1.

571 Structural Analysis and Control
Prof. Connor
Section 1: Straight Members with Planar Loading 

Governing Equations for Linear Behavior

1.1 Notation

Y, v

V
a M

F
X, u

a Internal Forces
1.1.2 Deformation ­ Displacement Relations

β
Y a’
θ

a v a’

b
Displacements (u, v, β)
a
Assume β is  small

Longitudinal strain at location  y :
ε ( y ) = ∂ u( y )
∂x
For small β
u ( y ) ≈ u ( 0 ) – yβ
v(y ) ≈ v( 0)
Then
ε ( y ) = u,x – yβ,x = ε a + ε b
ε a = u,x  = stretching strain
ε b = –yβ, x =  bending strain

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Shear Strain
β
a’ b’
a θ
b

γ = decrease in angle between lines a and b

γ = θ–β
dv
θ≈ = v, x
dx
γ = v,x – β

1.3 Force ­ Deformation Relations
σ = Eε ⎫
⎬ stress strain relations for linear elastic material
τ = Gγ ⎭
τ
V
σ
M

F
X

F = ∫ σ dA

M = ∫ -yσ dA

V = ∫ τ dA

Consider initial strain for longitudinal actions
εσ + εo = εa + εb = εT
where
ε σ = strain due to stress
ε o = initial strain
ε T = total strain = ε a + ε b
Then
1
ε σ = ε T – ε o = --- σ
E
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 σ = E(ε T + ε o ) = E(εa + ε b – ε o )
= E ( u,x – yβ, x – ε o )

∴ F = ∫ σdA

F = ∫ E ( u,x – yβ, x – ε o )dA

F = u,x ∫ E dA + β, x ∫ -yE dA + ∫ -ε o E dA
Also
M = ∫ -yσdA

M = ∫ -yE ( u, x – yβ, x – ε o )dA

2
M = u,x ∫ -yE dA + β, x ∫ y E dA + ∫ yε o E dA
If one locates the   X ­axis such that
∫ yE dA = 0
the equations uncouple to give:
F = u,x ∫ E dA + ∫ -εo E dA
2
M = β, x ∫ y E dA + ∫ yε o E dA
Define
D S = ∫ E dA = stretching rigidity
2
DB = ∫y E dA = bending rigidity

F o = - ∫ εo E dA

Mo = ∫ yε o E dA
Then
F = D S u, x + Fo
M = D B β, x + M o

Consider no inital shear strain
τ = Gγ = G ( v, x – β)

V = ∫ GγdA = ∫ G(v, x – β)dA

V = (v, x – β) ∫ GdA
Define
DT = ∫ G dA = transverse shear rigidity

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then
V = D T (v, x – β)

1.4 Force Equilibrium Equations
V + ∆V
M M + ∆M

C
F F + ∆F b x ∆x
m∆x

V
b y ∆x

Consider the rate of change of the internal force quantities over an interval ∆x
F
∑ x
= -F + F + ∆F + b x ∆x = 0
∆F + b x ∆x = 0
∆F
------- + b x = 0
∆x

∑ Fy = -V + V + ∆V + b y ∆x = 0
∆V + b y ∆x = 0
∆V
------- + b y = 0
∆x
2
∆x
∑ M c = -M + M + ∆M + m∆x – b y 2 + V∆x = 0
---------
2
∆x
∆M + m∆x + V∆x – b y --------- = 0
2
∆M ∆x
--------- + m + V–b y ------ = 0
∆x 2
Let  ∆x → 0 (i.e.  ∆x → dx )

∂F
+ bx = 0
∂x
∂V
+ by = 0
∂x
∂M
+V+m = 0
∂x

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1.5 Summary of Formulation

Equations “uncouple” into 2 sets of equations; one set for “axial” loading and the 

other set for “transverse” loading.

Axial (Stretching)

F,x + b x
= 0
F = Fo + D S u,
x
Boundary Condition
F or u prescribed at each end

Transverse (Bending)
V, x + b y = 0
M, x + V + m = 0
M = D B β, x + M o
V = D T (v, x – β)
Boundary Conditions
M or β prescribed at each end
and
V or v prescribed at each end

Note: These equations uncouple for two reasons

1. The location of the  X ­axis was selected to eliminate the coupling term
∫ yEdA
2. The longitudinal axis is straight and the rotation of the cross­sections is
considered to be small.  This simplification does not apply when:
i ­ the  X ­axis is curved (see Section 2)
ii ­ the rotation, β, can not be considered small, creating 
geometric non­linearity (see Section 4)

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1.6 Fundamental Solution ­ Stretching Problem
bx
FB
B
A
L
x
Governing Equations:
∂F
+ bx = 0 (i)
∂x
∂u
F = Fo + D S (ii)
∂x
Boundary Conditions
F B
= FB
u
A = u A
From (i)
F ( x ) = - ∫ b x dx + C 1

F(x) L = -( ∫ b x dx) + C 1 = F B
L

∴ C 1 = F B + ( ∫ b x dx)
L
Then
F ( x ) = - ∫ b x dx + ( ∫ b x dx) + FB
L
which can be written as
L
F(x) = ∫ b x dx + FB
x
Note: you could also obtain this result by inspection:
bx
F( x ) FB
x B
L

L
F(x) = ∫ b x dx + FB
x

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From (ii)
F – Fo
--------------- = u,x
DS
F – Fo
u(x) = ∫
--------------- dx + C 2
DS
F – Fo
u A = ⎛⎝ ∫ --------------- dx⎞⎠ + C 2
DS 0
F – Fo
C 2 = u A – ⎛ ∫ --------------- dx⎞
⎝ DS ⎠0
xF – Fo
u(x) = ∫
--------------- dx + u A
0 DS
xF
u ( x ) = u A + ∫ -----B- dx + up ( x )
0 DS

FB x
u ( x ) = u A + --------- + u p ( x )
DS
where  up ( x ) = particular solution due to  b x  and  F o .
FB L
u B = u A + ---------- + u B, o
DS
where
u B, o = u p ( L )

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1.7 Fundamental Solution: Bending Problem
VA V B, v B
M B, β B

MA A B
L
x

V( x) V B, v B
M( x) M B, β B

B
L–x

Internal Forces
V ( x ) = VB
M ( x ) = M B + VB (L – x)

Governing Equations for Displacement
M – Mo
M = D B β, x + Mo → β, x = ----------------­ -
DB
V
V = D T (v, x – β) → v, x = β + ------­
DT
Integration leads to:
2
M B x VB
β ( x ) = β A + ----------- + ------- ⎛ Lx – -----⎞ + β o ( x )
x
DB DB ⎝ 2⎠
2
MB L VB L
β ( L ) = βB = β A + ----------- + ------- ----- + β B, o
DB DB 2
M B x 2 V B x2 x 3 VB
v ( x ) = v A + β A L + ------------ + ------- ⎛⎝ L ----- – -----⎠⎞ + ------- x + v o ( x )
DB 2 DB 2 6 DT
M B L 2 VB L3 V B
v ( L ) = v B = v A + β A L + ------------ + ------- ----- + ------- L + v B, o
DB 2 DB 3 DT

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1.8 Particular Solutions

Set β i, o = end rotation at i due to span load
v i, o = end displacement at i due to span load
Then
β i = β i, e + β i, o
v i = v i, e + v i, o
where
β i, e = end rotation at i due to end actions
v i, e = end displacement at i due to end actions

Concentrated Moment
a b

B
A M*
L

M* a
β B, o = ---------­-
DB
2
M* a M* a
v B, o = -------------- + ----------- ( L – a)
2 DB 2 DB
Concentrated Force
P*
a b

B
A
L

2
P* a
β B, o = -----------­
2 DB
3 2
P* a P* a P* a
v B, o = ---------- + ------------ + ------------ ( L – a)
DT 3 DB 2 DB

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Distributed Loading
bdx

B
A
dx L

Replace  P* with bdx and integrate from x = 0 to  x = L

L 2
x
β B, o = ∫ ---------- b dx
0 2 DB
L L 3 2
L
x x x
v B, o = ------
∫ D
- b d x + ---------
∫ 3D
- b d x + ----------
∫ 2 D b dx( L – x)
0 T 0 B 0 B
for b constant (ie uniformly distributed loading)
3
bL
β B, o = ---------­
6 DB
2 4
bL bL
v B, o = ---------- + ---------­
2 DT 8 DB

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1.9 Summary

FB L
u B = u B, o + ---------- + u A
DS
MB L 2 VB L3 VB
v B = v B, o + ------- ----- + ------- ----- + ------- L + v A + β A L
DB 2 DB 3 DT
2
MB L VB L
β B = β B, o + ----------- + ------- ----- + β A
DB D B 2
These equations can be written as
L
------ 0 0
DS
uB u B, o 3 2
FB 1 0 0 uA
L - ------L L-
v B = v B, o +
0 --------- + - --------­ VB + 0 1 L vA
3DB DT 2 DB
βB β B, o 2 MB 0 0 1 βA
L 1
0 ---------- -----­ -
2 DB DB

Rigid body transformation from A to B
Also
F A = F A, o – F B
V A = V A, o – V B
M A = MA, o – MB – LV B

FA F A, o 1 0 0 FB
VA =
V A, o – 0 1 0 VB
MA M A, o 0 L 1 M
B

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1.10 Matrix Formulation ­ Straight Members

Define:
uB
u B = v B Displacement Matrix
βB

FB
FB = V B End Action Matrix
MB
General Force Displacemnt Relation

Express displacement at B as:
u B = u B, o + f B F B + TAB u A

u B, o : Due to applied loading ⎫

f B F B : Due to forces at B ⎬ Based on cantilever model
⎪
T AB u A : Effect of motion at A ⎭

Interpret
f B  = Member flexibility matrix
T AB = Rigid body transformation from A to B

For the prismatic case
L
------ 0 0
DS
3 2
fB = L L L
0 ---------- + ------- ---------­
3 DB DT 2 DB
2
L -
---------
1
-----­ -
0
2 DB DB

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Force Displacement Relations

Define  k B = f –1
B
 = Member stiffness matrix

Start with
u B = u B, o + f B F B + TAB u A
Solve for F B
f B FB = u B – T AB uA – u B, o
F B = k B uB – k B T AB u A – k B u B, o
Define
F B, i = – k B uB, o
Then
F B = k B uB – k B T AB u A + FB, i
Next, determine F A
T
F A = FA, o – T AB FB
T T
F A = ( – TAB k B )u B + ( TAB k B T AB )u A + FA, i
where
T
F A, i = FA, o – T AB F B, i

Note FA, i  and  F B, i  are the initial end actions with no end displacements

Finally, rewrite as
FB = k BB u B + k BA u A + FB, i
T
F A = k BA u B + k AA uA + FA, i

Notice that there are two fundamental matrices:  k B and  TAB

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Matrices for Prismatic Case

uB vB βB uA vA βA

DS DS
FB ------ 0 0 – ------ 0 0
L L

12 D*B ( –6 )D*
(–12 )D* ( –6 )D*
VB 0 ----------------- ---------------------B- 0 ------------------------B- --------------------­B-
3 2 3 2
L L L L
( –6 )D* (4 + a)D* 6 D* B (2 + a)D* B
MB 0 ---------------------B- ---------------------------B- 0 -------------- --------------------------­ -
2 L 2 L
L L
D DS
FA – ------S 0 0 ------ 0 0
L L
(–12 )D* 6 D* B 12 D* B 6 D* B
VA 0 ------------------------B- -------------- 0 ----------------- ------------­-
3 2 3 2
L L L L
( –6 )D* (2 + a)D* 6 D* B (4 + a)D* B
MA 0 ---------------------B- ---------------------------B- 0 -------------- --------------------------­ -
2 L 2 L
L L

12 D B DB
-
a = ------------ D* B = ---------------­ -
L DT
2 (1 + a)

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1.11 Transformation Relations

Rigid Body Displacement Transformation
uB
B
uA
r AB ωB
A
ωA

ωB = ω A
u B = u A + ω A × r AB

uB = uA ⎫
⎪
v B = v A + ω A L ⎬ in two dimensions
⎪
ωB = ωA ⎭

uB 1 0 0 uA
vB = 0 1 L vA
ωB 0 0 1 ωA
u B = T AB u A

Statically Equivalent Force Transformation

Translate force system acting at B to point A
PB
PA B
r AB
mB
A
mA

PA = P B
m A = m B + r AB × PB

T
F A = FA, o – T AB FB

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Coordinate Transformation
y’ y

x’
x
z,z’
ax ax'
a = ay a' = ay'
az az'
a' = Ra

cos θ sin θ 0
R = – sin θ cos θ 0
0 0 1
The inverse is
cos θ = cos (–θ) ⎫
sin θ = –sin ( –θ ) ⎪ T
⎬ R = R
–1

–1 ⎪
R = R(–θ) ⎭
Take
(x, y, z) = Global frame
(x', y', z') = Local frame

(l ) ( gl ) ( g )
F = R F
( gl )
R = R

Given  k  in local frame ( k ( l ) ), transform to global frame

(l ) ( l) ( l ) ( l ) ( gl ) ( g )
F = k u = k R u
(g ) ( lg ) ( l ) ( lg ) ( l ) ( gl ) ( g )
F = R F = R k R u
If
(g ) (g) (g )
F = k u
Then
(g ) ( lg ) ( l ) ( gl ) ( gl ) T ( l ) ( gl )
k = R k R = (R ) k R

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1.12 Structural Stiffness Matrix assembly

g g g g g g
F B = k BB u B + k BA uA + FB, i
g g T g g g g
F A = ( k BA ) u B + k AA u A + FA, i
g T l
F i = R Fi

Use direct stiffness method to generate the system equations referred to the global 
frame.

Take B as the positive end and A as the negative end.
B → n+

A → n-

for member n
Write system equation as
E = PI + KU

Work with the partitioned form of system stiffness matrix  K .
k BB  in n+,n+
k AA
 in n­,n­
T

k BA
 in n+,n­
T

k BA  in n­,n+
with
F B, i  in n+ of  PI
F A, i  in n­ of  PI

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