1.

571StructuralAnalysisandControl
Prof.Connor
Section2:LinearFormulationforaGeneralPlanarMember
2.1Geometric Relations:PlaneCurve

t2

t1

j
x

x = x()
y = y()
= Parametertodefinethecurve
r =positionv ectorforapointonthecurve
r = xi + yj
2.1.1Arclength
2

2 12

Differentialarclength= (dx + dy )

ds =

dx
---- d

= ds

dy 2 1 2
+ ------ d
d

Define

=
Then

dx-
---- d

dy 2 1 2
+ ------
d

ds = d

1.571 Structural Analysisand Control

ProfConnor

Section 2
Page1of24

2.1.2TangentandNormalVectors

( x, y )

r1

( x + x, y + y )

r2

r = r 2 r 1 = r( + ) r ( )
r = ((x + x)i + (y + y)j) (xi + yj)
r = (xi + yj)
2

2 12

r = (x + y )
= s
Thenforcontinuousandwellbehavedfunctions
dr = (dxi + dyj)
drdx dy
dr
----- = ------= t1 = ------ i + ------ j
ds
ds
dr
ds
t 1 =un ittangent vector
1 dy
1 dx
t 1 = --------- i + --------- j
d
d
Define t 2 su chthat

t 1 t 2 = k (u nitvectorin z direction)
andenforce

t 1 t2 = 0 ( perpendicular)
gives

1 dy
1 dx
t 2 = --- ------ i + --- ------ j
d
d

1.571 Structural Analysisand Control

ProfConnor

Section 2
Page2of24

2.1.3Differentiationformulaeforthetangentandnormalvectors t 1 and t 2

t 1 t1 = t1

t 2 t2 = t2

= 1
= 1

dt
dt
dt
d
----- ( t1 t 1 ) = t 1 1 + t 1 1 = 2 t 1 1 = 0

ds
ds
ds
ds
Therefore,

dt 1
mustbe to t 1 ,andthusproportionalto t 2
ds

Theresultiswrittenas

dt 1
1
= --- t 2
ds
R

dt 2
1

= --- t 1
ds
R
where
2

1- d x dy d y dx
--1- = ----+ 2

3
2
R
d d d d

1.571 Structural Analysisand Control

ProfConnor

Section 2
Page3of24

2.1.4Example:CurvilinearFormulation
Taketheangleastheparameterdefiningthecurve
Y

R
t2

t1

X
x
x = R sin
y = R (1 cos )
=

2
d
R sin

d (1
d

12

12
2

cos )

= R {cos + sin }
= R
1
t 1 = --- {R cos i + R sin j } = cos i + sin j
R
t 2 = sin i + cos j
dt 1
1 dt
1 dt
1
1
= --- 1 = --- 1 = --- ( sin i + cos j ) = --- t 2
d s
ds
Rds
R
R
dt 2
1 dt
1 dt
1
1
= --- 2 = --- 2 = --- ( cos i sin j ) = --- t 1
ds
Rds
R
R
d s
Thisillustratestheequationsonthepreviouspage.

1.571 Structural Analysisand Control

ProfConnor

Section 2
Page4of24

2.2ForceEquilibrium Formulation:CurvilinearFormulation
t2 V
Y
t1
F

t3 = t1 t2
j
X
i
F = Ft 1 + Vt 2
M =
Mt 3
Loadingperunitarclength
b = b 1 t 1 + b2 t 2
m = mt 3
2.2.1VectorEquations

F + F
M + M

s
M
F
F + F F + bs = 0
M + M M + ms st 1 ( F) = 0
Then

dF
------- + b = 0
ds
dM
-------- + m + t 1 F = 0
ds

1.571 Structural Analysisand Control

ProfConnor

Section 2
Page5of24

2.2.2ScalarEquations

F = Ft 1 + Vt 2
dt
dt
dF
dF
dV
------- = d ( Ft 1 + Vt 2 ) = F ------1- + t1 ------- + V ------2- + t 2 ------ds
ds
ds
ds
ds
ds
dF
dV
------- = --F- t 2 + t 1 dF
------- V
--- t 1 + t 2 ------ds
R
ds R
ds
dF
--- t + t dF
------- + b = F
------- --V- t + t dV
------- + b 1 t 1 + b2 t 2
ds
R 2 1 ds R 1 2 ds
Separatingintocomponentsof t 1 a nd t 2 leadsto

dF- V
----- --- + b 1 = 0
ds R
dV F
------- + --- + b 2 = 0
ds R
Forthe momentequation
dM
-------- + m + t 1 (Ft 1 + Vt 2 ) = 0
ds
Expandingandwritinginscalarform
dM
-------- + m + V = 0
ds
Summary

dF
------- V
--- + b 1 = 0
ds R
dV
------- + F
--- + b 2 = 0
ds R
dM
-------- + m + V = 0
ds
Note:FandVarecoupled

1.571 Structural Analysisand Control

ProfConnor

Section 2
Page6of24

2.3ForceDisplacementRelations:CurvilinearCoordinates

( u )t 1

vt 2
ut 1

2.3.1Strains:Displacementcomponentsdefinedwrtthelocalframe (t 1, t 2 )

l ( ) = (R )
s
s = R = ---- R
s
l ( ) = (R ) -----R

l ( )

l ( ) = 1 --- s

u = ut 1 + vt 2 t1
=

1.571 Structural Analysisand Control

ProfConnor

Section 2
Page7of24

du
= -----dl

dl =
1 --- ds
R
1
du
= ------------------ -----

- ds
1 -
R
dv

du
v
------ = --u- t 2 + du
------ t 1 --- t 1 + ------ t 2 --- t2 d
------ t 1
R
ds
ds
R
ds
R
ds
Separating t1 a nd t 2 terms

1 du v
d

= ------------------ ------ --

ds
- ds R
1 -
R
Define

du v
a = ------ --
ds R
d
1

= ------------------ a

ds
-
1
-
R

1 dv
u

= ------------------ ------ --- + ---

R
ds R

1
-

= ------------------ o

1
-
R
Formostmembers
R then

--- 0
R
so
dv
u

o
------

+ --ds
R
Alsoifthememberisthin

1
--- 1
R
Then,thestraindistributionreducestoalineardistributionoverthecrosssection.

1.571 Structural Analysisand Control

ProfConnor

Section 2
Page8of24

2.3.2StressStrainRelations
1
= --- + o = E ( o )
E
1
= ---- = G
G
2.3.3ForceDeformationRelations

F = dA
M = dA
V = dA
Substitutingforthestrainsleadsto

F = E ( o ) dA =

F =

E
------------ a

1 -

d
E o dA
ds

E du
E v
E
d
----------------dA ------------------ --- dA ------------------ dA E o dA
R
ds
- d s
1 - 1 - 1 -

R
R
R

E
E
F = a ------------------ dA , s ------------------ dA E o dA

1 - 1 -

R
R
Similarly
2

E
E
M = a ------------------ dA + ,s ------------------ dA + E o dA

-
1 - 1 -

R
R
G
V = o ------------------ dA
-
1 -
R

1.571 Structural Analysisand Control

ProfConnor

Section 2
Page9of24

GeometricRelations

1
R

1
------------ = ------------ = 1 + ----------- = 1 + --- -----------
R

1 --1 --R
R
1
1

-----------dA = dA + --- ------------ dA

R
A 1 --A
A 1 --
R
R
Now
2

1
1
------------ = ------------ = + --------------

1 --1 --1 --R

R
R

--1- -----------dA =
R

A 1 --R

1 -----------
------dA
R dA + 2

R
A
A 1 --
R

Making

1
------------ dA =

A 1 --R

-------- ------------ dA
dA + R dA + 2
R A 1 --
A
A
R

But
dA
A

= 0 i f i smeasuredfromthecentroidofthesection

Finally,onecanwrite

1
------------ dA =

A 1 --R

I'------ ------------ dA = A + ---- dA + 2

2
R A 1 --R
A
R

where
2

I' = ------------ d
A

A 1 --
R
Wecanusethisexpressiontoexpandtheforcedeformationrelations.

1.571 Structural Analysisand Control

ProfConnor

Section 2
Page10 of 24

Summarizing

F = D S a + D SB , s + F o
M = D SB a + D B ,s + Mo
V = D T o
where

DS =

E ----------------dA

1 -
R

E
D SB = ------------------ dA
-
1 -
R
DT =

G
------------------ dA

1 -
R
2

DB =

E
------------------ dA

-
1 -
R

Forthehomogeneouscase E and G ar econstant,andtheabovesimplifyto

I'
D S = EA + E -----2
R

I'
D SB = E --
R

D B = EI'
I'D T = GA + G -----2

Additionally,forathincurvedmember,onecanneglect R wrt1, obtainingthe

simplified form
EI
D S = EA + -----2

EI
D SB = ----R

D B = EI
GI
D T = GA + -----2
R

1.571 Structural Analysisand Control

ProfConnor

Section 2
Page11 of 24

2.3.4ExampleforaRectangularSection
2

I' = ------------ dA

A 1 --
R
dA = bd

CL

d2

b
-----------d
I' =

d 2 1 -R

3 d 4
3 d 2
I' = I 1 + ------ --- + --------- --- + ...
112 R
20 R

bd
I = ------12

d
d n
andfor --- < 1 , --- 1 for n > 1
R
R
SummaryofEquations

du v
d
F = D S ------ --- + D SB ------ + Fo
ds R
ds
du v
d
M = D SB ------ --- + D B ------ + M o
ds
ds R
dv
u
V = D T ------ + ---
ds
R

1.571 Structural Analysisand Control

ProfConnor

Section 2
Page12 of 24

2.3.5FlexibilityMatrixCircularMember
A

Note: k intopage

R
B

V B, v B

F B, u B
M B, B

EndActionsanddisplacements
referredtothelocalframeatB

Assumptions
1.Thinlinearelasticmember
2.Neglectstretchingandtransvers shear deformations. This isvalidfornon
sha llowcasesonly

uB
uB = vB

FB
FB =

VB
MB

u B = f B FB
2 3
1
2
1 2
R --- 2 sin B + --- sin B cos B R 1 cos B --- sin B R( B sin B )
2
2
2

fB =

1 2
2
R 1 cos B --- sin B

R ( B sin B cos B )

R(1 cos B )

R( B sin B )

R(1 cos B )

1.571 Structural Analysisand Control

ProfConnor

Section 2
Page13 of 24

2.4CartesianFormulationGoverningEquations
Considerthecasewherethecentroidalaxisisdefinedby y = y ( x ) . Thei ndependent
variableisx,thepositioncoordinateonthexaxis. Intheangularformulation,we
worked withdisplacementcomponents andloadsre ferredtothelocalcurvilinear
frame definedby theunitvectors t 1 and t 2 . Inthissection,wearegoingtowork with
quantitiesreferredtotheglobalcartesianreferenceframe. Thisapproachwas
originallysuggestedbyMarguerre.

Y, v g

t1

vg j
t2

ds
= ------ ds
dx
dy
sin = ------ =
ds
dx
cos = ------ =
ds

ug i

= dx
dy
--------dx
--1

y
s

X, u g
Ny
V

M
F

Nx

by dx

b x dx
m g dx
dx
Theabovefiguredefinesthecartesiannotation. Thedistributedloading( b x, b y, m g )
isdefined withrespectthethexandydirectionsandtheloadingperunitprojected
length( dx ). Similarly,thedisplacementcomponents( u g, v g )arereferredtothe
cartesianglobalreferencedirections.

1.571 Structural Analysisand Control

ProfConnor

Section 2
Page14 of 24

2.4.1ForceEquilibriumEquations

b y F + F
o

bx

M + M

dy

F
dx
F

= 0 = F + F + x ( b x i + by j) F = 0

F-----+ bx i + byj = 0
x
then

dF
------- + bx i + b y j = 0
dx
Knowing

F = (F cos V sin )i + ( Fsin + V cos )j

weget

d----(( F cos V sin )i + (F sin + V cos )j) + b x i + by j = 0

dx
Separating

d----(F cos V sin ) + b x = 0

dx

d
----(F sin + V cos ) + b y = 0
dx
Similarly

1
= 0 = (xi + yj) (F) + (M + M M + m g x) --- (xi + yj) (b x i + b y j)x
2
Secondordertermgoesto0inthelimit x 0
Mo

(xi + yj) (( F cos V sin )i + (F sin + V cos )j) + (M + m g x)k = 0

(x ( F sin + V cos )y ( F cos V sin ) + M + m g x)k = 0
y
y
M
F sin + V cos ------ F cos ------ V sin + --------- + m g = 0
x
x
x
dy
dy
dM
F sin + V cos ------ F cos ------ V sin + -------- + m g = 0
dx
dx
dx
But

dy
------ = sin
dx

1.571 Structural Analysisand Control

ProfConnor

1
cos = --

Section 2
Page15 of 24

Then

1
dM
F sin + V cos sin F --- sin V sin + -------- + m g = 0

dx
dM
2
V cos + sin V + -------- + m g = 0
dx
1
Multiply bothsidesby --
dM
--1- V cos + sin 2 V + -------- + m g = 0

dx

1 dM 1
2
2
Vcos + Vsin + --- -------- + --- m g = 0
dx
Therefore

1 dM
1
--- -------- + V + --- m g = 0
dx

d
------ (F cos V sin ) + b x = 0
dx
d----(F sin + V cos ) + b y = 0
dx
N x = F cos V sin
N y = F sin + V cos

1.571 Structural Analysisand Control

ProfConnor

Section 2
Page16 of 24

4.2DeformationDisplacementRelations

e2

vg

e 1 =s tretchingdeformation

e1
ug

e 2 =tr ansversesheardeformation
dx
dx ------ = cos ds = -----------
ds
cos

u = (u g i + v g j)
du
du------ = ----cos
ds
dx
du
dv
du
------ = --------g i + -------g- j
dx
dx
dx
dv
du
du
------ = cos --------g i + -------g- j
dx
dx
ds
du g dv g
du
e 1 = ------ t1 = cos -------- i + -------- j ( cos i + sin j)

ds
dx
dx
dv g
2 dug
e 1 = cos -------- + sin cos -------
dx
dx
du g dv g
du
e 2 = ------ t2 = cos -------- i + -------- j ( sin i + cos j)
dx
dx
ds
du g
2 dv g
e 2 = sin cos -------- + cos --------
dx
dx
d
d
k = bendingdeformation = ------ = cos ----ds
dx
note: e 1 and e 2 a rereferredtothecentroidalaxes(s)

1.571 Structural Analysisand Control

ProfConnor

Section 2
Page17 of 24

2.4.3ForceDeformationRelations
2.4.3.1Thinslightlycurvedmember:userelationsdevelopedfortheprismaticcase
Assume

= e 1

= e 2

F =

E ( e1
A

DS =
V =

e 1, o ) dA = (e 1 e 1, o )D S

E dA

Ge 2 dA
A

DT =
M =

= e2 DT

G dA

E ( e 1
A

e 1, o ) dA =

M = (k k 0 )D B
DB =

E( k
A

k o ) dA = ( k ko ) E dA
A

E d
A
A

Summarizeasfollows

F
e 1 = e 1, o + ----DS
V
e 2 = ------
DT
M
k = k o + ----- DB
2.4.3.2ThickCase( 0 wrtR) :changein l o asafunctionof mustbeconsidered
Useequationsdevelopedinsection2.3.3with
e a
= e 1

o = e 2

d
k = ----ds

1.571 Structural Analysisand Control

ProfConnor

Section 2
Page18 of 24

4.4ApproximateFormulation ShallowCar tesian

2

Sha llowassumption
1
Then
cos 1

dy
sin tan ------ = y, x
dx

= 1
(ds dx)
M arguerreneglectsVtermsinthexequilibriumequation
Nx = F
N y = V + Fy, x
So,resultingequations(shallowand Marguerre)
Equilibrium
dF
------- + b x = 0
dx

dV- ----d dy
-----+ - F ------ + b y = 0
dx dx dx
dM------+V+m = 0
dx
Deformation Displacement
du
dy dv
e 1 = --------g + ------ -------g- = a
dx dx dx
dv g
e 2 = -------- = o
dx
d
k = ----dx

1.571 Structural Analysisand Control

ProfConnor

Section 2
Page19 of 24

FortheForceDisplacementRelations,thinandthickshouldbeconsideredseparately
Thi n,Shallow,Marquerre

du
dy dv
F = D S --------g + ------ -------g- D S e, o
dx dx dx
DS =

DT =

DB =

E dA
A

dv
V = D T -------g-
dx

G dA
A

d
M = D B ------ D B k o
dx
2

E dA
A

Thi ck,Shallow,Marguerre

du
dy dv
d
F = D S --------g + ------ -------g- + D SB ------
dx
dx dx
ds

du g dy dv g
d
M = D SB -------- + ------ -------- + D B ------
dx
dx dx
ds

ds dx

dv g
V = D T --------
dx

E
D S = ------------------------ dA
(1 R)
E
D SB = ------------------------ dA
(1 R)

D T = ------------------------ dA
(1 R)
2

E
D B = ------------------------ dA
(1 R)
BoundaryConditions
ingeneral,theB.C.sare
u g or N x

v g or N y pre scribedateachend

or M
fortheMarguerreformulation
ug or F
v g or V +
or M

y, x F

1.571 Structural Analysisand Control

ProfConnor

pres cribedateachend

Section 2
Page20 of 24

Example

X
L
1 2
y = --- ax
2

y, x = ax

y, xx
= a

2 H

a = ------2
L
x
H x
y, x = aL --- = 2 ---- -- L L
L
xgoesfrom0to1;then 2 H L providesameasureof y, x .
Themaximumvalueof y, x is 2 H L .

dx 2
------
d

12
dy- 2
---- d

using = x
2 1
2

= {1 + (y, x ) }
max =

12
2 H 2
----- L

Suppose H = L 10 then max = 1.02 .Thus,itisreasonable toassume is constant

2

andequalto1. Ingen eral,when (y, x ) issmallwrt1,onecansimplifythese

equations. Thisiswhatwecalltheshallowcartesianformulation. Ther esulting
approximateequationsare:
1
--- y, xx
1
R

t 1 i + y, x j

t 2 y, x i + j

cos 1

sin y, x

1.571 Structural Analysisand Control

ProfConnor

Section 2
Page21 of 24

2.4.5ShallowCartesianSolutionParabolicGeometry

b
M B, B

V B, v B

B F B, u B

1
y = --- ax 2
2
A

X
UseMarguerreformulation,assumethinand shallow
b x = 0 , b y = constant = b , m g = 0

y, x = ax
at x = 0

u g = v g = = 0 (fi xedsupport)

at x = L

N x = N Bx
N y = N By

M = MB
Governingequations
Equilibrium
F, x = 0
V, x + (Fax),x + b = 0
M, x + V = 0
ForceDeformation(set u g = u ; v g = v )

F
-----= u,x + axv, x
DS
V-----= v, x
DT
M-----= ,x
DB
BoundaryConditions
at x = L

F = N Bx

at x = 0

u = v = = 0

V = N By aLF
M = MB
1.571 Structural Analysisand Control
ProfConnor

Section 2
Page22 of 24

Solutionfortheinternal forces
F, x = 0

F = C 1 = N Bx

V, x + (N Bx ax), x + b = 0

V = bx ( ax
)N Bx + C 2

N By aLF = bx ( ax
)N Bx + C 2

C 2 = N By + bL

V = bx ( ax
)N Bx + N By + bL

V = N By + b ( L x) ( ax
)N Bx

M = N By x +

b Lx

MB

x
x
----- a ----- N Bx + C 3
2
2
2

L
L
= N By L + b ----- a ----- N Bx + C 3
2
2
2

L
L
C 3 = M B N By L b ----- + a ----- N Bx
2
2

b
2 aN Bx 2
2

M = --- (L x) ------------ (L x ) + (L x)N By + MB = D B , x

2
2
Solutionfordisplacements
3
2
b
x
3 aN Bx
2 x
D B = --- (L x) + ------------ xL + ----- + Lx ----- N By + xM B + C 4
6
2
3

2
b 3

C 4 = --- L
6
V
v, x = ------- +

D T

1
x
x
v = ------- xN By + b Lx ----- a ----- N Bx

D T
2 2

2 2

aN Bx x

x
1
x x
x
x
x
2x
+ ------- b L ----- L ----- + ------ + ------------ ----- L + ------ + L ----- ----- N By + ----- MB + C 5
6 24
12
2 6
2
DB
4
2
2

C 5 = 0

1.571 Structural Analysisand Control

ProfConnor

Section 2
Page23 of 24

F
u, x = ------ axv, x

D S

V
F
u,x = ------ ( ax ) ------- +
D

DS
T
2
2 3
2
3
N Bx
aLx
ax
a x
1 ------ax
- x + ------ - N By + ---------- N Bx + b ------------ + --------
u = -------
DS
3
2
3
D T 2
2

3
4
5
3
5
3
a N Bx x 3 2 x 5

2x
x
x
x
ax
1
x
+ ------- ab L ----- L ----- + ------ + --------------- ----- L ------ + aN By L ----- + ----- + -------- M B + C 6

6
2
3
8 30
3
15
3 8
D B

C6 = 0
Flexibilitymatrixcartesianformulation
Set

u gB

N Bx

u B = v gB

F B = N By

MB

u B = u B, o + T AB u A + f B FB
T AB

1 0 h
= 01 L
00 1

N Ax = N Ax, o N Bx
N Ay = N Ay, o N By
M A = MA, o M B LN By + hN Bx

1.571 Structural Analysisand Control

ProfConnor

Section 2
Page24 of 24