Euler Analysis PDF

MIT - 16.003/16.
004 Spring, 2009
Unit M4.7
The Column and Buckling
Readings:
CDL 9.1 - 9.4
CDL 9.5, 9.6
16.003/004 -- Unified Engineering

Department of Aeronautics and Astronautics
Massachusetts Institute of Technology
Paul A. Lagace 2009

MIT - 16.003/16.004 Spring, 2009
LEARNING OBJECTIVES FOR UNIT M4.7

Through participation in the lectures, recitations, and work
associated with Unit M4.7, it is intended that you will be
able to
.explain the concepts of stablity, instability, and
bifurcation, and the issues associated with these
.describe the key aspects composing the model of a
column and its potential buckling, and identify the
associated limitations
.apply the basic equations of elasticity to derive the
solution for the general case
.identify the parameters that characterize column
behavior and describe their role
Paul A. Lagace 2009 Unit M4-7 p. 2
MIT - 16.003/16.004 Spring, 2009
We are now going to consider the behavior of a rod under

compressive loads. Such a structural member is called a
column. However, we must first become familiar with a
particular phenomenon in structural behavior, the..
Concept of Structural Stability/Instability
Key item is transition, with increasing load, from a stable mode of

deformation (stable equilibrium for all possible [small] displacements/
deformations, a restoring force arises) to an unstable mode of deformation
resulting in collapse (loss of load-carrying capability)
Thus far we have looked at structural systems in which the stiffness

and loading are separate..

MIT - 16.003/16.004 Spring, 2009
System Stiffness Deflection Load

du
Rod EA = P
dx1
Beam EI d2 w = M
dx 2
Shaft GJ d = T
dx
General k x = F
There are, however, systems in which the effective structural stiffness
depends on the loading
Define: effective structural stiffness (k) is a linear change in

restoring force with deflection
dF
that is: : = k
dx
MIT - 16.003/16.004 Spring, 2009
Examples
P P
String (stiffening)
frequency changes with load and frequency is a
function of stiffness
Ruler/pointer (destiffening)
x3
u1
x1
P u3 P

easier to push in x1, the more it deflects in u3
--> From these concepts we can define a static (versus dynamic

such as flutter -- window blinds) instability as:
A system becomes unstable when a negative stiffness
overcomes the natural stiffness of the structural system
that is there is a
loss of natural stiffness due to applied loads
MIT - 16.003/16.004 Spring, 2009
--> Physically, the more you push it, it gives even more and can build
on itself!
Lets make a simple model to consider such phenomenon.
--> Consider a rigid rod with torsional spring with a load along the rod and
perpendicular to the rod
Figure M4.7-1 Rigid rod attached to wall with torsional spring
P2

P1
x2
x1
L
spring stiffness = kT
Restrict to small deflections (angles) such that sin

MIT - 16.003/16.004 Spring, 2009
--> Draw Free Body Diagram

Figure M4.7-2 Free Body Diagram of rigid rod attached to wall via
torsional spring
P2
x2
P1
u 1 = L
~ HA
VA x1
~
MA
~
Use moment equilibrium:
M(origin) = 0 + P1 L P2 Lsin + kT = 0
= - MA
MIT - 16.003/16.004 Spring, 2009
kT P2 L
get: = P1
L
effective torsional stiffness
i.e., k eff = P
Note: load affects stiffness: as P2 increases, keff decreases
*Important value: if P2 L = kT k ett = 0
keff = 0
Point of static instability or buckling
kT
P2 =
L
Note terminology: eigenvalue = value of load for static
instability
eigenvector = displacement shape/mode
of structure (we will revisit these terms)
Also look at P2 acting alone and perturb the system (give it a
deflection; in this case )
stable: system returns to its condition
unstable: system moves away from condition
MIT - 16.003/16.004 Spring, 2009
Figure M4.7-3 Rod with torsional spring perturbed from stable point
P2

L x2
x1
kT
Sum moments to see direction of motion

M + P2 L sin + kT
(proportional to change in )
(kT P2 L)
Note: + is
is CCW
CCW (restoring)
(restoring)
+ is
is CW
CW (unstable)
(unstable)
MIT - 16.003/16.004 Spring, 2009
So: if k T > P2L stable and also get = 0

if P2 L kT unstable and also get =
k
critical point: P2 = T
L
spring cannot provide a sufficient
restoring force
--> so for P2 acting alone:
Figure M4.7-4 Response of rod with torsional spring to compressive
load along rod
P2 P2
goes to - C goes to +
D kT/L
B D
A

MIT - 16.003/16.004 Spring, 2009
ABC - Equilibrium path, but not stable

ABD - Equilibrium path, deflection grows unbounded
(bifurcation) (B is bifurcation point, for simple
model, 2 possible equilibrium paths)
Note: If P2 is negative (i.e., upward), stiffness
increases
--> contrast to deflection for P1 alone
Figure M4.7-5 Response of rod with torsional spring to load perpendicular
to rod
P1
P1

kT / L
--> Now put on some given P1 and then add P2

MIT - 16.003/16.004 Spring, 2009
Figure M4.7-6 Response of rod with torsional spring to loads along and
perpendicular to rod
P2 P2
P2 = kT/L
asymptotes (P1 = 0)
P1
actual behavior
P1 increasing
Angular Deflection,
initial deflection
due to P1 : Note 1: If P2 and P1 removed prior to instability,
= P1/(kT/L) spring brings bar back to original
configuration (as structural stiffnesses do
for various configurations)
Note 2: Bifurcation is a mathematical concept. The
manifestations in actual systems are altered due to
physical realities/imperfections. Sometimes these
differences can be very important.
MIT - 16.003/16.004 Spring, 2009
Well touch on these later, but lets first develop the basic model and thus
look at the.
Definition/Model of a Column
(Note: we include stiffness of continuous
structure here. Will need to think about
what is relevant structural stiffness here.)
a) Geometry - The basic geometry does not change from a rod/beam
Figure M4.7-7 Basic geometry of column
GENERAL SYMMETRIC
CROSS-SECTION
x3
h x3
x1 h
P P x2
L
b
long and slender: L >> b, h
constant cross-section (assumption is EI = constant)
MIT - 16.003/16.004 Spring, 2009
b) Loading - Unlike a rod where the load is tensile, or compressive

here the load is only compressive but it is still along the
long direction (x1 - axis)
c) Deflection - Here there is a considerable difference. Initially, it is

the same as a rod in that deflection occurs along x1
(u1 -- shortening for compressive loads)
But we consider whether buckling (instability) can occur. In

this case, we also have deflection transverse to the long axis,
u3. This u3 is governed by bending relations:
d 2 u3 M
= (u3 = w)
dx1 2 EI

MIT - 16.003/16.004 Spring, 2009
Figure M4.7-8 Representation of undeflected and deflected geometries of

column
x3
A B
undeflected:
x1 P
L
x3
u3(x1)
HA = P x1
deflected:
~
Free Body Diagram P

~ VA = 0 ~V =0
B
L
We again take a cut in the structure and use stress

resultants:

MIT - 16.003/16.004 Spring, 2009
Figure M4.7-9 Representation of cut column with resultant loads

M(x1)
x3
~
F(x1)
A
u (x )
~
P x1
3 1 S(x1)
Now use equilibrium:
F = 0 + P + F ( x1 ) = 0 F ( x1 ) = P
1
P + F ( x1 ) = 0 F ( x1 ) = P
F 3 = 0 + S( x1 ) = 0
M A = 0 + M( x1 ) F( x1 ) u3 ( x1 ) = 0
M( x1 ) + Pu3 ( x1 ) = 0

MIT - 16.003/16.004 Spring, 2009
Use the relationship between M and u3 to get:

2 governing differential
d u3 equation for Euler
EI 2 + Pu3 = 0 buckling (2nd order
dx1
differential equation)
always stabilizing destabilizing for compressive

(restoring)--basic beam: load (u3 > 0 larger force to
basic bending stiffness deflect); stabilizing for tensile
of structure resists load (F = P) (u3 > 0
deflection (pushes back) restoring force to get u3 = 0)
Note: + P is compressive
We now need to solve this equation and thus we look at the..

MIT - 16.003/16.004 Spring, 2009
(Solution for) Euler Buckling

First the
--> Basic Solution
(Note: may have seen similar governing for
differential equation for harmonic notation:
d2 w
2 + kw = 0 )
dx
From Differential Equations (18.03), can recognize this as an
eigenvalue problem. Thus use:
u3 = ex1
Write the governing equation as:
d 2 u3 P
2 + u3 = 0
dx1 EI

MIT - 16.003/16.004 Spring, 2009
Note: will often see form

(differentiate twice for general B.C.s)
d 2 d 2u3 d2
2 EI 2 + 2 (Pu3 ) = 0
dx1 dx1 dx1
This is more general but reduces to our current form if EI
and P do not vary in x1
d 2 u3 P
Returning to: 2 + u3 = 0
dx1 EI
P x1
We end up with: 2e x1 + e = 0
EI
2 P
=
EI
P
= i (also 0, 0 for 4th order Ordinary
EI Differential Equation [O.D.E.])
where: i = 1
MIT - 16.003/16.004 Spring, 2009
We end up with the following general homogeneous solution:

P P
u3 = A sin x1 + B cos x1 + C + Dx1
EI EI
comes from 4th order
O.D.E. considerations
We get the constants A, B, C, D by using the Boundary Conditions
(4 constants from the 4th under O.D.E.
need 2 B.C.s at each end)
For the simply-supported case we are considering:
u3 = 0
u3 = 0
@ x1 = 0 d 22 u3 d 22 u3
@ x1 = 0 M = EI d u23 = 0 d u23 = 0
M = EI dx12 = 0 dx12 = 0
dx1 dx1
u3 = 0
u3 = 0
@ x1 = L d 22 u3 d 22u3
@ x1 = L M = EI d u23 = 0 d u23 = 0
M = EI dx12 = 0 dx12 = 0
Paul A. Lagace 2009 dx1 dx1 Unit M4-7 p. 20
MIT - 16.003/16.004 Spring, 2009
d 2 u3 P P P P
Note: 2 = A sin x1 B cos x1
dx1 EI EI EI EI
So using the B.C.s:
u3 ( x1 = 0 ) = 0 B + C = 0

d 2 u3 B = 0
2 ( 1
x = 0) = 0 B = 0 C= 0
dx1
P
u3 ( x1 = L) = 0 A sin L + DL = 0
EI
2
D = 0
d u3 P
2 ( 1
x = L) = 0 A sin L = 0
dx1 EI
So we are left with:
P
A sin L = 0
EI
MIT - 16.003/16.004 Spring, 2009
This occurs if:

A = 0 (trivial solution, u3 = 0)
P
sin L = 0
EI
P
L = n
EI
integer
Thus, buckling occurs in a simply-supported column if:
n2 2 EI eigenvalues
P =
L2
associated with each load (eigenvalue) is a shape
(eigenmode)
n x
u3 = A sin eigenmodes
L
MIT - 16.003/16.004 Spring, 2009
Note: A is still undefined. This is an

instability (u3 ), so any value
satisfies the equations.
[Recall, bifurcation is a mathematical concept]
Consider the buckling loads and associated mode shape (n possible)
Figure M4.7-10 Potential buckling loads and modes for one-dimensional

column
P
P3 = 92EI/L2 3rd mode
n=3
P2 = 42EI/L2 n=2 2nd mode
P1 = 2EI/L2 n=1
1st mode
u3

MIT - 16.003/16.004 Spring, 2009
The lowest value is the one where buckling occurs:
2 EI Euler (critical) buckling

Pcr = 2 load (~1750)
L
for simply-supported column
(Note: The higher critical loads can be reached

if the column is artificially restrained at
lower bifurcation loads)
There are also other configurations, we need to consider.
--> Other Boundary Conditions
There are 3 (/4) allowable Boundary Conditions on u3 (need two on

each end) which are homogeneous (B.C.s. = 0)
MIT - 16.003/16.004 Spring, 2009
--> simply-supported
u3 = 0
~~
(pinned)

d 2 u3 d 2 u3
M = EI 2
= 0 2
= 0
dx1 dx1
~~
~~
(roller) =
--> fixed end u3 = 0

~~
(clamped) du3
= 0
dx1
--> free end d 2 u3 d 2u3

M = EI 2
= 0 2
= 0
dx1 dx1
~~

dM d d 2 u3 d 3u3
S = 0 = = EI = 0
dx1 dx1 dx12 dx1 3

MIT - 16.003/16.004 Spring, 2009
--> sliding
du3
= 0
~~ dx1

d 3 u3
S = 0 3
= 0
dx1
There are combinations of these which are inhomogeneous Boundary

Conditions.
Examples
--> free end with an axial load
M = 0

du3 Po du3
~~
dx1 S S = P0
dx1

MIT - 16.003/16.004 Spring, 2009
--> springs u3
~~
(vertical)
k
S
M = 0

f S = k f u3
u3 = 0
(torsional)
~~
du3
kT M = kT
dx1
Need a general solution procedure to find Pcr
Do the same as in the basic case.
x
same assumed solution u3 = e 1
yields basic general homogeneous solution
P P
EI EI
use B.C.s (two at each end) to get four equations in four
unknowns (A, B, C, D)
solve this set of equations to find non-trivial value(s) of P
MIT - 16.003/16.004 Spring, 2009
. . . . A

. . . . B
= 0 homogeneous
. . . . C equation
.
. . . D
4 x 4 matrix
set determinant of matrix to zero ( = 0) and find roots
(solve resulting equation)
roots = eigenvalues = buckling loads
also get associated
eigenmodes = buckling shapes
--> will find that for homogeneous case, the critical buckling load has
the generic form:
c 2 EI
Pcr = 2
L
where: c = coefficient of edge fixity
depends on B.C.s
MIT - 16.003/16.004 Spring, 2009
For aircraft and structures, often use c 2 for fixed ends.
Why?
simply-supported
is too conservative c=1
cannot truly get

clamped ends c=4
actual supports are

basically torsional
1<c<4
springs, empirically (depends on kT)
c = 2 works well and
remains conservative
MIT - 16.003/16.004 Spring, 2009
Weve considered the perfect case of bifurcation where we get the

instability in our mathematical model. Recall the opening example where
that wasnt quite the case. Lets look at some realities here. First
consider.
Effects of Initial Imperfections
We can think about two types

Type 1 -- initial deflection in the column (due to
manufacturing, etc.)
Figure M4.7-11 Representation of initial imperfection in column

x3
u3o(x1)
x1 P
L

MIT - 16.003/16.004 Spring, 2009
Type 2 -- load not applied along centerline of column

+
Define: e = eccentricity ( downwards)
Figure M4.7-12 Representation of load applied off-line (eccentrically)

x3
P
e
x1
L
(a beam-column)
moment Pe plus axial load P
The two cases are basically handled the same way, but lets
consider Type 2 to illustrate

MIT - 16.003/16.004 Spring, 2009
The governing equation is still the same:

d 2 u3 P
2 + u3 = 0
dx1 EI
Take a cut and equilibrium gives the same equations except
there is an additional moment due to the eccentricity at the
support: M = Pe
Use the same basic solution:
P P
EI EI
and take care of this moment in the Boundary Conditions:
Here:
u3 = 0 B + C = 0

@ x1 = 0 d 2 u3
M = EI 2
= Pe PB = Pe
dx1

MIT - 16.003/16.004 Spring, 2009
= 0 B + C = 0
B = e
d 2 u3 C = e
= EI = Pe PB = Pe
dx12 u3 = 0 ....

@ x1 = L d 2 u3
M = EI 2
= Pe ....
dx1
Doing the algebra find:
D = 0
P
e 1 cos L
EI
A = actual value for A!
P
sin L
EI

MIT - 16.003/16.004 Spring, 2009
Putting this all together:
P
1 cos L
EI P P
u3 = e sin x1 + cos x1 1
P EI EI
sin L
EI
Notes: Now get finite values of u3 for values

of P.
2 EI
As P Pcr = 2 , still find
L
u3 becomes unbounded (u3 )

MIT - 16.003/16.004 Spring, 2009
Figure M4.7-13 Response of column to eccentric load
Pcr
increasing e/L
u3
Nondimensionalize by dividing through by L
Bifurcation is asymptote
u3 approaches bifurcation as P --> Pcr
As e/L (imperfection) increases, behavior is less like perfect
case (bifurcation)
The other deviation from the model deals with looking at the general.
MIT - 16.003/16.004 Spring, 2009
Failure of Columns
Clearly, in the perfect case, a column will fail if it buckles

u3 (not very useful)
u3 M material fails!
Lets consider what else could happen depending on geometry

--> For long, slender case
c 2 EI
Pcr =
L2
with:
P
1 1 =
A
c 2 EI
cr = for buckling failure
L2 A
MIT - 16.003/16.004 Spring, 2009
--> For short columns

if no buckling occurs, column fails when stress reaches material
ultimate
P
(cu = ultimate compressive stress)
P
= = cu L
A
failure by squashing
--> Behavior of columns of various geometries characterized

via:
L
effective length: L = (depends on Boundary Conditions)
c
I
radius of gyration: = (ratio of moment of inertia to area)
A

MIT - 16.003/16.004 Spring, 2009
Look at equation for cr, can write as:

2E
cr = 2
( L / )
Can capture behavior of columns of various geometries on one plot
L
using: = slenderness ratio

Figure M4.7-14 Representation of general behavior for columns of
various slenderness ratios
2E
Euler curve: cr = 2
( L / )
cu
actual behavior
transition
squashing
cy
where:
cy = compressive
buckling yield stress
(L'/)
less slender more slender
MIT - 16.003/16.004 Spring, 2009
Notes: L
for large, column fails by buckling

L
for small, column squashes

in transition region, plastic deformation (yielding) is
taking place
cy < < cu
Lets look at all this via an
Example: a wood pointer-- assume it is pinned and about 4
feet long
Figure M4.7-15 Geometry of pinned wood pointer
CROSS-SECTION
x3
x3
x2
x1 P 0.25"
48"
0.25"
MIT - 16.003/16.004 Spring, 2009
Material properties:
(Basswood)
E = 1.4 x 106 psi
cu 4800 psi
--> Find maximum load P
Step 1: Find pertinent cross-section properties:

A = b x h = (0.25 in) x (0.25 in) = 0.0625 in2
I = bh3/12 = (0.25 in)(0.25 in)3/12 = 3.25 x 10-4 in4
Step 2: Check for buckling

use:
c 2 EI
Pcr =
L2
simply-supported c = 1

MIT - 16.003/16.004 Spring, 2009
2 (1.4 106 lbs / in2 )(3.26 10 4 in 4 )

So: Pcr =
( 48 in )2
Pcr = 1.96 lbs
Step 3: Check to see if it buckles or squashes

Pcr 1.96 lbs
cr = = 2 = 31.4 psi
A 0.0625 in
So: cr < cu BUCKLING!
--> Variations
1. What is transition length?

Determine where squashing becomes a concern
(approximately)
cr = cu
MIT - 16.003/16.004 Spring, 2009
--> work backwards

Pcr
cr = = 4800 psi
A
Pcr = (4800 lbs / in 2 )( 0.0625 in 2 )
Pcr = 300 lbs
--> Next use:
2 EI
Pcr =
L2
where L is the variable, gives:
2 2 EI
L =
Pcr
2 (1.4 1046 lbs 4 / in )(
2
(1.4 10
2

6
lbs
L /=in )(3.26 10 in )
2
L = 2 (1.4 10 6 lbs / in 2
) ( 3.26 10 4
in300
4
) lbs
L = 300 lbs
2 L 300 = lbs15.01 in 2
L = 15.01 in 2
L = 3.87 in
LL== 3.87
15.01
in in
Paul A. Lagace 2009
L = 3.87 in Unit M4-7 p. 42
MIT - 16.003/16.004 Spring, 2009
Finally.
If L > 3.87 in buckling
If L < 3.87 in squashing
Note transition around 3.87 in due to yielding
(basswood relatively brittle)
Figure M4.7-16 Behavior of basswood pointer subjected to

compressive load
P
[lbs]
transition
300
ing
sh
ua
buckling
sq
3.87 L [in]

MIT - 16.003/16.004 Spring, 2009
2. What if rectangular cross-section?

x3
0.5" x2
0.25"
Does it still buckle in x3 - direction?
Consider I about x2 - axis and x3 - axis
x2
--> x2 - axis h
b
h = 0.5 in, b = 0.25 in
MIT - 16.003/16.004 Spring, 2009
bh3 (0.25 in )(0.50 in)3

I2 = = = 0.0026 in4
12 12 = 2.60 x 103 in4
x3
--> x3 - axis b
h = 0.25 in, b = 0.5 in

bh3 (0.50 in)(0.25 in)3
I3 = = = 0.00065 in4
12 12 = 0.65 x 103 in4
then use:
2 EI
Pcr = 2
L
MIT - 16.003/16.004 Spring, 2009
and find:
I3 < I2
Pcr smaller for buckling about x3 - axis.
For buckling, h is the shorter/smaller cross-

Important
section dimension since buckling occurs
about axis with smallest I !
--> Final note on buckling
possibility of occurrence in any structure where there is a

compressive load (thinner structures most susceptible)

MIT - 16.003/16.004 Spring, 2009
Unit M4.7 (New) Nomenclature
c -- coeffcient of edge fixity

e -- eccentricity (due to loading off line or initial imperfection)
I2 -- moment of inertia about x2 - axis
I3 -- moment of inertia about x3 - axis
keff -- effective stiffness
kf -- axial stiffness
kT -- torsional stiffness
L -- effective length (in buckling considerations)
L'/ -- slenderness ratio
P -- compressive load along column
Pcr -- critical (buckling) load (for instability)
-- radius of gyration (square root of ratios of moment of inertia to area)
cr -- critical buckling stress
cu -- compressive ultimate stress
cy -- compressive yield stress

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MIT - 16.003/16.

004 Spring, 2009

16.003/004 -- Unified Engineering

Paul A. Lagace 2009

LEARNING OBJECTIVES FOR UNIT M4.7

We are now going to consider the behavior of a rod under

Concept of Structural Stability/Instability

Key item is transition, with increasing load, from a stable mode of

Thus far we have looked at structural systems in which the stiffness

Paul A. Lagace 2009 Unit M4-7 p. 3

System Stiffness Deflection Load

Define: effective structural stiffness (k) is a linear change in

--> From these concepts we can define a static (versus dynamic

Restrict to small deflections (angles) such that sin

Paul A. Lagace 2009 Unit M4-7 p. 6

--> Draw Free Body Diagram

Use moment equilibrium:

Sum moments to see direction of motion

So: if k T > P2L stable and also get = 0

ABC - Equilibrium path, but not stable

--> Now put on some given P1 and then add P2

b) Loading - Unlike a rod where the load is tensile, or compressive

c) Deflection - Here there is a considerable difference. Initially, it is

But we consider whether buckling (instability) can occur. In

Paul A. Lagace 2009 Unit M4-7 p. 14

Figure M4.7-8 Representation of undeflected and deflected geometries of

Free Body Diagram P

We again take a cut in the structure and use stress

Paul A. Lagace 2009 Unit M4-7 p. 15

Figure M4.7-9 Representation of cut column with resultant loads

Now use equilibrium:

Paul A. Lagace 2009 Unit M4-7 p. 16

Use the relationship between M and u3 to get:

always stabilizing destabilizing for compressive

We now need to solve this equation and thus we look at the..

Paul A. Lagace 2009 Unit M4-7 p. 17

(Solution for) Euler Buckling

Write the governing equation as:

Paul A. Lagace 2009 Unit M4-7 p. 18

Note: will often see form

We end up with the following general homogeneous solution:

This occurs if:

Note: A is still undefined. This is an

Consider the buckling loads and associated mode shape (n possible)

Figure M4.7-10 Potential buckling loads and modes for one-dimensional

P2 = 42EI/L2 n=2 2nd mode

Paul A. Lagace 2009 Unit M4-7 p. 23

The lowest value is the one where buckling occurs:

2 EI Euler (critical) buckling

for simply-supported column

(Note: The higher critical loads can be reached

There are also other configurations, we need to consider.

--> Other Boundary Conditions

There are 3 (/4) allowable Boundary Conditions on u3 (need two on

--> fixed end u3 = 0

--> free end d 2 u3 d 2u3

Paul A. Lagace 2009 Unit M4-7 p. 25

There are combinations of these which are inhomogeneous Boundary

Paul A. Lagace 2009 Unit M4-7 p. 26

For aircraft and structures, often use c 2 for fixed ends.

cannot truly get

actual supports are

Weve considered the perfect case of bifurcation where we get the