Course Outline: 1. Fundamental Concepts of Elasticity (I, II)

1
Course Outline
1. Fundamental Concepts of Elasticity
1.1 Stresses
1.2 Strains
1.3 Material Constitution
2. Strength of Materials Analysis of Straight, Long Beams
2.1 Beam Bending/Extension (9-11)
2.2 Beam Torsion (12-13)
3. Energy Methods
3.1 Work and Potential Energy Principles
3.2 Analytical Solution of Static Problems
(I, II)
4. Introduction to Buckling
4.1 Introduction
4.2 Beam Buckling using Euler-Bernoulli Theory
4.3 Beam Buckling using Energy Methods
(III, V)
J. Lambros & P. Geubelle
(III)
(IV)
AE 323: 2.1 Bending
AE 323: 2.1 Bending
Chapter 2 - SOM Analysis of Straight, Long Beams
Table of contents
2.1 Beam bending/extension
2.1.1 Bending moment and shear force diagrams (9.3)
2.1.2 Bending and extensional stresses
2.1.3 Beam deflections in bending/extension
2.1.4 Elastic boundary conditions
2.1.5 Partial span and concentrated loads
2.2 Beam torsion
2.2.1 St. Venants theory of beam torsion
2.2.2 Prandtls solution of beam torsion
2.2.3 Approximate solutions for torsion of thin-walled structure
2.2.4 A brief incursion into Aeroelasticity
AE 323: 2.1 Bending
2.1.1 Bending moment and shear force diagrams
Essential feature of a beam is that it can support transverse loading.

Support and loading conventions:
Simply supported (pinned): no displacement in vertical and
horizontal directions, but joint is free to rotate (i.e. no net moment).
Pinned on rollers: no vertical displacement, no moment, but

free to move in direction of rollers.
Built-in: no displacement and no rotation of joint.

cantilever beam
Loading can be either a point load or a distributed load.
AE 323: 2.1 Bending
Bending moment and shear force diagrams (cont.)
Objective: to relate the local internal

stresses to resultant forces and moments.
There are three net forces (along x, y, z)
and three net moments (about x, y, z)

Note: Happy Face convention for
bending moments.
Caution - Opposite from AE 321 !!!
AE 323: 2.1 Bending
AE 323: 2.1 Bending

For statically determinate structures (where the reactions can be obtained
from equilibrium only) we can easily obtain the variation of internal axial
load, bending moment and shear force through applying force and moment
equilibrium on a free body diagram of the structure.
Examples.
For statically indeterminate problems this approach will not work.

AE 323: 2.1 Bending
Example 1: Internal Axial Force

z
' ) = 0 = -
L
FBD:
- =
P
RL
Cut:
=
N(x)
P
L
AE 323: 2.1 Bending
Example 2: Internal Axial Force with Distributed Load
f(x) = po
' ) = 0 = 8 -
- = 8
FBD:
RL
' ) = 0 = + 8 ( )
Cut:
= 8 ( )
N(x)
L-x
poL
L
AE 323: 2.1 Bending
10
Example 3: Bending
' > = 0 = - ?
+ ' 8 = 0 = ?
FBD:
a 1
o
RL
P
RR
? =
- = (1 - )
' > = 0 = (1 ) >
Cut 1 (0 x a):
'
=
0
=
()
+
x o
() +
8
G
(1 - ) ()
> = (1 ) G () = (1 )
AE 323: 2.1 Bending
11
Example 3: Bending (2)
' > = 0 = (1 ) >
> = ( )
Cut 2 (a x L):
P
z
()
a
o
x
(1 - )
()
( )
G =
+ = (1 )
+ ' 8 = 0 = G + 1
G () = (1 )
AE 323: 2.1 Bending
Example 3: Bending (3)
12
> = (1 ) G () = (1 )
G () = (1 )
> = ( )
Cut 1 (0 x a):
Cut 2 (a x L):
Vz(x)
My(x)
Pa/L
-P(1-a/L)
x
-Pa(1-a/L)
AE 323: 2.1 Bending
13
Example 4: Bending with Point Moment
' > = 0 = - + ?
L
FBD:
1
o
RL
RR
Cut 1 (0 x a):
x
()
()
+ ' 8 = 0 = + ?
- =
' > = 0 = >
=
>
+ ' 8 = 0 = G
G =
? =
AE 323: 2.1 Bending
14
Example 4: Bending with Point Moment (2)

Cut 2 (a x L):
z
()
()
' > = 0 =
>
> =
+ ' 8 = 0 = G +
G = (1 )
AE 323: 2.1 Bending
15
Example 4: Bending with Point Moment (3)

z
a
Cut 1 (0 x a):
x
=
> =
Cut 2 (a x L): =
=
(1
)
G
>
Vz(x)
My(x)
M(a/L)
M/L
L
x
-M(1-a/L)
AE 323: 2.1 Bending
16
Example 5: Bending with Distributed Load

z
fy(x) = po
x
- = ? =
L
8
2
FBD:
RL
RR
Cut:
o
8
2
()
()
' > = 0 =
8
+ 8 >
2
> = 8 ( )
2
8
8
+ ' 8 = 0 = G +
2
2
G = 8 ( )
2
AE 323: 2.1 Bending
17
Example 5: Bending with Distributed Load
Vz(x)
8
2
> = 8 ( )
2
8
2
My(x)
G = 8
L
( )
2
Are Vz and M y related?
8 M
8
> =
AE 323: 2.1 Bending
18
A Brief Note on Centroids

constant
poL
fy(x) = po
L/2
linear
L/3
quadratic
L/4
cubic
L/5
AE 323: 2.1 Bending
19
Example 6: Cantilever
' > = 0 = + -
FBD:
o
= -
+ ' 8 = 0 =
M RL
Cut:
x
' > = 0 = >
()
()
> =
+ ' 8 = 0 = G +
G = ( )
AE 323: 2.1 Bending
20
Example 6: Cantilever (2)
FBD:
o
M RL
Alternate Side:
o
My Vz
' > = 0 = + >
> =
+ ' 8 = 0 = G ( )
G = ( )
L-x
My(x)
Vz(x)
P
L
-PL
AE 323: 2.1 Bending
10
21
Example 7: Another Cantilever
' > = 0 = + -
FBD:
o
= -
+ ' 8 = 0 =
M RL
Cut 1 (0 x a):
x
' > = 0 = >
()
()
> =
+ ' 8 = 0 = G +
G = ( )
AE 323: 2.1 Bending
22
Example 7: Another Cantilever (2)

Cut 2 (a x L):
> = 0
()
' 8 = 0 = G + + ( )
G = 0
Vz(x)
P
Deformed Shape
' > = 0 = >
()
x
Beam remains
straight (constant
slope) in region of
no shear/moment
My(x)
a
L
-Pa
AE 323: 2.1 Bending
11
23
Table of contents
2.1.2 Bending and extensional stresses (9.4)
2.2 Beam torsion
AE 323: 2.1 Bending
24

Basic assumptions of Euler-Bernoulli beam theory: We will simplify the displacement
field based on the following assumptions
(i) A planar cross-section (CS) remains planar
(ii) A planar cross-section remains perpendicular to the x-axis (neutral axis)
(iii) A planar cross-section retains its size and shape
Notes:
Without (ii): Timoshenko-Mindlin theory (i.e. including shear effects)
(iii) => no Poisson effect ( 0)
Displacements and strains: As a direct consequence of (i), (ii) and (iii) the displacements
everywhere in the beam can be obtained from the displacements along the x-axis as,
1D dependance!!
where y and z are the y- and z- rotations of the x-axis.

AE 323: 2.1 Bending
12
25
On the shoulders of giants
Leonhard Euler (1707-1783)
Daniel Bernouilli (1700-1782)
AE 323: 2.1 Bending
Bending and extensional stresses (cont.)
26
Proof: Lets look at the x-z plane
QED!
AE 323: 2.1 Bending
13
27
Consequences of basic assumptions:

(ii)
(iii)
But,
Conclusion:
AE 323: 2.1 Bending
28
From the expressions for strain and Hookes law:
Contradiction for xy and xz since xy = 0, but .
(i) plane CS remain plane

(ii) and perpendicular to the neutral axis
(iii) no size and shape change of CS
AE 323: 2.1 Bending
14
29

Lets try to relate the axial stress xx to the resultant forces (N, Vy , Vz) and moments (Mt ,
My , Mz), in the general case, allowing for non-homogeneous cross-section (i.e. with
varying E(y,z)):
Let,
E0 = reference modulus
A* = modulus weighted area =
choose origin such that
NT = thermal force =
AE 323: 2.1 Bending
30

where Nc = total equivalent axial force
Similarly,
Let
I*yy = modulus weighted area moment about y =
(moment of inertia about y)
I*zz = modulus weighted area moment about z =
(moment of inertia about z)
I*zy = I*yz = modulus weighted area product of inertia =
These describe
how area is
distributed in
the C/S
MyT = thermal equivalent bending moment =

AE 323: 2.1 Bending
15
31
Then,
Solve for
and
and substitute, together with ( ) into the expression for xx
Notes:
Along x-axis
Linear variations in y and z
Much simpler if
and no T
AE 323: 2.1 Bending
32

Accuracy of beam stress equation (Section 9.5): Quite accurate except
In the vicinity of point of application
At sharp variations
At stress concentrations
For non compact multi-connected beams
Temperature variation idealized
Computation of area properties of non-homogeneous cross-section

Location of centroid
Principal axes of a C/S

See derivations and examples in Sections 9.5, 9.6, 9.8 and 9.9 in textbook
Applications
AE 323: 2.1 Bending
16
33
Table of contents
2.1.3 Beam deflections in bending/extension (10.2, 10.4)
2.2 Beam torsion
AE 323: 2.1 Bending
34
Objective: obtain the DEQ describing the (equilibrium) deflections of beams under
bending/extension.
Equilibrium in terms of force and moment resultants:
AE 323: 2.1 Bending
17
Beam deflections in bending/extension (cont.)
35
(1)
(2)
(3)
AE 323: 2.1 Bending
36
(4)
(5)
(6)
AE 323: 2.1 Bending
18
37

Notes:
Linear equations: change of geometry does not affect loads and vice-versa
The above 6 relations are adequate for a wide range of problems (but NOT for buckling)
Equilibrium in terms of deflections - BVP

We have shown that, if we know the deflections of the axis (u(x), v(x), w(x)), we can
compute the deflections anywhere in the beam
Therefore we just need to solve for u(x), v(x), w(x). So the DEQ are only functions of x and
the domain is 0 x L
Let us rewrite the equilibrium equations. Combining (2) and (4):
(7)
(8)
Similarly combining (3) and (5):
AE 323: 2.1 Bending
38
Recall (from Section 2.1.1) (w/o thermal loads):
(9a)
(9b)
(9c)
Then
(1) and (9a)
(8) and (9c)
(9) and (9b)
AE 323: 2.1 Bending
19
DE
Either
Or
Axial deflection
Axial force
Lateral deflection
Shear force
Bending slope
Bending moment
Lateral deflection
Shear force
Bending slope
Bending moment
39
AE 323: 2.1 Bending
40
Notes:
The BVP is much simpler if I * yz = 0 (i.e. if the C/S is symmetric)
If I * yz 0 the system of GDE and BC is coupled (i.e. the v and w equations must be
solved simultaneously)
The problem can be decoupled

by using the principal axis system (I * yz = 0)
by using algebraic manipulations
by using the uncoupling scheme described in Section 10.5
Examples (see also Sections 10.6 and 10.7, and the exercises at the end of Chapter 10)
AE 323: 2.1 Bending
20
41
Clamped-clamped beam with sinusoidal load

x 10-3
Normalized deflection and slope
-2
-4
-6
-8
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
AE 323: 2.1 Bending
42
Coupled problem
0.7
Normalized deflection
0.6
0.5
Figure 10.14
0.4
0.3
0.2
0.1
-0.1
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
AE 323: 2.1 Bending
21
43
Table of contents
2.1.4 Elastic boundary conditions (11.2, 11.3)
2.2 Beam torsion
AE 323: 2.1 Bending
44
So far the types of supports discussed are:

rigid and support (pinned or clamped)
free end
But in many situations the support will deform much like the beam under applied load
=> elastic support
Mathematical representation
k
linear spring
rotational spring
Example
u
F
K
M
AE 323: 2.1 Bending
22
Elastic boundary conditions (cont.)
45
(a) If the top beam is simply supported by the bottom one
we have an elastic support with
(b) If the two beams are welded the matching of bending slopes introduces an additional
rotational spring
AE 323: 2.1 Bending
Elastic boundary conditions (cont.)
46
How to incorporate elastic boundary conditions in the BVP?

BASIC PRINCIPLE: SPRINGS OPPOSE DEFLECTION
The presence of the two springs will affect Vz(L) and My (L):
The B.Cs then become:
AE 323: 2.1 Bending
23
47
Table of contents
2.1.5 Partial span and concentrated loads (11.4, 11.5)
2.2 Beam torsion
AE 323: 2.1 Bending
48
Question: how do we solve?
We need 2 mathematical tools (generalized functions)

for concentrated forces and moments: Dirac delta (x)
for partial span distributed loads: Heaviside step stp(x) or H(x)
Dirac delta function (x-x0)
(i) Basic properties - definition
(a) (x-x 0 ) differentiable everywhere and is even about x 0
(b) (x-x 0 ) = 0 for every x outside (x 0 - /l, x 0 + /l) where << 1
(c)
AE 323: 2.1 Bending
24
Partial span and concentrated loads (cont.)
49
(ii) Possible representation
(iii) Notes:
(x-x 0 ) is unbounded at x = x0
units of (x-x 0 ) = 1/LENGTH
(x-x 0 ) is useful to represent distributed quantities of high intensity acting over short distances,
such as concentrated forces and moments
force/unit length
moment/unit length
(iv) Additional useful properties
(d)
(e)
AE 323: 2.1 Bending
50
Step function stp(x-x0)

Let
Using the representation introduced earlier for (x-x0 )
In the limit ( = 0):
The defining properties for stp(x-x 0) are:

(a)
is anti-symmetric about x 0
(b)
for x < x 0 - /2
for x > x 0 + /2
AE 323: 2.1 Bending
25
51
Notes:
from above discussion:
Units of stp?
stp(x-x 0 ) is useful for partial span loading, e.g.,
AE 323: 2.1 Bending
52
Integrals involving the step function:

0
maxf(x)
which > 0 as > 0
e.g,
Examples
AE 323: 2.1 Bending
26

Course Outline: 1. Fundamental Concepts of Elasticity (I, II)

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1

J. Lambros & P. Geubelle

AE 323: 2.1 Bending

J. Lambros & P. Geubelle

AE 323: 2.1 Bending

Chapter 2 - SOM Analysis of Straight, Long Beams

J. Lambros & P. Geubelle

AE 323: 2.1 Bending

2.1.1 Bending moment and shear force diagrams

Essential feature of a beam is that it can support transverse loading.

Pinned on rollers: no vertical displacement, no moment, but

Built-in: no displacement and no rotation of joint.

J. Lambros & P. Geubelle

AE 323: 2.1 Bending

Bending moment and shear force diagrams (cont.)

Objective: to relate the local internal

and three net moments (about x, y, z)

J. Lambros & P. Geubelle

AE 323: 2.1 Bending

Bending moment and shear force diagrams (cont.)

J. Lambros & P. Geubelle

AE 323: 2.1 Bending

Bending moment and shear force diagrams (cont.)

For statically indeterminate problems this approach will not work.

AE 323: 2.1 Bending

Example 1: Internal Axial Force

J. Lambros & P. Geubelle

AE 323: 2.1 Bending

Example 2: Internal Axial Force with Distributed Load

AE 323: 2.1 Bending

' > = 0 = (1 ) >

J. Lambros & P. Geubelle

AE 323: 2.1 Bending

Example 3: Bending (2)

' > = 0 = (1 ) >

J. Lambros & P. Geubelle

AE 323: 2.1 Bending

Example 3: Bending (3)

J. Lambros & P. Geubelle

AE 323: 2.1 Bending

Example 4: Bending with Point Moment

J. Lambros & P. Geubelle

' > = 0 = >

AE 323: 2.1 Bending

Example 4: Bending with Point Moment (2)

AE 323: 2.1 Bending

Example 4: Bending with Point Moment (3)

J. Lambros & P. Geubelle

AE 323: 2.1 Bending

Example 5: Bending with Distributed Load

J. Lambros & P. Geubelle

Example 5: Bending with Distributed Load

Are Vz and M y related?

AE 323: 2.1 Bending

A Brief Note on Centroids

AE 323: 2.1 Bending

' > = 0 = >

J. Lambros & P. Geubelle

AE 323: 2.1 Bending

Example 6: Cantilever (2)

' > = 0 = + >

Example 7: Another Cantilever

' > = 0 = >