"i ,, ~ ' ' ":' .

,',
FINITE ELEMENTS
IN ANALYSIS
II A N D DESIGN
ELSEVIER Finite Elements in Analysis and Design 19 (1995) 25-44

New structural matrices for a beam element with shear deformation

W.D. Pilkey*, Weize Kang, U w e S c h r a m m
Department of Mechanical, Aerospace, and Nuclear Engineering, University of Virginia, Charlottesville, VA 22903, USA

Abstract

This paper provides the structural matrices (stiffness, mass, and geometric stiffness) for straight Timoshenko beams with
arbitrarily shaped cross sections and in an arbitrarily oriented coordinate system. These new matrices are needed because
shear deflections in the two perpendicular planes of a Timoshenko beam cannot be considered uncoupled for arbitrary cross
sections even if the coordinate system is aligned with principal axes.

1. Introduction

The inclusion of direct shear in technical beam theory using shear coefficients was first introduced
by Timoshenko [1 ]. There, the shear coefficients were defined as the ratio between maximum shear and
average shear stress on cross sections. This definition was later considered to be insufficient. Cowper [2]
introduced the use of the elasticity solution of the beam to obtain shear coefficients. These were derived
from a geometric assumption. They were obtained only for symmetric cross sections. Recent studies
of the Timoshenko beam have considered some fundamental aspects of shear deformation coefficients
[3, 4]. Both have used an energy formulation to obtain these coefficients. The shear stress distribution
known from strength of materials for thin-walled cross sections was used in Ref. [3], and the shear
stress distribution ti'om the theory of elasticity for arbitrarily shaped cross sections was employed in
Ref. [4]. The elasticity solution of the beam involves the solution of Laplace's equations. Numerical
solution methods such as finite and boundary element methods for solving Laplace's equations are
common. Hence, the elasticity solution for beams with arbitrary cross sections is available. It is shown
in Ref. [4] that shear deformation coefficients aij, i,j = y,z, derived using the energy method, form a
symmetric tensor. For unsymmetrical cross sections the principal axes of this tensor (e~ = 0), which
will be named principal shear axes, are different from those of the tensor of the moments of inertia
(Iyz = 0), which will be called principal bendin9 axes. Hence, the deflections of the beam are coupled
in general, even if the coordinate system is chosen to correspond with the principal bending axes. For
symmetrical cross sections, the principal shear axes are coincident with the principal bending axes [4].
Thus, if the coordinate system is chosen to correspond with these principal axes for symmetric cross

* Corresponding author.

0168-874X/95/$09.50 t~ 1995 Elsevier Science B.V. All rights reserved

SSDIO 1 6 8 - 8 7 4 X ( 9 4 ) 0 0 0 5 5 - 7
26 W.D. Pilkey et al./ Finite Elements in Analysis and Design 19 (1995) 25-44

sections, ~yz = 0, Iy~ = 0. Then, there will be no coupling deflections between the two coordinate planes
(xy and xz planes).
After the geometric properties of the beam cross sections are obtained, structural matrices can be
derived, and static and dynamic analyses of beam structures can be performed. Structural beam matrices
can be obtained from the displacement differential equation [5], from the principle of virtual work
[6, 7], and from the transfer matrix method [7]. Presently, the beam matrices commonly used in finite
element codes consider the beam in principal bending axes. In such cases, if direct shear is included in
the solution, no coupling of the deflections is considered, since only shear coefficients corresponding
to the chosen coordinate system are used. As demonstrated in [4], such an approach is only valid for
symmetric cross sections.
Here, coupled structural matrices for the finite beam element with arbitrary cross sections are provided.
These matrices are the transfer matrix, stiffness matrix, mass matrix and geometric stiffness matrix. Ad-
ditionally, several loading vectors are given. The relationships are derived from the first order differen-
tial equations for the beam in an arbitrarily oriented coordinate system with x-axis along the beam. The
usual assumptions of the beam theory are made. The material is linear elastic with Young's modulus
E, Poisson's ratio v, shear modulus G = E/2(1 + v), and volume density p*. The beam may be loaded
with distributed transverse forces ~y(X, t) and ~z(X, t), a temperature change distribution T(x, y,z), and
an axial compressive force N. But the axial deformation is not considered here. The transverse load is
applied to the shear center such that no torsion occurs. Internal net forces are the shear forces Vy, Vz,
moments M~, and My.

2. Formulation

The first order differential equations for the beam element in an arbitrarily oriented coordinate system
are [7]

auy vy vz
-~x -- Oz A~_ O~y y ~ "~- O~y z f f a ' (1)

OOz (M~ + Mrz)Izz (My q- MTy)Iyz

(2)
Ox - E(]yy]zz - ]2z) + E(#/= - 1}~)'

OVy , O2Uy
Ox = p A - - ~ - - 19y(X,t), (3)

OM~ , 020z
~x-x -- Vy - NOz + p lyy - ~ ' (4)

,gUz Oy + Vy Vz
ax - ~z b--2 + ~= ~--J' (5)

~Oy (Mz + Mrz)Iy~ (My + Mry)Iyy

Ox . . e (.I . I.z z . - '#-z~) + E ( I . I z z - I ~ ) ' (6)
 W.D. Pilkey et al./ Finite Elements in Analysis and Design 19 (1995) 25-44 27

Mx) ~y(x)

N~

y,~ uz /"
My t uy 7"
M,

Z y
Fig. 1. A beam element in two perpendicular planes

dVz , 02Uz
Ox = p A--fit-i- - p z ( x , t ) , (7)
OMy . O20y
Ox - Vz - NOy + p I= - ~ . (8)

Fig. 1 shows some of the symbols utilized in these expressions. These equations are standard expres-
sions with the addition of ~q, i , j = y , z terms. In these equations, A is the cross-sectional area, Iq =
f ij dA, i, j = y, z, are the moments of inertia, p*A = p is the mass per unit length, p*Iyy = pr~ and
p*Izz = pr~ are the mass moments of inertia per unit length. The quantities ry and rz are the radii of
gyration in y and z directions, respectively. The ~ij, i, j = y, z, are the shear deformation coefficients.
The thermal moments Mry and Mrz are given by

Mry(X) = fEar(x, y , z ) z dA, (9)

r
Mrz(x) = - ] E a T ( x , y , z ) y dA. (10)
J, 4
The shear coefficients are found from the strain energy of the beam element of length l due to shear
which appears as

1
U~ = 2---G jh xZY+ ~xZz)dA dx" (11)

Separation of the shear stresses Zxi, i = y, z, with the contribution of the components of the shear force
Vy and Vz leads to
"[xi = "rxiyVy ~- T.xizVz, i = y,z. (12)
Then, the shear coefficients are given by substituting Eq. (12) into Eq. (11 ) as [4]

O~ij= A fA('Cxyt'Cxyj -q- "Cxzi'Cxzj)dA , i,j = y,z. (13)

For the shear stresses Zxi, i = y , z , in the case of thin-walled cross sections the stress distribution known
from strength of materials can be used [3], and in the case of arbitrary cross sections that from the
elasticity solution can be employed [4].
Introduce,
O~ij Iiy i, j = y, z. (14)
aij = ~ and bij = E(IyyI= -I2z) '
28 W.D. Pilkey et al./Finite Elements in Analysis and Design 19 (1995) 25 44

Then, Eqs.(1 )-(8) can be summarized in matrix form as

Uy - 0 1 ayy 0 0 0 ay~ 0 Uy 0
Oz 0 0 0 bzz 0 0 0 byz Oz bzzMr~ + byzMry
0 0 0 0 0 0 0 0
d Me 0 0 -1 0 0 01 0 0 Me + 0
-~ Uz 0 0 a~z 0 0 - a~ 0 Uz 0 (15)
Oy O0 b~ O 0 b~y Oy byzMrz + byyMry
0 0 0 0 0 0 Vz - TJz(X)
.My 0 0 0 0 0 0 1 0 0
d
z = A z + P
dx
or
d
-:--z = A z + ]~. (16)
dx
Here, the terms related to the axial force N and time derivatives 02/Ot 2 are ignored. Integration of
Eq. (16) for constant A leads to

z = eAXza + e Ax e-A~p(Qdz. (17)

3. Transfer matrix equation

The transfer matrix, which is utilized here primarily as a vehicle for determining the stiffness matrix,
with the corresponding loading vectors can be found using Eq. (17). Fig. 2 shows the sign convention.
Let the transfer matrix equation for element e of length 1 be given by
Zb ---- Ueza ~- ~e, (18)

where [7]
U e = e AI, (19)

~e ---- eat
fOl e-AXiS(x) dx. (20)

Oya a b ~x a~ "nYa ,4b ~ x

Yr ~ Uza q[Uzb VYb

z
Fig. 2. Sign convention 1 for transfer matrices
 ld~D. Pilkey et al./ Finite Elements in Analysis and DeMon 19 (1995) 25-44 29

The relationship of Eq.(19) can be expanded into a power series

o~ W l s
ue = E S! (21)
s=O

It can be shown that for this problem A s -- 0 for any s greater than three. The transfer matrix is found
to be

1 l -bzzl3 q- 6ayyl bzzl 2 0 0 byzl3 + 6ayfl byzl 2

6 2 6 2
b=l z byz 12
0 1 2 b=l 0 0 2 b~l

0 0 1 0 0 0 0 0
0 0 -l 1 0 0 0 0
u e
(22)
0 0 byzl3 -}- 6ayzl byzl2 1 -1 - b y y l 3 - 6azzl byyl 2
6 2 6 2
0 0 byzl2 byyI2
byzl 0 1 byyl
2 2
0 0 0 0 0 0 1 0
0 0 0 0 0 0 l 1

The loading vector can be written as

~e = U e f0 I u e ( _ _ x ) ~ ( x ) d x , (23)

where u e ( - x ) c a n be obtained from the U e by replacing / with - x .

For linearly distributed loads ~i(x ) = Pia + (x/l)( Pib - - Pia ), and Mri(x ) ----Mria + (x/ l)( Mrib --MTia ), i ----
y, z, the loading vector follows as

8b=l 4 -- 80ayyl 2 2b= l 4 - 40ayy 12

30b=l 3 10b= l 3
-120l - 1201
~ e
80l 2 Pya 40l 2 P yb
- 8 b y z l 4 - 80ayzl 2 - 2 b y z l 4 - 40ay~l 2 240
30byz 13 lObyzl 3
0 0
0 0
30 W.D. Pilkey et al./ Finite Elements in Analysis and Desion 19 (1995) 25 44

1-8byz 14 - 80ayz 12 - 2b yfl 4 -- 40a yfl 2

-30byzl 3 -- 10byz 13
0 0
+ 0 Pza 0 Pzb
8byyl 4 - 80azz 12 2bey l 4 - 40a= l 2 240
-30byyl 3 - 10byyl 3
-120l -120l
-8012 -4012

2b=l 2 bzz l 2 2byzl 2 byzl 2

3b=l 3bzzl 3byzl
0 0 0
+
0 0 MTzb 0 ~-~ + 0 2 Mryb (24)
~ +
- 2b yfl 2 -byz 12 7-+ -2byyl 2 -byyl 6
3 b yfl 3byzl 3byyl 3byyl
0 0 0 0
0 0 0 0

4. Finite element matrices

The sign convention for the finite element matrices is chosen to be that of Fig. 3. This differs from the
sign convention of Fig. 2 for the transfer matrix in that the forces on end a are in the opposite direction.
The stiffness matrix and loading vector can be found from Eq.(!8).
Rewrite Eq.(18) as
" 0 "

vyb ] Ull ,,2 ,,3 ,,4] Fvyo]

Pyb I U21 ,= u41 lpy=l+ Fp°y
I~zb [ U31 (25)
Pzb A u41 1142 U43 //44/ LPzaJ _FOz.
Zb U~ Za + ~e.

Here, Vyj : [Uy/ O~j]T, py/ : [Vyj M z/] T,J• = a, b, and so on. The uij, i,j = 1,2, 3, 4 are 2 x 2 matrices
which correspond to Eq.(22). Also, the sign convention of Fig. 3 has been incorporated into u o.
Solve Eq.(25) for Pya,Pza,Pyb, and Pzb, and introduce the force vector

0ya a b ~x Mya a b ~x

"Zzb
z z
Fig. 3. Sign convention 2 for stiffness, mass and geometric stiffness matrices.
 FED. Pilkey et al./ Finite Elements in Analys& and Desi#n 19 (1995) 25-44 31

pe = [A~ya Pza Pyb Pzb]T : [Vya Mza Vza Mya Gb Mzb Vzb Mzb] T (26)

and the displacement vector

l~e'~-libya I~za 'gyb Vzb]T = [Ura Oza Uza Oya Uyb Ozb Uzb Oyb]T. (27)

Rearrange Eq.(25) in the form [7]

~e = keve __~e, (28)

where k e is the stiffness matrix, a n d ~ e is the corresponding loading vector. The k e and/~ e w e r e obtained
from the transfer matrix using the symbolic manipulator MACSYMA [8]. The stiffness matrix is given
in Appendix A. For distributed loads ~i(x) = Pia ~- ( x / l ) ( P i b -- tgia), and M r i ( x ) = Mria + (x/l)(Mrib --
Mria), i = y, z, the distributed loading vector/5e is given in Appendix B.
If the axial compressive force N and the time derivatives 02/at 2 are considered in Eq.(16), the stiffness
matrix will be a dynamic stiffness matrix k,~yn.Then, the exact mass matrix can be obtained from m e =
-3MdyJdO~2, and tile exact geometric stiffness matrix from k~ = --OkedyJON, where 09 is the natural
frequency [7, 9]. Even with symbolic manipulators, these operations appeared to be inefficient. Hence,
the traditional finite element methodology with shape functions will be used [7]. The state vector at a
point between the ends of a beam element can be written as

" Uy(X) • Uya

O=(x)
G(x)
M=(x) Mza
= Ue(x) (29)
u=(x) Uza
Oy(x) Oya
V=(x) Vza
.MAx) Mya

Here, the loading vector ~e has been ignored. The matrix U e ( x ) is the transfer matrix, expressed in the
sign convention of Fig. 3, relating point a with x. This matrix can be obtained from the transfer matrix
of Eq.(22) by replacing I with x and by taking the sign convention of Fig. 3 into account.
To develop the shape function, setp e = 0 in Eq.(28) and write

"Uya
G
Va Uza

IMzo
G

.
Oya
Ugh

Uzb
Oyb
(30)
32 W.D. Pilkey et aL / Finite Elements in Analysis and Design 19 (1995) 25 44

The matrix ~e is the upper half of the 8 x 8 matrix k e with the dimension 4 × 8. Substitution of Eq.(30)
into Eq.(29) leads to
- Uya "
Oza

[uyx] Iyl uza

Oz(X)
uz(x)
~- Noz
Nuz
Oya
uyb
= N(x)v e, (31 )

Oy(X) L SOy .l Oz#

Uzb
_ Oyb .
where N(x) are the shape functions. The expressions for Vy(x),Mz(x), Vz(x), and My(x) of Eq.(29) are
not shown here.
The mass matrix including rotary inertia can be expressed as
m e = m ue + m oe, (32)

where the matrix m e is the contribution from the transverse mass and matrix m[ that from the rotary
inertia. Then,

e= l[Nuy] T [PoAp?A] [N~] dx, (33)

mu a t k Nuz J

[[Noz]T[p"Iyy
me° = J, LUo, }
?
p lzz
] r o:]
LNoy <ix. (34)

The geometric stiffness matrix is given by

T0 N~
k~= f~x [N::] ~xx [Nuz] dx" (35)

According to the definition of a geometric stiffness matrix [7], the total stiffness matrix for the beam
element is
ktetal = k e - gk~. (36)
Integration of Eqs.(33)-(35) gives the element mass matrix m e and the geometric stiffness matrix k~.
The matrices were obtained using MACSYMA. The entries of both matrices are given in Appendices
C and D, respectively.The mass matrix and geometric stiffness matrix obtained here are the consistent
mass matrix and the consistent geometric stiffness matrix because they are obtained using the same
shape functions as are employed for the stiffness matrix [7].

5. Concluding remarks

Transfer, stiffness, mass and geometric stiffness matrices as well as several loading vectors for a
uniform beam element with arbitrarily shaped cross section in an arbitrarily oriented coordinate system
 W.D. Pilkey et al./ Finite Elements in Analysis and Desion 19 (1995) 25-44 33

are given. The coupling of the transverse displacements due to shear deflection effects leads to full
8 x 8 matrices. Compared to the traditional matrices which are valid only for symmetric cross sections,
the matrices here should describe the behavior of the beam element more accurately if direct shear
deformation effects are considered.

Appendix A. Stillness matrix

The stiffness matrix for a straight beam element with arbitrarily shaped cross sections and in an
arbitrarily oriented coordinate system appears as

kl 1
l
~kll k22
l
,/131 ~k31 k33 symm.

ke l
l (A.I)
B -kll - ~l k it -k31 ~k31 kll

lk l l
1~ k62 ~k31 ](782 -~kll k22
l l l
-k31 -~k31 -k33 ~k33 k31 -~k31 k33
l
k84 ~k31 k42 k44

where

2 4 + 12(ayybyy + 2ayzby~ + a=bzz)l 2 + 144(ayya= _ ayz2 )],

D = l[(byybzz - byz)l (A.2)

O~ij Iij i,j = y,z.

(A.3)
a0 = ~ and b o = E ( l y y l = - 12~) '

The entries of this matrix are:

kll ----12(byyl:" + 12a=), (A.4)

k31 --- 12(byzl2 - 12ayz), (A.5)

k33 = 12(bzzl 2 + 12ayy), (A.6)

k22 = 4[ byy(l-)yybzz - b y2z ) l 4 + 3(4azzbyybzz - 3azzb2yz+ 2ayzbyybyz + a y y b y2y ) l 2

(A.7)
+ 36byy(ayyazz - ayz)]/(byybzz
2 2 ,
- byz)

k42 = - 4 [ byz(byybzz - byz)l

2 4 - 3(3ayzbyybzz - 5ayzb 2 -- ayybyybyz - azzby~bzz)l 2
(A.8)
+ 36byz(ayyazz - ay~)]/(byyb=
2 - by2z),
34 W.D. Pilkey et al./ Finite Elements in Analysis and Design 19 (1995) 25-44

k44 = 4[ bzz(byybzz -- byz)l

2 4 + 3(4ayybyybzz - 3ayyb2yz -+- 3ayzbzzbyz + azzb2zz)l 2
(A.9)
+ 36bzz(ayyazz - ay~)]/(byyb=
2 2
- byz),

k62 = 2[ byy(byyb= -- by~)l

2 4 + 3(4azzbyybzz - 6azzb2y~ - 4ayzbyybyz - 2 a y y b y2y ) l 2
(A.10)
_ 72byy(ayyazz _ ayz)]/(byybzz
2 2 ,
- byz)

k82 = -2[ byz(byybzz -- byz)l

2 4 - 6(3ayzbyybzz - ayzb2yz -'}-ayybyybyz -k azzbyzbzz)l 2
(A.11)
_ 72byz(ayyazz _ ayz)]/(byybzz
2 2 ,
- byz)

k84 = 2[ bzz(byybzz - b y2z ) l 4 + 6(2ayybyybzz - 3ayyb 2 - 2ayzb=by~ - azzb2zz)l 2

(A.12)
-- 72b=(ayyazz - ayz)]/(byybzz
2 _ b 2 ).

Appendix B. Loading vector

In this section the loading vector/3 e for the finite element relationship of Eq.(28) is given. For
a linearly distributed load ~ i ( x ) = Pia ~- (X/l)(79ib -- Pia), i = y , z and thermal moments M r i ( x ) =
Mri~ + ( x / l ) ( M r i b - Mri~), i = y , z , this vector is given by

- 2
"21(byybzz - b 2 )l 6 + 12(20ayybyy + 41ayzbyz + 21azzbzz)l 4 + 2880(ayyazz
3(byybzz - byz)l
2 7 + 6(5ayybyy + 1 layzbyz + 6a=bzz)l 5 + 3 6 0 ( a y y a = - a )t '

- 12(ayyby~ + a y z b = ) l 4
6(ayyby~ + ay~bzz)l 5Pya
9(byybzz - b 2 )l 6 + 12(lOayybyy + 19ay~by~ + 9azzbzz)l 4 + 1440(ayyazz _ a 2)12 60D
F = _

2 7 - 6(5ayybyy + 9ay~byz + 4a=bzz)l 5 - 3 6 0 ( a y y a = _ a 2 ) l 3

- 2 ( b y y b z z - byz)l
12(ayybyz + ayzbzz)l 4
6(ayybyz + ay~b=)l 5

9(byyb= - b 2 )l 6 + 12(lOayybyy + 19ayzbyz + 9azzbzz)l 4 + 1 4 4 0 ( a y y a = - a 2 )l 2

2(byybzz - b 2 )l 7 + 6(5ayybyy + 9ay~byz + 4 a = b = ) l 5 + 360(ayyazz - a2yz)l 3
12(ayyby~ + a y z b = ) l 4
- 6 ( a y y b y z + ay~b=)l 5
21(byybzz - b 2 )l 6 + 12(20ayybyy + 41ay~by~+ 2 1 a = b = ) l 4 + 2 8 8 0 ( a y y a = - a 2 )l 2 6 0 D
-3(byyb= - b 2 )l 7 - 6(5ayybyy + 1 lay~byz + 6 a = b = ) l 5 - 3 6 0 ( a y y a = - a 2 )l 3
- 12(ayyby~ + ay~bzz)l 4
- 6 ( a y y b y z + ayzb= )l 5
 W.D. Pilkey et al. / Finite Elements in Analysis and DeMon 19 (1995) 25-44 35

- 12(a=byz + ayzbyy)l 4-
-6(a=by~ + ayzbyy)l 5
21(byybzz - b2yz)l6 + 12(20a=b= + 41ayzbyz + 21ayybyy)l 4 + 2880(ayya= - a2yz)l2
2 7
-3(byybzz - byz)l + 6( 5azzbzz + 1 layzby~ + 6ayybyy)l 5 + 360(ayyazz - a 2 )l 3 Pza
12(azzby~ + ayzbyy)l 4 60D
-6(a=byz + ayzbyy)l 5
9(byyb= - b 2 )l 6 + 12(lOa=b= + 19ayzby~ + 9ayybyy)l 4 + 1440(ayya= - a 2 )l 2
2 7 2 3
2(byyb= - byz)l + 6(5a=b= + 9ay~by~ + 4ayybyy)l 5 + 360(ayya= - ayz)l

12(a=byz + ayzbyy)l 4"

6(azzby~ + ayzbyy)l 5
9(byybzz - b2yz)l6 + 12(lOa=b= + 19ayzby~ + 9ayybyy)l 4 + 1440(ayya= - a 2 )l 2
_2(byeb = - 2 7 - 6(5a=b= + 9ay~by~ + 4ayybyy)l 5 - 360(ayya= - a 2 ) l 3
by~)l tg zb
- 12(a=byz + ayzbyy)l 4 60D
6(azzby~ + ayzbyy)l 5
2
21(byyb= - b2yz)l6 + 12(20a=b= + 41ay~by~ + 21ayybyy)l 4 + 2880(ayya= - ayz)l 2

3(byybzz - b 2 ) l 7 + 6(5a=bzz + 1 layzby~ + 6ayybyy)l 5 + 360(ayyazz - ay~)12 3

-(byyb= - b 2 ) l 4 - 12(ay~by~ + a=b=)l 2

-(byybzz -- b 2 ) l 5 - 6(ayybyy -~ 3ay~by~ + 2azzb=)l 3 - 72(ayyazz - a2,)l
12(ayyby~ + ayzb=)l 2
-6(ayybyz + ay~bzz)l 3 MTza
(byybzz - byz)l
2 4 + 12(ay~by~+ a=b=)l 2 D
6(ayzbyz + ayybyy)l 3 + 72(ayyazz - a 2 )l
-12(ayyby~ + ayzb=)l 2
-6(ayybyz + ayzb=)l 3

(byyb= - b 2 )l 4 + 12(ay~by~+ a=bzz)l 2-

-6(ayzbyz + ayybyy)l 3 - 72(ayya= - a2yz)l
-- 1 2 ( a y y b y z + ayzb=)/2
6(ayybyz + ay~b=)l 3 MTzb
-(byyb= - b 2 )l 4 - 12(ay~byz + a=bzz)l 2 D
(byyb= - b2yz)l5 + 6(ayybyy + 3ay~by~ + 2a=b=)l 3 + 72(ayya= - a ~ ) l
12(ayyby~ + ay~b=)l 3
6(ayyby~ + ay~b=)12
36 W. D. Pilkey et al. / Finite Elements in Analysis and Design 19 (1995) 25 44

- 12(a=by~ + ayzbyy)l 2
-6(a=by~ + ayzbyy)l 3
(byybzz - b2yz)l4 q- 12(ayzbyz + ayybyy)l 2
-(byybzz - b2yz)l 5 - 6(2ayybyy + 3ayzby~ + azzbzz)l 3 - 72(ayya= - a2z)l MTya
12(a=by~ + ayzbyy)l 2 D
-6(a=by~ + ayzbyy)l 3
- ( b y y b z z - b 2 )l 4 - 12(ayzbyz + ayybyy)l 2

6(ayzbyz + a=bzz)l 3 + 72(ayyazz - a2yz)l

12(a=byz + ayzbyy)l 2"

6(a=byz + ayzbyy )13
- ( b y y b z z - by,)l
2 4 - 12(ay~by~ + ayybyy)l 2

-6(ay~byz + azzbzz)l 3 - 72(ayyazz - ay~)12 MTyb

- 12(azzbyz + ayzbyy)l 2 D
6(a=byz + ayzbyy)l 3
(byybzz - byz)l
2 4 + 12(ayzbyz + ayybyy)l 2
(byybzz - b2 )l 5 + 6(2ayybyy + 3ayzbyz + a=bzz)l 3 + 72(ayya= - a 2 )l.

The quantity D is given by Eq.(A.2), and aij and bij, i,j = y , z , by Eq.(A.3).

Appendix C. Mass matrix

The mass matrix m e for a straight beam element with arbitrarily shaped cross sections and in an
arbitrarily oriented coordinate system is the summation o f the translational mass matrix m e and the
rotary mass matrix m E

m e = m ue + m O.
e (C.1)

The translational mass matrix appears as

mull
mu21 mu22
mu31 mu32 mu33 symm.
p*A mu41 mu42 mu43 mu44
(C.2)
m e - 420D 2 mu51 --mu61 --mu31 -mu41 mull
mu61 mu62 mu32 mu42 --mu21 mu22
--mu31 --mu32 mu73 mu83 mu31 --mu32 mu33
mu41 mu42 mu83 mu84 --mu41 mu42 --mu43 mu44
 W.D. Pilkey et al./ Finite Elements in Analysis and Design 19 (1995) 25-44 37

with D from Eq.(A.2). The entries of this matrix are

h 2 ~218
mull = 12[13(byybzz - _yz, _ + 6(52a=b= + lOlay~by~ + 49ayybyy)(byybzz _ byz)
12 6
, 2 2 2 2
+ 24( 78a=bzz + 303azzay~b=by~ + 294azzayybyybzz - 147ay~byybzz - 147 ayyazzb yz

,44"Zay2Oyz
2r2 2 2
+ 70ayybyy + 287ayyayzbyybyz)l 4 + 24(azzbyz + ay~byy)214 (C.3)
2 2
+2016(21azzb= + 41ayzbyz + 20ayybyy)(ayya= - ayz)l

+241920(ayya= --
a 2y z J~2113
J

muzl -= 2[ll(byyb=, - byz)

z 2 I 8 + 33(8azzb= + 15ayzbyz + 7ayybyy)(byybzz - b% )l 6

+ :3 6(44a=bzz
2 2 2
+ 165a.a=byzb= + 154ayya=byyb= - 77a.byyb= 2
- 77ayya=by~
,~'. "~ 2 7 2 2 2
+ ,,3JayzOy z + 35ayybyy + 147ayyayzbyybyz)l 4 + 72(ayzbyy + a=bez) 2 (C.4)

+ 3024(1 la=b= + 21ayzby~ + lOayybyy)(ayyazz - aZyz)l2

+ 181 440(ayya= - a 2yz)'~2]14
.I

mu31 = -3613(ayzb= + a=byz + ayyby2 + ay~byy)(byybzz - b ~ ) l 4

2 2
+ 4(9a=ayzb~z + 7a=byzbzz + 9ayya=byzbzz + 16ayzby~b=

+ 7ayza=byyb= + 7ayyayzbyyb= + 16ayza=b 2 + 16ayyayzb~ (C.5)

2 2 2 2
+ 16ay~byybyz + 9ayyazzbyybyz + 7ayybyybyz + 9ayyayzbyy)l

+ 336(ayzb= + azzbyz + ayybyz + ayzbyy)(ayyazz -- a2)]l 5,

mu41 = 6[(9arab= + 9ayybyz + 2azzby~ + 2ayzbyy)(byybzz - b 2 )l 4

2
+ 12(9ayza~zbZ= + 9ayyazzbyzb= + 16ayzbyzb= + 16ayyayzb 2 + 2ayzazzb2yz
2 2 2
(c.6)
+ 2ayzbyybyz + 2ayyazzbyybyz + 2ayyayzb2y + 7ayyayzbyybzz + 7ayybyybyz)l
2 6
+ lO08(ayzb= + ayybyz)(ayyazz - ay~)]l ,

mu51= 18[3(byybzz - byz)

2 2 l 8 + 12(6a=b= + 13ay~byz + 7ayybyy)(byybzz _ byz)
12 6
2 2 2
+ 16(27a=b= + 117ay~azzby~b= + 126ayya=byybzz - 63ayzbyyb~z - 63ayyazzb2yz
2 2 2 2
+ 188ayzbyz + 35ayybyy + 133ayyayzbyybyz)l 4 - 16(azzby~ + ayzbyy)2l 4 (C.7)
2 2
+ 1344(9a=b= + 19ay~by2 + lOayybyy)(ayyazz - ayz)l
+ 80 640(ayya= - a 2y z J~2113
J
38 W.D. Pilkey et al./ Finite Elements in Analysis and Design 19 (1995) 25-44

' 2 2 8
mu61 = -[13(byybzz byz) l + 6(52a=bzz + 115ayzbyz + 63ayybyy)(byybzz - b2yz)l6
2 2 2
+ 72(26a=b= + 115a=ayzbyzb= + 126ayya=byybzz - 63ayzbyybzz - 63ayyazzby2 z
2 2 2 2
+ 187ay~by z + 35ayybyy q- 133ayyayzbyybyz)l 4 - 144(a=by~ + ayzbyy)214 (C.8)

+ 6048(9a=b= + 19ayzby~ + lOayybyy)(ayya= - a 2 ) l 2

- 362880(ayyazz - 2
ayz) 2]l 4,

mu22 = 4[(byybzz -- byz)

2 2I 8 + 3(8a=b= + 15ayzbyz Jr 7ayybyy)(byybzz - b 2 ) l 6
2 2 2 2
+ 18(8azzb = + 30ayzazzby~bzz + 28ayyazzbyybzz - 14ay~byyb= - 14ayya=by~
2 2 2 2 4
+ 43ayzby z + 28ayyayzbyzbyy q- 7ayybyy)l + 18(a=byz + ayzbyy)2l 4 (C.9)
+ 3024(a=b= + 2ayzbyz)(ayyazz - ayz)12 2
+ 18 144(ayyazz - a2)2]l 5,

2 4
mu32 = -6[(2ayzbzz + 9a=byz + 2ayybyz + 9ayzbyy)(byybzz - byz)l
2 2
+ 12(2ay~azzb~ + 2ayya=by~bzz + 7a=byzb= + 7ayza=byyb= + 2ay~by~b=
(C.IO)
2 2 2
+ 2ayyay~b2yz + 16ay~a=b2yz + 16ayzbyybyz + 9ayyazzbyybyz + 9ayyay~byy)l
2 )]•6,
+ lO08(a=byz + ayzbyy)(ayyazz - ay~

mu42 = 6[(ayzb= + a=byz + ayybyz Jr ayzbyy)(byybzz - b2z)l 2

(C.11)
+ 12(ay~b= + ayyby~)(ayzbyz + a=bzz) + 12(ayybyy + ay~byz)(a=by~ + ayzbyy)]l 9,

mu62 = - 3 [ ( b y y b z z 2 2l 8 + 4(6a=b= + 13ay~byz + 7ayybyy)(byybzz - b 2 ) l 6

- byz)
2 2 2 2 2
+ 24(6azzb = + 26ayzazzbyzb= + 28ayya=byyb= + 7ayybyy - 14ayzbyyb=
2 2z - 14ayyazzby2z -q- 28ayyayzbyybyz)l 4 - 24(azzbyz + ayzbyy)2l 4
+ 41ayzby (C.12)
2 2
+ 4032(a=bzz + 2ay~byz + ayybyy)(ayyazz - ayz)l
+ 24 192(ayya= - ayz)2 2]15,

mu33 12 [13(byybzz - byz)

2 2l 8 + 6(49a=b= + lOlay~byz + 52ayybyy)(byyb= - b 2 ) l 6
2 2 2 2 2
+ 24(70a=b= + 287ayza=by~b= + 294ayya=byyb= + 78ayybyy - 147ay~byyb=
2 2
+ 442ay~by~ - 147ayya=by2 z + 287ayyayzbyyby~)l 4 + 24(ayzb= + ayybyz)2l 4 (C.13)
+ 2016(20a=b= + 41ay~byz + 21ayybyy)(ayyazz - ayz)12 2
-
2 )2] 13,
241 920(ayya= - ay~
 W.D. Pilkey et al./Finite Elements in Analysis and Desi#n 19 (1995) 25-44 39

mu43 = -2[ll(byybzz - byz)

2 2 l 8 + 33(7a=b= + 15ay~byz + 8ayybyy)(byybzz - byz)l
2 6
2 2 2 2 2
+ 36(35a=b= + 147ay~azzbyzb= + 154ayyazzbyybzz + 44ayybyy - 77ayzbyybzz
2 2
+ 233ayzby ~ - 77ayya=by2 z + 165ayyayzbyybyz)l 4 + 72(ay~b= + ayybyz)Zl 4 (C.14)

+ 3024(lOa=bzz + 21ayzby~ + 1 layybyy)(ayyazz - ayz)12 2

+ 181 440(ayyazz - a 2y z J)2]14

a

mu73 = 18[3(byybzz - byz)

2 2 l 8 + 4(21a=b= + 39ayzbyz + 18ayybyy)(byybzz - b 2 ) l 6

+ 1 6(35a=b=
22 22
+ 133ayzazzby~bzz + 126ayya=byybzz + 27ayybyy 2
- 63ay~byyb=
22
+ 188ay~byz - 63ayyazzby2 z + llTayyayzbyybyzl)l 4 - 16(ay~b= + ayybyz)2l 4 (C.15)
2 2
+ 1344(lOazzb= + 19ayzbyz + 9ayybyy)(ayyazz - ayz)l

+ 80640(ayyazz - ayz)
2 2]l 3,

mu83 = [13(byybzz -- byz)

2 2 l 8 + 6(63a=b= + 115ayzbyz + 52ayybyy)(byybzz - b 2 ) l 6

2 2 2 2 2
+ 72(35a=b= + 133ayzazzby~bzz + 126ayyazzbyybzz + 26ayybyy - 63ayzbyrb=
2 2
+ 187ayzby z - 63ayyazzby2 z + 115ayyayzbyybyz)l 4 - 144(ay~bzz + ayybyz )214 (C. 16)
2 2
+ 6048(lOa=b= + 19ayzby~ + 9ayybyy)(ayyazz - ay~)l

+ 362 880(ayyazz - a y2g '121l

J.l 4

mua4= 4[(byybzz - bye)

2 2 l 8 + 3(7azzb= + 15ay~byz + 8ayybyy)(byybzz - b2yz)l 6

+ 1 8(7azzb=
22 2
+ 28ay~a=byzb= + 28ayya=bzyb= - 14ay~byybzz - 14ayyazzb 2
2 2 2 2 4
+ 43ayzby ~ + 30ayyay~byybyz + 8ayybyy)l + 18(ayzb= + ayybyz)214 (C.17)
2 2
+ 3024(azzb= + 2ayzby~ + ayybyy)(ayya= - ay~)l
+ 18 144(ayya= - a 2y z ¢]l
/1 5

mu84= -3[(bvybzz - bye)

2 2 8 l + 4(7a=b= + 13ayzbyz + 6ayybyy)(byybzz - byz)l
2 6

2 2 2 2
+ 24(7a=bzz + 28ay~azzbyzbzz + 28ayya=byybzz - 14ayzbyyb= - 14ayya=by z
2 2 2 2 4
-+"41ayzby z + 26ayyayzbyybyz + 6ayybyy)l - 24(ayzbzz + ayybyz)2l 4 (C.18)
2 2
-+- 4032(azzb= + 2ayzbyz + ayybyy)(ayyazz - ay~)l

+ 24 192(ayyazz - a2)2]I 5.
40 W.D. Pilkey et al./ Finite Elements in Analysis and Design 19 (1995) 25-44

The rotary mass matrix reads

moll
too21 mo22
mo31 mo32 mo33 symm.
p*
e m too41 mo42 mo43 mo44
(C.19)
mo 30D 2 --mOll --mo21 --mo31 -too41 mOll
mo21 mo62 mo32 mo42 --too21 mo22
--too31 --mo32 --mo33 --mo43 mo31 --mo32 mo33
mo41 mo42 mo43 mo84 --mo41 mo42 --mo43 mo44

with the quantity D given by Eq.(A.2). The entries of the matrix are

moll = 36[ Iyy(byyb= - byz)

2 2 l 4 + 24Iyy(azzbzz + ayzbyz)(byyb= - b 2 ) l 2
(c.2o)
+ 144Izz(azzby~ + ayzbyy) 2 + 144Iyy(a=b= + ayzbyz)2]l 5,

m021 = 3[ Iyy(byybzz - byz)

2 2 I 6 + 12Iyy(2a=b= - 3ayzby~ - 5ayybyy)(byybzz - byz)l
2 4

2 2 2
+ 144Iyy(a=b= - 3ayza=byzb= - lOayyazzbyybzz + 5ayzbyybzz
2 2
(c.21)
+ 5ayyazzb2yz - 9ayzby z - 5ayyayzbyybyz)l 2 + 864I=(azzbyz + ayzbyy)l 2
- - 8640Iyy(azzb= + ayzbyz )(ayyazz _ ayz)]12 4,

mo3, ---- - 4 3 2 [ I=(azzbyz + ay~byy)(byybzz - b2y~)/2 + Iyy(ayzb= + ayyby~)(byybzz - b2y~)/2

+ 12I=(ay~byz + ayybyy)(a=byz + ay~byy) (C.22)
+ 12Iyy(ayzb= + ayybyz)(a=b= + ayzbyz)]l 5,

mo41 -= 36[I=(a=byz + ayzbyy)(byybzz _ byz)l

2 4 + 6Iyy(ayzb= + ayyby~)(byybzz _ byz)
2 l4
+ 12lzz(ayybyy -- 4ayzbyz - 5a=b=)(azzbyz + ayzbyy)l 2
(C.23)
+ 72Iyy(ayzbzz + ayyby~)(a=b= + ay~by~)l 2
2 4
- 720I=(azzbyz + ayzbyy)(ayyazz - a y ~ ) ] l ,

mo22 = 4[Iyy(byybzz - b2z)218 + 3Iyy(8azzbzz + 13ayzbyz + 5ayybyy)(byybzz - byz)12 6

2 2 2
+ 36Iyy(4azzb = + 13ayza=byzb= + lOayya=byyb= - 5ayzbyyb= - 5ayyazzb~
2 2 2 2 4
+ 24ay~by z + 25ayyay~byybyz + lOayybyy)l + 324Izz(a=by~ + ayzbyy)2l 4 (C.24)
2 2
+ 2160Iyy(a=b= + 5ayzbyz + 4ayybyy)(ayyazz - ayz)l
+ 51 840Iyy(ayyazz - a 2y Z / )2113
.I
 I~ D. Pilkey et al. / Finite Elements in Analysis and Design 19 (1995) 25-44 41

mo3 2 = -36[ 6Izz(a=byz + ayzbyy)(byybzz -- byz)l

2 4 + Iy~(ayzbzz + ayybyz)(byybzz - b ~ ) l 4

+ 72Izz(ayzbyz + ayybyy)(azzbyz + ayzbyy)l 2

(C.25)
+ 121yy(a=bzz - 4ayzbyz - 5ayybyy)(ayzb= + ayybyz)l 2
2 4
- - 720Iyy(ayzbzz + ayybyz)(ayyazz - ayz)]l ,

mo42 = 18[ I=(a=byz + ayzbyy)(byybzz - b y2z ) l 4 + Iyy(ayzbzz + ayybyz)(byybzz - b % ) l 4

- 121yy(5ayybyy q - 4 a y z b y z - a=b=)(ayzb= + a y y b y z ) l 2

- 12I=(5a~b= + 4ayzby~ - ayybyy)(azzby~ q- ayzbyy)l 2 (C.26)

- 720I=(a=byz + ayzbyy)(ayyazz - a2yz)

- 720Iyy(ayzbzz + ayybyz)(ayyazz _ ayz)]12 5,

m062 = - [ lyy(byybzz -- bye)

2 2 l 8 + 121yy(2azzbzz + 7ayzbyz + 5ayybyy)(byybzz - b 2 ) l 6
2 2 2 2
+ 144Iyy(azzbzz + 7ayza=byzbzz + l Oayya=byyb= - 5ayzbyyb = - 5ayya=by z
2 2 2 2 4
+ t~ayzby z - 5ayyay~byybyz - 5ayybyy)l - 12961zz(azzby~ + ayzbyy)2l 4 (C.27)
+ 8640Iyy(azzbzz - 2ayybyy - ayzbyz)(ayyazz - a ~ ) l z
- 103 680Iyy(ayyazz - a 2yz ~2]13
l .I

2 4 2 2
m033 = 36[ Izz,(byybzz - by z ) l + 24I=(ayzbyz + a y y b y y ) ( b y y b = - by z ) l
(C.28)
+ 144Izz(ayzbyz + ayybyy) 2 q- 144Iyy(ay~bzz + ayybyz)2]l 5,

2 2 6
m043 . - 3 [ lzz(byybzz
. byz) l . + 12Izz(2ayybyy
. 3ay~byz - 5 a = b = ) ( b y y b = by~)12 4
2 2
-q- 144Izz(5ayzbyybzz q-5ayyazzby z - 5ayzazzbyzbzz - lOayyazzbyybzz
2 2 2 2 2 (C.29)
q - a y y b y y - 3ayyayzbyybyz - 9ay~byz)l + 864Iyy(ayzbzz q - a y y b y z ) 2 l 2

-- 8640I=(ayzbyz + ayybyy)(ayyazz - ay2z )]14,

mo44 = 4[ l=(byybzz -- 2 2 l 8 + 31zz(5azzbzz + 13ayzbyz + 8ayybyy)(byybzz - byz)l

byz) 2 6
,~. 2 2 2 2
+ .,61=(lOazzbzz + 25ayzazzbyzbzz + lOayya=byybzz - 5ayzbyybzz - 5ayyazzby z
.pA 2 ~2 2 2 4
q- z/4ayzOy z q- 13ayyayzbyybyz --b 4 a y y b y y ) l + 324Iyy(ayzbzz + ayyby~)2l 4 (c.3o)
+ 2160I=(4azzb= + 5ayzbyz + ayybyy)(ayyazz - ayz)12 2

+ 51 840Izz(ayyazz - ayz)2 2113,

42 W.D. Pilkey et al./ Finite Elements in Analysis and Design 19 (1995) 2 5 - 4 4

mo84 = - [ Izz(byybzz _ b 2~ ) 2l 8 + 121zz(5a=b= + 7ayzbyz + 2ayybyy)(byybzz _ byz)

2 l6
2 2 2 2 4
- 720I=(azzb = + ayza=byzb= - 2ayyazzbyybzz + ayzbyybzz + ayyazzbyz)l
+ 2 2~ +
144I=(6ayzby 7 a y y a y z b y y b y z q- a y2y b y2y ) l 4 - 1296Iyy(ayzb= + ayybyz)214 (C.31)
2 2
q- 8 6 4 0 I z z ( a y y b y y - ayzbyz - 2azzb= )(ayyazz -- ay~)l
- 103 680Izz(ayyazz- a 2ygJ~2]/3
A
where aij and b o, i, j = y, z, are given by Eq.(A.3).

Appendix D. Geometric stiffness matrix

The geometric stiffness matrix k~ for a straight beam element with arbitrarily shaped cross sections
and in an arbitrarily oriented coordinate system appears as
kGll

l
kG31 ~kG31 kG33 symm.

--~kG31 - 12 / 43 / 44
1 l (D.1)
k~- 30D2 -kc21 -/ 31 5k 31 kCll
I 12
kG21 kG62 ~kG31 ---~-kG31 --kG21 kG22
l l
--kG31 -- ~kG31 --kG33 --kG43 kG31 --~kG31 kG33
lkGal 12 1 l2
-- ~kG31 kG43 kG84 ~kG31 --"~-kG31
--kG43
The quantity D is given by Eq.(A.2). The entries of the matrix are found as
k~ll = 36[ (byyb= - b2)2l 8 + 4(6a=bzz + 1 lay~byz + 5ayybyy)(byybzz _ byz)
12 6
2 2 2
+ 24(5ayybyy + 20ayya=byyb= + 20ayyayzbyybyz - l Oay~byyb= - l Oayya=b2z
2 2z + 22ayza=byzbzz + 6a=b=)l
2 2 4 + 24(a=by~ + ayzbyy)2l 4 (D.2)
+ 31ayzby
2 2
+ 2880(a=b= + 2ay~by~ + ayybyy)(ayyazz -- ayz)l + 17280(ayya= -- a y2z ) 2]1,

/~21 = 3[ (byybzz - b2yz)l4 + 24(a=b= + ayzbyz)(byybzz -- b2yz)l2 + 144(azzbzz + ayzbyz) 2

+ 144(a=byz + ayzbyy)2]l 6, (D.3)

kG31 = -72[ (ayzbzz + azzbyz + ayybyz -~- ayzbyr)(byyb= - b2 )l 2

+ 12(a=by~ + ayzbyy)(ayzbyz + ayybyy) (D.4)
+ 12(azzb= + ayzby~)(ay~b= + ayybyz)]l 5,
 I,KD. Pilkey et al./ Finite Elements in Analysis and Design 19 (1995) 25-44 43

kG22 = 4[ (byybzz - bye)

2 2 l 8 + 3(8azzbzz + 13ayzbyz + 5ayybyy)(byybzz - b2)l 6
2 2 2
+ ].8(5ayybyy + 20ayyayzbyybyz --}- 2 0 a y y a z z b y y b z z - lOayzbyybzz - lOayyazzb 2

. 2 2 2 2 4
(D.5)
+ 33ayzby z + 26ayzazzby~b= + 8azzbzz)l + 54(azzbyz + ayzbyy)2l 4
+ 2160(a=bzz + 2ayzbyz + ayybyy)(ayyazz - ay2z )l 2 + 12960(ayyazz - a 2yz,~2]13
J ,

kG62 = - [ (byybzz - b 2)218 _+_12(2azzb= + 7ay~by~ + 5ayybyy)(byybzz - by~)12 6

2 2 2
+ 72(2azzbzz + 14ay~a=by~b= + 20ayyazzbyybzz - 10ayzbyybzz - l Oayyazzb2yz
(D.6)
+ 27ay2 zby2z + 20ayyayzbyybyz q- 5ayybyy)l
2 2 4
- 216(azzbyz + ayzbyy)2 l 4
+ 8640(azzb= + 2ayzbyz + ayybyy)(ayyazz -
2 2 + 51840(ayyazz - a 2y z ]~2]/3
ayz)l J

kG33 = 36[ (bvyb=

. - bye)
2 2 l 8 + 4(5a=bzz + 1 lay~byz + 6ayybyy)(byybzz - b2yz)l 6

2 2 2 2
+ 24(5a=bzz + 20ayza=byzbzz + 20ayyazzbyybzz - 10ayzbyybzz - 10ayyazzby z
2 2 2 2 4
(D.7)
+ 3 l ayzby z + 22ayyayzbyybyz + 6ayybyy)l + 24(ayzb= + ayyby~)2 l 4
2 2
+ 2880(a=b= + 2ayzbyz + ayybyy)(ayyazz -- ayz)l + 17 280(ayyazz -- a 2y z J~2]i
J ,

2 4
kG43 ~-~ - 3 [ (byybzz - byz)l + 24(ay~byz + ayybyy)(byybzz - b 2 ) l 2 + 144(ayzbzz + ayybyz) 2
(D.8)
+ 144(ay~by~ + ayybyy)2]l 6,

k~44 = 4[ ( b y y b z z - byz)
2 2 l 8 + 3(5a=bzz + 13ay~byz + 8ayybyy)(byybzz - b)z)l
2 6

2 2 2
+ ]t8(5a=b= + 20ayza=byzb= + 20ayyazzbyybzz - lOay~byybzz - lOayya=b2yz
", 2 2 2 2 4
(D.9)
+ 33ay~by z + 26ayyayzbyybyz + 8ayybyy)l + 54(ayzbzz + ayybyz)214
,) 2
ayz)l 2 2 ~2113
+ ,.160(a=b= + 2ayzbyz + ayybyv)(ayyazz -
+ 12960(ayya= - a yz, J ,

kG84 = - [ (byyb= -- byz)

2 2 l 8 + 12(5azzb= + 7ayzbyz @ 2ayybyy)(byybzz __ byz)l
2 6
+ 72l 4 (2ayybyy
2 2 2 2
-q- 14ayyayzbyybyz + 20ayyazzbyybzz - lOay~byybzz - lOayyazzby z
2 2 2 2
(D.10)
+ 27ayzby z + 20ayza=by~b= + 5azzbzz ) - 21614(ayzb= + ayybyz) 2
+ 8640(a=bzz + 2ayzbyz + ayybyy)(ayya= -
2 2 + 51 840(ayya= - a2)2]/3.
ayz)l

where a~j and bq, i, j = y, z, is given by Eq.(A.3).

44 W.D. Pilkey et al./ Finite Elements in Analysis and Design 19 (1995) 25-44

References

[1] S.P. Timoshenko, and G.H. MacCullough, Elements of Strength of Materials, van Nostrand, New York, 3rd edn., 1949.
[2] G.R. Cowper, "The shear coefficient in Timoshenko's beam theory", J. Appl. Mech. 33, pp. 335-340, 1966.
[3] G. Romano, L. Rosati, and G. Ferro, "Shear deformability of thin-walled beams with arbitrary cross sections", Int. J.
Numer. Methods Eng. 35, pp. 283-306, 1992.
[4] U. Schramm, L. Kitis, W. Kang, and W.D. Pilkey, "On the shear deformation coefficient in beam theory", Finite
Elements in Analysis and Design 16, pp. 141-162, 1994.
[5] J.S. Przemieniecki, Theory of Matrix Structural Analysis, McGraw-Hill, New York, 1968.
[6] K.J. Bathe, Finite Element Procedures in Engineering Analysis, Prentice-Hall, Englewood Cliffs, N J, 1982.
[7] W.D. Pilkey, and W. Wunderlich, Structural Mechanics - Variational and Computational Methods, CRC Press, Boca
Raton, FL, 1993.
[8] MACSYMA, Users manuals, Symbolics, Inc., Cambridge, MA, 1989.
[9] W. Kang, and W.D. Pilkey, "The exact frequency-dependent stiffness and mass matrices of a general beam element
with axial force and elastic foundations", Int. J. Analyt. Exp. Modal Anal. 9, pp. 217-225, 1994.