Stiffness Matrix Formation

} Consider an “element”, which is a section of a beam with a

“node” at each end.
} If any external forces or moments are applied to the beam,
there will be shear forces and moments at each end of the
element.
} Sign convention – deflection is positive downward, rotation
(slope) is positive clockwise.
L
Matrix Methods M1 M2
(Notes Only) 1 2
x
MAE 316 – Strength of Mechanical Components
NC State University Department of Mechanical and Aerospace Engineering V1 V2

y (+v)
Note: For the element, V and M are internal shear and bending moment.
1 Matrix Methods 2 Matrix Methods

Stiffness Matrix Formation Stiffness Matrix Formation

} Integrate the load-deflection differential equation to find } Express slope and deflection at each node in terms of
expressions for shear force, bending moment, slope, and integration constants c1, c2, c3, and c4.
deflection.
d 4v c4
EI =0 v1 = v(0) =
dx 4 EI

d 3v dv c
EI = c1 = -V q1 = (0) = 3
dx 3 dx EI
d 2v 1 é c1 L3 c2 L2 ù
EI = c1 x + c2 = - M v2 = v ( L ) = ê + + c3 L + c4 ú
dx 2 EI ë 6 2 û
dv x2 dv 1 é c1 L2 ù
EI = c1 + c2 x + c3 = EIq q2 = ( L) = ê + c2 L + c3 ú
dx 2 dx EI ë 2 û
x3 x2
EIv = c1 + c2 + c3 x + c4 Note: ν and θ (deflection and slope) are the same in the element as for the
6 2 whole beam.
3 Matrix Methods 4 Matrix Methods
Stiffness Matrix Formation Stiffness Matrix Formation
} Written in matrix form } Solve for integration constants.

é 1 ù
ê 0 0 0
EI ú é 12 EI 6 EI - 12 EI 6 EI ù
ê úæ c1 ö æ v1 ö æ c1 ö ê 3 æv ö
ê 0 0
1
0 úç ÷ ç ÷ ç ÷ ê L L2 L3 L2 úç 1 ÷
ú
ê 3 EI úç c2 ÷ = ç q1 ÷ ç c2 ÷ ê - 6 EI - 4 EI 6 EI - 2 EI ç q1 ÷
ú
ê L L2 L 1 úç c3 ÷ ç v2 ÷ ç c ÷ = ê L2 L L2 L ú ç v2 ÷
ê 6 EI ç ÷ ç ÷
2 EI EI EI úç c ÷ çq ÷ ç 3÷ ê 0
çc ÷ EI 0 0 úçç ÷÷
ê L2 úè 4 ø è 2 ø è 4ø ê èq 2 ø
ê L 1
0 ú ë EI 0 0 0 úû
ë 2 EI EI EI û

5 Matrix Methods 6 Matrix Methods

Stiffness Matrix Formation Stiffness Matrix Formation

} Express shear forces and bending moments in terms of the } This can also be expressed in matrix form.
constants.
V (0) = -V1 = -c1 é 12 6 L - 12 6 L ùæ v1 ö æ V1 ö
12 EI 6 EI 12 EI 6 EI ê 6 L 4 L2 - 6 L 2 L2 úç q ÷ ç M ÷
V1 = 3 v1 + 2 q1 - 3 v2 + 2 q 2
L L L L
EI ê úç 1 ÷ = ç 1 ÷
M (0) = M 1 = -c2 L ê- 12 - 6 L 12 - 6 L úç v2 ÷ ç V2 ÷
3

ê ç ÷ ç
2 úç
÷
÷ ç ÷
ë 6 L 2 L - 6 L 4 L ûèq 2 ø è M 2 ø
6 EI 4 EI 6 EI 2 EI 2
M1 = v1 + q1 - 2 v2 + q2
L2 L L L
V ( L) = V2 = -c1 } Beam w/ one element: matrix equation can be used alone to
- 12 EI 6 EI 12 EI 6 EI solve for deflections, slopes and reactions for the beam.
V2 = v1 - 2 q1 + 3 v2 - 2 q 2
L3 L L L
} Beam w/ multiple elements: combine matrix equations for each
M ( L) = - M 2 = -c1 L - c2
element to solve for deflections, slopes and reactions for the
6 EI 2 EI 6 EI 4 EI
M2 = v1 + q1 - 2 v2 + q2 beam (will cover later).
L2 L L L
7 Matrix Methods 8 Matrix Methods
Examples Examples
} Cantilever beam with tip load } Cantilever beam with tip moment

Mo
1 2
1 2
L
L

9 Matrix Methods 10 Matrix Methods

Examples Multiple Beam Elements

} Cantilever beam with roller support and tip moment } Matrix methods can also be used for beams with two
(statically indeterminate) or more elements.
} We will develop a set of equations for the simply
supported beam shown below.
2
Mo
1 P
Element 1 Element 2
1 2 3
L

L1 L2

11 Matrix Methods 12 Matrix Methods

 Multiple Beam Elements Multiple Beam Elements
} The internal shear and bending moment equations for each } Now, let’s examine node 2 more closely by drawing a free body diagram of
element can be written as follows. an infinitesimal section at node 2.
P

é 12 6 L1 - 12 6 L1 ùæ v11 ö æ V11 ö M12 2 M21

ê 6L ç ÷ ç ÷
2 L1 úúçq11 ÷ ç M 11 ÷
2 2
EI ê 1 4 L1 - 6 L1 Element 1
= M12
- 6 L1 úç v12 ÷ ç V21 ÷
V12 V21 M21 V2
L1 ê- 12 - 6 L1
3 V12
12 1

ê 2 ú
ç ÷ ç ÷
4 L1 ûçèq 21 ÷ø çè M 21 ÷ø Δx
2
ë 6 L1 2 L1 - 6 L1 } As Δx→0, the following equilibrium conditions apply.

é 12 6 L2 - 12 6 L2 ùæ v12 ö æ V12 ö V21 + V12 = P

ê 6L ç ÷ ç ÷
2 L2 úúçq12 ÷ ç M 12 ÷ M 21 + M 12 = 0
2 2
Element 2 EI ê 2 4 L2 - 6 L2
=
L2 ê- 12 - 6 L2
3
12 - 6 L2 úç v22 ÷ ç V22 ÷ } In other words, the sum of the internal shear forces and bending moments
ê 2 ú
ç ÷ ç ÷ at each node are equal to the external forces and moments at that node.
4 L2 ûçèq 22 ÷ø çè M 22 ÷ø
2
ë 6 L2 2 L2 - 6 L2
13 Matrix Methods 14 Matrix Methods

Multiple Beam Elements Multiple Beam Elements

} The two equilibrium equations can be written in matrix } Combining the equilibrium equations with the element equations, we get:
form in terms of displacements and slopes. æ 12 EI 6 EI 12 EI 6 EI ö
ç 3 2
- 3 2
0 0 ÷
ç L1 L1 L1 L1 ÷
ç 6 EI 4 EI 6 EI 2 EI ÷
ç 2
- 2 0 0 ÷æ v ö æ V 1 ö
ç L1 L1 L1 L1 ÷ç ÷ ç 1 ÷
1 1
æ v1 ö ç - EI
12 6 EI 12 EI 12 EI 6 EI 6 EI 12 EI 6 EI ÷ç q1 ÷ ç M 1 ÷
ç ÷ - 2 + - 2 + 2 - ç ÷ ç ÷
ç L3 L2 ÷ç v2 ÷ ç P ÷
6 EI öç q1 ÷
3 3 3 2
æ 12 EI 6 EI 12 EI 12 EI 6 EI 6 EI 12 EI L1 L1 L2 L1 L2 L2
ç 1
÷ =
ç- - 2 + - 2 + 2 - 2 ÷ç ÷ ç 6 EI2 2 EI 6 EI 6 EI 4 EI 4 EI 6 EI 2 EI ÷çq 2 ÷ ç 0 ÷
æ V21 + V12 ö ç L13 L1 L1
3
L2
3
L1 L2 L2
3
L2 ÷ç v2 ÷ æ P ö - 2 + 2 + - 2
ç 1 ÷ = =ç ÷ ç L1 L1 L1 L2 L1 L2 L2 L2 ÷ç v3 ÷ ç V 2 ÷
ç M + M 2 ÷ ç 6 EI
è 2 1 ø
2 EI 6 EI 6 EI 4 EI 4 EI 6 EI 2 EI ÷çq 2 ÷ çè 0 ÷ø ç 12 EI 6 EI 12 EI
ç ÷ ç 2 ÷
6 EI ÷ç ÷ ç 2 ÷
ç - 2 + 2 + - 2 - 2 ÷è q 3 ø è M 2 ø
L2 ÷øç v ÷
2 ç 0 0 - - 2
è L1 L1 L1 L2 L1 L2 L2 ç L2
3
L2 L2
3
L2 ÷
ç 3÷ ç 6 EI 2 EI 6 EI 4 EI ÷
çq ÷ ç 0 0 - 2
è 3ø è L2
2
L2 L2 L2 ÷ø
} Repeat: When the equations are combined for the entire beam, the
summed internal shear and moments equal the external forces.

15 Matrix Methods 16 Matrix Methods

Multiple Beam Elements Multiple Beam Elements
} Finally, apply boundary conditions and external moments } This assembly procedure can be carried out very
} v1=v3=0 (cancel out rows & columns corresponding to v1 and v3) systematically on a computer.
} M11=M22=0 (set equal to zero in force and moment vector)
} End up with the following system of equations. } Define the following (e represents the element number)
æ 4 EI 6 EI 2 EI ö
ç L - 0 ÷
L12 L1 æ V1 ö æ v1 ö æ 12 6 L - 12 6 L ö
ç 1 ÷ ç ÷ ç ÷ ç ÷
6 EI ÷ æ q1 ö æ 0 ö çq ÷ EI ç 6 L 4 L - 6 L 2 L ÷
2 2
ç 6 EI 12 EI 12 EI 6 EI 6 EI ç M1 ÷
ç- L 2 + - + 2 f =ç d =ç 1÷ k = 3ç
e e e

ç 1 L13 L23 L12 L2 L2 2 ÷÷ çç v2 ÷÷ çç P ÷÷ V ÷ v L - 12 - 6 L 12 - 6 L ÷

= ç 2 ÷ ç 2÷ ç ÷
ç 2 EI 6 EI 6 EI 4 EI 4 EI 2 EI ÷ ç q 2 ÷ ç 0 ÷ çM ÷ çq ÷ ç 6 L 2 L2 - 6 L 4 L2 ÷
ç - + 2 + ÷ç ÷ ç ÷ è 2ø è 2ø è ø
ç L1 L12 L2 L1 L2 L2 ÷ è q3 ø è 0 ø
ç 6 EI 2 EI 4 EI ÷
ç 0 ÷
è L2 2 L2 L2 ø

17 Matrix Methods 18 Matrix Methods

Multiple Beam Elements Multiple Beam Elements

} For the simply supported beam discussed before, we can now } Now apply boundary conditions, external forces, and
formulate the unconstrained system equations. moments.
v1 = v3 = 0
æ k11
1 1
k12 1
k13 1
k14 0 0 öæ v1 ö æ R1 ö
ç 1 ÷ç ÷ ç ÷ T1 = T2 = T3 = 0
ç k 21 k 1
k 1
k 1
0 0 ÷ç q1 ÷ ç T1 ÷
ç k1
22 23 24
V2 = P
ç 31 k 1 1
k33 + k112 1
k34 + k122 k132 k142 ÷÷ç v2 ÷ ç R2 ÷
32 ç ÷=ç ÷
ç k 41
1
k 1
42
1
k 43 + k 21
2 1
k 44 + k 22
2 2
k 23 2
k 24 ÷çq 2 ÷ ç T2 ÷ æ k11
1 1
k12 1
k13 1
k14 0 0 öæ 0 ö æ R1 ö
ç ÷ç ÷ ç ÷ ç 1 ÷ç ÷ ç ÷
2 2 2
k342 ÷ç v3 ÷ ç R3 ÷ ç k 21 1 1 1
0 ÷ç q1 ÷ ç 0 ÷
ç 0 0 k k k k 22 k 23 k 24 0
31 32 33
ç k1 k142 ÷÷ç v2 ÷ ç P ÷
ç 0 2 ÷ç ÷ ç ÷ + k112 + k122
1 1 1
k k33 k34 k132
øè q 3 ø è T3 ø
2 2 2 ç 31
è 0 k 41 k 42 k 43 k 44 32 ç ÷=ç ÷
ç k 41
1
k 1
42
1
k 43 + k 21
2 1
k 44 + k 22
2 2
k 23 2
k 24 ÷çq 2 ÷ ç 0 ÷
ç 2 2 ÷ç ÷ ç ÷
Where: v1, θ1, R1, T1 = displacement, slope, force and moment at node 1 ç 0 0 k 31 k 32 k332 k342 ÷ç 0 ÷ ç R3 ÷
v2, θ2, R2, T2 = displacement, slope, force and moment at node 2 ç 0 2 ÷ç ÷ ç ÷
øè q 3 ø è 0 ø
2 2 2
è 0 k 41 k 42 k 43 k 44
v3, θ3, R3, T3 = displacement, slope, force and moment at node 3
19 Matrix Methods 20 Matrix Methods
Multiple Beam Elements Examples
} We are left with the following set of equations, known as the } Simply supported beam with mid-span load
constrained system equations.
} The matrix components are exactly the same as in the matrix
equations derived previously (slide 17).
P

æ k 221 k 231 k 241 0 öæ q1 ö æ 0 ö 1 2 3

ç 1 ÷ç ÷ ç ÷
ç k32 k33 + k11 k34 + k12 k14 ÷ç v2 ÷ ç P ÷
1 2 1 2 2

ç 1 2 ÷ç ÷ =ç ÷
q
ç k 42 k 43 + k 21 k 44 + k 22 k 24 ÷ç 2 ÷ ç ÷
1 2 1 2
0 L/2 L/2

ç0
è k 412 k 422 k 442 ÷øçè q 3 ÷ø çè 0 ÷ø

21 Matrix Methods 22 Matrix Methods

Distributed Loads Distributed Loads

} Many beam deflection applications involve distributed } Integrate the load-deflection differential equation to find
loads in addition to concentrated forces and expressions for shear force, bending moment, slope, and
deflection.
moments. d 4v
EI =w
} We can expand the previous results to account for dx 4
uniform distributed loads. d 3v
EI = wx + c1 = -V
w dx 3
d 2 v wx 2
EI = + c1 x + c2 = - M
x dx 2 2
1 2 M2
M1 V
V2 dv wx 3 x2
1
EI = + c1 + c2 x + c3 = EIq
dx 6 2
L
wx 4 x3 x2
y (+v) EIv = + c1 + c2 + c3 x + c4
24 6 2
Note: V and M are internal shear and bending moment, w is external load.
23 Matrix Methods 24 Matrix Methods
Distributed Loads Distributed Loads
} Express slope and deflection at each node in terms of } Written in matrix form
integration constants c1, c2, c3, and c4.

v1 = v(0) =
c4 é 1 ù
EI ê 0 0 0
EI ú æ v1 ö
ê úæ c1 ö ç ÷
q1 =
dv c
(0) = 3 ê 0 0
1
0 ú ç ÷ ç q1 ÷
dx EI
ê 3 EI ú ç c 2 ÷ ç wL 4 ÷
=
v2 = v ( L ) =
1 é wL4 c1 L3 c2 L2
+ +
ù
+ c3 L + c4 ú ê L L2 L 1 úç c3 ÷ ç v2 - 24 EI ÷
ê
ê 6 EI ç ÷ ç 3 ÷
EI ë 24 6 2 û 2 EI EI EI úç c ÷ ç wL ÷
dv 1 é wL3 c1 L2 ù
ê L2 L 1 úè 4 ø ç q 2 - ÷
q2 = ( L) = ê + + c2 L + c3 ú ê 0 ú è 6 EI ø
dx EI ë 6 2 û ë 2 EI EI EI û
Note: ν and θ (deflection and slope) are the same in the element as for the
whole beam.
25 Matrix Methods 26 Matrix Methods

Distributed Loads Distributed Loads

} Solve for integration constants. } Express shear forces and bending moments in terms of the
constants. V (0) = -V = -c
1 1

wL 12 EI 6 EI 12 EI 6 EI
V1 + = 3 v1 + 2 q1 - 3 v2 + 2 q 2
2 L L L L
é 12 EI 6 EI - 12 EI 6 EI ùæ v1 ö M (0) = M 1 = -c2
æ c1 ö ê 3 ú ç ÷
ç ÷ ê L L2 L3 L 2
ç q1 ÷ wL2 6 EI 4 EI 6 EI 2 EI
ç c2 ÷ ê - 6 EI - 4 EI 6 EI - 2 EI úç wL 4 ÷
M1 +
12
= 2 v1 +
L L
q1 - 2 v2 +
L L
q2
ú
ç c ÷ = ê L2 L L2 L úç v2 - 24 EI ÷ V ( L) = V2 = - wL - c1
ç 3÷ ê 0
çc ÷ EI 0 0 úç wL3 ÷
÷
V2 +
wL - 12 EI
=
6 EI 12 EI
v1 - 2 q1 + 3 v2 - 2 q 2
6 EI
è 4ø ê ç
0 úûçè q 2 - 6 EI ÷ø
3
2 L L L L
ë EI 0 0
M ( L) = - M 2 = -
wL2
- c1 L - c2
12
wL2 6 EI 2 EI 6 EI 4 EI
M2 - = 2 v1 + q1 - 2 v2 + q2
12 L L L L
27 Matrix Methods 28 Matrix Methods
Distributed Loads Examples
} This can be expressed in matrix form. } Propped cantilever beam with uniform load

é 12 6 L - 12 6 L ùæ v1 ö æ V1 ö æ 6 ö
ê 6 L 4 L2 - 6 L 2 L2 úç q ÷ ç M ÷ ç
L
÷
EI ê ú ç 1 ÷ ç 1 ÷ wL ç ÷
ç ÷ =ç ÷ +
L ê- 12 - 6 L 12 - 6 L ú v2
3
V2 12 6 ÷
ç w
ê 2 úç
ç ÷ ç ÷ ç ÷
÷ ç ÷ ç- L÷
ë 6 L 2 L - 6 L 4 L ûèq 2 ø è M 2 ø
2
è ø 2
1
} This matrix equation contains an additional term – known as
L
the vector of equivalent nodal loads – that accounts for the
distribution load w.

29 Matrix Methods 30 Matrix Methods

Examples Examples
} Cantilever beam with uniform load } Cantilever beam with moment and partial uniform
load

w w

2 3
1 1 Mo 2

L L1 L2

31 Matrix Methods 32 Matrix Methods

Finite Element Analysis of Beams Finite Element Analysis of Beams
} Everything we have learned so far about matrix methods P
w
is foundational for finite element analysis (FEA) of simple
beams. 1
2 3 4 5

} For complex structures, FEA is often performed using

Nodes: 5
computer software programs, such as ANSYS.
Elements: 4
kunconstrained: 10 x 10
} FEA is used to calculate and plot deflection, stress, and
strain for many different applications. Apply B.C.’s: v1=v5=0
θ5=0
} FEA is covered in more depth in Chapter 19 in the
kconstrained: 7x7
textbook.
33 Matrix Methods 34 Matrix Methods

Finite Element Analysis of Beams

w P

5
1 2 3 4

Nodes: 5
Elements: 4
kunconstrained: 10 x 10

Apply B.C.’s: v1=v3=v5=0

θ1=0

kconstrained: 6x6
35 Matrix Methods