Beam and Frames

Gokarna Bahadur Motra

Beam
• Beam is capable of withstanding load mainly by resisting bending.
• The primary tool for analysis of beam is the Euler–Bernoulli beam equation.
• Many methods to determine deflections.
Assumptions
• The beam is loaded only in the y direction.
• Deflections of the beam are small in comparison to the characteristic
dimensions of the beam.
• The material of the beam is linearly elastic, isotropic, and homogeneous.
• The beam is prismatic and the cross section has an axis of symmetry in the
plane of bending.
Beam Theory
ds     y  d
ds  dx    y  d   d y
x   
dx  d 
• Curvature   dv  2

3/2

1    
  dx   1
  2
d 2v d v
dx 2 dx 2
• Strain and Stress For equilibrium at a distance
2
x

 
d v
d 2v Fx   x dA   Ey 2 dA  0
x  y 2 A A dx
dx
d 2v
Curvature at any section is constant, so
 x  E x   Ey 2
dx  A
ydA  0 which is satisfied if the xz plane (y = 0)
passes through the centroid of the area.
Beam Theory • Beam Element: 2-D
• Internal bending moment at a cross • The element is of length ℓ and has two
section must be equivalent to the resultant nodes, one at each end.
moment of the normal stress distribution, • The element is connected to other elements
so 2 only at the nodes.
 
d v
Mx   y x dA E y 2 dA • Element loading occurs only at the nodes.
A dx 2 A

d 2v • FEM formulation is to express the

M x  EI z 2 continuously varying field variable in
dx
terms of a finite number of values
• Normal stress evaluated at element nodes, for the flexure
element, the field variable of interest is the
Mxy d 2v transverse displacement v(x) of the neutral
x     yE 2 surface away from its straight, undeflected
Iz dx
position.

Fig. (a) and (b) Beam elements with identical end deflections but quite different deflection
characteristics. (c) Physically unacceptable discontinuity at the connecting node.
 Beam
• Beam element
v1 v2
 2
1
A
(1) ℓ (2)
M2 • Deformation function
M1
V1 V2 v  x   a0  a1 x  a2 x 2  a3 x 3

v  x   f  v1 , v2 ,1 , 2 , x  v  x  0   v1  a0
vx    v2  a0  a1  a2 2
 a3 3

v  x  x1   v1 ; v  x  x2   v2
 dv   dv 
 dv   dv   dx     a1 
;    2  a1  2a2  3a3 2

   2
1
  1 
;    x 0  dx  x
 dx  x x1  dx  x x2

dv dv
u1  v1 , u2  1  , u3  v2 , u4   2 
dx x  x1 dx x x 2
Beam
• Solving for constants
a0  v1 ; a1  1
3 1
a2  2  v2  v1    21   2 
2 1
3  1
a3  v  v2   2 1   2 
 3x 2 2 x3   2 x 2 x3 
v  x   1  2  3  v1   x   2 1
    x
  0    1
 3x 2x 2
x x 
3 3 2
  2  3  v2   2   2
   
v  x   N1  x  v1  N 2  x 1  N 3  x  v2  N 4  x  2  
v  x   1  3 2  2 3 v1    2 2

  3 1
 v1 
 
1 
 
 3 2  2 3 v2    3
  2
2

v  x    N1 N2 N3 N 4     N  
 v2 
 2 
 Shape Functions:

• Hermite Shape Functions

N1

 3x 2 2 x3 
N1  x   1  2  3 
 
 2x 2 x 3 
N2  x    x   2
 
Beam
• Stress in the element
Flexural Stiffness
• Strain energy
Applying Castigliano’s first theorem
Flexural Stiffness

• Equilibrium condition
Flexural Stiffness
• Element stiffness matrix
Flexural Stiffness
• Element stiffness matrix
Element Load Vector
• Loads are allowed only at nodes
Example
• Stiffness matrix
Example
Constraint Forces

• Reactions
Distributed Forces: Work Equivalence
• The usual approach is to replace the distributed
load with nodal forces and moments such that
the mechanical work done by the nodal load
system is equivalent to that done by the
distributed load.
Equivalent Nodal Forces
• Nodal forces
 3x 2 2 x3 
 
q
F1q  q  x  N1  x dx  q 1  2  3 dx 
0 0   2

 2 x 2 x3  q 2
0 
M 1q  q  x  N 2  x dx  q  x 
0 
 2 dx 
 12

 3x 2 2 x3 
 
q
F2 q  q  x  N 3  x dx  q  2  3 dx 
0 0   2

 x3 x 2  q 2
M 2q
0 
 q  x  N 4  x dx  q  2  dx 
0   12
 Equivalent Nodal Force
• Triangular Load
Fe     N  p y ds
T
py w
s

From similar triangles

py w w L
 ; p y  x; ds  1  dx x
x L L
 3x 2 2x 3 2x 2 x 3 3x 2 2x 3 x2 x3 
 N   (1  2  3 ) (x   2 ) ( 2  3 ) (  2 ) 
 L L L L L L L L  vi vj
Fe     N  p y ds
T

s i +ve directions j
 3x 2 3
2x   3wL 
 (1 
L2

L3
)    20 
   
 
2
2x 2 x 3  wL 
 (x  L  L2 )   wx   30 
Fe     2    dx   
L  3x 2x 3   L   7wL 
(  3 )
 L2 L   20 
 2 3   wL2 
(  x  x )   
 L L2   20 
 Global Displ. Element 1 Element 2
1 1 0
2 2 0
3 3 1
4 4 2
5 0 3
6 0 4

xample
 Example

Equilibrium
• Deformations
 Example
• Beam and Bar
Elements
Example

v1 v2
v3
1 2 3
v3

v4
Equilibrium Equation
 Member end forces

For element 1 70 70

 V1  12 18 -12 18  0   70 

M  18 36 -18 18  0   70 
 1      
   1555.6  
   70
V
 2   -12 -18 12 -18   0   70  139.6
 M 2   
18 18 -18 36  0.00249   139.6 

46.53 46.53
 V1  12 18 -12 18  0   46.53
M  18 36 -18 18   0.00249  139.6 
 1      
   1555.6  
  
V
 2   -12 -18 12 -18   0.01744   46.53  0
 M 2   
18 18 -18 36  0.007475 0  139.6
 v1 v2 v3

1 2 3

e = 1→ v1 𝜃1 v2 𝜃2
e = 1→ v2 𝜃2 v3 𝜃3
V1  12 6 -12 6   v1 
M  6   
 1  4 -6 2  1 

V2  
5 -12 -6 12+12 -6+6 -12 6  v2 
   8x10   
M 2  6 2 -6+6 4+4 -6 2   2 
V3   -12 -6 12 -6   v3 
    

M 3 
  6 2 -6 4 3 
Boundary condition
v1 , 1 , v 2 , v3  0
Loading Condition
M 2  1000; M 3  1000
8 2  2   1000 
 
5
8x10   
 2 4 
 3  1000.0 
 4 -2   1000  2.679x10 
4
 2  1 
   5 

 1000.0   4 

 3 28*8x10  -2 8   4.464x10  
Final member end forces
f    k u  {FEMS}
For element 1
 V1  0  12 6 -12 6  0   1285.92 
 M  0    
 1  
6 4 -6 2  0   428.64 
      8X10   1285.92 1285.92

5

 V2  0  -12 -6 12 -6  0  1285.92 
 M 2  0   
6 2 -6 4   2.679x10   857.28 
4 

428.64 857.28

 V1  6000  12 6 -12 6  0  6856.8 

 M  1000   
6 2   2.679x104  856.96 
6856.8 5143.2
 1   4 -6
    8X10   
5

 V2  6000  -12 -6 12 -6  0   5143.2 
 M 2   1000   
6 2 -6 4  4.464x104  0 
856.96 0
 Guided Support
20kN/m
Find slope at joint 2 and deflection at  20 KN 
joint 3. Also find member end forces 
EI EI
For element 1 v1 1 v 2 2 2m 2m 6m
4
EI=2 x 10 kN-m 2
f1  12 24 -12 24   v1 
m   24 64  
-24 32  1 
v v v
 1  110 Global coordinates
4

    
f
2  4 3
-12 -24 
12 -24  v 2   

m 2      
 24 32 -24 64  2 
   
20 KN 20kN/m
For element 2 v 2 2 v3 3
Fixed end reactions (FERs)
f1  12 36 -12 36   v1  m
m m
m  36  
144 -36 72  1 
m
 1  1104 
   
f
2  6 3
-12 
-36 12 -36  v 2  m m

m 2   
36 72 -36 144  2  


Action/loads at global coordinates m


F1  1875 3750 -1875 3750   v1 
M     
 1  3750 10000 -3750 5000  1 
F2  -1875 -3750 1875+555.56 -3750+1666.67 -555.56 1666.67   v 2 
   
M
 2  3750 5000 -3750+1666.67 10000+6666.67 -1666.67 3333.33   2 
F3   -555.56 -1666.67 555.56 -1666.67   v3 
    
M 3   1666.67 3333.332 -1666.67 6666.67  3 
Boundary condition
v1 , 1 , v 2 , 3  0
Loading Condition
M 2  50; F3  60
16666.67 -1666.67  2  50 
-1666.67 555.56   v   60 
  3  
 2  1 555.56 1666.67  50   0.019714 
      
 3
v 6481481.5 1666.67 16666.67  60   0.16714 
Final member end forces
f    k u  {FEMS}
For element 1
f1  10  12 24 -12 24  0  63.93 
m     24 64
 1  10  1104  -24 32  0  88.57 
  
    
  
f
2   10  4 3
-12 -24 12 -24  0  83.93 
m 2  10   
 24 32 -24 64   0.019714  207.14 

For element 2
f1  60  12 36 -12 36  0  120 
m    36
 1  60  1104  144 -36 72   0.019714  207.14 
     
f
2   60  6 3
-12 -36 12 -36   0.16714  0 
m 2  60   
36 72 -36 144  0  152.85 
 y’
q’2 q’5
Frame Elements
q’1
q’4 x’

q’3 q’6
displacement in local coordinates
Frame Elements
 AE AE 
 L 0 0  0 0 
L
 
 0 12EI 6EI 12EI 6EI 
0 
 L3 L3 L3 L3 
 6EI 4EI 6EI 2EI 
 0 0  3 
L3 L3 3
[k]  
L L 
 AE AE 
 0 0 0 0 
 L L 
 12EI 6EI 12EI 6EI 
 0   0  3 
L3 L3 L3 L
 
 0 6EI 2EI 6EI 4EI 
0  3
 L3 L3 L L3 

If f ' member end forces in local coordinates then

f'   k 'u '
 Frame Elements

q  {q1,q 2 ,q3 ,q 4 ,q5 ,q 6}

are forces in global coordinate direction

At node i
c s 0 0 0 0
  q1'  q1 cos   q 2 sin 
s c 0 0 0 0
0 0 1 0 0 0 q '2  q1 sin   q 2 cos 
T    
  q 3'  q 3
0 0 0 c s 0
0 0 0 s c 0 c  cos ; s  sin 
 
 0 0 0 0 0 1 
 q1'   c s 0   q 
 '    
1

q2     s c 0  q2 
q'   0 0 1 q 
 3    3
 Using conditions q'  T  {q}; and f'  T  {f}
Stiffness matrix for an arbitrarily oriented beam element
is given by  k   T   k ' T 
T

The nodal loads due to the distributed

load p in local coordinates are given by

T
 p e p 2
p e p 2

f  0
' e
0   e

 2 12 2 12 
In the global nodal loads system, it is transferred
using transformation matrix, given by
f  Tf '
Frame
1. Numbering of nodes
and members
Member Starting End node Rigidity
number node modulus
1 1 2 EI
2 2 3 1.5 EI

Node Coordinates Restraint list

no X Y Axial Vertical Rotation
1 0 0 1 1 1
2 0 1.5ℓ 0 0 0
3 ℓ 1.5ℓ 1 1 1
2. Formation of member
stiffness matrix
3. Formation global stiffness matrix
4. Boundary Conditions

5. Load Vector
6. Determination of Unknown Deformations
The unknown displacements can
be obtained from the relationship
of {F} = [K]{d} or {d}=[k]-1{F}.
Now eliminating the rows and
columns in the stiffness matrix and
force matrix, corresponding to zero
elements in displacement matrix,
the reduced matrix is given here.
The unknown displacements evaluated as:
7. Determination of Member End Actions
Member 1
{𝐹𝑚}1=[𝐾]1{𝑑}1

The member end actions can be

obtained from the corresponding
member stiffness and the nodal
displacements. The member end
actions for each member are
obtained as
{Fm}: End actions due to joint loads. It must be
added to the corresponding end actions in the
restrained structure in order to obtain the end
actions due to the loads.
The final {Fm} actual are the true member end
actions due to actual loading system can be
expressed as
{𝐹𝑚}𝑎𝑐𝑡𝑢𝑎𝑙 = {Fm} + {Ffm}

Where, {Ffm} are the end actions in the restrained structure.

Member 2
{𝐹𝑚}2=[𝐾]2{𝑑}2
Beam element for 3D analysis

y’
q’8
q’2
q’11
q’5
q’7
q’1 x’

q’6 q’10
q’4
q’12

q’3 q’9
displacement in local coordinates
z’
• If axial load is tensile, results from beam elements are
higher than actual Þ results are conservative
• If axial load is compressive, results are less than actual
• size of error is small until load is about 25% of Euler
buckling load
• For 2-d, can use rotation matrices to get stiffness matrix
for beams in any orientation
• To develop 3-d beam elements, must also add capability
for torsional loads about the axis of the element, and
flexural loading in x-z plane
• to derive the 3-d beam element, set up the beam with the x axis along
its length, and y and z axes as lateral directions
• torsion behavior is added by superposition of simple strength of
materials solution
• J = torsional moment about x axis
• G = shear modulus
• L = length
• fxi, fxj are nodal degrees of freedom of angle of twist at each end
• Ti, Tj are torques about the x axis at each end
 JG JG 
 L 
 L  
xi  
 Ti 

   
  JG JG    xj 
 
T j 

 L L 
• flexure in x-z plane adds another stiffness matrix like the first one
derived
• superposition of all these matrices gives a 12x12 stiffness matrix
• to orient a beam element in 3-d, use 3-d rotation matrices
• for beams long compared to their cross section, displacement is almost
all due to flexure of beam
• for short beams there is an additional lateral displacement due to
transverse shear
• some FE programs take this into account, but you then need to input a
shear deformation constant (value associated with geometry of cross
section)
• Limitations:
• same assumptions as in conventional beam and torsion theories
no better than beam analysis
• axial load capability allows frame analysis, but formulation does
not couple axial and lateral loading which are coupled nonlinearly
Analysis does not account for
• stress concentration at cross section changes
• where point loads are applied
• where the beam frame components are connected
The grid member is a Grid Elements
combination of 2-d beam
with torsional effect.
Loads in the grid are
normal to its plane. As a
result torsional effects are
included in the grid
analysis.
Hence, the grid members
can withstand bending
moment, shear force as f = GJ/l
well as torsional moment.  JG JG 
   q
a  xi   f i 
    
a’    JG JG  q xj  f j 
 
The degrees of freedom at each node
of the grid member will be
qxi’ fi qxj’ fj
(i) vertical deformation and
(ii) rotation in two different
directions.
 GJ GJ 
 L 0 0  0 0 
L
 
 0 12EI 6EI 12EI 6EI 
0 
 L3 L3 L3 L3 
 6EI 4EI 6EI 2EI 
 0 0  3 
 L3 L3 L 3
L 
 GJ GJ 
 0 0 0 0 
 L L 
 12EI 6EI 12EI 6EI 
 0   0  3 
L3 L3 L3 L
 
 0 6EI 2EI 6EI 4EI 
0  3
 L3 L3 L L3 

If f ' member end forces in local coordinates then

f'  k 'q '
 c 0 -s 0 0 0 
0 1 0 0 0 0 
 
-s 0 c 0 0 0
T    
0 0 0 c 0 -s 
0 0 0 0 1 0
 
0 0 0 -s 0 c 

 k   T   k ' T 

T
Finite Element Model
• Element formulation exact for beam spans with no intermediate loads
• need only 1 element to model any such member that has constant cross
section
• for distributed load, subdivide into several elements
• need a node everywhere a point load is applied
• need nodes where frame members connect, where they change
direction, or where the cross section properties change
• for each member at a common node, all have the same linear and
rotational displacement
• boundary conditions can be restraints on linear displacements or
rotation
• simple supports restrain only linear displacements
• built in supports restrain rotation also
• restrain vertical and horizontal displacements of nodes 1 and 3
• no restraint on rotation of nodes 1 and 3
• need a restraint in x direction to prevent rigid body motion, even if all forces
are in y direction
• cantilever beam

• has x and y linear displacements and rotation of node 1

fixed
• point loads are idealized loads
• structure away from area of application behaves as though point
loads are applied
• only an exact formulation when there are no loads along the span
• for distributed loads, can get exact solution everywhere else by
replacing the distributed load by equivalent loads and moments at
the nodes