Int. J. mech. Sci. Pergamon Press. 1971. Vol. 13, pp. 1025-1038.

Printed in Great Britain

A NON-LINEAR THIN-WALLED BEAM THEORY

A. A. GHOBARAH and W. K. Tso

McMaster University, Hamilton, Ontario, Canada

(Received 1 J u l y 1970, and in revised form 30 March 1971)

S u m m a r y - - A non-linear thin-walled beam theory for elastic beams of open section is

presented. The theory takes into account geometric non-linearities and longitudinal
deformations caused by large cross-sectional rotation of the beam. The non-linear differ-
ential equations are derived by the minimum potential energy principle. The botmdary
conditions associated with the differential equations are obtained. I t is shown that the
set of equations reduces to the linear theory of Vlasov if non-linear terms are neglected.
Also, the set of equations admits a simple solution in the special cases of large uniform
torsion of thin-walled members of open cross-section. The t o r q u e- r o t at i o n relationship
and axial strain-rotation relationship thus obtained are identical to the results obtained by
Cullimore and Gregory.

NOTATION
A cross-sectional area
c thickness of the thin-walled section
c~, c~ co-ordinates of shear center relative to centroid in the X, Y, directions,
respectively
e(ex, e~) point of application of the resultant of axial loads
E Yotmg's modulus
G shearing modulus of elasticity
h perpendicular distance from shear center to the tangent of profile line at
point a
Id St. Venant's torsional constant
I ~ , I~,~ principal moments of inertia
half the polar m o m e n t of inertia relative to shear center
Ia fourth moment of inertia about shear center
third moments of inertia
Ioeo warping torsional constant
l length of the thin-walled beam
ms twisting moment distributed over the length of the thin-walled beam
M = , M r bending moments along the 2f and :Y directions
Ms m o m e n t of twist applied at the end of the thin-waUed beam
M,o bimoment
n perpendicular distance from shear center to the normal of the profile line
at point a
OX, 0 Y, OZ principal axes through centroid and rotate with the cross-section
O X , 0 Y, OZ principal axes through centroid in the undeformed state (fixed co-ordinates)
P distributed axial end load
P resultant of axial end loads
q~, q~ lateral load components along the .~ and Y directions, respectively
R , the principal radius of curvature of the shell
# co-ordinate along the contour of the cross-section
Up ~.l~W displacements along z, tangent and normal to the tangent of profile line of
cross-section, respectively
~'~s the shear strain in the zs plane
e~, es strain in the z and s directions, respectively
1025
1026 A. A. GHOB.~AH and W. K. Tso
0 rotational displacement of cross-section about shear center
K=~ K s change of curvature in the z and s directions, respectively
Poisson's ratio
~,f,v translational displacements of shear center in the Z, X and Y directions,
respectively
translational displacements of shear center in the 2~ and :Y directions,
respectively
T twist in the z s plane
angle between the tangent of the cross section at point a and the X axis
{D sectorial area

INTRODUCTION
THIN-WALLED beams of open sections are frequently used for their structural
efficiency. Common examples used in engineering works are I-, angle- and
channel-sections. With the improvement of extrusion methods in metal form-
ing, beams of different cross-sectionM shapes can be formed to order. If the
fiexural and torsional deformations of the member can be considered very small,
a comprehensive linear theory exists which provides information on the static
and dynamic behaviour of such structural elements. An account of this linear
theory is given by Vlasov. I
However, a non-linear thin-walled beam theory of deformation for beams of
open section is needed for the following reasons. Firstly, a thin-walled beam of
open section possesses large flexural stiffness, but small torsional stiffness. If
the member is subjected to torques, the resulting torsional deformations are
usually of such a magnitude that the assumption of small rotations of cross
sections will no longer be valid. In this sense, a non-linear theory taking into
account the inherent weakness in torsion of such a member provides a more
accurate load-deformation relationship. Secondly, a number of features
observed experimentally are not accounted for by the existing linear theory.
For example, it is found that an open thin-walled beam subjected to pure
torque and undergoing large torsional deformations tends to bend and shorten
axially.2, 3 These features are results of the nonlinear coupling between tor-
sional and axial deformations. A non-linear thin-walled beam theory is thus
needed to predict these additional features.
Some studies have been m a d e on the elastic torsion problem to s t u d y the
shortening effect caused b y large cross-sectional rotations. 2, 4-e The t r e a t m e n t s
are confined to the problem of uniform torsion where the rate of change of
cross-sectional r o t a t i o n of the m e m b e r is t a k e n to be a constant. A n a t t e m p t
has been m a d e to e x t e n d the analysis to n o n - u n i f o r m torsion, 7 assuming the
non-linear t o r q u e - r o t a t i o n relations obtained from uniform torsion holds for an
elemental length of the beam.
Several a t t e m p t s have been m a d e to introduce non-linear t e r m s into the
linear t h e o r y of thin-walled b e a m s in association with d y n a m i c studies, s-l°
However, the non-linearities are n o t i n t r o d u c e d in a s y s t e m a t i c manner. Some
non-linear t e r m s are left out in the resulting equations which arc of the same
order as the non-linear terms t h a t are retained, resulting in an inconsistent
order of approximation.
 A non-linear thin-walled beam theory 1027

I n this paper, a non-linear thin-walled t h e o r y for b e a m s of open section is

presented. T h e present t h e o r y t r e a t s the torsional d e f o r m a t i o n a l quantities as
o f order e, where e < l, and flexural d e f o r m a t i o n a l quantities as of order e2. I n
o t h e r words, flexural deformations are t a k e n as higher order o f smallness t h a n
torsional deformations. I t is recognized t h a t the order of m a g n i t u d e regarding
the flexural d e f o r m a t i o n and torsional d e f o r m a t i o n depends not only on t h e
geometrical properties of the beam, b u t also on the actual loading. H o w e v e r ,
it is felt t h a t b y t r e a t i n g flexural deformations as quantities o f higher order o f
smallness t h a n torsional deformation, the resulting t h e o r y takes into a c c o u n t
the i n h e r e n t weakness in torsional stiffness of thin-walled beams of open section.
I n s t e a d of using the direct a p p r o a c h of e q u a t i n g internal and applied forces
and m o m e n t s to o b t a i n t h e equations of equilibrium, the energy f o r m u l a t i o n is
chosen. T h e indirect a p p r o a c h offers two distinct advantages. First of all, a
set of b o u n d a r y conditions is obtained. These conditions are of consistent
a c c u r a c y with the derived equations of equilibrium. Secondly, w i t h the energy
expression readily available, it is possible to a p p l y a R a y l e i g h - R i t z t y p e of
t e c h n i q u e to o b t a i n a p p r o x i m a t e solution to the problems a t hand.
Starting from the n o n q i n e a r t h e o r y of elastic prismatic shells, the non-linear
thin-walled b e a m t h e o r y is f o r m u l a t e d b y m a k i n g special assumptions and
neglecting t e r m s of high order of smallness. T r e a t i n g torsional d e f o r m a t i o n a l
quantities as of order e, where e < 1, and flexural d e f o r m a t i o n a l quantities as of
order e 2, t e r m s are r e t a i n e d in the e n e r g y expressions such t h a t the resulting
equations of equilibrium contain t e r m s up to an order of e3. Thus, p r o d u c t s of
torsional deformations a n d p r o d u c t s of torsional d e f o r m a t i o n and flexural
d e f o r m a t i o n are r e t a i n e d in t h e final expressions. H o w e v e r , p r o d u c t s of flexural
d e f o r m a t i o n s are neglected, being t r e a t e d as t e r m s of order e4 or higher. There-
fore, the derived t h e o r y can be considered as a non-linear t h e o r y of thin-walled
m e m b e r s of open cross-sections for large angle of twist. I t takes into a c c o u n t the
non-linear n a t u r e of torsional deformations and the coupling between torsional
a n d flexural deformations. However, the t h e o r y is " l i n e a r " in bending deforma-
tions in the sense t h a t it does n o t t a k e into a c c o u n t large d e f o r m a t i o n of t h e
b e a m due to flexure.

FORMULATION OF THE THEORY

The equations of equilibrium of the thin-walled beam are derived by variational pro-
cedure from the minimum potential energy principle which can be written as
a ( v - w ) = o, (1)
where V is the total strain energy and W is the total potential energy of the applied loads.
The strain energy and potential energy expressions are given below.
Strain Energy Expression
A thin-wal]ed beam of open section can be treated as a special case of a thin-walled
prismatic shell. Consider a prismatic shell and let the origin of the co-ordinate axes be
placed at the centroid of the cross section. Axes 02~ and 0 :Y are taken to be in the direc-
tion of the principal axes of the cross section while OZ, coincides with the line passing
through the centroids of the sections. The shell's generator is then parallel to the OZ, axis.
The lines of principal curvature of the shell are orthogonal lines parallel and perpendicular
to the generator, denoted by z and s respectively as shown in Fig. 1.
69
1028 A. A. GHOB~AH and W. K. T s o

CROSS - SECTION
OF SHELL

F I e . 1. Open thin-walled prismatic shell.

According to L o v e ' s first a p p r o x i m a t i o n , the strain energy density U of a thin elastic

shell is g i v e n b y n

Ec
U - 2(1 - v*) [(t= + ~,)= - 2(1 - v) (tz t, - ~ 5 ) ]

Ec 3
+ ~ [ ( K , + Ks) 2 -- 2 ( 1 -- v) (K, K, -- "r*)]. (2)

The strains are related to the displacements u, v and w b y t h e expressions

e, = ~ z + ~ t ~ e z ] ~ez/ J (3)

~u ~v Ov /3v w\ ~w /~w v\
(4)

a2w ~ /v\
= (0)

where u, v, w are the longitudinal, t a n g e n t i a l and normal displacements of the mid-surface

and R8 is the principal radius of c u r v a t u r e of the shell.
The f l m d a m e n t a l a s s u m p t i o n in the t h e o r y of thin-walled beams is t h a t the c o n t o u r
of tile cross-section of t h e prismatic shell is n o t deformable in its own plane. The dis-
placements of t h e contour in its own plane consist of rigid b o d y displacements only. The
shape of the cross-section is u n c h a n g e d after deformation. Thus, t h e displacements of the
cross-section in its plane can be described b y orthogonal displacements $ and ~ of some
p a r t i c u l a r p o i n t C in t h e plane of the cross-section a n d a r o t a t i o n 0 a b o u t the p o i n t C.
The displacements $ a n d ~ represent the lateral displacements of the cross-section in the
principal directions while 0 represents t h e r o t a t i o n of the section. The displacements ~,
a n d r o t a t i o n ~ are i n d e p e n d e n t of the co-ordinate s along t h e c o n t o u r of the cross section.
T h e y are a function of z only.
I n t h e f o r m u l a t i o n of t h e t h e o r y it is necessary to distinguish the deformed and the
u n d e f o r m e d state. Two sets of co-ordinate axes are defined. The first set of co-ordinate
O2~, O:Y and OZ, are co-ordinates fixed in space. Axes 02~ and 0:Y are along the principal
directions of the cross-section in t h e u n d e f o r m e d state. The second set of co-ordinate axes
O X , 0 Y and 07, is a t t a c h e d to t h e cross-section and rotates w i t h the section. The two sets
of axes coincide in the u n d e f o r m e d state. A f t e r deformation, OX, 0 :Y a n d 0 2 axes retain
t h e i r direction in space while axes O X , 0 Y and OZ will r o t a t e w i t h t h e cross-section as
s h o w n in Fig. 2. I n t h e present formulation bending deformations are considered small,
n a m e l y rotations a b o u t t h e O X and 0 Y axis are small. Therefore, in relating deformations,
t h e cosine of the angle between 0 2 and OZ axes is t a k e n to be unity.
 A n o n - l i n e a r thin-walled b e a m t h e o r y 1029

UNDEFORMED
POSITION ~
DEFORMED
POSITION
FIG. 2. Rigid b o d y m o t i o n of the cross-section.

The direction cosines for the two sets of axes can be w r i t t e n as

Z Y 2
X cos 0 sin 0 0 (6)
Y - sin 0 cos 0 0
Z 0 0 1

Let the displacements of the cross-section in the OT£ a n d O :Y directions be denoted b y

a n d ~, a n d displacements in the OX a n d O Y directions be denoted b y ~:a n d 77respectively.
T h e displacements $ a n d ~ are related to ~ a n d ~/by a co-ordinate t r a n s f o r m a t i o n i n v o l v i n g
t h e direction cosines between the two sets of axes. I n particular, the curvatures in the 2£
a n d :Y directions can be related to the c u r v a t u r e s in the X a n d Y directions b y the relations
~ " = $" cos 0+~/" sin O, (7)
~" = ¢1" cos 0 -- ~" sin O, (8)
where ( )' = d/dz.
Consider a point a o n the profile line of the cross-section. The displacements of point a
in the OX a n d O:Y directions Sa a n d ~a can be related to the displacements of point
C(c=, %) in the O X a n d 0 :Y directions b y the expressions
~a = ~ - ( Y - C , ) sinO+(x-c~) ( c o s 0 - 1), (9)
,~ -=- "77+( x - c~) sin O+ (y - c,) (cos O - 1). (10)
The displacements v a n d w of point a(x, y) represent displacements in the plane of the
cross-section. Therefore, t h e y can be expressed in terms of $, ~ a n d 0 b y the relationships,
v(s, z) = $(z) cos ~b(s)+~?(z) sin ~b(s)
+n(s) [cos O(z) - 1] + h(s) sin O(z), (11)
w(s, z) = - $(~) sin ¢ ( s ) + ~ ( z ) c o s ~ ( s )
- h ( s ) [cos 0(z) - 1] + n ( s ) sin 0(z), (12)
where ~bis the angle b e t w e e n the t a n g e n t of the cross-section at point a a n d the 02£ axis.
h(s) and n(s) are the perpendicular distance from t h e point C(%,%) to the t a n g e n t
a n d n o r m a l of the profile line at the point a(x, y) respectively. T h e y are given b y the
1030 A. A. GHOB~mAH and W. K. T s o
expressions
h(s) = ( x - c~) sin ~b- (y - %) cos ~b, (13)
n(s) = (x - %) cos ~b- (y - %) sin ~b. (14)
The displacement u(s, z) can be expressed in t e r m s of $, ~/and 9 b y assuming the shear
strain ~ s to be zero. Using equations (4), (11) and (12), there is o b t a i n e d
u(s, z) = Uz) - [~'(~) +of(z) P(z)] x(s)
- - [~'(z) -- ~'(z) 9(z)] y(s) - 9'(z) co(s)
+92(z) 9"(z) ~R(s), (15)
~(z) represents the overall longitudinal displacement of the cross-section. ~R a n d co are
geometric properties of the cross-section defined b y

~(s) =
f0 (n 2 + h 2) _d~,

co(s) = l~h(~) d~,

~OI~

where s -- 0 is t h e origin of the co-ordinate s along t h e contour of t h e cross-section.

co(s) is c o m m o n l y referred to as the sectorial a r e a in thin-walled b e a m theory. The
sin 8 and cos 0 functions in equations (11) and (12) are replaced b y a t w o - t e r m a p p r o x i m a -
tion (9-93/6) a n d ( 1 - 92/2) respectively in deriving e q u a t i o n (15). Such a p p r o x i m a t i o n s
simplify t h e algebra and y e t render t h e resulting t h e o r y to be valid for cross-sectional
rotations as large as 45 ° .
Since t h e contour of the cross-section of a thin-walled b e a m is assumed to be non-
deformable in its own plane, t h e strain and the change in c u r v a t u r e e, and K~ vanish. Also,
in t h e t h e o r y of thin-walled b e a m s the contribution of stretching to the strain energy is
m o r e i m p o r t a n t t h a n the bending effect, it follows t h a t the effect of t h e change of curva-
t u r e K, in the z direction can be neglected in comparison w i t h t h e effect of the longitudinal
strain e,. Neglecting Kz is e q u i v a l e n t to the a s s u m p t i o n t h a t t h e distribution of the n o r m a l
stresses o v e r t h e wall thickness is constant. F o r thin-walled b e a m s where the wall thick-
ness c is small, this a s s u m p t i o n is reasonable. I n addition, since the longitudinal fibers are
unconstrained laterally, the factor E / ( 1 - v 2) can be replaced b y E in e q u a t i o n (2).
The strain energy density can t h e n be w r i t t e n as:
U = ½Ece~ + ~Gc a "r2, (16)
where G is the shear modulus of elasticity. The strain e~ and the twist v are derived from
expressions (3) and (5), n a m e l y

~z = ~'-($" +~"9) x-(~"-$"9) y-9"co

+ ½(n~ + h 2) 9 ,2 + ~R(92 9" + 299'2), (17)
r = 9'--½929 '. (18)
The non.linear t e r m in t h e twist expression (18) is multiplied b y c a in t h e strain energy
density where t h e thickness c is small. Therefore, this t e r m will be neglected in subsequent
calculations.
The t o t a l strain energy for t h e thin-walled b e a m V, is t h e n given as:

V = ds dz. (19)

P o t e n t i a l energy e x p r e s s i o n
Two types of external loads will be considered. Firstly, consider t h e loads applied a t
t h e ends of the beam. L e t the stress distribution over t h e end cross-section of t h e open
 A non-linear thin-walled beam theory 1031
thin-walled beam in the z direction be denoted b y p(s). Then one can define the longitu-
dinal end load, end bending moments and bimoment b y the following relationships:

P = ~cp(s) ds, (20a)

Js

My = - f c~2(s)p(s) ds, (20b)

ds

Mx --- fscff(s) p(s) ds, (20c)

M ~ = / cto(s) p(s) (Is. (20d)

M x azld M~ denote the bending moments along the X and Y axes respectively. The
bimoment is represented b y M~. I n addition, it is assumed t h a t twisting moments Mt are
applied a t the ends of the beam.
The potential energy of the longitudinal stresses applied at the end can be written as

= fop(s) u(s, I~o ds

1 t
f cp(S)fo ($:, ds. (21)

Using equations (9), (10) and (15), the potential energy of applied axial loads can be
expressed in terms of the variables ~, $, ~ and O; namely,

w, f cp[~- (~"+~'o) ~- (~'- ~'o) y

- oJO' + f~R 030'] [z~o
~-t ds

+ [~7"+ (x - cx) O"- (y - %) 00'] ~}dz ds. (22)

The potential energy of the end torque is
W~ = [Mt 19] I~:to. (23)

The second t y p e of loading considered are loads applied along the length of the beam.
Only lateral loads will be considered. Let q(z) be a laterally applied distributed load along
the length of the beam. This load can be always resolved into an equivalent load acting
through point C, plus a couple mr(z) about the longitudinal axis through the point C.
F u r t h e r , this equivalent load can be resolved into two components q~(z) and q~(z) in the
O2~ and O Y directions, respectively.
The potential energy of the lateral force components can be written as

~ = {q~(z)~+q~(zlq+m,(z)0Idz. (24)

Therefore, the totM potentiM energy of the longitudinal end stresses, twisting moment
and lateral force components is,
W = W~+W~+W,. (25)

Differential equations and boundary conditions

Introducing the expressions for the strain energy (19) and potential energy (25) into
equation (1) and carrying out variation, a set of four coupled non-linear differential equation s
are obtained.
1032 A . A . GHOBA-RAHand W. K. Tso
To simplify the algebra, it is convenient to require t h e following relations to be satisfied.

ff cds = ~ycds = (yxcds

JS ,18
= 0, (26)

~ xtocds--(ytocds=O,
js
(27)

f toc ds = 0. (28)

The three integrals given by (26) will be zero if the origin of the co-ordinate s y s t e m is a t
t h e centroid of t h e cross-section and the O X a n d 0 Y are principal axes.
Integrals given b y (27) are satisfied b y selecting t h e a r b i t r a r y p o i n t C to be the shear
center. The integral (28) is considered as a m a t h e m a t i c a l definition for t h e origin of
co-ordinate s on the contour of t h e cross-section.
The non-linear differential equations resulting from the variational procedure can be
w r i t t e n as :
E A ~ " + E(I~c 0 ,2 + I~c 02 8')' = 0, (29)
EG,(~" + ~"8)"- E(ZR, 0 '3 + I ~ 03 0')"
-- P{$"-- ¢/"0-- [ ( % - c,) + (e,-c~) 0]0"
- (e, - c A 0 '2} = q~ + q~ 0, (30)

E l x x ( ~l" - ~ " 0 ) " - E(IR~ 0'2+ I ~ O2 O')"

-- P{7/" -- ~"0 + [(ex - c,) -- (% -- c,) 0] 0 *

- - ( e ~ - - % ) 0 '3} = q ~ - q ~ O , (31)
EI,~,~ Oiv - G I a O~ - E [ 6 I a O'2 O" + I ca,o(O2 O~ + 00'2) "]

+ P[(e~ - c~) (~" + q'I"O) - (e, - c~) (~" - $'0)]

= m , - q~(C7- SO) + q~(~ + ~O). (32)

E q u a t i o n (29) is the e q u a t i o n of equilibrium in the longitudinal direction. E q u a t i o n s
(30) a n d (31) are equilibrium equations in t h e two principal transverse directions and
e q u a t i o n (32) gives t h e equilibrium of t o r q u e a b o u t t h e longitudinal axis.
The associated b o u n d a r y conditions are
[EA~' +E(l~c O'~+I~e 03O')- P ] 8~ }~= O, (33)
[ E I , ~ ( $ " + ~"O) - E ( I a ~ O'2 + I~m O2 O') - M , ] 8~" I~ = O, (34)
[~E I . . ( $ ~ + i'l"O)' - E ( I , . O'3 + I n , 0 2 O')'
- - P { $ ' + ~ ' O - [ ( e ~ - % ) + ( e x - c~) O] 0'}~ 8~ I~) = 0, (35)
[ E I , ~ ( ~ " -- $'O) -- E(IR~ 0 '2 + law 02 8') + M x ~:] 8~/' I~0= 0, (36)
~ EI~x(~? ~ -- ~"O)' - E ( I R ~ O"2 + IQ~ O3 O')'

-- P{~' - ~'0 + [(e~ -- c~) -- (e, -- %) 0J 0'}]] 8./I~ = O, (37)

{ E I ~ o O" -- E [ I R ~ O"2 + I~,,,(O 2 O" + 00'3)] + M ~ - MO 83} 80' I~ = 0, (38)
{EI~o, O" - 2 E I n O'a - EI~,~(O 2 O" + 08'3)"
- 2EO'[Z~o ~ ' - 1,,~(~" + { " O ) - z,,~(#"- $~0)1
-- GIa O' + 2 M ~ O0' + P[(e~ - %) (~" + 4")'0)
- ( e ~ - c ~ ) (~/'- ~'0)]-f 3/,} $0 I~ = 0, (39)
 A n o n - l i n e a r thin-waned beam theory 1033

where A is the cross-sectional area

A=
fsc ds, (40)

I ~ = fscy~ ds, (41)

I w ~-- fsCX2 ds, (42)

I~ = f ~c3 ds, (43)

Iw = f)c(. + ds, (44)

]to~ = ~ c~2 d8, (45)

ds

= f)cx(n, + n2) ds, (46)

I~, = f½cy(h~ + n ~) ds, (47)

(48)

(49)

Ic~ = f cf~R (Is, (50)

I ~ = ~ cx~a da, (51)

I ~ = f cyf~ R ds, (52)

I~1,~ = f cwf~a ds, (53)

Mf~ = fscp~R ds. (54)

The differential equations given by equations (29)-(32) are the general non-linear
differential equations governing the behaviour of thin-walled beam of an open section
under applied static loads. The equations are coupled and cannot be solved analytically
in general. However, it will be shown in the following section t h a t this set of equations
admits a simple solution of uniform torsion when the beam is subjected to end torques only.
I t should be noted t h a t if the non-linear terms are neglected and only lateral loading
along the length of the beam is considered, the set of equations (29)-(32) reduces to the
linear Vlasov's equations for thin-walled beams. 1
 1034 A . A . GHOBARAH a n d W. K . T s o

UNIFORM TORSION SOLUTION

Consider t h e case o f a t h i n - w a l l e d b e a m of o p e n s e c t i o n s u b j e c t e d to a p a i r of e q u a l b u t
o p p o s i t e t o r q u e s M t a p p l i e d a t its ends. T h e e q u a t i o n s of e q u i l i b r i u m c a n b e w r i t t e n as
A~" +(IvcO'2+ Ig~c020')' = O, (55)
I~,($" + 0"0)"-- (IR. 0 '2 + I n , 02 0')" = 0, (56)
Ixx(~" -- $"0)" -- (IR u 0 '2 + t a r O2 O')" = 0, (57)
EI~oo~ 0Iv - 6 E I R 0 '2 O" - Eloo~( O2 O" + 00'2)"
-- 2E{O'[I~c ~" -- IR~($" + ~"0)
--IR.(~I"-- ~"0)]}' -- GI a 0" = 0. (58)
F u r t h e r , let, us a s s u m e t h a t t h e b e a m is s u p p o r t e d in s u c h a w a y t h a t it is
u n d e r u n i f o r m torsion. B y definition o f u n i f o r m t o r s i o n , t h e v a r i a t i o n of t h e a n g l e of
t w i s t i n t h e l o n g i t u d i n a l d i r e c t i o n of t h e b e a m is linear. A c c o r d i n g l y , d e r i v a t i v e s of t h e
a n g l e of t w i s t h i g h e r t h a n t h e first d e r i v a t i v e will v a n i s h in t h e differential e q u a t i o n s a n d
t h e b o u n d a r y c o n d i t i o n s . A p p l y i n g t h e a b o v e simplifications t o e q u a t i o n s (55)-(58) for
t h e case o f u n i f o r m t o r s i o n of a t h i n - w a l l e d b e a m , t h e r e is o b t a i n e d
A~" + 2Io~ 00 '2 = O, (59)
I,,(~" + ~ " 0 ) " - 2In~ 0 '~ = 0, (60)
I~(¢1"-- $"0)"-- 2 I n , 0 '3 = 0, (6I)
{O'[I.c ~' -- In.($" +'71"0)
-- IRu(¢/" -- $"0)]}' = O. (62)
The boundary conditions become at z = 0
~=~=~'=~=ff=0=0,
and at z = 1 (63)

A ~ ' + Iv~ 0 '2 + I a c 02 0' = 0. (64)

I ~ ( ~ " + ¢/"0) -- I . ~ 0 ' 2 - I n ~ 02 0' = 0, (65)
I..(~" + ~/"0)' -- 2 I o ~ 00 '~ = 0, (66)
I,~(~" -- ~"0) -- Ia~ 0 '2 - - I a x 02 O" = O, (67)
1~(~"- ~"0)'- 2in, 00'"- = 0, (68)
EI~o~ 0 "a + 2 E I n 0 '3

-Im,(¢1" - $"0)] + GI a 0'-_~lt = 0. (69)

I n t e g r a t i n g e q u a t i o n s (59) a n d (62) once a n d i n t e g r a t i n g e q u a t i o n s (60) a n d (61)
twice, a n d u s i n g t h e b o u n d a r y c o n d i t i o n s (64)-(69) t o e v a l u a t e t h e c o n s t a n t s o f i n t e g r a -
t i o n , t h e r e is o b t a i n e d
A ~ ' + I ~ 0 '2 + I n . 02 0' = 0, (70)
I ~ ( ~ " + 0"0) -- ln~ 0 '2 -- I o ~ 02 0' = 0, (71)
I~(~" -- ~"0) -- IR, 0'2--In, 02 0' = 0, (72)
E I o , , 0'" + 2 E I R 0 'a
+ 2EO'[Iv~ ~' -- I . . ( $ " + 4"0)
- - IR,(¢1" - ~"0)] + (~I d 0' - - Mt = 0. (73)
I t s h o u l d b e n o t e d t h a t t h e first d e r i v a t i v e of t h e a n g l e o f t w i s t 0' is a c o n s t a n t in t h e a b o v e
equations.
 A non-linear thin-walled beam theory 1035
Eliminating ~', $" and ¢/" from equation (73) a non-linear equation is obtained; namely,

GIaO'+2EO'a[Ia (I~c)2 (IR~)2 (I")2+½Ino~]-M~=O. (74)

A I,, I~
This leads to the non-linear m o m e n t - r o t a t i o n relationship:
2E [IR_(I~,c)~ (I.~) 2 (1..) 2 0,~}"
Mt=aldO'{l+~ A I,, I~, + ~ I ~ ] (75)

The longitudinal strain due to shortening effect of non-linear twist can be found b y
introducing the derivatives ~', ~" and ¢/" given b y equations (70)-(72) into the strain
equation (17), there is obtained
e, = [ - I~c/A - ( I n , / I , , ) x - - ( I n , / I ~ ) y + ½(h2 + n2)] 0 '2 + 2~n 00 '2. (76)
The m o m e n t - r o t a t i o n relationship and the s t r a i n - r o t a t i o n expressions as given b y
equations (75) and (76), respectively, are general formulas for a thin-walled beam of
unsymmetrical cross-section under uniform torsion.

EXAMPLES
(a) Thin-walled beam of narrow rectangular cross-section
Consider a thin-walled beam of rectangular cross-section of thickness c and height b.
Assuming c ~ b, the properties of the cross-section can then be calculated as follows
n=y,
cb a cb a ca b
I~c = ~ ' Ia = - ~ ' Id ---- 3
and
~ R --- ZRz ---- I n , =" I~1¢0 = h = O.
Substituting the values of the above constants into the moment and the strain expres-
sions as given b y equations (75) and (76), respectively, gives

M r = ~Gbc a O' r[1 + ~ {Eb

~ a ^,2]], (77)

e~ = [½y~-- ~-~4b2] 0'2. (78)

The m o m e n t - r o t a t i o n expression as given b y equation (77) is identical to t h a t given b y
Cullimore. ~ The strain expression (78) is the same as t h a t given b y Gregory. 6

(b) Thin.u~alled beam of I-section

Consider a symmetrical I section of flange and web thickness cr and cw, respectively, of
height H, flange width B as shown in Fig. 3(a). The flange and web thickness are taken to
be small compared with the height H, i.e. c l ~ H and c w ~ H .

Yt , 8 7

H i

- l ! F °w

Fro. 3(a). Syrmnetrical / section.

1036 A . A . G ~ O ~ A E and W. K. Tso
The geometrical properties of the cross-section are evaluated as follows
A = H % + 2Bcl,
I~c = ~ [H 3 ca + 2B a cl + 6H 2 Bcl],
IR~ = ~R = IR~ = Ia,o -= O,

Ia= 2~
c~ B ÷C~w
--3
H,

r 2 = n 2 + h 2,

IR cw H 5 4 - c I B H 4 cl 5 c] 2B 3.
= 320-- - 3 2 +160 B +48 H
The moment-rotation expression is obtained by substituting the values of the above
geometrical constants into equation (75), thus

Mr= --~ B ÷ C ~ H GO' I ~ - G ( 2 c ~ B + c ~ H )

cw H5 cI 4 C! C!
~-+~ B H + ] - ~ Ba + ~ H2 B a

(H a c~+ 2B a c,+ 6H 2 Bc]) ~] 0,21.

(79)
576(Hew + 2Bet) J !
The strain expression can be obtained by substituting the above geometrical constants
into equation (76), thus

c~ = 1 (12r 2 H 3 c ~ + 6 H 2 B c ' + 2 B ' c ' ) o ' ~ . (80)

Hcw + 2Bc t
The axial strain-rotation expression for a thin-walled beam of I section, as given b y
equation (80), agrees with the result given by Cullimore3

(c) Equal-angle section

Consider a monosymmetrical angle section of thickness c and side width b as shown in
Fig. 3(b).

._~._. ! m',. ×c
z_ ,vii
rl"/'~'~'/" H b
Fio. 3(b). Equal angle section.

The geometrical properties can be found to be:

A = 2cb, n=r, x = (r-b/2)/~12,
]~e = ½cb3, I . ~ = 5cb+/(12~/2), I ~ = -~cb 3,
1R=-lX~cb 5 and l d = ~Cab.
~ R = IRy = I ~ o = O.
 A non-linear thin-walled beam theory 1037
Substituting the values of the above constants into the moment and strain expressions
as given by equations (75) and (76), there is obtained
359 E b 4 ,_\
M s - - ]Gc abo' 1 120 Gc ~ ) (81)
and
ez = (½r~ ÷ ½b2 - ½br) O'S. (82)
For uniform torsion, 8' is constant along the beam and can be written as
8" = O/l
then the strain expression is identical to Gregory's results, a

CONCLUSIONS
A non-linear theory of thin-walled beams of open section is presented in this
paper. Based on the theory for thin prismatic shells, the present theory is
derived via the minimum potential energy principle. The theory takes into
account the inherent weakness in torsional resistance of thin-walled beam by
treating the cross-sectional rotation of the beam as large.
The present non-linear theory differs from the available non-linear thin-
walled beam theory 2, s in a number of aspects. First of all, the nonlinear
equation for the longitudinal deformation of the beam is accounted for. The
non-linearity in the equation arises from the "shortening effect" of large angle
of rotation. Secondly, the present theory is simpler to apply t h a n nonlinear
theories t h a t treat both flexural and torsional deformations to be large. By
treating torsional deformation to be large only the present theory reflects more
realistically the physical characteristic of thin-walled beams of open section;
namely, such beams are weak in torsion but strong in bending. Thirdly, the
present theory provides a set of admissible boundary conditions which are of
consistent order of approximation with the equations of equilibrium.
On one hand, the present theory reduces to the linear theory of Vlasov.
On the other hand, the theory yields a simple solution in the case of non-linear
uniform torsion of the member. The results obtained in the case of uniform
torsion agree with those obtained by Cullimore and Gregory which are sup-
ported by experimental verification. In this sense, the present theory provides
a logical extension of the elastic torsion problem of thin-walled members where
the effect of non-uniform torsion m a y be studied.

Acknowledgement---The authors wish to acknowledge the support of the National Research

Council of Canada under Grant No. A-3383.

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1. V. Z. VT.ASOV, T h i n . w a l l e d Elastic B e a m s , OTS 61-11400, National Science Founda-
tions, Washington D.C. (1961).
2. M. S. G. CuLLr~ORE, Research E n g i n e e r i n g Structure S u p p l e m e n t , p. 153. London,
(1949).
3. M. GREGORY,A u s t r a l i a n J . appl. Sci. 11, 209 (1960).
4. D. G. ASHWEI~,,P h i l . M a g . 42, 820 (1951).
1038 A. A. GHOBARAHand W. K. Tso
5. M. GREGORY, Australian J. appl. Sci. 11, 33 (1960}.
6. M. GREGORY, Australian J. appl. Sci. 12, 174 (1961}.
7. M. M. BLACK, Thin Walled Structures (edited b y A. H. CHILVER), p. 87. John Wiley,
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8. R. L. DREISBACH, Doctor of Philosophy Thesis, University of Colorado (1969}.
9. S. G. EBNER, Doctor of Philosophy Thesis, University of Colorado (1968).
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