4.

FINITE ELEMENTS FOR BEAM STRUCTURES

Computational Mechanics
(Prof. Alberto Corigliano)
EXERCISE 1
Solve the following exercise with Euler-Bernoulli (E-B) finite element (FE):

A 2EJ B C
EJ
Inextensible rods ( EA → ∞ )
1
pl 2 2
p p

l l

For a generic E-B type FE, the stiffness matrix is the following:

v
ϕ 5
2 l
 EA 0 
3 6
1 4 = ∫B DB ⋅ dx D=
T

1
K 
2 0  0 EJ 
l

x x
u ( x ) = U1 ⋅ N1 + U 4 ⋅ N 4 N1 ( x ) = 1 − ; N4 ( x ) =
l l

v ( x ) = U 2 ⋅ N 2 + U 3 ⋅ N3 + U 5 ⋅ N5 + U 6 ⋅ N 6 3x 2 2 x3 x2  x
N2 ( x ) =
1− + 3 ; ( x)
N 5= 2 
3− 2 
l2 l l  l

2
 x x  x
2
x ) x 1 −  ;
N 3 (= N6 ( x ) =
− 1 − 
 l l  l

 du 
 ε ( x )   dx   N1′ 0 0 N 4′ 0 0 
=  =   ⋅U
 χ ( x )   − d v   0 − N 2′′ − N 3′′ 0
2
− N 5′′ − N 6′′
 dx 2 

2
 =j 1=j 2=j 3=j 4=j 5=j 6
 EA EA 
 l 0 0 − 0 0 
l
 
 0 12 EJ 6 EJ
0 −
12 EJ 6 EJ 
 l3 l2 l3 l2 
 
 0 6 EJ 4 EJ 6 EJ 2 EJ 
− 2
l
0
K ∫ B DB=
= ⋅ dx 
T
l2 l l l 
0  EA EA 
 − 0 0 0 0 
 l l 
 12 EJ 6 EJ 12 EJ 6 EJ 
 0 − − 0 − 
 l3 l2 l3 l2 
 6 EJ 2 EJ 6 EJ 4 EJ 
 0 0 − 2 
l2 l l l

l
=
Con K ij ∫B
0
ri Drs Bsj ⋅ dx

In such a case results:

=j 3=j 5=j 6
U3 U5
 6  2EJ
 4 − 2  1
l U6
  2 EJ
K1 − 6 12 6 ⋅ l
− l
 l l2 l
  V1 V2 V4
 2 6
− 4  V3
 l 

=j 2=j 3=j 5 U2
U5
 12 6 12  U3 EJ
 l2 − 2 2
l l
  EJ
K2  6 6⋅ l
4 − l
 l l 
 
 − 12 −
6 12 
 l l 2 
2
l

The connectivity matrix is:

FE \ dof 1 2 3 4 5 6 }U j , F j
1 / / 1 / 2 3 
V j , Q j
2 / 2 3 / 4 / 

3
 V1 V2 V3 V4
 12 
 8 − 4 0   12 
l  8 − 4 0 
  l
 − 12 24 12 12 6 12   
+ − + − 2  − 12 36 6 12 
 l l2 l2 l l l  EJ − − 2 EJ
=K 4x4  = ⋅  l l2 l l ⋅
 4 12 6
− + 8+ 4 −
6 l   l
 4 6 6
 l l l  − 12 −
  l 
12 
l
12 6 
 0 − 2 −  12 6 12 
 l l l2   0 − 2 − 
 l l l2 

Also nodal forces can be used as variable instead of displacements (“force method”):

(Support reactions in case

pl of perfect clamping)
pl 2 pl 2 2
3 pl
30 12 pl
pl 2 20 2
20 p
p

The same equations can be found by means of the superposition of effects and the equilibrium at
nodes: R Q1 1

- Equilibrium for V1 :
V1
A
Q1 R1

4 ( 2 EJ ) 6 ( 2 EJ ) 2 ( 2 EJ )
=
R1 ⋅ V1 − 2
⋅ V2 + ⋅ V3 (superposition of effects)
l l l

pl 2
Q1 = −
20

To assure the rotational equilibrium of nodes A it has to be:

8 EJ 12 EJ 4 EJ pl 2
− R1 − Q1 =
0  ⋅ V1 − 2 ⋅ V2 + ⋅ V3 =
l l l 20
V2
- Equilibrium for V2 :
R2( )
1
Q2(1)
R2( 2) Q2( 2)

B
R2(
2)
Q2( ) R2( ) Q2(
1 1 2)

4
 6 ( 2 EJ ) 12 ( 2 EJ ) 6 ( 2 EJ ) 3 pl
R2( ) =− ⋅ V1 + ⋅ V2 − ⋅ V3 + Q2( ) = −
1 1
2 3
;
l l l2 20

12 ( EJ ) 6 ( EJ ) 12 ( EJ ) pl
=R2( 2) + ⋅ V2 + ⋅ V3 − ⋅ V4 ; Q2( 2) = −
l3 l2 l2 2

To assure the translational equilibrium of nodes B in the vertical direction it has to be:

12 EJ 36 EJ 6 EJ 12 EJ 13 pl
− R2( ) − R2( ) − Q2( ) − Q2( ) =
0  − ⋅ V1 + 3 ⋅ V2 − 2 ⋅ V3 − 3 ⋅ V4 =
1 2 1 2
2
l l l l 20

- Equilibrium for V3 : V3
(1)
R3(1) Q3 ( 2) Q3( 2)
Q3
B ( 2) ( 2)
(1)
Q3 R3(1) R3 R3
pl 2
2 ( 2 EJ ) 6 ( 2 EJ ) 4 ( 2 EJ ) pl 2
R3( )
= ⋅ V1 − ⋅ V2 + ⋅ V3 + Q3( ) = −
1 1
2
;
l l l 30

6 ( EJ ) 4 ( EJ ) 6 ( EJ ) pl 2
R3( 2)
= + 2
⋅ V2 + ⋅ V3 − ⋅ V4 ; Q3( ) = −
2

l l l2 12

To assure the rotational equilibrium of nodes B it has to be:

4 EJ 6 EJ 12 EJ 6 EJ 19 pl 2
−Q3(1) − Q3( 2) − pl 2 
R3(1) + R2( 2) = ⋅ V1 − 2 ⋅ V2 + ⋅ V3 − 2 ⋅ V4 =
−
l l l l 20

- Equilibrium for V4 :
V4
Q4 R4
C
12 EJ 6 EJ 12 EJ R4 Q4
=
R4 − 3
⋅ V2 − 2 ⋅ V3 + 3 ⋅ V4
l l l

pl
Q4 = −
2

To assure the translational equilibrium of nodes C in the vertical direction it has to be:

12 EJ 6 EJ 12 EJ pl
0  −
R4 + Q4 = 3
⋅ V2 − 2 ⋅ V3 + 3 ⋅ V4 =
l l l 2

The four equation linear system gives the solution found before: K ⋅ V =
Q

5
 EXERCISE 2
Solve with the “displacement method” the following exercise:

pl 2 The rod AB is inextensible. So the degrees of

freedom are V1 and V2 .
A E, J B
V2
V1
E , A, J B
l

C Calculate also the support reaction in RC .

l

V1 = 1

6EJ 12EJ
l2 l3
V1 = 1 EA
12EJ l
3 6EJ
6EJ l
12EJ EA l2 EA
l2
l3 l l

EA
l

6
V1 = 2

V1 = 1 4EJ
6EJ l 6EJ
4EJ
l2 l l2
6EJ 6EJ 4EJ
4EJ l 2 l2 l
l 6EJ
l2

Equivalent loads at nodes:

p 2
pl 2
pl
20
2
20 pl 2
pl
20 7 pl
7 pl
20
20

Using the superposition of effects:

 12 EJ EA  6 EJ 7
- Equilibrium of V1 : − 3 +  ⋅ V1 − 2 ⋅ V2 + pl =
0
 l l  l 20

6 EJ  4 EJ 4 EJ  pl 2
- Equilibrium of V2 : − ⋅ V1 −  + ⋅
 2 V + − pl 2 =
0
 l 
2
l l 20

12 EJ EA 6 EJ 
 l3 + l l 2  V1   7  pl
 ⋅ = ⋅
 6 EJ 8 EJ  V2   −19 ⋅ l  20
 l2 l 

J V1   510 ⋅ l  pl 3
Introducing A= r ⋅ one =
obtains: ⋅
V   −810 − 57 ⋅ r  240 15 + 2r EJ
l2  2   ( )

And the support reaction in C is found by means of the superposition of effects:

EA 17 ⋅ r
R= ⋅ V1 + ∅ ⋅ V2 + ∅ ⋅ pl
= ⋅ pl
120 + 16 ⋅ r
C
l

7
 N.B: the nodal values here obtained are the same that would be found using for instance
the Bernoulli beam equation (where the shear deformability is neglected) or the Betti
theorem employing two auxiliary structure (A1 and A2):

pl 2
x V2

v V1

6EJ
6EJ =
k11
12EJ EA
+ 8EJ k21 =
k12 = 2 l3 l k22 = l2
l x l
1
1
v x v
N 5(1) ( x ) − N 6( ) ( x )
1

A1 A2

∫ N ( x ) ⋅ p ( x ) ⋅ dx
()
E − A1 : k11 ⋅ V1 + k= 
12 ⋅ V2
1
5
0
l
E − A2 : k21 ⋅ V1 + k22 ⋅ V2 =∫ − N 6(1) ( x ) ⋅ p ( x ) ⋅ dx − pl 2 ⋅1 k31 =
EA
0 l

This systems is the same that would be found with a E-B finite x k32 = 0
element analysis.  Vi ≡ Vi v

A3
The support reaction in C is found considering the auxiliary
structure A3:
1
E − A3 : k31 ⋅ V1 + k32 ⋅ V2 = RC ⋅1 And RC = RC EA
k33 =
l

8
 EXERCISE 3
Solve the following exercise using both Timoshenko and Euler-Bernoulli FE:

q
k
3EJ - The rod AB is inextensible and
1
A its moment of inertia varies
B
EJ linearly between EJ and 3EJ .
E , J ( x)
( x ) EJ 1 + 
2x
EJ=
 l 
E , A, J
l V1
- 2 dofs: V2
2

C
l

a) Timoshenko FE: U 4 = u2
U 3 = ϕ1 U1 = u1 U 6 = ϕ2
U 2 = v1 U 5 = v2

u (=x ) N1 ( x ) ⋅ u1 + N 2 ( x ) ⋅ u2  x
  N1 ( x ) = 1 − l
x ) N1 ( x ) ⋅ v1 + N 2 ( x ) ⋅ v2
v (= where: 
ϕ ( =  N ( x) = x
 x ) N1 ( x ) ⋅ ϕ1 + N 2 ( x ) ⋅ ϕ2  2 l

U 1 
U 
 ε   u ′   N1′ 0 0 N 2′ 0 0   2  EA 0 0 
U  
χ  =  −ϕ ′  =  0 0 −N′ 0 0 − N ′  ⋅  3  =B ⋅ U and D =  0 EJ ( x ) 0 
     1 2  U
 γ  v′ − ϕ   0 N1′ − N1 0 N 2′ N 2   4   0 0 GA* 
  U 5 
B  
U 6 

The first FE has only the fifth and sixth dofs:

l l
GA*
= ∫ Br 5 Drs B=
s 5 ⋅ dx ∫ ( N 2′=
) ⋅ dx
* 2
K 55 GA
0 0
l

9
 l l
GA*  2 l GA*
∫0 r 5 rs s 6
K 56 = ⋅ = ∫0 2 ( 2 )
⋅ − ′ ⋅ =
− ( 2 ) 0
 =
−
*
B D B dx GA N N dx N
2  2

l l l
2 EJ GA*l
K= ∫B Drs Bs 6 ⋅ = ∫ EJ ( x ) ⋅ ( − N ′ ) ⋅ dx + ∫ GA ⋅ ( − N 2 ) ⋅= +
2 * 2
66 r6 dx 2 dx
0 0 0
l 3

So the stiffness matrix of the first FE is:

 GA* GA* 
 l − 
2
K1 =  
 GA* 2 EJ GA*l 
 − 2 l
+
3 

The second FE has only the first and third dof:

l l
EA
= ∫ Br1Drs B=
s1 ⋅ dx ) ⋅ dx
EA∫ ( N1′=
2
K11
0 0
l

l
=
K13 ∫B
0
r1 Drs B=
s 3 ⋅ dx 0

l l l
EJ GA*l
K 33= ∫ Br 3 Drs Bs 3 ⋅ dx= ∫ EJ ⋅ ( − N1′ ) ⋅ dx + ∫ GA* ⋅ ( − N1 ) ⋅ dx= +
2 2

0 0 0
l 3

So the stiffness matrix of the second FE is:

 EA 
 l 0 
K2 =  
 0 EJ GA*l 
+
 l 3 

The connectivity matrix is:

FE \ dof 1 2 3 4 5 6 }U j
1 / / / / 1 -2 
V j
2 1 / -2 / / / 

N.B: the sign “-” means that the sign of these terms should be change when assembling the
global stiffness matrix. (i.e: K 22 =( − )( − ) K 33
()
+ ( − )( − ) K 66
() 1 1
or

K12 =( + )( − ) K13(1) + ( + )( − ) K 56(1) )

Finally the global stiffness matrix and the external load vector are:

10
  GA* EA GA*   l 
 l + l 2   q ∫ N 2 ( x ) ⋅ dx  ql 1 
K =  =  0
Q = 2 ⋅ 0 
 GA* 3EJ 2GA*l     
 + + k 0
2 l 3 

 EJ
 EA = a l 2

 EJ
Solving the system K ⋅ U =
Q and assuming  k = b results:
 l
 * EJ
GA = c l 2


V1   2 ⋅ ( 9 + 3b + 3c ) l  ql 3 EJ
=
V T =    ⋅
−3c  36a + 12ab + 36c + 8ac + 12bc + 5c
2
V2  

b) Euler-Bernoulli FE: U4
U3 U1 U6
U2 U5

u ( x=
 ) N1 ( x ) ⋅U1 + N 4 ( x ) ⋅U 4

v ( x=
 ) N 2 ( x ) ⋅U 2 + N3 ( x ) ⋅U 3 + N5 ( x ) ⋅U 5 + N 6 ( x ) ⋅U 6
2
x 3x 2 2 x3  x
where: N1 ( x ) = 1 − ; N 2 ( x ) =
1− 2 + 3 ; N 3 (=
x ) x 1 −  ;
l l l  l

x x2  x x2  x 
N4 ( x ) = ; ( x)
N 5= 2 
3− 2 ; ( x)
N 6= 1 −  ;
l l  l l  l

 du 
 ε ( x )   dx   N1′ 0 0 N 4′ 0 0   EA 0 
=  =   ⋅U D= 
− N 5′′ − N 6′′
and
 χ ( x )   − d v   0 − N 2′′ − N 3′′ 0  0 EJ ( x ) 
2

 dx 2 

The first FE has only the fifth and sixth dof:

l l
24 EJ
K 55 = ∫ Br 5 Drs Bs 5 ⋅ dx = ∫ ( − N 5′′) ⋅ EJ ( x ) ⋅ dx =
2

0 0
l3
l l
14 EJ
K 56 = ∫0 ( − N5′′) ⋅ ( − N6′′) ⋅ EJ ( x ) ⋅ dx =
∫0 Br 5 Drs Bs 6 ⋅ dx = − 2
l
l l
10 EJ
= ∫B Drs Bs 6 =
⋅ dx ∫ EJ ( x ) ⋅ ( − N ′′) =
⋅ dx
2
K 66 r6 6
0 0
l

11
 So the stiffness matrix of the first FE is:

 24 −14l  EJ
=K1  ⋅
 −14l 10l 2  l 3

The second FE has only the first and third dof:

l l
EA
= ∫B Drs B=
s1 ⋅ dx EA∫ ( N1′=
) ⋅ dx
2
K11 r1
0 0
l

l
=
K13 ∫B
0
r1 Drs B=
s 3 ⋅ dx 0

l l
4 EJ
K 33= ∫ Br 3 Drs Bs3 ⋅ dx= ∫ EJ ⋅ ( − N ′′) ⋅ dx=
2
3
0 0
l

So the stiffness matrix of the second FE is:

 EA 
 l 0 
K2 =  
 0 4 EJ 
 l 

The connectivity matrix doesn’t change. So the global stiffness matrix results as (the third
and sixth dofs which are negative) :

 24 EJ EA 14 EJ 
 l3 + l l2 
K = 
 14 EJ 14 EJ
+ k
 l2 l 

The external load vector is:

 l   ql  q ql 2
 ∫ q ⋅ N 5 ( x ) ⋅ dx   2 
Q =  12
=  2
0
 l   ql 
 − ∫ q ⋅ N 6 ( x ) ⋅ dx   12  ql
 0 
ql
2
2
Solving the system: K ⋅ U =
Q , one obtains:

V1  ( 70 + 6b ) l  ql 3 EJ
V= =
V    ⋅
 2   −60 + a  12 (140 + 14a + 24b + ab )
EB

12
 EXERCISE 4
Two pitch portal

p = 40 N / mm E, J , A
E = 210 GPa
l
A = 7810 mm 4 ( HE 200 B)
ϑ= 30°
l = 4000 mm
ϑ= 30°
=a Al=
2
/ J 2193,82 l
E, J , A

p
Using the symmetry:

The system reduces to 4 degrees of

freedom.
Calling K e the stiffness matrix of the
generic finite element, the global stiffness V3
V1 2
matrix is obtained by rotating the second FE
first. V2 V2

The rotation matrix is the following:

V3
W6 W5
U5 U4 1
U6 W4
2
W3 W2 ϑ
U U1
4

W1
U3

13
 U1   cos (ϑ ) sin (ϑ ) 0 0 0 0  W1 
     
U 2   − sin (ϑ ) cos (ϑ ) 0 0 0 0  W2 
U   0 0 1 0 0 0  W3 
U 2 = 3  =  ⋅   =R (ϑ ) ⋅ W 2
U 4   0 0 0 cos (ϑ ) sin (ϑ ) 0  W4 
U 5   0 0 0 − sin (ϑ ) cos (ϑ ) 0  W5 
     
U 6  2  0 0 0 0 0 1  W6  2

There is no need to rotate the first finite element, only be careful in identifying the
correct relation between local and global dofs.

Assembly:

FE1:

V1
V3
U4 U 1   0 0 0 0
U  0 0 0 0  V1 
V2 U5  2 
U6 U 3  0 0 0 0  V2 
U1 =  =  ⋅ =L1 ⋅ V
U 4  1 0 0 0  V3 
U 5  0  
1 1 0 0  V4 
   
U 6 1 0 0 1 0

U1
U3
U2
V4
FE2:
W5
W1  0 −1 0 0 W6
   0 0  V1 
W2  1 0 V1 W4
W3  0 0 1 0  V2  V3
W2 =   =  ⋅ =L 2 ⋅ V W1
W4  0 0 0 0  V3 
W5  0 0   W3
0 1  V4  W2
    V2
W6  2 0 0 0 0

1 T
Edef (V ) = U 1 K U 1 + U T2 K U 2  =
2 e e 
1 T 1 T
= V ⋅  L1 K e L1 + L 2 R (π 6 ) K e R (π 6 ) L 2  ⋅ V= V ⋅ K ⋅ V
T T T

2 2

14
  36 + 5a 3 (12 − a ) 12 3 ⋅ l −36 − a 
 
 3 (12 − a ) 3 ( 20 + a ) −12 ⋅ l 3 ( −12 − a )  EJ J
K  ⋅ 3 con A= a ⋅
 12 3 ⋅ l −12 ⋅ l 32l 2 −12 3 ⋅ l  4l l2
 
 −36 − a 3 ( −12 − a ) −12 3 ⋅ l 36 + a 

Equivalent nodal loads:

δ ( d Le ) = (
− pdx ⋅ δ v(5) cos (ϑ ) + δ u (5) sin (ϑ ) )
p ⋅ dx
p
U5
u v cos (ϑ ) + u sin (ϑ )
v U6 U4
u, s v
U2
ϑ
U1 dx
U3 x
l
= ds ⋅ cos (ϑ )
But: dx  ∫ − p cos (ϑ ) ⋅ (δ v ( s ) cos (ϑ ) + δ u ( s ) sin (ϑ ) ) ⋅ ds
δ Le =
0

δ u ( s )   N1 0 0 N4 0 0
 =  ⋅ δ U 2 = N ( s ) ⋅ δ U 2 = N ⋅ R ⋅ δ W 2 = N ⋅ R ⋅ L2 ⋅ δ V
δ v ( s )   0 N2 N3 0 N5 N 6 

T  sin (ϑ ) 
l
δ L= δV T
∫0 − p cos (ϑ ) ⋅ L
T
⋅ R
T
⋅ N ⋅  ⋅ ds
cos (ϑ ) 
e 2

 l T   sin (ϑ )  
δ Le = δ V − p cos (ϑ ) ⋅ LT2 ⋅ RT
T
⋅  ∫ N ⋅ ds  ⋅   = δ V ⋅ Q 4 x1
T

 0  cos (ϑ )  

p
Q is found restraining all the dofs and
computing the reaction due to the external 0
load. pl 2

4 3  pl 2 30°
16
  16
pl  0  l pl 3
And Q =
− ⋅ 0
16 l  4
 
 4 3  pl 3
4

Solving the system, results:

15
  −16 3 ⋅ ( 72 + 37 a ) ⋅ l   −0,3 mm 
   12, 2 mm 
 a ⋅ ( −300 + 17 a ) ⋅ l  pl 3 EJ
=V  ⋅ =  
−2a ⋅ ( 252 + 11a )  32a ⋅ ( 72 + 37 a )  −4, 0 ⋅10−3 rad 
   
 − 3 ⋅ l ⋅ (1152 + 924a + 17 a 2 )   −21,8 mm 
 

Now let us consider infinite axial stiffness: V4

V1 = 0
 V1
V2 cos (ϑ ) = −V4 sin (ϑ ) V3 ϑ

V2
V1   0 0
V   1 0  V2 
 2  = ⋅ =L a ⋅ V a
V3   0 1  V3 
   
V4   − cot (ϑ ) 0

60 6l  EJ 12  pl
K a = La ⋅ K ⋅ La =  ⋅ 3 ; =
Q a L=  −l  ⋅ 16
T T
2
Q
 6l 8l  l  
a

As it was done before Q a is found restraining the dofs (here only two) and computing
the reaction due to the external load:

p
3 pl
4
pl 2
ϑ −
pl 2 16
3 pl −
16 l
4

So it results:
 17l  pl 3 pl 3
=
Va   ⋅ and −V2 cot (ϑ ) =
V4 = − 3 ⋅17l ⋅
 −22  1184 ⋅ EJ 1184 ⋅ EJ

Analogously V a can be found when a = Al 2 / J approaches infinity:

 0   0 mm 
 17 ⋅ l  3  12,3 mm 
Va =lim V =   ⋅ pl = 
a →∞  −22  1184 EJ  −3,98 ⋅10−3 rad 
   
 −17 3 ⋅ l   −21,3 mm 
16
 Vai
The error between the two approaches is here defined: ∆ i= −1 
Vi
 −1000 
 9, 00 

∆‰ = ‰
 −9, 46 
 
 −23, 23

The axial rigidity could be imposed also during the assembly of matrices:

FE1:

V3 U4
U5 U 1   0 0
U  0 0 
V2
U6  2 
U 3  0 0  V2 
  = ⋅  =L1 ⋅ V a
*

U 4  0 0  V3 
U 5  1 0
   
U 6 1 0 1

The stiffness matrix of the first FE considers only the fifth and
sixth degrees of freedom.

 12 EJ 6 EJ 
−
k k56   l 3 l2 
K (e ) = L1 ⋅ K e ⋅ L1 =  55 =  
1 *T *

 k65 k66   6 EJ 4 EJ 
−
 l 2 l 

FE2:
U5
U4
U6

ϑ
V3
U 2 U1
V2
U3

17
  − cos (ϑ ) 0
U1 sin (ϑ ) + U 2 cos (ϑ ) = 0 U 1   
 U   sin (ϑ ) 0
−U1 cos (ϑ ) + U 2 sin (ϑ ) = V2
 2  0 1
U 4 = U1 U 3    V 
 so   =  − cos (ϑ ) 0  ⋅  2  =L*2 ⋅ V a
U 3 = V3 U
   cos 2 ϑ  V3 
U 6 = 0
4
U 5   − ( ) 0
    sin (ϑ ) 
U 4 cos (ϑ ) − U 5 sin (ϑ ) =
0 U 6  2  
 0 0

The stiffness matrix of the second FE doesn’t consider the sixth degree of freedom.

 k11 k12 k13 k14 k15   − c 0

k k22 k23 k24 k25   s 0 
 − c s 0 − c − c 2
s   21 
( 2)
Ke = L2 ⋅ K e ⋅ L2 = 
*T *

 k31 k32 k33 k34 k35   0 1 =
 0 0 1 0 0  k k42 k43 k44

k45   − c 0

 41
 k51 k52 k53 k54 k55   − c 2 s 0 
 ( −c ⋅ k11 + s ⋅ k12 − c ⋅ k14 − c 2 s ⋅ k15 ) k13 
 
( −c ⋅ k21 + s ⋅ k22 − c ⋅ k24 − c 2 s ⋅ k25 ) k23 
 −c s 0 −c − c 2 s     K e(11
2)
K e(12) 
2

   ( − c ⋅ k + s ⋅ k −
= c ⋅ k − c 2
s ⋅ k ) k   ( 2) 
0   K e( 22) 
31 32 34 35 33
0 0 1 0  K e 21
2

( −c ⋅ k41 + s ⋅ k42 − c ⋅ k44 − c 2 s ⋅ k45 ) k43 

 
 ( −c ⋅ k51 + s ⋅ k52 − c ⋅ k54 − c 2 s ⋅ k55 ) k53 
 

2)
K e(11 =−c ⋅ ( −c ⋅ k11 + s ⋅ k12 − c ⋅ k14 − c 2 s ⋅ k15 ) + s ⋅ ( −c ⋅ k21 + s ⋅ k22 − c ⋅ k24 − c 2 s ⋅ k25 ) +
−c ⋅ ( −c ⋅ k41 + s ⋅ k42 − c ⋅ k44 − c 2 s ⋅ k45 ) − c 2 s ( −c ⋅ k51 + s ⋅ k52 − c ⋅ k54 − c 2 s ⋅ k55 ) =

= c 2 ⋅ k11 −cs ⋅ k12 + c 2 ⋅ k14 + c3 s ⋅ k15 −cs ⋅ k21 + s 2 ⋅ k22 −cs ⋅ k24 − c 2 ⋅ k25 +
2
+c 2 ⋅ k41 −cs ⋅ k42 + c 2 ⋅ k44 + c3 s ⋅ k45 + c3 s ⋅ k51 − c 2 ⋅ k52 − c3 s ⋅ k54 + c 4 s ⋅ k55 =
= c 2 ⋅ k11 + c 2 ⋅ k14 + s 2 ⋅ k22 − c 2 ⋅ k25 + c 2 ⋅ k41 + c 2 ⋅ k44 − c 2 ⋅ k52 + c 4 s 2 ⋅ k55

K e(12) = −c ⋅ k13 + s ⋅ k23 −c ⋅ k43 − c 2 s ⋅ k53 =

s ⋅ k23 − c 2 s ⋅ k53
2

K e( 22
2)
= k33

Where:= =
c cos (ϑ ) cos=
( 30 ) 3 2; = =
s sin (ϑ ) sin=
( 30 ) 1 2
and

18
  EA EA 
 l 0 0 − 0 0 
l
 
 0 12 EJ 6 EJ
0 −
12 EJ 6 EJ 
 k11 k12 k13 k14 k15   l3 l2 l3 l2 
k  
 21 k22 k23 k24 k25   0 6 EJ 4 EJ
0
6 EJ
− 2
2 EJ 
 k31  l2 l l l 
k32 k33 k34 k35  =  
  EA EA
 k41 k42 k43 k44 k45   − 0 0 0 0 
 k51  l l 
k52 k53 k54 k55   12 EJ 6 EJ 12 EJ 6 EJ 
 0 − − 0 − 
 l3 l2 l3 l2 
 6 EJ 2 EJ 6 EJ 4 EJ 
 0 0 − 2 
l2 l l l

3 EA 3 EA 1 12 EJ 3 12 EJ
K e(11=
)
⋅ − ⋅ + ⋅ 3 + ⋅ 3 +
2

4 l 4 l 4 l 4 l
3 EA 3 EA 3 12 EJ 9 12 EJ 12 EJ
− ⋅ + ⋅ + ⋅ 3 + ⋅ 3 =4⋅ 3
4 l 4 l 4 l 4 l l

1 6 EJ 3 6 EJ 6 EJ
2)
K e(12 = ⋅ 2 + ⋅ 2 =2⋅ 2
2 l 2 l l

4 EJ
K e( 22
2)
=
l

And the global stiffness matrix of the second FE results:

 12 EJ 6 EJ 
4 ⋅ l 3 2⋅
l2 
K (e ) = L2 ⋅ K e ⋅ L2 =  
2 *T *

 2 ⋅ 6 EJ 4⋅
4 EJ 
 l2 l 

Finally:

K a = K (e ) + K (e ) = L1 ⋅ K e ⋅ L1 + L 2 ⋅ K e ⋅ L 2 =
1 2 *T * *T *

 12 −6l  EJ  48 12l  EJ 60 6l  EJ

=  2
⋅ 3 + 2
=⋅ 3  2
⋅ 3
 −6l 4l  l 12l 16l  l  6l 8l  l

Which is the same matrix found previously.

The external nodal loads are easily found:

19
 p

pl cos (ϑ ) cos (ϑ )
pl cos (ϑ ) sin (ϑ )
ϑ

l cos (ϑ )
3
= cos 2 (ϑ )
p⊥ s p= p
4
3
= cos (ϑ ) sin (ϑ )
ps p= p
4

s
l cos (ϑ )

l l
cos (ϑ ) sin (ϑ ) 
δ Le =∫ δ u ( s ) δ v ( s )  ⋅ p ( s ) ⋅ ds =∫ − δ u ( s ) δ v ( s )  ⋅ p ⋅   ⋅ ds =
 cos (ϑ ) 
2
0 0

l   ps  l T  p 
−δ U 2 ⋅  ∫ N ( s ) ⋅ ds  ⋅ 
δ Le = − [δ V2 δ V3 ] ⋅ L 2
= ⋅  ∫ N ( s ) ⋅ ds  ⋅  s  =δ V T ⋅ Qa
T T *T

0   p⊥ s  0   p⊥ s 

*T 
l
 cos (ϑ ) sin (ϑ )  l T  p 
Qa = − L 2 ⋅  ∫ N ( s ) ⋅ ds  ⋅ p ⋅ 
L 2 ⋅ Q loc = =− L2 ⋅  ∫ N ( s ) ⋅ ds  ⋅  s 
*T T *T

0   cos 2
( ) 
ϑ 0   p⊥ s 

l T  p 
Q loc −  ∫ N ( s ) ⋅ ds  ⋅  s  =
=
0   p⊥ s 

p⊥ s l 2 p⊥ s
12 p⊥ s l 2
12
p⊥ s l p⊥ s l
2 2

20
 ps

ps l ps l
2 2

 l   l
 x 
 ∫ N1 ⋅ ps ⋅ dx   ∫0  l 
1 − ⋅ p s ⋅ dx 
 l  l 3   3 
0    ⋅ ps  ⋅  l
 l  3x 2 2 x3     p
l  
2
  2 4   8 
 ∫ N 2 ⋅ p⊥ s ⋅ dx   ∫  l 2 l 3  ⊥s   l ⋅ p   l ⋅ 3 p 
0 
1 − + ⋅ p ⋅ dx   3 
0   ⊥s
    8l 
l    2 2 4
 2 
   x 
l 2
  2   2 
 N ⋅ p ⋅ dx 
 ∫0 3 ⊥ s  ∫   l   ⊥ s
− ⋅ ⋅    l 
 l l 3

x 1 p dx  ⋅ p⊥ s   ⋅ p   16 
0   12 
− = 12 4
Q loc − l
= = −  l  =
−   = − p  
   l
 x   
 ⋅ ps   l 3  3
 ∫ N 4 ⋅ ps ⋅ dx   ∫   ⋅ ps ⋅ dx 
   ⋅ p  l
0
0   l  2 2 4 8
   l     
  
  l 
l 3 3
  x  3 − 2 x   ⋅ p ⋅ dx   ⋅ p⊥ s 
l l
⋅ p
2
 ∫ N 5 ⋅ p⊥ s ⋅ dx 
 ∫0  l 2    ⊥s      8 
2
0  l   2 4
 
   l 2
  
l  − ⋅  l2 3   l2 
  x2  x  
l 2
  p ⊥s  − ⋅ p −
 N ⋅ p ⋅ dx   12   12 4   16 
∫
 0 6 ⊥s
  ∫     ⊥s 
 1 −  ⋅ p ⋅ dx   
 0  l  l   

 3 
 l
 8 
 3 
 8l 
 2 
 cos 2 (ϑ )   l 
 − cos ( )
ϑ sin ( )
ϑ 0 − cos ( )
ϑ − 0  16 
Q= L 2 ⋅ Q loc= 
*T
sin (ϑ )  ⋅ ( − p ) ⋅  =
 
a
 3
 0 0 1 0 0 0   8 l
 
 3l 
 8 
 2
− l 
 16 
 3 cos (ϑ ) 3 
2
3 3
 − cos (ϑ ) ⋅ l + sin (ϑ ) ⋅ l − cos (ϑ ) ⋅ l − ⋅ l
−p
Qa =
8 8 8 sin (ϑ ) 8 
=
 l 2 
 
 16 

21
  3 3 1 3 3 3 3 3   12 pl 
− ⋅ l+ ⋅ l− ⋅ l − ⋅ l 
16  12  pl
−p 2 8
Qa = 2 8 2 8 2 8 = =  ⋅
 l2   pl 2   −l  16
   − 16 
 16 

Finally the solving system is:

EJ 60 6l  V2  12  pl

K aV a = Qa → ⋅ ⋅ = ⋅
l 3  6l 8l 2  V3   −l  16

22
 EXERCISE 5
Solve the following exercise with EB beam finite element:

q
EA
k=
E , A, 2 J l
4J
A= 2
E , A, J l
l
P = ql
E , A, J E , A, J

k P k

l l

The system is symmetric:

E , A, 2 J

E, A 2

E , A, J

k
P 2

B 1 A
There are five degrees of freedom. The axial action in
the rod CD is zero under the load here considered, V1
the horizontal translation of node C is null due to
symmetry, so the horizontal translation of node D is 2
also null. V3
N CD
V5 = U C + ε CD ⋅ l = ⋅ l =0 C 3 V4
EA
D V5
Finally there are only four degrees of freedom. V2 k
23
 FE1:

E , A, 2 J
12 ( 2EJ )
U5 k55(1) =
l3
l

FE2:

K ( ) is built by the intersection of the first and fourth

2

U1
line and column of the 6x6 matrix K e of the generic EB
finite element.

A =j 1=j 4
E,
l 2
 EA EA 
−
K ( ) =  2l 2l 
2

 
 − EA EA 
 2l 2l 

U4

FE3: =j 2=j 3=j 5

 12 EJ 6 EJ 12 EJ 
E , A, J
 l3 −
l3 
U3
l2
 
K(
3)
U5 U2 =  6 EJ 4 EJ 6 EJ 
l − 2
 l2 l l 
 
 − 12 EJ 6 EJ
− 2
12 EJ 
 l 3 l l 3 

The connectivity matrix is the following:

FE \ dof 1 2 3 4 5 6 }U J
1 / / / / 1 / 

2 1 / / 2 / / VI

3 / 3 4 / 2 / 

The following mechanism is used to built the assembled matrix:

24
  U i → VI
K ij( ) → K IJ
e
where: 
U j → VJ
(1) 24EJ EA 6EJ
i.e.=
K 55 → K11 ; K14( 2) =
− → K12 ; K 35( ) =
3
− 2 → K 42
l3 2l l

 24 EJ EA EA 
 l 3 + 2l −
2l
0 0 
   26 −2 0 0 
 − EA EA 12 EJ
+ 3
12 EJ
− 3
6 EJ 
− 2  
 2l 2l l l l  EJ  −2 14 −12 −6l 
K 4x4 = 
 12 EJ 12 EJ 6 EJ  l 3  0 −12 16 6l 
0 − 3 + k  
 l l 3
l 
2
0 6l 6l 4l 2 
 6 EJ 6 EJ 4 EJ 
 0 − 2 
 l l2 l 

Equivalent nodal loads:

 ql 2  1 
q P 2 1 
Q  =
=    ⋅ ql
ql 2 ql 2  0  0  2
l    
12 ql ql 12  0  0 
2 2

The solving system is:

 26 −2 0 0  V1  1   26 −2 0 0   V1  1 
           
EJ  −2 14 −12 −6l  V2  1  ql EJ  −2 14 −12 −6   V2  1  ql
⋅ = ⋅  ⋅ = ⋅
l 3  0 −12 16 6l  V3  0  2 l 3  0 −12 16 6   V3  0  2
           
0 6l 6l 4l 2  V4  0  0 6 6 4  V4 ⋅ l  0 

 V1  104 56 24 48  1  10 
V   56 728 312 624  1  4  
 2 = 1     ql 1  49  ql 4
⋅ ⋅ ⋅ = ⋅
 V3  2592  24 312 504 −288 0  2 EJ 324  21 EJ
       
V4 ⋅ l   48 624 −288 2016  0   42 

V1  10l 
V   
 2 1  49l  ql 4
= ⋅
V3  324  21l  EJ
   
V4   42 

25
 EXERCISE 6
Solve the following exercise using E-B FE:

q
Inextensible rods

2EJ
EJ 2 V1
1 V2

2EJ
3

2q
l l

FE 1:

2EJ
(V1 ) (V2 )
U6 =j 5=j 6
U5 2 EJ  12 −6l 
K( ) =
1

l3  −6l 4l 2 
 

FE 2:

EJ
(V1 ) (V2 )
U3 =j 2=j 3
EJ 12 6l 
U2 K( ) =
2

l3  6l 4l 2 
 

FE 3:

U2
12 ( 2EJ )
U5 K (=
3)
k=
55
l3

26
 Finally the global stiffness matrix results:

EJ  60 −6l 
K=  −6l 12l 2 
l3  

Nodal loads:

FE 2:

q
 ql 3ql 
ql 2  2 + 10   48  ql
ql =Q  =   ⋅
 − ql   −5l  60
2
12
2  12 

 x
l
3ql
=
10 ∫ 2q 1 − l  ⋅ N ( x ) ⋅ dx
0
5

2q

EJ  60 −6l  V1   48  ql EJ  60 −6   V1   48  ql
l3  −6l 12l 2  ⋅ V  =  −5l  ⋅ 60 
l3  −6 12  ⋅ V ⋅ l  = −5 ⋅ 60
   2      2   

 V1  1  91  ql 4 V1  ql 4 91 ⋅ l 
=
V ⋅ l  6840  −2  ⋅ EJ    =  
 2    V2  6840 EJ  −2 

Now let us consider an elastic link between upper and lower rods:
V1
V2

V3

27
 The connectivity matrix is:

FE \ dof 1 2 3 4 5 6 }U J
1 / / / / 1 2 

2 / 1 2 / / / VI

3 / / / / 3 / 

The contribution of the spring to the elastic deformation energy is:

k −k  V1 
k (V12 + V32 − 2V1V=
3)
1 1 1
)
k (V1 − V3= [V1 V3 ] 
2

2 2 2  −k k  V3 

So the assembled system becomes:

 ql 
 kl 3 kl 3   
 EJ + 24 + 12 −12l + 6l −
EJ  V   2 
EJ      ql 2 
1

3 
−12l + 6l 8l 2 + 4l 2 0  ⋅ V2  =−
 
l   V   12 
+ 24     3ql 
 kl 3 kl 3
− 0 3

 EJ EJ   10 

If V1 = V3 the previous system will be found:

EJ  60 −6l  V1   48  ql
 ⋅
2   =  ⋅
l3  −6l 12l  V2   −5l  60

The solution of the model with spring is here computed:

 3 ql 4
 kl + 36  ⋅ V kl 3 =
 EJ  1 −6l ⋅ V2 − ⋅ V3 2 EJ
 EJ
 ql 5
 −6l ⋅ V1 +12l 2 ⋅ V2 =−
 12 EJ
 kl 3  kl 3
 3ql 4
 − ⋅ V1 + + 24  ⋅ V3 =
 EJ  EJ  10 EJ

28


1 + 3 : ql 4  8 
36 ⋅ V1 − 6l ⋅ V2 + 24 ⋅ V3 =  
 EJ  10 

 ql 5
2 : − 6 ⋅ V1 + 12l 2 ⋅ V2 =−
 12 EJ
  3ql 4
kl 3
 1  3ql 4 kl 3  1
3 : =
V  + ⋅ V1  ⋅ ≡ + ⋅ V1  ⋅
  24 + kl   10 EJ EJ  α
3 3
  10 EJ EJ
  
 EJ 

  24kl 3 EJ  8ql 4 3ql 4 1

1 + 3 :  36 + ⋅
 1 V − 6l ⋅ =
V − 24 ⋅ ⋅
  α 
2
10 EJ 10 EJ α

 ql 5 ql 4
2 : − 6l ⋅ V1 + 12l 2 ⋅ V2 = − → 6l ⋅ V2 = − + 3 ⋅ V1 +
12 EJ 24 EJ

 24kl 3 EJ  1  8ql 4 3ql 4 1 ql 4 

 36 + ⋅
 1 V −=3 ⋅ V  − 24 ⋅ ⋅ − 
 α 
1
2  5 EJ 5 EJ α 12 EJ 

 48kl 3 EJ  ql 4  8 72 1 1  ql 4  96 − 5 72 1 
 66 + ⋅
 1 =
V  − ⋅ − =   − ⋅ 
 α  EJ  5 5 α 12  EJ  60 5 α

  4kll 3 
 =α  24 + →∞
  EJ 
If k → ∞ :  and
=48 kl 3 EJ 48 kl 3 EJ
→ 48
 α 24 + kl 3 EJ

ql4 4
ql 2 91 1 91 qlql2
V1 → ⋅ ⋅ =
EJ 60 ( 66 + 48 ) 6840 EJ

The previous solution is found again

   
ql 2 kl 3     33ql
4
  
4
 33ql 1 ql 2 EJ 1
V=
3  + V1  ⋅  = 
3  3
+ V1  ⋅  
 10 EJ EJ   24 + kl   10 EJ kl   24 EJ + 1 
 
 EJ   kl 3 

And lim V3 = V1
k →∞

29