Introduction to
displacements. The number of
Stiffness Analysis
The stiffness method of analysis is
the basis of all commercial
structural analysis programs.
Focus of this chapter will be
development of stiffness equations
that only take into account bending
deformations, i.e., ignore axial
member, a.k.a. slope-deflection
method.
In the stiffness method of analysis,
we write equilibrium equations in
1 2
terms of unknown joint (node)
Definitions and Terminology
Positive Sign Convention:
Counterclockwise moments and
rotations along with transverse
forces and displacements in the
positive y-axis direction.
Fixed-End Forces: Forces at the
fixed supports of the kinema-
tically determinate structure.
Member-End Forces: Calculated
forces at the end of each element/
member resulting from the
applied loading and deformation
of the structure.
3 4
unknowns in the stiffness method of
analysis is known as the degree of
kinematic indeterminacy, which
refers to the number of node/joint
displacements that are unknown
and are needed to describe the
displaced shape of the structure.
One major advantage of the
stiffness method of analysis is that
the kinematic degrees of freedom
are well-defined.
Stiffness Analysis
Procedure
The steps to be followed in
performing a stiffness analysis can
be summarized as:
1. Determine the needed displace-
ment unknowns at the nodes/
joints and label them d1, d2, ,
dn in sequence where n = the
number of displacement
unknowns or degrees of
freedom.
1
2. Modify the structure such that it
is kinematically determinate or
restrained, i.e., the identified
displacements in step 1 all
equal zero.
3. Calculate the member fixed-end
forces in this kinematically
restrained state at the nodes/
joints of the restrained structure
due to the member applied
loads. Tables of member fixed-
end forces due to member loads
for the kinematically restrained
members are available later in
5 6
these notes. The member
structure for each of these cases.
Determine the member-end forces
introduced as result of each unit
displacement for the kinematically
restrained structure. These
member-end forces define the
member-end stiffness coeffi-
cients, i.e., forces per unit
displacement.
The member-end stiffness
coefficients are vectorially added
at the nodes/joints to produce the
structure stiffness coefficients,
which are labeled Sij for i = 1, 2, 7
, n and j = 1, 2, , n.
fixed-end forces are vectorially
added at the nodes/joints to
produce the equivalent fixed-end
structure forces, which are
labeled Pfi for i = 1, 2, , n later
in the notes.
4. Introduce a unit displacement at
each displacement degree of
freedom identified in step 1 one
at a time with all others equal to
zero and without any loading on
the structure, i.e., di = 1 with d1,
, di-1, di+1, , dn = 0 for i = 1,
2, , n. Sketch the displaced
5. Eliminate the error introduced in
step 3 to permit the displace-
ment at the nodes/joints. This is
accomplished by applying the
negative of the forces calculated
in step 3 and defines the kine-
matically released structure.
6. Calculate the unknown node/
joint displacements.
7. Calculate the member-end
forces.
8
2
 Illustration
To illustrate the stiffness method of
analysis, we will first consider
continuous beam structures. Start
off by considering the two-span
beam shown in Figure 1.
Fig. 1 Two-Span Continuous Beam
9 10
The heavy vertical line drawn
through the horizontal roller support
at B signifies that node B is fixed
against displacement. Thus, the
rotational displacement d1 = 0 for
the kinematically restrained
structure of Figure 2.
3: Calculate the element/member
fixed-end forces for the kinema-
tically restrained structure and
vectorially add to obtain the fixed-
end forces for the structure.
11
1: Determine the degree of
kinematic indeterminacy. The only
unknown node/joint displacement
occurs at node B and it is a
rotational displacement. Thus, the
rotation at node B is labeled d1.
2: Kinematically restrain the
structure such that the displace-
ments identified in step 1 equal
zero. See Figure 2.
Figure 2 Kinematically Restrained Two-Span
Beam of Figure 1
Figure 3 Fixed-End Forces for the
Kinematically Restrained Two-Span Beam of
Figure 1
Since span element (member) A-B
is not loaded, it will not produce any
fixed-end forces. However,
element (member) B-C is loaded
and the fixed-end forces are
labeled in Figure 3. They are
simply the support reactions for the
fixed-fixed beam.
12
3
Calculate the fixed-end forces for 4: Impose a unit displacement at
the structure by vectorially adding each kinematic degree of freedom
the member-end fixed-end forces. (DOF) to establish the structure
Figure 4 Joint Equilibrium at stiffness equations.
the Kinematic Degree of
Freedom for the Restrained
Two-Span Beam of Figure 1

Figure 4 shows that

qL2
M 0 Pf1 12
B

Pf1 is drawn counterclockwise in

Figure 4 since our sign
convention is counterclockwise Figure 5 Kinematically Restrained Two-Span
moments are positive. Beam of Figure 1 Subjected to a Unit
Displacement d1 = 1
13 14

Figure 5 shows the displaced shape The structure stiffness equations

of the two-span beam for d1 = 1 as are expressed as
well as the displaced shapes and [S] {d} = {P} {Pf}
member-end stiffness coefficients
where [S] is the structure stiffness
for the two elements comprising the
matrix; {d} is the structure
two-span beam of Figure 1.
displacement vector; {P} is the
Member-end stiffness coefficients
applied structure concentrated
are defined as the member-end
force vector; and {Pf} is the
forces resulting from the imposition
structure fixed-end force vector
of the single unit displacement for
calculated in step 3. The applied
the structure as shown in Figure 5.
structure concentrated force vector
Derivation of the member-end
{P} lists the point forces for each
stiffness coefficients (forces) shown
structure displacement DOF. It
in Figure 5 and others will be
15 contains nonzero entries only at 16
covered later in the notes.

4
the displacement DOF where a
point force or moment is applied at
the corresponding displacement
DOF.
The structure stiffness matrix
coefficients are obtained by
performing equilibrium at the nodes
for each structure DOF using the
member-end stiffness coefficients.
These structure stiffness matrix
coefficients are designated as Sij
and i = 1, 2, , n and j = 1, 2, , n.
For example structure:
{d} = {d1} = d1 unknown
{P} = {0} = 0
{Pf} = {Pf1} = qL2/12
Figure 6 Equilibrium
at Kinematic DOF 1 for
the Two-Span Beam of
Figure 1
Performing node equilibrium at
displacement DOF 1 gives (see
Figure 6) gives
S11 = (4EI/L)AB + (4EI/L)BC
= 8EI/L
Sij force at displacement DOF i
due to a unit displacement at
DOF j (i.e., dj = 1) with all other
displacement DOF equal to
zero (i.e., di = 0 for i = 1, , j-1,
j+1, , n). Stiffness coeffi-
cients have units of force/
displacement (or moment/
rotation).
The structure stiffness coefficients
are obtained by performing
equilibrium calculations at the
structure displacement degrees of
freedom.
17 18
5: Eliminate the error introduced in
the kinematically restrained
structure:
[S] {d} = {P} {Pf}
6: Calculate the unknown structure
displacements
{d} = [S]-1 ({P} {Pf})
For the example structure:
d1 = L/8EI (-qL2/12)
= -qL3/96EI
7: Calculate the member-end
19
forces. 20
5
 Vfb
M = Member Fixed-End

{Qfb } fb
Vfe Force Vector
M fe

The member fixed-end forces are

The beam member stiffness defined as
equations can be written as Qfi = Qi
in the kinematically determinate
{Qb }4x1 [k bb ]4x4 {u b }4x1 {Qfb }4x1
state due to member loading.
Vb vb
M
= Member-End Force = Member-End
{Qb } b {u b } b
V
e Vector ve Displacement Vector
M e e

21 22

12 6L 12 6L Simplified Member End

2 2 Force Calculations
EI 6L 4L 6L 2L
[k bb ] 3
L 12 6L 12 6L Vb 12EI (v b ve ) 6EI (b e ) Vfb
L3 L2
6L 2L2 6L 4L2
(internal shear at beginning
= Member Bending Stiffness node b)
Matrix
M b 6EI (v b ve ) 2EI (2b e ) M fb
L2 L
The ij member stiffness coefficient (internal moment at beginning
can be expressed mathematically node b)
as
Ve 12EI (v b ve ) 6EI (b e ) Vfe
k ij Qi u 1 3
L 2
L
j (internal shear at end node e)

all other u k 0 (k j) M e 6EI

L2
(v b ve ) 2EI
L
(b 2e ) M fe
(internal moment at end node e)
23 24

6
 6EI qL
In order to apply equation (1) to the 2 16
AB L
calculation of element end forces, b
V 2EI qL2
M
L qL 48
3
compatibility between element
{Q}AB b
displacements ui (i=1,2,3,4) and the Ve 6EI 96EI qL
M e L2 16
structure displacements dj (j=1,2, 2
4EI qL
, n) must be established. For the L 24
example beam: 6EI
2
eAB d1 ; bBC d1 ; all others 0 BC L
Vb 4EI 1
{Qfb }AB {0} L qL3 qL L / 6
BC M b
{Q}
{Qfb }BC qL / 2 1 L / 6 1 L / 6 T Ve 6EI 96EI 2 1
L2
M e
L / 6
2EI
Since only one displacement is L
T
nonzero for each member, the 21qL qL2 27qL 5qL2

member end forces are 48 24 48 48
25 26

The shear force and bending Mathematical Expression of

moment diagrams are given below Stiffness Superposition
for the example structure. As stated in step 5, the structure
stiffness equations are expressed
as

[S] {d} + {Pf} = {P}

[S] structure stiffness matrix
{d} structure displacement
vector
{Pf} structure fixed-end
force vector
{P} structure node/joint
force vector
27 28

7
 Referencing the previous figure on
stiffness superposition, the first
column of the figure represents the
kinematically determinate state,
i.e.
{d} 0 {Pf } {P}
The second column of the figure
represents the kinematically
released state, i.e.
[S] {d} = {P} - {Pf}
from which we can calculate the
displacements
{d} = [S]-1 ({P} - {Pf})
29 The last column of the figure is the
30

addition of the first two columns.

Example Continuous Beam: 2

DOF (EI = constant)

31 32

8
 Modified Stiffness Calculations
Zero End Moment
Simplification of the stiffness
analysis is possible if we take into
account the fact that the bending
moment at an end simple support
is zero (node C in the previous
example). This leads to a reduc-
tion of one rotational degree of
freedom for each zero moment
location. Inclusion of this modify-
cation results in a reduction of the
number of member displacement
and force degrees of freedom from
33 34
4 to 3.

Commensurate with this reduction

is a change in the member
stiffness coefficients as well as the
member fixed-end forces.

35 36

9
 Modified Bending Modified Member End
Stiffness Matrices Force Calculations
For the propped cantilever beam
of a Simple-Fixed (S-F) Beam: {QbM }3x1 [k bb
M
]3x3 {u bM }3x1
1 1 L {QfMb }3x1
3EI
[kS-F
bb ] 1 1 L
L3 2 {QbM } modified member-
L L L end force vector

For the propped cantilever beam {QfMb } modified member

fixed-end force
of b Fixed-Simple (F-S) Beam:
vector
1 L 1
F-S 3EI Superscript M S-F for the
[k bb ] 3 L L2 L simple-fixed beam
L
1 L 1 Superscript M F-S for the
37
fixed-simple beam 38

Simple-Fixed Beam
Example Continuous Beam
Modified Equations EI = constant
VbS F 3EI (v b ve ) 3EI S F
e Vfb q
L3 L2 A
C

VeS F 3EI S F B

3
(v b ve ) 3EI
2 e
Vfe L L

L L d1 = 1
S F
M e 2 (v b ve )
3EI 3EI e MSfe F
L L

Fixed-Simple Beam S11 = (4EI/L)AB + (3EI/L)BC = 7EI/L

d1 = (S11)-1 (-Pf1) = L/(7EI) (-qL2/8)
VbFS 3EI3
(v b ve ) 3EI
2 b
F S
Vfb = -qL3/56EI
L L
FS F S
M b 3EI 2
(v b ve ) 3EI
L
b M fb Compatibility:
L
VeF S
3EI (v b ve ) 3EI VfeF S eAB d1 BC
b
3 2 b
L L

39 40

10
 Member AB End Forces
Stiffness Coefficient Summary
3qL
Vb 6EI
2 1
d 28 In stiffness analysis of structures
L
that ignore axial deformation,
qL2
M b 2EI
L 1
d 28 there are only four sets of
3qL member displacement stiffness
Ve 6EI d1 28
L2 results that need to be applied for
qL2
M e 4EI
L 1
d 14 prismatic members (elements).

Member BC End Forces

FS 4qL
Vb 3EI
2 1
d Vfb 7
L
FS qL2
M b 3EI
L 1
d M fb 14 (a) Fixed-Fixed Beam Subjected to a
FS 3qL Unit Transverse Displacement
Ve 3EI
2 1
d Vfe 7
12EI 6EI
L
2 F1 F3 ; F2 F4
F S F S F S
Vfb
5qL
8 ; M fb
qL
8 ; Vfe 8
3qL
L3 L2 42

(b) Fixed-Fixed Beam Subjected to a (c) Fixed-Simple Beam Subjected to

Unit Rotational Displacement a Unit Transverse Displacement
6EI 4EI 3EI 3EI
F1 F3 ; F2 2F4 F1 F3 ; F2
L2 L L3 L2
Calculations for displacements at What would the forces (stiffness
end e are similar to those shown coefficients) be a unit
for end b for the fixed-fixed displacement at end e?
beam.

43 44

11
 Braced Frame Example

(d) Fixed-Simple Beam Subjected to

a Unit Rotational Displacement
3EI 3EI
F1 F3 ; F2
L2 L
Calculations for the simple-fixed
displacements at end e are
similar to the fixed-simple beam.

Results from figures (a) (d) can

be applied directly to frames
provided axial deformation is
ignored. 45 46

Unbraced Frame Example Unbraced Frame Example - Model

40 kN

12 kN 12 kN
3 kN/m

24 m-kN 24 m-kN

LAB = LDC = 12 m
LBC = 20 m
IAB = IDC = I
IBC = 2I

Equivalent Loaded
Structure

d3
d1

d2

Kinematic DOF

47 48

12