Finite Element Method

Beam Element

Engineer Renato Carvalho | 2024

Índice:

1 Elementary Beam Theory

2 Beam Element

3 Beam Element Stiffness Matrix

4 Element Load Vector

5 Work Equivalence for Distributed Loads

6 Flexure Element with Axial Loading

7 A General Three-Dimensional Beam Element

Engineer Renato Carvalho | Page 2

1 Elementary Beam Theory Beam element supports bending in two different
planes, axial loading and torsion

Beam Element

• Element capable of properly exhibiting

transverse bending effects.

• Bending can be applied to two

different planes.

• Also supports axial loading and torsion.

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1 Elementary Beam Theory Beam element supports bending in two different
planes, axial loading and torsion

Simply supported beam Deflected beam element Sign convention

subjected to arbitrary for shear force and
(negative) distributed load bending moment

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1 Elementary Beam Theory Small displacements and linearly elastic materials are
assumptions used throughout this whole course

Assumptions:

• The beam is loaded only in the y direction (eventually we will extend the
concepts for z direction loading).

• 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.

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1 Elementary Beam Theory The beam is prismatic, and the cross section has an axis
of symmetry in the plane of bending

Beam cross sections

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1 Elementary Beam Theory We can get a differential length of the beam and study it
to understand how to calculate strain and stress

Center of curvature

Radius of curvature

𝑳𝒆𝒏𝒈𝒕𝒉 𝒂𝒇𝒕𝒆𝒓 𝒃𝒆𝒏𝒅𝒊𝒏𝒈 𝒂𝒕 𝒂𝒏𝒚 𝒑𝒐𝒔𝒊𝒕𝒊𝒐𝒏 𝒚

→ 𝒅𝒔 = (𝝆 − 𝒚)𝒅𝜽

Neutral surface
𝑼𝒏𝒅𝒆𝒇𝒐𝒓𝒎𝒆𝒅 𝒍𝒆𝒏𝒈𝒕𝒉 → 𝒅𝒙 = 𝝆𝒅𝜽
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1 Elementary Beam Theory Strain is calculated as the variation in length divided by
the initial length of the small piece in study

𝑼𝒏𝒅𝒆𝒇𝒐𝒓𝒎𝒆𝒅 𝒍𝒆𝒏𝒈𝒕𝒉 → 𝒅𝒙 = 𝝆𝒅𝜽

𝑳𝒆𝒏𝒈𝒕𝒉 𝒂𝒇𝒕𝒆𝒓 𝒃𝒆𝒏𝒅𝒊𝒏𝒈 𝒂𝒕 𝒂𝒏𝒚 𝒑𝒐𝒔𝒊𝒕𝒊𝒐𝒏 𝒚 → 𝒅𝒔 = (𝝆 − 𝒚)𝒅𝜽

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1 Elementary Beam Theory Radius of curvature can be calculated using basic
calculus by the expression shown below

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1 Elementary Beam Theory Notice how the assumption of small displacements
affects the expressions used

In keeping with small deflection

theory, slopes are also small

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1 Elementary Beam Theory Now we can obtain one expression for strain and
another for stress using the modulus of elasticity

Normal strain in the direction of the longitudinal axis as a result of bending is:

−𝑦 −𝑦 𝑑2 𝑣
𝜀𝑥 = = = −𝑦 2
𝜌 1 𝑑𝑥
𝑑2 𝑣
𝑑𝑥 2

and the corresponding normal stress is: Modulus of Elasticity

or Young’s Modulus

𝑑2 𝑣
𝜎𝑥 = 𝐸𝜀𝑥 = −𝐸𝑦 2
𝑑𝑥

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1 Elementary Beam Theory It is also important to find an expression that calculates
bending along the length of the bar

The internal bending moment at a cross section must be equivalent to the

resultant moment of the normal stress distribution, so:
Moment of Inertia
of the cross-
sectional area
about the z axis

The bending moment expression becomes:

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1 Elementary Beam Theory We can combine the bending and stress expressions to find
one very important equation that related stress with bending

𝑑2 𝑣
𝜎𝑥 = 𝐸𝜀𝑥 = −𝐸𝑦 2
𝑑𝑥

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1 Elementary Beam Theory Let’s now practice with a simple exercise of a beam fixed
at one end and subjected to a load at the other end

Exercise
Calculate axial
stress due to
bending here
𝑭 = 𝟏𝟎 𝒌𝑵
A

ℎ = 80 𝑚𝑚
𝑦
𝑥
𝑧

𝑏 = 100 𝑚𝑚
𝑥 = 1000 𝑚𝑚
𝐿 = 1500 𝑚𝑚

Engineer Renato Carvalho | Page 14

1 Elementary Beam Theory Let’s now practice with a simple exercise of a beam fixed
at one end and subjected to a load at the other end

Exercise

ℎ = 80 𝑚𝑚
𝑦
𝑏ℎ3 100 ∗ 803
𝐼𝑧 = = = 4266666.67 𝑚𝑚4 𝑧
12 12

𝑏 = 100 𝑚𝑚

Engineer Renato Carvalho | Page 15

1 Elementary Beam Theory Let’s now practice with a simple exercise of a beam fixed
at one end and subjected to a load at the other end

Exercise
Calculate axial
stress due to
bending here
𝑭 = 𝟏𝟎 𝒌𝑵
A
𝑀 𝑥 = 1000 𝑚𝑚 = −10000 ∗ 1000 = −107 𝑁. 𝑚𝑚
𝑥
𝑀𝑦 −107
A 𝜎=− =− 𝑦 = 2.34𝑦
𝐼𝑧 4266666.67

𝑥 = 1000 𝑚𝑚
𝐿 = 1500 𝑚𝑚

Engineer Renato Carvalho | Page 16

1 Elementary Beam Theory Let’s now practice with a simple exercise of a beam fixed
at one end and subjected to a load at the other end

Exercise

𝜎 = 2.34𝑦

𝜎 40 = 2.34 ∗ 40 = 93.75 𝑀𝑃𝑎

𝜎 −40 = 2.34 ∗ −40 = −93.75 𝑀𝑃𝑎

𝜎 40 = 93.75 𝑀𝑃𝑎

𝜎 −40 = −93.75 𝑀𝑃𝑎

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Índice:

1 Elementary Beam Theory

2 Beam Element

3 Beam Element Stiffness Matrix

4 Element Load Vector

5 Work Equivalence for Distributed Loads

6 Flexure Element with Axial Loading

7 A General Three-Dimensional Beam Element

Engineer Renato Carvalho | Page 18

2 Beam Element We should follow some assumption to obtain the governing
equations of the mathematical model

Assumptions:

The assumptions and restrictions underlying the development are

the same as those of elementary beam theory with the addition of:

• The element is of length L and has two nodes, one at each end.

• The element is connected to other elements only at the nodes.

• Element loading occurs only at the nodes.

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2 Beam Element The 2-D beam element contains 2 degrees of freedom per
node: one transversal displacement and one rotation

Beam element nodal displacements

shown in a positive sense

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2 Beam Element We should define a function for deflection that obeys some
boundary conditions related to displacements at the nodes

𝑥1 = 0

𝑥2 = 𝐿

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2 Beam Element Clearly, with the specification of four boundary conditions, we can determine
no more than four constants in the assumed displacement function

Considering the four boundary conditions and the one-dimensional nature of the problem
in terms of the independent variable, we assume the displacement function in the form:

Application of the boundary conditions in succession yields

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2 Beam Element The constants of the displacements function can be found
applying the boundary conditions

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2 Beam Element The displacement function is of the form of an interpolation
matrix multiplied by the displacement vector

Interpolation Functions Engineer Renato Carvalho | Page 24

2 Beam Element It is convenient to introduce the dimensionless length
coordinate to turn the displacement function more friendly

For the flexure element, it is convenient to introduce the dimensionless length coordinate

So that we get the following equation for deflection along the length of the element

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2 Beam Element The engineer is most often interested in examining the
stresses associated with given loading conditions

Engineer Renato Carvalho | Page 26

2 Beam Element The engineer is most often interested in examining the
stresses associated with given loading conditions

𝑑𝑣 6𝑥 6𝑥 2 4𝑥 3𝑥 2 6𝑥 6𝑥 2 3𝑥 2 2𝑥
= − 2 + 3 𝑣1 + 1 − + 2 𝜃1 + 2 − 3 𝑣2 + − 𝜃2
𝑑𝑥 𝐿 𝐿 𝐿 𝐿 𝐿 𝐿 𝐿2 𝐿

𝑑2 𝑣 6 12𝑥 4 6𝑥 6 12𝑥 6𝑥 2
= − 2 + 3 𝑣1 + − + 2 𝜃1 + 2 − 3 𝑣2 + 2 − 𝜃
𝑑𝑥 2 𝐿 𝐿 𝐿 𝐿 𝐿 𝐿 𝐿 𝐿 2

Engineer Renato Carvalho | Page 27

Índice:

1 Elementary Beam Theory

2 Beam Element

3 Beam Element Stiffness Matrix

4 Element Load Vector

5 Work Equivalence for Distributed Loads

6 Flexure Element with Axial Loading

7 A General Three-Dimensional Beam Element

Engineer Renato Carvalho | Page 28

3 Beam Element Stiffness Matrix Castigliano’s first theorem can be used to find the stiffness
matrix coefficients in an efficient way

Before we develop the beam element

stiffness matrix, let’s review
Castigliano’s First Theorem introduced
in Module 3 – Elastic Bar Element

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3 Beam Element Stiffness Matrix Castigliano’s first theorem can be used to find the stiffness
matrix coefficients in an efficient way

𝐿
𝑭

𝑭 = 𝒌𝜹
𝛿

𝑭
𝜹𝟎

𝛿0 𝛿0
1 2
𝑊 = න 𝐹 . 𝑑𝛿 = න 𝑘𝛿𝑑𝛿 = 𝑘𝛿0 = 𝑈𝑒
0 0 2

Elastic potential energy (strain energy)

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3 Beam Element Stiffness Matrix Castigliano’s first theorem can be used to find the stiffness
matrix coefficients in an efficient way

However, for a more general purpose, this result is converted to a

different form (applicable to a bar element only) as follows:

2
1 2 1 𝐴𝐸 𝑃𝐿 1 𝑃 𝑃 1
𝑈𝑒 = 𝑘𝛿 = = 𝐴𝐿 = 𝜎𝜀𝑉
2 2 𝐿 𝐴𝐸 2 𝐴 𝐴𝐸 2

𝟏
𝑼𝒆 = 𝝈𝜺 𝑽
𝟐

Strain Energy Total volume of

per Unit volume deformed material

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3 Beam Element Stiffness Matrix Castigliano’s first theorem can be used to find the stiffness
matrix coefficients in an efficient way

𝑭𝒏
Castigliano’s First Theorem

For an elastic system in equilibrium, 𝑭𝟏

the partial derivative of total strain
energy with respect to deflection at a
point is equal to the applied force in
the direction of the deflection at that
point. 𝑭𝟑

𝑭𝟐

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3 Beam Element Stiffness Matrix We should firstly calculate total strain energy in
order to use Castigliano’s First Theorem

The total strain energy for the beam element is expressed as

𝑑2 𝑣 𝑑2 𝑣
𝜎𝑥 = 𝐸𝜀𝑥 = −𝐸𝑦 2 𝜀𝑥 = −𝑦 2
𝑑𝑥 𝑑𝑥

Engineer Renato Carvalho | Page 33

3 Beam Element Stiffness Matrix We should firstly calculate total strain energy in
order to use Castigliano’s First Theorem

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3 Beam Element Stiffness Matrix For the strain energy of the finite element being developed,
we substitute the discretized displacement relation

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3 Beam Element Stiffness Matrix The partial derivative of total strain energy with respect to deflection at a point
is equal to the applied force in the direction of the deflection at that point

Applying the first theorem of Castigliano to the strain energy function with respect to
nodal displacement 𝑣1 gives the transverse force at node 1 as:

while application of the theorem with respect to the rotational displacement gives
the moment as

Engineer Renato Carvalho | Page 36

3 Beam Element Stiffness Matrix The partial derivative of total strain energy with respect to deflection at a point
is equal to the applied force in the direction of the deflection at that point

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3 Beam Element Stiffness Matrix The stiffness matrix is a 4x4 matrix since we
have 4 degrees of freedom (2 per node)

The previous equations relate the four nodal displacement values to the four applied
nodal forces (here we use force in the general sense to include applied moments) and
are of the form

𝐶𝑜𝑒𝑓𝑓𝑖𝑐𝑖𝑒𝑛𝑡𝑠 𝑜𝑓 𝑡ℎ𝑒 𝑒𝑙𝑒𝑚𝑒𝑛𝑡 𝑠𝑡𝑖𝑓𝑓𝑛𝑒𝑠𝑠 𝑚𝑎𝑡𝑟𝑖𝑥 → 𝑘𝑚𝑛 → 𝑚, 𝑛 = 1,4

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3 Beam Element Stiffness Matrix Prior to computing the stiffness coefficients, it is convenient to
convert the integration to the dimensionless length variable

Prior to computing the stiffness coefficients, it is convenient to convert the integration to the
dimensionless length variable 𝝃 = 𝒙/𝑳 by noting

𝑥 𝑑𝜉 1
𝜉= → = → 𝑑𝑥 = 𝐿𝑑𝜉
𝐿 𝑑𝑥 𝐿

𝑥 𝑑 1 𝑑
𝜉= → =
𝐿 𝑑𝑥 𝐿 𝑑𝜉
Engineer Renato Carvalho | Page 39
3 Beam Element Stiffness Matrix Prior to computing the stiffness coefficients, it is convenient to
convert the integration to the dimensionless length variable

𝑥 𝑑 1 𝑑
𝜉= → =
𝐿 𝑑𝑥 𝐿 𝑑𝜉

Engineer Renato Carvalho | Page 40

3 Beam Element Stiffness Matrix Castigliano’s first theorem can be used to find the stiffness
matrix coefficients in an efficient way

Engineer Renato Carvalho | Page 41

3 Beam Element Stiffness Matrix Castigliano’s first theorem can be used to find the stiffness
matrix coefficients in an efficient way

Engineer Renato Carvalho | Page 42

3 Beam Element Stiffness Matrix Castigliano’s first theorem can be used to find the stiffness
matrix coefficients in an efficient way

Engineer Renato Carvalho | Page 43

3 Beam Element Stiffness Matrix Castigliano’s first theorem can be used to find the stiffness
matrix coefficients in an efficient way

Engineer Renato Carvalho | Page 44

3 Beam Element Stiffness Matrix Castigliano’s first theorem can be used to find the stiffness
matrix coefficients in an efficient way

Continuing the direct integration gives the remaining stiffness coefficients as

Engineer Renato Carvalho | Page 45

3 Beam Element Stiffness Matrix The stiffness matrix is symmetric and singular since rigid body motion
is possible unless the element is constrained in some manner

Engineer Renato Carvalho | Page 46

Índice:

1 Elementary Beam Theory

2 Beam Element

3 Beam Element Stiffness Matrix

4 Element Load Vector and Exercise

5 Work Equivalence for Distributed Loads

6 Flexure Element with Axial Loading

7 A General Three-Dimensional Beam Element

Engineer Renato Carvalho | Page 47

4 Element Load Vector and Exercise The sign convention used in the finite element formulation of the
beam element is different than the one used in the beam theory

The column matrix (vector) on the left represents

positive nodal forces and moments per the finite
element formulations. The right-hand side contains
the corresponding signed shear forces and bending
moments per the beam theory sign convention.

Engineer Renato Carvalho | Page 48

4 Element Load Vector and Exercise Statically indeterminate beam is the one that the amount of
equilibrium equations is less than the amount of reaction forces

Exercise
The figure depicts a statically indeterminate beam subjected to a transverse load applied
at the midspan. Using two flexure elements, obtain a solution for the midspan deflection.

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4 Element Load Vector and Exercise The stiffness matrix can be obtained directly since the beam element is
horizontal and does not need any type of transformation

Since the flexure element requires loading only at nodes, the elements are taken to be of length L/2, as shown.
The individual element stiffness matrices are then:

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4 Element Load Vector and Exercise We can use the element-to-system displacement correspondence table
to assemble the global stiffness matrix

(1) (3) (5)

(4)
(6)
(2)

Element-to-System Displacement Correspondence

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4 Element Load Vector and Exercise We can use the element-to-system displacement correspondence table
to assemble the global stiffness matrix

Element-to-System Displacement Correspondence

Engineer Renato Carvalho | Page 52

4 Element Load Vector and Exercise We can use the element-to-system displacement correspondence table
to assemble the global stiffness matrix

Element-to-System Displacement Correspondence

Engineer Renato Carvalho | Page 53

4 Element Load Vector and Exercise We can use the element-to-system displacement correspondence table
to assemble the global stiffness matrix

Engineer Renato Carvalho | Page 54

4 Element Load Vector and Exercise We should constrain some degrees of freedom in order to prevent rigid
body motion and turn the problem solvable

The appropriate boundary conditions are:

𝑣1 = 𝜃1 = 𝑣3 = 0

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4 Element Load Vector and Exercise We should constrain some degrees of freedom in order to prevent rigid
body motion and turn the problem solvable

B.C
𝑣1 = 𝜃1 = 𝑣3 = 0

Engineer Renato Carvalho | Page 56

4 Element Load Vector and Exercise After applying the boundary conditions, we can solve the set of
algebraic equations to find the active displacements

Substitution of the nodal displacement values into the constraint equations gives the reactions as

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4 Element Load Vector and Exercise We should verify if equilibrium conditions are satisfied by calculating
the sum of all forces in the y direction, for example

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4 Element Load Vector and Exercise In general, the finite element method is an approximate method, but in the case
of the flexure element (beam element), the results are exact in certain cases.

Attention!

• In general, the finite element method is an approximate method, but in

the case of the flexure element (beam element), the results are exact in
certain cases.
• In this example, the deflection equation of the neutral surface is a cubic
equation and, since the interpolation functions are cubic, the results are
exact.
• When distributed loads exist, however, the results are not necessarily
exact, as will be discussed next.

Engineer Renato Carvalho | Page 59

Índice:

1 Elementary Beam Theory

2 Beam Element

3 Beam Element Stiffness Matrix

4 Element Load Vector and Exercise

5 Work Equivalence for Distributed Loads

6 Flexure Element with Axial Loading

7 A General Three-Dimensional Beam Element

Engineer Renato Carvalho | Page 60

5 Work Equivalence for Distributed Loads 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

• The restriction that loads be applied only at element

nodes for the flexure element must be dealt with if a
distributed load is present.

• 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

Engineer Renato Carvalho | Page 61

5 Work Equivalence for Distributed Loads 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

The mechanical work performed by the distributed load can be expressed as

Engineer Renato Carvalho | Page 62

5 Work Equivalence for Distributed Loads 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

The objective here is to determine the equivalent nodal loads so that the work
expressed by the previous equation is the same as

𝐹1𝑞 𝐹2𝑞

𝑀1𝑞 𝑀2𝑞

Engineer Renato Carvalho | Page 63

5 Work Equivalence for Distributed Loads 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

Engineer Renato Carvalho | Page 64

5 Work Equivalence for Distributed Loads 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

Engineer Renato Carvalho | Page 65

5 Work Equivalence for Distributed Loads 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

For example, for a uniform load q(x) = q = constant, integration of these equations yields:

Engineer Renato Carvalho | Page 66

5 Work Equivalence for Distributed Loads 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

Engineer Renato Carvalho | Page 67

5 Work Equivalence for Distributed Loads 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

Exercise
The simply supported beam shown in the figure below is subjected to a uniform transverse load, as
shown. Using two equal-length elements and work-equivalent nodal loads, obtain a finite element
solution for the deflection at midspan and compare it to the solution given by elementary beam theory.

Engineer Renato Carvalho | Page 68

5 Work Equivalence for Distributed Loads 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

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5 Work Equivalence for Distributed Loads We can use the element-to-system displacement correspondence table to
assemble the global stiffness matrix

Element-to-System Displacement Correspondence

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5 Work Equivalence for Distributed Loads 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

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5 Work Equivalence for Distributed Loads We should constrain some nodes to prevent rigid motion turn the problem
solvable, that is, the stiffness matrix can be inversed

B.C
𝑣1 = 𝑣3 = 0

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5 Work Equivalence for Distributed Loads After applying the boundary conditions, we solve the remaining system of
algebraic equations e find the active displacements

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5 Work Equivalence for Distributed Loads The general deflected shape as given by the finite element solution is not the
same as the strength of materials result

Attention!

• The nodal displacement results from the finite element analysis of this
example are exactly the results obtained by a strength of materials
approach.
• However, the general deflected shape as given by the finite element
solution is not the same as the strength of materials result.
• The equation describing the deflection of the neutral surface is a
quartic function of x and, since the interpolation functions used in the
finite element model are cubic, the deflection curve varies somewhat
from the exact solution.

Engineer Renato Carvalho | Page 74

Índice:

1 Elementary Beam Theory

2 Beam Element

3 Beam Element Stiffness Matrix

4 Element Load Vector and Exercise

5 Work Equivalence for Distributed Loads

6 Flexure Element with Axial Loading

7 A General Three-Dimensional Beam Element

Engineer Renato Carvalho | Page 75

6 Flexure Element with Axial Loading The major shortcoming of the flexure element developed so far is that force
loading must be transverse to the axis of the element

Axial Stiffness Matrix Bending Stiffness Matrix

𝐴𝐸 1 −1
𝑘𝑒 =
𝐿 −1 1

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6 Flexure Element with Axial Loading For a beam subjected to axial loading, the effects of buckling and stress stiffening
can occur, and we should analyze if it is important to take it into account.

Attention!

• If the axial load is compressive, the element could buckle.

• If needed, one should perform a buckling analysis. However, this is not
done automatically. You need to do an Eigenvalue Buckling analysis
separately.
• If the axial load is tensile and significantly large, a phenomenon known
as stress stiffening can occur.
• In the case of small elastic deflection, the effect of stress stiffening is
negligible.

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6 Flexure Element with Axial Loading The phenomenon of stress stiffening can be likened to tightening of a guitar string. As the tension
is increased, the string becomes more resistant to motion perpendicular to the axis of the string

Stress Stiffening

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6 Flexure Element with Axial Loading We can simply add the spar element stiffness matrix to the flexure element stiffness matrix
to obtain the 6 × 6 element stiffness matrix for a flexure element with axial loading

For the present purpose, we assume the axial loads are such that these secondary effects are
not of concern and the axial loading is independent of bending effects. This being the case,
we can simply add the spar element stiffness matrix to the flexure element stiffness matrix
to obtain the 6 × 6 element stiffness matrix for a flexure element with axial loading as

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6 Flexure Element with Axial Loading If the element has a specific orientation with respect to the global
coordinate system, we should transform the stiffness matrix of the element

Transformation Matrix Evaluation

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6 Flexure Element with Axial Loading If the element has a specific orientation with respect to the global
coordinate system, we should transform the stiffness matrix of the element

Transformation Matrix Evaluation

Transformation Matrix

Engineer Renato Carvalho | Page 81

6 Flexure Element with Axial Loading If the element has a specific orientation with respect to the global coordinate
system, we should transform the stiffness matrix of the element

Before proceeding, note that it is convenient here to reorder the element stiffness matrix so that
the element displacement vector in the element reference frame is given as

Engineer Renato Carvalho | Page 82

6 Flexure Element with Axial Loading If the element has a specific orientation with respect to the global coordinate
system, we should transform the stiffness matrix of the element

In a manner exactly analogous to that of the bar element, it is readily shown that the 6 × 6 element
stiffness matrix in the global system is given by

Stiffness matrix expressed in

global coordinate system

Assembly of the system equations for a finite element model using the beam-axial
element is accomplished in an identical fashion to the procedures followed for trusses

Engineer Renato Carvalho | Page 83

6 Flexure Element with Axial Loading Let’s now practice what we have learned so far by doing one exercise that
involves distributed load, beam-axial element and oriented element

Exercise

The frame shown in the figure below is composed of identical beams having a 1-in. square cross section and a
modulus of elasticity of 10 𝑥 106 𝑝𝑠𝑖. The supports at O and C are to be considered completely fixed. The
horizontal beam is subjected to a uniform load of intensity 10 lb/in., as shown. Use two beam-axial elements to
compute the displacements and rotation at B.

Engineer Renato Carvalho | Page 84

6 Flexure Element with Axial Loading Let’s now practice what we have learned so far by doing one exercise that
involves distributed load, beam-axial element and oriented element

Engineer Renato Carvalho | Page 85

6 Flexure Element with Axial Loading Let’s now practice what we have learned so far by doing one exercise that
involves distributed load, beam-axial element and oriented element

Engineer Renato Carvalho | Page 86

6 Flexure Element with Axial Loading Let’s now practice what we have learned so far by doing one exercise that
involves distributed load, beam-axial element and oriented element

Choosing the global coordinate system and displacement numbering as in the figure of the problem
specification, we observe that element 2 requires no transformation, as its element coordinate system is
aligned with the global system. However, element 1 requires transformation. Using 𝜓 = 𝜋/2, we have:

Engineer Renato Carvalho | Page 87

6 Flexure Element with Axial Loading Let’s now practice what we have learned so far by doing one exercise that
involves distributed load, beam-axial element and oriented element

Displacement Correspondence Table

Engineer Renato Carvalho | Page 88

6 Flexure Element with Axial Loading Let’s now practice what we have learned so far by doing one exercise that
involves distributed load, beam-axial element and oriented element

System Stiffness Matrix

Engineer Renato Carvalho | Page 89

6 Flexure Element with Axial Loading Let’s now practice what we have learned so far by doing one exercise that
involves distributed load, beam-axial element and oriented element

Engineer Renato Carvalho | Page 90

6 Flexure Element with Axial Loading Let’s now practice what we have learned so far by doing one exercise that
involves distributed load, beam-axial element and oriented element

Taking the constraints into account, the equations to be solved for the active
displacements are then

Engineer Renato Carvalho | Page 91

6 Flexure Element with Axial Loading Let’s now practice what we have learned so far by doing one exercise that
involves distributed load, beam-axial element and oriented element

For the beam element with axial capability, the stress computation must take into account the
superposition of bending stress and direct axial stress. For element 1, for example, we use the
transformation matrix with 𝜓 = 𝜋/2 to compute the element displacement as:

Engineer Renato Carvalho | Page 92

6 Flexure Element with Axial Loading Let’s now practice what we have learned so far by doing one exercise that
involves distributed load, beam-axial element and oriented element

𝑑2 𝑣 6 12𝑥 4 6𝑥 6 12𝑥 6𝑥 2
= − 2 + 3 𝑣1 + − + 2 𝜃1 + 2 − 3 𝑣2 + 2 − 𝜃
𝑑𝑥 2 𝐿 𝐿 𝐿 𝐿 𝐿 𝐿 𝐿 𝐿 2

Engineer Renato Carvalho | Page 93

6 Flexure Element with Axial Loading Let’s now practice what we have learned so far by doing one exercise that
involves distributed load, beam-axial element and oriented element

Node 1 – Combination of bending stress and direct axial stress

𝝈𝒙=𝟎 = +𝟒𝟗𝟓. 𝟐 𝒑𝒔𝒊 𝝈𝒙=𝟎 = +𝟒𝟎𝟕. 𝟖𝟓 𝒑𝒔𝒊

𝝈𝒙=𝟎 = −𝟒𝟗𝟓. 𝟐 𝒑𝒔𝒊 𝝈𝒙=𝟎 = −𝟖𝟕. 𝟑𝟓 𝒑𝒔𝒊 𝝈𝒙=𝟎 = −𝟓𝟖𝟐. 𝟓𝟓 𝒑𝒔𝒊

Engineer Renato Carvalho | Page 94

6 Flexure Element with Axial Loading Let’s now practice what we have learned so far by doing one exercise that
involves distributed load, beam-axial element and oriented element

Node 2 – Combination of bending stress and direct axial stress

𝝈𝒙=𝑳 = +𝟗𝟗𝟐. 𝟐 𝒑𝒔𝒊 𝝈𝒙=𝑳 = +𝟗𝟎𝟒. 𝟖𝟓 𝒑𝒔𝒊

𝝈𝒙=𝑳 = −𝟗𝟗𝟐. 𝟐 𝒑𝒔𝒊 𝝈𝒙=𝑳 = −𝟖𝟕. 𝟑𝟓 𝒑𝒔𝒊 𝝈𝒙=𝑳 = −𝟏𝟎𝟕𝟗. 𝟓𝟓 𝒑𝒔𝒊

Engineer Renato Carvalho | Page 95

Índice:

1 Elementary Beam Theory

2 Beam Element

3 Beam Element Stiffness Matrix

4 Element Load Vector and Exercise

5 Work Equivalence for Distributed Loads

6 Flexure Element with Axial Loading

7 A General Three-Dimensional Beam Element

Engineer Renato Carvalho | Page 96

7 A General Three-Dimensional Beam Element A general three-dimensional beam element is capable of both axial and torsional
deflections as well as two-plane bending

Beam Element for Bending about the Y axis

12 −6𝐿 −12 −6𝐿

𝐸𝐼𝑦 −6𝐿 4𝐿² 6𝐿 2𝐿²
𝑘𝑒 𝑥𝑧 = 3
𝐿 −12 6𝐿 12 6𝐿
−6𝐿 2𝐿² 6𝐿 4𝐿²

Engineer Renato Carvalho | Page 97

7 A General Three-Dimensional Beam Element A general three-dimensional beam element is capable of both axial and torsional
deflections as well as two-plane bending

Beam Element for Bending about the Z axis

12 6𝐿 −12 6𝐿
𝐸𝐼𝑦 6𝐿 4𝐿² −6𝐿 2𝐿²
𝑘𝑒 𝑥𝑦 = 3
𝐿 −12 −6𝐿 12 −6𝐿
𝑦 6𝐿 2𝐿² −6𝐿 4𝐿²

𝑣1 𝑞𝑦 (𝑥) 𝑣2

𝜃𝑧2
𝜃𝑧1
𝑥

(a) Three-dimensional beam element. (b) Nodal displacements in

element xy plane. Engineer Renato Carvalho | Page 98
7 A General Three-Dimensional Beam Element A general three-dimensional beam element is capable of both axial and torsional
deflections as well as two-plane bending

Combining the spar element stiffness matrix, the xy plane flexure stiffness matrix, and the xz plane
flexure stiffness matrix, the element equilibrium equations for a two-plane bending element with axial
stiffness are written in matrix form as

[𝒌𝒆 ]

Engineer Renato Carvalho | Page 99

7 A General Three-Dimensional Beam Element A general three-dimensional beam element is capable of both axial and torsional
deflections as well as two-plane bending

Torsional Finite Element

Engineer Renato Carvalho | Page 100

7 A General Three-Dimensional Beam Element A general three-dimensional beam element is capable of both axial and torsional
deflections as well as two-plane bending

Torsional Finite Element

From elementary strength of materials, it is well known that the angle of twist per unit length of a uniform,
elastic circular cylinder subjected to torque T is given by

where J is polar moment of inertia of the cross-sectional area and G is the shear modulus of the material.

Engineer Renato Carvalho | Page 101

7 A General Three-Dimensional Beam Element A general three-dimensional beam element is capable of both axial and torsional
deflections as well as two-plane bending

Torsional Finite Element

As the angle of twist per unit length is constant, the total angle of twist of the element can be expressed
in terms of the nodal rotations and twisting moments as

Engineer Renato Carvalho | Page 102

7 A General Three-Dimensional Beam Element A general three-dimensional beam element is capable of both axial and torsional
deflections as well as two-plane bending

Torsional Finite Element

Consideration of the equilibrium condition 𝑀𝑥1 + 𝑀𝑥2 = 0 lead directly to the element equilibrium
equations:

so the torsional stiffness matrix is:

Engineer Renato Carvalho | Page 103

7 A General Three-Dimensional Beam Element A general three-dimensional beam element is capable of both axial and torsional
deflections as well as two-plane bending

Torsional Finite Element

While this development is, strictly speaking, applicable

only to a circular cross section, an equivalent torsional
stiffness 𝐽𝑒𝑞 𝐺/𝐿 is known for many common structural
cross sections and can be obtained from standard
structural tables or strength of materials texts.

Engineer Renato Carvalho | Page 104

7 A General Three-Dimensional Beam Element A general three-dimensional beam element is capable of both axial and torsional
deflections as well as two-plane bending

Adding the torsional characteristics to the general beam element, the element equations become

12 x 12 symmetric stiffness matrix

Engineer Renato Carvalho | Page 105

Thank you for your
attention!