CONTENTS

CHAPTER (1)

PROGRAM OF MATRICES
1-1
1-2
1-3
1-3-1
1-3-2
1-3-3
1-3-4
1-3-5
1-3-6
1-3-7
1-3-8

Introduction ...
PROGRAMMING LANGUAGES...

1
2

ELEMENTARY MATRIX OPERATION .

Definitions and Rules.
Transpose of Rectangular Matrix ..
Transpose of Square Matrix
Addition and Subtraction of Matrices.
Program of Addition and Subtraction of Matrices
Multiplication of Matrices
Program of Multiplication of Matrices
Program of Inverse of Matrices
Solved Problems
Sheet ( 1 )

3
3
7
8
8
9
10
11
12
13
16

CHAPTER (2)

ANALYSIS OF INDETERMINATE
STRUCTURES
2-1
2-2
2-3
2-4
2-5
2-6

INTRODUCTION
DEFINITION
DEGREE OF INDETERMANCY
KINEMATIC INDETERMANCY
ANALYSIS OF STATICALLY INDETERMINATE
STR.
FORCE DISPLACEMENT RELATIONS

17
17
20
23
24
25

2-7

DESCRIPTION OF METHODS
2-7-1 Solution by flexibility method
2-7-2 Solution by stiffness method
2-7-3 Comparison between the flexibility and
stiffness method
Sheet ( 2 )

25
26
27
28

CHAPTER (3)

SLOPE DEFLECTION METHOD

3-1
3-2
3-2-1
3-3
3-4
3-5
3-5-1
3-6
3-7

Introduction .
Assumption in slope deflection ...
Degree of Freedom ..
Sign Conventions
Fixed End Moments
Derivation of Slope Deflection Equation
Examples .
Frames with a single degree of freedom in translation
(Examples) .
Frames with Multiple degrees of freedom in
translation (Examples) ..
Sheet ( 3 )

30
31
31
34
35
36
38
51
58
74

CHAPTER (4)

MATRIX APPROCH 1
(SLOPE DEFLECTION IN MATRIX FORM)
4-1
4-2
4-3
4-4

Introduction ..
Members Without Relative Displacements...
Solved Examples
Effect of Members With Moments Releases....
Sheet ( 4 ) ..

76
76
79
85
86

CHAPTER (5)

STIFNESS MATRIX METHOD

5-1
5-2
5-3
5-4
5-5
5-6
5-7

Definition....
Step 1: Modeling.
Step 2: Load Vector..
Step 3: Stiffness Matrix
Step 4: Equilibrium Equation
Step 5: Solve The Equilibrium Equation
Step 6 : Internal Forces .

87
89
94
95
97
97
98

CHAPTER (6)

ANALYSI OF PLANE TRUSSES BY USING

STIFNESS MATRIX METHOD
6-1
6-2
6-3
6-4
6-5

Modeling.
Load Vector..
Stiffness Matrix
Equilibrium Equation And Internal Forces
Solved Examples
Sheet ( 5 ) .

99
102
104
106
107
118

CHAPTER (7)

ANALYSI OF PLANE FRAMES BY USING

STIFNESS MATRIX METHOD
7-1
7-2
7-3
7-4
7-5

Modeling.
Load Vector..
Stiffness Matrix
Equilibrium Equation And Internal Forces
Solved Examples
Sheet ( 6 ) .
References
Examinations

120
123
133
137
138
158
160
161

CHAPTER 1

PROGRAM OF MATRICES
1-1- INTRODUCTION
A definition of engineering is the science by which the properties
of matter and sources of energy in nature are made useful to man.
Thus an engineer will have to study the properties and behavior of
physical systems, applying his knowledge to attain purposes useful to
society.
Such activity can be considered as consisting of the study and
solution of real physical. The complexities involved in dealing with
all the parameters relative to the properties of a real problem will, on
many occasions, force him to study an equivalent engineering
problem which can be mathematically defined. He will try to solve
such a problem according to his knowledge and experience, and using
the computational tools at hand.
When we think of todays engineering problems, such as the
construction of nuclear reactors, space satellites, oil rigs in the sea,
etc. it is clear that they must be analyzed using very relined discrete
models, so as to closely approximate their real behavior.
Fortunately, with the help of the modern computer, it is possible
today to treat discrete models with up to several thousands of degrees
of freedom. Thus, the need for formulating larger and more complex
discrete models, and the availability of computers which make
feasible their analysis, are the causes of the considerable interest
produced in relation to numerical methods and computer analysis
techniques.

1-2- PROGRAMMING LANGUAGES

A computer can perform elementary operations using stored
information. The user can order the computer to perform an operation,
giving the proper instruction, as a part of his program. The set of all
the instructions which a computers accepts constitutes the machine
language, or absolute language of that computer. The machine
instructions are always expressed by numeric codes. Each instruction
normally consists of one operation code, and one or more parameters
or arguments. For instance, the sequence can represent two
instructions written according to a given machine language.
He first step in programming the solution of a problem, is to
make an analysis of the problem. The problem is studied in all its
detail, and an appropriate solution scheme is selected. Then the
computer solution to be implemented is schematized graphically, by
means of a diagram called a flow chart. These diagrams can be
detailed to a greater or leaser extent, according to circumstances, but
they are fundamental to the analysis and understanding of all aspects
of the computer solution. The person in charge of this task is normally
called an analyst.
Once the flow-chart is completed, the computer solution is coded,
writing the computer program using the language selected. This task
is carried out by a programmer.
With the program registered in some information support, and the
data and proper control commands added, the program is tested by
submitting it for processing. At the beginning the program will
include some errors. These can be syntax errors and logic errors.
Syntax errors appear because some of the rules of the language are
violated. Normally These can be easily detected and corrected. Logic
errors correspond to the case that a syntax errors-free program is
submitted for execution, and it does not produce the desired results.

The following situations can be encountered.

1. Execution of the program stops before producing results.
2. Execution of the program does not stop and results are not
produced.
The program is finally discontinued after exceeding the
allowed time.
3. Results are produced, but they are incorrect.
4. The program works successfully.

1-3- ELEMENTARY MATRIX OPERATION

1-3-1 Definitions and Rules
Matrix algebra is the set of rules which defines operations
performed with matrices. A matrix is a bi-dimensional array of
numbers organized according to n rows and m columns, which
we refer to as a matrix of order n x m . In what follows, a matrix
will be indicated by bold type. Thus, R will be a matrix, while T is a
scalar number. The elements or coefficients of a matrix will be two
sub-indices, indicating row and column position, respectively. For
instance

[A] =

a11
a 21

a12
a 22

a13
a 23

(1-1)

is a rectangular matrix , of order 2 x 3, that is having 2 rows and 3

columns. The sub-indices of the coefficients indicate their position
within the matrix. Thus, the coefficient a12 is placed in the first row
and the second column.
A matrix having the same number of rows and columns is called
a square matrix, such as

 b11
[B] = b21
b31

b13
b23
b33

b12
b22
b32

(1-2)

which is a square matrix of 3 rows and 3 columns, or of order 3 x 3.

In case such as this, when speaking specifically of square matrices,
we can simply say that B is of order 3. The coefficients b11, b22, and
b33 or in general bij for i = j, are called the coefficients of the principal
or main diagonal of the matrix.
Several types of square matrices can be considered. When the
coefficients of a square matrix B satisfy the condition
bij = bji ,

for i = 1,2,.,n and j = 1,2,.,n

(1-3)

this called a symmetric matrix. In particular, if B is a symmetric

matrix of order 3, it will have the following structure
b11
[B] = b12
b13

b13
b23
b33

b12
b22
b23

(1-4)

On the other hand, skew-symmetric matrix is such that

bij = -bji , for i j & bij = 0, for i = j
(1-5)
for example,
0
[B] = b12
b13

b12
0
b23

b13
b23
0

(1-6)

when all the coefficients of a square matrix B are null, except for
the main diagonal, such as,
b11
[B] = 0
0

0
b22
0

0
0
b33

(1-7)

this is called a diagonal matrix. If, in particular, all the coefficients

of the main diagonal are equal to 1, the matrix is called a unit matrix,
and is symbolized I. For instance, the following is the unit matrix of
order 3.
1 0 0
[I ] = 0 1 0
0 0 1

(1-8)

A matrix having only one column is called a column vector.

Normally,
the coefficients of a column vector will be
given only one subscript, corresponding to the row position, and will
be enclosed by curled brackets instead of square brackets, placed
vertically, as in
c1
{C} = c 2
c
3

(1-9)

where C is a column vector of order 3.

When a matrix has only one row it will be called a row vector and
again, each of its coefficients will be given only one subscript. For
instance,
{D} = {d1

d2

d3

d4}

(1-10)

is a row vector of order 3.

In what follows the use of the term vector alone will always be
taken to mean column vector.
The transpose of a matrix is obtained by interchanging rows and
columns, of the matrix, and is indicated by an upper-index T. For
instance, the transpose of A, given by eq. (1-1) is

[A]

a11
= a12
a13

a 21
a 22
a 23

(1-11)

while the transpose of matrix B, given by eq. (1-2) is

[B]

b11
= b12
b13

b21
b22
b23

b31
b32
b33

(1-12)

It can be noticed that the transpose of a column vector is a row

vector, and vice versa. Thus, the transpose of column vector, given by
eq. (1-9) is
{C}T = {c1

c2

c3 }

(1-13)

While the transpose of row vector, given by eq. (1-10) is

{D}T

d1
d

= 2
d 3
d 4

(1-14)

The transpose of the transpose gives the original matrix, that is

([A] )

T T

= [A]

(1-15)

For symmetric matrix, the transpose of the matrix is the original matrix,

[B] = [B]T

(1-16)

Another special matrix which can be defined as the null matrix,

represented by 0, whose coefficients are all equal to zero. For
instance,

[0] =

0 0 0

0 0 0

(1-17)

is a null matrix of order 2 x 3

1-3-2 Transpose of Rectangular Matrix

The following routine is a very simple example of a computer
program operating with matrices which can be used to obtain the
transpose of a rectangular matrix.

C
This program computes the transpose of a matrix A of order n
xm
DIMENSION A(10,10),B(10,10)
DO 10 I=1,n
DO 10 J=1,m
10
B(J,I) = A(I,J)
END
where the array A contains the matrix to be transposed, the integer n
contains the number of rows, and the integer m contains the number
of columns.

1-3-3 Transpose of Square Matrix

In the case of a square matrix it is possible to transpose the matrix
in itself, without creating a new one. The following routine receives
the original matrix in the array A, of order n, and after operating
returns the transposed matrix in the same array A. Note that an
auxiliary variable S is used to allow for the transposition in place.

C This program computes the transpose of a square matrix A of order n

DIMENSION A(10,10)
n1 = n - 1
DO 10 I=1,n1
I1 = I + 1
DO 10 J=I1,n
S = A(1,J)
A(I,J) = A(J,I)
A(J,I) = S
END

10

1-3-4 Addition and Subtraction of Matrices

Two different matrices can be added or subtracted, provided they
are of the same order. Let us consider the following two matrices

[A] =

a11
a 21

a12
a 22

a13
a 23

[B] =

b11
b21

b12
b22

b13
b23

(1-18)

By definition the sum of A and B will give another matrix C, also of

the same order, i.e.

[C ] =

c11
c 21

c12
c 22

c13
c 23

(1-19)

where coefficients are

c11 = a11 + b11
c12 = a12 + b12
b13
c21 = a21 + b21
c22 = a22 + b22
b23
In general,
cij = aij + bij for i = 1,2,.,n and j = 1,2,.,m

c13 = a13 +
c23 = a23 +
(1-20)

1-3-5 Program of Addition and Subtraction of Matrices

The following routine can be used for addition and subtraction of
matrices. The arrays A and B contain the matrices to be added or
subtracted, which of order n x m. The array C will contain the result
matrix. When the integer L = 1 is specified the routine will perform
the addition operation, but when L = 2 the routine will perform the
subtraction operation.
C
C
C
C
C

This program computes the matrix operation

C=A+B
when L = 1 and
C=A-B
when L = 2
n : number of rows
m : number of columns
DIMENSION A(10,10), B(10,10), C(10,10)
DO 10 I=1,n
DO 10 J=1,m
GO TO (2,4), L
2
C(I,J) = A(I,J) + B(I,J)
GO TO 10
4
C(I,J) = A(I,J) - B(I,J)
10
CONTINUE
END

1-3-6 Multiplication of Matrices

Multiplication of matrices can also be performed. Let us consider
a matrix A of order n x m, and matrix B of order m x n, such as
a
[A] = 11
a 21

a12
a 22

a13
a 23

b11
[B ] = b21
b31

b12
b22
b32

(1-21)

The matrix multiplication equation

[C ] = [A][B]

(1-22)

gives as a result a new matrix with coefficients:

c11 = a11 b11 + a12 b21 + a13 b31
b22 + a13 b32
c21 = a21 b11 + a22 b21 + a23 b31
b22 + a23 b32

c12 = a11 b12 + a12

c22 = a21 b12 + a22

or, in general:
m

cij = aik bkj

(1-23)

k =1

It is easily seen that two matrices can be multiplied only if the

number of columns of the first matrix is equal to the number of rows
of the second matrix. The result matrix will have the same number of
rows of the first matrix and the same number of columns of the
second matrix. Notice that according to its definition, matrix
multiplication is not commutative, i.e.,

[A] [B] [B] [A]

(1-24)

and that, in particular, if the lefthand side is defined, the right-hand

side may be undefined unless the number of rows of matrix A is
equal to the number of columns of matrix B. Even in that cases, the
results of the left-hand side, and the right-hand side will be different,
excluding very particular cases.

1-3-7 Program of Multiplication of Matrices

The multiplication of two matrices can be readily programmed.
The following routine receives the first matrix of order n x m, in the
array A, and the second matrix of order m x h, in the array B. The
result matrix , of order n x h, will be stored in the array C. Note that
since the implementation of eq. (1-23) requires accumulating the
partial multiplications in the array C, we have been careful in
previously setting cij = 0.
C
C
C
C
C

This program computes the matrix operation

C=A*B
n : number of rows of A and C
m : number of columns of A and rows of B
h : number of columns of B and C
DIMENSION A(10,10), B(10,10), C(10,10)
DO 10 I=1,n
DO 10 J=1,h
C(I,J) = 0
DO 10 K=1,m
10
C(I,J) = C(I,J) + A(I,K) * B(K,J)
END

1-3-8 Program of Inverse of Matrices

The inverse of matrix C is the matrix which satisfy the following relation

[C] [C]-1 = [I]

The following routine can be used for computing the matrix inverse [C]-1.
C

This program computes the matrix operation

DIMENSION C(5,5), ST(5,10), C1(5,5)
DO 2 I=1,5
DO 2 J=1,5
2
ST(I,J) = C(I,J)
M1 = 6
K=
DO 3 I=1,5
DO 3 J=6,10
IF (I.EQ.(J-5)) GO TO 4
ST(I,J) = 0.0
GO TO 3
4
ST(I,J) = 1
3
CONTINUE
L=1
10
DO 5 J=1,K
IF (L.EQ.J) GO TO 6
ST(L,J) = ST(L,J) / ST(L,L)
5
CONTINUE
ST(L,L) = 1
DO 6 J=1,5
IF(J.EQ.L) GO TO 6
IF(ST(I,J).EQ.0.0) GO TO 6
DO 7 M=1,K
IF(L.EQ.M) GO TO 7
ST(J,M) = ST(J,M) ST(J,L) * ST(L,M)
7
CONTINUE
ST(J,L) = 0.0
6
CONTINUE
IF(L.EQ.6) GO TO 8
GO TO 10
8
DO 9 I=1,5
DO 9 J=1,5
9
C1(I,J) = ST(I,J+5)
END

Solved Problems
1- For the following matrices, evaluate the following
expressions if possible. If not possible, state the reason:
a) 3[D] 4[E]
]
b) [A] x [C]
c)

[A] x 0.5[B]

7 5
[A] = 1 5
1 4

2
3

4
[B] =
6

7
0.5

7 5 3
1
5 1
[D] =
1 4
0

3
1
0

7 6 3
[C ] = 2 8 6
1 3
0

6 5
8 4
[E ] =
3 0

3
0

Solution
a)

3 [D] 4 [E]
6 5
7 5 3
8 4
1

5 1
3 [ D] 4 [ E ] = 3
4
3 0
1 4
0

3
1
3
0
0
21
3
=
3

15
15
12
9

9
3

3
29
=
9

5
31

1
1
8

12
3

2
1
2

24 20
32 16

12
0

12
0

8
4
8

2
1
2

6
4
5

1
2
3

b)

[A]3x2 x [C]3x5

c)

5[A] x [B]

7 5
7
2
4
5 [ A] x 0.5 [ B ] = 5 1
5 x 0.5
6
3
0.5

1 4
35 25
3.5
1
2
25 x
= 5
3
1.5
0.25

5
20
150 128.75
5

= 85
72.5 11.25
50
35
22.5

2)

[A]6 x 6

Find the inverse of the following matrix:

7 5
1
5

1 4
=
3
0
0 1

2 2

3
0
1 7
0
5
1
2
7
3
3 2

1
2
1
0
0
1

2
2
3

4
1

Solution

[A]1 =

[ ]

1
Aadj
A

By using Saraus method, we can get A

7 5
1
5
1 4
0
3
0 1

3
1
0
1
7

0
7
5
2
3

1
2
1
0
0

2
2
3
4
1

7 5
1
5
1 4
0
3
0 1

2
+

2
+

3
1
0
1
7

0
7
5
2
3

1
2
1
0
0

3
+

2
+

1
+

 A = 0 + 0 + 0 + 0 84 + 24 (-40) (-392) 0 0 0 0 = 372

Q A 0

10.45
116.58

209.06
Matrix of min ors =
94.41
4.46

13.39

[A] is nonsingular matrix.

54.68
141.36
305.78
193.47
29.64
31.62

16.74
15.54
66.58
62.27
45.79
18.56

314.34 16.36 29.64

41.29
98.58
21.94
116.51 240.08 187.78

165.91
88.53
23.06
40.17
13.46
59.89

39.5
40.54 198.46

54.68
10.45
116.58
141.36

209.06 305.78
Co factor matrix =
193.47
94.41
4.46
29.64

31.62
13.39

16.74
15.54
66.58
62.27
45.79
18.56

314.34
21.94
116.51
88.53
13.46
40.54

16.36
41.29
240.08
165.91
59.89
198.46

29.64
98.58
187.78

23.06
40.17

39.5

10.45
54.68

16.74
=
314.34
16.36

29.64

116.58
141.36
15.54
21.94
41.29
98.58

209.06
305.78
66.58
116.51
240.08
187.78

94.41
193.47
62.27
88.53
165.91
23.06

4.46
29.64
45.79
13.46
59.89
40.17

13.39
31.62
18.56

40.54
198.46

39.5

10.45
54.68

1 16.74
=

372 314.34
16.36

29.64

116.58
141.36
15.54
21.94
41.29
98.58

209.06
305.78
66.58
116.51
240.08
187.78

94.41
193.47
62.27
88.53
165.91
23.06

4.46
29.64
45.79
13.46
59.89
40.17

13.39
31.62
18.56

40.54
198.46

39.5

0.3134
0.38
0.0418
0.059
0.111
0.265

0.562
0.822
0.179
0.3132
0.6454
0.5048

0.2538
0.5201
0.1674
0.238
0.446
0.062

0.012
0.0797
0.1231
0.0362
0.161
0.108

0.036
0.085
0.0499

0.109
0.5335

0.1062

Aadj = [ A

[ A

]1

[ A

]T

]1

0.0281
0.147

0.045
=
0.845
0.044

0.0797

SHEET (1)
1) Identify the properties of each of the following matrices:
0 .5
[A] = 0.2
0

2
[D ] = 3
7

0
0.4 0.5
0 .5
1

8
[B ] = 1
5

0 .2

0
2
3

[E ] =

0.5
0
0
0

6
3
0
0

0.4
2
1
0

0
4
0

0.3
0
0

0.2

8
[C ] = 4
1

0
3
7

1
[F ] = 3
5

0
5
6

2) Evaluate the following expressions if possible. If not possible, state

the reason.
[C] + [B]

[A] + [C]

[F]T

2 x [D] + [F] x [E] x [F]T

[E] x [F]

[A]-1

[B]-1

[B] x [C] [A]-1

[D]-1 [C] x [B]

3) Solve the following simultaneous equations:
5X1 2X2 + X3 = 9
X1 + 6X2 2X3 = 4
X1 + X3 = 1

[F]T x [C]

Chapter (2)
ANALYSIS OF INDETERMINATE STRUCTRES
1.1 Statically Indeterminate Structures
A structure of any type is classified as statically
indeterminate when the number of unknown reaction or internal
forces exceeds the number of equilibrium equations available for
its analysis. Most of structures are statically indeterminate. This
indeterminacy may arise as a result of added support or members,
or by the general form of the structure. For example, reinforced
concrete buildings are almost always statically indeterminate
since the columns and beams are poured as continuous members
through the joints and over supports.
Although the analysis of a statically indeterminate
structure is more involved than that of one that is statically
determinate, there are usually several very important reasons for
choosing this type of structures for design. Most important
reasons for a given loading the maximum stress and deflection
of an indeterminate structure are generally smaller than those of
its statically determinate counterpart. For example, the shown
fixed beam in Fig.(l.l-a), the maximum moment of Mmax= PL/8,
whereas the same beam when simply supported Fig.(l.l-b), will

Fig.(l.l-a)

Fig.(l.l-b),

be subjected to twice the moment, that is, Mmax = Pl/4 . As a

result, the fixed support beam has one fourth the deflection and
one half the stress. At its center of the one that is simplysupported.
Another important reason for selecting a statically
indeterminate structures is that it has a tendency to redistribute
its load to its redundant supports in cases where faulty design or
overloading occurs. In these cases, the structure maintains its
stability and collapse is prevented. This is particularly important
when sudden lateral loads, such as wind or earthquake, are
imposed on the structure. To illustrate, consider again the fixed
beam loaded at its center, Fig.(l-a), As load P is increased, the
beams matenal at the fixations and at the center of the beam
begins to yield and forms a localized Plastic Hinge, which
causes the beam to deflect. Although the deflection becomes

large, the fixations will develop horizontal force and moment

reactions that will be hold the beam and thus prevent it from
totally collapsing. In the case of the simply supported beam, an
excessive load P will cause the Plastic Hinge to form only at
the center of the beam, and due to the large vertical deflection,
the supports will not develop ;the horizontal force and moment
reactions that may be necessary to prevent total collapse.
Although statically indeterminate structures can support a
loading with thinner members and with increased stability
compared to their determinate counterparts, there are cases when
this advantages may instead become disadvantages. The cost
savings in matenal must be compared with the added cost
necessary to fabricate the structure, since often time it becomes
more costly to construct the supports and joints of an
indeterminate structure compared to one that is determinate.
More important, though, because statically lndeterrmante
structures have redundant support reactions, one has to be very
careful to prevent differential settlement of the supports, smce
this effect will introduce internal stress in the structure. For
example, if the fixed support at one end of fixed beam Fig.(l-a)
were to settle, additional moment would be occur. On the other
hand, if the beam was simply supported, then any settlement of
its end would not cause the beam to deform, and therefore no
stress or bending moment would be developed in the beam. In

general, then, any deformation, such as that caused by relative

support displacement, or changes in member lengths caused by
temperature or fabrication errors, will introduce additional
stresses in the structure, which must be acknowledged when
designing indeterminate structures.
1-2 Method of Analyses
When analyzing any indeterminate structures, it is
necessary to satisfy equilibrium, compatibility, and forcedisplacement requirements for the structure. Equilibrium is
satisfied when the reactive forces hold the structure at rest, and
compatibility is satisfied when the various segments of the
structure fit together without intentional breaks or overlaps. The
force -displacement requirement depend upon the way the
material responds, which assumed linear-elastic response, hi
general there are two different ways to satisfy these requirements
when analysing a statically indeterminate structure, the force or
displacement method.
1.2.1 Flexibility or Force Method
The force method was originally developed by J.G.
Maxwell and refined by Otto Mohr and Muller-Breslau. This
method was one of the first available for the analysis of statically
indeterminate structures. The force method consists of writing
equations that satisfy the compatibility and forces displacement

requirements for the structure and involve redundant forces as

the unknowns. The coefficients of these unknowns are called
flexibility coefficients. Since compatibility forms the basis for
this method, it has sometimes been referred to as the
compatibility method or the method of consistent deformations.
Once the redundant forces have been determined, the structure
are determined by satisfying the equilibrium requirements for
the structure. The fundamental principles involved in applying
this method are easy to understand and develop.
1.2.2 Stiffness or Displacement Method
The displacement method of analysis is based on first writing
force displacement relations for the members and then satisfying the
equilibrium requirements for the structures. In this case the
unknowns in the equations are displacements and their
coefficients

are

called

stiffness

coefficients.

Once

the

displacements are obtained the forces are determmed from the

compatibility

and

force-displacement

equations.

matrix

formulation of this method will given.

1.2.3 Comparison between the Flexibility and Stiffness Methods
1.2.3.1 Flexibility = deformation per unit force.

Cm/t

The deflection (d) of the shown

Spring Fig. (1-2) is; d = .P

1.2.3.2. Stiffness:
Stiffness = force per unit deformation
=K

(t/cm

or

t.m/rad.)

For the shown spring in Fig. (2), the force required to

produce a displacement d is;
P=K.d
The two methods can be compared as shown in the ollowing
table.

Flexibility Method

Stiffness Method

- Unknown redundants X

Unknown displacements d (,)

- Flexibility matrix

Stiffness matrix K

- Displacements due to X =

.X

- Displacements due to load =

- For Compatibility o + X = 0

Force due d = K . d
Force due to loads =Ro
Equilibrium Ro + K.d = 0
Solve for d

- Solve for X
Indeterminate
released

Constraints

and

the

deformation
calculated.

are Additional restrains are added to

resulting fix all degrees of freedom and the

discontinuities values
These

of

these

restraints

redundant calculated . The restrains are then

actions are then replaced to removed to allow deformations

restore the continuity.

and

restore

equilibrium.

The

resulting

equilibrium

are solved to get

equations

displacements

and subsequently the forces are

determined.

The force or flexibility method of analyses discussed in the

previous course of second year civil;. For example the
methods of consistent deformation, three moment equation,
and column analogy methods are considered a flexibility or
force method of analysis whereas the slope deflection, moment
distribution, and stiffness methods are a displacement or
stiffness method of analysis.

Chapter (3)
SLOPE DEFLECTION METHOD
3.1 Introduction:The methods of three moment equation, and consistent
deformation method are represent the FORCE METHOD of
structural analysis, The slope deflection method use displacements as unknowns, hence this method is the displacement
method.
In this method, if the slopes at the ends and the relative
displacement of the ends are known, the end moment can be
found in terms of slopes, deflection, stiffness and length of the
members.
In- the slope-deflection method the rotations of the joints
are treated as unknowns. For any one member bounded by two
joints the end moments can be expressed in terms of rotations.
In this method all joints are considered rigid; i.e the angle
between members at the joints are considered not-to change in
value as loads are applied, as shown in fig 1.
joint conditions:-

to get B & C

MBA+MBC+MBD = 0

(1)

MCB+MCE

(2)

=0

Figure (1)
3.2 ASSUMPTIONS IN THE SLOPE DEFLECTION METHOD

This method is based on the following simplified

assumptions.
1- All the joints of the frame are rigid, i.e, the angle between
the members at the joints do not change, when the
members of frame are loaded.
2- Distortion, due to axial and shear stresses, being very
small, are neglected.
3.2.1 Degree of freedom:-

The number of joints rotation and independent joint

translation in a structure is called the degrees of freedom. Two
types for degrees of freedom.

In rotation:For beam or frame is equal to Dr.

Dr = j-f

Where:
Dr

= degree of freedom.

= no. of joints including supports.

= no. of fixed support.

In translation:For frame is equal to the number of independent

joint translation which can be give in a frame. Each
joint has two joint translation, the total number or
possible joint translation = 2j. Since on other hand
each fixed or hinged support prevents two of these
translations, and each roller or connecting member
prevent one these translations, the total number of
the available translational restraints is;
2f + 2h + r + m

where

f = no. of fixed supports.

h = no. of hinged supports.
r = no. of roller supports.
m = no. of supports.
The degree of freedom in translation, Dt, is given by:Dt = 2j-(2f+2h+r+m)

The combined degree of freedom for frame is:D = Dr + Dt

= j-f + 2j (2f + 2h + r + m)

D = 3j 3j 2h r - m

The slop defection method is applicable for beams and

frames. It is useful for the analysis of highly statically
indeterminate structures which have a low degree of kinematical
indeterminacy. For example the frame shown in fig. 2.a
p

(b)

The frame (a) is nine times statically indeterminate. On other

hand only tow unknown rotations, b and c i.e Kinematically

indeterminate to second degree- if the slope deflection is used.

The frame (b) is once indeterminate.

3.3 Sign Conventions:Joint rotation & Fixed and moments are considered
positive when occurring in a clockwise direction.

Al =

2 M A.L

BI =

hence

M A.L
3 EI

3 2 EI

1 M A.L M A.L
=
=
3
2 EI
6 EI
B1 =

2 A1

A2 =

1 M B.L M B.L
=
3 2 EI
6 EI

B2 =

2 MB.L MB.L
=
3 2 EI
3 EI

B1 + B2 = 0

Hence: MA = 2MB
and A = A1 -A2

M A .L
3 EL

M A .L
12 EL

A =

3 MA. L
12 EI

4EI
.A
L
2EI
MB =
.A
L

MA =

Relation between & M

R =

by moment area method or

by conjugate beammethod.
= M at B
M.L 2L
=
( )
4EI 3
=

M.L2
6 EI

6 EI

L2
6EI
=
.R
L

M =

R (+ ve) when the rotation of member AB with clockwise.

3.4Fixed and moments:
As given in the chapter of Moment distribution method.

3.5 Derivation of slope deflection equation:-

Ma1

4 EI
A
L

Mb1

2 EI
A
L

Ma2

2 EI
B
L

Mb2

4 EI
B
L

Required Mab & Mba in term of

(1) A, B at joint
B

(2) rotation of member (R)

(3) loads acting on member
First assume:Get Mfab & Mfba due to acting loads. These fixed and
moment must be corrected to allow for the end rotations A,B
and the member rotation R.
The effect of these rotations will be found separately.

Ma1

4EI
. A
L

Mb1

2EI
. A
L

Mb2

4EI
. B
L

Ma2

2EI
. B
L

Mb3

= M a3 =

6 EI
.
L2

6 EI
.R
L

by Superposition;
Mab = Mfab + Ma1 + Ma2 + Ma3
Mf ab +

4EI
2EI
6EI
. A +
B +
.R
L
L
L

M ab = Mf ab +

2EI
(2 A + B 3R )
L

In case of relative displacement between the ends of members,

equal to zero (R = 0)

The term (

M ab = Mf ab +

2EI
(2 a + b)
L

M ba = Mf ba +

2 EI
(2 b + A )
L

2 EI
) represents the relative stiffness of member say
L

(K) hence:
M ab = Mf ab + K ab (2 A + b )

M ba = Mf ba + K ba (2 B + a )

Note:

= R is (+ ve) If the rotation of member with clockwise.

L

And ( ve) If anti clockwise.

M

6 EI
. ( with + ve R )
L2

6 EI
. ( with ve R )
L2

3-5-1 Example 1
Draw B.M.D. S.F.D
Solution:1- Relative stiffness:-

KAB : KBC =

1 2.66
:
1: 2
6
8

2- Fixed and Moment:MFBA =

MFBA = +

3 62
= 9 t.m.
12

3 62
=+ 9 ,
12
MFCB = +

MFBC = +

3 82
12

3 82
= 18
12

= + 18

3- Two unknown B + C then two static equations are

required.

1) MB = 0
2)

MC = 0

Hence:
MBA + MBC = 0

(1)

MBC

= 0.

(2)

But:
MAB = - 9 + B
MBA =

+ 1 (2B)

MBC = -16 + 2 (2B + C)

MCB = +16 + 2 (2C + B)
B

From eqns. (1&2)

9 + 2B + (- 16 + 2 (2B + C) = 0
B

6B + 2C

=7

and

4C + 2B

= - 16

2C + B

=-8

.(3)
.. (4)

from 3 & 4
5 B
B

1.e.

= 15
15
= 3.0
5

= - 5.5

MAB = - 9 + 3.4 = 5.6 t.m

MBA = 9 + 2 3.4 = 15.8 t.m
MBC = - 18 + 2 (2 3.4) + (- 5.5) = - 15.0 t.m
MCB = 16 + 2 (2.3 5.7 + 3.4)

= 0.0 (0.k)

1- Unknowns A , B , & C
2- Fixed end Moment
MFAB = MFBC = MFCD =

2 62
= - 6 t.m etc
12

3- Condition eqns.
MAB = - 4 t.m, MBA + MBC = 0, & MCB + MCD = 0

4- Slope deflection equations

MAB = - 6 + (2A + B) = - 4
B

2A + B

=2

MBA + MBC

=0

.(1)

+ 6 + (2B + A) 6 + (2B + C) = 0
4B + A + C

=0

MCB + MCD

=0

(2)

= 6 + 2C + B 6 + 2C = 0
B

4 C + B

=0

.(3)

From eqn.3 C = - B
4

Substitute in eqn. (2)

Hence:

3.75 B + A = 0
B

0.5B + A
B

=1

3.25B

=-1

=-1

= 1.15

= 0.077

................(2)
(2)

Hence:
MAB

= - 6 + 2xl.15 + (- .307)
= - 4 t.m

0.K

MBA

= 6 + 2x (- .307) + 1.15 = 6.536 t.m

MCB

= 6 + 2x .77 + (- .307)

= 5.85 t.m

MDC

= 6 + .077

= 6.077 t.m

Solution:1- Unknown displacements are B & D

B

2- Equations of equilibrium are:MDB = 0

.(1)

MBA + MBD + MBC = 0

(2)

3- Relative Stiffness:KAB: KBC: KBD = 35:31. 5:22 ; 51. 56:1. 4:1.0.

4- Fixed and Moments:

MFAB =

9 6 3 3
= 6 t.m
99

MFBA =

9 6 3 6
=12 t.m
99

MFBD =

3 7 2
= 12.25 t.m
12

MFDB =

3 7 2
= 12.25 t.m
12

From the equations 1 & 2 hence;

MDB = MFDB + (2D + B)
B

= 12.25 + 1 (2D + B)

=0

2D + B + 12.25

= 0 ------- (3)

and

MBA

= 12 + 1.56 (2B)

MBD

= 12.25 + 1.0 (2B + D)

MBC

= 0 + 1.4

(2B + 0)
B

i.e.
12+1.56 (2B) 12.25 + 2B + D + 1.4 (2B) = o
B

7.92B + D .25

= 0 ------------- (4)

0.5B + D + 6.125

= 0 ------------- (3)

i.e

7.42 B

- 6.375

= 0.86

= - 6.55

=o

Hence:
MBA = 12 + 1.56 (2 .86) = 14.68 t.m

MBD = - 12.25 + (2 .86 6.55 1) = - 17.08

MBC = 1.4 (2 .86)

= 2.41

MDB = 12.25 + (2 -6.55)

= zero

1
MBC
2

= 1.205

MAB = -6 + 1.56 (.86)

= - 4.66

MCB =

Two equilibrium eqns.

MAB + MAA

= 0

(1)

MBB + MBA + 4= 0

.(2)

Slope deflection eqns.

MAB = o + 1.6 (2A + B)
B

10 16
+ (2 + )
A
A
8

MAA =

MAA = - 20 + A
MBA = o + 1.6 (2B + A)
B

MBB = - 42.67 + (2B + B)

B

= - 42.67 + B
B

Hence:
3.2A + 1.6B + A 20 = o
B

4.2A + 1.6B

= 20

(1)

- 42.67 + 4.2 B + 1.6A + 4 = 0

B

1.6A + 4.2B

= 38.67 .(2)

1.6A + 0.61B

= 7.62 .(1)

3.59B

= 31.05

= 8.65

= 1.46

MAB

= -18.52

MBA

= 30

MBB

= - 34

Example 5
Draw B.M.D for the shown frame
Solution:- Two condition equations.
MAA + MAB

=0

.. ...(1)

MBA + MBB + 8 = 0

..(2)

- Relative stiffness

1
1
:
= 1:1.6
16 10

- Slope deflection equations:

MAA = (2A A) = A
MAB = (2A B) 1.6
B

MBA = (2B A) A
B

MBB = 42.67 + (2B - B)

B

Hence:
A + 3.2A + 1.6VB = 0
B

4.2A + 1.6B

= 0 . (1)

3.2B + 1.6A + B 42.67 + 8 = 0

B

4.2B + 1.6A
B

= 34.67 (2)

By Solving 1 & 2
Hence

A = - 3.68 , B = 9.66
B

MAA = - 3.68 , MAB = 3.68 t.m

MBA = 25

MBB = 33

Example 6:
- Draw B.M.D for the given structure.

Solution:- once statically indeterminate.

1- Fixed end moments
MFAB = -

8 20
= 20 t.m
8

MFBA = -

8 20
= 20 t.m
8

MFBC = -

4 10
= 5 t.m
8

MFCB = -

10 8
= 10 t.m
8

MFDB
2- From Static:-

= 10 t.m
MB = o
B

MBA + MBC + MBD = 0

MBA = MFBA + (2B)
B

MBA = 20 + 2B

.. (1)

MBC = - 5 + 2B

.. (2)

MBD = - 10 + 2B
B

Hence:

. (3)

5 + 6B = o
B

B
B

= - o.833

Hence:
MBA = 18.34 t.m , MBC = -6.67, MBD = -11.67 t.m
MAB = - 20

= - 20.833 t.m

MCB = 5 + B

= - 4.167 t.m

MDB = 10 + B

Example 7:

9.167 t.m

Draw B.M.D for the shown frame

Solution:
3 time statically ind. A , B , & C
B

1- Fixed end moments:

MFAB = - 10
MFBA = + 10
MFBC = - 25

MFCD = MFDC = zero

2- Relative Stiffness
MAB

1:1:1

=0

.(1)

MBA + MBC = 0

.(2)

MCB + MCD = 0

.(3)

Equs.
MAB

= - 10 + (2A + B)

MBA

= 10 + (2B + A)

MBC

= - 25 + 2B + C

MCB

= 25 + 2C + B

MCD

= 2C

MDC

= C

From 1,2 & 3

2A + B

= 10

.(1)

4B + A + C = 15

.(2)

4C + B
B

= - 25

(3)

By solving the three eqns. hence;

A = 2.5

B = 5
B

C = - 7.5

Substitute in eqns of moments hence;

MAB = - 10 + 5

= zero (o.k)

MBA = 10 + 10 + 2.5

= 22.5 t.m

MBC = - 25 +10 7.5

= - 22.5 t.m

MCB = 25 15 + 5

= 15 t.m

MCD

= - 15

t.m

MDC

= - 7.5 t.m

3-6 Frames with Translation

Examples to frames with a single degree of freedom in
translation.

Example 8:
Draw B.M.D for the shown frame.
1- Unknowns: B , C ,

2- Relative stiffness
KAB : KBA : KCD
1 2 1.5
: :
4 8 6

1: 1 : 1
3- Fixed end moments
MFAB = o
MFBC = MCB = zero
MFCD = - 6 t.m
MFDC = + 6 t.m

MBA = o

4- From Statics the equilibrium eqns

MBA + MBC = 0

(1)

MCB + MCD = 0

.(2)

5- Shear equation (In direction of X, = o)

6 + XA + XD 8
6+
hence

XA +

=o

M + M DC
M BA + M AB
+ CD
4 = 0 (3)
4
6

MBA + MAB
MCD + MDC
and xD =
+4
4
6

6- Slope deflection eqns:

MBA 0 + 1 (2B 3
B

), MAB = 0 + 1 (B 3. )
4
4
B

MBC = 0 + 1 (2B + C)
B

Hence:

4B 0.75 + C = 0

(1)

MCB = 0 + 1 (2C + B)
B

MCD = - 6 + 1 (2C 3
MDC = + 6 + 1 (C-3

),
6

)
4

Hence:
4 C + B B

2+

1
=6
2

(2)

(2 B .75 ) + (1 B .75 ) ( 6 + 2 C ) + (6 + 1 C
+
4
6

2 + 0.75 B - .375 +
B

=0

1
C 0.1667 = o
2

B + .67 C - 072 = - 2.66

B

(3)

Subtract (3) from (2)

1
2

3.33 + 0.288 = 8.33

C 0.067 = 2.6

(4)

Subtract (1) from (2) (4)

15 C 1.25

= 24

C 0.08

= 1.6

From (4) & (5)

0.147 = 1
= 6.80
C = 2.149
B = 0.799
B

(5)

MBA = - 3.5 t.m

,MAB = - 4.301 t,m, MBC = 3.79

MCB = 5.1 t.m

,MCD = - 5.1 t.m ,

MDC = 4.744

Example 9:Write the shear & condition eqns for the following frame.

Solution:Three unknowns:

B , C,

Condition equations:
MBA + MBC = o

(1)

MCB + MCD = o

(2)

Shear eqn.
XA +XB + P1 + P2 = o
B

M + M DC
P1 M AB + M BA
) + ( CD
) P1 + P2) = o
+
2
h1
h2

Example 10:
Find the B.M.D for the shown structure.

(3)

Solution:D = E = o
C = - C
B = - B
B

1- Unknown displacements are:

2- Relative Stiffness:
AB : BE : BC : CD : ED
1 2 1 1 1
: : : :
5 3 5 3 3

3 : 10: 3 : 5: 5

3- Fixed end moment:-

B , C ,

MFBE = -

4 36
= 12 t.m
12

MFEB = + 12 t.m
MFCD =

1.5 36
= 4.5 t.m
12

MFDC = + 4.5
4- Equilibrium equations:1- MCD + MCB = o
2- MBC + MBA + MBE = o
3- Shear condition:(3316.5)+

M CD + M DC M DE + M ED
+
6
6

MCD = - 4.5 + 5 (2C + D 3R)

MCB = 0 3 (2C + B)
B

MBC = 0 + 3 (2B + C)
B

MBA = 0 + 3 (2B)
B

MBE = - 12 + 10 (2B 3R)

B

Hence
- 4.5 + 10 C 15 R + 6 C + 3 B = 0
B

16C + 3B 15R 4.5 = 0

B

(1)

And
16B + 3C + 6B 12 + B - 3R = 0
B

3C + 32B 30R 12 = 0
B

and
16.5(

15 C 30 R 30 B 60 R
+
)=0
6
6

(2)

2.5 C + 5C + 17R + 16.5

=0

(3)

by solving equation 1,2 & 3 get

MAB = + 6.66 t.m
MBA = + 13.32 t.m
MBC = + 19.0

t.m

MCB = + 18

t.m

MBE = - 32.32 t.m

MEB = - 30.53 t.m
MCD = - 18

t.m

MDC = - 18.43 t.m

3-7 Frame with multiple degree of freedom in translation.

Example 11:
Write the shown equations and condition eqns for the given
frame.
Solution
Unknowns:

B , C , D , E , 1 , 1

Condition eqns
MBE + MBA + MBC

=0

MCB + MCD

=0

(2)

MDC + MDE

=0

(3)

MEB + MEF + MED = 0

(4)

(1)

Shear eqns :
Equilibrium of the two stories.
At sec (1) (1) :(Level CD)
P2 + Xc + XE
P2 +

=0

M CB + M BC
M + M ED
=0
+ DE
h2
h2

At sec. (2) (2):(Level BE) or x = 0

P 1 + P2 + x A + xF = 0
P 1 + P2 +

M BA + M AB
M + M FE
=0
+ EF
h1
h1

Example 12:Draw B.M.D for the given structure.

S
olution:1- Relative Stiffness:-

2- Equilibrium equations:MAB + MAC

=0

(1)

MBA + MBD

=0

(2)

MCA + MCD + MCE = 0

(3)

MDB + MDF + MDC = 0

(4)

x = 0 at Level A-B
2 + (6-3) +

M AC + M CA
M + M DB
= 0 (5)
+ BD
6
6

x = 0 at Level CD
11 +

M CE + M EC
M + M FD
+ DF
6
6

= 0 (6)

MAB = - 8 + 1 (2A + B)
B

MAC = 3 + (2A + C 3R1)

MAC = - 3 + (2C + A 3R1)
MCA = 16 + (2B + A)
B

MBD = 0 + (2B + D 3R1)

B

MDB = 0 + (2D + B - 3R1)

B

MDF = 0 + (2D + 0 - 3R2)

MFD = 0 + (D -

3R2)

MCD = - 48 + 2 (2C + C)
MCD = + 48 + 2 (2D + C)
MCE = - 8 + (2C - 3R2)
MEC = + (C - 3R2)
3- Fixed end moment:MFAB =

9 48 4
= 8 t.m
12 12

MFBA=

982 4
= + 16 t.m
12 2

MFAC =

1 6 2
= + 3 t.m
12

MFCA=

1 6 2
= 3 t.m
12

MFCD =

4 12 2
= 48
12

t.m

= + 48

t.m

MFDC

4- Unknown displacement:
A , B , C , D , 1 , 2
by Solving the six equations one can get;
MAB

= - 3.84

t.m

MBA

= + 18.39

t.m

MAC

= 3.84

t.m

MCA

= + 7.29

t.m

MBD

= - 18.39

t.m

MDB

= - 22.97

t.m

MCD

= - 11.15

t.m

MDC

= - 53.44

t.m

MCE

t.m

MEC

= - 13.44

t.m

MDF

= - 30.47

t.m

MFD

= - 26.15

t.m

3.87

Example (13):Write the shear equations & equilibrium equations for the shown
frame.
Solution:
Shear eqns:
XCE + XBA + P1

= 0 ....(1)

M EC + M CE
M + M BA
+ AB
+ P1 = o
h1
h1 + h2

xD + xG + xE + P2 = 0 --- (2)
M DE + M ED
h2

M EC + M CE
M GF + M FG

+ P2 = 0
h2
h1

Or:
XA + XD + XG + P1 + P2

=0

M + M FG
M AB
M + M ED
+ DE
+ GF
+ P 1 + P2 = 0
h1 + h2
h2
h2

Example 14:a- Write the equations of equilibrium including the shear

equations for the frame.
b- Write the slope deflection equations in matrix for
members CE & GH.
c- By using the slope - deflection method; sketch elastic
curve.
d- Sketch your expected B.M.D

Solution:-

(Unknowns = C , D , E , F , G , A+K , L , 1 ,
2 , 3 , 4
Relative stiffness: 1 : 1
a- equilibrium equations
MKL + MKG

=0

(1)

MLK + MLH

=0

(2)

MGK + MGH + MGE = 0

(3)

MHG + MHL + MHF = 0

(4)

MEG + MEC + MFF = 0

(5)

MFE + MFD + MFH = 0

(6)

MCE + MCD + MCA = 0

(7)

MDC + MDB + MDF = 0

(8)

Shear equations:a- at Level GH

5 + 10 + (XG 5) + XH = 0

(9)

Where:
XG =
XH =

M GK + M KG
5
M HL + M LH
5

b- at Level EF
5 + 10 + 20 + (XE 5) + XF

=0

30 + XE + XF

=0

Where:
XE =
XF =

M EG + M GE
5
M FH + M HF
5

(10)

c- at Level CD
5 + 10 + 10 + 30 + (XC 5) + XD

=0

50 + XC + XD

= 0 (11)

Where:
XC =

M CE + M EC
5

XD =

M DF + M FD
5

d- at Sec AB:5 + 10 + 10 + 10 + 40 + (XA 5) + XB

B

=0

70 + XA + XB

= 0 ..(12)

XA =
XB =

M AC + M CA
5
M CE + M EC

3-8 Slope deflection eqns in matrix form:

1- Member CE
MCD = MFCE +

2 1
2EI
(2C + E 3
)
5
5

MEC = MFEC +

2 1
2EI
(2E + C 3
)
5
5

Where:
2 52
MFCE = 12

= - 4.16

t.m

MFEC

= + 4.16

t.m

In Matrix form:
MCE

- 4.16
+

=
MEC

4.16

Where:
R2 =

2 1
5

13

2EI
5

C
E

23

R2

2- member GH
MGH

- 16.67
+

26I
5

+ 16.67

MHG

d- B.M.D

Example 15:By using slope deflection method;

1- Draw B.M.D for the shown frame.
2- Sketch elastic curve.
Solution:
1- Relative stiffness 1: 1
2- unknowns:

B = - B (From symmetry)
B

3- Equilibrium eqns
MBA + MBC + MBD + MBB = o

(1)

4-Fixed end moments

MFAB =

4 62
12

MFBA =

= - 12 t.m
= + 12

MFBC = MFCB = MFBD = MFDE = o

MFBB = -

2 12 2 8 12

12
8

4- Slope deflection eqns

MAB = - 12 +(B)
MBA = 12 + 2B

= - 36 t.m

MBC = 2B
MBD = 2B
MBB = - 36 + B
MCB = B
MDB = B

From eqn (1)

(12 + 2B) + (2B) + (2B) + (- 36 + B)
B

7B - 24

=0
=0

= 3.4286

hence
MAB = - 8.57

t.m

MBA = 18.86

t.m

MBC = 6.86

t.m

MBB = - 32.58

t.m

MCB = 3.428

t.m

MDB = 3.428
MBD =

6.86

t.m

The Free Body Diagram to find the S. F. & N. F.

SHEET (3)
1) Draw S.F.D. and B.M.D. for the statically indeterminate
beams shown in figs. From 1 to 10.

2) Draw N.F.D., S.F.D. for the statically indeterminate

frames shown in figs. 11 to 17. Using matrix approach 1.

THE STIFNESS MATRIX METHOD:

APROACH 1 ( SLOP DEFLECTION IN MATRIX FORM )
In this method, the slop deflection equations method is formulated using matrix operations.
The method can be formulated for weather the members have relative displacements or not
Members without relative displacements
In this approach, the slop deflection equations for each member are collected in a
matrix form. For example, the slop deflection equations for member AB in a matrix form
become

4 EI
M AB M FAB L
M = M + 2 EI
BA FBA
L

2 EI
L AB
2 EI BA

L AB

(4.108)

In a short form, one may write equation 4.108 as

MAB = MFBA + SAB DAB

(4.109)

For a structure consists of a set members, Equation 4.109 can be repeated

For each member. The structure shown in Figure 4.76, for example, the slope
Deflection equation are collected in a matrix form as

Figure 4.76
M AB
M
BC
M AC

M CD
M CD

M FAB
M
FBC
= M FAC

M FCD
M FCD

S AB
0

+ 0

0
0

0
S BC

0
0

0
0

0
0
0

S AC
0
0

0
S CD
0

0 D AB
0 D BC
0 D AC

0 D CD
S CE D CD

(4.110)

Equation 4.110 can be written for any structure whose members are
not subjected to relative displacements. It can be expressed in a general form as
M m = M Fm + [S m ]D m
(4.111)

In which M m member end moments, MFM contains the members fixed end moments
And [Sm] is the augmented member's stiffness matrices
The compatibility condition for the frame of figure 4.76 can be stated as
Follows:

AB

AC

BA = BC = B

CA =CB =CD =CE =C

DC = D (4.112)
Where A , B , C ,and D are the cinematic variables at the joints of this structure .
Equation 4.112 can be expressed in a matrix form as

AB 1

BA 0
BC 0

CB
0

1
AC =
CA 0
0
DC
CD 0

CE 0
EC 0

0 0 0
1 0 0
1 0 0

0 1 0 A

0 0 0 B

0 1 0 C (4.113)

0 0 1 D

0 1 0
0 1 0

0 0 0

Equation 4.113 can be expressed in a short form by

( 4.114 )
Dm = C D
Where C is called the compatibility or connectivity matrix.
In order to solve the problem one has to apply the equilibrium conditions at the
free joints. For the structure of figer 4.76 one has the following equilibrium condition:
MA=MAB + MAC
MB=MBC + MBA
MC=MCB + MCD+MCD+MCE
MD=MDC
Equation 4.115 can also be expressed in a matrix form as

M A 1

M B = 0
M C 0

M D 0

0 0 0 1 0 0 0 0
1 1 0 0 0 0 0 0
0 0 1 0 1 0 1 1
0 0 0 0 0 1 0 0

M AB
M
BA
M BC

0 M CB
0 M AC

0 M CA

0 M DC

M CD

M CE
M EC

(4.116)

Comparing equation 4.116 with equation 4.113,

One may write equation 4.116
(4.117)
M=CT Mm
Where M is a vector which contains the external moments at the free joints
Substituting equation 4.111 and 4.114 into equation 4.117 one obtains
M=CT MFm+CT[Sm] C D

(4.118)

Equation 4.118 can also be written in a shorter form as

M=MF + [S] D

(4.119)

Where MF and [S] are, respectively, obtained from

MF =CT MFm

(4.120)

[S] = CT [Sm] C

(4.121)

Equation 4.119 is now in a suitable form to be solved for the unknown displacements D as follows
D = [S]-1(M-MF )

(4.122)

It is a common practice to call the terms (-MF) in equation 4.122 by the equivalent joint moment due
to the direct loadings on the members. It is obvious that this matrix approach is suitable for computer
applications. The analyst stories the structural data in the form of [Sm], the loading data in the form
of M and MFm, and finally the compatibility matrix C which is obtained from boundary and
connectivity conditions. The matrices MF and S are then calculated by matrix multiplication
according to equations 4.120 and 4.121. The free displacements D are obtained according to
equation 4.122. The member end moments are determined from equation 4.111 using equation 4.114

Example 4.26
Determined the bending moment diagram for the beam shown in figure 4.77 using the stiffness
matrix method abrosh I (EI=105 KN.m2 ,=10-5/ c )

50KN

10KN/m

Figure 4.77
Solution
The stiffness matrices SAB and SBC, are determined as follows:

S AB = S BC

4 EI

= 5
2 EI

2 EI
5 = EI 0.80 0.40
0.40 0.80
4 EI

The members stiffness matrix [Sm] is composed as follows:

0
0.8 0.4 0
0.4 0.8 0
0
[S m ] = EI
0
0 0.8 0.4

0 0.4 0.8
0
The degree of freedom in this structure is two, which represents the angles of
Rotation at B and C . The compatibility equations are put in a matrix form as

AB 0

BA = 1
BC 1

CB 0

0
0 B
= CD
0 C

Figure 4.78

The fixed end moments are determined for the cases shown in Figure 4.78 using the
Tables and according to the signs of the slope deflection equation as follows:
M FAB =

4 EI
50 * 5
A +
= 191.25 KN .m
5
8

M FBA =

2 EI
50 * 5
A
= 48.75 KN .m
5
8

M FBC = EI

T1 T2
= 50 KN .m
h

M FBC = 50 KN.m
The fixed end moments are collected to form matrix MFm as follows:
T
M Fm = [191.25 48.75 50 -50]
The matrix MF and [S] are obtained according to equations 4.120 and 4.121 as
Follows:
0 1 1 0
98.75
T
M F = C M Fm =
M Fm =

0 0 0 1
50

[S ] = C T [S m ]C = EI

1.6
0 .4

0.4
0 . 8

Substituting into the equilibrium equation one obtains

M=MF + [S] D

M B 98.75
1.6 0.4 B 0
=
+
E
M 50
0.4 0.8 = 20

C
C
The deformation D is solved to have

B 1 81.25
D=

C EI 78.125
The members end moments are calculated from equation 4.111as follow:

M m = M Fm + [S m ]D m

0
0
M AB 191.25
0.8 0.4 0
158.75
81
.
25

EI 16.25
0
BA = 48.75 + EI 0.4 0.8 0
KN .m
=

81
.
25

M BC 50

16.25
0 0.8 0.4
EI

0 0.4 0.8 78.125 20

0
M CB 50

EI

Which gives the same results obtained previously. The bending moment diagram is
Given again Figure 4.79
Example 4.27

Determine the bending moment diagram for the frame shown in Figure 4.80 using the
Stiffness matrix method approach I, where Support B has displaced down 1cm, and
EI= 105 KN.m2
Solution

The stiffness matrices SAC and SCB are determined as follows:

1 5 8 .7 5 K N .m

2 5 K N .m

1 6 .2 5 K N .m

Figure 4.79

2 0 K N .m

20KN

C
50KN

A
Figure 4.80

S AC

4 EI

= 6
2 EI

2 EI
6 ,
4 EI

S CB

4 EI

= 8
2 EI

2 EI
8
4 EI

The member's stiffness matrix [Sm] is obtained form

[S m ] =

S AC
0

0
0
0.667 0.333

0
0
0
0.333 0.667
EI
=
0
S CB
0
0.5 0.25

0
0.25 0.5
0

The degree of freedom in this structure is two, which represents C and B .

The compatibility equations are AC =0, CA = C, and BC = B . These relations are
Put in a matrix form as follows:
B

AB 0

CA = 1
CB 1

BC 0

0
0
0

C
= C D
B

The fixed end moments are determined for each member using the tables for the cases
Shown in Figure 4.81, and in the singes of the slope deflection equation.
50 * 6
= 37.5 KN.m
8
MFAC = -37.5 KN.m
M FAC =

50KN

50 KN

A
Figure 4.81

M FCB = +

20 * 8 6EI 1
+ 2
= 113.75 KN.m ; M FBC = 20 + 9375 = 73.75 KN.m
8
8 100

The calculations of MF and S follow equations 4.120 and 4.121 as follows:

M

T
FM

= [37.5 37.5 113.75 73.75]

0 1 1 0
76.25
T
M F = C M FM =
M FM =

KN .m
0 0 0 1
73.75
0
0.333
0.667
0
1.167 0.25
= EI
[S] = C T [S m ] C = EI

0.5 0.25
0.25 0.5

0.25 0.5
Substituting into Equation 4.119, one obtains

M C 76.25
1.167 0.25 C 0
M = 73.75 + EI 0.25 0.5 = 0

B
B
The solution for C and B gives

C 1 37.788
=

rad
B EI 128.606
The end moments are now calculated using Equation 4.111 as follows:

M m = M FM + [S m ] D m


0
0
0
M AC 37.5
0.667 0.333
24.916
37
.
788

EI 62.704
0
0
CA = 37.5 + EI 0.333 0.667
KN.m
=

M CB 113.75
62.704
0
0
0.5 0.25 37.788

EI

0
0
0
0
.
25
0
.
5
73
.
75
M

BC
128.606
EI

The bending moment diagram is given in Figure 4.82, which is the same as the
Results of Example 4.7.

BMD
Figure 4.82
4.6.2 Effect of Members with Moments Releases
if the moment in a member is released at one end, one may use the modified
Slope deflection equation, given in Equation 4.15 For any member AB which has a
hinge at B, one may write Equation 4.15 in a matrix form as follows:

SHEET (4)
Draw the bending moment diagram for the following structures using the matrix approach 1
method (EI=104 t.m2 ,=10-5/ c )

CHAPTER 3
Stiffness Matrix Method
3-1- DEFINITION
The stiffness method is a method of analysis, where the main unknowns
are the displacements of joints. These unknowns are determined from
equilibrium. The method can be used for determination of displacements
and internal forces due to
external loads,
environmental changes (temperature and shrinkage), and
support movement.
The stiffness method is applicable to skeletal structures (beams, plane and
space frames and trusses, and grids), and continuum structures (plates,
shells, and three dimensional solids).
(Question: what is the difference between skeletal and non-skeletal
structures (continuum structures)?)
The steps of this method are:
1- Modeling
Model the structure with a number of members and
joints,
Define types of members and connections,
Identify the relevant unknown components of joint displacements.
2- Load vector
For each member determine the member fixed end
forces (which are the reactions due to loads if all the
relevant joint displacements were prevented).
3- Stiffness matrix
For each member determine the member end forces
due to joint displacements (i.e. member
stiffness
equations).
4- Equilibrium equations
Write the equations of equilibrium of all joints (under
the forces in steps 2 and 3, and joint loads).
5- Solving equilibrium equation

 Solve equilibrium
displacements.

eq.

to

determine

joints

6- Internal forces
Use the resulting joint displacements to determine the
total member end forces.
The above steps can be illustrated by the following example:

EXAMPLE
Determine the displacements
and member end forces in the
shown frame due to
the
given loads.

3t
2t/m

3.00

2.00

6.00

STEP 1: Modeling.

D2
D1

D3
2

D4
3

1
1

STEP 2: Load vector

Fixed-end forces {F}

2t/m

STEP 3: Stiffness matrix

Stiffness relations [K]

STEP 4: Equilibrium
STEP 5: Equations solution
STEP 6: Internal forces

{F} = [K] {D}

Get {D}

Q, N, and M

3-2- STEP 1: MODELING

a- Numbering
Organization of the solution requires numbering the members, joints, and
forces and displacements components. Several numbering schemes are
possible. Choice of the most appropriate scheme depends on several
considerations including the method of assembling and solving equations
of equilibrium (banded matrix methods, frontal method, etc.). When
banded matrix methods are used for solving equilibrium equations,
members may be numbered in any convenient order, but
joints
should
be
numbered
in
such
an
order
that
the maximum difference between the numbers of the two joints of each
member is as small as possible. For example, the numbering in Fig. Is
more appropriate than that in Fig.
The unknown displacement components are usually numbered in a
certain sequence (for example in plane frame; x, y, and rotation) starting
at joint 1 and proceeding in ascending order through the joints. These
displacement components are called degrees of freedom.

b- Degrees of Freedoms
Several models of skeletal structures may be used depending on the
nature of the structure and the loads. Common skeletal models include
space frames, space trusses, plane frames, plane trusses, beams, and grids.
* In space frames, each joint has six degrees of freedom: three
translations (in X, Y, and Z directions) and three rotations (about X, Y,
and Z axes).
* In space trusses, all member ends are assumed to have hinged
connections, i.e. three degrees of freedom at each joint (rotation about X,
Y, and Z axes).
* In plane frames, a joint has three degrees of freedom since it has two
translations and one rotation.
* In plane trusses, a joint has two degrees of freedom (the translation
only) since rotation are not considered.
* In beams, axial and transverse forces and displacements are uncoupled,
and separate analyses may be carried out for axial effects and transverse
effects.
* In grids, in-plane displacements are not considered; therefore, also
rotations about an axis normal to the plane of the grid are not considered.
Thus, a grid joint has only three degrees of freedom (an out-of-plane
translation, and two rotations about in-plane axes).

20

19

18

17

16

15

14

13

12

11

10

5
4

6
7
1

3
2

18 19

17 20

16 21

10 15 22

11 14 23

12 13 24

10

11

14

15

18

19

12

13

16

17

20

5
6

3
2
1

7
4

21

22 23 24

17

18 19 20

13

14 15 16

10 11 12

c- Local and Global Axes

The axes which are convenient in dealing with members individually are
called local (member) axes, but the axes which are convenient in dealing
with the structure as a whole are called global (structure) axes.
Displacement and force components may be expressed using one of the
previous two systems.
The relation between the components in the two systems of axes is
expressed in matrix form which called transformation matrix [T].

End 2
( X2,Y2,Z2)

End 2
End 1
Z
( X1,Y1,Z1)

( X2,Y2)
Length =L

End 1

( X1,Y1)

Plane or grid member

Space member

a) Geometry
g g
f5 d5

l
l
f5 d5

g g
f4 d4

g g
f6 d6

g g
f2 d2

Global

g g
f1 d1
g g
f3 d3

l
l
f4 d4

l
l
f6 d6
l
l
f2 d2
l
l
f1 d1

Local
l
l
f3 d3

b) Plane frame member

g g
f4 d4

g g
f2 d2
g g
f1 d1

l
l
f4 d4

g g
f3 d3

Global

l
l
f2 d2

l
l
f3 d3

Local

l
l
f1 d1

c) Plane truss member

Global and local force and displacement components

 In the case of plane frame, if the components of member

end forces in global direction are:
{ f g } = { f 1g f 2g f 3g f 4g f 5g f 6g }

and the corresponding components in local directions are:

{ f l } = { f 1l f 2l f 3l f 4l f 5l f 6l }

as shown in Fig.

, then;

{ f g } = [T ] { f l }

where;
c
s
0
[T ] =
0
0
0

s
c
0
0
0
0

0
0
1
0
0
0

0
0
0
c
s
0

0
0
0
s
c
0

0
0
0
0
0
1

in which; c = cos = (X2 X1) / L , and

s = sin = (Y2 Y1) / L
where (X1 , Y1) and (X2 , Y2) are the coordinates of the joints at the start
and the end of member respectively with respect to global axes, and L is
the length of the member.
Similarly, the relation between the displacement components in global
directions {dg} and the displacement components in local directions {dl}
for the joints of plane frame members is:
{d g } = [T ] { d l }

where [T] as defined above.

In the case of plane trusses, each of {fg}, {fl}, {dg}, and
{dl} has only four elements and the transformation matrix
reduces to:

s
c
0
0

c
s
[T ] =
0
0

0
0
c
s

0
0
s
c

In the case of grids, the transformation matrix is:

1
0
0
[T ] =
0
0
0

0
s
c
0
0
0

0
c
s
0
0
0

0
0
0
1
0
0

0
0
0
0
s
c

0
0
0
0
c
s

In the case of space frames, each joint has six degrees

of freedom then the transformation matrix is:

[T ] =

t*

t*

t*

where
[] = [0]3*3 , and
lx

ly

lz

[t ] = m x

my

mz

nx

ny

nz

where (lx, mx, nx), (ly, my, ny), and (lz, mz, nz) are the direction cosines of
the local axes x, y, and z with respect to the global axes X, Y, and Z.
In the case of space trusses, all member ends are
hinged. Therefore the transformation matrix is:

[T ] =

lx

mx
nx

*
*

*
*

0
0

0
0

0
0

lx

0
0

0
0

0
0

mx
nx

*
*

*
*

where the asterisks refer to unneeded elements, and (lx, mx, nx) are the
direction cosines which given by:
lx = (X2 X1) / L,

mx = (Y2 Y1) / L, and

nx = (Z2 Z1) / L

3-2- STEP 2: LOAD VECTOR (MEMBER FIXED-END FORCES)

Member fixed-end forces means the reactions at the ends of members due
to loads, environmental changes, or support movement, when all the
unknown displacements at member end joints are prevented. These
reactions can be determined by classical methods such as column analogy
or consistent deformations.
Components of fixed-end forces in local directions may be arranged in a
vector { f ml } , which is called member load vector in local directions. The
corresponding components in global directions may be arranged in a
vector { f mg } which is called member load vector in global directions, and
can be determined from the transformation relation
{ f mg }

Fig.

= [T] { f ml }

Shows some cases of member fixed-end forces.

WL /12

Wt/m

WL /12

PL/8

L
WL/2

PL/8

L
WL/2

P/2

P/2

Wt/m
2

WL /30

WL /20

Wt/m

5WL /96

L
0.167 WL

5WL /96

0.333 WL

WL/4
2

WL
20

WL
)
30

2PL/9

WL
)
30

WL
20

Pb/L

P.b.a /L

Pa/L

M/4

L
1.5 M / L

P.a.b /L

2PL/9

M/4

WL/4

1.5 M / L

P.a.b P.b.a
)
L2
L2
L

P.a.b P.b.a
)
L2
L2
L

(1)

(2)
P1

W
P1
P2

P2

(3)

(4 )
P1

P3

P2
W

(5 )

3-3- STEP 3: STIFFNESS MATRIX (MEMBER END FORCES DUE TO

JOINT DISPLACEMENTS)
Displacements of joints cause member end displacements and hence
member deformations and internal forces between joints and member
ends. These member end forces depend on the type of connection
between joints and member end.
a- Force-Displacement Relation in Local Directions
In the case of plane truss member shown in Fig. , let
the joints undergo displacements whose components in
local directions are d1l , d 2l , d 3l , and d 4l . The lateral
displacements can occur without deformation (small
displacements and hinged connections). On the other hand,
the axial displacements d1l and d 3l result in an elongation
( d 3l - d1l ) and hence tension N = ( d 3l - d1l ) EA / L.
The corresponding forces from joints to member ends are:
f dl1 = -N = ( d 3l - d 1l ) EA / L
f dl 2 = f dl 4 = 0
f dl3 = N = ( d 3l - d 1l ) EA / L

or in matrix form;
{ f dl } = [ k l ] { d l }

where
1
0
[ kl ] =
1
0

0
0
0
0

1
0
1
0

0
0
0
0

The matrix [ k l ] is known as the member stiffness matrix in local

directions. It can be noticed that the elements of the ith column of [ k l ]
are the forces { f dl } when d il = 1 while all other components of { d l } are
zeros. This observation is usually used as a convenient basis for deriving
the matrix [ k l ] for members of different types.
Consider a plane frame member with fixed ends as shown in Fig. . To
derive elements of the first column of [ k l ] , let d1l = 1 while all other
components of { d l } are zeros. The corresponding end forces are the
elements of the first column of [ k l ] , and these elements are:
(EA/L) { 1 0 0 -1 0
0 }T

Elements of the second column of [ k l ] are the forces correspond to d 2l =

1, while all other components of { d l } are zeros. Then the elements of the
second column of [ k l ] are:
1 }T
(6EI/L2) { 0 2/L 1 0 -2/L
Note that these forces can be determined using the method of consistent
deformations. Similarly the components of the third, fourth, fifth, and
sixth columns can be determined and the complete stiffness matrix of the
member in local axes directions is:
EA / L
0
0
[k ]=
EA / L
l

0
0

EA / L

12 EI / L

6 EI / L

12 EI / L

6 EI / L2

6 EI / L2
0

4 EI / L
0

0
EA / L

6 EI / L2
0

2 EI / L
0

12 EI / L3
6 EI / L2

6 EI / L2
2 EI / L

0
0

12 EI / L3
6 EI / L2

6 EI / L2
4 EI / L

It may be observed that each column of [ k l ] represent a set of forces in

equilibrium. It may also be observed that the matrix [ k l ] is symmetric,
i.e. k ijl = k lji . These two observations may be used for deriving some
elements of [ k l ] .

D
3
D
4
D
2
2

P1
W1

P2

W2

Fixed

D
1

Structure and loads

1

0 0

2 3

2 3

4 5

1
Hinged

Members, joints and degrees

of freedom (D.O.F.)

global position
numbers

1 1

3 4

0 0

2 3

4 5

local column numbers

2 1

0 2

3 2

0 3

4 3

2 4

0 4

3 5

0 5

4 6

0 6

local row numbers

Member stiffness matrices

1 1

2 1

0 2

3 2

0 3

4 3

2 4

0 4

3 5

0 5

4 6

0 6
g
fm

g
fm

Member load vectors

1
2
3
4

g1

g1

k11
g1

k14
g1

g1

g1

k15
g2

g1

k16
g2

g1

k41

k44+k11 k45+k12 k46+k13

g1

k54+k21 k55+k22 k56+k23

k51
g1

k61

g1

0 - fm1

D1
g2

g1

g2

g1

g2

g1

g2

g1

g2

g1

g2

g1

g2

k64+k31 k65+k32 k66+k33

D2
D3
D4

3 -5 0 -

g1
fm4
g1
fm5
g1
fm6

g2

- fm1

g2

- f m2

g2

- fm3

Equilibrium equations

Example for assembly of equilibrium equations

To find the overall stiffness matrix

=1

EA/L

4EI/L

6EI/L

6EI/L

2EI/L
=1

=1

EA/L

EA / L
0

EA / L
0

12EI/L

6EI/L

12EI/L

6EI/L

3
12 EI / L
6 EI / L2

12 EI / L3

2
6 EI / L

2
6 EI / L
4 EI / L

6 EI / L2

2 EI / L

= 1 6EI/L

6EI/L

2EI/L

4EI/L
=1

EA/L

=1

EA/L
3

12EI/L

EA / L
0

EA / L
0

[k ]=
l

12EI/L

6EI/L

3
12 EI / L
6 EI / L2

12 EI / L3

2
6 EI / L

6EI/L

2
6 EI / L
2 EI / L

6 EI / L2

4 EI / L

EA / L

EA / L

12 EI / L3

6 EI / L2

12 EI / L3

6 EI / L2

6 EI / L2

4 EI / L

6 EI / L2

2 EI / L

EA / L
0

0
12 EI / L3

0
6 EI / L2

EA / L
0

0
12 EI / L3

0
6 EI / L2

6 EI / L2

2 EI / L

6 EI / L2

4 EI / L

=1

3EI/L

3EI/L

EA/L

=1

EA/L

=1
2

EA / L
0

EA / L
0

3EI/L

3
3EI / L
3EI / L2

3EI / L3

=1
EA/L

3EI/L

EA / L
0

EA / L
0

[ kl ] =

=1

=1
3

3EI/L

3EI/L

0
0

0

0
0

0

3
3EI / L
3EI / L2

3EI / L3

3EI/L

2
3EI / L
3EI / L

3EI / L2

EA/L

EA / L

3EI/L

3EI/L

0
3

3EI / L

3EI / L

EA / L

3EI / L

0
3

0
EA / L

3EI / L
0

3EI / L
0

0
EA / L

3EI / L
0

0
0

0
0

3EI / L3
0

3EI / L2
0

0
0

3EI / L3
0

0
0

=1

3EI/L

3EI/L
=1

=1

3EI/L

0
0

0

0
0

0

EA/L

2
3EI / L
3EI / L

3EI / L2

3EI/L

=1

=1

EA/L

3EI/L

3EI/L

EA / L
0

EA / L
0

0
0

0

0
0

0

3
3EI / L
3EI / L2

3EI / L3

0
0

3EI/L

3EI/L

3
3EI / L
3EI / L2

3EI / L3

=1

[ kl ] =

3EI/L

0
3

3EI / L

3EI / L

EA / L

3EI / L

0
3

3EI / L

3EI / L

3EI / L

0
0

0
3EI / L3

0
3EI / L2

EA / L
0

0
3EI / L3

0
0

=1
EA/L

EA/L

=1

EA / L
0

EA / L
0

=1

0
0

0

0
0

0

0
0

0

0
0

0

=1
EA/L

=1

EA/L

EA / L
0

EA / L
0

EA / L
0
0
[ kl ] =
EA / L
0
0

=1

0
0

0

0
0

0

0
0
0
0
0
0

0
0
0
0
0
0

0
0

0

0
0

0

EA / L
0
0
EA / L
0
0

0
0
0
0
0
0

0
0
0
0
0
0

3-4- STEP 4 : The Overall Equilibrium Equation

From the steps number 3 & 4 we can construct the overall equilibrium
equation as follow:

{ F } nx1 = [ K ] nxn * { D }nx1

Where: (n) the number of degree of freedom (DOF) which defined
from step no 1( modeling ).

3-5- STEP 5 : Solve The Equilibrium Equation

By using back Guss elimination we can solve the equilibrium
equation and find the overall global displacement { D }g
We can find the local displacement from the relation
{ D }l = [ T ]T * { D }g
Where [ T ] the transformation matrix for member
For plane truss member is:
c
s
[T ] =
0
0

s
c
0
0

0
0
c
s

0
0
s
c

s
c
0
0
0
0

0
0
1
0
0
0

0
0
0
c
s
0

For plane frame member is:

c
s
0
[T ] =
0
0
0

0
0
0
s
c
0

0
0
0
0
0
1

3-6- STEP 6 : Find The Internal Forces

For plane truss member:
N=

EA

= (d 3 d1 ) * cos + (d 4 d 2 ) * sin
d4
d3

d2

For plane frame member:

d1

Dg1 = D1 * cos + D2 * sin

Dg 2 = D2 * cos D1 * sin

Dg 3 = D3
Dg 4 = D4 * cos + D5 * sin
Dg 5 = D5 * cos D4 * sin
Dg 6 = D6

N1 = N 2 = ( Dg 4 Dg1 )
S1 = S 2 =
M1 =

EA
L

12 EI
12 EI
(
Dg

Dg
)
+
( Dg 6 + Dg3 )
2
5
L3
L2

6 EI
2 EI
(
Dg

Dg
)

( Dg 6 + 2 Dg3 )
5
2
L2
L

M2 =

6 EI
2 EI
(
Dg

Dg
)
+
( Dg 3 + 2 Dg 6 )
2
5
L2
L

CHAPTER (6)

Analysis of Plane Trusses

By Using Stiffness Matrix Method
6-1- STEP 1: MODELING
a- Numbering
Organization of the solution requires numbering the members, joints,
and forces and displacements components. Several numbering schemes are
possible. Choice of the most appropriate scheme depends on several
considerations including the method of assembling and solving equations of
equilibrium (banded matrix methods, frontal method, etc.). When banded
matrix methods are used for solving equilibrium equations, members may be
numbered in any convenient order, but joints should be numbered in such an
order that the maximum difference between the numbers of the two joints of
each member is as small as possible. For example, the numbering in Figure
(b) is more appropriate than that in Figure (a)

20

19

18

17

16

15

14

13

12

11

10

(a)
2

10

11

14

15

18

19

12

13

16

17

20

(b)

3
(a)

4
(b)

The unknown displacement components are usually numbered in a

certain sequence starting at joint 1 and proceeding in ascending order
through the joints. These displacement components are called degrees of
freedom.

b- Degrees of Freedoms
Several models of skeletal structures may be used depending on the
nature of the structure and the loads. Common skeletal models include
space frames, space trusses, plane frames, plane trusses, beams, and grids.
* In plane trusses, a joint has two degrees of freedom (the translation
only) since rotation are not considered.
* In beams, axial and transverse forces and displacements are uncoupled,
and separate analyses may be carried out for axial effects and transverse
effects.

c- Local and Global Axes

The axes which are convenient in dealing with members individually are
called local (member) axes, but the axes which are convenient in dealing
with the structure as a whole are called global (structure) axes.
Displacement and force components may be expressed using one of the
previous two systems.
The relation between the components in the two systems of axes is
expressed in matrix form which called transformation matrix [T].
In the case of plane trusses, each of {fg}, {fl}, {dg}, and {dl} has only
four elements and the transformation matrix reduces to:
dg4

[T ] =

s
0
0

c
0
0

0
c
s

0
s
c

dl4

dl3
dg3

dg2
dl2

dl1

dg1

in which;
, and

c = cos = (X2 X1) / L

s = sin = (Y2 Y1) / L

where (X1 , Y1) and (X2 , Y2) are the coordinates of the joints at the start
and the end of member respectively with respect to global axes, and L is
the length of the member.

{d }l

d1
d

= 2
d 3
d 4

c
s
[ T] =
0

s
c
0

0
0
c

0
0
s

Similarly, the relation between the displacement components in global

directions {dg} and the displacement components in local directions {dl}
for the joints of plane frame members is:
{d g } = [T ] { d l }

where [T] as defined above.

6-2- STEP 2: LOAD VECTOR (MEMBER FIXED-END FORCES)

A member fixed-end force means the reactions at the ends of
members due to loads, environmental changes, or support movement,
when all the unknown displacements at member end joints are prevented.
These reactions can be determined by classical methods such as
consistent deformations.
Components of fixed-end forces in local directions may be arranged in a
vector { f ml } , which is called member load vector in local directions. The
corresponding components in global directions may be arranged in a
vector { f mg } which is called member load vector in global directions, and
can be determined from the transformation relation.
{ f mg } = [T] { f ml }

Example (1)
Construct the modeling and find
the over all load vector for the
given plane trusses.
10 t

4.00

8t
5t
4.00

Solution

10 t

D3
D2

Q D.O.F. = 4

4.00

{F }4 x1 = [K ]4 x 4 {D}4 x1

D4

{F }4 x1

8
0

=
10

8t

3
D1

5t
4.00

Example (2)
Construct the modeling and find the over all load vector for the given
8t

8t

8t
6t

3.00

6t
4.00

4.00

plane trusses.
Solution

8t

8t
2

8t

5
6t

10

3.00

6
6t

4.00

4.00

D. O.F. = 4

{F }4 x1 = [K ]4 x 4 {D}4 x1

Overall Load Vector:

{ F }4x1 =

6-3- STEP 3: STIFFNESS MATRIX (MEMBER END FORCES

DUE TO JOINT DISPLACEMENTS)
Displacements of joints cause member end displacements and hence
member deformations and internal forces between joints and member
ends. These member end forces depend on the type of connection
between joints and member end.

a- Force-Displacement Relation in Local Directions

In the case of plane truss member shown in Fig., let the joints
undergo displacements whose components in local directions are
d1l , d 2l , d 3l , and d 4l . The lateral displacements can occur without
deformation (small displacements and hinged connections). On the
other hand, the axial displacements d1l and d 3l result in an
elongation ( d 3l - d1l ) and hence tension
N = ( d 3l - d1l ) EA / L.
The corresponding forces from joints to member ends are:
f dl1 = -N = ( d 3l - d1l ) EA / L
f dl 2 = f dl 4 = 0
f dl3 = N = ( d 3l - d1l ) EA / L

or in matrix form;

{ f dl }

Where:

l
l
[
k
]
{
d
}
=

EA/ L 0 EA/ L 0
0 0
0

0
EA/ L 0 EA/ L 0

0
0
0

[ kl ] =

=1
EA/L

EA/L

EA/ L
0

EA/ L

=1

0
0

0

0
=1

EA/L

=1

EA/L

EA/ L
0

EA/ L

0
0

0

0

Then; The local stiffness Matrix for any plane truss member equal:

1
0
EA

kl =
L 1

[ ]

0 1 0
0 0 0
0 1 0

0 0 0

The matrix [ k l ] is known as the member stiffness matrix in local

directions. It can be noticed that the elements of the ith column of [ k l ]
are the forces { f dl } when d il = 1 while all other components of { d l } are
zeros. This observation is usually used as a convenient basis for deriving
the matrix [ k l ] for members of different types.
It may be observed that each column of [ k l ] represent a set of forces in
equilibrium. It may also be observed that the matrix [ k l ] is symmetric,
i.e. k ijl = k lji . These two observations may be used for deriving some
elements of [ k l ] .

6-4- STEP 4: The Overall Equilibrium Equation

From the step no 2 & 3 we can construct the equation as follow:

{ F }nx1 = [ K ] n x n { D } nx1

..Where n is the DOF

by solution the overall equilibrium equation we get the values of {D}.

6-5- STEP 6: The internal forces for plane truss member

By using the known global displacement we can determined the internal
forces for plane trusses as follows:
N=

EA

where:

= (d 3 d1 ) * cos + (d 4 d 2 ) * sin

Solved Examples
10 t

Example3:
The following truss has
constant EA, determine
the reactions and
member forces.

4.00

8t
5t
4.00

Solution

10 t

D3
D2

Q D.O.F. = 4

4.00

{F }4 x1 = [K ]4 x 4 {D}4 x1

D4

{F }4 x1

8
0

=
10

8t

[k1 ]g

5t
4.00

0
1
0
1

For element 2:

0
1
0

0
0
0
0

[k 2 ]g

For element 3: L = 4.0 m, = 0.0

[k 3 ]g = [k 3 ]l

3
D1

For element 1: L = 4.0 m, = 90

0

EA 0
=
4 0

EA 0
=
4 1

0
0
0
0

1
0

1
0

0
0
0
0

L = 4.0 m, = 90

EA 0
=
4 0

0
1
0
1

0
1
0

0
0
0
0

For element 4: L = 4.0 m, = 0.0

[k 4 ]g = [k 4 ]l

EA 0
=
4 1

0
0
0
0

1
0

1
0

0
0
0
0

For element 5: L = 4 / 2 m, = 45

[k 5 ]g

0.5

EA
=
4/ 2

For element 6: L = 4 / 2 m, = 315

Overall equilibrium equation:

8 0.338
0 0

10

0
5 0

0 D1
0.088 D2

0.088 0.338 0.088 D3

0.088 0.088 0.338 D4

0
0.338

0
0.088

By solving 4 equations; then

23.66
EA

D1

3.42

D
EA
2

D3 36.57

EA
D4

23.42

EA

[k 6 ]g

0.5 0.5 0.5 0.5

0.5 0.5
EA 0.5 0.5
=
0.5 0.5
4 / 2 0.5 0.5

0.5 0.5 0.5 0.5

For elements:

36.57
0)
EA
36.57
1 =
EA
23.66
23.42
, 3 =
,
2 =
EA
EA

1 = ( 3.42 23.66 ) cos 90 + (

then;
similarly;
6 =

6.88
EA

4 =

3.42
,
EA

then;

F=

EA
L

36.57 EA
*
= 9.14 t
EA
4
23.42 EA
F2 =
*
= 5.85 t
EA
4
23 . 66 EA
= 5 . 91 t
F3 =
*
EA
4
3.42 EA
F4 =
*
= 0.855 t
EA
4
F1 =

F5 =

16.73 EA
*
= 2.95 t
EA
4 2

F6 =

6.88 EA
*
= 1.21 t
EA
4 2

5
-2
.9

t
.21
-1

-9.14 t

-5.91 t

5.85 t

0.855 t

The Final internal forces

5 =

16.73
,
EA

CHAPTER (7)

Analysis of Plane Frames

By Using Stiffness Matrix Method
7-1- STEP 1: MODELING
a- Numbering
As we indicated in the previous chapter, organization of the solution
requires numbering the members, joints, and forces and displacements
components. Several numbering schemes are possible. Choice of the most
appropriate scheme depends on several considerations including the method
of assembling and solving equations of equilibrium (banded matrix methods,
frontal method, etc.). When banded matrix methods are used for solving
equilibrium equations, members may be numbered in any convenient order,
but joints should be numbered in such an order that the maximum difference
between the numbers of the two joints of each member is as small as
possible. For example, the numbering in Figure (b) is more appropriate than
that in Figure (a)

1
19

11
20

7
17

18

15

16

13

13

14

14

11

12

11

10

17

18
8

7
15

16
5

4
13

9
6

12
9

12

15
20

10

19

12

11

10
2

14

13

14

10

15

(a)

(b)

The unknown displacement components are usually numbered in a certain

sequence (for example in plane frame; x, y, and rotation) starting at joint 1
and proceeding in ascending order through the joints. These displacement
components are called degrees of freedom.

b- Degrees of Freedoms
Several models of skeletal structures may be used depending on the
nature of the structure and the loads. Common skeletal models include
space frames, space trusses, plane frames, plane trusses, beams, and grids.
* In plane frames, a free node has three degrees of freedom since it has
two translations and one rotation ( x , y & ).
* In beams, axial and transverse forces and displacements are uncoupled,
and separate analyses may be carried out for axial effects and transverse
effects.

c- Local and Global Axes

The axes which are convenient in dealing with members individually are
called local (member) axes, but the axes which are convenient in dealing
with the structure as a whole are called global (structure) axes.
Displacement and force components may be expressed using one of the
previous two systems.
dg4
dl4

dl3
dg3

dg2
dl2

dl1

dg1

The relation between the components in the two systems of axes is

expressed in matrix form which called transformation matrix [T].

 In the case of plane frame, if the components of member end

forces in global direction are:
{ f g } = { f1g f 2g f 3g f 4g f 5g f 6g }

and the corresponding components in local directions are:

{ f l } = { f1l f 2l f 3l f 4l f 5l f 6l }

as shown in Fig.

, then;

{ f g } = [T ] { f l }

where;
c
s
0
[T ] =
0
0
0

s
c
0
0
0
0

0
0
1
0
0
0

0
0
0
c
s
0

0
0
0
s
c
0

0
0
0
0
0
1

in which; c = cos = (X2 X1) / L ,

and

s = sin = (Y2 Y1) / L

where (X1 , Y1) and (X2 , Y2) are the coordinates of the joints at the start
and the end of member respectively with respect to global axes, and L is
the length of the member.
Similarly, the relation between the displacement components in global
directions {dg} and the displacement components in local directions {dl}
for the joints of plane frame members is:

{d g } = [T ] { d l }
where [T] as defined above.

7-2- STEP 2: LOAD VECTOR (MEMBER FIXED-END FORCES)

A member fixed-end force means the reactions at the ends of members
due to loads, environmental changes, or support movement, when all the
unknown displacements at member end joints are prevented. These
reactions can be determined by classical methods such as column analogy
or consistent deformations.
Components of fixed-end forces in local directions may be arranged in a
vector { f ml } , which is called member load vector in local directions. The
corresponding components in global directions may be arranged in a
vector { f mg } which is called member load vector in global directions, and
can be determined from the transformation relation

{ f mg } = [T] { f ml }
Some cases of member fixed-end forces.
2

WL /12

WL /12

Wt/m

PL/8

WL/2

WL/2

P/2

P/2

Wt/m
2

WL /30

WL /20

Wt/m

WL/4
(

WL
20

WL
)
30
L

WL
)
30

WL
20

5WL /96

0.333 WL

5WL /96

L
0.167 WL

PL/8

WL/4

No7

CASE OF
LOADING

LOCAL LOAD
{f}
= [0 1/6wL-wL / 60
0 1/6wL wL /60
VECTFOR
MEMBER
l

]T

8
1

{f}lm = [0 wL/30 -wL2/60 0 wL/60 wL2/30 ]T

{f}lm = [ 0 wL/2 -wL2/12 0 wL/2 wL2/12]T

{f}lm = [0 wL/60 -wL2/30 0 wL/30 wL2/60 ]T

L

0 wb/2 wbL/24 (3-b2/L2 ) ]T

{f}lm = [0 wL/15 -wL2/15 0 wL/20 wL2/20 ]T

10
3

11

{fm}l = [ 0 wb/2 - wbL/24 (3-b2/L2 )

L
b

{f}lm = [ 0 wa -wa2/6 (3-2a /L )

T 2
wa -wL
wa22/20
/6 (3-2a
/L ) ]wL
{f}lm = [0 0wL/20
0 wL/15
/15 ]T

4
12

{f}lm=[ 0 1/4wL -5/96wL2 0 1/4wL 5/96w L2 ]

L/2

{f}lm = [0 wc*a/a+b -wc/L2 (ab2 c2/6(b-a/2))

L/2

a-c/2

b-c/2

wc*b/a+b

wc/L2 (ab2 c2/6 (a-b/2))]T

{f}lm = [ 0 (b+L/4 ) w w/12 (L2-a2 (2-a/L)

L/2

L/2

0 ( b+L/4 )w w/12 (L2-a2 (2-a/L))]T

13

{f}lm = 0

6
b

a
L

wa* (a/2+b)/a+b -wa2/4[2-a/L(8/3-

]T

3
[2-a/L(8/3a/L)
(a/2)/(a+b)
{f}lm =0[0wa*
1/3wL
-wL2/15wa0 /4
1/3wL
wL2/15 ]T

14
{f}lm = [0

wb/15 -wL2/15 0 wL/20 wL2/20 ]T

15

{f}lm = [0 1/3 wL -wL2/20

0 1/6 wL wL2/30]T

16

{f}lm = [0 1/6 wL -wL2/30 0 1/3 wL wL2/20 ]T

L

17
{f}lm = [0 1/6 wL -wL2/30 0 1/3 wL wL2/20 ]T
b

18
{f}lm = [0
q*a/2(b+2q/3L)
q*a2/6(1a/L+3/10*a2/L2) 0 q*a/2 (q-3a) q*a2/60
*a/L(5.3a/L) ]T

19
{f}lm = [0
q*a/2(b+a/3L)
q*a2(1/32
2
a/2L+a /5L 0
q*a/2(2q/3L) q*a2(1/3-

20
P

{f}lm = [0 P/2

L/2

-PL/8 0 P/2

PL/8]T

L/2

21
P
a

{f}lm = [0 P b/L -Pa b 2/L2 0 P a/L

Pb a 2/L2 ]T

22
P

{f }lm =[0 P -P*a/L(L-a)

P
L-2a

0 P -P*a/L(L-a) ]T

23
P

{f }lm =[0 3P/2 -5PL/16

24
P

{f }lm =[0

2P

3P/2

5PL/16) ]T

-5PL/16

2P

5PL/16) ]T

25
P

P
a

a/2

P
a

P
a

P
a

P
a

a/2

{ f }lm =[0

6P/2

-P*L/24(2n+1/n)

6P/2

P*L/24(2n+1/n) ]T

7-3- STEP 3: STIFFNESS MATRIX (MEMBER END FORCES

DUE TO JOINT DISPLACEMENTS)
Displacements of joints cause member end displacements and hence
member deformations and internal forces between joints and member
ends. These member end forces depend on the type of connection
between joints and member end.

a- Force-Displacement Relation in Local Directions

Consider a plane frame member with fixed ends as shown in Fig. . To
derive elements of the first column of [ k l ] , let d1l = 1 while all other
components of { d l } are zeros. The corresponding end forces are the
elements of the first column of [ k l ] , and these elements are:
(EA/L) { 1

-1

0 }T

Elements of the second column of [ k l ] are the forces correspond to d 2l =

1, while all other components of { d l } are zeros. Then the elements of the
second column of [ k l ] are:
(6EI/L2) { 0

2/L

-2/L

1 }T

Note that these forces can be determined using the method of consistent
deformations. Similarly the components of the third, fourth, fifth, and
sixth columns can be determined and the complete stiffness matrix of the
member in local axes directions is:

[ kl ] =

EA / L
0

0
12 EI / L3

0
6 EI / L2

EA / L
0

0
12 EI / L3

0
6 EI / L2

6 EI / L2

4 EI / L

6 EI / L2

2 EI / L

EA / L

EA / L

12 EI / L

6 EI / L

12 EI / L

6 EI / L2

6 EI / L2

2 EI / L

6 EI / L2

4 EI / L

0
3

It may be observed that each column of [ k l ] represent a set of forces in

equilibrium. It may also be observed that the matrix [ k l ] is symmetric,
i.e. k ijl = k lji . These two observations may be used for deriving some
elements of [ k l ] .

=1

EA/L

4EI/L

6EI/L

6EI/L

2EI/L
=1

=1

EA/L

12EI/L

EA / L
0

EA / L
0

6EI/L

12EI/L

6EI/L

3
12 EI / L
6 EI / L2

12 EI / L3

2
6 EI / L

2
6 EI / L
4 EI / L

6 EI / L2

2 EI / L

= 1 6EI/L

6EI/L

2EI/L

4EI/L
=1

EA/L

=1

EA/L
3

12EI/L

EA / L
0

EA / L
0

[ kl ] =

12EI/L

6EI/L

3
12 EI / L
6 EI / L2

12 EI / L3

2
6 EI / L

6EI/L

2
6 EI / L
2 EI / L

6 EI / L2

4 EI / L

EA / L
0

0
12 EI / L3

0
6 EI / L2

EA / L
0

0
12 EI / L3

0
6 EI / L2

0
EA / L
0

6 EI / L2
0
12 EI / L3

4 EI / L
0
6 EI / L2

0
EA / L
0

6 EI / L2
0
12 EI / L3

2 EI / L
0
6 EI / L2

6 EI / L2

2 EI / L

6 EI / L2

4 EI / L

=1

3EI/L

3EI/L

EA/L

EA/L

=1

=1
2

3EI/L

EA / L
0

EA / L
0

3EI/L

3
3EI / L
3EI / L2

3EI / L3

=1
EA/L

3EI/L

=1

=1
3

3EI/L

EA / L
0

EA / L
0

[ kl ] =

3EI/L

0
0

0

0
0

0

3
3EI / L
3EI / L2

3EI / L3

EA / L
0

0
3EI / L3
3EI / L2

0
3EI / L2
3EI / L

0
3EI / L3

0
3EI / L2

0
EA / L
0

0
EA / L

3EI/L

2
3EI / L
3EI / L

3EI / L2

EA/L

EA / L
0

3EI/L

0
3EI / L3
3EI / L2

0
0

0
3EI / L3

0
0
0

=1

3EI/L

3EI/L
=1

=1

3EI/L

0
0

0

0
0

0

3EI/L

3
3EI / L
3EI / L2

3EI / L3

=1
EA/L

3EI/L

2
3EI / L
3EI / L

3EI / L2

3EI/L

=1

=1

EA/L

3EI/L

3EI/L

EA / L
0

EA / L
0

[ kl ] =

3EI/L

0
0

0

0
0

0

3
3EI / L
3EI / L2

3EI / L3

0
0
0

0
3EI / L3
3EI / L2

0
3EI / L2
3EI / L

0
0
0

0
3EI / L3

0
3EI / L2

EA / L
0
0
EA / L
0
0

0
3EI / L3
3EI / L2

0
0
0

0
3EI / L3
0

0
0
0

=1
EA/L

EA/L

=1

EA / L
0

EA / L
0

=1

0
0

0

0
0

0

0
0

0

0
0

0

=1
EA/L

=1

EA/L

EA / L
0

EA / L
0

EA / L
0
0
[ kl ] =
EA / L
0
0

=1

0
0

0

0
0

0

0
0
0
0
0
0

0
0
0
0
0
0

0
0

0

0
0

0

EA / L
0
0
EA / L
0
0

0
0
0
0
0
0

0
0
0
0
0
0

SOLVED EXAMPLES
Example (1)
By using stiffness
matrix method,
draw internal forces
diagrams for the
shown frame.

D3

3t/m

D2
D1
2

3
3.00

6t

EA = 4 * 103 t
EI = 5 * 104 t.m2

1
3.00
1
2.00

3t/m

Solution
Q D.O.F. = 3

3.6

{F }3 x1 = [K ]3 x 3 {D}3 x1
{F }3x1

6.00

5.4

3.0
3.0

3
= 5.7
6.6

2.7

6.3

3.0

12
6.0

3.0

3.0
3.0

Element
1
2

Ends
F-F 6.0
F-F 6.0

EA/L 12EI/L3 6EI/L2 4EI/L

90
0

0
1

1
0

666.7 2777.78 8333.3 33333.3 16666.7

666.7 2777.78 8333.3 33333.3 16666.7

2EI/L

For element 1:

[k1 ]l

0
0
666.7
0
0
666.7
0
2777.78
8333.3
0
2777.78 8333.3

0
8333.3
33333.3
0
8333.3 16666.7
=

0
0
666.7
0
0
666.7
0
2777.78 8333.3
0
2777.78 8333.3

8333.3
16666.7
0
8333.3 33333.3
0

[k1 ]g

[k1 ]

0
0
1
0
0
0

0 0
0 0
0 0
0 1
1 0
0 0

0
0
0
l
[k1 ]
0
0

0
1

0
0

1
0
0
0
0
0

0 0
0 0
1 0
0 0
0 1
0 0

0
0
0
1
0
0

0
0
0

0
0

0
0
8333.3
8333.3 2777.78
2777.78

0
666.7
0
0
0
666.7

8333.3
0
33333.3
8333.3
0
16666.7
=

0
8333.3
2777.78
0
8333.3
2777.78

0
0
0
666.7
0
666.7

0
16666.7
8333.3
0
33333.3
8333.3

[k 2 ] = [k 2 ]
g

0 1
1 0

0 0
=
0 0
0 0

0 0

0
0
666.7
0
0
666.7
0
2777.78
8333.3
0
2777.78 8333.3

0
8333.3
33333.3
0
8333.3 16666.7

0
0
666.7
0
0
666.7
0
2777.78 8333.3
0
2777.78 8333.3

8333.3
16666.7
0
8333.3 33333.3
0

Overall equilibrium equation:

0
8333.3 D1
3 3444.48

3444.48 8333.3 D2
5.7 = 0
6.6 8333.3 8333.3 66666.6 D

3

By solving 3 equations; then

3
D1 2.19 10

3
D2 = 2.98 10
D 5.48 10 4
3

For member 1:
0

3 4.516

3 4.986
0

0
3
6
.
11

+ =
{ F1 } g = [ k1 ] g

3
2.19 10 3 4.516
2.98 10 3 3 1.014

5.48 10 4 3 3.016

For member 2:
2.19 10 3 0 1.46

3
2.98 10 2.7 1.01
4

3.6 2.96
g
g 5.48 10
{ F2 } = [ k 2 ]

=
+
0
0 1.46

6.3 10.01

5.4 21.09

Example 2:

D3

By using stiffness
matrix method, draw
internal forces
diagrams for the
shown frame.

D1

6.0 t.m

4t

2.00

3
4t

2.00
3
3.00

2.00

1.5

Solution
Q D.O.F. = 3

2.00
4t

2.0

2.0

6.0 t.m
5.33

1.5

4
= 0.5
1.83

2.0

1.5

1.5

{F }3 x1 = [K ]3 x 3 {D}3 x1

Ends
F-F 6.32
F-F 4.0
F-F 6.0

2.0

4.0

4t

4t

5.33

1
2
3

3.00

Element

4t

2.00

EA = 4 * 103 t
EI = 5 * 104 t.m2

{F }3 x1

D2

4.0

EA/L

12EI/L3

6EI/L2

4EI/L

18.43
0
270

0.99
1
0

0.316
0
-1

632.91
1000
666.67

2376.8
9375
2777.78

7510.81
18750
8333.3

31645.56
50000
33333.3

For element 1:

[k1 ]l

632.91
0
0

0
2376.8 7510.81

0
7510.81 31645.56

2EI/L

15822.78
25000
16666.7

[k1 ]g

0.99 0.316
0.316
0.99

0
0
=
0
0
0
0

0
0

0
0
0
0
0
0
1
0
0
0 0.99 0.316
0 0.316
0.99
0
0
0

[k1 ]

[k 2 ] = [k 2 ]
g

0
0
0
l
[k1 ]
0
0

0.316
0.99
0.316 0.99

0
0

0
0
0
0

0
0

0
0
0
0
0
0
1
0
0
0
0.99
0.316
0 0.316 0.99
0
0
0

857.65 545.55 2373.41

545.55 2392.7 7435.7

2373.41 7435.7 31645.56

0
0
0
8333.3
1000
2777.78
0

9375 18750
666.67
0

0
0
8333.3
18750 50000
0
33333.33
g

[k 3 ] =

Overall equilibrium equation:

4 4635.35 545.55 10706.74 D1

0.5 = 545.55 12434.37 11314.3 D2
1.83 10706.74 11314.3 114978.89 D

3

By solving 3 equations; then

3
D1 1.09 10

5
D2 = 9.44 10
D 9.52 10 5
3

0
0
0

0
0

For member 1:
0

0 0.675

1.5 1.161
0

1.5 1.878
0
g
g
+
{ F1 } = [ k1 ]
=

3
1.09 10 0 0.675
9.44 10 5 1.5 1.61

9.52 10 5 1.5 0.373

For member 2:
1.09 10 3 0 1.09

5
9.44 10 2.0 1.10
5
9.52 10 2.0 0.99
{ F2 } g = [ k 2 ] g

=
+
0
0 1.09

2.0 2.90

2.0 6.15

For member 3:
1.09 10 3 4 1.77

5
9.44 10 0 0.062
5

5.33 0.57
g
g 9.52 10
{ F3 } = [ k 3 ]

=
+
0
4 6.23

0 0.062

5.33 12.82

Example 3:
By using stiffness matrix
method, draw internal
forces diagrams for the
shown frame.

D6

2t/m

D5
D4

3
8.0 t.m
3.00
D3
8t

EA = 4 * 10 t
EI = 5 * 104 t.m2

D2

4t

D1
2

3.00

3
5

1
2.00

2.00

2.00

4.00

Solution
Q D.O.F. = 3

2t/m

{F }3 x1

2.0

2.0

{F }3 x1 = [K ]3 x 3 {D}3 x1

8.0 t.m

4.8

3.0

2.0

2.0

4.8

4.0

4.0

2.0

4
= 0.5
1.83

4.0

3.0

8.0

0.0
2.0

2.0
2.0

Element

EA/L

12EI/L3

6EI/L2

4EI/L

2EI/L

3.0
5.0
6.0
6.0

90
36.87
270
0

0
0.8
0
1

1
0.6
-1
0

1333.34
800
666.67
666.67

22222.2
4800
2777.78
2777.78

33333.34
12000
8333.34
8333.34

66666.67
40000
33333.34
33333.34

33333.34
20000
16666.67
16666.67

Ends
1
2
3
4

F-F
F-F
F-F
F-F

For element 1:

[k1 ]l

0
0
1333.34
0
0
1333.34

0
22222.2
33333.34
0
22222.2 33333.34

0
33333.34 66666.67
0
33333.34 33333.34
=

0
0
1333.34
0
0
1333.34

0
22222.2 33333.34
0
22222.2
33333.34

0
33333.34 33333.34
0
33333.34 66666.67

[k1 ]g

0 1
1 0

0 0
=
0 0
0 0

0 0

0
0
1
0
0
0

0 0
0 0
0 0
0 1
1 0
0 0

0
0
0
l
[k1 ]
0
0

0
1

0
0

1
0
0
0
0
0

0 0
0 0
1 0
0 0
0 1
0 0

0
0
0
1
0
0

0
0
0

0
0

 [k1 ]

33333.34 22222.2
33333.34
0
0
22222.2

1333.34
0
1333.34
0
0
0

33333.34
0
66666.67 33333.34
0
33333.34
=

0
33333.3
22222.2
0
33333.34
22222.2

1333.34
0
0
0
1333.34
0

0
33333.34 33333.34
0
66666.67
33333.34

For element 2:
0
8333.34 2777.78
0
8333.34
2777.78

666.67
0
666.67
0
0
0

8333.34
0
33333.34 8333.34
0
16666.67
=

8333.34 2777.78
8333.34
0
0
2777.78

666.67
0
0
0
666.67
0

0
16666.67 8333.34
0
33333.34
8333.34

[k 2 ]

For element 3:

[k 3 ]

0
8333.34 2777.78
0
8333.34
2777.78

666.67
0
666.67
0
0
0

8333.34
0
33333.34 8333.34
0
16666.67
=

8333.34 2777.78
8333.34
0
0
2777.78

666.67
0
0
0
666.67
0

0
16666.67 8333.34
0
33333.34
8333.34

For element 4:

[k 4 ] = [k 4 ]
g

666.67
0
0
0
0
666.67

2777.78 8333.34
0
2777.78
8333.34
0

0
8333.34 16666.67
8333.34 33333.34
0
=

0
0
666.67
0
0
666.67

0
2777.78 8333.34
0
2777.78 8333.34

8333.34 33333.34
8333.34 16666.67
0
0

Overall equilibrium equation:

1920
2240
7200 D1
8 24462.23 1920 26133.34
3 1920 4693.34
9600
1920
9600 D2
3360

9600 106666.67
7200
20000 D3
9600
2 26133.34

=

1920
7200
5684.44
15533.34 D4
1920
2 2240
3 1920
6804.44 1266.66 D5
3360
9600
1920

4.8 7200
20000
15533.34 1266.66 106666.67 D6
9600

By solving 6 equations; then

D1 7.29 10 4
D
3
2 1.02 10
D3 2.8 10 4

=
4

D4 9.9 10
D5 1.275 10 3

5
D6 2.929 10

For member 1:
0

0 6.84

0 1.36
0

0
0
14
.
94

+
=
{ F1 } g = [ k1 ] g

4
7.29 10 0 6.84
1.02 10 3 0 1.36

2.81 10 4 0 5.56

For member 2:
7.29 10 4 0 1.16

3
1.02 10 3 1.379
2.81 10 4 2 5.49
{ F2 } g = [ k 2 ] g

+ =
4
0 1.16
9.9 10
1.275 10 3 3 1.379

2.929 10 5 2 0.4644

For member 3:
9.9 10 4 2 0.5

3
1.275 10 2 1.15
5
2.929 10 2 5.27
{ F3 } g = [ k 3 ] g

+ =
0
2 0.5

2 1.15

2 5.76

For member 4:
9.9 10 4 0 0.66

3
1.275 10 4 0.215
5

4.8 6.8
g
g 2.929 10
{ F4 } = [ k 4 ]

=
+
0
0 0.66

4 7.78

4.8 15.9

Example 4:
By using stiffness matrix
method, draw internal
forces diagrams for the
shown frame; if:
EA = 4 *103 t.
EI = 5 * 104 t.m2.
2 = 2 cm.
t = 20 for member 2.
= 1 * 10-5.
h = 60 cm.

D5

D6

1
1

6.00

D4

3
2

2t/m
4.00

2
4.00

Solution

2.4

0.0

Q D.O.F. = 3

0.0

1.8

{F }3 x1 = [K ]3 x 3 {D}3 x1

{ f }3 x1

1.8

= 0 (due to loads)
2.4

2t/m

4.2
3.6

{ f }3 x1

0.8

= 0 (due to temp.)
16.67

16.67
0.8

0.0

t=0
t = 20

16.67
0.8

0.0

{ f }3 x1

= 361.67 (due to settle.)

0

13.33
375

375

187.5

{F }3 x1

375

375

187.5

187.5

= 361.67
14.27

13.33

187.5

Elemen
t
1
2
3

EA/L

12EI/L3

6EI/L2

4EI/L

2EI/L

4.0
4.0
6.0

0
180
90

1
-1
0

0
0
1

1000
1000
666.67

9375
9375
2777.78

18750
18750
8333.33

50000
50000
33333.33

25000
25000
16666.7

Ends
F-F
F-F
F-F

For element 1:

[k1 ]g = [k1 ]l

0
0
1000
0
0
1000
0
9375
18750
0
9375 18750

0
18750 50000
0
18750 25000
=

0
0
1000
0
0
1000
0
9375 18750
0
9375 18750

18750 25000
0
18750 50000
0

For element 2:

[k 2 ]g = [k 2 ]l

0
0
1000
0
0
1000
0
9375 18750
0
9375 18750

0
18750 50000
0
18750 25000
=

0
0
1000
0
0
1000
0
9375 18750
0
9375
18750

18750 25000
0
18750 50000
0

For element 3:

[k 3 ]

8333.3 2777.78
8333.3
0
0
2777.78

666.7
0
666.7
0
0
0

8333.3
0
33333.3
8333.3
0
16666.7
=

0
8333.3
2777.78
0
8333.3
2777.78

666.7
0
0
0
666.7
0

0
16666.7
8333.3
0
33333.3
8333.3

Overall equilibrium equation:

0
8333.3 D1
1 4777.78

D
194166.67
0
361.67 = 0
2
14.27 8333.3
0
133333.33 D3

By solving 3 equations; then

4
D1 4.44 10

3
D2 = 1.86 10
D 1.348 10 4
3

For member 1:
0

0 0.44

187.5 167.51
0

0
375
336
.
7

{ F1 } g = [ k1 ] g
+
=

4
4.44 10 0 0.44
1.86 10 3 187.5 167.51

1.348 10 4 375 333.33

For member 2:
0

0.8 0 1.24

0 187.5 172.56
0

0
16
.
67

375

360
.
11

{ F2 } g = [ k 2 ] g
+
+
=

4
4.44 10 0.8 0 1.24
1.86 10 3 0 187.5 172.56

1.348 10 4 16.67 375 330.14

For member 3:
0

3.8 0 3.9

0 13.33 14.53
0

0
3
.
6
0
5
.
06

{ F3 } g = [ k 3 ] g
+
+
=

4
4.44 10 1.8 0 1.69
1.86 10 3 0 13.33 14.57

1.348 10 4 2.4 0 3.19

Example 5:
By using stiffness matrix
method, draw internal
forces diagrams for the
shown frame.

6 t.m

1
1

3t

2t

3
2

5.00

4
4.00

4.00

Solution
{F }3 x1 = [K ]3 x 3 {D}3 x1

Q D.O.F. = 3
Elemen
t
1
2
3

{F }3 x1

2

= 3
6

EA/L

12EI/L3

6EI/L2

4EI/L

2EI/L

4.0
4.0
5.0

0
0
270

1
1
0

0
0
-1

1000
1000
800

9375
9375
4800

18750
18750
12000

50000
50000
40000

25000
25000
20000

[k1 ]g = [k1 ]l

Ends
F-F
F-F
F-F

For element 1:

0
0
1000
0
9375 18750

0

18750 50000

For element 2:

[k 2 ]g = [k 2 ]l

0
0

1000
0
9375 18750

0
18750 50000
=

For element 3:

[k 3 ]

[k 3 ]

0
1

0
=
0
0

0
0
800
0
9375 18750

0 18750 50000
=

1 0
0 0
0 1
0 0
0 0
0 0

[k 3 ]

0 0
0 0 0
0 0 0
l
[k 3 ]
0 1 0
1 0 0

0 0 1
0

0 1
1 0

0 0

0 0
0 0

0 0

0 0
0
1
0
0

0
0
0
1

0 0

0 12000
4800
0

800
0

12000 0 40000
=

Overall equilibrium equation:

0
12000 D1
2 6800


19550
0 D2
3 = 0
6 12000
0
140000 D3

By solving 3 equations; then

4
D1 2.57 10

4
D2 = 1.53 10
D 2.07 10 5
3

0
0 0
0 0

1 0
0 0

0 1
0

For member 1:

g
{ F1 } =

1000
0
0
0
0 0.257

0 1.822

9375 18750
0
0

0 3.38

18750 25000
0
0

+ =

1000
0
0 2.57 10 4 0 0.257

18750 1.53 10 4 0 1.822
0
9375

18750 50000 2.07 10 5 0 3.9
0

For member 2:
0
0
1000
0
9375
18750

0
18750 50000
{ F2 } g =
0
0
1000
0
9375 18750

18750 25000
0

2.57 10 4 0 0.257

1.53 10 4 0 1.046
2.07 10 5 0 1.833

+ =

0
0 0.257
0 1.04

0

0 2.35
0

For member 3:
0
12000
4800
0
800
0

12000
0
40000
{ F3 } g =
0
12000
4800
0
0
800

0
20000
12000

2.57 10 4 0 1.482

1.53 10 4 0 0.122
2.07 10 5 0 3.91

+ =

0
0 1.48
0 0.122

0

0 3.49
0

Example 6:
1

By using stiffness
matrix method, draw
internal
forces
diagrams
for
the
shown frame.

2t/m

5t
1

2t/m
2

2.00
4t

4
3

2.00

2
3.00

Solution
Q D.O.F. = 5

{F }51

Elemen
t
1
2
3

5t

3.75

{F }51 = [K ]55 {D}51

3.00

2.5

3.00

2t/m
3.75

2.5

3.75
2

= 2
5.5

0.5

3.00

2t/m

2.25
2.0

2.0

2.25
3.0

3.0

4t
0.0
2.0
2.0

EA/L

12EI/L3

6EI/L2

6
6
4

0
0
90

1
1
0

0
0
1

666.67
666.67
1000

2777.78 8333.33 33333.33 16666.67

2777.78 8333.33 33333.33 16666.67
9375
18750
50000
25000

4EI/L

2EI/L

Ends
F-F
F-F
F-F

For element 1:

[k1 ]g = [k1 ]l

0
0
0
0
666.67
666.67

0
2777.78
8333.33
0
2777.78 8333.33

0
8333.33 33333.33
0
8333.33 16666.67
=

0
0
666.67
0
0
666.67

0
0
2777.78 8333.33
2777.78 8333.33

0
8333.33 16666.67
0
8333.33 33333.33

For element 2:

[k1 ]g = [k1 ]l

0
0
0
0
666.67
666.67

0
2777.78
8333.33
0
2777.78 8333.33

0
8333.33 33333.33
0
8333.33 16666.67
=

0
0
666.67
0
0
666.67

0
0
2777.78 8333.33
2777.78 8333.33

8333.33 16666.67
0
8333.33 33333.33
0

For element 3:

[k 3 ]

18750 9375
18750
0
0
9375
0
1000
1000
0
0
0

18750
0
50000 18750
0
25000
=

0
18750
9375
0
18750
9375
0
1000
0
0
1000
0

0
25000 18750
50000
18750

Overall equilibrium equation:

8333.33 16666.67 D1
0
0
3.75 33333.33
2
0
50000 18750
0
25000 D2

0
18750 10708.34
0
18750 D3
2 =

5.5 8333.33
0
0
6555.56
0
D4

0.5 16666.67 25000 18750
0
16666.67 D5

By solving 5 equations; then

0.0
D1

0.0
2

3
=
D

1
.
6559
10
3

D 1.96 10 3

4
D5 2.76 10 3

For member 1:

{ F1 } g = [k1 ]

1.104

13.455
0

0
0
l
+ {F1 } =

3
1.6559 10
1.104
1.96 10 3
8.455

2.76 10 3
65.74

Similarly:
1.104
20.72

78
.
42

{ F2 } g =

1.104
14.72

27.89

21.5
1.9064

{ F3 } g =

25.5
1.9064

94

Example 7:
Construct the equilibrium
equation of the following
frame.

6t

D2

D3

2.00

D1 2 t / m

D6

2t

D5
D4

2t

EA = 3 x 10 t.
EI = 4 x 104 t.m2.
6.00

4t/m
3.00

3.00

3.0

3.0

Q D.O.F. = 6
{F }61 = [K ]66 {D}61

{F }61

3.00
12.0

3.0

Solution

6.6
10

0.3
=

0
9

3.5

3.00

2t/m

3.0 7.5

2.00

2t

7.5

6.0
3.0

3.0

4.8

7.0
3.6

4t/m

8.4
7.2

7.0

Element

EA/L

12EI/L3

6EI/L2

4EI/L

2EI/L

6
6
6

0
0
90

1
1
0

0
0
1

500
500
500

222.22
222.22
222.22

666.67
666.67
666.67

2666.67
2666.67
2666.67

1333.33
1333.33
1333.33

Ends
1
2
3

F-F
F-F
F-F

For element 1:

[k1 ]g = [k1 ]l

0
0
500
222.22 666.67
0

0 666.67 2666.67

For element 2:

[k 2 ]g = [k 2 ]l

0
0
0
0
500
500

0
222.22
666.67
0
222.22 666.67

0
666.67 2666.67
0
666.67 1333.33
=

0
0
500
0
0
500

0
0
222.22 666.67
222.22 666.67

666.67 1333.33
0
666.67 2666.67
0

[k 4 ]

215.84 137.42
235.40
137.42 215.84 235.40

235.40 235.40 1884.57

Overall equilibrium equation:

0
666.67
0
0 D1
500
6.6 1222.22
10 0
944.44
0
0
222.22 666.67 D2

0
8000.01
0
666.67 1333.33 D3
0.3 666.67

=

0
0
853.36
0
0 D4
0 500
9 0
0
300.66 999.63 D5
222.22 666.67

3.5 0
666.67 1333.33
0
999.63 4551.24 D6