Note / Reminder

 Dear students, it is to inform you that the topics to be

taught in today’s Lecture are based on (i) the concept
of strain energy (energy method) and (ii) analysis of
beams for determination of shear force and bending
moment (especially, bending moment)
 As per your knowledge, the concept of strain energy is
taught in the previous Lecture while discussing the
Maximum Distortion Energy theorem, and
 The analysis of beams for determination of shear force
and bending moment is covered in more detail in your
previous course, MoM - I.
 You are therefore advised in the previous week to go
through the aforementioned topics (already taught)
before coming to your class in coming week.
1-1
 Lecture 09
5th December 2024
 Beam Deflection
Castigliano’s Theorem
 Intended Learning Outcomes
 Discuss work and strain energy

 Derive expressions for strain energy for

different types of loads

 Apply the Castigliano’s theorem to determine

the displacement and slope at points on
structural members

 Solve related problems

1-4
 Linking Current Lecture With
Previous Lectures
 In all the previous Lectures, determination of
stresses was discussed.

 In today’s Lecture and coming Lecture,

determination of deflection will be discussed.

1-5
Strain Energy
14.1 EXTERNAL Strain Energy
WORK AND STRAIN ENERGY
Work of a force:
• A force does work when it
undergoes a displacement dx
in same direction as the force.
• Work done is a scalar, defined
as dUe = F dx.
• If total displacement is x, work becomes
x
U e  F dx 14 - 1
0
• As magnitude of F is gradually increased from zero
to limiting value F = P, final displacement of end of
bar becomes .
7
14.1 EXTERNAL Strain Energy
WORK AND STRAIN ENERGY
Work of a force:
• For linear-elastic behavior of material,
F = (P/)x. Substitute into Eqn 14-1
1
U e  P 14 - 2
2
• Suppose that P is already applied to the bar and
another force P’ is now applied, so end of bar is
further displaced by an amount ’.
• Work done by P (not P’) is then

U 'e P ' 14 - 3

8
14.1 EXTERNAL Strain Energy
WORK AND STRAIN ENERGY
Work of a force:
• When a force P is applied to the bar, followed by
the force P’, total work done by both forces is
represented by the area of the entire triangle in
graph shown.

9
14.1 EXTERNAL Strain Energy
WORK AND STRAIN ENERGY
Work of a couple moment:
• A couple moment M does work when it undergoes
a rotational displacement d along its line of action.
• Work done is defined as dUe = Md. If total angle of
rotational displacement is  radians, then work

U e   M d 14 - 4
0

• If the body has linear-elastic behavior, and its

magnitude increases gradually from zero at  = 0
to M at , then work is 1
U e  M 14 - 5
2
10
14.1 EXTERNAL Strain Energy
WORK AND STRAIN ENERGY
Work of a couple moment:
• However, if couple moment already applied to the
body and other loadings further rotate the body by
an amount ’, then work done is
U 'e M '

11
14.1 EXTERNAL Strain Energy
WORK AND STRAIN ENERGY
Strain energy:
• When loads are applied to a body and causes
deformation, the external work done by the loads
will be converted into internal work called strain
energy. This is provided no energy is converted
into other forms.
Normal stress
• A volume element subjected to normal
stress z.
• Force created on top and bottom faces is
dFz = z dA = z dx dy.
12
 Strain Energy
14.2 ELASTIC STRAIN ENERGY FOR VARIOUS TYPES OF LOADING

Axial load:
• Consider a bar of variable
and slightly tapered
x-section, subjected to
axial load coincident with bar’s centroidal axis.
• Internal axial force at section located from one end
is N.
• If x-sectional area at this section is A, then normal
stress  = N/A. (Derived in Lecture on MDE theory)

• Apply Eqn 14-8, we have 2

x N2
U i  dV  2
dV
V 2E V 2 EA
13
 Strain Energy
14.2 ELASTIC STRAIN ENERGY FOR VARIOUS TYPES OF LOADING

Axial load:
• Choose element or differential slice having volume
dV = Adx, general formula for strain energy in bar is
LN2
U i  dx 14 - 15
0 2 AE

• For a prismatic bar of constant x-sectional area A,

length L and constant axial load N, integrating Eqn
14-15 gives
N 2L
Ui  14 - 16
2 AE
14
 Strain Energy
14.2 ELASTIC STRAIN ENERGY FOR VARIOUS TYPES OF LOADING

Bending moment:
• For the axisymmetric
beam shown.
• Internal moment M,
normal stress acting on element a distance y from
neutral axis is  = My/I.
• If volume of element is dV = dA dx, where dA is
area of exposed face and dx its length, elastic
strain energy in beam is
L M 2  2

 dx
U i 
0 2 EI 2  
y dA

A 
15
 Strain Energy
14.2 ELASTIC STRAIN ENERGY FOR VARIOUS TYPES OF LOADING

Bending moment:
• Realize that area integral represents the moment
of inertia of beam about neutral axis, thus
LM 2 dx
U i 
0 2 EI
14 - 17 

16
 Strain Energy
14.2 ELASTIC STRAIN ENERGY FOR VARIOUS TYPES OF LOADING

Torsional moment:
• Consider slightly tapered shaft.
• Section of shaft taken
distance x from one end
subjected to internal torque T.
• On arbitrary element of length dx and area dA,
stress is  = T/J.
• Strain energy stored in shaft is

17
 Strain Energy
14.2 ELASTIC STRAIN ENERGY FOR VARIOUS TYPES OF LOADING

Torsional moment:
• Since area integral represents the polar moment of
inertia J for shaft at section,
L T 2 dx
U i  14 - 21
02GJ
• Most common case occurs when shaft has
constant x-sectional area and applied torque is
constant, integrating
Eqn 14-21 gives

T 2L
Ui  14 - 22
2GJ
18
Castigliano’s Theorem
 Castigliano’s
*14.8 CASTIGLIANO’S Theorem
THEOREM
• This method was discovered in 1879 by Alberto
Castigliano to determine the displacement and
slope at a point in a body.

• This method is used to determine the displacement

and slope at a point in a body.

• It applies only to bodies that have constant

temperature and material with linear-elastic
behavior.

20
 Castigliano’s
*14.8 CASTIGLIANO’S Theorem
THEOREM

(Theorem 1)

(Theorem 2)

21
 Castigliano’s
*14.8 CASTIGLIANO’S Theorem
THEOREM

(Mechanical Engineering Design by Joseph Edward Shigley) 22

 Castigliano’s
*14.8 CASTIGLIANO’S Theorem
THEOREM
• Rather than squaring the expression for internal
moment, integrating, and then taking the partial
derivative, it is generally easier to differentiate prior
to integration. Provided E and I are constant, we
have

(Another form of Theorem 1)

23
 Castigliano’s
*14.8 CASTIGLIANO’S Theorem
THEOREM
• If the slope of the tangent at a point on the elastic
curve is to be determined, the partial derivative of
the internal moment M with respect to an external
couple moment acting at the point must be
found. For this case,

(Another form of Theorem 2)

• The above equations are similar to those used for
the method of virtual forces, Eqs. 14.40 and 14.41,
except m and replace and
respectively. Note: virtual force method will be taught today
24
 Castigliano’s
*14.8 CASTIGLIANO’S Theorem
THEOREM
• In addition, if axial load, shear, and torsion cause
significant strain energy within the member, then
the effects of all these loadings should be included
when applying Castigliano’s theorem.
• To do this we must use the strain-energy functions
developed in Sec. 14.2, along with their associated
partial derivatives. The result is

• The method of applying this general formulation is

similar to that used to apply Eqs. 14.47 and 14.48. 25
 Castigliano’s
*14.8 CASTIGLIANO’S Theorem
THEOREM
• Consider a body of arbitrary shape subjected to a
series of n forces P1, P2, … Pn.
• Since external work done by forces is equal to
internal strain energy stored in body, by
conservation of energy, Ue = Ui.
• However, external work is a
function of external loads
Ue = ∑ ∫ P dx.

26
 Castigliano’s
*14.8 CASTIGLIANO’S Theorem
THEOREM
• So, internal work is also a function of the external
loads. Thus U i U e  f P1, P2 , ..., Pn  14 - 44
• Now, if any one of the external forces say Pj is
increased by a differential amount dPj. Internal
work increases, so strain energy becomes
U i
U i  dU i U i  dPj 14 - 45
Pj
• Further application of the loads cause dPj to move
through displacement Δj, so strain energy becomes
U i  dU i U i  dPj  j 14 - 46

27
 Castigliano’s
*14.8 CASTIGLIANO’S Theorem
THEOREM
• dUi = dPjΔi is the additional strain energy caused by
dPj.
• In summary, Eqn 14-45 represents the strain
energy in the body determined by first applying the
loads P1, P2, …, Pn, then dPj.
• Eqn 14-46 represents the strain energy determined
by first applying dPj, then the loads P1, P2, …, Pn.
• Since theses two eqns are equal, we require
U i
j  14 - 47 
Pj

28
 Castigliano’s
*14.8 CASTIGLIANO’S Theorem
THEOREM
• Note that Eqn 14-47 is a statement regarding the
body’s compatibility requirements, since it’s related
to displacement.
• The derivation requires that only conservative
forces be considered for analysis.

29
 Castigliano’s Theorem
EXAMPLE 14.20
Determine the slope at pt B of the beam shown. EI is
a constant.

30
 Castigliano’s
EXAMPLE 14.20 (SOLN) Theorem
External couple moment M’.
Since slope at pt B is to be determined, an external
couple moment M’ is placed on the beam at this pt.
Internal moments M.
Two coordinates x1 and x2 is used to determine the
internal moments within beam since there is a
discontinuity, M’ at B. x1 ranges from A to B, and x2
ranges from B to C.
2 1

2 1 31
 Castigliano’s
EXAMPLE 14.20 (SOLN) Theorem
Internal moments M.
Using method of sections, internal
moments and partial derivatives
are determined.

For x1,
  M NA 0;  M1  Px1 0
M1  Px1
 M1
0
 M'
(Note: you need the knowledge of analyzing a beam for SF and BM in beams – taught in MoM_I)32
 Castigliano’s
EXAMPLE 14.20 (SOLN) Theorem
Internal moments M.
For x2,
L
  M NA 0;  M 2  M ' P  x2  0

2 
 L 
M 2 M ' P  x2 
2 
 M2
1
 M'

33
 Castigliano’s
EXAMPLE 14.20 (SOLN) Theorem
Castigliano’s second theorem.
Setting M’ = 0 and applying Eqn 14-48, we have,
L   M  dx
 B  M  
0   M '  EI
L / 2  Px1 0 dx1 L / 2  PL / 2   x2 dx2
 
0 EI 0 EI
3PL2

8 EI
Negative sign indicates that B is opposite to direction
of couple moment M’.

34
 Castigliano’s Theorem
EXAMPLE 14.21
Determine the vertical displacement of pt C of the
steel beam shown.
Take Est = 200 GPa, I = 125(10-6) m4.

(Note: you need the knowledge of analyzing a beam for SF and BM in beams – taught in MoM_I) 35
EXAMPLE 14.21Castigliano’s
(SOLN) Theorem
External force P.
A vertical force P is applied at pt C. Later this force
will be set equal to the fixed value of 5 kN.
1

1 2

36
 Castigliano’s
EXAMPLE 14.21 (SOLN) Theorem
Internal moments M.
Two x coordinates are needed for
the integration since the load is
discontinuous at C. Using method
of sections, the internal moments
and partial derivatives are
determined as follows.

37
 Castigliano’s
EXAMPLE 14.21 (SOLN) Theorem
Internal moments M.
For x1,
1 2  x1 
  M NA 0; M1  x1    9  0.4 P x1 0
3 3
1 3
M1 9  0.4 P x1  x1
9
 M1
0.4 x1
P

38
 Castigliano’s
EXAMPLE 14.21 (SOLN) Theorem
Internal moments M.
For x2,

  M NA 0;  M 2  18  3  0.6 P x2 0

M 2 18  3  0.6 P x2
 M2
0.6 x2
P

39
 Castigliano’s
EXAMPLE 14.21 (SOLN) Theorem
Catigliano’s second theorem.
Setting P = 5 kN and applying Eqn 14-47, we have
L   M  dx
 Cv  M  
0
  P  EI
 1 3
 11x1  x1  0.4 x1  dx1 4 18  6 x 0.6 x  dx
6
 9 
  2 2 2
0 EI 0 EI
410.9 kN m 3

 
200106 kN/m 2 12510 6  m 4
0.0164 m 16.4 mm

40
 Castigliano’s
*14.8 CASTIGLIANO’S Theorem
THEOREM

(Mechanical Engineering Design by Joseph Edward Shigley) 41

 Castigliano’s
*14.8 CASTIGLIANO’S Theorem
THEOREM

42
 Castigliano’s
*14.8 CASTIGLIANO’S Theorem
THEOREM

43
 Castigliano’s
*14.8 CASTIGLIANO’S Theorem
THEOREM

44
 References
1. R.C. Hibbeler, Mechanics of Materials, 8th edition, ISBN 10: 0-
13-602230-8 0134319656, Pearson.
2. Mechanical Engineering Design by Joseph Edward Shigley
 THANKS
Questions (if any)