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The Exact Two-Node Timoshenko Beam Finite Element

Using Analytical Bending and Shear Rotation
Interdependent Shape Functions
Ini B. Edem
Online Publication Date: 01 December 2006
To cite this Article: Edem, Ini B. (2006) 'The Exact Two-Node Timoshenko Beam
Finite Element Using Analytical Bending and Shear Rotation Interdependent Shape
Functions', International Journal for Computational Methods in Engineering Science
and Mechanics, 7:6, 425 - 431
To link to this article: DOI: 10.1080/15502280600826381
URL: http://dx.doi.org/10.1080/15502280600826381

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International Journal for Computational Methods in Engineering Science and Mechanics, 7:425431, 2006
c Taylor & Francis Group, LLC
Copyright

ISSN: 15502287 print / 15502295 online
DOI: 10.1080/15502280600826381

The Exact Two-Node Timoshenko Beam Finite Element

Using Analytical Bending and Shear Rotation
Interdependent Shape Functions
Ini B Edem
Port Harcourt, Rivers State, Nigeria

In this paper, the exact two-node Timoshenko beam finite element is formulated using a new model for representing beam rotation in a shear deformable beam. An exact relationship between
bending rotation and shear rotation was achieved using an analytical bending and shear rotation interdependent shape functions
obtained from a consideration of the asymmetrical beam flexural
mode, which is shown to embody bending and shearing kinematics. These functions enable the total beam cross sectional rotation
to be expressed in terms of bending and shear rotation, and subsequently lead to the use of the usual cubic interpolation and linear interpolation to model the bending rotation and shear rotation
based beam curvatures respectively. The formulation ensures the
circumvention of the shear-locking phenomenon, permitting complete interaction between bending and shear deformation fields
and thus allows for a straightforward derivation of the exact Timoshenko beam stiffness matrix and consistent nodal load vector as
obtained in classical structural analysis.
Keywords

Timoshenko Beam, Exact Timoshenko Beam Stiffness

Matrix, Consistent Load Vector, Beam Slenderness Ratio,
Shear-Locking, First Order Shear Deformation Theory

1. INTRODUCTION
The Euler-Bernoulli beam theory (EBT) frequently used for
the analysis of isotropic beams, which have extensive use in engineering structures, describes beam kinematics completely in
terms of flexural deformation. In neglecting the contribution of

Received 14 July 2005; in final form 31 July 2005.

The author recognizes the tremendous inspiration acquired from the
numerous contributions of Prof. J. N. Reddy to the subject of beam finite element models. This paper is dedicated to Professor J. N. Reddy
on his 60th birthday.
Address correspondence to Ini B. Edem, P.O. Box 13104, Port
Harcourt, Rivers State, Nigeria. E-mail: structini@yahoo.co.uk

shearing deformation the EBT requires that plane sections remain plane and perpendicular to the neutral axis after deformation. Consequently, this theory is best suited for thin or slender
beams as shear strains have a considerable influence on the deformation of thick beams. A more accurate representation of beam
flexure which allows for the inclusion of shear strains present
in isotropic beams and more suited for thick beam analysis is
the Timoshenko beam theory [1]. This theory, a first order shear
deformation theory (FSDT), relaxes the normality assumption
of plane sections evident in the EBT. By allowing for the inclusion of a constant through thickness shear strain, it violates the
no-shear boundary condition at the top and bottom horizontal
beam surfaces, requiring a problem dependent shear correction
factor [2].
Displacement-based beam finite elements founded on the
Timoshenko beam theory have been beset by numerical difficulties in the thin beam limit, such as the shear locking phenomenon. This is characterized as the inability of the beam
to yield zero shear strains as the beam becomes progressively
slender, thus leaving the deformation considerably underestimated. The locking phenomenon is observed when using equal,
particularly linear interpolation polynomial for transverse displacement and sectional rotation. Traditionally, shear locking
has been alleviated using reduced or selective integration. This
basically involves using an integration rule one order less for
the evaluation of the shear stiffness terms while full integration
is used to evaluate the bending stiffness terms [3]. The genesis of the shear locking phenomenon has been ascribed to a
number of causes. Carpenter et al. [4] credited the coupling
between bending and shear rotation in the Timoshenko beam
equations as causing shear locking and suggested that these be
decoupled through the use of appropriate strain fields. Using
the concept of field consistency, Prathap [5, 6] attributed shear
locking to the choice of interpolation functions used for displacement fields, which impose spurious constraints that occur
because the strains developed from the displacement approximation are inconsistent. Discussions of different interpolation

425

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426

I. B. EDEM

schemes for the transverse displacement and sectional rotation

which determine various Timoshenko beam finite element models have been given by Reddy [7]. A general view presently held
is that shear locking arises from the independent interpolation
of transverse displacement and rotations, which do not allow for
required interaction between bending and shear deformation. In
light of this the option of interdependent interpolation for transverse displacement and sectional rotation was put forward by
Tessler and Dong [8]. The formulation of interpolation functions, which embody certain interdependency between bending
and shear deformation, appears to overcome this phenomenon.
One such example is the use of interpolation polynomial based
on the exact solution of the Timoshenko beam differential equation, which has been successfully applied to obtain locking-free
superconvergent Timoshenko beam models. Several researchers
that have applied the above approach to obtain interdependent
interpolation functions and thus obtain locking-free and super
convergent isotropic beam elements based on FSDT include
Reddy [7] and Friedman & Kotsmatka [9]. Bazoune et al. [10]
also used this method to obtain shape functions for an isotropic
three-dimensional Timoshenko beam. Recently, a locking-free
unified beam finite element using a corotational finite element
formulation and based on interdependent functions has been developed [11]. These interpolation polynomials are functions of
the bending shear stiffness ratio, contain material and geometrical dependent constants, and allow for interaction of bending
and shear deformations fields.
In this paper, an exact relationship between bending and a
proposed shear rotation is established using a bending and shear
rotation interdependent shape functions where the interpolation
is performed in the beam slenderness ratio coordinate. These
functions are obtained from a consideration of the asymmetrical
bending mode known to embody bending and shearing kinematics. Unlike classical structural analysis where bending and shear
rotation are treated separately, the present technique establishes
the relationship between the aforementioned rotations, allowing
for straightforward interpolation of bending curvature using the
usual cubic interpolation polynomial (resulting in linear curvature) and a proposed shear curvature using linear interpolation
polynomials (resulting in constant curvature), respectively. This
approach is seen to circumvent the shear locking phenomenon,
and an exact order of integration can be used to obtain the exact two-noded Timoshenko beam element stiffness matrix and
load vector that would otherwise result from classical structural
analysis.
2. BASIC FORMULATION OF ANALYTICAL MODEL
In traditional strength of materials approach shear and bending rotations are considered uncoupled, requiring deformation
prediction of shear deformable beams to be obtained from a superposition of bending and shearing components. Consequently,
when considering bending deformation only, one simply ignores
the existence of shearing deformation. In contrast, the approach
adopted here is to use an analytical bending and shear rotation

interdependent shape functions based on the beams geometric

and material parameters to express the total beam cross sectional
rotation in terms of bending and shear rotation. By so doing we
enforce the requisite interaction between the aforementioned rotation fields. The following model equation is therefore proposed
as
= b b + s s .

(1)

Here, represents the total beam cross sectional rotation, b the

bending rotation and s the average shear rotation in line with
FSDT. The symbols b and s are the aforementioned analytical
interdependent shape functions, which respectively account for
the distribution of bending and shear rotation in the proposed
shear deformable beam model. Consequently, the sum of b and
s must equal unity, ensuring compatibility of model rotations
b and s at the analytical level of abstraction and permitting
a complete recovery of bending rotation when relative values
for the bending/shear geometric and material property impose
the slender beam configuration. Derivation of b and s satisfying the above conditions can be obtained by considering the
deformation of a beam in asymmetrical bending.
2.1. Beam in Asymmetrical Bending
The asymmetrical bending mode can be decomposed to realize the bending and shear rotation present as follows. A beam
having equal anticlockwise moments applied at both ends
(nodes 1 and 2) is said to undergo asymmetrical bending as
shown in Fig. 1. The equal nodal moments are m 1 and m 2 . The

FIG. 1. Shear deformable beam in asymmetrical bending showing bending

and shearing kinetics/kinematics.

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THE EXACT TWO-NODE TIMOSHENKO BEAM FINITE ELEMENT

end rotation at node 1 due to m 1 and m 2 is

m1 L
.
3E I
m2 L
=
.
6E I

Similar distribution of the shear rotation is given by the relation

b1,1 =

(2)

b1,2

(3)

where E is the youngs modulus, I , the moment of inertia and L

the span of the beam. The superscripts i, j refers to the rotation
at node i due to moment applied at node j. The total bending
rotation at node 1, noting that m 1 is equal to m 2, is thus the
addition of (2) and (3), which is
b1 =

mL
.
6E I

Q
.
G A

(5)

Substituting (6) and (7) into (5) we have the following:

s1,1 =

(8)

s1,2

(9)

In the above two equations, the notation of the superscripts defined earlier still applies. The total shear rotation at node 1 is the
addition of (8) and (9)
s1 =

2m
.
LG A

(10)

2.1.1. Analytical Bending and Shear Rotation Interdependent

Shape Function
The distribution of bending rotation b1 , in the presence of an
average shear rotation s1 , in a shear deformable beam element
can then be written as
b =

b1
.
b1 + s1

(11)

From (4) and (10), (11) becomes

1
b =
.
1+

s1
.
+ b1

(13)


.
1+

(14)

b + s = 1.

(15)

s =
Notice that

The bending-shear stiffness factor is

G is the shear modulus and A is the shear area.

The transverse shear force at node 1 induced by the applied
moments at nodes 1 and 2 are
m1
Q=
.
(6)
L
m2
Q=
.
(7)
L

m1
.
LG A
m2
=
.
LG A

s1

Again using (4) and (10) in (13) we have

(4)

From equilibrium considerations a shear force, Q, is induced at

nodes 1 and 2.
When shearing deformation is considered, the average cross
sectional shear rotation s (from FSDT) due to Q is
s =

s =

(12)

=

12E I
L 2 G A

(16)

For a beam of rectangular cross section we have,

=

1
1+

2 1 (1

+ )()2

(17)

where is the shear correction factor (5/6), , Poissons ratio

and a non-dimensionless parameter for the beam slenderness
ratio d/L, d being the depth of the beam. From (15) and (17)
it can be said that in a shear deformable beam element, b and
s constitute analytical bending and shear rotation interdependent shape functions, where the said interpolation is performed
in the beam slenderness ratio coordinate, . These functions
embody the bending-shear stiffness ratio given by (16), which
in turn is dependent on both bending and shear material and
geometric parameters. Accordingly, the contribution from the
bending rotation field dw
and shear rotation field s (x) to the
dx
total cross-sectional beam rotation field (x) of the proposed
shear deformable beam model is
(x) =

dw
b + s (x)s .
dx

(18)

where w(x) is the beam transverse displacement field and dw

dx
corresponds to the slope of the beam neutral axis and cross sectional bending rotation. Notice that when shear is negligible
(slender beams) as is occasioned by G A , or 0, 
becomes zero, b becomes unity and the total beam cross sectional rotation is the bending rotation b only. While for thick
beams, an explicit value of  uniquely includes the contribution
from the shear rotation s . It is obvious then that by introducing
this interpolation relationship in the model equation, the above
form will allow for a complete recovery of pure bending deformation in the thin beam limit without imposing any undesirable
constraint as encountered in the finite element implementation
of the Timoshenko beam equations where bending and shearing
deformation are coupled.
2.1.2. Moment-Curvature Equation
From elementary strength of materials, the relationship between a generalized bending moment field M(x) and beam cross

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428

I. B. EDEM

sectional rotation field (x) is given by,

(x) =

M(x)
d x.
EI

(19)

Using the expression for (x) from (18) and substituting in (19)
gives



L
dw
M(x)
b + s (x)s =
.
dx
EI
0


M(x)
d dw
b + s (x)s =
.
dx dx
EI

(20)
(21)
FIG. 2.

On expanding the bracket on the left, two distinct momentcurvature equations can be written
E I1

d 2w
= M1 (x) and
dx2

E I2

ds
= M2 (x).
dx

(22)

where, I1 and I2 are the moment of inertia of a beam, having a

modified width b1 = bb and b2 = bs respectively, b being the
width of the beam. The bending curvature (or beam curvature
from bending deformation field) and shear curvature (beam
curvature from shear deformation field) in (22) are defined by
b =

d 2w
dx

and s =

ds
.
dx

(23)

The shear curvature above refers to the curvature obtained if s

(the shear rotation) is interpreted as the usual beam rotational
degree of freedom and not the typical shear strain component it
also represents. This way, the curvature of a shear deformable
beam is given by two curvature terms, a second order and a first
order term in the spatial coordinate x. The above form will be
seen to circumvent shear locking.

3. FINITE ELEMENT FORMULATION

For an element e, in the domain D = (x1
dimensional coordinate is taken to span
0 =

x
1.
L

x2 ), a non-

(24)

where x , is a local beam coordinate, with origin x1 away from the

global origin O, as depicted in Fig. 2. Derivatives of a function,
(), with respect to x will be denoted by a prime and when the
function () is in terms of , then
() =

d() d
1
= .
d d x
L

(25)

d()
.
dx

(26)

Where as earlier stated,

() =

Beam carrying distributed loading showing beam coordinate system.

3.1. Weak Form of Differential Equation

Consider an isotropic beam carrying distributed loading q(x)
applied at the top of the beam as shown in Fig. 2. Using a potential energy approach, we obtain the weak form of the proposed
beam defined by (22). We proceed as follows. The total potential
energy is obtained by summing the strain energy associated with
the bending curvature and shear curvatures from (22) and (23)
plus the potential from distributed loading q(x).



1 L
 = (b (w), s (s )) = (w, )
E I1 b2 d x
2 0

L

L


1
+
E I2 s2 d x
q(x)wd x.
(27)
2 0
0
where b and s are the bending and shear curvature respectively
defined earlier.
The beam equilibrium equations are obtained considering the
stationary value of the potential energy and taking the variations
the weak form of the proposed shear deformable beam element
is


1 L
d(w, ) [w, s ] =
[b E I1 b ]d x
2 0

L

L
1
+
[s E I2 s ]d x
q(x)wd x = 0. (28)
2 0
0
b and b are weight functions, which in terms of the field
variables can be restated as

  2 
 
d w
ds
b =
, s =
.
(29)
dx2
dx
An introduction into virtual work methods and variational principles can be found in the text by Reddy [12].
3.2. Interpolation Functions
The choice of interpolation functions for w(x) and s (x) is
dictated by the variational index in the energy functional ,
presented in (27). For the bending curvature and shear curvatures b and s , the value is two and one, respectively. Thus
any admissible displacement w(x) must be continuous and possess continuous first derivatives (slopes) while only continuity of
s (x) is required. Consequently the minimum requirements are

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THE EXACT TWO-NODE TIMOSHENKO BEAM FINITE ELEMENT

C 1 continuity ensured by Hermite cubic interpolation functions

for nodal freedoms arising from w and C 0 continuity satisfied
by linear lagrangian interpolation for s . These aforementioned
interpolation functions are derived as follows.
3.2.1. Hermite Interpolation Functions for w(x)
Using a cubic polynomial approximation for w(x)
w(x ) = a1 + a2 x + a3 x 2 + a4 x 3 .
= H T a.

(30)

w
1 = w(0), w
2 = (0) = 1 ,
w
3 = w(l), w
4 = (L) = 2 .
dw
dx

s (x ) = c1 + c2 x .
= D T c.

s1 = 1 = s (0),

s2 = 2 = s (L).

s = [1

2 ]T .

s = Sc.
c = S1 s .

(33)

The equations from (32) expresses a in terms of w,

thus

where

w = Ca.

(34)

a = C 1 w.

(35)

1
S=
1

0
L

Solving for a

C=
1

1
L

0
L2

2L

C 1

1
0

=
3/L 2
2/L 3

L3

(36)

3L 3
0
1

0
0

2/L

3/L 2

1/L 2

2/L 3

0
0

1/L

N1s = (1 ),

(37)

1/L 2

w(x) = N w.

(48)

b = B w,

(38)

N w = HC 1 = [N1w N2w N3w N4w ]

(39)

N2w = L (1 )2 ,

N3w

N4w

= L (1 )
2

N2s = .

(50)

s = N s s .
s = Bs s .

and

(51)
(52)

where b and s in matrix form following from using (38) and

(48) in (23) is
b = (N w ) w = Bw w,

s = (N ) s = Bs s .

(53)

Bw and Bs are the curvature displacement matrix defined by

the following

The entries of N w are

N1w = (1 3 2 + 2 3 ),

(49)

3.3. Finite Element Equations

Using (38) and (48) the variations in the field variables w(x),
s (x) and the curvatures, b ,s become
w = N w w

The matrix of Hermite interpolation functions is

and

(47)

The entries of N s are

= (3 2 )

s (x) = N s s

Substituting (35) in (31), the following results

1
0
1/L 1/L

The Matrix of linear interpolation functions is



N s = DS 1 = N1s N2s

(45)
(46)

Substitution of (46) in (42) gives

where
1

(44)

Using (43), the relationship between c in terms of s is

and the vector of nodal displacements is

(43)

In (43), a constraint is enforced, ensuring compatibility of nodal

displacements arising from w(x) and s (x). Consequently, both
displacement fields recover identical nodal displacements,
namely 1 and 2 at nodes one and two, respectively.
The vector of nodal displacements is

(32)

w = [w
1 1 w
2 2 ]T

(41)
(42)

D is the column vector [1 x ]T , c stands for the column vector of

ci for 1 i 2

(31)

H is the column vector [1 x x 2 x 3 ],T a stands for the column vector of ai for 1 i 4 and x = x x1 . The nodal displacements
are labeled as

where =

3.2.2. Linear Interpolation Functions for s (x)

Approximating s (x) using a linear polynomial, results in
saying

(40)

Bw =
B



N1w

 

N2w

 

[(N1s ) (N2s ) ].

N3w

 

N4w

 

and
(54)

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430

I. B. EDEM

The entries of Bw and Bs are:

1
1
B1w = 2 (6 + 12 ), B2w = 2 (6L 4L),
L
L
1
1
w
w
B3 = 2 (6 12 ) and B4 = 2 (6L 2L). (55)
L
L
1
L

and

B2s =

1
.
L

Rearranging (57),

1
T
( w)

[(Bw )T E I1 Bw w]Ld

+ ( s )T
0

1

1
s T
s

[(B ) E I2 B s ]Ld ( w)

q(x)(N w )T Ld = 0.

K e = K eb + K es .

The following two equations evident in (58) are

1
( w)
T
[(Bw )T E I1 Bw w]Ld

( w)

0

1
q(x)(N w )T Ld = 0.

0

1
T

( s )
[(Bs )T E I2 Bs s ]Ld = 0.

e
d = [w
1 1 w
2 2 ]T .

For a constant value of E I1 and E I2 , and integrating exactly the

integrals in (63) noting that E I1 = E I b and E I2 = E I s , we
obtain the following

12
6L
12
6L
4L 2
6L
2L 2
E I b
6L

K eb =

. (68)
L 3 12 6L
12
6L

(59)
(60)

Equation (61) and (62) represent a set of two matrix equations

having four and two simultaneous equations, respectively, to be
solved for the unknown nodal displacement vectors w and s
respectively. Evidently, from (61) and (62) the stiffness matrices
from linear varying curvature K eb and constant curvature K es
and the load vector f e are
[(Bw )T E I1 Bw ]Ld

=

[(Bs )T E I2 Bs ]Ld .

and

K es =

E I s
L

Noting that w and s are arbitrary or virtual, from (59) and

(60) we write

1

1
w T
w
[(B ) E I1 B w]Ld

q(x)(N w )T Ld = 0. (61)
0
0

1
[(Bs )T E I2 Bs s ]Ld = 0.
(62)

(67)

2L 2

1
.
1

6L

6L
s
2
4L + L 2
b
6L
s
2
2L L 2
b

12

6L
1
1

4L 2
(69)

Using (68) and (69) in (65)

(66)

e
d is the vector of nodal displacement for the assembled beam
element given as

(58)

(65)

e
K e d f e = 0.

K eb

(64)

The assembled beam element stiffness matrix K e has the form

(56)

Introducing the approximations from (51), (52) and (53) in

the weak form in (28)

1

1
 s


[(Bw w)E
I1 Bw w]Ld

+
B s E I2 Bs s Ld
0
0

1

q(x)(N w )T w Ld = 0.
(57)

q(x)(N w )T Ld .

In algebraic form, the finite element equation to be solved in

(61) and (62) is

and
B1s =

f =
e

K es
(63)

E I b
K =
L3
e

12

6L

12

6L

6L
12
6L

6L
s
2L 2 L 2
b
.
6L

s 2
2
4L + L
b
(70)

Using (10) and (11) in (70), the following form is written

EI
Ke = 3
L (1 + )

12
6L
6L
2
4L + L 2

12
6L

12

2L 2 L 2

6L

6L

6L
12

6L

2L 2 L 2

6L
4L 2 + L 2
(71)

The consistent load vector (in the case of a uniformly distributed

load) is, upon simplification of f e in (64),

qL L
e
f =
.
(72)
6
12

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THE EXACT TWO-NODE TIMOSHENKO BEAM FINITE ELEMENT

The resulting system of linear algebraic equation can be written

as

12
6L
12
6L
6L
6L
2L 2 L 2
4L 2 + L 2
EI

L (1 + ) 12
6L
12
6L
2L 2 L 2

w
1
6

qL

2
L

6
w
2

12

L
2
6L

6L

4L 2 + L 2
(73)

The beam stiffness matrix in (71) is in complete agreement with

the Timoshenko beam stiffness matrix derived by Przemeniecki
[13] and by Friedman and Kotsmatka [9]. An interesting note
is, while the stiffness matrix is identical to those derived by the
aforementioned authors, the expression in (64) for the consistent
load vector yields the same Euler-Bernoulli nodal load vector
for all load configuration and does not contain , the bendingshear stiffness factor. This again is in agreement with the nodal
vector obtained if the equation in (66) for a straight Timoshenko
beam is derived using a virtual work approach.
4. CONCLUDING REMARKS
In this paper, the exact locking-free two-noded Timoshenko
beam finite element has been formulated. An analytical relationship between bending and a proposed shear rotation was established. In contrast to the Timoshenko beam equations where
bending and shear deformation are coupled, the use of this relationship in the beam flexural equation leads to a decoupled
system of bending and shear rotation based curvature fields modeled using cubic and linear interpolation function. Consequently,
we show that bending of a shear deformable beam comprises
of linear varying and constant curvature/strain modes. A three-

431

dimensional locking-free curved beam element was developed

by Zhu and Meguid [14]. Locking-free plate and shell finite elements are very much desired and the recent paper of Reddy and
Arciniega [15] provides some answers in this regard.
REFERENCES
1. Timoshenko, S., On the correction for shear of differential equation for
transverse vibrations of prismatic bars, Philos. Mag. 6, 744 (1921).
2. Wang, C. M., Reddy, J. N., and Lee, K. H. Shear Deformable Beams and
Plates-Relationships with Classical Solutions, Elsevier Science, New York
(2000).
3. Averill, R. C., and Reddy, J. N., On the behaviour of plate elements based
on the first-order theory, Engrg. Comput. 7, 57 (1990).
4. Carpenter, N., Belytschko, T., Stolarski, H., Locking and shear scaling
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