Chapter 5 Problem 1

5.1) A one-element, 2D beam has a shape function

sin  0 
Si  
 0 sin  

where

x1

l

The general coordinates of the beam at a given instant in time are


T
 
qi  3.0 2.0 0.5 103 103 
 2 

Determine the global position of the points   0.5, 1.0 .

Solution:

r i  R i  Aiui
 R i  Ai  u0i  Siqif 

R i  3 2
T

0 1
Ai   
1 0 

Since all beam examples in the chapter assume that the beam’s longitudinal axis is the
beam’s x axis,

u0i   x 0
T
 T
qif  0.5 103 103 

For   0.5

l
x
2

T
l 
u 
i
0 0
2 

  
sin 2 0 
1 0 
S 
i

 0 1 
 0 sin  
 2 

l  
 3  0 1    1 0   0.5  103  
r   
i
 2   
 2  1 0    0  0 1   10
3

  
 2.999 
 l 
  2.0005
2 

For   1.0

xl

u0i  l 0
T

sin  0  0 0 
Si   
 0 sin   0 0 
  3  0 1   l  0 0  0.5  103  
r  
i
       
 2  1 0   0  0 0   10
3

 3 
 
2  l 

5.2) For Problem 5.1,

T
q i   0 0 50 5  103 102 

and

T
i   0 0 0 5  104 103 
q

Find the velocities and accelerations of the points   0.5, 1.0 .

Solution:

i A
r i  R  iu i  A i u i
R i  A i u ii  A iSiq i
 f

R  i
 
 I Ai u i A iSi   i 
q if 
 
 Lq
i i

where

Li   I Ai u i A iSi 

r i  Lq
 i  i
  Lq
i i
where

L i  022  A iu ii  Ai Siq if Ai S ii 

0 1
Ai   
1 0 

  sin   cos    1 0 
Ai   
 cos   sin    0 1

For   0.5

  
sin 2 0 
1 0 
S 
i

 0 1 
 0 sin  
 2 

l  l 
  1 0  0.5  103    0.5  103 
u  u S q  2 
i i i i
 2
  0 1   103  
0 f

0  103 

l   l 
 1 0    0.5  103     0.5 103 
A u  
i i
 2  2
 0 1  3  
103

 10   

0 1 1 0  0 1
A iSi     
1 0  0 1  1 0 

 l 
 1 0   0.5 103 0 1
L 
i
2
 
0 1 103 1 0
  0 
 0 
 l 
1 0   0.5  103 0 1  
r i   2  50 
 
0 1 103 1 0  5 103 
 
 102 
 25l  100.025
 
 4999.95 

l 
 0 1   0.5  103   1 0  1 0  5  103 
 A u   A S q f   
i i
i i i i
 2 50   0 1 0 1   2 
1 0   3      10 
 10 
 5  10 2
  5  103 
 2 
 2 
 25l  2.5  10   10 
 4999.95 
 
 25l  100.025

 1 0   1 0 
Ai Sii     50
 0 1 0 1 
 50 0 
 
 0 50 

0 0 4999.95 50 0 
L i   
0 0 25l  100.025 0 50 

 0   0 
 0   0 
 l  
 1 0   0.5  103 0 1 0 0 4999.95 50 0   
r 
i
 0   
0 0 25l  100.025 0 50  
2 50
    
103 1 0  5 10
0 1 5  10 
4 3
 
 103   102 


 
  103  
 
499997.5 

 5  104   1250l  10001.25
 500997.5 
 
 1250l  39998.75
For   1.0

sin  0  0 0 
Si   
 0 sin   0 0 

 l  0 0   0.5  103   l 
u i  u0i  S iqif       3  
0  0 0   10  0

 1 0   l   l 
Ai u i       
 0 1 0   0 

0 1  0 0  0 0 
Ai Si     
1 0   0 0  0 0 

1 0 l 0 0 
Li   
0 1 0 0 0 

 0 
 0 
 1 0 l 0 0   
r i     50 
0 1 0 0 0   3
5 10 
 102 
 50l 
 
 0 

 0 1  l   1 0  0 0  5 103 
 A u   A S q f   
i ii i i i
   50   0 1 0 0   2 
1 0   0      10 
 0 
 
 50l 

 1 0  0 0 
Ai S ii  
1 0 0 
50
0
0 0

0 0 
 0 0 0 0 0
L i   
0 0 50l 0 0 

 0   0 
 0   0 
 1 0  l 0 0     0 0 0 0 0  
ri     0    50 
0 1 0 0 0   4  0 0 50l 0 0   3
5 10  5  10 
 103   102 
 0 
 
 2500l 

if   0 0
For   0.5 and q if  q
T

0
 
 l  0
1 0   0.5  103 0 1  
r i   2 50 
  
0 1 103 1 0 0
 
 0 
 25l  0.025
 
 0.05 

l 
 0 1   0.5 103   1 0  1 0  0 
 A u   A S q f   
i i i i i i
 2 50     
1 0   3   0 1 0 1  0 
 10 
 0.05 
 
 25l  0.025

0 0 0.05 50 0 
L i   
0 0 25l  0.025 0 50 
 0  0
0  0
 l 
1 0   0.5  103 0 1   0 0 0.05 50 0   
ri   0   50 
   0 0 25l  0.025 0 50   
2

0 1 103 1 0 0
  0
0   0 
 2.5 
 
 1250l  1.25

if   0 0
For   1.0 and q if  q
T

Since Li and L i remain unchanged, and since the shape function evaluated at
  1.0 is

sin  0  0 0 
Si   
 0 sin   0 0 

r i and ri are unchanged from above.

0
0
 1 0 l 0 0  
r i    50 
 0 1 0 0 0  
0
 0 
 50l 
 
 0 

0  0
0  0
1 0 l 0 0    0 0 0 0 0  
ri     0     50 
0 1 0 0 0    0 0 50l 0 0   
0  0
0   0 
 0 
 
 2500l 