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The notes are revised without notice and they are provided as is without warranty of any kind. You are encouraged to submit comments, suggestions, and questions to terje@civil.ubc.ca. It is unnecessary to print these notes because they will remain available online.
Euler-Bernoulli Beams
The Euler-Bernoulli beam theory was established around 1750 with contributions from Leonard Euler and Daniel Bernoulli. The work built on earlier developments by Jacob Bernoulli. However, the beam problem had been addressed even earlier. Galileo attempted one formulation but misplaced the neutral axis. Leonardo da Vinci also seems to have addressed the problem of beam bending. The two key assumptions in the Euler-Bernoulli beam theory are that the material is linear elastic according to Hookes law and that plane sections remain plane and perpendicular to the neutral axis during bending. The latter is sometimes referred to as Naviers hypothesis. In contrast, Timoshenko beam theory, which is covered in another document, relaxes the assumption that the sections remain perpendicular to the neutral axis, thus including shear deformation. In the following, the governing equations are established, followed by the formulation and solution of the differential equation. Thereafter, the computation of stresses and cross-section constants is described. A number of sign conventions are adopted in the following: The z-axis is increases upward Displacement w is positive in the direction of the z-axis
Terje Haukaas
www.inrisk.ubc.ca
Distributed load qz is positive when it acts in the downward direction Clockwise shear force is positive Bending moment that imposes tension at the bottom of a horizontal beam element is positive Counter-clockwise rotation is positive so that it can be interpreted as the slope of the deformed beam element Tensile stresses and strains are positive, compression is negative
Equilibrium
The equilibrium equations are obtained by considering equilibrium in the x- direction for the infinitesimal beam element in Figure 1. Notice that the distributed load, q, acts in the downward direction, while the z-axis is in the upward direction. The notation qz is employed in other documents to identify the case where positive load acts in the positive z-direction.
V+dV
M+dM
dx
Vertical equilibrium yields: Moment equilibrium about the rightmost edge yields:
q=
dV dx
(1)
V=
dM dx
(2)
In Eq. (2) it is noted that second-order terms are neglected. This essentially means that terms with dx2 (the multiplication of an exceedingly small value by itself) are considered approximately equal to zero.
Section
Integration
M = z dA
A
(3)
Euler-Bernoulli Beams
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where the minus sign appears because it is compressive (negative) stresses in the positive z-axis domain that gives a positive bending moment, i.e., bending moment with tension at the bottom. Figure 2 is intended to explain this further.
M x
Minus sign is cross-section integral is necessary to get positive bending moment
Figure
2:
The
reason
for
the
minus
sign
in
Eq.
(3).
Material
Law
= E
(4)
In the context of two-dimensional theory of elasticity, the use of Eq. (4) implies a plane stress material law. It implies that there is zero stress, i.e., air on the sides of the beam. The alternative plane strain version of the two-dimensional Hookes law is more appropriate in cases where the beam is only a strip of a long rectangular plate that is supported along the two long edges. In that case the strain is restrained in the y-direction:
yy =
yy
xx =0 E
(5)
yy xx ( xx ) = xx (1 2 ) = E
(6)
xx = xx xx E E E E E 1 2 All
the
derivations
and
results
in
the
following
are
based
on
the
material
law
xx=E.xx
from
Eq.
(4).
However,
the
plain
strain
version
is
easily
introduced
by
replacing
the
Youngs
modulus,
E,
in
any
equation
by
E/(1-2).
xx =
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Kinematics
The relationship between the axial strain and the transversal displacement of a beam element is sought. It is first recognized that bending deformation essentially implies shortening and lengthening of fibres in the cross-section. Fibres on the tension side elongate, while fibres on the compression side shorten. The starting point for the considerations is to link the axial strain to the change of length of the imaginative fibres that the cross-section is made up of. The same consideration as in kinematics of truss members, namely that strain is elongation divided by original length yields:
du (7) dx Next, the axial displacement u is related to the rotation of the cross-section. In particular, consider the infinitesimal rotation d of the infinitesimally short beam element in Figure 3. In passing, it is noted that d is equal to the curvature, . Under the assumption that plane sections remain plane and perpendicular to the neutral axis during deformation, each fibre in the cross-section change length proportional to its distance from the neutral axis.
z, w
d!
z x, u
Figure
3:
Naviers
hypothesis
for
beam
bending.
The
amount
of
shortening
or
elongation
depends
upon
the
rotation
of
the
cross- section.
A
geometrical
consideration
of
to
Figure
3
shows
that
the
shortening
and
lengthening,
i.e.,
axial
displacement,
of
each
infinitesimally
short
fibre
is
du = d z
(8)
Finally,
the
rotation
is
related
to
the
transversal
displacement.
For
this
purpose,
consider
two
points
on
a
beam
that
is
dx
apart,
as
shown
in
Figure
4.
The
relative
displacement
is
dw,
which
is
measure
positive
upwards.
Consequently,
a
geometrical
consideration
of
Figure
4
shows
that:
(9)
where
the
equation
is
simplified
by
assuming
that
the
deformations
are
sufficiently
small
so
that
tan().
Euler-Bernoulli Beams Page 4
tan( ) =
dw dx
Terje Haukaas
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!
dw
dx
d 2w = 2 z dx
(10)
This expression implies an approximation of the exact curvature of the beam. Mathematically, curvature is defined as
1 R
(11)
where R is the radius of curvature of the beam. In the Euler-Bernoulli beam theory that is presented here, the curvature is approximated by
d d 2 w dx dx 2
(12)
Notice that there are two approximation signs. The first alludes to the fact that differentiation is carried out with respect to the x-axis. Unless the deformations are negligible this is inaccurate; differentiation should be carried out with respect to the s-axis that follows the curving beam axis. The second approximation is due to Eq. (9). From that equation it is observed that the accurate expression for is:
dw = tan 1 dx
(13)
If this expression was utilized in the derivations above then the differentiation of the inverse tan-function yields
d = dx dw 2 1 + dx
d 2w dx 2
(14)
Euler-Bernoulli Beams
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which reduces to the expression in Eq. (12) when the slope dw/dx is small. However, the curvature expression in Eq. (14) is still approximate because the differentiation is carried out with respect to the x-axis and not the beam axis. From mathematics, the exact curvature expression is:
d 2w dx 2 dw 1 + dx
2 3 2
(15)
Differential Equation
The governing differential equation for beam members is obtained by combining the equations for equilibrium, section integration, material law, and kinematics:
q=
dV d2M d2 = 2 = 2 z dA dx dx dx A
(16)
d2 d2 d 2w 2 = 2 E z dA = 2 E 2 z dA dx A dx A dx = EI d 4w dx 4
where the modulus of elasticity is assumed constant over the cross-section and the moment of inertia is defined:
I = z 2 dA
A
(17)
In Eq. (16) it is assumed that the cross-section is homogeneous so that E is constant. For composite cross-sections this assumption is invalid, and the revised version of Eq. (16) is
q=
d 4w E z 2 dA 4 dx A
(18)
One approach to retaining the original definition of I is to first select a reference- value of the Youngs modulus and assume that all parts of the cross-section has that E-value. Next, the width of each part of the cross-section is modified if its Youngs modulus is different from the reference value. The change in width is proportional to the difference in E-value. E.g., if E is twice the reference value then the width should be doubled. If this procedure is followed then Eq. (17) remains valid for the determination of I.
Euler-Bernoulli Beams
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General Solution
Although solving the differential equation is not part of typical structural analysis it is instructive to study its solution for simple reference cases. In particular, the solution of the differential equation is the starting point for the selection of shape functions in the finite element method. Those shape functions are often approximate, while the solution of the differential equation reveals the exact shape when the member deforms. The general solution of the differential equation reveals whether the finite element shape functions are exact or not. For beam members, the general solution of the differential equation is obtained by integrating four times:
w(x) =
1 qz 4 x + C1 x 3 + C2 x 2 + C3 x + C4 24 EI
(19)
Given a uniform distributed load qz, the displaced shape is a fourth order polynomial. Without any distributed load, the displacement shape of a beam member is a third-order polynomial. To obtain the solution for a specific beam problem, boundary conditions are specified. To prescribe a rotation, shear force, or bending moment, the following equations are useful, obtained by combining the governing equations that are established earlier:
dw
dx
d 2w
dx 2 d 3w
dx 3
M = EI V = EI
As an illustration of the solution to the differential equation for beam bending, Figure 5 shows plots of w(x), (x), M(x), and V(x) for a simply supported beam with uniformly distributed load. The illustration is made with qz=L=EI=1. In Figure 5, notice that the displacement w(x) is negative, i.e., downwards and that (x) correctly shows that the slope is negative left of the mid-span. Furthermore, notice that the plots of M(x) and V(x) are identical to the respective section force diagrams, with one exception: plotting M(x) yields a diagram drawn on the compression side, while in these notes the bending moment diagrams are consistently drawn on the tension side.
Euler-Bernoulli Beams
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Figure
5:
Example
of
response
functions
for
beam
element.
Cross-section
Analysis
Cross-section
analysis
determines
cross-section
parameters
and
stresses
in
the
cross-section.
Above,
the
Euler-Bernoulli
beam
theory
is
established
for
a
2D
beam,
i.e.,
a
beam
that
bends
in
one
plane
about
one
axis.
However,
the
derivations
are
valid
for
a
3D
beam
as
well,
because
bending
about
the
two
principal
axes
of
the
cross-section
are
decoupled.
To
maintain
the
inclusion
of
3D
beams
in
the
following,
both
axes
of
the
cross-section,
i.e.,
the
y-axis
and
the
z-axis,
are
now
considered
simultaneously.
The
cross-section
parameters
in
Euler-Bernoulli
beam
theory
include
the
centroid
coordinates,
the
shear
centre
coordinates,
the
orientation
of
the
principal
axes,
and
the
moment
of
inertia,
I,
defined
in
Eq.
(17).
For
rectangular
cross-sections
of
width
b
and
height
h
that
integral
yields
h/2
I = b
h/2
z 2 dz =
b h3 12
(23)
For more complicated cross-sections the general procedure is to 1) determine the location of the neutral axis, 2) determine the moments of inertia Iy and Iz about the neutral axis for selected axes y and z, 3) determine the orientation of the principal axes, if those are not the selected axes y and z, and 4) re-calculation of the moments
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of inertia about the principal axes. Each of these items are addressed in the following.
Neutral
Axis
For
homogeneous
cross-sections
the
neutral
axis
coincide
with
the
geometrical
centroid
of
the
cross-section.
For
composite
cross-sections
it
is
possible
to
scale
the
area
of
each
cross-section
part
(about
its
local
centroid)
proportional
to
the
E-value
relative
to
a
reference
value.
This
is
similar
to
what
was
suggested
earlier
in
the
scaling
of
cross-section
width
in
the
computation
of
the
moment
of
inertia,
and
implies
that
the
centroid
coincide
with
the
neutral
axis.
The
centroid
is
determined
by
the
first
area-moments
y
dA
and
z
dA
being
equal
to
zero.
In
practice,
it
is
useful
to
first
select
a
reference
point
in
the
cross-section.
Let
yo
and
zo
denote
the
distance
from
the
reference
point
to
the
centroid.
Next,
divide
the
cross-section
into
convenient
segments
with
area
Ai
and
let
yi
and
zi
denote
the
distance
from
the
reference
point
to
the
centroid
of
each
segment.
When
denoting
the
total
cross- section
area
by
A,
the
following
expressions
of
the
first
area-moments
must
be
equal
to
zero:
Ayo = Ai yi = 0 Azo = Ai zi = 0
(24)
where the sums are taken over all parts of the cross-section. Solving for yo and zo yields:
yo =
A y
i
zo =
A Ai zi A
(25)
In words, obtain the location of the neutral axis by summing area multiplied by distance for all parts of the cross-section, and divide the sum by the total area.
Moments
of
Inertia
Iy
and
Iz
are
computed
separately
about
the
neutral
axis,
and
the
theoretical
foundation
is
provided
by
Eq.
(16).
In
practice
it
is
remains
convenient
to
divide
the
cross-section
into
parts,
each
with
local
moment
of
inertia
denoted
by
Ii.
The
contributions
to
the
global
moment
of
inertia
from
each
part
are
summed
in
accordance
with
Steiners
formula:
I y = I y,i + zi2 Ai Iz
z,i 2 i i
( = ( I
) + y A )
(26)
where yi and zi are distances from the neutral axis of the entire cross-section to the centroid of the part.
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Principal
Axes
Suppose
the
y
and
z
axes
were
selected
arbitrary,
originating
at
the
neutral
axis,
and
that
it
is
unknown
whether
they
represent
the
principal
axes.
To
determine
the
orientation
of
the
principal
axes
relative
to
the
selected
axes,
first,
with
the
help
of
Eq.
(10),
consider
the
strain
at
a
location
in
the
cross-section:
= o
d 2v d 2w y 2 z dx 2 dx d 2v d 2w y E 2 z dx 2 dx
(27)
= E o E
(28)
Integration of axial stress yields the bending moments My and Mz about the y and z axes, respectively. First consider the bending moment about the y-axis:
d 2v d 2w M y = z dA = E o z dA + E 2 y z dA + E 2 z 2 dA (29) dx A dx A A A
The first integral vanishes because z originates at the neutral axis, while the last term is the ordinary bending moment from Eq. (21). As a result, Eq. (29) can be rewritten as:
M y = EI yz
d 2v d 2w + EI 2 dx 2 dx
(30)
I yz = y z dA
A
(31)
Similarly, Iyz appears in the expression for Mz. It is possible and relatively straightforward to establish formulas for Iyz and compute stresses in term of Iyz. However, it is preferred to rotate the axis system so that Iyz is zero, which implies a rotation of the original axes to coincide with the principal axes. Knowledge of the principal axes is beneficial because bending about the two principal axes are decoupled and the elementary formulas for beam bending remain valid.
Axial
Stress
For
bending
about
one
axis,
a
convenient
approach
for
obtaining
the
axial
stress
in
terms
of
the
bending
moment
is
to
combine
material
law
and
kinematics
equations,
which
yields:
= E
d 2w z dx 2
(32)
Then substitute the differential equation without equilibrium equations, i.e., Eq. (21), to obtain:
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M z I
(33)
In the context of the in-plane bending presenter earlier, it is noted that a positive bending moment, i.e., tension at the bottom, correctly yields negative stresses at the top, i.e., compression, where z is positive. This is the reason for the minus sign in Eq. (33), which also correctly gives positive tension stresses at the bottom when a positive moment acts on the cross-section. In summary, the beam theory presented in this document consists of the governing equations shown in Figure 6.
q
dV dx dM V= dx q=
q = EI
d 4w dx 4
M = EI
d 2w dx 2
d 2w = 2 z dx
M
M = z dA
A
M z I
= E
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Timoshenko
beam
theory
describes
an
approach
to
further
extend
the
beam
theory
to
include
deformation
due
to
shear
forces.
To
obtain
expressions
for
the
shear
stress,
,
in
terms
of
the
shear
force,
V,
consider
the
infinitesimally
short
beam
element
in
Figure
7.
Furthermore,
consider
a
cut
in
the
cross-section
and
let
qs
denote
the
shear
flow
at
that
location.
Axial stresses
V+dV M+dM dx
Shear stresses (shear flow)
The shear flow is the force per unit length of the beam that ensures equilibrium with the axial stresses, which are greater on one side than the other due to dM:
qs dx = d dA =
As
dM z dA I As
(34)
where As is the cross-sectional area outside the cut. Given that V=dM/dx, this yields where
qs =
V S I
(35)
S=
As
z dA
V S
I t
(36)
The shear stress is calculated by distributing the shear flow over the thickness, t, of the cross-section at the particular location:
(37)
For example, for a rectangular cross-section the maximum shear stress is at the neutral axis, with value equal to
3 V 2 A
(38)
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The shear centre of a cross-section, sometimes called the centre of twist, is the point where the resultant of the shear force must act to avoid rotation of the cross-section. The coordinates of the shear centre are denoted by ysc and zsc, and there are several techniques to determine them. The simplest case is double-symmetric cross- sections; for these cross-sections the shear centre coincide with the centroid. In fact, if a cross-section has an axis of symmetry then the shear centre is located on this axis. For general cross-sections, one approach to determine ysc and zsc is described in the document on warping torsion, where the omega diagram is utilized. However, a somewhat simpler approach, when the consideration of warping torsion is off the table, is offered here. The principle is simple; by definition, the moment of the shear flow about the shear centre must be zero. This leads to the following procedure to determine the coordinates of the shear centre, provided y and z are the principal axes through the centroid of the cross-section: 1. Select an arbitrary point as trial shear centre, and let ysc and zsc denote the coordinates of the shear centre relative to the centroid; in other words, let ysc and zsc denote the distances from the centroid to the shear centre 2. In accordance with Eq. (35), determine the shear flow in the cross-section due to a shear force in the z-direction 3. Write the equation that expresses the moment of the shear flow in Item 2 about the trial shear centre; in general, both ysc and zsc will appear in this expression 4. Similar to Item 2, determine the shear flow in the cross-section due to a shear force in the y-direction 5. Similar to Item 3, write the equation that expresses the moment of the shear flow in Item 4 about the trial shear centre 6. Set the equations from Items 3 and 5 both equal to zero and solve these two equations for the two unknowns ysc and zsc Only one moment equation is needed for single-symmetric cross-sections; in that cases the procedure simplifies to: 1. Select an arbitrary point along the symmetry axis as trial shear centre, and let e denote the distance from the centroid to that point 2. In accordance with Eq. (35), determine the shear flow in the cross-section due to a shear force in the direction perpendicular to the axis of symmetry 3. Write the equation that expresses the moment of the shear flow in Item 2 about the trial shear centre; e will appear in this expression 4. Set the equation from Items 3 equal to zero and solve for e
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traces the cross-section around the cell. The unknown shear flow at the cut is denoted qo, and the shear flow at all other locations is determined relative to qo in accordance with Eq. (35), so that
q(s) = qo +
V S(s) I
(39)
Once q is determined at all locations of the opened cross-section, the moment of the shear flow about the known shear centre is computed as
T = q h ds = qo h ds +
V S h ds I
(40)
where
the
integrals
are
made
around
the
cell,
starting
at
s=0,
and
h(s)
is
the
distance
from
the
shear
centre
to
the
tangent
line
of
the
contour
of
the
cross-section
at
s.
By
definition
the
moment,
T,
about
the
shear
centre
must
be
zero,
and
solving
for
qo
yields
qo = V S h ds V = S h ds
I h ds 2 Am I
(41)
where the last equality is obtained by recognizing that the integral of h around the cross-section is twice the cell area, Am. Having the value of qo, the shear flow is determined at other locations in accordance with Eq. (39). The second approach determines both shear flow and shear centre. This approach explicitly recognizes that the determination of shear flow in a closed cross-section is a statically indeterminate problem. In other words, equilibrium equations alone are insufficient to determine the sought forces. From this viewpoint, each cell is associated with one redundant. Similar to the flexibility method in fundamental structural analysis, the solution approach involves removing the capacity of the structure to carry the sought forces, i.e., to introduce cuts, and then to enforce compatibility equations that are solved for the unknown forces. In the following, consider a thin-walled cross-section with one cell, and introduce one cut to make it an open cross-section.
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ds du
!1
!2
dx
d!
h
Figure
8:
Two
contributions
to
shear
strain.
The sought gap is the discrepancy in u-displacement on each side of the cut. To find this u-displacement, all infinitesimal contributions, du, are integrated along the s- axis defined earlier. To obtain the expression for du it is useful to consider the total shear strain of an infinitesimal plane element in the cross-section. Figure 8 illustrates that there are two contributions in this kinematics consideration:
= 1 + 2 =
du d + h ds dx d h ds dx
(42)
du = ds
(43)
Material law provides the following expression for the shear strain in terms of the shear stress and thus the shear flow:
q = G G t
(44)
where t is the thickness of the cross-section-wall, which may vary around the circumference. Substitution of Eq. (44) into Eq. (43) yields
du =
q d ds h ds G t dx
(45)
Integration around the cell yields the total gap opening at the cut:
u=
q d q d q d ds h ds = dx G t ds dx h ds = G t ds dx 2 Am G t
(46)
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G t ds = dx 2 A
G t ds
2Am q
(47)
Next, it is understood that the rotation of the cross-section must be zero if the shear force is applied at the shear centre. Setting d/dx=0 in Eq. (47) yields:
= 0
(48)
G t ds = 0
(49)
As done earlier, the unknown shear flow at the cut is denoted qo, so that the shear flow at other locations is qo+VS/I. Substitution into Eq. (49) yields Solving for qo yields:
G t ds + I G t ds = 0
S V G t ds qo =
1 I G t ds S V t ds qo =
1 I t ds
qo
V S
(50)
(51)
q(s) = qo +
V S(s) I
(53)
and having the shear flow yields the shear centre coordinates because the total moment of the shear flow about the shear centre must be zero.
Euler-Bernoulli Beams
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