FINITE ELEMENT ANALYSIS OF TRUSS STRUCTURES

Trusses are structural models that consists of one-dimensional elements each of which
carry axial force. In the figure below real steel truss, carrying a deck on its upper cord is
modelled as an assemblage of one-dimensional element as shown on the right.

As mentioned earlier, finite element method, discretize the continuum domain as

interconnected elements. In general, there three common types of elements are used for
this discretization which are shown in the below figure.

1
One-dimensional elements are line elements that used to idealize the beam, truss and
frame structures.
I-section shown in the right figure in reality has three
dimensions. Width, height and length. One can notice that
width and height is quite small compare to its length (1/10
or may be even more). Such structural members are
idealized in the mathematical model as one-dimensional
elements. Which means as a “line”, no thickness, no
width, only length. In this idealization, although in the real
world structural member has three dimensions, in the
structural model it is represented as a line. Such elements
are called one-dimensional elements.

It is assumed that trusses are structural models where pins connect one-dimensional
elements to each other.

In reality, gusset plates in steel trusses connect the members to each other, which are not
act as pin; meaning allow rotation. However, because the members are slender, they
cannot withhold large moments but only carry axial forces, it is acceptable to carry out
the analysis by assuming that joints are like pins. Such assumption makes the members
of the truss to resist only axial forces but no moments. Therefore, truss members carry
either a tensile force or compressive force.

2
 H

The task of structural engineer in general is to design structures. Designing a structure

means to determine the cross-sectional dimensions of its members. In order to achieve
this, one needs to know the value of the force or forces in the members of the structure.
In the meantime, structural engineers also interested to know the displacements in the
structures when they are subjected to external loads. Excessive displacements are not
desired. Therefore, design of a structure necessitates knowledge of internal forces in the
members of a structure as well as displacements of its joints. Finding the internal and joint
displacements in a structure is called structural analysis. Finite element method is one of
the analysis methods that achieves this goal. Next step is to see how it does that.
Consider the following simple truss, which subjected to 40kN of vertical load at its joint
B. The analysis requires finding out the forces in its members and the displacement of
joint B, which is indicated by letter y in the figure.
3
In finite element method structural properties such as coordinates, external loads and
displacements of joint displacements are defined in global coordinate system. The axis
X and Y shown in the figure is global axis.

v
v

If we do not pay attention to supports, truss has three nodes, and each node is going to
have two displacements: one in X-direction and the other in Y-direction. Therefore, there

4
will be 6 unknown displacements for this truss. Let us show the displacement in x
direction by “u” and displacement in y direction by “v”. Since node 1 is pinned u1= v1=0,
node 2 is roller; in this case v2 will be equal to zero. Therefore, the nodal displacement
vector of the truss will be
𝑢2
{𝑞 } = {𝑢3 }
𝑣3

Corresponding nodal load vector will be

0
{𝐹 } = {80}
0

Element forces and displacements are defined in local coordinate system. Local
coordinate system follows the orientation of the element in a truss. 𝑋̅ and 𝑌̅ represents
local coordinates system. The following figure is figure 4.3 from the textbook.

In this figure the global and local coordinate axis are clearly shown.
5
Nodal displacement vector in local coordinates is
𝑢̅1
{𝑞̅ } = { }
𝑢̅2
Nodal force vector in local coordinates is

𝑋̅
{𝐹̅ } = { 1 }
𝑋̅2

Next step is to relate nodal force vector {𝐹̅ } to nodal displacement vector by using
element stiffness matrix [𝑘̅]. The relationship has the following form which is called
stiffness equation of a truss bar in local coordinate system.

{𝐹̅ } = [𝑘̅]{𝑞̅ }

Derivation of this relationship in carried out section 4.2 of the textbook. Kindly refer to
that section for more information.

6
 RELATIONSHIP BETWEEN ELEMENT END FORCES AND ELEMENT END
DISPLACEMENTS IN LOCAL COORDINATE SYSTEM
(STIFFNESS EQUATIONS IN LOCAL COORDINATE SYSTEM)

• SHAPE FUNCTION
For a bar element with constant axial stress the axial displacement 𝑢̅(𝑥 ) at a distance x
from nodal point 1 may be assumed varying linearly with x as expressed in the below.
𝑢̅(𝑥 ) = 𝑎1 + 𝑎2 𝑥 (4.2)
Where 𝑎1 and 𝑎2 are two constants to be determined by the two nodal point conditions.

7
 ̅2 −𝑢
𝑢 ̅1 ̅̅̅̅
𝑢2 ̅̅̅̅
𝑢1 𝑥 𝑥
𝑢̅(𝑥) = 𝑢̅1 + 𝑥 = 𝑢̅1 + 𝑥− 𝑥 = (1 − ) 𝑢̅1 + ̅̅̅
𝑢
𝑙 𝑙 𝑙 𝑙 𝑙 2

The derivation of stiffness equations in local coordinates are carried out by using
Castigliano’s first equation as explained in the text book which is copied below.

8
9
 𝑋̅1 𝑢̅
̅ ̅ ̅ }, where {𝐹 } = { } and {𝑞̅ } = { 1 }
The equation 4.8(b) is actually {𝐹 } = [𝑘 ]{𝑞 ̅
𝑋̅2 𝑢̅2

Therefore, the stiffness matrix of the element in local coordinates has the following
form.

𝐸𝐴 𝐸𝐴
−
𝑙 𝑙
[𝑘̅] = [ 𝐸𝐴 𝐸𝐴 ]
−
𝑙 𝑙

10
To demonstrate detailed mathematical calculation of the derivation of stiffness terms
equation 4.9 is re-considered below.

Remembering the expressions for 𝑓1 (𝑥) and 𝑓2 (𝑥);

́ 1 1
𝑓́1 (𝑥) = − and 𝑓́2 (𝑥) =
𝑙 𝑙

Let i=1 and j=1 in eqn. (4.9), then

𝑙
1 1 𝐸𝐴 𝑙 𝐸𝐴
𝑘11 = 𝐸𝐴 ∫ (− ) (− ) 𝑑𝑥 = 2 ∫ 𝑑𝑥 =
0 𝑙 𝑙 𝑙 0 𝑙

Similarly, for i=1 and j=2

𝑙
1 1 𝐸𝐴 𝑙 𝐸𝐴
𝑘12 = 𝐸𝐴 ∫ (− ) ( ) 𝑑𝑥 = − 2 ∫ 𝑑𝑥 = −
0 𝑙 𝑙 𝑙 0 𝑙

The other terms are obtained in the same way.

11
RELATIONSHIP BETWEEN NODAL DISPLACEMENTS IN LOCAL COORDINATES AND
GLOBAL COORDINATES

12
As derived above the nodal displacements in local coordinate system are related to
nodal displacements in global coordinate system in matrix forms as:
Defining
𝑢̅1
{𝑞̅ } = { } Nodal displacement vector in local coordinate system and
𝑢̅2
𝑢1
𝑣
{𝑞 } = {𝑢1 } Nodal displacement vector in global coordinate system
2
𝑣2
Then relationship (4) can be written using the following short notation as
{𝑞̅ } = [𝑇]{𝑞 } (5)
Where [𝑇] is called displacement transformation matrix.

𝑐𝑜𝑠∅ 𝑠𝑖𝑛∅ 0 0
[𝑇 ] = [ ] (6)
0 0 𝑐𝑜𝑠∅ 𝑠𝑖𝑛∅

Remembering the stiffness equations in local coordinate system

𝐸𝐴 𝐸𝐴
𝑋̅ − 𝑢̅
{ 1 } = [ 𝑙𝐸𝐴 𝑙
] { 1} (7)
𝑋̅2 −
𝐸𝐴 𝑢̅2
𝑙 𝑙

̅1
𝑋
Defining {𝐹̅ } = { } nodal force vector in local coordinate system and [𝑘̅ ] as truss
̅2
𝑋
bar stiffness matrix in local coordinate system, the relationship (7) can be written
in short notation as
̅]{𝑞̅ }
{𝐹̅ } = [𝑘 (8)
𝑋1
𝑌
Defining {𝐹 } = { 1 } nodal force vector in global coordinates {𝐹̅ }can be related to {𝐹 }
𝑋2
𝑌2
using conservation of energy which states that work done by the external forces is equal
to the work done by the internal forces. Therefore

13
 1 1
{𝑋1 𝑢1 + 𝑌1 𝑣1 + ⋯ + 𝑋𝑛 𝑢𝑛 + 𝑌𝑛 𝑣𝑛 } = {𝑋̅1 𝑢̅1 + 𝑋̅2 𝑢̅2 + ⋯ + 𝑋̅2𝑚−1 𝑢̅2𝑚−1 + 𝑋̅2𝑚 𝑢̅2𝑚 }
2 2
Where n is the total number of nodes and m is the total number of members in the
truss.
Using matrix notation
1 1
{𝐹 }𝑇 {𝑞} = {𝐹̅ }𝑇 {𝑞̅ }
2 2
Using relationship (5), {𝑞̅ } = [𝑇]{𝑞 }
1 1
{𝐹 }𝑇 {𝑞} = {𝐹̅ }𝑇 [𝑇]{𝑞}
2 2
{𝐹 }𝑇 = {𝐹̅ }𝑇 [𝑇]
Taking transpose of both sides
{𝐹 } = [𝑇]𝑇 {𝐹̅ } (9)
Substituting (5) into (8)
̅][𝑇]{𝑞}
{𝐹̅ } = [𝑘 (10)
Substituting (10) into (9)
̅][𝑇]{𝑞}
{𝐹 } = [𝑇]𝑇 [𝑘

In short notation
{𝑭} = [𝒌]{𝒒} (11)
Where {𝐹 } is nodal forces vector in global coordinate system, {𝑞 } is the nodal
displacement vector in global coordinate system and [𝑘] is the stiffness matrix of the truss
bar in global coordinates which equal to
̅ ][𝑻]
[𝒌] = [𝑻]𝑻 [𝒌 (12)
By carrying out triple matrix multiplication

𝐸𝐴 𝐸𝐴
−
[𝑘̅ ][𝑇] = [ 𝑙 𝑙 ] [𝑐𝑜𝑠∅ 𝑠𝑖𝑛∅ 0 0
]=
𝐸𝐴 𝐸𝐴 0 0 𝑐𝑜𝑠∅ 𝑠𝑖𝑛∅
−
𝑙 𝑙

14
 𝐸𝐴 𝐸𝐴 𝐸𝐴 𝐸𝐴
𝑐𝑜𝑠∅ 𝑠𝑖𝑛∅ − 𝑐𝑜𝑠∅ − 𝑠𝑖𝑛∅
= [ 𝑙𝐸𝐴 𝑙
𝐸𝐴 𝐸𝐴
𝑙
𝐸𝐴
𝑙
]
− 𝑐𝑜𝑠∅ − 𝑠𝑖𝑛∅ 𝑐𝑜𝑠∅ 𝑠𝑖𝑛∅
𝑙 𝑙 𝑙 𝑙

𝑐𝑜𝑠∅ 0 𝐸𝐴 𝐸𝐴 𝐸𝐴 𝐸𝐴
𝑐𝑜𝑠∅ 𝑠𝑖𝑛∅ − 𝑐𝑜𝑠∅ − 𝑠𝑖𝑛∅
̅][𝑇] = [ 𝑠𝑖𝑛∅
[𝑇]𝑇 [𝑘
0
][ 𝑙 𝑙 𝑙 𝑙 ]
0 𝑐𝑜𝑠∅ 𝐸𝐴 𝐸𝐴 𝐸𝐴 𝐸𝐴
0 𝑠𝑖𝑛∅ − 𝑙 𝑐𝑜𝑠∅ − 𝑙 𝑠𝑖𝑛∅ 𝑙
𝑐𝑜𝑠∅
𝑙
𝑠𝑖𝑛∅

𝐸𝐴 𝐸𝐴 𝐸𝐴 𝐸𝐴
𝑐𝑜𝑠 2 ∅ 𝑐𝑜𝑠∅𝑠𝑖𝑛∅ − 𝑐𝑜𝑠 2 ∅ − 𝑐𝑜𝑠∅𝑠𝑖𝑛∅
𝑙 𝑙 𝑙 𝑙
𝐸𝐴 𝐸𝐴 𝐸𝐴 𝐸𝐴
𝑐𝑜𝑠∅𝑠𝑖𝑛∅ 𝑠𝑖𝑛2 ∅ − 𝑐𝑜𝑠∅𝑠𝑖𝑛∅ − 𝑠𝑖𝑛2 ∅
𝑙 𝑙 𝑙 𝑙
[𝑘 ] = 𝐸𝐴 𝐸𝐴 𝐸𝐴 𝐸𝐴 (13)
− 𝑐𝑜𝑠 2 ∅ − 𝑐𝑜𝑠∅𝑠𝑖𝑛∅ 𝑐𝑜𝑠 2 ∅ 𝑐𝑜𝑠∅𝑠𝑖𝑛∅
𝑙 𝑙 𝑙 𝑙
𝐸𝐴 𝐸𝐴 2 𝐸𝐴 𝐸𝐴
[− 𝑐𝑜𝑠∅𝑠𝑖𝑛∅ − 𝑠𝑖𝑛 ∅ 𝑐𝑜𝑠∅𝑠𝑖𝑛∅ 𝑠𝑖𝑛2 ∅ ]
𝑙 𝑙 𝑙 𝑙

Which can be simplified as

𝑎 𝑏 −𝑎 −𝑏
[𝑘 ] = [ 𝑏 𝑐 −𝑏 −𝑐 ] (14)
−𝑎 −𝑏 𝑎 𝑏
−𝑏 −𝑐 𝑏 𝑐
Where
𝐸𝐴 𝐸𝐴 𝐸𝐴 2
𝑎=
𝑙
𝑐𝑜𝑠2 ∅ , 𝑏= 𝑙
𝑐𝑜𝑠∅𝑠𝑖𝑛∅ , 𝑐= 𝑙
𝑠𝑖𝑛 ∅ (15)

It can be noticed that the stiffness matrix in global coordinates consists of for
submatrices

Y [𝑘 ] [𝑘12 ]
[𝑘] = [ 11 ]
[𝑘21 ] [𝑘22 ]
2
1

Subscripts 1 and 2 refers the node numbers of the

first and the second end of the bar truss.
X

15
 ̅][𝑇]{𝑞} if end
The force in the truss member can be calculated from Eqn. (10) {𝐹̅ } = [𝑘
node displacements of truss member is known. Writing this equation in expanded form
yields
𝑢1
𝑋̅ 𝐸𝐴 𝑐𝑜𝑠∅ 𝑠𝑖𝑛∅ −𝑐𝑜𝑠∅ −𝑠𝑖𝑛∅ 𝑣1
{ 1} = [ ]{ } (16)
̅
𝑋2 𝑙 −𝑐𝑜𝑠∅ −𝑠𝑖𝑛∅ 𝑐𝑜𝑠∅ 𝑠𝑖𝑛∅ 𝑢2
𝑣2

The free body diagram of a truss bar is shown in the figure. Writing the equilibrium of
forces at node 2, it follows S=𝑋̅2 .

2
S ̅𝟐
𝑿
S

S
1
S

̅𝟏
𝑿

𝑋̅2 can be obtained from Eqn. (13) as

𝐸𝐴
𝑆= [− cos ∅ × 𝑢1 − 𝑠𝑖𝑛∅ × 𝑣1 + cos ∅ × 𝑢2 + sin∅ × 𝑣2 ]
𝑙
Which can be simplified as
𝐸𝐴 𝑢 −𝑢
𝑆= [𝑐𝑜𝑠∅ 𝑠𝑖𝑛∅] [ 𝑣2 − 𝑣1 ] (17)
𝑙 2 1

16
 Placing the member global stiff ness matrix in the overall structure stiffness matrix
Truss bar element r which is connected to nodes i and j has
four sub-matrices that are placed at the rows and columns
of the corresponding nodes i and j in the overall stiffness
j matrix. In other words, each member of truss structure
r
makes contribution to the overall stiffness matrix of the
structure at its locations of end nodes.
i

𝑟
[𝑘 [𝑘𝑖𝑖𝑟 ]
𝑟
𝑖𝑗 ]
[𝑘𝑖𝑗 ]=[ 𝑟 𝑟
]
[𝑘𝑗𝑖 ] [𝑘𝑗𝑗 ]
Each sub-matrix is placed in the relevant rows and columns of the overall stiffness matrix
as shown in the figure below.

Node i Node j
𝑢𝑖 𝑣𝑖 𝑢𝑗 𝑣𝑗

Node 𝑢𝑖 𝑟
i 𝑣𝑖 [𝑘𝑖𝑖𝑟 ] [𝑘𝑖𝑗 ]

Node 𝑢𝑗
j 𝑣𝑗 [𝑘𝑗𝑖𝑟 ] 𝑟
[𝑘𝑗𝑗 ]

Since every member in a truss structure has four sub-matrices to be in the overall stiffness
matrix, it is possible to construct the overall stiffness matrix directly by just placing these
contribution matrices at the appropriate locations. Following example shows how this is
carried out. Consider the truss which has six nodes and nine bars.

17
node
1 2 3 4 5 6
numbers
1 ]
[𝑘11 12 ] 1 ]
[𝑘12 1 ]
[𝑘13 [0] [0] [0]
1 + [𝑘11
1 ]
[𝑘22 3 ]
1 ] + [𝑘22 3 ] 4 ]
2 [𝑘21 4 ] [𝑘23 [𝑘24 [0] [0]
+ [𝑘22
2 ]
[𝑘33 3 ]
+ [𝑘33
2 ]
[𝑘31 3 ]
[𝑘32 5 ] 7 ] 5 ] 8 ]
[𝑘35 7 ]
[𝑘36
3 + [𝑘33 + [𝑘33 [𝑘34
8 ]
+ [𝑘33
41 ]
[𝑘44 5 ]
4 ] 5 ] + [𝑘44 6 ]
4 [0] [𝑘42 [𝑘43 6 [0] [𝑘46
+ [𝑘44 ]

[0] [0] 8 ] [0] 5 ] 9 ] 9 ]

[𝑘56
5 [𝑘53 [𝑘55 + [𝑘55
6 ]
[𝑘66 7 ]
17 ] 6 ] 9 ] + [𝑘66
6 [0] [0] [𝑘63 [𝑘64 [𝑘65 9 ]
+ [𝑘66

18
 DIRECT STIFFNES METHOD
As shown above the overall stiffness matrix of a truss structure can be constructed
directly by just placing the sub-matrices of a single member in the appropriate locations
in the overall stiffness matrix. Let us explain this process in more detail. Consider the
following truss, which has no supports. Support will be considered later. Nodes and
members are numbered as shown in the figure.

Node 1
The first and second ends of members are
decided by placing arrows on members.
Y 1 Although it is not a must, but taking the smaller
2 number as first end is generally preferred when
working manually. So as seen in the figure arrows
X are introduced from smaller node number
towards larger node number.
Node 2 3 Node 3

Since each node in a truss has two degrees of freedom, the truss shown in the figure has
total of 6 degrees of freedom. This me ans overall stiffness matrix has 6 rows and 6
columns. The stiffness equations in global coordinates in matrix form is written as
{𝐹 } = [𝑘]{𝑞 } where {𝐹 } is the nodal forces vector in global coordinates and {𝑞 } is the
nodal displacements vector in global coordinates which has the following terms.

𝑢1
𝑣1
𝑢2
{𝑞 } = 𝑣
2
𝑢3
{𝑣3 }
It is apparent that in the overall stiffness matrix (6X6) there will be two rows and two
columns for each node as shown in the following figure.

19
 Node 1 Node 2 Node 3

𝑢1 𝑣1 𝑢2 𝑣2 𝑢3 𝑣3

𝑢1
Node 1

𝑣1

𝑢2
Node 2

𝑣2

𝑢3
Node 3

𝑣3

Writing the overall stiffness matrices of each member individually, it follows

Member 1 connected to node 1 and node 2
1 ]
[𝑘11 1
1] [𝑘12 ]
[𝑘 =[ 1 1 ]]
[𝑘21 ] [𝑘22
Member 2 connected to node 1 and node 3
2 ] 2
2]
[𝑘11 [𝑘13]
[𝑘 =[ 2 2 ]
]
[𝑘31 ] [𝑘33
Member 3 connected to node 2 and node 3
3 ]
[𝑘22 31
3] [𝑘23 ]
[𝑘 =[ 3 3 ]]
[𝑘32 ] [𝑘33
These sub-matrices are to be placed in the overall stiffness matrix according to their
subscripts. The addresses of locations are written in the following table. Substituting each
submatrix into the relevant location, the overall stiffness matrix is obtained in terms of
submatrices.

20
 Node 1 Node 2 Node 3

Node
[1,1] [1.2] [1,3]

1
Node
[2,1] [2,2] [2,3]

2
Node
3 [3,1] [3,2] [3,3]

Node 1 Node 2 Node 3

Node

1 ]
[𝑘11 12 ] 1 ] 1 ]
+ [𝑘11 [𝑘12 [𝑘13
1
Node

1 ]
[𝑘21 1 ]
[𝑘22 3 ] 3 ]
+ [𝑘22 [𝑘23
2
Node

2 ]
[𝑘31 3 ]
[𝑘32 2 ]
[𝑘33 3 ]
+ [𝑘33
3

Substituting the terms of these submatrices from (14), the following overall stiffness
matrix is obtained.

𝑎1 + 𝑎2 𝑏1 + 𝑏2 −𝑎1 −𝑏1 −𝑎2 −𝑏2

𝑏1 + 𝑏2 𝑐1 + 𝑐2 −𝑏1 −𝑐1 −𝑏2 −𝑐2

−𝑎1 −𝑏1 𝑎1 + 𝑎3 𝑏1 + 𝑏3 −𝑎3 −𝑏3

−𝑏1 −𝑐1 𝑏1 + 𝑏3 𝑐1 + 𝑐3 −𝑏3 −𝑐3

−𝑎2 −𝑏2 −𝑎3 −𝑏3 𝑎2 + 𝑎3 𝑏2 + 𝑏3

−𝑏2 −𝑐2 −𝑏3 −𝑐3 𝑏2 + 𝑏3 𝑐2 + 𝑐3

21
 it is possible to calculate the numerical values of these terms using expressions given in
in the application of the method. (15) which will give the overall stiffness matrix of the
truss under consideration. This way of obtaining overall stiffness matrix is called direct
stiffness method.
Let us apply the direct stiffness method to the analysis of the simple truss structures
shown in the figure. Notice that truss has two supports we show how they will be handled
in the application of the method.

Node 1 The nodal displacement vector {𝑞 } has the the

following form.
40kN
𝑢1
𝑣1
Y 1
𝑢
2 {𝑞 } = 𝑣 2
2
𝑢3
Node 3 X {𝑣3 }
Node 2
3 Notice that 𝑣2 , 𝑢3 , 𝑣3 are zero because of support
conditions. Therefore, {𝑞 } is reduced to
𝑢1 40
{𝑞 } = { 𝑣1 } , The corresponding nodal load vector is {𝐹 } = { 0 }
𝑢2 0

Repeating the overall stiffness matrix from the previous example, it follows
1 ]
[𝑘11 2 ] 1 ] 2 ]
+ [𝑘11 [𝑘12 [𝑘13
[𝑘 ] = [ 1 ]
[𝑘21 1 ]
[𝑘22 3 ] 3 ]
+ [𝑘22 [𝑘23 ]
2 ]
[𝑘31 3 ]
[𝑘32 2 ]
[𝑘33 3 ]
+ [𝑘33
Noticing the fact that node 3 is pinned support, which means 𝑢3 = 𝑣3 = 0, the row and
column corresponding node 3 can be taken out.

1 ]
[𝑘11 2 ] 1 ]
+ [𝑘11 [𝑘12
[𝑘 ] = [ 1 ] 1 ] 3 ]]
[𝑘21 [𝑘22 + [𝑘22
Substituting the terms of the sub-matrices, it follows

22
 u1 v1 u2 v2
𝑎1 + 𝑎2 𝑏1 + 𝑏2 −𝑎1 −𝑏1 𝑢1
𝑏 + 𝑏2 𝑐1 + 𝑐2 −𝑏1 −𝑐1 𝑣1
[𝑘 ] = [ 1 ] 𝑢2
−𝑎1 −𝑏1 𝑎1 + 𝑎3 𝑏1 + 𝑏3
−𝑏1 −𝑐1 𝑏1 + 𝑏3 𝑐1 + 𝑐3 𝑣2

Noticing that v2 is also zero, cancelling corresponding row and column from the overall
stiffness matrix yields
u1 v1 u2
𝑎1 + 𝑎2 𝑏1 + 𝑏2 −𝑎1 𝑢1
[𝑘] = [ 𝑏1 + 𝑏2 𝑐1 + 𝑐2 −𝑏1 ] 𝑣1
−𝑎1 −𝑏1 𝑎1 + 𝑎3 𝑢2
The stiffness equations for the truss structure becomes

𝑎1 + 𝑎2 𝑏1 + 𝑏2 −𝑎1 𝑢1 40
[ 𝑏1 + 𝑏2 𝑐1 + 𝑐2 𝑣
−𝑏1 ] [ 1 ] = [ 0 ]
−𝑎1 −𝑏1 𝑎1 + 𝑎3 𝑢2 0

Since 𝑎𝑖 , 𝑏𝑖 𝑎𝑛𝑑 𝑐𝑖 can be calculated from the expressions given in (15), stiffness matrix
will have numerical values and the only unknowns in the above linear set of equations are
node displacements. Solution of the linear set of equations results in nodal
displacements. After finding the nodal displacements, forces in bars are computed using
expression (17).

Node 1 It is clear from the above procedure that

nodal displacements and bar forces are
40kN obtained at the end of calculations. If
support reaction is required, the above
Y 1
2 procedure is applied in a little different
way. No rows and columns are taken out
Node 3 X
(cancelled) from the overall stiffness
Node 2 matrix. The reactions are included in the
3 force vector.
𝑹𝟐
𝑹𝟏 𝑹𝟑

23
 40
0
0
{𝐹 } = and the displacements of nodes 2 and 3 are placed in the nodal
𝑅1
𝑅2
{𝑅3 }
displacement vector. Remembering that 𝑣2 = 𝑢3 = 𝑣3 = 0, there will be zeros in their
locations
𝑢1 𝑢1
𝑣1 𝑣1
𝑢 𝑢2
{𝑞 } = 𝑣 2 =
2 0
𝑢3 0
{𝑣3 } { 0 }
The overall stiffness equations will have the following form.
𝑎1 + 𝑎2 𝑏1 + 𝑏2 −𝑎1 −𝑏1 −𝑎2 −𝑏2 𝑢1 40
𝑏1 + 𝑏2 𝑐1 + 𝑐2 −𝑏1 −𝑐1 −𝑏2 −𝑐2 𝑣1 0
−𝑎1 −𝑏1 𝑎1 + 𝑎3 𝑏1 + 𝑏3 −𝑎3 −𝑏3 𝑢2 0
=
−𝑏1 −𝑐1 𝑏1 + 𝑏3 𝑐1 + 𝑐3 −𝑏3 −𝑐3 0 𝑅1
−𝑎2 −𝑏2 −𝑎3 −𝑏3 𝑎2 + 𝑎3 𝑏2 + 𝑏3 0 𝑅2
[ −𝑏2 −𝑐2 −𝑏3 −𝑐3 𝑏2 + 𝑏3 𝑐2 + 𝑐3 ] { 0 } { 𝑅3 }
We can divide the stiffness equations into sub-matrices as shown below

[𝑘 ] [𝑘𝑛𝑟 ] 𝑞𝑛 𝐹
[ 𝑛𝑛 ] {𝑞 } = { 𝑛 } (18)
[𝑘𝑟𝑛 ] [𝑘𝑟𝑟 ] 𝑟 𝐹𝑟
Where
𝑎1 + 𝑎2 𝑏1 + 𝑏2 −𝑎1
[𝑘𝑛𝑛 ] = [ 𝑏1 + 𝑏2 𝑐1 + 𝑐2 −𝑏1 ]
−𝑎1 −𝑏1 𝑎1 + 𝑎3
−𝑏1 −𝑎2 −𝑏2
[𝑘𝑛𝑟 ] = [ −𝑐1 −𝑏2 −𝑐2 ]
𝑏1 + 𝑏3 −𝑎3 −𝑏3

−𝑏1 −𝑐1 𝑏1 + 𝑏3
[𝑘𝑟𝑛 ] = [−𝑎2 −𝑏2 −𝑎3 ]
−𝑏2 −𝑐2 −𝑏3
24
 𝑐1 + 𝑐3 −𝑏3 −𝑐3
[𝑘𝑟𝑟 ] = [ −𝑏3 𝑎2 + 𝑎3 𝑏2 + 𝑏3 ]
−𝑐3 𝑏2 + 𝑏3 𝑐2 + 𝑐3
Carrying out the matrix multiplications in equation (18)

[𝑘𝑛𝑛 ]{𝑞𝑛 } + [𝑘𝑛𝑟 ]{𝑞𝑟 } = {𝐹𝑛 } (19)

[𝑘𝑟𝑛 ]{𝑞𝑛 } + [𝑘𝑟𝑟 ]{𝑞𝑟 } = {𝐹𝑟 } (20)

Noticing that {𝑞𝑟 } = {0}, the equation (19) becomes [𝑘𝑛𝑛 ]{𝑞𝑛 } = {𝐹𝑛 } which is the
stiffness equation that was solved in the beginning to obtain the displacement vector
{𝑞𝑛 }. Once {𝑞𝑛 } is obtained from equation (20) [𝑘𝑟𝑛 ]{𝑞𝑛 } = {𝐹𝑟 } reactions are obtained.
In the next example all these steps are shown numerically.
EXAMPLE:
Determine the member forces and nodal
displacements of the truss structure shown.
100kN
E=20000kN/cm2, area of all members is 25cm2.
Node 1
150kN
𝑢1 40
Y 1
4m {𝑞 } = { 𝑣1 } , {𝐹 } = { 0 }
2 𝑢2 0

3 Node 2 X
Node 3
𝑅2
𝑅3
The overall stiffness matrix is
𝑅1
3m

1 ]
[𝑘11 2 ] 2 ] 1 ]
+ [𝑘11 [𝑘12 [𝑘13
[𝑘 ] = [ 2 ]
[𝑘21 2 ]
[𝑘22 3 ] 3 ]
+ [𝑘22 [𝑘23 ]
1 ]
[𝑘31 3 ]
[𝑘32 1 ]
[𝑘33 3 ]
+ [𝑘33

25
 u1 v1 u2 v2
𝑎1 + 𝑎2 𝑏1 + 𝑏2 −𝑎2 −𝑏2 𝑢1
𝑏 + 𝑏2 𝑐1 + 𝑐2 −𝑏2 −𝑐2 𝑣1
[𝑘 ] = [ 1 ] 𝑢2
−𝑎2 −𝑏2 𝑎2 + 𝑎3 𝑏2 + 𝑏3
−𝑏2 −𝑐2 𝑏2 + 𝑏3 𝑐2 + 𝑐3 𝑣2

u1 v1 u2
𝑎1 + 𝑎2 𝑏1 + 𝑏2 −𝑎2 𝑢1
[𝑘] = [ 𝑏1 + 𝑏2 𝑐1 + 𝑐2 −𝑏2 ] 𝑣1
−𝑎2 −𝑏2 𝑎2 + 𝑎3 𝑢2
Remembering that the terms in the stiffness matrix has the following form
𝐸𝐴 𝐸𝐴 𝐸𝐴
𝑎𝑖 = 𝑐𝑜𝑠 2 ∅ , 𝑏𝑖 = cos ∅ sin ∅ , 𝑐𝑖 = 𝑠𝑖𝑛2 ∅
𝑙 𝑙 𝑙
We will calculate these terms. First, we have to determine direction cosine angles as
shown below.

y y y
∅3
∅1
∅2
x x x

1 1 3 3 2
1 2

3 2

∅1 = 233.130 ∅2 = 2700 ∅3 = 1800

𝑐𝑜𝑠∅1 = −0.6 𝑐𝑜𝑠∅2 = 0 𝑐𝑜𝑠∅3 = −1
𝑠𝑖𝑛∅1 = −0.8 𝑠𝑖𝑛∅2 = −1 𝑠𝑖𝑛∅3 = 0

Member 𝑙𝑖 𝐸𝐴 𝑘𝑁
( ) 𝑐𝑜𝑠∅𝑖 𝑠𝑖𝑛∅𝑖 𝑎𝑖 𝑏𝑖 𝑐𝑖
# (cm) 𝑙 𝑐𝑚
1 500 1000 -0.6 -0.8 360 480 640
2 400 1250 0 -1 0 0 1250
3 300 1666.67 -1 0 1666.67 0 0

26
 360 480 −360
[𝑘] = [480 1890 0 ]
0 0 1666.67
Stiffness equations become:
360 480 −360 𝑢1 150
[480 1890 𝑣
0 ] [ 1 ] = [−100]
0 0 1666.67 𝑢2 0
Solution of stiffness equations yield:
𝑢1 0.7355𝑐𝑚
𝑣
[ 1 ] = [−0.2396𝑐𝑚]
𝑢2 0
Member forces are calculated using equation (17).
0 − 0.7355
𝑆1 = 1000[−0.6 − 0.8] [ ] = 249.54𝑘𝑁 (𝑇𝑒𝑛𝑠𝑖𝑜𝑛)
0 − (−0.2397)
0 − 0.7355
𝑆2 = 1250[0 − 1] [ ] = −299.625𝑘𝑁 (𝐶𝑜𝑚𝑝𝑟𝑒𝑠𝑠𝑖𝑜𝑛)
0 − (−0.2397)
0−0
𝑆1 = 1666,67[−1 0] [ ]=0
0 − 0)
In the case the reactions are needed to be calculated, then the overall stiffness matrix
is constructed without paying attention to the support conditions, taking two degrees
of freedom for each node including the supports. Then the stiffness equations of the
truss structure become
𝑎1 + 𝑎2 𝑏1 + 𝑏2 −𝑎2 −𝑏2 −𝑎1 −𝑏1 𝑢1 40
𝑏1 + 𝑏2 𝑐1 + 𝑐2 −𝑏2 −𝑐2 −𝑏1 −𝑐1 𝑣1 0
−𝑎2 −𝑏2 𝑎2 + 𝑎3 𝑏2 + 𝑏3 −𝑎3 −𝑏3 𝑢2 0
=
−𝑏2 −𝑐2 𝑏2 + 𝑏3 𝑐2 + 𝑐3 −𝑏3 −𝑐3 0 𝑅1
−𝑎1 −𝑏1 −𝑎3 −𝑏3 𝑎2 + 𝑎3 𝑏2 + 𝑏3 0 𝑅2
[ −𝑏1 −𝑐1 −𝑏3 −𝑐3 𝑏2 + 𝑏3 𝑐2 + 𝑐3 ] { 0 } { 𝑅3}

It should be noticed that for the displacements of supports in the restricted directions
are taken as zeros in the nodal displacements vector. Substituting the numerical values
of the terms in the overall stiffness matrix, it follows

27
 360 480 0 0 −360 −480 𝑢1 150
480 1890 0 −1250 −480 −1250 𝑣1 −100
0 0 1666.67 0 −1666.67 0 𝑢2 0
=
0 −1250 0 1250 0 0 0 𝑅1
−360 −480 −1666.67 0 1666.67 0 0 𝑅2
[−480 −640 0 0 0 1250 ] { 0 } { 𝑅3 }
When the overall stiffness matrix is divided into four submatrices considering the
unknown nodal displacements and zero nodal displacements, the above matrix equation
can be written as

360 480 0 𝑢1 0 −360 −480 0 150

[480 1890 𝑣
0 ] { 1 } + [−1250 −480 −1250] {0} = {−100}
0 0 1666.67 𝑢2 0 −1666.67 0 0 0
0 −1250 0 𝑢1 1250 0 0 0 𝑅1
𝑣
[−360 −480 −1666.67] { 1 } + [ 0 1666.67 0 ] {0} = {𝑅2 }
−480 −640 0 𝑢2 0 0 1250 0 𝑅3
Since the nodal displacements are zero in the second column vector of the first equation
that part can be dropped out which yields stiffness equations of the first section of the
problem under consideration.
360 480 0 𝑢1 150
[480 1890 𝑣
0 ] { 1 } = {−100}
0 0 1666.67 𝑢2 0
Solution of which gives the nodal displacements.
𝑢1 0.7355𝑐𝑚
𝑣
[ 1 ] = [−0.2396𝑐𝑚]
𝑢2 0
Substituting these nodal displacement values in the second part of the above matrix
equation, it follows
0 −1250 0 0.7355 𝑅1
[−360 −480 −1666.67] {−0.2396} = {𝑅2 }
−480 −640 0 0 𝑅3
From which the reactions are obtained as
𝑅1 300𝑘𝑁
{𝑅2 } = {−150𝑘𝑁}
𝑅3 −200𝑘𝑁

28
 EXAMPLE: Usisng direct stiffness method analyze the truss shown determine the nodal
displacements and bar forces.
Modulus of elasticity is
2 21000kN/cm2
Areas of members:1&2 are 5cm2
3m 3
100kN and members 3&4 are 3cm2
1
4
3m

1 2

3 4

2m 2m 3m

𝑢1
𝑣1
The nodal displacement vector of the truss is {𝑞 } = {𝑢 }
2
𝑣2
0
0
and corresponding nodal force vector is {𝑞𝐹 } = { }
0
−100
Since nodes 3 and 4 are pin supports there will not be any rows and columns for these
nodes in the overall stiffness matrix.
[𝑘1 ] + [𝑘11
2 ] 3 ] 3 ]
+ [𝑘11 [𝑘12
[𝑘] = [ 11 3 ] 3 ] 4 ]]
[𝑘21 [𝑘22 + [𝑘22
Substituting the terms of the submatrices, it follows
𝑢1 𝑣1 𝑢2 𝑣2
𝑎1 + 𝑎2 + 𝑎3 𝑏1 + 𝑏2 + 𝑏3 −𝑎3 −𝑏3 𝑢1
𝑏 + 𝑏2 + 𝑏3 𝑐1 + 𝑐2 + 𝑐3 −𝑏3 −𝑐3 𝑣1
[𝑘 ] = [ 1 ] 𝑢2
−𝑎3 −𝑏3 𝑎3 + 𝑎4 𝑏3 + 𝑏4
−𝑏3 −𝑐3 𝑏3 + 𝑏4 𝑐3 + 𝑐4 𝑣2

29
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