 F1  S11 S12 S13 .....

S1 j   1 
F  S S22 S23 ..... S2 j   2 
 2   21
 F3   S31 S32 S33 ..... S3 j     3 
     
....  .... .... ..... ..... ....   ... 
 Fj   S j1 S j2 S j3 .... S jj    j 
  

12EI 6EI
S11  S12  S 21  
L3 L2

4EI
S 22 
L

12EI 6EI
F1  3
1  2  2
L L

6EI 4EI
F2   2
1  2
L L

 12EI  6EI 
 3 L2 
S L
 6EI 4EI 
 2 
 L L 

M B  m B  B  0 R  R A   B  rA
wL
RA 
2
 wL2 4EI
 B  0
12 L
6EI
rA 
wL3 L2
B 
48EI
5wL
R
8
FD1  FDL1  S111  S12  2

FD 2  FDL 2  S 21 1  S 22  2

FD  FDL  S

  S 1  FD  FDL 

F  F  S S12 
FD   D1  FDL   DL1  S   11 
 FD 2  FDL 2  S21 S22 

 
   1
 2 

FM  FML  FMD   FR  FRL  FRD  

 12EI  6EI 
 S S M12   L3 L2 
SMi   M11 
 
SM 21 SM 22    6EI 4EI 

 L2 L 
 EA 
0 0 
S M11 S M12 S M13   L
12EI  6EI 
S Mi  S M 21 S M 22 S M 23    0 
 L3 L2 
S M 31 S M 32 S M 33    6EI 4EI 
 0 L2 L 

 12EI  6EI 
 0
S M11 S M12 S M13   L3 L2 
GJ
S Mi  S M 21 S M 22 S M 23    0 0 
 L 
S M 31 S M 32 S M 33    6EI 4EI 
 L2 0
 L 
  EA 
 L 0 0 0 0 0 
 12EI Z  6EI Z 
 0 0 0 0 
 L3 L2 
 0 12EI Y 6EI Y
 0 0 0 
SMi   L3 L2
GJ 
 0 0 0 0 0 
 L 
 0 6EI Y 4EI Y
0 0 0 
 L2 L 
  6EI Z 4EI Z 
 0 0 0 0 
 L2 L 

FMi  S Mi  Mi

FM  S M  M

 FM1  SM1 0 0 ... 0 ... 0    M1 

F   0 SM 2 0 ... 0 ... 0    M 2 
 M2  
 FM 3   0 0 SM 3 ... 0 ... 0    M3 
     
 ...    .... ... ... ... ... ... ...    ... 
 FMi   0 0 0 ... SMi ... 0    Mi 
     
 ...   .... ... ... ... ... ... ...   ... 
F   0 0 0 ... 0 ... SMm   Mm 
 Mm  
 F1   cos  sin  0 0 0 0  P1 
F   sin  cos  0 0 0 0 P2 
 2 
F3   0 0 1 0 0 0  P3 
   
F4   0 0 0 cos  sin  0 P4 
F5   0 0 0  sin  cos  0 P5 
     
F6   0 0 0 0 0 1 P6 

 1   cos  sin  0 0 0 0  X1 
   sin  cos  0 0 0 0 X 2 
 2 
 3   0 0 1 0 0 0 X 3 
   

  
4 0 0 0 cos  sin  0  X 4 
 5   0 0 0  sin  cos  0 X 5 
     
 6   0 0 0 0 0 1 X 6 

 F   T    P

    T    X
  i   T i   X i

 F  S     F i   FE m   S i    i
 F   S   T    X

 T   P  S   T    X
 T  1   T    P   T  1   S   T    X

 P   T  1   S   T    X

 T  1  S   T    X   T  T  S   T    X

 P   T  T   S   T    X

 k m   T T  S   T  k m   T  T  S m   T 
 F01   cos  sin  0 0 0 0  P01 
F   sin  cos  0 0 0 0 P02 
 02  
F03   0 0 1 0 0 0 P03 
   
F04   0 0 0 cos  sin  0 P04 
F05   0 0 0  sin  cos  0 P05 
     
F06   0 0 0 0 0 1 P06 

 F0  m   T   P0  m

 P01  cos   sin  0 0 0 0  F01 

P   sin  cos  0 0 0 0 F02 
 02  
P03   0 0 1 0 0 0 F03 
   
P04   0 0 0 cos   sin  0 F04 
P05   0 0 0 sin  cos  0 F05 
     
P06   0 0 0 0 0 1 F06 

 P0  m   T T   F0  m  P Em   T T   F m

 P   P E   P J  K  S   X S   P S
 P   P E   P J

P04  cos   sin  0 F04  P01  cos   sin  0 F01 

           
P05    sin  cos  0  F05  P02    sin  cos  0  F02 
P  1   
 06 6  0 0 F06 6 P 
 03  7  0 0 1 F03  7

RP13  P04  P04 

     
RP14   P05   P05 
RP  P  P 
 15   06  7  06  6

P13  RP13   W j cos  

     
P14   RP14    W j sin 
P  RP   M 
 15   15   j 