German University in Cairo

Mechatronics Department

Beam examples

10-11-2013

4.3 Examples of Beam Analysis Using the Direct Stiffness Method

163

On considering the third, fourth, and sixth equations of Eqs. (4.2.3) corresponding to
the rows with unknown degrees of freedom and using Eqs. (4.2.4), we obtain
9
8
2
38 9
>
6L >
= EI 24 0
< !1000 >
=
< d2y >
6
2
27
1000 3 4 0
4:2:5
8L 2L 5 f2
>
>
; L 6L 2L 2 4L 2 >
: 0
:f >
;
3

where F2y !1000 lb, M2 1000 lb-ft, and M3 0 have been substituted into the
reduced set of equations. We could now solve Eq. (4.2.5) simultaneously for the unknown nodal displacement d2y and the unknown nodal rotations f2 and f3 . We
leave the final solution for you to obtain. Section 4.3 provides complete solutions to
beam problems.

4.3 Examples of Beam Analysis

Using the Direct Stiffness Method

We will now perform complete solutions for beams with various boundary supports
and loads to illustrate further the use of the equations developed in Section 4.1.
Example 4.1
Using the direct stiffness method, solve the problem of the propped cantilever beam
subjected to end load P in Figure 48. The beam is assumed to have constant EI
and length 2L. It is supported by a roller at midlength and is built in at the right end.

Figure 48 Propped cantilever beam

We have discretized the beam and established global coordinate axes as shown
in Figure 48. We will determine the nodal displacements and rotations, the reactions,
and the complete shear force and bending moment diagrams.
Using Eq. (4.1.14) for each element, along with superposition, we obtain the
structure total stiffness matrix by the same method as described in Section 4.2 for
obtaining the stiffness matrix in Eq. (4.2.3). The K is
d1y f1
d2y
f2
12 6L
!12
6L
6
2
4L
!6L
2L 2
6
6
EI 6
12 12 !6L 6L
K 3 6
6
L 6
4L 2 4L 2
6
4
Symmetry
2

d3y
f3
3
0
0
7
0
0 7
7
!12 6L 7
7
!6L 2L 2 7
7
7
12 !6L 5
4L 2

4:3:1

164

4 Development of Beam Equations

The governing equations for the beam are then given by

9
8
2
F
12
6L !12
6L
0
>
>
1y
>
>
>
>
6
>
>
2
2
>
>
4L !6L
M1 >
2L
0
>
6 6L
>
>
>
= EI 6
<F >
6
!12 !6L
24
0
!12
2y
36
2
2
6
>
>
L
M
0
8L
!6L
6L
2L
2>
>
6
>
>
>
>
6
>
F3y >
0
!12 !6L
12
>
>
4 0
>
>
>
>
;
:
2
M3
0
0
6L
2L !6L
On applying the boundary conditions
d2y 0

d3y 0

38 9
0
>
> d1y >
>
7>
> >
>
>
0 7>
f
>
>
1
>
>
>
7< >
7
6L 7 d2y =
2L 2 7
> f2 >
>
7>
> >
>
7>
>
!6L 5>
d
>
3y >
>
>
>
>
;
2 :
4L
f3

f3 0

4:3:2

4:3:3

and partitioning the equations associated with unknown displacements [the first,
second, and fourth equations of Eqs. (4.3.2)] from those equations associated with
known displacements in the usual manner, we obtain the final set of equations for a
longhand solution as
8
9
2
38 9
>
6L
6L >
< !P >
= EI 12
< d1y >
=
6
2
27
0
3 4 6L
4L
4:3:4
2L 5 f1
>
>
>
: 0 >
; L 6L
:
;
2
2
2L
8L
f2

where F1y !P, M1 0, and M2 0 have been used in Eq. (4.3.4). We will now
solve Eq. (4.3.4) for the nodal displacement and nodal slopes. We obtain the transverse displacement at node 1 as
7PL 3
4:3:5
d1y !
12EI
where the minus sign indicates that the displacement of node 1 is downward.
The slopes are
3PL 2
PL 2
f1
f2
4:3:6
4EI
4EI
where the positive signs indicate counterclockwise rotations at nodes 1 and 2.
We will now determine the global nodal forces. To do this, we substitute
the known global nodal displacements and rotations, Eqs. (4.3.5) and (4.3.6), into
Eq. (4.3.2). The resulting equations are

8
9
2
F1y >
12
>
>
>
>
>
6
>
>
>
M1 >
>
>
6 6L
>
>
>
<F >
= EI 6
6 !12
2y
36
6
>
> M2 >
> L 6 6L
>
>
>
>
6
>
F3y >
>
>
4 0
>
>
>
>
:
;
M3
0

6L !12
4L 2 !6L
!6L
24
2
0
2L
0
!12
0
6L

6L
0
2
2L
0
0
!12
2
8L !6L
!6L
12
2
2L !6L

8
9
3>
>
7PL
>
>
>!
>
>
3>
>
>
>
12EI >
>
>
0
>
>
>
2 >
>
>
3PL
7>
>
>
0 7>
>
>
>
>
>
7>
4EI
<
=
6L 7
7
0
2L 2 7
> PL 2 >
>
7>
>
>
>
7>
>
!6L 5>
>
>
>
>
>
>
4EI
>
>
2 >
>
4L >
>
>
0 >
>
>
>
>
>
: 0 >
;

4:3:7

4.3 Examples of Beam Analysis Using the Direct Stiffness Method

165

Multiplying the matrices on the right-hand side of Eq. (4.3.7), we obtain the global
nodal forces and moments as
F1y !P

M1 0

F2y 52 P

M2 0

F3y ! 32 P

M3 12 PL

4:3:8

The results of Eqs. (4.3.8) can be interpreted as follows: The value of F1y !P is the
applied force at node 1, as it must be. The values of F2y ; F3y , and M3 are the reactions
from the supports as felt by the beam. The moments M1 and M2 are zero because no
applied or reactive moments are present on the beam at node 1 or node 2.
It is generally necessary to determine the local nodal forces associated with
each element of a large structure to perform a stress analysis of the entire structure.
We will thus consider the forces in element 1 of this example to illustrate this concept
(element 2 can be treated similarly). Using Eqs. (4.3.5) and (4.3.6) in the f^ k^d^ equation for element 1 [also see Eq. (4.1.13)], we have
8
9
3>
>
>
>
7PL
>
>
>!
>
8 9
>
>
>
3>
2
12EI
>
>
>
>
>
>
^
12
6L
!12
6L
>
>
>
>
f
1y >
>
>
2 >
>
>
>
< = EI 6 6L 4L 2 !6L 2L 2 7< 3PL >
=
^1
m
7
6
4:3:9
36
7
4EI
>
>
L 4 !12 !6L 12 !6L 5>
f^2y >
>
>
>
>
>
>
>
>
>
>
>
>
0
:m
>
6L 2L 2 !6L 4L 2 >
>
>
^2 ;
>
>
2
>
>
PL
>
>
>
>
>
: 4EI >
;
where, again, because the local coordinate axes of the element coincide with the global
axes of the whole beam, we have used the relationships d d^ and k k^ (that is, the
local nodal displacements are also the global nodal displacements, and so forth).
Equation (4.3.9) yields
f^1y !P

^1 0
m

f^2y P

^ 2 !PL
m

4:3:10

A free-body diagram of element 1, shown in Figure 49(a), should help you to

understand the results of Eqs. (4.3.10). The figure shows a nodal transverse
force of negative P at node 1 and of positive P and negative moment PL at node 2.
These values are consistent with the results given by Eqs. (4.3.10). For completeness, the free-body diagram of element 2 is shown in Figure 49(b). We can easily
verify the element nodal forces by writing an equation similar to Eq. (4.3.9).

Figure 49 Free-body diagrams showing forces and moments on (a) element 1 and
(b) element 2

166

4 Development of Beam Equations

Figure 410 Nodal forces and moment on the beam

Figure 411 Shear force diagram for the beam of Figure 410

Figure 412 Bending moment diagram for the beam of Figure 410

From the results of Eqs. (4.3.8), the nodal forces and moments for the whole beam are
shown on the beam in Figure 410. Using the beam sign conventions established in
Section 4.1, we obtain the shear force V and bending moment M diagrams shown
in Figures 411 and 412.
9
In general, for complex beam structures, we will use the element local forces to
determine the shear force and bending moment diagrams for each element. We can
then use these values for design purposes. Chapter 5 will further discuss this concept
as used in computer codes.
Example 4.2
Determine the nodal displacements and rotations, global nodal forces, and element
forces for the beam shown in Figure 413. We have discretized the beam as indicated
by the node numbering. The beam is fixed at nodes 1 and 5 and has a roller support
at node 3. Vertical loads of 10,000 lb each are applied at nodes 2 and 4. Let E
30 ( 10 6 psi and I 500 in 4 throughout the beam.
We must have consistent units; therefore, the 10-ft lengths in Figure 413 will be
converted to 120 in. during the solution. Using Eq. (4.1.10), along with superposition
of the four beam element stiffness matrices, we obtain the global stiffness matrix

4.3 Examples of Beam Analysis Using the Direct Stiffness Method

167

Figure 413 Beam example

and the global equations as given in Eq. (4.3.11). Here the lengths of each element are
the same. Thus, we can factor an L out of the superimposed stiffness matrix.
9
8
F1y >
>
>
>
>
>
>
>
>
M1 >
>
>
>
>
>
>
>
>
>
F
2y >
>
>
>
>
>
>
>M >
>
2>
>
>
>
>
>
= EI
<F >
3y

> L3
>
>
>
> M3 >
>
>
>
>
>
>
>
>
> F4y >
>
>
>
>
>
>
>
>
> M4 >
>
>
>
>
> F5y >
>
>
>
>
;
:
M5

d1y
f1
12
6L
6 6L 4L 2
6
6
6 !12 !6L
6
6 6L 2L 2
6
6
6 0
0
6
6 0
0
6
6
6 0
0
6
6 0
0
6
6
4 0
0
0
0
2

d2y
f2
!12
6L
!6L
2L 2
12 12
!6L 6L
!6L 6L 4L 2 4L 2
!12
!6L
6L
2L 2
0
0
0
0
0
0
0
0

d3y
f3
0
0
0
0
!12
6L
!6L
2L 2
12 12
!6L 6L
!6L 6L 4L 2 4L 2
!12
!6L
6L
2L 2
0
0
0
0

d4y
f4
0
0
0
0
0
0
0
0
!12
6L
!6L
2L 2
12 12
!6L 6L
!6L 6L 4L 2 4L 2
!12
!6L
6L
2L 2

d5y
f5 8
9
3
>
d1y >
0
0
>
>
>
>
>
>f >
>
0
0 7
7>
>
>
1 >
>
>
7>
>
>
>
>
0
0 7
d
2y >
>
7>
>
>
>
>
7
>
>
>
>
0
0 7>
f
>
2
>
>
>
7>
<
7
0
0 7 d3y =
0
0 7
> f3 >
>
7>
>
>
>
7>
>
>
>
!12 6L 7>
d
4y
>
>
>
7>
>
>
>
2 7>
>
!6L 2L 7>
f
>
>
4
>
>
>
7>
>
>
>
12 !6L 5>
d
5y
>
>
>
>
>
>
2 :
!6L 4L
f5 ;

4:3:11

For a longhand solution, we reduce Eq. (4.3.11) in the usual manner by application of the boundary conditions
d1y f1 d3y d5y f5 0

The resulting equation is

9
8
2
>
>
!10;000
24
>
>
>
>
>
>
6
>
>
>
>
0
= EI 6
< 0
6
6
3 6 6L
0
>
>
L 6
>
>
>
>
!10;000 >
>
40
>
>
>
>
;
: 0
0

0
8L 2
2L 2
0
0

6L
2L 2
8L 2
!6L 2
2L 2

0
0
!6L
24
0

38 9
>
0
> d2y >
>
>
>
>
7>
>
>
0 7>
f
2
< >
=
7
2L 2 7
f
3
7> >
>d >
>
0 7
>
5>
4y >
>
>
>
>
:
8L 2
f4 ;

4:3:12

The rotations (slopes) at nodes 24 are equal to zero because of symmetry in loading,
geometry, and material properties about a plane perpendicular to the beam length
and passing through node 3. Therefore, f2 f3 f4 0, and we can further reduce
Eq. (4.3.12) to
%
&
#
$% &
d2y
!10;000
EI 24 0
3
4:3:13
L
d4y
!10;000
0 24

Solving for the displacements using L 120 in., E 30 ( 10 6 psi, and I 500 in. 4 in
Eq. (4.3.13), we obtain
4:3:14
d2y d4y !0:048 in:
as expected because of symmetry.

168

4 Development of Beam Equations

As observed from the solution of this problem, the greater the static redundancy
(degrees of static indeterminacy or number of unknown forces and moments that
cannot be determined by equations of statics), the smaller the kinematic redundancy
(unknown nodal degrees of freedom, such as displacements or slopes)hence, the
fewer the number of unknown degrees of freedom to be solved for. Moreover,
the use of symmetry, when applicable, reduces the number of unknown degrees of
freedom even further. We can now back-substitute the results from Eq. (4.3.14),
along with the numerical values for E; I , and L, into Eq. (4.3.12) to determine the
global nodal forces as
F1y 5000 lb

M1 25;000 lb-ft

F2y 10;000 lb

M2 0

F3y 10;000 lb

M3 0

F4y 10;000 lb

M4 0

F5y 5000 lb

M5 !25;000 lb-ft

4:3:15

Once again, the global nodal forces (and moments) at the support nodes (nodes 1, 3,
and 5) can be interpreted as the reaction forces, and the global nodal forces at nodes
2 and 4 are the applied nodal forces.
However, for large structures we must obtain the local element shear force and
bending moment at each node end of the element because these values are used in
the design/analysis process. We will again illustrate this concept for the element connecting nodes 1 and 2 in Figure 413. Using the local equations for this element, for
which all nodal displacements have now been determined, we obtain
8 9
9
38 ^
2
>
>
>
>
^
d

0
12
6L
!12
6L
1y
>
>
>
f1y >
>
>
>
>
>
>
>
< >
=
= EI 6 6L
2
2 7< ^
!6L
2L
4L
f

0
^1
m
7
6
1
4:3:16
36
7
^ >
^2y !0:048 >
>
L 4 !12
!6L
12
!6L 5>
f
d
>
>
>
>
2y
>
>
>
> >
>
>
>
:
;
4L 2 : f^ 0
6L
2L 2 !6L
^2 ;
m
2

Simplifying Eq. (4.3.16), we have

8 9 8
9
>
^ >
5000
lb
>
>
>
>
f
>
>
> 1y >
>
> >
<
=
< 25;000 lb-ft >
=
^1
m

>
>
!5000 lb >
f^2y >
>
>
>
>
>
>
>
>
>
;
:
>
:m
;
25;000 lb-ft
^2

4:3:17

If you wish, you can draw a free-body diagram to confirm the equilibrium of the
element.
9

Finally, you should note that because of reflective symmetry about a vertical
plane passing through node 3, we could have initially considered one-half of this
beam and used the following model. The fixed support at node 3 is due to the

4.3 Examples of Beam Analysis Using the Direct Stiffness Method

169

slope being zero at node 3 because of the symmetry in the loading and support
conditions.

Example 4.3
Determine the nodal displacements and rotations and the global and element forces
for the beam shown in Figure 414. We have discretized the beam as shown by the
node numbering. The beam is fixed at node 1, has a roller support at node 2, and
has an elastic spring support at node 3. A downward vertical force of P 50 kN is
applied at node 3. Let E 210 GPa and I 2 ( 10!4 m 4 throughout the beam, and
let k 200 kN/m.

Figure 414 Beam example

Using Eq. (4.1.14) for each beam element and Eq. (2.2.18) for the spring element
as well as the direct stiffness method, we obtain the structure stiffness matrix as

d1y
2

6
6
6
6
6
6
EI 6
K 3 6
L 6
6
6
6
6
6
6
4

12

f1
6L
4L 2

d2y
!12
!6L
24

f2
6L
2L 2
0
8L 2

d3y
0
0
!12
!6L
kL 3
12
EI

f3
0
0
6L
2L 2
!6L
4L 2

Symmetry

d4y
3

0
7
0 7
7
0 7
7
7
0 7
7
kL 3 7
7
!
EI 7
7
0 7
7
7
kL 3 5
EI

4:3:18a

170

4 Development of Beam Equations

where the spring stiffness matrix k s given below by Eq. (4.3.18b) has been directly
added into the global stiffness matrix corresponding to its degrees of freedom at
nodes 3 and 4.
d4y
d
# 3y
$
k !k
4:3:18b
ks
!k
k
It is easier to solve the problem using the general variables, later making numerical
substitutions into the final displacement expressions. The governing equations for the
beam are then given by
9
8
38 9
2
d1y >
F1y >
12 6L !12 6L
0
0
0 >
>
>
>
>
>
>
>
>
>
7
6
>
>
>
>
2
2
>
>
>
>
M
f
!6L
2L
0
0
0
4L
1>
7
6
>
>
>
1
>
>
>
>
>
>
>
>
7
6
>
>
>
>
>
>
>
7
6
F
d
24
0
!12
6L
0
2y >
=
< 2y = EI 6
<
7
2
2
7 f2
M2 3 6
!6L
2L
0
8L
7> > 4:3:19
>
>
L 6
>
>
>d >
6
0
0
>
>
F3y >
12 k !6L !k 7
>
>
>
3y >
7>
6
>
>
>
>
>
>
>
>
7
6
>
>
>
>
2
>
>
5>
4
M
f
4L
0
3>
>
>
>
3 >
>
>
>
>
;
;
:
:
0
Symmetry
F4y
d4y
k

where k 0 kL 3 =EI is used to simplify the notation. We now apply the boundary
conditions
d1y 0

f1 0

d2y 0

d4y 0

4:3:20

We delete the first three equations and the seventh equation (corresponding to
the boundary conditions given by Eq. (4.3.20)) of Eqs. (4.3.19). The remaining three
equations are
8
9
2
38 9
>
8L 2
!6L
2L 2 >
< 0 >
= EI
=
< f2 >
0
4:3:21
!P 3 4 !6L
12 k
!6L 5 d3y
>
> >
: 0 >
; L
;
2
2 :
f
!6L
4L
2L
3

Solving Eqs. (4.3.21) simultaneously for the displacement at node 3 and the rotations
at nodes 2 and 3, we obtain
!
"
!
"
7PL 3
1
3PL 2
1
d3y !
f2 !
12 7k 0
12 7k 0
EI
EI
4:3:22
!
"
9PL 2
1
f3 !
12 7k 0
EI

The influence of the spring stiffness on the displacements is easily seen in Eq. (4.3.22).
Solving for the numerical displacements using P 50 kN, L 3 m, E 210 GPa
( 210 ( 10 6 kN/m 2 ), I 2 ( 10!4 m 4 , and k 0 0:129 in Eq. (4.3.22), we obtain
!
"
3
!750 kN3 m
1
d3y
!0:0174 m 4:3:23
2
210 ( 10 6 kN=m 2 ( 10!4 m 4 12 70:129
Similar substitutions into Eq. (4.3.26) yield
f2 !0:00249 rad

f3 !0:00747 rad

4:3:24

4.3 Examples of Beam Analysis Using the Direct Stiffness Method

171

We now back-substitute the results from Eqs. (4.3.23) and (4.3.24), along with numerical values for P; E; I ; L, and k 0 , into Eq. (4.3.19) to obtain the global nodal forces as
F1y !69:9 kN

M1 !69:7 kN ) m

F2y 116:4 kN

M2 0:0 kN ) m

F3y !50:0 kN

4:3:25

M3 0:0 kN ) m

For the beam-spring structure, an additional global force F4y is determined at the base
of the spring as follows:
F4y !d3y k 0:0174200 3:5 kN

4:3:26

This force provides the additional global y force for equilibrium of the structure.

Figure 415 Free-body diagram of

beam of Figure 414

A free-body diagram, including the forces and moments from Eqs. (4.3.25) and
(4.3.26) acting on the beam, is shown in Figure 415.
9

Example 4.4
Determine the displacement and rotation under the force and moment located at the
center of the beam shown in Figure 416. The beam has been discretized into the
two elements shown in Figure 416. The beam is fixed at each end. A downward
force of 10 kN and an applied moment of 20 kN-m act at the center of the beam.
Let E 210 GPa and I 4 ( 10!4 m4 throughout the beam length.
10 kN

3m
1
1

3m

2
20 kN-m

2
3

Figure 416 Fixed-fixed beam subjected to applied force and moment

Using Eq. (4.1.14) for each beam element with L 3 m, we obtain the element
stiffness matrices as follows:
d1y f1
d2y
f2
d2y f2
d3y
f3
2
2
3
3
12 6L
!12
6L
12 6L
!12
6L
EI 6
EI 6
2L 2 7
4L 2 !6L
2
2L2 7
4L2 !6L
6
7
7
k 1 3 6
k

L 4
L3 4
12
!6L 5
12
!6L 5
Symmetry
Symmetry
4L 2
4L 2
4:3:27

172

4 Development of Beam Equations

The boundary conditions are given by

d1y f1 d3y f3 0

4:3:28

The global forces are F2y !10;000 N and M2 20;000 N-m.

Applying the global forces and boundary conditions, Eq. (4.3.28), and assembling the global stiffness matrix using the direct stiffness method and Eqs. (4.3.27),
we obtain the global equations as:
%
&
#
$% &
210 ( 109 4 ( 10!4 24
!10; 000
0
d2y

4:3:29
2
3
20; 000
0
83

f2
3
Solving Eq. (4.3.29) for the displacement and rotation, we obtain
d2y !1:339 ( 10!4 m and f2 8:928 ( 10!5 rad

4:3:30

Using the local equations for each element, we obtain the local nodal forces and
moments for element one as follows:
8 1 9
9
2
38
>
f1y >
>
>
12
63 !12
63 >
0
>
>
>
>
>
>
>
>
>
>
= 210 ( 109 4 ( 10!4 6 63
=
< m1 >
2
2 7<
43

!63
23

0
6
7
1

6
7
>
> f 1 >
> !1:3339 ( 10!4 >
4 !12
33
!63
12
!63 5>
>
>
>
>
>
2y >
>
>
:
2
2
!5 ;
>
>
: 1 ;
63
23 !63
43
8:928 ( 10
m2
4:3:31

Simplifying Eq. (4.3.31), we have

f1y1 10;000 N;

m11 12;500 N-m;

f2y1 !10;000 N;

m1
2 17;500 N-m

4:3:32

Similarly, for element two the local nodal forces and moments are
f2y2 0;

m2
2 2500 N-m;

f3y2 0;

m2
3 !2500 N-m

4:3:33

Using the results from Eqs. (4.3.32) and (4.3.33), we show the local forces and
moments acting on each element in Figure 416 as follows:
Using the results from Eqs. (4.3.32) and (4.3.33), or Figure 417, we obtain the shear force and bending moment diagrams for each element as shown in
Figure 418.

12,500 N-m

17,500 N-m

2500 N-m

2500 N-m

10,000 N

10,000 N

Figure 417 Nodal forces and moments acting on each element of Figure 415

4.3 Examples of Beam Analysis Using the Direct Stiffness Method

V, N
10,000

173

V, N
(a)
+
0
17,500

M, N-m

M, N-m

+
(b)

12,500

2500

Figure 418 Shear force (a) and bending moment (b) diagrams for each element

Example 4.5
To illustrate the effects of shear deformation along with the usual bending deformation, we now solve the simple beam shown in Figure 419. We will use the beam
stiffness matrix given by Eq. (4.1.15o) that includes both the bending and shear deformation contributions for deformation in the x!y plane. The beam is simply supported
with a concentrated load of 10,000 N applied at mid-span. We let material properties
be E 207 GPa and G 80 GPa. The beam width and height are b 25 mm and
h 50 mm, respectively.
P = 10,000 N

h
b
200 mm
400 mm

Figure 419 Simple beam subjected to concentrated load at center of span

We will use symmetry to simplify the solution. Therefore, only one half of the
beam will be considered with the slope at the center forced to be zero. Also, one half
of the concentrated load is then used. The model with symmetry enforced is shown
in Figure 420.
The finite element model will consist of only one beam element. Using
Eq. (4.1.15o) for the Timoshenko beam element stiffness matrix, we obtain the global

13