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Timoshenkobeamtheory
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TheTimoshenkobeamtheorywasdevelopedbyStephen
Timoshenkoearlyinthe20thcentury.[1][2]Themodeltakes
intoaccountsheardeformationandrotationalbending
effects,makingitsuitablefordescribingthebehaviourof
shortbeams,sandwichcompositebeams,orbeamssubjectto
highfrequencyexcitationwhenthewavelengthapproaches
thethicknessofthebeam.Theresultingequationisof4th
orderbut,unlikeordinaryEulerBernoullibeamtheory,there
isalsoasecondorderpartialderivativepresent.Physically,
takingintoaccounttheaddedmechanismsofdeformation Orientationsofthelineperpendiculartothemidplaneofathick
effectivelylowersthestiffnessofthebeam,whiletheresultis bookunderbending.
alargerdeflectionunderastaticloadandlowerpredicted
eigenfrequenciesforagivensetofboundaryconditions.Thelattereffectismorenoticeableforhigherfrequenciesasthe
wavelengthbecomesshorter,andthusthedistancebetweenopposingshearforcesdecreases.

Iftheshearmodulusofthebeammaterialapproachesinfinityandthusthebeambecomesrigidinshearandifrotational
inertiaeffectsareneglected,Timoshenkobeamtheoryconvergestowardsordinarybeamtheory.

Contents
1 QuasistaticTimoshenkobeam
1.1 Boundaryconditions
1.2 Example:Cantileverbeam
2 DynamicTimoshenkobeam
2.1 Axialeffects
2.2 Damping
3 Shearcoefficient
4 Seealso
5 References

QuasistaticTimoshenkobeam
InstaticTimoshenkobeamtheorywithoutaxialeffects,thedisplacementsofthebeam
areassumedtobegivenby

where arethecoordinatesofapointinthebeam, arethecomponents

ofthedisplacementvectorinthethreecoordinatedirections, istheangleofrotationof
thenormaltothemidsurfaceofthebeam,and isthedisplacementofthemidsurface DeformationofaTimoshenkobeam
inthe direction. (blue)comparedwiththatofan
EulerBernoullibeam(red).
Thegoverningequationsarethefollowinguncoupledsystemofordinarydifferential
equations:

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TheTimoshenkobeamtheoryforthestaticcaseisequivalenttotheEulerBernoulli
theorywhenthelasttermaboveisneglected,anapproximationthatisvalidwhen

where

isthelengthofthebeam.
isthecrosssectionarea.
istheelasticmodulus.
istheshearmodulus.
isthesecondmomentofarea.
,calledtheTimoshenkoshearcoefficient,dependsonthegeometry.Normally, DeformationofaTimoshenkobeam.
forarectangularsection. Thenormalrotatesbyanamount
whichisnotequalto
Combiningthetwoequationsgives,forahomogeneousbeamofconstantcrosssection,
.

Thebendingmoment andtheshearforce inthebeamarerelatedtothedisplacement andtherotation .These

relations,foralinearelasticTimoshenkobeam,are:

DerivationofquasistaticTimoshenkobeamequations
FromthekinematicassumptionsforaTimoshenkobeam,thedisplacementsofthebeamaregivenby

Then,fromthestraindisplacementrelationsforsmallstrains,thenonzerostrainsbasedontheTimoshenko
assumptionsare

Sincetheactualshearstraininthebeamisnotconstantoverthecrosssectionweintroduceacorrectionfactor
suchthat

Thevariationintheinternalenergyofthebeamis

Define

Then

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Integrationbyparts,andnotingthatbecauseoftheboundaryconditionsthevariationsarezeroattheendsofthe
beam,leadsto

Thevariationintheexternalworkdoneonthebeambyatransverseload perunitlengthis

Then,foraquasistaticbeam,theprincipleofvirtualworkgives

Thegoverningequationsforthebeamare,fromthefundamentaltheoremofvariationalcalculus,

Foralinearelasticbeam

Thereforethegoverningequationsforthebeammaybeexpressedas

Combiningthetwoequationstogethergives

Boundaryconditions

ThetwoequationsthatdescribethedeformationofaTimoshenkobeamhavetobeaugmentedwithboundaryconditionsifthey
aretobesolved.Fourboundaryconditionsareneededfortheproblemtobewellposed.Typicalboundaryconditionsare:

Simplysupportedbeams:Thedisplacement iszeroatthelocationsofthetwosupports.Thebendingmoment
appliedtothebeamalsohastobespecified.Therotation andthetransverseshearforce arenotspecified.
Clampedbeams:Thedisplacement andtherotation arespecifiedtobezeroattheclampedend.Ifoneendisfree,
shearforce andbendingmoment havetobespecifiedatthatend.

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Example:Cantileverbeam

Foracantileverbeam,oneboundaryisclampedwhiletheotheris
free.Letususearighthandedcoordinatesystemwherethe
directionispositivetowardsrightandthe directionispositive
upward.Followingnormalconvention,weassumethatpositive
forcesactinthepositivedirectionsofthe and axesandpositive
momentsactintheclockwisedirection.Wealsoassumethatthesign
conventionofthestressresultants( and )issuchthatpositive
bendingmomentscompressthematerialatthebottomofthebeam
(lower coordinates)andpositiveshearforcesrotatethebeamina
counterclockwisedirection.

Letusassumethattheclampedendisat andthefreeendisat
.Ifapointload isappliedtothefreeendinthepositive
direction,afreebodydiagramofthebeamgivesus

and

Therefore,fromtheexpressionsforthebendingmomentandshear
force,wehave AcantileverTimoshenkobeamunderapointloadatthefree
end

Integrationofthefirstequation,andapplicationoftheboundarycondition at ,leadsto

Thesecondequationcanthenbewrittenas

Integrationandapplicationoftheboundarycondition at gives

Theaxialstressisgivenby

DynamicTimoshenkobeam
InTimoshenkobeamtheorywithoutaxialeffects,thedisplacementsofthebeamareassumedtobegivenby

where arethecoordinatesofapointinthebeam, arethecomponentsofthedisplacementvectorinthethree

coordinatedirections, istheangleofrotationofthenormaltothemidsurfaceofthebeam,and isthedisplacementofthe
midsurfaceinthe direction.
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Startingfromtheaboveassumption,theTimoshenkobeamtheory,allowingforvibrations,maybedescribedwiththecoupled
linearpartialdifferentialequations:[3]

wherethedependentvariablesare ,thetranslationaldisplacementofthebeam,and ,theangulardisplacement.

NotethatunliketheEulerBernoullitheory,theangulardeflectionisanothervariableandnotapproximatedbytheslopeofthe
deflection.Also,

isthedensityofthebeammaterial(butnotthelineardensity).
isthecrosssectionarea.
istheelasticmodulus.
istheshearmodulus.
isthesecondmomentofarea.
,calledtheTimoshenkoshearcoefficient,dependsonthegeometry.Normally, forarectangularsection.
isadistributedload(forceperlength).

Theseparametersarenotnecessarilyconstants.

Foralinearelastic,isotropic,homogeneousbeamofconstantcrosssectionthesetwoequationscanbecombinedtogive[4][5]

DerivationofcombinedTimoshenkobeamequation
TheequationsgoverningthebendingofahomogeneousTimoshenkobeamofconstantcrosssectionare

Fromequation(1),assumingappropriatesmoothness,wehave

From(3),assumingappropriatesmoothness,

Differentiatingequation(2)gives

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Fromequations(4)and(6)

Fromequations(3)and(7)

Pluggingequation(5)into(8)gives

Rearrangetoget

Axialeffects

Ifthedisplacementsofthebeamaregivenby

where isanadditionaldisplacementinthe direction,thenthegoverningequationsofaTimoshenkobeamtaketheform

where and isanexternallyappliedaxialforce.Anyexternalaxialforceisbalancedbythestressresultant

where istheaxialstressandthethicknessofthebeamhasbeenassumedtobe .

Thecombinedbeamequationwithaxialforceeffectsincludedis

Damping

If,inadditiontoaxialforces,weassumeadampingforcethatisproportionaltothevelocitywiththeform

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thecoupledgoverningequationsforaTimoshenkobeamtaketheform

andthecombinedequationbecomes

AcaveattothisAnsatzdampingforce(resemblingviscosity)isthat,whereasviscosityleadstoafrequencydependentand
amplitudeindependentdampingrateofbeamoscillations,theempiricallymeasureddampingratesarefrequencyinsensitive,but
dependontheamplitudeofbeamdeflection.

Shearcoefficient
Determiningtheshearcoefficientisnotstraightforward(norarethedeterminedvalueswidelyaccepted,i.e.there'smorethan
oneanswer)generallyitmustsatisfy:

TheshearcoefficientdependsonthePoisson'sratio.Theattemptstoprovidepreciseexpressionsweremadebymanyscientists,
includingStephenTimoshenko,[6]RaymondD.Mindlin,[7]G.R.Cowper,[8]N.G.Stephen,[9]J.R.Hutchinson[10]etc.(seealso
thederivationoftheTimoshenkobeamtheoryasrefinedbeamtheorybasedonthevariationalasymptoticmethodinthebookby
KhanhC.Le[11]leadingtothedifferentshearcoefficientsinthestaticanddynamiccases).Inengineeringpractice,the
expressionsbyStephenTimoshenko[12]aresufficientinmostcases.In1975Kaneko[13]publishedanexcellentreviewofstudies
oftheshearcoefficient.

AccordingtoCowper(1966)forsolidrectangularcrosssection,

andforsolidcircularcrosssection,

Seealso
Sandwichtheory
Platetheory

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References

1.Timoshenko,S.P.,1921,Onthecorrectionfactorforshearofthedifferentialequationfortransversevibrationsofbarsofuniform
crosssection,PhilosophicalMagazine,p.744.
2.Timoshenko,S.P.,1922,Onthetransversevibrationsofbarsofuniformcrosssection,PhilosophicalMagazine,p.125.
3.Timoshenko'sBeamEquations(http://ccrma.stanford.edu/~bilbao/master/node163.html)
4.Thomson,W.T.,1981,TheoryofVibrationwithApplications,SecondEdition,PrenticeHall,NewJersey.
5.Rosinger,H.E.andRitchie,I.G.,1977,OnTimoshenko'scorrectionforshearinvibratingisotropicbeams,J.Phys.D:Appl.Phys.,
vol.10,pp.14611466.
6.Timoshenko,StephenP.,1932,SchwingungsproblemederTechnik,JuliusSpringer.
7.Mindlin,R.D.,Deresiewicz,H.,1953,Timoshenko'sShearCoefficientforFlexuralVibrationsofBeams,TechnicalReportNo.10,
ONRProjectNR064388,DepartmentofCivilEngineering,ColumbiaUniversity,NewYork,N.Y.
8.Cowper,G.R.,1966,TheShearCoefficientinTimoshenkosBeamTheory,J.Appl.Mech.,Vol.33,No.2,pp.335340.
9.Stephen,N.G.,1980.Timoshenkosshearcoefficientfromabeamsubjectedtogravityloading,JournalofAppliedMechanics,Vol.47,
No.1,pp.121127.
10.Hutchinson,J.R.,1981,Transversevibrationofbeams,exactversusapproximatesolutions,JournalofAppliedMechanics,Vol.48,No.
12,pp.923928.
11.Le,KhanhC.,1999,Vibrationsofshellsandrods,Springer.
12.StephenTimoshenko,JamesM.Gere.MechanicsofMaterials.VanNostrandReinholdCo.,1972.Pages207.
13.Kaneko,T.,1975,OnTimoshenkoscorrectionforshearinvibratingbeams,J.Phys.D:Appl.Phys.,Vol.8,pp.19271936.

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