1.

571 Structural Analysis and Control
Prof. Connor
Section 2: Linear Formulation for a General Planar Member

2.1 Geometric Relations: Plane Curve

Y t2
t1

y
j r

x X
i

x = x(θ)
y = y(θ)
θ =  Parameter to define the curve
r = position v ector for a point on the curve
r = xi + yj

2.1.1 Arc length

2 2 1⁄2
Differential arc length =  (dx + dy ) = ds
dx⎞
⎛⎛ -----
2 dy 2 1 ⁄ 2
ds = ⎝ ⎝ dθ⎠
- + ⎛⎝ ------⎞⎠ ⎞⎠ dθ
dθ
Define
dx-⎞
⎛ ⎛ -----
2 dy 2 1 ⁄ 2
α = ⎝ ⎝ dθ⎠
+ ⎛⎝ ------⎞⎠ ⎞⎠
dθ
Then
ds = αdθ

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2.1.2 Tangent and Normal Vectors
∆r ( x + ∆x, y + ∆y )
( x, y )

r1 r2

∆r = r 2 – r 1 = r(θ + ∆θ) – r ( θ )
∆r = ((x + ∆x)i + (y + ∆y)j) – (xi + yj)
∆r = (∆xi + ∆yj)
2 2 1⁄2
∆r = (∆x + ∆y ) = ∆s
Then for continuous and well­behaved functions
dr = (dxi + dyj)
dr dr- dx dy
----- = ------- = t1 = ⎛ ------ i + ------ j⎞
ds dr ⎝ ds ds ⎠
t 1 = un it tangent vector

1 dx 1 dy
t 1 = ⎛ ---------⎞ i + ⎛ ---------⎞ j
⎝ αdθ⎠ ⎝ αdθ⎠

Define  t 2 su ch that
t 1 × t 2 = k (u nit vector in  z ­direction)
and enforce
t 1 • t2 = 0 ( perpendicular)
gives
1 dy 1 dx
t 2 = ⎛ – --- ------⎞ i + ⎛ --- ------⎞ j
⎝ α dθ⎠ ⎝ α dθ⎠

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2.1.3 Differentiation formulae for the tangent and normal vectors t 1 and  t 2

2
t 1 • t1 = t1 = 1
2
t 2 • t2 = t2 = 1
d dt dt dt
----- ( t1 • t 1 ) = t 1 • 1 + t 1 • 1 = 2 ⎛ t 1 • 1⎞ = 0
ds ds ds ⎝ ds ⎠
dt 1
Therefore,  must be  ⊥ to t 1 , and thus proportional to  t 2
ds

The result is written as
dt 1 1
= --- t 2
ds R

dt 2 1

= – --- t 1
ds R
where
2 2
1- ⎛ d x dy d y dx ⎞
--1- = -----
3
⎜– 2
+ 2 ⎟
R α ⎝ dθ dθ dθ dθ⎠

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2.1.4 Example: Curvilinear Formulation

Take the angle θ as the parameter defining the curve
Y

θ
R

t2
t1
θ

y
X
x

x = R sin θ
y = R (1 – cos θ)
1⁄2
⎧ d 2
⎛ d (1
2⎫
α = R ⎨ ⎛ sin θ⎞ + – ⎞
cos θ) ⎬
⎩ dθ
⎝ ⎠ ⎝d θ ⎠
⎭

2 2 1⁄2
α = R {cos θ + sin θ} = R
1
t 1 = --- {R cos θi + R sin θj } = cos θi + sin θj
R
t 2 = – sin θi + cos θj
dt 1 1 dt 1 dt 1 1
= --- 1 = --- 1 = --- (– sin θi + cos θj ) = --- t 2
d s αds Rds R R
dt 2 1 dt 1 dt 1 1
= --- 2 = --- 2 = --- (– cos θi – sin θj ) = – --- t 1
d s αds Rds R R

This illustrates the equations on the previous page.

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2.2 Force Equilibrium Formulation: Curvilinear Formulation
t2 V
Y
t1 F

t3 = t1 × t2
j
X
i

F = Ft 1 + Vt 2
M =
Mt 3
Loading per unit arc length
b = b 1 t 1 + b2 t 2
m = mt 3

2.2.1 Vector Equations
F + ∆F

M + ∆M

∆s
M
F
F + ∆F – F + b∆s = 0
M + ∆M – M + m∆s – ∆st 1 × (– F) = 0
Then
dF
------- + b = 0
ds
dM
-------- + m + t 1 × F = 0
ds

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2.2.2 Scalar Equations

F = Ft 1 + Vt 2
dF dt dF dt dV
------- = d ( Ft 1 + Vt 2 ) = F ------1- + t1 ------- + V ------2- + t 2 -------
ds ds ds ds ds ds
dF
------- = --F- t 2 + t 1 dF
------- – V dV
--- t 1 + t 2 -------
ds R ds R ds
dF
------- + b = F
--- t + t dF
------- – --V- t + t dV
------- + b 1 t 1 + b2 t 2
ds R 2 1 ds R 1 2 ds
Separating into components of  t 1 a nd  t 2 leads to
dF- V
------ – --- + b 1 = 0
ds R
dV F
------- + --- + b 2 = 0
ds R
For the moment equation
dM
-------- + m + t 1 × (Ft 1 + Vt 2 ) = 0
ds
Expanding and writing in scalar form
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: F and V are coupled

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2.3 Force Displacement Relations : Curvilinear Coordinates

( u – βξ )t 1

vt 2
ut 1
ξ

2.3.1 Strains : Displacement components defined wrt the local frame (t 1, t 2 )

∆l ( ξ ) = (R – ξ)∆θ
∆θ ∆s
∆s = R∆θ → ∆θ = ----­ -
R
∆s
∆l ( ξ ) = (R – ξ) ------
R
R
ξ
∆l ( ξ ) ∆l ( ξ ) = ⎛ 1 – ---⎞ ∆s
⎝ R⎠
ξ
∆s

u = ut 1 + vt 2 – ξβt1

ε = ε
γ

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 du
ε = ------
dl
ξ
dl =
⎛⎝ 1 – ---⎞⎠ ds
R
1
du
ε = ------------------ -----­

⎛ 1 – -- ξ-⎞ ds
⎝ R⎠
du
------ = --u- t 2 + du β
------ t 1 – --- t 1 + ------ t 2 – ξ --- t2 – ξ dβ
v dv
------ t 1
ds R ds R ds R ds
Separating  t1 a nd  t 2 terms

1 ⎧ du v dβ ⎫
ε
= ------------------ ⎨ ------ – --­ – ξ
⎬
⎛ 1 – -- ξ-⎞ ⎩ ds R ds ⎭
⎝ R⎠
Define
du v
ε a = ------ – --­
ds R

1 ⎧ dβ ⎫
ε
= ------------------ ⎨ ε a – ξ
⎬
⎛ 1 –
-- ξ-⎞ ⎩ ds ⎭
⎝ R⎠

1 ⎧ dv ξ u ⎫
γ
= ------------------ ⎨ ------ – --- β + --- – β
⎬
⎛ 1 –
-- ξ ⎞ ⎩ ds R R ⎭
-
⎝ R ⎠

1
γ
= ------------------ γo
⎛ 1 –
-- ξ⎞
-
⎝ R⎠
For most members ξ
« R  then
ξ
--- ∼ 0
R
so
dv u
γ
o ≅
------ –
β
+ ---
ds R
Also if the member is thin
ξ
1 –
--- ∼ 1
R
Then, the strain distribution reduces to a linear distribution over the cross­section.

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2.3.2 Stress Strain Relations
1
ε = --- σ + εo → σ = E (ε – ε o )
E
1
γ = ---- τ → τ = G γ
G

2.3.3 Force­Deformation Relations
F = ∫ σ dA
M = ∫ – ξσ dA
V = ∫ τ dA
Substituting for the strains leads to
⎧ ⎫
⎪ E ⎛ dβ ⎪
F = ∫ E (ε – ε o ) dA = ∫⎨
------------ ε a – ξ ⎠⎞ – E ε o ⎬dA
⎪ 1 – -- ξ⎝ ds ⎪
­
⎩ R ⎭

E ­ du E v E dβ
F = ∫
----------------- dA – ∫ ------------------ --- dA – ∫ ------------------ ξ dA – ∫ E ε o dA
⎛ 1 – -- ξ-⎞ d s ⎛ 1 – -- ξ⎞ R
- ⎛ 1 – -- ξ⎞ ds
-
⎝ R⎠ ⎝ R⎠ ⎝ R⎠
E Eξ
F = ε a ∫ ------------------ dA – β, s ∫ ------------------ dA – ∫ E ε o dA
⎛ 1 – -- ξ⎞ ⎛ 1 – -- ξ⎞
- -
⎝ R ⎠ ⎝ R⎠
Similarly
2
Eξ Eξ
M = – ε a ∫ ------------------ dA + β,s ∫ ------------------ dA + ∫ ξE εo dA
⎛ 1 – -- ξ-⎞ ⎛ 1 – -- ξ⎞
-
⎝ R ⎠ ⎝ R⎠
G
V = γo ∫ ------------------ dA
⎛ 1 – -- ξ-⎞
⎝ R⎠

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Geometric Relations

1 R ξ
------------ = ------------ = 1 + ----------- 1 ξ
- = 1 + --- ------------
ξ R – ξ R – ξ R ξ
1 – --- 1 – ---
R R
1
------------ 1 ξ
dA = ∫ dA + --- ∫ ------------ dA
∫ ξ R ξ
A 1 – --- A A 1 – --­
R R
Now
2
ξ 1 1 ξ
------------ = ξ ------------ = ξ + ---------------
ξ ξ R ξ
1 – --- 1 – --- 1 – ---
R R R
2
ξ
--1- ∫ ------------ --ξ- ξ
1 ------------
-----
dA = ∫ R dA + 2 ∫
- dA
R ξ R ξ
A 1 – --- A A 1 – --­
R R
Making
2
1
------------ dA = ξ 1 ξ
--- ------ ------------ dA
∫ dA + ∫ R dA + 2 ∫
∫ ξ R A 1 – --ξ­
A 1 – --- A A
R R
But

∫ ξ dA = 0 i f  ξ i s measured from the centroid of the section
A
Finally, one can write
2
1 1 ξ I'-
------------ dA = ------ ------------ dA = A + -----
∫ dA + 2 ∫
∫ ξ R A 1 – --ξ- R
2
A 1 – --- A
R R
where
2

ξ
I' = ∫ ------------ d
A
ξ
A 1 – --­
R

We can use this expression to expand the force­deformation relations.

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Summarizing

F = D S ε a + D SB β, s + F o
M = D SB ε a + D B β,s + Mo
V = D T γo
where
E -
-----------------
DS = ∫ dA
⎛ 1 – -- ξ⎞
-
⎝ R⎠
ξE
D SB = – ∫ ------------------ dA
⎛ 1 – -- ξ-⎞
⎝ R⎠
G
DT = ∫
------------------ dA
⎛ 1 – -- ξ⎞
-
⎝ R⎠
2
ξ E
DB = ∫
------------------ dA
⎛ 1 – -- ξ-⎞
⎝ R⎠

For the homogeneous case  E and  G ar e constant, and the above simplify to

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

I'
D SB = – E --­
R
D B = EI'
I'-
D T = GA + G -----2

Additionally, for a thin curved member, one can neglect  ξ ⁄ R wrt 1,  obtaining the 

simplified form
EI
D S = EA + -----2­

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

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2.3.4 Example for a Rectangular Section

2
ξ ξ
I' = ∫ ------------ dA
ξ
A 1 – --­
CL R
d
dA = bdξ
d⁄2 bξ
2
I' = ∫ ------------ dξ
–d ⁄ 2 1 – -- ξ
-
b R

⎧ 3 d 2 3 d 4 ⎫
I' = I ⎨ 1 + ------ ⎛ ---⎞ + --------- ⎛⎝ ---⎞⎠ + ... ⎬
⎩ 20 ⎝ R⎠ 112 R ⎭
3
bd
I = ------­-
12
d d n
and for --- < 1 , ⎛ ---⎞ « 1 for n > 1
R ⎝ R⎠

Summary of Equations
du v dβ
F = D S ⎛ ------ – ---⎞ + D SB ------ + Fo
⎝ ds R⎠ ds
du v dβ
M = D SB ⎛⎝ ------ – ---⎠⎞ + D B ------ + M o
ds R ds
dv u
V = D T ⎛ ------ – β + ---⎞
⎝ ds R⎠

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2.3.5 Flexibility Matrix ­ Circular Member
A
X

Note:  k into page 
Y R

θB
B

V B, v B
F B, u B

M B, β B
} End Actions and displacements
referred to the local frame at B

Assumptions
1. “Thin” linear elastic member
2. Neglect stretching and transvers shear deformations.  This is valid for non­
sha llow cases only

uB FB
uB = vB FB = VB
βB MB
u B = f B FB

2 3 1 1 2
R ⎛⎝ --- – 2 sin θ B + --- sin θ B cos θ B⎞⎠ R ⎛⎝ 1 – cos θ B – --- sin θ B⎞⎠ R(θ B – sin θ B )
2
2 2 2
fB = 1 2
R ⎛ 1 – cos θ B – --- sin θ B⎞
2 2
⎝ ⎠
R (θ B – sin θ B cos θ B ) R(1 – cos θ B )
2
R(θ B – sin θ B ) R(1 – cos θ B ) θB

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2.4 Cartesian Formulation ­ Governing Equations

Consider the case where the centroidal axis is defined by  y = y ( x ) .  The i ndependent 

variable is x, the position coordinate on the x­axis.  In the angular formulation, we 
worked with displacement components and loads re ferred to the local curvilinear
frame defined by the unit vectors  t 1 and  t 2 .  In this section, we are going to work with 
quantities referred to the global cartesian reference frame.  This approach was 
originally suggested by Marguerre.
Y, v g
vg j t1 ds
α = ------ → ds = αdx
t2 dx
ψ dy
sin ψ = ------ =
dy­
---------
x ug i ds αdx
dx --1­
cos ψ = ------ =
ds α
y

s
X, u g

Ny
M
V F
ψ
Nx
by dx

b x dx
m g dx

dx
The above figure defines the “cartesian” notation.  The distributed loading ( b x, b y, m g )
is defined with respect the the x and y directions and the loading per unit projected 
length ( dx ).  Similarly, the displacement components ( u g, v g ) are referred to the
cartesian global reference directions.

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2.4.1 Force Equilibrium Equations

b y F + ∆F
M + ∆M

M o
bx 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 ψ – V sin ψ)i + ( Fsin ψ + V cos ψ)j
we get
d-
----- (( F cos ψ – V sin ψ)i + (F sin ψ + V cos ψ)j) + b x i + by j = 0
dx
Separating
d-
----- (F cos ψ – V sin ψ) + b x = 0
dx

d
-
----- (F sin ψ + V cos ψ) + b y = 0
dx
Similarly
1
∑ Mo = 0 = –(∆xi + ∆yj) × (–F) + (M + ∆M – M + m g ∆x) – --- (∆xi + ∆yj) × (b x i + b y j)∆x
2
Second order term goes to 0 in the limit ∆x → 0
(∆xi + ∆yj) × (( F cos ψ – V sin ψ)i + (F sin ψ + V cos ψ)j) + (∆M + m g ∆x)k = 0
(∆x ( F sinψ + V cos ψ)–∆y ( F cos ψ – V sin ψ) + ∆M + m g ∆x)k = 0
∆y ∆y ∆M
F sinψ + V cos ψ– ------ F cosψ – ------ V sinψ + --------- + m g = 0
∆x ∆x ∆x
dy dy dM
F sinψ + V cos ψ– ------ F cos ψ – ------ V sin ψ + -------- + m g = 0
dx dx dx
But
dy 1
------ = α sin ψ cos ψ = --­
dx α

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Then
1 dM
F sinψ + V cos ψ–α sin ψF --- – α sin ψV sin ψ + -------- + m g = 0
α dx
2 dM
V cosψ + αsin ψV + -------- + m g = 0
dx
1
Multiply both sides by  ---
α

--1- ⎛ V cos ψ + αsin 2 ψV + -------- + m g⎞ = 0

dM
α⎝ dx ⎠

2 2 1 dM 1
Vcos ψ + Vsin ψ + --- -------- + --- m g = 0
α dx α
Therefore
1 dM 1
--- -------- + V + --- m g = 0
α dx α
d
------ (F cos ψ – V sin ψ) + b x = 0
dx
d-
----- (F sin ψ + V cos ψ) + b y = 0
dx

N x = F cosψ – V sin ψ
N y = F sin ψ + V cos ψ

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4.2 Deformation ­ Displacement Relations
vg
e2 e 1 = s tretching deformation
e1
e 2 = tr ansverse shear deformation
β o ug
s dx dx -
------ = cos ψ → ds = -----------­
ds cos ψ

u = (u g i + v g j)
du du-
------ = ----- cos ψ
ds dx
du du dv
------ = ⎛ --------g i + -------g- j⎞
dx ⎝ dx dx ⎠
du du dv
------ = cos ψ ⎛ --------g i + -------g- j⎞
ds ⎝ dx dx ⎠
du du g dv g
e 1 = ------ ⋅ t1 = cos ψ ⎛ -------- i + -------- j⎞ ⋅ ( cos ψi + sin ψj)
ds ⎝ dx dx ⎠

2 dug dv g
e 1 = cos ψ -------- + sin ψ cos ψ -------­
dx dx

du du g dv g
e 2 = ------ ⋅ t2 – β = cos ψ ⎛ -------- i + -------- j⎠⎞ ⋅ (– sin ψi + cos ψj) – β
ds ⎝ dx dx

du g 2 dv g
e 2 = – sin ψ cos ψ -------- + cos ψ -------- – β
dx dx

dβ dβ
k = bending deformation = ------ = cos ψ ----­-
ds dx

note:  e 1 and  e 2 a re referred to the centroidal axes (s)

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2.4.3 Force Deformation Relations

2.4.3.1 Thin slightly curved member: use relations developed for the prismatic case

Assume
ε = e 1

γ = e 2

F = ∫ E ( e1 – e 1, o ) dA = (e 1 – e 1, o )D S
A

DS = ∫ E dA

V = ∫ Ge 2 dA = e2 DT
A

DT = ∫ G dA

A
2 2
M = ∫ E ( e 1 – e 1, o )ξ dA = ∫ E( k – k o )ξ dA = ( k – ko ) ∫ Eξ dA
A A A
M = (k – k 0 )D B
2
DB = ∫ Eξ d
A
A

Summarize as follows
F
e 1 = e 1, o + ----­-
DS
V
e 2 = ------­
DT
M
k = k o + -----­ -
DB

2.4.3.2 Thick Case ( ξ ≠ 0 wrt R) : change in  l o  as a function of ξ must be considered

Use equations developed in section 2.3.3 with
e a
= e 1
γ o = e 2

dβ
k = ----­-
ds

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4.4 Approximate Formulation ­ Shallow Car tesian

2
­ Sha llow assumption ψ «
1
Then cos ψ ≅ 1

dy
sin ψ ≅ tan ψ ≅ ------ = y, x
dx
α = 1 (ds ≅ dx)
­ M arguerre neglects V terms in the x equilibrium equation
Nx = F
N y = V + Fy, x

So, resulting equations (shallow and 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- = ε a
dx dx dx
dv g
e 2 = -------- – β = γ o
dx
dβ
k = ----­-
dx

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For the Force­Displacement Relations, thin and thick should be considered separately

­ Thi n, Shallow, Marquerre
du dy dv
F = D S ⎛ --------g + ------ -------g-⎞ – D S e, o
⎝ dx dx dx ⎠

DS = ∫ E dA
A
dv
V = D T ⎛ -------g- – β⎞
⎝ dx ⎠

DT = ∫ G dA
A
dβ
M = D B ------ – D B k o
dx
2
DB = ∫ Eξ dA
A
­ Thi ck, Shallow, Marguerre
du dy dv dβ ⎫
F = D S ⎛ --------g + ------ -------g-⎞ + D SB ------ ⎪
⎝ dx dx dx ⎠ ds ⎪
⎬ ds ≅ dx
du g dy dv g dβ ⎪
M = D SB ⎛ -------- + ------ --------⎞ + D B ------ ⎪
⎝ dx dx dx ⎠ ds ⎭
dv g
V = D T ⎛ -------- – β⎞
⎝ dx ⎠
E
D S = ∫ ------------------------ dA
(1 – ξ ⁄ R)
ξE
D SB = – ∫ ------------------------ dA
(1 – ξ ⁄ R)

D T = ∫ ------------------------ dA
(1 – ξ ⁄ R)
2
ξ E
D B = ∫ ------------------------ dA
(1 – ξ ⁄ R)
Boundary Conditions
in general, the B.C.’s are
u g or N x ⎫
⎪
v g or N y ⎬ pre scribed at each end
⎪
β or M ⎭
for the Marguerre formulation
ug or F ⎫
⎪
v g or V + y, x F ⎬ pres cribed at each end
⎪
β or M ⎭

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Example
Y

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

x goes from 0 to 1; then 2 H ⁄ L  provides a measure of  y, x .
The maximum value of  y, x is  2 H ⁄ L .
1⁄2
⎧ ⎛ dx ⎞ 2 dy-⎞ 2 ⎫
⎛ -----
α = ⎨ ⎝ ------⎠ + ⎝ dθ⎠ ⎬
⎩ dθ ⎭

using  θ = x
2 1 ⁄
2

α = {1 + (y, x ) }
1⁄2
⎧ 2 H⎞ 2 ⎫
⎛ ------
α max = ⎨1 + -
⎝ L ⎠ ⎬
⎩ ⎭

Suppose  H = L ⁄ 10 then α max = 1.02 . Thus, it is reasonable to assume  α is  constant

2
and equal to 1.  In gen eral, when (y, x ) is small wrt 1, one can simplify these 
equations.  This is what we call the “shallow cartesian formulation.”  The r esulting 
approximate equations are:
1
α≅1 --- ≅ y, xx
R
t 1 ≅ i + y, x j t 2 ≅ – y, x i + j
cos ψ ≅ 1 sin ψ ≅ y, x

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2.4.5 Shallow Cartesian Solution ­ Parabolic Geometry
b

M B, β B
Y V B, v B
B F B, u B

1
y = --- ax 2
2

A
X
Use Marguerre formulation, assume thin and shallow
b x = 0 ,  b y = constant = b ,  m g = 0
y, x = ax
at  x = 0 u g = v g = β = 0 (fi xed support)
at  x = L N x = N Bx
N y = N By
M = MB
Governing equations
Equilibrium
F, x = 0
V, x + (Fax),x + b = 0
M, x + V = 0
Force Deformation (set u g = u ;  v g = v )
F
------ = u,x + axv, x
DS
V-
------ = v, x – β
DT
M-
------ = β,x
DB
Boundary Conditions
at  x = L at  x = 0
F = N Bx u = v = β = 0
V = N By – aLF
M = MB

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Solution for the internal 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

2 2
x x
M = N By x + b ⎛ Lx – -----⎠⎞ – ⎛⎝ a -----⎠⎞ N Bx + C 3
⎝ 2 2
2 2
L L
MB = N By L + b ----- – a ----- N Bx + C 3
2 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 β, x

2 2
Solution for displacements
3 2
b 3 aN Bx 2 x x
D B β = – --- (L – x) + ------------ ⎛ – xL + -----⎞ + ⎛⎝ Lx – -----⎠⎞ N By + xM B + C 4
6 2 ⎝ 3 ⎠
2
b 3

C 4 = --- L
6

V
v, x = ------- + β

D T

2 2
1 ⎧ x x ⎫
v = ------- ⎨ xN By + b ⎛ Lx – -----⎞ – ⎛ a -----⎞ N Bx ⎬
D T ⎩ ⎝ 2⎠ ⎝ 2⎠ ⎭

2 3 4 2 2 4 2 3 2
1 ⎧ 2x x x aN Bx x x x x x ⎫
+ ------- ⎨ b ⎛⎝ L ----- – L ----- + ------⎠⎞ + ------------ ⎝⎛ – ----- L + ------⎠⎞ + ⎛⎝ L ----- – -----⎠⎞ N By + ----- MB ⎬ + C 5
DB ⎩ 4 6 24 2 2 12 2 6 2 ⎭
C 5 = 0

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 F
u, x = ------ – axv, x

D S

F V
u,x = ------ – ( ax ) ⎛ ------- + β⎞
DS ⎝D ⎠
T

2 2 3 2 3
N Bx 1 ⎧ -------
ax a x aLx ax ⎫
- ⎨ – - N By + ---------- N Bx + b ⎛ – ------------ + --------⎞ ⎬
- x + ------
u = --------
DS D T ⎩ 2 3 ⎝ 2 3 ⎠⎭

3 4 5 2
1 ⎧ 2x x x a N Bx x 3 2 x 5 x
3
x
5
ax
3
⎫
+ ------- ⎨ – ab ⎛ L ----- – L ----- + ------⎞ + --------------- ⎛ ----- L – ------⎞ + aN By ⎛ – L ----- + -----⎞ + -------- M B ⎬ + C 6
D B ⎩ ⎝ 6 8 30 ⎠ 2 ⎝ 3 15 ⎠ ⎝ 3 8 ⎠ 3 ⎭
C6 = 0

Flexibility matrix ­ cartesian formulation

Set
u gB N Bx
u B = v gB F B = N By
βB MB
u B = u B, o + T AB u A + f B FB

1 0 –h
T AB = 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

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