol'-u.
transfonnadon can be ~tlblishl for lhe state VUtOl1 of rmmbers JIIId
J. I II joint c:
(7.11.16)

where {V,., I denotes the .stIte vector f ..... /1Kmbe. i I. Willi,

denotin& IIIe inc:linnI ...gk between members J Uid J ~ I, tI1C IranIIIrmation matrix IT] can be defined ..

111
w~re

[RJ 0

I:

~ :~

(7.11.17)

~y

-my

0 my

(7.II.~

~y

-l/1f.."

Rulizing wt 11$" - -. T l/R - 0, CO$T - 1, Ind JinT

obblin from (7.1\. \ 4) Ind (7. 11 .16}!he following rclation fo.!he_
VCClOB II the two end, of. curvnl elemenl of Infinitcsimal
I:

Ie""

(7.11.19)

[~J'II..,..oO rSJ..l ~l"oO

where ISL. IT][SL i5 1M lfIIISfer IIII1riJI for !be tun'td cl~

[$1.

(IM.JIGJJ -(lIRJ 0

,GJ

o (f/IrH.'M,JIEJ)

0
0

0
0

-/

''',
0
I

-,R

0
0

,R
I
(7.11.10)

The lnIlSfel malriJ; IS1. as giVCII lbove for III ;lIfillilCSimal cwvcd
clellKnl constilules llw: basis for deriving /be equations for curved
beams of rmile length 10 follow.
Were /be bigbe. order lenni in Tlylof'l uplRJions no! /rullCl.iCd,
/be uprasioa for llw: /rmsfcr mallu: IS). would be mIlCh more
complicated !bin ilw. given in (7.11.20). In . ulily, it is poI$ibIe 10
show thai lhe upreulon given in (7. 11 .20) for the IS). matrill is
a.ccunue up 10 lhe first 0fdcT of the bum kngth I, and !hill all tile
truncated higber order lenns have CiKntlaUy no influence 011 IIIe
prescOt deriY3lions in lhe limit when I ~ 0 (Appe nd i. C).

The 1"lIIlrel matrix (S1. an be relalcd 10 its eigenvaluc matrix (A] Ind
modal matrix (411 as

IS].. " 14I1I"II4Ir'

(7.11.2 1)

Usin& llw: MIC$)' .... prosnm ("'aUf"'. 1988), llw: e~nY3lue matrill
I symbolic form as

(AI CUI be obtained in

(7.11.22)

[AI "

wI

....
I "

,f=f,

" . . !lR'

".

1, " _I

(7.11.23)

'"'

w '

RIG)
(I M/ GfJ

(lIN)

(7. 11 .24)

,.

(7.11.25)

II sbould be DOled W I it !lie bipr onSet lemu In 'hyloN CJ~

of tbe ,ine ,nd oosine (ullClions wue 1(\.Iined, 101M bipl order ta..
In the ~rs of I would appear in e.c:h IIOnuro dement of !he IAJ
m'lm: in (1.1l.22). In Appendix C. it WIIS prOVflllhll the tnI~
of slOCh higher order LCmu call.SeS 00 mathematical CIlOfS in tile IiaIiI
wben ~ IpprolChe$ infinity.
Corrupondingly. the modal malri~ I~ l is lIS follows:

. 1\

',uz _.!

l'GlR'
'M

GJ

"

- '--

+
+

1
--I

"

ii,

-~,

~1

0, 0,

"

"

O,

or

" ,

'M
O - -'"

'M

_~

R '

'M ) '
-"'I

W,

'/RI )'

_....:...l /

[t,l t I, 0, 0. 0, 0. 0 1'

[.,1 [0, 0,

(7.11.27)

0,

I, 0, Rt '

(7.11.28)

(1.II.l9)

(7.11..30)

(1.1 1.31)

(7.11.)l)

Furthermore, we can obtain the ;nvell<t of the mod.1 m.ub [$] IS'

7.JJ

~..-~.....,.,._

r .....

.".
I

iR

IR

2{ M,'l
' C' , .., ' "","'"

IR
- 2{ 'M' 2' M'l

R
iR
- 2 'M ' - 2 'M,

' t ,1 -

{a. 0. 0.

It,l ..

{I, -t,o. 0,

IR

-2 M '
'

-R

GJ(

2 ' M,

IT (7. 11.34)

,
I
,
I

0 )'

't,1 - 10, 0, 0, 1,0, OIT

(7. 11.35)

(7.I I.36)

(1.11.37)

(7. 11 .38)

(7.11.39)

willi { 'M,JGI - UR. Note tIw the followina equality is valid for
~ lt,I and It/I vcc;toQ:

El
,., t,ll ttT - II}

"
where

(1. 11 .41)

If}

is the idenlily malri~ and at lbe K.onec1<~. della.

'"
By r~prcsenting curvcd bum in the limil .:II an infinite number of
infinilt$imal strti&bl beaIm, I.r., by ~ttill& ~ - -. - QI\ n:bIe die
stale W:!Qr of the QlIVed bum IllotCIion .. 10 IIlI! 1\ seaionx" 0 [. .
F""ure 7.30(1)1 by the following trandu maw ITIi'I:

(7.1I.4l)
wM,e

.-

[TRJ limlSk - 1"'](limIA)")(o)J

Noting Ilw ,,1 - x U

- -. _

,'"

(7. 11.43)

have

,'"
(7.11.44)
~

1
ConKqlXolly, 1M U'UISfu malrill [Tit) bcwrnes

..,

ITRJ ~ !:'VO'I+.llt.I' w.r'+,lIt,I'

, ....

....

Um[Ar"

,....

(7.11 .15)

(7.I1.~

, . ....
1

.~

tM inverse of the transfer

mltri~

(TRI "

[TRI " -

(TRj" can be expressed IS

141111\1" 41)"'

L,e..... [ II I'

..

"u:[.,II.,)'

(7.11.41)

(1.11.48)

&fore 1M ,lations belwten 1M genenliZfll ,tresses (,F,. 'M" 'M,) and

generalited 5Irains (~, &" ~', ~', &;, .-) tan be detennlned for an
arbiuary section or, lilt: Ul"essKw for (~', &;. ~-) ha~e 10 be oblaiMd.
For this plIrpoK, ' IItW disp/lmrnt vector 14} ronllining the hipr
(Hder derivalivu can be deriv~ from equation (1.1 U2) IS

{ d )... (mll"I.~

(1.11.49)

[dl ... [1ti](~I .

(1. I l.SO)

where the displ..:emenl vcaor (4) is defined IS

" ,," 0' ,,1I' i'

i ' ' 0."
'"

(7.11.S!)

lro) (TDlITRr'

(7.11.52)

IIId 1M ITG] mauiJ: is

Sy wmparin, equalion (1.II.5I) for (4 ) " 'j,1I (1.11 .10) for (,,), .... e
obkrve
tM firs! three .-s o( lilt: (TD) matrix a.e idenlic:al to
lhose of lilt: (TR] malri~ in (7.1US). and lhallhe last three rows ()(
lTD] can be obtained by ,eplldng 1M last Ih,ee rows of [TR] by the
derivatives of illl fint three rows, I.e.,

I"',

t.

. -.
o.

lTD)

1>""" 1.""1 It.I

,.,

(7.U.53)

.!..~I

101.

-l!tJo

Making,," of equations (7.11.41). (7.11.48), (7.1 LS2), Ind (7.1 1.53),

we o;an upress the rnllru. (TG] as

t"

,"'1

o.
o.

'r:,., ",1

It.I T

0
0
0

".~f

.t.

- J. ...,.

"

(7.1154)

0
0
0

0
0
0

0
0
0

'M
-1 .---'

1
El,

---'--

-..:

1
El,

0
0

0
0

''''1 '

whcre

.t-

It,I

El,

'M

OJ

.'

OJ

(1. 11.55)

1.11

n-,._,... ........___
~_l_ 2..) _~
GJ
,

'"

EI,

(7. 11..S6)

EI,GJ

So/vi", equation (7.11.50) for ~ SUIte vector I~) yields

(7. 11.57)

\ .., . ... .. [TG]'{dl...

wh<.
I

0
0

0
0

(TG] -I .. 0

0
0
0

(GJIRj - ' M

_1M.
,

0
0

0
0

EJ GJ -EJ
R

EJ
'M-_'
, R

EJ.

GJ _'M
R
'

GJ

0
(7.11.58)

The lIsl three rows of equation (7.I1.S7) represent the geneflllized

SlJ"ess_slrain relations for the curved bum under unifonn bending:

1F .. - I
,.

(v .. _e~)R.R
GJ(e'' R
. v') _'u" (e' . R

V' )<7.1I.59)

,,.
. EJ ("-"".
1M ..

GJ(e"

e.)R ....'", ,

(7.11.60)

i)

(7.11.61)

R -'lol1l"

l1Iese rel.llons Ue the U~ as lhose derived previously In equations

(7.5.6), (7.5.10),.nd (7.5.8) wMn reduced to 1M uniform bendinltase

If lhe inilial oul-ofpllne Kllons 'Fl' 'M" and 'M. are sel equal 10 u~
.nd llie urms c:onlli.nin& ,J .... IIC:8kc1ed.

By innudueing I fom: vector {J} as

We can derive the following ttlallons from equllioo (7.1 1.42):

VI ...

(TFH vl. -o

(7.11 .63)

VI ....

(TE] \vl . ..

(7.11 .64)

."'"
(7.11.65)

[TE] (TJ'"] (TR) "

Apin, the lUI Ihree .OWI of the [TF] malrix .... idenlical 10 those of
lhe [TR] mltrix in (7.1 1.4.5); and the ftr$llhree rows of [TF] CIIl be
obtaiMd by replacing !he r1r$l. three rows of ITRJ by the de.iYlliva of
ill last thm: rows, Le.,

....,.1'

[TJ'"]

....
Eor
,

..

..i
Ow
O.
Ow

.Ow
. 0

It.I T

Accordin&ly. the (TE[ 11111.;" CIIl be uprusc:d as

(7.11.66)

.,
'''1

..

E,

,.,J
,.,J
,+,J
to
t.
to

(7. 1I.61)

It IT

'

or equivalently

0 00
00
00 0
'''1 00 0
00 0
00 0

.,

0
0

"

0 - l fR 0
0
0
0
0
0
0

(7. 11 .68)

1M diffennti.L equatioDs of equilibrium for the curved beam

obtained from lhe fim three rows of equation (7.11.64) 15

nil

be

(7.11.69)

'M,' .

JM, 0

(7.11 .70)

(1.1I.7I)

By subslituling the UPCCssiOIlll for the forces 'F,. 'M.. Ind 1M, in
(7.1 1.59}-(7.11 .61) into equations (1.11.69) Ind (7. 11 .70). We ...8
obl.lin tile following buckling cqu.alions for the cufVcd beam under
uni form bcndina:

(- '8

EJ,
I

- -

GI(e' -"J' (.e _"J

- -

RR ' R "

.0(7.11_

.. ,

II &hould be J!OIed thaI 1M third diffcunti.l ~ualjon of cquill [

glvcn in equation (7. 11.71) Is IUlom_tlally u lisroed, U ClJ1 be \ute!:
by lubstltution of the member forces In (7.I I.S9)-(7.1 1.61). Far.
CUNW beam under uniform bending. lhe bucklillJ cqu.lioal ......
belli IU _nlially the aamc as thole ck.;ved ~viously bucd _ . .
prilldple of virtual displarnenlS In Section 7.S [sa cqualiorll (7.5.J)
and (7.5.4) Of (7.7.1) and (7.7.2)1. One diffmn hu ' - . .
introd..diQa of rwo tenns containi", tile f-.ctOl' r'IR in the~, ....
r ~ 1M radius of gpatioq of Ole mill JeCtioq. Such lenni UwI= ....
dtlllOMU1led 10 be all1Mric:al.lylltcliaible ( KIlO and YalII 1991).

bea"

Consider next the case of uniform compruslon. For I cufWd

radiul R 5ubjecced to lMIiai loads 'I. (Figure 7.9). 1/1 axial fomI "'''.
will be Induoed.. A$ $bown in Figure 7.30(1), we shallltll"_ItIIII.
curved bum can be Upre$Clltcd by ~ straight clcmtnts cKlo of .....
I. Since !be pred\ll'e for deriving lilt buckling cqultioas fer . .
pl'cscnl c:ase Is basically tbc same IS the one for the uniform I
cue, only the m&uM:es aDd WdOQ WI .u IOOSI essential for . .
pI'Uoelll <:::ak will be outJiool ill the followinl.

r.

c:oar.....

For. smighl be&mj subjeaed 10 ad axial fora: 'F, It the C,

lion Msbown in Fiavre 7.3O(c), Ihe IOvcmilll differential eqUitioDs~
~ _fined M ($Ce Seaicm S.6.2J:

(7.11.74)

...~ K (. 'F/) is the Wapet OCICffx:icnt; and {;j GJ K.

Accord;na 10 equations (H.22), (5.6.26), and (5.6.24). tbe crossS(~ionJ,l foo:a can be rel.ted 10 the displacements fot tbe pr$nt c;asc
U

(7. 11.76)

(7.11.77)

(7.11.78)

jf;t 15 ruliud thaI tbe Hial force 'F, is tbe only nonzero fOlce acting
nn tbe member before buckling HIS In. that is. for the member" C, we

Mve'F .'F~ .'101>I .'101II .'101 .0

By lcuiD&.t. J('F)Ij. the gcncnol 5Olutioll$ 10 equations
(1.11.74) and (7.11.7S) can be wrilUn

(7.11.79)

(7. 11.80)
Silllillrly, from equtions (7.1I .76)-{7.1I.80), we can rel,le tbe IUle
\'CCIOf {/} at both ends of the beM! 10 the vectOr {_I} as in equation$
(1.11.8) and (7.11.9). but with the following ~ adopted for
[Col and (C,I:

[CJ

1 0

0 0

0
1

1 0

0
0

' F, 0 0

'F, 0 0 0 0

0 0

o G1

(1.11.81)

...

[Cd

AM!JoII' ...

..H

=H

'odI..,

0 0
-billkl 0

'~H
a

.=

' F . kI 'F oodl 0

of c_

__

0 0
I

0 0

'F 0 0
0

0 0

0 G'

(7. 11.82)

NOli na Ihil in lhe limit .... h.n lh. n~mber of clemenu Ipproaeae.,
Intinil)" I.e., ~ - ... I - 0, ,u ~ higher order terms in the Taylor
upansions for liMI Ind c:oslI ad be !rullClleci. 11'11 is, we t..ve
IiMI - t/lJld C'OSkI - I as I - O. We an follow the procedIn q
eoes from (7.11.8) 10 (7.1I. 14) for the ulliform bend;n, case 10 ~
!be InnSf., matrix Is]' for the ani,ln beam:

IS].

I 0

0 I

00
a

00

00 'F)

00

0
0

,OJ

'Et,

-,

(7.I1.83)

Adoptina lhe _
mnsfornuotion matrix IT] as !he OM in equIII_
(7.1I .17), we can (le1"M; !be lOader matrix lSI. for tile curved be-.

'''"''"''

'R

qOJ

0
0

'Et,

0 0

0 0

'F)

-,

0 0

lSI, (1'][SI

, -,R

-,R

,R

(1.ILS-)

This mam:.
10 follow.

SCTVc$

as the basil for deriving the curved.f>elm cqu'liona

Willi me lransfel rnallUt given in cq~ation (7. 11.84) for lloe pre#nl load
eigen~ues [A] Ire idenlical in form 10 lhose glven in
(7.1 1.22), but willi (he following definitions adop!w for lhe involving

cue, LIIe

,.,.....~

'

..

-' F Rl

--.I-'d."
:..
I!R I,

. -/!lI
I

(7.11.85)

-' F, R'

(7.11 .86)

1,

..

'

". . -", .

(7. 11.87)

/!lI

I,

2 - R!

(7.11.88)

(7. 11.89)

(7.11.90)

r-,. M<I ANI)o* .. ~.,c.uw ~

'86

1.,1 a

[~I

,
{I. -_.R 2(1/
I

. {I. -_.R 20/

I

,,-{I. -.!. ....!...

t..

1 1

R 2(;/

-1'-

-.!.~,

il,.

0. ' F ...!...

' lR'

~Il,.

0, 'F ...!...
2R'

11,.

O. 'F ...!..

~jJ.1'

R 'GJ

2B'

(7.11.91)

(7,11.92)

/"2 )

(1. 11.93)

O. 'F ..!. ~12) (7.11.94)

2R'

I.J,{I, 0. O. 0, O. OIT

R'

"I'
-IT
"I'
'I'
'I'

IT

(7.11.95)

I, 0,

where the two pani01elers " and " ITe defined as

'F, R
(7. 11.97)

..

'F R

---'-

.,

- _;fJO',-.,I
I,

. GJ

(7.11.98)

Ii '- .1110 poISiblc 10 obtain tile invetK of the modal matriI [.. ], i.e., 1be

'"

['PJ malf;l. Ho...c""., \be o:xpn:ssion fOf tbe ['PI mauix Is 10 lengthy
dII1 an ~Itp.nl pRKntl'ioG can hardly Ile ",Ide Ilell!.. following !he
pro.:edure IlIaIIeads ffOm ~tioa (1.11.49) 10 (7. 11.55). _can obu.in
!lie [m] IIIlui. and tIS Inverse for !be presII:nl c-se followa:

0
0

0
0 0
[7VJ - 0 II '

0
0
0
0

lID,

0
0
0
0

- I/R

IIGI

({II1,) ' (IfGJ>UR

0 0

0
0
0

-( I/R~'<*F)EI) - I/EI

0 0

(7.11.99)

(TGJ-1

0
0

0
0

IF, ' (GJIR~ 0

0 -JI M.
0

0
0
0

0
0
0

0
0
0

{I, .G/'JR - iii

iii,

GIl'

GI

0
(7 .11.100)

With rile [TG/"' ","nix give/! in (7. J UOO). the generalized slres-slnin
relations for lIM: c;urved bum subjOCled to .he .,.111 f(If(:C 'F, <:an be
readily obuinnj from the last wee !OWl of (7.1 1.57) u

IF
1

-1(.,. _e~) . R1'

Me' . ~)
, , (1''' _ a.)

1M _ E1

.
t.J
'.

1M &(01

.IF"I

(7.11.101)

(7.11.102)

(7.1\.103)

These rclalkMl$ are i<II:ntieaI ' 0 IboK obIained from (7.5.6), (7.5.10),
and (7.5.8) (Of . . special CIK 0( an uially '-kd curved bum.

FoUowinS lhe PfO"Cdurc from (7.11.63) ' 0 (7.11.68),"" can derive . .

ITE) matrix IS
(7.11 .104)

'M

- --'
R

(7.11.105)

'M,
R

(7.11.106)

- 0

WMn un.derSOinS . . bIdIin& derormalioll, the uill force IClinS OD

the bum will rcmaiD 0DII$lIJI1, i.e., we have
SubJIilUlilll Ibc
expressions fOf the forca 'F,. 'M.. and 'M, in (7.Il.IOI}{7. 11 .1OJ)
in"> eq\lf.lions (7.11.104) and (7.11.106) yields me buckling equ&lioM
for 'he presenl case:

'F, 'F,.

';J -GJ(,. -'''J --- , .-"J

I

EJ (" . _

R'

'F.r
R

(.

'

- 'Fv", O
(7.11.I01)

a{ ' "J ' ,(.. "J

' , _ o F,

If

o_

"J

o_v __ .O
EJ,
R ( .

(7. 11.108)

where the rel.lioa OJ GJ

+ 'F,/ lIa bttn usro.

Apin, by subslilu-

lion of the nprusioDs in (7. I1.IOI}-{7. I1.I03) for the oul-()f-pWlI:

idioM 'F,. 'M
.. nd 'M.. it CIIl be verified 'hat the IOnd diffcren~
eq\lf.lion (7.1 LlOS) Is IUlOIIWically satisfied. NOie ,hal for solid
curved heam. ul!dcr !he aaion of axial (oreu only. !he equations
prcscnt! in (7.11.107) and (7.11.108) arc in cnCl agreement wilb
those prcviO\l5ly siven in (7.7.11) and (7.7.12), whicb havc been

modified from (7.s.J}.nd {?s . } by OOIISidcrilll addiliofWly d~ effocts

of IatenLI distributed loads.
Before cLosing this section, t~ followinJ re![WQ will be 1lIIdc.
First, siace vinu.ally no assumptions have been Idopced in !he deriva
tion of ~quations in this section, UCll:pI thaI a wrved ""'" an be
madded in !he limil IS !he compositioll of an inrll1i1e number of
infinitcsimll smolght elements, 11M: coincidence of the equations derived
in this Kdion with Lhoie o f SedioD 7.s for 11M: special cases of ulliform
bending and axi.l compres&ion is. confinnation o f the v.lidity of the
genc:nLI curvedbeam thwry derived in Section 7.s based on the
principle of vinual displarIIC'n1S. Second, ""c h.ve detnOl\SU1lted that
IlOt only !he buckli", of curvl beams an be anllyud by tlte ltr.I.iihl
Iteam clements (Sedion 7.10). but the OIrved-bearn equations an be
derived from the litraightbum equations . In thla regard, the problems
encountered in tile two imingly Independent .UIS of frame blldr.ling
Ind curvedbef,m buckling have been shown to be con etated .nd tan
be fC$Olved by !he same means, i.e., by taking into account the effectS
of equilibrium for struc:tura! IIOde$ in tile buckling configuration, where
elements or _mben lyinJ along different diredioal Ill! connected.
F'I\IIUy, linc:c tile ~ of S/night-bam element proves to be morc
effICient than that of . curved-be&m element, only tile suaipt-bam
ekment will be employed in the inc:rnncntal nonline.r anllysis of
three..:limensional frama (including the curved beams) Involving large
deform.tions ]a the dLapkT 10 follow.

Refer ences
Batant, 1.. P., .nd El Nimeiri, M. (1973), "Large-deflection s~till
buc:klin.g of thin.wcalled beams .nd frames,' J. Ell'. Mtdt. Di~.,

ASCE, "(6)' 12S9-II1.

and Lynn, P. P. (I<.n.). EwtitUy /JI E,.,/JI~,
ModI/llliu, Appendi~ 2C, Pn:ntK>c H.ll, Enalcwood aiIT., NJ.
Cook, R. D., Malkus, O. S., and PIesha, M. E. (1989). CtHlUplS /I~d
Appllc.tiotts 01 FiIIlte Eluoat A~.lysi.r, ltd ron, Jolin Wiley, New
York, N.Y.
Ilasega.... A ., Uyanae, K.. Ikeda, T., .nd Ni.lbino, F. (l9SS). "A
COneiK and uplidt formulatiOft of QUt-of.pllnc instability o f thin
"Illed membtts, p,tK.. JSCE, St"'Cf. "8./E.,IlIq.."ltt 118., 1(1),

Boresi, A. P.,

S7~.

490
Hsieh, Y. Y. (1988), EI~"ClII ., 111",'7 0{ SInICIIO'<'S, 31d edn, Prem~
H.lI, Englewood a it&, NJ.
KIlO, S. R and Vall&' Y. B. (1991), ' New theory on buckJiaa: 0(
rurvul bum ... J . e",. Mw.. , AseE. 11 7(8). 1698-717.
MllcsytrUI 412.6/ I DEC VAX 8650 Sola CDlltptllnS (1988).
MassadIlIKlu IDSlilllle of TcdlllOlogy, CambrIdge. MA.
OJ.lvo, M., Oem",!$, E.. and ToIwz, F. (1969). 'Out-of-pIlne buckling
of aJrvcd members,' 1. SIN<CI. Di~. ASCE, U(IO). 2JOS-16.
Papangell., J. P., and Tratu.ir, N. S. (1987), ' fluurtJ .lOfSion.1 buctJina
of a,eMs,' J. Smm. Cllg., ASeE. 11 3(4), 889-906.
" pan,el is, I. P.,.m! Trah.ir, N. S. (1988), "Buckling o f monosymme.
uie arches undo. p:>int Ioad,' Ell,. SlrUtl" 10, 2S7-63.
Pramap, O. (1985), ~ curved bumfdccp arch/tiJIitc ring eJcmcRi
revisited,' (lit. 1. NM,nr. Meu.. ",., 11, 389-407.
Raj_karan, S., .1Id Padm.,w,IwI. S. ( 1989), "Equations of curved
beams." 1. Ell,. Mult. , u 5(S). 1094-111 .
RajaRUra,n. S.,.OO Ramm, E. (19&4), DiSCllSSioa of "FIuural-1OWoaaI
Slabilll)' of curved bums" by C n . Yoo, J . Ell,. MulL, ASCE.

111(1).

I~

Timodlenko, S. P., and Gue, I. M. (1961), 171.."" ~ ElliS'''' Sf.hildy,

2nd edn, Mc<ifaw-HiIl, N_ York, N.Y.
VlldlarJjittiphan, P., and Trlhair, N. S. ( 1975), "F1e~lIra1\OnioDll
bud:.linS of curved members: J. SfrMet Dw., ASCE, 111(6).
12~38.

VllSOv, V. Z. (196 1), ThiJI,WGlled IGSfie BeG"" , 2nd edn, bnoI:l

Pt08flm fOf ScienlirlC Tflnslation, ]e1\l$&lem, ISrKl .
Yang. Y. B., and Kuo, S. R. (1986), "Sialic slabllity of curved ibiDwalled bellllS," J. E"I. MIt., ASCE, 11 2(8), 821-41.
Yan&. Y. B., and KIlO, S. R. (1987). 'Effect of curvature on subility of
cu~d bums," J. S'rMct
ASCE. 1lJ(6). 1l8S-202..
Yang. Y. B., KIlO, S. iI.., and a.m.g. Y. D. (1989). "Curved balD
tle_nts for _linear analysis," J. E"I. Malt., ASCE, 115("), 840-

E,.,.,

".

YIIIIo Y. B., KIlO, S. R., and YIII, J. D. (1991), "UK. of 1Ini&bI-bellll

approkh 10 acudy bucklin, ofcvrved beams," J. SrrMCj. CII,., ASCE.

11 7(7), 1963-78.
.
YIIIJo Y. B., and MeOuire, W. (l986), Stiffness mwiJ fClt pxnctnC
nonlinelr ..... )'$ia,. J . Suvct E_,. , ASCE. 11 2("), 85~n.
Yoo, C II . ( 1982), "FlexunJ\Oniollll. stability of curved beams," J.
"'cell. Di~., ASCE. 108(6), i3S1~9.
Yoo, C. H. ( 1984), Closure to "FlexurllJ.lo"ional l iability of cum:d
beams," J .
"'tell. , ASCE, 11 11(1), 148-9.

-,.

E,.,.

Chapter 8

Procedures for Geometric

Nonlinear Analysis

8. 1 InlroducUon
As was show" in Figure 1.I,!he nonlinear mOlIo" or I SlnteI\IR <:an be
Ikscribl by lhru typical OOIIfig~not lons: !he ,nit ill u"deformed
configullu !on C. tile lasl calculated ronfigunotion C" and tile CUlTent
deformed oonfigunuion C,. In.n incrementll nonlinear IlIIlysi!, we
Il55UIM thaI ,II lbe inronnation of tile SlIlIetUre from C, 10 C, are
known, wbidJ should ilK:lude the bistory of loadings .nd tile correspondin, deformations, and Wt we arc interested in the behavior of tile
$tnIdU(e within the ilIcremenW step from C, to C.. in raponK 10 !he
irltrase hi u lcmalloldings. Allbou&h tile deformations ot a $tnIdUR
that ...iII be aenenled It eadI incretnenul Rep, ... typified by the
procaa from C, 10 C.. 1m RWitled 10 be SIlIIII by usumption, !he
toW defomutions re$Ulliog from abe IC(:UIIIQlation of deformations
&enented during IU iDCJemcnW &leps prior to C, gn be ubilrVily
large In II\Ignilude. Thill is ",inly one .avllltilie with the ilIcremcn.
II I DOnlillelr IlII.Ilysis. By dividing I nonlinear problem involving large
ddormatiOIll inlo a number of incremental 'teps, we need only deal
with the 5ub-problem of small deformations al elch in~menlal Slep.
8UC<I on Ihe updated !..agr.ngian (onnulltion, the last calculated

".

r--. .. "" G_ N__ ''1I0/)0I,

.92

describUta

configunulon Co it seloaed as ~ ",fe",1ICC configunllon for

~ llKllion of ~ 5lnIcIun: wi.hin ~ illCl'crmnll.l $Iep from Co 10 C
Wilb Ibit formul~.ion, ..~ havc derived in previoul: dIJpI~
incftrmnll.l Sliffness ~ions fOf various IImS and frame ek--.
wbic:h ean ~ npruscd in a;eMral fom. :

u.:;

[tJ[1I1 .. [~I I~J

(HI)

whore [i' Ikno.C$ I/oe lanlt~1 srilfnus malrlx, 1M) .he displ_1IIeIII
ineremenu of1hc elcmcn.goncn.ed duringille alep from C,'o C" ('J)
lhe in llial fOKU acoing on .he elemem lIthe beginning of Ihe i.1:p (i.e..,
II CO), and
lhe IOIaI f _ ..aing on .he ekrmn. II .he elld of . .
Slep (Le.., II CJ.
I:kpendiJl& on Ihe Il$$Umptions adopted in Ihe de,i,,"ion of cKII.
Iype of elell"lC:nos, Ihe u.ngcm stiffnesslnlUix [t) ean Ipput in I.....,
of fm. Fof illSWltt, fOf clements of thI: m.oss 'ypc, tbc ......
stirrness nwrix (i' is simply

{'n

ItI .. It) It,]

~.J

I-J:JI (sJ

(8. I.2)

according to jUlian (3.2.30), wllere tach component m'lri~ h. belli

Ikfined in Sc<:liolll 3.2 and 3.5 for lhe pllnlr and space UlIM e l . _
respectively. For Ihe planar frame clement, Ille tangent stiffness matrilt

l.t, ;$
(8.1.3)

It] .. It) It,]

a.ecordi", 10 equation ( . . 16), whm: tbc thmlc "iff~us ...,rU It.)

IIld ,~tfflc stllfn_ ...."Ix l.t I luIve bun derived in Sc:dion .
based titller 011 !he general or slmpHf"ocd theory of IWO-dimrns)ollal
beams. Whenever !he bigbcr order trrCCU Nt deJired. the 1.I11JC"
$IirrntlS malJix [i' for !he planu frame elemenllJ>ould ~ augmented
10 i~lude the bigbcr ordc:r stiffJ>eSl l!I.IuiQCS
+ [sJ .. {s,D, wl\kll
will result in I mallit ldemical in fonn 10 (8. 1.2). IS eln be Ktn (rOlP
equation ( . 7 .S8).
On Lhe ocher hand, according 10 equl1Loo (6.S.41 ), the ungenl
$Iiffness malliJ l.t,] fOl I/oe space frame demenl is

a,,1

1.1

I...

0lo0o

It) - It.] It,) ItJ

'"

where each of Ihe romponenl m~!liees has been derived In ScC1ion 6.5.
Here, II should be noted lhal if !be element considered il direC1ly urKkr
the lICtion of tJfUrnlil InOfI\entJ, lhe effCCl of applied rnomen15 U
reprcKnled by tl>c. I~.] mallu- hu 10 be added (5 ~ionll 6.4 and
6.8). In ScC1ion 6.1, it has bun dcmonsltlted Ihal Ihe anlisymmetric
part (A ] of the iltdllced "''''''01' ... ~"Ir It,] of In cltment It joint will
o;ancellhe COIlesponding l~ of contiguous demenlsal the same joint
of Ibc structure, when ,U !he re!evant element Aiff~ ntalrK:c$ ae
ISscmblcd ove, that particular joint. All a , esu!t, only Ihe symmetric
portion IS ] of !he indUd moment lIIIuix, which has been .de" ed to
as the }<>1Io1 "'_ ..... , .. ~"ix {t, t in addition to tl>c.{t,l.nd It,] maImS,
has to be canied OVCltO the SlJUCIUre stiffness IIIItril.
In order to ronnlr.au on lhe: protedurallolpCCIS of in=ment.1
nonlinear Inalysis, in this Chapter. we shall focus Our attention mlinly
on strucIuru of the thru-dimensional framed type.. One ~uon fOf this
is IbaI spICe fnmes upr_nt the mosI complicated type of Slruc:tllfes
lhal has CWr been dealt with in this lell. To ensure the c:ondilioru of
equilibrium to be "'tisrted by cadi joinl of Ihe ~ frame in the
buckling ~ition, !he joint momenl matrix it,] his 10 be included as
pan or the IiD&Cnl stiffness malli. [t], Sudl I mluix, IS we know,
bca.>mes idc:ntkaUy equal to ~ro in !he .... lyJ;, of p/lnu frame3 and
StruClUles of Ihe tlU!IS Iype.
The other flClOl' lhat makes the lromet, ic nonJineal I1113lysis of
space frames diffe,ent from !hat of plifgr frames or structures of the
truss type is the: need 10 ronsidc:r !he nonrommutalivity of 'Olational
degrees of f!Udom in the Ih,u-dimensional splU. The problem of
noncommutalivity docs nOl nist in !he IfglYlis of InISSeI, since in this
~ only It'lnsI.IKmI dc:grus of fr=.lom arc: inwlvecl.. Nor docs it
nisi. in lhe analyJis of planar frames, since for pllfg' fr.ames III
lOCations take place about the a~is normal 10 lbe plane of lhe frame,
"'hich are b~ nat ~re rommutalive.
Whik the prottdures of geomcuic nonlinear analyJis have been
developed in this chapte, mainly (or spar;e frames. il is realiud Ihat .u
t~ pl'odures can be reduoo:l as special cases or modified slightly
10 accommodale the special nuds of planar frames OJ SlrUClures of the
truss type. II should be added !hal !he curved beam element de'ived in
Seaioit 1.7 will be ndllded enlirely from the geometric nonlinear
analysis In Ihis eMple,. since ;1 has been demonstraled lhat sl/light

frune demelllS can be uxd as &II dfective subsiitoil: for modeli", Ihc
buckling lxhavion of aarvcd beams (Stction 7.9).
At this point, we like to mention that the formulation of in<;re,
mental stiff,,", Ujllations as the one given in (B. 1. I) coll$lituil: only Ihc
rust Step in a lIep-byllcp noalinear anaiysil. Once the illm'mental
1Ii1J_ equationt a~ avaiWlle for udI element o f the t.lnICIllre, \be
neXl lIep is 10 ISKmbk all tbcse tqualions bised on the mnditiofts of
compatibility.t nodIl points to yield the IlIm'menllll $fiffneu ~'lions
for tile structule undel consideralion, followi", NsicaUy the ptOC:Ie(IUte
described in Scaion 2.3;
(8.1.5)
.... lIele it is as5UJDcd thlt IU the Ieslnined deglteS of frudom IIIve bull
~IIIOYI in the _mbly proo::ss, (1..1 denotcs the $f11.ld1l~ $fiff_
mlW, {U} the stru<:tu~ displaotment lnaement VectOI from C, to C,.
('P) the extcmalloads Ihat an: alleady .pplied 10 the Slruo;tUIC at the
beginning of the IlIm'mental Slep, i.e., II C" and ('P) tile toll.l loads
to be applied on the WUo;tUte at C,. FOI the cases of space (lima, tile
tangeot Sliffness lIlIUix IKl can be broken down inlo lhIec pans' IS

IK] IK,) IK,I IK)

(8.1.6)

WhelC the I tllltllll. stiffness matri<;es [K.I, [K,I, and IK,lau assembled
from their counil:rparts (t.]. (t,l, and [t,1 on lhe element level. 1M
lIiff_ equations IS Jivm ill (8.1.s) for tIM; SlnInun: au noalineu , in
the sense WI the \an~nl Mirr_ mllrU: IKl is I funetion
both the
ddorrnations and a.etions of cad! member of the stlUdun:.
In I Step-by~ep nonlinear .... Iysis, ..... _me tlIII all the
infonnation
lhe StllltluIC prior to the C, oonfiBur.lI1ion is kno""'
Such information UIou ld include the coordinates of each node, the
deformed s.hape of each element. the initial forces {'J} acting on each
element, aDd the applied loads ('P I KIlns on the nodIl pointS of the
IInICtUfC. 1'ypkaIIy...... shall_me IhII the applied IoadI: actina on
the IU\lCtllte have bun iIIcmrscd by I smaillDMlllnl from l'p) to I'PI,
.nd .... e are flUd with the problem of IOlvinsthe nonlinear equ.tioPs

or

or

'Again. the r""nh mltrix [K. l hal 10 be Iddt<lIO ac:oouDI fDr \lie etred
oIl1pplied _ n i l whea \boy _ pcUCnl.

'"

(or \be displaa:mcnl inrn:IMnlS {Ut of the structure in I~ to

such an incrnse In Ioadi"p. Ooce tile displacccmcnl inc:rcmcnlS {U}
an: solved. the JeOIlICU)' of the eBtiM -.ure can he IIpcnttd, IDd tbe
!oadfItion ~ for emain delPee5 or (=<10m 01 !1M: ItlllClUte
~

he plotted.
from the loId-deflection curve of Figure 8.1. we obse~ lhat,
dependina on tile history of lo3ding. tbe lIifJ_ of the llructure may
be softening or 51ifTcning, the equilibrium palb may be slibl. or
unstable, and the SIruCIurc itself mly be on I stage of IoIding 0.

unloading.

All such pllellOmena are typified by the occurreoce of

critical pailllS such as the limi, p<>inrs u.d snapbatic poin,s in the load.
deflection curves (sec Figure 8.1), which tend to brina III numeriell
dlfficuhic:s of arUin 50ru in the $OIutioo process.
The IOJulion of the. set of nonlinear flIUlliont is usually luempled
by combination of incnmenuol alld i1ent;"" prottdUIU, which can he
cl\2nro;:leriKd by tlu" major phasQ. The fin! or ",uielOt" phase
involvc:s SOlution of the dispbumenl inm:menll Iu} from the
inm:mcnll.l CqI1II1M1ns of equilibrium for the stJucntn:, wllh whid! the
d~nt inaenM:nts (~) for each element can be delennined. The
sn:ond or COI'ral<lf' phase is COIIC%i oed with the _ery of clement
fOra! incumenl$ (J) from the displ~nt i....:remen1S (M) obtiined in
the fim phue. The resulting forces
lCIing on each clement II 1M

{'n

cnd of the momentl) $lCp <;:8.0 1Mn be obllined IS the accumulalion

of III lhe force lncrt:men1S gener1lted bofon: and during lhe cumnl Slep,
I.e.,
Ind {J}. In lhe third phase, equilibrium of lhe structure is
checked tn ensure lhat convcrgenc:e of iteralion is achieved In 1M new

I'n

tI.,

04.OC- ......
oUt_ .. '

".

{'n

ddOf1lKd roofigunuioa. Nanxly. by summing the member actions

.. each ao.x over !be elements WIIDf:(Ied 10 that panic:ular node,and
by comparina them ... ilb!be alemalloads {' P}.1be unbalanc:ed fOl'CQ
for lilt SInJCI\lI'C can be cakulated. Whe~v<r tile unbalanoed forca
IppeV 10 be IIOIIJIoeJli,,'bJc, ileBl.ion (Of equil ibnulII of the stnICt1lK
involvinl IlIe iii'll .nd 5Ot'OOd pha$C$ should be repeated. It 111$ been

noced previously thaI

the

accurxy of nontinear solution depends

prim.rily on the equations ~ in the OOrTIOf (inuogine whal ....,

Iuopptn when the OOTTCaO\' is no! correctl). while !he predictor can only
affect tile $pCcd Qf convcrgc~ or tile numbcl of ile"lions (Y.ng and
!...tu 1991).
In this chlpler, we $haJJ first coroccnlralc on the procedure
assoc:ialed with I.be COlfWOI' pha5c:. which can lit. d:omposed into
Wee puu pe/Ulnill& 10 the upd'li", of ,_u)' for eKh elc_
(SIion 8.2).1hr. calculation of clemenl deform.tions (Seaion 8.l). aDd
the cakuLalion of elcmcot fom:s (Seaion 8.' ), Wilh regard to !be
updrlrm, of geometry for ~ hmc$. one major cotK'mI lleR is !be
upcbli", of DOdaI rotations based \'III Ellie", fimlG rotation fonnllla 10
at'QIWI\ for rhl:ir DODOOmmulallvc na!ure ir:IlIM: three-dimensional - .
The ~ for m:oyuiDg tile clement foroes. \'III the OIher haad, iI
bued m.inly on the ~pI of IIIIUra! ddonnalioD$ .nd ri&id body
motions. The procedures to be puKnled in Sections 8.H.4 follow
basically tbe WOI'k o;:onduaed recently by Kuo, Vang and O>ou (1993~
Application of lOCh procedures 10 !he special case of planar frames has
bc:en illustrated in Section 8.5.
The predic:lOT phase, which Il'Iate5 10 solution of the displaccrncnl
!ftcremenu {U} from !he strudure equatioo. of equilibrium, can be
broadly interpreted U !he procedure for applying 1M load increments
and for ~Iforming 1M iterations during each inererncnl. for problellll
involYiJI& llighty oonlillUl" rcsponyt $lIdI15 the one shown in Fi~
&'1, Ir U lIIe ptcdkUH, Dt 1M _ ....u by ",Ioielo ilc,.ritMs ~,.., per.

w.\mcr /UUf4c,ic.1 C/IfIW"CIIU e.... ~I_yf be

_,,4., ,c,1tHu 110>"01";", uitk~1 poUtu, 11K1o., lloc ""'il poiIIU ud
",.p-Hc.t J>QUou. In the lilcntu,c, varlolls ;I\CR"IMnlaliu:ntive
procedUles ha~ bn proposed for lISe as the prwic!.or, wbleh ind~
the NcwtonRapbson method, the displaamcnt (:OfIlIol method (ArgyIlI
1965; Pian and Toni 197 1; Zientiowicz 1971), the .,ch length mctbod
(Wempner 1971; Riks 1972, 1979; Ramm 1981; Cridie1d 1981, 1983),
and the work control method (Powell Ind Simons 1981; Villi and
McGuIre 1985), among Olherll. In Sect ion 8.6. we shall illustrate ~Il
each of \hese melhods diffcrll in the usc of different (:OfIstnunl
equations for guiding !he inacmenuollnd iterative pIO<lCdUlcs.

jor_fII, 111., UIU.U.U

1-1

IJ~.,_.

...,

'"

t.1IdlCmllica.lly sptaking. an i~ .... n!aI l!efllive _Iinut

soluliorl prGdute can be ~prded as !he one:
solvw, the N .. 1
system equalions (i.e., N equatioos of equilibrium IDd one COIISUlI,m
eqUlliorl) for !M N .. I s~m parlmelCn (i.e., N d~lIICnts IDd
OM load parame!eT). A requ irement in this ~lItd i5 I....! the procedure
should be able!o overoome the numeriaol d,fflCllllic:s assoc:ialed with
(;Ieh lype of ailic:ll points. Three criteria can be MIlled bert. Fir$!, the
method sbould be self.... dap:ivc in <;:hanging 1M Ioadin, dircaion II the
limit poinlS. Scrond, numerical stability fOf ilerlrions shou ld be
mainlained al III regions. including lhose nur !he crilical points.
Finally. adju5lmenl in step sizes should be made lutomalically 10 reflect
lhe stiffenina: and $Oflening chara<:lcristK:$ of the W"Ucture.
In Sectiorl 8.7, we shall demonstllllC bow I gcncr.J nonlinear
problem can be .... ted in lbe N .. I dimensional JpIoCe, llong wilh lhe
commcnLJ Jiven in Sec:tioa 8.8 on uis!ina: melllods of $OIulion. In
Section 8.9, !he 6OK,,,lizu dupl"u,u,., COIIlrot .clloo<l plopoRd by
Va", aDd Sbicb (1990) .... '11 be presented.. Cc:nrnllO!hi5 melbod i5 the
in~ion of the 6C"cr~l"u mjftKu I""",.CIC' for de1Cfmining the
load Inc:m!xnt fOf eacb inttemcotal step ..... hich .... ;U be compared with
lhe ""..,'" lIi/foCU p"'''.~'~' proposed by Serpa (1978) in Section
8.10. Finally, an alaorilhm for conduding the incrementaliterative
leo .... tric nonllnc:ar analysis b.sed on tM gellCralized displac:emcnl
conl.ol metbod .... ill be presented in Section 8.11. ....hich elIn be
employed 10 IOlve the Ioad-deneclion arrves of SlruclUres inyolving
Ycry hi,h degr of nonlinearity as will be dtmonslIated in Section
8.12. II .hould be added that the matcrials presented 10 Sections
8.7-8.12 &R\ bucd mainly on the WOl"Ii: of Vlna and Shieh (1990) w;!h
IIlt$ilry modirlauions made.

or

8.2

Upda ting or element geometry

S,fICI: tbe 80CUracy of an incremental nonlineal analysis is governed

primarily by !he comctor phUe, it is import'"t 10 have this phase
diSC\wed in detail before we presenl the entire PfOC'CdutC of memcntal iteraliye lnalysis involving the tlrn:e different plI_--pmJic1of.
COTfectOl, aDd equilibrium<hking. In this ~gard, w~ shall assume
lkat for I typical iJlCfemental step. the 5-Iructure displaa:menl increments lUI hive .heady bun solved from the Itructure equations of
equilibrium (8.1.3). which means that the di$plllCemc:nt inaements {.. )

."
c:an be easily made available for eacb ckmcnt. The problem oonfront.
bo .... 10 cak:ulate the DOdIJ forces I'!} for cadi okrncnl, given
the DOdal displa.a:menl iocruncllU (M) . In !he following. an approach
based oa the concept of natural deformations .... ill be presented for
IOlym, llIis problem. Wilh litis apprwdl. '" Mire 10 fIrSt updlf.r.1he
mel orientalioGl for eacb ckmcot 10 KCIDUIII for the Kwly ,cnerMtd
displacement inaements {II}. from wblch the natural deformations {II).
an be eal<:ullted for eacb ckment.
Con~nlionilly, the end IOUIlions of eaeh element of the $pace
frame arc lSSumed 10 be small (Connor .1 al. 1968; TcZCII\ and

in& III g

Mahlopalra 1969; Ofan 1973: Rcmsclh 1979; Oan 100 Kilipofllchai

1981). Since the law of commutativity mlilll "alid for small
rotIlions about the three &XC$, the end rotIlionI of u.;h clement can be
alkulatcd -.imply by Idding the IOUlion illCftmcnlS aenerl1ed II the
CUrnnl SUp 10 tho$e KcIImubtcd up 10 the previous Slep. Thus, wiQ
the aswmption of small rotaIions, the proctdurc for updalin. the mel
orielllitions becomes alrivial U$It. IJoweveT, for the casc:s ..line md
roIatiolls are of finile magnillldes, \be prooecIur& for IIpdatiog the - '
orientations of ACb danall in the three-dimensional space bas 10 be
denloped based 011 the theory of finite IOUIlioM. in order 10 IC)OOQ.
for the cffed of IKNICOmmutativily.

'.2.1

Rf rt rfnCt IXts of d emt at DOdt.

As wu Sllt~ p"vjOllSly,;n In iDCll'mcnlal nonJinclf In.alylis. _ IDly

cknote tile inllial undtformed ronfigul1l11on of I solid body bye. die
1&$1 c:alcuilled oonfigur.1l1ion bye" and 1M cumnt ckform~ oonfi...lioo1 bye,. For I space fmM eklllent of solid nOlI section. s.iJ:
ck&fl of frttdom are needed II exit tllll (1IOdc) of tile ckment.
whkh oonsist of Iblee Irlllsbtioos and three rotaliollS. 15 shown ill

Figure 6.5. In Ibis chapttl, all wdl all ill previous dIapItrs, ooIy
COIUledions of !be rigid type ...iII be _mcd for !be framed strudllJ'tS.
ThrouaJlout this lUI, I 1q1lll.e mllriJt is ckoottd by brackets (land'
column vtdOf by braces { }.
For IIIe presenl pIIfJ'O$C$, _ may Ilbimrily attach set of
orthoJOlll.I .efeuna: Illes 10 each IIIKk of !be fnme clemelll. As
wwn In Figure 8.2, the .e{e.enee Illes for oodeA of l!!e fnmc~kmenl
II confiaur.1Ilion CI arc <.!c=no1ed!!y Ihree unit v:ion "( " "ii,. "e"~ ~
It configunlion e, by '(" 'i1,. I { " and those oonfiguntion C, by ( .,
'i1"
~ coordinales of oode A II lhe three configuralions ~

'C..

u,..,"'.-", ...,

'"

dcllOle4 by ~X.. "Y.. -ZO.), ('X., 'y.. 'Z,), and C'X ly., 'lJ. Nocc IN
OOnfigu"'lion C.. Ihe reference a.lCeli for ellCh IlO<k. are parallel 10 tM
global c:oord;n.ales nes.\'YZ. In doe following, lhe procedulc for
updating the end A)I.tioas of taCh tlenH:nt based on the Ilteory of finite
rolItions will be descl'ibcd.
AI shown in Figurt S.J,the pI&nc asp will moyc 10 aSP' wilen
$Ubje~tcd 10 a rigid localion '" aboullhe uis as, which is lICCOmpanicd
by the m(lYCnH:nt of the position YCdQI' r to 1'. Aec:ordin& 10
Rodri&,,", (Ellle-tl) finile rotatioo formub (O>eng Ind Gllpli 1989),

, ' . l64>f' sinojJ(iJ"'l '(I-l64>)(R") R

(8.2.1)

"'be,t "x' indiala the cmss prodlltt, '.' the dOl prodlltt. and if IIni.
YtClor liong the uis

as,

,. -'"-

1"'1

(8.2.2)

soo

s,

,
o
VIC"" . J

OloIccpl 01 fiD.iIC lOlJ,ion.

D.ui", Ihc movement of the okmcllt from conli&uQtion C, to C" the

displ~mclll iDcn:mcnl d;;. and rowioa incftmenl 48. uperier>eed by
!lOde A can ~ dcDOltd as

(8.2.3)

(8.2.4)
Th~e magnitude 4I nd
de, IrC .. follows:

unil direction Vc<:lOf ii, of .1Ie rOlllion illCTemenl

(8.2.5)

it

46.

(8.2.6)

Accordi", 10 equations (8.2.IK8.2.6). the IIni. V1on for the

rdcn:nce UtI of node A al configuration C, can be w,;ucn,

'ii, CCI64I. 'ii, sin4>. (ii.)( 'ii.>

(I - C:OS+.l (iI' 'iI,lR, (8.2.8)

",..,., __ ,

....,

. .. -...... 'I.)

I~

~ CIDCO/I

'? :-... " _

~

. .'I.)'.

( I ~C:OS+

)(.....

...
(8.2.9)

The expressions as prciCnled above in (&'2.)-(8.2.10) aon ~ tuily

UlC:ndcd 10 node B of the demtn!.

8.2.1

Ea.,mU I

u~

and noo:bl Helio .. uK

In tbl. subslion. lile " ialion of 'he ekmtnt aU' and ~I _tion
>xU in the proeess of n,ember deformation will be diKUsse.:I. As
shown in Figure 8.4(1}, the $eetion .... es for node A of lIIe frlme elc
ment It configuration CI arc de~ b)' "i" . ~ .. Ind '9.. wbere ' a,;s
taken 10 be coiacidmt with lhe member uis passin, thlou&h the
ctnlroid of !be section. and Ij,. and "9.. are the: major and minor
principal d~ resp!ivdy, of thc section. Simil"l),. &nOIller SCI
of orthocoIW ues "i.. , "ll., and 9.. QII be esubl.isMd fOf node B"
C.. Ukcwisoe, it is nesUf)' 10 introduce I Chird set of Oflho&onal ues
*i, -Yo and" 10 tbe frame clemen' I. configuralion C. of which'" is
lake n to be Ihe anlroidal un of the mtmbeT. From f igure 8.4(1), il
can be sn Ihal at configuration CI Ihe above Ihru sels o f orthogonal
UtI .re p:lrallello nell other.
Wben lbe ckmenl moves trom Cl iO lbe C, co_nfiguration IFigure
8.4(b)], !be section UK ('I .. 'Il.. 9,) and ('ii., "ll.. "9J for lbe IWO
cllds .... iIl change as the: normal .nd prindPfJ directions of thc end
KCIioos rota!e. Since tbe anlroidal uis of the elemtnl boInes
curved., the cwo end Kctions ill general .... ill not remain pantllclto ucll
other . In Ihis asc. we may define thc de_nt uis 'i I I coofigurllion
C, as ,lie axis passing 'hrough the centroids of tbe end SCCIions.
Moreover, b)' assuming 1 plane'S perpendicular to tbe 'lIXi,. we ml)'
<kline 'i .nd 'i II tile $Ime conr"uration as ,he .venge of the
projections of the major and minor princiPfJ di,CClions, respcaivel),. of
the lwo end sections 011 tbe
plane. In the following. tbe procedure
roo- determining the ekmcnt ues and nodal SCCIion axes basc4 on the
positions and reference UCi of ckmtnt node5 i. presentw.
The scClion ues of norIc It .. configuration C. Cln be relalcO 10
tbe rer~rence ues as

's

SOl

....

(. )

( ')
FI,_,.., . EiemcIll.-diUICI...:l nodal eoordiIIIoleI:
(a) C. eotIligwilion; (b) C I ccafi",,.!ion.

(p. -,

II.

T; q (, 'I,

(8.2.11)

where tIM: left supo:.rsaipc '0' dellOlU the C.oonfill"'l1Ilioo, ('p,) the
seaion lXes of node A for tIM: frame clem<:nl, and (' q.) tile refcll'i>CC
ucs of node A. SiJIc:e 11M: ",ferenee ucs arc parallel 10 the global
coordinate axes Xl'Z II C. the lnII$formalion 1II1.m rRI ..... lberdore

be written

15

(8.2.12)

r-,),

in which
('II.). and "T.I dellOlc!be ~ponenlS of !he Kdion
nell of node A ill the global COOfdilUltcsA'1'Z. The matrix rR) can also
be interpreted as the Innsformalion matrix between the clement ues
and tile global coordinate ues for the fmnc clement I' coafiJW1llioa
C., since at this oonf~ the tltment is undefonmd and lhe
section Hell of the clement nodes arc paralld \0 the eiellKnl ues.
Bued on the assumption of rigid joinLJ, the IJ&rISformllion
between the reference ucs and secllon axes of the clem<nt nodes will

"1 U,..... '" .-,.

'*7

IlOl be innllena:d by ddonnations of 1M clement. Thus

(p II,

IJ. ,; q . t

(p II,

IJ,,,

'l, 0

(S.2. U)

(S.1.14)

q . (, 'l,

.. ben: {'p.1 and {'p,1 rcpn:Knl Ibc 5tioa nes of node A 11 C, Ind
C, respeclivdy . Similarly, tIM: following can be " 'r inen for IIO!k B:
(p .

II,

IJ. ,;

(p

Ct,

IJ. y; q . t

q . (. '1, ()

'l, {)

(S.l.IS)

(8.2.16)

10 equations (1l.2. 11}-(8.2. I6), ,U vecton have been tcfc~d 10 tile

global coordiutcs XfZ .
"The nis '; of Ibc frame elemclll at C, QQ be determined by lbe
"",ilion VeclOr fOf'llKd by Ibe 1_ nooks A and S ,
,'.I:] _ I "X._IX..

'L

. .' . .

' y _Iy

'Z -'Z I'

(&.2.17)

wilen: 'L deDOtts Ibe length of l11e clC1M1II1I C,

(8.2.18)
By defining '~IS pine lIOL'rnll 10 lhc 'Inil, tile projeCiions of ll1e
scaioa axes 'IJ and 'T fO\' nooks A and S oa Ibc 's plane CIII be wrincn
[Figun: 8.5(a)[
(j

II,

b; P

IJ,

y)

(8.2. 19)

whtre
(j

II,

b; P IJ, y )

(8.1.W)

...

,.,

'1..
, "/A
.... '>.I

'"

fit.,.. '.5 CokuLariolll of tkmcot eoocdinat.,: (,) A~ ....w pro;ec.ioN;

(b) New element ua..

Norm.lit;nl

..."

U ".

U ..

41,

b; p ..

b; p ..

II. y)

(8.2.21)

II.

(8.2.22)

y)

In ~ncral. the Stion ues 'j and 'i' for the two nodes wiJJ IlOl
remain parallel 10 each other as the dement deforms. ConKQucnlly,
tile proj1ions of lhe: Kerion ues of the t....o DOIks will IlOl be
rolncidcnt with each olher. By l.I~ing r!>elr Iyel'l~ [Figure SS{I)]. we
hive

so,
(I .. J.

'. .

I'i I J..I'~ I

.... M.e

t; p .. II, y)

(8.2.23)

(s-y, z)

(8.2.24)

<r - 1.t}

(U.25)

In gene/ai, the unit vCClOrS (',) IlDd 1',), which .c~_nl the
avenged dire(tio;ms of lhe pro}ec:lions of .he seelion UCI I ' tile two
nodea, will DOl ~ pcrptooicula, 10 each otbtT. In OM:. 10 establish e
onllogonal axil srs1em, further modiflClllioM hive 10 be matlc .
Baed on lhe pwpcny tlw !be diagonals of I rhombus arc
perpendicular \C) cao;h Ollie. and l~l they divide ,he interior angles of
ehe rhombus Into ' .... 0 equal parts, tile diagonals of the rhombus fonned
by the vectors {'~,) and ('l',) [figure 8.5(b)] a n be expressed as

[e,1 {'i,1 ['iI

(8.2.26)

(8.2.27)

- ['il - {'i)
which can be oonnaliud as

(1 - 1, 2)

(8.2.28)

aLong with

(.1: - 1,2)

(8.2.29)

Roc.tina the unit v.dars {'l',} and I'l',} counterclockwise: by 45'

[Figure 8.5(b)]. "..e obuin !he Iotdioo ans for (he rn~ dement as
follows:

(8.2.JO)

,'tl -

~(fill

I~I)

(S.2.3I)

TIle roI.,ion IlUlrix for 11M: frame elemcoe Ie oonfiguraeion C, can be

formed by combining ehc axes ('x) of (8.2. 17). ('y) of (8.2.30), I nd
(',) of (8.2.31), i.e.,

I'RJ 11'.1'1

1')'1 I'tll

(8.2.32)

Similuly, !be S1ioa ues for Ihc elemcne II c:onf.,.,"uion C, CIQ be

fOfmljlatcd based oa 11M: p<.l$ifions and reference axes of Ihc cleme!M
nodes Ihc Aid configuration.

8.3

Calculation of natural derormations

flor 1he pu~ of calcula.ing ehe elemcnc fOfcu Ie each incremental

,'ep, 'he displacc:mCnl illCl'cmenes (M) $<lIved from the $IrUrolffl
(incrcmeneal) equltions of equilibrium an be conc:eplually dc<:omposcd
InlO TWO puts, ,he rigid body displaccmcnl$ {M}, and ,he ",rural
(member) (leformalions (III ..

1111 111/, 1111,

(8.3. 1)

Accord,", 10 !be rigid body ruk, !be eITed of ri&id body displaoemePIS
ia "' _.'e .U !be initial forca actina on 1 fmile c~mcnt by an
equal 10 the rigid body rotIIioII. The r$lll it the prcxrvatioa of
equilibrium of the finite tkmcnl in the displaced COflfigunlioa, with 110
dIaD,c 011 the m.",'nodes oflhc Klins forca [tu 5tion 2.6 Of YIII'
lnd OJiou ( 1987)).
8 y tlgJd body displacements, lhe axes 'i, ';, and 'i of lhe mem'
ber .. C, will be converted intO Ihe axes 'i, ';, .nd ' 1 al C., IS indiuJed by lhe dashed curve in Figure S.6. In this flgUIC, lhe (\cfOfII\'tioII
of the elemeol from 11M: dulled to the fOJid curve . 1 C, has bCII

rC'ferrtd

10

'"

as the natwal or membt. defortliluion. for . space frmne

eklM"1 wilh six degrttS of freNom u each node, 1M !lalural ~

fomalion vo:ctof (M)_ rcferrtd 10 u.c C, Ue$; '1, 'i. and 'r can bt

..... inen as

whm: U, denotes lhe axilll clongalion; 6 ... 8,.. and 8 " the rotations o f
the frame eiCllII:nl .1 node .4 .bout the three ues '1. 'i. and '.
n:speclively: and simi lar ddinil;Oll$ arc .dopced for 6 ... 6,.. and a ._
By definition.

(8.3.3)
where 'L "Id 'L n:prUl:nl the chord length of the cklMnl . 1 C, and C.
Itspedivety Ike equation (8.2..18) for 'LJ.
1M other components of the 1LI1~ dc:fonn.lioa vtaof {_I. in
(8.3.2) can be lleurmined from the ~15CClIon uesand clement ues
It C, and C,. First, u.c direction vtaQn of the KClion ucs in terms
of lhe g1ob.11 rooroinalc ues in (8.2.13) and (8.2.14) II ronfiguralion
C, (where .t I, 2) gon be transformed inlo (hose in terms of the
e!fmcnl Uet 'i. ',. and 'z, 1$

'y

'A

"

'n

.,
~

stile

Cr slale
1'1 ," . ,

Rigid ~ displ"""",nlS lnd natu,.l dcforrnltionJ.

(.I: 1,1; P II, II, y)

(8.3.4)

WM,e the subsCfipl '0' indical" lhal the Icfcrc~ COnfi&Uralion is Coo
and ['RJ is 1M m.nsrormllion mllris far .M clemen, " 1M C. c:onfigu_
nolion:
(8.3.S)

As shown in A&uI<'ll 8.7{a) and (b), I~.} and I~.) deOOlt 1M natulll
defonnalions (rotalions) of the clement II node.4 from c:oofigunolion C.
to C, and C 1 .esptCtivdy. Constq~nl ly, lile deformational inm:meMI;
of tbc: ckmenl " node.4 durin, 1M irw:oemen~ "ep an be up t i
willi .ducnce 10 lhe C, section U<'ll as
(p ... , II , y )

(8.3.6)

wMrc I:"')' lill.), and I:Y.l ate 1M base VcelOIS fOllhc section UCI
of node.4 al C,.

Thus. we IIIovc showD lhal as the clement

from C, In C.
tbc: three Ue$ I;... ), (;11.). and (; y,) embedded II node .4 wiD be
rOIlled and become the ues dellOlCd u Ii ...}. 1111,1. and I!Y.I ill
Figu.e 8.7(1'). In Ihil connoc:clion. lhe amOlln1 or rOIl lion , node .4
OCCUlTing during the: ;JH;Jcmental $lop from C, 10 C, and its u is of
rotalioo ( .... J an be .olvcd. U l
fn\)V<'ll

(8.3.7)
whicb is SUbjcClcd to 1M condilion

, , ,

R, ' '':''', - '

(8.3.8)

Fultber, by leuin&
(8.3.9)

(8.3.10)

'"
'" t,.

,
, CJ
.'I,"~

'.7

V.... lioI> of ~ ooordiAola: (a) C, lUI<; (II) C, IU"';

(~) Roo'liona] Inm:mcnls.

~ can obuin the following relalions for 1M

tobtion formula (8.2.1):

lao-allis from RodriSvez'

(8.3,11)

'"

(8.3.12)

(1l.3.13)
Similarly. by !cU;ng

, .. [~II. 1 .. [0,

I,

OJ'

(8.3.1 4)

(8.3.1~)

the following ,dation an bt derived for.""

:j . uisc:

(8.3.] 6)

Subtrktinl equation (8.3.12) from (8.3.16)

yie~

(8.3.17)

Dy Iklining
(S.J. 18)

('y
, .. , - (y I '

y,.

y,,'

(8.3. 19)

.." _y dIow thaI, In addition 10 (U. I7), the followin, relalions are
valid:
~sin+. " - III, T,

(H2O)

II,

(8.3.21)

2n,sln~...

- Y,

From equI1ions (8.3.8), (8.3.17), (1.J.lO). and (8.l.ll), lhe following

rotlIpoMnlS can be solved (o, the uis of I'OIalion:

"'- ,
" - ,
"

(8.3.22)

A) - T,

I!, -

.-

'"

III

(8.3.23)

(8.3.24)

atong with the angle of loolion oil. as

.M.

.'('),

SIll

(8.3.25)

(8.3.26)
The vttlor

{'''.J

as derived above fOf lhe uis of roIation ha$

lIfen referred 10 as (he scct ion lUes {!p.}. where p. II, I!. y. II can
l iso be uansfo,mcrl inlo the dement ues IS follows:

(8.327)

With the upre$$ions of (8.3.25) and (8.3.27). tile nalural rowions

asso.;ialt(! with IIOIkA of llle ,Iomenl during !he illacmental Slep from
C, LO C 1 C&I'l be calculated simply as

(8.3.28)

Similar prl)fXdurcs can be fOlklwcd 10 "",leulale lhe n.W, al ,otations of

the elemen! al /lOde B.

512

8.4

---..,.,G_II...-.A....,....

Ca lculation or element rorcu

AI Jon, lIS tJ>c, IIIl\1rai ckfOlT\UOlions Ire calculaltd., the IIOdaI fOlt$
.nina: on lhe 5pace frame elc,,",ol II confi,uration C. an be litter.
mined. ~ on lhe Updaled f..a&:rangian formul.lion of Scaion 6.5
lhe tqu.liolll of equilit>rium for lhe 5pace frame elemenl can ~
aubiishcd.1 lhe current ddonned QOnfiguralion C.. bul .dcrmllo lhe
1m alcui.led c:onfiguralion C" lIS lhc one given in (8. 1.1). which fOf
lhe ~~nl pU'pose$ can be 'ew,iuen IS
(8.4.1)
with the subscriptS "I" added 10 signify IILII lhe associ.ted qUllllilics
have been referred 10 11K C, conr"uralion. In tquation (8 .... 1).
cknotea lIw: forces initially ao::Iina on lhe de,,",nl .1 C and 1:11 lhe
I0Il1 forru lK1ing on the clement II C,. Acco!'di", to eqUition (8.1.2)
1_ .Iso St1Ort 6.9). the tangent ..iffncq malli. [t} for the ~
frame tlemenl is eqUllIO the SUm of thc dmk .. iITness matr;lIlt.b the
,rorMlric $tiIT_ malli. It,I.1IId \be induttd momenl milld [".1. III
of which hive been derived in 5c<;!ion 6.5.
In lhe preceding $CCIion, it bas been Ihown lhal the ckfonnalion
in.cumcnts {II} ClIn be COIlttplUally ckcompo$Cd ;010 !he rigid body
displacements (II). Ind natural deform.lio ... {II},. 8y lhe rigid body
rule, Ihe effect of rigid body displ~ments il 10 r<H'fle III lhe initi.1
forces
leling on the finile elemenl by In Ingle equll 10 lhe rigid
body r(llilion. To K<:OUnl for \he effect of ri&id body displaccmenlll in
computer program. "iC can simply regard Ihe Inilial forces {:n, which
werc .ning on lhe demenl II C, Ind .eferred 10 tile IIU of C, prior 10
lIw: riJi<! body ~'Iion. lIS Ihe forces ao::Iinll on lhe demenl It C, Ind
uferrl to rhe ues of C, 'fter IIIe rigid body rOllllion. On !he OIhcr
hand, the cllSlic fora increments (J} ~ne1Iled by the IIIlural ckfonna
lions during tile inacmental SlCJI can be <:aIcu11led lIS fkIlM}" 10 lhe
ICCUI"ky of.1Ie fiB! orckr of the displlCC'ment incrc,,",nlJ. By adding
lip these IWO effects, we obuia the 10111 ele,,",nl forces Hn ading on
tile clemen. II eoor"lIration C, lIS

f:n

{:n

(8.4.2)
where .he left lubscriJ1l 2" has bn added .0 signify .hal .he 101.1
elemenl fOKeS ha~e been referred 10 QOnfigulllion C1.

8.5

_ _ -1 _ _ _ .. ....

-ri ..

,,<_

Reduclion of procedures 10 Iwodimensional case

The prottdwu praellted ill Sections 8.2-8.4 "'VC bren developed

mainly for SflIOe f~ conoeming three-d~ns.ioIIIl roc.lions. They
can ~ easily rcduc:cd 10 the two-dimensional tMe for planar frames as
....ilI ~ demonscraled in this KdioG. Such. redU<;tion KIVa not only
as I IlSerul dlc<;k 01\ lhe formulas derived in puccding KClions. bUI
.Iso as 1<1 iIIllSlratioG of ho .... !bey QJl ~ applied 10 praclicll problem5.
Helc, ....e shlill a$IlUmo: that the plAruir demenl i~ 10CI1i on Ihe '.r.',.
plane I I Ihe C, Cl)nfigunltion, .... ith Ihe nis of Ihe elemenl directcd
along Ihe '.ruis, .s sho .... n in Fi gure 4.2 01 4.3.
FOf lhe pulpose of illUstlllion, ....e shall COl\(cntUle on Ihe
Clleul.tion of lhe nalural defonnatioos {~.}. i.c., (8.3.2), fOI Ihe planar
(rame element. Fil$l of all, the uial donplion U. oftM planar hmc
c~mcnl an be Clicullllcd using cq~lion (8.3.3). if lhe follo .... ing
expra$ioa bas brea IdopIcd fOf the lengch 'L o( lbe element'l C, [sec
equalion (8.2. 18)]:
(8.5.1)

.nd similar uprwion (or'L.

NUl, leI IlS proceed .... ith the "lod'lion of aalural rotIlions .1 lhe
lwo end$ of !he clement. AOOJ!ding 10 Figure 8.8, lbe $CC1ion coordi
natn (' i .. 'P" 'V,) and (' i " 'II" 'V.) for node A 11 C, Ind C, arc

.
.
.~;Co atlt.

D-

"~&:::-"
,
~

f lIU . I.'

X
Nltunl dd""""tiona of pllnlr f..IM element .

, _ _ ,.,,.. G_<w

'"
I '.1

~~A~

.~::I .r'-I m
r- "'.' 1'~-:,-1 "'.'.m

)1.1

~I.:.

I'P.I

sin;..

1'1.1

(8.5.2)

(8.>3,

.... here ' and ' denote tile 1OW1nllla of rocation ofoodeA I' C, and

C, lespIivdy.
As NIown ill F.gure 8.8, the de.mnl Ue$ at lhe C, and C,
OOIIfilllritioos, i.e., ('i', 'y, 'i) and ('i', 'Y. '1). ean be upresxd
.upta to tM Xl'Z-uc$" follow$:

..w.

.~::I 1~'9'"I m
:0. ,'., .m
"" .~::I 1~""1

['.-..1

I',)

I'l t

61

(8.5..4)

(8.5.S)

whc:re '8 and 'e ck~e tile illdinalion an&Jet; of 1M ekment llIeI 'i
.nd 'i with respecllO!be borizontal Uis'l C, .nd C, respecliWly.
AccoIdinllO~ (8.3.5).1he tnnsfonnation m'l/"ica ['R) and I'RI
can he ""illeR 14

cos'e sin'& 0

I'Rf -sin'e COI'e 0

o
0

(8.5.6)

fRl T

.......
~ 'j
[, "
-.m:e

eor8 0

50'
(8.S.7)

which, alollJ with (qualioas (8.5.2) and (8-'.3). eln be substituted ~

Into equation (8.3A) 10 yield

,;,., .m
(8.5.8)

,;,., .m
(8.5.9)
From equation (8.3.6), we have

(8.S.10)

(8.5.11)

(8,S.ll)

,..
whicb imply \hat
(8.5. 13)

(8.5.14)

(8oS.lS)
(8.5_16)
based OIl the ddinitions of (8.3 .10), (8.3.15). and (8.3.19).
From equation (8.3.26), Iho: If\Iln1ity l is

(UI7)
Also, from e<jllition (U.2S). 1M angle of roulion . 0 II node '" i$

(8.5. 18)
SUbsli!U!illJ (S.5.13}-{8.5.I7) iDeo (8.3.22)-(8.3.24) yidds the followin&
compone-nll for the nil: of roulion {,ft1 node .... :

11,- 0,

..,-0,

11) --1

(8.5.19)

According 10 equation (8.3.28), Lhc llatll11l1 roulions .1 node A IIC

which .grca completely with the formula given previously in (4.6.2).

if it is ",Iti~d thaI 11le Ingles 6. and e, in the lauer sIIould ~
interpreted .. ineremcouol quaoUlies II1Q.IUrcd from Ihe ues of C,_
Obviously, the WIle procedure an be applied \0 lhe alcul.lion of Lhe

natural rotations for node B.

'"

aerore closing Ihis 5Iion. IWO points will be made ben:. Firs!,
the .... '"ral ckfonnatioa _ I " presenled in Ihis dui~r repruenlJl
only OM of !be .~ for alleulali", the element fom:s. ~r
Ipproache:$, ,lid! as those ulitizins the _pIS of Cltlm1111 stiffness
mllril 01' higher order stiffness mltm in Se<;liont 4.6 and .9, caD be
adoiMcd for lhe _
purpose as well. Sood,.n lhe proccdIlres
presented in pre .. lous $tCIions arc useful only forlhe atIlIlysis of splICe
o. pllnar fllmo. Most of them can be Ignored or dramatically
simplirled in the analysis of Sirucluru of the InW type, because o f the
.!>$ell of rQU,tional degrees of freedom. Po. insl.. ..u. if the member
forces of . If\IU clement Ire desired. then equal ion (8.3.3) will be the
only onc required. For the purpose of calculalillllbc clement lengths
'L and IL in (8.3.3), only tbe coordinates of nodi! points have 10 be
Updlled in !be illCl'cmcnll.l nonlinear lnalysis or tnrsses. All the
procedures requirN for the compulllion and updaling of nodal
refcrellC'e ues and nodal section ues an be omined for lure.

8.6 In(rtrn t nta l a nd ilerali\'e methods or solulion

In Ihls section, we shIll review JOIM of lhe mo.l commonly uS!
oonlinur fOlulion Khemes. Commenls ",ill be ,iven on the charadcris1i~ of each scheme in lenns of slability, IoCl;\lrKy, Ind efftdeney. IS
measured by compulu pc: rfonn~nc:c. TIle pwre i~cremc~11l1 me/hod 10
be discussed In Section 8.6.2 symboli z~ the mOSt origiM! ide, for
inc~menl.1 nonlinelr analysis, namely. by dividing Ihe loIding proa:ss
of I OOllllnCIl problem iOlo, nllmber of sleps and by keeping lhe sleps
rUSOlllbly ""III. lhe oonlinear problem C3r1 be converted illlo I series
of Hneariud ana. BeaUSoe 00 ilemion is performed . 1 each Il1m:men
tal Slep 10 ensure that lhe eqlUltions of equilibrium are fully $Itisfoed.
the IttlIrKy of Ihis method is ,enerally Olep-depclKknt,,,,,,ieb in many
tua CUI be qllCRionable..
TIle l'It:oW/PIR.pIuon ..elll<>ll to be described ia Section 8.6." is
one of 1hc 01dc$1 ilerative so:bemcs !hal is lIill widely used in 1hc
$OluliGn of nonlineal problems. This method can alto be ",ftrled 10 IS
lhe /fXjd tofllnH ", elh<>ll since the entire proeus is ch"'1Clerized by
constAnl incn:ase In applied load,ngs II each incremenl.l step. II is
good only fOI structures of which Ihe stiffne$$ matri~ is posilive
definite. Once Ihe alructU~ becomes unstable as exempllrled by the
OCCU~nce of ,'" gUllTily ;n the stiffness mal/Ix or Ihe oecuncllCC! of
limit poinlS in the IQad-defieaion I;\IIVe5 (sec Rgure 8.1). this mcthod

'"

$.imply flila. The singularity of. _lineal' prOblem an be. eimlmVenl_

cd by the displ"u,,~,,' CfJ'I.TO/ ... (flod (Section 8.6..S). ytt this _Ibod
it DOt suitable for problelDll of whid!. the ODIIuol dUplKCmc:1I1 corapo.
Mill IUds 10 snap bKk 1$ $bowu ill Flgun 8.1. AIL of the methods
mentioned above do _ c:onsMkr the vuialion of nonline.aricy 01
stiff_ of the 5IJUCture in the iOlutioo prooe$$ beCluse I const&N
inm:mcnl hal been UKd in earn CIK wbelher it is load ()( dis-

pLIoCeIMnl compoocnl.
Among the methods 10 be. l'Cyiewed here, tile lire lellJllh /fIerhlNJ

(Section 8.6.6) is ronsidercd I suJXlior one, since it ell .. generally cope

wilh problems involving limit points and snap-bK. phenomenon. In
prin.ciple, this method uses. constant Irt: le,..11I to determine the SlOp
slu for eacb load il>l;rcmtOI by which the yviltion of nollllnearily of
the SUUdure ill indirectly taun inlo _ n l. An orthogonality
coadilion is lben applied 10 guide the direction of iteration fOI eKb
inacmcnllJ 5kp. ODe dnowilld. of Ibis method is WI both tile
COIISWIt.~ ]e",th and orthogonality o;ooditioDs ate purdy mathematieal devica ""hida appear 10 be inconsistent in physical WlilS. As.
rt:SlIll, Ibis metbod may fail 10 JOIve probltltU with shup gnldienlS in
the vicinity of snap-bac:t. points (:see Section 8.7 for uplanation).
With the work co.roI ..tlltod. !he Q)!I()tpl ot c:onslanl .... ork
inc:fernenl 11&5 bua used 10 deletmiM !be load inm:rnenl tor each step
(Scclioa 8 .6.7). This mc!bod. be.ing <;Oll$i$lenl In physical uni!$, can be.
used for uteing pathl wilh limil poin!$, but with only limi!C4 AJOCeII
tor ulCina palh! involving ",ap-l>Ick points. In whal followJ, each of
Ihe IIOlullon tchemci mcnliODCd above will be briefly reviewcd.

8.6.1

NOla lloa for Incrtlmnla!.Utnll .c In.IYlls

91'11$ swtd prcriously, !he lIOIIJi1Iear deformltion (or kladiag)

pcooest of I IU\IalIfe can be. cIesaibed by Ihree Iypical configunltionl:
!be init;,,1 undeformed coofigumioo C. !he lui we:ul.led configunllioa
Co. &ad !he CIIm:nl Il/ltaowD coofliUnllion C.. To cnhance lhe
dis<:uuion oa inerelDCnuliterativc prooeduru in this WpcCl. we iIbIIl
lilt imlCId liM: ')'DIboli C. C..,..,.;I C, 10 de~c tile inilial ulldef~
conflgunuion, tile lui Clkllbted confiallnllion, ..,.;I 1M =m desired
configunuinr1 rupedlvdy, oflM _lire. With Ihis _ _ lion. the
inm:mcnul tw:p of thc sUIIC!ure flom C. 10 C, wIlL be ailed the fit$l
Itep. from C, 10 C, the second seep, Ind from C., 10 C, lhe Ith Slep.
All quantilies genenled during an incrcmcntalilep will he deooted by
letter following lbe symbol "to ".

Iu

".
FOI' caws where ilcnitions

arc:

""rformed wi!llin an iPaemenUl!

$lep 10 ensure equilibrium of strucIurc. whidl will b( lk$Cribed Iller on

with !he iterat;"e methods, di$I".Clion mllSl "" made bct"'ttn the
inc:n:raenw and Ite.-tivc steps. To !hit end, we lllall place J Tit~'
S"P<'rK'/pf on 'ymbols 10 illdicalc ,lie KqUeDCe number of !he
incremental step. and ,;,Iu 5MblC,ipl 10 iDdiaue the numher of
iterations performed within 11K: said i.ncrcmcnw Slep. Wllc~vcr 11K

icknlirlQllion of an incremental step bcromes unnc:<:c$$&l)'. li&hl

lupel'$(fipll will be dropped 10 simplify tile Il(I\.Ilion used.

8.6.1

PU" InCrTmenlal method

Based on tile updated ugrangian formulation, tile equations of

equilibrium an II( ...... iucn (Of SUvaUIC .1 tile Qlmnl def"""",d
confiaul1ltion. but ,cfernd 10 the: last aoJWlaled oonfiguration as in
(8.1.3). With !he present _lion, We arc. sayinawl during lbc illl
incumcnta) SlOp from C~, 10 C,. the equ.tions of equil ibrium caa be
established for !he structure al. the desired ronfllllllllion C. but ,eform!
lO!he!lSl known oonfigullllion C~,. Accordin&ly, eqll.tion (8.1.3) an
be rcwriuco as.

(8.6.1)
whc' e tile Iingeni s!ifTne5$ matris 1.1:'"'1 is evalualed lillie btginning
or the 11h lilep Ind lhe load incremenls ( lo P') I . e defined u

{loP', _ {P' , _ {P"' ,

(8.6.2)

wit.lt {P'} Ind I"'" denoting tIM: uu:rnal\olds acIing on tIM: !iUUClure
al C, and C~I resptiYely. In equllion (8.6.1). (.bo ll) dellOlal tIM:
displacemenl incremenlS gcnemw dun", tIM: IIh incremental step. in
response 10 Ippliaotion of tIM: load incremenlS {lol"'} . Al tIM: end of tIw:
i1.lt illcn:mental .fkp. lhe Iota! ex1emlllolds

IP'} acIing on Ihe I1rueture

can he calCIIlaled u Ihe ICCUmulatlon or IU previous load lnen:ment$.

11111 is.

{P'I -

,
E {lo P' 1
,.,

(8.6.3)

""
,

IU', -

E IAU'I

(8.6.4)

"'

At thi$ point, ..... Iike 10 reitente that willi the present incn:menUlI
Khcmes, 11M: Slnldure is ISSUmed to be in equilibrium II
and that
aU the informl'ioa of the SlI\IClun: up 10 Ihis configunuion is known.
In OIher words, we have just completed .11 the computations on the

C.,

StruClurc fo r the incremental step (rom C.110 C~,. indudi"8 those Slated
in Sediona 8.2-$..5. A5 a les\Ih, III the information required in
computation of the taollcnt 5Iiffness mal';I I.I:'"'J I' C. , AIe available,
which sbould include, in paniculu, nodaJ coordilllltet of 1he Slruclu.re,
,,!eIMOl OfH.nUllions, dirutions (If Staion axes I' clement ends, aDd
dement fors, as wcllllS applied Ioacb 00 the Slnldure.
Willi the pure iDcremcllll.] method, the load incunxnts { AP') 10
be applitd II eaeh iIIocnmental Rep (i.e-,1lIe ilh $ICp) uc: assumed 10 be
$lK"b small that variatioa of tile I&Ogent .stirrneu matt;': 1#:'"'] within !be
same incn:menw step can be IICgkdcd. As. raull, we dUly IJU\ the
UI~OI Sliff_ matri1 fr'] lIS ronsta/It and solve equation (8.6.1) for
!be displ..:emml incn:meol$ {AU') by any rquation-lOlving scheme or
tlw: triplo:-faccoring method described in Seaion 2.4. With tbe
displaamcnl illCKmenlS {loU'} oblJinrd fOl 1M Ilh IItCp.....e can tIlt.a
Loop over Ihe JlIoeedures described in Se~ions 8.2-8.5 to updale lhe
geometry, 10 calculate the nalDraJ dtJolmations, and to leOOVtr the
nodal {Olcta fOf e.rn element. After this cycle of Imputation, 1M
tangent $1ifflltU mltriK 11..1 for 1M Slructure at 1M tOO of the ith step
can be reeonSIlUCled. We CIlI tbm ~ with 1M ealcul alloo of tbc
behavior of the structure in tilt. nrX! step. i.e., the (I ... l)th step. A
schematic of tbc prooedure for !be pun incremental _thod has beea
pIotlcd in Figure 8.9.
AI CIlI be 111 from Figure 8.9, with the pure iPcn:mental
method, !he -'ida! behllvior of. SIIIICtUIe is modeled apptoJIimakly
as a p;eoewiK linear behavior. Oac ....amage of the method ill its si,...
p1io;ity. Howc~, for problems mvolviD&; lar,e disptaumenu &lid
rotations, the drift-off errors acaunw.lcd tbn:IuJh udI iIKKmcntaJ step
\IUIy be si,nmant. Moreover, thert. is 110 guannlee thaI !he StnICIurt.
will remain io equilibrium It ed of the IIOtulion poinu in Figurt. 8.9,
si,," no ilenllon has been perfonnc:d. In the liltf1i!UIC, vlrioUli
pnxedUICIo, iuch as tile p,cdic'",..:or.eflOT ",tllrod (Desai and Abel
1972), have been ",oposed fOf imploving tile AC>;\Irky of the pun:

Ip'l

r ----T10p'l

L_

'---~c---~------'"
IvHI
Iv' l
Ol' pl
incrememaj melhod. Howeve., all !he" melhods suITe. flOm lhe
drawback Ihal !he condilions of equilibrium a.e nOI e~aclly salisfied by
the stn.lctuu, as ileralions are DOl pelfo.mcd.

8.6.3

Slaltmt nl of prvbkm for InCrtmtnlal-iltn lin analysis

In Ihe following subsections, we $hall demonstrale how ilelalive

procedures can he illCQlJlO.. tcd al each inC/emental slep 10 enSUfe Ihal
the condilions of equilibrium are J.II1i$fte{l by Ihe Siructure and Iherdore
to improve the quality o f solUlions. Methods of this IIJIUfe hive bun
referred 10 as the inc,<"u~'dl.i'<'dlive pTOCed~.es, since ilUlitions are
pe.formed ~t each incremental step in lhe solulion prO<.:C.'iS. WMn
talking about any inCI'ementalilerative scheme, we afe faced with two
most basic questions, (I) How can the load increment be detwnined for
each incfemenuJ step? (2) Whal is the guideline fOf performing
itentions within each il\Ctemental Slep? Th~ two questions relate to
two different, but nol in<\l:pendcnt, problems.
For the special case where no iterations are required, e.g . wilh
the pure inc.emental melhod described above, the appropriateness of a
load incremenl can be judged from the magnitudes o f drift-oIT WOTS
occurring al each step. On Ihe olher hand. for cases where iteralions
an: pelformed, Ihe Ippropriateness of. lld illCl'Cmem CIIn be roughly
assessed from the number of ilenlions pelformcd at each incremenlal
step. Obviously, an ;dCaJ incremculll scheme should .llow the load

'"

illClTIMOI!(\ YtJy aecordin& 10 !he degree of DOnIiDeUity as exempHrltd

by 1M Sliffncu of !he $InICIun: COII5idc:mI in IInkI 10 optimize !he

dfJcicney of eomPU"'ion.
Thr. JODd q~ deals primarily .... itll the chanclcristia of

corwcrgelKlC of udI iterative scheme, tspeciIlty in !he IOlution of

problems itlvoJvi", various critical points, $IIdI as !tic limil points and
points indicated in Figure 8.1. As we lhall show tllCl on,

sna~tr.

for I pank:uLu probLem IOOIe schemu can al"'IY' yield. coovergtm

JOIUlion, while !he others jllS! cannoc. even if tIM: ~ Io-.d increments
have been .ppllcd for each scbcmc:. Whether an Ileralive 5Chemc: can
$LJOCeSSfully Ia Ihe lcwl-Oeclion curves of Slnteturc. inlo tbe
po5lbucltling range can be jlldgw from its convclgcnt character istics in
the vicinily of c:ritial points.
UI;II& the pruenl _lion, !he oonlinear rqul'iot\s of IlJ'VCIun
for use in tbe jill iteration of the itb ;"",",_nlal step CUI be wrillen in
Ihe follow;OB gcnc:nJ form:

(8.6.5)
of which tbe initial eonditioos

(8.6.6)
with the Iubacripl$ "r IJWj to indicate tbe laslllel'llion. liere,l lI U/}
dellOles the displaa:OXOl ifIc:.emeol5 of Ihe SIn>CUIIC for the jth
ilenlion, {pi} !he u lernal nodal loads appLiro on the $lJUCtu,e I' jlh
iuration, and (Fi.,) !he inlCmal ektmn. forces summed at each IIoIKk
of !he SII1JQun up 10 !he pn:~ ileration, i.~.1he (j - 1)tII ilft'alion.
The UlCrnaJ ~ {pI} caa atso be decompo$ed lIS fOllows:

(8.6.1)

or equivalently u
(8.6.8)
where lhe inili&! <.:Ondilion Is

{P~l

(r,'),

l.; i. Ihe load ill(femenl

faclor for the jIll ileralion of !he jib incremental Slcp 00 {p}

1,,",,-, _ _ - - .

of _ _

'"

.efeance load vIOr. With tile dispbalmnl illO'clmnlS {.4 U; IIOI~d

from equation (8.6.5) for the jth seep. lbe 100ai dlsplaamenll (V, ) of
.IM: IlruaUIC ...... be obtained by accumula.ion:
(8.6.9)
Conven.ionf,lIy, Ihe difCe'flKC belween lbe Ulcmally applied
loads (P'HI and Ihe inlemal clemenl forces (F'~ I) re$ul1ing from the
.lLIIlYliis of the plevious ;te"lIion has been rdemd 10 as the ~,,""Iuctd
forca. By Jelling {~_I) denote !he unbalanced form,

(8.6.10)
equation (8.6.5) ean be UWI'illCn as:
I
IKj"I J[4~t

"
.l./' trt
tRloI l)

(8.6.11)

For WflV1'nic:no:c, we ean furtbcr . cpIaa: !he pr"O:dlng equalion by tile

following two equations (Batoz and Dhal1 1m):
(8.6.12)

(8.6.13)

If the lIIOCiated displa.ccment incumenlS {4 tt, } hi ve been broken ioto

pal1$ in ac:a::>tdancc:

IWO

(8.6.14)
In tile following, we 5tLa1l npllio hoow the load illO'fmcnt f..:tof :1.; Q/l
be determined from the con.sll'llint coodilion ImjXl5N by cadi ilefllive
KhelM. FOi" lbe .... ke of clarlly. tbe supef$Cri~ "I" on filCh Iymbolthal
indicltci the number of tbe incremcncalltcp will be o mlued from bere
On. In otber WOlds. We shall .eplace l.j by.l." (4V,) by (AU,), {~,)
by {RH I. and 10 On . It is only fot those cues whelc iden1ir<a1ion of

S2"
!be illCUmenlll .lUp$ is

""""".

"_",,q_II-A-t)oU
nUAf}'

that sud! supenai", will bit

This method is probably the oldest iterative method Wt is still widely

used. Most itenllive $ChelTlCS adopItd in tilt IOlulion of nonlinev
equations can lit regarded as variltioll$ of this method. With !be
stan.d&rd Newton Raphson method, the utcmliloads Irc intTell$Cd by
constant llIlOIlnt only for \he rlJSl itenltion, i.e., for J. I, of udI
incremenlll Ilep. For the remaining ileraliOllJ witltin the 5aIl1C S1ff/,
I.e" for J ;t 2, lhe ~d increment Is sel equal 10 zero, implying that !be
CJ1em&1 loads 1ft kcp( IS constant. For this reMOn, the Newtoq.
IUph$on IMlbod has also been rdclTOd 10 IS the l(Hld ""uNlI lilt"""'.
In terms of the !old illeRmcOI fador "',. the COIIStnl;nt OOPdilion of !he
metllOO can be expt cd IS follows:

p}

I
(8.6.IS)

forJ;t2
A .schematic of lhe 'I(nltion ptoc:edurc for the Newton-R.phs(ln method
h .. been plolle<i in Figure g.IO.

Ir:1
,~[K!!..,.;:J
/ '
/

Dll]ll

F.ilun:

'"

or !be NeWlonRapitson prott<Iuf1\ in IOIvinJ problems

lavolviog lim" poin15/w Men reported c~",lIele (Bergan Jnd S\)ltide

1978; SaIOZ I.Ild Dlum 1979; Ramm 198 1; Powell and Simons 1981).
This an be altribuled 10 the face lhll ;Icralions hive been performed II
eofllilanl load. As can be ICeD f.om fig\1/'<: 8.10, with .1Ie NewlOnR.ph~n method, lhe direction of ilcralion ;. c:ontrollcd by lhe
boriwnlaJ line thaI represents. prc1Ct Icyel of Il!c applied loads.
\Mile"'" the applied ~ ucud the uilil1l.lie loads eonesponding to
limi, point al I. a::nain step. tile Ilorizo!Ital line WI
the
direction of ,!(nlion will nevel aoss !be lNd-<kncction curve. As'
rcsu.ll, PO QOO""~nt POWI an bt. achieved by 1M ilerai;..., proo;as in
the IICigbborhood of lun" polBlS (ICC Figun: 3. 11 for ilIulnatlllO of the
divergen! process where lhe number of ilcntiolll hu been encirded).
This is the n:asoII why lhe Ncwlan- Rapllson mClhod hu noI been
",commended for IrKing the ~ponse of Slructun:a beyond 11K: limit

,,,ides

point.

""'
Dbpl.

F... .... '.11

l)jw'I'"'''' of NewIOIOR"- IICntioea.

8.6.S Displacement conlrol mt'thod

The displacemcnl corulol method has bun presented by AJaYrU (1965),
arid I&UI modiflOll by others (Pian .nd Tong 1971: Zienkiewic:l. 1971).
II differs from !he NcwtOn Raphsoo method in lIIal ileralions are
pcrfonned aI a COfISWII displaoemenL With the di1plattmcnt IIItroi.
method, _ need 10 ..,1ecI a panicu.1.aJ displ.actll1("nt gompon>ent, Sly, the
'1th COIIIporoenl, of lhe s..uctu,," .. the conuo' pan.mcler (or performing

".

i,.,..

tiona. ut ~U. dc,note 11M: ~i$pl~,~;rqtnt iDcumcm of !be qtb

component 1U5<X...cd WIth .he Jill ,UntlOll. The Q;)lIWllint COf\dition
impo$! by the displacement conlr(ll method am be upreu.ed AI
follow.:

(8.6.16)

Ae<:ording to equation (8.6.1"}. 1he qth oomponenl of displ.Kemml c:u

be broken 60wn ;tllO two peru:
(8.6.17)

.lJ

,c"'' c-.-cc".."

.0"

(8.6. 18)

For the fil'$l. iter,'ion of eadI ilK.:n:mcnlll 51q1, i.e for / I, 11M:
IInbalanmi forces ,"-) are equal 10 _ . From equation (8.6.13). it
an be lUll IlIaI the displaoelTKnlS (.!.O}) also vanish. For dac
n:m.ini"a Iterative Iteps U ~ 2). bowcytr, the coillrol displaIMIII
incnment AU. is ~I rquallO uro accordiDS 10 (8.6.16). lifo/10M
lb the load paramclCl 1/ of (8.6.18) ~ 10
IJ. Uti

".

.0"
_ dUll

.0.

Jew) - '
(8.6.1!J)
joTJ~2

Obviously, lbc c,uernalloads are DOt kept ODIISUIII during !he juratioo
process. A tcbcm.llk of !be di$placcmenl OD<IlroI method II been
given in Filu,e 8.12.
. .
JII$' as I mtlhod ltenlli", ., a.>RSWIl loads f.ils 10 paSI the hm"
points, 10 too, method itent!n& at CODSWII displaoemenlS lid)' bRat:

,.0.,

T-- --- ----bPI

I--!

,..
I

10",,1

'---,,~".,",----od.-------,,~.;;

OOWQ wben the oonlfOl displaa:menl snaps badr from Olle load kvel 10
anotI!tcr (Ramm 1981 ; 0ist1C1d 1981 ; W~szya 1983). This is
c:crtainly OM disldvllltage of the dispbttment COI1tro1 1IKIhod, if ~
feal~ that KItion of proper displattment component for controlling the ite".;vf. prooess is not always otwious for ItnK:lufCI coosdling
of. gJ'Ut number of dcgrffS ofhwdom. To OVU;:(IIM lltls drlw*k,
we may . dopt prooedwa lbtl include all of tM di' plaa:menl romJlOoents, raiM. thi n. lingle component, for controlling Ihe dir~iOl1 of
itenlion. Bolh Ihe are length melhod and wo rk COfItrol method to bc:
di5cuutd In the following can be COIllidemi as J!I'(IdUfes filling io
this calegory.

'-'.6 Arc Itne1h ",d bod

The an: le.ll(lb method in ilS orip form is based on the followina
consminl cond.ition for detcnniDiIIg the load inaemenlS and for
performing ilerations:
(8.6.20)

where {b.U,) and { 4 U1) denote lhe di~pl~men1 increments for the
firs!.nd JIlt iteralions fesp"Clively, of the i'lt Inetemental SlOp, and tl.S
is the an:: length,

S2'
(8.6.21)

At !he beginnilll of QC/a irw:n:mcntal $Icp. i.e., for /_ I, tberc will be

no unbaJanec4 forces, ... hid! implies thaI {.6.ti,} {O} KOOrding 10
equation (8.6.13). It folIo..., WI tile displamcnl inQ"crmnlS for the
fit$! ilcralive $lCP CMI be reduced from (S.6.t 4) IS

/,,"UII - A1140~
wltk:ll can be fUbstilUtro bact. into (8.6.20) 10

(8.6.22)

y~~
(8.6.23)

This is exKlly !he load ma.:menl 10 be applied .1 the beginning of l1li;

lib in=mcntal .step. Onr. drlwto.;k of Lbc are ICllltb me!bod ill .pl'eKnl fonn baa bun rile lid. of information for deltrminina; \be sip
of !he load parl/!lClcr 1, in (8.6.23). II s/lwJ(I be noted that in. gcp.
bY-ltep nonllMar ..... lpis, Ole plus lign lefen to the 'laic of Joadin&,
and the minus sign !be stage of unloadin, fOI 1M. structure uDder
COlI$ide'.I;on (see Figure 8.1)'
FOI the remaining jlcnlli~ $ICPS, i.e., for J ~ 2, the iterations are
performed such thaI ~ will be DO ;naeue in lhe lrC length 60S IS
indicated by (8.621). In Ihis case, the .re kngth equation (8.6.20)
redllcailO an OfIbosobality COIidilioa. By fUbslieulinl rqu.lioo (&.6.14)
for Ibr. d~1 iDacmcms {6. Ujl ;'110 (8.6.20).nd lMMina WI AS
eqllall UfO for I a 2. the IoId ~r 4/ <=*n be IOIved:

1 .. --:c~I'~U'"'c'1~.~ii1_1c,.
J

{4U,)rldO,i' 1,

j'oT/:l2

(8.6.24)

At (all be _n, the arc knglh mc:1IIod it~~tu ~itbcr .t I (:()n5\.ln'

load, IIOr.t I constant displacement (II FI&ute 8.1l for I schematic
of the ite ... ,ioa procedure). With the Iold pan.metcf 1) determined, \he
d.isplacemcnl illm'mc:nlS {4UJ } for lhe i lk i'cII,ion ean be calculated
from (8.6.14).

'"

11

,
~ .\, 160.1 .. I
'------;ck--..J,-;!,;--,,Iv"'l
1\f.1 lu'l
DC.pl

The Irt: length method was dcri~ by Wempner(I971).nd Rib

(1972, 1979), ilIId l.ter improved by Ramm (198 1), Crisfield (198 1,
(983), Ind many other invwigalOrS. Conttplually, this method can
lCllieYe b(IUI performaoce than tile methods tllal employ citllo:r
eonstJ.nl load Of a)D$llnl dispba:ment lunlions. However, !he arc
length equation (S.6.2{)) Ind Ibr. ortIIogonI1ity condition it implies are

not consistent in physieaJ \llIilS. for inst~. in (8.6.23) and (8.6.24),

(he load floClor 1/ i~ by Itself I scalar, ?ut 1M displacement ~ctora
( QU,), 14 11,), { bo U,}. (All,). and {QUI } contain Ij\IIlllilies svc:b as
Iranslations and rotations which an: diffemll both in unilll Ind orden
of IIllIgnitudu. Numerical diffICUlties of certain son an: likely 10 oa:IIr
due 10 such inamsislencies as w;lI be uplained in Section 8.8.3.

The work ronlrol method proposed by Ylng and McOuire (1985) is

based on lhe followina consuainl equation:

(8.6.25)
wbere the work in<:r<:menl 4W is defined IS

,,.

,.,
toII$IQIU

'W 1o

, wl-G ...

jor J

"II_~

(8.6.26)

foTjd

For the rust iuration (j. I). \be constraint equation impliQlhat
the IOIId parlIIIekr .1" is delUmiMd (III tile basis of I constant 'IIJOfk
increment '" W. By 1\I~liluting equation (8.6.22) fot (tr. U ,) inlo
(8.6.25). the 10ad ~eter l., can be obtained .u

(8.6.27)

where 1M sign remains 10 be dclenninl.

For the remaining iu.nl;ve sleps (j ~ 2), the load paramcler 1, ..
c;\eUJ1Dined 110m the c:onditioa of UfO work iDaeroeat, i.lt., with 6 It' lei
equal ,0 zero. By the use of (8.6.14). from (8.6.2S) we can solve die
load panmetu 1, IS

,<6.28)
EvilknUy. lIIe p/lysiaoJ qUlnlilies involved in both of !he prccediD& two

cQlUltions arc COll5is1enl in units, which npresents an improvcmeal over

them length metbocL A oomparisoa of eqllllioa (8.6.28) ... ith (&.6.24)
for the ilml~ SIC. . indicalai !hal tbe WOft Wlluol method diIIa:f
from tbe arc Icnyh metbod buch in \be omissioa of the COllcaiaa_
A, in the de_inalor and in the use of dlfferent weighti", Vtd(lf1 fu
calcul.lllD& the load paramelcl Ar
For problems where !he Ioadinp consist of liingle COIICCPtnlN
load, equation (8.6.28) reduces \0 (8,6.19) for the untive $Icps willi
j ~ 2 berallY tbe reference to.! VC(:S(lr (PO) contains only ODe ~
eiCmenI. For this special cue. !he work ODIIuol method mtuca 10 !be
displ~mc:nl CODIIOI method, will1lhc dilpla.umen\ asaoQa.!ed with !he
IIOlIUro load oomponenl aervlng IS the renno! parameter. ilowever,
fOf ...sa where there Ire more !hall OM conccntl1lled 10IIIs. the
iten.tioa ~risticl of the MIlt COIItrol method will be difTe~1II
from !bose of the displlc:cmenr ClOIlIfOI method, ill tIIlr both tile loadS
and displ..,;emc:Ilr5 In: not kept eonslallt during jlcntioa.

m
In pw.:~ic:o:, the load incremcnl )" <:all be ,elated 10 the .""ent
(CSP) proposed by Bergan (1978, \980) IS

~fjfftt ptJrll",."j

.1"

" ''',

ICSPJIil

(8.6..29)

wb.~ A, dc.noIes tile load j~m.nl for the fll'$l. inc:rcrmota] lI.p and
the Dlrnnl Itiffness par&/Dt'ler CSI' ;, defined IS follows:

(8.6.30)

wileR {6Ul} and {.1 U:} denolo the displacement inm:mcnts associated
willi !he fUSl itenotioa of tile (IISI and lib inc:n:lIICntal ~ps TC$pCC1ivcly.
To verify !be ,datioa Jivea in (8.6.29). _ caa simply substitute the
Cl<prCMion for CSP bad< illl<) the ,<:I.ation 10 \>btl;O

(8.6.31)

which is UKtly , nUI.ment of 111e.

c:on~

of conslJ.nl work

;nm:rru:nl.
1M ainu! SlifflleSl parameter (eSp) has an inilial valuc of unit,.
for Iny nonlinear ~res. One I"noe:raJ property of this puamtlc. is
thai. it tends 10 muse for structures thaI are loaded iOIa \be stap of
stiff.nina, and 10 ~_ for SU\JClU,c:s on the ""I. of softenin,. For

IIlnIctures reaching the limi1 points on tbe load.(\cfledion curves (lICe

Figure 8.1), tile =01 ltifflltSS pamnc:ltr beoomes c;u ctly equal 10
D:ro. Thus, I positive CSJ' R(CI"$ \0 altable rcgioa on Ioad-dclledior:l
curves, for which 1M external loads can be increasingly applied. To
rompl)' with Ihis Slllil" of loading. 11M: load parumlcr .\ , ;n (8.6.29)
should boI m.<k ~ili"e. On the Othel I\and, l>epl;ve CSP f;Q11CIpcII'KiI; to an unstable leJioo on Load-dencction C\IIVe$, for whicb lbol

u~n!.IlloIIds 5hou1d be decreasingly applied. A5al~ll, the neptr,t

lip in (8.6.29) sbould be seleded.. One dnwbadt of the atrTaIt

lIiff_ panme~CI is tha~ iI appIOIChes infillily in tltc vkinil)' of snap.

back poillls u will be diso"""" iD Section 8.10. For this.CI5OIl, lIN:
work c:on~roI mclhod described beR is generally JOOd for uacirlf: polbs
wilb limit points, but witb only limilcd ~ for uxina potb&
involvlna SDlp"back poinlS.

8,7 Theory In N + I dimensional sllace

In I nonlinear llrLllys.is, we ' " basically faced wjth !he problem of
solving for !he N + 1 'yllem pamnt:~ers (i.e., N displaamcnt compo.
/lUts (AUI) and ondoad fador .I.) from the N + Ilysrem equatiooIs
(i.e., N eqfIIt>ons of equilibrium aIId one COIISItaint tqullion). nc N
tqlllt>ons of equilibrium for !be stnICtUR tb.a~ arc lUirablr. for !be }lll
ilr:nlioa of the /til b"'''meaw ~ of. _linear analysis IIIve bca.
civen in (8.6.11). whicll can be reproduced beR wilh ~hc. superscripts
.... rbopptd for dinly.
(8.7.1)
where [K.... I is tbe tanacnt SliITnc:ss malliJ of ~ he itructure, (lI Uj ) !be
di$ptaecment inerClIlC:nt veaor,l J the rderence load vtor, and ( Rr,)
dcllOltl the unbalaoccd force VeclO. resul~ina f. om !he previous
l~",l ioa. A5 WU WIled in Section 8.6.3, solutioa of the prttedin&
matrix eq\lltion can be broten dowD into two partS U follows (Batot
and Dba"

1979):
(8.7.2)

(8.7.3)

(8.7.4)

where lhe load pIJ1IIMle .1.1 Iooos 10 he determined from the <:OMmIint
equalion.
In tM snmling seaion, we have <kmonslrltwtlw each of ttle
solulion IMIbodI discuSlfd diffen onl1 itlthe lISe of different OCIRlroi
pIJ1IIMur 01 ~m condition fOl deurmining the load illCfC'IMnl$
.nd for ptrfonning ile .... ions. TlIroftliallly speaking, aU ttle N + 1
'y5lelll paraIMlen CIOn be possibly scle<:tw. wbetber individuilly or in
combination, IS lt1e conllOl paraIMte.. In a gellClll formulalion, it is
useful 10 stUt with lhe following a.>nstraint condition:

(8.7.5)
in which III the N + I syilem parameleR have been conliderw. 'The
reliability and tffedivcI\CSS of a nonline .. solution sc::heme hingu 011
tile scllion of the ~IS {el and nd the ~menl pat.meter
HI for tbe COIISlraint equation. In tbe following, we lhall derrlOR$U1lle
how the COIIO'pI of SI.. "'lily, or booo~JcJ ,cspolOSc, widely IISCd in the
Sludy of Sll\ICIwal pcrfOl'lllllK'e au be used as I aittrion for evaluating
the I.pp<OPrialellCSS of YVious mnstnJnt panoIMle~
'The premling sySlem equltionf ,nd conSlllinl condition, I.e.,
(8.7.2}{8.7.5). can be combined inlo a single m.lri~ equation in the
N + I dimensional space 1$ follows:

(8.7.6)

wbere !be gencillimi "iffncss manu Ik~,J and JK~,J in the N + I

diIMlISional spK'C Ire defined IS

IX . 1 J

IK,_,J

tK
I-t) +1:11
[CIT
(K}_,J
[CIT

+[~,11

(8.7.7)

(8.7.8)

".
For the

we: of clarity, the subscript "'- I " for udi stiffness lllalrix

will be dropsled from ~ OQ.

The N x N stiffDeSl matra IKI c:an be dtcompoKd II$ina tile
uipk-fadOriDllMtbod of Sectioa 2.4 u follows:
(X) (LlIDIIL) '

(8.7.9)

wlKre [DJ is. diagonal m~lrix and IL]_ lowe, uiqular mauix willi
,II tbe di..gonal elements declared to be unity . Ao;wrdingly. tbe
determinant of [K] it equal 10 lhal of [DJ,
MlK]

dellDI

(8.7.10)

(8.7.11)

(8.7.12)
lhe

~nerlli"d

IliffllUl matrix

[I

['L'

lotI can be decomposed

0jl'D' 01['
ttl L0 ]'

ITII T I 0

u follows:

(8.7.13)

wh<o
(8.7.14)
Co/uequenlly. the dctermillant of !be geDC""iud stiffness matrix

(kJ

"""~
(8.7.15)

On the otller hand, from equations (8.7.11) and (8.7.12), the following
rcillion an be derived:

SJS
(8.7.16)

Sub51itu!in& tqullion (8.7.16) [nIO (8.7.15) yidds

(8.1.17)

which, with the use of (8.7.2), can also be uprused as

(8.7.18)

Reamn,ing ~qUlllion (8.7.6) yidds 'M following form:

This equation eJurty indicates thai for lhe pIIl'llmclen "1 1nd {6lJ,} 10

be bounoXd, the delcrmilW1l of the genel'lllittd sliflnus mauh fk],

r.ther than the original $Iiflness mlniJ [K). must DOl be. zero. The
inverse of the g(,",raHud Sliffne5S m.nix

Ik]

can be represented by

(8.7.20)

"'I.

whc~
{D,}. and to,} are lII.tri~ Ind v!ors COII$i$ting of
ooft(l()rJ; of lbe clemenlS in [k]. Using equations (8.7.20) and (8.7.8),
...c CIII $how thai

- 1A1[RJ.,1

- IDI ,rlR.t.,1

(8.7.21)

,,.
SubslilUlion of equ'liOIl$ (8.7.20) .nd (8.7.2 1) inlO the lase row of
equation (8.7.19). along w;lh the ... of cqualions (8.7.3) Ind (8.7. 18).

yidds

(8.7.22)
Bod! CC(I1aIIons (8.7.19) and (8.7.22) leNt as I very useful t.is for
evalu.ting the numerical subilily of various incn:ment.,-IIC",llve
metbods for the SOlution of nonlinear problems. Here , I IOlulion
method ill said II) bee ~u",uk"IJy ,,"bit only when bo4.b the load and
displ"<lemenl inacmcnts, i.e., " 1 and 14Ujl. Mllved wilb the _1Iod
~rnain bounded throughoo.n tbe cnli~ history of loading. Whmevu Ibc
load or Iny om: of the displacement oomponcnts cuse 10 be bounded
It certain poio!$, numerical instability or divergence may OCCUr ia Ibc

slep-bY:IIcp $(IlUlion p<()I:e$S.

From equatioD (8.7.17) Of (8.7. 18), it QII be 1:0 thaI once IiIMI
point is ClIOOIInUrN, tile delcrminant of the [K) malfU:: be<:omeI eqIIII
to zero.nd so does the It] matrix. Evidenlly, all methods [bal em...,.

collSU1linl equations in the form of (8.7.5) will flil righl .1 limit pm.a
II should be DOted, ~~r. IlIat I limit poin! (or snap-back poi.I)
teprueDU merely I matbelJUltieal point in the 1oadllcaioa cun.
which can hardly be clICOIIolcrcd in practice due 10 the . , . - of
various computation and $lOoge CITOfS, such as tile truncation uron
and round-off errors. 1'IIe,"(o,e, wbe~ talking .t>o\Illhe ileotive IIII:tR
of I toIuUou. 5Cbt.... , we Deed 10 be conc:crned only with lhe gC'1ICftl
ODIIv<.gence c:har.eteri$lics of lhe $Cheme in IpproICbin& .nd in
deputing from the limit point or othe. ailical poinll. This i$ lhe
reuon why we prefer to use terms such as the wlclnity (Jt n~i,~bot~ood
of aiticaJ poin!$, rllhc:r than aiticaJ points.
It should be added that the IoId panlMt(f ~ as Jiven in (8.7.22)
caa lbo be solved directly from equltions (8.7.-t) and (8.7.5)HoweV<l, by gOiD8 Ihrough lhe fOlegoing proc:cdure, we are able 10
examine the roles of both the Ioad.nd displacement parameters in lhe
incnmentalitemive tOtution proces$. Moreover. we are able 10
demonstnte tIw it is lhe determinlllt of the gener.altud stiffllC:S$ nutri:l
(.t]. ntlKr than the oriJirlll stiffness malrix (K], Wt detcrmU!eJ
whether the system ~rameters Aj and { ~ O,} will remain bounded or
IlOl in such proc:ocu.

uc--..... ...

__

8.8 Comments on existing solution melhods

By !be OODQept oCbounded 'e$pORSC,!he ipqe .... nw.j.erWvc ....lboo;b
presenled in Section 8.6 "ill be IUYltualed in Ihis Jedion . II should
be nored ltu.. !he Ufne cri'e'ion can be applied .n (valul.ing o,her
mc.b0d5 "ls,lng in ,he li'era,un: if cons'rain' cqua.1ons of 'he form in
(8.7 S) IuIve been adoprf<i

The orig;lLI] NcwronlUphson mc.hod performs ;'cralions .. constanl

load. This is cquivalenl '0 .ooption of !he follow;ng oonstants for !he
eons,rainl parameters! (e) {OJ; ]; H, I prescribed load
incrernenl; and HI 0 fOI j 2 2. By iulmituling Ihese values for ,he
puamelers iJllO equation (8.7.22), Ind noring
(11', 1.
{OJ
for the rlfSl iteration (j I), "e can easily doe.ive !he c:on$lra.in.
equation Pf(viously prc:5Cnled 1$ (8.6.15).
Wilh this me.bod, It ii .rue
1he load ~(.cr ),1 ",mailll
bounded, in fact, equal 10 l:(ro by po$.ulalion, for i.eralive s.eps Wilh
J 2 2. We should nor forget. however, ltu.. 15 1he limit poln. is
apprordlcd, the determ;nanl of the or;gillal stiITnesa ma.rix [K] "ill
approach UfO. Accordi",.o equa.ion (8.7.]8), _ ob$I:rve rlurl !he
doeterminant of .he gcneralized stiITIleJI matrix [tl also Ipproache$
WO, since Ie, (0) llId t. I. From equllion (8.7.]9), i. can be
ua:ruined rlurl !be displaee .... llt components solved lien: .end 10 be
IllIbounded. Thus, the Newton~ rrw:!hod is not rOmmc:Pded
(or so]vina problems involving limi. pointJ.

,ha,

("" U,,

,lui,

8Aol

Dl5plaumu. ron'rol me,bod

Le. the qrh componeRe of dilplaccments be the oonuol parameter. The

following In: assumed: (e}'. {O - 0 ] 0 - O}" of which all tbe enllies
Ire declared.o be lClO Uttpt !be ,.iI; k. 0; H, ,,"Uol (I prescribed
dispb<;crnenl illC'll:rrw:n'); and HI 0 (or i 2 2. Subsliluting thea
puamtll:ra iJI.o equation (8.7.22) yields cUdly the equation fOW'ld In
(8.6.]9). II arn be verified rIur. in lhe vi<:injly of limi' points, borb the
gene ral sriffncu malriecs [kJ.oo [k] lemain oonsingullf as loog as the
(KJ mallixill oonsingull,. Evidcnlly, bcMh the load .,....... 'e. )" [sec
(8.7.22)1 and the di5pboo:cnenl ipqe!roenl5 I ,,"U,) (see (8.7. 19) for 1,,"0,)

SJR

"'''_",,/OrG

"II_~

and (8.7.4) for jdU/JI ~ lolxortinile magnituOcs. lblsmqflfl'DS

the capability of tIM: displacement a)fItlOl method 10 duJ with limit

points.
Now, suppose the ronlTo! displacement panmeter, I.e., the qtb
ODDlpollC'nl of displacements, snaps bKt It f:C'rlain Ioadilll $Ilge$. As
\be map-bact point 1$ approadIcd. tbuc will be DO iDcr_ or deaua
ill the rontrol displacemclll, i.e .. dU, - O. frvrn cqIIIlioa (8.1.18). ~
obKrve lhat 1M cklCrminaal of tbe [kJ m..uU: appnIIdIu UfO, IlIouglo
the 11 mattix ~mains unequal 10 uro. Evidently. numerical Insubility
may OCCUr in .egions where tM ronlrOl displacemenl lend! 10 5n.Ip
bKk.

1.8.3

wallb mdbod

Previously, various iterative VC(:lOl'1 have been imposed by resun.:bm

ill Ipplying the Irc length promIura 10 IUick the direetion of llCfllioa.
forlhe p'tKnl pIlrposes, only tbe I re length method with r.~cd nomIIl
plane in the N .. 1 dimensional spKe, IS WIS ~nt~ in Sec:Iioa
S.6.6, will be dise"S'~ here. Assume the cortW1Iinl paramaas
follows: Ie) (dU,) (= ),,(AO',)); t . " ,; H,. dS', where 4S. 1
JIIcsaibed are length; I!ld H .0 for J 1t 2. For tIM: inen:rIIC1IIIIllCp
(i.e.., with J 1), I dO' ,) {O}, the load paramelCr " , liven by eq 'io"
(g.7.22) red~ euelly 10 tIM: one given in (8.6.23), while for the
itcrative steps (i.e., with i 1t 2), il wi11reduce 10 lhe one in (8.6.24).
from equltion (8.7.l8), il is eertlin thai the delermlnlllt of the
[k} 1l\luU: will umain llneqUil10 W'O ill \he vicinity of o;ri1ic:1l poiDts,
$UCb as \be limit points and snap.bIct points. Howe~l, bItllX tIM:
usc of diffuuu IInits for tIM: quanlilia in CCjlQUon (8.6.24), !heRo uists
!he possibililY for !he load parametel " , 10 Ix 10 large that \be sill' of
" / ckpcnds fully on the angle Ixtween (,,"U,) and (dUl l. For insUnCC.
in the vicinity of SIUIp-bat:t points with s.hllp sradients, it is likely \hal
improper lips mly be obIaiMd for the load panmeter ", which may
lead 10 inooruct iterative diredicl", I!ld eventuaUy numerical d;\le,'

or

..

1.804

Work coalrol ","bod

Le! fe) "I( ~}' k .. 0, H, "" W (I prescribed work incremenl), and

H} .O for J ~ 1. Substitution of tllesc panmeters into equllion (8.7.22)
ylClds uldly !be uprcssions for the load pawnclcr in (8.6.27) and

"J

'"

(8.6.28). Fa. "I\ICIU," with. small number of load wmpolM'nu. !he

delCrmllWl\ of the [kJ mllr;" .... y approach zero if the degrus of
frttdom usocialcd wilh tbe ICNKI rompooents lend \0 snap bKk, aJ can
be verified from equation (8.7.18) by $eni", t 0 and Icuing Ihe
components of {66'1) C(In'UpO!lding 10 the load COIDpOPe1lI1 -w<*'h
zero. This bas !he: ind~ioo thaI certain numerical ditrocuhits mly
OCCUr ilrou nd Ihe SIIIp-tm::k points.

As an JJtc:.nalivc tOf uptaini"g Ihis p/lcnomcllOn, we have

.I., c:an be .tllled \0 Ihe cmenl
stiffness parameter CSP by (8.6.29). Since the CSP tends to approach
infinity when Iny one of the loaddcncction curves snap!! back (sec
Stlon 8.10), Ihe~ uists!he pouibilily for (he load parameter 1 , \0
be<:oIM unb<.>unded.. As esult, lile WOIk control method is likely 10
fail (Of SllOCtUreJ of which the degrus of fRcdom assoc:i. led with the
Io;Id components .end 10 snap b~ck in tile load-doncctlon curvell.

OclllOl\5lQlro that the load patU>eIC

8.9

Genua llzed displacement conl rol ntcthod

1\ has

been demot\Slrl.ted in SediollS 8.6-8.8 thaI IIIOSI of Ihe existi",

methods arc 1101 pcrfeCl in lerm, of Ihe following criteri.: (I) numeriCIIl
Slabilily ill approaching the aital points, Ii""h as limit points Rnd
snap-back points, (2) adjllSllbi];ty in klIId in=llKnlS 10 rdl", ~
variltion In 51iffMSS of the structure, (3) IIdf-ildaplivc: Qlpabmly in
detennining the: direction of loading_ In addition, it has been shown
thaI numerical SUbility of , solution method binau 01\ the bounded
<;huacteriSlics of ~ load in=ment factor 1, and lhe displacement
incrc:menlS {loU,}, wbich, in lum, reliu On the selection of proper
constraInl paraD1Clers {e}, Jr, and H~ IS an be 5e:en from equations

{&.7.18K8.7.22}Baled on ~ prttedina c:onsidultions, the following have been

proposed by Vana and SlIieb {199O}: _ 0, and {e} 1,{lolJ:'} .
From equation (&'7.22). we: obtain

(8.51.1)
where all quanlities with 110 JUperscripl should be interprclN IS IhoR
assoo;:ialcd w'llI the IIh ineremcnlll Slep, {t. lJ: 'j dellOles the displaceII)COI incmoeolS ra.ullio, from the first ileration of the: (f - 1)111

,..

_.

i"",!_1I1al Wp. and H, is sene~iud displ~nl. Sil\Oe

{4U,1 (01 for J" I and HJ 0 for J ~ 2, the pl'fading equation

(8.9.2)

for the fir$l ilc'1ll;ve Slep. and

),

._

160"'jTj&UI
I

wllJ'J~2

11I O-:-',r(lIOjI

18.11.3)

for lhe amain;", iterative ilkps .

By lakin, {4otJ equal 10 {ADa, from tqualioo (8.92}. ...can
obtain the sencra1ittd dispb.mnc:nl HI as

(8.11.<4)
which an be JUbsl;IUlCd bact inlO equltion (8.9.2) 10 yield

(US)

P\lrtbcr. b1 iaUQdl,w;;i08 tile ,uu:r.lizU

SI;II~us pllrlU'WU

(GSP)

follows:

(8.9.6)

thr. load puamcte. '\, for the ilh Slop can be rompulCd as
(8.9.7)

wiler. the load increment .I., for the firs! \oad $lop is I puKl value.

'"
The method of 5OIulion presented here nlay be rtferred to as the
t~lIt,"luu displlJumell' CfHI/.ol ", 11011. It is superior to mosc of 11M:
nislina melbods for the follow"" r~: F'1fIl, nU1M1'i<:al stability
QlI IlwlY' be assured In 'e&ions I'IW' the lim;1 points and snljl-back
point, in lhe senx tluil both the load parameter ", and displacement
inerem.DtI l o U/) nmlin bounded.
Second, Ihe variation in
I>OIlli/lClfity of the ~if(ness of the IUlIClurc bll$ bun taken iOlo account
lhloup the GSP, as can be $eCn from (8.9.7). Fmally, I ctwJgc in tIM:
sign of GSP serves as In indicator fOi rev.mlll lhe diro:ction of
loading. The reason for this will be given in tIM: following SOI;Iion
Whel. pmperties of tile GSP will be UpiOfed .

8. 10

Ge neral vs. curn-ol sllfTnt'ss pal1l meten

The current stiffness puamelel (CSP). as proposed be Bcrpn ( 1978,

1980), IllS orten NcD IIKd to monilor 11M: varillion in st;ff~ of
structure In geometrically aonlinear llIIlysis. StUl;n, with an initial
value of unily, it will Increase as IIIe IIliffness of the ,trudur. Increases,
and vice WI'$II. A :tero vaJue for the C$P implies the occu<un.oe of.
limit poio . Despite tbek IISduI ~ristics, the esp i$ DOl $lIitable
for application to problcllUl involving multiple critical poinu. FirSl of
all,lM esp changes lign at both limit points and lnap-back points (_
the numerical studies in Stion 8.11 fOf iIlusuation), thereby mtklng
it impossible 10 distinguish between these two types of points.
Re.a1izina thal tile dirrctioll of Ioadin, !Ked be reverwd only ... hen
passing the limit points, we can ste llIat the esp ;5 no! a proper
indicator fOl guiding the direction of loading. MOIeove r, the CSP
varies In an abrupt manner whenever any displ.cement oomponenl
5MpS bild. Such a lack of $mOOlb1lt$$ with tile esp in approaching
1M snap-back points can allSe ~ruin numerical problems if wc Iry to
link the load puarnerer l / to the esp, say. lISing fonnula of 1M type
given in (8.6.29).
The general stiffness paran1CtCT (GSP), U defined in eq\I.rion
(8.9.6), !au sevcBl importlDl dwKWrislit:I:
I. The GSP hal tJe,en defined in (8.9.6) u the ",rio of rhe nomt of the
displacemcnr inacmentl at !he fi~ Jlq> \0 thoK (approximately) at
the culnt step. With such a definition, tile GSP is rCpl"CKnta' ivc
of the stiffness of lhe JlfUClurc II lhe ClIlnl l~menlllSlep ... Ilh

'"
2.

reference 10 tile rll$l $ICp. o..e adYanlagc of this patuK~r is !hat

no jllmp ill lIurnericaI vaJuc: ~y :CUI ~cn in rc,ions Ileal' !be

--

asp tums out to ~ IICPIM 0II1y for tile incn:11M'ntaJ seeps

;".,,,diJJu!y .fiu tile limit poiDts, WMIUS rOf 1M other incrcmelllal
stefl', i, will &twa,. remaiD positive. This <;all be Ittributed 10 1M
facllhat the sign of asp depends fully on lhe two veaors {Al'f,'"
aJId (All,,, u can be seen from cqua1ion (8.9.6) or sd\t;malically
from Figure 8.14. Since !he GSP can reHably pl'cdiCl the oc:currence
of 1Imil poinlJ, it serves 1$ good indicalo, for ch'nging tile
~

direction of 100ding.

3.

n.e asp, simUar 10 the CSP, starts

Wilh Ihe Initial v.l~ of unily

aDd "ani$bct: I . limit points. It tends 10 In.cnase (Of $Ill1C1u. C$ on
!hi: fIa&e of stlITcnin& and 10 deauK for .truCllllU on lhe"'ge of
IOftCnlng. ~,\be GSP it superior 10 the CSP in Wl it
n:maillS bounded througbout !he cn~ hiMory of loading. rcpnlless
or!he" plUente of snap-bedI points. N Iud!, il c:an be 1IM't"'M'uUy
used in formula sucII .. (8.9.1) for adjusting tile 10.1 inertmelll
pamne1Cr 1J at each iDcrellleDW step, lIS n:n1ioa of the IrIfiation
ill nonlinearity of tbe SIJIICtUre COBUdored.

oS

','
Q

a -lcO~'1

'-'

-- --

v -14t1!1
Displacement
Pll .... '. 14 Charaeierislicl of GSP.

8.11

'"

Algorithm ror geomt trlc nonlinear analysis

11K ~tllod P'0JICI$0d in Seaion 8.9 CUI be ir.c(N)JOilted in ,,~ncnoJ

analysIS program for tolution of gcomclric:ally IIOIIlinca! problems. [n
Ihis Stion, the righl $uperscripl on e~h qUlntity will be teMoled to
signify tile number of Incremcolal IItp willi whid! the qUlntity is
-Uted. For lbe case of proportional ~in" . ..." can ,dale 1M
total appLied loads (~I It \he Jib ilCnUOfl of tile itll inc:rcmcollllllcp
10 the .(f"fence load vmor (/ by the following formul,.:
(8.11.1)

where.1he load faclor"'; can be ,daled 10 the load increment ""omele.

Ai by

, ,

(8.11 .2)

Ai - "i'l . "I

with (he inilill.;ondilion....:. ~'. Followina is. brief <kscripcion of

!be prottdure for the application of tile nxlbod:
I. Soeled. reference Ie*' vector {/II and basic: load ifw;:n,mc:nl
for
swtiJl&. Sct the inilw oondiliom {P~I {OJ. (U~I {OJ. ~. O.
elo;, f~ Jlr1.Ie!wu of the frame Iypc. we n~d to set the reference
ues ('( , ii. ",) for each r>Ode of the lIruc1U,C parallel to tile Slobal
.nl AJ'Z. f or cadi clement, W(: M!d 10 comput" tile $lion lies
(,ii, '" 'j) for cadi oodc, whele . ~ and "T denok tbc: major and
minor axes of !he Jedion, Ind SCI the clement axes
pll1lliel to tbe nodallKtion axes It the t""o ends in the C, configuration. Compute tbe tIan$formltion mlItrix [OR] for each element
using (8.2. 10).
2. For the rlrSl iteration (j. 1)" iIIIy incKment.ll Jlep I:
(I) Form the structure stiffnw m.rriI [X:] (sec Section 8.1 for
composition of the stiffnc:ss matriz).
(b) Solve the equations or equilibrium in (8.7.2) for (.4. lta. For
i . I. ~t
1. For 1 ~ 2. I>SC (8.9.6) 10 determine
(e) For I l 2. \1St (8.9.7) to dettrminc:
(ISstImed to be or the

.I.:

r;:. 'T. 'lJ

esp.

1:

esp.

u_ sign u 1:" ).
(d) OIt if GSP ill negative. If yes. multiply tile 1: value obIalllCd
in ee) by - I to reyerse tile dircClion of loading.

'"

(e) Iktennine lilt. displaccml:nt increments

lIOIin& that

(dlia

14Ua

IIling (8.7.").

(0) .

3. For subsequent ;(motions (j 2 2):

lal Update lhe struClure sdlfness malriJ [K't , 1 (see. Section 8.1 (Of
c:omposilioa of the Itiffnes! lrIllrix~
(h) Solve equllions (8.7.2) and (8.7.3) for the dijllKCmenl1 I ACt)
II!d (b.tr,I.
'
Ie) UK (8.9.3) 10 determine 1M \old incr(!Mnl parameter ,,~
Id) Compu~ lhe IOtIJ dispbttml:nl inm:mcntJ /4U;1 for the cum..
ictrllive Itep using (8.7.4).
4. CalcullLe the 10111 applkd Loads (P;). toIal SlIlIC1ure displlmelllS
{V.I. Ind the load factor ~ usin, (8.6.8), (8.6.9), and (8.11.2)
respcaivcly.
S. Update the coordinates ror each node of the struclurt:, say. u.sm,

(8.2.10).
6. Loop OYer ncb cklTK'N of the SlnlClu.re:

Oblain the nodal displacements 14 M!) . FOI SlruCIUICI of Ibe

frame type. upd:ue the oodaJ rdueDC1: ues by 1he ((>nil .....
giftn in (8.2.7}{8.2..9), the KClion .,.elI by (8.2.16). -.I
tlement Hes by !he formulas (8.2.11). (8.2.30), and (8.2.31).
(hI For structures of the truss type. caleut'lt the dement force
Incn:mcnts {f} as the prodUa of die Sliffness malril ([i,1 + li.1
+ I'll + 11,1 + 1'.1) t.nd ~ dispba::rnenl in=mtntl 1-1,01
using OdICI If\IJ-lIfted formulas di5CUSSCd in Sections 3.6 and 3.51.
For SlruCIUIeS of IIIe frame 'ype, a.lculale Ihe elemenl fOKe
illm'mcnlS {f} !lSi", IIIe ~tural defonnltion apprlda, I.e.,
using {/} [ill_.), or other equi"limt approaches.
(e) DelCrminc: the IOUI de .... n' forJ gn using (8.4.2).
7. Loop (>VCI each node of Ihe 5Uucture:
(I) Acid up 1M inlemal forcc:s conlribulCd by elt-menu joining 1M
ume node 10 obtain IIIe Veclor fI'il.
(b) Deduct the Internal foru vector 1r,1 from 'he IppliW ao.d
vector (~IIO obIain lhe unbaland foreel (", existing at IlIo:
end of lhe CUrren' IIera,ivc Slep lsec (8.6..10)1.
8. OlCck if the unbllancecl fora.<;; (~I Ind displll;Cmen' increments
IA~I, say, 1$ ICpI"e&Cnted by IlIeir IIOrms, Ire smaller than pfCSC1
lo](rance vllues, If no, ltl j j + I and relum 10 Slep 3. Other
wist, go 10 Slep 51.
51. If the load f:ldor ...: Ind displamen" lU;I arc smaller Ihan piCsel
all_.. ble yalues, let i I + I and go 10 step 2 fQl the IleX' incrc
ment. Otherwise, Slop the procedure.
("

"11 11-.1 .. ....'

'"

In tll~ preceding ~ngraph, descdplioo has been made of the most

fundamental phases involved in the geometricaJ.ly nonlinear anllyJis o f
flll<ned SU\I(:Iures IISing the gcnenliled d~laa:lnenL COIIuDI meLl>od.
The prottdu.re presented here S<trves merely a$ I guidance of !he
eona:pLuaJ flow for !.be lIcp-bY'$tep nonlil\c:at analysis. It <;In never be
eonsidcrcd eomplete without lhe SilpplemenL of r~l.led (\emils. For
;I\SlanCe, when talking aboul the formaLion ofsUUCIure Stiffness matrix,
we have to rLISI eStablish the element stiffness mauicu, &lid tllen to
fOlate .11 thcic mllrices from !.be Ioo;al axes 10 common globll
.)'$tcm, and finally to auemblc the matrices to yield tile SLJlICIure
stiffness matrix, with due account taken of tile restnincd bouTKbry
oollliitions (5. Section 2.3 for mOrC details).

8.12

Numerical exam Illes

This section bas !he objective of numc:rif;ally n-aJuatin& the IppOcabili

Iy &lid reliability of !.be procedures presented in this (hlplcr for !.be
nonlinear Inllysis of framed SllUctura.

1.12.1

Two-lMmba" II"1lSf

IrU$S shown in f igure 8. IS has been used .. I

benchmark for invCSli8l1ing !he adcqUK)' of var>ou. iJlc:n:meotll
itellltiv~ solutiOll algorithmt.. The following dlia aR' _<ned: axill

The twomember

'"

"-

DI.pIoc.,.,. ",

,.,

Oft)

fl, _ . . , Lood ease 1 for two-membtr INN' (I) p .

(b) 1'. YS. _ ; (c) asp YS. v, (of) CSI' YJ. ~.

vs . ;

,'/

,\,

'"

..

"

"

,.)
1'1'.... I."

(Conlitllltd).

tiJidily ..t .. 1884.694 Ib (8366.88 N). ... 6Ho, Ind Might of lhe
vencx'" .. 25 .847 ill. (65.651 em). Two ~illl QSU will ~ Sludicd
,.~

In 1M fi.~ case, the borizooul load is consKIe,td as 10 impcrfe<;.

lion, i.e ., by leuing p .. O.OSP.. The ruullS obUIillCd by tM general
Iud

di~l'laa:menl

control

method

have bun Iobo"'n in fi&ures

8.16{.) and(b), which are in good .grumenl wilh the UItC'1 SOlutions
given by Pccknold.r
(1985). As nn be secn from Figure 8.16(1),
Ihere.re four liml. points I, Co d, and f, and two snap.bock poinl5 b aDd
e. The PleRn( .ru.lysis has demonstrated tile $oClfMiaplive capability
of ,h. path lracing scherne in ~inl with the crilical points, in
adjuslingllle load SlCp sius, and in .evening the dirwion of loading.

Ii'.

1l\(

control parameter esp, as dIown in

~ig\lrc

8.I6(c), f.pt"eKnlS.

IlcniflC&lll improvement ovu !he CSP of Flgw. 8.16{d), in lIIal

disalnlinuilic:s II SIIIp-back points have been climinJled.
In the $KOnd <,:a$C, the vcnial load is Uutc4 as an imperfection,
i.e., by Icttina p O.OSP.. The Ioed-dtl\eaion (Urv~ $Olved for Ibis
caa were dl'lwn in Figura 8.17(.) aIId (b). ",.. hereu the GSP and CSP
curves have been ploued in Figura &'17(c) Ind (d). rcspcdively. for
.dc.cncc. The obsc",ations made for the filS! kJadin& cas.c apply here.

8. 12.2

Shalkl,.. arch

The lhallow arch sIIo"'n in Figure S.IS is hinsed .1 both ends. The

--

u
__
-'r::::-:=,-------z:'"
........

- '.''-=,;--:cr.:--l-:--cr.-r--J
-"
.
_on'" In)
DI.pl

,.,

-- '
-1/ ,
JI'
-.- "" --

(I.)
OI,pI"" ..,.",

,.,

.,

, r.!o)

Ibl>'..<om.~' ~

'0'
l<d ase 2 for two-ommber 11\111: (0) P, ..... w;
(b) p ..... V; (c) GSP ~ ~ : (d) C$P YI. M.

FI,un '.17

'"

_u

_u'10~."...,~"~...j~
_ . ...
.r--..

,.,

O<.-. ...M (In)

rI, .... .. .,

(Cont ..... d).

,,
,

L
f0FIIU" 1.11

--__1

_~=_~:

--T

-i

Shlilow lreh.

following dati are assumed: L 100 in. (254 em), 1t Sin. (12.7 em).

C_200psi(1378kPI), /_\ in.' (4L62cm').lIldA . I in.' (6.4$ em').

In 1M finite demal! modeling, the arch was first upreKnlCd by t~n!y
fM' IIr.iahl dements. 1K portion of !he ardll;J(M:rcd by the ttnlnl
clement ...., IMn divided inlO two elementl, in OI'der 10 provido: a no<bJ
poine at IlIe apu of the arch fOf app/icalion of tile vcn ialload. Two
loadin, C&KI were oonsKkred. The first c:ase consists of . ~"ical Load
lithe ttnl1ll node ... hida is knolliD 10 be lbe .ymmetria.l. In lhutcooo
o;as(", lhe: cenlt1iload,... disJoc'llcd .OO applied at !he node nafe$l to
till: cenlt . of lhe Ireh to account for lhe effect of imperfection in
loading. The finile c lemen! adopted here is the planar "11M- d eme n!
Iklivcd in ScClioo 4.4 based On lhe gcnc,al lhw ry, wh ile the p'ooodurt!
for Iovering and updaling lhe clemenl ('lIce, Is (he 01Ie prcscn,e<lln
&cIion 4 ,6.1 based on Ihe oonpI of n.,ural deformations,

55.

",--------------------------,

- - - P... .

"

....,.

..
-' .. /---------'

"

'1,---,,----,, ----.,----7,,'
Di.plo~.m.n l

Flto .. ""

v (in )

Lo.,;l...ddlccliol'l eurvu fot Wllow Nth.

1be: ruIIll$ obWDcd fot both loading a$C$ have been piQued in
Figure 8.19, In whid! lhe CUfVC fOl' the ~rr~ loading cue Cln ~
regarded as the primary pIIlh. and the. loo9in, portioll
tile curve for
the imperfCd <:ase lhe K<lOIIdary path. II is inlcfeslilll to IN)IC that III
the $C(:Ond.ry paths inlClsect the. primary path II point I, an indication
of the .,;:curacy of the pl'escnllOll1tions ill o;:omparison with t"'- given

or

by Harrison (1978).

1.11.3

Cll"Cu lar am .. lib nt r:o lload

TIle hinged circu lar I.eh shown in Figure 8.20 has also been $Iudied by
li.IlriJoo (1m). The followilll da~ were 1IS5UmN: moct\Ilus of dascicily .200 psi (1378 kPa), di,meter L. 100 in. (254 em), moment
of incnia I I In.' (41 .62 em'). .IKI CfOI6-seetional am. A 10 ia"l
(64..52 an'). In !he pruent $ludy. the I.d> was represcmed by t~nly
five 5lraighl clements of equal Ienglh, wilh the ponion of the ar~h

covered by the ccnll".1 clemem being fwthcl dividoed inll) tWO clementi.
Two loading casu lte oonside. ed . One is Ihc case with the l(HOd
IPfJlitd symmetrically .t tile II'"; tile ocher _l1l(:I tile \old to be
displaocd Imln discance to tile neatest neighborina node 10 II to
produce !he tffeCI o r imptrrection (sec Fiaure 8.20)FigUfQ 8.21 and 8.22 $how tile \old denection QlrvC:l ror !he

'"

t --

"

L-

--i

. .. . ..

Disploctmtnl " (in)

eireul,lf .elI ,,!ider symrt>euic: and u ymmeui<;: Joadings ~jycly.

NOIe that for eruemely large defQrm.lliol'l problcau $UCh as the present
o~,' great number of clemcnlS should be \l5Cd 10 minimiu the errors
thai may te$UJt from !be lack of KCUracy in the modeling of ~try.
With the present model of twcoly-lix elements, however, '" ~ still
able 10 produce 1IOIIIIions !hat arc YCI)I close in trend 10 !hose obtalDed
by Ham.on (1978), who used. finer mel.b of fifty eIC_DIS. Again,
the Klf.adaptive capability of the genelliliud displaument control
_Ihod In solving problems wilb complicated po<Stbucltling rqpon.5C Iw
been dearly dcmonsInoltd in !his cXlmple,

:,

."

_'9._

.. ~

,"

_IU

'0.<."

8.12.4

Circu lar In:h IUIMr IIIIlform beadlnl

las! problem 10 be studied line illbe circular Itcllihown In figure

8.23, ..'hich rtJ'RKII1S in effect, lhe ler. half of. hinged seml<imlt.,.
arch under uniform bcooing. TIIe.reh is hinged 11 SUpJlOMA in lhc$e~
!hll r~al ions about the x- .nd Y-ues ale leslfl incd, i.e 9 " 0 alld
Uh 0, and WllJalWlliofts llong!he y. andZ-ues Ire liso rc51nint4, i.e., U.o 0 and U& O. DIIc 10 the consideration ohymmcuy.

-a".

-x

lbe ardt ill reslrained.t end B 19I.inIl roatiofls .bout Y nd Z.axes, i.e

-en.. U:". 0 and e... U:". 0, and .gairw trUUJ.otion .Iong IMX.

IIi$, ~e . Un O. To trigger 1M OUt-<Jf-pl.rw: bu<;l;ling mode,. torsion

M n willi. magnilulk equal to lIS00 of the appli~ bending momenl M to
ill applied .1 end B to ICIVe u the impcrfeelion in Ioadillp. The cross
Kdion of the ~II is auumed 10 be rectangular ... iill bei",u of 30 mm
.nd widtll of 0.6 mm. Crou-Stion.ol pl'opc:rties for lhe arcll .1 end "are as follows: e. A 18 mm', tOISIon.1 C(HISlant J 2.16 mm',
moments of inertia I,. I,3SO mm' and 1,.0.54 mm'. Otllerrdated
properties .re: radiU$ of arm R 100 mm, modulu.s of ebsticilY E
71,240 Nlmm', and modulu.s ofrigidity G. 27,190 N/mm'.
1'111$ Jlfoblem has been seleCied for tlK following rcaSOlls. FilSt,
\he ana.lytical $(Ilution of IlK ptobkm is av.illble in OIapltl7 or Yang
.nd KI>O (1981). 5ond1y, tbe probkm Sl:IVCS" an efreel;"" vehicle
for dcllMlflSlTlIling \he fld that the bud;ling o f o;urvcd bums can be
accurately predic!ed by straight-be.m demenu, if \he efrCdl of joinl
equilibrium ~ve been ptopcrly taken into ICIUnl. Fin.lly,.nd rrw)$1
lmporwllly,!be probkm can display the desind pbenomellOll of finite
routioPl in the lhrec-dimell$loftal spa .... ben loaded into tbe c.ngc of
po$1bucl;ling.
By 'pproJimatinglhe arch by Iwelve stnlght-beam clements, tbe
Ioad-dcnllon ([IIVU hJve IIn pkMted for thrte typkaJ degrees of
freloot in Figu~ 8_24-8.26. As india''''' in !be flguru, the buckling
loads CIllculaled \lSing \he presenl nonlinear 'PJlfoa<:h for the posilive

, ~.

./'

./'

1'1

I.~~

..

~ .,
_M

_~

..

D,.ploc.m."t U.. (mm)

Dioplaotm<n'

u~. YO.

bendIng momon, M .

'"
~

'.

....

'

E.

'.

"

1---- Ie
_M

...,.

-.

-'.-

...

'. .....

1,

'\

"-.

... n I .U

~
. ..
-

,.

Rota rlon e .. (dell' )

ROIIeioe 8 ......

t.e.dLnc _ a t III ...

nd IICgltive bendinJ

QSCS an 97(1.1 Mmm and -943.0 N-mm.

' O:Speel'vel),. which compare quilt wt:U with 1M lincariu:d buckling
valutl of974.7 N'mm and -947.0 /II. mm usin, the same
ilhe-bum
modeling. II shQuld be added thaI by 501v;ng dirtCtly the differential
cqulliOllS paunted in Section 1.5 for the .:u~d beam using the
proccdu,,~ of Section 7.1, we an oolaln the $aIIlC .CIUllS as those by !he

5, ..

linclri~ bvckling anaJy,is. From lhe loopilll curvn of Figule5

8.24-.8.26, we OOsctve IhatlS fnd B lOUIn from 0" In 360", lhe ardI
IOUleli out-ofplane about !he MrilOlltal (X) allis and ~IUms 10 its
initi.l configuration. Suc:h a sutement ~mains true legaldlcss o f
whethel !he Ileh is initially loaded by positive 01 negalive hending
mnmenli. As finite 101alKlnJ hive heen involved in the poslbuckling
1pOn!;C of the example, the ea~bllity of !he produre de$aibed in
SlKln, 8.U." for de.ling .... ith the finittf"()Ulion probiems in lhe
IhrfC-dlmcns.ional ~nse has bn dernonstnlled.

Rcrcrcncts
'''IIYlis, J. II. (1965), "Continua and disconlinuI,. I'''K. CDn[. Dn
"'"ITIJI. Me.hrxb in Smwu'lIl Medllnlcs. Wright Pauerson Air Force
1hK, Ohio, 11-89.
&.1<lZ, J.L, and DIIilI, G. (1979), "Incremental displxcmcnt algorithms rOf nonlinear problems: JIf~ J. N,"lffr. Mc.A. E",., ..,

1262-66.
!krpn, P. G. (1978), "Solulion lechniqurc fOf nonlinear finite element
probiems," J"L J. N.",cr. Mt.l!. e",., I Z. 16n-96.
!krpn, P. G. (1980), "Solution algorithm for nonlinear "ruaural
prognms," In """,erit.' MerhDds lIN """/" "ell' P,oblc",s. Taylor,
C., lIinlon, E., and Owen, D. R. J. (eds.), Pinelidge, Swansea,

291-305.
Otl",n, P. G., and Sortide, T. It. (1\178), "Solulion o f large di$plK1:.
menl and insiability problems usina the currenl $Iiffncss ~nmeter"
in F",ile I_CIIIS ill NOtI/"'u, MedI.II'a, !krgan, P. G., n Ill.
(.), T.pir PubIWlttS, Trondheim, f'lorway, 6047~.
ChIn, S. L, and Kilipomc/lai, S. (1987), "Geometric _Iine.r analysis
of uymmelrie tbin'WllIed beam-oolumns," e~,. SIrMCf. ' , 243-5".
Cheng, 1\., .nd GUpl3, K. C (1989), 'An historiaol note on finilt
locations," J. App/. Aft,h. , 55, 13\1-45.
Connor, J. J., 1.ogcher, D., and Chin, S. C (1968). "Noollnear analysis
of elastic fnrned s.lructurcs, " J. SIr.C/. Dj~., ASCE, '01(6). 152S--41.
CrisrlC'ld, M. A. ( 1\181 ), "A flSl inc~menIlVil~nti~ solution produ,e
thai llandln SNp-through." C_".,~ Sr'M~'. U,5s-62.
Oi$rocld, M. A. (1983), "An arc kna1h IIIClbod includin, line ... lrchts
and accc:kralions," 11ft. J. NM"~. Mello. ",., 1', 1269-8\1.
DelIai, C S.. and Abel, J. F. (Im)./~I.od~CliDII ,., .Ae F."j't Ie"'e~.

'"

",~u.CNI,

Vin NOSIIaIld Reinhold, New YOft, N.Y.

IlllTisoo, II. I), (1978). Postbuckllog behavior of claslic: circulllr

arcI>u,' P,oc. / ...1. CI~J
'J, Pan 2, 28J-98.
Kuo, S. R., Yang, Y. B., and Chou, J. Ii" ( 1993). "Noolinc.r IrllllysiJ
of ~ fwtle$ w ilh fm;IC.IOII'ioos, J . $1rI.cJ. "8., ASCE, 119(1),

"""

I-IS.

Ono. C. (1973). "Tangen! Slifr_ in space fr&lm5,' J. $1'lIel, Di~ .

ASCE. 99(6), 987-IOO\'
Pect.nold, D. A., Qh.tK)uui, J., lAd Iluley. T. J. ( 1985), ' Snlp-tllroug"
and birurcalMJn in I simple 5!fUCIU~: J . ClOg Mu ll., ASCE, 11 1(1).
__ 22.

Piln. T. Il . II. . and Tong, P. (1971), V.r iationll form ulation of fini1<~
dispbmo:nt Inalysis. In P,oc. /UTA'" S,"'posi"", 011 Hill! SIN-~d
C""'p"';,,g ()f Elu,ic $1rIl(:IwTu, 1k Veubckc, B. F. (cd.), University
of Lifge. Liege, Belgium, 43-63.
Powen, 0 ., and Simons. J. ( 1981), "Impi'oYcd itenlion 51nlclY (01'
nonlinear.Sl.nlClul<'S, I"" J . Hilmer. M~III. C"I" 17, 14S~7.
Rlmm, E. (198 1). "Sirale&ies fOf tracing IIIe nonlineal lesponK DeU
limi' poin''" in No..l"'e.' Filfirc Ele",clf/ "If"/YJU jlf SlrUC/U'''/
M~""IC$, Wunderlich, W., Siein, E., and a.rbe, K..J. (edI..),
Sprinp'IWdag, (krlin, FRO, 63-89.
RcmKlh, 5, N. ( 1979), "Non linear static Ind dyDlomic arW)'Sia of
framed wuaUfU: C_p"" Sm,c., 10, 879-97.
Riks, E. (1972),"The appliclliion of Ne .... ton's methods 10 lbe problem
of tlUlic stabilily." J. Appl. Mtch., 39, I~.
Riks, E. ( 1979), "An ~_nLallPP'oadIlO!lIe solution ohn.lpptnS
and buckling p< oblem ~: ,,,,. J. Soluis S" ..t l., 15,529-5 1.
Te~n, S. 5 ., Ind hblllpa,ra, B. C. ( 1969), "Tlnp'nl SlifJness ml,riJ
for spIlle f,..me members." J. S""tr. Di~.. ASCE. 'S(6), 1257- 70.

z..

Waszayuyn,
(1983), "NumeriQ,1 problems of noolincar 51abil;,y
I nl IYI;' of ellwic IiInK:1U.cs." C" .."" . SI, ..cl . 17(\), 13-24.
Wcmpne., O. A. ( 1971), " Disacrc &pprOllltlaLIOII rclaltd 10 nonlinear
LlIroric$ of sol ids, "
J. Sl>jjds
n. 7. 1581-99.
Vlng. V. B. Ind Cbiou, H. T . (\987), "Rigid body morion reS! for
IlOnlinear analysis WiLh bum clcmenl5," J. En,. M Ir. , ASCE,
11:\(9), 1404-19.
Yang. V. B., Ind Kuo, S. R. (1981), "Efft of curvaLUIC 011 Slabiliry of
curvni burnt,. J. S"" C. Elf", ASCE. 11 3(6), 11SS-202.
Vlng, V. B., and Leu, L. J. ( 1991), "rom: recovery procedu.es in
noalinear analysis," C_p"r. S""CI., 4 1(6). 1255-61.
Yang, V. B., and McGuiJe, W. (19&5). "A WOI'k control melhod for

1",.

S" ..

0..,..' III...... "'..

g_ually nonlinnr analysis: in P'DC. 19B5 IM~'''Gr""",1

Co"fu~"c~ "" N~",~,icGI AI~.lrtXlt iII E",mu,j",. TIr~o? G"d
Iopplic"';o", Middleton, J . arid P:ande, O. N. (ed5..). University
College SWlIRSCa, Wala, U.K.. 1113-921.
Vang, V. B., and Shieh, M. S. (11l1lO), 'Sol~rion method for nonlinear
problems with mpltiplc crihcal points,' A/All J , 21(12), 2110-16.
Zicnkiewic:, O. C. (11171). "Incremental displaccmen1 in non.linear
_lysis: /,,~ J N~",c. Melir. EIt,., J. 587-38.

Appendix A

List of Integral Matrices

In Chapler 2, we llave ddiMd tile following IIOUItion for the inte",,1

matrices in equation (2.L44) tllat appeu In the formation Df vari0u5
~iff_ matrice$:

(A.I)
.... hc~ the 5UbKriplS "," and "."6eoote the 6egr Df the interpolation
funct~ I"}, 11M: $Uptl'$(ripts "s" and ","6ellOte the onkr Df differentiatioft, and ',," repr~nl$ the UpDDUU Df the multiplying faclOf I.
Intcgnl matrKCI based on SllCh a6efinilion have bRn used ulCnsivdy
In the calculatiDn Df vuio\J, element stiffness matrit>:s throughDUt 1he
tUt. 'The fDllowing is a list Df the most oommooly used intepal
matrices:

(K~" J

-.

-l
0 -I

30 II

-l

l
0

36 l - 36 l
l
-l - I
1
(K:'~
30 -36 - l 36 - l
l
-l

l "-l
- ll

-,

'"

Io~ulo

-3 - Il
0 -3
3
3 Il
Il
3
-3 -<l.S

- Il

IX:; -

"-3

IX:1 - ~

- 36 -3 36 -3
-33
3
36 3 -36 3
- 3 I 33

-.
,

0
- I'
3 - I'
I - 3 - 0.5
3
IX;:'] . I
I
0
30 I'
- 3 I'
30 - I'
3
'I
0 -<l.S 0

, - I' ,
, ,
- I' -, I' -,
, , -,

I'

[X~ -

I 0
0
- I -<l.S I
[xj,"i
0 -I 0
0> - I

...,

I
0>

[X"1!'1 - t
-I 0

-1-: -0I - I

(X::'1

I~

I 0
-I 0

:]
:]
-:]

IX"'I .
n

- I'
-'I

Il -72

72

-I

10 - I

Ix:'l

I' -2<

-. -,-, -,

I'

[1.';:'1-

-.

-,

",

-78 - I' - 132

,.

-3 1

-,
.
.,.
78

- II

-M- 6

I'

-,

. -,

132 -2<

,
, -:]
I -,
, -:]

0''1 - 11 - 6
[Ku
-I

"

-,

- IS 3
IS
I
'I o-n - IS
-3
I'

[1.';'1- I

[X "'I

2<
13

_~ 6

12 - 6 - I

~' ~o

[ OJ ]

"

-I
I

o I]
-os

o
o

I
-I

-II
I

[' -'I

[K,',,,,! - _I

'"

II should be OOIed thaI Ivca, number (If maln<X1 001 listed hne ca n
be obllirocd simply by the fonnula: (K~l [K!;'l'.

Append ix B

Procedure for Linearized

Buckling Analysis

_ute

Based On tIM: updated Lltgrtngian formulatHm. tIM: equations of

equilibrium can be written for I
It tile C, oonfiguration with
reference to tM. C, confi,utltion IS ill (8. 1.5) or

[KIWI .

['PI - ['P)

(B. I)

when: (Kl dc:lIOIcs tile ItlU(1.urc ltiffrc51 maUia. lUI the _ure
displaoemcnt incrementS from C, to C" ('Pllhe ..klnalloads initially
applied On 1M. Stru<:lure It 1M. beginninll of the ineremenlll step. I.e.,
It C" and ('P) the tot.11oads kI be Ipplied on the Slru<:lure.1 C .. It
is aMUmcd that durina tM ISKmhly o f 1M structure stiffltCSll mauilt
IKJ. all resll1lincd degrees of freedom ha~ been rcmoved. fu IfUSKS
and planu frames, the IKl mllfilt <:an be rcprdc:d as 1M. ISKmbly of
lhe rompon-c:nl stiffness mllriocl! o f el(:h clemenl as givcn in (1L1.2)
and (8.1.3) rcspcctively. However. for spKe ftlmes, can: must be
takell 10 consider the conditions of equilibrium for SUUdunl jointS
where .... mben lying along differcnt directions arc connected. In Ibil
case, the langenl SliffltCSll matrix [K] sIIoold be given as in (8.1.6),

IKJ IK,l IK,l IK)

,.,

(8.2)

'"

wben. IK.I delllM" tIM: eLastie J,liffnc:ss maniJ:, IK,] tIM: seomcuiat
$lirrneu IlUllrix, and [KI ) tbc joint IIlO!!II:nl lllaifix.
As was $tiled pruiously, due 10 tIM: cnfO:cmenl of tIM: c:ono1i1;0lIl of eqllilibfiu m (01' cld! SUUClurai joint, only tIM: symmetric put
of the induad ~nt maId. [~J of cxll clement hu \0 be oonsidcri
in tIM: assembly of tIM: joint momeot IIII\fi. (K,] (I Sections 6.5, 6.7,
Of 8. 1). II should be llIMed tbal if tile ulcmal ..... (:OnlJin acIions of
lhe moment 'ypc. IMn lnolher malri. called tIM: Ipplicd moment malfix
[K.I hal \0 be ldo:itd \0 ICa)U.nt for tIM: rotational effed, of Ipplicd
moments,

[X) [1(,1

IX) IX) [/(..1

(8.3)

Kalfdiol 10 Section 6.8.

I.n tlIil appendi., we are inlt,wed in arnr.lyzinl 11M: li_iud
buckling belulvior of structures, ll&ing tIM: incremental $tiffncss equation
(B.I). ~ "'II Staled ill Section 5.8, tIM: cnlin. budrlilll belllvior of.
SIruCt~ CUI be divided into two w.p. In the fil'$l 51 Iso known
u \be ,.....biocjlu., ".,~, il is assumed IIw the
illoado:d from
UrO "' C. lo. ~rcrcocc level called {~l "' C,. One assump!ion o(this
,lase is Ihl' ddormllioos of tIM: W\lCturc 1ft. iO small thaI they gn be
negl:ted from the .nllys is for the following 5CInd mgt. By tbis

"r\ICl",'

ilUump!ion, the fully nonlinear buckling behavior of the IlrUCIure can

be approKimated u linearized ont using the eigenvalue approach.
For the prebu~klina slage, there will be no initialload$ or member
loCtion,. All the three Slilfness matricc.s IK.J, [K,I. and IK.J vanish.
Since {' P} (~) and ( 'P) " to}. equation (8.1) .educc.s 10 the
convent ionalli~r fGrm:

where the llifflltSl matrix (K) .toould be !.Ibn ., (K,J, and the
displaocmenl -=tor lias been designated as {OJ to indiate its
eonncction with the reference load {~I . From equation (8.4), lhe
Slru(lUOC di&placements to} an be solved; which ha~ bn u pressoed in gJobal COOtdiMlt$. SUed on lhe geomcuical ,elltion of
tIch element to the $lruttUrc, lhe nodal displacements for elt'h element

'"

'-"'

in the glob.1 coordinates can be determined, whiell can 'hen be lfIIn$_

form~d 10 the I<)eaJ ax>rdinllle$.. '-"I I';} tkllOlc such. displllCCmenl
vcaor in the local coonIiMtes. The nodal f_
()} for each element
can be aolculall as conventional:

III - It,HIl)

(1l3)

'Ow:se are exactly lhe member fon:q acting on nch clement whon
SUbj ected 10 Ihe .derence loads Ii>} at C '" l le.e,;1 ean be seen Ihat the
.mmber actions {}} are propollional to the applied I~ds {I>}. so long
as the pI.buckling deformations can be considered smili.
The second sugt is also known as lhe "uckU", Slag., whkh
rerers 10 bifurCluion of Ihe slruClure from the initially stressed coofigu_
ration (C,) 10 the r",.1 blJdling configur.llion (C,). One .MIlICI.r;slie
of Ihis SUlgc is IlIatltle extemallo.dings ICling on the slruC!ure remain
genen'lJy unchanged, While deformalions of Ilfge magnitude can 0<>:111
in directions nm parallel 10 ll>ose fJf the IOlding dirttlions in the
prcbuckling stage. or major concern in the buckling analysis is 10
dcl~""in~!he crilicalloads that may rewlt in bifurcation instability of
!he structure, Of in the InInsilion of equilibrium Slate of lhe Slructure
from the one in the prebuckling stage to III adjacent o~ in the buckling
su~. For conveni~nce, we may denote the critical loads as a multipli
cation of Ihe ",ft. cnte loads (/') by a facto. ).. By the condition thaI
the utemal loads will ..,main COIIstant during the buckling process, Le .
{'PI {,PI {OJ. the ir.rn:menlll equa1ion of equilibrium (8.1)
reduces to the followinll eigenvalue equation:

(IKJ ).[kD{UJ {OJ

(B.6)

whe.., the vector lUI should now be interpreted as the buckling

defO""a1ions of tl\(: strunu..,. f or. space frame, the instability matrix
fk] consists of three componc:nl$,
(B.7)
wbe.~ an the compollCnt matris (k,l, Ik}l, and Ik.l. which are
funaions of member aClion~ should be evaluated by seuing the
member actions equal to {f}. fori planar frame, il is known that only

' -"" u.....- ,..,.~ AoNI)W

11M: gwmctric Sliff_ malr;" lk,l has 10 ~ considered.

I.e.

(B.8)
The Qme equalion applies 10 51IUC1Uf(:S of lhe truSS lYpe if Ihe
nonlinear stiffness matrices in (8.1.2) hl"e ~n IICgkCled.
TheomicaUy Jptak,ng. by lening lIN: Iermillanl of tIN: 'ySlem
mll.ix in (B.6) equal 10 uro. i.e.,
(8.9)
the Clili<:al Io;,d fKlot .I. S1anding for lIN: bifurcalion i.... abilily of lile
structure Can be caICll1alcd. In lhe lilCI'1I11Ure. more effICient nlell>ods
based on iteralion $Clw:mcs Ihal Ire suilable for l he solulion of Ilrgc
S1ructurc lySlems nn be directly employed 10 solve tIN: eigcnvalK
~'lion (B.6). MOSI of 1hc$C mc:lhods hlI~!xc" .""llable in lhe form
of commercial Jlfograms. 11 is IlOl the purpose lie .. 10 discusllny wch
melhods.

Appendix C

Effect of Truncated Higher Order

Terms

If the hi,hcr onk' terms in T.yJo(s upansions of the ,ine and rosine
fUllClions we~ retained in the form ulation, the t",nde, matrix (S),. fOf
the curved element can be exprcs.sed in ,eneral form:

(C l)
whe,e / . 4~. wilh" indicatin, the number o f ticmenlJ., and IS,]. [5,],
It mould be
noted lhat by lenina the number of elc:mcnls" ~ infinily or by
ieltina lhe knglh of ckmcnlS / equal 10 lCro, the it'llide, malrlX IS),.
reduca to the Wlity matri:J: IIJ as upttted. BIKd on equation
(7. 11.21)' lhe modal IlUt"X [4 and eigenvalue mal,ix {A] can be
written in ~ I"nenoJ fonn,
~ cte., denole the first, - . d , and hig:hcr ouk, tClm$.

[4>1 [4>01

,.,E /'(4),1

[A ) III I[A, I E /[A ,I

,.,

(C2)

(D)

'"

h should be IIIHcd .hal the Il'lllSff' manicc, [SL [Le" (7.11.20) and
(1.11.84)lnd the eigen"ll~ mal.ix [Alp.e" (7.11.22) ptescnted
previously in OIaptc. 1 <;an be 'c",,<Ied 1$.11e filS! 010. approximalion
of lilt. present txpo-essions, I.e.,

IS)..

[AI

[11 I(S,I

(C4)

,II

(CS)

IIA,]

and the modal matrix I lJof equation (7.1 1.26) can be .ecognw.d 11$ .be
mat,ill; [ 41,1 in (e2).
Wi.h tile geMD) upression given in (C2) and (C3) for the [ lJ
and [AI matrices .especlivcLy, we can w,ile

Um[st; lim[4>JlimIAr lim[41r l (4101lim(Ar [41ol .

0-

0_

0_

0_

(C6)

A genei'll] fOfm of the diagonal tcrms in tile [A] matrix is

By leu;ng E.
valid:

(e7)

111 ,., IIJr

1:;.., g," ", we can show th" the following rel.tions are

'.

[I /(iA (I)r EC;I'(1l. dt

_ I o nl(i)"'/) '

'(I ~. -.

N~inl

WI
(CII)

lim

(I . i1l. rQlf
I _I

_ lAx (iAxf
21

(1J.' e ~r

- _ limll(lI- I ) - (II - k -J)X 1

0kllli

By

I~

"

-..

(CIO)

rdllions
\im.!(II - I) - (II - k .1)
.-

I
l!

(CIl)

0_

.t!II

(CI2)

We (lin derive Ihe following from e'll'I'io/I (CIO);

.,

- - ..!.('Axt ..
tu... Iim (1 IJ./r
0-

wbic:h implia

(C13)

m.t

(CI4)

As. IC5UII, Ihe I.uncation of higlll'r order terms in IIII' [AJ maui~ I(C)
(C7) doc. n(H affecl the validity of the equalion$ prtscnled in
Olapler 7.

Of

Author Index

...

Abel. 1. F.,

n , 183, ZH. S2O,

AISC, I, J9
AIDril, J. H., 156, 114, 236,

256,278. 284, 235, 287.

BlandfOfd, O. Eo, 14

Bleich, P., Ul,l68, H I

BoI<lW'thi, S .. 6, '0 , '48, 11 1
Borul. A. P., 396,.tQ2, 417.

...

300, .Il l , JU, 344, 371.

In, 380. 389, J19 . 496.
S25,U5
A-. T~t!

ChIP. A., 97, lOS. 108, I] I.

." , 173, 114,216, 278,

nu-m, It

ChaIt. A. C. H, U

300, HI
Bam., K. J~ 6, " , 67, 1), U ,
143. 114, JH

...
...

s~

BaIoz, 1.-L.. 52), SlS, 532,

Bahnl.

z..

P, 393. 461, 462.

Bazeley, O. P.. 80, 95

fkl yltehko, T., 180,11 4
B<'pn. P. O., 491. 525, 531,
S41 , 555

CtscoIlo. S., 6, '"

no
Qu, S. c..155
CIIu. S. L . 4\18, 551
Olea, W. F, 95, I'n. U4,
216,
In
Ch<:nlo II .. 499, 555

m.

Cbtma. Y. D., .,
OItuna. Y. K. "
Chiou, II. T., 83, 87. '5. 119,
14 ' ,160. 11$,

S06. 55'

Chou, J. /I., n . 1U, 496, 55'