Definition

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I. Beams
1. Definition
A beam is a long, slender structural member generally subjected to
transverse loading that produces significant bending effects (transverse
displacement rotation).

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Simple beam theory 1
) (
0
2
) (
0
) ( 0 ) ( ) (
0
2
2
x w
dx
M d
V
dx
dM
or
dx
wdx Vdx M dM M
M m epuilibriu moment
x w
dx
dV
or dx x w dV V V
F m epuilibriu Force
A
y
=
= = + +
= +
= = +
= | +

t
M
V V
M
|
|
w(x)
w(x)
M+dM
M
V V+dV
2. Simple beam theory.
Assumptions: (A)member cross section is constant.
(B)cross section dimension < overall length. (L/ t>10)
(C) linear variation of stress and strain.(Small deformation theory)
) / ( : ) (
:
) ( :
:
:
length force loading d distribute x w
moment bending M
transverse force Shear V
rotation or slape
nt displaceme lateral v
|
Equilibrium equation of a differential element of the beam.
Beam under distributed load
Differential beam element
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Simple beam theory 2
For constant EI and only nodal forces and moments, equation becomes
Solution of displacement v(x) is of cubic polynomial function of x

) ( ) (
2
2
2
2
2
2
x w
dx
v d
EI
dx
d
dx
M d
= =
0
4
4
= =
dx
v d
EI
2
2
1
dx
v d
EI
M
k = = =

dx
dv
= | Curvature of the beam for small slope is given by
k
: radius of deflected curve.
E: modulus of elasticity.
I: principal moment of inertia about Z-axis

4 3
2
2
3
1
) ( a x a x a x a x v + + + =
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Beam element stiffness formulation 1
3. Beam element stiffness formulation. (Direct equilibrium approach)
(1) Beam element (No axial effects are considered.)
moment bending M
force shear F
rotation nodal
nts displaceme nodal v v
j i
j i
:
:
: ,
: ,
| |
Sign convection of the beam element:
direction y positive positiv v F
ckwise counterclo positive M
, : ,
, : ,|
i
|
j
|
j
M
i
M
i j
j j
v F ,
i i
v F ,
x
v y,
M
M
V
V
Simple beam theory sign convection for positive shear forces and moments.
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Beam element stiffness formulation 2
(2) Assume displacement function (Without distributing loading, w(x)=0)
4 3
2
2
3
1
) ( a x a x a x a x v + + + =
Express v(x) as a function of nodal displacements as follows.
3 2
2
1
4 3
2
2
3
1
3
4
2 3
) (
) (
) 0 (
) 0 (
a L a L a
j
dx
L dv
a L a L a L a v L v
a
dx
dv
a v v
j
i
i
+ + = =
+ + + = =
= =
= =
|
|
) , , , ( . . 4 ) (
j j i i
v v Fs O D total A | |
) 0 ( . . ) (
4
4
=
dx
v d
EI E D beam basic satisfy B
. & ) ( nodes at continuity slope nt displaceme of conditions the satisty C
i i j i j i j i j i
v x x
L
v v
L
x
L
v v
L
x v + +
(

+ +
(

+ + = | | | | |
2
2
3
2 3
) (
1
) (
3
) (
1
) (
2
) (
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Beam element stiffness formulation 3
| |{ } | |

= =
j
j
i
i
v
v
N N N N d N v
|
|
4 3 2 1
, , ,
. : , , ,
4 3 2 1
element beam a for functions shape N N N N
( ) ( )
( ) ( )
2 2 3
3
4
2 3
3
3
3 2 2 3
3
2
3 2 3
3
1
1
, 3 2
1
2
1
, 3 2
1
x L Lx
L
N L x x
L
N
xL L x L x
L
N L L x x
L
N
= + =
+ = + =
In matrix form, we have
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Beam element stiffness formulation 4
(3)Element stiffness Matrix and Equations
Relationships between moment, force and displacement from
elementary beam theory are
Using the nodal and beam theory sign convections for shear forces and
bending moments, we obtain
2
2
dx
v d
EI M =
{ }

=
2
2
3
3
2
2
3
3
) (
) (
) 0 (
) 0 (
dx
L v d
EI
dx
L v d
EI
dx
v d
EI
dx
v d
EI
M
V
M
V
M
F
M
F
f
j
j
i
i
3
3
dx
v d
EI V =
Beam element Beam theory
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Beam element stiffness formulation 5
Hence, the beam element equation relating nodal forces and nodal
displacements is given as

(
(
(
(

j
j
i
i
j
j
i
i
v
v
L L L L
L L
L L L L
L L
L
EI
M
F
M
F
|
|
2 2
2 2
3
4 6 2 6
6 12 6 12
2 6 4 6
6 12 6 12
| |{ }
{ } { } { }
| |
| | L L
L dx
N d
L Lx L x L Lx L x
L dx
N d
d
dx
N d
dx
v d
d
dx
N d
dx
v d
d
dx
N d
dx
dv
d N v
6 , 12 , 6 , 12
1
) 2 6 ( ), 6 12 ( ), 4 6 ( ), 6 12 (
1
, ,
3 3
3
2 2
3 2
2
3
3
3
3
2
2
2
2
=
+ =
= = =
=
(

Use the following equations into above equation.

{ } | |{ } d k f or =
Where [k] is the element stiffness matrix for a beam element with neglected
axial effects.
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Example 1
4. Example:
| | | |
j
j
i
i
M
F
M
F
L
L
L L L
L L
L
EI
K K
(
(
(
(

= =
2
2 2
3
) 2 ( ) 1 (
4
6 12
2 6 4
6 12 6 12
By direct stiffness method,the system eqn. For the beam is obtained as
EI Constant
P

(
(
(
(
(
(
(
(

+
+ +

3
3
2
2
1
1
2
2 2 2
2 2
3
3
3
2
2
1
1
4
6 12
2 6 4 4
6 12 6 6 12 12
0 0 2 6 4
0 0 6 12 6 12
|
|
|
v
v
v
L
L
L L L L
L L L
L L L
L L
L
EI
M
F
M
F
M
F
y
y
y
0 , 0 , : , 0 :
2 1 1 3 3 2
= = = = = = M M P F loads v v conditions Boundary
y
|

(
(
(
(
(
(
(
(

+
+ +

0
0
0
4
6 12
2 6 4 4
6 12 6 6 12 12
0 0 2 6 4
0 0 6 12 6 12
0
0
2
1
1
2
2 2 2
2 2
3
3
3
2
|
|
v
L
L
L L L L
L L L
L L L
L L
L
EI
M
F
F
P
y
y
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Example 1
The final set of equations is

(
(
(

2
1
1
2 2
2 2
3
8 2 6
2 4 6
6 6 12
0
0
|
|
v
L L L
L L L
L L
L
EI
P
The transverse displacement at node 1 and rotations at node1 and 2 are
EI
PL
EI
PL
EI
PL
v
4 4
3
12
7
2
2
2
1
3
1
= = = | |
where the minus sign indicates that displacement at node 1 and the positive signs indicate
counterclockwise rotations at node1 and 2.
By substituting the known global nodal displacements and rotations into the system equation, we
can determine the global nodal forces. The resulting equations are

(
(
(
(
(
(
(
(

+
+ +

0
0
4
0
4
3
12
7
4
6 12
2 6 4 4
6 12 6 6 12 12
0 0 2 6 4
0 0 6 12 6 12
2
2
3
2
2 2 2
2 2
3
3
3
2
2
1
1
EI
PL
EI
PL
EI
PL
L
L
L L L L
L L L
L L L
L L
L
EI
M
F
M
F
M
F
y
y
y
The global nodal forces and moments are
PL M P F M P F M P F
y y
2
1
,
2
3
, 0 ,
2
5
, 0 ,
3 3 2 2 1 1
= = = = = =
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Example 2
Local nodal force for each element (used for stress analysis of the entire structure)
| |

2
2
3
2
3
3
3
2
2
) 2 (
3
3
2
2
2
PL
P
PL
P
y
y
v
v
K
m
f
m
f
Element
|
|
| |

PL
P
P
v
v
k
m
f
m
f
y
y
Element
0
2
2
1
1
) 1 (
2
2
1
1
1
|
|
P
2
3
P
P
PL PL
2
PL
P
2
3
Free body diagrams for element 1 and 2 are shown as follows.
According the results of the global nodal forces and moments,
the free body diagram for the whole beam is given as shown.
1
2
3 2
PL
P
2
3
P
2
5
P
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Example 3
1 2 3
P
2
3
P
M
1
2 3
PL
2
PL
V
Shear force diagram for the beam
Bending moment diagram for the beam
By using the beam theory sign conventions, the shear force V and bending moment M
diagrams are shown in the following figures.
M
M
V
V
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Distributed loading
5. Distributed loading
Equivalent force system:
Replace the distributed load by concentrated nodal forces and moments tending to
have the same effect on the beam as the actual distributing load based on the concept
of fixed-end reactions from structural analysis theory.
w
y
1
F
2
F
1
M
2
M
x
Ex. Distributed load. equivalent force system

w
w
12
2
wL
12
2
wL
2
wL
2
wL
30
2
wL
12
2
wL
20
3wL
20
7wL
Fixed-end reactions are those reactions at the ends of an element if the ends of the
element are assumed to be fixed.
Beam subjected to a distributed load Fixed-end reactions for the beam
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Dis EX 1
e
M
1
e
F
1
2
wL
12
2
wL
Example:
Consider the cantilever beam subjected to the uniform load w. Find
the right-end vertical displacement and rotation, and nodal forces.
equivalent nodal force system for uniform load w

(
(
(
(

2
2
1
1
2
2 2
3
2
2
1
1
4
6 12
2 6 4
6 12 6 12
|
v
|
v
L
L
L L L
L L
L
EI
M
F
M
F
e
1
M
1
F
y
w
x
12
2
wL
2
wL
2
wL
12
2
wL
cantilever beam subjected to the uniform load w
Solution:
One element is used to represent the whole beam. Based on the fixed-end reactions
concept, the equivalent nodal force system is given as the following figure.
The system equation for the beam is
12
2
wL
1
M
1
F
2
wL
12
2
wL
2
wL
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Dis EX 1

=
)
`

6
8
12
2
6 3
3 2
6
3
2
2
2
2
w
wL
EI
L
wL
wL
L
L L
EI
L
|
v
Applying the nodal forces and the boundary conditions ,
we obtain
12
,
2
2
2 2
wL
M
wL
F = =
0
1 1
= =| v
)
`

2
2
2 3
2
4 6
6 12
12
2
|
v
L L
L
L
EI
wL
wL
e
Solving the above equation for the displacements, we have
Therefore, the reaction forces F
1e
and M
1e
for the equivalent nodal force
system are

=
)
`

=
)
`

12
5
2
6
8
2 6
6 12
2 6
6 12
2
2
2
2
2 3
1
1
wL
wL
w
wL
L L
L
v
L L
L
L
EI
M
F
e
e
|
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Dis EX 2
The equivalent nodal forces are
{ }

=
12 /
2 /
12 /
2 /
2
2
0
wL
wL
wL
wL
F
Hence, the effective global nodal forces are
{ }

(
(
(
(

+
=

=
EI wL
EI wL
L
L
L L L
L L
L
EI
wL
wL
wL
wL
M
F
M
F
F
e
e
e
e
e
6 /
8 /
0
0
4
6 12
2 6 4
6 12 6 12
12 /
2 /
12 / 5
2 /
3
4
2
2 2
3
2
2
2
2
1
1
Thus, the correct global nodal forces
{ } { } { }

= =
0
0
2 /
2
0
wL
wL
F F F
e
e
M
wL
M
1
2
1
12
=
By comparing the two equivalent system given in the previous page, we have relationships
among the correct nodal forces, the effective nodal forces and the equivalent nodal forces.
e
F
wL
F
1 1
2
=
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Bar Element 1
Description
Uniaxial element with tension, compression, torsion, and bending capabilities. The more general Beam
element is often used instead of this element. The figure, at the end of this section, defines both element
types. For some analysis programs, MSC/N4W translates both types to the same element type.

Application
Used to model general beam/frame structures.

Shape
Line, connecting two nodes. A third node can be specified to orient the element Y axis.






Element Coordinate System
The element X axis goes from the first node to the second.The element Y axis is perpendicular to the
element X axis. It points from the first node toward the orientation (or third) node. If you use an
orientation vector, the Y axis points from the first node in the direction of the orientation vector. The
element Z axis is determined from the cross product of the element X and Y axes.

Properties
Area, Moments of Inertia (I1, I2, I12), Torsional Constant, Shear Areas (Y, Z), Nonstructural
Mass/Length, Stress
Recovery Locations.

Additional Notes
Refer to the Beam element for further descriptions regarding Releases, Offsets and Stress Recovery
Locations.

Bar Element
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Bar Element 2
Third Node, or
Orientation Vector
Plane 1 (XY)
Offset A
Offset B
Plane 2 (XY)
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Beam Element 1
Description
Uniaxial element with tension, compression, torsion, and bending capabilities. This element can be tapered.
You can specify different properties at each end of the beam.
Application
Used to model beam/frame structures.
Shape
Line, connecting two nodes. A third node can be specified to orient the element Y axis.
Element Coordinate System
The element X axis goes from the first node to the second. The element Y axis is perpendicular to the
element X axis. It points from the first node toward the orientation (or third) node. If you use an orientation
vector, the Y axis points from the first node in the direction of the orientation vector. The element Z axis is
determined from the cross product of the element X and Y axes.
Properties
Area, Moments of Inertia (I1, I2, I12), Torsional Constant, Shear Areas (Y, Z), Nonstructural Mass/Length,
Stress Recovery Locations, Neutral Axis Offsets (Nay, Naz, Nby and Nbz). If the beam is tapered, you can
specify different properties at each end of the element.
Additional Notes
You can specify Releases which remove the connection between selected element degrees of freedom and
the nodes.
Offset vectors defined on the Element move the neutral axis and shear center from the nodes. Neutral Axis
Offsets (Y,Z) defined on the Property card move the neutral axis away from the shear center. If there are no
Neutral Axis Offsets, the neutral axis and shear center are coincident.
Beam Element
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Beam Element 2
Third Node, or
Orientation Vector
Plane 1 (XY)
Offset A
Offset B
Plane 2 (XY)
If there are no offsets,both the neutral axis and shear center lie directly between the nodes.
Stress Recovery Locations define positions in the elemental YZ plane (element cross-section) where you
want the analysis program to calculate stresses.
Specifying moments of inertia for Beam (and Bar) elements can sometimes be confusing. In MSC/N4W, I1 is
the moment of inertia about the elemental Z axis. It resists bending in the outer Y fibers of the beam. It is the
moment of inertia in plane 1. Similarly, I2 is the moment of inertia about the elemental Y axis. If you are
familiar with one of the analysis program conventions, the following table may help you convert to
MSC/N4W's convention.

MSC/N4W I1 I2
MSC/pal & CDA/Sprint Iww Ivv
NASTRAN Izz Iyy
ANSYS IZ1 IY1
STARDYNE I3 I2
ALGOR, mTAB & SAP I3 I2
ABAQUS I22 I11
WECAN Izz Iyy
COSMOS Izz Iyy
STAAD IZ IY

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Element coordinate sys.
. :
. , min :
. :
V X product Cross axis Z Element
plane Y X in lies which V vector by ed Deter plane Y X Element
B End and A End between line with coincident Always axis X Element
e
e e

Element coordinate system. ( orientation of a beam element)

Interpretation of Element Output.
Bar element internal forces and moments.
(1) plant 1
(2) plant 2
x
F
a
M
1
e
y
a
b
1
V
b
M
1
x
F
e
x
b
e
z
a
M
2
2
V
a
b
M
2
2
V
e
x
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Element coordinate sys.
II. Frames and Grids
1. Rigid plane frame :
(1) Definition
A frame consists of a series of beam elements rigidly connected to each other.
(i) joint angles between elements remain unchanged after deformation
(ii) moment continuity exists at the rigid joint
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Element coordinate sys.
(iii) element centroids and applied loads lie in the pane of the structure
(2) Two Dimensional Beam element
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Element coordinate sys.
Vectors transform law in 2D
For the beam element, we have (use the 2nd eq. of above relation)
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Element coordinate sys.
Global stiffness matrix for 2D Beam element
where
Here, the global stiffness matrix for a beam element including shear and
bending effect is given as.
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Element coordinate sys.
(3) 2D Beam element including axial force effect
Axial force effect
Combined with shear force and bending moment effects
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Element coordinate sys.
or
or
and relate the local to the global displacement by
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Element coordinate sys.
The global stiffness matrix for beam element including axial, shear and bending effects
where
The analysis of a rigid plane frame can be performed by using above stiffness
matrix.
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Grid-1
X
Z
Y
1
F 2
F
3
F
4
F
2. Grid
(1) Definition
A Grid is a structure on which loads are applied perpendicular to the plane of the
structure.
(2) Grid Element (Shear + bending + torsion)
L
1
2
x
y
Z
Z
Z
m
1
1
,|
x
x
m
1
1
,|
x
x
m
2
2
,|
Z
Z
m
2
2
,|
1 1 , f v y 2 2 , f v y
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Grid-2
L 1 2
x
x m
1
1 ,|
x
x m
2
2 ,|
x
1 L 2
x
x
x m | ,
x
x m | ,
Torsional bar element stiffness matrix.
x x
L
GJ
m | =
where G = shear modulus ; J =centroidal polar moment of inertia
( )
x x x x x
m m
L
GJ
m
1 2 1 2
= = = | |
)
`

=
)
`

x
x
x
x
L
GJ
m
m
2
1
2
1
1 1
1 1
|
|
Fig. Nodal and element torque sign conventions
The relationship between torque and twist is
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Grid-3
We assume the shear loading to go through the shear center of these open cross
sections to prevent twisting of the cross section.
By Combining the torsional effect with the shear and bending effects, the local
stiffness matrix equation for a grid element is written as:

(
(
(
(
(
(
(

z
x
z
x
b
b b
b b b
b b b b
z
x
y
z
x
y
v
v
k L
k
Lk k
k L Lk k L
k k
Lk k Lk k
m
m
f
m
m
f
2
2
2
1
1
1
2
t
2 2
t t
2
2
2
1
1
1
4
0
6 0 12
2 0 6 4
0 0 0
6 0 12 6 0 12
|
|
|
|
3
L
EI
k
b
=
L
GJ
k
t
=
{ } | |{ } d k f or
G
=
Hence, the stiffness matrix for the torsional bar is
| |
(

=
1 1
1 1
L
GJ
k
Grid-4
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i X
Z
Y
u
u
Z
_
_
Y
_
X j
u:+ve c.c.w.
The transformation matrix relating local to global D.O.F for a grid is

| |
(
(
(
(
(
(
(

=
C S
S C
C S
S C
T
G
0 0 0 0
0 0 0 0
0 0 1 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0 0 1
L
x x
C
i j

= = u cos
L
z z
S
i j

= = u sin
Hence, the global stiffness matrix for a grid element is
| | | | | || |
G G
T
G G
T k T k =