Beam Elements and

Plane Frame
Equations

10/14/08 Beam Elements 1

Beam Stiffness

A beam is a long, slender structural

member generally subjected to transverse
loading that produces significant
bending effects as opposed to axial or
twisting effects.

10/14/08 Beam Elements 2

 Beam with positive nodal displacements,
rotations, forces, and moments.

ŷ , v̂

φ̂1 , m̂ 1
1 x̂ 2 φ̂ 2 , m̂ 2

L
f̂1y , d̂ 1y f̂ 2y , d̂ 2y

10/14/08 Beam Elements 3

 Beam theory sign conventions for shear
forces and bending moments.

m m

L
V V

10/14/08 Beam Elements 4

FEM Sign Conventions
Valid at All Nodes:
1. Moments are positive
counterclockwise.
2. Rotations are positive
counterclockwise.
3. Forces are positive in the local y
direction.
4. Displacements are positive in the
local y direction.
10/14/08 Beam Elements 5
 ŷ , v̂
w(x)

x̂
w(x)

M M + dM
dx

V V + dV

10/14/08 Beam Elements 6

Force and moment equilibrium:
− w dx̂ + dV = 0
V dx̂ + dM = 0
dV
w=−
dx̂
dM
V=
dx̂

10/14/08 Beam Elements 7

Curvature-moment relationship:
2
1 M d vˆ
κ= = κ= 2
ρ EI dxˆ
dvˆ
θ=
dxˆ
2
d vˆ M
2
=
dxˆ EI

10/14/08 Beam Elements 8

 d 2 v̂ M
=
2 EI
dx̂
2  2 
d  d v̂ 
EI = − w ( x̂ )
2 2
dx̂  dx̂ 
Some cases :
 d 4 v̂ 
 EI =0
 dx̂ 4 
 

10/14/08 Beam Elements 9

 Step 1: Select Element
Type

ŷ , v̂

φ̂1 , m̂ 1
1 x̂ 2 φ̂ 2 , m̂ 2

L
f̂1y , d̂ 1y f̂ 2y , d̂ 2y

10/14/08 Beam Elements 10

Step 2: Select a Displacement Function

vˆ  a1xˆ 3  a 2 xˆ 2  a 3 xˆ  a 4
ˆv  3a1 xˆ 2  2a 2 xˆ  a 3
v̂(0)  dˆ  a
1y 4

ˆ
dv(0)
 ˆ 1  a 3
dxˆ
ˆ
v̂(L)  d 2y  a1L  a 2 L  a 3 L  a 4
3 2

ˆ
dv(L) ˆ
  2  3a1L  2a 2 L  a 3
2

dxˆ
10/14/08 Beam Elements 11
 Solve for ai’s

 2 ˆ
 L
 ˆ L
1 ˆ ˆ  3

vˆ   3 d1y  d 2y  2 1   2  xˆ 


 3 ˆ

 L2 1y

d  
ˆ
d 2y 
L

1 ˆ ˆ  2 ˆ
2 1   
2 

ˆ
x  1
ˆ
x ˆ
d 1y

10/14/08 Beam Elements 12

 Matrix Form
 d̂1y 
 
 ˆ 1 

v̂   N  dˆ   N   
 d̂ 2y 
 ˆ 
   
2 

 N    N1 N2 N3 N4 
10/14/08 Beam Elements 13
 Matrix Form

 N    N1 N2 N3 N4 
2 3 3 2 1 3 2 2
N1  3 xˆ  2 xˆ  1 N 2  2 xˆ  xˆ  1xˆ
L L L L
2 3 3 2 1 3 1 2
N 3   3 xˆ  2 xˆ N 4  2 xˆ  xˆ
L L L L

10/14/08 Beam Elements 14

 Collect Terms
1
N1  3
L
 2xˆ 3  3xˆ 2 L  L3 
1
N2  3
L
 ˆx 3 L  2xˆ 2 L2  xL
ˆ 3 
1
N3  3
L
 2x  3x L
ˆ 3
ˆ 2

1
N4  3
L
 xˆ 3 L  xˆ 2 L2 
10/14/08 Beam Elements 15
Properties of Shape
Functions
N1 (0) = 3 ( L ) = 1
1 3
L
N1 (L) = 3 ( 2L3 − 3L2 L + L3 ) = 0
1
L
= 3 ( 6xˆ 2 − 6xˆ L )
dN1 1
dxˆ L
dN1
(0) = 0
dxˆ
(L) = 3 ( 6L2 − 6LL ) = 0
dN1 1
dxˆ L
10/14/08 Beam Elements 16
Properties of Shape
Functions
N 3 ( 0) = 0

N 3 (L) = 3 ( − 2L3 + 3L2 L ) = 1

1
L
= 3 ( − 6x + 6xˆ L )
dN 3 1 2
ˆ
dxˆ L
dN1
( 0) = 0
dxˆ
(L) = 3 ( − 6L2 + 6LL ) = 0
dN1 1
dxˆ L
10/14/08 Beam Elements 17
Properties of Shape
Functions
N 2 (0) = 0
1 4
(
N 2 (L) = 3 L − 2L4 + L4 = 0
L
)
dN 2 1
dxˆ
(
= 3 3xˆ 2 L − 4xˆ L2 + L3
L
)
dN 2
(0) = 1
dxˆ
dN1 2
dxˆ
1
(
(L) = 3 3L3 − 4L3 + L3 = 0
L
)
10/14/08 Beam Elements 18
Properties of Shape
Functions
N 4 ( 0) = 0
1 4
(
N 4 (L) = 3 L − L4 = 0
L
)
dN 2 1 2
dxˆ
(
= 3 xˆ L − 2xˆ L2
L
)
dN 2
(0) = 0
dxˆ
dN1 2
dxˆ
1 3
(
(L) = 3 L − 2L3 = 1
L
)
10/14/08 Beam Elements 19
 1.000
N1 N3
0.500
N2
L
0.000
0 N4

-0.500

Shape Functions for Beam Element

10/14/08 Beam Elements 20
Step 3 : Define
Strain/Displacement
Relationships
duˆ
ε x ( xˆ , yˆ ) =
dxˆ
dvˆ
uˆ = −yˆ
dxˆ
2
d vˆ
ε x ( xˆ , yˆ ) = −yˆ 2
dxˆ
10/14/08 Beam Elements 21
 Step 3 : Define Stress/Strain
Relationships

2
d v̂
m̂( x̂ ) = EI
2
dx̂
3
d v̂
V̂ = EI
3
dx̂

10/14/08 Beam Elements 22

Step 4 : Derive the Element
Stiffness Matrix and
Equations
3
ˆf = V ˆ = EI vˆ (0)
d
1y
dxˆ 3
EI
(
= 3 12 dˆ 1y + 6 L φˆ 1 − 12 dˆ 2 y + 6 L φˆ 2
L
)
3
ˆf = −Vˆ = EI d vˆ (L)
2y
dxˆ 3
EI
(
= 3 − 12 dˆ 1y − 6 L φˆ 1 + 12 dˆ 2 y − 6 L φˆ 2
L
)
10/14/08 Beam Elements 23
Step 4 : Derive the Element
Stiffness Matrix and
Equations
d 2 vˆ (0)
ˆ 1 = −m
m ˆ = −EI
dxˆ 2
EI
(
= 3 6L dˆ 1y + 4 L2 φˆ 1 − 6 L dˆ 2 y + 2 L2 φˆ 2
L
)
2
d vˆ (L)
ˆ 2 = +m
m ˆ = EI
dxˆ 2
EI
( ˆ 2 ˆ ˆ 2 ˆ
= 3 6L d1y + 2 L φ1 − 6 L d 2 y + 4 L φ 2
L
)
10/14/08 Beam Elements 24
Step 4 : Derive the Element
Stiffness Matrix and
Equations

 f̂1y   12 6L − 12 6L   d̂ 1y 
   6L 4L2 − 6L 2L2   ˆ 
 m̂ 1  EI    φ1 
 = 3  
f̂
  2 y L  − 12 − 6L 12 − 6L  d̂ 2y 
m̂   2 2  ˆ 
 2  6L 2L − 6L 4L   φ 2 

10/14/08 Beam Elements 25

Stiffness Matrix
 12 6L − 12 6L 
 6L 4L2 − 6L 2L2 
[ ]
k̂ =
EI 
3  − 12 − 6L

12 − 6L 
L
 2 2
 6L 2L − 6L 4L 

Note units on kij terms. Derived from direct

stiffness approach. Identical to matrix methods!

10/14/08 Beam Elements 26

 Step 5 : Assemble Element
Equations to Obtain the
Global Equations and
Introduce Boundary
Conditions

10/14/08 Beam Elements 27

Example

y
1000 lb•ft
1
3
x 2 2
1

1000 lb

E, I are constant through out the beam

10/14/08 Beam Elements 28

 d̂ 1y φˆ 1 d̂ 2y φˆ 2
 12 6L − 12 6L 
 6L 4L2 − 6L 2L2 
[ ]
k̂ (1)
=
EI 
L3  − 12 − 6L

12 − 6L 
 2 2
 6L 2L − 6L 4L 

10/14/08 Beam Elements 29

 d̂ 2y φˆ 2 d̂ 3y φˆ 3
 12 6L − 12 6L 
 6L 4L2 − 6L 2L2 
[ k̂ ( 2)
=
L
]
EI 
3  − 12 − 6L

12 − 6L 
 2 2
 6L 2L − 6L 4L 

10/14/08 Beam Elements 30

 F1y   12 6L − 12 6L 0 0  d̂ 1y 
M   6L 4L2 2  ˆ 
 1  − 6 L 2 L 0 0   φ1 
F2y  EI  − 12 − 6L 12 + 12 − 6L + 6L − 12 6L  d̂ 2y 
 = 3  2 2 2 2  ˆ 
M
 2 L  6L 2 L − 6L + 6 L 4 L + 4 L − 6L 2L   φ 2 
F3y   0 0 − 12 − 6L 12 − 6L  d̂ 3y 
   2  ˆ 
M 3   0 0 6L 2L2 − 6L 4L   φ 3 

10/14/08 Beam Elements 31

 The Boundary Conditions are :
d̂1y = 0
ˆ1=0
φ
d̂ 3y = 0

Impose B.C.' s and reduce equations :

10/14/08 Beam Elements 32

 − 1000  24 0 6L  d̂ 2y 
  EI  2 2  ˆ 
 1000  = 3  0 8L 2L   φ 2 
 0  L 6L 2L2 4L2   φˆ 3 
    
Solve for nodal displacements and reactions
at node 1 and node 3.

10/14/08 Beam Elements 33

Example

P y

1 3
1
x 2 2

L L

E, I are constant through out the beam

10/14/08 Beam Elements 34

  d̂1y 
 F1y   12 6L 12 6L0   0 
   6L   ˆ 

 M1   4L 2
6 L 2L 2
0 0  1
 
 F  EI  12 6 L 12  12 6 L  6 L 12 6 L   d̂ 2y 
2y
   3 2   
 M2  L  6 L 2 L 6 L  6 L 4 L  4 L 6 L 2 L   ˆ 
2 2 2
2
 F   0 0 12 6 L 12 6 L   d̂ 
 3y
  2  
3y 
 M 3   0 0 6L 2L 2
6 L 4 L   
ˆ

 3 

10/14/08 Beam Elements 35

 The Boundary Conditions are :
d̂ 2y = 0
d̂ 3y = 0
φˆ 3 = 0

Impose B.C.' s and reduce equations :

10/14/08 Beam Elements 36

 −
  P  4 L2
2 L2
6L  d̂ 1y 
  EI  2 2  
0 = 2 L 8 L 6L   φˆ 1 
  3 
 0  L  6L 6L 12   φˆ 2 
    
 7 PL3 
− 
d̂ 1y   12EI 
 ˆ   3PL2 
 φ1  =  
 φˆ   4EI2 
 2   PL 
 4EI 
 
10/14/08 Beam Elements 37
  7 PL3 
−
 F1y   12 6L − 12 6L 0 0   12EI 
M   6L 4L2
 1  − 6 L 2 L 2
0 0   3PL2 
F2y  EI  − 12 − 6L  
12 + 12 − 6L + 6L − 12 6L   4EI 
 = 3  2 2 2  0 
M
 2 L  6 L 2 L − 6 L + 6 L 4 L + 4 L − 6L 2L2  
PL2 
F3y   0 0 − 12 − 6L 12 − 6L   
   4EI 
2 
M 3   0 0 6L 2L2 − 6L 4L   0 
 0 
 

10/14/08 Beam Elements 38

  −P 
 F1y   
M   0 
 1 5
  P 
F2y   2 
 = 0 
M 2   3 
F3y  − 2 P 
  1 
M 3   PL 
2 

10/14/08 Beam Elements 39

  f̂ 2 y   12 6L − 12 6L   0 
     PL2 
m̂ 2  EI  6L 4L2 − 6L 2L2  
   4EI 
 = 3   
 f̂ 3y  L − 12 − 6L 12 − 6L   0 
    
m̂ 3   6L 2L2 − 6L 4L2   0 

 3 
 f̂ 2 y   2 P 
   
m̂ 2   PL 
   
 = 3 
 f̂ 3y  − P 
   2 
m̂ 3   PL 
 2 
10/14/08 Beam Elements 40
 P

1
PL
P
3P/L
3P/L PL
PL/2
2

10/14/08 Beam Elements 41

 3P/2

5P/2 PL/2

10/14/08 Beam Elements 42

Shear Force Diagram

10/14/08 Beam Elements 43

 Bending Moment Diagram

PL/2

-PL
10/14/08 Beam Elements 44
 Example
E = 210 GPa
I = 2 x 10-4 m4
y P = 50 kN

1 3
2
x 2
1
k =200 kN/m
3m 3m

10/14/08 Beam Elements 45

 F1y   12 6L − 12 6L 0 0  d̂ 1y 
M   6L 4L2 2  ˆ 
 1  − 6 L 2 L 0 0   φ1 
F2y  EI  − 12 − 6L 12 + 12 − 6L + 6L − 12 6L  d̂ 2y 
 = 3  2 2 2 2  ˆ 
M
 2 L  6L 2 L − 6L + 6 L 4 L + 4 L − 6L 2L   φ 2 
F3y   0 0 − 12 − 6L 12 − 6L  d̂ 3y 
   2  ˆ 
M 3   0 0 6L 2L2 − 6L 4L   φ 3 

Plus stiffness from spring!

10/14/08 Beam Elements 46

 k − k
[k s ] =  
− k k 
Let :
3
kL
k′ =
EI
Then :
EI  k ′ − k ′
[k s ] = 3  
L − k ′ k ′ 

10/14/08 Beam Elements 47

  d̂1y 
 F1y   12 6L 12 6L 0 0 0   
   6L 4L2  ˆ 1 
 M1   6L 2L 2
0 0 0   
 F   12 6L 12  12 6L  6L 12 6L 0   d̂ 2y 
 2y
 EI    
 M2   3 
6L 2L 2
6L  6L 4L  4L
2 2
6L 2L 0   ˆ 2 
2

 L
F3y   0 0 12 6L 12  k  6L k    d̂ 
     3y 
 M3   0 0 6L 2L2 6L 4L 2
0   
   ˆ
3 
 0 0 0 0 k  0 k  
 F4y   
d
 4y 

10/14/08 Beam Elements 48

 The Boundary Conditions are :
d̂ 1y = 0
φˆ 1 = 0
d̂ 2y = 0
d̂ 4y = 0

Impose B.C.' s and reduce equations :

10/14/08 Beam Elements 49

 Rearranging terms yields:

 0  8 L2
2 L2
− 6L   φˆ 2 
  EI  2 2 
ˆ 
 0  = 3  2L 4L − 6L   φ 3 
− P  L  − 6L − 6L 12 + k ′ d̂ 
     3y 
 φˆ 2  − 0.00249 radians 
ˆ   
 φ 3  = − 0.00747 radians 
d̂   − 0.0174 m 
 3y   

10/14/08 Beam Elements 50

 F1y   12 6L − 12 6L 0 0 0  0 
M   6L 4L2
 1   − 6 L 2 L 2
0 0 0   0 

F2y   − 12 − 6L 12 + 12 − 6L + 6L − 12 6L 0  0 
  EI  2  
 M 2  = 3  6L 2L − 6L + 6L 4L2 + 4L2 − 6L 2L2 0  − 0.00249 
F  L  0 0 − 12 − 6L 12 + k ′ − 6L − k ′  − 0.0174 
 3y   2 2  
M
 3  0 0 6 L 2 L − 6L 4L 0  − 0.00747 
F   0  
 4y   0 0 0 k′ 0 k ′   0 

10/14/08 Beam Elements 51

  F1y   − 69.9 kN 
M   
 1  − 69.7 kN ⋅ m 
F2y   116.4 kN 
   
M 2  =  0 
F   − 50.0 kN 
 3y   
M 3   0 
F   
 4y   3.5 kN 

10/14/08 Beam Elements 52

 50.0 kN
69.9 kN

69.7 kN•m 3.5 kN

116.4 kN

10/14/08 Beam Elements 53

Distributed Loads

ŷ , v̂
w(x)

2
1 x̂

10/14/08 Beam Elements 54

 Equivalent Loads

f̂1y f̂ 2y
m̂ 2

2
1
m̂ 1
L

10/14/08 Beam Elements 55

 Work Equivalence Method

Wdistributed = Wdiscrete
L
Wdistributed = ∫ w( x̂ ) v( x̂ ) dx̂
0
Wdiscrete = m̂ 1 φˆ 1 + m̂ 2 φˆ 2 + f̂1y d̂ 1y + f̂ 2y d̂ 2y

10/14/08 Beam Elements 56

 Work Equivalence Method
- Example
L ˆ + m̂ φˆ + f̂ d̂ + f̂ d̂
∫0 w ( x̂ ) v ( x̂ ) d x̂ = m̂ φ
1 1 2 2 1y 1y 2y 2y
w( x̂ ) = − w
 2
v( x̂ ) =  ( )
d̂ 1y − d̂ 2y + (
1 ˆ ˆ )  3
φ1 + φ 2  x̂ +
 L3 L2 
 3
( ) 1 ˆ
( ˆ )  2
 − 2 d̂ 1y − d̂ 2y − L 2φ1 + φ 2  x̂ +
 L 
φˆ x̂ + d̂
1 1y

10/14/08 Beam Elements 57

 Work Equivalence Method
- Example

L
∫0 w ( x̂ ) v ( x̂ ) d x̂ = − (
Lw
2
d̂ 1y − d̂ 2y)−
4
(
L2 w ˆ
φ 1 + ˆ
φ )
2

 L2 w 
(
− Lw d̂ 2y − d̂ 1y +) (
L2 w ˆ
3
)
2φ1 + φˆ 2 − 

 φˆ − ( Lw ) d̂
 1 1y
 2 

10/14/08 Beam Elements 58

Collect Terms :
L ˆ + m̂ φˆ + f̂ d̂ + f̂ d̂
∫0 w ( x̂ ) v ( x̂ ) d x̂ = m̂ 1 φ 1 2 2 1y 1y 2y 2y

L
∫0 w ( x̂ ) v ( x̂ ) d x̂ = −(Lw
2
d̂ 1y − d̂ 2y −) 4
(
L2 w ˆ
φ 1 +)ˆ
φ 2

 L2 w 
(
− Lw d̂ 2y − d̂ 1y +) (
L2 w ˆ
3
)
2φ1 + φˆ 2 − 
 2  1
 φˆ − ( Lw ) d̂ =
1y
 
 Lw   Lw 
− + Lw − Lw d̂ 1y +  − Lw d̂ 2y +
 2   2 
 L2 w 2L2 w L2 w   L2 w L2 w 
− + − φˆ +  − + φˆ
 4 3 2  1  4 3  2
   

10/14/08 Beam Elements 59

 Collect Terms :
 Lw  wL
f̂1y =  − + Lw − Lw  = −
 2  2
 Lw  wL
f̂ 2y =  − Lw  = −
 2  2
 L2 w 2L2 w L2 w  wL 2
m̂ 1 =  − + − =−
 4 3 2  12
 
 L2 w L2 w  wL2
m̂ 2 =  − + =
 4 3  12
 
10/14/08 Beam Elements 60
 Procedure also works
for a concentrated load
applied at a point other
than a node.

10/14/08 Beam Elements 61

 f̂1y f̂ 2y
m̂ 2

2
1
m̂ 1
L

10/14/08 Beam Elements 62

 Nodal Hinge
ŷ , v̂ Hinge

φ̂1 , m̂ 1
1 x̂
2
ˆ , m̂ = 0
φ 2 2
L
f̂1y , d̂ 1y f̂ 2y , d̂ 2y

10/14/08 Beam Elements 63

 Nodal Hinge

Hinge
ŷ , v̂
φ̂ 2 , m̂ 2
x̂ 2
1
ˆ , m̂ = 0
φ1 1

L
f̂1y , d̂ 1y f̂ 2y , d̂ 2y

10/14/08 Beam Elements 64

Partition Stiffness Matrix

 12 6L − 12 6L 
 6L 4L2 − 6L 2L2 
[ ]k̂ =
EI 
3  − 12 − 6L

12 − 6L 
L
 2 2
 6L 2L − 6L 4L 

10/14/08 Beam Elements 65

 Partition Stiffness Matrix
[ k̂ condensed ] = [ K 11 ] − [ K 12 ][ K 22 ] −1 [ K 21 ] =
 12 6L − 12   6L 
EI 
3 
6L 4L2
− 6L 
 −
EI  2   1 
3 
2
L  − 12 − 6L 12  L − 6L   4L 
L  2  6L 2L2
[ − 6L ]
   
1 L − 1
[k̂ condensed = ]3EI 
3 
L L 2
− L 

L − 1 − L 1 
 

10/14/08 Beam Elements 66

Expand Stiffness Matrix
Hinge at node j
1 L −1 0
 L L2 − L 
[ ]
k̂ Hinge =
3EI 
3 − 1 − L 1
0
0
L
 
0 0 0 0

10/14/08 Beam Elements 67

Expand Stiffness Matrix

Hinge at node i

1 0 −1
L 
0 
[ ]
k̂ Hinge =
3EI 
3 − 1
0 0 0 
0 1 − L
L
 2
L 0 −L L 

10/14/08 Beam Elements 68

Potential Energy Approach
Neglecting Body Forces.
πp = U + Ω
1
U = ∫∫∫σ x ε x dV
2
V
2 2
Ω = − ∫∫ T̂y v̂ dS − ∑ f̂ iy d̂ iy − ∑ m̂ i φ i
S i =1 i =1

10/14/08 Beam Elements 69

 1 L
π p = ∫ ∫∫ σ x ε x dA dx̂ − ∫ v̂ T̂y b dx̂
2 0
x̂ A
− f̂1y d̂ 1y − f̂ 2y d̂ 2y − m̂ 1 φˆ 1 − −m̂ 2 φˆ 2

10/14/08 Beam Elements 70

 vˆ = [N] {dˆ }
dˆ 1y 
 
 φ1 
ˆ  
{d} =  
dˆ 2 y 
 
 φ 2 
2
d vˆ
{ ε x } = −yˆ 2
dx
10/14/08 Beam Elements 71
 d 2 vˆ
{ ε x } = −yˆ 2
dx
12xˆ − 6L 6xˆ L − 4L2 − 12xˆ + 6L 6xˆ L − 2L2 
[ B] =  3 
 L L3 L3 L 3

{ ε x } = −yˆ [ B]{dˆ }

10/14/08 Beam Elements 72

 { σ x } = [ D]{ ε x }

[ D] = [ E ]

{ σ x } = −yˆ [ D] [ B]{dˆ }
10/14/08 Beam Elements 73
 1 L
π p = ∫ ∫∫ σ x ε x dA dx̂ − ∫ v̂ T̂y b dx̂
2 0
x̂ A
− f̂1y d̂ 1y − f̂ 2y d̂ 2y − m̂ 1 φˆ 1 − −m̂ 2 φˆ 2

10/14/08 Beam Elements 74

 L
1
πp = ∫∫∫ { σ x } { ε x } dAdxˆ
T

A 0
2

{ } { P}
L
ˆ { vˆ } dxˆ − dˆ
− ∫ bT T T
y
0

10/14/08 Beam Elements 75

 L
I ˆ
 
T
p    B   D  B  dˆ dxˆ
T T
d
0
2
L

 
T T
  w dˆ   ˆ  P
T
N ˆ
dx  d
0

ˆ
w  bT y

I   y dA 2

10/14/08 Beam Elements 76

 p
0
 d̂
L L
I 
0
T
 0
T
 
 B   D  B  dxˆ d    N  w dxˆ  Pˆ
ˆ

  
ˆf   N  T w dxˆ  Pˆ
 0
L

 k   I   B   D  B  dxˆ
T

Same result as direct method!

10/14/08 Beam Elements 77

 Plane Frame and
Grid Equations

10/14/08 Beam Elements 78

Stiffness Matrix
 12 6L − 12 6L 
 6L 4L2 − 6L 2L2 
[ ]k̂ =
EI 
3  − 12 − 6L

12 − 6L 
L
 2 2
 6L 2L − 6L 4L 

Recall the stiffness matrix for a beam element.

10/14/08 Beam Elements 79

 d̂ 2y
y
2
φ̂ 2

d̂ 1y , ŷ
L θ
x̂
φ̂1 1 x

Arbitrarily oriented beam element.

10/14/08 Beam Elements 80
  d̂ x   C S  d x 
   
 =  
 d̂ y   − S C   d y 

d1x 
 
 d̂ 1 y  − S C 0 0 0 0 d1y 
    
 φ 1   0 0 1 0 0 0   φ 1 
 =   
 d̂ 2 y   0 0 0 − S C 0 d 2x 
    
 φ 2   0 0 0 0 0 1   d 2 y 
 
 φ 2 
10/14/08 Beam Elements 81
  − S C 0 0 0 0
 0 0 1 0 0 0
[ T] =  
 0 0 0 − S C 0
 
 0 0 0 0 0 1

10/14/08 Beam Elements 82

 [ k ] = [ T ] T [ k̂ ][ T ]
C = cos θ
S = sin θ
 12 S 2 − 12 SC − 6 LS − 12 S 2 12 SC− 6 LS 
 
 12 C 2 6 LC 12 SC − 12 C 2 6 LC 
 
EI  4 L2 6 LS − 6 LC 2 L2 
[k] = 3  
L  symmetric 12 S 2 − 12 SC 6 LS 
 
 12 C 2 − 6 LC 
 
 symmetric 4 L2 


10/14/08 Beam Elements 83

 f̂ 2 y
y f̂ 2 x
2

m̂ 2

f̂1y L θ
x̂
m̂ 1 x
f̂1x

Local forces on a beam element.

10/14/08 Beam Elements 84
Axial forces/displacements :

 f̂1x  AE  1 − 1 d̂ x  C1=(AE)/L

 =    
f̂ 2x  L  − 1 1  d̂ y  C2=(EI)/L3

Combining Results :

 f̂1x  C1 0 0 − C1 0 0   d̂ 1x 
     
 f̂1y   12C 2 6C 2 L 0 − 12C 2 6C 2 L  d̂ 1y 
 m̂  
1 4C 2 L2 0 − 6C 2 L 2C 2 L2   φˆ 1 
 =  
f̂ 2x   symmetric C1 0 0  d̂ 2x 
f̂   12C 2 − 6C 2 L  d̂ 2y 
 2y   2  ˆ 
m̂ 2   symmetric 4C 2 L   φ 2 

10/14/08 Beam Elements 85

  d̂ 1x   C S 0 0 0 0  d 1x 
    d 
d̂
 1y   − S C 0 0 0 0   1y 
 φˆ   0 0 1 0 0 0  φ 
1 = 1
    
d̂ 2x   0 0 0 C S 0 d 2x 
d̂   0 0 0 − S C 0 d 2y 
 2y    
 φˆ 2   0 0 0 0 0 1  φ 2 

10/14/08 Beam Elements 86

 C S 0 0 0
0
− S C 0 0 0 0

 0 0 1 0 0 0
[ T] =  
 0 0 0 C S 0
 0 0 0 − S C 0
 
 0 0 0 0 0 1

10/14/08 Beam Elements 87

 [ k ] = [ T] T
[k̂ ] [ T]
C = cos θ
S = sin θ

10/14/08 Beam Elements 88

  2 12I 2  12I  6I  12I 2   12I  6I 
 AC + 2 S  A − CS − S −  AC 2 + S  −  A − CS − S
2 
 L  L  L  L2   L2  L 
 12I 2 6I  12I   12I 2  6I 
 AS 2 + C C −  A − CS −  AC 2 + S  C
2 L 2 2 L
 L  L   L  
 6I 6I
[k ] = E  4I S − C 2I 
L L L
 symmetric 2 12I 2  12I  6I 
AC + S  A − CS S
 2 2  L 
L  L 
 12I 2 6I 
 symmetric AS 2 + C − S
 L2 L 
 symmetric 4I 

10/14/08 Beam Elements 89

A rigid plane frame is defined as a series of
beam elements rigidly connected to each other.
That is the original angles between members at
the joints remain unchanged after
deformation.Moments are transmitted from
one member to another at the joints.
Additionally, the element centroids and the
applied loads lie in a common plane. Element
stiffnesses are functions of E, A, I, L and θ.

10/14/08 Beam Elements 90

10/14/08 Beam Elements 91
 10 ft

10000 lb 2 3 5000 lb-in

10 ft
1 3
y 5 ft
4
1
x

10/14/08 Beam Elements 92

 E = 30 x 10-6 psi
A = 10 in2
I = 200 in4 for elements 1 and 3.
I = 100 in4 for element 2.

10/14/08 Beam Elements 93

  2 12I 2  12I  6I  12I 2   12I  6I 
 AC + 2 S  A − CS − S −  AC 2 + S  −  A − CS − S
2 
 L  L  L  L2   L2  L 
 12I 2 6I  12I   12I 2  6I 
 AS 2 + C C −  A − CS −  AC 2 + S  C
2 L 2 2 L 
 L  L   L 
E 6I 6I
[k ] =  4I S − C 2I 
L L L
 symmetric 2 12I 2  12I  6I 
AC + S  A − CS S
 2 2  L 
L  L 
 2 12I 2 6I 
 symmetric AS + C − C
2 L 
 L
 symmetric 4I 

10/14/08 Beam Elements 94

 Element 1
Directed from node 1 to node 2.
x − x1 − 60 − ( −60)
C = cos 90 o = 2 = =0
(1) 120
L
o y 2 − y 1 120 − 0
S = sin 90 = = =1
(1) 120
L
12I 12 ( 200)
= = 0.167
2 2
L 120
6I 6 ( 200)
= = 10.0
L 120
E 30 × 10 6
= = 250,000
L 120

10/14/08 Beam Elements 95

 d 1x d 1y φ1 d 2x d 2y φ2
0.167 0 − 10 − 0.167 0 − 10
 10 0 0 − 10 0 
 
 800 10 0 400 
[ k ] = 250000  
 0.167 0 10 
 symmetric 10 0 
 
 800 

10/14/08 Beam Elements 96

 Element 2
Directed from node 2 to node 3.
x − x 2 60 − ( −60)
C = cos 0 o = 3 = =1
L( 2 ) 120
o y 3 − y 2 120 − 120
S = sin 0 = = =0
( 2) 120
L
12I 12 (100)
= = 0.0835
2 2
L 120
6I 6 (100)
= = 5 .0
L 120
E 30 × 10 6
= = 250,000
L 120
10/14/08 Beam Elements 97
 d 2x d 2y φ2 d 3x d 3y φ3
10 0 0 − 10 0 0 
 0 .0835 5 0 0 .0835 5 
 
 400 0 −5 200
[ k ] = 250000  
 10 0 0 
 symmetric 0.0835 − 5 
 
 400

10/14/08 Beam Elements 98

 Element 3
Directed from node 3 to node 4.
x 4 − x 3 60 − (60)
o
C = cos 270 = = =0
( 3) 120
L
o y 4 − y 3 0 − 120
S = sin 270 = = = −1
( 3) 120
L
12I 12 (100)
= = 0.167
L2 120 2
6I 6 (100)
= = 10.0
L 120
E 30 × 10 6
= = 250,000
L 120
10/14/08 Beam Elements 99
 d 3x d 3y φ3 d 4x d 4y φ4
0.167 0 10 − 0.167 0 10 
 10 0 0 − 10 0 
 
 800 − 10 0 400 
[ k ] = 250000  
 0.167 0 − 10
 10 0 
 
 800 

10/14/08 Beam Elements 100

 Assemble Global Matrix

k (1) (1)
k 12 0 0 
 11 
k (21
1)
k (22
1) ( 2)
+ k 11 ( 2)
k 12 0 
[K] =  ( 3) 
 0 k (21
2)
k (22
2) ( 3)
+ k 11 k 12 
 ( 3) ( 3) 
 0 0 k 21 k 22 

10/14/08 Beam Elements 101

 Apply B.C.
d1y = 0
d1x = 0
φ1 = 0
d4x = 0
d4y = 0
φ4 = 0
10/14/08 Beam Elements 102
 10.167 0 10 − 10 0 0 
 10 .0835 5 0 0 .0835 5 
 
 1200 0 −5 200 
[ K ] = 250000  
 10 .167 0 10 
 10.0835 − 5 
 
 1200

10/14/08 Beam Elements 103

 Equilibrium Equations:

10000 10.167 0 10 − 10 0 0  d 2x 
 0   10. 0835 5 0 0 .0835 5  d 
     2y 
 0   1200 0 −5 200   φ 2 
  = 250000   
 0   10. 167 0 10 d
  3x 
 0   10.0835 − 5  d 3y 
    
 5000   1200   3 
 φ

10/14/08 Beam Elements 104

Displacements:
d 2x   0.211 in 
d   
 2y   0.00148 in 
 φ 2  − 0.00153 rad 
 = 
d 3x   0.209 in 
d 3y   − 0.00148 in 
   
 φ 3  − 0.00149 rad 

10/14/08 Beam Elements 105

 C S 0 0 0 0
− S C 0 0 0 0

 0 0 1 0 0 0
[ T] =  
 0 0 0 C S 0
 0 0 0 −S C 0
 
 0 0 0 0 0 1

10/14/08 Beam Elements 106

 C=0
S=1
 0 1 0 0 0 0
 
− 1 0 0 0 0 0
For Element 1:  
 0 0 1 0 0 0
[ T] =  
 0 0 0 0 1 0
 
 0 0 0 − 1 0 0
 
 0 0 0 0 0 1 

10/14/08 Beam Elements 107

 { d̂ } = [ T ] { d }
 0 1 0 0 0 0  0 
  
− 1 0 0 0 0 0  0 
  
 0 0 1 0 0 0   0 
[ T ]{ d} =   
 0 0 0 0 1 0   0.211 
  
 0 0 0 − 1 0 0   0.00148 
  
 0 0 0 0 0 1   − 0.00153 

10/14/08 Beam Elements 108

 3700 lb

{ f̂ } = [ k̂ ] [ T] { d} 4990 lb
223000 lb•in
 − 3700 lb 
 4990 lb 
 
{} 376000 lb ⋅ in 
f̂ =  
 3700 lb  x̂
 − 4990 lb  376000 lb•in
  4990 lb
223000 lb ⋅ in 
ŷ

ẑ 3700 lb

10/14/08 Beam Elements 109

 Example: Cantilever beam with a
bar element support.

Bar:
3 A = 1.0 x10-3 m2
y E = 210 GPa
2
Beam:
45o 1 A = 2.0 x10-3 m2
2 I = 5.0 x10-5 m4
1 x
E = 210 GPa
3m
500 kN
10/14/08 Beam Elements 110
  2 × 10 − 3 0 0 − 2 × 10 − 3 0 0 

 (
( 12) 5 × 10 − 5 ) (
6 5 × 10 − 5 ) 0
(
( 12) 5 × 10 − 5) ( 6 5 × 10 − 5

)
 32 3 32 3 
6(5 × 10 − 5 )
 
[ ]
k (1) =
210 × 10 9 

(
4 5 × 10 − 5 ) 0 −
3
( 2 5 × 10 −5 

)
3  
2 × 10 − 3 0 0



(
( 12) 5 × 10 − 5 ) −
( 
6 5 × 10 − 5 

)
32 3

 (
4 5 × 10 −5

)


10/14/08 Beam Elements 111

 2 0 0 −2 0 0 
 0.0667 0.10 0 − 0.0667 0.10 
 
[ ]
k (1) 6 
= 70 × 10 
0.20 0
2
− 0.10
0
0.10 
0 


 0.0667 − 0.10
 
 0.20 

10/14/08 Beam Elements 112

  cos 2 45 0 ( cos 45 ) ( sin 45 )
0 0
− cos 2 45 0 (
− cos 45 0 ) ( sin 45 ) 0

 
 sin 45 2 0
(
− cos 45 0
) ( sin 45 )
0
− sin 452 0

[k ]
(2)
= C′  
 cos 2 45 0 ( cos 45 ) ( sin 45 )
0 0 
 
 sin 2 45 0 

C′ =
( 1 × 10 )( 210 × 10 )
−3 9

 3 
 o

 cos 45 

10/14/08 Beam Elements 113

 0.354 0.354 − 0.354 − 0.354
 0.354 − 0.354 − 0.354 
[ ]
k ( 2) = 70 × 10 6 
 0.354 0.354 
 
 0.354 

10/14/08 Beam Elements 114

 AFTER ASSEMBLY
AND APPLICATION OF B.C.’S

 2.354 0.354 0 
6  
[ K ] = 70 × 10  0.421 0.10
 0.20

10/14/08 Beam Elements 115

  2.354 0.354 0  d1x   0 
     
70 × 10 6  0.421 0.10   d 2 x  =  − 500000 
     
 0.20   φ 1   0 

 d 1 x   0.00338 m 
   
 d 2 x  =  − 0.0225 m 
   
 φ 1   0.0113 rad 

10/14/08 Beam Elements 116

 { f̂ } = [ k̂ ] [ T ] { d }
d1x 
 
 f̂ 1 x  AE  1 − 1   C S 0 0   d 1 y 
 =    
 f̂ 3 x  L  − 1 1   0 0 C S   d 3 x 
 
 d 3 y 

f̂ 1 x =
AE
( C d 1 x + S d 1 y ) = −670 kN
L
f̂ 3 x = 670 kN

10/14/08 Beam Elements 117

  f̂ 1 x   C 1 0 0  d1x 
     
 
 f̂ 1 y  =  0 12 C 2 6 C 2 L   d 1 y 
    
 m̂ 1   0 6 C 2 L 4 C 2 L2   φ 1 

 f̂ 1 x   − 473 kN 
   
  
 f̂ 1 y  =  26.5 kN 
   
 m̂ 1   − 78.3 kN ⋅ m 

10/14/08 Beam Elements 118

 670 kN

670 kN
0.0 kN•m 78.3 kN•m

473 kN
473 kN

26.5 kN 26.5 kN

10/14/08 Beam Elements 119

Grid Equations

A grid is a structure on which loads are applied

perpendicular to the plane of the structure, as
opposed to a plane frame where loads are applied in
the plane of the structure

10/14/08 Beam Elements 120

 Typical Grid Structure.
y F1

x
F2 F4
F3
z

F5

10/14/08 Beam Elements 121

 ŷ
m̂ 2x , φˆ 2x
m̂ 1x , φˆ 1x

m̂ 1z , φˆ 1z 1 2
x̂
m̂ 2z , φˆ 2z
ẑ f̂1y , d̂ 1y L f̂ 2y , d̂ 2y

10/14/08 Beam Elements 122

 Step 1
m̂ 1x , φˆ 1x m̂ 2x , φˆ 2x

1 x̂
2

m̂ x , φˆ x m̂ x , φˆ x

1 x̂
2

10/14/08 Beam Elements 123

Step 2
φˆ = a1 + a 2 x̂
 φˆ 2x − φˆ 1x 
φˆ =   x̂ + φˆ 1x
 L 
 

 ˆ 
φ
φˆ = [ N 1 N 2 ]  1x 
φˆ 2x 
x̂
N1 = 1 −
L
x̂
N2 =
L
10/14/08 Beam Elements 124
 Step 3
ŷ

O x̂
γ max
A

B
ẑ dφ̂

dx

10/14/08 Beam Elements 125

 AB = γ max dx̂ = R dφˆ
dφˆ
γ max = R
dx̂

γ=r
dφˆ r ˆ
( ˆ
= φ 2x − φ1x
dx̂ L
)
τ = Gγ

10/14/08 Beam Elements 126

 Step 4
τJ
m̂ x =
R
m̂ x =
GJ ˆ
L
(
φ 2x − φˆ 1x )
m̂ 1x = −m̂ x

m̂ 1x =
GJ ˆ
L
(
φ1x − φˆ 2x )
m̂ 2x = m̂ x

m̂ 2x =
GJ ˆ
L
(
φ 2x − φˆ 1x )
10/14/08 Beam Elements 127
 m̂ 1x  G J  1 − 1  φˆ 1x 
 =   ˆ 
m̂ 2x  L  − 1 1  φ 2x 

[]
k̂ =
G J  1 − 1

L − 1 1 

10/14/08 Beam Elements 128

 For sections made up of thin
rectangular shapes:

1
J = ∑ biti
3
3

10/14/08 Beam Elements 129

 t b
t

t1 h
t b1 t
h t2
t

t
b2 b
b
t3
J=
3
( h + 2b ) 1
(
J = b 1t 13 + b 2 t 32
3
) J=
t3
3
( h + 2b )

10/14/08 Beam Elements 130

 b2

t2
b
t
tw
t1 h

a
t1

b1
2 t t1 ( a − t ) 2 ( b − t1 ) 2
J=
t3
at + b t 1 − t 2
− t 12 J= ( h + 2b )
3

10/14/08 Beam Elements 131

 Combine with basic beam element

 12EI 6EI 12EI 6EI 

 3 0 − 0
2 3 2 
 L L L L 
GJ GJ
 f̂1y   0 0 − 0   d̂ 1y 
   L L  ˆ 
 m̂ 1x   4EI 6EI 2EI   φ1x 
 m̂   − 0   φˆ 
1z =  L 2 L  1z
  L  
 f̂ 2y   12EI 6EI  d̂ 2y 
0 −
m̂   3
L L2   φˆ 2x 
 2x   GJ  
m̂ 2z   symmetric ˆ
0   φ 2z 
 L 
 4EI 
 L 
10/14/08 Beam Elements 132
  12EI 6EI 12EI 6EI 
 3 0 − 0
2 3 2 
 L L L L 
 GJ GJ
0 0 − 0 
 L L 
 4EI 6EI 2EI 
 − 0 
[ k Grid ] =  L L 2 L 
 12EI 6EI 
0 −
 L3
L2 
 GJ 
 symmetric 0 
 L 
 4EI 
 L 

10/14/08 Beam Elements 133

 Transformation:
1 0 0 0 0 0
0 C S 0 0 0 
 x j − xi
0 − S C 0 0 0 C=
[ TGrid ] =   L
0 0 0 1 0 0 z j − zi
0 0 0 0 C S S=
  L
0 0 0 0 − S C

[ k Grid ] = [ TGrid ] T [k̂ Grid ] [ TGrid ]

10/14/08 Beam Elements 134

 y

20 ft

3
x
10 ft 4
2 3
10 ft
1
1
2
100 kip

z
10/14/08 Beam Elements 135
 Boundary Conditions

d̂ 1y  0 d̂ 3y  0 d̂ 4y  0

ˆ    ˆ    ˆ   
 φ1x  = 0  φ 3 x  = 0   φ 4 x  = 0 
 φˆ  0  φˆ  0  φˆ  0
 1z     3z     4z   

10/14/08 Beam Elements 136

 For all elements :
E = 30 × 10 3 ksi I = 400 in 4
G = 12 × 10 3 ksi J = 110 in 4
12EI 12 ( 30 × 10 3 ) ( 400 )
= = 7.45
L3 ( 22.36 × 12) 3
6EI 6 ( 30 × 10 3 ) ( 400 )
= = 1000
L2 ( 22.36 × 12)
GJ (12 × 10 6 ) ( 400 )
= = 4920
L ( 22.36 × 12)
4EI 4 ( 30 × 10 3 ) ( 400 )
= = 179,000
L ( 22.36 × 12)
10/14/08 Beam Elements 137
 Element 1:
Directed from node 1 to node 2.
x 2 − x1 0 − 20
C = cos θ = = = −0.894
(1) 22.36
L
z 2 − z 1 20 − 10
S = sin θ = = = 0.447
(1) 22.36
L

10/14/08 Beam Elements 138

 Element 2:
Directed from node 1 to node 3.
x 3 − x1 0 − 20
C = cos θ = = = −0.894
(1) 22.36
L
y 3 − y 1 0 − 10
S = sin θ = = = −0.447
(1) 22.36
L

10/14/08 Beam Elements 139

 Element 3:
Directed from node 1 to node 4.
x 4 − x1 20 − 20
C = cos θ = = =0
(1) 10
L
z 4 − z 1 0 − 10
S = sin θ = = = −1
(1) 22.36
L

10/14/08 Beam Elements 140

 Assemble Global Matrix

k (1) + k ( 2) + k ( 3) (1)
k 12 ( 2)
k 12 ( 3) 
k 12
 11 11 11 
(1) (1)
 k 21 k 22 0 0 
[K] =  ( 2) ( 2) 
 k 21 0 k 22 0 
 ( 3) ( 3) 
 k 21 0 0 k 22 

10/14/08 Beam Elements 141

 Applying B.C.’s

[K] = [ (1)
k 11 + k 11
(2)
+ k 11
(3)
]
 − 100   98.2 5000 − 1790   d 1 x 
     
 0   5000 479000 0  =  φ1 x 
    
 0   − 1790 0 299000   φ 1 z 
 d 1 x   − 2.83 in 
   
 φ 1 x  =  0.0295 rad 
   
 φ 1 z   − 0.0169 rad 
10/14/08 Beam Elements 142
 Local Forces

{f̂ } = [k̂ Grid ] [ TGrid ] { d}

10/14/08 Beam Elements 143

Procedure
 Find k, T for element.
 Get element nodal
displacements.
 Calculate element nodal forces.

10/14/08 Beam Elements 144

Beams in 3D
1. Considers beam elements arbitrarily
oriented in space.
2. First considers bending about two
axes.
3. Adopts
x̂ a sign convention for axes
a. ŷ positive directed from node i to node j

b. positive directed along axis for which

ẑ moment of inertia is minimum.
c. positive directed along axis for which
moment of inertia is maximum.
d. right hand rule applies.
10/14/08 Beam Elements 145
 Bending in Two Planes
ŷ
ˆ 2y , φ̂ 2y
m
ˆ 1y , φ̂1y
m
fˆ1z , dˆ 1z fˆ 2z , dˆ 2z

m̂ 1z , φˆ 1z x̂
L ˆ 2z , φ̂ 2z
m
f̂1y , d̂ 1y f̂ 2y , d̂ 2y
ẑ

10/14/08 Beam Elements 146

 x - ^z Plane
Bending in ^

12 L − 6 L2 − 12 L − 6 L2 
 3 
[ ] E Iy  3 2
4 L 6L 2L 
kˆ y =
L4  12 L 6 L2 
 3

 4 L 

I y - moment of inertia of cross - section about principal axis ŷ

the weak axis. That is I y < I z

10/14/08 Beam Elements 147

 Bending in ^
x -^y Plane
12 L 6 L2 − 12 L 6 L2 
 
 3 
4 L3
− 6 L2 2L 
[ ] E Iz 
k̂ z = 4 
L 

12 L − 6 L2 
 
 3

 4 L 

I y - moment of inertia of cross - section about principal axis zˆ

the strong axis. That is I z > I y
Positive sense for rotation is different, resulting in sign changes.

10/14/08 Beam Elements 148

 Add Two Bending Results,
Axial Stiffness and Torsional
Stiffness
Gives a 12 x 12 Element Stiffness Matrix

6 6

[ ] ˆk e k 11
=
k
k 12  6

k 22  6
 21
10/14/08 Beam Elements 149
 A E 
 L 0 0 0 0 0 
 12 E I z 6 E Iz 
 0 3
0 0 0 2 
 L L 
 12 E I y 6 E Iy 
 0 0 0 − 0 
[ k 11 ] = 
3
L L2
GJ 
 0 0 0 0 0 
 L 
 6 E Iy 4 E Iy 
 0 0 − 2
0 0 
L L
 6 E Iz 4 E Iz 
 0 0 0 0 
 L2 L 

10/14/08 Beam Elements 150

  AE 
− L
0 0 0 0 0 
 12 E I z 6 E Iz 
 0 − 0 0 0 
3
 L L2 
 12 E I y 6 E Iy 
 0 0 − 0 − 0 
[ k 12 ] =  L 3

GJ
L2 
 0 0 0 − 0 0 
 L 
 6 E Iy 2 E Iy 
 0 0 2
0 0 
 L L 
 6 E Iz 2 E Iz 
 0 − 0 0 0
L 2
L 

10/14/08 Beam Elements 151

  AE 
− L
0 0 0 0 0 
 12 E I z 6 E Iz 
 0 − 3
0 0 0 − 2

 L L 
 12 E I y 6 E Iy 
 0 0 − 0 0 
[ k 21 ] =  L 3

GJ
L2 
 0 0 0 − 0 0 
 L 
 6 E Iy 2 E Iy 
 0 0 − 2
0 0 
 L L 
 6 E Iz 2 E Iz 
 0 0 0 0
L 2
L 

10/14/08 Beam Elements 152

 A E 
 L 0 0 0 0 0 
 12 E I z 6 E Iz 
 0 3
0 0 0 − 2

 L L 
 12 E I y 6 E Iy 
 0 0 0 0 
[ k 22 ] =  L 3

GJ
L2 
 0 0 0 0 0 
 L 
 6 E Iy 4 E Iy 
 0 0 2
0 0 
 L L 
 6 E Iz 4 E Iz 
 0 − 0 0 0
L 2
L 

10/14/08 Beam Elements 153

[ k ] = [ T] T
[ k̂ ] [ T ]
λ 3x 3 0 0 0 
 
 0 λ 3x3 0 0 
[ T] =  
 0 0 λ 3x3 0 
 
 0 0 0 λ 3 x 3 

10/14/08 Beam Elements 154

 C xxˆ C yxˆ C zxˆ 

λ = C 
 xyˆ C yyˆ C zyˆ 
 
 C xˆz C yˆz C zˆz 

Generally : C yxˆ ≠ C xyˆ

10/14/08 Beam Elements 155

 θ yyˆ y
ŷ θ yxˆ
θ xyˆ
x̂

θ xxˆ
θ zyˆ
θ yˆz
x
θ xˆz

z θ zxˆ

θ zˆz
ẑ

10/14/08 Beam Elements 156

û x̂ = cos θ xx̂ î + cos θ yx̂ ĵ + cos θ zx̂ k̂
x j − xi
cos θ xx̂ = =l
L
y j − yi
cos θ yx̂ = =m
L
z j − zi
cos θ zx̂ = =n
L

10/14/08 Beam Elements 157

 The yˆ axis is chosen to be ⊥ to xˆ and to z axes.
iˆ ˆj kˆ
k̂ × û x̂ = A û ŷ = 0 0 1
l m n

A = sin θ zŷ = 1 − cos 2 θ zŷ = 1 − n 2

l 2 + m 2 + n2 = 1
1 - n2 = l 2 + m 2
D= l +m ( 2
=A )
2 12

mˆ l ˆ
û ŷ = − i + j
D D

10/14/08 Beam Elements 158

 The zˆ axis is ⊥ to xˆ and to yˆ axes.
iˆ ˆj kˆ
1
û x̂ × û ŷ = û ẑ = l m n
D
-m l 0
ln ˆ mn ˆ
û ẑ = − i − j + Dkˆ
D D

10/14/08 Beam Elements 159

  
 l m n
 m 
[ ]
λ = −
l
0
 D D 
 − ln −
mn 
D
 D D 

10/14/08 Beam Elements 160

 3D Summary
Need to specify direction cosines
for beam element so Iy and Iz can
be calculated.
Process can be difficult.
Need local directions to
calculated axial stress.

10/14/08 Beam Elements 161