R V Institute of Technology & Management®

Module III Syllabus

Beams and Shafts: Boundary conditions, Load vector, Hermite shape functions, Beam stiffness matrix based
on Euler-Bernoulli beam theory, Examples on cantilever beams, propped cantilever beams, Numerical
problems on simply supported, fixed straight and stepped beams using direct stiffness method with
concentrated and uniformly distributed load.
Torsion of Shafts: Finite element formulation of shafts, determination of stress and twists in circular shafts.
10 Hours

Introduction:

A beam is a structural element that supports lateral loads to the beam's axis. Its mode of deflection is primarily
by bending. The loads applied to the beam result in reaction forces at the beam's support points. The total
effect of all the forces acting on the beam is to produce shear forces and bending moments within the beam,
that in turn induce internal stresses, strains and deflections of the beam.
Beam is a structural member which is acted upon by a system of external loads perpendicular to axis which
causes bending that is deformation of bar produced by perpendicular load as well as force couples acting in a
plane. Beams are the most common type of structural component, particularly in Civil and Mechanical
Engineering. A beam is a bar-like structural member whose primary function is to support transverse loading
and carry it to the supports Beams are characterized by their manner of support, profile (shape of cross section),
length, and their material. The total effect of all the forces acting on the beam is to produce shear forces and
bending moments within the beam, that in turn induce internal stresses, strains and deflections of the beam.

Fig. 3.1 Beam Element

None of the civil structures can be built without the conception of beams. Structures such as automotive
automobile frames, aircraft components, machine frames, and other mechanical contain beam structures that
are designed to carry lateral loads are analyzed in a similar fashion.
Basically beams can be of any shape. But each of the cross-section of the beam has its own advantages and
limitations. The orientation of the beam has great effect on the strength of the beam.

Beams are classified on the type of end supports as below

VI-Semester, Finite Element Methods (18ME61) P a g e 1 | 34
 R V Institute of Technology & Management®

1. Simply supported - a beam supported on the ends which are free to rotate and have no moment resistance.

2. Fixed - a beam supported on both ends and restrained from rotation.

3. Over hanging - a simple beam extending beyond its support on one end.

4. Double overhanging - a simple beam with both ends extending beyond its supports on both ends.

5. Continuous - a beam extending over more than two supports.

6. Cantilever - a projecting beam fixed only at one end.

7. Trussed - a beam strengthened by adding a cable or rod to form a truss.

A truss and a bar undergoes only axial deformation and it is assumed that the entire cross section undergoes
the same displacement, but beam on other hand undergoes transverse deflection denoted by v. Fig shows a
beam subjected to system of forces and the deformation of the neutral axis.

VI-Semester, Finite Element Methods (18ME61) P a g e 2 | 34

 R V Institute of Technology & Management®

Derivation of Hermite Shape function of Beam Element:

Fig. 3.2 Hermite function for 1D Beam Element

Figure shows a beam element having two nodes and at each node there are two degrees of freedom.

Boundary Conditions:

H is the Hermite shape function for displacement

𝐝𝐇
is for the slope (rotation about Z direction)
𝐝𝛏

𝐇𝟏 𝒅𝐇𝟏 𝐇𝟐 𝒅𝐇𝟐 𝐇𝟑 𝒅𝐇𝟑 𝐇𝟒 𝒅𝐇𝟒

𝒅𝝃 𝒅𝝃 𝒅𝝃 𝒅𝝃
𝜉 = -1 1 0 0 1 0 0 0 0
𝜉 = +1 0 0 0 0 1 0 0 1

VI-Semester, Finite Element Methods (18ME61) P a g e 3 | 34

 R V Institute of Technology & Management®

The field variable v(x) in terms of shape function is given by

V= [H]{Q}

𝑙 𝑙
[𝐻] = [𝐻1 𝑒 𝐻2 , 𝐻2 𝑒 𝐻4]

2 2

{Q}= { 𝑣1, 𝜃1 , 𝑣2 , 𝜃2 }

To find shape function H1

since there are four degrees of freedom, assume a polynomial displacement model as

𝐻1 = a0 + a1𝜉 + a2𝜉 + a3𝜉 ….(A)

𝜕𝐻
1 = a1 + 2a2𝜉 + 3a3𝜉 ……..(B)
𝜕𝜉

where , a0, a1, a2, a3 are the generalised coordinates to be determined from the nodal conditions

At node 1; 𝐻1= 1, 𝜉 = −1 therefore eqn (A) becomes 1 = a0 - a1 + a2 – a3 …(1)

At node 2; 𝐻1 = 0, 𝜉 = 1 0 = a0 + a1 + a2 + a3 ……(3)

= 0 , 𝜉 = 1 But 0 = a1 + 2a2 + 3a3 …. (4)

On simplification, adding (1) and (3), we get 1= 2a0 + 2a2 or a0

+ a1 = ……(5) adding (2) and (4), we get 0= 2a1 + 6a3 or a1 =

- 3a3 …..(6) substituting (5) and (6) in (3), 𝒂𝟑 = 𝟏𝟒 from (6) 𝒂𝟏 = −

𝟒𝟑 from (4) 𝒂𝟐 = 𝟎 from (5) 𝒂𝟎 = 𝟏𝟐

On substituting the values of a0, a1, a2, a3 in (A)

𝐻1 = a0 + a1𝜉 + a2𝜉2 + a2𝜉3

VI-Semester, Finite Element Methods (18ME61) P a g e 4 | 34

 R V Institute of Technology & Management® 𝐻1
= −
𝜉+
0+
𝜉3

𝑯𝟏 = 𝟏 (𝟐 − 𝟑𝝃 + 𝝃𝟑)
𝟒
Similarly,
𝟏 𝟐
𝑯𝟐 = (𝟏 − 𝝃 − 𝝃 + 𝝃𝟑)
𝟒

𝑯𝟑 = 𝟏 (𝟐 + 𝟑𝝃 − 𝝃𝟑)
𝟒

𝑯𝟒 = 𝟏 𝟐+ 𝝃𝟑)
(−𝟏 − 𝝃 + 𝝃
𝟒

Shape Function [𝐻] = [𝐻1 𝑙2𝑒 𝐻2 , 𝐻2 𝑙2𝑒 𝐻4]

𝟏 (𝟐 − 𝟑𝝃 + 𝝃𝟑) 𝑻

𝑻 𝒍𝒆 𝟒 𝟐+ 𝝃𝟑)
𝑵𝟏 (𝟏 − 𝝃 − 𝝃
[𝑯] = [𝑵𝟐 𝟖 ] =

𝑵𝑵𝟑𝟒 𝟏𝟒 (𝟐 + 𝟑𝝃 − 𝝃𝟑)

𝒍𝟖𝒆 𝟐 + 𝝃𝟑) ]

(
[ −𝟏 − 𝝃 + 𝝃

The variations of shape functions is as shown in the below figure

VI-Semester, Finite Element Methods (18ME61) P a g e 5 | 34

 R V Institute of Technology & Management®

Fig. 3.3 Variation of Hermite shape function

…………………………………………………………………………………………………………

Stiffness Matrix for beam element based on Euler-Bernoulli theory

The general beam subjected to transverse load p(x) per unit length is shown in the figure. Let “u” be the
displacement (field variable) due to movement of a plane beam member in the x-y plane.

Fig. 3.3 Variation of Hermite shape function

Mathematically, Euler-Bernoulli model is represented by u

(x, y) = −𝑦 𝑑 𝑣(𝑥) = −𝑦𝑣′ = −𝑦𝜃 …….(1)

𝑑𝑥

where y is the distance from the neutral axis.

𝒗′ is the slope = 𝑑𝑣(𝑥)/dx ……………………(2)

The element stiffness matrix is obtained by using the strain energy stored in the beam

VI-Semester, Finite Element Methods (18ME61) P a g e 6 | 34

 R V Institute of Technology & Management®

VI-Semester, Finite Element Methods (18ME61) P a g e 7 | 34

 R V Institute of Technology & Management®

VI-Semester, Finite Element Methods (18ME61) P a g e 8 | 34

 R V Institute of Technology & Management®

…………………………………………………………………………………………………………………

Torsion of Shafts
The finite element formulation of shaft is same as that of 1-D axial bar element. Area A and Young’s Modulus
E are replaced by Polar moment of inertia J and Rigidity modulus G. The axial displacement u is replaced
by angular rotation 𝜙. Solution procedure is same as that of bars.

Shape Function of a shaft element under pure torsion

Consider a 1-D linear shaft element as shown in the figure. Let 𝑇1 and 𝑇2 be the torque at node 1 and node 2
respectively. 𝜙1 and 𝜙2 be the respective angular rotations.

Fig. 3.4 Variation of Hermite shape function

VI-Semester, Finite Element Methods (18ME61) P a g e 9 | 34

 R V Institute of Technology & Management®

Angular rotation 𝜙 at any point is given by

𝜙 = 𝒂𝟎 + 𝒂𝟏𝒙 …… (A) where 𝒂𝟎 and 𝒂𝟏 are

generalized co-ordinates
Applying Boundary condition,
At x = x1, 𝜙 = ϕ1

VI-Semester, Finite Element Methods (18ME61) P a g e 10 | 34

 R V Institute of Technology & Management®

VI-Semester, Finite Element Methods (18ME61) P a g e 11 | 34

 R V Institute of Technology & Management®

Variation of Shape Function of a shaft Element

…………………………………………………………………………………………………….

Stiffness Matrix for a 1-D Shaft Element

Fig. 3.5 1D torsional element

Consider a 1-D linear shaft element as shown in the figure. Let 𝑇1 and 𝑇2 be the torque at node 1 and node 2
respectively. 𝜙1 and 𝜙2 be the respective angular rotations. G is the Rigidity Modulus and J is the polar
moment of inertia. Consider a 1-D linear shaft element as shown in the figure. Let 𝑇1 and 𝑇2 be the torque at
node 1 and node 2 respectively. 𝜙1 and 𝜙2 be the respective angular rotations.

∏ = SE + WP

VI-Semester, Finite Element Methods (18ME61) P a g e 12 | 34

 R V Institute of Technology & Management® SE =
𝜏𝑇 ϵ
dv

, SE = J dx

𝑙 𝑑𝑢 2

SE = J dx

WP = − 𝐹1𝜙1 − 𝐹2𝜙2

J dx − 𝐹1𝜙1 − 𝐹2𝜙2

Assume trial displacement function

𝜙 = 𝑎0 + 𝑎1𝑥

Apply boundary conditions

At x = 0, 𝜙 = 𝜙1 therefore, 𝑎0 = 𝜙1

At x = L, 𝜙 = 𝜙2 therefore, 𝑎1 = 𝜙2−𝐿𝜙1

𝜙 = 𝜙1 + (𝜙2 − 𝜙1)/L 𝑥

VI-Semester, Finite Element Methods (18ME61) P a g e 13 | 34

 R V Institute of Technology & Management®

4. Minimizing the potential Energy Functional

VI-Semester, Finite Element Methods (18ME61) P a g e 14 | 34

 R V Institute of Technology & Management®

VI-Semester, Finite Element Methods (18ME61) P a g e 15 | 34

 R V Institute of Technology & Management®

THEORY QUESTIONS:

1. Explain Hermite shape function

2. Derive Hermite shape function of beam element
3. Explain displacement equation.
4. Explain stress, strain and bending moment in a beam element
5. Derive potential energy function for beam element
6. Explain element stiffness matrix for beam element

VI-Semester, Finite Element Methods (18ME61) P a g e 16 | 34

 R V Institute of Technology & Management®

Numerical
1. 1-D beam with one element subjected to UDL and point load.
A cantilever beam is loaded as shown in the figure. Determine the nodal deflection and slope. Take E=

7×109 N/m2, I = 4×10-4 m4

a. FE model

VI-Semester, Finite Element Methods (18ME61) P a g e 17 | 34

 R V Institute of Technology & Management®

VI-Semester, Finite Element Methods (18ME61) P a g e 18 | 34

 R V Institute of Technology & Management®

VI-Semester, Finite Element Methods (18ME61) P a g e 19 | 34

 R V Institute of Technology & Management®

2. 1-D
beam with roller support under two element idealization.
A cantilever beam with roller support is loaded as shown. Determine the nodal deflection and slope by
considering two element idealization. E= 2×108 kN/m2, I = 4×10-6 m-4

a. FE model

VI-Semester, Finite Element Methods (18ME61) P a g e 20 | 34

 R V Institute of Technology & Management®

VI-Semester, Finite Element Methods (18ME61) P a g e 21 | 34

 R V Institute of Technology & Management®

VI-Semester, Finite Element Methods (18ME61) P a g e 22 | 34

 R V Institute of Technology & Management®

3. 1-D roller supported beam subjected to Moment.

A simply supported beam of span 6m and uniform flexural rigidity EI = 40000 kN/m 2 is subjected to
clockwise couple of 300 kN-m at a distance of 4m from left end as shown in figure. Assuming beam as
a two element, find the nodal deflection. (Take E = 200GPa)

VI-Semester, Finite Element Methods (18ME61) P a g e 23 | 34

 R V Institute of Technology & Management®

4. 1-D beam subjected to different UDL.

A beam is loaded with two different UDL as shown in the figure. Determine the nodal deflection and
moment. Take E= 200GPa, I = 4×106 mm4.

VI-Semester, Finite Element Methods (18ME61) P a g e 24 | 34

 R V Institute of Technology & Management®

Data; E= 2×108 kN/m2, I = 4×10-6 m4, 𝐸𝐼 = 800𝑘𝑁𝑚2, 𝑙1 = 𝑙2 = 4 𝑚a.

(a) FEA model

VI-Semester, Finite Element Methods (18ME61) P a g e 25 | 34

 R V Institute of Technology & Management®

VI-Semester, Finite Element Methods (18ME61) P a g e 26 | 34

 R V Institute of Technology & Management®

VI-Semester, Finite Element Methods (18ME61)

P a g e 27 | 34
 R V Institute of Technology & Management®

5. 1-D beam subjected to different UDL

Solve for vertical deflection and slops at point 2 and 3 using beam elements for structure as shown in
figure. Also determine the deflection at the centre of the portion of the beam carrying UDL (E =
200GPa, 𝑰 = 𝟒 × 𝟏𝟎𝟔𝒎𝒎𝟒.

VI-Semester, Finite Element Methods (18ME61)

P a g e 28 | 34
 R V Institute of Technology & Management®

Data; E= 2×108 kN/m2, I = 4×10-6 m4, 𝐸𝐼 = 800𝑘𝑁𝑚2, 𝑙1 = 𝑙2 = 1 𝑚.

(a) FEA model

VI-Semester, Finite Element Methods (18ME61) P a g e 29 | 34

 R V Institute of Technology & Management®

VI-Semester, Finite Element Methods (18ME61) P a g e 30 | 34

 R V Institute of Technology & Management®

6. 1 – D beam subjected to UVL

Solve for vertical deflection and slops at point 2 and 3 using beam elements for structure as shown
in figure. Also determine the deflection at the centre of the portion of the beam carrying UVL (E =
200GPa, Assume rectangular cross section of 200mm x 300mm)

VI-Semester, Finite Element Methods (18ME61) P a g e 31 | 34

 R V Institute of Technology & Management®

Data; E= 2×108 kN/m2, 𝑙1 = 3𝑚, 𝑙2 = 3 𝑚.

(a) FEA model

VI-Semester, Finite Element Methods (18ME61) P a g e 32 | 34

 R V Institute of Technology & Management®

VI-Semester, Finite Element Methods (18ME61) P a g e 33 | 34

 R V Institute of Technology & Management®

VI-Semester, Finite Element Methods (18ME61) P a g e 34 | 34