Shear correction factors in Timoshenkos

beam theory for arbitrary shaped

crosssections
F. Gruttmann
Institut f
ur Statik
Technische Universitat Darmstadt
Alexanderstrae 7
64283 Darmstadt
Germany

W. Wagner
Institut f
ur Baustatik
Universitat Karlsruhe (TH)
Kaiserstrae 12
76131 Karlsruhe
Germany

Published in: Computational Mechanics, 27 2001, p. 199-207.

Abstract In this paper shear correction factors for arbitrary shaped beam cross
sections are calculated. Based on the equations of linear elasticity and further assumptions for the stress eld the boundary value problem and a variational formulation are
developed. The shear stresses are obtained from derivatives of the warping function.
The developed element formulation can easily be implemented in a standard nite element program. Continuity conditions which occur for multiple connected domains are
automatically fullled.
1
Introduction
The problem of torsional and exural shearing stresses in prismatic beams has been studied in several papers. Here, publications in [13] are mentioned among others. Furthermore the text books of e.g. Timoshenko and Goodier [4] or Sokolniko [5] give detailed
representations of the topics. A nite element formulation has been discussed by Mason
and Herrmann [6]. Based on assumptions for the displacement eld and exploiting the
principle of minimum potential energy triangular nite elements are developed. Zeller [7]
evaluates warping of beam crosssections subjected to torsion and bending.
In the present paper shear correction factors for arbitrary shaped cross-sections using
the nite element method are evaluated. The considered rod is subjected to torsionless
bending. Dierent denitions on this term have been introduced in the literature, see
Timoshenko and Goodier [4]. Here we follow the approach of Tretz [3], where uncoupling
of the strain energy for torsion and bending is assumed. The essential features and novel
aspects of the present formulation are summarized as follows.
All basic equations are formulated with respect to an arbitrary cartesian coordinate system
which is not restricted to principal axes. Thus the origin of this system is not necessarily a
special point like the centroid. This relieves the input of the nite element data. Based on
the equilibrium and compatibility equations of elasticity and further assumptions for the
stress eld the weak form of the boundary value problem is derived. The shear stresses are
obtained from derivatives of a warping function. The essential advantage compared with
1

stress functions introduced by other authors, like Schwalbe [2], Weber [1] or Tretz [3]
is the fact that the present formulation is also applicable to multiple connected domains
without fullment of further constraints. Within the approach of [13] the continuity
conditions yield additional constraints for cross sections with holes. In contrast to a
previous paper [8] the present formulation leads to homogeneous Neumann boundary
conditions. This simplies the nite element implementation and reduces the amount of
input data in a signicant way. Within our approach shear correction factors are dened
comparing the strain energies of the average shear stresses with those obtained from the
equilibrium. Other denitions are discussed in the paper. The computed quantities are
necessary to determine the shear stiness of beams with arbitrary crosssections.

2
Torsionless bending of a prismatic beam
We consider a rod with arbitrary reference axis x and section coordinates y and z. The
parallel system y = y yS and z = z zS intersects at the centroid. According to
Fig. 1 the domain is denoted by and the boundary by . The tangent vector t with
associated coordinate s and the outward normal vector n = [ny , nz ]T form a righthanded
system. In the following the vector of shear stresses = [xy , xz ]T due to bending is
derived from the theory of linear elasticity. For this purpose we summarize some basic
equations of elasticity.

t s

zS

t
n

yS

Fig. 1: Crosssection of a prismatic beam

The equilibrium equations neglecting body forces read
x ,x +xy ,y +xz ,z = 0
y ,y +yz ,z +xy ,x = 0
z ,z +xz ,x +yz ,y = 0 ,

(1)

where commas denote partial dierentiation. Furthermore, the compatibility conditions

in terms of stresses have to be satised

(1 + )x + s,xx = 0
(1 + )y + s,yy = 0
(1 + )z + s,zz = 0

(1 + )yz + s,yz = 0
(1 + )xy + s,xy = 0
(1 + )xz + s,xz = 0 .

(2)

Here, denotes the Laplace operator, is Poissons ratio, and s = x + y + z , respectively.

We proceed with assumptions for the stress eld. The shape of the normal stresses x is
given according to the elementary beam theory, thus linear with respect to y and z. The
stresses y , z and yz are neglected. The transverse shear stresses follow from derivatives
of the warping function (y, z). Thus, it holds
y + az (x)
z
x = ay (x)
y = z = yz = 0

(3)

xy = ,y f1
xz = ,z f2
where we assume that ay and az are linear functions of x. Furthermore the functions
f1 (z) =

a (z z0 )2
2(1 + ) y

f2 (y) =

a (y y0 )2 .
2(1 + ) z

(4)

are specied, where () denotes the derivative with respect to x. Using a denition for
torsionless bending the constants y0 and z0 are derived in the appendix. As is shown in
this section considering the functions f1 (z) and f2 (y) one obtains a dierential equation
by which the equilibrium and compatibility equations can be advantageously combined.
The rod is stress free along the cylindrical surface which yields the boundary condition
xy ny + xz nz = 0 .

(5)

Next, the derivative of the normal stresses x ,x := f0 (y, z) reads

f0 (y, z) = ay y + az z .

(6)

The unknown constants ay und az are determined with

xy dA

Qy =

Qz =

()

xz dA .

(7)

()

The integral of the shear stresses xy considering (1)1 and applying integration by parts
yields
xy dA =
[xy + y (xy ,y +xz ,z +f0 )]dA
()

()

[(
y xy ),y +(
y xz ),z ] dA +

=
()

y f0 dA
()

y (xy ny + xy nz ) ds +

=
()

y f0 dA .
()

(8)

The boundary integral vanishes considering (5). Thus, inserting eq. (6) we obtain
xy dA =
()

y(ay y + az z) dA .

(9)

()

In an analogous way the integral of the shear stresses xz can be reformulated.

Hence, using the notation Aab = () ab dA eqs. (7) leads to the system of equations

Ayy Ayz
Ayz Azz

ay
az

Qy
Qz

(10)

for the unknowns ay und az . The solution yields

ay =

Qy Azz Qz Ayz
AyyAzz A2yz

az =

Qz Ayy Qy Ayz
.
AyyAzz A2yz

(11)

Considering (3) one can easily verify that the compatibility conditions (2)1 (2)4 are
identically fullled. The last two equations of (2) can be reformulated as follows

a ) + ay = 0
(1 + )xy + s,xy = (1 + ) (,y +
1+ y
(12)

(1 + )xz + s,xz = (1 + ) (,z +

az ) + az = 0 ,
1+
or
,z +az = 0 .
(13)
,y +ay = 0
The solution of the Poisson equation + f0 = 0 fullls (13). This dierential equation
also follows when inserting (3) into the equilibrium (1)1 .
Hence, the resulting boundary value problem follows from (1)1 and (5)
xy ,y +xz ,z +f0 (y, z) = 0

xy ny + xz nz = 0

in

on .

(14)

The solution of (14) using (3) satises the equations of threedimensional elasticity (1)
and (2) altogether.
The associated weak form is obtained weighting the dierential equation with test functions H 1 () and integrating over the domain
g(, ) =

[xy ,y +xz ,z +f0 (y, z)] dA = 0 .

(15)

()

Integration by parts yields

[xy ,y +xz ,z f0 (y, z) ] dA

g(, ) =
()

(xy ny + xz nz ) ds = 0 ,

(16)

()

where the boundary integral considering (14)2 vanishes. Inserting the shear stresses using
(3) we obtain
g(, ) =

[,y ,y +,z ,z ] dA
()

[f0 + f1 ,y +f2 ,z ] dA = 0
()

which completes the variational formulation.

4

(17)

3
Shear correction factors
There are several denitions of the shear correction factor , see e.g. Cowper [9] for a
review. According to the work of Timoshenko is the ratio of the average shear strain on
a section to the shear strain at the centroid. The analysis which leads to this denition is
given in [10]. However, several authors have pointed out that one obtains unsatisfactory
results when Timoshenkos beam equations and above dened shear correction factor
are used to calculate the highfrequency spectrum of vibrating beams, [9]. Thus, further
research on this problem has been done. The inuence of transverse loading and of support
on the shear deformation has been studied e.g. by Stojek [11], Cowper [9] or Mason and
Herrmann [6].
Here, we follow the approach of Bach [12] and Stojek [11] using the balance of energy of
the beam for linear elasticity
1
1
F =
2
2

(
(x) ()

2
2
+ xz
x2 xy
+
) dA dx .
E
G

(18)

The lefthand side describes the work of the external force F acting on the considered
beam such that bending without torsion occurs and is the unknown displacement projection of the loading point. Furthermore, E and G denote Youngs modulus and shear
modulus, respectively. Eq. (18) shows, that depends on the distribution of the normal
stresses x and the shear stresses xy and xz .
In the following the shear terms are reformulated. First, we introduce the average shear
stresses by
Qy
Qz
xz =
(19)
xy =
Asy
Asz
where the socalled shear areas are related to the area of the considered crosssection A
by
Asz = z A .
(20)
Asy = y A
The shear correction factors y and z are dened comparing the strain energies and
considering (19) and (20)
2
2
(xy
+ xz
) dA =
()

2
xy
dAsy +
(sy )

2
xz
dAsz = y
(sz )

Q2y
Q2
+ z z
A
A

(21)

with y = 1/y and z = 1/z . Reformulation of the lefthand side yields with (3) and
integration by parts
2
2
(xy
+ xz
) dA
()

(xy ,y +xz ,z ) dA

=
()

=
()

(xy f1 + xz f2 ) dA

(22)

()

(xy ,y +xz ,z ) dA +

(xy ny + xz nz ) ds
()

(xy f1 + xz f2 ) dA .
()

The boundary integral vanishes when considering (14)2 . Furthermore we insert (14)1 , (6)
and (4)
2
2
(xy
+ xz
) dA =
()

f0 dA
()

(xy f1 + xz f2 ) dA
()

= ay (Ay +
Czz ) + az (Az +
Cyy )
2(1 + )
2(1 + )

where

xz (y y0 )2 dA

Cyy =

xy (z z0 )2 dA .

Czz =

()

(23)

(24)

()

Inserting (11) into (23) and the result with (19) into (21) yields
Qy [

Ay Azz Az Ayz

Qy
(Czz Azz Cyy Ayz)
+
y ]
2
2
AyyAzz Ayz
2(1 + ) (AyyAzz Ayz)
A

Az Ayy Ay Ayz

(Cyy Ayy Czz Ayz)

Qz
+
z ] = 0 .
+ Qz [
2
2
AyyAzz Ayz
2(1 + ) (AyyAzz Ayz)
A

(25)

By letting Qz = 0 we obtain y and with Qy = 0 we obtain z as

y =

A Ay Azz Az Ayz

(Czz Azz Cyy Ayz)

+
2
Qy
AyyAzz Ayz
2(1 + ) AyyAzz A2yz
(26)

z =

A Az Ayy Ay Ayz

(Cyy Ayy Czz Ayz)

+
.
2
Qz
AyyAzz Ayz
2(1 + ) AyyAzz A2yz

Using (26) the shear stiness parameters GAsy = GA/y and GAsz = GA/z in Timoshenkos beam theory are dened. In our approach y and z are pure shape factors and
do not consider e.g. the inuence of the transverse loading or the support.

4
Finite element formulation
The weak form of the boundary value problem (17) is solved approximately using the
nite element method. Since only derivatives of rst order occur, C 0 continuous elements
can be used for the nite element discretization. Applying an isoparametric concept the
coordinates x = [y, z]T , the warping function and the test function are interpolated
as follows
xh =

nel
I=1

h =

NI (, ) xI

nel
I=1

NI (, ) I

h =

nel
I=1

NI (, ) I ,

(27)

where nel denotes the number of nodes per element. The index h is used to denote the
approximate solution of the nite element method. The derivatives of the shape functions
NI (, ) with respect to y and z are obtained in a standard way using the chain rule.
Inserting the derivatives of h and h into the weak form (17) yields the nite element
equation
numel nel

g(h , h ) =

nel

e=1 I=1 K=1

e
I (KIK
K FIe ) = 0 .

(28)

Here,
denotes the assembly operator with numel the total number of elements to
discretize the problem. The contribution of nodes I and K to the stiness matrix and of
node I to the load vector reads
e
=
KIK

FIe =

(NI ,y NK ,y +NI ,z NK ,z ) dAe

(e )

(f0 NI + f1 NI ,y +f2 NI ,z ) dAe ,

(e )

(29)
where the functions f0 (y, z), f1 (z) and f2 (y) are given in (6) and (4), respectively. The
section quantities A, Ayy, Azz, Ayz, yS , zS , y0 and z0 must be known. This can be achieved
using a nite element solution, see [13]. Eq. (28) leads to a linear system of equation. To
solve the system the value I of one arbitrary nodal point I has to be suppressed.
The present weak form (17) does not show any boundary integral. Thus, the associated
element formulation (29) is easy to implement into a nite element program and reduces
the amount of input data in comparison to the previous formulation in [8].

5
Examples
The presented nite element formulation has been implemented into an enhanced version
of the program FEAP. A documentation of the basis version may be found in the book
of Zienkiewicz und Taylor [14]. At re-entrant corners the shear stresses are unbounded.
The below presented plots show the distribution for a chosen mesh density. Further
mesh renement inuences the results only in the direct vicinity of the singularity. The
evaluated shear correction factors represent converged solutions.

5.1
Rectangular crosssection
The rst example is concerned with a rectangular crosssection, see Fig. 2. In the following
the distribution of the shear stresses due to a shear force Qz = 1 is investigated. Within
the elementary beam theory the shear stresses xz are given according to the quadratic
parabola xz = [1 (2 z/h)2 ] with = 1.5 Qz /A.

h/2

Table 1: Factors for the shear stresses of a rectangular crosssection ( = 0.25)

h/2

h/b

b/2

0.5

0.25

z=0, y=0

0.983 0.940 0.856 0.805

z=0, y =b/2

1.033 1.126 1.396 1.988

b/2

Fig. 2: Rectangular crosssection

Considering symmetry one quarter is discretized by n n 4noded elements. With Poissons ratio = 0 we obtain the nite element solution xy = 0 and xz according to the
elementary theory, thus constant in y and quadratic in z. For = 0 a theoretical solution has been evaluated by Timoshenko and Goodier [4] using Fourier series. The nite
element results of two points for = 0.25 and dierent ratios of h/b correspond with the
series solution published in [4], see table 1. The above dened maximum shear stress
of the elementary beam theory has to be multiplied with the factors of the table to obtain
8

the correct stresses at the specied points. For a square crosssection the error in the
maximum stress of the elementary beam theory is about 13 %. Plots of the normalized
shear stresses xz / for a square are given in Fig. 3. Fig. 4 shows that the shape of xz
for = 0 is identical with the quadratic parabola of the elementary theory. Furthermore
the distribution along z = 0 and = 0.25 is given in Fig. 5. The stress concentration at
z = 0, y = b/2 can be seen clearly.
Finally shear correction factors according to eq. (26) are computed, see table 2. As can
be seen the wellknown quantity z = 5/6 has been veried for = 0. However, for a
decreasing ratio h/b and increasing much lower values for z are evaluated. This result
is obvious since the shear stress distribution deviates considerable from the elementary
beam theory, see table 1. The factors of Cowper [9] are independent of the aspect ratio.
In our approach this holds only for = 0.
Table 2: Shear correction factors z for a rectangular crosssection
h/b

0.5

0.25

=0

0.8333 0.8333 0.8333 0.8333

= 0.25

0.8331 0.8295 0.7961 0.6308

= 0.5

0.8325 0.8228 0.7375 0.4404

xz =

1.126E+00 max
1.000E+00
8.000E-01
6.000E-01
4.000E-01
2.000E-01
0.000E+00 min

= 0:0

= 0:25
Fig. 3: Normalized shear stresses for a square crosssection

1.5
1.25

A xz

1
0.75
0.5
0.25
0
-0.5

-0.25

0.25

0.5

z/h

Fig. 4: Normalized shear stresses for a square with y = constant and = 0

1.12

xz =

1.08

1.04

1.00

0.96

0.92
-0.5

0.5

y=b

Fig. 5: Normalized shear stresses at z = 0 for a square with = 0.25

10

5.2
Crosssection with varying width
The next example is concerned with a crosssection with varying width, see Fig. 6. The
geometrical data are a = 10 cm, zS = 1.6667 a, zM = 1.4457 a and z0 = 1.5871 a. Considering symmetry one half of the crosssection is discretized with fournode elements.
Fig. 7 shows a plot of the shear stresses xz for = 0 and = 0.2 due to Qz = 1 kN .
The distribution in ydirection deviates considerably from a constant shape. Applying
further mesh renement one recognizes a singularity at the re-entrant corner. A plot of
the resulting shear stresses is depicted in Fig. 8. The shear correction factors are computed for dierent ratios and are summarized in table 3. In this case Poissons ratio
does not inuence the results in a signicant way.
Table 3: Shear correction factors for a crosssection with varying width

0.25

0.5

0.7395 0.7355 0.7294

0.6767 0.6753 0.6727

zz
a

2a

S
zM
zS

2a

y
Fig. 6: Crosssection with varying width

11

xz

kN/cm2

-2.321E-03 min
-1.800E-03
-1.500E-03
-1.200E-03
-9.000E-04
-6.000E-04
0.000E+00 max

= 0:0

= 0:2
Fig. 7: Plot of shear stresses xz

Fig. 8: Resulting shear stresses for = 0.2

12

5.3
Crane rail A 100
The crosssection of a crane rail A100 according to the German code DIN 536 is investigated next, see Fig. 9. We consider shear forces Qy = 1 kN and Qz = 1 kN . One half of
the crosssection is discretized using fournodeelements, see Fig. 10. The constant is determined as z0 = 5.078 cm. As Fig. 11 shows there are considerable stress concentrations
in the crosssection. Only minor dierences occur for the two ratios = 0 and = 0.3.
The resulting shear stresses are plotted for = 0.3 in Fig. 12 and Fig. 13. Finally, the
shear correction factors are summarized in table 4. There are only minor dierences for
= 0 and = 0.3.
Table 4: Shear correction factors of a crane rail A 100

0.3

0.6845 0.6836

0.4474 0.4468

k
r2
b3

r3

r7

f2

h2
h1

r4
f3

h3

r1

r5

f1

r6

b2
b1

k
100
b1
200

r1
10
b2
100

r2
500
b3
60

r3
6
h1
95

r4
6
h2
45,5

r5
8
h3
40

r6
6
f1
23

Fig. 9: Geometry of a crane rail A 100 in mm

13

r7
1,5
f2
16,5

f3
12

z
y

Fig. 10: Discretization of a crane rail

xz

kN/cm2

-4.056E-02 min
-3.000E-02
-2.400E-02
-1.800E-02
-1.200E-02
-6.000E-03
0.000E+00 max

= 0:0

= 0:3

Fig. 11: Shear stresses of a crane rail for Qz = 1 kN

14

Fig. 12: Resulting shear stresses of a crane rail for Qz = 1 kN

Fig. 13: Resulting shear stresses of a crane rail for Qy = 1 kN

15

5.4
Bridge crosssection
The bridge crosssection according to Fig. 14 is an example for a multiple connected
domain, see [7]. The constant z0 is evaluated as z0 = 1.775 m. Considering symmetry
the computation is performed at one half of the crosssection, see Fig. 15. The resulting
shear stresses are depicted for shear forces Qy and Qz in Fig. 16 and Fig. 17, respectively.
One can see the qualitative split of the ux at the branches. Table 5 shows that within
this example practically does not inuence the shear correction factors.
Table 5: Shear correction factors of a bridge crosssection
0.2

0.5993 0.5993

0.2312 0.2311

z
0,30

0,75

0,45

3,30
2,50

3,45

2,00
3,50
3,75

0,30

0,60

0,30

3,65
4,50

7,60

Fig. 14: Bridge crosssection, with measurements in m

16

Fig. 15: Discretization of the bridge crosssection

Fig. 16: Resulting shear stresses of the bridge crosssection for Qy = 1 kN

Fig. 17: Resulting shear stresses of the bridge crosssection for Qz = 1 kN

17

6
Conclusions
Assuming linear elastic behaviour and using assumptions for the stress eld the shear
stresses in prismatic beams subjected to torsionless bending are derived. One obtains a
simple weak form of the boundary value problem in terms of the warping function with
homogeneous stress boundary conditions. The associated element formulation can easily
be implemented into a standard nite element program. Based on the stored strain energy
of the shear stresses correction factors for arbitrary shaped beam sections are introduced
which consider the dierent stress distributions. Various examples show the eciency
of the derived formulation. Poissons ratio has essential eect on wide crosssections.
In contrast to that the results for thinwalled sections are practically insensitive against
transverse contraction.

A
Appendix: Constants for torsionless bending
There are dierent denitions of torsionless bending in the literature, see Timoshenko
and Goodier [4]. Here, we follow the approach of Weber [1] and Tretz [3]. Hence, the
application of the BettyMaxwell reciprocal relations leads to the fact that the coordinates
of the center of shear and of the center of twist are identical, the latter being dened as
the point of rest in every crosssection of a twisted beam. As a result of this approach
yM and zM are independent of Poissons ratio . A dierent denition of bending without
torsion was given by Goodier [15].
Introducing the torsion function of the SaintVenant torsion theory by
,z +y
,y =

,z =
,y z

(30)

where
denotes the unit warping function and inserting this into the condition
Qz yM Qy zM =

(xz y xy z) dA

(31)

()

we obtain
Qz yM Qy zM =

(xy
,y +xz
,z ) dA +

()

(xy ,z xz ,y ) dA .

(32)

()

Applying integration by parts to the rst integral yields

(xz
,z xz
,y ) dA =

()

(xy ,y +xz ,z )
dA
()

(xy ny + xz nz )
ds .

(33)

()

The boundary integral vanishes considering (14)2 . Inserting (14)1 and (6) one obtains

()

(xz
,z xz
,y ) dA =
()

18

f0
dA = ay A y az A z .

(34)

Introducing the coordinates of the center of shear which are identical with the coordinates
of the center of twist, see e.g. [13]
yM =

A zAyy A yAyz
AyyAzz A2yz

zM =

A yAzz A zAyz
AyyAzz A2yz

(35)

and combining (32) and (34) we obtain

(xy ,z xz ,y ) dA =

0=
()

[(,y f1 ),z (,z f2 ),y ] dA .

(36)

()

Integration by parts yields

(,z f1 ,y f2 ) dA
()

(,zy ,yz ) dA +
()

(,y nz ,z ny ) ds = 0

(37)

()

The second integral is obviously zero. The same holds for the boundary integral, since
d = (,y nz ,z ny ) ds = 0 on . Thus using (4), we obtain
(,z f1 ,y f2 ) dA =
()

2(1 + )

[,z ay (z z0 )2 ,y az (y y0 )2 ] dA = 0 .

(38)

()

Next, the following denitions are introduced

By :=

(,y ) y dA

(
,z +y) y dA

()

()
2

Byy :=

(
,z +y) y 2 dA

(,y ) y dA =
()

Bz :=

()

,z z dA

(
,y z) z dA

()

()
2

Bzz :=

(39)

,z z dA

(
,y z) z 2 dA .

()

()

The resultants of the torsion shear stresses vanish, Sokolniko [5]

,y dA = 0 .

,z dA = 0
()

(40)

()

Inserting (39) and (40) into eq. (38) yields

[a (Bzz 2z0 Bz ) + az (Byy 2y0 By )] = 0 .

2(1 + ) y

(41)

The constants ay and az according to (11) are not zero. Therefore eq. (41) can only be
fullled if the terms in both brackets vanish which yields
y0 =

Byy
2By

z0 =

If z is symmetry axis y0 = 0 holds and vice versa.

19

Bzz
.
2Bz

(42)

References
[1] Weber, C. (1924): Biegung und Schub in geraden Balken. ZAMM. vol. 4, pp. 334348

[2] Schwalbe, W. L. (1935): Uber

den Schubmittelpunkt in einem durch eine Einzellast
gebogenen Balken. ZAMM. vol. 15, pp. 138143

[3] Tretz, E. (1935): Uber

den Schubmittelpunkt in einem durch eine Einzellast gebogenen Balken. ZAMM. vol. 15, pp. 220225
[4] Timoshenko S. P., Goodier J. N. (1970): Theory of Elasticity, 3rd edn, McGrawHill
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