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STRUCTURAL ENGINEERING
Lecture 2

Engr. Danish Saeed

Lecturer
Department of Civil Engineering
KFUEIT, RYK
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Matrix methods of analysis

Application of the Stiffness Method for Truss Analysis
• Once the structure stiffness matrix is formed, the global force components Q
acting on the truss can then be related to its global displacements D using Q=KD.
• This equation is referred to as the structure stiffness equation.
• Since we have always assigned the lowest code numbers to identify the
unconstrained degrees of freedom, this will allow us now to partition this equation
in the following form;

• Where
• Qk , Dk = known external loads and displacements; the loads here exist on the
truss as part of the problem, and the displacements are generally specified as
zero due to support constraints such as pins or rollers.
• Qu , Du = unknown loads and displacements; the loads here represent the unknown
support reactions, and the displacements are at joints where motion is unconstrained
in a particular direction.
• K = structure stiffness matrix, which is partitioned to be compatible with the
partitioning of Q and D.
• Expanding this equation yields;

• Most often since the supports are not displaced i,.e. Dk = 0, above equation becomes;

• Solving for Du , we get;

• From this equation we can obtain a direct solution for all unknown joint displacement.
• Then using the second equation with Dk = 0, we get;

• From which the unknown support reactions can be determined.

• The member forces can be determined using following equation;

• Expanding this equation yields;

• Since qN = -qF for equilibrium, only one of the forces has to be determined
• Here we will determine qF that exerts tension in the member.
• Determine the member forces in truss shown in figure
• By inspection it is seen that the known external displacements
are D3 =D4 = D5 = D6 = 0
• Also, the known external loads are Q1 = 0, Q2 = -2kip

• Writing Q=KD for truss.

• K was determined in
previous example as
• The force in each member is found as below
Matrix Methods for Beam Analysis
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Member and Node Identification.

• In order to apply the stiffness method to beams, we must first subdivide
the beam into its component finite elements.
• In general, each element must be free from load and have a prismatic
cross section.
• For this reason the nodes of each element are located at following points
1. at a support
2. at points where members are connected together
3. where an external force is applied
4. where the cross-sectional area suddenly changes
5. where the vertical or rotational displacement at a point is to be
determined
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Member and Node Identification.

• For example, consider the beam in figure 2.1(a).

Figure 2.1(a)

• “Near” and “far” ends of each element are identified by the arrows written
• alongside each element.
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Global and Member Coordinates

• The global coordinate system will be identified using x, y, z axes that
generally have their origin at a node and are positioned so that the nodes
at other points on the beam all have positive coordinates as shown in
figure 2.1(a).
• The local or member coordinates (xʹ, yʹ, zʹ) have their origin at the “near”
end of each element, and the positive axis is directed towards the “far”
end.
• Member coordinates for member 2 are shown in figure 2.1(b)

Figure 2.1(b)
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Global and Member Coordinates

• In both cases we have used a right-handed coordinate system, so that if
the fingers of the right hand are curled from the axis towards the axis, the
thumb points in the positive direction of the axis, which is directed out of
the page.
• Notice that for each beam element the x and xʹ axes will be collinear and
the global and member coordinates will all be parallel.
• Therefore, unlike the case for trusses, here we will not need to develop
transformation matrices between these coordinate systems.
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Kinematic Indeterminacy
• If we consider the effects of both bending and shear, then each node on a
beam can have two degrees of freedom, namely, a vertical displacement
and a rotation.
• these linear and rotational displacements will be identified by code
numbers.
• The lowest code numbers will be used to identify the unknown
displacements (unconstrained degrees of freedom), and the highest
numbers are used to identify the known displacements (constrained
degrees of freedom).
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Kinematic Indeterminacy
• The beam shown in figure 2.1 is kinematically indeterminate to the fourth
degree.
• There are eight degrees of freedom, for which code numbers 1 through 4
represent the unknown displacements, and numbers 5 through 8
represent the known displacements, which in this case are all zero.
• Consider another example as shown in figure 2.2(a)

Figure 2.2(a)
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Kinematic Indeterminacy
• Beam can be subdivided into three elements and four nodes. In
particular, notice that the internal hinge at node 3 deflects the same for
both elements 2 and 3; however, the rotation at the end of each element
is different.
• For this reason three code numbers are used to show these deflections.

• There are nine degrees of freedom, five of which are unknown as shown
in figure 2.2(b),

Figure 2.2(b)
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Beam-Member Stiffness Matrix

• In this section we will develop the stiffness matrix for a beam element or
member having a constant cross-sectional area and referenced from the
local xʹ, yʹ, zʹ coordinate system as shown in figure 2.3.

Figure 2.3

• The origin of the coordinates is placed at the “near” end N, and the
positive axis extends toward the “far” end F.
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Beam-Member Stiffness Matrix

• There are two reactions at each end of the element, consisting of shear

forces, qNyʹ and qFyʹ and bending moments qNzʹ and qFyʹ.
• These loadings act in the positive coordinate directions.

• In particular, the moments qNzʹ and qFyʹ are positive counterclockwise,

since by the right-hand rule, the moment vectors are then directed along
the positive axis, which is out of the page.
• Linear and angular displacements associated with these loadings also
follow this same positive sign convention.
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Beam-Member Stiffness Matrix

• We will now impose each of these displacements separately and then
determine the loadings acting on the member caused by each
displacement.
yʹ Displacements.
• When a positive displacement dNyʹ is is imposed while other possible

displacements are prevented, the resulting shear forces and bending

moments that are created are shown in figure 2.4(a).
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Beam-Member Stiffness Matrix

Figure 2.4(a)

• In particular, the moment has been developed in slope deflection method.

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Beam-Member Stiffness Matrix

• Likewise, when qFyʹ is imposed, the required shear forces and bending

• moments are given in figure 2.4(b)

Figure 2.4(b)
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Beam-Member Stiffness Matrix

zʹ Rotations.
• If a positive rotation dNzʹ is imposed while all other possible displacements

are prevented, the required shear forces and moments necessary for the
deformation are shown in figure 2.5(a).

Figure 2.5(a)
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Beam-Member Stiffness Matrix

• Likewise, when dFzʹ is imposed, the required shear forces and bending

moments are given in figure 2.5(b)

Figure 2.5(b)
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Beam-Member Stiffness Matrix

• By superposition, if the above results in figures 5.4 and 5.5 are added, the
resulting four load-displacement relations for the member can be
expressed in matrix form as;

(2.1)
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Beam-Member Stiffness Matrix

• These equations can also be written in abbreviated form as;
(2.2)
• The symmetric matrix k in Eq. 2.1 is referred to as the member stiffness
matrix.
• The 16 influence coefficients that comprise it account for the shear-force
and bending-moment displacements of the member.
• Physically these coefficients represent the load on the member when the
member undergoes a specified unit displacement.
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Beam-Structure Stiffness Matrix

• Once all the member stiffness matrices have been found, we must
assemble them into the structure stiffness matrix K.
• This process depends on first knowing the location of each element in
the member stiffness matrix.
• Here the rows and columns of each k matrix are identified by the two code
numbers at the near end of the member (Nyʹ, Nzʹ) followed by those at the
far end(Fyʹ, Fzʹ).
• Therefore, when assembling the matrices, each element must be placed
in the same location of the K matrix.
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Beam-Structure Stiffness Matrix

• In this way, K will have an order that will be equal to the highest code
number assigned to the beam.
• Also, where several members are connected to a node, their member
stiffness influence coefficients will have the same position in the K matrix
and therefore must be algebraically added together to determine the nodal
stiffness influence coefficient for the structure.
• This is necessary since each coefficient represents the nodal resistance of
the structure in a particular direction (yʹ or zʹ) when a unit displacement (yʹ
or zʹ) occurs either at the same or at another node.
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Beam-Structure Stiffness Matrix

• For example, K23 represents the load in the direction and at the

location of code number “2” when a unit displacement occurs in the

direction and at the location of code number “3.”
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Application of Stiffness Method for Beam Analysis

• After the structure stiffness matrix is determined, the loads at the
nodes of the beam can be related to the displacements using the
structure stiffness equation;

• Here Q and D are column matrices that represent both the known and
unknown loads and displacements.
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Application of Stiffness Method for Beam Analysis

• Partitioning the stiffness matrix into the known and unknown elements
of load and displacement, we have

• Expanding will result into following equations

(2.3)
(2.4)
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Application of Stiffness Method for Beam Analysis

Beams with intermediate loading.
• For application, it is important that the elements of the beam be free of
loading along its length.
• This is necessary since the stiffness matrix for each element was
developed for loadings applied only at its ends.
• Oftentimes, however, beams will support a distributed loading, and this
condition will require modification in order to perform the matrix analysis.
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Application of Stiffness Method for Beam Analysis

• Consider the beam element of length L
shown in figure 2.6(a) which is
subjected to the uniform distributed load
w. Figure 2.6(a)
• First we will apply fixed-end moments
and reactions to the element, which will
be used in the stiffness method as
shown in figure 2.6(b).
Fixed-end element loading on joints

Figure 2.6(b)
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Application of Stiffness Method for Beam Analysis

• We will refer to these loadings as a column matrix ˗q0.

• Then the distributed loading and its reactions are applied as shown in
figure 2.6(c).

Figure 2.6(c)

Actual loading and reactions on fixed supported element

• The actual loading within the beam is determined by adding these two
results.
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Application of Stiffness Method for Beam Analysis

• Member Forces.

• The shear and moment at the ends of each beam element can be

determined using equation 2.2 and adding on any fixed-end reactions q0

if the element is subjected to an intermediate loading.
(2.5)
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Example
Determine the reactions at the supports of the beam shown in figure
below.

Notation:
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Example
Member Stiffness Matrices.

We can now assemble these elements into the structure stiffness matrix.
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Example

The matrices are partitioned as shown.

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Example
Carrying out the multiplication for the first four rows, we have;

Solving
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Example
Using these results, and multiplying the last two rows, gives;