CE 103 Structural Analysis

4/13/2010
CE 103 Structural Analysis

y
Prep Course for PE (Civil Engineering Exam)
Prep Course for PE (Civil Engineering Exam
Assoc Professor Ang Kok Keng

Assoc Professor Ang
Department of Civil Engineering
National University of Singapore
Topics
• Classical Methods
• Analysis of Statically Determinate Structures
• Internal Forces in Structural Members
• Deflections
• Influence Lines
• Analysis of Statically Indeterminate Structures
• Force Methods
• Displacement Methods
• Matrix
Matrix--Stiffness Method
CE 103 Structural Analysis 2
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ANALYSIS OF STATICALLY
DETERMINATE STRUCTURES
Free--Body Diagram
Free
First step of structural analysis is usually to draw a
free‐‐body diagram
free
Simplified sketch of structure, isolated from its
supports, showing all forces acting on it
Idealized model Free body diagram

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Equations of Equilibrium
F  0 ; F  0 ; F  0
x y z
3-D
M  0 ; M  0 ; M  0
x y z
F x 0 ; F y 0 ; M O 0 2-D
Alternatively,
 Fx  0 ;  MO  0 ;  MO '  0
or  MO  0 ;  MO '  0 ;  MO"  0
in which points O, O’ and O’’ are not in a straight line.
Stability And Determinacy
B C B C B C
A A A
Determinate Indeterminate Unstable

Structure Structure Structure
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General Stability And Determinacy of Beams
If r  c  3 , beam is statically unstable
If r  c  3 , beam is statically determinate*
If r  c  3 , beam is statically indeterminate
* provided there is no geometric instability (internal and external)
where r  number of reaction elements

c  number of equations of condition
 1 for hinge, 2 for roller, 0 no internal connection
Example
<
r c r = c3
>
5 2 5  5 Stable & determinate
6 2 6  5 Stable & indeterminate
5 2 5  5 Unstable
Unstable**
5 3 5  6 Unstable
6 3 6  6 Stable & determinate
St bl & d t i t
7 2 7  5 Unstable
Unstable**
* Internal geometric instability
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General Stability And Determinacy of Trusses
If m  r  2 j , truss is statically unstable
If m  r  2 j , truss is statically determinate*
If m  r  2 j , truss is statically indeterminate
* provided there is no external/internal geometric instability
where m  number of truss members

r  number of reaction components
j  number of joints
Example
<
m r j mr = 2j
>
7 3 5 10  10 7 3 5 10  10 7 3 5 10  10
Stable & determinate Unstable*
Unstable* Unstable**
Unstable**
6 3 5 9  10 8 4 5 12  10 6 4 5 10  10
Unstable Stable & indeterminate Stable & determinate
* Internal geometric instability ** External geometric instability
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General Stability And Determinacy of Frames
If 3m  r  3 j  c, frame is statically unstable
If 3m  r  3 j  c, frame is statically stable*
If 3m  r  3 j  c, frame is statically indeterminate
* provided there is no geometric instability
where m  number of members

r  number of reaction elements
j  number of joints
c  number of equations of condition
 1 for hinge, 2 for roller, 0 no internal connection
Example
<
m r j 3m  r = 3jc
>
10 9 9 0 39  27 10 9 9 4 39  31
Stable & indeterminate Stable & indeterminate
to 12th degree to 8th degree
10 9 9 1 39  28 10 9 9 3 * 39  30
Stable & indeterminate Stable & indeterminate
to 11th degree to 9th degree
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INTERNAL FORCES IN
STRUCTURAL MEMBERS
Plane Trusses
A truss is a framework which is usually built-up from members
forming triangles. Trusses are common in roof construction,
transmission towers,
towers crane booms and bridges
bridges.
For analytical purposes, we assume that

 The joints are pinned or hinged, which implies that the
member forces are axial because there can be no moment
about the hinge
 Loads act only at joints
A truss is represented by a line drawing with the lines along

the centrelines of the members.
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Sign Convention
Tension (+ve)
Compression (-ve)
( ve)
Pin is subjected to a
concurrent force system
Consider the above free-body diagram of a separate joint of

a plane
l ttruss (i
(i.e. a 2
2-D
D ttruss b
built
ilt tto resist
i t fforces in
i itits own
plane). The joint is in equilibrium when the forces acting on it
satisfy
 Fx  0 and  Fy  0
Method of Joints
At each joint,  Fx  0,  Fy  0
Example – Determine the member forces in the plane

truss carrying the loads as shown in the figure.
15 kN 5 kN
4 First consider the
C E
3 free body diagram
1m of the entire truss
9 A and determine the
B D F
external reactions
1m 1m 1m by the equations of
20 31 equilibrium.
3 3
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Example (Cont’d)
F1
Assume tensile
At joint A forces initially
45
A
9 F2
20
3
20 F1
 Fy  0:   0  F1  9.43 kN
3 2
F
 Fx  0:  9  1  F2  0  F2  15.66 kN
2
Proceed to next joint (any joint) which has no more than 2
unknowns, e.g. joint B but not joint C. Why?
Joints Under Special Loading Conditions

FAE
E FAB
B
A A
D
C
FAD
FAC
FAE  FAC and FAB  FAD
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FAE
EP P FAB
B
A A
D
C
FAD
FAC
FAC  P and FAB  FAD

then FAC  P  0

FAE
E FAB
B
A A
D
C
FAD
FAC
FAB  FAD
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FAE
E FAB
B
A A
D
C
FAD
FAC
FAE  FAC and FAB  FAD
FAD  FAE  0
Method of Sections
In this method, the equilibrium of parts of the truss is

considered..
considered
The procedure involves cutting some carefully selected

members of truss in order to isolate a free body
comprising a section or portion of the truss onto which
cut member forces are applied
pp as external forces
forces..
Forces are calculated by applying equilibrium to the

selected section.
section.
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Example
15 kN
4 5 kN
C E
3
1m
9 A B D F
1m 1m 1m
20 31
3 3
Assume tensile
Example (Cont’d) 12 kN forces in cut
members
15 kN 5 kN C
9 kN F6
F5
1m
9 1m 1m
B F4 D A
20
3
Left hand portion of the truss is selected as a free body for the
purpose of determining three unknown forces F4, F5 and F6.
20 F
 Fy  0 :  12  5  0  F5   7.54 kN
3 2
20
 MD  0 : (2)  12(1)  9(1)  F6 (1)  0  F6   10.33 kN
3
20
 MC  0 : 9 (1)  (1)  F4 (1)  0  F4  15.66 kN
3
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Method of Joint or Section?

In some types of determinate trusses, a difficulty arises with the
method of joints
joints..
For example, ?
I ?? ?
?
?
? ? ? ?
? ? ?
J
Fink Truss
At joints I and J, there are three unknown forces to be found.

found. We cannot
proceed with the method of joints without some modifications
modifications.. We may
overcome the difficulty by taking a section through three members and
determining the three corresponding member forces by the method of
sections.. Then, it is possible to continue with the method of joints.
sections joints.
Example
Determine the force in member IK of the truss shown below.
2.7 m 2.4 m
A B 100
100 kN C
D E F
2.7 m 100  2.7  3
100 kN cot  
100 2.4
I 2.7 m
100 kN G H FGH FIH
a a 2.7 m FGJ FIK
J K
Take the section above a-a as a free body
7.5 m
 M G  0
 2  2.7  2.4 
100 ( 2.7  5.4)  FIK cos   7.5  0
 8 .1 
 810
FIK   143 .2 kN
8 .1
( 7 .5  1 .6 )
8.448
 143.2 kN (compression )
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Example
Determine the forces in members AB and CD of

the plane
lane truss
tr ss loaded at joint B as shown
sho n below.
belo
A B P
a
C
a
D
a a a Roller
Support
Example (Cont’d)
A B P
K By considering a free body diagram
of the entire truss, we can
H a determine the support reactions.
F G I C
By considering the free body
J
a diagram of EBC and noting that
P since at each of joints G, H, I, J, the
E
D intersecting members lie in two
a a a straight lines, we have
2P/3 2P/3 F1 = F2 and F3 = F4
FAB B P
K These forces cancel each other in
F4
tthe
e following
o o g equations:
equat o s
F1 H ΣMk = 0: - P (2a) – FCD (3a) = 0
I C
FEF J FCD = - 2P/3 (compression)
G FCD
P E F2 F3
ΣFx = 0: P - P - FAB = 0
a a a FAB = 0
2P/3
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Beams and Frames

By
Bx
B
By Internal
Internal forces developed in
forces developed in
q
Bx multiforce beam/frame members to
B maintain equilibrium under applied
C
q V loads include:
M
P  an axial force, F
C F
 a shear force, V
Ax F
A  a bending moment, M
M
Ay P
VC
A
Ax
Ay
Sign Convention
 A cut through a beam reveals equal and opposite shear
forces and bending moments on opposing faces
P P
m m M M Vm
B A B
x n x n V n
 Upward force positive? Anticlockwise moment positive?

 Need a consistent sign convention to indicate sense of
internal beam resultants
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Sign Convention (Cont’d)

 Sign conventions for stress resultants
called deformation sign conventions
 because based upon how material is deformed
 deformation sign convention also used for axial
members
 Elongation (tension) in a bar is +ve
 Shortening (compression) is –ve
 Static sign convention used when writing

equations of equilibrium
 forces are +ve or –ve according to their directions
along
l coordinate
d axes
P is given a positive sign in equation of
equilibrium because it acts upward; P y
M
V (positive shear force) is given a A m
negative sign because it acts downward x
n
V
Method of Section
m q0
q
A B
x
L
n
q0 x 2 q0
2L q
m M
A
n
x V
L
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Method of Section (Cont’d)

q0 x 2 q0
2L q
m M q0 x
q
A L
n
x V
L
Total downward load on free body is
1  q0 x  q0 x 2
   x  
2 L  2L
From an equation of equilibrium in the vertical direction we find
+   Fy  0 : q0 x 2 q x2
V   0 V   0
2L 2 L # (Ans)
Method of Section (Cont’d)

q0 x 2 q0 x
q
2L L
m M
A
x
3
n
x V
Write an equation of moment equilibrium about cut section
1q x  x
 M mn  0: M   0   x    0
2 L   3
3
qx
 M  0
6 L # (Ans)
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Relationships Between Load, Shear, BM

P
M V M  M1
q
y dx V  V1
P
M0
A B C
x
dx dx dx
RA
M0
q RB
M V M  M1
M V M  dM
dx V  dV dx V  V1
Relationships Between Distributed Load, …
dV
 q
dx
q B B
M V M  dM  A
dV  VB  VA    qdx
A
dM
V
dx V  dV dx
B B
 A
dM  M B  M A   Vdx
A
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Relationships Between Concentrated Loads, …

P
M V M  M1
V1   P
dx V  V1 M1  0
M0
M V M  M1 V1  0
M1  M 0
dx V  V1
Shear and Moment Diagrams
1. Sketch the free

free--body (load) diagram
showingg loads, support
pp reactions and
dimensions for easy reference
2. Based on free-
free-body diagram,
determine support reactions using
equations of equilibrium
3. Construct vertical lines down from load
diagram through all points of conc.
loads/couples, supports and start and
end points of distributed loads
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Shear and Moment Diagrams (Cont’d)

4. Start sketching shear diagram over
each segment (between vertical
construction lines) from left to right
 Determine shear at left end of segment
 For 1st segment, shear at left end = left beam vertical
support reaction
 Determine shear at right end of segment using
B
VB  VA    q  dx
A
 Follow direction of loading: VB > VA if distributed

loading is acting upward

4. Start sketching shear diagram …..
 Sketch shape of shear diagram within segment using
dV
 q
dx
 Abrupt change in shear force occurs at point of
concentrated load not concentrated moment
 Follow direction of loading: shear immediately to the
right of conc
conc. load increases if load is acting up
5. Start sketching moment diagram over
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5. Start sketching moment diagram over
 Determine BM at left end of segment
 For 1st segment, BM at left end = left beam moment
support reaction
 Determine BM at right end of segment using
B
M B  M A   Vdx
A
 MB > MA if area under shear diagram is positive
5. Start sketching moment diagram ….

 Sketch shape of moment diagram within segment
using
dM
V
dx
 Abrupt change in bending moment occurs at point of

concentrated moment not concentrated load
 If conc. moment is
i positive
i i ((anticlockwise),
i l k i ) then
h BM
immediately to right of conc. moment will decrease
and vice-
vice-versa
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Example: Beam
q = 1.0 kN/m
M0 = 12.0 kN.m
B
A
C
4m 8m 8m
q = 1.0 kN/m
M0 = 12.0 kN.m
B C
A
4m 8m 8m
RB RC
M B  0 : RC 16  M 0  q  4  2  0
 RC  1.25 kN
F y  0: RB  RC  q  4  0
 RB  5.25 kN
Example (Cont’d)
q = 1.0 kN/m
M0 = 12.0 kN.m
B
A C
4m 8m 8m
5.25 kN 1.25 kN
+1.25
V (kN) 0
# (Ans)
-4.0
+2.0
2.0
M (kN.m) 0 0
-8.0
# (Ans)
-10.0
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Example: Rigid Frame

BM and shear diagrams easiest drawn by breaking frame
down into individual members and each analyzed by itself
20 kN/m
40 kN 40 kN
B C
2m
3m
60 kN
D
2m
A
14 m
B C
D
A 140 kN
108.6 kN 171.4 kN
Example (Cont’d)
20 kN/m
108.6 440 440 171.4
40 40
40
40 40 B C 40
80 108.6 171.4
440 108.6
108.6 171.4
B C
5.34 m
108.6 171.4
440 171.4
80
80 B C C
B
60
D D
A 140 A
140
171.4
108.6
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Example (Cont’d)
20 kN/m
108.6 440 171.4
40 40
40
40 40 B 735 C 40
80 108.6 171.4
440 440
108.6 171.4
B C
5.34 m
108.6 171.4
440
440
80 B C C
B
60 280
D D
A 140 A
171.4
108.6
DEFLECTIONS
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Elastic Curve
B C
A D
(a)
y
P
v C M0
A x
D
x B
Elastic Curve
(b)
Elastic--Beam Theory
Elastic
O’
d
d m2   d
y y + dy ds
y  m2 m1  y+ dy
m1 ds
A y
x x
B
x dx x dx
1 d
curvature  
 ds
dy dy
Slope of deflection curve  tan     tan 1
dx dx
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Elastic--Beam Theory (Cont’d)

Elastic
Under service conditions, most beams undergo very small
deflections and angles of rotation  elastic curves have
extremely small curvatures:
dy
ds  dx and  tan   
dx
1 d  d d  dy  d 2 y
      
 ds dx dx  dx  dx 2
If material of beam is linearly

y elastic and follows Hooke’s
law, the curvature is M

EI
d2y M
Differential equation: 
dx 2 EI
Singularity Functions
 x  a n when x  a Note: < > are called
 x  a n  
 0 when x  a Macaulay’s brackets
 x  a 0  x  a 1  x  a 2
x x x
a a a
(a ) n  0 (b ) n  1 (c ) n  2
1
  x  a  dx  n  1  x  a 
n 1
n
for n  0
d
 x  a  n  n  x  a  n1 for n  1
dx
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Direct Integration Method

P  1.2 kN
q o  1 .5 k N /m M o  1.44 kN  m
C D
A E
0.6m 1.2m 0.8m 1.0m
Draw free-body diagram and compute support reactions:
P  1.2 kN
q o  1 .5 k N /m
M o  1.44
1 44 kN  m
C D
A
E
0.6m 1.2m 0.8m 1.0m
A y  2 .6 k N B
Example (Cont’d)
y
P  1.2 kN M o  1.44 kN  m
0.6 m
q o  1 .5
5 k N /m
C X
A x
D E B
1.8 m
2.6 m
B
A y  2 .6 k N  q o   1 .5 k N /m
Rewrite distributed loading using singularity function:
q  x   qo  x  0.6 0  qo  x  1.8  0
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Example (Cont’d)
P  1.2 kN M o  1.44 kN  m
0.6 m
q o  1 .5 k N /m
M
C X
A E
x
D
1.8 m
V
2.6 m
A y  2 .6 k N
x
 q o   1 .5 k N /m
   Fy  0 :
Ay  P  x  0.6 0  qo  x  0.6 1  qo  x 1.8 1  V  0
V  2.6 1.2  x  0.6 0 1.5  x  0.6 1  1.5  x 1.8 1
 M X  0:
qo q
 Ay x  P  x  0.6 1   x  0.6 2  o  x 1.8 2  Mo  x  2.6 0  M  0
2 2
 M  2.6 x 1.2  x  0.6 1 0.75  x  0.6 2 0.75  x 1.8 2 1.44  x  2.6 0
Example (Cont’d)
Differential equation:
EIy"  M  2.6 x  1.2  x  0.6 1 0.75  x  0.6  2

 0.75  x  1.8  2 1.44  x  2.6  0
Slope:
EIy '  1.3 x 2  0.6  x  0.6  2 0.25  x  0.6  3

 0.25  x  1.8  3 1.44  x  2.6 1  C1
Deflection:
EIy  0.4333 x 3  0.2  x  0.6  3 0.0625  x  0.6  4

 0.0625  x  1.8  4 0.72  x  2.6  2  C1 x  C 2
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Example (Cont’d)
Apply boundary conditions:
y 0   0  C 2  0
y  x  3 .6   0 
0.4333  3.6   0.2  3.0 3 0.0625  3.0  4
3
 0.0625  1.8  4 0.72  1.0  2 C1  3.6   C2  0

 C1  2.692#
Slope: EIy '  1.3 x 2  0.6  x  0.6  2 0.25  x  0.6  3

 0.25  x  1.8  3 1.44  x  2.6 1 2.692 #(ANS)
Deflection:
EIy  0.4333 x 3  0.2  x  0.6  3 0.0625  x  0.6  4
 0.0625  x  1.8  4 0.72  x  2.6  2 2.692 x #(ANS)
Moment--Area Method
Moment
 Alternative method for finding deflections and

angles
g of rotation of beams
 Method is based upon 2 theorems related to area
of bending-moment diagram, hence its name
 Same assumptions apply, that is
 linearly elasticity
 small slopes
 Method is suited, from practical standpoint, to
finding deflections and rotations at specific points
on beam
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Moment--Area Theorem 1
Moment
Mdx
d 
EI
B B Mdx
Md
 A
d  
A EI
Mdx
B
 B / A   B   A  
EI
A
 B/ A  Area of M / EI diagram between A & B
The change in slope B/A between 2

points on deflection curve = area of
M/EI diagram between these points
Sign Convention
 Angles A and B are +ve counterclockwise

 Angle B/A is +ve when B is algebraically
larger than A
 Point B must be to the right of point A
 Bending moment M is +ve according to
usual sign
g convention
 Area of M/EI diagram sign is according to
the sign of BM
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Moment--Area Theorem 2
Moment
Mdx
dt  x1d  x1
EI
B B B Mdx
 A
dt   x1d   x1
A A EI
Mdx
B
 t B / A   x1
EI
A
 First moment of area of M / EI diagram

between A & B, evaluated w.r.t. B
The tangential deviation tB/A of point B

from tangent at A = moment of area of
M/EI diagram between A & B about B
Construction of Moment Diagrams by Parts

b
q
a P
L
RL RR
RL L
-P (L - a)
-½ q (L - b)2
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Properties of Typical Shapes

x rectangle
y A  bh
h
x y  kx n x
b
b 2
h x
bh
b triangle A
2
h
b
b x
bh 3
A
n 1 x
parabolic bh
x
b A
n2 h 3
b
b x
4
Example
1.5PL
1  PL  L PL2
A1      2P
2  EI  2 4 EI 2P
P
1  PL  L PL2
A2      
2  3EI  2 12 EI
0.5PL
1.5PL
1  PL  L PL2
A3      A2
2  2 EI  2 8 EI A3
A1
PL

PL PL 
EI  2 EI
3EI
32
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Example (Cont’d)
A
A  0 tC / A
C
C
(a) Slope at C: 1.5PL
Apply 1st moment‐area theorem:
2P
11PL2 A2
 C   C / A  A1  A2  A3   A3
24 EI
#Ans A1
PL

PL PL 
(b) Deflection at C: EI  2 EI
3EI
Apply 2nd moment‐area theorem:
5  2  1  11PL3
vC  tC / A  A1  L   A2  L   A3  L   
6  3  3  36 EI
#Ans
Example
P
A EI EI B 2EI C
1  22PL
PL  PL2
A1      2P
2P tB / A P tC / A
L
2  3EI  3EI 3 3
L L L
1  2 PL  PL2
A2     L   2P
2  3EI  3EI 3
1  PL  PL2
A3     L 
P
2 PL 
2  3EI  6 EI 3
PL 3
3
1  PL  PL2
A4     L  
2  6 EI  12 EI 2 PL PL
3EI 3EI PL
A2 6 EI
A1 A3
A4
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P
Example (Cont’d)
A EI EI B 2EI C
2P tB / A P tC / A
3 3
L L L
2 PL PL
3EI 3EI PL
A2 6 EI
A1 A3
A4
 L  2L   L  2L 
tC / A  A1  2 L    A2  L    A3  L    A4  
 3  3   3  3 
29 PL3
 tC / A 
18 EI
P
Example (Cont’d)
A EI EI B 2 EI C
2P tB / A P tC / A
3 3
L L L
2 PL PL
3EI 3EI PL
A2 6 EI
A1 A3
A4
Apply 2 moment area theorem:
 L  2L  L
t B / A  A1  L    A2    A3  
 3  3  3
3
13PL
 tB / A 
18EI
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P
Example (Cont’d)
A EI EI B 2 EI C
2P tB / A P tC / A
3 3
L L L
2 PL PL
3EI 3EI PL
A2 6 EI
A1 A3
A4
By Similar Triangles:
2
vB  t B / A  tC / A
3
13PL 2 29 PL3
3
19 PL3
 vB    #(ANS)
18 EI 3 18 EI 54 EI
Energy Methods
• Earlier methods for calculating deflections
were based on differential equation of member
• Suitable for finding displacements
displacements, slopes in beams
subjected to rather simple loads
• For more complicated loadings or for trusses

and frames, preferable to use energy methods
• All energy methods are based on principle of
conservation of energy
Ue  Ui
work done by all external forces acting on a structure,
Ue, is transformed into internal work or strain energy, Ui
35
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External Work
Work is defined as product of force and displacement, in the

direction of force, through which the force acts
x
U e   P dx
0
Work of a moment is defined by the product of the magnitude

of the moment and the angle through which it rotates

U e   M d
0
Strain Energy – Axial Force

When an axial force is applied gradually to a bar, it will strain
the material such that external work done will be converted
into strain energy which is stored in the bar
Fdx Pdx
d  
x
F EA EA
L
1 1  Pdx 
F d  P 
dx
dx
dU i  
 d 2 2  EA 
P
1  Pdx  P 2 L
L
 Ui   P  
P
0
2  EA  2 EA
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Strain Energy – Bending

When a member is subjected to lateral loading, the member
experiences internal moment and rotation resulting in strain
energy stored in the member
P d M Mdx
   d 
dx EI EI
x dx
1 1  Mdx 
dU i  M d  M 
L

2 2  EI 
M dx M L
M2
d
 Ui   dx
0
2 EI
Principle of Work and Energy

P P
M V

L x
x
1
U e   P dx  P
0
2
Ui  
M
L
dx  
2
 Px 
L
dx 
P 2 L3
2
0
2 EI 0
2 EI 6 EI
1 P 2 L3
U e  U i  P 
2 6 EI
3
PL
 
3 EI
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Principle of Virtual Work

• Method of work & energy limited in application
• Since it is applicable only to computing deflection at a point
of concentrated force
• If more than one force is applied simultaneously, then more
than one unknown deformation will appear in one energy
equation – solution becomes impossible
• One way to circumvent above limitations is to
use method of virtual work, also called unit-
unit-
load
l d method
th d
• Method is also based on conservation of energy, Ue = Ui
• Provides a general method of obtaining displacement, slope
at any point on a structure, be it a beam, truss or frame
Method of Virtual Work

P1
2 P2
1
C C
L dL D L dL1 D
S S  u u 
A A
B B
1
Case (a) Case (b)
External work done by applied loads must equal internal strain

energy of all elements in the structure:
1 1 1
P11  P2  2   S  dL
2 2 2
1
1   1  u  dL1
2 2
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Method of Virtual Work (Cont’d)

P1
2 P2
1
C C
L dL D L dL1 D
S S  u u 
A A
B B
1
Case (a) Case (b)
Now imagine case (b) exists first and then actual loads P1 and P2
are applied gradually
gradually. Equating total work done to total strain
energy, we have
1
1   1 P11  1 P2  2  1    1  u  dL1  1  S  dL   u  dL
2 2 2 2 2
Method of Virtual Work (Cont’d)

1 1 1
P11  P2  2   S  dL (1a)
1
1   1  u  dL1 (1b)
2 2 2 2 2
1
1   1 P11  1 P2  2  1    1  u  dL1  1  S  dL   u  dL (2)
2 2 2 2 2
Subtracting (1a) and (1b) from (2), we get the basic equation of the
unit-load method:
real displacements
1     u  dL
virtual loadings
virtual loadings
In a similar manner, we can obtain the equation to obtain slope:

real displacements
External virtual unit
couple applied in 1     u  dL
direction of 
virtual loadings
39
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Method of Virtual Work: Trusses

External Loads
uFL
1   
EA
u  internal virtual member force caused by external virtual unit load
F  internal member force caused by real loads
Temperature
1     u  T L
u  internal virtual member force caused by external virtual unit load
  coefficien t of thermal expansion of member
T  change in tempera ture of member
Example
C E  200 GPa
4 kN
A  400 mm 2
3m
A B Find vertical
displacement at C
4m 4m
Virtual Forces u: Real Forces F:
1 kN
C C
4 kN
 0.833 kN  0.833 kN
 2.5 kN  2.5 kN
A B A B
4 kN
 0.667 kN  2 kN
0.5 kN 0.5 kN 1.5 kN 1.5 kN
40
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Example (Cont’d)
Virtual-Work Equation:
Member u (kN) F (kN) L (m) uFL (kN2m)

AB 0.667 2.0 8 10.67
AC -0.833 2.5 5 -10.41
BC -0.833 -2.5 5 -10.41
 10.67
uFL
1   
EA
1 10 .67
 C 
EA
 uFL 
EA
 0.133 mm # (ANS)
Method of Virtual Work: Beams/Frames

External Loads
L
mM
1    dx
0
EI
m  internal virtual moment in beam/frame caused by
external virtual unit load
M  internal moment in beam/frame caused by real loads
L
m M
1   dx
0
EI
m  internal virtual moment in beam/frame caused by
external virtual unit couple
M  internal moment in beam/frame caused by real loads
41
4/13/2010
Example
E  200 GPa
12 kN/m
I  500  10 6 mm 4
A B
Find vertical
10 m displacement at B
Virtual Moment m: Real Moment M:

1 kN
12 kN/m
x x
1 kN
12 kN/m
m  1x M  6x 2
v V
Example (Cont’d)
Virtual Moment m: Real Moment M:
1 kN
12 kN/m
x x
1 kN
12 kN/m
m  1x M  6x 2
v V
1   
L
mM
10
 1x  6 x 2  dx
0
EI
dx  
0
EI
   150 mm #(ANS)
42
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Example
C
3m
E  200 GPa
60 o 5 kN I  15  10 6 mm 4
B
2m x2 Find slope at C
A
Real Moment M:
Virtual Moment m: 5 kN
1 kN  m 5 kN
1 kN  m
1 kN  m 7.5 kN  m
m1
M1 M 1  2.5 x1
m1  1 x1
x1
5 kN 5 kN
1 kN  m 1 kN  m 7.5 kN  m
7.5 kN  m
m2   1 M 2  7 .5
x2 m2 x2 M2
Example (Cont’d)
Virtual Moment m: Real Moment M:
m1  1 m2   1 M 1  2.5 x1 M 2   7.5
L 3 2
m M mM mM
1   C    dx   1 1 dx1   2 2 dx 2
0
EI 0
EI 0
EI

3
 1 2.5 x1  dx 2
 1 7.5 dx
1  2
0
EI 0
EI
 C  0.00875 rad #(ANS)
43
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INFLUENCE LINES
Concept of Influence Line

• In many structures a number of different live
loading conditions are possible
• Important to determine that load position or

combination which will be critical
• An influence function denotes the effect at one

specific point as a function of the position of the
cause of unit value
• An influence line denotes the plot of the

influence function
44
4/13/2010
Influence Lines for Beams

1
A C B
6m
10 m
1 .0 0 .4
IL for RA RA  1 
x
L
0 .6 1 .0
x
IL for RB RB 
L
1
M C VC
M C  4 RB 
 0 x6
VC   RB 
RA RB
MC 1
M C  6 RA 
 6  x  10
VC  R A 
VC
RA RB
Influence Lines for Beams (Cont’d)
1 .0 0 .4
IL for RA x
RA  1 
L
1 .0
0 .6
IL for RB RB 
x
L
2. 4
4 R , 0  x  6
IL for MC MC   B
6 R A , 6  x  10
0 .4
IL for VC  R , 0  x  6
VC   B
 R A , 6  x  10
0 .6
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Influence Lines for Trusses
B 1 C D E F
3m
A H J K L M G
6 @ 4 m  24 m
Influence Lines for Trusses (Cont’d)

B C D E F
1
3m
A G
H J K L M
6 @ 4 m  24 m
B C D E F
1
A G
H J K L M
RA RG
1 .0 0.833 0.667
IL for RA RA  1 
x
L
1 .0
0.167 0.333 x
IL for RG RG 
L
46
4/13/2010

B FBC C D E F
1 FBC
FBJ
A FBJ G
H J K L M
RA RG
MJ  0: FBC 3  RG 16   0  FBC  5.33 RG
RHS
F
3
y  0: FBJ  RG  0  FBJ  1.67 RG
RHS 5
B FBC C D E F
FBC 1
FBJ
A FBJ G
H J K L M
RA RG
MJ  0:  FBC 3  R A 8   0  FBC  2.67 R A
LHS
F
3
y  0:  FBJ  R A  0  FBJ  1.67 R A
LHS 5

B FBC C D E F
FBC 1
FBJ
A FBJ G
H J K L M
x
RA x RG
4
M J  0: FBC 3  RG 16   0  FBC  5.33 RG

RHS
F
3 x
y  0: FBJ  RG   0  FBJ  1.67 RG  0.42 x
RHS 5 4
  5.33 RG , 0  x  8
FBC  
 2.67 R A , 8  x  24
 1.78 IL for FBC
1.11
  1.67 RG , 0 x4

FBJ   1.67 RG  0.42 x, 4  x  8
 0.278 IL for FBJ  8  x  24
 1.67 R A ,
47
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Uses of Influence Lines: Concentrated Loads

1
A C B
6m
10 m
2 .4
1 .6 1 .2
4 R , 0  x  6
IL for MC MC   B
6 R A , 6  x  10
10 kN 6 kN 8 kN
A B
C
4m 2m 2m 2m
M C  10 1.6   62.4   81.2   40 kN #
Uses of Influence Lines: UDL

a
x dx
b
q kN/m
A B
4m 12 m 4m
1.33
1 .0 y
 0.33
IL for RA
b b
R A   qy dx  q  y dx
a a
Value of RA due to a UDL = intensity of load, q, multiplied by the

area of the influence line corresponding to length of beam over
which load is acting
48
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Example
A D B C
8m 4m 6m
Find the maximum value of MD due to a UDL of intensity 5 kN

kN/m,
/m,
which can act over any part of the beam, and two concentrated
loads of 10 kN each, with a fixed distance of 4 m between them.
1 .0 0.33
IL for RA
 0 .5
1 .0 1 .5
0.67
IL for RB
2.67
1.33
IL for MD
 1.33
CE 103 Structural Analysis  4 .0 97
Example (Cont’d)
2.67
1.33
IL for MD
 1.33
 4 .0
Since loads acting in a region where influence line is + +ve
ve have an effect that is
opposite from that produced by loads acting where the influence line is –ve ve,,
we must place all loads either to left or to right of B:
10 kN 10 kN
4m 4m
5 kN/m
A B C
D
8m 4m 6m 10 kN 10 kN
4m
5 kN/m
A B
C
D
8m 4m 6m
49
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Example (Cont’d)
2.67
1.33
IL for MD
 1.33
 4 .0
10 kN 10 kN
4m 4m
5 kN/m M D max  101.33  102.67  
A B C
1 
D 5  12  2.67   120 kNm
8m 4m 6m
2 
10 kN 10 kN
4m
5 kN/m M D max  104   101.33 
A B
C 1 
D 5  4  6   113 .3 kNm
2 
8m 4m 6m
Muller--Breslau’s Principle
Muller
To obtain an IL for reaction of any statically determinate beam,

remove the support and make a unit displacement of its point
of application – deflected beam is the IL for reaction
A C B
a b
L
B'
s B  1
A B
IL for RB
50
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Muller--Breslau’s Principle (Cont’d)

Muller
To obtain an IL for the shear at a section of any statically
determinate beam, cut the section and induce a unit relative
transverse sliding displacement between the portion to left
and right of the section keeping all other constraints intact –
deflected beam is the IL for the shear
A C B
a b
L
sC  1 b
C'
L
A B
C a
L
C"
IL for VC
Muller--Breslau’s Principle (Cont’d)

Muller
To obtain an IL for the moment at a section of any statically
determinate beam, cut the section and induce a unit rotation
between the portion to left and right of the section keeping all
other constraints intact – deflected beam is the IL for the
moment
1
A C B
a b
L
a C  a  C  1 C'
b C  b
A B
C
IL for MC
51
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Example
1
D C E
A B
a a a a
A'
s A  1 C
A B IL for RA
D'
s D  1 1
2 C
A
D 1
B IL for VD
2
D"
D'
 D  1
a
2 C
A B IL for MD
D
Example (Cont’d)
1
D C E
A B
a a a a
C E
A B IL for VE
s E  1
C' E'
 E  1
C E
A B IL for ME
a
C'
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ANALYSIS OF STATICALLY
INDETERMINATE STRUCTURES
Statically Indeterminate Structures
 Statically determinate – all the unknown reactions

at the supports can be obtained by considering
equilibrium
 Statically indeterminate – the number of
equilibrium equations are insufficient to evaluate
the unknown reactions
 Degree of indeterminacy/redundancy – the
difference between the number of unknown
reactions and number of equilibrium equations
53
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FORCE METHODS
FORCE METHODS
Method of Consistent Deformation

P P
A A
L L
B
= L L
B
 BP
MA
2 2 2 2
RA RB
Determinate structure
Actual structure
subject to actual loads
+
 B   BP   BR  0
A  BR
3 3 B
5 PL R L
  B 0 L L
RB
48 EI 3 EI 2 2
5
 RB  P Determinate structure
16
subject to redundant
54
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Method of Least Work

Castigliano’s second theorem, sometimes called method
of least work, is a useful alternative force method, where
forces called redundants are treated as unknowns
Main difference between methods of least work and

consistent deformation is that the former requires strain
energy of system to be determined to formulate
equations instead of deflections in the latter
Method of least work is preferable when it is easier to set

up expressions for strain energy than to calculate
displacements
Castigliano’s Theorems
F1 F2
A 1 2 B
1 2
1   11 F1   12 F2  2   21 F1   22 F2
where  ij  deflection at i due to a unit load at j
W 
1
F11  F2  2 
2
U  W 
1
2

 11 F12   12 F1 F2   21 F1 F2   22 F22 
Maxwell’s reciprocal theorem:  12   21
U 
1
2

 11 F12  2 12 F1 F2   22 F22 
55
4/13/2010
Castigliano’s Theorems (Cont’d)

F1 F2
A 1 2 B
1 2
1   11 F1   12 F2  2   21 F1   22 F2
U 
1
2

 11 F12  2 12 F1 F2   22 F22 
U 1 

F1 2 F1
11 F12  212 F1 F2   22 F22   11 F1  12 F2
U
  1
F1
Castigliano’s first theorem: The partial derivative of strain energy
with respect to one of the external forces acting on the structure is
equal to the displacement at that force in the direction of the force
Castigliano’s Theorems (Cont’d)

F1 F2
RA RB RC
U
 A  0
R A
Castigliano’s second theorem: Upon applying castigliano’s first

theorem to find deflection at support A, which is zero, we conclude
that redundants must assume values that will make the strain
energy in the structure a minimum
Redundants in indeterminate structures can be determined by

applying Castigliano’s second theorem – also called method of
least work
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Example
P
A
B
C
L L
MA
2 2
RA RB
U
L
M2
0 U  dx
R B 0
2 EI
U  L M2  L M M RB 
   dx  dx  0
R B R B  2 EI 
0  0 EI
Element x0 M M R B
BC B RB x x
CA B RB x  P  x  L 2  x
Example (Cont’d)
P
A
B
C
MA L L
2 2
RA RB
Element x0 M M R B
BC B RB x x
CA B RB x  P  x  L 2  x
U M M RB 
L
RB 0
 dx  0
EI
M M RB  1  PLx 

L L 2 L
 dx   RB x 2 dx   RB x 2  Px 2  dx  0
0
EI EI  0 L 2
2 

5
 RB  P # (ANS)
16
57
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Example
40 kN
HD
B C D
MD
5m 5m 5m
VD
A
R2
R1
U M M Ri 
 dx  0 i  1,2
Ri EI
Element x0 M M R1  M  R2

AB A  R2 x 0 x
BC B R1 x  5 R2 x 5
CD B R1 x  5 R2  40 x  200 x 5
Example (Cont’d)
Element x0 M M R1  M R 2
AB A  R2 x 0 x
BC B R1 x  5R2 x 5
CD B R1 x  5 R2  40 x  200 x 5
U M M Ri 
 dx  0 i  1,2
Ri EI
 R x   
5 10
1
2
 5 R2 x dx   R1 x 2  5 R2 x  40 x 2  200 x dx  0 (1)
0 5
5 5 10
 R2 x dx    5 R1 x  25 R2 dx    5 R1 x  25 R2  200 x  1000 dx  0 (2)

2
0 0 5
333 R1  250 R2  4167  0 

  R1  17 kN, R2  6 kN
 250 R1  292 R2  2500  0 
# (ANS)
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DISPLACEMENT METHODS
DISPLACEMENT METHODS
Slope--Deflection Method
Slope
Method uses displacements as unknowns and is referred to as
a displacement method
When a rigid frame or continuous beam is loaded, moments are

developed at the ends of individual members
The relationship that exists between these moments and

deformations at the ends of the members is the basis of the
slope--deflection method
slope
In methods of consistent deformation and least work,

compatibility equations are written in terms of unknown
redundants;; in slope-
redundants slope-deflection method, equilibrium equations
are written in terms of unknown joint displacements
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Slope--Deflection Equation
Slope
M AB
A  P
A 
B
B M BA
L
2 EI  3 
M AB   2 A   B    M AB
F
L  L 
2 EI  3 
  2 B   A    M BA
F
M BA
L  L 
1. Moments acting on the ends of members are positive when clockwise
2. Rotations of the ends of members are also positive when clockwise
3. Relative displacement of the ends of a member  is positive when the
axis rotation  is clockwise
Fixed--End Moments
Fixed
P qL2 qL2
PL PL F
M AB  q
F
M BA 
F
M AB  F
M BA  12 12
8 8
A B A B
L L
2 2 L
qL2 qL2
F

Pab 2 P Pba 2 F
 q
F
M BA 
M AB F
M BA  M AB 20
L2 L2 30
A B A B
a b
L L
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Example
40 kN
B
B
A EI C
EI
8m 8m 8m
Determine the reactions and draw the moment diagram
Joint rotations and translations are the unknowns. There are no

joint translations here. Only joint B can rotate. So, there is only one
unknown here.
Fixed--End Moments:
Fixed
PL 40 PL
F
M AB   80 F
M BA   80 F
M BC 0 F
M CB 0
8 8
A B B C
8m 8m 8m
Example (Cont’d)
16 m 8m
M AB M BC
B
A EI B B EI C
M BA M CB
Slope--Deflection Equations:
Slope
M AB 
2 EI
 B   80  0.125 EI B  80
16
M BA 
2 EI
2 B   80  0.25 EI B  80
16
M BC 
2 EI
2 B   0.5 EI B
8
M CB 
2 EI
 B   0.25 EI B
8
Equations of Equilibrium:
M B  0: M BA  M BC  0  0.25 EI B  80   0.5 EI B   0

 EI B  106 .7
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Example (Cont’d)
Member End Moments:
EI  B  106 .7
M AB  0.125 EI  B  80  93 .3 kN - m
M BA  0.25 EI  B  80  53 .3 kN - m
M BC  0.5 EI  B  53 .3 kN - m
M CB  0.25 EI B  26 .7 kN - m
Calculate Shear Forces and Reactions:

40
22 .5 17 .5 17 .5 10 10 10
A B B
B C
8m 26 .7
93 .3 53 .3 53 .3
8m 8m
RB  27.5
Example (Cont’d)
40
22 .5 17 .5 17 .5 10 10 10
A B B
B C
8m 26 .7
93 .3 53 .3 53 .3
8m 8m
RB  27.5
Reactions and Moment Diagrams:

40
26 .7
Support Reactions
93 .3
22 .5 10
27 .5
86 .7
26 .7
Moment Diagram
 53 .3
 93 .3
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Example
50 kN
6m 4m
B C
2 EI
EI EI 8m
A D
Determine displacements and member end moments
Unknowns:  B , C , 
 
B
B C C
A D
Example (Cont’d)
50 kN
Fixed--End Moments:
Fixed 6m 4m
 
B C
50 6  4 2 2 EI
F
M BC   48
10 2 EI EI 8m
M F

 
50 6 2 4 
 72 A D
CB
10 2
Slope--Deflection Equations:
Slope
2 EI  3 
M AB   B    0.25 EI  B  0.0938 EI 
8  8 
2 EI  3 
M BA   2 B    0.5 EI  B  0.0938 EI 
8  8 
M BC  0.8 EI  B  0.4 EI  C  48
M CB  0.4 EI B  0.8 EI  C  72
M CD  0.5 EI  C  0.0938 EI
M DC  0.25 EI  C  0.0938 EI 
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Example (Cont’d)
M AB  0.25 EI B  0.0938 EI 
M BA  0.5 EI  B  0.0938 EI 
M BC  0.8 EI  B  0.4 EI  C  48 M BA M CD
M CB  0.4 EI B  0.8 EI  C  72 B C
M CD  0.5 EI  C  0.0938 EI

M DC  0.25 EI  C  0.0938 EI  A HA D HD
M AB M DC
VA VD
Equations of Equilibrium:
M B  0: M BA  M BC  0  1.3 EI  B  0.4 EI C  0.0938 EI   48  0 (1)
M C  0: M CB  M CD  0  0.4 EI B  1.3 EI C  0.0938 EI   72  0 (2)

 M  M BA   M DC  M CD 
F x  0: H A  H D  0   AB  0
 8   8 
 0.75 EI  B  0.75 EI  C  0.375 EI   0 (3)
Example (Cont’d)
Solve for Unknown Displacements:
1.3 EI  B  0.4 EI  C  0.0938 EI   48  0 (1)
0.4 EI  B  1.3 EI  C  0.0938 EI  72  0 (2)
( )
0.75 EI  B  0.75 EI  C  0.375 EI   0 (3)
 EI  B  57 .7, EI C  75 .8, EI   36 .2
Member End Moments:

M AB  0.25 EI B  0.0938 EI  17 .8 kN - m
M BA  0.5 EI  B  0.0938 EI   32 .2 kN - m
M BC  0.8 EI  B  0.4 EI  C  48  32 .2 kN - m
M CB  0.4 EI  B  0.8 EI  C  72  34 .5 kN - m
M CD  0.5 EI  C  0.0938 EI   34 .5 kN - m
M DC  0.25 EI C  0.0938 EI  15 .6 kN - m
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Moment--Distribution Method
Moment
Just like slope-
slope-deflection method, moment
moment--distribution method is also
a displacement method
Unlike slope
slope--deflection method, does not need to solve simultaneous
equations
Instead, answers are obtained by a procedure of successive

approximations, an iterative technique
Moment-distribution method is based on the knowledge that member

Moment-
end--moments consist of several distinct parts:
end
1. Fixed‐
Fixed‐end moments –
end moments – moments caused by applied loads with member ends
assumed to be fixed
2. Moments due to rotations that actually take place at ends of member
3. Moments caused by translation of one end of member relative to the other
Distribution Factor
Sign Convention
Follows same sign convention as those adopted in slope-
slope-deflection
method, viz., clockwise end-
end-moments are positive
Distribution Factor
Distribution factor for any one member is a measure of the proportion
of the total resistance to rotation supplied by that member
M DA  M 
A M
A A M AB D B
D M AD
M AD
M AC
From slope-
slope-deflection equation,
2 EI  3  4 EI AD C
M AD   2 A   D    M AD 
F
L  L  L AD
4 EI AC 4 EI AB
M AC  M AB 
L AC L AB
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Distribution Factor (Cont’d)

M AB  4 Ek AB M AC  4 Ek AC M AD  4 Ek AD
I I I
k AB  AB k AC  AC k AD  AD
L AB L AC L AD
where the quantity I / L of a member is called the stiffness factor, k M
A M AB
M A  0: M  M AB  M AC  M AD  4 E  k A M AD
M AC
where  k A denotes the sum of the stiffnesses of members framing into joint A
k AB
M AB  4 Ek AB  M
 kA
k
M AC  4 Ek AC  AC M
 kA
k
M AD  4 Ek AD  AD M
 kA
k
where is referred to as the distributi on factor
k
Carry--Over Factor/Moment
Carry
M DA 
A
D
M AD
From slope-
slope-deflection equation,
2 EI  3  2 EI AD 1
M DA   2 D   A    M DA   M AD
F
L  L  L AD 2
The moment induced at the far (fixed) end of a prismatic member

equals one-
one-half the distributed moment at the near end
The carry-
carry-over factor, defined as the ratio of induced moment at
far end (fixed) to the moment applied at the near end, which is
prevented from translation but allowed to rotate, is thus equal to ½
The induced moment is called carry-

carry-over moment
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Example
30 kN
4 kN/m
B C
A D
EI 2 EI EI
8m 4m 8m 10 m
I 2I I
k k k
8 12 10
Distribution Factors
3 4 5 3
7 7 8 8
Fixed-End Moments 0 0  53.3  26 .7  33 .3  33.3
Balancing of Joint B  22 .9  30 .4
Carry-Over Moments  11 .4  15 .2
Balancing of Joint C  5 .4  3 . 2
Carry-Over Moments  2 .7  1 .6
Carry-Over Moments  0 .6  0 .8
Balancing of Joint C  0 .5  0 . 3
Carry-Over Moments  0.2  0 .1
Final End Moments  12 .0  24 .2  24 .2  36.8  36 .8  31.6
Example (Cont’d)
30 kN
4 kN/m
B C
A D
EI 2 EI EI
8m 4m 8m 10 m
30 kN
4 .5 19 11 20.5 4 kN/m 19.5
12
A B B C C D
4 .5 24 .2 24 .2 36 .8 36 .8 31 .6
51 .6
12 15 .8
 24 .2  31 .6
 36 .8
Moment Diagram
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Simply Supported Ends
Effective Stiffness
 I
 if member
b isi fixed
fi d at its f endd
i far
 L
k' 
 I
0.75 L if member is hinged at its far end

Carry--Over Factor (COF)

Carry
0.5 if member is fixed at its far end

COF  
0 . 0
 if member is hinged at its far end
Structures With Joint Translations

P2
B
C
P1
=
A D
P2
Q
B C B
Q
C
P1
+
A D A D
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MATRIX‐‐STIFFNESS METHOD
MATRIX
Element--Stiffness Matrix
Element
Axially Loaded Element
q1 ,  1 1 EA 2 q2 ,  2
L
q  k  
where
 q1   1 
q        
q2   2 
 1
k   EA 
1
L  1 1 
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Element--Stiffness Matrix
Element
Flexural Element
q1
q2
q3
2
q4
1 4
1 EI 2 3
L
q  k  
 12 6 12 6
 L3   
 q1  L2 L3 L2   1 
 6 4 6 2 
q   2   
where q   2  k   EI  12
L L L2 L      2 
  3 
6 12 6 
 q3 
q4   L3 L2 L3 L2   4 
 6 2 6 4 
 
 L2 L L2 L 
Direct--Stiffness Method
Direct
In the direct-
direct-stiffness method, the transformation from element to
structure coordinates is carried out using deformation compatibility
relations between element and structure deformations
 e  T e e
where T e is the deformation-
deformation-transformation matrix that relates the
element deformations of element e,  e to the structure deformations
at the extremities of that element, e
The element and structure end forces are also related in the same
manner
qe  T e Qe
where qe contains the element forces for element e and Qe contains
the structure forces at the extremities of that element
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Direct--Stiffness Method (Cont’d)

Direct
 e  T e e qe  T e Qe
qe   k e  e  T e Qe   k e T e e

 Qe  T e  k e T e e
1
Since T e represents an orthogonal transform ation, T e  T e

1 T
 Qe  T e  k e T e e   K e e

T
K e  T Te k e T e
where K e represents the element stiffness matrix in global coordinates
Analysis of Trusses
l
2
k
y j

Member
M b
x   direction
i
1
1. Member is assigned a direction, and r and s, the member

deformations at tail and front end of member are assumed to be
in this direction
2. The x and y structure deformations, at the tail and front end of
member,, are g given the designations
g i, j, k, l, respectively
p y
3. The angles between the vectors representing the member
deformations and those representing the x and y structure
deformations are designated as  and 
  cos  ,   cos 
where  and  are called the direction cosines of the member
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Analysis of Trusses (Cont’d)

l j
2
k 1 i
y j 
 l
Member
EA  1  1 
x   direction
k e 
Member
L   1 1  direction k
i
1
2
 e  T e e
 i 
    
 1  0 0   j    0 0 
        T e   
 2   0 0      k  0 0   
  l 
i j k l
 2   2    i
 
EA   2    2
K e  T Te k e T e
j

L   2    2
  k
 
    2   2  l
Example
4
3
53.10
1.6 m EA 1 2
1
6
0.9 m EA 2
2 kN 36.90
5
1.22 m
Member L     i j k l
1 2.0 m -53.1o -143.1o 0.6 -0.8 3 4 1 2
2 1.5 m -143.1o 126.9o -0.8 -0.6 1 2 5 6
72
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Example (Cont’d)4
1 2.0 m -53.1o -143.1o 0.6 -0.8 3 4 1 2
2 1.5 m -143.1o 126.9o -0.8 -0.6 1 2 5 6
Element 1 Stiffness Matrix in Global Coordinates
 2   2   
 
EA   2    2
K e 
L   2   2  
 
    2   2 
3 4 1 2
 0.09  0.12  0.09 0.12  3
  0.12 0.16 0.12  0.16 
K 1  EA 
4
0.5   0.09 0.12 0.09  0.12  1

 
 0.12  0.16  0.12 0.16  2
Example (Cont’d)4
1 2.0 m -53.1o -143.1o 0.6 -0.8 3 4 1 2
2 1.5 m -143.1o 126.9o -0.8 -0.6 1 2 5 6
Element 2 Stiffness Matrix in Global Coordinates
 2   2   
 
EA   2    2
K e 
L   2   2  
 
    2   2 
1 2 5 6
 0.21 0.16  0.21  0.16  1
 0.16 0.12  0.16  0.12 
K 2 EA  2

0.5   0.21  0.16 0.21 0.16  5
 
  0.16  0.12 0.16 0.12  6
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Example (Cont’d)4
Element Stiffness Matrices in Global Coordinates
3 4 1 2 1 2 5 6
 0.09  0.12  0.09 0.12 3  0.21 0.16  0.21  0.16 1
 0.12 0.16 0.12  0.16 4  0.16 0.12  0.16  0.12 2
K 1  EA   K 2  EA  
0.5  0.09 0.12 0.09  0.12 1 0.5   0.21  0.16 0.21 0.16 5
   
 0.12  0.16  0.12 0.16 2  0.16  0.12 0.16 0.12 6
Assembling Structure-
Structure-Stiffness Matrix
3 4 1 2 5 6
 0.09  0.12  0.09 0.12  3
 0.12 0.16 0.12  0.16  4
 
 0.09 0.12 0.09  0.21  0.12  0.16  0.21  0.16
K   K 1  K 2  EA 
1

0.5  0.12  0.16  0.12  0.16 0.16  0.12  0.16  0.12 2
  0.21  0.16 0.21 0.16 5
 
  0.16  0.12 0.16 0.12 6
Example (Cont’d)4
Reordering Structure-
Structure-Stiffness Matrix & Applying Boundary Conditions
1 2 3 4 5 6
Q1   0.30 04 00.09

0 30 00.04 12 00.21
09 00.12 21 00.16
16  1 
Q   0.04 0.28 0.12 0.16 0.16 0.12  
  2   2
Q3  EA 0.09 0.12 0.09 0.12 0 0  0 
    
Q4  0.5  0.12 0.16 0.12 0.16 0 0  0 
Q5   0.21 0.16 0 0 0.21 0.16  0 
    
 6 
Q  0.16 0.12 0 0 0.16 0.12  0 
Solve for Primary

y Unknown Structure Deformations
Q1  EA 0.30 0.04  1 

    
Q2  0.5 0.04 0.28 2 
1
 1  0.5 0.30 0.04 Q1  0.5 1  0.28 0.04  0 1  0.485
  0.04 0.28 Q   EA  0.0824 0.04 0.30  2  EA 3.641

 2 EA    2     
74
4/13/2010
Example (Cont’d)4
1 2 3 4 5 6
Q1   0.30 0.04 0.09 0.12 0.21 0.16  1 

Q   0.04 0.28 0.12 0.16 0.16 0.12  
 2   2
Q3  EA 0.09 0.12 0.09 0.12 0 0  0  1  1  0.485
        
Q4  0.5  0.12 0.16 0.12 0.16 0 0  0  2  EA  3.641
Q5   0.21 0.16 0 0 0.21 0.16  0 
    
 6 
Q  0.16 0.12 0 0 0.16 0.12  0 
Solve for Support Reactions
Q3  0.09 0.12 0.96

Q   0.12 0.16   
 4  EA 
    1    1.28
Q5  0.5  0.21 0.16 2   0.96
 
Q6  0.16 0.12  0.72
Example (Cont’d)4
Solve for Member Forces
 1  
T e  
0 0
k e  EA 
1
L  1 1  0 0   
 i 
 q1  EA           j 
 qe   k e  e   k e T e e       
 q2  L           k 
  l 
Since q1 is always numerically equal to q2 , it is only necessary
to solve for one of these forces. Since q2 was assumed to be a
force, a  ve answer means that the bar is in tension
tension force
 i 
 
EA  
q2       j 
L  k 
  l 
75
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Example (Cont’d)4
1 2.0 m -53.1o -143.1o 0.6 -0.8 3 4 1 2
2 1.5 m -143.1o 126.9o -0.8 -0.6 1 2 5 6
 i 
 
EA   1  1  0.485
q2        j     
L  k  2  EA  3.641
  l 
0
0
 0.6 0.8 0.6 0.8     1.60
EA
q12  .60 kN
N
2  1
  2 
 1 
 
0.8 0.6 0.8 0.6   02   1.20 kN
EA
q22 
1.5  
 0 
Analysis of Flexural Structures

Structures With Joints That Can Rotate But Not Translate
1 , q1  2 , q2
i
EI
j
L
Element Stiffness Matrix in Local Coordinates
 q1  2 EI  2 1   1 
   
 q2  L  1 2   2 
1  1 0    i  1 0 
 
      T e   0 1 
 2  0 1  j  
Element Stiffness Matrix in Global Coordinates
i j
2 1 
K e  T Te k e T e 2 EI i
 1 2 
L   j
76
4/13/2010
Example
20 kN - m 3 2
A B C
EI EI
4
EI 5m
D 1
5m 10 m
Global Coordinates
1 1
1 2 2 2
Member L i j 2
1 5m 3 2
3
2 10 m 2 4
1
3 5m 1 2
Local Coordinates
Example (Cont’d)
Element Stiffness Matrix in Global Coordinates Member L i j
j
1 5m 3 2
i
EI  2 1 2 10 m 2 4
K e  22EI
i
 L 1 2  j 3 5m 1 2
3 2 2 4 1 2
K 1  EI 
0 .8 0 .4   0 .4 0 . 2  2  0 .8 0 .4 
K 2 K 3
3 1
  EI    EI  
 0 . 4 0 .8  2  0 .2 0 . 4  4  0 . 4 0 .8  2
Assembling Structure-
Structure-Stiffness Matrix
 Q1   0.8 0.4 0   1 
0
Q   0.4 2.0 0.4 0.2    2 
 2
   EI   
 Q3   0 0.4 0.8 0    3 
Q4   
 0 0.2 0 0.4    4 
77
4/13/2010
Example (Cont’d)
Solve for Primary Unknown Structure Deformations
1
1  1 0.8 0.4  0  1  5.56
       
2  EI 0.4 2.0 20 EI  11.11
Solve for Member Forces
T e  
1 0
k e  2 EI 
2 1
L 1 2  
0 1 
 q  2 EI 2 1   i 
 qe   k e  e   k e T e e   1   1 2   
 q2  L   j
q   4.44 4.44 2.22 0 6.67

T T
1
1 q12 q12 q22 q13 q23 8.89
Equivalent Joint Loads

20 kN 20 kN
A B
C
EI EI
5m 5m 2.5 m 2.5 m
1 , Q1  2 , Q2
Global Coordinates  3 , Q3
 ,q
1
2 2
1 12 , q12
Local Coordinates
1  21 , q12 2  22 , q22
20 kN 20 kN
q11F  25 q12F  25 q12 F  12.5

1 2 q22 F  12.5
Fixed--End Member Forces

Fixed
78
4/13/2010
Equivalent Joint Loads (Cont’d)

20 kN 20 kN
A B
C
EI EI
5m 5m 2.5 m 2.5 m
=
20 kN 20 kN
q12F  25
q11F  25 q12 F  12.5 q22 F  12.5
+
QE 1  25 QE 2  12.5
Analysis of Flexural Structures

Structures With Joints That Can Translate
 3 , q3  6 , q6
 1 , q1  4 , q4
EI
 2 , q2 L  5 , q5
Element Stiffness Matrix in Local Coordinates

 EA EA 
 0 0  0 0
L L
 6 EI 
 2   1 
 q1   12 EI 6 EI 12 EI
0  0 
q   L3 L2 L3 L   
 2  6 EI 4 EI 6 EI 2 EI   2 
 2
 q3   L   3 
0 0
L L L2
   
0   4 
EA EA
q 4    0 0 0
 q5   L L   
   12 EI 6 EI 12 EI 6 EI   5 
 q6   0  3 0  
L L2 L3 L2   6 
 6 EI 2 EI 6 EI 4 EI 
 0  2 0 
 L L L2 L 
79
4/13/2010
Analysis of Flexural Structures (Cont’d)

m
Transformation Matrix
4 n
l
j 6
k 
3 Member 5
y   direction
i
1
x 2
 1     0 0 0 0  i 
      0 0 0 0    j 
 2 
 3   0 0 1 0 0 0    k 
      cos  ,   cos 
 4   0 0 0   0  l 
 5   0 0 0   0  m 
    
 6   0 0 0 0 0 1   n 
where  and  are called the direction cosines of the member

Analysis of Flexural Structures (Cont’d)

Element Stiffness Matrix in Global Coordinates
i j k l m n
 C1  i
 C C3 symmetric  j
 2 
 C  C5 C6  k
K e  T Te k e T e  4 
  C1  C2  C4 C1  l
 C2  C3 C5 C 2 C3  m
 
 C 4  C5 C7  C 4 C 5 C 6  n
where
EA 2 12 EI 2  EA 12 EI  EA 2 12 EI 2
C1    3  , C2    3  , C 3    3 
L L  L L  L L
6 EI 6 EI 4 EI 2 EI
C4   , C5  2  , C 6  , C7 
L2 L L L
80

CE 103 Structural Analysis

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4/13/2010

CE 103 Structural Analysis

Assoc Professor Ang Kok Keng

CE 103 Structural Analysis 2

Idealized model Free body diagram

Stability And Determinacy

Determinate Indeterminate Unstable

CE 103 Structural Analysis 6

General Stability And Determinacy of Beams

where r  number of reaction elements

CE 103 Structural Analysis 7

General Stability And Determinacy of Trusses

where m  number of truss members

CE 103 Structural Analysis 9

General Stability And Determinacy of Frames

where m  number of members

For analytical purposes, we assume that

A truss is represented by a line drawing with the lines along

CE 103 Structural Analysis 14

Consider the above free-body diagram of a separate joint of

Example – Determine the member forces in the plane

Joints Under Special Loading Conditions

FAE  FAC and FAB  FAD

CE 103 Structural Analysis 18

Joints Under Special Loading Conditions

FAC  P and FAB  FAD

Joints Under Special Loading Conditions

Joints Under Special Loading Conditions

FAE  FAC and FAB  FAD

In this method, the equilibrium of parts of the truss is

The procedure involves cutting some carefully selected

Forces are calculated by applying equilibrium to the

CE 103 Structural Analysis 22

CE 103 Structural Analysis 23

Method of Joint or Section?

At joints I and J, there are three unknown forces to be found.

Determine the forces in members AB and CD of

CE 103 Structural Analysis 27

Beams and Frames

CE 103 Structural Analysis 29

 Upward force positive? Anticlockwise moment positive?

CE 103 Structural Analysis 30

Sign Convention (Cont’d)

 Shortening (compression) is –ve

 Static sign convention used when writing

CE 103 Structural Analysis 32

Method of Section (Cont’d)

Method of Section (Cont’d)

Write an equation of moment equilibrium about cut section

Relationships Between Load, Shear, BM

CE 103 Structural Analysis 35

Relationships Between Distributed Load, …

CE 103 Structural Analysis 36

Relationships Between Concentrated Loads, …

CE 103 Structural Analysis 37

Shear and Moment Diagrams

1. Sketch the free

CE 103 Structural Analysis 38

Shear and Moment Diagrams (Cont’d)

 Follow direction of loading: VB > VA if distributed

CE 103 Structural Analysis 39

Shear and Moment Diagrams (Cont’d)

Shear and Moment Diagrams (Cont’d)