Class Note for Structural Analysis 2

Fall Semester, 2006

Hae Sung Lee, Professor

School of Civil, Urban and Geosystem Engineering
Seoul National University
Seoul, Korea
 Contents
Chapter 1 Influence Lines for Indeterminate Beams 1
1.1 Influence Lines at Supports……………………………………………………….. 2
1.2 Inflence Lines in Members………………………………………………………... 7

Chapter 2 Slope Deflection Method 14

2.0 Comparison of Flexibility Method and Stiffness Method………………………… 15
2.1 Analysis of Fundamental System………………………………………………..... 18
2.2 Analysis of Beams………………………………………………………………… 21
2.3 Analysis of Frames………………………………………………………………... 30

Chapter 3 Iterative Solution Method & Moment Distribution Method 45

3.1 Solution Method for Linear Algebraic Equations………………………………… 46
3.2 Moment Distribution Method……………………………………………………... 50
3.3 Example - MDM for a 4-span Continuous Beam…………………………………. 55
3.4 Direct Solution Scheme by Partitioning…………………………………………... 57
3.5 Moment Distribution Method for Frames………………………………………… 58

Chapter 4 Energy Principles 60

4.1 Spring-Force Systems……………………………………………………………... 61
4.2 Beam Problems……………………………………………………………………. 62
4.3 Truss problems……………………………………………………………………. 66

Chapter 5 Matrix Structural Analysis 69

5.1 Truss Problems…………………………………………………………………… 70
5.2 Beam Problems…………………………………………………………………… 81
5.3 Frame Problems…………………………………………………………………... 89

Chapter 6 Buckling of Structures 92

6.0 Stability of Structures……………………………………………………………... 93
6.1 Governing Equation for a Beam with Axial Force………………………………... 94
6.2 Homogeneous Solutions…………………………………………………………... 95
6.3 Homogeneous and Particular solution…………………………………………….. 98
6.4 Energy Method……………………………………………………………………. 99
6.5 Approximation with the Homogeneous Beam Solutions…………………………. 102
6.6 Nonlinear Analysis of Truss………………………………………………………. 104
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Chapter 1

Influence Lines for Indeterminate Beams

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1.1 Influence Lines at Supports

1.1.1 Reaction Force

P= 1
ξ

L L

Rb = ??
z By the Flexibility Method
P= 1 dbξ
ξ

dxξ dbb
P= 1

dxb
- Compatibility Condition
d bξ
Rb × d bb + d bξ = 0 → Rb = −
d bb

- Betti-Maxwell’s Reciprocal Theorem

2L 2L

∫ δ( x − ξ) d
0
xb dx = ∫ δ( x − L)d xξ dx → d ξb = d Lξ = d bξ
0

d bξ d
- Influence Line : Rb = − = − ξb
d bb d bb

z Moment Diagram P(2L)/4= L /2

P= 1

1/2 1/2

2L L LL L3 ( 2 L) 3
d bb = 2 × MM = 2 × = =
3EI 3EI 2 2 6 EI 48 EI

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z Calculation of Deflection
1 1 x3
EIw′′ = − M = − x → w = − + ax + b
2 EI 12
- Boundary conditions
w(0) = 0 → b = 0
1 L2 L2
w′( L) = 0 → − +a =0→ a =
EI 4 4 EI
- Deflection of the Beam
1
d xb = w = (− x 3 + 3L2 x)
12 EI
z Influence Line
d ξb 1 L3 1 x x
Rb = − =− (− x 3 + 3L2 x) / = [( )3 − 3( )]
d bb 12 EI 6 EI 2 L L

1.1.2 Moment

ξ P= 1

EI EI EI

L L L

z By the force method

ξ P= 1

θbξ

dxξ , θxξ

dxb
M= 1

θb

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- Compatibility Condition
θbξ
M b × θbb + θbξ = 0 → M b = −
θbb

- Betti-Maxwell’s Reciprocal Theorem

3L 3L

∫ δ( x − ξ) d
0
xb dx = ∫ δ( x − L)θ xξ dx → d ξb = θ Lξ = θbξ
0

θbξ d ξb
- Influence Line : Mb = − =−
θbb θbb

z Calculation of Deflection
dxb
M= 1

θbb
i) Left span
x x3
EIw′L′ = − M = − → wL = − + ax + b
L 6 LEI
- Boundary conditions
wL (0) = 0 → b = 0
L2 L
wL ( L) = 0 → − + aL = 0 → a =
6 EI 6 EI
- Deflection of the left span
1
d xb = wL = (− x 3 + L2 x)
6 LEI
L
θbb
L
=− (counterclockwise)
3EI
ii) Analysis of Center and Right Span
dxb
M= 1

M= 1

x= 1

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2L L
θcc = , θcb =
3EI 6 EI
θ 1
- Compatibility condition: θcb + M c θcc = 0 → M c = − cb = −
θcc 4

- Moment Diagram

iii) Deflection of Center span

5 1 5 3 x2
EIwc′′ = − M = −(− x + 1) → wc = ( x − ) + ax + b
4L EI 24 L 2
wc (0) = 0 → b = 0
1 5 L2 L2 7L
wc ( L) = 0 → ( − ) + aL = 0 → a =
EI 24 2 24 EI
1
δ xb = wc = (5 x 3 − 12 x 2 L + 7 xL2 )
24 LEI
7L
θbb
R
= wc′ (0) = (Clockwise)
24 EI
L 7L 5L
θbb = θbb
L
+ θbb
R
= + =
3EI 24 EI 8 EI

iv) Deflection of Right Span

x 1 1 x3 x2
EIw′R′ = − M = −( − ) → wR = (− + ) + ax + b
4L 4 EI 24 L 8
wR (0) = 0 → b = 0
1 L2 L2 L
wR ( L) = 0 → (− + ) + aL = 0 → a = −
EI 24 8 12 EI
1
δ xb = wR = − ( x 3 − 3x 2 L + 2 xL2 )
24 LEI

z Final Influence Line

i) left span :
wL 1 5L 4
Mb = − =− (− x 3 + L2 x) / = ( x 3 − L2 x)
θbb 6 LEI 8EI 15L2

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4 1
M b′ = 2
(3 x 2 − L2 ) = 0 → x = L = 0.577 L
15 L 3
4L
M b (0.577 L) = 0.577(0.577 − 1)(0.577 − 1) = −0.103L
15

ii) Center Span :

wC 1 5L
Mb = − =− (5 x 3 − 12 x 2 L + 7 xL2 ) /
θbb 24 LEI 8 EI
1 x
=− 2
(5 x 3 − 12 x 2 L + 7 xL2 ) = − (5 x − 7 L)( x − L)
15 L 15L2

1 12 − 39
M b′ = − 2
(15 x 2 − 24 xL + 7 L2 ) = 0 → x = L = 0.384 L
15L 15
0.384 L
M b (0.384 L) = − (5 × 0.384 − 7)(0.384 − 1) = −0.080 L
15

iii) Right Span:

wR 1 5L
Mb = − = ( x 3 − 3x 2 L + 2 xL2 ) /
θbb 24 LEI 8EI
1 1
= 2
( x 3 − 3x 2 L + 2 xL2 ) = x( x − 2 L)( x − L)
15L 15L2

1 3− 3
M b′ = 2
(3x 2 − 6 xL + 2 L2 ) = 0 → x = = 0.423L
15L 3
0.423L
Mb = (0.423 − 2)(0.423 − 1) = 0.026 L
15

-0.103L
-0.080L

-0.026L

0.577L 0.384L 0.423L

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1.2 Inflence Lines in Members

1.2.1 Moment

P= 1 Mb = ??
ξ

L L
z By the Flexibility Method

P= 1
ξ

dxξ , θxξ

θbξ
θbb
dxb

M= 1
θbξ
- Compatibility Condition: M b × θbb + θbξ = 0 → M b = −
θbb

- Betti-Maxwell’s Reciprocal Theorem

2L 2L

∫ δ( x − ξ)d xbdx = ∫ δ( x − L / 2)θ xξdx → dξb = θ L = θbξ

0 0 2
ξ

θbξ d ξb
- Influence Line : Mb = − =−
θbb θbb

z Calculation of Deflection
i) Moment Diagram

1
2
8L
θbb =
3EI

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ii) Suspended span

2x x3
EIw′S′ = − M = − → wS = − + ax + b
L 3LEI
- Boundary conditions
wS (0) = 0 → b = 0
L L2 L
wS ( ) = wO (0) → − + a = ??
2 24 EI 2
- Deflection of the suspended span
x3
wS = − + ax
3LEI

iii) Overhanged span

2x 1 x3 x 2
EIwO′′ = − M = −(1 + ) → wO = − ( + ) + cx + e
L EI 3L 2
- Boundary conditions
L L2 L
wO (0) = wS ( ) → e = − +a
2 24 EI 2
2
L L L
wO ( ) = 0 → − +c +e = 0
2 6 EI 2

iv) Right span

2x 1 x3
EIw′R′ = − M = −(2 − ) → wR = − (− + x 2 ) + fx + g
L EI 3L
- Boundary conditions
wR (0) = 0 → g = 0
1 L2 2L
wR ( L) = 0 → (− + L2 ) + fL = 0 → f =
EI 3 3EI
- Deflection
1
wR = ( x 3 − 3Lx 2 + 2 L2 x)
3LEI

v) Determination of a, c, e
L 2L 1 L L 2L 17 L
θO ( ) = θ R (0) = → − ( + )+c = →c=
2 3EI EI 4 2 3EI 12 EI
2 2 2
L L L 17 L 13L2
− +c +e=0→− + +e=0→e=−
6 EI 2 6 EI 24 EI 24 EI
2 2
13L L L L
− =− +a →a=−
24 EI 24 EI 2 EI

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vi) Deflection of the left span

x3 1
- Suspended span: wS = − + ax = − ( x 3 + 3L2 x)
3LEI 3LEI
1
- Overhanged span: wO = − (8 x 3 + 12 Lx 2 − 34 xL2 + 13L3 )
24 LEI

z Final Influence Line

i) Suspended span
wS 1 8L 1
Mb = − = ( x 3 + 3L2 x) / = 2 ( x 3 + 3L2 x)
θbb 3LEI 3EI 8L

L 1 L L3 13
M b ( ) = 2 (( )3 + 3 ) = L = 0.203L
2 8L 2 2 64
ii) Overhanged span
wO 1
Mb = − = (8 x 3 + 12 Lx 2 − 34 xL2 + 13L3 )
θbb 64 L2

iii) Right span

wR 1
Mb = − = − 2 ( x 3 − 3Lx 2 + 2 L2 x)
θbb 8L

1
M b′ = − 2
(3x 2 − 6 Lx + 2 L2 ) = 0 → x = 0.423L , M b (0.423L) = −0.048L
8L

-0.048L

0.423L
0.203L

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1.2.2 Influence Line of Shear Force using the Influence Line of Moment

P= 1 Vb = ??
ξ

EI EI
L L
L
i) ξ ≤ P= 1
2
χ
Mb

Vb
L 2M b 2 x 1 2x 1
Vb × + 1 × x − M b = 0 → Vb = − = 3 ( x 3 + 3L2 x) − = 3 ( x 3 − 5 L2 x)
2 L L 4L L 4L
L
ii) ≤ ξ ≤ L (Overhanged span)
2

Mb

L 2M b 1
Vb × − M b = 0 → Vb = = (8 x 3 + 12 Lx 2 − 34 xL2 + 13L3 )
2 L 32 L3
iii) L ≤ ξ (Right span)
L 2M b 1
Vb × − M b = 0 → Vb = = − 3 ( x 3 − 3Lx 2 + 2 L2 x)
2 L 4L
-0.048L
× 2 − 2x (x ≤ L ) =
L L 2

0.203L
0.423L

-0.594
-0.096

0.406
0.423L

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1.2.3 Influence lineof Shear Force by Müller –Breslau’s Principle

P= 1 Vb = ??
ξ

EI
L L

z Remove Redunduncy and Apply an Unit Load

1

dbb dxb

d xb
Vb = −
d bb

z Free Body Digram and Moment Diagram

L/2

1
1 2 1

4 L3
d bb =
6 EI

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z Deflection of the Beam

i) Suspended span
x3
EIw′S′ = − M = − x → wS = − + ax + b
6 EI
- Boundary conditions
wS (0) = 0 → b = 0
L L2
θ S ( ) = θ O ( 0) → − + a = ??
2 8 EI
- Deflection of the suspended span
x3
wS = − + ax
6 EI

ii) Overhanged span

L 1 x3 L
EIwO′′ = − M = −( + x) → wO = − ( + x 2 ) + cx + e
2 EI 6 4
- Boundary conditions
L L2
θO (0) = θS ( ) → c = − +a
2 8EI
L L2 L
wO ( ) = 0 → − +c +e=0
2 12 EI 2
iii) Right span
1 x3 L
EIw′R′ = − M = −( L − x) → wR = − (− + x 2 ) + fx + g
EI 6 2
- Boundary conditions
wR (0) = 0 → g = 0
1 L3 L3 L2
wR ( L) = 0 → − (− + ) + fL = 0 → f =
EI 6 2 3EI
- Deflection
1
wR = ( x 3 − 3Lx 2 + 2 L2 x)
6 EI
iv) Determination of a, c, e
L L2 1 L2 L2 L2 17 L2
θO ( ) = θ R (0) = → − ( + )+c = →c=
2 3EI EI 8 4 3EI 24 EI
3 3 3
L L L 17 L 13L2
− +c +e=0→− + +e=0→e=−
12 EI 2 12 EI 48EI 48 EI
2 3 3
17 L L 5L
=− +a→a=
24 EI 8EI 6 EI

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v) Deflection of the left span

x3 1
- Suspended span : wS = − + ax = − ( x 3 − 5 L2 x)
6 EI 6 EI
1
-Overhanged span : wO = − (8 x 3 + 12 Lx 2 − 34 xL2 + 13L3 )
48EI

z Final Influence Line

wS 1 4 L3 1
i) Suspended span : Vb = − = ( x 3 − 5L2 x) / = 3 ( x 3 − 5L2 x)
d bb 6 EI 6 EI 4 L

wO 1
ii) Overhanged span : Vb = − = 3
(8 x 3 + 12 Lx 2 − 34 xL2 + 13L3 )
dbb 32 L

wR 1
iii) Right span : Vb = − = − 3 ( x 3 − 3Lx 2 + 2 L2 x)
d bb 4L

-0.594

-0.096

0.423L
0.406

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Chapter 2

Slope Deflection Method

A B

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2.0 Comparison of Flexibility Method and Stiffness Method

Flexibility Method Stiffness Method

P
P

k1 k2 k1 k2

z Remove redundancy (Equilibrium) z Compatibility

P
P

δ1 = δ 2 = δ

z Compatibility z Equilibrium
δ1 = δ 2 P
k1δ + k2δ = P → δ =
X P− X k1 k1 + k 2
= →X = P
k1 k2 k1 + k 2

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Flexibility Method Stiffness Method

L/2 P
L/2 P
B
B A C
A C EI EI
EI EI
L L
L L

z Remove redundancy (Equilibrium) z Compatibility

3PL
16

+
θB
+
1

θ BA = θ BC = θ B
z Equilibrium
z Compatibility
3PL 3EI
2
f
M BA =− , M BCf
= 0 , M BA
B
= M BC
B
= θB
L 1 PL PL 2L 16 L
δB0 = (1 + ) ×1 = , δ BB =
6 EI 2 4 16 EI 3EI ∑ M B =M BAf + M BCf + M BAB + M BCB = 0 →
δB0 3PL 3PL 6 EI PL2
δ B 0 + δ BB M B = 0 → M B = − =− − + θB = 0 → θB =
δ BB 32 16 L 32 EI

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Flexibility Method Stiffness Method

1. Release all redundancies. 1. Fix all Degrees of Freedom.

2. Calculate displacements induced by external loads at the released 2. Calculate fixed end forces induced by external loads at the fixed
redundancies. DOF.
3. Apply unit loads and calculate displacements at the released 3. Apply unit displacements and calculate member end forces at the
redundancies. DOFs.
4. Construct the flexibility equation by superposing the displacement 4. Construct the stiffness equation by superposing the member end
based on the compatibility conditions. forces based on the equilibrium equations.
5. Solve the flexibility equation. 5. Solve the stiffness equation.
6. Calculate reactions and other quantities as needed. 6. Calculate reactions and other quantities as needed.

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2.1 Analysis of Fundamental System

2.1.1 End Rotation

A B

θA

z Flexibility Method
i) θ B = 0
MA MB

L L
MA + M B = −θ A
3EI 6 EI
→ M A = − 4EI θ A , M B = 2EI θ A
L L L L
MA + MB = 0
6 EI 3EI

ii) θ A = 0
2 EI 4 EI
MA = − θB , M B = θB
L L

z Sign Convention for M :Counterclockwise “+”

z θ A ≠ 0 , θB ≠ 0
4 EI 2 EI
MA = θA + θB
L L
2 EI 4 EI
MB = θA + θB
L L

2.1.2 Relative motion of joints

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z Flexibility Method

L L ∆
MA + MB = −
6 EI ∆ 6 EI ∆
3EI 6 EI L
→M =− , MB =
∆
A
L L L L L L
MA + MB =
6 EI 3EI L
6 EI ∆ 6 EI ∆
or in the new sign convention : M A = , MB =
L L L L
z Final Slope-Deflection Equation
4 EI 2 EI 6 EI ∆
MA = θA + θB +
L L L L
2 EI 4 EI 6 EI ∆
MB = θA + θB +
L L L L
z In Case an One End is Hinged
4 EI 2 EI 6 EI ∆ 2 EI EI 3EI ∆
MA = θA + θB + =0→ θ A = − θB −
L L L L L L L L
2 EI 4 EI 6 EI ∆ 3EI 3EI ∆
MB = θA + θB + = θB +
L L L L L L L
2.1.3 Fixed End Force
z Both Ends Fixed

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z One End Hinged

MA MB

MA MA/2

3 3
MA MA
2 2
z Ex.: Uniform load case with a hinged left end
qL2 qL2 3qL2 qL2
M Bf = − − =− =− , M Af = 0
12 24 24 8

2.1.4 Joint Equilibrium

Ffixed
Fjoint

Fmember
Joint i

− ∑ F fixed −∑ Fmember + ∑ F joint = 0

or

∑F fixed + ∑ Fmember = ∑ F joint

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2.2 Analysis of Beams

2.2.1 A Fixed-fixed End Beam
P
B
A C
EI
a b

z DOF : θ B , ∆B

z Analysis
i) All fixed : No fixed end forces

ii) θ B ≠ 0 , ∆ B = 0

2 EI 4 EI 4 EI 2 EI
M 1AB = θ B , M BA
1
= θ B , M 1BC = θ B , M CB
1
= θB
a a b b
6 EI 6 EI
1
VBA = −VAB
1
= 2 θ B , − VBC 1
= VCB1
= 2 θB
a b

2 EI 4 EI 4 EI 2 EI
θB θB θB θB
a a b b

6 EI 6 EI 6 EI 6 EI
θB θB θB θB
a2 a2 b2 b2

iii) θ B = 0 , ∆ B ≠ 0

6 EI 6 EI 6 EI 6 EI
2
M AB = 2
∆ B , M BA
2
= 2 ∆ B , M BC2
= − 2 ∆ B M CB
2
= − 2 ∆B
a a b b
12 EI 12 EI
2
VBA = −VAB
2
= 3 ∆ B , VBC 2
= −VCB
2
= 2 ∆B
a b
6 EI 6 EI 6 EI 6 EI
∆B ∆B ∆B ∆B
a2 a2 b2 b2

12 EI 12 EI 12 EI 12 EI
∆B ∆B ∆B ∆B
a3 a3 b3 b3

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z Construct the Stiffness Equation

1 1 1 1
∑M = 0 → M BA
i
B
1
+ M BC
1
+ M BA2
+ M BC2
= 0 → 4 EI ( + )θ B + 6 EI ( 2 − 2 )∆ B = 0
a b a b
1 1 1 1
∑VBi = P → VBA1 + VBC1 + VBA2 + VBC2 = P → 6 EI ( 2 − 2 )θ B + 12 EI ( 3 + 3 )∆ B = P
a b a b
(b − a)a b 2 2
ab3 3
θB = − 3
P , ∆B = P
2 EIl 3EIl 3
2 EI 6 EI ab 2
M AB = M 1AB + M AB
2
= θB + 2 ∆ B = 2 P ,
a a l
2 EI 6 EI a 2b
M CB = M CB
1
+ M CB
2
= θB − 2 ∆ B = − 2 P
b b l

2.2.2 Analysis of a Two-span Continuous Beam (Approach I)

q qL
B
A C
EI 2EI
L L

z DOF : θ B , θC

z Analysis
i) Fix all DOFs and Calculate FEM.
qL2 qL2 qL2 qL2
f
M AB = , M BA
f
=− , M BC
f
= , M CB
f
=−
12 12 8 8
ii) θ B ≠ 0 , θC = 0

2 EI 4 EI 8EI 4 EI
M 1AB = θ B , M BA
1
= θ B , M BC
1
= θ B , M CB
1
= θB
L L L L
iii) θ B = 0 , θC ≠ 0

4 EI 8EI
2
M BC = θC , M CB
2
= θC
L L
z Construct the Stiffness Equation
qL2 EI EI
∑M i
B = 0 → M BA
f
+ M BC
f
+ M BA
1
+ M BC
1
+ M BC
2
=0→
24
+ 12 θ B + 4 θ C = 0
L L
qL2 EI EI
∑M i
C = 0 → M CB
f
+ M CB
1
+ M CB
2
=0→ −
8L
+ 4 θ B + 8 θC = 0
L L

Structural Analysis Lab.

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 23
School of Civil, Urban & Geosystem Eng., SNU

qL3 qL3
θB = − , θC =
96 EI 48EI
z Member End Forces
qL2 2 EI 3
M AB = M AB
f
+ M 1AB = + θ B = qL2
12 L 48
qL2 4 EI 1
M BA = M BA
f
+ M BA
1
=− + θ B = − qL2
12 L 8
qL2 8 EI 4 EI 1
M BC = M BC
f
+ M BC
1
+ M BC
2
= + θB + θC = qL2
8 L L 8
qL2 4 EI 8 EI
M CB = M CB
f
+ M CB
1
+ M CB
2
=− + θB + θC = 0
8 L L

z Various Diagram

- Freebody Diagram

1 2 1 2
qL qL
16 8

9 5
7 qL qL 3
qL 16 8 qL
16 8

19
qL
16

- Moment Diagram

1 2 17 2
qL qL 1 2 3 2
16 512 qL qL
8 16

7
L
16

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 24
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2.2.3 Analysis of a Two-span Continuous Beam (Approach II)

q qL
B
A C
EI 2EI
L L

z DOF : θ B

z Analysis
i) Fix all DOFs and Calculate FEM.
qL2 qL2 qL2 1 qL2 3qL2
f
M AB = , M BA
f
=− , M BC
f
= + =
12 12 8 2 8 16

ii) θ B ≠ 0
2 EI 4 EI 6 EI
M 1AB = θ B , M BA
1
= θ B , M BC
1
= θB
L L L

z Construct Stiffness Equation

∑M B = 0 → M BA
f
+ M BC
f
+ M BA
1
+ M BC
1
=0

qL2 3qL2 EI EI qL2

- + + 4 θB + 6 θB = 0 → θB = −
12 16 L L 96 EI

z Member End Forces

qL2 2 EI 3
M AB = M AB
f
+ M 1AB = + θ B = qL2
12 L 48
2
qL 4 EI 1
M BA = M BA
f
+ M BA
1
=− + θ B = − qL2
12 L 8
2
3qL 6 EI 1
M BC = M BC f
+ M BC
1
= + θ B = qL2
16 L 8

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 25
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2.2.4 Analysis of a Beam with an Internal Hinge (4 DOFs System)

q

B C
A D
EI EI EI

l l l

z DOF : θ B , θCL , θCR , ∆C

z Analysis

i) All fixed
ql 2 ql 2
M f
AB = , M BA = −
f

12 12
ii) θ B ≠ 0

2 EI 4 EI 2 EI 6 EI
M 1AB = θ B , M BA
1
= M BC
1
= θ B , M CB
1
= θ B , VCB
1
= 2 θB
l l l l

iii) θCL ≠ 0

2 EI L 4 EI L 6 EI
2
M BC = θC , M CB
2
= θC , VCB
2
= 2 θCL
l l l
iv) θCR ≠ 0

4 EI R 2 EI R 6 EI
3
M CD = θC , M DC
3
= θC , VCD
3
= − 2 θCL
l l l
v) ∆ C ≠ 0

6 EI 6 EI 12 EI
4
M BC = M CB
4
= 2
∆ C , M CD
4
= M DC
4
= − 2 ∆ C , VCD
4
= VCB
4
= 2 ∆C
l l l

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 26
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z Construct Stiffness Equation

ql 2 EI EI EI
∑M
i
i
1
12
=0→−
+ 8 θ B + 2 θCL +
l l
0 +6
l2
∆C = 0

EI EI EI
∑i M 2i = 0 → 2 θ B + 4 θCL +
l l
0 + 6 2 ∆C = 0
l
EI EI
∑M
i
i
3 =0→ 4 θCR − 6 2 ∆ C = 0
l l
EI EI EI EI
∑V
i
4
i
=0→ 6 2 θ B + 6 2 θCL − 6 2 θCR + 24 3 ∆ C = 0
l l l l

z Elimination of θCL and θCR

- 2nd and 3rd equation

EI L EI EI EI EI
2 θC = −( θ B + 3 2 ∆ C ) , 2 θCR = 3 2 ∆ C
l l l l l

- 1st equation
ql 2 EI EI EI
− + 8 θ B + 2 θ CL + 6 2 ∆ C =
12 l l l
2
ql EI EI EI EI ql 2 EI EI
− + 8 θB − ( θB + 3 2 ∆C ) + 6 2 ∆C = 0 → − +7 θB + 3 2 ∆C = 0
12 l l l l 12 l l
- 4th equation
EI EI EI EI
6 2
θ B + 6 2 θ CL − 6 2 θ CR + 24 3 ∆ C =
l l l l
EI EI EI EI EI EI EI
6 2 θ B − 3( 2 θ B + 3 3 ∆ C ) − 3(3 3 ∆ C ) + 24 3 ∆ C = 0 → 3 2 θ B + 6 3 ∆ C = 0
l l l l l l l

2.2.5 Analysis of a Beam with an Internal Hinge (2 DOFs System)

q

B C
A D
EI EI EI

l l l

z DOF : θ B , ∆C

z Analysis

i) All fixed
ql 2 ql 2
f
M AB = , M BA
f
=−
12 12

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ii) θ B ≠ 0

2 EI 4 EI 3EI 3EI
M 1AB = θ B , M BA
1
= θ B , M BC
1
= θ B , VBC
1
= −VCB
1
= − 2 θB
l l l l

iii) ∆ C ≠ 0

3EI 3EI 3EI

2
M BC = − M DC
2
= 2
∆ C , VBC
2
= −VCB
2
= − 2 ∆ C , VCD
2
= −VDC
2
= 2 ∆C
l l l

z Construct the Stiffness Equation

ql 2 EI EI
∑M
i
i
1 =0→−
12
+ 7 θB + 3 2 ∆C = 0
l l
EI EI
∑V
i
2
i
=0→ 3 2 θB + 6 3 ∆C = 0
l l

ql 3 ql 4
θB = , ∆C = −
66 EI 132 EI
2 EI R 3EI ∆ C 3 ∆C 3 ql 3
θC = − (− ) → θCR = =−
l l l 2 l 264 EI
1 3∆ ql 3
3 ql 3
ql 3
θCL = − θ B − =− + =
2 2L 132 EI 2 132 EI 264 EI

2.2.6 Beam with a Spring Support

q

B C
A D
EI EI EI
k

l l l

z Analysis

i) All fixed
ql 2 ql 2
f
M AB = , M BA
f
=−
12 12
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ii) θ B ≠ 0

2 EI 4 EI 3EI 3EI
M 1AB = θ B , M BA
1
= θ B , M BC
1
= θ B , − VBC
1
= VCB
1
= 2 θB
l l l l

iii) ∆ C ≠ 0

k∆C

3EI
2
M BC = − M DC
2
= ∆C
l2
3EI 3EI
2
VBC = −VCB
2
= − 2 ∆ C , VCD
2
= −VDC
2
= 2 ∆ C , VS2 = k∆ C
l l

z Construct the Stiffness Equation

ql 2 EI EI
∑ M 1i = 0 → −
i 12
+ 7 θB
l
+ 3 2 ∆C = 0
l
EI EI
∑V
i
2
i
=0→ 3 2 θ B + (6 3 + k ) ∆ C = 0
l l

1+ α ql 3 1 ql 4 6 EI
θB = , ∆C = − where k = α
1 + 14α / 11 66 EI (1 + 14α / 11) 132 EI l3

z α→0
ql 3 ql 4
θB = , ∆C = −
66 EI 132 EI

z α→∞
ql 3
θB = , ∆C = 0
84 EI

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2.2.7 Support Settlement

l l
B C
A
EI EI

z DOF : θ B

z Analysis

i) All fixed
6 EI δ 3EI δ
f
M BA = , M BC
f
=−
l l l l
ii) θ B ≠ 0

4 EI 3EI
1
M BA = θ B , M BC
1
= θB
l l

z Construct the Equilibrium Equation

EI δ EI δ EI EI 3δ
∑M
i
i
1 =0→6
l l
−3
l l
+ 4 θB + 3 θB = 0 → θ B = −
l l 7l

2.2.8 Temperature Change

A B
T1
T2

α(T2 − T1 ) α(T2 − T1 )
θA = l , θB = − l
2h 2h

z Fixed End Moment

4 EI 2 EI α(T2 − T1 )
MA = θA + θB = EI
L L h
2 EI 4 EI α(T2 − T1 )
MB = θA + θB = − EI
L L h

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 30
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2.3 Analysis of Frames

2.3.1 A Portal Frame without Sidesway

l/2 P
B C
EI2

EI1 EI1

A D
z DOF : θ B , θC

z Analysis

i) All fixed
Pl Pl
0
M BC = 0
, M CB =−
8 8

ii) θ B ≠ 0
2 EI1 4 EI1
M 1AB = θ B , M BA
1
= θB
l l
4 EI 2 2 EI 2
1
M BC = θ B , M CB
1
= θB
l l

iii) θC ≠ 0

2 EI 2 4 EI 2
2
M BC = θC , M CB
2
= θC
l l
4 EI1 2 EI1
2
M CD = θC , M DC
2
= θC
l l

z Construct the Stiffness Equation

Pl 4 EI1 4 EI 2 2 EI 2
∑M i
B =0→
8
+(
l
+
l
)θ B +
l
θC = 0

Pl 2 EI 2 4 EI1 4 EI 2
∑M i
C =0→−
8
+
l
θB + (
l
+
l
) θC = 0

1 Pl 2
− θ B = θC =
4 EI1 + 2 EI 2 8

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z Member End Forces

2 EI1 2 EI1 Pl
M AB = θB = −
l 4 EI1 + 2 EI 2 8

4 EI1 4 EI1 Pl
M BA = θB = −
l 4 EI1 + 2 EI 2 8

Pl 4 EI 2 2 EI 2 4 EI1 Pl
M BC = + θB + θC =
8 l l 4 EI1 + 2 EI 2 8

Pl 2 EI 2 4 EI 2 4 EI1 Pl
M CB = − + θB + θC = −
8 l l 4 EI1 + 2 EI 2 8

4 EI1 4 EI1 Pl
M CD = θC =
l 4 EI1 + 2 EI 2 8

2 EI1 2 EI1 Pl
M DC = θC =
l 4 EI1 + 2 EI 2 8

z In case EI1 = EI 2
Pl Pl Pl Pl Pl Pl
M AB = − , M BA = − , M BC = , M CB = − , M CD = , M DC =
24 12 12 12 12 24

2.3.2 A Portal Frame without Sidesway – hinged suppoorts

l/2 P
B C
EI2

EI1 EI1

A D

z DOF : θ B , θC

z Analysis

i) All fixed
Pl Pl
0
M BC = 0
, M CB =−
8 8

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ii) θ B ≠ 0
3EI1
1
M BA = θB
l
4 EI 2 2 EI 2
1
M BC = θ B , M CB
1
= θB
l l

iii) θC ≠ 0

2 EI 2 4 EI 2
2
M BC = θC , M CB
2
= θC
l l
3EI1
2
M CD = θC
l

z Construct the Stiffness Equation

Pl 3EI1 4 EI 2 2 EI 2
∑M i
B =0→
8
+(
l
+
l
)θ B +
l
θC = 0

Pl 2 EI 2 3EI1 4 EI 2
∑M i
C =0→−
8
+
l
θB + (
l
+
l
) θC = 0

1 Pl 2
− θ B = θC =
3EI1 + 2 EI 2 8

z Member End Forces

M AB = 0
3EI1 3EI1 Pl
M BA = θB = −
l 3EI1 + 2 EI 2 8
Pl 4 EI 2 2 EI 2 3EI1 Pl
M BC = + θB + θC =
8 l l 3EI1 + 2 EI 2 8
Pl 2 EI 2 4 EI 2 3EI1 Pl
M CB = − + θB + θC = −
8 l l 3EI1 + 2 EI 2 8
3EI1 3EI1 Pl
M CD = θC =
l 3EI1 + 2 EI 2 8
M DC = 0

z In case of EI1 = EI 2
3 3 3 3
M AB = 0 , M BA = − Pl , M BC = Pl , M CB = − Pl , M CD = Pl , M DC = 0
40 40 40 40

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 33
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2.3.3 A Frame with an horizontal force

B C
P

EI

z DOF : θ B , ∆

z Analysis

i) All fixed : None fixed end moment

ii) θ B ≠ 0
2 EI 4 EI
M 1AB = θ B , M BA
1
= θB
l l
3EI 6 EI
1
M BC = θ B , VBA
1
= 2 θB
l l

iii) ∆ ≠ 0
6 EI 6 EI
2
M AB = 2
∆ , M BA
2
= 2 ∆
l l
12 EI
2
VBA = 3 ∆
l
z Construct the stiffness equation
4 EI 3EI 6 EI
∑M i
B =0→ (
l
+
l
)θ B + 2 ∆ = 0
l
6 EI 12 EI
∑V i
=P→
l 2
θB + 3 ∆ = P
l
Pl 2 7 Pl 3
θB = − ,∆ =
8EI 48 EI

z Member end forces

2 EI 6 EI 5 4 EI 6 EI 3 3EI 3
M AB = θ B + 2 ∆ = Pl , M BA = θ B + 2 ∆ = Pl , M BC = θ B = − Pl
l l 8 l l 8 l 8

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2.3.4 A Portal Frame with an Unsymmetrical Load

a P
B C

A D

z DOF : θ B , θC , ∆

z Analysis

i) All fixed
Pab 2 Pa 2b
0
M BC = , M 0
= −
l2 l2
CB

ii) θ B ≠ 0
2 EI 4 EI
M 1AB = θ B , M BA
1
= θB
l l
4 EI 2 EI 6 EI
1
M BC = θ B , M CB
1
= θ B , VBA
1
= 2 θB
l l l

iii) θC ≠ 0

2 EI 4 EI
2
M BC = θC , M CB
2
= θC
l l
4 EI 2 EI 6 EI
2
M CD = θC , M DC
2
= θC , VCD
2
= 2 θC
l l l

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 35
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iv) ∆ ≠ 0
6 EI 6 EI
3
M AB = M BA
3
= 2
∆ , M CD
3
= M DC
3
= 2 ∆ ,
l l
12 EI
3
VBA = VCD
3
= 3 ∆
l

z Construct the Stiffness Equation

Pab 2 8EI 2 EI 6 EI
∑ M Bi = 0 → l 2
+
l
θB +
l
θc + 2 ∆ = 0
l
Pa 2b 2 EI 8 EI 6 EI
∑ M Ci = 0 → − l 2
+
l
θB +
l
θc + 2 ∆ = 0
l
6 EI 6 EI 24 EI
∑V i
=0→
l 2
θ B + 2 θc + 3 ∆ = 0
l l
l
∆ = − ( θ B + θC )
4
Pa 2b 13EI EI
2
+ θB + θc = 0
l 2l 2l
Pab 2 EI 13EI
− 2 + θB + θc = 0
l 2l 2l a=
l
1 Pab (a + 13b) 4
θB = −
84 EI l
1 Pab (13a + b)
θC =
84 EI l
1 Pab
∆= (b − a)
28 EI

2.3.5 A Portal Frame with a Bracing (Vertical Load)

a P
C
B

EI = 0, EA ≠ 0

z DOF : θ B , θC , ∆ A D
z Analysis

i) All fixed
Pab 2 Pa 2b
0
M BC = , M 0
= −
l2 l2
CB

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ii) θ B ≠ 0
2 EI 4 EI
M 1AB = θ B , M BA
1
= θB
l l
4 EI 2 EI
1
M BC = θ B , M CB
1
= θB
l l
6 EI
1
VBA = 2 θB
l
iii) θC ≠ 0

2 EI 4 EI
2
M BC = θC , M CB
2
= θC
l l
4 EI 2 EI
M CD2
= θC , M DC
2
= θC
l l
6 EI
2
VCD = 2 θC
l
iv) ∆ ≠ 0
∆
6 EI
M = M = 2 ∆,
3
AB
3
BA
l ∆
6 EI 2
M CD3
= M DC
3
= 2 ∆,
l
12 EI
3
VBA = VCD
3
= 3 ∆
l
EA ∆ EA ∆ 1 EA ∆
ABD = (C) → VBD = = VBD =
2l 2 2l 2 2 2l 2

z Construct the Stiffness Equation

Pab 2 8EI 2 EI 6 EI
∑ M Bi = 0 → l 2
+
l
θB +
l
θc + 2 ∆ = 0
l
2
Pa b 2 EI 8 EI 6 EI
∑ M Ci = 0 → − l 2 + l θB + l θc + l 2 ∆ = 0
6 EI 6 EI 24 EI
∑V i = 0 → l 2
θ B + 2 θc + 3 (1 + α)∆ = 0
l l
1 l EAl 2
∆=− (θ B + θC ) , α =
1+ α 4 48 2 EI
z Solution for b = 3a
40 + 52α Pl 2 16 + 28α Pl 2 3 Pl 3
θB = − , θC = − , ∆=
256(7 + 10α ) EI 256(7 + 10α) EI 128(7 + 10α) EI

For a w × h rectangular section and l = 20h , α = 50 2 .

Pl 2 Pl 2 Pl 3
θ B = −0.0203 , θC = 0.0109 ∆ = 0.3282 × 10 −4
EI EI EI

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 37
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z Performance
with Bracing w/o bracing
Response Ratio(%)
( α = 50 2 ) (α = 0)

θB (× Pl 2 / EI ) -0.0203 -0.0223 91.03

θC (× Pl 2 / EI ) 0.0109 0.0089 122.47

∆ (× Pl 3 / EI ) 0.3282×10-4 0.0033 0.99

ΜΑΒ (Pl) -0.0404 -0.0248 162.90

ΜΒΑ (Pl) -0.0810 -0.0694 116.71

ΜCD (Pl) 0.0438 0.0554 79.06

ΜDC (Pl) 0.0220 0.0376 58.51

ΜP (Pl) 0.1158 0.1216 95.23

ABD (P) 0.0788 - -

Pmax (Pall)* 0.0720 0.0685 105.1

Pmax/vol. 0.0163 0.0228 71.5

*) Pall = σ all wh , M all = Pall h / 6
6 EI
Unbalanced shear force in the columns = (θ B + θC ) = 0.0564 P
l2
The bracing carries 99 % of the unbalanced shear force between the two columns.

2.3.6 A Portal Frame with a Bracing (Horizontal Load)

B
P C

EI = 0, EA ≠ 0

A D
z DOF : θ B , θC , ∆

z Analysis
i) All fixed: No fixed end forces

ii)-iv) the same as the previous case

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 38
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z Construct the Stiffness Equation

8EI 2 EI 6 EI
∑M i
B =0→
l
θB +
l
θc + 2 ∆ = 0
l
2 EI 8 EI 6 EI
∑ M Ci = 0 → l θB + l θc + l 2 ∆ = 0
6 EI 6 EI 24 EI
∑V i = 0 → l 2 θB + l 2 θc + l 3 (1 + α)∆ = P
5 5
θ B = θC , ∆ = − θ B l = − θC l
3 3
z Solution
1 Pl 2 5 Pl 3
θ B = θC = − , ∆=
(28 + 40α) EI 3(28 + 40α) EI

For α = 50 2 ,
Pl 2 Pl 3
θ B = θC = −0.3501 × 10− 3 , ∆ = 0.5835 × 10− 3
EI EI
z Performance
with Bracing w/o bracing
Response Ratio(%)
( α = 50 2 ) (α = 0)

θB (× Pl 2 / EI ) − 0.3501 × 10−3 − 0.3571 × 10−1 0.98

θC (× Pl 2 / EI ) − 0.3501 × 10−3 − 0.3571 × 10−1 0.98

∆ (× Pl 3 / EI ) 0.5835 × 10−3 0.5952 × 10−1 0.98

ΜΑΒ (Pl) 0.2801 × 10−2 0.2857 0.98

ΜΒΑ (Pl) 0.2101 × 10−2 0.2143 0.98

ΜCD (Pl) 0.2101 × 10−2 0.2143 0.98

ΜDC (Pl) 0.2801 × 10−2 0.2857 0.98

ABD (P) 1.4004 - -

Pmax(Pall)* 0.7141 0.0292 2448

Pmax/vol. 0.1617 0.0097 1670

*) Governed by ABD for the structure with bracing, and by MDC for the structure without
bracing. Pall = σ all wh , M all = Pall h / 6
The bracing carries about 99% of the external horizontal load.

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 39
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2.3.7 A Portal Frame with a Spring

a P
C
B
k

A D

z DOF : θ B , θC , ∆ k∆
z Analysis

iv) ∆ ≠ 0
6 EI 6 EI
3
M AB = M BA
3
= 2
∆ , M CD
3
= M DC
3
= 2 ∆ ,
l l
24 EI
3
VBA = VCD
3
= 3 ∆ , VS3 = k∆
l
z Construct the Stiffness Equation
Pab 2 8EI 2 EI 6 EI
∑ M = 0 → l 2 + l θ B + l θc + l 2 ∆ = 0
i
B

Pa 2b 2 EI 8 EI 6 EI
∑ C
M i
= 0 → −
l 2
+
l
θB +
l
θc + 2 ∆ = 0
l
6 EI 6 EI 24 EI
∑V i = 0 → l 2
θ B + 2 θc + 3 ∆ = − k∆
l l
6 EI 6 EI 24 EI
2
θ B + 2 θc + ( 3 + k ) ∆ = 0
l l l

∆S
z Deformed Shapes ( = 0.41 )
∆

EI
without a spring with a spring ( k = 24 )
l3

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 40
School of Civil, Urban & Geosystem Eng., SNU

2.3.8 A Portal Frame Subject to Support Settlement

B C

A D

z DOF : θ B , θC , ∆

z Analysis

i) All fixed
6 EI
0
M BC = M CB
0
= δ
l2
ii)-iv) the same as the previous problem

z Construct the Stiffness Equation

6 EI 8EI 2 EI 6 EI
∑ M Bi = 0 → l 2 δ + l θB + l θc + l 2 ∆ = 0
6 EI 2 EI 8EI 6 EI
∑ M Ci = 0 → l 2 δ + l θB + l θc + l 2 ∆ = 0
6 EI 6 EI 24 EI
∑V i = 0 → l 2
θ B + 2 θc + 3 ∆ = 0
l l

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 41
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2.3.9 A Portal Frame with Unsymmetrical Supports

l/2 P
B C

A D

z DOF : θ B , θC , ∆

z Analysis

i) All fixed
Pl Pl
0
M BC = 0
, M CB =−
8 8

ii) θ B ≠ 0
3EI
1
M BA = θB
l
4 EI 2 EI
1
M BC = θ B , M CB
1
= θB
l l
3EI
1
VBA = 2 θB
l

iii) θC ≠ 0

2 EI 4 EI
2
M BC = θC , M CB
2
= θC
l l
4 EI 2 EI
M CD2
= θC , M DC
2
= θC
l l
6 EI
2
VCD = 2 θC
l
iv) ∆ ≠ 0
3EI
3
M BA = ∆,
l2
6 EI
3
M CD = M DC
3
= ∆ ,
l2
3EI 12 EI
3
V BA = 3 ∆ , VCD
3
= 3 ∆
l l

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 42
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z Construct the Stiffness Equation

Pl 7 EI 2 EI 3EI
∑M i
B =0→
8
+
l
θB +
l
θc + 2 ∆ = 0
l
Pl 2 EI 8 EI 6 EI
∑ M Ci = 0 → − 8 + l θB + l θc + l 2 ∆ = 0
3EI 6 EI 15 EI
∑V i = 0 → l 2
θ B + 2 θc + 3 ∆ = 0
l l
l
∆ = − (θ B + 2θC )
5
2
1 Pl 1 9 Pl 2 1 Pl 3
θB = − , θC = , ∆=−
44 EI 44 8 EI 176 EI

z Load Location that Causes No Sidesway

a P
B C

A D

l
∆ = − (θ B + 2θC ) = 0 → θ B = −2θC
5
- Stiffness equation
Pab 2 7 EI 2 EI Pa 2b 2 EI 8EI
∑ M Bi = 0 → l 2
+
l
θB +
l
θc = 0 , ∑ M Ci = 0 → − l 2
+
l
θB +
l
θc = 0

Pab 2 12 EI Pa 2b 4 EI
− θC = 0 , − + θc = 0
l2 l l2 l

Pab 2 Pa 2b
= 3 → b = 3a
l2 l2

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 43
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2.3.10 A Frame with a Skewed Member

P
B C

z DOF : θ B , ∆
z Analysis

Pl Pl 3 2 11
0
i) All fixed : M BC = + = Pl , VBC
0
=− P
8 16 16 2 16
ii) θ B ≠ 0
2 EI EI EI 3EI EI
M 1AB = θB = 2 θ B , M BA
1
=2 2 θ B , M BC
1
= θ B , VBA
1
= 3 2 θB
2l l l l l
3 2 EI
1
VBC =− θB
2 l2

EI 1 2 2 EI
3 θB =3 θB
l l 2 2 l2
EI EI 1 EI
(2 2 θB + 2 θB ) = 3 2 θB
l l 2l l

iii) ∆ ≠ 0
6 EI ∆ 3EI 3EI ∆ 3 2 EI EI
2
M BA = M AB
2
= = 2 ∆ M BC
2
=− =− 2
∆ , VBA
2
=3 2 3 ∆ ,
2l 2l l l 2l 2 l l
3 EI
2
VBC = ∆
2 l3

2 EI 1 1 3 EI
3 2
∆ = ∆
2 l l 2 2 l3

EI EI 1 EI
(3 2
∆ + 3 2 ∆) = 3 2 3 θB
l l 2l l

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z Construct the stiffness equation

EI 3 2 EI 3
∑M i
B = 0 →(2 2 + 3)
l
θ B + (3 −
2 l
) 2 ∆ = − Pl
16
3 EI 3 EI 2 11
∑V i = 0 → (3 − 2 2) l 2 θB + (3 2 + 2 ) l 3 ∆ = 2 16 P
EI EI
5.8284 θ B + 0.8787 2 ∆ = −0.1875 Pl
l l
EI EI
0.8787 2 θ B + 5.7426 3 ∆ = 0.4861P
l l
Pl 2 Pl 3
θ B = −0.0460 , ∆ = 0.0917
EI EI
z Results

- Deformed shape

- Moment diagram

- Shear force diagram

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 45
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Chapter 3

Iterative Solution Method

&
Moment Distribution Method

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 46
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3.1 Solution Method for Linear Algebraic Equations

3.1.1 Direct Method – Gauss Elimination

a11 X 1 + a12 X 2 + L + a1i X i + L + a1n X n = b1 

a 21 X 1 + a 22 X 2 + L + a 2i X + L + a 2 n X n = b2 

M  n

 ∑ aij X j = bi for i = 1L n
→
a i1 X 1 + ai 2 X 2 + L + aii X i + L + a in X n = bi  j =1

M 

a n1 X 1 + a n 2 X 2 + L + a ni X i + L + a nn X n = bn 
or in a matrix form
[ A]( X) = (b)
ai1
By multiplying to the first equation and subtracting the resulting equation from the i-th
a11
equation for 2 ≤ i ≤ n , the first unknown X1 is eliminated from the second equation as fol-
lows.

a11 X 1 + a12 X 2 + L + a1i X i + L + a1n X n = b1

( 2)
a 22 X 2 + L + a 2( 2i ) X + L + a 2( 2n) X n = b2( 2 )
M
ai 2 X 2 + L + aii X i
( 2) ( 2)
+ L + ain( 2) X n = bi( 2 )
M
an2 X 2 + L + an2 X i
( 2) ( 2)
+ L + a nn
( 2)
X n = bn( 2 )

ai1 a1 j
where aij( 2) = aij − . Again, the second unknown X2 is eliminated from the third equa-
a11

ai(22)
tion by multiplying ( 2) to the second equation and subtracting the resulting equation from
a 22
the i-th equation for 3 ≤ i ≤ n . The aforementioned procedures are repeated until the last
unknown remains in the last equation.
a11 X 1 + a12 X 2 + L + a1i X i + L + a1n X n = b1
( 2)
a 22 X 2 + L + a 2( 2i ) X + L + a 2( 2n) X n = b2( 2 )
M M M
aii X i + L + ain X n
(i ) (i )
= bi( i )
M M
(n)
a nn X n = bn(n)

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( k −1)
ai(,kk−−11) a k( k−−1,1j)
where a (k )
=a − k ≤ i, j ≤ n , and a ij1 = aij . Once the system matrix is tri-
a kk−−11,k −1
ij ij

angularized, the solution of the given system is easily obtained by the back-substitution.
bn( n )
a nn X n = bn →
(n) ( n)
X n = (n)
a nn

( n −1) ( n −1) ( n −1)

bn( n−1−1) − a n( n−−1,1n) X n
a n −1, n −1 X n −1 + a n −1, n Xn = b n −1 → X n −1 =
a nn−−12,n −1
i +1
bi( i ) − ∑ aik(i ) X k
aii( i ) X i + L + a i(,in) X n = bi(i ) → Xi = k =n
i −1
for 1 ≤ i ≤ n − 1
a ii

3.1.2 Iterative Method – Gauss-Jordan Method

A system of linear algebraic equations may be solved by iterative method. For this purpose,

the given system is rearranged as follows.

b1 − (a12 X 2 + L + a1n X n )
X1 =
a11
b2 − (a 21 X 1 + a 23 X 3 + L + a 2 n X n )
X2 =
a 22
bi − (ai1 X 1 + L + ai ,i −1 X i −1 + ai ,i +1 X i −1 + L + ain X n )
Xi =
aii
bn − (a n1 X 1 + L + a n ,n −1 X n −1 )
Xn =
a nn

Suppose we substitute an approximate solution ( X) k −1 into the right-hand side of the above

equation, a new approximate solution ( X) k , which is not the same as ( X) k −1 , is obtained.

This procedure is repeated until the solution converges.

n
1
( X i )k = (bi − ∑ aij ( X j ) k −1 )
aii j =1
i≠ j

where the subscript k denotes the iterational count.

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 48
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3.1.3 Iterative Method – Gauss-Siedal Method

When we calculate a new Xi value in the k-th iteration of Gauss-Jordan iteration, the values of

X 1 ,L, X i −1 are already updated, and we can utilize the updated values to accelerate conver-

gence rate, which leads to the Gauss-Siedal Method.

b1 − (a12 ( X 2 ) k −1 + L + a1n ( X n ) k −1 )
( X1)k =
a11
b2 − (a 21 ( X 1 ) k + a 23 X 3 ) k −1 + L + (a 2 n X n ) k −1 )
( X 2 )k =
a 22
bi − (ai1 ( X 1 ) k + L + ai ,i −1 ( X i −1 ) k + ai ,i +1 ( X i +1 ) k −1 + L + ain ( X n ) k −1 )
( X i )k =
aii
bn − (a n1 ( X 1 ) k + L + a n ,n −1 ( X n −1 ) k )
( X n )k =
a nn

i −1 n
1
( X i )k = (bi − ∑ aij ( X j ) k − ∑a ij ( X j ) k −1 )
aii j =1 j =i +1
i >1 i<n

3.1.4 Example

30 35.6 4klf
A B C D
EI 1.5EI EI
3@30=90

z Stiffness Equation
3EI 6 EI 3EI
− 168.7 + 133.3 + ( + )θ B + θC = 0
l l l
3EI 6 EI 3EI
− 133.3 + 450.0 + θB + ( + )θC = 0
l l l

EI EI
For the simplicity of derivation, θB → θB , θ C → θ C . The stiffness equation becomes
l l
− 35.4 + 9θ B + 3θ C = 0
316.7 + 3θ B + 9θ C = 0

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z Gauss-Jordan Iteration
1
(θ B ) k = (35.4 − 3(θ C ) k −1 )
9
1
(θ C ) k = (316.7 − 3(θ B ) k −1 )
9

z Gauss-Siedal Iteration
1
(θ B ) k = (35.4 − 3(θ C ) k −1 )
9
1
(θ C ) k = (316.7 − 3(θ B ) k )
9

Gauss-Seidal Gauss-Jordan
GAUSS-SIEDAL ITERATION GAUSS-Jordan ITERATION
====================== ======================
***** Iteration 1***** ***** Iteration 1*****
X(1) = 0.3933334E+01 X(1) = 0.3933334E+01
X(2) = -0.3650000E+02 X(2) = -0.3518889E+02
ERROR = 0.1000000E+01 ERROR = 0.1000000E+01
***** Iteration 2***** ***** Iteration 2*****
X(1) = 0.1610000E+02 X(1) = 0.1566296E+02
X(2) = -0.4055556E+02 X(2) = -0.3650000E+02
ERROR = 0.2939146E+00 ERROR = 0.2971564E+00
***** Iteration 3***** ***** Iteration 3*****
X(1) = 0.1745185E+02 X(1) = 0.1610000E+02
X(2) = -0.4100617E+02 X(2) = -0.4040988E+02
ERROR = 0.3197497E-01 ERROR = 0.9044394E-01
***** Iteration 4***** ***** Iteration 4*****
X(1) = 0.1760206E+02 X(1) = 0.1740329E+02
X(2) = -0.4105624E+02 X(2) = -0.4055556E+02
ERROR = 0.3544420E-02 ERROR = 0.2971564E-01
***** Iteration 5***** ***** Iteration 5*****
X(1) = 0.1761875E+02 X(1) = 0.1745185E+02
X(2) = -0.4106181E+02 X(2) = -0.4098999E+02
ERROR = 0.3937214E-03 ERROR = 0.9812154E-02

****** MOMENT ****** ****** MOMENT ******

MBA =-115.84375 MBA =-116.34444

MBC = 115.82707 MBC = 115.04115
MCB =-326.81460 MCB =-326.88437
MCD = 326.81458 MCD = 327.03004

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 50
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3.2 Moment Distribution Method

30 35.6 4klf
A B C D
EI 1.5EI EI
3@30=90

z At the Joint B
- Moment distribution
3EI AB 4 EI BC MB
MB = ( + )θ B = M BA
1
+ M BC
1
→ θB =
L AB LBC 3EI AB 4 EI BC
+
L AB LBC
3EI AB
3EI AB L AB
1
M BA = θB = M = DBA M B
L AB 3EI AB 4 EI BC B
+
L AB LBC
4 EI BC
4 EI BC LBC
1
M BC = θB = M = DBC M B
LBC 3EI AB 4 EI BC B
+
L AB LBC
2 EI BC 1
1
- Moment carry over to joint C: M CB = θ B = DBC M B
LBC 2
z At the Joint C
- Moment distribution
4 EI BC 3EI CD MC
MC = ( + )θ C = M CB
2
+ M CD
2
→ θC =
LBC LCD 4 EI BC 3EI CD
+
LBC LCD
4 EI BC
4 EI BC LBC
2
M CB = θC = M = DCB M C
LBC 4 EI BC 3EI CD C
+
LBC LCD
3EI CD
3EI CD LCD
2
M CD = θC = M = DCD M C
LCD 4 EI BC 3EI CD C
+
LBC LCD

2 EI BC 1
2
- Moment carry over to joint B: M BC = θ C = DCB M C
LBC 2

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z Stiffness Equation in terms of Moment at Joints

1  1
− 35.4 + M B +DCB M C = 0 M B = 35.4 − DCB M C
2  2
→
1
316.7 + DBC M B + M C = 0 
1
M C = - 316.7 − DBC M B
2  2
- Gauss-Siedal Approach
1
( M B ) k = 35.4 − DCB ( M C ) k −1
2
1
( M C ) k = − 316.7 − DBC ( M B ) k
2

- Gauss-Jordan Approach
1
( M B ) k = 35.4 − DCB ( M C ) k −1
2
1
( M C ) k = − 316.7 − DBC ( M B ) k −1
2

z For the given structure

1 2
D BA = DCD = , D BC = DCB =
3 3

z Incremental form for the Gauss-Siedal Method

- For k = 1
( M B ) 0 = ( M C ) 0 = 0 because we assume all degrees of freedom are fixed for step 0.

1
( M B )1 = 35.4 − DCB ( M c ) 0 = 35.4 → (∆M B )1 = 35.4
2
1 12
( M C )1 = −316.7 − DBC ( M B )1 = −316.7 − 35.4 → (∆M C )1 = −328.5
2 23
- For k > 1
1 1 1
( M B ) k = 35.4 − DCB ( M c ) k −1 = 35.4 − DCB ( M c ) k − 2 − DCB (∆M c ) k −1
2 2 2
1 1
= ( M B ) k −1 − DCB (∆M c ) k −1 → (∆M B ) k = − DCB (∆M c ) k −1
2 2
1 1 1
( M C ) k = −316.7 − DBC ( M B ) k = −316.7 − DBC ( M B ) k −1 − DBC (∆M B ) k
2 2 2
1 1
= ( M C ) k −1 − DBC (∆M B ) k → (∆M C ) k = − DBC (∆M B ) k
2 2

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- Iteration 1
(M B ) 0 = 0 , (M C ) 0 = 0

1
( M B ) 1 = 35.4 − DCB ( M C ) 0 = 35.4 → (∆M B ) 1 = 35.4
2
( M BA )1 = M BA
f
+ DBA (∆M B )1 = −168.7 + 0.33 × 35.4 = −168.7 + 11.8 → (∆M BA )1 = 11.8
( M BC )1 = M BC
f
+ DBC (∆M B )1 = 133.3 + 0.67 × 35.4 = 133.3 + 23.6 → (∆M BC )1 = 23.6
1 12
( M C )1 = −316.7 − DBC (∆M B )1 = −316.7 − 35.4 = −328.5 → (∆M c )1 = −328.5
2 23
1
( M CB )1 = M CB
f
+ DBC (∆M B )1 + DCB (∆M C )1 = −133.3 + 11.8 − 219.0 →
2
(∆M CB )1 = 11.8 − 219.0
( M CD )1 = M CD
f
+ DCD (∆M C )1 = 450 − 0.33 × 328.5 = 450 − 109.5 → (∆M CD )1 = −109.5

- Iteration 2
(∆M BA ) 2 = DBA (∆M B ) 2 = 36.5
1  1
(∆M B ) 2 = − DCB (∆M c )1 = 109.5 → (∆M BC ) 2 = DCB (∆M c )1 + DBC (∆M B ) 2
2  2
 = −109.5 + 73.0
(∆M ) = 1 D (∆M ) + D (∆M )
1  CB 2
2
BC B 2 CB C 2
(∆M C ) 2 = − DBC (∆M B ) 2 = −36.5 → 
2  = 36.5 − 24.3
(∆M CD ) 2 = DCD (∆M C ) 2 = −12.2

- Iteration 3
(∆M BA ) 3 = D BA ( ∆M B ) 3 = 4.1
1  1
(∆M B ) 3 = − DCB (∆M c ) 2 = 12.2 → (∆M BC ) 3 = DCB (∆M c ) 2 + D BC (∆M B ) 3
2  2
 = −12.2 + 8.2

1 ( ∆M ) = 1 D (∆M ) + D (∆M ) = 4.1 − 2.7

(∆M C ) 3 = − D BC (∆M B ) 3 = −4.1 →  CB 3
2
BC B 3 CB C 3
2 ( ∆M CD ) 3 = DCD (∆M C ) 3 = −1.4

- Final Moments
M BA = M BA
f
+ ∑ (∆M BA ) k = −168.7 + 11.8 + 36.5 + 4.1 = −116.3
k

M BC = M f
BC + ∑ (∆M BC ) k = 133.3 + 23.6 + (−109.5 + 73.0) + (−12.2 + 8.2) = 116.4
k

M CB = M f
CB + ∑ (∆M CB ) k = −133.3 + (11.8 − 219.0) + (36.5 − 24.3) + (4.1 − 2.7) = −326.9
k

M CD = M f
CD + ∑ (∆M CD ) k = 450.0 − 109.5 − 12.2 − 1.4 = 326.9
k

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0.33 0.66 0.67 0.33

-168.7 133.3 -133.3 450.0

11.8 23.6 11.8
-109.5 -219.0 -109.5
36.5 73.0 36.5
-12.2 -24.3 -12.2
4.1 8.2 4.1
-1.4 -2.7 -1.4
0.5 0.9 -326.9 326.9
-115.8 115.9

z Incremental form for the Gauss-Jordan Method

- For k = 1
( M B ) 0 = ( M C ) 0 = 0 because we assume all degrees of freedom are fixed for step 0.

1
( M B )1 = 35.4 − DCB ( M c ) 0 = 35.4 → (∆M B )1 = 35.4
2
1
( M C )1 = −316.7 − DBC ( M B ) 0 = −316.7 → (∆M C )1 = −316.7
2
- For k > 1
1 1 1
( M B ) k = 35.4 − DCB ( M c ) k −1 = 35.4 − DCB ( M c ) k − 2 − DCB (∆M c ) k −1
2 2 2
1 1
= ( M B ) k −1 − DCB (∆M c ) k −1 → (∆M B ) k = − DCB (∆M c ) k −1
2 2
1 1 1
( M C ) k = −316.7 − DBC ( M B ) k −1 = −316.7 − DBC ( M B ) k − 2 − DBC (∆M B ) k −1
2 2 2
1 1
= ( M C ) k −1 − DBC (∆M B ) k −1 → (∆M C ) k = − DBC (∆M B ) k −1
2 2
- Iteration 1
(M B ) 0 = 0 , (M C ) 0 = 0

1
( M B ) 1 = 35.4 − DCB ( M C ) 0 = 35.4 → (∆M B ) 1 = 35.4
2
( M BA ) 1 = M BA
f
+ D BA ( M B ) 1 = −168.7 + 0.33 × 35.4 = −168.7 + 11.8 → (∆M BA ) 1 = 11.8
( M BC ) 1 = M BC
f
+ D BC ( M B ) 1 = 133.3 + 0.67 × 35.4 = 133.3 + 23.6 → (∆M BC ) 1 = 23.6

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1
( M C )1 = −316.7 − DBC ( M B ) 0 = −316.7 = −316.7 → (∆M c )1 = −316.7
2
( M CB )1 = M CB
f
+ DCB ( M C )1 = −133.3 − 0.67 × 316.7 = −133.3 − 212.2 →
(∆M CB )1 = −212.2
( M CD )1 = M CD
f
+ DCD ( M C )1 = 450 − 0.33 × 316.7 = 450 − 104.5 → (∆M CD )1 = −104.5

- Iteration 2
(∆M BA ) 2 = DBA (∆M B ) 2 = 35.0
1  1
(∆M B ) 2 = − DCB (∆M c )1 = 106.1 → (∆M BC ) 2 = DCB (∆M c )1 + DBC (∆M B ) 2
2  2
 = −106.1 + 71.1
(∆M ) = 1 D (∆M ) + D (∆M )
1  CB 2
2
BC B 1 CB C 2
(∆M C ) 2 = − DBC (∆M B )1 = −11.8 → 
2  = 11.8 − 7.9
(∆M CD ) 2 = DCD (∆M C ) 2 = −3.9

- Iteration 3
(∆M BA ) 3 = DBA (∆M B ) 3 = 1.3
1  1
(∆M B ) 3 = − DCB (∆M C ) 2 = 4.0 → (∆M BC ) 3 = DCB (∆M C ) 2 + DBC (∆M B ) 3
2  2
 = − 4 .0 + 2 .7
(∆M ) = 1 D (∆M ) + D (∆M )
1  CB 3
2
BC B 3 CB C 3
(∆M C ) 3 = − DBC (∆M B ) 2 = −35.6 → 
2  = 35.6 − 23.9
(∆M CD ) 3 = DCD (∆M C ) 3 = −11.7

0.33 0.66 0.67 0.33

-168.7 133.3 -133.3 450.0

11.8 23.6 -212.2 -104.5
-106.1 11.8
35.0 71.1 -7. 9 -3.9
-4.0 35.6
1.3 2. 7 -23.9 -11.7
-12.0 1.4
4.0 8.0 -0.9 -0.5
-0.5 4.0
0.2 0.3 -2.7 -1.3
-1.4 0.2
0.5 0.9 0.1 0.1
-115.9 115.9 -328.0 328.2

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3.3 Example - MDM for a 4-span Continuous Beam
100
50
A B C D E
EI, L 1.5EI, L 1.5EI, L EI, L

EI EI 1.5 EI 1.5 EI EI 1.5 EI 1.5EI 1.5EI 1.5EI

D BA = 4 (4 +4 ) = 0.4 , D BC = 4 (4 +4 ) = 0.6 , DCB = 4 (4 +4 ) = 0.5 ,
L L L L L L L L L

1.5EI 1.5EI 1.5 EI 1.5 EI 1.5EI EI EI 1.5 EI EI

DCD = 4 (4 +4 ) = 0.5 , D DC = 4 (4 + 3 ) = 0.67 , DDE = 3 (4 + 3 ) = 0.33
L L L L L L L L L

z Gauss-Siedal Approach
0.4 0.6 0.5 0.5 0.67 0.33

0.0 0.0 125 -125 0.0 0.0 93.8

-25.0 -50.0 -75 -37.5
40.6 81.3 81.3 40.6
-45.0 -90.0 -44.3
11.3 22.5 22.5 11.3
-10.4 -20.8 -31.1 -15.6
3.9 7.8 7.8 3.9
-5.1 -10.2 -5.0
1.3 2.6 2.6 1.3
-1.1 -2.1 -3.1 -0.9 -0.4
36.5 -72.9 72.9 -63.9 64.1 -44.0 44.1

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z Gauss-Jordan Approach

0.4 0.6 0.5 0.5 0.67 0.33

0.0 0.0 125 -125 0.0 0.0 93.8

-50 -75 62.5 62.5 -62.8 -31.0
-25.0 31.3 -37.5 -31.4 31.3
-12.5 -18.8 34.5 34.5 -21.0 -10.3
-6.3 17.3 -9.4 -10.5 17.3
-6.9 -10.4 10.0 10.0 -11.6 -5.7
-3.5 5.0 -5.2 -5.8 5.0
-2.0 -3.0 5.5 5.5 -3.4 -1.6
-1.0 2.8 -1.5 -1.7 2.8
-1.1 -1.7 1.6 1.6 -1.9 -0.9
-0.6 0.8 -0.9 -1.0 0.8
-0.3 -0.5 1.0 1.0 -0.5 -0.3
-36.4 -72.8 72.8 -64.4 64.7 -44.0 44.0

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3.4 Direct Solution Scheme by Partitioning

20
L/3
B C

A D

z Slope deflection (Stiffness) Equation

 8EI 2 EI 6 EI 
 L L L  θ B   88.8 
 2 EI 8EI 6 EI      [K θθ ] (K θ∆ ) (Θ)   (P) 
  θC  +  − 44.4  = 0 → 
K K  ∆  +  0  = 0
 L L L      ( ∆θ ) ∆∆    
 6 EI 6 EI 24 EI  ∆   0.0 
 L L L 

[K θθ ](Θ) = −(P) − (K θ∆ )∆ → (Θ) = −[K θθ ] −1 (P) − [K θθ ] −1 (K θ∆ )∆ = (Θ) P + (Θ) ∆

(K ∆θ )(Θ) P + (K ∆θ )(Θ) ∆ + K ∆∆ ∆ = 0

z Direct Solution Procedure by Partitioning

- Assume ∆ = 0 and calculate (Θ)P.

∆
- Assume an arbitrary ∆ = and calculate ( Θ ) ∆ .
α
∆
( Θ)
- By linearity, ( Θ ) ∆ =
α
- Calculate α by the second equation by ∆ and ( Θ ) ∆ .
(K ∆θ )(Θ) P
α=−
K ∆∆ ∆ + (K ∆θ )(Θ ) ∆

- Obtain (Θ) by (Θ ) = (Θ ) P + α ( Θ ) ∆ .

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3.5 Moment Distribution Method for Frames

z Solution Procedure
- Assume there is no sideway and do the MDM.
- Perform the MDM again for an assumed sidesway.
- Adjust the Moment obtained by the second MDM to satisfy the second equation.
- Add the adjusted moment to the moment by the first MDM.

z First MDM – with no Sidesway

L/3 20
B 0.5 0.5 C
0.5

88.8 -44.4

0.5
-44.4 -44.4 -22.2
16.6 33.3 33.3
-8.3 8.3 -4.2
1.1 2.1 2.1
-0.6 -0.6 -0.3
-53.3 53.3 0.2 0.2
-35.5 35.5
A D
MAB = -53.3/2 = -26.7, MDC = -35.5/2 = 17.8, VAB = 2.67, VDC = -1.78, VP = 0.89

z Second MDM – with an Arbitrary Sidesway

B C

10.0 10.0
-5.0 -5.0 -2.5
-1.9 -3.8 -3.8
1.0 1.0 0.5
-0.2 -0.3 -0.3
0.1 0.1 -5.9 5.9
6.1 -6.0

A D

MAB = 10 – 3.9/2.0 = 8.1, MDC = 10 – 4.1/2.0 = 7.9, VAB =-0.47, VDC = -0.46, V ∆ = -0.93

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z Shear Equilibrium Condition (the 2nd equation)

No Sidesway (1st MDM) Sidesway Only (2nd MDM)

0.89 0.93

5.9
53.3 6.1
35.5
2.67 1.78 0.47 0.46

7.9
17.8 8.1
26.7

α = -0.89/(-0.93) = 0.97
Total Moment = 1st Moment + α 2nd Moment

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Chapter 4

Energy Principles

Principle of Minimum Potential Energy and

Principle of Virtual Work

Mg
h P

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Read Chapter 11 (pp.420~ 428) of Elementary Structural Analysis 4th Edition by C .H. Norris
et al very carefully. In this note an overbarred variable denotes a virtual quantity. The vir-
tual displacement field should satisfy the displacement boundary conditions of supports if
specified. For beam problems, displacement boundary conditions include boundary condi-
tions for rotational angle. Variables with superscript e denote the exact solution that satisfies
the equilibrium equation(s).

4.1 Spring-Force Systems

∆

z Total Potential energy

The energy required to return a mechanical system to a reference status
0 ∆
1
Π int = − ∫ k (∆ − u )du = ∫ k (∆ − u )du = k∆2 , Π ext = − P∆
∆ 0
2
1 2
Π total = Π int + Π ext = k∆ − P∆
2

z Equilibrium Equation
k∆e=P

z Principle of Minimum Potential Energy for an arbitrary displacement ∆ = ∆e + ∆ .

1
Π total = k (∆e + ∆ ) 2 − P(∆e + ∆ )
2
1 1
= k (∆e ) 2 + k∆e ∆ + k ( ∆ ) 2 − P(∆e + ∆ )
2 2
1 1
= k (∆e ) 2 − P∆e + k ( ∆ ) 2 + ∆ (k∆e − P)
2 2
1 1
= k (∆e ) 2 − P∆e + k ( ∆ ) 2
2 2
1
= Π total
e
+ k ( ∆ ) 2 ≥ Π total
e

In the above equation, the equality sign holds if and only if ∆ = 0 . Therefore the total
potential energy of the spring-force system becomes minimum when displacement of
spring satisfies the equilibrium equation.

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4.2 Beam Problems

q

any type of support w we any type of support

w
z Potential Energy of a Beam
l l l
1 M2 1 d 2w 2
2 ∫0 EI 2 ∫0
Π int = dx = EI ( ) dx , Π ext = − ∫ qwdx
dx 2 0
l l
1 d 2w 2
2 ∫0
Π total = Π int + Π ext = EI ( ) dx − ∫ qwdx
dx 2 0

z Equilibrium Equation
d 2M e d 4 we
EI = − q or EI =q
dx 2 dx 4

z Principle of Minimum Potential Energy for a virtual displacement w = w e + w .

1 d 2 (we + w ) d 2 (we + w )
l l
Πh = ∫
20
(
dx 2
EI
dx 2
)dx − ∫ ( w e + w )qdx
0
l l
1 d 2 we d 2 we
2 ∫0 dx 2
= ( EI )dx − ∫ w e qdx +
dx 2 0
l l l
1 d 2w d 2w d 2w d 2 we
2 ∫0 dx 2
( EI )dx ∫ ( 2 EI
+ )dx − ∫ w qdx
dx 2 0 dx dx 2
0
l l l
1 d 2w d 2w d 2w 1 d 2 we
2 ∫0 dx 2 ∫0
= Πe + ( EI ) dx + ( − EI ) ( − EI )dx − ∫ w qdx
dx 2 dx 2 EI dx 2 0
l l l
1 d 2w d 2w MM e
= Π + ∫ ( 2 EI
e
)dx + ∫ dx − ∫ w qdx
2 0 dx dx 2 0
EI 0
l
1 d 2w d 2w
2 ∫0 dx 2
= Πe + ( EI 2
)dx ≥ Π e for all virtual w
dx

Since the equation in the box represents the total virtual work in a beam, the total potential energy
of a beam becomes minimum for all virtual displacement fields when the principle of virtu-
al work holds. In the above equation, the equality sign holds if and only if w = 0 .

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z Principle of Virtual Work

If a beam is in equilibrium, the principle of the virtual work holds for the beam,.
l
d 4 we
∫ w ( EI
0 dx 4
− q )dx = 0 for all virtual displacement w

l l l l
d 2w d 2 we dw d 2 we d 3 we
∫0 dx 2 dx 2
EI dx − ∫0 w qdx +
dx
EI
dx 2 0
− w EI
dx 3
=0
0

l l l l
d 2w d 2 we MM e
∫0 dx 2 dx 2
EI dx − ∫0 w qdx = ∫0 EI dx − ∫0 wqdx = 0
In case that there is no support settlement, the boundary terms in above equation vanishes
identically since either virtual displacement including virtual rotational angle or corre-
sponding forces (moment and shear) vanish at supports. The principle of virtual work
yields the displacement of an arbitrary point ~
x in a beam by applying an unit load at ~
x
and by using the reciprocal theorem.

l l l l e
MM
∫0 w qdx = ∫0 wq dx = ∫0 wδ( x − x )dx = w( x ) = ∫0 EI dx
~ ~

z Approximation using the principle of minimum potential energy

- Approximation of displacement field
n
w = ∑ ai g i
i =1

- Total potential energy by the assumed displacement field

l l l l
1 d 2w d 2w 1 n n n
Π = ∫ ( 2 EI 2 )dx − ∫ wqdx = ∫ (∑ ai g i′′)EI (∑ a j g ′j′ )dx − ∫ ∑ ai g i qdx
h

2 0 dx dx 0
2 0 i =1 j =1 0 i =1

- The first-order Necessary Condition

∂Π h ∂ 1 n l n n l
= ( ∫ (∑ ai g i′′)EI (∑ ai g i′′)dx − ∫ ∑ ai g i qdx)
∂a k ∂a k 2 0 i =1 i =1 0 i =1
l n n l l
1
= [ ∫ g k′′ EI (∑ a j g ′j′ )dx + ∫ (∑ ai g i′′)EIg k′′dx] − ∫ g k qdx) or Ka = f
2 0 i =1 0 i =1 0
n l l n
= ∑ ∫ g k′′ EIg i′′dxai − ∫ g k qdx = ∑ K ki ai − f k = 0
i =1 0 0 i =1

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z Example
P

i) with one unknown

w = ax( x − l ) = a ( x 2 − lx) → w′′ = 2a
l l l
1 l 1 l2 1 l2
2 ∫0 ∫0 2 ∫0
Π total = EI ( w ′′) 2
dx − Pδ ( x − ) wdx = EI ( 2 a ) 2
dx + aP = EI 4 a 2
l + aP
2 4 2 4

∂Π total l2 Pl Pl
= 0 → 4aEIl + P = 0 → a = − →w=− ( x 2 − xl )
∂a 4 16 EI 16 EI
l l
w e ( ) − w( )
l Pl 3 l Pl 3 Pl 3 2 2 = 0.25
w( ) = , we ( ) = = 0.0208 , Error =
2 64 EI 2 48 EI EI l
we ( )
2

ii) with two unknowns

w = ax( x − l ) + bx( x 2 − l 2 ) → w′′ = 2a + 6bx
l l l
1 l 1 l2 3l 3
2 ∫0 ∫0 2 ∫0
Π total = EI ( w ′′) 2
dx − Pδ ( x − ) wdx = EI ( 2 a + 6bx ) 2
dx − P ( − a − b )
2 4 8
1 l2 l3 l2 3l 3
= EI (4a 2 l + 24ab + 36b 2 ) + P(a + b )
2 2 3 4 8
∂Π total l2
= 0 → EI (4la + 6l 2 b) = − P
∂a 4 1 Pl
→a=− , b = 0 ???
∂Π total 3l 3 16 EI
= 0 → EI (6l 2 a + 12l 3 b) = − P
∂b 8

iii) with three unknowns

w = ax( x − l ) + bx( x 2 − l 2 ) + cx( x 3 − l 3 ) → w′′ = 2a + 6bx + 12cx 2
l l
1 l
Π total =
20∫ EI ( w′′) 2 dx − ∫ Pδ( x − ) wdx
0
2
l
1 l2 3l 3 7l 4
= ∫ EI (2a + 6bx + 12cx ) dx − P(−a − b
2 2
−c )
20 4 8 16
1 l3 l5 l2 l3 l4
= EI (4a 2 l + 36b 2 + 144c 2 + 24ab + 48ac + 144bc ) +
2 3 5 2 3 4
2 3 4
l 3l 7l
P(a + b +c )
4 8 16

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∂Π total l2  1 Pl
= 0 → EI (4la + 6l b + 8l c) = − P
a = 64 EI
2 3

∂a 4

∂Π total 3l 3  5 P
= 0 → EI (6l 2 a + 12l 3 b + 18l 4 c) = − P → b = −
∂b 8  32 EI
∂Π total 144 5 7l 4  5 P
= 0 → EI (8l 3 a + 18l 4 b + l c) = − P c = 64 EIl
∂c 5 16 

1 Pl 5 P 5 P
w= x( x − l ) − x( x 2 − l 2 ) + x( x 3 − l 3 )
64 EI 32 EI 64 EIl
l Pl 3 1 1 5 3 5 7 21 Pl 3 Pl 3
w( ) = (− + − )= = 0.0205 , Error = 0.0144
2 EI 64 4 32 8 64 16 1024 EI EI

iv) with one sin function

π π π
w = a sin x =→ w′′ = a( ) 2 sin x
l l l
π π
l l l
1 l 1
Π total = ∫ EI ( w′′) 2 dx − ∫ Pδ( x − ) wdx = ∫ EI (a( ) 2 sin x) 2 dx − aP
20 0
2 20 l l
π π π l
l
1 1
= EIa 2 ( ) 4 ∫ sin 2 xdx + aP = EIa 2 ( ) 4 + aP
2 l 0 l 2 l 2

∂Π total π l 2 Pl 3 2 Pl 3 π
= 0 → EIa( ) 4 − P = 0 → a = 4 →w= 4 sin x
∂a l 2 π EI π EI l
l 1 Pl 3 l Pl 3
w( ) = , we ( ) = , Error = 0.0145
2 48.7045 EI 2 48EI

v) with two sin function

π 3π π π 3π 3π
w = a sin x + b sin x =→ w′′ = a( ) 2 sin x + b( ) 2 sin x
l l l l l l
l l
1 l
Π total = ∫ EI ( w′′) 2 dx − ∫ Pδ( x − ) wdx
20 0
2
π π 3π 3π 2
l
1
=
20∫ EI (a( ) 2 sin x + b( ) 2 sin
l l l l
x) dx − aP + bP

π π π 3π π 3π
l l
1
= EIa 2 ( ) 4 ∫ sin 2 xdx +EIab( ) 2 ( ) 2 ∫ sin sin xdx +
2 l 0 l l l 0 l l
3π 3π
l
1
EIb 2 ( ) 4 ∫ sin 2 xdx − aP + bP
2 l 0 l
1 π l 1 3π l
= EIa 2 ( ) 4 + EIb 2 ( ) 4 − aP + bP
2 l 2 2 l 2

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∂Π total π l 2 Pl 3
= 0 → EIa( ) 4 − P = 0 → a = 4
∂a l 2 π EI
∂Π total 3π l 2 Pl 3
= 0 → EIb( ) 4 + P = 0 → b = −
∂b l 2 (3π) 4 EI
2 Pl 3 π 1 3π
w= (sin x − sin x)
π EI
4
l 81 l
l Pl 3 Pl 3 l Pl 3
w( ) = 0.0205(1 + 0.0123) = 0.0208 , w e ( ) = 0.0208 , Error ≅0
2 EI EI 2 EI

4.3 Truss problems

− F ji

− Fmi ( i )
− F1i
i
X i
Xi Y

Yi

z Potential Energy
1 nmb ( Fi ) 2 li njn
Π int = ∑
2 i =1 EA i
, Π ext = − ∑
i =1
( X i u i + Yi vi )

1 nmb ( Fi ) 2 li njn
Π total = Π int + Π ext = ∑
2 i =1 EA i
− ∑ ( X i u i + Yi vi )
i =1

where nmb and njn denotes the total number of members and the total numbers of joints
in a truss.

z Equilibrium Equations

m(i ) m(i )
− ∑ H + X = 0 , − ∑ V ji + Y i = 0
i
j
i
for i = 1, L , njn
j =1 j =1

where m(i), H ij and V ji are the number of member connected to joint i, the horizontal

component and the vertical component of the bar force of j-th member connected to joint
i, respectively.

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z Principle of Minimum Potential Energy

1 nmb ( Fi e + Fi ) 2 l i njn
Π total = ∑ − ∑ ( X i (u i +u i ) + Yi (vi + vi ))
2 i =1 EAi i =1

1 nmb ( Fi e ) 2 li njn 1 nmb ( Fi ) 2 li nmb Fi e Fi li njn

= ∑
2 i =1 EAi
− ∑
i =1
( X u
i i + Y v
i i ) + ∑
2 i =1 EAi
+∑
i =1 EAi
− ∑ ( X i u i + Yi vi )
i =1

1 nmb ( Fi e ) 2 li njn nmb

( Fi ) 2 li
= ∑
2 i =1 EAi
− ∑
i =1
( X u
i i + Y v
i i ) + ∑
i =1 EAi
1 nmb ( Fi ) 2 l i
=Π + ∑ e
≥ Πe for all virtual displacement fields
2 i =1 EAi

where Fi e and Fi are the bar force of i-th member induced by the real displacement of joints

and virtual displacement induced by the virtual displacement of joints. Since the equation in the
box represents the total virtual work in a truss, the total potential energy of a truss becomes
minimum for all virtual displacement fields when the principle of virtual work holds. In
the above equation, the equality sign holds if and only if the virtual displacements at all
joints are zero.

z Virtual Work Expression

If a truss is in equilibrium, the principle of the virtual work holds for the truss,.
njn m(i ) m(i )

∑ ((− ∑ H ij + X i )u i + (-∑V ji + Y i )v i ) = 0
i =1 j =1 j =1

(v 2 − v1 ) sin θ i

(v 2 − v1 )
(u 2 − u1 ) cos θ i

(u 2 − u1 )
θi
θi

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njn m(i ) m(i )

∑ ((− ∑ F ji cos θ j + X i )u i + (-∑ F ji sin θ j + Yi )vi ) = 0

i =1 j =1 j =1
njn m(i ) m(i ) njn

∑ (u ∑ F
i =1
i

j =1
j
i
cos θ j + δv i ∑ F ji sin θ j ) = ∑ ( X i u i + Yi vi )
j =1 i =1
nmb njn

∑ ( Fi e cos θ i (ui2 − u i1 ) + Fi e sin θi (vi2 − vi1 )) = ∑ ( X i ui + Yi vi )

i =1 i =1

nmb nmb nmb

Fi l i nmb
F eF l
∑ Fi e (cos θ i (ui2 − u i1 ) + sin θ i (vi2 − vi1 )) = ∑ Fi e ∆li = ∑ Fi e
i =1 i =1 i =1
=∑ i i i
( EAi ) i =1 ( EAi )
nmb e n
Fi Fi l i
∑i =1 ( EAi )
= ∑ ( X i u i + Yi vi )
i =1

The principle of virtual work yields the displacement of a joint k in a truss by applying an
unit load at a joint k in an arbitrary direction and by using the reciprocal theorem.

Fi e Fi l i
nmb
X k u k + Yk v k = X u k cos α = u k cos α = ∑
i =1 ( EAi )

Since α represnts the angle between the applied unit load and the displacement vector,
u k cos α are the displacement of the joint k in the direction of the applied unit load.

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Chapter 5

Matrix Structural Analysis

Mr. Force & Ms. Displacement

Matchmaker: Stiffness Matrix

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5.1 Truss Problems

5.1.1 Member Stiffness Matrix
f yR δ y
R
f yL δ Ly

f xL δ Lx f xR δ Rx

z Force – Displacement relation at Member ends

EA R
f xL = − (δ x − δ Lx )
L
EA R
f xR = (δ x − δ Lx )
L
fy = fy = 0
L R

z Member Stiffness Matrix in Local Coordinate System

e e
 f xL   1 0 − 1 0 δ Lx 
    
 fy 
L
EA  0 0 0 0 δ Ly 
 =
 f xR  L − 1 0
 
1 0 δ Rx 
 R  
 fy   0 0 0 0 δ Ry 

(f )e = [k ]e (δ )e

z Transformation Matrix

vy Vy
vx

② Vx

φ
①

V x = cos φv x − sin φv y  V x  cos φ − sin φ v x 

→ =  v 
V y = sin φv x + cos φv y  V y 
  sin φ cos φ  y 

(V ) = [ γ ]T ( v) → ( v) = [ γ ](V )

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z Member End Force

e e
 Fx1  cos φ − sin φ 0 0  f xL 
 1  sin φ cos φ 0  
 Fy  0  f yL 
  → (F)e = [Γ]T (f )e
F2  =  0 0 cos φ − sin φ  f xR 
 x
  
F2  φ φ f yR 
 y   0 0 sin cos 

z Member End Displacement

e e
 δ Lx   cos φ sin φ 0 0  ∆1x 
 L  − sin φ cos φ  
δy  0 0  ∆1y 
  2 → (δ)e = [Γ](∆)e
δR  =  0 0 cos φ sin φ  ∆ x 
 x   2 
δR 
 y  0 0 − sin φ cos φ  ∆ y 

z Member Stiffness Matrix in Global Coordinate

(F)e = [Γ]T (f )e = [Γ]T [k ]e (δ ) e = [Γ]T [k ]e [Γ](∆ ) e

(F ) e = [K ] e ( ∆ ) e

 cos 2 φ sin θ cos φ − cos 2 φ − sin φ cos φ

 
EA  sin θ cos φ sin 2 φ − sin φ cos φ − sin 2 φ [K 11 ]e [K 12 ]e 
[K ] =
e
= 
L  − cos 2 φ − sin θ cos φ cos 2 φ sin φ cos φ [K 21 ]e [K 22 ]e 
 
− sin φ cos φ − sin 2 φ sin φ cos φ sin 2 φ

5.1.2 Global Stiffness Equation

− (F1 ) m (3)
z Nodal Equilibrium − (F 2 ) m ( 2 ) − (F 2 ) m ( 4 )

n-th joint
− (F1 ) m (1) − (F1 ) m ( 5)

Pm

m-th joint Pm
i-th member

nm ( m )
(P) m = (F 1 ) m (1) + (F 2 ) m ( 2) + (F 1 ) m ( 3) + (F 2 ) m ( 4) + (F 1 ) m (5) = ∑ (F
k =1
1 or 2 m ( k )
)

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Pn n-th joint (F 2 ) i
2

(F1 )i
1
Pm
i-th member m-th joint

 nm (1) 1 or 2 1( k )   0  0 0
 ∑ (F )    M
 (P)   k =1
1
  M  M  m-th row
   
 M   M   ( F1 i 
) I 0
p  
    (F ) 
nm ( m ) p 1 i p
( P ) =  ( P )  =  ∑ (F )  = ∑  M  = ∑  M
m 1 or 2 m ( k )
M  2 i  = ∑ [E]i (F)i = [E](F )
   (F )  i =1
 M  
k =1  i =1  (F 2 )i  i =1 0 I  n-th row
  nm ( q ) M     
q 
 (P)   1 or 2 q ( k )   M  M M
 ∑ ( F )    0
 k =1   0  0

 (F ) 1 
 
 M 
[E] = [[E]1 L [E]i L [E] p ] , (F) =  (F) i 
 
 M 
 p 
 (F ) 

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z Compatability Condition

un
n (∆ 2 )i
2

m um 1 (∆ 1 )i

i-th member

 ( ∆ 1 )i   I 0  u m 
(∆ 1 )i = u m , ( ∆ 2 )i = u n → ( ∆ )i =  2 i  =   
 (∆ )  0 I  u 
   n
m-th column  u1 
 
 M 
u 
 (∆ )  0 L I L 0 L 0   
1 i m

(∆ ) =
i   =  M  = [C]i (u)
 ( ∆ 2 ) i  0 L 0 L I L 0   
    u
 n
 M 
n-th column  u 
 q

 (∆ )1  [C]1  u1 
    
(∆ ) =  M  =  M  M  = [C](u)
 (∆ ) p  [C] p  u 
    q 
Compatibility Matrix

z Contragradient

(P)T ⋅ (u) = (F)T ⋅ (∆) → (P)T ⋅ (u) = (F)T [C](u) →

((P)T − (F)T [C])(u) = 0 for all possible (u) → (P)T = (F)T [C]

(P) = [C]T (F) = [E](F) → [C]T = [E]

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z Unassembled Member Stiffness Equation

 (F )1  [K ]1 L 0 L 0  ( ∆ )1 
    
 M   M L M L   M 
 (F ) i  =  0 L [K ] i L 0  (∆)  i 
→ (F) = [K ](∆)
    
 M   M L M L M  M 
 p   
 (F)   0 L 0 L [K ] p  (∆) p 

z Global Stiffness Equation

(P) = [C]T (F) = [C]T [K ](∆) = [C]T [K ][C](u)

(P) = [K ](u) where [K ] = [C]T [K ][C]

z Direct Stiffness Method

[K ]1 0  [C] 
1
L 0 L
  
 M L M L  M 
[
[K ] = [C]T [K ][C] = [C]1 L[C]i L[C] p
T T T
]  0

L [K ] i L 0  [C] 

i


 M L M L M  M 
 0 L [K ] p  [C] 
p
 L 0
= [C]1 [K ]1 [C]1 + L + [C]i [K ]i [C]i + L + [C] p [K ] p [C] p
T T T

0 0
M M 

I 0
  [K ] [K 12 ]i  0 L I L 0 L 0
i
[C] [K ] [C] =  M
iT i i
M   11 i  
[K ] [K 22 ]i  0 L 0 L I L 0
M I   21
 
M M
0 0

0 0
M M 
m-th row
 0 0 0 0 0
I 0 0 [ K ] i 0 [K 12 ] 0
i

 0 L [K 11 ] L [K 12 ]i L 0 
11

i
= M M   = 0 0 0 0 0
 0 L [K 21 ]i L [K 22 ]i L 0  
M I  0 [K 21 ]i 0 [K 22 ] 0
i

  n-th row 
M M 0 0 0 0 0
0 0
 m-th column n-th column

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5.1.3 Example
P4, u4

P3, u3

2
1 2 P6, u6
P2, u2
L

1 3 P5, u5
P1, u1 3

2L

z Member Stiffness Matrix

 cos 2 φ sin φ cos φ − cos 2 φ − sin φ cos φ
 
EA  sin φ cos φ sin 2 φ − sin φ cos φ − sin 2 φ [K 11 ]e [K 12 ]e 
[K ] e = = 
L  − cos 2 φ − sin φ cos φ cos 2 φ sin φ cos φ [K 21 ]e [K 22 ]e 
 
− sin φ cos φ − sin 2 φ sin φ cos φ sin 2 φ

- Member 1: φ = 45o

 1 1 1 1
 2 − − 
2 2 2
 1 1 1 1
EA  2 2
−
2
− 
2
[K ]1 =
2 L − 1 −
1 1 1
 2 2 2 2
 1 1 1 1
− − 
 2 2 2 2
- Member 2: φ =-45 o

 1 1 1 1
 2 − −
2 2 2
 1 1 1 1
EA − 2 2 2
− 
2
[K ] 2 =
2 L − 1 1 1
−
1
 2 2 2 2
 1 1 1 1
 − − 
 2 2 2 2

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- Member 3: φ = 0o
 1 0 − 1 0
 0 0 0
EA  0
[K ] 3 =
2 L − 1 0 1 0
 
 0 0 0 0

z Equilibrium Equation
P4

P3

P2 P6

P5
P1

  F 1 1 
 x  
  Fy1  
 2  
  Fx  
P1 = ( Fx1 )1 + ( Fx2 ) 3  2  
 P1  1 0 0 0 0 0 0 0 0 0 1 0   Fy  
  
P2 = ( F ) + ( F ) 1  Fx1  
1 1 2 3 2
y y  P2  0 1 0 0 0 0 0 0 0 0 0
 P  0   
P3 = ( Fx2 )1 + ( Fx1 ) 2 0 1 0 1 0 0 0 0 0 0 0  Fy1  
 3=   
P4 = ( Fy2 )1 + ( Fy1 ) 2  P4  0 0 0 1 0 1 0 0 0 0 0 0  Fx2  
    
P5 = ( Fx2 ) 2 + ( Fx1 ) 3  P5  0 0 0 0 0 0 1 0 1 0 0 0  Fy2  
 P  0  
P6 = ( Fy2 ) 2 + ( Fy1 ) 3  6  0 0 0 0 0 0 1 0 1 0 0  F 1  3 
 x
 F1  
  y2  
[E]1 [E]2 [E]3   Fx  
 F 2  
 y  
 

(P) = [[E1 ] [E 2 ] [E 2 ]](F) = [E](F)

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z Compatibility Condition
u4

u3

u2 u6

u1 u5

  ∆1 1 
  x   1 0 0 0 0 0
  ∆1y   
  2   0 1 0 0 0 0 [C]1
  ∆ x   0 0 1 0 0 0
  ∆2    
  y  2  0 0 0 1 0 0  u1   u1 
   
  ∆1x   0 0 1 0 0 0  u 2  1  u2 
 1      [C] 
  ∆ y   0 0 0 1 0 0  u 3   2   u 3 
  = [C]  
  ∆2   = 0 0 0 0 1 0  u 4   3  u 4 
  2x       [C]  
  ∆ y   0 0 0 0 0 1  u 5    u
 5
 1 3     u 
  ∆ x   0 0 0 0 1 0  u6 
  6
  ∆1   0 0 0 0 0 1
  2y     [C]2
  ∆ x   1 0 0 0 0 0
  ∆2   0 0 [C]3
 y   1 0 0 0
 

(∆ ) = [C](u)

[E1 ] = [C1 ]T , [E 2 ] = [C 2 ]T , [E 3 ] = [C 3 ]T → [E] = [C]T

z Global Stiffness Matrix

[K ] = [C]T [K ][C] = [C]1 [K ]1 [C]1 + [C] 2 [K ] 2 [C] 2 + L + [C]3 [K ]3 [C]3

T T T

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1 0 0 0  1 1
−
1 1
− 
0 
 1 0 0  12 2
1
2
1
2
1  1 0 0 0 0 0
EA 0 0 1 0  2 − −  0 1 0 0 0 0
[C1 ]T [K 1 ][C1 ] =   2 2 2 
2 L 0 0 0 1 − 1 1 1 1  0 0 1 0 0 0
−
0 0 0

0  2 2 2 2  0 0 0 1 0 0

  1 1 1 1
0 0 0 0 − − 
 2 2 2 2
 1 1 1 1 
 2 − − 0 0
1 0 0 0  1 1
−
1
−
1 
0 0  1
2 2 2

0  1 1 1
 1 0 0  12 2 2 2
  − − 0 0
1 1 1  2 2 2 2 
EA 0 0  2 − − 0 0
− 1 0 0
0 1 EA 1 1 1
=   2 2 2 = −
2 L 0 0 0 1 − 1 −
1 1 1
0 0 2 L  2 2 2 2 

0   1 1 1 1
0 0 0  2 2 2 2
 − − 0 0
  1 1 1 1  2 2 2 2 
0 0 0 0 − − 0 0
 0 0 0 0 0 0
 2 2 2 2 
 0 0 0 0 0 0

0 0 0 0  1 −
1
−
1 1
0  2  0
 0 0 0  12 2
1
2
1 1 0 1 0 0 0
EA 1 0 0 0  − 2 −  0 0 0 1 0 0
[C 2 ]T [K 2 ][C 2 ] =   2 2 2 
2 L 0 1 0 0  − 1 1 1 1  0 0 0 0 1 0
−  
0  2  0
0 1 0  2 2 2 0 0 0 0 1
  1 1 1 1
0 0 0 1  − − 
 2 2 2 2
0 0 0 0 0 0
0 0
1 0 0 0  0 0
1
−
1
−
1 1
 0 0 0 0
0  2
0 
1 1 1 1
2 2 2 0 − − 
 1 0 1 1 1 1 
0
2
0  0 − 
0 − 2 2 2
EA 0 0 1 2  = EA 0 1 1 1 1
=   2 2 2 0 − − 
2 L 0 0 0 1  0 0 −
1 1 1
− 
1 2L  2 2 2 2
   1
0 0 0 0  2 2 2 2 0 −
1 1 1
− 
  1 1 1 1  0
0 0 − −   2 2 2 2
0 0 0

0
2 2 2 2 0 1 1 1 1
0 − −
 2 2 2 2 

0 0 1 0
0 0 0 1  1 0 − 1 0 0 0 0 0 1 0

EA 0 0 0 0  0 0 0 0 0 0 0 0 0 1
[C 3 ]T [K 3 ][C 3 ] =  
2 L 0 0 0 0  − 1 0 1 0  1 0 0 0 0 0
1   
0 0 0  0 0 0 0 0 1 0 0 0 0
 
0 1 0 0

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0 0 1 0  1 0 0 0 − 1 0
0 0 0 1 − 1 0 0 0 1 0  0 0 0 0 0 0
 
EA 0 0 0 0  0 0 0 0 0 0 EA  0 0 0 0 0 0
=   =  
2 L 0 0 0 0  1 0 0 0 − 1 0 2 L  0 0 0 0 0 0
  − 1
1 0 0 0  0 0 0 0 0 0 0 0 0 1 0
   
0 1 0 0  0 0 0 0 0 0

 1 1 1 1  0 0 0 0 0 0
 2 − − 0 0
2 2 2 0 0 0 0 0 0
 1 1 1 1  
 − − 0 0 1 1 1 1
0 0 − − 
 2 2 2 2   2 2 2 2
EA  1
0 0 +
1 1 1 EA  1 1 1 1
[K ] = − − − −
2L  2  0 0
2 2 2 2L  2 2 2 2
 1 1 1 1   1 1 1 1 
− − 0 0 0 0 − − 
 2 2 2 2   2 2 2 2
 0 0 0 0 0 0 0 0 1 1 1 1
 0 − −
0 0 0 0 0  2 2 2 2 
 1 0 0 0 −1 0
 0 0 0 0 0 0

EA  0 0 0 0 0 0
+  
2L  0 0 0 0 0 0
− 1 0 0 0 1 0
 
 0 0 0 0 0 0
 1 1 1 1 1 1 
2 2 + 2 2 2
−
2 2
−
2 2
−
2
0 
 
 1 1 1 1
− − 0 0 
 2 2 2 2 2 2 2 2 
 1 1 1 1 1 1 1 1 
 − − + − − 
EA  2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 
=
L  − 1 −
1 1
−
1 1
+
1 1
−
1 
 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2
 1 1 1 1 1 1 
 − 0 − + − 
 2 2 2 2 2 2 2 2 2 2
 1 1 1 1 
 0 0 − − 
 2 2 2 2 2 2 2 2 

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z Stiffness Equation
1 + 2 1 1 1 1 
 − − − 0
 2 2 2 2 2 2 2 2 2 
Unknown  P1   1 1
−
1
−
1
0 0  u1 
   2 2 2 2 2 2 2 2   Known
Unknown  2 
P  1 1 1 1 1  u 2  Known
− − −  
Known  P3  EA  2 2
0
 = 2 2 2 2 2 2 2  u 3  Unknown
Known  P4  L − 1 −
1 1 1
−
1  u 4  Unknown
 0 
 
Known  P5   2 2 2 2 2 2 2 2 2  u 5 
  Unknown
Unknown  P6   −1 1 1 1+ 2 1  u 
 2 0 − −  6 Known
2 2 2 2 2 2 2 2
 1 1 1 1 
 0 0 − −
 2 2 2 2 2 2 2 2 

z Application of Support Conditions (Boundary Conditions)

1 + 2 1 1 1 1 
 − − − 0
 2 2 2 2 2 2 2 2 2 
 P1   1 1
−
1
−
1
0 0  u1 
   2 2 2 2 2 2 2 2  
 P2   1 1 1 1 1  u 2 
P  − − 0 −  
 =
3 EA  2 2 2 2 2 2 2 2 2  u 3 
 P4  L − 1 −
1 1 1
−
1  u 4 
 0 
 
 2 2 2 2 2 2 2 2 2  u 5 
 P5   
P   −1 1 1 1+ 2 1  u 
 6  2 0 − −  6
2 2 2 2 2 2 2 2
 1 1 1 1 
 0 0 − −
 2 2 2 2 2 2 2 2 

z Final Stiffness Equation

−1
 1 1   1 1 
 0 −   0 − 
 P3   2 2 2  u 3   u3   2 2 2  P3 
  EA  1 1     L  1 1   
 P4  =  0  u4  →  u4  =  0  P4 
P  L 2 2 2   u  EA 2 2 2  P 
 5   u  
− 1 1 1 + 2  5   5
− 1 1 1+ 2   5
 2 2 2 2 2 2   2 2 2 2 2 2 

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5.2 Beam Problems

5.2.1 Member Stiffness Matrix
f yR δ y
R
f yL δ Ly

m L θL m R θR

z Force-Displacement Relation at Member Ends

4 EI e L 2 EI e R 6 EI e L 6 EI e R
mL = θ + θ + 2 δy − 2 δy
Le Le Le Le
2 EI e L 4 EI e R 6 EI e L 6 EI e R
mR = θ + θ + 2 δy − 2 δy
Le Le Le Le
M eL + M eR 6 EI e L 6 EI e R 12 EI e L 12 EI e R
f =
y
L
= 2 θ + 2 θ + 3 δy − 3 δy
Le Le Le Le Le
M eL + M eR 6 EI 6 EI 12 EI 12 EI
f =−
y
R
= − 2 e θ L − 2 e θ R − 3 e δ Ly + 3 e δ Ry
Le Le Le Le Le

z Transformation Matrix is not required

f →F, m→M , δ→∆ ,θ → Θ

z Member Stiffness Matrix

e e
 Fy1   12 6  ∆ y 
1
  6 12
− 2
   L2 Le Le Le  
 1  e  
M   6 4 −
6
2 Θ 
1

  EI e  Le Le  
  = L  12    or (F)e = [K ]e (∆ )e
e −
6 12 6
 Fy2  − −  ∆2 
 Le Le  y 
2
  Le L2e
   6 6  
 2   2 − 4 
 M   Le Le  Θ 2y 

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5.1.2 Global Stiffness Matrix

z Nodal Equilibrium
Vi
Mi

(i-1)-th Member i-th Member


V i = ( Fy2 ) i −1 + ( Fy1 ) i
1 
→ P i = (F) iR−1 + (F) iL
M = ( M ) i −1 + ( M ) i 
i 2

 P 1   (F )1L 

 
P  2  (F ) 1 + ( F ) 2 
R L

   
 M   M   (F ) 1 
 P i −1   (F ) R + (F) L   
   i−2 i −1   M 
i R L
[
 P  =  (F ) i −1 + (F) i  = [E]1 L [E]i L [E] p ]
 (F)  = [E](F)
 
 i +1   
i

 P   (F ) i + (F) i +1 
R L  M 
M     (F ) 
   M   p 

P  p  (F ) p −1 + (F) p
R L 

 p +1   
 P 
  ( F ) R 
p 
 0  0 0
  
 M  M M 
i-th row  (F ) L   I 0 (F )iL 
 iR  =    = [E]i (F)i
(i+1)-th row  ( F ) i  0 I  (F)iR 
 M  M M
 
 0  0 0

  

z Compatibility u2i −1 u 2 i +1
u2i u2i + 2

(i-1)-th Member i-th Member

(∆1y )i = u2i −1
(Θ1 )i = u2i  (∆ ) iL   I 0 u i 
→ (∆ ) iL = u i , (∆ ) iR = u i +1 → (∆ ) i =  =
R   i +1 
(∆2y )i = u2i +1  ( ∆ ) i   0 I  u 
(Θ 2 ) i = u 2 i + 2

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i-th column
 u1 
 
M 
 (∆ ) iL  0 L I 0 L 0 u i 
(∆ ) i =  =  
R   i +1  = [C]i (u)
 ( ∆ ) i   0 L 0 I L 0  u
 
 M 
(i+1)-th column  p +1 
u 
 (∆ )1  [C]1  u1 
    
(∆ ) =  M  =  M M  = [C](u)
 (∆ )  [C]  u p +1 
 p   p  

z Unassembled Member Stiffness Equation

 (F)1  [K ]1 L 0 L 0  ( ∆ )1 
    
 M   M L M L   M 
   
0  (∆) i  →
 (F ) i  =  0 L [K ] i L

(F) = [K ](∆)
 M   M L M L M  M 
    
 (F ) p   0 L 0 L [K ] p  (∆) p 

z Global Stiffness Equation

(P) = [C]T (F) = [C]T [K ](∆) = [C]T [K ][C](u)

(P) = [K ](u) where [K ] = [C]T [K ][C]

z Direct Stiffness Method

0 0 0 0 00
 
M M M M M M
 0 L [ K [K 12 ]i L 0 i-th row
11 ]i
[C]Ti [K ]i [C]i = 
0 L [K 21 ]i [K 22 ]i L 0 i+1-th row
 
M M M M M M
 
0 0 0 0 0 0

i-th column i+1-th column

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5.2.3 Example

V 1 , w1 V 2 , w2 V 3 , w3 V 4 , w4

M 1 , θ1 M 2 , θ2 M 3 , θ3
M 4 , θ4

z Equilibrium Equation
V 1 = V1L , M 1 = M 1L
V 2 = V1R + V2L , M 2 = M 1R + M 2L
V 3 = V2R + V3L , M 3 = M 2R + M 3L
V 4 = V4R , M 4 = M 4R

V1L 
 
 M 1L 
 R 
V 1  1 0V1 
   0 0 0 0 0 0 0 0 0 0
 R
M 1  0 1 0 0 0 0 0 0 0 0 0 0 M 1 
 2  
 0 0  V2 
L
V 0 1 0 1 0 0 0 0 0 0
 
M 2  0 0 0 1 0 1 0 0 0 0 0

0 M 2L 
(P) =  3 =   = [E](F)
V  0 0 0 0 0 0 1 0 1 0 0 0V2R 
 3   
M  0 0 0 0 0 0 0 1 0 1 0 0  M R 
 0  2 
 4 0 0 0 0 0 0 0 0 0 1 0  V L 
V    3
M 4  0 0 0 0 0 0 0 0 0 0 0 1 L 
  M3 
 R 
V3 
[E]1 [E]2 [E]3 M R 
 3 

z Compatability Condition
w1L = w1 , θ1L = θ1 , w1R = w 2 , θ1R = θ 2
w2L = w 2 , θ 2L = θ 2 , w2R = w 3 , θ 2R = θ 3
w3L = w 3 , θ 3L = θ 3 , w3R = w 4 , θ 3R = θ 4

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 w1L 
  1 0 0 0 0 0 0 0
 θ1L   [C]1
 R  0 1 0 0 0 0 0 0
 w1  0 0 w   w1 
1

 R  
0 1 0 0 0 0   
 1
 θ1  0 0 0 1 0 0 0 0  θ   θ1 
 w2L  0  2   2 
0 1 0 0 0 0 0  w  w 
 L     [C]1  θ 2 
 θ2  0 0 θ 2
(∆) =  R  =   = [C] 2 
0 0 1 0 0 0  = [C](u)
 w2   0 0 0 0 1 0 0 0  w 3    w 3 
   3  3
[C] 
 θ R  0 0 0 0 0 1 0 0  θ 3  θ 
 2  
 w3L  0 0 0 0 1 0 0 0  w 4   4 
  w 
 L  0 0 0 0 0 1 0 0  4   θ4 
 θ3    θ   
 R  0 0 0 0 0 0 1 0 [C]3 [C]
 w3  0 1
2
 θR   0 0 0 0 0 0
 3 

z Unassembled Member Stiffness Matrix

 (F)1  [K ]1 0 0   (∆) 1 
    
(F ) =  (F ) 2  =  0 [K ] 2 0  (∆) 2  = [K ](∆)
 (F )   0 [K ]3  (∆) 3 
 3  0

z Global Stiffness Equation

(P) = [E](F) = [E][K ](u) = [C]T [K ][C](u) = [K ](u)

[K ]1 0 0  [C]1 
[ ]
(P) = [C]1T , [C]T2 , [C]T3  0 [K ] 2 0  [C] 2  (u)
 0 0 [K ]3  [C]3 
= [K ](u) = ( [C]1T [K ]1 [C]1 + [C]T2 [K ] 2 [C] 2 + [C]T3 [K ]3 [C] 3 )(u)

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- Member 1
0  2
12 6 12 6
1 0 0
 −
0 0  L L1 L12 L1 
0
1 0 
0 1 0  6 4 −
6
2  1 0 0 0 0 0 0 0
 
EI 1 0 0 0 1  L1 L1  0 1 0 0 0 0 0 0
=
L1 0 0 0 0  12 6 12 6  0 0 1 0 0 0 0 0
0 − − −  
0 0 0  L2 L1 L12 L1  0 0 0 1 0 0 0 0
0 0 0 0  6
1

  2 −
6
0 0 0 0  L 4
 1 L1 
 12 6 12 6 
 L2 − 2 0 0 0 0
L1 L1 L1
 1 
 6 4 −
6
2 0 0 0 0
 L1 L1 
 12 6 12 6 
 0 0 0 0
EI 1 − L2 −
L1 L12 L1 
1
L1  6 6 
 2 − 4 0 0 0 0
 L1 L1 
 0 0 0 0 0 0 0 0
 0 0 0 0 0 0 0 0
 0 0 0 0 0 0 0 0
 
 0 0 0 0 0 0 0 0
- Member 2
0 0 0 0  12 6 12
−
6
0  2 L2 
0 0 0   L2 L2 L22

1 0  6 2  0 0
0 0 6 0 1 0 0 0 0
  4 −
EI 2 0 1 0 0   L2 L2  0 0 0 1 0 0 0 0
=
L2  0 0 1 0  12 6 12 6  0 0 0 0 1 0 0 0
0 − − −  
0 0 1  L22 L2 L22 L2   0 0 0 0 0 1 0 0
0 0  6

0 0
 6 
0  L 2 − 4
0 0 0
 2 L2 
0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0
 12 6 12 6 
0 0 − 2 0 0
 L22 L2 L2 L2 
 6 6 
0 0 4 − 2 0 0
EI 2  L2 L2
 
L2  0 12 6 12 6
0 − 2 − − 0 0
 L2 L2 L22 L2 
 6 6 
0 0 2 − 4 0 0
 L2 L2 
0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0

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- Member 3
0 0 0 0  12 6 12
−
6
0  2 L3 
0 0 0  L3 L3 L23

0 0  6 2  0 0
0 0 6 0 0 0 1 0 0
  4 −
EI 3 0 0 0 0  L3 L3  0 0 0 0 0 1 0 0
=
L3 1 0 0 0  12 6 12 6  0 0 0 0 0 0 1 0
0 − − −  
1 0 0  L23 L3 L23 L3  0 0 0 0 0 0 0 1
0 0  6

0 1
 6 
1  L 2 − 4
0 0 0
 3 L3 
0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 0 
 
0 0 0 0 0 0 0 0 
0 12 6 12 6 
0 0 0 − 2
EI 3  L23 L3 L3 L3 
 6 6 
L3 0 0 0 0 4 − 2 
 L3 L3 
 12 6 12 6
0 0 0 0 − 2 − − 
 L3 L3 L23 L3 
0 0 0 0
6
2 −
6
4 

 L3 L3 

z Global Stiffness Matrix

 12 I 1 6 I 1 12 I 6I1 
 L3 2
− 31 2
0 0 0 0 
L1 L1 L1
 1 
 6 I 1 4 I 1
− 2
6 I 1 2 I1
0 0 0 0 
 L12 L1 L1 L1 
 12 I 6 I 12 I 1 12 I 2 6 I 1 6 I 2 12 I 2 6I 2 
− 3 1 − 21 + − + − 0 0 
 L1 L1 L13 L32 L12 L22 L32 L22 
 6I1 2 I1 6I1 6I 2 4 I1 4 I 2 6I 2 2I 2 
 − + + − 0 0 
 L12 L1 L12 L22 L2 L2 L12 L2 
E
 12 I 2 6I 2 12 I 2 12 I 3 6 I 2 6 I 3 12 I 3 6 I 3 
 0 0 − 3 − 2 + 3 − 2 + 2 − 3
L2 L2 L32 L3 L2 L3 L3 L23 
 
 6I 2 2I 2 6I 2 6I 3 4I 2 4I 3 6I 3 2I 3 
0 0 − 2 + 2 + − 2
 L22 L2 L2 L3 L2 L3 L3 L3 
 12 I 3 6I 3 12 I 3 6I 3 
 0 0 0 0 − 3 − 2 − 2 
 L3 L3 L33 L3 
 6I 3 2I 3 6I 3 4I 3 
 0 0 0 0 2
− 2 
 L 3 L 3 L3 L3 

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z Application of support Conditions

 12 I 1 6I1 12 I 1 6I1 
 L3 − 0 0 0 0 
L12 L13 2
L1
 1 
 6I1 4I1
− 2
6I1 2I1
0 0 0 0 
V 1   L12
L1 L1 L1  w1 
   12 I 6 I 12 I 1 12 I 2 6I1 6I 2 12 I 2 6I 2  
M 1  − 3 1 − 21 + − + − 0 0   θ1 
 2   L1 L1 L13 3
L2 2
L1 2
L2 L23
L22
 2 
V   6I1 2I1 6I1 6I 2 4I1 4I 2 6I 2 2I 2  w 
M 2   − 2 + 2 + − 2 0 0  2 
 θ
2
  = E  L1 L1 L1 L2 L2 L2 L1 L2 
V 
3  12 I 6I 12 I 2 12 I 3 6I 6I 12 I 6 I 3  w 3 
 0 0 − 32 − 22 + 3 − 22 + 23 − 3 3
 3
 L2 L2 L23
L3 L2 L3 L3 L23  θ 3 
M   
 4   0 0
6I 2 2I 2 6I 2 6I 3
− 2 + 2
4I 2 4I 3
+
6I 3
− 2
2 I 3  4 
V   L22 L2 L2 L3 L2 L3 L3 L3 
w 
M 4    
6 I 3  θ
4
   12 I 3 6I 3 12 I 3 
0 0 0 0 − 3 − 2 − 2
 L3 L3 L33 L3 
 6I 3 2I 3 6I 3 4I 3 
 0 0 0 0 − 
 L23 L3 L23 L3 

z Final Stiffness Equation

 4 I1 4I 2 2I 2 
L + L L2
0 0 
M 2   2  2
2 I 3  θ 
2

   2 I 2 4I 2 4I 3
+ −
6I 3 
M 3   L2 L2 L3 L23 L3  θ
3

 4  = E 6I 12 I 3 6 I  4 
V   0 − 23 − 23  w 
M 4   L3 L33 L3  θ 4 
   2I 3 6I 4 I 3  
 0 − 23 
 L3 L3 L3 

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5.3 Frame Problems

5.3.1 Member Stiffness Matrix

f yL , δ Ly f yR , δ Ry

mL , θL mR , θR
f xL , δ Lx f xR , δ Rx

z Force-Displacement Relation at Member Ends

- Beam action
4 EI e L 2 EI e R 6 EI e L 6 EI e R
mL = θe + θe + 2 δ y − 2 δ y
Le Le Le Le
2 EI e L 4 EI e R 6 EI e L 6 EI e R
mR = θe + θe + 2 δ y − 2 δ y
Le Le Le Le
M eL + M eR 6 EI e L 6 EI e R 12 EI e L 12 EI e R
f yL = = 2 θe + 2 θe + 3 δ y − 3 δ y
Le Le Le Le Le
M eL + M eR 6 EI 6 EI 12 EI 12 EI
f yR = − = − 2 e θeL − 2 e θeR − 3 e δ Ly + 3 e δ Ry
Le Le Le Le Le
- Truss action
EA R
f xL = − (δ x − δ Lx )
L
EA
f xR = (δ Rx − δ Lx )
L
Ve = Ve = 0
L R

z Member Stiffness Matrix

 f xL   δ Lx 
   
   
 L  Ae 0 0 − Ae 0 0  
 fy   12 I e 6I e 12 I e 6 I e  δ y 
L

   0 0 − 2 
 L2e Le Le Le  
   
mL   6I e 6I  θ L 
 0 4I e 0 − e 2I e  e
  E Le Le  
 =    or (f )e = [k ]e (δ )e
−A
 f R  Le  e
0 0 Ae 0 0 
 R
 x   12 Ie 6I e 12 I e 6 I e  δ x 
 0 − − 0 −
  L2e Le L2e Le  
 R   
 0 6I e 6I
4 I e  δ y 
R
 fy  2I e 0 − e
   Le Le  
   
mR  θR 
   e

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z Transformation Matrix

Vy
vy

vx

②
Vx

①②

Vx = cos θvx − sin θv y  V  cos θ − sin θ 0 v 

  x   x
Vy = sin θvx + cos θv y  → Vy  =  sin θ cos θ 0 v y 
 M   0 1 m 
M =m     0

(V ) = [ γ ]T ( v) → ( v) = [ γ ](V )

z Member End Force

e e
 Fx1  cos θ − sin θ 0 0 0 0 f xL 
 1    L
 Fy   sin θ cos θ 0 0 0 0 f y 
 1  0 0 1 0 0 0  m L 
 M2  =   R  → (F) = [Γ] (f )
e T e

 Fx   0 0 0 cos θ − sin θ 0  f x 
F2    R
 y   0 0 0 sin θ cos θ 0  f y 
M   0 

2
  0 0 0 0 1 m R 

z Member End Displacement

e e
 δ Lx   cos θ sin θ 0 0 0 0 ∆1x 
 L − sin θ cos θ 0  ∆1 
δy   0 0 0  y 
 L  0 0   θ1 
 θ Re  = 
0 1 0 0
 2  → (δ) = [Γ](∆)
e e

δx   0 0 0 cos θ sin θ 0 x  ∆

δR   2
 y
 0 0 0 − sin θ cos θ 0 ∆ y 
 
θR 
 e  0 0 0 0 0 1 θ1 

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z Member Stiffness Matrix in Global Coordinate

(F)e = [Γ]T (f )e = [Γ]T [k ]e (δ ) e = [Γ]T [k ]e [Γ](∆ ) e

[K11 ]e [K12 ]e 
(F) = [K ] (∆ ) where [K ] = 
e e e e
e
[K 21 ] [K 22 ] 
e

z Nodal Equilibrium & Compatibility

The same as the truss problems.

z Global Stiffness Matrix

(P) = [C]T (F) = [C]T [K ](∆) = [C]T [K ][C](u)

(P) = [K ](u) where [K ] = [C]T [K ][C]

z Direct Stiffness Method

The same as the truss problems.

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Chapter 6

Buckling of Structures

P P

θ
L

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6.0 Stability of Structures

Q Q

θ
L

z Stable state
KθL × L > QθL → KL > Q
The structure would return its original equilibrium position for a small perturbation in θ.

z Critical state
KθL × L = QθL → KL = Q

z Unstable state
KθL × L < QθL → KL < Q

The structure would not return its original equilibrium position for a small perturbation in
θ.

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6.1 Governing Equation for a Beam with Axial Force

q
M M+dM

w
Q
V V+dV
dw
dx
dx
Q

z Equilibrium for vertical force

dV
(V + dV ) − V + qdx = 0 → = −q
dx

z Equilibrium for moment

dx dw dM dw
( M + dM ) − M − Vdx + qdx −P =0→ −Q =V
2 dx dx dx

z Elimination of shear force

d 2M d 2w
− Q = −q
dx 2 dx 2

z Strain-displacement relation
d 2w du
ε=− 2
y+
dx dx

z Stress-strain relation (Hooke law)

d 2w du
σ = Eε = − E 2
y+E
dx dx

z Definition of Moment
d 2w 2 du d 2w
M = ∫ σydA = ∫ EεydA = − ∫ ( E y − E y ) dA = − EI
A A A
dx 2 dx dx 2

z Beam Equation with Axial Force

d 4w d 2w
EI + Q =q
dx 4 dx 2

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6.2 Homogeneous Solutions

z Characteristic Equation for P > 0

w = e λx Q
λx
where β 2 =
e (λ + β λ ) = 0 → λ = ±β i, 0
4 2 2
EI

z Homogeneous solution
w = Aeβix + Be −βix + Cx + D

z Exponential Function with Complex Variable

i 2 2 i3 3 i 4 4 i5 5 i6 6
eix = 1 + ix + x + x + x + x + x +L
2! 3! 4! 5! 6!
(−i ) 2 (−i ) 3 (−i ) 4 (−i )5 5 (−i )6 6
2 3 4
e − ix = 1 − ix + x + x + x + x + x +L
2! 3! 4! 5! 6!
1 1 1
eix + e − ix = 2(1 − x 2 + x 4 − x 6 + L) = 2 cos x
2! 4! 6!
i i i
eix − e − ix = 2(ix − x 3 + x 5 − x 7 + L) = 2i sin x
3! 5! 7!
eix = cos x + i sin x , e − ix = cos x − i sin x

z Homogeneous solution
w = A(cos βx + i sin βx) + B(cos β x − i sin βx) + Cx + D
= ( A + B) cos β x + i ( A − B) sin β x + Cx + D
= A cos β x + B sin β x + Cx + D

z Characteristic Equation for P < 0

w = e λx Q
λx
where β 2 =
e (λ − β λ ) = 0 → λ = ±β, 0
4 2 2
EI

z Homogeneous solution for P < 0

w = Aeβx + Be −βx + Cx + D
eβ x + e − β x eβ x − e − β x
= ( A + B) + ( A − B) + Cx + D
2 2
= A cosh β x + B sinh β x + Cx + D

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z Simple Beam

Q Q

− Boundary Condition
w(0) = A + D = 0 , w′′(0) = − Aβ2 = 0 → A = 0
w( L) = B sin β L + CL = 0 , w′′( L) = − Bβ2 sin β L = 0 → B = C = 0
− Characteristic Equation
A = B = C = D = 0 → w = 0 (trivial solution) or
n 2 π 2 EI
βL = nπ → Q = , n = 1,2,3L
L2
nπ
w = B sin βx = B sin x
L

z Fixed-Fixed Beam

Q Q

− Boundary Condition
w(0) = A + D = 0
w′(0) = β B + C = 0
w( L) = A cos βL + B sin βL + CL + D = 0
w′( L) = − Aβ sin βL + Bβ cos βL + C = 0
− Characteristic Equation

 1 0 0 1 A   0   1 0 0 1
      
 0 β 1 0  B   0   0 β 1 0
= → Det ( )=0
 cos βL sin βL L 1 C   0   cos βL sin βL L 1
      
− β sin β L β cos β L 1 0 D   0  − β sin βL β cos βL 1 0

1 0 0 1
β 1 0 0 β 1
0 β 1 0
= sin βL L 1 − cos βL sin βL L
cos βL sin βL L 1
β cos β L 1 0 − β sin βL β cos βL 1
− β sin βL β cos βL 1 0

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− β − (−β cos β L) − (−β(cos βL + β L sin β L) + β) = β(2 cos β L − 2 + β L sin βL) = 0

2 cos β L − 2 + β L sin β L = 2(cos βL − 1) + βL sin βL =
βL βL βL
− 4 sin 2 + 2β L sin cos =
2 2 2
βL βL βL βL βL βL βL βL
sin ( cos − sin ) = 0 → sin = 0 or cos − sin =0
2 2 2 2 2 2 2 2

− Eigenvalues
Symmetric modes
βL βL 4n 2 π 2 EI
sin =0 → = nπ → Q = , n = 1,2,3L
2 2 L2
w(0) = A + D = 0 , w′(0) = w′( L) = β B + C = 0, w( L) = A + CL + D = 0
2nπ
A + D = 0 → A = − D → w = A(cos x − 1) for A ≠ 0
L
Anti-symmetric modes
βL βL βL βL βL 8.18π 2 EI
cos − sin =0→ = tan →Q =
2 2 2 2 2 L2

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z Cantilever Beam

Q Q

− Boundary Condition
w(0) = A + D = 0
w′(0) = β B + C = 0
M ( L) = − EIw′′( L) = − EI (− Aβ 2 cos β L − Bβ 2 sin β L) = 0
d 3w dw
V ( L) = − EI 3
−P =0
dx dx
n 2 π 2 EI
Q= , n = 1,2,3L
4 L2

6.3.Homogeneous and Particular solution

w = wh + wp = A cos β x + B sin β x + Cx + D + wp

d 4 ( wh + w p ) d 2 ( wh + w p ) d 4 wh d 2 wh d 4 wp d 2wp
EI +Q = EI +Q + EI +Q
dx 4 dx 2 dx 4 dx 2 dx 4 dx 2
d 4wp d 2 wp
= EI +Q =q
dx 4 dx 2

z Four Boundary Conditions for Simple Beams

w(0) = A + D + w p (0) = 0 , M (0) = − EIw′′(0) = − EI (− Aβ 2 + w′p′ (0)) = 0
w( L) = A cos β L + B sin βL + CL + D + w p ( L) = 0
M ( L) = − EIw′′( L) = − EI (− Aβ 2 cos β L − Bβ 2 sin β L + w′p′ ( L)) = 0

 1 0 0 1   A   w p ( 0) 
 − β2  B   w′′ (0) 
 0 0 0   +  p  = 0 → KX + F = 0
 cos βL sin βL L 1 C   wp ( L) 
 2    

− β cos β L − β sin β L 0 0 D   w′p′ ( L) 
2

z The homogenous solution is for the boundary conditions, while the particular solution is
for the equilibrium.

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6.4.Energy Method

z Total Potential Energy

l l l
1 d 2w d 2w 1 dw dw
Π = ∫ 2 EI 2 dx − Q ∫ dx − ∫ wqdx
2 0 dx dx 2 0 dx dx 0

∆
Q

L−∆ L−∆ L−∆

1
L= ∫ ds = ∫ 1 + ( w′) dx ≈ ∫ (1 + ( w′) 2 )dx
2

0 0 0
2
L−∆ L−∆ L
1 1 1
L= L−∆+ ∫
0
2
( w′) 2 dx → ∆ = ∫0
2
( w′) 2 dx ≈ ∫ ( w′) 2 dx for ∆ << L
20

z Principle of the Minimum Potential Energy

1 d 2 (w e + w ) d 2 (we + w ) 1 d (we + w ) d (we + w )
l l l

2 ∫0 ∫
Πh = 2
EI 2
dx − Q dx − ∫ ( w e + w )qdx
dx dx 2 0
dx dx 0
l l l
1 d 2 we d 2 w e dw e dw e d 2 we d 2 w dw e dw
= ∫( EI − Q )dx − ∫ w qdx + ∫ (
e
EI − Q )dx
2 0 dx 2 dx 2 dx dx 0 0 dx 2 dx 2 dx dx
l l
1 d 2w d 2 w dw dw
− ∫ w qdx +
2 ∫0 dx 2
( EI − Q )dx
0 dx 2 dx dx
l l
d 4 we d 2 we 1 d 2w d 2 w dw dw
= Π + ∫ w ( EI
2 ∫0 dx 2
e
+ Q − q ) dx + ( EI − Q )dx
0 dx 4 dx 2 dx 2 dx dx
l
1 d 2w d 2 w dw dw
2 ∫0 dx 2
= Πe + ( EI − Q )dx
dx 2 dx dx

z The principle of minimum potential energy holds if and only if

l
d 2w d 2 w dw dw
∫(
0 dx 2
EI
dx 2
− Q
dx dx
)dx > 0 for all possible w

z The principle of the minimum potential energy is not valid for the following cases.
l
d 2w d 2 w dw dw
∫(
0 dx 2
EI
dx 2
− Q
dx dx
)dx ≤ 0 for some w

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z The critical status of a structure is defined as

l
d 2w d 2 w dw dw
∫(
0 dx 2
EI
dx 2
− Q
dx dx
)dx = 0

z Approximation
n
− Approximation of displacement: w = ∑ ai g i
i =1

− Critical Status
l n n l n n

∫ (∑ ai g i′′)EI (∑ a j g ′j′ )dx − P ∫ (∑ ai g i′ )(∑ a j g ′j )dx =

0 i =1 j =1 0 i =1 j =1

n n l n n l n n n n

∑∑ ai ∫ g i′′EIg i′′dxa j − Q∑∑ ai ∫ g i′g ′j dxa j = ∑∑ ai K ij a j − Q∑∑ ai K ijG a j =

i =1 j =1 i =1 j =1 i =1 j =1 i =1 j =1
0 0

(a ) (K − K )(a ) = 0 → Det (K − K ) = 0
T G T G

z Example - Simple Beam

− with a parabola: w = ax( x − l ) → g1′ = 2 x − l , g1′′ = 2

l l

∫ g i′′EIg i′′dx = ∫ 2 EI 2dx = 4 EIl

0 0
l l l
4 1 3
∫0 g i′EIg i′dx = ∫0 (2 x − l ) dx = ∫0 (4 x − 4 xl + l )dx = ( 3 − 2 + 1)l = 3 l
2 2 2 3

1 12 EI π 2 EI EI
Det (4 EIl − Q l 3 ) = 0 → Qcr = 2 (exact : 2
= 9.86 2 , error = 22%)
3 l l l
πx π πx π πx
− with one sine curve: w = a sin → g1′ = cos , g1′′ = ( ) 2 sin
l l l l l

π 4 2 πx π 4 l
l l

∫0 g i′′EIg i′′dx = EI ( l ) ∫0 sin l dx = EI ( l ) 2

π 2 2 πx π 2 l
l l

∫0 g i′EIg i′dx = ( l ) ∫0 cos l dx = ( l ) 2

π l π l π 2 EI
Det ( EI ( ) 4 − Q( ) 2 ) = 0 → Q = 2 (exact )
l 2 l 2 l

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z Example – Cantilever Beam

Q Q

− with one unknown:

w = ax 2 → g1′ = 2 x , g1′′ = 2
l l l l
4 3
∫ g i′′EIg i′′dx = ∫ 2 EI 2dx = 4EIl , ∫ g i′EIg i′dx = ∫ 4 x dx =
2
l
0 0 0 0
3
4 3EI π 2 EI EI
Det (4 EIl − Q l 3 ) = 0 → Qcr = 2 (exact : 2
= 2.46 2 , error = 22%)
3 l 4l l

− with two unknowns:

w = ax 2 + bx 3 → g1′ = 2 x , g 2′ = 3 x 2 , g1′′ = 2 , g 2′′ = 6 x
l l l
4 6 9
K11G = ∫ 4 x 2 dx = l 3 , K12G = K 21
G
= ∫ 6 x 3dx = l 4 , K 22
G
= ∫ 9 x 4 dx = l 5
0
3 0
4 0
5
l l l
K11 = ∫ 4dx = 4l , K12 = K 21 = ∫ 12 xdx = 6l , K 22 = ∫ 36 x 2 dx = 12l 3
2

0 0 0

 4l 6l 2  1  40l 3 45l 4  4l − 40l 3 α 6l 2 − 45l 4 α 1 Q

Det ( EI  2 3
−Q  4 5
)=0→ 2 = 0,α =
6l 12l  30 45l 54l  6l − 45l α 12l − 54l α
4 3 5
30 EI

(4l − 40l 3 α)(12l 3 − 54l 5 α) − (6l 2 − 45l 4 α) 2 = 0 → 4l 4 − 52l 6 α + 45l 8 α 2 = 0

26l 6 ± 26 2 l 12 − 180l 12 26 ± 22.27 0.0829 1.0727 EI EI

α= 8
= 2
= 2
or 2
→ Qcr = 2.487 2 or 32.181 2
45l 45l l l l l

EI EI
Qexact = 2.49 2
(error = 1.2%) or Qexact = 22.19 2 (error = 45%)
l l

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6.5 Approximation with the Homogeneous Beam Solutions

z Homogeneous Solution of Beam

u2i −1 u 2 i +1
u2i u2 i + 2 P

i-th member
 δ Ly 
 
 θ Lz 
w = N 1δ y + N 2 θ z + N 3 δ y + N 4 θ z = ( N 1 , N 2 , N 3 , N 4 ) R  = ( N )(∆ i ) = (N)(∆ i )
i L L R R

δy 
 R 
θz 
2 3 2 3 2
3x 2x 2x x 3x 2 x3 x 2 x3
N1 = 1 − 2 + 3 , N 2 = x − + 2 , N3 = − 2 , N4 = − + 2
L L L L L L L L

6.5.1 Beam Analysis

z Total Potential Energy
l l p l
1 d 2 wi
p
d 2 wi p
1 dwi dwi
Π=∑ ∫ 2
EI dx − ∑ Q ∫ dx − ∑ ∫ wi qi dx
i =1 2 0 dx dx 2 i =1 2 0
dx dx i =1 0
l l p l
p
1 d 2 wi T d 2 wi p
1 dwi T dw i
=∑ ∑ ∑
2 ∫0 dx 2 ∫ ∫
( ) EI 2
dx − Q ( ) dx − ( wi ) T qi dx
i =1 dx i =1 2 0
dx dx i =1 0
l l l
p
1 d 2N T d 2N p
1 dN T dN p
= ∑ (∆ i ) ∫ ( 2 ) EI
T
2
dx(∆ i ) − ∑ Q(∆ i ) ∫ ( )
T
dx(∆ i ) − ∑ (∆ i ) T ∫ (N) T qi dx
i =1 2 0 dx dx i =1 2 0
dx dx i =1 0

1 p p
= ∑ i
2 i =1
( ∆ ) T
([ K 0
i ] − [ K G
i )( ∆ i ) − ∑
i =1
(∆ i ) T (f i )

1 T p p
= (u) ∑ [C i ]T ([K i0 ] − [K Gi ])[C i ](u) − ∑ (u) T [C i ]T (f i )
2 i =1 i =1

1 T p p
= (u) ∑ [C i ]T [K i ][C i ](u) − (u) T ∑ [C i ]T (f i )
2 i =1 i =1

1 T
= (u) [K ](u) − (u) T (P )
2

 12 6 12 6  6 1 6 1
 L2 − −
Li L2i Li   5L 10 5Li 10 
 i   i

 6 −
6
2  1 2 Li 1 Li 
EI  Li
4
 −
K Gi = Q  10 30 
Li 15 10
K i0 = i 
6
,
Li − 12 6 12 6 1 6 1
− −  − − 
 Li Li 
2
Li L2i  5 Li 10 5Li 10 
 6 6   1 L 1 2 Li 
 2 − 4  10 − i −
 Li Li  30 10 15 

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z Principle of Minimum Potential Energy for Q < Qcr

1 T 1 n n n
Π= (u) [K ](u) − (u)T (P) = ∑ ui ∑ K ij u j − ∑ ui Pi
2 2 i=1 j =1 i =1

∂Π 1 n ∂u i n
1 n n ∂u j n
= ∑ ∑ K ij u j + ∑ i ∑ ij ∂u ∑
u K − u i Pi
∂u k 2 i =1 ∂u k j =1 2 i =1 j =1 k i =1
n
1 1 n 1 n 1 n
= ∑ kj j 2 ∑
2 j =1
K u +
i =1
u i K ik − Pk = ∑ kj j 2 ∑
2 j =1
K u +
i =1
K ki u i − Pk

1 n 1 n n
= ∑
2 j =1
K kj u j + ∑ K kj u j − Pk = ∑ K kj u j − Pk = 0 for k = 1, L , n → [K ](u) = (P)
2 j =1 j =1

z Calculation of the Critical Load

Det ([K ]) = Det ([K 0 ] − [K G ]) = 0

z Frame Members

 f xL   δ Lx 
   
   
 L  Ae 0 0 Ae 0 0  0 0 0 0 0 0   δL 
 fy   12 I e 6Ie 12 I e 6Ie   6 1 6 1   y
  0 0 − 2  0 0 −  
 L2e Le Le Le   10   
  
5 Le 10 5 Le
 L
 mL  0 6Ie 6Ie
2 I e  − e   θe 
4Ie 0 − 0 1 2 Le 1 L
   0
 − P  30  )
E Le Le 10 15 10
 =( 
0  
 f R  Le  Ae 0 0 Ae 0 0 

0 0
6
0
1
0 0
6 1   δR 
 x  0 12 I e
− 2 −
6Ie
0
12 I e
−
6Ie 
 0 − 0 −  x
   Le Le L2e Le  
5Le 10 5Le 10  

 R  6Ie 6I  0 1 L 1 2 Le   R 
 fy  0 − e 4Ie  − e 0 − δ
15   y 
2Ie 0  10 30 10
   Le Le   
   
 mR   θR 
   e

δ Lx − δ Rx
P = EA
Le

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6.6 Nonlinear Analysis of Truss

f yR δ y
R

f yL δ Ly

f xL δ x f xR δ Rx
L

z Force – Displacement relation at Member ends

EA R
f xL = − (δ x − δ Lx )
L
EA R
f xR = (δ x − δ Lx )
L
δ Ry − δ Ly R
fy = − fy =
R L
fx
l

z Member Stiffness Matrix

e e
 f xL   1 0 − 1 0 0 0 0 0  δ Lx 
    
 fy 
L
EA   0 0 0 0 δ Rx − δ Lx 0
 1 0 − 1  δ Ly 
 = +  
 f xR  l  − 1 0 1 0 l 0 0 0 0  δ Rx 
   

 f yR    0 0 0 0 0 − 1 0 1  δ Ry 

(f )e = ([k ]e0 + f xR [k ]eg )(δ )e = ([k ]e0 + p e [k ]eg )(δ )e

z Equilibrium Analysis
(f )ie = ([k ]e0 + pie [k ]eg )(δ )ie

(F)e = [Γ]T (f )e = [Γ]T [k ]e (δ )e = [Γ]T ([k ]0e + pie [k ]eg )[Γ](∆ )e = [K ]e (∆ )e

z Successive substitution
(F) ie−1 ≈ [Γ]T ([k ]e0 + pie−1 [k ]eg )[Γ](∆ ) e = [K ]ie−1 (∆ ) e

(P) = ([K ]0 + [K ( pie−1 )]G )(u)i

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z Newton-Raphson Method

(f )ie = ([k ]e0 + pie [k ]eg )(δ )ie

= ([k ]e0 + ( pie−1 + ∆pie )[k ]eg )(δ ie−1 + ∆δ ie )
= ([k ]0e + pie−1[k ]eg )δ ie−1 + ([k ]0e + pie−1[k ]eg )∆δ ie + ∆pie [k ]eg (δ ie−1 + ∆δ ie )
≈ ([k ]e0 + pie−1[k ]eg )δ ie−1 + ([k ]e0 + pie−1[k ]eg )∆δ ie + ∆pie [k ]eg δ ie−1
= (f )ie−1 + ([k ]e0 + pie−1[k ]eg + [k ]eσ )∆δ ie

([k ]0e + pie−1[k ]eg + [k ]eσ )∆δ ie = (f )ie − (f )ie−1 = (∆f )ie

([K ]0 + [K ( pie−1 )]G + [K ]σ )∆u = (∆P)i

e
0 0 0 0 δ Lx 
0  
EA  1 0 − 1 δ Ly  ∆δ Rx − ∆δ Lx
∆pie [k ]eg δ ie−1 =  
l 0 0 0 0 δ Rx  l
  R 
0 − 1 0 1 δ y 
i −1
e e
 0   ∆δ Lx 
 L   L
EA  δ y − δ Ry   ∆δ y 
= 2  (− 1 0 1 0 ) R
0 
l    ∆δ x 
δR L 
− δy   ∆δ R 
 y i −1  y i
e
 0 0 0 0 ∆δ Lx 
  
EA R L e  1 0 − 1 0 ∆δ Ly 
= 2 (δ y − δ y ) i −1  
l  0 0 0 0 ∆δ Rx 
 
− 1 0 1 0 ∆δ Ry 
i

= [k ]eσ ∆δ ie

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