Strain Energy due to Bending

1 Introduction

1.1 Method of strain energy

As an example we consider a structural member subjected to a known tensile load P .

L
P P

L+∆

In determining the amount of work done by the load P , it must be understood that the
load is considered to be applied gradually and that the deflection commences as soon as
the load starts to come on the member. For a linear elastic structure, the load–deflection
diagram would be the straight line shown in the figure – at the maximum load P the
deflection is ∆.

dp

dδ

0 δ ∆

Suppose at an intermediate stage when the load on the structure has reached a value of
p, the deflection has reached δ.

Suppose also that a further small increment of load dp causes the displacement to increase
by dδ. The work W done by the load during this further increment of load is, to a first
approximation, given by p × dδ, which will be seen to equal the shaded area. It follows
that the load increases from zero to P , the work done by the load is equal to the area of
the triangle under the complete line, thus work done by load P
1
W = P∆
2

1
By the law of the conservation of energy this work is stored in the structure. From the
earlier courses of the Strength of Materials we know that
PL
∆=
AE
The strain energy U stored in a member subjected to an axial force P is

P 2L
U=
2AE
and it is clearly irrelevant whether P is a positive or negative value.

1.2 Displacements using the method of strain energy

If a moment M moves through a small angle dθ, the moment remaining constant during
this rotation, the work done by the moment is M dθ.

If a moment increases gradually from zero to M and during this application a total rotation
of θ occurs, the rotation at any stage being proportional to the applied moment.

P P
x

z dx
y dθ

M M
x

dx

The work done on this section by the bending moment (internal forces) is
1
dW = M dθ
2
The following ratio is valid here
dθ M
=
dx EI

2
Thus,we can write
M
dθ =dx
EI
Substituting it into expression for the work done, we arrive at

1 M2
dW = dx
2 EI
The work done for the entire beam can be obtained by integration of this expression.
Obviously, the work done equals to the accumulated strain energy. Thus, the strain
energy stored in the element:
M2
Z
U =W = dx
2EI
L

(In contrast, the strain energy stored in a single member subjected to an axial load is
P 2L
simply ).
2AE
Often, both E and I are constant along the length of the beam and the expression would
become:
1
Z
U= M 2 dx
2EI
L

Example: Find the strain energy in the beam and the deflection and slope at the point
of the application of the concentrated load P .

x
A
B
L

P L3
3EI

P L2
2EI

Solution: The bending moment at a distance x from the end of the beam:

M = −P x

Thus
L
1 P 2 L3
Z
U= P 2 x2 dx =
2EI 0 6EI

3
Work done by the load
1
W = P∆
2
As the work done by the load equals the strain energy stored in the beam:
1 P 2 L3 P L3
P∆ = −→ ∆=
2 6EI 3EI
This deflection being in the direction of P . Since
M Px
dθ = dx = dx
EI EI
we have
L
1 P L2
Z
θ= P xdx =
EI 0 2EI

2 Castigliano and Lagrange theorems.

Consider an elastic system (a simply supported beam) which is subjected to an arbitrary

system of loads Q and some generalized concentrated load P . Let us now calculate the
strain energy of such a system. For this purpose, as well as, for convenience, the following
order of the loading is adopted.

P1 P
q
A B

M
∆P Q ∆P P

First we apply the load P to the system. The displacement directly under the load and
in the same direction is denoted ∆P P . Hereinafter, the first subscript denotes a location
(under load P ) while the second one denotes the cause of this displacement (due to load
P ). Afterwards, we apply the system of loads Q. As a result of an additional deformation
the load P will move further more by a value of ∆P Q . Thus, the total displacement of the
point directly under the load P is
∆P = ∆P P + ∆P Q (1)
Obviously, the total accumulated strain energy is equal to the work of the external forces:
1
U = P ∆P P + P ∆P Q + UQQ (2)
2
4
where UQQ is the strain energy accumulated only due to the application of the system of
loads Q, which numerically equals the sum of individual forces Q along their corresponding
displacements.

The second item in the expression (P ∆P Q ) does not contain 1/2 because the force P was
doing work without changing its magnitude, it was already there. Putting ∆P P = P δP P
the expression for U can be rewritten as
1
U = P 2 δP P + P ∆P Q + UQQ (3)
2
Here δP P is the displacement at the point of the application of P due to the unit load
(P = 1).

Differentiating (3) with respect to P , taking also into account that ∆P = ∆P P + ∆P Q , we

arrive at
∂U
= P δP P + ∆P Q = ∆P P + ∆P Q = ∆P (4)
∂P
Therefore
∂U
∆P = (5)
∂P
Castigliano (1875) theorem: Partial derivative of the strain energy with re-
spect to a force gives the displacement corresponding to that force

The second derivative of the strain energy is

∂ 2U ∂∆P
= = δP P (6)
∂P 2 ∂P
and always positive.

To determine the linear or angular displacement at the point, where, according to the
problem requirements there is no force, it is necessary to apply an imaginary generalized
force. Then, writing down the expression for the strain energy due to the system of forces,
including the imaginary force, differentiate the expression with respect to this imaginary
force. Finally, putting the imaginary force zero gives us the required displacement.

By expressing the strain energy in terms of the independent displacements ∆1 , ∆2 , . . . , ∆n ,

it can be shown that a partial derivative with respect to any of the displacements is equal
to the force acting in the direction of this displacement.
∂U
= Pi (7)
∂∆i
This theorem was proposed by Lagrange.

5
2.1 Bending deflection of beams.

We can solve for the deflection in one of two ways, either

Z L
M2

∂U ∂
∆= = dx (8)
∂P ∂P 0 2EI
or
L
∂U M ∂M
Z
∆= = dx (9)
∂P 0 EI ∂P
The last equation is called the Modified Castigliano Theorem.

Cantilever with concentrated load at free end. Determine the displacement at the
free end. At any distance x from the free end, the bending moment is M = P x, therefore
Z L 2 2
∂ P x ∂ P 2 L3 P L3
∆= dx = =
∂P 0 2EI ∂P 6EI 3EI
Alternatively
L L
Px P x2 P L3
Z Z
∆= xdx = dx =
0 EI 0 EI 3EI

Beam simply supported with uniformly distributed load. Determine the dis-
placement at the midspan. At any distance x from the left-hand end the bending moment
is
qL qx2
M= x−
2 2
To calculate the displacement at midspan, we apply an imaginary concentrated load P at
this point. Then,
P x qLx qx2
M= + −
2 2 2
and
∂M 1
= x
∂P 2
Therefore,
Z L/2
P x qLx qx2 x P L3 5qL4
 
1
∆=2 + − dx = +
0 EI 2 2 2 2 48EI 384EI
Putting P = 0, we obtain
5qL4
∆max =
384EI
If we require the deflection due to the point load only, we put q = 0, then

P L3
∆max =
48EI
6
Example: A simply-supported beam carries a concentrated load at a distance a from
the left-hand support. Determine the deflection of the beam underneath the load.

a P b

A B

P
A C D B

RA RB

The support reactions: RA = P b/L and RB = P a/L. The bending moment at current
point C is RA x. For the portion of beam AD the strain energy is
Z a 2 2 Z a
RA x P 2 b2 2 P 2 b 2 a3
U= dx = 2
x dx =
0 2EI 0 2L EI 6L2 EI

For the portion DB (calculate from right to left):

P 2 a2 b 3
U=
6L2 EI
Total value of U for the beam is
P 2 b 2 a3 P 2 a2 b 3 P 2 a2 b 2 P 2 a2 (L − a)2
U= + = (a + b) =
6L2 EI 6L2 EI 6L2 EI 6LEI
And, deflection underneath the load:

dU P a2 (L − a)2
∆= =
dP 3LEI

2.2 Displacements using the unit load method

The Modified Castigliano theorem can interpreted slightly different.

Z L
∂U M ∂M
∆= = dx
∂P 0 EI ∂P

After close examination we can see that

∂M
=M
∂P
7
Where M is the bending moment due to the unit load (P = 1). Thus, the Modified
Castigliano theorem can be given as

Mp M
Z
∆= ds
EI
Where Mp is the bending moment due to the given external load. By using this method
there is no need for dummy load.

To determine a linear displacement at a particular point, a unit load (P = 1)

is applied at this point in the required direction of the displacement (vertical,
horizontal or at an angle). To determine a slope, a unit bending moment
(M = 1) is applied at the point of interest.

Example: Determine the deflection and slope at the free end of the cantilever.

q EI = const

A B
L
qL2
2
Mp

L
1 M1

1
M2
1

Solution: For the original loading, the bending moment Mp at the distance x from the
free-end is
qx2
Mp = −
2
For the unit load placed at the position where the deflection is required the bending
moment M 1 on the same element is

M 1 = −1 · x = −x

8
Thus
ZL ZL
1 1 qx3 qL4
∆A = Mp M 1 dx = dx =
EI EI 2 8EI
0 0

The positive value indicates that it is in the same direction as the unit load.

To determine the slope, we apply a bending moment equalled to one (unit moment) at
the free end, M 2 = 1.

ZL ZL
1 1 qx2 qL3
θA = Mp M 2 dx = − dx = −
EI EI 2 6EI
0 0

The negative sign tell us that the direction of slope θA is opposite to the unit moment,
i.e. counter-clockwise.

3 Application of Castigliano theorem to deflection of

curved bars

It should be noted that there will be some strain energy in most cases due to shear and
axial forces but this is usually negligible in comparison with that due to bending. In
cases of twisting (torque), however, the strain energy may be comparable with that due
to bending.

If the torque at any point is T , likewise it is due to bending, the total strain energy is
calculated as
ZL 2
T
U= dx
2GJ
0

E
where G = is the shear force modulus, and J = Ix + Iy is the polar moment of
2(1 + ν)
inertia. Next, we consider a few practical results.

3.1 Statically determinate structures

Example 1. A steel rod of uniform stiffness EI is bent into the shape of a semicircle
(arch), see the figure. One end is rigidly clamped, the other is free. Determine the total
deflection, and its direction, due to the horizontal load applied to the free end.

9
 C

R
θ
F

Solution:

To do this, we should determine separately horizontal and vertical components of the

displacement. At first, we employ the Castigliano theorem in its original form.

Horizontal displacement: The expression for the bending moment at any point C of
the arch at the angle θ from the free end is given as
MC = F R sin θ
The total strain energy is
Zπ Zπ
1 1
U= MC2 ds = (F R sin θ)2 Rdθ
2EI 2EI
0 0

It must be noted that we integrate along the entire length of the arch and, therefore,
ds = Rdθ.
Zπ Zπ
1 2 3 2 F 2 R3 πF 2 R3
U= F R sin θ dθ = sin2 dθ =
2EI 2EI 4EI
0 0
Finally, horizontal displacement will be
∂U πF R3
∆h = = ←
∂F 2EI

Vertical displacement: To do this, we apply a dummy load P0 in the vertical direction.

In this case, the expression for the bending moment will take the following form

C
R sin θ

R
θ
F
R(1 − cos θ)
P0

10
 MC = F R sin θ + P0 R(1 − cos θ)
The total strain energy is
Zπ
1
2
U = F R sin θ + P0 R(1 − cos θ) Rdθ
2EI
0
R3
3πP02 + 8F P0 + πF 2


=
4EI
The vertical component of the displacement is

∂U R3

∆v = = 6πP0 + 8F
∂P0 4EI
However, P0 = 0, thus the final expression for the vertical displacement will be

2F R3
∆v = ←
EI

NB: The evaluation of the above integral is quite cumbersome and time consuming,
which means that this approach is probably not a best one.

The total displacement of the free end can be found as

s 2  2 r
πF R3 2F R3 F R3 π 2 2.543F R3
∆= + = +4= ←
2EI EI EI 4 EI

2.543F R3
EI
2F R3
EI 4
arctan = 51.8◦
π

51.8◦

πF R3
2EI
Next, we repeat the calculations using the unit force method.

Horizontal displacement: Apply a unit force (=1) in the same point and direction as
the given force F . Then, the bending moment due to the unit force can be written as

M C = R sin θ

11
and the horizontal component of the displacement is
Zπ Zπ
1 1 πF R3
∆h = MC M C ds = F R3 sin2 θ dθ = ←
EI EI 2EI
0 0

Vertical displacement: Apply a unit force in the vertical direction at the free end:
M C = R(1 − cos θ)
Zπ Zπ
1
F R3 2F R3
∆v = (F R sin θ) R(1 − cos θ) R dθ = sin θ(1 − cos θ)dθ = ←
EI EI EI
0 0
Clearly the unit method is much more efficient here. It is always advisable to estimate
which method will be easier to implement. It saves time and reduces the probability of
getting an error in the end.

Example 2. A spring plate made of steel strip of rectangular section 20mm × 3mm is
curved to the shape shown in the figure. Determine the deflection at the centre when
P = 200N . Neglect friction. E = 200GN/m2 .

30◦ 30◦
R=50mm R=50mm

3mm
R=50mm

0000000000000000000
1111111111111111111
30◦ 30◦

Solution:

For AB, taking the origin at A (see figure below):

PR
M= sin θ = 0.025P sin θ
2
Zπ/6
1 P2
UAB = (0.025P sin θ)2 0.05dθ = 0.708 × 10−6
2EI EI
0

12
 R/2
C θ

P/2 B
R
θ R A

R/2
P/2

For BC, taking the origin at C

PR
M= (1 − sin θ) = 0.025P (1 − sin θ)
2
Zπ/6
1 P2
UBC = (0.025P (1 − sin θ))2 0.05dθ = 4.7 × 10−6
2EI EI
0
Total strain energy:
P2 P2
U = (0.708 + 4.7) × 10−6 × 2 = 10.816 × 10−6
EI EI
Finally, the displacement is
∂U 2 · 10.816 × 10−6 · 200 −4
∆= = 3 = 4.8071 × 10 m = 0.481mm ←
∂P 0.02 · 0.003
200 × 109 ×
12

Example 3. A thin bar is formed into an S-shape consisting of two semi-circles, as

shown in the figure. One end is (B) is firmly fixed to the wall while another one (A) is free
and subjected to both bending (MA ) and twisting (TA ) moments. Taking into account
that the bar has a uniform flexural (EI) and torsional (GJ) stiffnesses, estimate the angle
of rotation (αA ) about x-axis (i.e calculate the slope) at A.

Top view
R x
B A MA x

R
y z
TA

13
Solution:

It is enough to consider only one section (semi-circle) at one time, then multiply the result
by two. Let use here the Modified Castigliano theorem. The notations shown in the figure
for MA and TA are in accordance with a right-hand thump rule.

θ TA
θ
MA

θ =0÷π
R
MA = MB , TA = TB
TB
MB θ MA

θ
TA
R
+T +M
MB
θ

TB

Bending moment at any point,

∂M
M = MA cos θ − TA sin θ; = cos θ
∂MA
Torque,
∂T
T = −MA sin θ − TA cos θ; = − sin θ
∂MA
The first integral,
Zπ Zπ
M ∂M 2R πMA R
2× ds = (MA cos θ − TA sin θ) cos θ dθ = ←
EI ∂MA EI EI
0 0

The second integral,

Zπ Zπ
T ∂T 2R πMA R
2× ds = (−MA sin θ − TA cos θ)(− sin θ) dθ = ←
GJ ∂MA GJ GJ
0 0

The final answer will be

 
πMA R πMA R 1 1
αA = + = πMA R + ←
EI GJ EI GJ

14
3.2 Statically indeterminate structures

A structure is statically determinate if its reactions can be computed from the equa-
tions of static equilibrium. In two-dimensional structures, there are three equations of
equilibrium: X X X
Fx = 0; Fy = 0; M =0

A structure is statically indeterminate if its reactions cannot be computed from the

equations of static equilibrium alone (the number of support reactions exceeds the number
of independent equilibrium equations), and the deformation conditions must be considered.
The superfluous reactions, those which are not necessary for static equilibrium, are called
redundant and the degree of statical indeterminacy is defined by the number of
redundant support reactions.

Statically indeterminate structures are more common than statically determinate. How-
ever, the analysis is more complex and internal forces and stresses also depend on the
stiffnesses (e.g. flexural) of their members.

It is convenient to use the second Castigliano theorem for the analysis of simple statically
indeterminate structures, which states that
∂U
=0
∂R
if R is a support reaction or an internal force at any other point where the displacement
is known and equals zero.

In the case when a structure has more than one redundant, i.e., two, three, or more times,
statically indeterminate, it is convenient to obtain the solution using the following system
of equations. This approach is usually called the Force Method. In this method the re-
dundant forces are removed and replaced by unknown values of xi where i = 1, 2, 3, . . . , n
and n is the number of redundant forces.
δ11 x1 + δ12 x2 + δ13 x3 + · · · + δ1n xn + ∆1p = 0
δ21 x1 + δ22 x2 + δ23 x3 + · · · + δ2n xn + ∆2p = 0
δ31 x1 + δ32 x2 + δ33 x3 + · · · + δ3n xn + ∆3p = 0
.............................................
δn1 x1 + δn2 x2 + δn3 x3 + · · · + δnn xn + ∆nn = 0

The above system of equations is symmetrical, i.e. δij = δji , and the coefficients on the
main diagonal δii are always positive. These coefficients represent various displacements.
X Z M2 X Z M iM j
i
δii = ds, δij = ds, i, j = 1, 2, 3, . . . , n
EI EI
l l

X Z M i Mp
∆ip = ds, i = 1, 2, 3, . . . , n
EI
l

15
where M i , M j , . . ., are bending moments due to the corresponding unit forces xi = 1. Mp
is the bending moment due to the external load.

After solving the above system the values of the sought redundant forces are obtained.

Finally, the following formulae might of good use when you calculate the final values of
the bending moment

MF = MP + M 1 x1 + M 2 x2 + . . . + M n xn

The final values of shear forces and torque can be calculated the same way.

16
Example 4. The thin strip is fixed at C and free to slide without friction at A (see figure
below). Calculate the horizontal reaction Ax at A, when the strip supports a vertical force
FB at point B, as shown in the figure. EI is constant.

B 45◦

FB
A Ax

Solution:

This structure is one time statically indeterminate. The second Castigliano theorem (mod-
ified form) is used for the analysis.

Consider separately sections AB and BC.

C
3π/4

θ
0 B 45◦
π/2

R
θ
FB
A Ax
0

∂MAB
MAB = Ax R(1 − cosθ), = R(1 − cos θ)
∂Ax

17
  
MBC = Ax R + Ax R sin θ − FB R(1 − cos θ) = R Ax (1 + sin θ) − FB (1 − cos θ)
∂MBC
= R(1 + sin θ)
∂Ax
Using the second Castigliano theorem we have

Zπ/2 3π/4
MAB ∂MAB MBC ∂MBC
Z
∆Ax = ds + ds = 0
EI ∂Ax EI ∂Ax
0 0

First integral:

Zπ/2 " #π/2

R3 R 3
Ax θ sin 2θ
Ax (1 − cos θ)2 dθ = θ − 2 sin θ + +
EI EI 2 4
0 0
3 3
 
R 3π R
= Ax −2 = (0.3562Ax )
EI 4 EI

Second integral:
3π/4 !
R3
Z  
Ax (1 + sin θ) − FB (1 − cos θ) 1 + sin θ dθ
EI
0
3π/4
R3 sin2 θ
  
θ sin 2θ
= Ax θ − 2 cos θ + − − FB θ − cos θ − sin θ −
EI 2 4 2 0
3 3
    
R 9 3π R
= Ax π + 1.6642 + 2 − FB − 0.25 + 1 = (7.1985Ax − 3.1062FB )
EI 8 4 EI

Putting together

R3 R3
(0.3562Ax + 7.1985Ax − 3.1062FB ) = (7.5547Ax − 3.1062FB )
EI EI
Finally, the horizontal support reaction at A is
3.1062
Ax = FB = 0.411FB ←
7.5547

18
Example 5. Determine the support reactions and plot the bending moment diagram in
the bent statically indeterminate beam shown in the figure (next page). It is recommended
to use the unit force method (Modified Castigliano Theorem). The flexural stiffness EI
is constant for the entire structure.

M0 A

30◦

Solution:

It is convenient to use the support reactions at A as redundant forces.

The system is two times statically indeterminate. Remove the support at A:

M0 A X2

R(1 − cos θ) X1

R sin θ
R θ

The governing system of equations:

δ11 X1 + δ12 X2 + ∆1p = 0

δ21 X1 + δ22 X2 + ∆2p = 0

19
Bending moments in the primary structure when the supports are removed and replaced
by unknown forces, due X1 , X2 and M0 . To start with, we make X1 = 1 and X2 = 1 and
determine the bending moments due to each of the forces:

M 1 = R sin θ, M 2 = R(1 − cos θ), Mp = −M0

Displacements:
Zπ/2 Zπ/2
M 1M 1 M 1M 2
δ11 = ds, δ12 = δ21 = ds,
EI EI
0 0

Zπ/2 Zπ/2
Mp M 1 Mp M 2
∆1p = ds, ∆2p = ds
EI EI
π/6 π/6

Where ds = Rdθ. Note that the moment due to M0 is zero on the interval from θ = 0 to
θ = π/6. Calculation of displacements:

Zπ/2 π/2
3 Z
π/2
R3 θ sin 2θ

1 2 2 R 2
δ11 = R sin θ R dθ = sin θ dθ = −
EI EI EI 2 4 0
0 0
πR3 0.785398R3
= =
4EI EI
Zπ/2 Zπ/2
1 2 2 R3
δ22 = R (1 − cos θ) R dθ = (1 − 2 cos θ + cos2 θ)dθ
EI EI
0 0
3
π/2
R3 3π 0.356194R3
  
R θ sin 2θ
= θ − 2 sin θ + + = −2 =
EI 2 4 0 EI 4 EI
Zπ/2 Zπ/2
1 R3
δ12 = (R sin θ)(R(1 − cos θ))R dθ = (sin θ)(1 − cos θ)dθ
EI EI
0 0
Zπ/2 π/2
R3 R3 sin2 θ 0.5R3

= (sin θ − sin θ cos θ)dθ = − cos θ − =
EI EI 2 0 EI
0

20
 Zπ/2 Zπ/2
1 M0 R2 M0 R2 π/2
∆1p = − M0 R sin θ R dθ = − sin θ dθ = − [− cos θ]π/6
EI EI EI
π/6 π/6
√
M0 R2 3 0.866025M0 R2
= − =−
2EI EI
Zπ/2 Zπ/2
1 M0 R2 M0 R2 π/2
∆2p = − M0 R(1 − cos θ)R, dθ = − (1 − cos θ)dθ = − [θ − sin θ]π/6
EI EI EI
π/6 π/6
2 2
 
M0 R π 1 0.547197M0 R
= − − =−
EI 3 2 EI

R3
Divide through by we have
EI
0.866025M0
0.785398X1 + 0.5X2 − =0
R
0.547197M0
0.5X1 + 0.356194X2 − =0
R
Solving the system gives us
1.172M0 0.109M0
X1 = ; X2 = −
R R
The bending moment diagram (next page):

−0.4286M0 M0
A 0.109
R

M0
1.172
R
0.5714M0
30◦

B 0.0630M0

21
Example 6. A thin ring is loaded by forces which are uniformly distributed along the
horizontal projection of the ring. Determine the decrease in the vertical diameter.

Solution:

The system is symmetrical, therefore, only one quadrant should be considered. This
significantly simplifies the solution. We take an arbitrary quadrant:

C ds = Rdθ

R
θ M0

wR

The bending moment at any arbitrary point C is given by

wR2
Mc = M0 − wR2 (1 − cos θ) + (1 − cos θ)2
2
But M0 is unknown and is redundancy (the slope is zero at this point). We use the second
Castigliano theorem:
Zπ/2
∂U Mc ∂Mc
= 0 or =0
∂Mo EI ∂M0
0

22
Obviously,
∂Mc
=1
∂M0
Thus,
Zπ/2
1 2 wR2 2

M0 − wR (1 − cos θ) + (1 − cos θ) Rdθ = 0
EI 2
0

Simplify the expression under the integral:

Zπ/2
wR3 wR3 cos2 θ

1 3
M0 R − wR + + dθ
EI 2 2
0

Integrate, the factor 1/EI can be omitted:

π/2
wR3 θ wR3 θ sin 2θ
 
3
M0 Rθ − wR θ + + + =0
2 2 2 4 0

And after substituting the bounds (limits) of integration we arrive at

π π wR3 π wR3  π 
− wR3 +
M0 R + +0 =0
2 2 2 2 2 4
wR3  π π π  2 wR2
M0 = − − =
2 2 2 4 π 4
Finally, the bending moment at the current point C is given by
wR2 wR2
Mc = − wR2 (1 − cos θ) + (1 − cos θ)2
4 2
After simplification:
wR2 wR2 wR2 cos2 θ
Mc = − +
4 2 2
To calculate the change in the diameter we need to apply unit forces at the top and bottom
of the ring and, again, calculate the current moment M c . We repeat the above derivations,
but only for the unit loads:
R
M c = M 0 − (1 − cos θ)
2
Zπ/2 
1 R
M 0 − (1 − cos θ) Rdθ = 0
EI 2
0

from which
R R
M0 = −
2 π
and  
cos θ 1
Mc = R −
2 π

23
The desired displacement can be now calculated using the Modified Castigliano theorem.
We consider only one quadrant and the result multiply by four:

Zπ/2 Zπ/2
wR2 wR2 wR2 cos2 θ

4 4
∆d = Mc M c Rdθ = − +
EI EI 4 2 2
0 0
  
cos θ 1
× R − Rdθ
2 π

After multiplication the integral will take the following form

Zπ/2
4 wR4 cos θ wR4 wR4 cos θ wR4
∆d = − − +
EI 8 4π 4 2π
0
wR4 cos3 θ wR4 cos2 θ

+ − dθ
4 2π

After the integral evaluation we get

wR4 wR4 wR4 wR4


4
∆d = sin θ − θ− sin θ + θ
EI 8 4π 4 2π
wR4 wR4 sin3 θ wR4 θ wR4 sin 2θ

+ sin θ − − −
4 4 3 2π 2 2π 4

Substitute π/2 for θ:

wR4 wR4 wR4 wR4


4
∆d = − − +
EI 8 8 4 4
4 4 4
W R4

wR wR wR
+ − − −0 = ←
4 12 8 6EI

24
Appendix

Below is a list of most common integrals encountered in strain energy methods:

Z
sin x dx = − cos x
Z
cos x dx = sin x
x sin 2x
Z
sin2 x dx = −
2 4
x sin 2x
Z
cos2 x dx = +
2 4
cos3 x
Z
sin3 x dx = − cos x +
3
3
sin x
Z
cos3 x dx = sin x −
3
2
sin x
Z
sin x cos x dx =
2

25