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CONTENTS
Euler-Bernoulli beam theory
Kinematics
Equilibrium equations
Governing equations in terms of
the displacements
JN Reddy
KINEMATICS OF THE LINEARIZED
EULER-BERNOULLI BEAM THEORY
q( x ) Strains, displacements, and
z, w
rotations are small
z
x Undeformed Beam
f (x ) u
x
90
dw Euler-Bernoulli
−
dx Beam Theory (EBT)
is based on the
dw assumptions of
Deformed Beam − (1) straightness,
dx
(2) inextensibility, and
(3) normality
JN Reddy 2
Kinematics of Deformation in the
Euler-Bernoulli Beam Theory (EBT)
Displacement field (constructed using
dw
−
dx
the hypothesis)
dw
z u1( x , z ) =
u−z , 0, u3 =
u2 = w( x )
dx
u
Linear strains
w ∂u1 du d 2w
z x ε= ε=
xx = −z ,
∂x1 dx dx
11 2
dw
−z
dx ∂u1 ∂u3 dw dw
σ zz γ xz = + =
− + 0.
=
σ zy ∂x 3 ∂x1 dx dx
z
y σ zx σxz
σxy Constitutive relations
x σ yx σxx
du d 2w
σ yy σ yz σ xx E=
= ε xx E − Ez ,
dx dx 2
JN Reddy 3
Euler-Bernoulli Beam Theory:
Vector Approach
Beam
z, w q(x) q(x)
cross section
z
y M •+ M
• x •
cf V V
cf w
a
q( x )
q( x )
σ xz + ∆σ xz V V + ∆V
σ xx σ xx + ∆σ xx
σ xz N N + ∆N
f (x ) M M + ∆M
cf w f (x )
cf w
∆x
∆x
Definition of stress resultants
N= ∫
σ xx dA, M =
A
∫
σ xx ⋅ z dA, V =
A
σ xz dA. ∫
A
JN Reddy 4
Euler-Bernoulli Beam Theory
q( x )
Summation of forces in the x and
z directions and moments about V V + ∆V
the y-axis. N N + ∆N
M M + ∆M
∑F x = 0: − N + ( N + ∆ N ) + f ∆x = 0 f (x )
cf w
∆N dN ∆x
lim ∆x → 0 + f= 0 ⇒ +f =0
∆x dx
∑F z = 0: − V + (V + ∆V ) + q∆x − cf w∆x =0
∆V dV
lim ∆x → 0 + q − cf w = 0 ⇒ + q − cf w = 0
∆x dx
Equilibrium equations
dN dM dV
+ f 0,
= − V 0,
= cf w 0
+ q −=
dx dx dx
=1 ⋅ dA A, ∫
A
∫
A
z ⋅ dA = 0, ∫
A
z 2 ⋅ dA = I
dM d d 2w
V
= = − EI
dx dx dx 2
JN Reddy 6
Euler-Bernoulli Beam Theory (Continued)
M0
x
L cf
Axial deformation of a bar Bending of a beam
Axial displacement is uncoupled from
transverse displacement 7
JN Reddy
Kinematics of Timoshenko Beam Theory
q( x )
z, w
z Undeformed Beam
x, u
f (x )
x
90 Euler-Bernoulli
Beam Theory (EBT)
dw
−
dx
Straightness,
inextensibility, and
normality
− dw
dx
Deformed Beams
φx
Timoshenko Beam
dw
Theory (TBT)
− Straightness and
dx
inextensibility
u
JN Reddy 8
Timoshenko Beam Theory
x
Kinematic Relations
z
dw
u1 ( x , z ) u( x ) zx ( x ), u −
dx
u2 0, u3 ( x , z ) w( x )
u du d w
xx 1 z x , z
x1 dx dx x
u u dw zx
xz 1 3 x
x3 x1 dx
Constitutive Equations
du
dx
xx E xx E z
dx dx
dw
xz G xz G x
dx 9
JN Reddy
Timoshenko Beam Theory (Continued)
Equilibrium Equations q( x )
(same as those from EBT) V V + ∆V
dN dV N N + ∆N
+ f = 0, − − q + cf w = 0 ,
dx dx M M + ∆M
dM f (x )
− +V = 0 cf w
dx ∆x
Beam Constitutive Equations
du
dx du
N xx dA E
dx
z
dx
dA EA
dx
A A
du
dx d
M xx z dA E
dx
z
dx
z dA EI x
dx
A A
dw
dw
V Ks xz dA GK s x
dx dA GAK s x
dx
A A
JN Reddy 10
Timoshenko Beam Theory (Continued)
d dw
GAK s x cf w q (1)
dx dx
d dx dw
EI
GAK s x 0 (2)
dx dx
dx
JN Reddy 11
ANALYTICAL SOLUTIONS
d 4w z, w q(x)
EI q 0, 0 < x < a
+ kw −=
dx 4
x
Boundary conditions: k
a
dw
(w,V ) and (θ x , M ); θx = −
dx
General solution for uniform load:
2 x 2 x 2 x
w( x ) c1 sinh
c2 cosh sin
a a a ka 4
2 x 2 x 2 x q0
c3 sinh
c4 cosh cos 64EI
a a a k
c1 thru c4 are constants to be determined using boundary conditions.
JN Reddy Beams 12
ANALYTICAL SOLUTIONS (continued)
Simply supported beam: Using symmetry and half beam,
dw d 3w d 2w a
0 at x 0; w 0 at x
dx dx 3 dx 2 2
We obtain c2 c3 0, and
q0
c1 sin sinh c4 cos cosh 0,
k
c1 cos cosh c4 sin sinh 0.
Solving these equations, we obtain
JN Reddy Beams 13
ANALYTICAL SOLUTIONS (by integration)
( q( x ) dx )dx C1x C2 ,
d 2w
EI
dx 2
dw
1
[ ( q( x ) dx )dx ]dx C1 x dx C2 1 dx C3 ,
dx EI EI EI
w { 1
[ ( q( x )dx )dx ]dx }dx C1 ( x dx )dx
EI EI
C2 ( dx )dx C3 x C4 .
1
EI
The constants of integration can be determined using the
boundary conditions
JN Reddy Beams 14
ANALYTICAL SOLUTIONS (by integration)
Simply supported beam under uniform load:
d2 d 2w
EI 2
q 0, 0 < x < a
+ kw −= x
dx 2 dx a
d 2w
w 0, M ≡ − EI =
Simply supported: = 0 at
= x 0, a
dx 2
n
Solution form: w Wn sin n x , n
n1 a
d 2w
nWn sin n x
2
dx 2
n1
JN Reddy 16
Navier’s Solution of
Simply supported Beams
d 2 d 2w
2
EI kw q 0
dx dx
2
Wn (1)2 EI n4 k sin n x q( x )
n1
2 a
q( x ) Qn sin n x , Qn q( x )sin n x dx
n1 a 0
W
n1
n (1) 2
EI 4
n k Qn sin n x 0
Qn
Wn
(1)2 EI n4 k
n
w Wn sin n x , n
JN Reddy n1 a 17