Estimating deflection and stress in a telescopic cantilever beam using

the tip reaction model

Interim PhD Report
J.G. Abraham
School of Engineering and Design
Brunel University
Uxbridge
Middlesex UB8 3PH

1.0 Deflection Analysis in the Telescopic Beam: Modelling Principle

Ramamurtham and Narayan [1] explain how the material resists the external loads in a
continuous beam subjected to transverse loads. To illustrate they consider the simply
supported beam with negligible weight subjected to four transverse loads as shown in
Figure 1.
a

W1

W3

W2

W4

X
A

x
RA

W1

W2

S
F
N
E
M

C
T

Figure 1: Moment of Resistance [1]

The applied loads bend the beam creating a compressive resistance in the top part and
tensile resistance in the bottom part. In Figure 1 MN represents the neutral plane
representing the parts (fibres) which do not associate with any stresses. The parts above
MN are under compression and the parts below MN are under tension The equivalent
compressive force acting on the area MEFN is given by C. Similarly the equivalent
tensile force acting on the area MHGN is given by T. The external loads applied and the
effective shear force S acting on the plane EFGH are assumed to be concentrated on the
plane of symmetry as shown in Figure 1. The forces that act over the length AX of the
beam are therefore
i. Vertical reaction RA at A
ii. External loads W1 and W2
iii.
Shear force S offered by section EFGH
iv. Compressive resistance C and
v. Tensile resistance T
Magnitudes of C and T are equal and since they act in the opposite directions their
separation h forms a moment of resistance
.

Taking moments about O gives

M R = RA x W1 ( x a ) W2 ( x a b)
But RA x W1 ( x a ) W2 ( x a b) is the bending moment of the external forces.

Hence the modelling principle for the effects of externally applied loads is that Bending
Moment at a section = Moment of resistance at that section. The flexural equation
M
f
E
= =
is based on this principle.
I
y
R

This principle applies well to model continuous beams. However this method cannot be
applied to telescopic beams where there is discontinuity between sections and the
discrepancy is more pronounced when there is a gap between the overlapping sections.
Section 3 describes the modifications required when modelling telescopic beams.

1.1 Telescopic Beam

A telescopic cantilever beam is one in which one or more pieces of beam are stacked
inside an outer beam portion which is fixed at one end supporting the entire beam
assembly and the inner pieces move out when application needs the full span. Such a
beam assembly will have three types of beam sections (a) a section with one end fixed
(the start or fixed-end section) (b) a section with one end free (end section) and (c) the
middle section which connect two other sections, one at each end. A three section
cantilever beam consists of all these three types and therefore will be considered in this
paper. Figure 2a shows such a model where section 1 is the fixed end section with an
overlap by an amount a1 with section 2 (middle section) in one end of it. On the other end
section 2 has an overlap of a2 with section 3.

a1
l2

a2
l3

w 2 n /m m

w 1 N /m m
A

l1

w 3 n /m m
E

W N
F

l2
a1

a2
l3

Figure 2: Three Section Cantilever

1.2 Modelling the Cantilever Beam Assembly The Tip Reaction Model
The tip reaction model proposed here models the load transfer between the beam sections
through reactions at the tips of different beam sections. Consider the three section beam
assembly shown in Figure 2 (b). Since a part of beam CD lies inside beam AB it will
produce an upward reaction at C in beam AB and a downward reaction at B in beam AB.
Thus the forces and moments acting in beam AB, the fixed-end section, can be modelled
as shown in Figure 3.

a1

l1
w1 N/mm

RB
RC

Figure 3: Fixed-End Section of a Telescopic Cantilever

In a similar fashion if beam CD is considered, at C there will be a downward reaction and
at B there will be an upward reaction, due to its contacts with beam AB. Beam EF also
will impose reactions on CD. There will be an upward reaction at E and a downward
reaction at D. Thus the forces at CD will be as those shown in Figure 4.
W 2 N /m m

RD

RB

RC
B
l2

RE

Figure 4: Loads Acting on the Middle Section

A similar analysis can be used to define the loads in beam EF. The loads acting on EF are
shown in Figure 5.
a2

RD

RE
E

W 3 N /m m

W N
F

D
l3

Figure 5: Loads Acting on the Free-End Section

Thus, in the proposed Tip Reaction Model the internal reactions are used to transmit the
forces. The effects of the external loads applied on the telescopic cantilever beam can
then be calculated using these reactions instead of the bending moment or the moment of
resistance used in the continuous beam. Each beam section can now be considered
separately and the equilibrium and compatibility principles of classic mechanics can be
applied to them.

1.2.1 Reactions at the Tips

a2

RD

RE
E

W 3 N /m m

W N
F

D
l3

Figure 6: Loads Acting on the Free-End Section

Consider the beam section EF as shown in Figure A.1. Taking moments about E gives
l
RD a2 = W l3 + w3l3 3
2
a
=

l
But 2
2 3
wl
W+ 33
From the above equations R =
2
D

In a similar fashion taking moments about D gives

l
RE l32 = W (1 2 )l3 + w3l3 ( 3 2l3 )
2
(1 22 )

W (1 2 ) + w3l3

2
Hence RE =

W 2 N /m m

RD

RB

RC
C

B
l2

RE

Figure 7: Loads Acting on the Middle Section

Consider the beam section CD as shown in Figure A.2.
Taking moment about C gives
l
RB 1l2 = RD l2 + w2l2 2 RE (l2 2l3 )
2
RC = RB + RE RD w2l2

Once the reactions are calculated in the above fashion deflection can be calculated in the
following way.

1.2.2 Deflection Analysis

Deflection of the assembly is considered as the combination of deflection in the three
beams AB, CD and EF in a three section telescopic cantilever beam. The deflected shapes
of the different beams however are assumed to be the same in the overlapped regions.
Consider the beams shown in Figure 8. The beam AB has two deflected portions AC and
CB. The beam CD has three deflected portions CB, BE and ED. In a similar
fashion the beam EF has two deflected portions ED and DF. The equations of the
deflected shapes of the beams can be derived by integrating the flexural equation twice.
There are seven different sections with different bending moments in this assembly. They
are
i. Section AC in beam AB
ii. Section CB in beam AB
iii. Section CB in beam CD
iv. Section BE in beam CD
v. Section ED in beam CD
vi. Section ED in beam EF
vii. Section DF in beam EF
The following relationships can also be said about the deflections.
Deflection at C estimated from AC in AB = Deflection at C estimated from CB in AB
= Deflection at C estimated from CB in CD
Deflection at B estimated from CB in AB = Deflection at B estimated from CB in CD
= Deflection at B estimated from BE in CD
Deflection at E estimated from BE in CD = Deflection at E estimated from ED in CD
= Deflection at E estimated from CD in EF
Deflection at D estimated from ED in CD = Deflection at D estimated from ED in EF
= Deflection at D estimated from DF in EF
l1

l2

w 1 N /m m

C
A

d1

d2

l3

w 2 N /m m
RE E
d3

RD

a2

W N

w 2 N /m m

D
d4

(a)

D
RE

W N

w 3 N /m m

E
d3

F
l3

a2

D RD

d4

E
D
x

Figure 8: Deflected Shapes of the Beams

The reactions at points C, B, E, D and F can be calculated using static equilibrium

conditions. The bent shape equations of the seven segments are derived by integrating the
d2y
flexural equation EI
= M twice where M is the sagging bending moment. The
dx 2
process is started at AC and the integration constants are found by substituting the
boundary condition at A. Using the equation thus derived the slope and deflection at C
are calculated. The calculated values are used as the boundary conditions for the curve
CB in beam AB. This process of fitting the curve using the boundary conditions
calculated in the previous section is continued until all the equations are fitted.
1.2.3. Derivation of the Deflection Curve for the Section AC in Beam AB
a1

l1
w 1 N /m m

RB

M
x

RC

Figure 9: A Section in AC
Consider section AC shown in Figure 9. The bending moment at the section at a distance
x from A is
(l x)
M = RB (l1 x) + RC (l1 a1 x) w1 (l1 x ) 1
for 0 x (l1 a1 )
2
assuming the sign convention Sagging is positive.
d2y
But EI 1 2 = M for the beam portion taking I1 to be the second moment of area of
dx
beam ACB. Integrating this twice will give
y =

M
dx .dx + C1 x + C 2
EI 1

To find C1 and C 2 substitute the boundary conditions at A i.e. when x = 0 y = 0 and

slope
y=

dy
=0
dx

1
(l x)
RB (l1 x) RC (l1 a1 x) + w1 (l1 x ) 1
dx dx

EI 1
2

dy
1
x2
x2
w1 2
x3
2

=
R

(
l
x

[(
l

a
)
x

]
+
(
l
x

l
x
+
) + C1
B
1
c
1
1
1
1
dx
EI 1
2
2
2
3

dy
= 0 . Integrating again
C1 = 0 because when x = 0 the slope
dx

y=

1
l x 2 x3
(l a1 ) x 2 x 3
w
x2
x3 x 4
RB ( 1 ) Rc [ 1
] + 1 (l12
l1
+ + +C1 x + C2
EI 1
2
6
2
6
2
2
3 12

C 2 = 0 because when x = 0

y =0

Thus, if the deflection equation for the section AC in the beam AB is given by
y1 = t14 x 4 + t13 x 3 + t12 x 2 + t11 x + t10

then it follows that the coefficients t are

t10 = C 2 = 0

t11 = C1 = 0

l2

RC l1 (1 1

2
l1 w1 l1
1 R B l1

t12 =

EI 1 2
4

1 R B RC w1 l1
t13 =
+

EI 1 6
6
6

1 w1
t14 =

EI 24

AC

AC

dy
dy
Let = g1 where
dx C
dx C

Equationset (1)

means the slope of section AC at C and x = (l1 a1 )

Also let y CAC = d1 where yCAC means the deflection of section AC at C.

3

g1 = 4 t14 k1 + 3 t13 k1 + 2 t12 k1

4

d1 = t14 k1 + t13 k1 + t12 k1

1.2.4. Derivation of the Deflection Curve for the Section CB in Beam 1

a1

l1
w 1 N /m m
M
x

RB

C
RC

Figure 10: A Section in CB

Consider the section CB shown in Figure 10.
The methodology is similar to the one adopted for the portion AC but the boundary
conditions applied correspond to point C ( g1 and d1 ) calculated earlier in section 1.2.3.
Consider the section at a distance x from A as shown in Figure 10.
(l x)
Bending moment M = RB (l1 x) w1 (l1 x) 1
for l1 a x l1
2
d2y
But EI 1 2 = M
dx

Integrating this twice will give

y =

M
dx .dx + C3 x + C 4
EI 1

w
dy
1
x2
x3
RB (l1 x ) + 1 (l12 x l1 x 2 + ) + C3
=
dx EI 1
2
2
3
dy
= g1
When x = l1 a1 = k1 slope
dx

k12
RB [l1k1 ]
1 2
C3 = g 1
E 1 Iw1 2 2 k13
+ [l1 k1 l1k1 + ]
2 3
Integrating again
1
l1 x 2
x3
w1 2 x 2
x3
x4

y=
R

)
+
(
l

l
+
) + C3 x + C4
B
1
1
EI 1
2
6
2
2
3 12

x
=
(
l

a
)
=
k
y
=
d
When
1
1
1
1

1kl 12 k13
RB ( )
1 2 6
C4 = d1 2 2 3 4 C3k1
E 1 wI1 l1 k1 1kl 1 k1
+ ( + )
2 2 3 12

Thus if the equation of the section CB in the beam AB is given by

y2 = t24 x 4 + t23 x 3 + t22 x 2 + t21 x + t20

Then the coefficients t become

t20 = C4

t 21 = C3

1 RB l1 w1l12
t22 =
+
EI1 2
4

1 RB w1l1 Equationset (2)

t23 =

EI1 6
4
1

t24 =

w

EI1 1

24

1.2.5. Derivation of the Deflection Curve for the Section CB in Beam 2

l1

l2

w 1 N /m m
C
A

d1

a2

B
(a )

RC

RE

d2

RD

w 2 N /m m

a1
l2
B

RB

w 2 N /m m

RE

RD
D

D
(b )

Figure 11: Deflection of Beams AB and CD

Again, the methodology is similar to the one adopted earlier and the boundary conditions
applied correspond to point C ( g1 and d1 ) calculated earlier in section 1.2.4., when,
instead of beam AB, the beam CD is considered, the bending moment is from Figure
11(b):

( x l1 + a1 )
for l1 a1 x l1
2
Substituting (l1 a1 ) = k1 this limit becomes k1 x l1
d2y
But EI 2
= M where I 2 is the second moment of area of beam CBD.
dx 2
Integrating once gives the slope
M = RC ( x l1 + a1 ) w2 ( x l1 + a1 )

w
dy
1
x2
x3
RC [k1 x + ] + 2 [ k1 2 x k1 x 2 +
+ C5
=
dx
EI 2
2
2
3

Integrating again gives the equation

1
k x 2 x3
w k 2 x 2 k1 x 3 x 4
RC [ 1 + ] + 2 [ 1
y=

+ + C5 x + C6
EI 2
2
6
2
2
3
12
When x = (l1 a1 ) = k1 ,

dy
= g1
dx

k 2 w k3
RC 1 + 2 1 + C5

2
2 3

k12 w2 k13
1

C 5 = g1
R

+
C
EI 2
2
2 3
When x = (l1 a1 ) = k1 y = d1 and when x = l1 y = d 2 See Figure 11(a).
3
3
4
4
4
k1
k1
w2 k1
k1
k1
1

d1 =
RC [
+
]+
[

+
] + C5 k1 + C6
EI 2
2
6
2 2
3
12
k13 w2 k14
1

+ C5k1
C6 = d1
R

C
EI 2
3

2 4
Thus if the equation of the section CB in the beam CD
1
k x 2 x3
w k 2 x 2 k1 x 3 x 4
RC [ 1 + ] + 2 [ 1
y=

+ + C5 x + C6 is given by
EI 2
2
6
2
2
3
12
g1 =

1
EI 2

y3 = t34 x 4 + t33 x 3 + t32 x 2 + t31 x + t30

Where the coefficients t are

t30 = C6

t31 = C5

1 RC k1 w2 k12
t32 =
+
EI2 2
4
Equationset (3)
1 RC w2 k1
t33 =

EI2 6
6

1 w1

t34 =

EI2 24
The deflection of section CB at B is d 2 .
d 2 = t34 l14 + t33 l13 + t32 l12 + t31l1 + t30

Also at B, when x = l1 , the slope is

g 2 = 4t34 l13 + 3t33l12 + 2t32 l1 + t31

dy
= g2
dx

1.2.6. Derivation of the Deflection Curve for the Section BE in Beam 2

l1

l2

w 1 N /m m

C
A

d1

a2

B
(a)

RC

E RE

d2

RD

w 2 N /m m

a1
l2
B

RB

w 2 N /m m
E RE

RD
D

D
(b )

Figure 12: Deflection of Beam CD

Again the methodology is similar to the one adopted earlier and the boundary conditions
applied correspond to point B ( g 2 and d 2 ) calculated earlier in section 1.2.5.
Let l2 a2 = k 2
From Figure A.6(b) bending moment
( x l1 + a1 )
M = RC ( x l1 + a1 ) w2 ( x l1 + a1 )
+ RB ( x l1 )
2
for l1 x (l1 + l2 a1 a2 ) ,which is l1 x ( k1 + k 2 ) .
d2y
But EI 2
= M where I 2 is the second moment of area of beam CBD.
dx 2
w
d2y

2
EI 2 2 = RC [ x k1 ] + 2 [ x k1 ] RB [ x l1 ]
dx
2

Integrating once gives the slope

x2
w
x2

dy
1
x3
RC k1 x + 2 k12 x k1 x 2 + RB l1 x + C7
=

dx EI 2
3
2
2
2

Integrating again gives the equation

x 3 k1 x 2 w2 k12 x 2 k1 x 3 x 4
x 3 l1 x 2
1

y=
RC

+ RB
+

+ C7 x + C8
EI 2
6
2
2
2
3
12
6
2

When x = l1 ,

dy
= g 2 and when x = l1 y = d 2
dx

 x2
w
x2

dy
1
x3
RC k1 x + 2 k12 x k1 x 2 + RB l1 x + C7
=

dx EI 2
3
2
2
2

g2 =

1
EI 2

l 2
w
l 2
l3
RC 1 k1l1 + 2 k12 l1 k1l12 + 1 + RB 1 + C7

3
2
2
2

1
C7 = g 2
EI 2
y=

1
EI 2

l 2
w
l 2
l3
RC 1 k1l1 + 2 k12l1 k1l12 + 1 + RB 1

3
2
2
2

x3 k x2 w k 2 x2 k x3 x4
x3 l x2
RC 1 + 2 1 1 + RB 1 + C7 x + C8

2 2 2
3
12
2
6
6

l13 k1l12 w2 k12l12 k1l13 l14 RB l13

RC
+ 2 2 3 + 12 + 3 + C7 l1 + C8

6
2

3
2
2 2
3
4
1 l1 k1l1 w2 k1 l1 k1l1 l1 RB l13
RC
C7 l1
C8 = d 2

+ +
+

EI 2 6
2 2 2
3
12
3
=

1
EI 2

Thus if the equation of the section BE in the beam CD

x 3 k1 x 2 w2 k12 x 2 k1 x 3 x 4
x 3 l1 x 2
1
y=
R

C
B
6
6 2 + C7 x + C8 is
EI 2
2 2 2
3
12

4
3
2
given by y4 = t 44 x + t 43 x + t 42 x + t 41 x + t 40
Here the coefficients t are

t40 = C8

t41 = C7

1 RC k1 w2 k12 RB l1
t42 =
+
+
EI2 2
4
2
Equationset (4)
1 RC w2 k1 RB

t43 =

EI2 6
6
6

1 w2

t 44 =

EI2 24
Deflection at E is found by substituting x = l1 a1 + l2 a2 = k1 + k 2
d 3 = t 44 (k1 + k 2 ) 4 + t 43 (k1 + k 2 ) 3 + t 42 (k1 + k 2 ) 2 + t 41 (k1 + k 2 ) + t 40
g 3 = 4t 44 (k1 + k 2 ) 3 + 3t 43 (k1 + k 2 ) 2 + 2t 42 (k1 + k 2 ) + t 41

1.2.7. Derivation of the Deflection Curve for the Section ED in Beam 2

l1

l2

w 1 N /m m

C
A

d1

E RE

d2

RD

w 2 N /m m
a2

B
(a )

RC

a1
l2
B

RB

w 2 N /m m
E RE

RD
D

D
(b )

Figure 13: Deflection of Beam CD

Again the methodology is similar to the one adopted earlier and the boundary conditions
applied correspond to point E ( g 3 and d 3 ) calculated earlier in section 1.2.7.
From Figure 13(b) bending moment

(l1 + l 2 a1 x )
2
For l1 + l2 a1 a2 x (l1 + l2 a1 ) ,let l1 + l2 a1 = k3 , then the limit becomes
M = RD (l1 + l2 a1 x) w2 (l1 + l 2 a1 x)

k1 + k 2 x k3

M = RD (k 3 x) w2 (k 3 x )

(k 3 x)
2

d2y
= M where I 2 is the second moment of area of beam CBD.
dx 2
Integrating once gives the slope

But EI 2

dy
1
x2 w
x3
RD k 3 x + 2 k 32 x k 3 x 2 + + C9
=
dx EI 2
2 2
3

dy
= g3
When x = l1 + l2 a1 a2 which is when x = k1 + k2 ,
dx

1
C9 = g 3
EI 2

(k + k 2 ) 2 w2 2
(k1 + k 2 ) 3
2
RD k3 (k1 + k 2 ) 1
+
k3 (k1 + k 2 ) k3 (k1 + k 2 ) +

2
2
3

dy
1
x2 w
RD k3 x + 2
=
dx EI 2
2 2

Integrating once again gives

2
x3
2
+ C7
k
x

k
x
+
3
3
3

3
4

k x2

k 2 x2 k x3

RD 3 x + w2 3 3 + x + C9 x + C10

6 2 2
3
12
2

When x = l1 + l2 a1 a2 which is when x = k1 + k2 , y = d 3

y=

1
EI 2

k3(k1 + k2 )2 (k1 + k2 )3

RD

1 2 6
C1 = 0 d3
C9 (k1 + k2 )

E 2 Iw2 k32(k1 + k2 )2 k3(k1 + k2 )3 (k1 + k2)4

+ +
2 2 3 1 2
Thus if the equation of the section ED in the beam CD
k3 x 2 x 3 w2 k 32 x 2 k 3 x 3 x 4
1
y=
RD
+

+ + C9 x + C10 is given by

EI 2
2
6
2
2
3
12

y5 = t54 x 4 + t53 x 3 + t52 x 2 + t51 x + t50

Where the coefficients t are

t50 = C10

t51 = C9

1 RD k3 w2 k32
t52 =
+
EI2 2
4
Equationset (5)
1 RD w2 k3
t53 =

EI2 6
6

1 w2

t54 =

EI2 24

When x = k 3 = k1 + l2

d 4 = t 54 k 34 + t 53 k 33 + t 52 k 32 + t51 k 3 + t 50
g 4 = 4t 54 k33 + 3t 53 k 32 + 2t 52 k 3 + t51

1.2.8. Derivation of the Deflection Curve for the Section ED in Beam 3

Again the methodology is similar to the one adopted earlier and the boundary conditions
applied correspond to point E ( g 3 and d 3 ) calculated earlier. Beam EF is considered
here.
Let k1 + k 2 = k 4
From Figure 14(b) bending moment
(x k4 )
M = R E ( x k 4 ) w3 ( x k 4 )
for k1 + k 2 x k3
2
d2y
But EI 3
= M where I 3 is the second moment of area of beam EDF.
dx 2
Integrating once gives the slope
w
dy
1
x2
x3
R E [k 4 x + ] + 3 [ k 42 x k 4 x 2 +
+ C11
=
dx EI 3
2
2
3

Integrating again gives the equation

w
k x2 x3
1
x2
x3 x4
R E [ 4 + ] + 3 [k 42
+ C11 x + C12
y=
k4
+
EI 3
2
6
2
2
3 12
When x = k 4 ,

dy
= g 3 and y = d 3
dx

w k3
k2
RE [ 4 ] + 3 [ 4 ] + C11
2
2 3

w k3
1
k2
RE [ 4 ] + 3 [ 4 ]
C11 = g 3
EI 3
2
2 3
g3 =

1
EI 3

w
k3
RE [ 4 ] + 3 [k 44 ] + C11k 4 + C12
3
8

w
1
k
RE [ 4 ] + 3 [k 44 ] C11k 4
C12 = d 3
EI 3
3
8

d3 =

1
EI 3

w
k x2 x3
x2
x3 x4
R E [ 4 + ] + 3 [k 42
+ C11 x + C12
k4
+
2
6
2
2
3
12

Thus if the equation of the section CB in the beam CD is given by

y 6 = t 64 x 4 + t 63 x 3 + t 62 x 2 + t 61 x + t 60
y=

1
EI 3

Now the coefficients t are

t60 = C12

t61 = C11

1 RE k4 w3k42
t62 =
+
EI3 2
4
Equationset (6)
1 RE w3k4
t63 =

EI3 6
6

1 w3

t64 =

EI3 24
When x = k 3 = k1 + l2
d 4 = t 64 k 34 + t 63 k 33 + t 62 k 32 + t 61 k 3 + t 60
g 4 = 4t 64 k 33 + 3t 63 k32 + 2t 62 k 3 + t 61

l1

l2

w 1 N /m m

C
A

d1

d2

l3

RE E
d3

RD

w 2 N /m m

a2

D
d4

(a )

W N

w 3 N /m m

E
d3

F
l3

RE

W N

w 2 N /m m

a2

D RD

d4

E
D

Figure 14: Deflection of Beam EF

1.2.9. Derivation of the Deflection Curve for the Section DF in Beam 3

Again the methodology is similar to the one adopted earlier and the boundary conditions
applied correspond to point D ( g 4 and d 4 ) calculated earlier.
From Figure 14 bending moment is
Where k5 = k1 + k2 + l3 so that k1 + l2 x k1 + k2 + l3 becomes k 3 x k5 .
M = W (k 5 x ) w3 (k 5 x )

(k 5 x)
2

d2y
= M where I 3 is the second moment of area of beam EDF.
dx 2
Integrating once gives the slope
w
dy
1
x2
x3
W [ k 5 x ] + 3 [k 52 x k 5 x 2 +
+ C13
=
dx EI 3
2
2
3
Integrating again gives the equation
1
k x 2 x3
w
x2
x3 x 4
W [ 5 ] + 3 [k52
y=
k5
+ + C13 x + C14
EI 3
2
6
2
2
3 12

But EI 3

When x = k 3 ,

dy
= g 4 and y = d 4
dx

k2
w
k3
W [k 5 k 3 3 ] + 3 [k 52 k3 k 5 k32 + 3 + C13
2
2
3

2
k3
w3 2
k 33
1
2

C13 = g 4
W [k 5 k 3 ] +
[k 5 k 3 k 5 k 3 + ]
EI 3
2
2
3
g4 =

1
EI 3

k k2 k3
w k 2k 2 k k 3 k 4
W [ 5 3 3 ] + 3 [ 5 3 5 3 + 3 ] + C13 k 3 + C14
2
6
2
2
3
12

k k2 k3
w k 2k 2 k k 3 k 4
1
W [ 5 3 3 ] + 3 [ 5 3 5 3 + 3 C13 k 3
C14 = d 4
EI 3
2
6
2
2
3
12
d4 =

1
EI 3

Thus if the equation of the section DF in the beam EF

1
k x 2 x3
w
x2
x3 x 4
W [ 5 ] + 3 [k52
y=
k5
+ + C13 x + C14 is given by
EI 3
2
6
2
2
3 12
y7 = t74 x 4 + t73 x 3 + t72 x 2 + t71 x + t70

Where the coefficients t are

t70 = C14

t71 = C13

1 W k5 w3k5
t72 =
+
EI3 2
4
Equationset (7)
1 W w3k5
t73 =

EI3 6
6

1 w3

t74 =

EI3 24
k5 = k1 + k2 + l3 is the full length of the beam assembly.

The tip deflection therefore is

d5 = t74 k54 + t73 k53 + t72 k52 + t71 k5 + t70

2.0 Stress Analyses in the Telescopic Beam: Modelling Principle

Figure 15: Tip Reaction Model Beam Assembly and Reactions on Individual Beams
In the Tip Reaction Model the internal reactions transmit the effects of applied loads. The
effects of the external loads applied can then be calculated using these reactions instead of the
bending moment or the moment of resistance used in the continuous beam. Each beam
section can now be considered separately and the principles of classic mechanics can be
applied on them. This section studies the validity of the tip reaction model by comparing the
bending stress values calculated using this model with those obtained from a finite element
analysis using ABAQUS. It also compares the stress values at corresponding points on a
continuous beam of similar dimensions subjected to similar loading. The analyses were
carried out on a telescopic cantilever assembly and a continuous beam, described as follows.
2.1 Theoretical Considerations
Bending stresses induced in a beam is a standard work by books on strength of materials. For
instance Rees [2] establishes that the bending stress induced is given by the equation
=

M
y and explains its derivation.
I

Consider the beam assembly shown in Figure 15 and assume that it is fixed at end A and
carries a tip load at F. Due to self load and the applied tip load there will be tensile stresses in
all three beam sections above the horizontal plane of symmetry and compressive stresses in
portions below the plane of symmetry. If the depths of the sections can be assumed as d 1 ,
d 2 and d 3 and the beam is represented by the vertical plane of symmetry the maximum

M d3
M d1 M d 2
,
and
. The
2I 1
2I 2
2I 3
bending moment varies from point to point and these values can be calculated once the tip
reactions are known.

bending stress at the top of the beams are given by

2.2 Shear Stress

Figure 16 Shear Stress Calculation

Consider a cantilever as shown in Figure 16.
Let the shear force at section x-x at a distance x from the fixed end be S.
Let it be that the requirement is to find the shear stress on section x-x at a distance y 1 (at EF)
from the neutral axis. This again is shown in Figure 16.
Let the area above EF is a and the distance of the centroid of this area from the neutral axis is
y.
Also let the breadth of the beam is b.
The shear stress at section x-x at level y1 from the Neutral Axis is:
q =

Sa y
Ib

2.3 Case Study Formulation

A telescopic cantilever beam assembly consisting of three hollow sections of 1 mm thickness
22 mm 22 mm 1200 mm
and dimensions of 25 mm 25 mm 1000 mm ,
and
19 mm 19 mm 1200 mm respectively is taken as the case study example. A load of 30 N
is applied at the tip of the beam assembly. Beam CD and AB have an overlap of 400 mm and
beams CD and EF have an overlap of 300 mm. The second moment of area about the neutral
axis for the beams AB, CD and EF are 9232 mm4 6188 mm4 and 3900 mm4 respectively. The
linear densities of the beams AB, CD and EF are 0.007536 N/mm 0.006594 N/mm and
0.005652 N/mm respectively.
Three investigations have been planned and carried out. They are
i. Use of tip reaction model to analytically calculate bending and shear stresses and
compare the results with those from Finite Element Analysis using ABAQUS.
ii. Use a comparable stepped single beam to estimate bending and shear stresses and
compare the results with those from Finite Element Analysis using ABAQUS.
iii.
Compare the results from the tip reaction model with those of the single stepped
beam.
2.4 Single Beam for Analysis

Figure 17: Single Beam for Analysis (First Angle Projection)

The telescopic beam sections have a 1mm gap between sections to facilitate easy sliding.
This is the situation in real applications as well. However when considering an equivalent
single beam this creates a problem. End view 2 shows sections built from the outer section
resulting in the inner section having a larger dimension i.e. 21mm 21mm external with a
thickness of 1 mm. On the other hand if sections are built from the inner section resulting
outer section will have a smaller dimension 23 mm 23 mm as shown in End View 1. In
this analysis section with End View 2 is considered.

Figure 18: Hollow Rectangular Section

Consider the hollow rectangular section shown in Figure 18.
Cross sectional area ( b 2 (b 2t ) 2 ) = 4t (b t )mm 2
Volume of the section of length 1 mm = 4t (b t )mm 2 1mm = 4t (b t )mm 3
Self weight of 1mm3 of steel = 7.85 10 5 Nmm 3 (assuming g = 10N/m2)
Therefore self weight of 1 mm long beam section = 4t (b t )mm 3 7.85 10 5 Nmm

= 3.14 t (b t ) 10 4 N / mm

(b 2t ) 4 )
12
4
4
(b (b 2t ) ) Self Weight N/mm4
I=
3.14 t (b t ) 10
12
5347
0.00628
12460
0.01319
7113
0.006908
16345
0.014444
9232
0.007536

Second moments of area of a hollow rectangular section I =

Section
Section 1
Section 2
Section 3
Section 4
Section 5

Width
(b)
21 mm
23 mm
23 mm
25 mm
25 mm

Thickness (t)
1 mm
2 mm
1 mm
2 mm
1 mm

(b

Consider the sectional view of the continuous stepped beam shown in Figure 19. The bending
stress will be maximum in any section along the line A1C1B1E1D1F1. The shear stress will be

maximum along the line A2C2B2E2D2F2. A tip load of 30N will be applied and comparison of
bending stresses will be carried out along A1C1B1E1D1F1 and the comparison of shear stresses
will be carried out along A2C2B2E2D2F2.

Figure 19: Sectional View of the Continuous Stepped Beam

2.5 Beam Assembly for Finite Element Analysis

Figure 20: Telescope Beam Assembly for FEA

Four wear pads are introduced to make the Tip Reaction Model analysis comparable to the
FEA. Wear pad 1 of 0.5 mm thickness and 5 mm wide is glued the inner side of the free end
of beam 1 as shown in Figure 7. Similarly wear pad 2 of thickness 0.5 mm and 5 mm wide is
glued to the outside of beam 2. Wear pad 3 is glued to the inner end of beam 2 and wear pad
4 is glued to outside of beam 3 as shown in Figure 7. The beam assembly can slide on these
wear pads. The bending stress in the assembly will be maximum along the line
A1C1B1E1D1F1. The shear stress will be maximum along the line A2C2B2E2D2F2. A tip load of

10N will be applied and comparison of bending stresses will be carried out along
A1C1B1E1D1F1 and the comparison of shear stresses will be carried out along A2C2B2E2D2F2.
2.6 Analysis of the Telescopic Assembly Using the Tip Reaction Model
2.6.1 Calculation of Tip Reactions
Consider Figure 15(d) and the equations derived in section 1.2.1 for these calculations.
1
wl
RD =
W + 3 3

2
2
wl
1
1
1200 0.005652
RD =
W + 3 3 =
30 +

= 133.5648 N
2
2 0.25
2
Similarly taking moments about D gives
RE =
=

1
2

w3l3 (1 2 2 )

W (1 2 ) +

1
0.25

0.005652 1200 (1 0.5)

30 (1 0.25 ) +
= 96 .7824 N
2

Similarly taking moments about C gives

1

l2

l3

2 )]
1
2
l2
1
1200
RB =
[ RD + 0.006594
RE (1 2 )]
1
2
From earlier calculations RD = 133 .5648 N and RE = 96 .7824 N
1
1200
RB =
[133 .5648 + 0.006594
96 .7824 (1 2 )] = 194 .8032 N
1
2
RB =

[R D + w 2

R E (1

Balancing forces give

RB + RE = RD + 0.006594 1200 + RC
RC = 194 .8032 + 96 .7824 133 .5648 0.006594 1200 = 150 .108 N
1
Thus when l1 = 1000 , l2 = 1200 , l3 = 1200 , 1 = and 2 = 0.25 the reactions are
3
RB = 194 .8032 N

RC = 150 .108 N
RD = 133 .5648 N
RE = 96 .7824 N

Reaction R at A
= 30 + 0.007536 1000 + 0.006594 1200 + 0.005652 1200 = 52 .2312 N
Moment at A
M = 30 2700 + 0.005652 1200 2100 + 0.006594 1200 1200

+ 0.007536 1000 500 =108506 .4 N mm

2.6.2 Shear Force and Bending Moment Diagrams

R A = 52 .2312 N
R B = 194 .8032 N

w1 = 0.007536

RC = 150 .108 N

w2 = 0.006594

R D = 133 .5648 N

w3 = 0.005652

R E = 96 .7824 N

2.6.2.1 Consider the beam AB

In the section AC
Shear force is = 52 .2312 0.007536 x where

x is the distance from A.

x
2

Bending moment = 108506 .4 + (52 .2312 x 0.007356 x )

A 52 .2312 N
47 .7096 N
C
A 108506 .4 N mm
Bending moment at
78524 .2 N mm
C

Therefore Shear force at

In Section CB
Shear force is = 52 .2312 0.007536 x + 150 .108 where

x is the distance from A.

Bending moment = 108506 .4 + (52 .232 x 0.007536 x

x
+ 150 .108 ( x 600 ))
2

C 197 .8176 N
B 194 .8032 N
C 78524 .2 N mm
Bending moment at
0
B

Therefore Shear force at

2.6.2.2 Consider the beam CD

In the section CB
Shear force is = 150 .108 0.006594 ( x 600 ) where

x is the distance from A.

Bending moment = 150 .108 ( x 600 ) 0.006594 ( x 600 )

C
B

Therefore Shear force at

C
B

Bending moment at

( x 600 )
)
2

150 .108 N
152 .746 N
0

60570 .6 N mm

In Section BE
Shear force is = 150 .108 0.006594 ( x 600 ) + 89 .79 where
Bending moment
= 150 .108 ( x 600 ) 0.006594 ( x 600 )

x is the distance from A.

( x 600 )
+ 194 .8032 ( x 1000 )
2

B 42 .0576 N
38 .7606 N
E
B 60570 .6 N mm
Bending moment at
E 16355 .8 N mm

Therefore Shear force at

In Section ED
Shear force is = 150 .108 0.006594 ( x 600 ) +194 .8032 + 96 .7824 Bending moment
= 150 .108 x 0.006594 ( x 600 )

( x 600 )
+ 194 .8032 ( x 1000 ) + 96 .7824 ( x 1500 )
2

where

x is the distance from A.

E 135 .543 N
D 133 .554 N
E 40365 .4 N mm
Bending moment at
1.44 N mm
D

Therefore Shear force at

2.6.2.3 Consider the beam EF

In the section ED
Shear force is = 96 .7824 0.005652 ( x 1500 ) where

x is the distance from A.

Bending moment = 96 .7824 x 0.005652 ( x 1500 )

E
D

Therefore Shear force at

E
D

Bending moment at

( x 1500 )
)
2

96 .7824 N
98 .478 N
0

29289 .1 N mm

In Section DF
Shear force is = 96 .7824 0.005652 ( x 1500 ) +133 .5448 where
from A.
Bending moment = 96 .78 x 0.005652 ( x 1500 )

x is the distance

( x 1500 )
+ 53 .56 ( x 1800 )
2

D 35 .0868 N
30 N
F
D 29289 .1 N mm
Bending moment at
4.32 N mm
F

Therefore Shear force at

Figure 21 shows the bending moment and shear force diagram obtained using the values
derived from above.

Figure 21: Shear Force and Bending Moment Diagrams for the Individual Sections

2.6.3 Calculation of Bending and Shear Stresses

Bending stress will be maximum along the vertical plane of symmetry at the top of the beams
marked ACBEDF shown in Figure 22.

Figure 22: A Telescopic Beam Assembly with Three Sections and the Vertical and
Horizontal planes of symmetry shown
2.6.3.1 Beam AB
Consider section AC in beam 1
Bending moment at the section at a distance x from A
M = RB (l1 x) + RC (l1 a1 x) w1 (l1 x )

(l1 x)
and the maximum bending
2

M y max M 12.5
=
N / mm 2 assuming the sign convention Sagging is
I
9232
y
=
12
.
5
mm
positive. max
because the top of the beam is 12.5 mm away from the neutral
plane .
Using these equations in Microsoft Excel, gives the Values shown in Table 1.
stress Max =

Figure 23: Section of the Beam above the Neutral Plane

Shear force in AC is given by S = 52 .2312 0.007488 xN and the maximum shear stress
is at the neutral plane.
The y coordinate of the centroid of the portion of the beam above the neutral plane

b 1 b b
( b 2 ) + 2
2
2
2
2 2 2 4
Ai yi =
= ( 2(b 2)( b 1) + b ) = 2b 6b + 4 + b
y=
2(b 1)
4( 2(b 1)
8(b 1)
Ai
=

3b 2 6b + 4
8(b 1)

Area of cross section =

b
b
1 + 1 + (b 2) 1 = 2(b 1)mm 2
2
2

Maximum shear stress is therefore Max =

Note: The b denominator in =

S 2(b 1) (3b 2 6b + 4) S (3b 2 6b + 4)

=
8(b 1) I 2t
4 I 2t

Sa y
in this case is equal to 2t.
Ib

Similarly for section CB in beam 1

Bending moment M = RB (l1 x) w1 (l1 x )

(l1 x)
2

And Shear force S = 52 .2312 0.007536 x + 150 .108 N

2.6.3.2 Beam CD
This beam has three sections CB, BE and ED with differing loads. The beam width also has
changed and thus b = 22 mm
For the section CB
( x l1 + a1 )
M = RC ( x l1 + a1 ) w2 ( x l1 + a1 )
and
2
Shear force is S = 150 .108 0.006594 ( x 600 )
Similar equations are established for sections BE and ED and fed to Excel to calculate
maximum bending stresses and maximum shear stresses in beam CD.
2.6.3.3 Beam EF
This beam has three sections ED and DF with differing loads. The beam width also has
changed and thus b =19 mm . Similar equations are established for sections ED and DF and
fed to Excel to calculate maximum bending stresses and maximum shear stresses in beam EF.
Figures 24 and 25 show the graphical comparison between the analytical and ABAQUS
derived bending stress, and the analytical and ABAQUS shear stress, respectively.

Table 1: Analytical Bending Stress at the Top of the Beam

Dist. From A
0
50
100
150
200
250
300
350
400
450
500
550
600
650
700
750
800
850
900
950
1000

Beam AB
BM
-108506
-105904
-103321
-100757
-98210.9
-95684.1
-93176.2
-90687.1
-88216.8
-85765.4
-83332.8
-80919.1
-78524.2
-68642.7
-58780.1
-48936.3
-39111.4
-29305.3
-19518
-9749.58
0

Bend. St
146.9162
143.3929
139.8951
136.4229
132.9762
129.5549
126.1592
122.789
119.4443
116.1251
112.8315
109.5633
106.3206
92.94126
79.58741
66.25907
52.95624
39.67892
26.4271
13.2008
0

Bending Stress Calculations

Beam CD
Dist From A
BM
Bend. St
600
0
0
650
-7513.64
13.35651
700
-15043.8
26.74232
750
-22590.4
40.15743
800
-30153.5
53.60186
850
-37733.1
67.07558
900
-45329.1
80.57861
950
-52941.7
94.11094
1000
-60570.7
107.6726
1050
-58476.1
103.9491
1100
-56397.9
100.2549
1150
-54336.3
96.58999
1200
-52291.1
92.95441
1250
-50262.4
89.34813
1300
-48250.2
85.77115
1350
-46254.4
82.22348
1400
-44275.2
78.70511
1450
-42312.4
75.21604
1500
-40366.2
71.75628
1550
-33597.3
59.72364
1600
-26844.8
47.7203
1650
-20108.9
35.74627
1700
-13389.5
23.80154
1750
-6686.48
11.88612
1800
0
0

Dist. From A
1500
1550
1600
1650
1700
1750
1800
1850
1900
1950
2000
2050
2100
2150
2200
2250
2300
2350
2400
2450
2500
2550
2600
2650
2700

Beam EF
BM
0
-4846.19
-9706.5
-14580.9
-19469.5
-24372.2
-29289.1
-27541.8
-25808.6
-24089.6
-22384.7
-20694
-19017.4
-17354.9
-15706.5
-14072.3
-12452.2
-10846.2
-9254.34
-7676.63
-6113.04
-4563.58
-3028.26
-1507.07
0

Bend. St
0
11.80481
23.64404
35.51769
47.42575
59.36824
71.34515
67.08896
62.8672
58.67986
54.52693
50.40843
46.32434
42.27467
38.25942
34.27859
30.33218
26.42019
22.54262
18.69947
14.89074
11.11643
7.376531
3.671056
0

Table 2: Analytical Shear Stress at the Neutral Planes of the Beam Sections
Beam AB
Beam CD
Beam EF
Dist. from A
0
50
100
150
200
250
300
350
400
450
500
550
600
600
650
700
750
800
850
900
950
1000

S. Force
52.2312
51.8544
51.4776
51.1008
50.724
50.3472
49.9704
49.5936
49.2168
48.84
48.4632
48.0864
47.7096
197.8176
197.4408
197.064
196.6872
196.3104
195.9336
195.5568
195.18
194.8032

S. Stress
1.222754
1.213933
1.205112
1.196291
1.18747
1.178649
1.169828
1.161007
1.152186
1.143365
1.134544
1.125723
1.116902
4.630993
4.622172
4.613351
4.60453
4.595709
4.586888
4.578067
4.569246
4.560425

Dist. from A
600
650
700
750
800
850
900
950
1000
1000
1050
1100
1150
1200
1250
1300
1350
1400
1450
1500
1500
1550
1600
1650
1700
1750
1800

S. Force
-150.108
-150.438
-150.767
-151.097
-151.427
-151.757
-152.086
-152.416
-152.746
42.0576
41.7279
41.3982
35.7933
40.7388
40.4091
40.0794
39.7497
39.42
39.0903
38.7606
135.543
135.2133
134.8836
134.5539
134.2242
133.8945
133.5648

S. Stress
-4.01469
-4.0235
-4.03232
-4.04114
-4.04996
-4.05877
-4.06759
-4.07641
-4.08523
1.124844
1.116026
1.107208
0.957303
1.089572
1.080754
1.071936
1.063118
1.0543
1.045482
1.036664
3.62514
3.616322
3.607504
3.598686
3.589868
3.58105
3.572232

Dist. from A
1500
1550
1600
1650
1700
1750
1800
1800
1850
1900
1950
2000
2050
2100
2150
2200
2250
2300
2350
2400
2450
2500
2550
2600
2650
2700

S. Force
-96.7824
-97.065
-97.3476
-97.6302
-97.9128
-98.1954
-98.478
35.0868
34.8042
34.5216
34.239
33.9564
33.6738
33.3912
33.1086
32.826
32.5434
32.2608
31.9782
31.6956
31.413
31.1304
30.8478
30.5652
30.2826
30

S. Stress
-3.01825
-3.02706
-3.03587
-3.04469
-3.0535
-3.06231
-3.07112
1.094213
1.0854
1.076587
1.067774
1.058961
1.050148
1.041334
1.032521
1.023708
1.014895
1.006082
0.997269
0.988456
0.979643
0.970829
0.962016
0.953203
0.94439
0.935577

Table 3: ABAQUS generated Bending Stress Values at the Top of the Beam Sections
Beam AB
Dist. from A ABAQUS
0
125.988
50
137.283
100
133.901
150
130.556
200
127.236
250
123.941
300
120.671
350
117.425
400
114.205
450
111.01
500
107.839
550
104.671
600
73.4191
650
87.031
700
74.5971
750
62.132
800
49.6943
850
37.2856
900
24.9103
950
12.4908
1000
1.09763

Beam CD
Dist. from A ABAQUS
600
0
650
14.8504
700
27.1929
750
39.5999
800
52.0375
850
64.5046
900
77.0008
950
89.5608
1000
100.783
1050
98.9077
1100
95.3401
1150
91.8291
1200
88.3467
1250
84.8928
1300
81.4676
1350
78.0709
1400
74.7029
1450
71.3447
1500
52.046
1550
55.4295
1600
44.2785
1650
33.139
1700
22.0305
1750
10.8997
1800
1.25995

Beam EF
Dist. from A ABAQUS
1500
0
1550
12.6175
1600
23.3846
1650
34.2009
1700
45.0521
1750
55.9611
1800
65.5431
1850
62.7675
1900
58.7733
1950
54.8278
2000
50.9157
2050
47.0371
2100
43.192
2150
39.3803
2200
35.6021
2250
31.8574
2300
28.1461
2350
24.4684
2400
20.8241
2450
17.2134
2500
13.6362
2550
10.0926
2600
6.58315
2650
3.13142
2700
0

Table 4: ABAQUS generated Shear Stress Values at the Neutral Planes of the Beam Sections
Beam AB
Dist. from A ABAQUS
0
4.4567
50
1.16691
100
1.16152
150
1.15282
200
1.14409
250
1.13536
300
1.12665
350
1.11805
400
1.10972
450
1.10171
500
1.0934
550
1.08887
600
2.92067
650
4.36334
700
4.3712
750
4.36361
800
4.35545
850
4.34822
900
4.34314
950
4.35896
1000
3.62112

Beam CD
Dist. from A ABAQUS
600
-2.2794
650
-3.7713
700
-3.7877
750
-3.7999
800
-3.8093
850
-3.8183
900
-3.8278
950
-3.836
1000
-3.8485
1050
1.36154
1100
1.06147
1150
1.05393
1200
1.0442
1250
1.03506
1300
1.02669
1350
1.01867
1400
1.009
1450
0.9924
1500
0.9664
1550
3.06753
1600
3.29468
1650
3.30879
1700
3.30109
1750
3.29519
1800
3.23574

Beam EF
Dist. from A ABAQUS
1500
-2.966
1550
-2.8528
1600
-2.7859
1650
-2.7821
1700
-2.7978
1750
-2.8141
1800
-2.9023
1850
0.387
1900
1.05227
1950
1.04279
2000
1.02896
2050
1.01907
2100
1.01047
2150
1.00185
2200
0.99912
2250
0.9931
2300
0.98434
2350
0.97558
2400
0.96683
2450
0.95808
2500
0.94932
2550
0.93181
2600
0.92305
2650
0.9143
2700
0.90498

Table 5: Comparison of Bending Stress Values at the Top of the Beam Sections
Dist. from A
0
50
100
150
200
250
300
350
400
450
500
550
600
650
700
750
800
850
900
950
1000

Beam AB
ABAQUS
125.988
137.283
133.901
130.556
127.236
123.941
120.671
117.425
114.205
111.01
107.839
104.671
73.4191
87.031
74.5971
62.132
49.6943
37.2856
24.9103
12.4908
1.09763

Analytical
146.9162
143.3929
139.8951
136.4229
132.9762
129.5549
126.1592
122.789
119.4443
116.1251
112.8315
109.5633
106.3206
92.94126
79.58741
66.25907
52.95624
39.67892
26.4271
13.2008
0

Dist. from A
600
650
700
750
800
850
900
950
1000
1050
1100
1150
1200
1250
1300
1350
1400
1450
1500
1550
1600
1650
1700
1750
1800

Beam CD
ABAQUS
0
14.8504
27.1929
39.5999
52.0375
64.5046
77.0008
89.5608
100.783
98.9077
95.3401
91.8291
88.3467
84.8928
81.4676
78.0709
74.7029
71.3447
52.046
55.4295
44.2785
33.139
22.0305
10.8997
1.25995

Analytical
0
13.35651
26.74232
40.15743
53.60186
67.07558
80.57861
94.11094
107.6726
103.9491
100.2549
96.58999
92.95441
89.34813
85.77115
82.22348
78.70511
75.21604
71.75628
59.72364
47.7203
35.74627
23.80154
11.88612
0

Dist. from A
1500
1550
1600
1650
1700
1750
1800
1850
1900
1950
2000
2050
2100
2150
2200
2250
2300
2350
2400
2450
2500
2550
2600
2650
2700

Beam EF
ABAQUS
0
12.6175
23.3846
34.2009
45.0521
55.9611
65.5431
62.7675
58.7733
54.8278
50.9157
47.0371
43.192
39.3803
35.6021
31.8574
28.1461
24.4684
20.8241
17.2134
13.6362
10.0926
6.58315
3.13142
0

Analytical
0
11.80481
23.64404
35.51769
47.42575
59.36824
71.34515
67.08896
62.8672
58.67986
54.52693
50.40843
46.32434
42.27467
38.25942
34.27859
30.33218
26.42019
22.54262
18.69947
14.89074
11.11643
7.376531
3.671056
0

Figure 24: Telescopic beam bending stresses from FEA and tip reaction analysis
(Key:
Analytical;
FEA)

Table 6: Comparison of Shear Stress Values at the Neutral Planes of the Beam Sections
Beam AB
Beam CD
Beam EF
Dist. from A
0
50
100
150
200
250
300
350
400
450
500
550
600
600
650
700
750
800
850
900
950
1000

ABAQUS
4.4567
1.16691
1.16152
1.15282
1.14409
1.13536
1.12665
1.11805
1.10972
1.10171
1.0934
1.08887
2.92067
4.36334
4.3712
4.36361
4.35545
4.34822
4.34314
4.35896
3.62112

S. Stress
1.222754
1.213933
1.205112
1.196291
1.18747
1.178649
1.169828
1.161007
1.152186
1.143365
1.134544
1.125723
1.116902
4.630993
4.622172
4.613351
4.60453
4.595709
4.586888
4.578067
4.569246
4.560425

Dist. from A
600
650
700
750
800
850
900
950
1000
1000
1050
1100
1150
1200
1250
1300
1350
1400
1450
1500
1500
1550
1600
1650

ABAQUS
-2.2794
-3.7713
-3.7877
-3.7999
-3.8093
-3.8183
-3.8278
-3.836
-3.8485
1.06147
1.05393
1.0442
1.03506
1.02669
1.01867
1.009
0.9924
0.9664
3.06753
3.29468
3.30879
3.30109

S. Stress
-4.01469
-4.0235
-4.03232
-4.04114
-4.04996
-4.05877
-4.06759
-4.07641
-4.08523
1.124844
1.116026
1.107208
0.957303
1.089572
1.080754
1.071936
1.063118
1.0543
1.045482
1.036664
3.62514
3.616322
3.607504
3.598686

Dist. from A
1500
1550
1600
1650
1700
1750
1800
1800
1850
1900
1950
2000
2050
2100
2150
2200
2250
2300
2350
2400
2450
2500
2550
2600

ABAQUS
-2.966
-2.8528
-2.7859
-2.7821
-2.7978
-2.8141
-2.9023
0.387
1.05227
1.04279
1.02896
1.01907
1.01047
1.00185
0.99912
0.9931
0.98434
0.97558
0.96683
0.95808
0.94932
0.93181
0.92305

S. Stress
-3.01825
-3.02706
-3.03587
-3.04469
-3.0535
-3.06231
-3.07112
1.094213
1.0854
1.076587
1.067774
1.058961
1.050148
1.041334
1.032521
1.023708
1.014895
1.006082
0.997269
0.988456
0.979643
0.970829
0.962016
0.953203

1700
1750
1800

3.29519
3.23574
5.15431

3.589868
3.58105
3.572232

2650
2700

0.9143
0.90498

0.94439
0.935577

Figure 25: Telescopic beam shear stresses from FEA and tip reaction analysis
(Key:
Analytical;
FEA)

2.7 Analysis of the Single beam Model

Figure 26: Single Beam Model

2.7.1 Shear Force and Bending Moment Diagrams for the Continuous Stepped Beam
2.7.1.1 In section AC
Equating forces in the vertical direction assuming W = 10N
R A = [ 0.007536 600 + 0.014444 400 + 0.006908 500 + 0.01319 300 + 0.00628 900 + 10 ]
= 33 .3616 N
Bending Moment at A =
10 2700 + 0.00628 900 2250 + 0.013188 300 1650 + 0.006908 500 1250
+ 0.014444 400 800 + 0.007536 600 300 = 56541 .4

Shear force is = 33 .3616 0.00753 x where

x is the distance from A.

x
2

Bending moment = 56541 .4 + (33 .3616 x 0.007536 x )

A
C

Therefore Shear force at

33 .3616 N
28 .84 N

56541 .4
37880 .9

A
C

Bending moment at

2.7.1.2 In the section CB

Shear force is = 33 .3616 0.007536 x 0.006594 ( x 600 ) where
from A.
Bending moment

x is the distance

x
( x 600 )
= 56541 .4 + (33 .3616 x 0.007536 x ) 0.006908 ( x 600 )
)
2
2
C
B

Therefore Shear force at

C
B

Bending moment at

28 .84 N
23 .0624 N

37880 .9
27500 .4

2.7.1.3 In the section BE

Shear force is = 33 .3616 7.488 0.006594 ( x 600 ) where
Bending moment

x is the distance from A.

= 56541 .4 + (33 .3616 x 7.488 ( x 500 )) 0.006594 ( x 600 )

B
E

Therefore Shear force at

B
E

Bending moment at

( x 600 )
)
2

23 .0624 N
19 .6084 N

27500 .4
16832 .7

2.7.1.4 In the section ED

Shear force is = 33 .3616 7.488 0.006594 ( x 600 ) 0.005652 ( x 1500 ) where
is the distance from A.
Bending moment
= 56541 .4 + (33 .3616 x 7.488 ( x 500 )) 0.006594 ( x 600 )

( x 600 )
)
2

( x 1500 )
2
E 19 .604 N
Therefore Shear force at
D 15 .652 N
E 16832 .7
Bending moment at
D 11543 .7
0.005652 ( x 1500 )

2.7.1.5 In the section DF

Shear force is = 33 .3616 7.488 0.006594 1200 0.005652 ( x 1500 ) where
the distance from A.
Bending moment

x is

= 56541 .4 + (33 .3616 x 7.488 ( x 500 ) 0.006594 1200 ( x 1200 )

( x 1800 )
)
2
D 15 .652 N
Therefore Shear force at
10 N
F
D 11543 .7
Bending moment at
0.28
F
0.005652 ( x 1800 )

The shear force diagram and the bending moment diagram for the continuous beam are
shown in Figure 27.

W
1

R
0.007488 N/mm

A
1000

0.006594 N/mm

0.005652 N/mm

1200
400

300
1200

32.18

27.68

22.05

18.75

-16370.57

15.08

10 N

-11294.54

-26573.52
-36652

-54482

Figure 27: Shear Force and Bending Moment Diagram of the Continuous Stepped
Beam
2.7.2 Calculation of Bending and Shear Stresses
Consider the sectional view of the continuous stepped beam shown in Figure 19. The bending
stress will be maximum in any section along the line A1C1B1E1D1F1. The shear stress will be
maximum along the line A2C2B2E2D2F2.
2.7.2.1 Section AB
Considering Section AC within Section AB
Bending moment at the section at a distance x from A M
x
= 56541 .4 + (33 .3616 x 0.007536 x ) and the maximum bending stress
2

M y max M 12.5
=
N / mm 2 assuming the sign convention Sagging is positive.
I
9232
= 12 .5mm because the top of the beam is 12.5 mm away from the neutral plane .

Max =
y max

Figure 28: Section of the Beam above the Neutral Plane

Shear force in AC is given by S = 52 .2312 0.007488 xN and the maximum shear stress
is at the neutral plane.

The y coordinate of the centroid of the portion of the beam above the neutral plane

b 1 b b
( b 2 ) + 2
2
2
2
2 2 2 4
Ai yi =
= ( 2(b 2)( b 1) + b ) = 2b 6b + 4 + b
y=
2(b 1)
4( 2(b 1)
8(b 1)
Ai
=

3b 2 6b + 4
8(b 1)

b
b
1 + 1 + (b 2) 1 = 2(b 1)mm 2
2
2
S 2(b 1) (3b 2 6b + 4) S (3b 2 6b + 4)
Maximum shear stress is therefore Max =
=
8(b 1) I 2t
4 I 2t
Sa y
Note: The b denominator in =
in this case is equal to 2t.
Ib

Area of cross section =

Similarly for section CB within section AB

Bending moment
x
2

M = 56541 .4 + (33 .3616 x 0.007536 x ) 0.006908 ( x 600 )

And Shear force S = 33 .3616 0.007536 x 0.006594 ( x 600 )

( x 600 )
)
2

27.2.2 Beam CD
This beam has three sections CB, BE and ED with differing loads. The beam width also
changes with each of these sections
For the section CB
x
2

M = 56541 .4 + (33 .3616 x 0.007536 x ) 0.006908 ( x 600 )

( x 600 )
) and
2

Shear force is S = 33 .3616 0.007536 x 0.006594 ( x 600 )

Similar equations are established for sections BE and ED and fed to Excel to calculate
maximum bending stresses and maximum shear stresses in beam CD.
2.7.2.3 Beam EF
This beam has three sections ED and DF with differing loads. The beam width also changes
with each of these sections. Similar equations are established for sections ED and DF and fed
to Excel to calculate maximum bending stresses and maximum shear stresses in beam EF.
Figures 29 and 30 show the graphical comparison between the analytical and ABAQUS
derived bending stress, and the analytical and ABAQUS shear stress, respectively.

Table 7: Analytical Bending Stress at the Top of the Sections of the Stepped Beam
Section AB
Section CD
Section EF
Dist. from A
0
50
100
150
200
250
300
350
400
450
500
550
600
600
650
700
750
800
850
900
950
1000

BM
-110541
-107882
-105243
-102622
-100019
-97436.1
-94871.6
-92326
-89799.2
-87291.3
-84802.2
-82331.9
-79880.5
-79880.5
-77456.6
-75068.7
-72717
-70401.4
-68121.9
-65878.5
-63671.2
-61500

B. Stress
149.670981
146.071193
142.496913
138.948142
135.424881
131.927128
128.454885
125.008151
121.586926
118.19121
114.821003
111.476305
108.157117
61.0894157
59.2356799
57.4095595
55.6110546
53.8401652
52.0968913
50.3812328
48.6931898
47.0327623

Dist. from A
600
650
700
750
800
850
900
950
1000
1000
1050
1100
1150
1200
1250
1300
1350
1400
1450
1500
1500
1550
1600
1650
1700
1750
1800

BM
-79880.5
-77456.6
-75068.7
-72717
-70401.4
-68121.9
-65878.5
-63671.2
-61500
-61500
-59355.6
-57228.3
-55118.4
-53025.7
-50950.3
-48892.2
-46851.3
-44827.7
-42821.4
-40832.3
-40832.3
-38868.4
-36937.4
-35039.4
-33174.4
-31342.4
-29543.3

B. Stress
61.0894157
59.2356799
57.4095595
55.6110546
53.8401652
52.0968913
50.3812328
48.6931898
47.0327623
99.4306847
95.9635713
92.5243793
89.1131087
85.7297596
82.3743319
79.0468255
75.7472406
72.4755771
69.231835
66.0160143
37.6863491
35.8737285
34.0915377
32.3397767
30.6184454
28.9275439
27.2670722

Dist. from A
1500
1550
1600
1650
1700
1750
1800
1800
1850
1900
1950
2000
2050
2100
2150
2200
2250
2300
2350
2400
2450
2500
2550
2600
2650
2700

BM
-40832.3
-38868.4
-36937.4
-35039.4
-33174.4
-31342.4
-29543.3
-29543.3
-27768.5
-26009.5
-24266.1
-22538.5
-20826.5
-19130.3
-17449.7
-15784.9
-14135.7
-12502.3
-10884.5
-9282.48
-7696.13
-6125.48
-4570.53
-3031.28
-1507.73
0.12

B. Stress
37.6863491
35.8737285
34.0915377
32.3397767
30.6184454
28.9275439
27.2670722
58.0146699
54.5295614
51.0752833
47.6518356
44.2592183
40.8974313
37.5664747
34.2663484
30.9970526
27.7585871
24.5509519
21.3741472
18.2281728
15.1130288
12.0287152
8.97523191
5.95257902
2.9607565
0

Table 8: Analytical Shear Stress at the Neutral Planes of the Sections of the Stepped Beam
Section AB
Section CD
Section EF
Dist. from A
0
50
100
150
200
250
300
350
400
450
500
550
600
600
650
700
750
800
850
900
950
1000

S. Force
53.3616
52.9848
52.608
52.2312
51.8544
51.4776
51.1008
50.724
50.3472
49.9704
49.5936
49.2168
48.84
48.84
48.1178
47.3956
46.6734
45.9512
45.229
44.5068
43.7846
43.0624

S. Stress
2.603921231
2.585534272
2.567147314
2.548760355
2.530373397
2.511986438
2.49359948
2.475212522
2.456825563
2.438438605
2.420051646
2.401664688
2.38327773
2.38327773
2.348036059
2.312794389
1.064750323
1.048274928
1.031799533
1.015324139
0.998848744
0.98237335

Dist. from A
600
650
700
750
800
850
900
950
1000
1000
1050
1100
1150
1200
1250
1300
1350
1400
1450
1500
1500
1550
1600
1650
1700
1750
1800

S. Force
48.84
48.1178
47.3956
46.6734
45.9512
45.229
44.5068
43.7846
43.0624
43.0624
42.717
42.3716
42.0262
41.6808
41.3354
40.99
40.6446
40.2992
39.9538
39.6084
39.6084
38.949
38.2896
37.6302
36.9708
36.3114
35.652

S. Stress
2.38327773
2.348036059
2.312794389
1.064750323
1.048274928
1.031799533
1.015324139
0.998848744
0.98237335
2.30053592
2.282083509
2.263631098
2.245178687
2.226726276
2.208273865
2.189821454
2.171369043
2.152916632
2.13446422
2.116011809
0.999349177
0.982712028
0.96607488
0.949437731
0.932800582
0.916163433
0.899526284

Dist. from A
1500
1550
1600
1650
1700
1750
1800
1800
1850
1900
1950
2000
2050
2100
2150
2200
2250
2300
2350
2400
2450
2500
2550
2600
2650
2700

S. Force
39.6084
38.949
38.2896
37.6302
36.9708
36.3114
35.652
35.652
35.338
35.024
34.71
34.396
34.082
33.768
33.454
33.14
32.826
32.512
32.198
31.884
31.57
31.256
30.942
30.628
30.314
30

S. Stress
0.999349177
0.982712028
0.96607488
0.949437731
0.932800582
0.916163433
0.899526284
3.573867963
3.542391621
3.51091528
3.479438938
3.447962596
3.416486254
3.385009912
3.35353357
3.322057228
3.290580886
3.259104545
3.227628203
3.196151861
3.164675519
3.133199177
3.101722835
3.070246493
3.038770151
3.00729381

Table 9: ABAQUS generated Bending Stress Values at the Top of the Beam Sections of the Stepped Beam
Section AB
Section CD
Section EF
Dist. from A
0
50
100
150
200
250
300
350
400
450
500
550
600
600
650
700
750
800
850
900
950
1000

B. Stress
89.3542
126.04
124.885
122.792
120.923
117.634
110.947
112.235
108.817
103.227
100.078
96.7544
77.7041
51.1435
49.0176
51.6278
47.6921
45.2442
44.0213
42.6788
47.6796
47.6796

Dist. from A
600
650
700
750
800
850
900
950
1000
1000
1050
1100
1150
1200
1250
1300
1350
1400
1450
1500
1500
1550
1600
1650
1700
1750
1800

B. Stress
51.1435
49.0176
51.6278
47.6921
45.2442
44.0213
42.6788
47.6796
47.6796
69.0299
82.542
76.8668
74.23
73.0918
69.4354
68.4102
63.6578
60.6837
57.4121
47.4053
31.3661
29.8058
28.2885
26.7899
25.2581
27.5445
35.6074

Dist. from A
1500
1550
1600
1650
1700
1750
1800
1800
1850
1900
1950
2000
2050
2100
2150
2200
2250
2300
2350
2400
2450
2500
2550
2600
2650
2700

B. Stress
31.3661
29.8058
28.2885
26.7899
25.2581
27.5445
35.6074
48.6036
44.7294
41.256
39.1417
36.2757
32.8282
30.5938
27.2369
24.5266
21.6627
18.6692
16.0882
13.5938
10.6032
7.9004
5.27709
2.62864
6.16913
0

Table 10: ABAQUS generated Shear Stress Values at the Neutral Planes of the Stepped Beam Sections
Section AB
Section CD
Section EF
Dist. from A
0
50
100
150
200
250
300
350
400
450
500
550
600
600
650
700
750
800
850
900
950
1000

S. Stress
4.5612
2.7523
2.7489
2.7341
2.7245
2.7156
2.6954
2.6746
2.6557
2.6491
2.6325
2.6211
2.6087
2.5874
2.5678
2.4483
1.3471
1.3329
1.3217
1.3894
1.4587
1.4984

Dist. from A
600
650
700
750
800
850
900
950
1000
1000
1050
1100
1150
1200
1250
1300
1350
1400
1450
1500
1500
1550
1600
1650
1700
1750
1800

S. Stress
2.5874
2.5678
2.4483
1.3471
1.3329
1.3217
1.3894
1.4587
1.4984
3.9521
2.9956
2.7483
2.7363
2.7014
2.661
2.6023
2.5841
2.4997
2.4138
2.3746
1.6412
1.5974
1.3318
1.3291
1.3155
1.3007
1.2996

Dist. from A
1500
1550
1600
1650
1700
1750
1800
1800
1850
1900
1950
2000
2050
2100
2150
2200
2250
2300
2350
2400
2450
2500
2550
2600
2650
2700

S. Stress
1.6412
1.5974
1.3318
1.3291
1.3155
1.3007
1.2996
4.217
4.0183
3.9894
3.9658
3.9524
3.9421
3.9365
3.9123
3.7743
3.7612
3.7549
3.7448
3.7369
3.7121
3.6822
3.6471
3.6018
3.5736
3.5974

Table 11: Comparison of Bending Stress Values at the Top of the Beam Sections of the Stepped Beam
Section AB
Section CD
Section EF
Dist. from A
0
50
100
150
200
250
300
350
400
450
500
550
600
600
650
700
750
800
850
900
950
1000

ABAQUS
89.3542
126.04
124.885
122.792
120.923
117.634
110.947
112.235
108.817
103.227
100.078
96.7544
77.7041
51.1435
49.0176
51.6278
47.6921
45.2442
44.0213
42.6788
47.6796
47.6796

Analytical
149.670981
146.071193
142.496913
138.948142
135.424881
131.927128
128.454885
125.008151
121.586926
118.19121
114.821003
111.476305
108.157117
61.0894157
59.2356799
57.4095595
55.6110546
53.8401652
52.0968913
50.3812328
48.6931898
47.0327623

Dist. from A
600
650
700
750
800
850
900
950
1000
1000
1050
1100
1150
1200
1250
1300
1350
1400
1450
1500
1500
1550
1600
1650
1700
1750
1800

ABAQUS
51.1435
49.0176
51.6278
47.6921
45.2442
44.0213
42.6788
47.6796
47.6796
69.0299
82.542
76.8668
74.23
73.0918
69.4354
68.4102
63.6578
60.6837
57.4121
47.4053
31.3661
29.8058
28.2885
26.7899
25.2581
27.5445
35.6074

Analytical
61.0894157
59.2356799
57.4095595
55.6110546
53.8401652
52.0968913
50.3812328
48.6931898
47.0327623
99.4306847
95.9635713
92.5243793
89.1131087
85.7297596
82.3743319
79.0468255
75.7472406
72.4755771
69.231835
66.0160143
37.6863491
35.8737285
34.0915377
32.3397767
30.6184454
28.9275439
27.2670722

Dist. from A
1500
1550
1600
1650
1700
1750
1800
1800
1850
1900
1950
2000
2050
2100
2150
2200
2250
2300
2350
2400
2450
2500
2550
2600
2650
2700

ABAQUS
31.3661
29.8058
28.2885
26.7899
25.2581
27.5445
35.6074
48.6036
44.7294
41.256
39.1417
36.2757
32.8282
30.5938
27.2369
24.5266
21.6627
18.6692
16.0882
13.5938
10.6032
7.9004
5.27709
2.62864
6.16913
0

Analytical
37.6863491
35.8737285
34.0915377
32.3397767
30.6184454
28.9275439
27.2670722
58.0146699
54.5295614
51.0752833
47.6518356
44.2592183
40.8974313
37.5664747
34.2663484
30.9970526
27.7585871
24.5509519
21.3741472
18.2281728
15.1130288
12.0287152
8.97523191
5.95257902
2.9607565
0

Figure 29: Continuous beam bending stresses from FE and Theory

(Key:

Analytical;

FEA)

Table 12: Comparison of Shear Stress Values at the Neutral Planes of the Stepped Beam Sections
Section AB
Section CD
Section EF
Dist. from A
0
50
100
150
200
250
300
350
400
450
500
550
600
600
650
700
750
800
850
900
950
1000

ABAQUS
4.5612
2.7523
2.7489
2.7341
2.7245
2.7156
2.6954
2.6746
2.6557
2.6491
2.6325
2.6211
2.6087
2.5874
2.5678
2.4483
1.3471
1.3329
1.3217
1.3894
1.4587
1.4984

Analytical
2.603921231
2.585534272
2.567147314
2.548760355
2.530373397
2.511986438
2.49359948
2.475212522
2.456825563
2.438438605
2.420051646
2.401664688
2.38327773
2.38327773
2.348036059
2.312794389
1.064750323
1.048274928
1.031799533
1.015324139
0.998848744
0.98237335

Dist. from A
600
650
700
750
800
850
900
950
1000
1000
1050
1100
1150
1200
1250
1300
1350
1400
1450
1500
1500
1550
1600
1650
1700
1750
1800

ABAQUS
2.5874
2.5678
2.4483
1.3471
1.3329
1.3217
1.3894
1.4587
1.4984
3.9521
2.9956
2.7483
2.7363
2.7014
2.661
2.6023
2.5841
2.4997
2.4138
2.3746
1.6412
1.5974
1.3318
1.3291
1.3155
1.3007
1.2996

Analytical
2.38327773
2.348036059
2.312794389
1.064750323
1.048274928
1.031799533
1.015324139
0.998848744
0.98237335
2.30053592
2.282083509
2.263631098
2.245178687
2.226726276
2.208273865
2.189821454
2.171369043
2.152916632
2.13446422
2.116011809
0.999349177
0.982712028
0.96607488
0.949437731
0.932800582
0.916163433
0.899526284

Dist. from A
1500
1550
1600
1650
1700
1750
1800
1800
1850
1900
1950
2000
2050
2100
2150
2200
2250
2300
2350
2400
2450
2500
2550
2600
2650
2700

ABAQUS
1.6412
1.5974
1.3318
1.3291
1.3155
1.3007
1.2996
4.217
4.0183
3.9894
3.9658
3.9524
3.9421
3.9365
3.9123
3.7743
3.7612
3.7549
3.7448
3.7369
3.7121
3.6822
3.6471
3.6018
3.5736
3.5974

Analytical
0.999349177
0.982712028
0.96607488
0.949437731
0.932800582
0.916163433
0.899526284
3.573867963
3.542391621
3.51091528
3.479438938
3.447962596
3.416486254
3.385009912
3.35353357
3.322057228
3.290580886
3.259104545
3.227628203
3.196151861
3.164675519
3.133199177
3.101722835
3.070246493
3.038770151
3.00729381

Figure 30: Continuous beam shear stresses from FE and Theory

(Key:

Analytical;

FEA)

References
1. Ramamrutham S. And Narayan R.; Strength of Materials, Eleventh Edition,
Dhanpatrai &Sons, Dehli 1992.
2. Rees, D.W.A.; Mechanics of Solids and Structures, World Scientific 2000.
3. Benham P.P and Crawford R.J .; Mechanics of Engineering Materials, English

Language Book Society/ Longman Group Limited, Essex England 1987.