EULER-BERNOULLI AND

TIMOSHENKO BEAM THEORIES

CONTENTS
Euler-Bernoulli beam theory
 Kinematics
 Equilibrium equations
 Governing equations in terms of
the displacements

Timoshenko beam theory

 Kinematics
 Equilibrium equations
 Governing equations in terms
of the displacements

JN Reddy
 KINEMATICS OF THE LINEARIZED
EULER-BERNOULLI BEAM THEORY
q( x ) Strains, displacements, and
z, w
rotations are small

z
x Undeformed Beam
f (x ) u
x
90

dw Euler-Bernoulli
−
dx Beam Theory (EBT)
is based on the
dw assumptions of
Deformed Beam − (1) straightness,
dx
(2) inextensibility, and
(3) normality

JN Reddy 2
 Kinematics of Deformation in the
Euler-Bernoulli Beam Theory (EBT)
Displacement field (constructed using
dw
−
dx
the hypothesis)
dw
z u1( x , z ) =
u−z , 0, u3 =
u2 = w( x )
dx
u
Linear strains
w ∂u1 du d 2w
z x ε= ε=
xx = −z ,
∂x1 dx dx
11 2
dw
−z
dx ∂u1 ∂u3 dw dw
σ zz γ xz = + =
− + 0.
=
σ zy ∂x 3 ∂x1 dx dx
z
y σ zx σxz
σxy Constitutive relations
x σ yx σxx
du d 2w
σ yy σ yz σ xx E=
= ε xx E − Ez ,
dx dx 2

Notation for stress components σ xz G=

= γ xz 0

JN Reddy 3
 Euler-Bernoulli Beam Theory:
Vector Approach
Beam
z, w q(x) q(x)
cross section
z
y M •+ M
• x •
cf V V
cf w
a
q( x )
q( x )
σ xz + ∆σ xz V V + ∆V
σ xx σ xx + ∆σ xx
σ xz N N + ∆N
f (x ) M M + ∆M
cf w f (x )
cf w
∆x
∆x
Definition of stress resultants

N= ∫
σ xx dA, M =
A
∫
σ xx ⋅ z dA, V =
A
σ xz dA. ∫
A
JN Reddy 4
 Euler-Bernoulli Beam Theory
q( x )
Summation of forces in the x and
z directions and moments about V V + ∆V
the y-axis. N N + ∆N
M M + ∆M
∑F x = 0: − N + ( N + ∆ N ) + f ∆x = 0 f (x )
cf w
∆N dN ∆x
lim ∆x → 0 + f= 0 ⇒ +f =0
∆x dx

∑F z = 0: − V + (V + ∆V ) + q∆x − cf w∆x =0
∆V dV
lim ∆x → 0 + q − cf w = 0 ⇒ + q − cf w = 0
∆x dx

∑M y = 0: − V ∆x − M + ( M + ∆M ) + ( q∆x ) α∆x − ( cf w∆x ) β∆x =0

∆M dM
lim ∆x → 0 − V + + ( q∆x ) α − ( cf w∆x ) β
= 0 ⇒ − V= 0
∆x dx
JN Reddy Beams 5
 Euler-Bernoulli Beam Theory (Continued)

Equilibrium equations
dN dM dV
+ f 0,
= − V 0,
= cf w 0
+ q −=
dx dx dx

=1 ⋅ dA A, ∫
A
∫
A
z ⋅ dA = 0, ∫
A
z 2 ⋅ dA = I

Stress resultants in terms of deflection

 du d 2w  du
N=
A
∫
σ xx dA =
A
E∫dx
− Ez
dx 2 


dA EA
=
dx
 du d 2w  d 2w
M=
A
∫
σ xx × z dA = E
A
∫dx
− Ez
dx 2 


z dA =
− EI
dx 2

dM d  d 2w 
V
= =  − EI 
dx dx  dx 2 
JN Reddy 6
 Euler-Bernoulli Beam Theory (Continued)

Governing equations in terms of the displacements

d  du 
−  EA  f 0, 0 < x < L
−=
dx  dx 
Bars d2  d 2w 
u 2 
EI 2 
q 0, 0 < x < L
+ cf w −=
dx  dx 
z, w Beams
q(x)
F0 w

M0
x

L cf
Axial deformation of a bar Bending of a beam
Axial displacement is uncoupled from
transverse displacement 7
JN Reddy
 Kinematics of Timoshenko Beam Theory
q( x )
z, w

z Undeformed Beam
x, u
f (x )
x
90 Euler-Bernoulli
Beam Theory (EBT)
dw
−
dx
Straightness,
inextensibility, and
normality
− dw
dx
Deformed Beams
φx
Timoshenko Beam
dw
Theory (TBT)
− Straightness and
dx
inextensibility
u

JN Reddy 8
 Timoshenko Beam Theory
x
Kinematic Relations
z
dw
u1 ( x , z )  u( x )  zx ( x ), u −
dx
u2  0, u3 ( x , z )  w( x )
u du d w
xx  1  z x , z
x1 dx dx x
u u dw zx
 xz  1  3  x 
x3 x1 dx

Constitutive Equations
 du
 dx 
xx  E xx  E  z 
 dx dx 

 dw 
xz  G  xz  G x  
 dx  9
JN Reddy
 Timoshenko Beam Theory (Continued)
Equilibrium Equations q( x )
(same as those from EBT) V V + ∆V
dN dV N N + ∆N
+ f = 0, − − q + cf w = 0 ,
dx dx M M + ∆M
dM f (x )
− +V = 0 cf w
dx ∆x
Beam Constitutive Equations
 du
 dx  du
N  xx dA   E
 dx
z
dx 
 dA  EA
dx
A A
 du
 dx  d
M  xx z dA   E
 dx
z
dx 
 z dA  EI x
dx
A A

 dw  
 dw 
V  Ks  xz dA  GK s x 
 
dx   dA  GAK s x 
 
dx 
A A
JN Reddy 10
 Timoshenko Beam Theory (Continued)

Governing Equations in terms of the

displacements

d   dw 
 GAK s x    cf w  q (1)
dx   dx 

d  dx   dw 
  EI 
  GAK s x    0 (2)
dx  dx  
 dx 

We have two second-order equations in two

unknowns (w, x ) . Next, we develop the
weak forms over a typical beam finite
element.

JN Reddy 11
 ANALYTICAL SOLUTIONS

Euler-Bernoulli beam theory (pure bending) – EI constant

d 4w z, w q(x)
EI q 0, 0 < x < a
+ kw −=
dx 4

x
Boundary conditions: k
a
dw
(w,V ) and (θ x , M ); θx = −
dx
General solution for uniform load:
 2 x 2 x  2 x
w( x )  c1 sinh
  c2 cosh  sin
 a a  a ka 4
 2 x 2 x  2 x q0 
 c3 sinh


 c4 cosh  cos  64EI
a a  a k
c1 thru c4 are constants to be determined using boundary conditions.
JN Reddy Beams 12
 ANALYTICAL SOLUTIONS (continued)
Simply supported beam: Using symmetry and half beam,

dw d 3w d 2w a
  0 at x  0; w   0 at x 
dx dx 3 dx 2 2

We obtain c2  c3  0, and
q0
c1 sin  sinh   c4 cos  cosh    0,
k
c1 cos  cosh   c4 sin  sinh   0.
Solving these equations, we obtain

2q0  sin  sinh   2q0  cos  cosh  

c1     , c4    
k  cos 2  cosh 2  k  cos 2  cosh 2 

Similarly, one can obtain solutions for other boundary conditions.

JN Reddy Beams 13
 ANALYTICAL SOLUTIONS (by integration)

Solution with k = 0: Successive integrations yield

d
( EI 2 )   q( x ) dx  C1 ,
d 2w
dx dx

  (  q( x ) dx )dx  C1x  C2 ,
d 2w
EI
dx 2

dw

1
[  (  q( x ) dx )dx ]dx  C1  x dx  C2  1 dx  C3 ,
dx EI EI EI

w { 1
[  (  q( x )dx )dx ]dx }dx  C1  (  x dx )dx
EI EI

 C2  (  dx )dx  C3 x  C4 .
1
EI
The constants of integration can be determined using the
boundary conditions
JN Reddy Beams 14
 ANALYTICAL SOLUTIONS (by integration)
Simply supported beam under uniform load:

The boundary conditions on the moment give

qa
M ( 0)  M ( a )  0  C2  0,C1   0 ,
2
q0 x 4 q0 ax 3
w( x )    C3 x  C 4 .
24EI 12EI
w( 0)  0 w( a )  0  C4  0,C3  ( q0 a 3 / 24EI ).
The solutions for the bending moment and deflection become
d 2w q0
M ( x )  EI  x ( a  x ), 0  x  a.
dx 2
2
q0 x 4 q0 ax 3 q0 xa 3 q0
w( x )     ( x 4  2x 3a  a 3 x ).
24EI 12EI 24EI 24EI

The maximum values are

5q0 a 4 q0 a 2
wmax  w( 0.5a )  ; M ( 0.5a ) 
384EI 8 Beams 15
JN Reddy
 NAVIER SOLUTIONS
for simply supported beams
Euler-Bernoulli beam theory (pure bending) – EI constant
z, w q(x)

d2  d 2w 
 EI 2 
q 0, 0 < x < a
+ kw −= x
dx 2  dx  a

d 2w
w 0, M ≡ − EI =
Simply supported: = 0 at
= x 0, a
dx 2


n
Solution form: w   Wn sin n x , n 
n1 a

d 2w 
  nWn sin n x
2

dx 2
n1
JN Reddy 16
 Navier’s Solution of
Simply supported Beams
d 2  d 2w 
2
EI  kw  q  0
dx  dx 
2


  Wn (1)2 EI n4  k  sin n x  q( x )
n1

2 a
q( x )   Qn sin n x , Qn   q( x )sin n x dx
n1 a 0


 W
n1

n (1) 2
EI  4

n  k   Qn sin n x  0


Qn
Wn 
(1)2 EI n4  k 
 

n
w   Wn sin n x , n 
JN Reddy n1 a 17