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NONLINEAR ANALYSIS
ABSTRACT: A new stiffness matrix for the analysis of thin walled beams is de-
rived. Starting from the principle of virtual displacements, an updated Lagran-
gian procedure for nonlinear analysis is developed. Inclusion of nonuniform
torsion is accomplished through adoption of the principle of sectorial areas for
cross-sectional displacements. This requires incorporation of a warping degree
of freedom in addition to the conventional six degrees of freedom at each end
of the element. Problems encountered in the use of this and similar matrices
in three-dimensional analysis are described.
INTRODUCTION
BACKGROUND LITERATURE
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The effect of axial compression on stability was studied by Renton
(14), Chu and Rampetsreiter (8), and Conner, Logcher, and Chen (9).
The effect of initial bending moments was added to the stiffness for-
mulation by Zarghamee and Shah (20) and Krajcinovic (10). Barsoum
and Gallagher included the effect of initial torque on stiffness (4). Stiff-
ness matrices formulated by Bazant and El Nimeiri (7) and by Yoo (19)
differ from those of Barsoum and Gallagher in that the effect of initial
bimoment on stiffness was included while the effect of initial torque was
neglected.
The angle of twist was represented by hyperbolic functions in the
Krajcinovic formulation. Cubic interpolation functions for the angle of
twist were used by Mei (12) and by Barsoum and Gallagher (4) and found
to be more efficient than the hyperbolic functions. Fifth order Hermitian
polynomials were also used by Barsoum in representing the angle of
twist (3). Although in linear stability problems the fifth order formula-
tion provides more accurate solutions, it was found to create numerical
difficulties in nonlinear analysis. Therefore, Barsoum recommended the
use of lower order polynomials and more elements.
Argyris and co-workers presented a natural mode technique for the
formulation of a solid beam-column element subjected to bending and
uniform torsion (1,2). The nature of bending moments and torques
undergoing rotations at joints was also investigated. They concluded that
for a consistent large displacement finite element analysis both bending
moments and torques must be treated as semitangential moments.
Conventionally, two approaches are used in an incremental nonlinear
finite element analysis: the updated Lagrangian (UL) and the total La-
grangian (TL) formulation. When consistently developed, the two for-
mulations yield identical global stiffness matrices and nodal point force
vectors. Both the TL and UL formulations were reviewed by Bathe, Ramm,
and Wilson (6). Bathe and Bolourchi (5) found the UL formulation to be
computationally more effective when, as in their study, the geometric
stiffness matrix is evaluated by numerical integration.
In all of the papers mentioned, except those of Argyris et al., no at-
tention was paid to the intricate behavior of joint moments in three-
dimensional structures. Ziegler (21) and Argyris et al. (2), have shown
that assumptions regarding the behavior of moments undergoing rota-
tions can affect the calculated behavior of systems significantly.
-^ +— =0 (4)
dy dx
it can be shown that the following relation holds (2):
Eqs. 4 and 5 are valid only in cases of simple torsion (St. Venant tor-
sion), i.e., when there is no restraint against out of plane warping of
cross sections. When warping restraint is present, normal stresses, aw,
can develop. Thus, instead of Eq. 4, we have
9T,„ 6J2X do\. 3aw
x
-^ + ^^= -= ^0 (6)
dy dz dx dx
and Eq. 5 no longer holds since it follows from Eq. 4.
Nonuniform Torsion.—When warping restraint is present, the total
torque, Mx, acting at a section is the sum of the St. Venant torsion, Tsv,
and the warping torsion, Tw :
MX=TSV+TW (7)
Vlasov's engineering theory for treating this condition (15) incorpo-
rates implicitly the assumptions that underlie the above common flexure
formulas, e.g., plane cross sections remain plane in bending and ho-
mogeneous elastic material. It also includes the following assumptions
explicitly: (1) The beam is shallow; (2) the section is thin-walled; (3) there
855
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(a)
(b)
is no in-plane distortion of the cross section; and (4) the shearing de-
formation of the profile is negligible.
Summary of the Vlasov theory starts with an arbitrary generalized co-
ordinate system consisting of three reference points C, T, and D on a
typical cross section, which need not possess any symmetry properties
(Fig. 2). Point C represents an origin of Cartesian coordinates, point T
a reference point for twisting, and point D a sectorial origin. A right-
hand coordinate system is formed by x, y, and z axes. As noted below,
when certain orthogonality conditions for the principal generalized co-
ordinates are satisfied, the reference points C and T turn out to be the
centroid and the shear center, respectively, while point D remains an
auxiliary point used in calculating the principal sectorial area.
For simplicity, distributed loads are neglected. As implied in the above
list of elementary equations, the stress resultants on a cross section of
a member are referred to the initial state of that cross section. Thus we
have the following, in which the changes from the previous list are the
addition of the "bimoment" B, and reference of Mx to an axis through
point T:
856
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Mx= [rzx(y - ay) - TIJX(Z - az)]dA; My = crxzcL4;
JA JA
in which all the integrals are carried over the section area A. a>r = the
sectorial area at an arbitrary point N (Fig. 2).
Wj- :
pds (9)
(y-ay)0* £ p^Hl
N(y,z (y-aJft.
(z-aJS,
857
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Substituting for ax in Eq. 8, one can express the generalized stresses Fx,
My,Mz, and B for a cross section of the thin-walled beam in terms of
the generalized strains uxC, uyT, u"T, and 0" about the reference axes as
A Sz ^W U'xc
There are two parts to the development of the desired elastic and geo-
metric stiffness matrices: (1) Development of a set of virtual displace-
ment equations; and (2) reduction of these equations to a matrix equa-
tion through the use of finite element development procedures. These
are summarized in the following. Additional details may be found in
Ref. 17.
Application of the Principle of Virtual Displacements.—Fig. 4 shows
a typical beam-column element in its path of deformation. As indicated,
configuration 0 (C0) represents the initial undeformed state; configura-
tion 1 (Ci) is a current (known) deformed equilibrium state; and config-
uration 2 (C2) is a neighboring (desired) deformed equilibrium state. Also
shown in Fig. 4 are the local and the global coordinate systems. In an
updated Lagrangian formulation the local reference state for each ele-
ment is its last calculated configuration, Q . In global analysis, displace-
ments, loads, and properties are referred to the stationary Cartesian co-
ordinate system shown.
858
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Configuration 2
x3 />• Configuration 1
2
ov i Y v
A , , A , , A2
*3 0, , - - —
—'< Configuration 0
•+XXX
2
°Y 'Y Y
A A A
3> 3' 3
Ui.i = (18)
d°X; '
Proper application of the principle of virtual displacements requires
that the equilibrium of the body be expressed in the deformed C2 (6):
2
rij?>2eij2dV = 22R (19)
2
,R ]tkUu2dA (20)
2A
if the body force is neglected. In Eqs. 19 and 20, 2T,J = the Cauchy stress
tensor, 82e« the variation of the linear or Almansi strain tensor, \tk the
859
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vector of surface tractions, and buk a variation of the displacement com-
ponents at C 2 .
Eq. 19 cannot be solved directly since C2 is unknown. However, in
Ref. 5 it is shown that, in an updated Lagrangian formulation, it can be
transformed to an incremental form and then linearized in the incre-
mental displacements to yield:
In Eqs. 21 and 22, ae,j and jT|(y = the linear and nonlinear components of
the Green-Lagrange incremental strain tensor, ^ denotes the Cauchy
stress tensor at Q , iQ^j represents the components of the constitutive
tensor, and \tk is the surface load at C2 but measured in Q .
In the foregoing, the incremental equilibrium equations of a beam are
given corresponding to the global coordinate system CXi , 1 X 2 , 1 X 3 ).
However, using a conventional finite element procedure, it is more ef-
fective to first evaluate the finite element matrices in the local principal
axes (1x1, 1x2, 1x3) of the element (Fig. 4), and then to transform them to
the global coordinate system prior to the element assembly process (5).
For this reason, the incremental equilibrium equations and the corre-
sponding stiffness equation will be referred to the local coordinates. For
convenience, the global system will be denoted as (X, Y, Z) and the local
coordinates at C\ as (x,y,z).
In the conventional engineering theory of a three-dimensional beam,
\22 = 1T33 = 2T23 = 0, ^ = \2i / and \13 = : T 31 . Thus there are only three
independent stress components, \ n , : T 12 , and 'T^ , and three indepen-
dent strain components (increments), ie n , 1 e 12 , and je 13 . If the following
notation is used for the stress and strain:
°v = V i ; v = l x i2 / T** = 1TI3 ( 23 )
and ex = e H + t\xx = ie n + yrin = fyi
V = Cyx + 1\yx = ^ U + l^ltf) = 1*12
7 « = e-xx + f\zx = 2 ( i e i 3 + ! % 3 ) = ! € 1 3 (24)
X
the Cauchy stress vector, ( T), the linear strain vector, de), and the non-
linear strain vector, di\), can be written as (5):
(M = ( i r l V a ) (25)
de) = (e«e y i O (26)
and d*)) = (iq^'vrw) (27)
The material matrix [iC] can be expressed as (16):
"£
[iC]= G (28)
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Substituting Eqs. 25-28 into Eq. 21, one obtains the virtual work equi-
librium equation for a three-dimensional beam:
in which the superscripts for V and d y and the subscripts for 2R and 1R
have been dropped since it is known that all variables in this equation
are expressed with respect to the known coordinates of configuration 1.
Substituting the following expressions for the linear and nonlinear
strains in Eq. 29:
6xx U X,X f "\JX WXiy T" UyrX / £ZX Wx,Z ' UZiX (30)
1
+- az8[(H; - z e * ) + («z + ye.;)2] dv
2 Jv
dW
8 (u'x - zu" - yu" - 0)0") + (uz + yQx)Qx > dV
+ IV
3y
3(0
+ I T2I8 -u,- (u'x - zxi'z - yuy - 0)6^) - (uy - zQ'x)Qx \ dV
dz
= <8u>({2/} - i1/}) (33)
861
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y
t . yA
a- I @yB T Q'
U U
A U x A f VA YB [ U x
• » • - - « r - ^ ™ 4 j - » • #^ 1-
u u
B T
/ zA / zB
'zA 9lB
4—=l 1 /
z
(a)
B fM" M BB
F
** F<Af » F >B f F>B I
K /A /B MXB 4
ZA
/ J V ^B
2
(b)
where a> is the principal sectorial area. The subscripts C and T for dis-
placements have been dropped from the above equation, as they refer
to the same point of the bisymmetrical section, i.e., the centroid. Cor-
respondingly, ux, uy i and uz should be recognized as displacements of
the centroid. (8u) is the variation of displacements at the nodes, in which
(Fig- 5)
(u) = {uxAuyAuzAQxAQvAQzAuxBuyBuzBQxBQyBQzBQxAd'xB) (34)
2
( f) = the vector of nodal forces at the end of the step,
(2f > = (%A%A%A2MxA2MvA2MzA%B%B%B2MxB2MyB2MzB2BA2BB) (35)
and (:f) = the vector of nodal forces at the beginning of the step, which
can be obtained by switching superscripts in Eq. 35 from 2 to 1. Both
(2f > and (:f) are stated in the coordinates of Q .
862
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Neglecting the higher order terms, adopting the orthogonality con-
ditions for principal generalized coordinates (Eq. 16), and making use
of the expressions for stress resultants (Eq. 8), one obtains the following
equation in terms of the principal generalized coordinates:
i
— 8 « + uT)dx + - I Kh(%'x)dx
0
Fyh{u'z%x)dx- Mzh{u'zWx)dx
Jo
(%) = (uzA - 1%A uzB - l0zB); <§,) = (QxA WxA %xB 1%'*) (42)
The corresponding nodal forces are shown in Fig. 5(b).
The stress resultants in Ci at section x of the member can be expressed
in terms of those at the element nodes as:
-(MzA + MzB)
Fx = Fx, Fy = -
I
F,-^^H M, = Ma
I
Mv = -M„„
yA I 1 - - j + MyB I - j ;
l Mz = -MzA\ 1 - - ] + Mz; (43)
K — FxB ~r (44)
M.•xB
(M<j®-{r®{n&)di{uJ
2l2
(MyA + MyB) M,•yA
+ - {n3}(n3)di+ I -f*(l-i){n&(n$di
I 0 '
M,•yB .
iMin^di U&J + (8u2) ( j ^ M < i ^ > d «
0 I
FxB (MyA
+ j y {n3}<n3)rf*JK} - J + M y B ) {n0<nj><« {HX}
864
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M B
* ,i >a/ >\ i n / » \ W J i W (MZA + MZB)
o—
21 (K}(n^) - {ri3}(rii))di{uy} + I - {«3}<n3)d;
M2i :
+ f ^ (I - iM}(n£di iM<nJ>d» {6,}
Jo <•
<2M,\>_ =/ 2 a( , * JMI^ J 23 2 M 3
2M
AT, V - /2 2r VA 2T 2 M Z B
\ .
< Z F 2 >= F; ; /2TV* (46)
z
and OFj), (1Fy), (!F2), and (XMX) are obtained by switching superscripts in
Eq. 46 from 2 to 1.
Admitting the arbitrary nature of virtual displacements, one may write
the equilibrium equations for the thin-walled element as
FA
^ — ^ 4 ^ raw
\PAyA + MyB) r „110lr -, _ ,2-r 2-r \T /lr lr \T /An„\
_ [£i3 j | M j _ ( f xA j-xB) - ( j - x / 1 1 x B ) (47a)
y[^3°]W + y [ ^ > y }
X
2
MzA 2
MzB 'M z . X
M;A T
= / 2r b - %y i "
r F,ys" (47b)
y/f yB ,
865
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r I
T T
% A = ^ % ^ ) - ( % A ^ % B = ^ ) . . : (470
ANALYSIS
-MA
(a) (b)
1M X 5 Z M,fl,
867
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a conservative direct force in the deformed state is identical to that in
the initial state. However, for conservative moments, direction and mag-
nitude do not necessarily remain the same when the loaded system
undergoes rotation (1). Therefore, a vector expression for a conservative
moment in the deformed state is in general different from that in the
initial state.
Fig. 6 shows four types of moments in a displaced position, all of
which are initially of magnitude M , and acting along the x axis. The
moment components produced by rotation of the initial moment about
the other axes will be termed moment increments. A moment is defined
as an axial moment if its direction and magnitude remain unchanged in
the presence of finite rotations [Fig. 6(a)]. A moment is defined as a
tangential or a follower moment if it follows completely all rotations [Fig.
6(b)]. The definitions used are those of Ref. 21. Similarly, a semitangen-
tial moment is a moment in which incremental moments generated upon
rotation are equal to half of those generated by a corresponding tan-
gential moment [Fig. 6(c)]. The moments in Fig. 6(d) are called quasi-
tangential moments of the first and second kind, as they produce a mo-
ment increment about only one of the axes perpendicular to the initial
z
A
M,
X. -ox
-Mx,
(a)
-M,
-t>x
+M,
(b)
FIG. 7.—Quasitangential Bending Moments: (a) My; (b) Mz
z Z
A
Each
arrow
ii
1}
iC-it?
0 ->y
k~r-j|
868
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moment vector. The reason for defining two types of quasitangential
moment will be given later.
Conventionally, the conservativity of a physical quantity is defined in
the sense that the work done by that quantity is path-independent. It
can be shown that the work done by a semi- or quasi-tangential moment
is path-independent if an appropriate definition is adopted for the ro-
tation corresponding to each type of moment (1). Thus they are con-
servative. It can also be proven that both axial and tangential moments
are nonconservative. A thorough discussion of the conservativity of var-
ious types of moments can be found in Refs. 1, 3, and 21.
Ziegler (21) and Argyris et al. (2) identify a bending moment as a quasi-
tangential moment and a St. Venant torque as semitangential when either
is generated as a conventional stress resultant. Representations of such
moments are shown in Figs. 7 and 8. In each case the action is repre-
sented by a distributed stress and, alternatively, by a statically and ki-
nematically equivalent couple or couples. To obtain the increment for a
rotated bending moment consider a small element of area, dA, of a bi-
symmetrical section on which an axial stress is acting (Fig. 9). When the
element undergoes a torsional rotation, 6X, the following moment in-
crements are induced:
d{AMz) = vx%xzdA and d(AMy) = crxQxydA (50)
which can be integrated to yield
AMZ = My% (due toM y ) (51)
and AMy = -MZQX (due to M2) (52)
The same incremental moments can be generated by the alternative
mechanisms shown in Fig. 7 undergoing the same rotation. Bending mo-
ments My and M2 which are generated as stress resultants are referred
to as quasitangential moments of the first kind. To obtain the increment
for a rotated St- Venant torque consider Fig. 10. If the cross section ro-
tates about the y axis, an incremental moment about the z axis will be
induced:
869
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d(AM2) = iyx%yzdA (53)
1 1:
AOv (55)
AMy = -M x 0 z and AM2
A y
M v /2 '
"V* Mj/2
^
JZZZ Z
/ \ n
-& X
M,/2.
My/2 My/2
Z-
(a) (b)
FIG. 11.—Quasitangential Torques: (a) First Kind; (b) Second Kind
Mx ™
1 ™«« X J*
^\
/ \
(a) (b)
FIG. 12.—Semitangential Bending Moments: (a) My; (b) Mz
870
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AMy = 0 AM, -IvL 6„ (57)
y y
4
r=
z +- z «-
n
r i
(a) (b)
FIG. 13.—Nature of Warping Torques: (a) I Section; (b) Double I Section
871
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The Problem of Equilibrium at Angle Joints.—All bending moments
and torques generated as stress resultants have been based on engi-
neering definitions which consider only the initial state of the cross sec-
tion on which the forces act. When these definitions are used, moments
and torques equilibrating a joint in a "configuration 1" condition may
no longer be in equilibrium as the joint is rotated to a new, "configu-
ration 2," equilibrium position. This incompatibility is illustrated and
discussed in Ref. 18.
Resolution of the Problems.—There are several ways to deal with the
difficulties that have been defined, i.e., the unwieldy behavior of torques
when warping restraint is present, and the problem of possible inability
to obtain equilibrium at rotated joints. One is to use a more sophisti-
cated, elasticity theory based, finite element, but this would make non-
linear analysis of actual frames impractical. A second is to ignore the
problem, but this could lead to unforeseen and unpredictable errors. A
third is to "adjust" or "correct" the derived stiffness matrix (or any other
comparable matrix, since all encounter similar problems). The last is the
approach that is used in Refs. 1 and 2, and it is the one that is followed
in the present research.
It is seen that the manner in which the matrices in Appendixes I and
II have been developed dictates that end bending moments behave qua-
sitangentially and end torques behave semitangentially. To find rational
ways to adjust these matrices the matrix equilibrium Eq. 29 must be
scrutinized. It is preferable to do this in a separate paper (18) where the
physical meaning of that equation can be given proper attention. Briefly,
such scrutiny involves dissecting the geometric stiffness matrix (Appen-
dix II), separating it into its internal and external parts, and showing
EA/l -EA/l
t
yA 12E72//3 6EIJ12
12EJ¥/;3 -6E7„// 2
6/5 GJ/l
M-xA 12ECJ13
MyA 4Ely/l
4EIJI
Fa EA/l
Mxl
(SYMMETRICAL)
BA
872
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how the external part can be adjusted to produce any desired type of
behavior.
ACKNOWLEDGMENTS
ll
UyB zB 6xB %B ®zB §'xA Q'xB
-12E/,// 3 6EIJ12
~12EyP -6EIV/P
(-6/5)G//Z G//10 G//10
-12EC„,// 3 +6EC„// 2 +6ECJ12
6Ely/f 2EI„/Z
-6E1J12 2EIJI
\2EIJP -6EIJ12
12EJ„// 3
6EIv/l2
(6/5)G/// -G//10 -G//10
+12ECJP -6EQ,// 2 -6EC„/Z 2
AEly/l
4E1JI
2G///15 -G/7/30
+4EC„/Z +2ECJI
2G/Z/15
+4EC„/Z
873
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APPENDIX II.—GEOMETRICAL STIFFNESS MATRIX [kg]
I ]M M / ; 2
FM +M2B//2 -M,B/;2
l.lM y A // -MM//2
6F 2B /5/ MIB// Fxfl/10
FyA -M,B/10! -M 2 B // 2
I.IMM// MyA/l1
6FIB/5/ -F l B /10 M 2 B //
FM -M 2 B /10/ +M yB // 2
MM/10 -MJM/10
M^ 6K/5/
+M 2 „/5 -M y B /5
MyA 2F 2B //15
MM 2F»B//15
Fa
FyB
F2B
MxB
MyB
MzB (SYMMETRICAL)
APPENDIX III.—REFERENCES
1. Argyris, J, H., Dunne, P. C., Malejannakis, G. A., and Scharpf, D. W., "On
Large Displacement—Small Strain Analysis of Structures with Rotational De-
grees of Freedom," Computer Methods in Applied Mechanics and Engineering,
Vol. 14, 1978, pp. 401-451, and Vol. 15, 1978, pp. 99-135.
2. Argyris, J. H., Hilbert, O., Malejannakis, G. A., and Scharpf, D. W., "On
the Geometrical Stiffness of a Beam in Space—a Consistent V.W. Ap-
proach," Computer Methods in Applied Mechanics and Engineering, Vol. 20, 1979,
pp. 105-131.
3. Barsoum, R. S., "A Finite Element Formulation for the General Stability
Analysis of Thin-Walled Members," thesis presented to Cornell Univ., at
Ithaca, NY, in 1970, in partial fulfillment of the requirements for the degree
of Doctor of Philosophy.
4. Barsoum, R. S., and Gallagher, R. H., "Finite Element Analysis of Torsional-
Flexural Stability Problems," International Journal for Numerical Methods in En-
gineering, Vol. 2, 1970, pp. 335-352.
5. Bathe, K.-J., and Bolourchi, S., "Large Displacement Analysis of Three-Di-
mensional Beam Structures," International Journal for Numerical Methods in En-
gineering, Vol. 14, 1979, pp. 961-986.
6. Bathe, K.-J., Ramm, E., and Wilson, E. L., "Finite Element Formulation for
Large Deformation Dynamic Analysis," International Journal for Numerical
Methods in Engineering, Vol. 9, 1975, pp. 353-386.
874
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WyB UZB ®xB 6yB OzB Q'xA ®'xB
MyA/l2
-M2B//2 +MsB/l2
MM/10 MM//10
-FlB/10 -MIB// -MIB/2 -F, B //30 -M y A //30
+MJB/5 -MJB//30
2
M r f // -MM//2
-M2B//2 -M,B/l2
MyJWl
6FxB/5l MIB// -FIB/10 -MM/10 M yB /10
-l.lMyB//
MM/10/
6F,B/5l FXB/10 M,B/i -MM/10 M 2B /10
-1.1AW/
MM/5 -MM/5
6K/5( -K/10 -K/10
+M 2B /10 -M y B /10
-MM//30
2FIB//15 -M 7 B //30
+M 2B //10
-MM//30
2F, B //15 M yB //30
-M y B //10
2K//15 -K//30
2K//15
875
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APPENDIX IV.—NOTATION
A = area;
ay,az = coordinates of shear center;
B = bimoment;
C = constitutive tensor;
Q> = initial undeformed state;
Q = current deformed (known) state;
c2 = neighboring (desired) deformed state;
r = warping constant;
e = linear strain tensor;
F = force;
{/} = element nodal force vector;
IP = polar moment of inertia;
h>1* = moments of inertia about y and z axes;
J = St. Venant torsion constant;
K = VVagner coefficient;
IK] = element linear stiffness matrix;
&] = element geometric stiffness matrix;
M = torque or bending moment;
AM = moment increment;
R = virtual work of external forces;
s = coordinate along middle line of cross section;
T
1
= St. Venant torsion;
Tsv = warping torsion;
u = displacement;
{«} = element incremental displacement vector;
V = volume;
a = ratio of the torque resisted by jzx to the total torque;
7 = shear strain;
e = normal strain;
e,y = Green-Lagrange strain;
876
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T| = nonlinear strain;
8 = rotation;
6i = warping deformation;
p = distance from point T to tangent at a point of contour;
cr = normal stress;
T,y = Cauchy stress;
Tyx ~ shear stresses; and
co = sectorial area.
877
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