CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 1/48

Chapter 5b – Plane Frame and Grid Equations

Learning Objectives
• To derive the stiffness matrix and equations for grid
analysis
• To provide equations to determine torsional
constants for various cross sections
• To illustrate the solution of grid structures
• To develop the stiffness matrix for a beam element
arbitrarily oriented in space
• To present the solution of a space frame
• To introduce the concept of substructuring

Plane Frame and Grid Equations

Grid Equations
A grid is: a structure on which the loads are applied
perpendicular to the plane of the structure, as opposed to a
plane frame where loads are applied in the plane of the
structure.

Both torsional and bending moment continuity are maintained at

each node in a grid element.
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 2/48

Plane Frame and Grid Equations

Grid Equations
Examples of a grid structure are floors and bridge deck
systems.

Plane Frame and Grid Equations

Grid Equations
Examples of a grid structure are floors and bridge deck
systems.
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 3/48

Plane Frame and Grid Equations

Grid Equations
A representation of the grid element is shown below:

The degrees of freedom for a grid element are: a vertical

displacement v’i (normal to the grid), a torsional rotation ’ix
about the x’ axis, and a bending rotation ’iz about the z’ axis.

The nodal forces are: a transverse force f’iy, a torsional m’ix

moment about the x’ axis, and a bending moment m’iz about
the z’ axis.

Plane Frame and Grid Equations

Grid Equations
Let’s derive the torsional rotation components of the element
stiffness matrix.

Consider the sign convention for nodal torque and angle of twist
shown the figure below.

Nodal Elemental

A linear displacement function is assumed.   a1  a2 x 

Applying the boundary conditions and solving for the unknown
coefficients gives:     
   2 x 1x  x   1x
 L 
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 4/48

Plane Frame and Grid Equations

Grid Equations
Let’s derive the torsional rotation components of the element
stiffness matrix.

Consider the sign convention for nodal torque and angle of twist
shown the figure below.

Nodal Elemental

1x 
Or in matrix form:    N1 N2    
2 x 
x x
where: N1  1  N2 
L L

Plane Frame and Grid Equations

Grid Equations
To obtain the relationship between the shear strain  and the
angle of twist ’ consider the torsional deformation of the bar
as shown below.

If we assume that all radial lines, such as OA, remain straight

during twisting or torsional deformation, then the arc length
AB is: d 
AB   max dx   R d    max  R
dx 
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 5/48

Plane Frame and Grid Equations

Grid Equations
To obtain the relationship between the shear strain  and the
angle of twist ’ consider the torsional deformation of the bar
as shown below.

At any radial position, r, we have, from similar triangles OAB

and OCD:
d  r
 r  2 x  1x 
dx  L

Plane Frame and Grid Equations

Grid Equations
To obtain the relationship between the shear strain  and the
angle of twist ’ consider the torsional deformation of the bar
as shown below.

The relationship between shear stress and shear strain is:

  G
where G is the shear modulus of the material.
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 6/48

Plane Frame and Grid Equations

Grid Equations
To obtain the relationship between the shear strain  and the
angle of twist ’ consider the torsional deformation of the bar
as shown below.

 J
From elementary mechanics of materials, we get: mx 
R
Where J is the polar moment of inertia for a circular cross
section or the torsional constant for non-circular cross
sections.

Plane Frame and Grid Equations

Grid Equations
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 7/48

Plane Frame and Grid Equations

Grid Equations
GJ
Rewriting the above equation we get: mx   2 x  1x 
L
m1x  mx
The nodal torque sign convention gives:
m2 x  mx

GJ GJ
Therefore: m1x   1x  2 x  m2 x   2 x  1x 
L L

In matrix form, the above equations are:

 m1x  GJ  1 1 1x 
   1 1    
m2 x  L    2x 

Plane Frame and Grid Equations

Grid Equations
Combining the torsional effects with shear and bending effects,
we obtain the local stiffness matrix equations for a grid
element.

 f1y   L3
12 EI
0 6 EI
L2
 12L3EI 0 6 EI
L2
  v 
 m   0 GJ
0 0 GJ
 1 
0  1x
 1x   6EI L L
 
 m1z   L2
2 EI 
0 4 EI
 6 EI
0   
   12EI   1z 
L L2 L

f 
 2 y    L3 0  6LEI2 12EI
0  6LEI2   v 2 
L3
m2 x   0  GJL 0 0 GJ

0  2 x 
   L
 
 4 EI   
 2 z   6LEI2
m 0 2 EI
L  6LEI2 0 L   2z 
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 8/48

Plane Frame and Grid Equations

Grid Equations
The transformation matrix relating local to global degrees of
freedom for a grid is:
1 0 0 0 0 0 
0 C S 0 0 0 
 
0 S C 0 0 0 
TG   
0 0 0 1 0 0 
0 0 0 0 C S 
 
0 0 0 0 S C 
where  is now positive taken counterclockwise from x to x’ in
the x-z plane: therefore:
x j  xi z j  zi
C  cos   S  sin 
L L

Plane Frame and Grid Equations

Grid Equations
The transformation matrix relating local to global degrees of
freedom for a grid is:
1 0 0 0 0 0 
0 C S 0 0 0 
 
0 S C 0 0 0 
TG   
0 0 0 1 0 0 
0 0 0 0 C S 
 
0 0 0 0 S C 
The global stiffness matrix for a grid element arbitrary oriented
in the x-z plane is given by:
kG  TG TkG TG
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 9/48

Plane Frame and Grid Equations

Grid Example 1
Consider the frame shown in the figure below.

The frame is fixed at nodes 2, 3, and 4, and is subjected to a

load of 100 kips applied at node 1.

Assume I = 400 in4, J = 110 in4, G = 12 x 10 3 ksi, and

E = 30 x 10 3 ksi for all elements.

Plane Frame and Grid Equations

Grid Example 1
Consider the frame shown in the figure below.

To facilitate a timely solution, the boundary conditions at nodes

2, 3, and 4 are applied to the local stiffness matrices at the
beginning of the solution. v 2  2 x  2 z  0
v 3  3 x  3 z  0
v 4  4 x  4 z  0
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 10/48

Plane Frame and Grid Equations

Grid Example 1
Recall the general elemental stiffness matrix:

 f1y   L3
12 EI
0 6 EI
L2
 12L3EI 0 6 EI
L2
  v 
 m   0 GJ
0 0  GJ
 1 
0  1x
 1x   6EI L L
 
 m1z   L2
2 EI 
0 4 EI
 6LEI2 0   
   12EI   1z 
L L

f 
 2 y    L3 0  6LEI2 12 EI
0  6LEI2   v 2 
L3
m2 x   0  GJ 0 0 GJ

0  2 x 
   L L
 
 4 EI   
 2 z   6LEI2
m 0 2 EI
L
 6LEI2 0 L   2z 

Plane Frame and Grid Equations

Grid Example 1
Recall the general transformation matrix:

1 0 0 0 0 0 
0 C S 0 0 0 
  kG  TG TkG TG
0 S C 0 0 0 
TG   
0 0 0 1 0 0 
0 0 0 0 C S 
 
0 0 0 0 S C 
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 11/48

Plane Frame and Grid Equations

Grid Example 1
Beam Element 1:
x2  x1 0  20
C  cos    0.894
L(1) 22.36

z2  z1 20  10
S  sin    0.447
L(1) 22.36

12EI 12(30  103 )(400) 6EI 6(30  103 )(400)

  7.45 k   1,000 k
L3 (22.36  12)3 in L2 (22.36  12)2

4EI 4(30  103 )(400) GJ (12  103 )(110)

  179,000 k  in   4,920 k  in
L (22.36  12) L (22.36  12)

Plane Frame and Grid Equations

Grid Example 1
Beam Element 1:
The global stiffness matrix for element 1, considering only the
parts associated with node 1, and the following relationship:
kG  TG TkG TG

1 0 0  1 0 0 
TG  0 0.894 0.447 
 TG T
 0 0.894 0.447 

   
0 0.447 0.894  0 0.447 0.894 
v1 1x 1z
 7.45 0 1,000 
k (1)
  0 4,920 0 k
  in
1,000 0 179,000 
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 12/48

Plane Frame and Grid Equations

Grid Example 1
Beam Element 1:
The global stiffness matrix for element 1, considering only the
parts associated with node 1, and the following relationship:
kG  TG TkG TG

1 0 0   7.45 0 1,000   1 0 0 
kG (1)  0 0.894 0.447   0 4,920 0  0 0.894 0.447 
   
0 0.447 0.894  1,000 0 179,000  0 0.447 0.894 

v1 1x 1z
 7.45 447 894 
kG (1)
 447 39,700 69,600  k

  in
 894 69,600 144,000 

Plane Frame and Grid Equations

Grid Example 1
Beam Element 2:
x3  x1 0  20
C  cos    0.894
L(2) 22.36

z3  z1 0  10
S  sin    0.447
L(2) 22.36

12EI 12(30  103 )(400) 6EI 6(30  103 )(400)

  7.45 k   1,000 k
L3 (22.36  12)3 in L2 (22.36  12)2

4EI 4(30  103 )(400) GJ (12  103 )(110)

  179,000 k  in   4,920 k  in
L (22.36  12) L (22.36  12)
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 13/48

Plane Frame and Grid Equations

Grid Example 1
Beam Element 2:
The global stiffness matrix for element 2, considering only the
parts associated with node 1, and the following relationship:
kG  TGT kG TG

1 0 0  1 0 0 
TG  0 0.894 0.447 
 TGT
 0 0.894 0.447 

   
0 0.447 0.894  0 0.447 0.894 
v1 1x 1z
 7.45 0 1,000 
k(2)  0 4,920 0 k
  in
1,000 0 179,000 

Plane Frame and Grid Equations

Grid Example 1
Beam Element 2:
The global stiffness matrix for element 2, considering only the
parts associated with node 1, and the following relationship:
kG  TGT kG TG

1 0 0   7.45 0 1,000   1 0 0 
kG (2)  0 0.894 0.447   0 4,920 0  0 0.894 0.447 
   
0 0.447 0.894  1,000 0 179,000  0 0.447 0.894 

v1 1x 1z
 7.45 447 894 
kG (2)   447 39,700 69,600  k
  in
 894 69,600 144,000 
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 14/48

Plane Frame and Grid Equations

Grid Example 1
Beam Element 3:
x4  x1 20  20
C  cos   0
L(3) 10

z4  z1 0  10
S  sin    1
L(3) 10

12EI 12(30  103 )(400) 6EI 6(30  103 )(400)

  83.3 k / in   5,000 k
L3 (10  12)3 L2 (10  12)2

4EI 4(30  103 )(400) GJ (12  103 )(110)

  400,000 k  in   11,000 k  in
L (10  12) L (10  12)

Plane Frame and Grid Equations

Grid Example 1
Beam Element 3:
The global stiffness matrix for element 3, considering only the
parts associated with node 1, and the following relationship:
kG  TGT kG TG

1 0 0  1 0 0
TG  0 0 1 TG T
  0 0 1
   
0 1 0  0 1 0 
v1 1x 1z
 83.3 0 5,000 
k(3)
  0 11,000 0 k
  in
5,000 0 400,000 
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 15/48

Plane Frame and Grid Equations

Grid Example 1
Beam Element 3:
The global stiffness matrix for element 3, considering only the
parts associated with node 1, and the following relationship:
kG  TGT kG TG

 1 0 0   83.3 0 5,000   1 0 0 
kG (3)  0 0 1  0 11,000 0   0 0 1
   
0 1 0  5,000 0 400,000  0 1 0 

v1 1x 1z
 83.3 5,000 0 
kG (3) 
 5,000 400,000 0 k
  in
 0 0 11,000 

Plane Frame and Grid Equations

Grid Example 1
Superimposing the three elemental stiffness matrices gives:
v1 1x 1z
 98.2 5,000 1,790 

KG  5,000 479,000 0 
 
 1,790 0 299,000 
The global equations are:

F1y  100 k   98.2 5,000 1,790   v1 

     
 M1x  0    5,000 479,000 0
  1x 
 M  0   1,790 0 299,000  1z 
 1z  
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 16/48

Plane Frame and Grid Equations

Grid Example 1
 v1   2.83 in 
Solving the above equations gives:    
1x    0.0295 rad 
  0.0169 rad 
 1z   

Plane Frame and Grid Equations

Grid Example 1
 v1   2.83 in 
Solving the above equations gives:    
1x    0.0295 rad 
  0.0169 rad 
 1z   
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 17/48

Plane Frame and Grid Equations

Grid Example 1
 v1   2.83 in 
Solving the above equations gives:    
1x    0.0295 rad 
  0.0169 rad 
 1z   
The results indicate that the y displacement at node 1 is
downward as indicated by the minus sign.

The rotation about the x-axis is positive.

The rotation about the z-axis is negative.

Based on the downward loading location with respect to the

supports, these results are expected.

Plane Frame and Grid Equations

Grid Example 1
Beam Element 1: The grid element force-displacement
equations can be obtained using f’ = k’GTGd
x2  x1 0  20
C  cos    0.894
L(1) 22.36

z2  z1 20  10
S  sin    0.447
L(1) 22.36

1 0 0 0 0 0  1 0 0 0 0 0 
0 C S 0 0 0  0 0.894 0.447 0 0 0 
   
0 S C 0 0 0  0 0.447 0.894 0 0 0 
TG     
0 0 0 1 0 0  0 0 0 1 0 0 
0 0 0 0 C S  0 0 0 0 0.894 0.447 
   
 0 0 0 0 S C   0 0 0 0 0.447 0.894 
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 18/48

Plane Frame and Grid Equations

Grid Example 1
Beam Element 1: The grid element force-displacement
equations can be obtained using f’ = k’GTGd
1 0 0 0 0   2.83 in   2.83 in 
0
0 0.894 0.447  
0 0 0   0.0295 rad  0.0339 rad 
  
0 0.447 0.894 0 0 0  0.0169 rad  0.00192 rad 
TG d      
0
0 0 0 1 0 0  0   
0 0 0 0 0.894 0.447   0   0 
    
 0 0 0 0 0.447 0.894   0   0 

Plane Frame and Grid Equations

Grid Example 1
Beam Element 1: The grid element force-displacement
equations can be obtained using f’ = k’GTGd
 7.45 0 1,000 7.45 0 1,000   2.83 in 
 0 4,920 0 0 4,920 0  0.0339 rad 
  
 1,000 0 179,000 1,000 0 89,500  0.00192 rad 
f(1)  kTd    
 7.45 0 1,000 7.45 0 1,000   0 
 0 4,920 0 0 4,920 0  0 
  
 1,000 0 89,500 1,000 0 179,000  0 

k(1) d'
 f1y   19.2 k 
 m   167 k  in 
 1x   
 m1z  2,480 k  in 
  
 f2y   19.2 k 
m2 x   167 k  in 
   
 m2 z   2,660 k  in 
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 19/48

Plane Frame and Grid Equations

Grid Example 1
Beam Element 2: The grid element force-displacement
equations can be obtained using f’ = k’GTGd
x3  x1 0  20
C  cos    0.894
L(2) 22.36

z3  z1 0  10
S  sin    0.447
L(2) 22.36

1 0 0 0 0 0  1 0 0 0 0 0 
0 C S 0 0 0  0 0.894 0.447 0 0 0 
   
0 S C 0 0 0  0 0.447 0.894 0 0 0 
TG     
0 0 0 1 0 0  0 0 0 1 0 0 
0 0 0 0 C S  0 0 0 0 0.894 0.447 
   
 0 0 0 0 S C   0 0 0 0 0.447 0.894 

Plane Frame and Grid Equations

Grid Example 1
Beam Element 2: The grid element force-displacement
equations can be obtained using f’ = k’GTGd
1 0 0 0 0 0   2.83 in   2.83 in 
0 0.894 0.447 0 0 0   0.0295 rad  0.0188 rad 
    
0 0.447 0.894 0 0 0  0.0169 rad   0.0283 rad 
TG d      
0
0 0 0 1 0 0  0   
0 0 0 0 0.894 0.447   0   0 
    
 0 0 0 0 0.447 0.894   0   0 
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 20/48

Plane Frame and Grid Equations

Grid Example 1
Beam Element 2: The grid element force-displacement
equations can be obtained using f’ = k’GTGd
 7.45 0 1,000 7.45 0 1,000   2.83 in 
 0 4,920 0 0 4,920 0  0.0188 rad 
  
 1,000 0 179,000 1,000 0 89,500   0.0283 rad 
f(2 )  kTd    
 7.45 0 1,000 7.45 0 1,000   0 
 0 4,920 0 0 4,920 0  0 
  
 1,000 0 89,500 1,000 0 179,000  0 

k(2) d'
 f1y   7.23 k 
 m   92.5 k  in 
 1x   
 m1z  2,240 k  in 
  
 f3y   7.23 k 
m3 x   92.5 k  in 
   

 m3 z   295 k  in 

Plane Frame and Grid Equations

Grid Example 1
Beam Element 3: The grid element force-displacement
equations can be obtained using f’ = k’GTGd
x4  x1 20  20
C  cos   0
L(3) 10

z4  z1 0  10
S  sin    1
L(3) 10

1 0 0 0 0 0  1 0 0 0 0 0
 0 C S 0 0 0   0 0 1 0 0 0
   
0 S C 0 0 0  0 1 0 0 0 0
TG     
0 0 0 1 0 0  0 0 0 1 0 0
0 0 0 0 C S  0 0 0 0 0 1
   
0 0 0 0 S C  0 0 0 0 1 0
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 21/48

Plane Frame and Grid Equations

Grid Example 1
Beam Element 3: The grid element force-displacement
equations can be obtained using f’ = k’GTGd
1 0 0 0 0 0   2.83 in   2.83 in 
0  
0 1 0 0 0   0.0295 rad  0.0169 rad 
  
0 1 0 0 0 0  0.0169 rad  0.0295 rad 
TG d      
0
0 0 0 1 0 0  0   
0 0 0 0 0 1  0   0 
    
0 0 0 0 1 0  0   0 

Plane Frame and Grid Equations

Grid Example 1
Beam Element 3: The grid element force-displacement
equations can be obtained using f’ = k’GTGd
 83.3 0 5,000 83.3 0 5,000   2.83 in 
 0 11,000 0 0 11,000 0  0.0169 rad 
  
5,000 0 400,000 5,000 0 200,000  0.0295 rad 
f(3 )  kTd    
 83.3 0 5,000 83.3 0 5,000   0 
 0 11,000 0 0 11,000 0  0 
  
 5,000 0 200,000 5,000 0 400,000  0 

k(3) d'
 f1y   88.1 k 
 m   186 k  in 
 1x   
 m1z   2,340 k  in 
  
 f4y   88.1 k 
m4 x   186 k  in 
   
 m4 z   8,240 k  in 
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 22/48

Plane Frame and Grid Equations

Grid Example 1

Plane Frame and Grid Equations

Grid Example 1 – Forces in the y-direction
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 23/48

Plane Frame and Grid Equations

Grid Example 1 - Moment about the y’ axis

Plane Frame and Grid Equations

Grid Example 1 - Torsional Moment about the x’ axis
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 24/48

Plane Frame and Grid Equations

Grid Example 1

Plane Frame and Grid Equations

Grid Example 1
To check the equilibrium of node 1, the local forces and
moments for each element need to be transformed to global
coordinates. Recall, that:
f   Tf  f  T T f  T T  T -1

Since we are only checking the forces and moments at node 1,

we need only the upper-left-hand portion of the transformation
matrix TG
Element 1:

 f1y   1 0 0   19.2 k   19.2 k 

      
m1x   0 0.894 0.447   167 k  in    1,260 k  in 
m  0 0.447 0.894   2,480 k  in  2,150 k  in 
 1z      
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 25/48

Plane Frame and Grid Equations

Grid Example 1
To check the equilibrium of node 1, the local forces and
moments for each element need to be transformed to global
coordinates. Recall, that:
f   Tf  f  T T f  T T  T -1
Element 2:
 f1y   1 0 0  7.23 k   7.23 k 
       
m1x   0 0.894 0.447   92.5 k  in    1,080 k  in 
m  0 0.447 0.894  2,240 k  in  1,960 k  in 
 1z      

Element 3:
 f1y   1 0 0   88.1 k   88.1 k 
      
m1x   0 0 1 2,340 k  in   2,340 k  in 
m  0 1 0   186 k  in   186 k  in 
 1z      

Plane Frame and Grid Equations

Grid Example 1
Check the equilibrium of node 1. Element 1:
 f1y   19.2 k 
   
Remember that forces and m1x    1,260 k  in 
 m  2,150 k  in 
moments from each element are  1z   
equal in magnitude but opposite
in sign. Element 2:
 f1y   7.23 k 
   

 1x  
m 1,080 k  in 
 m   1,960 k  in 
 1z   

Element 3:
 f1y   88.1 k 
   
m1x    2,340 k  in 
 m   186 k  in 
 1z   
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 26/48

Plane Frame and Grid Equations

Grid Example 1
Check the equilibrium of node 1.
M 1x  1,260  1,080  2,340  0.0 k  in

M 1z  2,150  1,060  186  4.0 k  in

F 1y  100  7.23  19.2  88.1  0.07 k

Plane Frame and Grid Equations

Grid Example 2
Consider the frame shown in the figure below.

Element 1: nodes 1 to 2

Element 2: nodes 3 to 2

The frame is fixed at nodes 1 and 3, and is subjected to a load

of 22 kN applied at node 2.

Assume I = 16.6 x 10-5 m4, J = 4.6 x 10-5 m4, G = 84 GPa,

and E = 210 GPa for all elements.
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 27/48

Plane Frame and Grid Equations

Grid Example 2
Consider the frame shown in the figure below.

Element 1: nodes 1 to 2

Element 2: nodes 3 to 2

To facilitate a timely solution, the boundary conditions at nodes

1 and 3 are applied to the local stiffness matrices at the
beginning of the solution. v   0
1 1x 1z

v 3  3 x  3 z  0

Plane Frame and Grid Equations

Grid Example 2
Recall the general elemental stiffness matrix:

 f1y   L3
12 EI
0 6 EI
L2
 12L3EI 0 6 EI
L2
  v 
 m   0 GJ
0 0 GJ
 1 
0  1x
 1x   6EI L L
 
 m1z   L2
2 EI 
0 4 EI
 6 EI
0   
   12EI   1z 
L L2 L

f 
 2 y    L3 0  6LEI2 12EI
0  6LEI2   v 2 
L3
m2 x   0  GJL 0 0 GJ

0  2 x 
   L
 
 4 EI   
 2 z   6LEI2
m 0 2 EI
L
 6LEI2 0 L   2z 
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 28/48

Plane Frame and Grid Equations

Grid Example 2
Recall the general transformation matrix:

1 0 0 0 0 0 
0 C S 0 0 0 
  kG  TG TkG TG
0 S C 0 0 0 
TG   
0 0 0 1 0 0 
0 0 0 0 C S 
 
0 0 0 0 S C 

Plane Frame and Grid Equations

Grid Example 2
Beam Element 1: from nodes 1 to 2
x x 3
C  cos  2 (1) 1   1
L 3
z2  z1 0
S  sin   0
L(1) 3
12EI 12(210  106 )(16.6  10 5 )
  1.55  10 4 kN / m
L3 (3)3
6EI 6(210  106 )(16.6  10 5 )
  2.32  104 kN
L2 (3)2
4EI 4(210  106 )(16.6  10 5 )
  4.65  10 4 kNꞏm
L 3
GJ (84  106 )(4.6  10 5 )
  0.128  104 kNꞏm
L 3
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 29/48

Plane Frame and Grid Equations

Grid Example 2
Beam Element 1:
The global stiffness matrix for element 1, considering only the
parts associated with node 2, and the following relationship:
kG  TGT kG TG

1 0 0 1 0 0
TG  0 1 0  TGT
 0 1 0 
   
0 0 1 0 0 1
v2 2 x 2 z
 1.55 0 2.32
k(1)  104  0 0.128 0  KN m
 
 2.32 0 4.65 

Plane Frame and Grid Equations

Grid Example 2
Beam Element 1:
The global stiffness matrix for element 1, considering only the
parts associated with node 2, and the following relationship:
kG  TGT kG TG

 1 0 0   1.55 0 2.32  1 0 0 
kG (1)  10 4 0 1 0   0 0.128 0  0 1 0  kN
    m
0 0 1  2.32 0 4.65  0 0 1

v2 2 x 2 z
 1.55 0 2.32
kG (1)  104  0 0.128 0  kN
  m
 2.32 0 4.65 
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 30/48

Plane Frame and Grid Equations

Grid Example 2
Beam Element 2: from nodes 3 to 2
x x 0
C  cos  3 (2) 2   0
L 3
z3  z2 3
S  sin   1
L(1) 3
12EI 12(210  106 )(16.6  10 5 )
  1.55  10 4 kN / m
L3 (3)3
6EI 6(210  106 )(16.6  10 5 )
  2.32  104 kN
L2 (3)2
4EI 4(210  106 )(16.6  10 5 )
  4.65  10 4 kNꞏm
L 3
GJ (84  106 )(4.6  10 5 )
  0.128  104 kNꞏm
L 3

Plane Frame and Grid Equations

Grid Example 2
Beam Element 2:
The global stiffness matrix for element 2, considering only the
parts associated with node 2, and the following relationship:
kG  TGT kG TG

1 0 0 1 0 0 
TG  0 0 1 TGT
 0 0 1
   
0 1 0  0 1 0 
v2 2 x 2 z
 1.55 0 2.32
k(2)
 10
4  0 0.128 0  KN m
 
 2.32 0 4.65 
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 31/48

Plane Frame and Grid Equations

Grid Example 2
Beam Element 2:
The global stiffness matrix for element 2, considering only the
parts associated with node 2, and the following relationship:
kG  TGT kG TG

 1 0 0   1.55 0 2.32  1 0 0 
kG (2)  10 4 0 0 1  0 0.128 0  0 0 1 kN
    m
0 1 0   2.32 0 4.65  0 1 0 

v2 2 x 2 z
1.55 2.32 0 
kG (2) 4
 10 2.32 4.65 0  kN
  m
 0 0 0.128 

Plane Frame and Grid Equations

Grid Example 2
Superimposing the two elemental stiffness matrices gives:
v2 2 x 2 z
 3.10 2.32 2.32
KG  10  2.32 4.78
4
0  kN
  m
 2.32 0 4.78 
The global equations are:

F2 y  22 kN   3.10 2.32 2.32  v 2 

  4   
 M2 x  0   10  2.32 4.78 0  2 x 

  4.78  2 z 
 M2 z  0   2.32 0
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 32/48

Plane Frame and Grid Equations

Grid Example 2
 v  0.00259 m 
Solving the above equations gives:  2   
2 x    0.00126 rad 
  0.00126 rad 
 2z   

Plane Frame and Grid Equations

Grid Example 2
 v  0.00259 m 
Solving the above equations gives:  2   
2 x    0.00126 rad 
  0.00126 rad 
 2z   
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 33/48

Plane Frame and Grid Equations

Grid Example 2
 v  0.00259 m 
Solving the above equations gives:  2   
2 x    0.00126 rad 
  0.00126 rad 
 2z   
The results indicate that the y displacement at node 1 is
downward as indicated by the minus sign.

The rotation about the x-axis is positive.

The rotation about the z-axis is negative.

Based on the downward loading location with respect to the

supports, these results are expected.

Plane Frame and Grid Equations

Grid Example 2
Beam Element 1: The grid element force-displacement
equations can be obtained using f’ = k’GTGd

x2  x1 3
C  cos   1
L(1) 3
z2  z1 0
S  sin   0
L(1) 3

1 0 0 0 0 0  1 0 0 0 0 0
0 C S 0 0 0  0 1 0 0 0 0
   
0 S C 0 0 0  0 0 1 0 0 0
TG     
0 0 0 1 0 0  0 0 0 1 0 0
0 0 0 0 C S  0 0 0 0 1 0
   
0 0 0 0 S C  0 0 0 0 0 1
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 34/48

Plane Frame and Grid Equations

Grid Example 2
Beam Element 1: The grid element force-displacement
equations can be obtained using f’ = k’GTGd
1 0 0 0 0 0  0   0 
0     0 
1 0 0 0 0 0
    
0 0 1 0 0 0  0   0 
TG d      
0 0 1 0 0   0.00259 m   0.00259
0
m 
0 0 0 0 1 0   0.00126 rad   0.00126 rad 
    
0 0 0 0 0 1 0.00126 rad  0.00126 rad 

Plane Frame and Grid Equations

Grid Example 2
Beam Element 1: The grid element force-displacement
equations can be obtained using f’ = k’GTGd
 1.55 0 2.32 1.55 0 2.32   0 
 0 0.128 0 0 0.128 0  0 
  
4  2.32 0 4.65 2.32 0 2.33   0 
f(1)  kTd  10   
 1.55 0 2.32 1.55 0 2.32  0.00259 m 
 0 0.128 0 0 0.128 0   0.00126 rad 
  
 2.32 0 2.33 2.32 0 4.65  0.00126 rad 

k(1) d'
 f1y   11.0 kN 
 m   1.50 kN  m 
 1x   
 m1z   31.0 kN  m 
  
 f2y  11.0 kN 
m2 x   1.50 kN  m 
   
 m2 z   1.50 kN  m 
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 35/48

Plane Frame and Grid Equations

Grid Example 2
Beam Element 2: The grid element force-displacement
equations can be obtained using f’ = k’GTGd

x3  x 2 0
C  cos   0
L(2) 3
z3  z2 3
S  sin   1
L(1) 3

1 0 0 0 0 0  1 0 0 0 0 0
0 C S 0 0 0  0 0 1 0 0 0
   
0 S C 0 0 0  0 1 0 0 0 0
TG     
0 0 0 1 0 0  0 0 0 1 0 0
0 0 0 0 C S  0 0 0 0 0 1
   
0 0 0 0 S C  0 0 0 0 1 0 

Plane Frame and Grid Equations

Grid Example 2
Beam Element 2: The grid element force-displacement
equations can be obtained using f’ = k’GTGd
1 0 0 0 00  0   0 
0 0 1 0 00  0   0 
    
0 1 0 0 00  0   0 
TG d      
0 0 0 1 0 0   0.00259 m   0.00259 m 
0 0 0 0 0 1  0.00126 rad  0.00126 rad 
    
0 0 0 0 1 0  0.00126 rad  0.00126 rad 
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 36/48

Plane Frame and Grid Equations

Grid Example 2
Beam Element 2: The grid element force-displacement
equations can be obtained using f’ = k’GTGd
 1.55 0 2.32 1.55 0 2.32   0 
 0 0.128 0 0 0.128 0  0 
  
4  2.32 0 4.65 2.32 0 2.33   0 
f(2 )  kTd  10   
 1.55 0 2.32 1.55 0 2.32  0.00259 m 
 0 0.128 0 0 0.128 0  0.00126 rad 
  
 2.32 0 2.33 2.32 0 4.65  0.00126 rad 

k(2) d'
 f2y  11.0 kN 
m   1.50 kN  m 
 2x   
 m2 z   1.50 kN  m  x’
  
 f3y   11.0 kN 
m3 x   1.50 kN  m  z’
   
 m3 z   31.0 kN  m 

Plane Frame and Grid Equations

Grid Example 2
The resulting free-body diagrams:

x’

z’
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 37/48

Plane Frame and Grid Equations

Grid Example 2 – Forces in the y-direction

Plane Frame and Grid Equations

Grid Example 2 – Torsional Moment about the x’ axis
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 38/48

Plane Frame and Grid Equations

Grid Example 2 – Moment about the z’ axis

Plane Frame and Grid Equations

Beam Element Arbitrarily Oriented in Space
In this section, we will develop a beam element that is arbitrarily
oriented in three-dimensions.

This element can be used to analyze three-dimensional frames.

Let consider bending about axes, as shown below.

CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 39/48

Plane Frame and Grid Equations

Beam Element Arbitrarily Oriented in Space
The y’ axis is the principle axis for which the moment of inertia
is minimum, Iy

The right-hand rule is used to establish the z’ axis and the

maximum moment of inertia, Iz

Plane Frame and Grid Equations

Beam Element Arbitrarily Oriented in Space
Bending in the x’-z’ plane: The bending in the x’-z’ plane is
defined by m’y

The stiffness matrix for bending the in the x’-z’ plane is:

 12L 6L2 12L 6L2 

EI y  6L2 4L3 6L2

2L3 
ky  4
L  12L 6L2 12L 6L2 
 
 6L
2
2L3 6L2 4L3 

where Iy is the moment of inertia about the y’ axis (the weak

axis), therefore: Iy < Iz
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 40/48

Plane Frame and Grid Equations

Beam Element Arbitrarily Oriented in Space
Bending in the x’-y’ plane: The bending in the x’-y’ plane is
defined by m’z

The stiffness matrix for bending the in the x’-z’ plane is:

 12L 6L2 12L 6L2 

 
EIz  6L
2
4L3 6L2 2L3 

kz  4
L  12L 6L2 12L 6L2 
 
 6L
2
2L3 6L2 4L3 

where Iz is the moment of inertia about the z’ axis (the strong

axis).

Plane Frame and Grid Equations

Beam Element Arbitrarily Oriented in Space
Direct superposition of the bending stiffness matrices with the
effects of axial forces and torsional rotation give:
 AE AE 
 L 0 0 0 0 0  0 0 0 0 0 
L
 
 0 12 E I z 6 E Iz 12 E I z 6 E Iz 
0 0 0 0  0 0 0
 L3 L2 L3 L2 
 
 0 12 E I y 6 E Iy 12 E I y 6 E Iy
0 0  0 0 0  0  0 
 L3 L2 L3 L2 
 
 0 GJ GJ
0 0 0 0 0 0 0  0 0 
 L L 
 6 E Iy 4 E Iy 6 E Iy 2 E Iy 
 0 0  0 0 0 0 0 0 
 L2 L L2 L 
 6 E Iz 4 E Iz 6 E I z 2 E Iz 
 0 0 0 0 0 0 0 0 
k   L2 L L2 L 

A E AE
 0 0 0 0 0 0 0 0 0 0 
 L L 
 12 E I z 6 E I z 12 E I z 6 E Iz 
 0 0 0 0 0 0 0 0 
 L3 L2 L3 L2 
 12 E I y 6 E Iy 12 E I y 6 E Iy 
 0 0  0 0 0 0 0 0 
 L3 L2 L3 L2 
 GJ GJ 
 0 0 0  0 0 0 0 0 0 0 
 L L 
 6 E Iy 2 E Iy 6 E Iy 4 E Iy 
 0 0  0 0 0 0 0 0 
 L2 L L2 L 
 6 E Iz 2 E Iz 6 E I z 4 E Iz 
 0 L2
0 0 0
L
0
L2
0 0 0
L 
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 41/48

Plane Frame and Grid Equations

Beam Element Arbitrarily Oriented in Space
The global stiffness matrix may be obtained using: k  T TkT

 3 x 3  Cxx  Cyx  Czx  

where:  
3 x 3  
T   3 x 3  Cxy  Cyy  Czy  
 3 x 3  Cxz Cyz Czz 

 3 x 3 
the direction cosines, Cij’, are defined as shown below:

Plane Frame and Grid Equations

Beam Element Arbitrarily Oriented in Space
The direction cosines of the x’ axis are:
x   cos  xx i  cos  yx  j  cos  zx k
x2  x1 y 2  y1 z2  z1
cos  xx  l cos  yx  m cos  zx  n
L L L

The y’ axis is selected to be perpendicular

to the x’ and the z axes is such a way
that the cross product of global z with x’
results in the y’ axis as shown in the
figure.
i j k
1 m l
z  x  y   0 0 1   i  j D  l 2  m2
D D D
l m n
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 42/48

Plane Frame and Grid Equations

Beam Element Arbitrarily Oriented in Space
The z’ axis is determined by the condition that z’ = x’  y’

i j k
1 ln mn
z  x   y   l m n   i j  Dk
D D D
m l 0

Therefore, the transformation matrix becomes:

 
 l m n 
Cxx  Cyx  Czx    
 
 0 
m l
3 x 3  Cxy  Cyy  Czy  
 D D 
Cxz Cyz Czz   ln 
mn
  D 
 D D 

Plane Frame and Grid Equations

Beam Element Arbitrarily Oriented in Space
There are two exceptions that arise when using the above
expressions for mapping the local coordinates to the global
system:

(1) when the positive x’ coincides with z

For the this case, it is assumed that y’ is y.

 0 0 1
   0 0 0 
 1 0 0 
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 43/48

Plane Frame and Grid Equations

Beam Element Arbitrarily Oriented in Space
There are two exceptions that arise when using the above
expressions for mapping the local coordinates to the global
system:

(2) when the positive x’ is in the opposite direction as z

For the second case, it is assumed that y’ is y.

0 0 1
  0 0 0 
 1 0 0 

Plane Frame and Grid Equations

Beam Element Arbitrarily Oriented in Space
If the effects of axial force, both shear forces, twisting moment,
and both bending moments are considered, the stiffness
matrix for a frame element is:
AE AE 
 L 0 0 0 0 0  0 0 0 0 0 
L
 
 0 12 E Iz 6 E Iz 12 E Iz 6 E Iz 
0 0 0 0 0 0 0
 L 1   y 
3
L2 1   y  L3 1   y  L 1   y  
2
 
 12 E I y 6 E I y 12 E I y 6 E Iy 
 0 0 0 0 0 0 0 0 
 L3 1   z  L2 1   z  L3 1   z  L2 1   z  
 
 0 GJ GJ 
0 0 0 0 0 0 0  0 0
 L L 
 
 0 6 E I y  4   z  E Iy 6 E Iy  2   z  E Iy 
0 0 0 0 0 0 0
 L2 1   z  L 1   z  L2 1   z  L 1   z  
 

 0
6 E Iz
0 0 0
4    E I
y z
0
6 E I z
0 0 0
 2   y  E Iz 
 L 1   y 
2
L 1    L 1   y 
2
L 1   y  
k   A E y

 0 0 0 0 0
AE
0 0 0 0 0 
 L L 
 
 0 12 E Iz 6 E I z 12 E Iz 6 E Iz 
0 0 0 0 0 0 0
 L3 1   y  L2 1   y  L3 1   y  L2 1   y  
 
 12 E I y 6 E Iy 12 E I y 6 E Iy 
 0 0 0 0 0 0 0 0 
 L3 1   z  L2 1   z  L3 1   z  L2 1   z  
 GJ GJ 
 0 0 0  0 0 0 0 0 0 0 
 L L 

 0
6 E I y  2   z  E Iy 6 E Iy  4   z  E Iy 

0 0 0 0 0 0 0
 L 1   z 
2
L 1   z  L 1   z 
2
L 1   z  
 
 6 E Iz 2    E I
y z 6 E Iz  4   y  E Iz 
 0 0 0 0 0 0 0 0 
 L 1   y 
2
L 1    y L 1   y 
2
L 1   y  
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 44/48

Plane Frame and Grid Equations

Beam Element Arbitrarily Oriented in Space
12EI y 12EIz
In this case the symbol  are:  y  z 
GAs L2
GAs L2
Where As is the effective beam cross-section in shear.
AE AE 
 L 0 0 0 0 0  0 0 0 0 0 
L
 
 0 12 E Iz 6 E Iz 12 E Iz 6 E Iz 
0 0 0 0 0 0 0
 L 1   y 
3
L2 1   y  L3 1   y  L 1   y  
2
 
 12 E I y 6 E I y 12 E I y 6 E Iy 
 0 0 0 0 0 0 0 0 
 L3 1   z  L2 1   z  L3 1   z  L2 1   z  
 
 0 GJ GJ 
0 0 0 0 0 0 0  0 0
 L L 
 
 0 6 E I y  4   z  E Iy 6 E Iy  2   z  E Iy 
0 0 0 0 0 0 0
 L 1   z 
2
L 1   z  L 1   z 
2
L 1   z  
 

 0
6 E Iz
0 0 0
4    E I
y z
0
6 E I z
0 0 0
 2   y  E Iz 
 L 1   y 
2
L 1    L 1   y 
2
L 1   y  
k   A E y

 0 0 0 0 0
AE
0 0 0 0 0 
 L L 
 
 0 12 E Iz 6 E I z 12 E Iz 6 E Iz 
0 0 0 0 0 0 0
 L3 1   y  L2 1   y  L3 1   y  L2 1   y  
 
 12 E I y 6 E Iy 12 E I y 6 E Iy 
 0 0 0 0 0 0 0 0 
 L3 1   z  L2 1   z  L3 1   z  L2 1   z  
 GJ GJ 
 0 0 0  0 0 0 0 0 0 0 
 L L 

 0
6 E I y  2   z  E Iy 6 E Iy  4   z  E Iy 

0 0 0 0 0 0 0
 L2 1   z  L 1   z  L2 1   z  L 1   z  
 

0
6 E Iz
0 0 0
2    E I
y z
0
6 E Iz
0 0 0
 4   y  E Iz 
 
 L2 1   y  L 1    y L2 1   y  L 1   y  

Plane Frame and Grid Equations

Beam Element Arbitrarily Oriented in Space
Recall the shear modulus of elasticity or the modulus of rigidity,
G, is related to the modulus of elasticity and the Poisson’s
ratio,  as:
E
G
2 1   
This is the form of the stiffness matrix used by SAP2000 for its
frame element.
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 45/48

Plane Frame and Grid Equations

Beam Element Arbitrarily Oriented in Space
If y and z are set to zero, the stiffness matrix reduces to:
 AE AE 
 L 0 0 0 0 0  0 0 0 0 0 
L
 
 0 12 E I z 6 E Iz 12 E Iz 6 E Iz 
0 0 0 0  0 0 0
 L3 L2 L3 L2 
 
 0 12 E I y 6 E Iy 12 E I y 6 E Iy
0 0  0 0 0  0  0 
 L3 L2 L3 L2 
 
 0 GJ GJ
0 0 0 0 0 0 0  0 0 
 L L 
 6 E Iy 4 E Iy 6 E Iy 2 E Iy 
 0 0  0 0 0 0 0 0 
 L2 L L2 L 
 6 E Iz 4 E Iz 6 E I z 2 E Iz 
 0 0 0 0 0 0 0 0 
k   L2 L L2 L 

A E AE
 0 0 0 0 0 0 0 0 0 0 
 L L 
 12 E I z 6 E I z 12 E I z 6 E Iz 
 0 0 0 0 0 0 0 0 
 L3 L2 L3 L2 
 12 E I y 6 E Iy 12 E Iy 6 E Iy 
 0 0  0 0 0 0 0 0 
 L3 L2 L3 L2 
 GJ GJ 
 0 0 0  0 0 0 0 0 0 0 
 L L 
 6 E Iy 2 E Iy 6 E Iy 4 E Iy 
 0 0  0 0 0 0 0 0 
 L2 L L2 L 
 6 E Iz 2 E Iz 6 E Iz 4 E Iz 
 0 L2
0 0 0
L
0
L2
0 0 0
L 

Plane Frame and Grid Equations

Example Frame Application
A bus subjected to a static roof-crush analysis. In this model
599 frame elements and 357 nodes are used.
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 46/48

Plane Frame and Grid Equations

Example Frame Application
A bus subjected to a static roof-crush analysis. In this model
599 frame elements and 357 nodes are used.

Plane Frame and Grid Equations

Concept of Substructure Analysis
Sometimes structures are too large to be analyzed as a single
system or treated as a whole; that is, the final stiffness matrix
and equations for solution exceed the memory capacity of the
computer.

A procedure to overcome this problem is to separate the whole

structure into smaller units called substructures.
CIVL 7/8117 Chapter 5 - Plane Frame and Grid Equations - Part 2 47/48

Plane Frame and Grid Equations

Concept of Substructure Analysis
For example, the space frame of an airplane, as shown below,
may require thousands of nodes and elements to completely
model and describe the response of the whole structure.

If we separate the aircraft into substructures, such as parts of

the fuselage or body, wing sections, etc., as shown below,
then we can solve the problem more readily and on computers
with limited memory.

Beam Stiffness
Problems:

10. Do problems 5.1, 5.7, 5.15, 5.28, and 5.51 in your

textbook.

11. Do problems 5.20, 5.23, 5.25, 5.35, and 5.53 on pages

308 - 321 in your textbook. You may use the SAP2000 to
do frame analysis.
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End of Chapter 5b