Sec. 1.

3 Force–Displacement Relation 9

1.3.1 Linearly Elastic Systems

For a linear system the relationship between the lateral force f S and resulting deformation
u is linear, that is,
f S = ku (1.3.1)
where k is the lateral stiffness of the system; its units are force/length. Implicit in Eq. (1.3.1)
is the assumption that the linear f S –u relationship determined for small deformations of
the structure is also valid for larger deformations. This linear relationship implies that f S
is a single-valued function of u (i.e., the loading and unloading curves are identical). Such
a system is said to be elastic; hence we use the term linearly elastic system to emphasize
both properties.
Consider the frame of Fig. 1.3.2a with bay width L, height h, elastic modulus E,
and second moment of the cross-sectional area (or moment of inertia)† about the axis of
bending = Ib and Ic for the beam and columns, respectively; the columns are clamped
(or fixed) at the base. The lateral stiffness of the frame can readily be determined for two
extreme cases: If the beam is rigid [i.e., flexural rigidity E Ib = ∞ (Fig. 1.3.2b)],
 12E Ic E Ic
k= 3
= 24 3 (1.3.2)
columns
h h

On the other hand, for a beam with no stiffness [i.e., E Ib = 0 (Fig. 1.3.2c)],
 3E Ic E Ic
k= 3
=6 3 (1.3.3)
columns
h h

Observe that for the two extreme values of beam stiffness, the lateral stiffness of the frame
is independent of L, the beam length or bay width.
The lateral stiffness of the frame with an intermediate, realistic stiffness of the beam
can be calculated by standard procedures of static structural analysis. The stiffness ma-
trix of the frame is formulated with respect to three DOFs: the lateral displacement u

u u u
EIb EIb = ∞ EIb = 0
fS fS fS
•

h EIc
•

L
• •
(a) (b) (c)

Figure 1.3.2

† In this book the preferred term for I is second moment of area instead of the commonly used moment of

inertia; the latter will be reserved for defining inertial effects associated with the rotational motion of rigid bodies.