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Displacement Method PDF
Displacement Method PDF
6.1 GENERAL
We are now in a position to formulate a systematic method of analysis of
structures. In this chapter we will discuss the Stiffness or Displacement
method of analysis. This is called the stiffness method since it involves
writing down a system of equations in the form [P] = [K][U] for the structure
– which have been discussed in the previous chapter. It is also known as the
displacement method since the primary unknowns are the displacements [U]
required to satisfy the equilibrium and compatibility conditions.
6-1
6-2 Notes on Matrix Structural Analysis
The second equation, (6-3), is used to determine the vector [Ps] after [Ur] is
determined from equation (6-2). [Ps] should be recognized as the support
reactions due to the imposed actions. Note that loads applied directly along
support degrees of freedom are not included in the structural analysis since
no structural response is generated aside from a change in the values of the
support reactions. In actual implementation of the method, equation (6-3) is
rarely used since it is more efficient to apply equilibrium at the support joints
after determining all member end forces: the support reactions are simply the
sum of all member end forces connected to the support.
Equations (6-5) and (6-6) are the matrix equation representations for
determining final member end forces. Actual implementation of the above is
normally done member by member using the member incidence or
destination table.
Example 6.1 Plane Truss with Joint Loads. Determine the member forces for the
planar truss for the loading shown. The top and bottom chords have as AE =
300,000 kN, and other members have an AE = 210,000 kN.
5m
50 kN 50 kN
8m 8m 8m
Solution:
The truss is statically indeterminate to the first degree so that the method of joints
cannot be used to determine the member forces. This shall be solved using the direct
stiffness method. For primary unknowns:
-1
Ur = [Krr] { Pr - Krs Us } with Us = Φ
Note that the stiffness method can also solve determinate problems. If member forces
are all that is required for a determinate truss, the method of joints will be
computationally be more efficient since no force-displacement equations are required.
If displacements are also to be determined for a determinate truss, then use of the
stiffness method is advantageous.
The solution shown below is basically oriented towards a procedure which involves
the use of some mathematical software to do some repetitive tasks, rather than one
intended for manual calculations. Since the routines used are not shown, the reader
is encourage to verify the intermediate results using whatever tool is available to
them.
First, we need to identify the members and their connectivity. This is accomplished
by numbering the members and joints in a figure such as shown below, indicating its
incidence (direction from A- to B-end by an arrow head).
J5 4 J6
5 6
7 9 10 8
1 J2 2 J3 3
J1 J4
The information shown in the figure is translated into input data tables: Joint
Coordinates and Member Incidences,
These two tables allow the determination of the length and direction cosines of the
members. The direction cosines define the orientation of the member with respect to
the global axes. For each member for the planar case: ∆x = xB - xA, ∆y = yB - yA,
L = (∆x2 + ∆y2)1/2, cos(θ) = ∆x /L and sin(θ) = ∆y /L.
From the above information, the member stiffness matrix in global coordinates for an
axial force member is calculated as:
4
B
3
2 ∆y
θ
A ∆x
1
cos 2 (θ ) sin(θ ) cos(θ ) − cos 2 (θ ) − sin(θ ) cos(θ )
AE sin(θ ) cos(θ ) sin (θ ) − sin(θ ) cos(θ ) − sin 2 (θ )
2
[ KG ] =
L − cos 2 (θ ) − sin(θ ) cos(θ ) cos 2 (θ ) sin(θ ) cos(θ )
− sin(θ ) cos(θ ) − sin 2 (θ ) sin(θ ) cos(θ ) sin 2 (θ )
Only the member stiffness matrices for diagonal members 5 and 10 are shown below.
Although the full 4x4 matrix is shown, we need to calculate only say [KBB] and
recognize that [KAA] = -[KBA] = -[KAB] = [KBB]
22.87 14.29 − 22.87 − 14.29
14.29 8.93 − 14.29 − 8.93 3
[ K m5 ] = 10 kN/m
− 22.87 − 14.29 22.87 14.29
− 14.29 − 8.93 14.29 8.93
7 6 9
8
2 4
5
1 3
Structure Relative Degrees of Freedom
The structure stiffness matrix, [Krr], is generated by direct assembly resulting in the
following:
The structure stiffness matrix is independent of the action applied, and the above can
be used for other actions. For this example, the action involves only joint loads and
all that is required is to assemble [Pr].
T
[Pr] = [ 0. -50. 0. -50. 0. 0. 0. 0. 0. ] kN
-1
Solving for [Ur] = [Krr] [Pr]
T -3
[Ur] = [ 2.13 -13.50 4.06 -13.50 6.20 4.27 -12.42 1.93 -12.42 ] 10 m
With the structure nodal displacements known, the member end nodal displacements
are extracted using the destination table – supports have zero displacements.
The member forces can now be determined from [Pm] = [Km] [Um]. Note that these
are still in global coordinates. Only B-end forces are shown.
DOF m1 m2 m3 m4 m5 m6 m7 m8 m9 m10
3 80.0 72.44 80.0 -87.56 -80.0 80.0 0. 0. 7.56 -7.56
4 0. 0. 0. 0. -50.0 -50. 45.28 45.28 4.72 4.72
A rotational transformation is required to transform the above forces into the local
coordinates so that we get the axial force induced on the member. Recognizing that
the end forces are equal and opposite, only the B-end forces are transformed. The B-
end is used since a positive value will indicate a tensile force on the bar which is the
usual convention. [PB(local)] = [RLG] [PB(global)] where for this planar case [RLG] =
[cosθ sinθ]. Note that the above rotational transformation only finds the local x-
component of the forces from the global x- and y-components. The local y-component
may also be determined as a check, since this must be equal to zero, by using the 2x2
rotational transformation matrix.
If support reactions are required, rather than using Equation (6-3) we can simply
take a free body diagram of the support showing the negative of the member end forces
(in global coordinates) of members connected to the joint. Applying equilibrium, it
should be clear that the support reactions are simply the sum of the member end
forces of the members connected to the support.
-P5Ay = -50 kN -P6Ay = -50 kN
Ps1
Ps2 Ps3
For our example, at the hinge the reactions are sum of the A-end forces of members 1
and 5; and at the roller support the reactions are the sum of the B-end forces of
member 3 and the A-end forces of member 6. Thus:
Ps1 = P1Ax + P5Ax = -80 + 80 = 0. kN
Ps2 = P1Ay + P5Ay = 0 + 50 = 50. kN
Ps3 = P3By + P6Ay = 0 + 50 = 50. kN
Example 6.2 Gable Frame with Joint Loads. Determine the final member forces
for the frame due to the joint loads. Columns have an AE = 2,100.0 x 103 kN and
EI = 75.0 x 103 kN-m2. and the beams have an AE = 1,700.0 x 103 kN and EI =
70.0 x 103 kN-m2.
5 kN
15 kN kN 2.5 m
6m
12 m 16 m
Solution:
The solution follows essentially that of the previous example. Define joints, members,
member incidence and relative degrees of freedom in figures.
5
J3 6 4
8
2
J210 J4 9
M2 M3 7
3 1
M1 M4
J1 J5
Joints, Members, Member Incidences Relative Degrees of Freedom
Member Stiffness matrices (only [KBB] is shown) in local coordinates. Note, [K1BB]
= [K4BB].
AE
L 0 0
350 0 0
− 6 EI z
[ K BB ] = 0 − 12.5 x10 3
12 EI z
[ K BB ] = 0
1
4.2
L3 L
2
− 6 EI z 4 EI z 0 − 12.5 50.0
0 L2 L
138.7 0 0 105 0 0
[ K BB ] = 0
2
0.5 − 2.8 x10 3 [ K BB ] = 0
3
0.2 − 1.6 x10 3
0 − 2.8 22.8 0 − 1.6 17.3
L
AE 12 EI AE 2 2
cos θ
12 EI 6 EI
K BB = − 3 cos θ sin θ sin θ + 3 cos θ −
L L L L L
6 EI 6 EI 4 EI
sin θ − cos θ
L L L
Note that an alternative way of getting the other submatrices of the member stiffness
matrix given [KBB] is by using the equilibrium requirement for each column and
symmetry of [K]: i.e. [KAB] = -[HAB] [KBB], [KBA] = [KAB]T , and [KAA] = -[HBA]
[KBA]. Also, for the columns only the B-end stiffness matrix is required
4.2 0 12.5
[ K BB ] = 0
1
350 0 x10 3 = [ K 4 BB ]
12.5 0 50.0
T
[Pr] = [ 15. 0. 0. | 5. 0. 0. | 10. 0. 0. ]
-1
Solving for [Ur] = [Krr] [Pr]
T -3
[Ur] = [ 8.49 0.006 -1.60 | 8.56 -0.29 0.81 | 8.56 -0.006 -1.69 ] x10
It should be recognized that the support reactions are equal to the member end forces
of the columns connected to the supports – so that Equation (6-3) is not required.
Example 6-3 Gable Frame subject to support movement. For the frame in
Example 6-2, determine the response if the right support is subject to a support
movement equal to a horizontal translation of 0.050 m to the right, a downward
translation of 0.025 m and a clockwise rotation of 0.001 rad.
2.5 m
3
6.0 m
6
12 m 16 m [Us]
Solution:
The structure stiffness is the
12 same as that of the
16 previous example. The difference is
the applied action, and therefore the only the load vector need to be determined. The
equivalent joint load shall be determined from [PrE] = -[Krs][Us].
Only non-zero support movement will produce equivalent joint loads and therefore
only the degrees of freedom with nonzero support movement will be defined
(numbered)as degrees of freedom 10 to 12. Support displacement vector is thus
defined as [Us]T = [ 0.050 m -0.025 m -0.001 rad ].
To generate [Krs] the entries to the destination table for member 4 has to be modified
to include the support degrees of freedom.
DT_M4 = [ 10 11 12 7 8 9 ]
5
6 4
8
2
9 7
3 1
11
10
1
12
1
Assembling [Krs] and determine [PrE] = -[Krs][Us] 1
0 0 0
0 0 0
0 0 0
0 0 0
[ K rs ] = 0 0 0 x10 3
0 0 0
− 4.17 0 12.5
0 − 350. 0
− 12.5
0 25.0
T
[PrE] = [ 0. 0. 0. | 0. 0. 0. | 220.8 -8750. 650. ]
-1
Solving for [Ur] = [Krr] [PrE]
T -3
[Ur] = [ 8.49 0.006 -1.60 | 8.56 -0.29 0.81 | 8.56 -0.006 -1.69 ] x10
Gravity loads, self weight and occupancy loads, however, are applied as
concentrated or distributed loads along the members. Further, there may also
be a need to determine the response of the structure to other actions such as
volumetric changes due to changes in temperature, creep or shrinkage, and
imposed displacements. Since these actions do not involve joint loads, the
analysis procedure must be modified to handle these actions. For structures
with linearly elastic material, the principle of superposition applies and will
be used.
The equivalent joint load part consist of the original structure subject to nodal
forces [PE] to remove the effect of the fictitious [PF] forces in the fixed end
part. Necessarily [PE] is just the negative of [PF], i.e. [PE] = -[PF].
PF
PE
= +
The nodal forces and displacements for the problem can therefore be written
as the sum of the two parts of the solution.
[P] = [PF] + [PE] (6-7)
[U] = [UF] + [UE] (6-8)
Note that by definition of [PF], [UF] = Φ and therefore
[U] = [UE] (6-9)
This is the reason [PE] is referred to as an equivalent nodal forces, i.e. the
nodal forces, [PE], produces the same nodal displacements as the original
actions. Note, only the nodal displacements are the same, the displacements
between nodes is the sum of the response of the two parts of the solution.
It should be recognized that the equivalent joint load part consist of the
structure subject to nodal forces only. Therefore, the basic force-displacement
equation applies, i.e.
[PE] = [K][UE] (6-10)
or from (6-9) [PE] = [K] [U] (6-11)
Thus, equation (6-7) can be written as
[P] = [PF] + [K] [U] (6-12)
This is the modified force displacement relationship for the stiffness method
considering member loads. Partitioning this with respect to relative and
support degrees of freedom we get
Pr PFr K rr K rs U r
= + (6-13)
Ps PFs K rs K ss U s
Multiplying gives:
Pr = PFr + Krr Ur + Krs Us (6-14)
Ps = PFs + Ksr Ur + Kss Us (6-15)
Equation (6-14) is used to determine the displacements along the relative
degrees of freedom.
-1
Ur = [Krr] [ Pr - PFr - Krs Us ] (6-16)
This may be written as:
-1
Ur = [Krr] [ PEr ] (6-17)
where [ PEr ] = [ Pr - PFr - Krs Us ]
-P2mfA M2
1 -P2mfB
-P mfB
M2 J2
M1 M1 M3 M3
P1mfA
Figure 6-2 Member and Joint Forces for Fixed-End Case
2 2
and P F = P mfB
In general the nodal forces at a node are the sum of the fixed-end forces of the
member ends connected to that node. As indicated in the figure, the fixed-
end forces are already with respect to the global coordinates so that the
equilibrium of the joints can be written as a direct sum. In matrix form the
[PF] vector may be determined by the relationship
[PF] = [ E ] [PMF]
Where [PMF] is the vector containing the fixed-end forces (in global
coordinates) of all the members due to the given action, and [E] is the same
equilibrium matrix used in the derivation of the structure stiffness matrix. In
actual implementation the [PF] vector can be directly assembled using the
member incidence or destination table in the same way as the structure
stiffness.
Note that the figure only shows the forces required at the free joints (not
containing support restraints). Equilibrium of the support joints will
determine the elements of [PFs].
Example 6-4 Continuous Beam with Member Loads. Determine the internal
stress functions for the middle beam of the three-span continuous beam for the gravity
loading shown. Members are prismatic with EI = 200,000 kN-m2
40 kN/m
25 kN/m 25 kN/m
6 m 8 m 6 m
Solution:
Define members and relative degrees of freedom. Note that for the relative degrees of
freedom, it is recognized that the loading is parallel planar such that no axial forces
are induced in the members. With no axial forces the members will not change length
and therefore there are no horizontal displacements at the joints (essentially becomes
support degrees of freedom since their final values are known to be zero). Therefore
only the rotational relative degrees of freedom exist at the joints.
1 2 3
M1 M2 M3
The stiffness matrix for the simply supported member is all that is required to
generate the structure stiffness, [Krr].
4 𝐸𝐸𝐸𝐸 1 0.5
[𝐾𝐾𝑚𝑚 ] = � �
𝐿𝐿 0.5 1
[𝐾𝐾𝑚𝑚1 ] = [𝐾𝐾𝑚𝑚3 ] = �133.33 66.67
� 𝑥𝑥 103 [𝐾𝐾𝑚𝑚2 ] = �100.0 50.0
� 𝑥𝑥 103
66.67 133.33 50.0 100.0
Destination Table
Member A B
1 0 1
2 1 2
3 2 3
Member forces are calculated as [Pm] = [PmF] + [Km] [Um]. Since shears are also
required in this example, the degrees of freedom shall include those along the end
shears. Thus for member 2:
160.00 18.75 18.75
213.33 100.00 50.00 − 0.741
[ Pm ] =
2 + x103 −3
160.00 − 18.75 − 18.75 x10
0 . 689
− 213.33 50.00 100.00
Example 6-5 Gable Frame with Member Load. Determine the stress resultant
function for member 2 of the gable frame in Example 6-2 if subject a gravity uniform
distributed load of 15 kN/m acting on members 2 and 3.
15 kN/m 15 kN/m
12 2.5 m
12
2.5
6.0 m
6
12 m 16 m
12 16
Solution:
Again, since the structure geometry, members and materials are the same as in
Example 6-2, the structure stiffness is the same. What is required is the
determination of the structure nodal forces [ PEr ] = [ Pr - PFr - Krs Us ]. With no
nodal forces and support movement, [ PEr ] = [-PFr], with [PF] = [ E ] [PMF].
The member fixed-end forces are conveniently determined with respect to the member
local axis. The member loads in local coordinates are determined by a rotational
transformation: [wix wiy]T = [Ri] [wy(Global)] with [Ri]T = [sinθi cosθi]
The fixed-end forces for a prismatic member subject to uniform distributed load
− w x L 2
w y L 2
w y L2 12
[ PmF ] =
− w x L 2
w y L 2
− w y L 12
2
DOF M1 M2 M3 M4
1 0 0 0 0 kN
2 0 91.93 121.46 0 kN
3 0 183.86 323.88 0 kN-m
4 0 0 0 0 kN
5 0 91.93 121.46 0 kN
6 0 -183.86 -323.88 0 kN-m
Note, the A-end forces for the columns in global coordinates are equal to the support
reactions for the structure.
DOF M1 M2 M3 M4
1 212.61 257.91 212.09 214.17 kN
2 -219.16 163.44 62.23 219.16 kN
3 -629.36 685.59 -214.61 594.04 kN-m
4 -212.61 -220.41 -249.59 -214.17 kN
5 219.16 16.56 177.77 -219.16 kN
6 -685.59 214.61 -720.91 720.91 kN-m
163.4
V(x) = -163.44 + 14.685 x kN kN
16.6
11.13 m kN
223.7 kN-m
214.6
M(x) = -685.59 + 163.44 x - 7.3425 x2 kN-m kN-m
685.6
kN-m
Consider the example of the frame shown in Figure 6-3 subject to a vertical
support settlement at the right support. The fixed-end part consist of the
structure with the given support movement and fixing forces to prevent any
nodal displacement. It should be clear that the fixing force consist of a
vertical upward force as shown to prevent that joint from moving downward
(only none zero nodal forces along the relative degrees of freedom are shown
in the figure).
PF PE
= +
∆ ∆
Actual Problem = Fixed-End Part + Equivalent Joint Load Part
Figure 6-3 Superposition Solution for Structures with Support Movement
∆y
∆ θ
required length
The solution procedure for these types of action is identical to member loads.
The difference will be in the determination of the fixed-end forces for these
actions.
While at the member level, it is always convenient to use the member or local
coordinates. Prior to generating the [PF] vector of the structure, a rotational
transformation of the fixed-end forces will be required.
The following are special cases which can be presented without a formal
discussion of the Flexibility Method.
Support Movement. Assume that the B-end of the member shown in Figure
6-9 is given the support displacement [Us].
B
UB = Us
A
Figure 6-9 Fixed-End Problem – Support Movement
= +
PB
A B
a) fixed-end case = b) case ‘0’ + c) case ‘1’
Figure 6-10 Fixed-End Forces – Member too Short
Verify that the fixed-end forces (axial) for a prismatic member which is
fabricated ∆L (positive for an increase in length) are:
AE 1
[ PF ] = ∆L
L − 1
The kink and transverse displacement will not produce a change in length
assuming small displacements, and therefore the axial terms are not shown in
the figures.
( L − a )θ
[U B0 ] = PB
θ θ
= +
A B UB
a θ a
a) fixed-end case = b) case ‘0’ + c) case ‘1’
Figure 6-11 Fixed-End Forces – Member with Kink
∆
∆
∆
[U 0B ] = PB
0
= +
A U1B
B
a a
The following examples determine the fixed-end forces for members with a
release, given the fixed-end forces for the member without a release.
Example 7-3 Fixed-end forces for member with hinge release by static
condensation. Determine the fixed-end forces for the prismatic member with
a hinge release at the right end from the fixed-end forces of a prismatic
member without a hinge. (this is applicable for any actions producing fixed-
end forces in general although a uniform distributed load is shown) P
mf4
Pmf2
2
1 3 Pmf1 Pmf3
If the hinge release is introduced at the A-end rather than the B-end.
Pmf4
3
Pmf2
1 Pmf1 Pmf3
2
Pmf 1 k12
[P ]
*
u =
Pmf 3 −
1
k 32 [ ]
Pmf 2
k 22
Pmf 4 k 42
or using COFBA = k42 /k22
Pmf 1 (1 + COFBA ) / L
[P ]
*
u =
Pmf 3 − − (1 + COFBA ) / L [ ]
Pmf 2
Pmf 4 COFBA
For a prismatic member with a hinge at the B-end.
1.5 / L
[ K uc ][K cc ] −1 [ ]
Pc = 0.5 Pmf 4 ( )
− 1.5 / L
Equation (7-6), P*u = [Pu - Kuc Kcc-1 Pc ], represents the redistribution in the
nodal forces when the nodal force along the condensed degrees of freedom is
released (force resultant is made zero as required).
Similar to the stiffness matrix, the physical interpretation of the equation P*u
= [Pu - Kuc Kcc-1 Pc ] can be visualized as the sum of two cases as shown in
Figure 7-14 for a prismatic member. The first case is the represents condition
when both ends are fixed, while the second case represents removal of the
moment at the hinge by applying the negative of the fixed-end moment at that
location.
Example 7-4 Fixed-end forces for member with guide release by static
condensation. Determine the fixed-end forces for the line element with a
guide release at the right end from the fixed-end forces of a prismatic member
without a release.
w 3 Pmf4
2 Pmf2
1 Pmf1 Pmf3
Pmf 1 −1
*
[ ]
Pu = P − k 23 / k 33 Pmf 3
mf 2
[ ]
P
mf 4 k 43 / k 33
For a prismatic member the fixed-end forces for the member with a guide
release at the B-end is as follows.
Pmf 1 1
[ ]
*
Pu = P + 0.5 L Pmf 3
mf 2
[ ]
P
mf 4 0.5 L
if the load is a uniformly distributed load:
wL / 2 1
[ ]
P * u = wL2 /12 + 0.5 L [wL / 2]
− wL2 /12
. L
0 5
wL Pmf3 = wL2/6
2 Pmf2 = wL2/3 w
[ P * u ] = wL / 3
wL2 / 6 Pmf1 = wL
Example 6-6 Gable Frame subject to support movement. This is the same
problem as Example 6-3 where the right support is subject to a support movement
equal to a horizontal translation of 0.050 m to the right, a downward translation of
0.025 m and a clockwise rotation of 0.001 rad. However, rather than determining
the load vector as [PEr] = -[Krs][Us], superposition will be used, i.e. [PEr] = -[PFr]
2.5 m
6 m
12 m 16 m Us
Solution:
The fixed-end case is shown in the figure below. This involves the structure subject
to the given action (support movement, [Us]T = [ 0.050 m -0.025 m -0.001 rad ])
and nodal forces, [PF], which prevents any nodal displacements.
Only members connected to supports with non-zero support movement will generate
end forces. Considering member 4 for the example, the fixed-end forces are the forces
required to produce a displacement at its A-end, [UmA] = [Us]
PF
PmfB
Us UmA = Us
PmfA
Thus the fixed-end forces for member 4 is equal to [Km][Um]. The member stiffness
matrix and [Us] are in global coordinates so that the calculated end forces are also
already in global coordinates. Recognizing that UmB = Φ,
𝐾𝐾
[𝑃𝑃𝑚𝑚𝑚𝑚 ] = � 𝑚𝑚𝑚𝑚𝑚𝑚 � [𝑈𝑈𝑚𝑚𝑚𝑚 ]
𝐾𝐾𝑚𝑚𝑚𝑚𝑚𝑚
4.17 0. − 12.5 220.83
0. 350.0 0. − 8,750.0
0.050
− 12.5 0. 50.0 − 0.025 = − 675 . 0
[ P 4 mF ] = x10
3
− 4.17 0. 12.5 − 0.001 − 220.83
0. − 350.0 0. 8,750.0
− 12.5 0. 25.0 − 650.0
[PFr] is assembled using the destination table elements for member 4.
T
[PFr] = [ 0. 0. 0. | 0. 0. 0. | -220.8 8,750. -650. ]
T T
and [PEr] = -[PFr]
T
[PEr] = [ 0. 0. 0. | 0. 0. 0. | 220.8 -8,750. 650. ]
m5 m8 m6
m7 m9 m10
m1 m2 m3
Solution: Since the structure stiffness has been determined in Example 6-1, the
solution here starts with determination of the load vector [PEr] due to the change in
temperature.
The fixed-end forces for the affected members are due to the change in lengths
resulting from the change in temperature. In local coordinates:
[PBF] = -[KBB] [∆LT] = -(AE/L) (αT ∆T L) = -αT AE ∆T = -72 kN
Assemble [PFR]
T
[PFr] = [ 0. 0. 0. | 0. -61.06 10.94 | -38.16 -10.94 -38.16 ]
T T
and [PEr] = -[PFr]
T
[PEr] = [ 0. 0. 0. | 0. 61.06 -10.94 | 38.16 10.94 38.16 ]
7 6 9 8
2 4
5
1 3
-1
Solving for [Ur] = [Krr] [Pr]
T -3
[Ur] = [ 0. 5.95 -0.26 | 5.95 -0.26 -0.96 | 5.81 0.70 5.81 ] x10 m
Final member forces are the sum of the fixed-end case and the equivalent joint load
case: [Pm] = [PmF] + [Km] [Um]
B-end member total nodal forces in global coordinates: [Pm] = [PmF] + [PmE]
DOF m1 m2 m3 m4 m5 m6 m7 m8 m9 m10
3 0 -9.75 0 -9.75 0 0 0 0 9.75 -9.75
4 0 0 0 0 0 0 -6.1 -6.1 6.1 6.1