4.

1 Beam Stiffness d 171

Using the same procedure as described in Section 2.2, we express v as a function

of the nodal degrees of freedom v1 , v2 , f1 , and f2 as follows:
vð0Þ ¼ v1 ¼ a4
dvð0Þ
¼ f 1 ¼ a3
dx
ð4:1:3Þ
vðLÞ ¼ v2 ¼ a1 L 3 þ a2 L 2 þ a3 L þ a4
dvðLÞ
¼ f2 ¼ 3a1 L 2 þ 2a2 L þ a3
dx
where f ¼ dv=dx for the assumed small rotation f. Solving Eqs. (4.1.3) for a1 through
a4 in terms of the nodal degrees of freedom and substituting into Eq. (4.1.2),
we have
2 1
v¼ ðv1  v2 Þ þ 2 ðf1 þ f2 Þ x 3
L3 L
3 1
þ  2
ðv1  v2 Þ  ð2f1 þ f2 Þ x 2 þ f1 x þ v1 ð4:1:4Þ
L L
In matrix form, we express Eq. (4.1.4) as
v ¼ ½Nfdg ð4:1:5Þ
8 9
>
> v1 >
>
<f >
> =
1
where fdg ¼ (4.1.6a)
>
> v2 >
>
: >
> ;
f2

and where ½N ¼ ½N1 N2 N3 N4  (4.1.6b)

1 1 3
and N1 ¼ ð2x 3  3x 2 L þ L 3 Þ N2 ¼ ðx L  2x 2 L 2 þ xL 3 Þ
L3 L3
ð4:1:7Þ
1 1
N3 ¼ 3 ð2x 3 þ 3x 2 LÞ N4 ¼ 3 ðx 3 L  x 2 L 2 Þ
L L
N1 , N2 , N3 , and N4 are called the shape functions for a beam element. These cubic
shape (or interpolation) functions are known as Hermite cubic interpolation (or cubic
spline) functions. For the beam element, N1 ¼ 1 when evaluated at node 1 and
N1 ¼ 0 when evaluated at node 2. Because N2 is associated with f1 , we have, from
the second of Eqs. (4.1.7), ðdN2 =dxÞ ¼ 1 when evaluated at node 1. Shape functions
N3 and N4 have analogous results for node 2.

Step 3 Define the Strain=Displacement

and Stress=Strain Relationships
Assume the following axial strain/displacement relationship to be valid:
du
ex ðx; yÞ ¼ ð4:1:8Þ
dx

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