Development of Beam Equations

Finite Element Method

By: Dr. Aamir Mubashar
 Objectives

 Derive the stiffness matrix for a beam element

 Demonstrate beam analysis using the direct stiffness method

 General formulation for solving beam problems with

distributed loading

 To compare the finite element solution to an exact solution

for a beam
Beam

A beam is a long, slender structural member generally subjected

to transverse loading that produces significant bending effects as
opposed to twisting or axial effects

What’s the difference between bar and beam?

Beam Theory

Assumptions
 Based on Euler-Bernoulli Beam Theory
 Beam is long and slender; length, L, to depth, h, dimension
ratio of the beam is large
 No transverse shear deformation

 The inclusion of the shear deformation in beam theory

problems was developed by Timoshenko and is known as the
Timoshenko beam
 Not considered in this section
 Revision Slide

General Steps of FEM

Step 1 Step 6 Step 7

•Discretise and •Solve for unknown •Solve for element
select the element degree of freedom strains and stresses
types (displacements)

Step 2 Step 5 Step 8

•Select a • Assemble to obtain •Interpret the results
global equations and
displacement apply boundary
function conditions

Step 3 Step 4
•Define the strain / •Derive the element
displacement and stiffness matrix and
stress / strain equations
relationships
Step 1 - Beam Element
 Dof considered per node are a transverse displacement and a
rotation
 Consider the beam element

 Length L
 Axial local coordinate 𝑥
 Transverse local coordinate 𝑦
 Local transverse nodal displacements 𝑣𝑖 ’s
 and rotations 𝜙𝑖 ’s
 Local nodal forces 𝑓𝑖𝑦 ’s
 Bending moments 𝑚𝑖 ’s
Step 1 - Beam Element

 Sign Convention
 Moments positive counter clockwise
 Rotations positive counter clockwise
 Forces positive positive y direction
 Displacements positive positive y direction
Step 1 - Beam Element

 Beam Theory Sign Convention

Step 2 – Displacement Function

 Assume the transverse displacement variation through the

element length

 Appropriate because
 Four dof, transverse displacement 𝑣𝑖 and rotation 𝜙𝑖 at each node
 Cubic function also satisfies the basic beam differential equation
 Satisfies the conditions of displacement and slope continuity at
nodes
Step 2 – Displacement Function

 Express 𝑣 as a function of the nodal degrees of freedom

𝑑𝑣
where ϕ = 𝑑𝑥 for the assumed small rotation ϕ

 Solving for 𝑎1 through 𝑎4 in terms of the nodal degrees of

freedom and substituting
Step 2 – Displacement Function

2 1 3 1
𝑣 𝑥 = 𝑣 − 𝑣 + 𝜙 − 𝜙2 𝑥3 + − 𝑣 − 𝑣 − 2𝜙1 − 𝜙2 𝑥 2 + 𝜙1 𝑥 + 𝑣1
𝐿3 1 2
𝐿2 1 𝐿2 1 2
𝐿

 In matrix form

𝑣= 𝑁 𝑑
where
𝑣1
𝜙
𝑑 = 𝑣1 𝑁 = 𝑁1 𝑁2 𝑁3 𝑁4
2
𝜙2
Step 2 – Displacement Function

and Shape Functions for Beam Element

1 1 3
𝑁1 = 3 (2𝑥 3 − 3𝑥 2 𝐿 + 𝐿3 ) 𝑁2 = 3 (𝑥 𝐿 − 2𝑥 2 𝐿2 + 𝑥𝐿3 )
𝐿 𝐿
1 1
𝑁3 = 3 (−2𝑥 3 + 3𝑥 2 𝐿) 𝑁4 = 3 (𝑥 3 𝐿 − 𝑥 2 𝐿2 )
𝐿 𝐿

 Known as Hermite cubic interpolation or cubic spline functions

 For beam elements
 𝑁1 = 1 when evaluated at node 1
 𝑁1 = 0 when evaluated at node 2
 𝑁2 is associated with 𝜙1 , then 𝑑𝑁2 Τ𝑑𝑥 = 1 at node 1
 𝑁3 and 𝑁4 have analogous results for Node 2
Step 3 – Strain/Displacement and
Stress/Strain Relationships

 Assume the axial strain/displacement relationship to be valid

𝑢 axial displacement function

 Relating axial displacement to transverse displacement

Remember from beam theory, plane sections remain

plane after bending and rotate through a small angle
Step 3 – Strain/Displacement and
Stress/Strain Relationships

 Then 𝑑2𝑣
𝜀𝑥 (𝑥, 𝑦) = −𝑦 2
𝑑𝑥
𝑑2𝑣 𝑀
 Using Hooke’s law and = we obtain the beam
𝑑𝑥 2 𝐸𝐼
bending stress or flexure formula
𝑀𝑦
𝜎𝑥 = −
𝐼

 From elementary beam theory, bending moment and shear

force

𝑑2𝑦 𝑑3𝑣
𝑚 𝑥 = 𝐸𝐼 2 𝑉 = 𝐸𝐼 3
𝑑𝑥 𝑑𝑥
 Step 4 – Element Stiffness Matrix

 Derived using direct equilibrium approach

 Relate nodal and beam theory sign conventions for shear
forces and bending moments

2 1 𝑑2𝑦 𝑑3𝑣
𝑣 𝑥 = 3
𝑣1 − 𝑣2 + 2
𝜙1 − 𝜙2 𝑥 3 𝑚 𝑥 = 𝐸𝐼 2 𝑉 = 𝐸𝐼 3
𝐿 𝐿 𝑑𝑥 𝑑𝑥
3 1
+ − 2 𝑣1 − 𝑣2 − 2𝜙1 − 𝜙2 𝑥 2 + 𝜙1 𝑥 + 𝑣1
𝐿 𝐿
Step 4 – Element Stiffness Matrix

 We obtain, where equations relate the nodal forces to the

nodal displacements

Minus signs in the second and third Eqs. are the result of opposite nodal and beam
theory positive bending moment conventions at node 1 and opposite nodal and
beam theory positive shear force conventions at node 2
Step 4 – Element Stiffness Matrix

 In matrix form

 Where stiffness matrix is

12 6𝐿 −12 6𝐿
𝐸𝐼 6𝐿 4𝐿2 −6𝐿 2𝐿2
𝑘 = 3
𝐿 −12 −6𝐿 12 −6𝐿
6𝐿 2𝐿2 −6𝐿 4𝐿2
 𝑘 relates transverse forces and bending moments to transverse
displacements and rotations
 Axial effects have been neglected
Step 5 – Assembly to Obtain Global
Equations

 Demonstrated using an example

 𝐸𝐼 constant throughout the beam
 Force 1000 lb
 Moment 1000 lb-ft
 Left end Fixed Support
 Right end Pin Support
 Beam is discretised in two elements with three nodes
Step 5 – Assembly to Obtain Global
Equations

 The stiffness matrices for the two elements are

Dof associated
𝑣1 𝜙1 𝑣2 𝜙2 with each
12 6𝐿 −12 6𝐿 element
𝐸𝐼 6𝐿 4𝐿2 −6𝐿 2𝐿2
𝑘 (1) = 3
𝐿 −12 −6𝐿 12 −6𝐿
6𝐿 2𝐿2 −6𝐿 4𝐿2

𝑣2 𝜙2 𝑣3 𝜙3
12 6𝐿 −12 6𝐿
𝐸𝐼 6𝐿 4𝐿2 −6𝐿 2𝐿2
𝑘 (2) = 3
𝐿 −12 −6𝐿 12 −6𝐿
6𝐿 2𝐿2 −6𝐿 4𝐿2
 Step 5 – Assembly to Obtain Global
Equations

 The global stiffness matrix is obtained by direct stiffness method

𝑣1 𝜙1 𝑣2 𝜙2 𝑣2 𝜙2 𝑣3 𝜙3
12 6𝐿 −12 6𝐿 12 6𝐿 −12 6𝐿
𝐸𝐼 6𝐿 4𝐿2 −6𝐿 2𝐿2 𝐸𝐼 6𝐿 4𝐿2 −6𝐿 2𝐿2
𝑘 (1) = 3 𝑘 (2) = 3
𝐿 −12 −6𝐿 12 −6𝐿 𝐿 −12 −6𝐿 12 −6𝐿
6𝐿 2𝐿2 −6𝐿 4𝐿2 6𝐿 2𝐿2 −6𝐿 4𝐿2

𝑣1 𝜙1 𝑣2 𝜙2 𝑣3 𝜙3
𝐹1𝑦 12 6𝐿 −12 6𝐿 0 0 𝑣1
𝑀1 6𝐿 4𝐿2 −6𝐿 2𝐿2 0 0 𝜙1
𝐹2𝑦 𝐸𝐼 −12 −6𝐿 12 + 12 −6𝐿 + 6𝐿 −12 6𝐿 𝑣2
= 3 𝜙2
𝑀2 𝐿 6𝐿 2𝐿2 −6𝐿 + 6𝐿 4𝐿2 + 4𝐿2 −6𝐿 2𝐿2
𝐹3𝑦 0 0 −12 −6𝐿 12 −6𝐿 𝑣3
𝑀3 0 0 6𝐿 2𝐿2 −6𝐿 4𝐿2 𝜙3
Step 5 – Assembly to Obtain Global
Equations

 Applying boundary conditions

𝐹1𝑦 12 6𝐿 −12 6𝐿 0 0 0
𝑀1 6𝐿 4𝐿2 −6𝐿 2𝐿2 0 0 0
𝐹2𝑦 𝐸𝐼 −12 −6𝐿 12 + 12 −6𝐿 + 6𝐿 −12 6𝐿 𝑣2
= 3 𝜙2
𝑀2 𝐿 6𝐿 2𝐿2 −6𝐿 + 6𝐿 4𝐿2 + 4𝐿2 −6𝐿 2𝐿2
𝐹3𝑦 0 0 −12 −6𝐿 12 −6𝐿 0
𝑀3 0 0 6𝐿 2𝐿2 −6𝐿 4𝐿2 𝜙3

 Considering rows corresponding to the rows with unknown dofs

−1000 𝑣2
𝐸𝐼 24 0 6𝐿
1000 = 3 0 8𝐿2 2𝐿2 𝜙2
𝐿 𝜙3
0 6𝐿 2𝐿2 4𝐿2
 Examples of Beam Analysis
Using Direct Stiffness Method

Beam Element
Example 1

 Using the direct stiffness method, solve the problem of the

propped cantilever beam subjected to end load P in figure.
The beam is assumed to have constant EI and length 2L. It is
supported by a roller at mid length and is built in at the right
end
Example 1
 Bar is discretised in two elements
 Global stiffness matrix is given by direct stiffness method

𝑣1 𝜙1 𝑣2 𝜙2 𝑣3 𝜙3
12 6𝐿 −12 6𝐿 0 0
4𝐿2 −6𝐿 2𝐿2 0 0
𝐸𝐼 12 + 12 −6𝐿 + 6𝐿 −12 6𝐿
𝐾 =
𝐿3 4𝐿2 + 4𝐿2 −6𝐿 2𝐿2
12 −6𝐿
𝑆𝑦𝑚𝑚𝑒𝑡𝑟𝑦 4𝐿2
Example 1
 Governing equations for beam
𝐹1𝑦 12 6𝐿 −12 6𝐿 0 0 𝑣1
𝑀1 6𝐿 4𝐿2 −6𝐿 2𝐿2 0 0 𝜙1
𝐹2𝑦 𝐸𝐼 −12 −6𝐿 24 0 −12 6𝐿 𝑣2
= 3 𝜙2
𝑀2 𝐿 6𝐿 2𝐿2 0 8𝐿2 −6𝐿 2𝐿2
𝐹3𝑦 0 0 −12 −6𝐿 12 −6𝐿 𝑣3
𝑀3 0 0 6𝐿 2𝐿2 −6𝐿 4𝐿2 𝜙3

 Boundary conditions

−𝑃 𝑣1
𝐸𝐼 12 6𝐿 6𝐿
0 = 3 6𝐿 4𝐿2 2𝐿2 𝜙1
𝐿 𝜙2
0 6𝐿 2𝐿2 8𝐿2

+ve means
counter clockwise
Example 1
 For global nodal forces, using known displacements and
rotations

Applied force
reaction

reaction

reaction
Example 1
 To determine local nodal forces, for element 1

 Similarly local nodal forces for element 2 can be determined

Example 1

Free Body Diagram Element 1 Free Body Diagram Element 2

Free Body Diagram for beam

Example 2
 Determine the nodal displacements and rotations and the
global and element forces for the beam shown in figure. The
beam is discretised 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 x10-4 m4 throughout the beam, and let
k=200 kN/m
 Example 2
 Global stiffness matrix is obtained using direct stiffness method
𝑣1 𝜙1 𝑣2 𝜙2 𝑣2 𝜙2 𝑣3 𝜙3
12 6𝐿 −12 6𝐿 12 6𝐿 −12 6𝐿 𝑣3 𝑣4
𝐸𝐼 6𝐿 4𝐿2 −6𝐿 2𝐿2 𝐸𝐼 6𝐿 4𝐿2 −6𝐿 2𝐿2 𝑘 −𝑘
𝑘 (1) = 3 𝑘 (2) = 3 𝑘𝑠 =
𝐿 −12 −6𝐿 12 −6𝐿 𝐿 −12 −6𝐿 12 −6𝐿 −𝑘 𝑘
6𝐿 2𝐿2 −6𝐿 4𝐿2 6𝐿 2𝐿2 −6𝐿 4𝐿2
𝑣1 𝜙1 𝑣2 𝜙2 𝑣3 𝜙3 𝑣4
12 6𝐿 −12 6𝐿 0 0 0
4𝐿2 −6𝐿 2𝐿2 0 0 0
12 + 12 −6𝐿 + 6𝐿 −12 6𝐿 0
4𝐿2 + 4𝐿2 −6𝐿 2𝐿2 0
𝐸𝐼
𝐾 = 𝑘𝐿3 𝑘𝐿3
𝐿3 12 + −6𝐿 −
𝐸𝐼 𝐸𝐼
4𝐿2 0
𝑘𝐿3
𝑆𝑦𝑚𝑚𝑒𝑡𝑟𝑦
𝐸𝐼
Example 2
 Governing equations for the beam are

𝐹1𝑦 12 6𝐿 −12 6𝐿 0 0 0 𝑣1
𝑀1 4𝐿2 −6𝐿 2𝐿2 0 0 0 𝜙1
𝐹2𝑦 24 0 −12 6𝐿 0 𝑣2
𝐸𝐼
𝑀2 = 3 8𝐿2 −6𝐿 2𝐿2 0 𝜙2
𝐹3𝑦 𝐿 12 + 𝑘ሖ −6𝐿 −𝑘ሖ 𝑣3
𝑀3 4𝐿2 0 𝜙3
𝐹4𝑦 𝑆𝑦𝑚𝑚𝑒𝑡𝑟𝑦 𝑘ሖ 𝑣4

𝑘𝐿3
where 𝑘ሖ =
𝐸𝐼

 Applying boundary conditions

 Example 2
𝐹1𝑦 12 6𝐿 −12 6𝐿 0 0 0 0
𝑀1 4𝐿2 −6𝐿 2𝐿2 0 0 0 0
𝐹2𝑦 24 0 −12 6𝐿 0 0
𝐸𝐼
𝑀2 = 8𝐿2 −6𝐿 2𝐿2 0 𝜙2
𝐹3𝑦 𝐿3 12 + 𝑘ሖ −6𝐿 −𝑘ሖ 𝑣3
𝑀3 4𝐿2 0 𝜙3
𝐹4𝑦 𝑆𝑦𝑚𝑚𝑒𝑡𝑟𝑦 𝑘ሖ 0

 Considering non zero dofs

0 𝐸𝐼 8𝐿
2
−6𝐿 2𝐿2 𝜙2
−𝑃 = 3 −6𝐿 12 + 𝑘ሖ −6𝐿 𝑣3
𝐿
0 2𝐿2 −6𝐿 4𝐿2 𝜙3
 Example 2

 Using values
 P=50 kN
 L=3 m
 E=210 GPa
 I=2 x10-4 m4
 k=200 kN/m

 Back substituting to obtain global nodal forces

Additional force
at spring base
 Example 2

 Free body diagram of beam

Additional force
at spring base
Distributed Loadings

Beam Element
Distributed Loadings
 Beam members support distributed loading as well as
concentrated nodal loading

 Replace the uniformly distributed load by a statically

equivalent force system
 Consisting of a concentrated nodal force and

 Moment at each end of the member

Beam with uniformly distributed load Equivalent nodal force system

Distributed Loadings
 Statically equivalent force system
 Opposite sign from the fixed end reactions (using the concept of
fixed end reactions from structural analysis)

Fixed end reactions

Equivalent nodal force system

Distributed Loadings

 To analyse the behaviour of loaded member 2–3 in better detail

(to find maximum deflection and maximum moment), place a
node at mid span

 Apply work equivalent forces and moments

Work Equivalence Method

Work of the distributed load 𝑤 𝑥 in going through the

displacement field 𝑣 𝑥 is equal to the work done by nodal
loads 𝑓𝑖𝑦 and 𝑚𝑖 in going through nodal displacements 𝑣𝑖
and 𝜙𝑖 for arbitrary nodal displacements
Work Equivalence Method

 Work due to distributed load

 The work due to the discrete nodal forces

 𝑚1 𝜙1 , 𝑚2 𝜙2 work due to concentrated nodal moments moving through

their respective nodal rotations
 𝑓1𝑦 𝑣1 , 𝑓2𝑦 𝑣2 work due to the nodal forces moving through nodal
displacements

Beam subjected to general load Statically equivalent nodal force system

Example of Load Replacement

 Determine the nodal moments and forces used to replace the

distributed load by using the concept of work equivalence for
the distributed loading shown

Beam subjected to uniformly Equivalent nodal force system

distributed load
Example of Load Replacement

 Evaluating the left side by putting 𝑤 𝑥 = −𝑤

and

2 1 3 1
𝑣 𝑥 = 𝑣1 − 𝑣2 + 𝜙 − 𝜙2 𝑥3 + − 𝑣 − 𝑣 − 2𝜙1 − 𝜙2 𝑥 2 + 𝜙1 𝑥 + 𝑣1
𝐿3 𝐿2 1 𝐿2 1 2
𝐿

 Thus
Example of Load Replacement

 For arbitrary nodal displacements 𝜙1 = 1, 𝜙2 = 0, 𝑣1 = 0, 𝑎𝑛𝑑 𝑣2 = 0

𝐿2 𝑤 2 2 𝐿2 𝑤𝐿2
𝑚1 1 = − − 𝐿 𝑤+ 𝑤 =−
4 3 2 12
 Similarly

𝐿2 𝑤 𝐿2 𝑤 𝑤𝐿2
𝜙1 = 0, 𝜙2 = 1, 𝑣1 = 0, 𝑎𝑛𝑑 𝑣2 = 0 𝑚2 1 = − − =
4 3 12

𝐿𝑤 𝐿𝑤
𝜙1 = 0, 𝜙2 = 0, 𝑣1 = 1, 𝑎𝑛𝑑 𝑣2 = 0 𝑓1𝑦 1 = − + 𝐿𝑤 − 𝐿𝑤 = −
2 2

𝐿𝑤 𝐿𝑤
𝜙1 = 0, 𝜙2 = 0, 𝑣1 = 0, 𝑎𝑛𝑑 𝑣2 = 1 𝑓2𝑦 1 = − 𝐿𝑤 = −
2 2
Example of Load Replacement

 If a concentrated load is applied other than at the

natural intersection of two elements
 Use the concept of equivalent nodal forces to replace the
concentrated load

 Convert to nodal concentrated loads acting at the beam

ends

 General steps for any load function w(x)

 Multiply by 𝑣(𝑥)

 Integrate over length

 Obtain the concentrated nodal forces (and/or moments)

used to replace the distributed load
General Formulation

 Account for distributed loads or concentrated loads acting on

beam elements by starting with the following formulation

𝐹 = 𝐾 𝑑 − 𝐹𝑜

𝐹 concentrated nodal forces

𝐹𝑜 equivalent nodal forces in global coordinates
magnitude is such that they yield the same displacements at the
nodes as would the distributed load
 Since concentrated nodal forces are not present 𝐹 = 0 as
only distributed loading is applied

𝐹𝑜 = 𝐾 𝑑
General Formulation
 For a uniformly distributed load 𝑤 acting over a one-element
beam

𝑤𝐿
−
2
𝑤𝐿2
−
𝐹𝑜 = 12
𝑤𝐿
−
2
𝑤𝐿2
12
Example
 For the cantilever beam subjected to the uniform load 𝑤 in
figure, solve for the right-end vertical displacement and
rotation and then for the nodal forces. Assume the beam to
have constant 𝐸𝐼 throughout its length

Cantilever beam subjected Work equivalent

to a uniformly distributed load nodal force system
Example
 Beam is discretised using only one element
 Distributed load is replaced by its work equivalent nodal forces
 Let [𝐾]{𝑑}={𝐹(𝑒) }
where {𝐹(𝑒) }=𝑒𝑓𝑓𝑒𝑐𝑡𝑖𝑣𝑒 𝑔𝑙𝑜𝑏𝑎𝑙 𝑛𝑜𝑑𝑎𝑙 𝑓𝑜𝑟𝑐𝑒𝑠

 Applying the boundary conditions

𝑣1 = 0, 𝜙1 = 0
Example
𝑤𝐿
𝐸𝐼 12 −
−6𝐿 𝑣2 2
=
𝐿3 −6𝐿 4𝐿2 𝜙2 𝑤𝐿2
12

 Solving for displacements

𝑤𝐿
𝑣2 𝐿 2𝐿2 −
3𝐿 2
𝜙2 = 6𝐸𝐼 3𝐿 6 𝑤𝐿2
12

𝑤𝐿4
𝑣2 −
= 8𝐸𝐼
𝜙2 𝑤𝐿3
−
6𝐸𝐼
Example
 For obtaining the global nodal forces

 Simplifying
Example
 Putting values in
𝐹 = 𝐾 𝑑 − 𝐹𝑜

Free-body diagram and equations of equilibrium for beam

General Method

 Replace the distributed load by its work-equivalent to

identify the nodal force and moment used in the solution

 Assemble the global force and stiffness matrices and

global equations

 Apply the boundary conditions to reduce the set of

equations

 Solve for the unknown displacement and rotation

 Obtain the final correct global nodal forces and

moments. These forces and moments at supports will be
the reactions
Fixed End Reactions
Fixed End Reactions
Example
 For the fixed–fixed beam subjected to the linear varying
distributed loading acting over the whole beam shown in
figure
 Determine the displacement and rotation at the centre and
the reactions
Example
 Beam modelled using two elements with nodes 1, 2, and 3
 Using load cases from table of fixed end reactions
 Element 1: Load case 5
 Linear varying distributed load; High end value of w/2
 Element 2: Load cases 4 and 5
 Distributed load is divided into a uniform part with magnitude w/2
 Linear varying part with magnitude w/2 at the high end of load
Example
 Stiffness matrix for each element

12 6𝐿 −12 6𝐿 12 6𝐿 −12 6𝐿
𝐸𝐼 6𝐿 4𝐿2 −6𝐿 2𝐿2 𝐸𝐼 6𝐿 4𝐿2 −6𝐿 2𝐿2
𝑘 (1) = 3 𝑘 (2) = 3
𝐿 −12 −6𝐿 12 −6𝐿 𝐿 −12 −6𝐿 12 −6𝐿
6𝐿 2𝐿2 −6𝐿 4𝐿2 6𝐿 2𝐿2 −6𝐿 4𝐿2

 Global stiffness matrix

12 6𝐿 −12 6𝐿 0 0
6𝐿 4𝐿2 −6𝐿 2𝐿2 0 0
𝐸𝐼 −12 −6𝐿 12 + 12 −6𝐿 + 6𝐿 −12 6𝐿
𝐾 = 3
𝐿 6𝐿 2𝐿2 −6𝐿 + 6𝐿 4𝐿2 + 4𝐿2 −6𝐿 2𝐿2
0 0 −12 −6𝐿 12 −6𝐿
0 0 6𝐿 2𝐿2 −6𝐿 4𝐿2
Example
 Boundary conditions 𝑣1 = 0, 𝜙1 = 0, 𝑣3 = 0, 𝜙3 = 0

(𝑒)
𝐹1𝑦
(𝑒) 12 6𝐿 −12 6𝐿 0 0 𝑣1
𝑀1
6𝐿 4𝐿2 −6𝐿 2𝐿2 0 0 𝜙1
(𝑒)
𝐹2𝑦 𝐸𝐼 −12 −6𝐿 12 + 12 −6𝐿 + 6𝐿 −12 6𝐿 𝑣2
= 3 𝜙2
(𝑒)
𝑀2 𝐿 6𝐿 2𝐿2 −6𝐿 + 6𝐿 4𝐿2 + 4𝐿2 −6𝐿 2𝐿2
0 0 −12 −6𝐿 12 −6𝐿 𝑣3
(𝑒)
𝐹3𝑦 0 0 6𝐿 2𝐿2 −6𝐿 4𝐿2 𝜙3
(𝑒)
𝑀3
𝑤𝐿
(𝑒)
𝐹2𝑦 − 𝐸𝐼 24 0 𝑣2
2
= = 3
𝑀2
(𝑒) 𝑤𝐿2 𝐿 0 8𝐿2 𝜙2
−
20
𝑤𝐿4 𝑤𝐿3
𝑣2 = − 𝜙2 = −
48𝐸𝐼 240𝐸𝐼
Example
 Obtaining effective nodal forces

 Solving for nodal effective forces

Example
 Correct nodal forces and moments

where original length 𝑙

𝑙 = 2𝐿
 Comparison of Finite Element
Solution to Exact Solution for a Beam

Beam Element
Comparison of FEM and
Exact Beam Solution

Beam shown in figure will be used for comparison

 E = 30 x 106 psi

 I = 100 in4

 L = 100 in

 Uniform load, w = 20 lb/in

Comparison of FEM and
Exact Beam Solution

From classical beam theory

 Expression for slope of beam

1 −𝑤𝑥 3 𝑤𝐿𝑥 2 𝑤𝐿2 𝑥

𝑦ƴ = + −
𝐸𝐼 6 2 2

 Deflection expression for beam

1 −𝑤𝑥 4 𝑤𝐿𝑥 3 𝑤𝐿2 𝑥 2
𝑦= + −
𝐸𝐼 24 6 4

 From beam theory for 𝑥 = 𝐿

1 −𝑤𝐿3 𝑤𝐿3 𝑤𝐿3 𝑤𝐿3 1 −𝑤𝐿4 𝑤𝐿4 𝑤𝐿4 𝑤𝐿4

𝑦ƴ = + − =− 𝑦= + − =−
𝐸𝐼 6 2 2 6𝐸𝐼 𝐸𝐼 24 6 4 8𝐸𝐼
Comparison of FEM and
Exact Beam Solution

Single Element Solution

 Already determined in example
𝑤𝐿4
𝑣2 −
= 8𝐸𝐼
𝜙2 𝑤𝐿3
−
6𝐸𝐼
 Putting values

 Slope and displacement are identical from beam theory and

FEM at 𝑥 = 𝐿
 Comparison of FEM and
Exact Beam Solution

 Why FEM and Analytical Solution are same?

 Element nodal forces calculated on the basis of work

equivalent to the distributed load

 Based on the assumed cubic displacement field

within each beam element

2 1 3 1
𝑣 𝑥 = 𝑣 − 𝑣 + 𝜙 − 𝜙2 𝑥3 + − 𝑣 − 𝑣 − 2𝜙1 − 𝜙2 𝑥 2 + 𝜙1 𝑥 + 𝑣1
𝐿3 1 2
𝐿2 1 𝐿2 1 2
𝐿
Comparison of FEM and
Exact Beam Solution

 Displacement and slope at other locations along the beam for FEM
 Obtained by using the assumed cubic displacement function
2 1 3 1
𝑣 𝑥 = 𝑣 − 𝑣 + 𝜙 − 𝜙2 𝑥3 + − 𝑣 − 𝑣 − 2𝜙1 − 𝜙2 𝑥 2 + 𝜙1 𝑥 + 𝑣1
𝐿3 1 2
𝐿2 1 𝐿2 1 2
𝐿

 Using boundary conditions 𝑣1 = 𝜙1 = 0

1 3 2
1 3
𝑣 𝑥 = 3
(−2𝑥 + 3𝑥 𝐿)𝑣2 + 3
(𝑥 𝐿 − 𝑥 2 𝐿2 )𝜙2
𝐿 𝐿
 Displacement at middle length of beam
Comparison of FEM and
Exact Beam Solution

 Deflection from beam theory

 Beam theory solution for middle length displacement is greater

than FEM solution
 Always true for beams subjected to distributed load and modelled
using the cubic displacement function
 In general, displacements evaluated using the cubic function by
FEM are lower than by the beam theory except at the nodes
Comparison of FEM and
Exact Beam Solution

 Beam theory predicts a quartic (fourth-order) polynomial expression

for displacement of beam subjected to uniformly distributed
loading

 FEM assumes a cubic displacement behaviour in each beam

element under all load conditions

 FEM forces the beam into specific modes of displacement and

effectively yields a stiffer model than the actual structure

 As more and more elements are used in the model, the finite
element solution converges to the beam theory solution

 For case of a beam subjected to only nodal concentrated loads,

the beam theory predicts a cubic displacement behaviour

 In this case, FEM solution for displacement matches the beam

theory solution for all locations along the beam length
Comparison of FEM and
Exact Beam Solution

Comparison of beam theory and FEM: displacements

Comparison of FEM and
Exact Beam Solution

Moments

 Under uniformly distributed loading

 Beam theory predicts a quadratic moment and

 Linear shear force in the beam

 Finite element

 Using cubic displacement function predicts a linear bending

moment and

 Constant shear force within each beam element

Comparison of FEM and
Exact Beam Solution

Moments using FEM

 Recall from beam theory, bending moment and shear force

𝑑2𝑦 𝑑3𝑣
𝑚 𝑥 = 𝐸𝐼 2 𝑉 = 𝐸𝐼 3
𝑑𝑥 𝑑𝑥
𝑣= 𝑁 𝑑
1 1 3
𝑁1 = 3 (2𝑥 3 − 3𝑥 2 𝐿 + 𝐿3 ) 𝑁2 = 3 (𝑥 𝐿 − 2𝑥 2 𝐿2 + 𝑥𝐿3 )
𝐿 𝐿
1 1 3
𝑁3 = 3 (−2𝑥 3 + 3𝑥 2 𝐿) 𝑁4 = 3 (𝑥 𝐿 − 𝑥 2 𝐿2 )
𝐿 𝐿

 Bending moment
𝑑2𝑦 𝑑2( 𝑁 𝑑 ) 𝑑2 𝑁
𝑀 = 𝐸𝐼 2 = 𝐸𝐼 = 𝐸𝐼 𝑑 = 𝐸𝐼 𝐵 {𝑑}
𝑑𝑥 𝑑𝑥 2 𝑑𝑥 2
where 𝐵 is gradient matrix
Comparison of FEM and
Exact Beam Solution

Moments using FEM

 𝐵 is gradient matrix given by

𝑑 2 [𝑁] 6 12𝑥 4 6𝑥 6 12𝑥 2 6𝑥

𝐵 = = − 2+ 3 − + 2 − 3 − + 2
𝑑𝑥 2 𝐿 𝐿 𝐿 𝐿 𝐿2 𝐿 𝐿 𝐿

 Putting values in 𝑀 = 𝐸𝐼 𝐵 {𝑑}

6 12𝑥 4 6𝑥 6 12𝑥 2 6𝑥
𝑀 = 𝐸𝐼 − + 𝑣 + − + 𝜙 + − 𝑣 + − + 𝜙
𝐿2 𝐿3 1 𝐿 𝐿2 1 𝐿2 𝐿3 2 𝐿 𝐿2 2
Comparison of FEM and
Exact Beam Solution
𝑤𝐿4
𝑣2 −
 Evaluating moment at x=0 with 𝑣1 = 𝜙1 = 0 and = 8𝐸𝐼
𝜙2 𝑤𝐿3
−
6𝐸𝐼
10𝑤𝐿2
𝑀 𝑥=0 =− = −83,333 𝑙𝑏 − 𝑖𝑛
24

 Evaluating moment at x=50 and x=100

𝑀 𝑥 = 50 = −33,333 𝑙𝑏 − 𝑖𝑛
𝑀 𝑥 = 100 = −16,667 𝑙𝑏 − 𝑖𝑛

 Beam theory predicts

𝑤𝐿2
𝑀 𝑥=0 =− = −100,000 𝑙𝑏 − 𝑖𝑛
2
𝑀 𝑥 = 50 = −25,000 𝑙𝑏 − 𝑖𝑛 𝑀 𝑥 = 100 = 0
 Comparison of FEM and
Exact Beam Solution

BM is derived by taking Takes more elements to model the second

two derivatives on the derivative of the displacement
displacement function
For the uniformly loaded beam, FEM
predicts a linear BM variation

FEM does not predict

the bending moment
Best approximation for as well as it does the
BM appears at the displacement
midpoint of the element

Comparison of beam theory and FEM: bending moment

Comparison of FEM and
Exact Beam Solution

Shear force is derived by taking three

derivatives on the displacement function

For the uniformly loaded

beam, shear force is constant
throughout the element

Best approximation for shear force is at the

midpoint of the element

Comparison of beam theory and FEM: Shear Force

Comparison of FEM and
Exact Beam Solution

 If we use 𝑓 = 𝑘 𝑑 − 𝑓𝑜
and subtract 𝐹𝑜 , we obtain the correct nodal forces and
moments in each element
 For one-element FEM solution, bending moment at node 1

(1) 𝐸𝐼 𝑤𝐿4 𝑤𝐿3

𝑤𝐿2 𝑤𝐿2
𝑚1 = 3 −6𝐿 − + 2𝐿2 − − − =
𝐿 8𝐸𝐼 6𝐸𝐼 12 2

(1)
 Bending moment at node 2 𝑚2 = 0

 To improve FEM solution

 Use more elements in solution
 Use higher order elements e.g. fifth order displacement
approximation function with three nodes
 Comparison of FEM and
Exact Beam Solution

Two Element Solution

Beam discretized into two elements and work-equivalent load

replacement for each element

 Element stiffness matrix

12 6𝐿 −12 6𝐿
𝐸𝐼 6𝐿 4𝐿2 −6𝐿 2𝐿2
𝑘 (1) = 𝑘 (2) = 3
𝐿 −12 −6𝐿 12 −6𝐿
6𝐿 2𝐿2 −6𝐿 4𝐿2
Comparison of FEM and
Exact Beam Solution

 Appling boundary conditions 𝑣1 = 𝜙1 = 0 and solving

 Substituting

Mid side node,

displacement at
middle of beam Same as was determined using beam theory
Summary
 Displacement function assumed for beam transverse
displacement

 Shape functions for beam element

1 1 3
𝑁1 = 3
(2𝑥 3 − 3𝑥 2 𝐿 + 𝐿3 ) 𝑁2 = 3
(𝑥 𝐿 − 2𝑥 2 𝐿2 + 𝑥𝐿3 )
𝐿 𝐿
1 1
𝑁3 = 3 (−2𝑥 3 + 3𝑥 2 𝐿) 𝑁4 = 3 (𝑥 3 𝐿 − 𝑥 2 𝐿2 )
𝐿 𝐿

 Beam bending stress or flexure formula

𝑀𝑦
𝜎𝑥 = −
𝐼
Summary
 Stiffness matrix for beam element

12 6𝐿 −12 6𝐿
𝐸𝐼 6𝐿 4𝐿2 −6𝐿 2𝐿2
𝑘 = 3
𝐿 −12 −6𝐿 12 −6𝐿
6𝐿 2𝐿2 −6𝐿 4𝐿2

 Work due to distributed loading

 Work due to discrete nodal forces

Summary
 General formulation for beam with distributed loading

𝐹 = 𝐾 𝑑 − 𝐹𝑜

 Work-equivalent replacement matrix for beam with uniform

load
𝑤𝐿
−
2
𝑤𝐿2
−
𝐹𝑜 = 12
𝑤𝐿
−
2
𝑤𝐿2
12
References

 Chapter 4, A First Course in the finite element method (fifth

edition) by Daryl L. Logan, Cengage Learning, 2012.