5

Constructing
MoM Members

5–1
Chapter 5: CONSTRUCTING MOM MEMBERS 5–2

TABLE OF CONTENTS

Page
§5.1. Introduction 5–3
§5.2. Formulation of MoM Members 5–3
§5.2.1. What They Look Like . . . . . . . . . . . . . . 5–3
§5.2.2. End Quantities, Degrees of Freedom, Joint Forces . . . . . 5–4
§5.2.3. Internal Quantities . . . . . . . . . . . . . . . . 5–4
§5.2.4. Discrete Field Equations, Tonti Diagram . . . . . . . . 5–5
§5.3. Simplex MoM Members 5–6
§5.3.1. The Bar Element Revisited . . . . . . . . . . . . . 5–6
§5.3.2. The Spar Element . . . . . . . . . . . . . . . 5–8
§5.3.3. The Shaft Element . . . . . . . . . . . . . . . . 5–9
§5.4. *Non-Simplex MoM Members 5–10
§5.4.1. *Formulation Rules . . . . . . . . . . . . . . . 5–10
§5.4.2. *Example: Bar with Variable Cross Section . . . . . . . 5–11
§5. Notes and Bibliography
. . . . . . . . . . . . . . . . . . . . . . 5–12
§5. References . . . . . . . . . . . . . . . . . . . . . . 5–12
§5. Exercises . . . . . . . . . . . . . . . . . . . . . . 5–13

5–2
5–3 §5.2 FORMULATION OF MOM MEMBERS

§5.1. Introduction

The truss member used as example in Chapters 2–4 is an instance of a structural element. Such ele-
ments may be formulated directly using concepts and modeling techniques developed in Mechanics
of Materials (MoM).1 The construction does not involve the more advanced tools that are required
for the continuum finite elements that appear in Part II.
This Chapter presents an overview of the technique to construct the element stiffness equations of
“MoM members” using simple matrix operations. These simplified equations come in handy for
a surprisingly large number of applications, particularly in skeletal structures. Focus is on simplex
elements, which may be formed directly as a sequence of matrix operations. Non-simplex elements
are presented as a recipe because their proper formulation requires work theorems not yet studied.
The physical interpretation of the FEM is still emphasized. Consequently we continue to speak of
structures built up of members (elements) connected at joints (nodes).

§5.2. Formulation of MoM Members

§5.2.1. What They Look Like

MoM-based formulations are largely restricted to intrinsically one-dimensional members. These
are structural components one of whose dimensions, called longitudinal, is significantly larger
than the other two, called the tranverse dimensions. Such members are amenable to the simplified
structural theories developed in MoM textbooks. This Chapter covers only straight members with
geometry defined by the two end joints.2 The member cross sections are defined by the intersection
of planes normal to the longitudinal dimension with the member. See Figure 5.1. Note that although
the individual member will be idealized as being one-dimensional in its intrinsic or local coordinate
system, it often functions as component of a two- or three-dimensional structure.
This class of structural components embodies bars, beams, beam-columns, shafts and spars. Al-
though geometrically similar, the names distinguish the main kind of internal forces the member
resists and transmits: axial forces for bars, bending and shear forces for beams, axial compression
and bending for beam-columns, torsion forces for shafts, and shear forces for spars.
Members are connected at their end joints by displacement degrees of freedom. For truss (bar) and
spar members those freedoms are translational components of the joint displacements. For other
types, notably beams and shafts, nodal rotations are chosen as additional degrees of freedom.
Structures fabricated with MoM members are generally three-dimensional. Their geometry is de-
fined with respect to a global Cartesian coordinate system {x, y, z}. Two-dimensional idealizations
are useful simplifications should the nature of the geometry and loading allow the reduction of the
structural model to one plane of symmetry, which is chosen to be the {x, y} plane. Plane trusses
and plane frameworks are examples of such simplifications.

1 Mechanics of Materials was called Strength of Materials in older texts. It covers bars, beams, shafts, arches, thin plates
and shells, but only one-dimensional models are considered in introductory undergraduate courses. MoM involves ab
initio phenomenological assumptions such as “plane sections remain plane” or “shear effects can be neglected in thin
beams.” These came about as the byproduct of two centuries of structural engineering practice, justified by success.
A similar acronym (MOM) is used in Electrical Engineering for something completely different: the Method of Moments.
2 Advanced Mechanics of Materials includes curved members. Plane arch elements are studied in Chapter 13.

5–3
Chapter 5: CONSTRUCTING MOM MEMBERS 5–4

z ȳ
x̄

z̄
y x
Figure 5.1. A Mechanics of Materials (MoM) member is a structural element
one of whose dimensions (the longitudinal dimension) is significantly larger
than the other two. Local axes {x̄, ȳ, z̄} are chosen as indicated. Although
the depicted member is prismatic, some applications utilize tapered or stepped
members, the cross section of which varies as a function of x̄.

In this Chapter we study generic structural members that fit the preceding class. An individual
member is identified by e but this superscript will be usually suppressed in the equations below to
reduce clutter. The local axes are denoted by {x̄, ȳ, z̄}, with x̄ along the longitudinal direction. See
Figure 5.1.
The mathematical model of a MoM member is obtained by an idealization process. The model
represents the member as a line segment that connects the two end joints, as depicted in Figure 5.2.

§5.2.2. End Quantities, Degrees of Freedom, Joint Forces

The set of mathematical variables used to link members are called end quantities or connectors. In
the Direct Stiffness Method (DSM) these are joint displacements (the degrees of freedom) and the
joint forces. These quantities are related by the member stiffness equations.
The degrees of freedom at the end joints i and j are collected in the joint displacement vector ū.
This may include translations only, rotations only, or a combination of translations and rotations.
The vector of joint forces f̄ groups components in one to one correspondence with ū. Component
pairs must be conjugate in the sense of the Principle of Virtual Work. For example if the x̄-translation
at joint i: ū xi appears in ū, the corresponding entry in f̄ is the x̄-force f¯xi at i. If the rotation about
z̄ at joint j: θ̄z j appears in ū, the corresponding entry in f̄ is the z-moment m̄ z j .

§5.2.3. Internal Quantities

Internal quantities are mechanical actions that take place within the member. Those actions involve
stresses and deformations. Accordingly two types of internal quantities appear:
Internal member forces form a finite set of stress-resultant quantities collected in an array p. They
are obtained by integrating stresses over each cross section, and thus are also called generalized
stresses in structural mechanics. This set characterizes the forces resisted by the material. Stresses
at any point in a section may be recovered if p is known.
Member deformations form a finite set of quantities, chosen in one-to one correspondence with
internal member forces, and collected in an array v. This set characterizes the deformations expe-
rienced by the material. They are also called generalized strains in structural theory. Strains at any
point in the member can be recovered if v is known.
As in the case of end quantities, internal forces and deformations are paired in one to one corre-
spondence. For example, the axial force in a bar member must be paired either with an average

5–4
5–5 §5.2 FORMULATION OF MOM MEMBERS

End quantities (connectors)

are defined at the joints i, j
ȳ
z (e) x̄
j
i

z̄ Internal quantities are

x defined within the member
y
and may depend on x. ¯

Figure 5.2. The FE mathematical idealization of a MoM member. The model

is one-dimensional in x̄. The two end joints are the site of end quantities:
joint forces and displacements, that interconnect members. Internal quantities
characterize internal forces, stresses and deformations in the member.

axial deformation, or with the total elongation. Pairs that mutually correspond in the sense of the
Principle of Virtual Work are called conjugate. Unlike the case of end quantities, conjugacy of
internal quantities is not a mandatory requirement although it simplifies some expressions.

§5.2.4. Discrete Field Equations, Tonti Diagram

The matrix equations that connect ū, v, p and f are called the discrete field equations. There are
three of them.
The member deformations v are linked to the joint displacements ū by the kinematic compatibility
conditions, also called the deformation-displacement or strain-displacement equations:

v = B ū. (5.1) Stiffness

The internal member forces are linked to the f¯ = A S B u = K
T ¯ u¯
member deformations by the constitutive equa- ū f̄
tions. In the absence of initial strain effects those
equations are homogeneous: Kinematic Equilibrium
v = B u¯ f̄ = AT p
p = S v. (5.2)
p=Sv
Finally, the internal member forces are linked to v p
Constitutive
the joint forces by the equilibrium equations. If
the internal forces p are constant over the mem- Figure 5.3. Tonti diagram of the three discrete
field equations (5.1)–(5.3) and the stiffness equa-
ber, the relation is simply tion (5.4) for a simplex MoM member. Internal
and end quantities appear inside the orange and
f̄ = AT p. (5.3) yellow boxes, respectively.

In (5.3) the transpose of A is used for convenience.3

3 If p is a function of x̄ the relation is of differential type. This form is studied in §5.4.

5–5
Chapter 5: CONSTRUCTING MOM MEMBERS 5–6

The foregoing equations can be presented graphically as shown in Figure 5.3. This is a discrete
variant of the so-called Tonti diagrams, which represent governing equations as arrows linking
boxes containing kinematic and static quantities. Tonti diagrams for field (continuum) equations
are introduced in Chapter 11.
Matrices B, S and A receive the following names in the literature:
A Equilibrium, leverage
S Rigidity, material, constitutive4
B Compatibility, deformation-displacement, strain-displacement
If the element is sufficiently simple, the determination of these three matrices can be carried out
through MoM techniques. If the construction requires more advanced tools, however, recourse to
the general methodology of finite elements and variational principles is necessary.

§5.3. Simplex MoM Members

Throughout this section we assume that the internal quantities are constant over the member length.
Such members are called simplex elements. If so the matrices A, B and S are independent of member
cross section. For simplex elements the derivation of the element stiffness equations reduces to a
straightforward sequence of matrix multiplications.
Under the constancy-along-x̄ assumption, elimination of the interior quantities p and v from (5.1)-
(5.3) yields the element stiffness relation

f̄ = AT S B ū = K̄ ū, (5.4)

whence the element stiffness matrix is

K̄ = AT S B. (5.5)

If both pairs: {p, v} and {f̄, ū}, are conjugate in the sense of the Principle of Virtual Work, it can be
shown that A = B and that S is symmetric. In that case

K̄ = BT SB. (5.6)

is a symmetric matrix. Symmetry is computationally desirable for reasons outlined in Part III.
Remark 5.1. If f̄ and ū are conjugate (as required in §5..2.2) but p and v are not, K̄ must come out to be
symmetric even if S is unsymmetric and A = B. However there are more opportunities to go wrong.

§5.3.1. The Bar Element Revisited

The simplest MoM element is the prismatic bar or truss member already derived in Chapter 2.
See Figure 5.4. This qualifies as simplex because all internal quantities are constant. One minor
difference in the derivation below is that the joint displacements and forces in the ȳ direction are
omitted in the generic element because they contribute nothing to the stiffness equations. In the

4 The name rigidity matrix for S is preferable. It is a member integrated version of the cross section constitutive equations.
The latter are usually denoted by symbol R, as in §5.4.

5–6
5–7 §5.3 SIMPLEX MOM MEMBERS

(a) (b)
ȳ Axial rigidity EA, length L
z −F ȳ
EA
f¯xi , ūxi i j f¯xj , ūxj
x̄
z̄ F
x̄ L
y x

Figure 5.4. The prismatic bar (also called truss) member: (a) individual member shown
in 3D space, (b) idealization as generic member.

FEM terminology, freedoms associated with zero stiffness are called inactive. Three choices for
internal deformation and force variables are considered next. The results confirm that the element
stiffness equations coalesce, as expected, since the end quantities f̄ and ū stay the same.
Derivation Using Axial Elongation and Axial Force. The member axial elongation d is taken as
deformation measure, and the member axial force F as internal force measure. Hence v and p
reduce to the scalars ≡ d and p ≡ F, respectively. The chain of discrete field equations is easily
constructed:
     
ū xi EA f¯xi −1
d = [ −1 1 ] = Bū, F= d = S d, f̄ = ¯ = F = AT F.
ū x j L fx j 1
(5.7)
Consequently
   
−1 EA 1 −1
K̄ = A SB = SB B = S [ −1 1 ]
T T
= . (5.8)
1 L −1 1

Note that A = B because F and d are conjugate: F d is work. The foregoing equations can be
represented graphyically with the discrete Tonti diagram of Figure 5.5.

Stiffness
_EA 1 −1 _
f= u
_ L −1 1 _
u f
Kinematic Equilibrium
ū xi f¯xi −1
d= −1 1 = Bū f̄ = = F = AT F
ū x j f¯x j 1
EA
F= d = Sd
d L
F
Constitutive

Figure 5.5. Tonti diagram for the bar element discrete equations (5.7)–(5.8).

Derivation Using Mean Axial Strain and Axial Force. Instead of d we may use the mean axial strain
ē = d/L as deformation measure whereas F is kept as internal force measure. The only change

5–7
Chapter 5: CONSTRUCTING MOM MEMBERS 5–8

V
(a) ȳ (b)
x̄ ȳ
z
f¯yi , ūyi GA f¯yj , ū yj
s
z̄ i (e) j
x̄
Shear rigidity GA s , length L
y x −V L

Figure 5.6. The prismatic spar (also called shear-web) member: (a) individual member
shown in 3D space, (b) idealization as generic member in local system.

is that B becomes [ −1 1 ] /L whereas S becomes E A. Matrix A does not change. The product
AT SB gives the same K̄ as in (5.8), as can be expected. Now AT is not equal to B because F and
ē are not conjugate, but they differ only by a factor 1/L.
Derivation Using Mean Axial Strain and Axial Stress. We keep the mean axial strain ē = d/L
as deformation measure but take the mean axial stress σ̄ = F/A (which is not conjugate to ē) as
internal force measure. Now B = [ −1 1 ] /L, S = E and AT = A [ −1 1 ]. The product AT SB
gives again the same K̄ shown in (5.8).
Transformation to Global Coordinates. Since ū yi and ū y j are not part of (5.7) and (5.8) the
displacement transformation matrix from local to global {x, y} coordinates is 2 × 4, instead of 4 × 4
as in §2.8.1. On restoring the element identifier e the appropriate local-to-global transformation is
 
u exi
   
ū exi c s 0 0  e 
 u yi  = Te ue ,
ūe = = (5.9)
ū ex j 0 0 c s  u ex j 
u ey j

where c = cos ϕ e , s = sin ϕ e , and ϕ e is the angle from x to x̄, cf. Figure 2.8. The 4 × 4 globalized
e
element stiffness matrix Ke = (Te )T K̄ Te agrees with (2.18).

§5.3.2. The Spar Element

The spar or shear-web member has two joints (end nodes): i and j. This member can only resist
and transmit a constant shear force V in the plane of the web, which is chosen to be the {x̄, ȳ} plane.
See Figure 5.6. It is often used for modeling high-aspect aircraft wing structures, as illustrated in
Figure 5.7. We consider here only prismatic spar members of uniform material and constant cross
section, which thus qualify as simplex.
The active degrees of freedom for a generic spar member of length L, as depicted in Figure 5.6(b),
are ū yi and ū y j . Let G be the shear modulus and As the effective shear area. (A concept developed
in Mechanics of Materials; for a narrow rectangular cross section, As = 5A/6.)
The shear rigidity is G As . As deformation measure the mean shear strain γ = V /(G As ) is chosen.

5–8
5–9 §5.3 SIMPLEX MOM MEMBERS

The kinematic, constitutive, and equilibrium equations are

     
1 ū yi −1 f¯yi
γ = [ −1 1 ] = Bū, V = G As γ = Sγ , f̄ = = V = AT V,
L ū y j 1 f¯y j
(5.10)
Note that A = B because V and γ are not work-conjugate. (This difference is easily adjusted for,
however; see Exercise 5.1.) The local stiffness equations follow as
    
f¯yi G As 1 −1 ū yi
f̄ = ¯ = A S Bū =
T
= K̄ ū. (5.11)
fyj L −1 1 ū y j

If the spar member is used in a two dimensional context, the displacement transformation from
local to global coordinates {x, y} is

 
u exi
 e   
ū yi −s c 0 0  e 
 u yi  = Te ue ,
ū =
e
=
ū ey j 0 0 −s c  u ex j 
u ey j
(5.12)
where c = cos ϕ , s = sin ϕ , and ϕ is the angle
e e e

from x to x̄, cf. Figure 2.8. The 4 × 4 globalized COVER

e
spar stiffness matrix is then Ke = (Te )T K̄ Te . This PLATES
is worked out in Exercise 5.2. SPAR
More often, however, the spar member will be a com- RIB
ponent in a three-dimensional structural model, e.g. the
aircraft wing shown in Figure 5.7. If so the determina- Figure 5.7. Spar members in aircraft wing
tion of the 2×6 transformation matrix is more involved, (Piper Cherokee). For more impressive aircraft
as an “orientation node” is required. This is the topic structures see CAETE slides.
of Exercise 5.5.
§5.3.3. The Shaft Element
The shaft, also called torque member, has two joints (end nodes): i and j. A shaft can only resist
and transmit a constant torque or twisting moment T along its longitudinal axis x̄, as pictured in
Figure 5.8(a).
We consider here only prismatic shaft members with uniform material and constant cross section,
which thus qualify as simplex. The active degrees of freedom of a generic shaft member of length L,
depicted in Figure 5.8(b), are θ̄xi and θ̄x j . These are the infinitesimal end rotations about x̄, positive
according to the right-hand rule. The associated joint (node) forces are end moments denoted as
m̄ xi and m̄ x j .
The only internal force is the torque T , positive if acting as pictured in Figure 5.8(a). Let G be the
shear modulus and G J the effective torsional rigidity.5 As deformation measure pick the relative

5 J has dimension of (length)4 . For a circular or annular cross section it reduces to the polar moment of inertia about x̄.
The determination of J for noncircular cross sections is covered in Mechanics of Materials textbooks.

5–9
Chapter 5: CONSTRUCTING MOM MEMBERS 5–10

(a) Torsional rigidity GJ, length L

ȳ x̄
(b)
_ _
z T m xj , θxj
ȳ GJ
_ _ T
m xi , θxi m̄xi, θ¯xi i (e) j mxj, θ¯xj x̄

z̄ L
y x

Figure 5.8. The prismatic shaft (also called torque member): (a) individual member
shown in 3D space, (b) idealization as generic member in the local system.

twist angle φ = θ̄x j − θ̄xi . The kinematic, constitutive, and equilibrium equations provided by
Mechanics of Materials are
     
θ̄xi GJ m̄ xi −1
φ = [ −1 1 ] = Bū, T = φ = Sγ , f̄ = = T = BT T. (5.13)
θ̄x j L m̄ x j 1

From these the local stiffness equations follow as

    
m̄ xi GJ 1 −1 θ̄xi
f̄ = = B S Bū =
T
= K̄ ū. (5.14)
m̄ x j L −1 1 θ̄x j

If the shaft is used in a two-dimensional context, the displacement transformation to global coordi-
nates {x, y} within the framework of infinitesimal rotations, is
 
θxie
   
θ̄ e c s 0 0  e 
 θ yi  = Te θe ,
ū = xi
e
= (5.15)
θ̄xej 0 0 c s  θxej 
θ yej

where as usual c = cos ϕ e , s = sin ϕ e , and ϕ e is the angle from x to x̄. Note that θe collects only
global node rotations components. This operation is elaborated further in Exercise 5.3.

§5.4. *Non-Simplex MoM Members

The straightforward formulation of simplex MoM elements does not immediately carry over to the case in
which internal quantities p and v vary over the member; that is, depend on x̄. The dependence may be due to
element type, varying cross section, or both. As a result, one or more of the matrices A, B and S depend on
x̄. Such members are called non-simplex.
e
The matrix multiplication rule (5.4) cannot be used to construct the element stiffness matrix K̄ of non-simplex
e
members. This can be grasped by observing that A(x̄)T S(x̄)B(x̄) would depend on x̄. On the other hand, K̄
must be independent of x̄ because it relates the end quantities ū and f̄.

5–10
5–11 §5.4 *NON-SIMPLEX MOM MEMBERS

§5.4.1. *Formulation Rules

The derivation of non-simplex MoM elements requires use of the work principles of mechanics, for example
the Principle of Virtual Work or PVW. Thus, more care must be exercised in the choice of conjugate internal
quantities. The following rules can be justified through the arguments presented in Part II. They are stated
here as recipe, and apply only to displacement-assumed elements.
Rule 1. Select internal deformations v(x̄) and internal forces p(x̄) that are conjugate in the PVW sense. Link
deformations to node displacements by v(x̄) = B(x̄)u.
Rule 2. From the PVW it may be shown6 that the force equilibrium equation exists only in a differential sense:
BT dp = d f̄. (5.16)

Here d in dp denotes differentiation with respect to x̄.7 The interpretation of d f̄ is less immediate because f̄
is not a function of x̄. It actually means the contribution of that member slice to the building of the node force
vector f̄. See (5.18) and (5.19) below.
Rule 3. The constitutive relation is
L Stiffness
f¯ = BT R B dx¯ u
¯
p = Rv, (5.17) 0
ū f̄
in which R, which may depend on x̄, must be symmetric.
Note that symbol R in (5.17) replaces the S of (5.2). Matrix
Kinematic Equilibrium
R pertains to a specific cross section whereas S applies to (at each x-section) (at each x-section)
the entire member. This distinction is further elaborated in v = B u¯ d f¯ = BT dp
Exercise 5.9.
p=Rv
The discrete relations supplied by the foregoing rules are v p
Constitutive
displayed in the discrete Tonti diagram of Figure 5.9. (at each x-section)
Internal quantities are now eliminated starting from the dif- Figure 5.9. Discrete Tonti diagram of the
ferential equilibrium relation (5.16): equations for a non-simplex MoM member.

d f̄ = BT dp = BT p d x̄ = BT R v d x̄ = BT R B ū d x̄ = BT R B d x̄ ū. (5.18)
Integrating both sides over the member length L yields

L
L
f̄ = d f̄ = BT R B d x̄ ū = K̄ ū, (5.19)
0 0

because ū does not depend on x̄. Consequently the local element stiffness matrix is

L
K̄ = BT R B d x̄ (5.20)
0

The recipe (5.20) will be justified in Part II through energy methods. It will be seen that it generalizes to
arbitrary displacement-assumed finite elements in any number of space dimensions. It is used in the derivation
of the stiffness equations of the plane beam element in Chapter 12. The reduction of (5.20) to (5.6) when the
dependence on x̄ disappears is the subject of Exercise 5.8.

T
6 The proof follows by equating expressions of the virtual work of a slice of length d x̄: d f̄ .δ ū = dpT .δv = dpT .(B ū) =
(BT dp)T .δ ū. Since δ ū is arbitrary, BT dp = d f̄.
7 The meaning of dp is simply p(x̄) d x̄. That is, the differential of internal forces as one passes from cross-section x̄ to a
neighboring one x̄ + d x̄.

5–11
Chapter 5: CONSTRUCTING MOM MEMBERS 5–12

§5.4.2. *Example: Bar with Variable Cross Section

A two-node bar element has constant E but a continuously varying area: Ai , A j and Am at i, j and m,
respectively, where m is the midpoint between end joints i and j. This can be fitted by as A(x̄) = Ai Ni (x̄) +
A j N j (x̄)+ Am Nm (x̄), where Ni (x̄) = − 12 ξ(1−ξ ), N j (x̄) = 12 ξ(1+ξ ) and Nm (x̄) = 1−ξ 2 , with ξ = 2x/L−1,
are interpolating polynomials further studied in Part II as “element shape functions.”
As internal quantities take the strain e and the axial force p = E Ae, which are conjugate quantities. Assuming
the strain e to be uniform over the element8 the MoM equations are
1
e = Bū, p = E A(x̄) e = R(x̄) e, d f̄ = BT dp, B= [ −1 1]. (5.21)
L
Inserting into (5.20) and carrying out the integration yields

E Ā  1 −1

K̄ = , with Ā = 16 (Ai + A j ) + 23 Am . (5.22)
L −1 1

Notes and Bibliography

The derivation of MoM elements using straightforward matrix algebra is typical of pre-1962 Matrix Structural
Analysis (MSA). The excellent book of Pestel and Leckie [156], unfortunately out of print, epitomizes that
approach. Historically this idea interweaved with Generation 1 of FEM, as outlined in §1.5.3. By 1970
simplified derivations had fallen out of favor as yokelish. But these elements do not need improvement. They
still work fine: a bar or beam stiffness today is the same as 40 years ago.9
The Mechanics of Materials books by Beer-Johnston [15] and Popov [163] can be cited as being widely used
in US undergraduate courses. But they are not the only ones. A September 2003 in-print book search through
www3.addall.com on “Mechanics of Materials” returns 99 hits whereas one on “Strength of Materials” (the
older name) compiles 112. Folding editions and paper/softback variants one gets about 60 books; by all
accounts an impressive number.
Spar members are discussed only in MoM books that focus on aircraft structures, since they are primarily used
in modeling shear web action. On the other hand, bars, shafts and beams are standard fare.
The framework presented here is a tiny part of MSA. A panoramic view, including linkage to continuum
formulations from the MSA viewpoint, is presented in [63].
The source of Tonti diagrams is discussed in Chapter 11.

References
Referenced items have been moved to Appendix R.

8 This is characteristic of a displaceent assumed element and is justified through the method of shape functions explained
in Part II.
9 The chief technical difference is the heavier use of differential equations prior to 1962, as opposed to the energy methods
in vogue today. The end result for simple one-dimensional models is the same.

5–12
5–13 Exercises

Homework Exercises for Chapter 5

Constructing MoM Members

EXERCISE 5.1 [A:10] Explain how to select the deformation variable v (paired to V ) of the spar member
formulated in §5.3.2, so that A = B. Draw the Tonti diagram with the discrete equations for that choice of v
and p, using Figure 5.5 as guide (that is, with the actual matrix equations along the arrows).
EXERCISE 5.2 [A:15] Obtain the 4 × 4 global element stiffness matrix of a prismatic spar member in a two
dimensional Cartesian system {x, y}. Start from (5.11). Indicate where the transformation (5.12) comes from
e
(Hint: read §3.2). Evaluate Ke = (Te )T K̄ Te in closed form.
EXERCISE 5.3 [A:15] Obtain the 4 × 4 global element stiffness matrix of a prismatic shaft element in a
two dimensional Cartesian system {x, y}. Include only node rotation freedoms in the global displacement
vector. Start from (5.14). Justify the transformation (5.15) (Hint: infinitesimal rotations transform as vectors).
e
Evaluate Ke = (Te )T K̄ Te in closed form.

j (x j , y j , zj ) −
uxj
(a)
− (b)
E, A x −
x
j
−
y
i (x i , yi , z i ) −
uxi L −y
L
y −
z i

z x

Figure E5.1. Bar element in 3D for Exercise 5.4.

EXERCISE 5.4 [A+N:15(10+5)] A bar element moving in three dimensional space is completely defined
by the global coordinates {xi , yi , z i }, {x j , y j , z j } of its end nodes i and j, as illustrated in Figure E5.1.
The 2 × 6 displacement transformation matrix T, with superscript e dropped for brevity, links ūe = Tue .
Here ūe contains the two local displacements ū xi and ū x j whereas ue contains the six global displacements
u xi , u yi , u zi , u x j , u y j , u z j .
(a) From vector mechanics show that
1  x ji y ji z ji 0 0 0
 
cx ji c y ji cz ji 0 0 0

T= = (E5.1)
L 0 0 0 x ji y ji z ji 0 0 0 cx ji c y ji cz ji
in which L is the element length, x ji = x j − xi , etc., and cx ji = x ji /L, etc., are the direction cosines of
the vector going from i to j.
(b) Evaluate T for a bar going from node i at {1, 2, 3} to node j at {3, 8, 6}.
EXERCISE 5.5 [A+N:30(10+15+5)] A spar element in three dimensional space is only partially defined by
the global coordinates {xi , yi , z i }, {x j , y j , z j } of its end nodes i and j, as illustrated in Figure E5.2. The
problem is that axis ȳ, which defines the direction of shear force transmission, is not uniquely defined by i
and j.10 Most FEM programs use the orientation node method to complete the definition. A third node k, not

10 The same ambiguity arises in beam elements in 3D space. These elements are covered in Part III.

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Chapter 5: CONSTRUCTING MOM MEMBERS 5–14

Orientation node k defines plane (b)

(a) − − as passing through {i,j,k}
{x,y} k
k (xk , yk , z k) −
uyj j (x j , y j , z j) x−
a
G, A s x− j
h β
b
u−yi
−
y y− α m L−c
i (x i , yi , z i) −
uxi L
c
− i
y z

z x

Figure E5.2. Spar element in 3D for Exercise 5.5.

colinear with i and j, is provided by the user. Nodes {i, j, k} define the {x̄, ȳ} plane and thus z̄. The projection
of k on line i j is point m. The distance h > 0 from m to k is called h as shown in Figure E5.2(b). The
2 × 6 displacement transformation matrix T, with superscript e omitted to reduce clutter, relates ūe = Tue .
Here ūe contains the local transverse displacements ū yi and ū y j whereas ue contains the global displacements
u xi , u yi , u zi , u x j , u y j , u z j .
(a) Show that
1  xkm ykm z km 0 0 0
 
cxkm c ykm czkm 0 0 0

T= = (E5.2)
h 0 0 0 xkm ykm z km 0 0 0 cxkm c ykm czkm
in which xkm = xk − xm , etc., and cxkm = xkm / h, etc., are the direction cosines of the vector going from
m to k. (Assume that the position of m is known. That computation is carried out in the next item.)
(b) Work out the formulas to compute the coordinates of point m in terms of the coordinates of {i, j, k}.
Assume a, b and L are computed immediately from the input data. Using the notation of Figure E5.2(b)
and elementary trigonometry, show that h = 2A/L, where A = p( p − a)( p − b)( p − L) with
p = 12 (L + a + b) (Heron’s formula), cos α = (L 2 + b2 − a 2 )/(2bL), cos β = (L 2 + a 2 − b2 )/(2a L),
c = b cos α, L − c = a cos β, xm = xi (L − c)/L + x j c/L, etc.11
(c) Evaluate T for a spar member going from node i at {1, 2, 3} to node j at {3, 8, 6}. with k at {4, 5, 6}.

EXERCISE 5.6 [A:20] Explain how thermal effects can be generally incorporated in the constitutive equation
(5.2) to produce an initial force vector for a simplex element.

EXERCISE 5.7 [A:15] Draw the discrete Tonti diagram for the prismatic shaft element. Use 5.5 as a guide
(that is, with the actual matrix equations along the arrows).

EXERCISE 5.8 [A:15] If the matrices B and R are constant over the element length L, show that expression
(5.20) of the element stiffness matrix for a non-simplex member reduces to (5.6), in which S = LR.

EXERCISE 5.9 [A:20] Explain in detail the quickie derivation of footnote 6. (Knowledge of the Principle of
Virtual Work is required to do this exercise.)

11 An alternative and more elegant procedure, found by a student in 1999, can be sketched as follows. From Figure E5.2(b)
obviously the two subtriangles imk and jkm are right-angled at m and share side km of length h. Apply Pythagoras’
theorem twice, and subtract so as to cancel out h 2 and c2 , getting a linear equation for c that can be solved directly.

5–14
5–15 Exercises

EXERCISE 5.10 [A:25(10+5+10)] Consider a non-simplex element in which R varies with x̄ but B = A is
constant.
(a) From (5.20) prove that

L
1
K̄ = LB R̄ B, T
with R̄ = R(x̄) d x̄ (E5.3)
L 0

(b) Apply (E5.3) to obtain K̄ for a tapered bar with area defined by the linear law A = Ai (1− x̄/L)+ A j x̄/L,
where Ai and A j are the end areas at i and j, respectively. Take B = [ −1 1 ] /L.
(c) Apply (E5.3) to verify the result (5.22) for a bar with parabolically varying cross section.

EXERCISE 5.11 [A/C+N:30(25+5)] A prismatic bar element in 3D space is referred to a global coordinate
system {x, y, z}, as in Figure E5.1. The end nodes are located at {x1 , y1 , z 1 } and {x2 , y2 , z 2 }.12 The elastic
modulus E and the cross section area A are constant along the length. Denote x21 = x2 − x1 , y21 = y2 − y1 ,
z 21 = z 2 − z 1 and L = x212
+ y21
2
+ z 21
2
.
(a) Show that the element stiffness matrix in global coordinates can be compactly written13
EA T
Ke = B B, in which B = [ −x21 −y21 −z 21 x21 y21 z 21 ] . (E5.4)
L3

(b) Compute Ke if the nodes are at {1, 2, 3} and {3, 8, 6}, with elastic modulus E = 343 and cross section
area A = 1. Note: the computation can be either done by hand or with the help of a program such as the
following Mathematica module, which is used in Part III:

Stiffness3DBar[ncoor_,mprop_,fprop_,opt_]:= Module[
{x1,x2,y1,y2,z1,z2,x21,y21,z21,Em,Gm,rho,alpha,A,
num,L,LL,LLL,B,Ke}, {{x1,y1,z1},{x2,y2,z2}}=ncoor;
{x21,y21,z21}={x2-x1,y2-y1,z2-z1};
{Em,Gm,rho,alpha}=mprop; {A}=fprop; {num}=opt;
If [num,{x21,y21,z21,Em,A}=N[{x21,y21,z21,Em,A}]];
LL=x21^2+y21^2+z21^2; L=PowerExpand[Sqrt[LL]];
LLL=Simplify[LL*L]; B={{-x21,-y21,-z21,x21,y21,z21}};
Ke=(Em*A/LLL)*Transpose[B].B;
Return[Ke]];

ClearAll[Em,A]; Em=343; A=1;

12 End nodes are labeled 1 and 2 instead of i and j to agree with the code listed below.
13 There are several ways of arriving at this result. Some are faster and more elegant than others. Here is a sketch of one of
the ways. Denote by L 0 and L the lengths of the bar in the undeformed and deformed configurations, respectively. Then

2 (L − L 20 ) = x21 (u x2 − u x1 ) + y21 (u y2 − u y1 ) + z 21 (u z2 − u z1 ) + Q ≈ Bu,

1 2

in which Q is a quadratic function of node displacements which is therefore dropped in the small-displacement linear
theory. Also on account of small displacements

2 (L − L 20 ) = 12 (L + L 0 )(L − L 0 ) ≈ L L .
1 2

Hence the small axial strain is e = L/L = (1/L 2 )Bue , which begins the Tonti diagram. Next is F = E A e. Finally
you must show that force equilibrium at nodes requires fe = (1/L)BT F. Multiplying through gives (E5.4). A plodding
way is to start from the local stiffness (5.8) and transform to global using (E5.1).

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Chapter 5: CONSTRUCTING MOM MEMBERS 5–16

ncoor={{0,0,0},{2,6,3}}; mprop={Em,0,0,0}; fprop={A}; opt={False};

Ke=Stiffness3DBar[ncoor,mprop,fprop,opt];
Print["Stiffness of 3D Bar Element:"];
Print[Ke//MatrixForm];
Print["eigs of Ke: ",Eigenvalues[Ke]];

As a check, the six eigenvalues of this particular Ke should be 98 and five zeros.

5–16