Sec. 1.3 Force-Displacement Relation ct 1.3.2 Fas L=2h fa) b) ©) igure E11 ‘The system has the three DOFs shown in Fig. Ella, To obtain the first column of the 3 x 3 stiffness matrix, we impose unit displacement in DOF wy, with uz = 43 = 0. The forces £;; required to maintain this deflected shape are shown in Fig, El.1b, These are determined using the stiffness coefficients for a uniform flexural element presented in ‘Appendix 1. The elements &2 in the second column of the stiffness matrix are determined by imposing u = I with wy = u3 = 0; see Fig. El.lc. Similarly, the elements 3 in the third column of the stiffness matrix can be determined by imposing displacements u3 = 1 with u) = uz = 0. Thus the 3 x 3 stiffness matrix of the structure is known and the equilibrium equations can be written, For a frame with Ip = I. subjected to lateral force fs, they are 24 Oh = uy fs [8 ee “| fe ]- {° | a Lon ne From the second and third equations, the joint rotations can be expressed in terms of lateral displacement as follows: 2 oh? 1" 16h 671 (e}=-Ee a [ee = a5 [1] 7 Substituting Eq. (b) into the first of three equations in Eq. (a) gives MEL Ele 6, 96 ( Ele v= (254 a ES on 6h) [| })n= e(& \ia ©) ‘Thus the lateral stiffness of the frame is ke @ This procedure to eliminate joint rotations, known as the static condensation method, is presented in textbooks on static analysis of structures. We retum to this topic in Chap- ter 9, Inelastic Systems Force-deformation relations for typical structures undergoing cyclic deformations are shown in Fig. 1.3.4. The initial loading curve is nonlinear at the larger amplitudes of deformation, and the unloading and reloading curves differ from the initial loading