Example 1

𝑄 * = 100𝑘𝑁&𝐸 = 10000𝑀𝑁/𝑚2 &𝜈 = 0.2&𝐴 = 0.2𝑚2 &𝐼 = 0.017𝑚4 &𝐿 = 5𝑚

𝐺= 𝐸 = 4166.67𝑀𝑁/𝑚2
2(1 + 𝜈)
𝐴𝑄 = 5𝐴 = 5 × 1 × 0.2 = 0.17𝑚2 → 𝑓𝑜𝑟 − 𝑟𝑒𝑐tan𝑔𝑢𝑙𝑎𝑟
6 6
𝐿=5
ℎ

Solution

Timoshenko

⎡ 𝐺𝐴𝑄 𝐺𝐴𝑄 ⎤ ⎡ ⎤ ⎡ ⎤
⎢ 𝑒 ⎥ ⎢ 2 ⎥ ⎢ ⎥
𝐾𝑒 = ⎢ 𝐿 𝐿𝑒 ⎥ → ⎢ 𝛿𝑤 ⎥ ⇒ 𝐾𝑒 = ⎢ 141.67 354.17 ⎥
⎢ 𝐺𝐴𝑄 𝐸𝐼 𝐺𝐴𝑄 𝐿𝑒 ⎥ ⎢ 𝛿𝜑2 ⎥ ⎢ 354.17 1214.56 ⎥
⎢⎣ 𝐿𝑒 𝐿𝑒 + 3 ⎥⎦ ⎢⎣ ⎥⎦ ⎢⎣ ⎥⎦

⎡ ⎤ ⎡ 2 ⎤ ⎡ ⎤
𝑒
𝑟 = ⎢ 100 × 10 −3
𝑀𝑁 ⎥ → ⎢ 𝛿𝑤 ⎥ ⇒ 𝑟𝑒 = ⎢ 0.1 ⎥
⎢⎣ 0 ⎥⎦ ⎢⎣ 𝛿𝜑2 ⎥⎦ ⎢⎣ 0 ⎥⎦

⎡ ⎤
𝑢 = (𝐾𝑒 )−1 𝑟𝑒 = ⎢ 2.6047 × 10 𝑚 ⎥
−3
⎢⎣ − 7.5953 × 10−4 𝑟𝑎𝑑 ⎥⎦

Bernoulli

⎡ 12𝐸𝐼 6𝐸𝐼 ⎤ ⎡ ⎤ ⎡ ⎤
⎢ 2 ⎥ ⎢ ⎥ ⎢ ⎥
⎢ (𝐿𝑒 ) (𝐿𝑒 ) ⎥ ⎢ 𝛿𝑤2 ⎥ ⇒ 𝑒 ⎢ 16.32 40.8 ⎥
3
𝐾𝑒 = ⎢
6𝐸𝐼 4𝐸𝐼 ⎥⎥ ⎢⎢ 𝛿𝜑2 ⎥ 𝐾 = ⎢ 40.8 136 ⎥
→
⎢ 𝐿𝑒 ⎥⎦ ⎢⎣ ⎥ ⎢ ⎥
⎢⎣ ⎥⎦ ⎢⎣ ⎥⎦
2
(𝐿𝑒 )

⎡ ⎤
𝑢 = (𝐾𝑒 )−1 𝑟𝑒 = ⎢ ⎥ → 10𝑡𝑖𝑚𝑒𝑠 − 𝑚𝑜𝑟𝑒 − 𝑡ha𝑛 − 𝑇𝑖𝑚𝑜𝑠ℎ𝑒𝑛𝑘𝑜
0.0245𝑚
⎢⎣ − 7.3529 × 10−3 𝑟𝑎𝑑 ⎥⎦

1
 Timoshenko- Reduced Integration (avoid locking)

⎡ 𝐺𝐴𝑄 𝐺𝐴𝑄 ⎤ ⎡ ⎤ ⎡ ⎤ ⎡ ⎤
⎢ 𝑒 ⎥ ⎢ 2 ⎥ ⎢ ⎥ ⎢ ⎥
𝐾𝑒 = ⎢ 𝐿 ⎥ → ⎢ 𝛿𝑤 ⎥ ⇒ 𝐾𝑒 = ⎢ 141.67 354.17 ⎥ ⇒ 𝑢 = ⎢ ⎥
2 0.01908
⎢ 𝐺𝐴𝑄 𝐸𝐼 𝐺𝐴𝑄 𝐿𝑒 ⎥ ⎢ 𝛿𝜑2 ⎥ ⎢ 354.7 919.42 ⎥ ⎢ − 7.3512 × 10−3 ⎥
⎢⎣ 2 𝐿𝑒 + 4 ⎥⎦ ⎢⎣ ⎥⎦ ⎢⎣ ⎥⎦ ⎢⎣ ⎥⎦

Analytical Solution

* 3
𝑤𝐵𝑒𝑟𝑛𝑜𝑢𝑙𝑙𝑖 = 𝑄 𝐿 = 0.0245𝑚
3𝐸𝐼
* 2
𝜑𝐵𝑒𝑟𝑛𝑜𝑢𝑙𝑙𝑖 = − 𝑄 𝐿 = − 7.3529 × 10−3 𝑟𝑎𝑑
2𝐸𝐼

*
𝑤𝑇𝑖𝑚𝑜𝑠ℎ𝑒𝑛𝑘𝑜 = 𝑤𝐵𝑒𝑟𝑛𝑜𝑢𝑙𝑙𝑖 + 𝑄 𝐿 = 0.0252𝑚
𝐺𝐴𝑄
*
𝜑𝑇𝑖𝑚𝑜𝑠ℎ𝑒𝑛𝑘𝑜 = 𝜑𝐵𝑒𝑟𝑛𝑜𝑢𝑙𝑙𝑖 − 𝑄 = − 7.4941 × 10−3 𝑟𝑎𝑑
𝐺𝐴𝑄

2
Beam Example 2

𝐸𝐼 = 10000𝑘𝑁/𝑚2 &𝐸𝐴𝑏𝑒𝑎𝑚 = 300000𝑘𝑁&𝐸𝐴𝑡𝑟𝑢𝑠𝑠 = 40000𝑘𝑁

𝑄 * = 300𝑘𝑁&𝑃 * = 100𝑘𝑁

Solution

Beam 1

⎡ 𝐸𝐴 ⎤ ⎡ ⎤ ⎡ ⎤ ⎡ ⎤
⎢ 𝐿𝑒 0 ⎥ ⎢
0 ⎥ ⎢ ⎥ ⎢ ⎥
⎢ ⎥ ⎢ 2 ⎥ ⎢ 100000 ⎥ ⎢ 𝛿𝑢2 ⎥
⎢ 12𝐸𝐼 6𝐸𝐼 ⎥ ⎢ 𝛿𝑢 ⎥ ⎢ 0 0 ⎥ ⎢ ⎥
𝐾1𝐵𝑒𝑎𝑚 =⎢ 0 (𝐿𝑒 ) (𝐿𝑒 ) ⎥ → ⎢ 𝛿𝑤
3 2 2
⎥ ⇒ 𝐾𝐵𝑒𝑎𝑚 = ⎢ 0
1
4444.44 6666.67 ⎥ → ⎢ 𝛿𝑤2 ⎥
⎢ ⎥ ⎢ ⎥ ⎢ 0 6666.67 13333.33 ⎥ ⎢ 𝛿𝜑2 ⎥
⎢ 0 6𝐸𝐼 4𝐸𝐼 ⎥ ⎢ 𝛿𝜑2 ⎥ ⎢ ⎥ ⎢ ⎥
⎢⎣ 𝐿 ⎥⎦ ⎢⎣ ⎥⎦ ⎢⎣ ⎥⎦ ⎢⎣ ⎥⎦
2 𝑒
(𝐿𝑒 )

Beam 2

⎡ 𝐸𝐴 ⎤ ⎡ ⎤
⎢ 𝐿𝑒 0 0 − 𝐸𝐴 0⎥ ⎢ ⎥
𝐿𝑒
⎢ ⎥ ⎢ ⎥
⎢ 0 12𝐸𝐼 − 6𝐸𝐼2 0 − 6𝐸𝐼 ⎥ ⎢ 𝛿𝑢2 ⎥
⎢ (𝐿𝑒 )
3
(𝐿𝑒 ) 𝑒 2 ⎥
(𝐿 ) ⎢ ⎥
⎢ ⎥ ⎢ 𝛿𝑤2 ⎥
= ⎢⎢ 0
−6𝐸𝐼 4𝐸𝐼 0 2𝐸𝐼 ⎥ ⎢ 2 ⎥
𝐾2𝐵𝑒𝑎𝑚 2 𝐿𝑒 𝐿𝑒 ⎥ → ⎢ 𝛿𝜑 ⎥
(𝐿𝑒 )
⎢ ⎥ ⎢ 𝛿𝑢3 ⎥
⎢ − 𝐸𝐴 0 0 𝐸𝐴 0 ⎥ ⎢ ⎥
⎢ 𝐿 ⎥ ⎢ 𝛿𝜑3 ⎥
𝑒
𝐿𝑒
⎢ 0 − 6𝐸𝐼2 2𝐸𝐼 4𝐸𝐼 ⎥ ⎢ ⎥
⎢ 𝐿𝑒
0
𝐿𝑒 ⎥ ⎢ ⎥
⎣ (𝐿𝑒 ) ⎦ ⎣ ⎦

⎡ ⎤ ⎡ 2 ⎤
⎢ 100000 0 0 −100000 0 ⎥ ⎢ 𝛿𝑢 ⎥
⎢ ⎥ ⎢ 2 ⎥
⎢ 0 4444.44 − 6666.67 0 − 6666.67 ⎥ ⎢ 𝛿𝑤 ⎥
𝐾2𝐵𝑒𝑎𝑚 =⎢ 0 −666.6 . 67 13333.33 0 6666.67 ⎥ → ⎢ 𝛿𝜑2 ⎥
⎢ −100000 0 0 100000 0 ⎥ ⎢ 3 ⎥
⎢ ⎥ ⎢ 𝛿𝑢 ⎥
⎢ 0 −6666.67 6666.67 0 13333.34 ⎥ ⎢ 3 ⎥
⎣ ⎦ ⎣ 𝛿𝜑 ⎦

3
Truss 1

𝐿 = √32 + 22 = 3.6056
cos𝛼1 = 3 − 0 = 0.8321
3.6056
cos𝛼2 = −2 − 0 = − 0.5547
3.6056

⎡ 2 ⎤ ⎡ ⎤ ⎡ ⎤
⎢ 𝑐1 𝑐1 𝑐2 ⎥ ⎢ 7681.28 −5120.54 ⎥ ⎢ 𝛿𝑢2 ⎥
𝐾1𝑡𝑟𝑢𝑠𝑠 = 𝐸𝐴
𝐿⎢ ⎥=⎢ ⎥→⎢ 2 ⎥
⎣⎢ 𝑐1 𝑐2 𝑐2 ⎥⎦ ⎢⎣ ⎥⎦ ⎢⎣ 𝛿𝑤 ⎦⎥
2 − 5120.59 3413.49

Truss 2

𝐿 = √32 + 22 = 3.6056
cos𝛼1 = 3 − 0 = 0.8321
3.6056
cos𝛼2 = 2 − 0 = 0.5547
3.6056

⎡ 2 ⎤ ⎡ ⎤ ⎡ ⎤
𝐸𝐴⎢ 𝑐 𝑐1 𝑐2 ⎥ ⎢ 7681.28 5120.54 ⎥ ⎢ 𝛿𝑢2 ⎥
𝐾2𝑡𝑟𝑢𝑠𝑠 = 𝐿⎢ 1 ⎥=⎢ ⎥→⎢ 2 ⎥
⎢⎣ 𝑐1 𝑐2 𝑐22 ⎥⎦ ⎢⎣ 5120.59 3413.49 ⎥⎦ ⎢⎣ 𝛿𝑤 ⎥⎦

Assembly

⎡ ⎤ ⎡ 2 ⎤
⎢ 215362.56 0 0 −100000 0 ⎥ ⎢ 𝛿𝑢 ⎥
⎢ ⎥ ⎢ 2 ⎥
⎢ 0 15715.86 0 0 − 6666.67 ⎥ ⎢ 𝛿𝑤 ⎥
𝐾=⎢ 0 0 26666.67 0 6666.67 ⎥ → ⎢ 𝛿𝜑
2
⎥
⎢ −100000 ⎥ ⎢ 3 ⎥
⎢ 0 0 100000 0 ⎥ ⎢ 𝛿𝑢 ⎥
⎢ 0 −6666.67 6666.67 0 13333.33 ⎥ ⎢ 3 ⎥
⎣ ⎦ ⎣ 𝛿𝜑 ⎦

⎡ ⎤⎡ 2 ⎤ ⎡ ⎤ ⎡ 2 ⎤ ⎡ ⎤
⎢ ⎥⎢ 𝑢 ⎥=⎢ 0 ⎥⇒⎢𝑢 ⎥ = ⎢ 8.6683 × 10 ⎥
−4
𝑢 215362.56
𝑢 −100000
𝐾 𝑢=𝑅 ⇒
⎢⎣ − 100000 100000 ⎥⎦⎢⎣ 𝑢3 ⎥⎦ ⎢⎣ 100 ⎥⎦ ⎢⎣ 𝑢3 ⎥⎦ ⎢⎣ 1.8668 × 10−3 ⎥⎦

⎡ ⎤⎡ 2 ⎤ ⎡ ⎤ ⎡ 2 ⎤ ⎡ ⎤
⎢ 15715.86 0 −6666.67 ⎥⎢ 𝑤 ⎥ ⎢ 300 ⎥ ⎢ 𝑤 ⎥ ⎢ 0.0252 ⎥
𝐾𝑤 𝑤 = 𝑅𝑤 ⇒⎢ 26666.6 · 7 6666.67 ⎥⎥⎢⎢ 𝜑 ⎥⎥ = ⎢⎢ 0 ⎥⎥ ⇒ ⎢⎢ 𝜑
2 2 ⎥=⎢− −3 ⎥
⎢ 0 ⎥ ⎢ 3.5995 × 10 ⎥
⎢⎣ −6666.67 6666.67 13333.34 ⎥⎦⎢⎣ 𝜑3 ⎥⎦ ⎢⎣ 0 ⎥⎦ ⎢⎣ 𝜑3 ⎥⎦ ⎢⎣ −0.0144 ⎥⎦
4
Beam Example 3

Compute the stored elastic energy in the deformed structure consisting of two
Bernoulli Beam elements due to prescribed displacements

𝑢1 = 0mm &𝑤1 = 0mm &𝜑1 = − 0.002𝑟𝑎𝑑

𝑢2 = 0mm &𝑤2 = 5mm &𝜑2 = 0𝑟𝑎𝑑

𝑢3 = 0mm &𝑤3 = − 2mm &𝜑3 = 0𝑟𝑎𝑑

Solution

𝑊𝑖𝑛𝑡 = 1𝑢𝑇 𝐾𝑢
2

Beam 1

⎡ 4 ⎤ ⎡ ⎤
⎢ 4 × 10 6 × 10 ⎥ ⎢ ⎥
4

⎢ 2 22 ⎥ ⎢ 𝛿𝜑1 ⎥
𝐾1 = ⎢ ⎥→⎢ ⎥
⎢ 6 × 104 12 × 104 ⎥ ⎢ 𝛿𝑤2 ⎥
⎢⎣ 22 23 ⎥⎦ ⎢⎣ ⎥⎦

Beam 2

⎡ ⎤ ⎡ ⎤
⎢ 12 × 10 − 12 × 10 ⎥ ⎢ ⎥
4 4

⎢ 23 23 ⎥ ⎢ 𝛿𝑤2 ⎥
𝐾2 = ⎢ ⎥→⎢ 3 ⎥
⎢ − 12 × 104 12 × 104 ⎥ ⎢ 𝛿𝑤 ⎥
⎢⎣ 23 23 ⎥⎦ ⎢⎣ ⎥⎦

Assembly

5
 ⎡ ⎤ ⎡ 1 ⎤
⎢ 2 × 10 ⎥ ⎢ 𝛿𝜑 ⎥
4
1.5 × 104 0
𝐾 = ⎢ 1.5 × 104 3 × 104 1.5 × 104 ⎥→⎢ 2 ⎥
⎢ ⎥ ⎢ 𝛿𝑤 ⎥
⎢⎣ 0 −1.5 × 104 1.5 × 104 ⎥⎦ ⎢⎣ 𝛿𝑤3 ⎥⎦

⎡ −0.002 ⎤
⎢ ⎥
𝑢 = ⎢ 0.005 ⎥
⎢⎣ −0.002 ⎥⎦

𝛿𝑊𝑖𝑛𝑡 = 1𝑢𝑇 𝐾𝑢 = 0.445𝑘𝑁𝑚

2

6
Beam Example 4

𝐸𝐼 = 10000𝑘𝑁𝑚2 &𝑘𝑠 = 1000𝑘𝑁/𝑚

𝑞1* = 5𝑘𝑁/𝑚&𝑞2* = 10𝑘𝑁/𝑚

Solution

Beam

⎡ ⎤ ⎡ ⎤
⎢ 4 × 10 2 × 10 ⎥ ⎢ 1 ⎥
4 4

𝐾𝐵𝑒𝑎𝑚 =⎢ 5 5 ⎥ → ⎢ 𝛿𝜑 ⎥
⎢ 4 4 ⎥ ⎢ 𝛿𝜑2 ⎥
⎢ 2 × 10 4 × 10 ⎥ ⎢ ⎥
⎣ 5 5 ⎦ ⎣ ⎦

Spring

𝛿𝑊𝑠𝑝𝑟𝑖𝑛𝑔
𝑖𝑛𝑡 = 𝛿𝑤𝑠 𝑘𝑠 𝑤𝑠

𝜑 𝜑
𝑤𝑠 = 𝑁𝑤 1 1 𝑤 2
1 · 𝑤 + 𝑁1 · 𝜑 + 𝑁2 · 𝑤 + 𝑁2 · 𝜑
2

𝑤1 = 0&𝑤2 = 0
𝜑 𝜑 𝜑1 𝑒 𝑒 𝜑1
𝑤𝑠 = [ 𝑁1 𝑁2 ][ ] = [ − 𝑙 (1 − 𝜉𝑠 )2 (1 + 𝜉𝑠 ) 𝑙 (1 + 𝜉𝑠 )2 (1 − 𝜉𝑠 ) ][ ]
𝜑2 8 8 𝜑2

𝑋 = 𝑄1 · 𝑥1 + 𝑄2 𝑥2 = 1(1 − 𝜉) · 0 + 1(1 + 𝜉) · 5 = 5(1 + 𝜉)

2 2 2
𝑠𝑝𝑟𝑖𝑛𝑔 𝑠
𝑥 = 2 ⇒ 𝜉 = − 0.2

⎡ ⎤⎡ 1 ⎤
𝑤 = ⎢ −0.72 0.48 ⎥⎥⎢⎢
⎢ ⎥
𝑠 𝜑
⎥
⎣ ⎦⎣ 𝜑 ⎦
2

7
 ⎡ ⎤ ⎡ ⎤ ⎡ ⎤ ⎡ 1 ⎤
= ⎢⎢ −0.72 ⎥⎥𝑘𝑠 ⎢⎢ −0.72 0.48 ⎥⎥ = ⎢⎢ 518.4 −345.6 ⎥⎥ → ⎢⎢ ⎥
𝑠𝑝𝑟𝑖𝑛𝑔 𝛿𝜑
𝑘 ⎥
⎣ 0.48 ⎦ ⎣ ⎦ ⎣ − 345.6 230.4 ⎦ ⎣ 𝛿𝜑 ⎦
2

Assembly - Stiffness

⎡ ⎤ ⎡ 1 ⎤
𝐾 = 𝑘𝐵𝑒𝑎𝑚 + 𝑘𝑠𝑝𝑟𝑖𝑛𝑔 = ⎢⎢ 8518.4 3654.4 ⎥⎥ → ⎢⎢ ⎥
𝛿𝜑
⎥
⎣ 3654.4 8518.4 ⎦ ⎣ 𝛿𝜑 ⎦
2

Consistent Load Vector

𝑞(𝜉) = 1(1 − 𝜉) · 𝑞1* + 1(1 + 𝜉) · 𝑞2* = 7.5 + 2.5𝜉

2 2

⎡ 𝜑 ⎤ ⎡ 𝑙𝑒 ⎤
⎢𝑁 ⎥ 1 ⎢ − 8 (1 − 𝜉) (1 + 𝜉) ⎥
2
𝑒
𝑟 = ∫ ⎢ 1𝜑 ⎥𝑞(𝜉)|𝐽|𝑑𝜉 = ∫ ⎢ 𝑒 ⎥(7.5 + 2.5𝜉)𝑙 𝑑𝜉
1
−1 ⎢ 𝑁 ⎥ −1 ⎢ 𝑙 2 ⎥ 2
⎣ 2 ⎦ ⎣ 8 (1 + 𝜉) (1 − 𝜉) ⎦

𝑝 = 4&𝑃 ≤ 2𝑛 − 1 ⇒ 𝑛 = 3

𝜉1 = − √3&𝜉2 = 0&𝜉3 = √3
5 5
𝛼1 = 𝑎3 = 5&𝛼2 = 8
9 9

⎡ ⎤ ⎡ 1 ⎤
⎢
𝑟=⎢ −14.5833 ⎥ → ⎢ 𝛿𝜑 ⎥
⎥ ⎢ 2 ⎥
⎣ 16.6667 ⎦ ⎣ 𝛿𝜑 ⎦

⎡ 1 ⎤ ⎡ ⎤
𝑅 ⇒ ⎢⎢ ⎥ = ⎢ −3.1268 × 10−3 ⎥
−1 𝜑
𝐾𝑤 = 𝑅 ⇒ 𝑤 = 𝐾 ⎥ ⎢ ⎥
⎣𝜑 ⎦ ⎣ 3.2980 × 10−3 ⎦
2

⎡ ⎤⎡ 1 ⎤
𝑤 = ⎢ −0.78 0.48 ⎥⎥⎢⎢
⎢
𝑠 𝜑 ⎥
⇒ 𝐹𝑠𝑝𝑟𝑖𝑛𝑔 = 𝑘𝑠 𝑤𝑠 = 4.02𝑘𝑁
2 ⎥
⎣ ⎦⎣ 𝜑 ⎦

For Rotational Spring

𝐹𝑠𝑝𝑟𝑖𝑛𝑔 = 𝑘𝜑 · 𝛥𝜑

8
Beam Example 5

𝐸 = 106 𝑘𝑁/𝑚2
𝑟(𝑥') = 0.5 − 0.1𝑥'&𝐼 = 𝜋𝑟4
4

Beam with linear changing cross-section

Solution

𝑟(𝑥') = 0.5 − 0.1𝑥'&0 ≤ 𝑥' ≤ 4

𝑥' = 1(1 − 𝜉1 ) · 0 + 1(1 + 𝜉) · 4 = 2(𝜉 + 1) ⇒ 𝑟(𝜉) = 0.3 − 0.2𝜉
2 2

𝐴(𝜉) = 𝜋𝑟2 = 𝜋(0.3 − 0.2𝜉)2

𝐼(𝜉) = 𝜋𝑟2 = 𝜋(0.3 − 0.2𝜉)2
4 4

1 𝑒
𝑘𝑒, 𝐵𝑇𝑢 𝐸𝐴𝐵𝑢 𝑙 𝑑𝜉
𝑢
𝑙𝑜𝑐𝑎𝑙 = ∫ −1 2
𝐵𝑢 = [ − 1𝑒 1𝑒 ]
𝑙 𝑙

𝑢𝑛𝑘𝑛𝑜𝑤𝑛 → 𝑢2
1 1 2 1 𝑙𝑒
𝑘𝑒, 𝑢
𝑙𝑜𝑐𝑎𝑙 = ∫ −1 𝑙𝑒 𝐸𝜋(0.3 − 0.2𝜁) 𝑙𝑒 · 2 𝑑𝜉 = [81157.81] → 𝛿𝑢
2

𝑢𝑛𝑘𝑛𝑜𝑤𝑛 → 𝑤2 &𝜑2
1 𝑒
𝑘𝑒, 𝐵𝑇𝑤 𝐸𝐼𝐵𝑤 𝑙 𝑑𝜉
𝑤
𝑙𝑜𝑐𝑎𝑙 = ∫
−1 2
2 ⎡𝑑2 𝑁𝑤 𝑑 𝑁 ⎤
2 𝜑
⎢ 2 ⎥= − 2
2
𝐵𝑤 2
= −( 𝑒) 2
& ( ) [− 3𝜉& − 𝑙𝑒 (1 + 3𝜉)]
𝑙 ⎢⎣ 𝑑𝜉2 𝑑𝜉2 ⎥⎦ 𝑙𝑒 2 4

⎡ ⎤
2⎢ − 3𝜉 ⎥𝐸𝜋 2
=∫ ( ) ⎢ 2
⎥ 4 (0.3 − 0.2𝜉) · (2𝑙 ) [− 32𝜉& − 4𝑙 (1 + 3𝜉)] · 2𝑙 𝑑𝜉
1 2
𝑘𝑒, 𝑤 4
𝑙𝑜𝑐𝑎𝑙 −1 𝑙 ⎢ − 𝑙 ⎥
⎣ 4(1 + 3𝜉) ⎦

⎡ ⎤ ⎡ ⎤
𝑘𝑒, 𝑤 ⎢ 3202.32 3718.6 ⎥ ⎢ 𝛿𝑤2 ⎥
𝑙𝑜𝑐𝑎𝑙 = ⎢ →
⎣ 3718.6 5132.04 ⎥⎦ ⎢⎣ 𝛿𝜑 ⎥⎦
2
9
Element 1

⎡ ⎤ ⎡ 2 ⎤
⎢ 81157.8 0 0 ⎥ ⎢ 𝛿𝑢 ⎥
𝑘𝑒1 =⎢ 0 3202.32 3718.6 ⎥ → ⎢ 𝛿𝑤2 ⎥
𝑙𝑜𝑐𝑎𝑙
⎢ ⎥ ⎢ ⎥
⎢⎣ 0 3718.6 5312.04 ⎥⎦ ⎢⎣ 𝛿𝜑2 ⎥⎦

Transformation

∘ ∘ ∘
𝑎1 = 45 &𝛼2 = 270 ∘ − 45 = 225
cos𝛼1 = 0.7071&cos𝛼2 = − 0.7071

⎡ 0.7071 −0.7071 0 ⎤
1 ⎢ ⎥
𝑇 = ⎢ 0.7071 0.7071 0 ⎥
⎢⎣ 0 0 1 ⎥⎦

⎡ ⎤ ⎡ 2 ⎤
⎢ 42167.33 −38965.97 2629.05 ⎥ ⎢ 𝛿𝑢 ⎥
𝑘𝑒1 = 𝑇𝑇 𝑘𝑒1
𝑙𝑜𝑐𝑎𝑙 𝑇 =
⎢ 42167.33 2624.05 ⎥ → ⎢ 𝛿𝑤2 ⎥
⎢ ⎥ ⎢ ⎥
⎢⎣ 5132.04 ⎥⎦ ⎢⎣ 𝛿𝜑2 ⎥⎦

Element 2

∘ ∘ ∘
𝑎1 = 135 &𝛼2 = 270 ∘ − 135 = 135
cos𝛼1 = − 0.7071&cos𝛼2 = − 0.7071

⎡ −0.7071 −0.7071 0 ⎤
2 ⎢ ⎥
𝑇 = ⎢ 0.7071 − 0.7071 0 ⎥
⎢⎣ 0 0 1 ⎥⎦

⎡ ⎤ ⎡ 2 ⎤
⎢ 42167.33 38965.97 2629.05 ⎥ ⎢ 𝛿𝑢 ⎥
𝑘𝑒2 = 𝑇𝑇 𝑘𝑒2
𝑙𝑜𝑐𝑎𝑙 𝑇 =
⎢ 42167.33 − 2624.05 ⎥ → ⎢ 𝛿𝑤2 ⎥
⎢ ⎥ ⎢ ⎥
⎢⎣ 5132.04 ⎥⎦ ⎢⎣ 𝛿𝜑2 ⎥⎦

Assembly

⎡ ⎤ ⎡ 2 ⎤
⎢ 84334.65 0 5258.10 ⎥ ⎢ 𝛿𝑢 ⎥
𝐾=⎢ 84334.65 0 ⎥ → ⎢ 𝛿𝑤2 ⎥
⎢ ⎥ ⎢ ⎥
⎢⎣ 10264.08 ⎦⎥ ⎢⎣ 𝛿𝜑2 ⎥⎦

Consistent Load Vector

10
 ⎡ ⎤ ⎡ 0 ⎤ ⎡ ⎤
⎢ 0 ⎥ ⎢ ⎥ ⎢ ⎥
1 ⎢ 𝑤 ⎥ ⎢ 𝑞* 𝑙 ⎥ ⎢ 0 ⎥
𝑟𝑛𝑜𝑑𝑒2 = ∫ ⎢ 𝑁2 ⎥𝑞(𝜉)|𝐽|𝑑𝜉 = ⎢ 2 ⎥ = ⎢ 20 ⎥
𝑙𝑜𝑐𝑎𝑙 −1 ⎢ 𝜑 ⎥ ⎢ * 2 ⎥ ⎢ ⎥
⎢ 𝑁2 ⎥ ⎢𝑞 𝑙 ⎥ ⎢ 13.33 ⎥
⎢⎣ ⎥⎦ ⎢⎣ 12 ⎥⎦ ⎢⎣ ⎥⎦

⎡ 0.7071 −0.7071 0 ⎤
1 ⎢ ⎥
𝑇 = ⎢ 0.7071 0.7071 0 ⎥
⎢⎣ 0 0 1 ⎥⎦

⎡ ⎤ ⎡ 2 ⎤
⎢ 14.14 ⎥ ⎢ 𝛿𝑢 ⎥
𝑟𝑏 = 𝑇𝑇 𝑟𝑛𝑜𝑑𝑒2 = ⎢ 14.14 ⎥ → ⎢ 𝛿𝑤2 ⎥
𝑙𝑜𝑐𝑎𝑙
⎢ ⎥ ⎢ ⎥
⎣⎢ 13.33 ⎦⎥ ⎢⎣ 𝛿𝜑 ⎥⎦
2

⎡ 0 ⎤ ⎡ 14.14 ⎤
⎢ ⎥ ⎢ ⎥
𝑟𝑛 = ⎢ 0 ⎥ ⇒ 𝑅 = 𝑟𝑛 + 𝑟𝑏 = ⎢ 14.14 ⎥
⎢⎣ −50 ⎥⎦ ⎢⎣ −36.67 ⎥⎦

⎡ ⎤
⎢ 4.03 × 10 mm ⎥
−4

𝑤 = 𝐾−1 𝑅 ⇒ 𝑤 = ⎢ 1.68 × 10−4 mm ⎥

⎢ ⎥
⎢⎣ −3.78 × 10−3 𝑟𝑎𝑑 ⎥⎦

11
Beam Example 6

𝑐𝑜𝑛𝑠𝑡𝑟𝑎𝑖𝑛𝑡𝑠
𝑢3 = − 𝑤1
𝜑1 = 𝜑3

𝐸𝐼 = 104 𝑘𝑁𝑚2 &𝐸𝐴 = ∞ &𝐹 * = 120𝑘𝑁

Beam 1

𝛼1 = 0 ∘
cos𝑎1 = 1&sin 𝑎1 = 0

⎡ ⎤ ⎡ ⎤ ⎡ ⎤
⎢ 12 × 10 × 1 6 × 10 × 1 ⎥ ⎢ ⎥ ⎢ ⎥
4 4

⎢ 2 3 2 2 2 2 ⎥ ⎢ 7500 7500 ⎥ → ⎢ 𝛿𝑤
1 ⎥
𝐾𝑒1 =⎢ ⎥ ⎢
= ⎥ ⎢ 1 ⎥
⎢ 6 × 104 × 1 4 × 104 × 1 ⎥ ⎢ 7500 10000 ⎥ ⎢ 𝛿𝜑 ⎥
⎢⎣ 22 2 2 2 ⎥⎦ ⎢⎣ ⎥⎦ ⎢⎣ ⎥⎦

Beam 2

𝛼1 = 270 ∘
cos𝑎1 = 0&sin 𝑎1 = − 1

⎡ ⎤ ⎡ ⎤ ⎡ ⎤
⎢ 12 × 10 × 1 × 𝑆2 6 × 10 × 1 × 𝑆 ⎥ ⎢ ⎥ ⎢ ⎥
4 4

⎢ 2 3 2 2 2 2 ⎥ ⎢ ⎥ ⎢
7500 −7500 → 𝛿𝑢 3 ⎥
𝐾𝑒2 =⎢ ⎥=⎢ ⎥ ⎢ 3 ⎥
⎢ 6 × 10 × 1 × 𝑆
4
4 × 10 × 1 ⎥ ⎢ − 7500 10000 ⎥ ⎢ 𝛿𝜑 ⎥
4
⎢⎣ 22 2 2 2 ⎥⎦ ⎢⎣ ⎥⎦ ⎢⎣ ⎥⎦

Assembly

⎡ 1 ⎤
⎢ 𝑤 𝜑1 𝑢3 𝜑3 ⎥
⎢ 𝛿𝑤1 ⎥
⎢ 7500 7500 0 0 ⎥
𝐾 = ⎢ 7500 10000 0 0 𝛿𝜑1 ⎥
⎢ ⎥
⎢ 0 0 7500 −7500 𝛿𝑢3 ⎥
⎢ ⎥
⎣ 0 0 −7500 10000 𝛿𝜑3 ⎦

12
 ⎡ ⎤ ⎡ ⎤
⎢ 𝑤 ⎥ ⎢ ⎥
1
𝜑1
⎢ ⎥ ⎢ 𝑤1 1 ⎥
⎢ 7500 7500 𝛿𝑤1 ⎥ ⎢ 𝜑 ⎥
𝐾𝑟𝑒𝑑 = ⎢ 7500 10000 𝛿𝜑1 ⎥ = ⎢ 15000 15000 𝛿𝑤1 ⎥
⎢ ⎥ ⎢ ⎥
⎢ −7500 −7500 𝛿𝑢3 ⎥ ⎢ 15000 20000 𝛿𝜑1 ⎥
⎢ ⎥ ⎢ ⎥
⎣ 7500 10000 𝛿𝜑3 ⎦ ⎣ ⎦

Load Vector

⎡ ⎤ ⎡ 1 ⎤ ⎡ ⎤
⎢ −60 ⎥ ⎢ 𝛿𝑤 ⎥ ⎢ ⎥
⎢ ⎥ ⎢ 𝛿𝜑1 ⎥ ⎢ −120 ⎥
𝑅= ⎢ 0 ⎥→⎢ ⎥ ⇒ 𝑅𝑟𝑒𝑑 = ⎢ ⎥
⎢ 60 ⎥ ⎢ 𝛿𝑢3 ⎥ ⎢ 0 ⎥
⎢ 0 ⎥ ⎢ 3 ⎥ ⎢ ⎥
⎢⎣ ⎥⎦ ⎢⎣ 𝛿𝜑 ⎥⎦ ⎢⎣ ⎥⎦

⎡ 1 ⎤ ⎡ ⎤
𝑅𝑟𝑒𝑑 ⇒ ⎢ 1 ⎥ = ⎢ −0.032𝑚 ⎥
−1 𝑤
𝑤 = (𝐾𝑟𝑒𝑑 )
⎢⎣ 𝜑 ⎥⎦ ⎢⎣ 0.024𝑟𝑎𝑑 ⎥⎦

13