CH3 - Stiffness Method - Beams Frames

CON4378 ADVANCED STRUCTURAL ANALYSIS
│CHAPTER 3│
Stiffness Method
Learning Objectives
z Acquire the knowledge of determining the degree of
kinematic indeterminacy of beams and frames.
z Understand the properties of stiffness matrix, concept of
nodes and elements, and node numbering consideration.
z Formulate element stiffness matrices, structure stiffness
matrix and load vector.
z Understand the transformation from local to global
coordinates.
z Apply stiffness method to analyse indeterminate beams
and plane frames.
z Partition of matrix to determine unknown displacements
and support reactions.
Chapter 3 1
HD in Civil Engineering
1. Stiffness Method
Methods of structural analysis can be classified as either a force method or a

displacement method.
1.2 Force Method (Flexibility Method)
For statically determinate structures, the internal forces in the members can be
determined by statics alone, and then the deformed shape of the structure
follows.
For statically indeterminate structures, the relative sizes and stiffnesses of the
members are required in the solution for the redundants using the conditions of
consistent deformation. After the redundants are determined, the remaining
unknowns can be obtained by statics.
Although the name method of consistent deformation has been appropriately

used in the past, an alternate name for it might be redundant-force method, or
simply force method. The name force method has gained popular recognition
because of its contrast with the name displacement method.
The force method is also known as the flexibility method because under matrix
notation the forces and the displacements of a structure are related to one
another in the method by flexibility influence coefficients.
1.3 Displacement Method (Stiffness Method)

In the displacement method, the solution procedure is the same whether the
structure is statically determinate or statically indeterminate. The
displacements of the joints in a structure are solved at the very beginning from
an equal number of equations of equilibrium. After that the internal forces in
the members and the external reactions are determined from the deformed shape
of the structure.
The matrix-displacement method, which is also known as the stiffness method,

uses the stiffness properties of the elements of the structure to form a set of
simultaneous equations relating displacements of a structure to the loads acting
on it. Matrix methods do not involve any new fundamental principles.
Matrix notation is a convenient format for programming digital computers to
solve the simultaneous equations involved.
Chapter 3 2
Modern structural analysis programs are based on the Direct Stiffness Method
because it is more systematic, can be more easily implemented on computers,
and offers advantages in the solution of the simultaneous equations involved.
It should be noted that the moment-distribution method, although not a matrix

method, is also a displacement method, one that is based on successive
approximations.
2. Degree of Freedom and Boundary Conditions

2.1 Degree of Freedom
In the context of the stiffness method the degree of freedom of a structure is the
number of displacement components to be found during the analysis. Finding
these displacements by the stiffness method involves the solution of a system of
linear equations relating the known applied forces to the unknown displacements,
where the number of equations is equal to the degree of freedom of the structure.
When the stiffness method is applied to structural frameworks a node is usually

located at each joint of the structure. The analysis determines the nodal
displacements caused by the applied loading. The number of possible
displacement components at each node is known as the nodal degree of freedom,
and the nodal degree of freedom for different framework types is shown below.
Framework Type Nodal Degree of Freedom
Plane Truss 2
Space Truss 3
Plane Frame 3
Grillage 3
Space Frame 6
Figure 1 - Nodal Degree of Freedom
Chapter 3 3
The space frame is the most complicated type of rigidly jointed framework.
Each element of a space frame can undergo axial deformation, torsional
deformation, and flexural deformation (in two planes). All other types of
rigidly jointed frameworks are special cases of space frame structures.
2.2 Boundary Conditions

For stability a structure is always restrained at one or more nodes. These
restraints are known as boundary conditions and they have the effect of reducing
the degree of freedom of the restrained node.
Figure 2 - Boundary Conditions for Plane Trusses & Plane Frames
The determination of the degree of freedom of a framed structure is a

straightforward process, requiring only knowledge of the nodal degree of
freedom, and an understanding of the boundary conditions. The degree of
freedom of the structure is simply the product of the number of nodes and the
nodal degree of freedom, less the number of restrained displacement
components.
Figure 3 - Unrestrained Nodal Displacements
Chapter 3 4
3. Stiffness Method for Beams
3.1 Member and Node Identification
Figure 4
In general, each element (member) should be free from load (if there is span
load, the load vector will have to be modified) and have a prismatic
cross-section. As a result, the nodes (joints) of each element are located at the
supports, at the points of changing cross-section, at the points of application of
loads and at the points where the displacements are to be determined. The
“near” end and “far” end of an element are shown by the direction of arrow.
The node number is enclosed in a “circle’ and the element number is enclosed in
a “square”. The lowest code numbers will be used to identify the unknown
displacements (unconstrained DOF) and the highest code numbers will be used
to identify the known displacements (constrained DOF, such as the supports).
3.2 Global and Member (Local) Coordinates

The global coordinate system is identified by X, Y and Z, whereas the member
(local) coordinate system is identified by x’, y’ and z’. The direction of x’ is
pointing from “near” end to “far” end of a member. See figure 4.
Chapter 3 5
3.3 Degree of Freedom
It is a normal practice to ignore the effect of axial force if any in the analysis of
beams, only the effects of both shear and bending are considered. As a result,
a beam can have TWO degrees of freedom in each node, namely vertical
displacement and rotation. Some of the examples are shown below.
Figure 5 – Degree of Freedoms
Chapter 3 6
3.4 Element Stiffness Matrix for Beam (k)
The origin of the coordinates is placed at the “near” end N, and the positive x’
axis extends towards the “far” end F. There are two forces at each end,
namely qNy’ and qNz’ at the near end and qFy’ and qFz’ at the far end. The forces
shown in the Figure 6 are in positive direction and follow the right-hand rule.
Figure 6 – Positive Sign Convention
y’ Displacements.
When a positive displacement dNy’ is imposed on the near end when other
possible displacements remain zero, then the forces generated are shown in the
Figure 7. Similarly when a positive displacement dFy’ is imposed on the far
end, the forces generated are shown in Figure 8.
Figure 7
Chapter 3 7
Figure 8
z’ Rotation
When a positive rotation dNz’ is imposed on the near end when other possible
displacements remain zero, then the forces generated are shown in the Figure 9.
Similarly when a positive rotation dFz’ is imposed on the far end, the forces
generated are shown in Figure 10.
Figure 9
Figure 10
Chapter 3 8
By superposition of the force-displacement relationship in the figures 7 to 10,
the element stiffness matrix k can be obtained.
Ny’ Nz’ Fy’ Fz’

⎡ 12 EI 6 EI 12 EI 6 EI ⎤
⎢ L3 − 3
L2 L L2 ⎥ d
⎡q Ny ' ⎤ ⎢ 6 EI 4 EI 6 EI 2 EI ⎥ ⎡ Ny ' ⎤
⎢q ⎥ ⎢ − 2 ⎥⎢ ⎥
⎢ Nz ' ⎥ = ⎢ L
2
L L L ⎥ ⎢ d Nz ' ⎥
⎢ qFy ' ⎥ ⎢− 12 EI 6 EI
− 2
12 EI
− 2 ⎥⎥ ⎢⎢ d Fy ' ⎥⎥
6 EI
⎢ ⎥ ⎢ L3 L L3 L
⎣ qFz ' ⎦ ⎢ 6 EI 2 EI 6 EI 4 EI ⎥ ⎣ Fz ' ⎦
d
⎢ − 2 ⎥
⎣ L2 L L L ⎦
In matrix format, this can be written as q = kd. The symmetric matrix k is the
element stiffness matrix. There are 16 influence coefficients kij in the element
stiffness matrix of beam. These coefficients represent the load on the member
when the member undergoes a specified unit displacement. For example if dNz’
= 1 when the other displacements are zero, the member will be subjected only to
the four loadings indicated in the second column of the k matrix.
3.5 Structure Stiffness Matrix for Beam (K)

When all the element stiffness matrices are determined, it is necessary to form
(assemble) the structure stiffness matrix (K). The rows and columns of each k
matrix are identified by the two code numbers at the near end of the element (Ny’,
Nz’) followed by those at the far end (Fy’, Fz’). When assembling the matrices,
each element must be placed in the same location of the K matrix, and K will
have an order that will be equal to the highest code number assigned to the beam.
Where several members are connected to a node, their element stiffness
influence coefficients should be added together. The influence coefficient of
Kij represents the load in the direction and at the location of code number “i”
when a unit displacement occurs in the direction and at the location of code
number “j”.
Chapter 3 9
3.6 Intermediate Loadings
The analysis procedure will have to be modified when there are intermediate
loadings such as UDL, point loads…etc, on the span of the beam. To handle
this case, the principle of superposition will be used. Consider the element of
length L is subjected to a point load P in Figure 11. First we determine the
fixed-end moments and forces of the element as shown in Figure 11. Then we
apply the –ve fixed end forces to the node as the nodal forces in the stiffness
method and these forces will form the column vector –qo. Having conducted
the analysis by the stiffness method, the results are then added to the fixed-end
forces qo to obtain the final results, i.e. q = kd + qo.
Figure 11
3.7 Application of the Stiffness Method for Beam Analysis

When the structure stiffness matrix K is formed, the loads at the nodes can be
related to the displacements at the nodes using the structure stiffness equation.
Q =KD
Where Q and D are column matrices that represent both the known and
unknown loads and displacements. Partitioning the stiffness matrix into the
known and unknown elements of load and displacement, we have
Chapter 3 10
⎡Qk ⎤ ⎡ K11 K12 ⎤ ⎡ Du ⎤
⎢Q ⎥ = ⎢ K ⋅
K 22 ⎥⎦ ⎢⎣ Dk ⎥⎦
⎣ u ⎦ ⎣ 21
Which when expanded yielded the two equations

Qk = K11Du + K12Dk (1)
Qu = K21Du + K22Dk (2)
The unknown displacements Du are determined from the first of these equations.
Using these values, the support reaction Qu are computed from the second
equation.
Chapter 3 11
Example 1
Determine the reactions at the supports by stiffness method. Given that EI is

constant.
Solution
Element Stiffness Matrices:
Consider element 1:
12 EI 12 EI
= = 0.2799 EI
L3 3.53
6 EI 6 EI
= = 0.4898EI
L2 3.52
4 EI 4 EI
= = 1.1429 EI
L 3.5
Chapter 3 12
2 EI 2 EI
= = 0.5714 EI
L 3.5
4 5 1 2
⎡ 0.2799 0.4898 − 0.2799 0.4898 ⎤ 4
⎢ 0.4898 1.1429 − 0.4898 0.5714 ⎥ 5
k1 = EI ⎢ ⎥
⎢− 0.2799 − 0.4898 0.2799 − 0.4898⎥ 1
⎢ ⎥
⎣ 0.4898 0.5714 − 0.4898 1.1429 ⎦ 2
Consider element 2:
12 EI 12 EI
= 3 = 0.096 EI
L3 5
6 EI 6 EI
= 2 = 0.24 EI
L2 5
4 EI 4 EI
= = 0.8 EI
L 5
2 EI 2 EI
= = 0.4 EI
L 5
1 2 6 3
⎡ 0.096 0.24 − 0.096 0.24 ⎤ 1
⎢ 0.24 0.8 − 0.24 0.4 ⎥ 2
k 2 = EI ⎢ ⎥
⎢− 0.096 − 0.24 0.096 − 0.24⎥ 6
⎢ ⎥
⎣ 0.24 0.4 − 0.24 0.8 ⎦ 3
Known load and Displacement Matrices:

⎡− 100⎤ 1
Qk = ⎢ 0 ⎥ 2
⎢ ⎥
⎢⎣ 0 ⎥⎦ 3
⎡0 ⎤ 4
Dk = ⎢0⎥ 5
⎢ ⎥
⎢⎣0⎥⎦ 6
Displacements and Loads:
Q = KD
Chapter 3 13
Assemble the element stiffness matrices (k) into the structure stiffness matrix (K)
of the beam.
⎡− 100⎤ ⎡ 0.2799 + 0.096 − 0.4898 + 0.24 0.24 − 0.2799 − 0.4898 − 0.096⎤ ⎡ D1 ⎤

⎢ 0 ⎥ ⎢− 0.4898 + 0.24 1.1429 + 0.8 0.4 0.4898 0.5714 − 0.24 ⎥ ⎢ D2 ⎥
⎢ ⎥ ⎢ ⎥⎢ ⎥
⎢ 0 ⎥ ⎢ 0.24 0.4 0.8 0 0 − 0.24 ⎥ ⎢ D3 ⎥
⎢ ⎥ = EI ⎢ ⎥⎢ ⎥
⎢ Q4 ⎥ ⎢ − 0.2799 0.4898 0 0.2799 0.4898 0 ⎥⎢ 0 ⎥
⎢ Q5 ⎥ ⎢ − 0.4898 0.5714 0 0.4898 1.1429 0 ⎥⎢ 0 ⎥
⎢ ⎥ ⎢ ⎥⎢ ⎥
⎣ Q6 ⎦ ⎣ − 0.096 − 0.24 − 0.24 0 0 0.096 ⎦ ⎣ 0 ⎦
1 2 3 4 5 6
⎡− 100⎤ ⎡ 0.3759 − 0.2498 0.24 − 0.2799 − 0.4898 − 0.096⎤ ⎡ D1 ⎤ 1

⎢ 0 ⎥ ⎢− 0.2498 1.9429 0.4 0.4898 0.5714 − 0.24 ⎥ ⎢ D2 ⎥ 2
⎢ ⎥ ⎢ ⎥⎢ ⎥
⎢ 0 ⎥ ⎢ 0.24 0.4 0.8 0 0 − 0.24 ⎥ ⎢ D3 ⎥ 3
⎢ ⎥ = EI ⎢ ⎥⎢ ⎥
⎢ Q 4 ⎥ ⎢− 0.2799 0.4898 0 0.2799 0.4898 0 ⎥⎢ 0 ⎥ 4
⎢ Q5 ⎥ ⎢− 0.4898 0.5714 0 0.4898 1.1429 0 ⎥⎢ 0 ⎥ 5
⎢ ⎥ ⎢ ⎥⎢ ⎥
⎣ Q6 ⎦ ⎣ − 0.096 − 0.24 − 0.24 0 0 0.096 ⎦ ⎣ 0 ⎦ 6
Solving:
⎡− 100⎤ ⎡ 0.3759 − 0.2498 0.24⎤ ⎡ D1 ⎤
⎢ 0 ⎥ = EI ⎢− 0.2498 1.9429 0.4 ⎥ ⎢ D2 ⎥
⎢ ⎥ ⎢ ⎥⎢ ⎥
⎢⎣ 0 ⎥⎦ ⎢⎣ 0.24 0.4 0.8 ⎥⎦ ⎢⎣ D3 ⎥⎦
⎡ D1 ⎤ ⎡ 1.3943 0.2958 − 0.5662⎤ ⎡− 100⎤ ⎡− 443.62⎤

⎢D ⎥ = 1
⋅
1 ⎢ 0.2958 0.2431 − 0.2103⎥ ⎢ 0 ⎥ =
1 ⎢ − 94.11 ⎥
⎢ 2 ⎥ EI 0.3143 ⎢ ⎥⎢ ⎥ EI ⎢ ⎥
⎢⎣ D3 ⎥⎦ ⎢⎣− 0.5662 − 0.2103 0.6679 ⎥⎦ ⎢⎣ 0 ⎥⎦ ⎢⎣ 180.15 ⎥⎦
Hence the support reactions are:

⎡Q4 ⎤ ⎡− 0.2799 0.4898 0 ⎤ ⎡− 443.62⎤ ⎡78.07 ⎤
⎢Q ⎥ = EI ⎢− 0.4898 0.5714 0 ⎥⋅ ⎢ − 94.11 ⎥ = ⎢163.5 ⎥
1
⎢ ⎥5 ⎢ ⎥ EI ⎢ ⎥ ⎢ ⎥
⎢⎣Q6 ⎥⎦ ⎢⎣ − 0.096 − 0.24 − 0.24⎥⎦ ⎢⎣ 180.15 ⎥⎦ ⎢⎣21.94⎥⎦
Chapter 3 14
Example 2
Repeat Example 1 with one element.
Solution
Determine the Fixed End Forces of the element.
100 * 5 2 * 3.5
FEM 12 = = 121.11kNm
8.5 2
100 * 3.5 2 * 5
FEM 21 = = 84.78kNm
8.5 2
V12 = 100*5/8.5 + (121.11 – 84.78)/8.5 = 58.82 + 4.27 = 63.09 kN
V21 = 100*3.5/8.5 – 4.27 = 36.91 kN
Chapter 3 15
Element Stiffness Matrix:
Consider element 1:
12 EI 12 EI
= = 0.0195EI
L3 8.53
6 EI 6 EI
= = 0.0830 EI
L2 8.5 2
4 EI 4 EI
= = 0.4706 EI
L 8. 5
2 EI 2 EI
= = 0.2353EI
L 8.5
2 3 4 1
⎡ 0.0195 0.083 − 0.0195 0.083 ⎤ 2
⎢ 0.083 0.4706 − 0.083 0.2353 ⎥ 3
k1 = EI ⎢ ⎥
⎢− 0.0195 − 0.083 0.0195 − 0.083⎥ 4
⎢ ⎥
⎣ 0.083 0.2353 − 0.083 0.4706 ⎦ 1
Chapter 3 16
Qk = [84.78]1
⎡0 ⎤ 2
Dk = ⎢0⎥ 3
⎢ ⎥
⎢⎣0⎥⎦ 4
Q = KD
of the beam.
⎡ 84.78 ⎤ ⎡ 0.4706 0.083 0.2353 − 0.083 ⎤ ⎡ D1 ⎤

⎢ Q − 63.09 ⎥ ⎢ 0.083 0.0195 0.083 − 0.0195⎥ ⎢ 0 ⎥
⎢ 2 ⎥ = EI ⎢ ⎥⋅⎢ ⎥
⎢Q3 − 121.11⎥ ⎢ 0.2353 0.083 0.4706 − 0.083 ⎥ ⎢ 0 ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣ Q4 − 36.91 ⎦ ⎣− 0.083 − 0.0195 − 0.083 0.0195 ⎦ ⎣ 0 ⎦
From above,
180.15
84.78 = EI*0.4706D1, Hence D1 =
EI
⎡ Q2 − 63.09 ⎤ ⎡ 0.083 ⎤ ⎡ 14.95 ⎤

Hence, ⎢Q3 − 121.11⎥ = EI ⎢ 0.2353 ⎥ ⋅ [180.15] = ⎢ 42.39 ⎥
1
⎢ ⎥ ⎢ ⎥ EI ⎢ ⎥
⎢⎣ Q4 − 36.91 ⎥⎦ ⎢⎣− 0.083⎥⎦ ⎢⎣− 14.95⎥⎦
⎡Q2 ⎤ ⎡ 14.95 + 63.09 ⎤ ⎡78.04⎤

Therefore, ⎢Q3 ⎥ = ⎢ 42.39 + 121.11 ⎥ = ⎢163.5 ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎢⎣Q4 ⎥⎦ ⎢⎣− 14.95 + 36.91⎥⎦ ⎢⎣21.96⎥⎦
Chapter 3 17
Example 3
Determine the reactions at the supports by stiffness method, and hence sketch
the shear force and bending moment diagram. Span 1 is subjected to a UDL
and span 2 is subjected to a point load at the mid-span. The relative flexural
rigidities are shown in the figure.
Solution
Determine the Fixed End Forces of the elements.
Element 1
24 * 6 2
FEM 12 = = 72kNm
12
24 * 6 2
FEM 21 = = 72kNm
12
V12 = 24*6/2 = 72 kN = V21
Chapter 3 18
Element 2
80 * 4.5
FEM 23 = = 45kNm
8
80 * 4.5
FEM 32 = = 45kNm
8
V23 = 80/2 = 40 kN = V32
Element Stiffness Matrices:
Consider element 1:
12 EI 12 * 2 EI
= = 0.1111EI
L3 63
6 EI 6 * 2 EI
= = 0.3333EI
L2 62
4 EI 4 * 2 EI
= = 1.3333EI
L 6
2 EI 2 * 2 EI
= = 0.6667 EI
L 6
3 4 5 2
⎡ 0.1111 0.3333 − 0.1111 0.3333 ⎤ 3
⎢ 0.3333 1.3333 − 0.3333 0.6667 ⎥ 4
k1 = EI ⎢ ⎥
⎢− 0.1111 − 0.3333 0.1111 − 0.3333⎥ 5
⎢ ⎥
⎣ 0.3333 0.6667 − 0.3333 1.3333 ⎦ 2
Chapter 3 19
Consider element 2:
12 EI 12 EI
3
= 3
= 0.1317 EI
L 4.5
6 EI 6 EI
= = 0.2963EI
L2 4.5 2
4 EI 4 EI
= = 0.8889 EI
L 4.5
2 EI 2 EI
= = 0.4444 EI
L 4.5
5 2 6 1
⎡ 0.1317 0.2963 − 0.1317 0.2963 ⎤ 5
⎢ 0.2963 0.8889 − 0.2963 0.4444 ⎥ 2
k 2 = EI ⎢ ⎥
⎢− 0.1317 − 0.2963 0.1317 − 0.2963⎥ 6
⎢ ⎥
⎣ 0.2963 0.4444 − 0.2963 0.8889 ⎦ 1
⎡ 45 ⎤ 1 ⎡ 45⎤
Qk = ⎢ ⎥ =⎢ ⎥
⎣72 − 45⎦ 2 ⎣27⎦
⎡0 ⎤ 3
⎢0 ⎥ 4
Dk = ⎢ ⎥
⎢0 ⎥ 5
⎢ ⎥
⎣0 ⎦ 6
Q = KD
of the beam.
Chapter 3 20
⎡ 45 ⎤ ⎡ 0.8889 0.4444 0 0 0.2963 − 0.2963⎤ ⎡ D1 ⎤
⎢ 27 ⎥ ⎢ 1.3333 + 0.8889 0.6667 − 0.3333 + 0.2963 − 0.2963⎥⎥ ⎢⎢ D2 ⎥⎥
⎢ ⎥ ⎢ 0.4444 0.3333
⎢ Q3 − 72 ⎥ ⎢ 0 0.3333 0.1111 0.3333 − 0.1111 0 ⎥ ⎢0⎥
⎢ ⎥ = EI ⎢ ⎥⋅⎢ ⎥
⎢ Q4 − 72 ⎥ ⎢ 0 0.6667 0.3333 1.3333 − 0.3333 0 ⎥ ⎢0⎥
⎢Q5 − 72 − 40⎥ ⎢ 0.2963 − 0.3333 + 0.2963 − 0.1111 − 0.3333 0.1111 + 0.1317 − 0.1317 ⎥ ⎢ 0 ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎢⎣ Q6 − 40 ⎥⎦ ⎢⎣− 0.2963 − 0.2963 0 0 − 0.1317 0.1317 ⎥⎦ ⎢⎣ 0 ⎥⎦
⎡ 45 ⎤ ⎡ 0.8889 0.4444 0 0 0.2963 − 0.2963⎤ ⎡ D1 ⎤

⎢ 27 ⎥ ⎢ 0.4444 2.2222 0.3333 0.6667 − 0.037 − 0.2963⎥⎥ ⎢⎢ D2 ⎥⎥
⎢ ⎥ ⎢
⎢ Q3 − 72 ⎥ ⎢ 0 0.3333 0.1111 0.3333 − 0.1111 0 ⎥ ⎢0⎥
⎢ ⎥ = EI ⎢ ⎥⋅⎢ ⎥
⎢ Q4 − 72 ⎥ ⎢ 0 0.6667 0.3333 1.3333 − 0.3333 0 ⎥ ⎢0⎥
⎢Q5 − 112⎥ ⎢ 0.2963 − 0.037 − 0.1111 − 0.3333 0.2428 − 0.1317 ⎥ ⎢ 0 ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎢⎣ Q6 − 40 ⎥⎦ ⎢⎣− 0.2963 − 0.2963 0 0 − 0.1317 0.1317 ⎥⎦ ⎢⎣ 0 ⎥⎦
Partition the matrix,
⎡ 45⎤ ⎡0.8889 0.4444⎤ ⎡ D1 ⎤

⎢27 ⎥ = EI ⎢0.4444 2.2222⎥ ⋅ ⎢ D ⎥
⎣ ⎦ ⎣ ⎦ ⎣ 2⎦
⎡D ⎤ 1 1 ⎡ 2.2222 − 0.4444⎤ ⎡ 45⎤ 1 ⎡49.50⎤

Hence ⎢ 1 ⎥ = ⋅ ⎢− 0.4444 0.8889 ⎥ ⎢27⎥ = EI ⎢ 2.251⎥
⎣ 2⎦
D EI 1 .7778 ⎣ ⎦⎣ ⎦ ⎣ ⎦
The reactions are:

⎡ Q3 − 72 ⎤ ⎡ 0 0.3333 ⎤ ⎡ 0.75 ⎤
⎢ Q − 72 ⎥ ⎢ 0 ⎥ ⎢ ⎥
⎢ ⎥ = EI ⎢ 0. 6667
⎥⋅ 1 ⎡49.50⎤ ⎢ 1.50 ⎥
⎢ 2.251⎥ = ⎢ 14.58 ⎥
4
⎢Q5 − 112⎥ ⎢ 0.2963 − 0.037 ⎥ EI ⎣ ⎦
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣ Q6 − 40 ⎦ ⎣− 0.2963 − 0.2963⎦ ⎣− 15.33⎦
⎡Q3 ⎤ ⎡ 0.75 + 72 ⎤ ⎡ 72.75 ⎤

⎢Q ⎥ ⎢ 1.5 + 72 ⎥ ⎢ 73.50 ⎥
Hence ⎢ ⎥ = ⎢ ⎥=⎢ ⎥
4
⎢Q5 ⎥ ⎢ 14.58 + 112 ⎥ ⎢126.58⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣Q6 ⎦ ⎣− 15.33 + 40⎦ ⎣ 24.67 ⎦
Chapter 3 21
Member End Forces:
Element 1
q = kd + Fixed End Forces = kD + Fixed End Forces
⎡ q1 y ' ⎤ ⎡ 0.1111 0.3333 − 0.1111 0.3333 ⎤ ⎡ 0 ⎤ ⎡ 72 ⎤

⎢q ⎥ ⎢ 0.3333 1.3333 − 0.3333 0.6667 ⎥ 1 ⎢ 0 ⎥ ⎢ 72 ⎥
⎢ 1z ' ⎥ = EI ⎢ ⎥⋅ ⎢ ⎥+⎢ ⎥
⎢q2 y ' ⎥ ⎢− 0.1111 − 0.3333 0.1111 − 0.3333⎥ EI ⎢ 0 ⎥ ⎢ 72 ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣ q2 z ' ⎦ ⎣ 0.3333 0.6667 − 0.3333 1.3333 ⎦ ⎣2.251⎦ ⎣− 72⎦
⎡ q1 y ' ⎤ ⎡ 0.75 ⎤ ⎡ 72 ⎤ ⎡72.75⎤

⎢ q ⎥ ⎢ 1.5 ⎥ ⎢ 72 ⎥ ⎢ 73.5 ⎥
⎢ 1z ' ⎥ = ⎢ ⎥+⎢ ⎥=⎢ ⎥
⎢q2 y ' ⎥ ⎢− 0.75⎥ ⎢ 72 ⎥ ⎢71.25⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣ q2 z ' ⎦ ⎣ 3 ⎦ ⎣− 72⎦ ⎣ − 69 ⎦
Element 2
⎡q 2 y ' ⎤ ⎡ 0.1317 0.2963 − 0.1317 0.2963 ⎤ ⎡ 0 ⎤ ⎡ 40 ⎤
⎢q ⎥ ⎢ 0.2963 0.8889 − 0.2963 0.4444 ⎥ 1 ⎢2.251⎥ ⎢ 45 ⎥
⎢ 2 z ' ⎥ = EI ⎢ ⎥⋅ ⎢ ⎥+⎢ ⎥
⎢ q3 y ' ⎥ ⎢− 0.1317 − 0.2963 0.1317 − 0.2963⎥ EI ⎢ 0 ⎥ ⎢ 40 ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣ q3 z ' ⎦ ⎣ 0.2963 0.4444 − 0.2963 0.8889 ⎦ ⎣ 49.5 ⎦ ⎣− 45⎦
⎡q2 y ' ⎤ ⎡ 15.33 ⎤ ⎡ 40 ⎤ ⎡55.33⎤

⎢ q ⎥ ⎢ 24.0 ⎥ ⎢ 45 ⎥ ⎢ 69 ⎥
⎢ 2z' ⎥ = ⎢ ⎥+⎢ ⎥=⎢ ⎥
⎢ q3 y ' ⎥ ⎢− 15.33⎥ ⎢ 40 ⎥ ⎢24.67 ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣ q3 z ' ⎦ ⎣ 45 ⎦ ⎣− 45⎦ ⎣ 0 ⎦
Chapter 3 22
Shear Force Diagram (kN)
Bending Moment Diagram (kNm)
Chapter 3 23
4. Stiffness Method for Frames
4.1 Element Stiffness Matrix for Frame-Member

x’ Displacement
Consider an element is subjected to a positive x’ displacement in the near and
the far ends. When a positive displacement dNx’ is imposed on the near end of
the member while the far end is held pinned, the forces developed at the ends of
members are:
AE AE
q ' Nx ' = d Nx ' q 'Fx ' = − d Nx '
L L
When a positive displacement dFx’ is imposed on the far end of the member
while the near end is held pinned, the forces developed at the ends of members
are:
AE AE
q ' ' Nx ' = − d Fx ' q ' 'Fx ' = d Fx '
L L
Chapter 3 24
The details are shown in Figure 12.
Figure 12
Chapter 3 25
In general, a frame-member is subjected to axial force, shear force and bending
moment at its ends as shown in Figure 13. We denote axial forces by qNx’, qFx’,
shear forces by qNy’, qFy’, and bending moments by qNz’, qFz’ at its near and far
ends respectively. These forces all act in the positive direction and follow the
right-hand rule.
Figure 13
By superposition of the above results and that of 3.4, the resulting six
load-displacement relations for the member can be expressed in matrix form as:
Nx’ Ny’ Nz’ Fx’ Fy’ Fz’

⎡ AE AE ⎤
⎢ L 0 0 − 0 0 ⎥
L
⎢ 12 EI 6 EI 12 EI 6 EI ⎥ d
⎡q Nx ' ⎤ ⎢ 0 0 − ⎥ ⎡ Nx ' ⎤
⎢q ⎥ ⎢ L3 L2 L3 L2 ⎥ ⎢d ⎥
⎢ Ny ' ⎥ ⎢ 6 EI 4 EI 6 EI 2 EI ⎥ ⎢ Ny ' ⎥
⎢ q Nz ' ⎥ ⎢ 0 0 − 2
L2 L L ⎥ ⋅ ⎢ d Nz ' ⎥
⎥ = ⎢ AE
L
⎢ AE ⎥ ⎢d ⎥
⎢ q Fx ' ⎥ ⎢− 0 0 0 0 ⎥ ⎢ Fx ' ⎥
⎢ qFy ' ⎥ ⎢ L L ⎥ ⎢d ⎥
⎢ ⎥ ⎢ 0 12 EI 6 EI 12 EI 6 EI ⎥ ⎢ Fy ' ⎥
⎣ Fz ' ⎦ ⎢
q − − 0 − 2 ⎣ d Fz ' ⎦
L3 L2 L3 L ⎥
⎢ 6 EI 2 EI 6 EI 4 EI ⎥
⎢ 0 0 − 2 ⎥
⎣ L2 L L L ⎦
Or in abbreviated form as q = k’d
Chapter 3 26
The element stiffness matrix k’ consists of 36 influence coefficients that
physically represent the load on the element when the element undergoes a
specified unit displacement. Each column in the matrix represents the element
loadings for unit displacements identified by the DOF coding listed above the
column.
4.2 Displacement and Force Transformation Matrices

The element loads q and deformations d from local x’, y’ & z’ coordinates have
to be transformed to global X, Y & Z coordinates.
4.2.1 Displacement Transformation Matrix

When a global coordinate displacement DNX is imposed to the near end of a
member, it creates local coordinate displacements (see Figure 14(a))
d Nx ' = DNX ⋅ cos θ x , d Ny ' = − DNX ⋅ cos θ y
Figure 14(a)
Similarly, a global coordinate displacement DNY is imposed to the near end of a

member, it creates local coordinate displacements (see Figure 14(b)).
d Nx ' = DNY ⋅ cos θ y , d Ny ' = DNY ⋅ cos θ x
Chapter 3 27
Figure 14(b)
The z’ and Z axes are coincident, therefore a rotation DNZ about Z causes a
corresponding rotation dNz’ about z’. Hence dNz’ = DNZ
By the same reasoning, if global displacements DFX, DFY and DFZ are applied to
the far end, the resulting displacements in local coordinates are:
d Fx ' = DFX ⋅ cos θ x , d Fy ' = − DFX ⋅ cos θ y
d Fx ' = DFY ⋅ cos θ y , d Fy ' = DFY ⋅ cos θ x
And dFz’ = DFZ
Let λx = cosθx, and λy = cosθy represent the direction cosines of the element, one
can write the superposition of displacements in matrix form as
⎡ d Nx ' ⎤ ⎡ λ x λy 0 0 0 0⎤ ⎡ DNX ⎤
⎢d ⎥ ⎢− λ λx 0 0 0 0⎥ ⎢ DNY ⎥
⎢ Ny ' ⎥ ⎢ y ⎥ ⎢ ⎥
⎢ d Nz ' ⎥ ⎢ 0 0 1 0 0 ⎢
0 DNZ ⎥
⎥
⎢ ⎥=⎢ ⎥⋅⎢ ⎥
d
⎢ Fx ' ⎥ ⎢ 0 0 0 λx λy 0⎥ ⎢ DFX ⎥
⎢ d Fy ' ⎥ ⎢ 0 0 0 − λy λx 0⎥ ⎢ DFY ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣ d Fz ' ⎦ ⎣ 0 0 0 0 0 1⎦ ⎣ DFZ ⎦
Or d = TD
T is called the transformation matrix as it transforms the six global
displacements D into the six local displacements d.
Chapter 3 28
4.2.2 Force Transformation Matrix
Apply each component of load to the near end of an element, one can determine
how to transform the load components from local to global coordinates. Apply
qNx’ as shown in Figure 15 (a), it is noted that:
QNX = q Nx ' ⋅ cos θ x QNY = q Nx ' ⋅ cos θ y
Figure 15 (a)
Apply qNy’ as shown in Figure 15 (b), it is noted that:

QNX = −q Ny ' ⋅ cos θ y QNY = q Ny ' ⋅ cosθ x
Figure 15 (b)
Chapter 3 29
As qNz’ is collinear with QNZ, ⇒ QNZ = qNz’
Similarly if we apply end loads qFx’, qFy’ and qFz’, then the following results
would be obtained.
QFX = qFx ' ⋅ cos θ x QFY = qFx ' ⋅ cos θ y
QFX = − qFy ' ⋅ cosθ y QFY = qFy ' ⋅ cos θ x
QFZ = qFz’
Let λx = cosθx and λy = cosθy, we can obtain the transformation matrix for the
forces.
⎡QNX ⎤ ⎡ λx − λy 0 0 0 0⎤ ⎡q Nx ' ⎤
⎢ Q ⎥ ⎢λ λx 0 0 0 0⎥ ⎢q Ny ' ⎥
⎢ NY ⎥ ⎢ y ⎥ ⎢ ⎥
⎢ QNZ ⎥ ⎢ 0 0 1 0 0 ⎥ ⎢
0 q Nz ' ⎥
⎢ ⎥=⎢ ⎥⋅⎢ ⎥
Q
⎢ FX ⎥ ⎢ 0 0 0 λx − λy 0⎥ ⎢ qFx ' ⎥
⎢ QFY ⎥ ⎢ 0 0 0 λy λx 0⎥ ⎢ qFy ' ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣ QFZ ⎦ ⎣ 0 0 0 0 0 1⎦ ⎣ qFz ' ⎦
Or Q = TT*q
TT transforms the six member loads expressed in local coordinates into the six
loadings expressed in global coordinates.
The directional cosine λx and λy can be obtained by using the coordinates of the
“far” end and the “near” end.
xF − xN yF − yN
λ x = cos θ x = and λ y = cos θ y =
L L
Chapter 3 30
4.3 Frame-Member Global Stiffness Matrix
The results of 4.2 can be used to find the Global Stiffness Matrix of an element.
Consider element stiffness matrix

q = k’*d
⇒ q = k’*TD
⇒ Q = TT*k’*TD = (TT*k’*T)*D = k*D
Hence the global stiffness matrix of an element is
k= TT*k’*T
By performing the matrix multiplication, we can prove:
NX NY NZ FX FY Fz
⎡ ⎛ AE 2 12 EI 2 ⎞ ⎛ AE 12 EI ⎞ 6 EI ⎛ AE 2 12 EI 2 ⎞ ⎛ AE 12 EI ⎞ 6 EI ⎤
⎢ ⎜ L λx + 3 λ y ⎟ ⎜ − 3 ⎟λ x λ y − 2 λy −⎜ λx + 3 λ y ⎟ − ⎜ − 3 ⎟λ x λ y − 2 λy ⎥ N
⎢⎝ L ⎠ ⎝ L L ⎠ L ⎝ L L ⎠ ⎝ L L ⎠ L ⎥
X
⎢ ⎛⎜ AE − 12 EI ⎞⎟λ λ ⎛ AE 2 12 EI 2 ⎞ ⎛ 12 ⎞ ⎛ ⎞ 6
λx ⎥ N
6 EI AE EI AE 12 EI EI
⎜ λ y + 3 λx ⎟ λx −⎜ − 3 ⎟λ x λ y −⎜ λ y 2 + 3 λx 2 ⎟
⎢ ⎝ L L3 ⎠
x y
⎝ L L ⎠ L2 ⎝ L L ⎠ ⎝ L L ⎠ L2 ⎥ Y
⎢ 6 EI 6 EI 4 EI 6 EI 6 EI 2 EI ⎥
⎢ − 2 λy λx λy − 2 λx ⎥
⎥ NZ
2
k=⎢ L L L L2 L L
⎢ ⎛ AE 2 12 EI 2 ⎞ ⎛ AE 12 EI ⎞ 6 EI ⎛ AE 2 12 EI 2 ⎞ ⎛ AE 12 EI ⎞ 6 EI ⎥
⎢− ⎜ L λ x + L3 λ y ⎟ −⎜ − 3 ⎟λ x λ y λy ⎜ λx + 3 λ y ⎟ ⎜ − 3 ⎟λ x λ y λ y ⎥ FX
⎢ ⎝ ⎠ ⎝ L L ⎠ L2 ⎝ L L ⎠ ⎝ L L ⎠ L 2
⎥
⎢ − ⎛⎜ AE − 12 EI ⎞⎟λ λ ⎛ AE 2 12 EI 2 ⎞ 6 EI ⎛ AE 12 EI ⎞ ⎛ AE 2 12 EI 2 ⎞ 6 EI ⎥ FY
−⎜ λ y + 3 λx ⎟ − 2 λx ⎜ − 3 ⎟ x y λ λ ⎜ λ y + λ x ⎟ − λ
⎢ ⎝ L L ⎠
3 x y
⎝ L L ⎠ L ⎝ L L ⎠ ⎝ L L3 ⎠ L2
x
⎥
⎢ 6 EI 6 EI 2 EI 6 EI 6 EI 4 EI ⎥ FZ
⎢ − 2 λy λx λy − 2 λx ⎥
⎣ L L2 L L2 L L ⎦
Note that k is a 6*6 matrix and it is a symmetric matrix. Each column of the k
matrix represents the coordinate loads on the member at the nodes that are
necessary to resist a unit displacement in the direction defined by the coding of
the column. For example, the first column of k represents the global
coordinate loadings at the near and far ends caused by a unit displacement at the
near end in the X direction.
Chapter 3 31
4.4 Properties of the Structure Stiffness Matrix
It is square:-
The structure stiffness matrix is a square matrix of dimension “n” where “n” is
the degree of freedom of the structure.
It is symmetric:-
Kij = Kji
It is banded:-
By taking advantage of the band in the structure stiffness matrix savings can be
made of both computer storage and time. Indeed the problem size that can be
handled by many structure analysis computer program is limited, not by the
degree of freedom, but by the bandwidth of the structure stiffness matrix.
⎡ +# + + + + + ⎤ ⎡ ## + + + + +
⎤
⎢+ ⎥ ⎢# ⎥
# + + + + + + + +
+ # + + + + + +
⎢ ++ + + # + + + + + ⎥ ⎢ ## + + + + +⎥
⎢+ + +
+ +
+
+
#
+
+ +
# +
+
+
+
+ ⎥ ⎢#
+ +
+ +
+
+
+
⎥
⎢ + + + # + + + + + ⎥ ⎢ ## + + + + +⎥
⎢ +
+
+
+
+ +
+ +
#
+
+
#
+ +
+ +
+
+ ⎥ ⎢# +
+
+
+
+
+
+
⎥
⎢ + + + # + + + + + ⎥ ⎢# + + + + +⎥
⎢ +
+
+
+
+
+
+ #
+ +
+
#
+ +
+ +
+
+
⎥ ⎢ ## +
+
+
+
+
+
+
⎥
⎢ + + + # + + + + + These elements are⎥ stored as ⎢# + + + + +⎥
⎢ + + + + # + + + +
⎥ ⎢ ## + + + +
⎥
⎥ →→→→ ⎢ #
+ + + + + + + + + + +
⎢
#
+ + + # + + + + + + + + + +⎥
⎢ + +
+ +
+
+
+
+
#
+ #
+ +
+
+
+
+
+
⎥ ⎢ ## +
+
+
+
+
+
+
⎥
⎢ + + + # + + + + + ⎥ ⎢# + + + + +⎥
⎢ +
+
+ +
+ +
+
+
#
+
+ + + +
+ + +
⎥ ⎢ ## +
+
+
+
+
+
+
⎥
⎢ ⎥ ⎢# +⎥
#
+ + + # + + + + + + + + +
⎢ +
+
+
+
+
+
+ # + + + +
+ + # + + +
⎥ ⎢ ## +
+
+
+
+
+
+
⎥
⎢ + + + # + + + + +⎥ ⎢# + + + + +⎥
⎢ + + + + # + + + +
+ + + + + # + + +
⎥ ⎢ ## +
+ +
+ +
+
+
⎥
⎢ + + + # + +⎥ ⎢# + + ⎥
⎢⎣ + + + + # +
+ + + + + #⎦
⎥ ⎢⎣ ## +
⎥⎦
It is positive definite:-
The structure stiffness matrix is positive definite. Having a positive definite
coefficient matrix is a useful property when solving simultaneous equations.
Chapter 3 32
4.5 Node Numbering for Efficient Analysis
A very major portion of the computer time used in the computer analysis of a
structure is occupied by the solution of the matrix stiffness equation (usually by
some version of the Gaussian elimination approach). Typically for the solution
of a banded symmetric set of matrix equations:
No. of Numerical Operations is proportional to N2M

Where N = Non-zero half-band-width of the stiffness matrix.
M = Size of the stiffness matrix
The half-band width N is determined by the maximum difference between the

two node numbers in any single member.
Since the node numbering for a structure is normally determined by the user, it
is a good practice to assign the nodal numbers in such a way that the largest
nodal difference in the members is a minimum. This practice is still preferred
even when using analysis software which includes pre-processor for reassigning
the nodal numbers internally.
The following example illustrates the effect of two different sets of nodal
numbering for a simple plane frame (Each node in the frame has three degrees
of freedom, i.e. dof = 3):
1 2 1 5
3 4 2 6
5 6 3 7
7 8 4 8
Max. nodal difference = 2 Max. nodal difference = 4

Half-band width = 2*dof + 1 = 7 Half-band width = 4*dof + 1 = 13
Chapter 3 33
Solution of the matrix stiffness equations for the second nodal numbering
system will require roughly (132) / (72) = 3.4 times as much computing time as
that of the first. This is a significant difference for such a simple structure.
For a large structure, the factor of difference due to poor nodal numbering would
be much larger.
Proper Numbering for Skinny Frame
1 2 3 4
5 6 7 8
9 10 11 12
13 14 15 16
17 18 19 20
21 22 23 24
25 26 27 28
Proper Numbering for Short Frame
8 12 16 20 24 28 32
4
7 11 15 19 23 27 31
3
6 10 14 18 22 26
2 30
1 5 9 13 17 21 25 29
Chapter 3 34
4.6 Procedure for Analysis
Notation
Divide the structure into finite elements and identify each element and
its nodes. Elements usually extend between points of support, points of
concentrated loads, joints or to points where internal loadings or
displacements are to be determined.
Establish the X, Y & Z global coordinate system.
At each nodal point of the frame, specify numerically the three X, Y Z
coding components. Use the lowest code numbers to identify all
unconstrained degrees of freedom and the highest code numbers to
identify the constrained degrees of freedom.
From the structure, establish the known displacement Dk and known
external loads Qk. When establishing Qk, remember to add the –ve
Fixed End Forces if there are span loadings.
Structure Stiffness Matrix

Establish the directional cosine of each element and hence determine the
stiffness matrix for each element expressed in global coordinates.
Once the element stiffness matrices in global coordinates are written,
assemble the matrices into the “Structure Stiffness Matrix K”. Note
that the element and structure stiffness matrices should be symmetric.
Displacements and Loads

Partition the structure stiffness matrix K into known and unknown
elements as shown below.
⎡Qk ⎤ ⎡ K11 K12 ⎤ ⎡ Du ⎤

⎢Q ⎥ = ⎢ K ⋅
⎣ u ⎦ ⎣ 21 K 22 ⎥⎦ ⎢⎣ Dk ⎥⎦
Which when expanded yielded the two equations

Qk = K11Du + K12Dk (1)
Qu = K21Du + K22Dk (2)
The unknown displacements Du are determined from the first of these

equations. Using the values of Du, the support reactions Qu are
determined from the second equation. Finally the internal loading q at
the ends of the members can be obtained from q = k’*TD
Chapter 3 35
Example 4
Determine the reactions at the supports of the frame by stiffness method.
Given that A = 0.2 m2, I = 4*10-3 m4 and E = 30*106 kN/m2.
Solution
Fixed End Forces:

100 * 2 2 * 4
FEM 23 = = 44.44 kNm
62
100 * 4 2 * 2
FEM 32 = = 88.89 kNm
62
Chapter 3 36
CBE3027 STRUCTURAL ANALYSIS II
V23 = 100 * 2 / 6 − (88.89 − 44.44) / 6 = 25.93 kN

V32 = 100 * 4 / 6 + (88.89 − 44.44) / 6 = 74.07 kN
⎡ 0 ⎤1
⎢ − 25.93 ⎥ 2
⎢ ⎥
⎢− 44.44 − 75⎥ 3
⎢ ⎥
⎢ Q4 ⎥4
Qk = ⎢ Q5 ⎥5
⎢ ⎥
⎢ Q6 ⎥6
⎢ Q7 ⎥7
⎢ ⎥
⎢ 8
Q − 74. 07 ⎥8
⎢ Q + 88.89 ⎥ 9
⎣ 9 ⎦
Element Stiffness Matrix of Member 1 in global coordinate:
AE 0.2 * 30 *10 6
= = 1200000kN / m
L 5
12 EI 12 * 30 *10 6 * 4 *10 −3
= = 11520kN / m
L3 53
6 EI 6 * 30 *10 6 * 4 *10 −3
= = 28800kN
L2 52
Chapter 3 37
4 EI 4 * 30 *10 6 * 4 *10 −3
= = 96000kNm
L 5
2 EI 2 * 30 *10 6 * 4 *10 −3
= = 48000kNm
L 5
Transformation matrix,
λ x = cos 90 0 = 0
λ y = cos 0 0 = 1
⎡ 11.52 0 − 28.8 − 11.52 0 − 28.8⎤ 4

⎢ 0 1200 0 0 − 1200 0 ⎥5
⎢ ⎥
⎢ − 28 .8 0 96 28 .8 0 48 ⎥6
k12 = 10 3 ⎢ ⎥
⎢− 11.52 0 28.8 11.52 0 28.8 ⎥ 1
⎢ 0 − 1200 0 0 1200 0 ⎥2
⎢ ⎥
⎣ − 22.8 0 48 28.8 0 96 ⎦ 3
Element Stiffness Matrix of Member 2 in global coordinate):
AE 0.2 * 30 *10 6
= = 1000000kN / m
L 6
12 EI 12 * 30 * 10 6 * 4 * 10 −3
= = 6666.7 kN / m
L3 63
6 EI 6 * 30 *10 6 * 4 *10 −3
= = 20000kN
L2 62
4 EI 4 * 30 *10 6 * 4 *10 −3
= = 80000kNm
L 6
2 EI 2 * 30 *10 6 * 4 *10 −3
= = 40000kNm
L 6
⎡ 1000 0 0 − 1000 0 0 ⎤1
⎢ 0 6.6667 20 0 − 6.6667 20 ⎥ 2
⎢ ⎥
⎢ 0 20 80 0 − 20 40 ⎥3
k 23 = 103 * ⎢ ⎥
⎢ − 1000 0 0 1000 0 0 ⎥7
⎢ 0 − 6.6667 − 20 0 6.6667 − 20⎥ 8
⎢ ⎥
⎣ 0 20 40 0 − 20 80 ⎦9
Chapter 3 38
Structure Stiffness Matrix K:
⎡11.52 + 1000 0+0 28.8 + 0 − 11.52 0 28.8 − 1000 0 0 ⎤1
⎢ 0+0 1200 + 6.6667 0 + 20 ⎥
⎢ 0 − 1200 0 0 − 6.6667 20 ⎥ 2
⎢ 28.8 + 0 0 + 20 96 + 80 − 28.8 0 48 0 − 20 40 ⎥ 3
⎢ ⎥
⎢ − 11.52 0 − 28.8 11.52 0 − 28.8 0 0 0 ⎥4
K = 10 3 * ⎢ 0 − 1200 0 0 1200 0 0 0 0 ⎥5
⎢ ⎥
⎢ 28.8 0 48 − 28.8 0 96 0 0 0 ⎥6
⎢ − 1000 0 0 0 0 0 1000 0 0 ⎥7
⎢ ⎥
⎢ 0 − 6.6667 − 20 0 0 0 0 6.6667 − 20⎥ 8
⎢ ⎥
⎣ 0 20 40 0 0 0 0 − 20 80 ⎦ 9
⎡1011.52 0 28.8 − 11.52 0 28.8 − 1000 0 0 ⎤1

⎢ 0 ⎥2
⎢ 1206 . 7 20 0 − 1200 0 0 − 6. 6667 20 ⎥
⎢ 28.8 20 176 − 28.8 0 48 0 − 20 40 ⎥ 3
⎢ ⎥
⎢ − 11.52 0 − 28.8 11.52 0 − 28.8 0 0 0 ⎥4
3 ⎢
K = 10 * 0 − 1200 0 0 1200 0 0 0 0 ⎥5
⎢ ⎥
⎢ 28.8 0 48 − 28.8 0 96 0 0 0 ⎥6
⎢ − 1000 0 0 0 0 0 1000 0 0 ⎥7
⎢ ⎥
⎢ 0 − 6.6667 − 20 0 0 0 0 6.6667 − 20⎥ 8
⎢ ⎥
⎣ 0 20 40 0 0 0 0 − 20 80 ⎦ 9
⎡ 0 ⎤ ⎡1011.52 0 28.8 − 11.52 0 28.8 − 1000 0 0 ⎤ ⎡ D1 ⎤

⎢ − 25.93 ⎥ ⎢ ⎥⎢ ⎥
⎢ ⎥ ⎢ 0 1206.7 20 0 − 1200 0 0 − 6.6667 20 ⎥ ⎢ D2 ⎥
⎢ − 119.44 ⎥ ⎢ 28.8 20 176 − 28.8 0 48 0 − 20 40 ⎥ ⎢ D3 ⎥
⎢ ⎥ ⎢ ⎥⎢ ⎥
⎢ Q4 ⎥ ⎢ − 11.52 0 − 28.8 11.52 0 − 28.8 0 0 0 ⎥⎢ 0 ⎥
⎢ Q5 ⎥ = 10 3 * ⎢ 0 − 1200 0 0 1200 0 0 0 0 ⎥⎢ 0 ⎥
⎢ ⎥ ⎢ ⎥⎢ ⎥
⎢ Q6 ⎥ ⎢ 28.8 0 48 − 28.8 0 96 0 0 0 ⎥⎢ 0 ⎥
⎢ Q7 ⎥ ⎢ − 1000 0 0 0 0 0 1000 0 0 ⎥⎢ 0 ⎥
⎢ ⎥ ⎢ ⎥⎢ ⎥
⎢Q8 − 74.07 ⎥ ⎢ 0 − 6.6667 − 20 0 0 0 0 6.6667 − 20⎥ ⎢ 0 ⎥
⎢ ⎥ ⎢ ⎥⎢ ⎥
⎣Q9 + 88.89⎦ ⎣ 0 20 40 0 0 0 0 − 20 80 ⎦ ⎣ 0 ⎦
⎡ 0 ⎤ ⎡1011.52 0 28.8⎤ ⎡ D1 ⎤
Hence, ⎢ − 25.93 ⎥ = 10 3 * ⎢ 0 1206.7 20 ⎥ ⎢ D2 ⎥
⎢ ⎥ ⎢ ⎥⎢ ⎥
⎢⎣− 119.44⎥⎦ ⎢⎣ 28.8 20 176 ⎥⎦ ⎢⎣ D3 ⎥⎦
⎡ D1 ⎤ ⎡ 211979 576 − 34753 ⎤ ⎡ 0 ⎤

⎢D ⎥ = 1 ⎢ 576 177198 − 20230.4⎥ ⎢ − 25.93 ⎥
2
⎢⎣ D3 ⎥⎦
(
⎢ ⎥ 2.1342 *108 *10 3 ) ⎢ ⎥⎢ ⎥
⎢⎣− 34753 − 20230.4 1220601 ⎥⎦ ⎢⎣− 119.44⎥⎦
⎡ 19.38 *10 − 6 ⎤
⎢ ⎥
= ⎢ − 10.21*10 −6 ⎥
⎢− 680.65 *10 − 6 ⎥
⎣ ⎦
Chapter 3 39
The reactions are:
⎡ Q4 ⎤ ⎡− 11.52 0 − 28.8⎤ ⎡ 19.38 ⎤

⎢ Q ⎥ ⎢ 0 − 1200 0 ⎥ ⎢ 12.25 ⎥
⎢ 5 ⎥ ⎢ ⎥ ⎡ 19.38 *10 − 6 ⎤ ⎢ ⎥
⎢ Q6 ⎥ ⎢ 28 . 8 0 48 ⎥ ⎢ −6 ⎥ ⎢ − 32 .11⎥
⎥ = 10 ⋅ ⎢ ⋅ − =
3
⎢ ⎥ ⎥ ⎢ − 19.38 ⎥
0 ⎥ ⎢⎢
10. 21 * 10
⎢ Q7 ⎥ ⎢ − 1000 0
− 680.65 *10 ⎦ ⎢−6 ⎥ ⎥
⎢Q8 − 74.07⎥ ⎢ 0 − 6.667 − 20 ⎥ ⎣ ⎢ 13.68 ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣Q9 + 88.89⎦ ⎣ 0 20 40 ⎦ ⎣− 27.43⎦
⎡Q4 ⎤ ⎡ 19.38 ⎤ ⎡ 19.38 ⎤

⎢Q ⎥ ⎢ 12.25 ⎥ ⎢ 12.25 ⎥
⎢ 5⎥ ⎢ ⎥ ⎢ ⎥
⎢Q6 ⎥ ⎢ − 32.11 ⎥ ⎢ − 32.11 ⎥
Hence, ⎢ ⎥ = ⎢ ⎥=⎢ ⎥
Q
⎢ ⎥ ⎢
7 − 19. 38 ⎥ ⎢ − 19.38 ⎥
⎢Q8 ⎥ ⎢ 13.68 + 74.07 ⎥ ⎢ 87.75 ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣ 9⎦ ⎣
Q − 27 .43 − 88. 89 ⎦ ⎣ − 116 .32 ⎦
Chapter 3 40
Example 5
Determine the reactions at the supports of the frame by stiffness method.
Given that A = 0.1 m2, I = 1.5*10-3 m4 and E = 24*106 kN/m2.
Solution
Fixed End Forces:

10 * 4 2
FEM 12 = = 13.33 kNm
12
10 * 4 2
FEM 21 = = 13.33 kNm
12
V12 = 10 * 4 / 2 = 20kN = V21
Chapter 3 41
20 * 6
FEM 23 = = 15 kNm
8
20 * 6
FEM 32 = = 15 kNm
8
V23 = 20 / 2 = 10kN = V32
Chapter 3 42
⎡ 20 ⎤ ⎡ 20 ⎤
⎢ − 10 ⎥ ⎢ − 10 ⎥
⎢ ⎥ ⎢ ⎥
⎢ 13.33 − 15 ⎥ ⎢ − 1.67 ⎥
⎢ ⎥ ⎢ ⎥
⎢ 0 ⎥ ⎢ 0 ⎥
⎢ − 10 ⎥ ⎢ − 10 ⎥
⎢ ⎥ ⎢ ⎥
Qk = ⎢ 15 ⎥ = ⎢ 15 ⎥
⎢ Q7 + 20 ⎥ ⎢ Q7 + 20 ⎥
⎢ ⎥ ⎢ ⎥
⎢ Q8 ⎥ ⎢ Q8 ⎥
⎢Q − 13.33⎥ ⎢Q − 13.33⎥
⎢ 9 ⎥ ⎢ 9 ⎥
⎢ Q10 ⎥ ⎢ Q10 ⎥
⎢ Q ⎥ ⎢ Q ⎥
⎢ 11 ⎥ ⎢ 11 ⎥
⎢⎣ Q12 ⎥⎦ ⎢⎣ Q12 ⎥⎦
Element Stiffness Matrices of Member 1 and Member 3 in global coordinate:
AE 0.1* 24 *10 6
= = 600000kN / m
L 4
12 EI 12 * 24 * 10 6 * 1.5 * 10 −3
3
= 3
= 6750kN / m
L 4
6 EI 6 * 24 * 10 * 1.5 * 10 −3
6
2
= 2
= 13500kN
L 4
4 EI 4 * 24 * 10 6 * 1.5 * 10 −3
= = 36000kNm
L 4
2 EI 2 * 24 * 10 6 * 1.5 * 10 −3
= = 18000kNm
L 4
Transformation matrix for member 1,

λ x = cos 90 0 = 0
λ y = cos 0 0 = 1
Chapter 3 43
⎡ 6.75 0 − 13.5 − 6.75 0 − 13.5⎤ 7
⎢ 0 600 0 0 − 600 0 ⎥8
⎢ ⎥
⎢ − 13.5 0 36 13.5 0 18 ⎥ 9
k12 = 10 3 ⎢ ⎥
⎢ − 6 .75 0 13 . 5 6 .75 0 13 . 5 ⎥1
⎢ 0 − 600 0 0 600 0 ⎥2
⎢ ⎥
⎣ − 13.5 0 18 13.5 0 36 ⎦ 3
Transformation matrix for member 3,

6−6
λx = =0
4
0−4
λy = = −1
4
⎡ 6.75 0 13.5 − 6.75 0 13.5 ⎤ 4

⎢ 0 600 0 0 − 600 0 ⎥5
⎢ ⎥
⎢ 13 . 5 0 36 − 13 .5 0 18 ⎥6
k 34 = 10 3 ⎢ ⎥
⎢ − 6 .75 0 − 13 . 5 6. 75 0 − 13 .5 ⎥ 10
⎢ 0 − 600 0 0 600 0 ⎥ 11
⎢ ⎥
⎣ 13.5 0 18 − 13.5 0 36 ⎦ 12
Element Stiffness Matrix of Member 2 in global coordinate):
AE 2 * 0.1* 24 *10 6
= = 800000kN / m
L 6
12 EI 12 * 24 *10 6 * 2 *1.5 *10 −3
= = 4000kN / m
L3 63
6 EI 6 * 24 * 10 6 * 2 * 1.5 * 10 −3
= = 12000kN
L2 62
4 EI 4 * 24 * 10 6 * 2 * 1.5 * 10 −3
= = 48000kNm
L 6
2 EI 2 * 24 * 10 6 * 2 * 1.5 * 10 −3
= = 24000kNm
L 6
Chapter 3 44
⎡ 800 0 0 − 800 0 0 ⎤1
⎢ 0 4 12 0 − 4 12 ⎥ 2
⎢ ⎥
⎢ 0 12 48 0 − 12 24 ⎥ 3
k 23 = 103 * ⎢ ⎥
⎢ − 800 0 0 800 0 0 ⎥4
⎢ 0 − 4 − 12 0 4 − 12⎥ 5
⎢ ⎥
⎣ 0 12 24 0 − 12 48 ⎦ 6

⎡6.75 + 800 0 13.5 − 800 0 0 − 6.75 0 13.5 0 0 0 ⎤1
⎢
⎢ 0 600 + 4 0 + 12 0 − 4 12 0 − 600 0 0 0 0 ⎥⎥ 2
⎢ 13.5 0 + 12 36 + 48 0 − 12 24 − 13.5 0 18 0 0 0 ⎥3
⎢ ⎥
⎢ − 800 0 0 6.75 + 800 0 13.5 0 0 0 − 6.75 0 13.5 ⎥ 4
⎢ 0 −4 − 12 0 600 + 4 0 − 12 0 0 0 0 − 600 0 ⎥5
⎢ ⎥
⎢ 0 12 24 13.5 0 − 12 36 + 48 0 0 0 − 13.5 0 18 ⎥ 6
K = 10 3 * ⎢
− 6.75 0 − 13.5 0 0 0 6.75 0 − 13.5 0 0 0 ⎥7
⎢ ⎥
⎢ 0 − 600 0 0 0 0 0 600 0 0 0 0 ⎥8
⎢ ⎥
⎢ 13.5 0 18 0 0 0 − 13.5 0 36 0 0 0 ⎥9
⎢ 0 0 0 − 6.75 0 − 13.5 0 0 0 6.75 0 − 13.5⎥ 10
⎢ ⎥
⎢ 0 0 0 0 − 600 0 0 0 0 0 600 0 ⎥ 11
⎢
⎣ 0 0 0 13.5 0 18 0 0 0 − 13.5 0 36 ⎥⎦ 12
⎡806.75 0 13.5 − 800 0 0 − 6.75 0 13.5 0 0 0 ⎤1

⎢ 0 604 12 0 − 4 12 0 − 600 0 0 0 0 ⎥⎥ 2
⎢
⎢ 13.5 12 84 0 − 12 24 − 13.5 0 18 0 0 0 ⎥3
⎢ ⎥
⎢ − 800 0 0 806 . 75 0 13 .5 0 0 0 − 6 .75 0 13 .5 ⎥ 4
⎢ 0 −4 − 12 0 604 − 12 0 0 0 0 − 600 0 ⎥5
⎢ ⎥
3 ⎢ 0 12 24 13.5 − 12 84 0 0 0 − 13.5 0 18 ⎥ 6
K = 10 * ⎢
− 6.75 0 − 13.5 0 0 0 6.75 0 − 13.5 0 0 0 ⎥7
⎢ ⎥
⎢ 0 − 600 0 0 0 0 0 600 0 0 0 0 ⎥8
⎢ ⎥
⎢ 13.5 0 18 0 0 0 − 13.5 0 36 0 0 0 ⎥9
⎢ 0 0 0 − 6.75 0 − 13.5 0 0 0 6.75 0 − 13.5⎥ 10
⎢ ⎥
⎢ 0 0 0 0 − 600 0 0 0 0 0 600 0 ⎥ 11
⎢ 0 − 13.5 36 ⎥⎦ 12
⎣ 0 0 13.5 0 18 0 0 0 0
Chapter 3 45
⎡ 20 ⎤ ⎡806.75 0 13.5 − 800 0 0 − 6.75 0 13.5 0 0 0 ⎤ ⎡ D1 ⎤
⎢ − 10 ⎥ ⎢ 0 604 12 0 − 4 12 0 − 600 0 0 0 0 ⎥⎥ ⎢⎢ D2 ⎥⎥
⎢ ⎥ ⎢
⎢ − 1.67 ⎥ ⎢ 13.5 12 84 0 − 12 24 − 13.5 0 18 0 0 0 ⎥ ⎢ D3 ⎥
⎢ ⎥ ⎢ ⎥⎢ ⎥
⎢ 0 ⎥ ⎢ − 800 0 0 806.75 0 13.5 0 0 0 − 6.75 0 13.5 ⎥ ⎢ D4 ⎥
⎢ − 10 ⎥ ⎢ 0 −4 − 12 0 604 − 12 0 0 0 0 − 600 0 ⎥ ⎢ D5 ⎥
⎢ ⎥ ⎢ ⎥⎢ ⎥
⎢ 15 ⎥ 3 ⎢ 0 12 24 13.5 − 12 84 0 0 0 − 13.5 0 18 ⎥ ⎢ D6 ⎥
⎢ Q + 20 ⎥ = 10 * ⎢ − 6.75 0 − 13.5 0 0 0 6.75 0 − 13.5 0 0 0 ⎥⎢ 0 ⎥
⎢ 7 ⎥ ⎢ ⎥⎢ ⎥
⎢ Q8 ⎥ ⎢ 0 − 600 0 0 0 0 0 600 0 0 0 0 ⎥⎢ 0 ⎥
⎢ ⎥ ⎢ ⎥⎢ ⎥
⎢Q9 − 13.33⎥ ⎢ 13.5 0 18 0 0 0 − 13.5 0 36 0 0 0 ⎥⎢ 0 ⎥
⎢ Q10 ⎥ ⎢ 0 0 0 − 6.75 0 − 13.5 0 0 0 6.75 0 − 13.5⎥ ⎢ 0 ⎥
⎢ ⎥ ⎢ ⎥⎢ ⎥
⎢ Q11 ⎥ ⎢ 0 0 0 0 − 600 0 0 0 0 0 600 0 ⎥⎢ 0 ⎥
⎢ Q ⎥ ⎢ 0 − 13.5 36 ⎥⎦ ⎢⎣ 0 ⎥⎦
⎣ 12 ⎦ ⎣ 0 0 13.5 0 18 0 0 0 0
Partition the matrix and solve for D1 to D6 (You may use EXCEL to solve the matrix,
minverse(array), F2, Ctrl+Shift+Enter)
⎡ D1 ⎤ ⎡ 1.8220 *10 −3 ⎤
⎢D ⎥ ⎢ −5 ⎥
⎢ 2 ⎥ ⎢ − 1.0091*10 ⎥
⎢ D3 ⎥ ⎢− 3.0716 *10 − 4 ⎥
⎢ ⎥=⎢ −3 ⎥
⎢ D4 ⎥ ⎢ 1.8072 *10 ⎥
⎢ D5 ⎥ ⎢− 2.3242 *10 −5 ⎥
⎢ ⎥ ⎢ −5
⎥
⎣ D6 ⎦ ⎢⎣ − 2.5995 *10 ⎥⎦
The reactions are:

⎡ Q7 + 20 ⎤ ⎡− 6.75 0 − 13.5 0 0 0 ⎤ ⎡ 1.8220 *10 −3 ⎤
⎢ ⎥ ⎢ 0 ⎢ ⎥
Q8 − 600 0 0 0 0 ⎥ ⎢ − 1.0091*10 −5 ⎥
⎢ ⎥ ⎢ ⎥
⎢Q9 − 13.33⎥ ⎢ 13 . 5 0 18 0 0 0 ⎥ ⎢− 3.0716 *10 − 4 ⎥
⎥ = 10 ⋅ ⎢ ⎥⋅⎢
3
⎢
− − −3 ⎥
⎢ Q 10 ⎥ ⎢ 0 0 0 6 .75 0 13 .5 ⎥ ⎢ 1 .8072 * 10 ⎥
⎢ Q11 ⎥ ⎢ 0 0 0 0 − 600 0 ⎥ ⎢− 2.3242 *10 ⎥ − 5
⎢ ⎥ ⎢ ⎥ ⎢ −5
⎥
⎣ Q 12 ⎦ ⎣ 0 0 0 13 . 5 0 18 ⎢
⎦ ⎣ − 2 .5995 * 10 ⎥⎦
⎡ Q7 ⎤ ⎡− 28.15⎤
⎢ Q ⎥ ⎢ 6.05 ⎥
⎢ 8⎥ ⎢ ⎥
⎢ Q9 ⎥ ⎢ 32.40 ⎥
Hence, ⎢ ⎥ = ⎢ ⎥
⎢Q10 ⎥ ⎢ − 11.85 ⎥
⎢Q11 ⎥ ⎢ 13.95 ⎥
⎢ ⎥ ⎢ ⎥
⎣Q12 ⎦ ⎣ 23.93 ⎦
Chapter 3 46
Member End Forces:
Element 1 & 3
q = k 'd + FEFs = k ' (TD) + FEFs = k 'TD + FEFs
⎡ 600 0 0 − 600 0 0 ⎤7 4
⎢ 0 6.75 13.5 0 − 6.75 13.5 ⎥ 8 5
⎢ ⎥
⎢ 0 13 .5 36 0 − 13 .5 18 ⎥9 6
k '1 = k '3 = 10 3 * ⎢ ⎥
⎢− 600 0 0 600 0 0 ⎥ 1 10
⎢ 0 − 6.75 − 13.5 0 6.75 − 13.5⎥ 2 11
⎢ ⎥
⎣ 0 13.5 18 0 − 13.5 36 ⎦ 312
⎡ λx λy 0 0 0 0⎤ ⎡ 0 1 0 0 0 0⎤
⎢− λ λx 0 0 0 0⎥ ⎢ − 1 0 0 0 0 0⎥
⎢ y ⎥ ⎢ ⎥
⎢ 0 0 1 0 0 0⎥ ⎢ 0 0 1 0 0 0⎥
T1 = ⎢ ⎥=⎢ ⎥
⎢ 0 0 0 λx λy 0⎥ ⎢ 0 0 0 0 1 0⎥
⎢ 0 0 0 − λy λx 0⎥ ⎢ 0 0 0 −1 0 0⎥
⎢ ⎥ ⎢ ⎥
⎣ 0 0 0 0 0 1⎦ ⎣ 0 0 0 0 0 1⎦
⎡ λx λy 0 0 0 0 ⎤ ⎡0 − 1 0 0 0 0⎤
⎢− λ λx 0 0 0 0⎥ ⎢1 0 0 0 0 0⎥
⎢ y ⎥ ⎢ ⎥
⎢ 0 0 1 0 0 0 ⎥ ⎢0 0 1 0 0 0⎥
T3 = ⎢ ⎥=⎢ ⎥
⎢ 0 0 0 λx λy 0 ⎥ ⎢0 0 0 0 −1 0⎥
⎢ 0 0 0 − λy λx 0 ⎥ ⎢0 0 0 1 0 0⎥
⎢ ⎥ ⎢ ⎥
⎣ 0 0 0 0 0 1 ⎦ ⎣0 0 0 0 0 1⎦
Element 1:
⎡ q1x ' ⎤ ⎡ 600 0 0 − 600 0 0 ⎤⎡ 0 1 0 0 0 0⎤ ⎡ 0 ⎤ ⎡ 0 ⎤

⎢ ⎥ ⎢ 0
q
⎢ 1y ' ⎥ ⎢ 6 .75 13 . 5 0 − 6 . 75 13 .5 ⎥⎥ ⎢⎢− 1 0 0 0 0 0⎥⎥ ⎢⎢ 0 ⎥ ⎢ 20 ⎥
⎥ ⎢ ⎥
⎢ q1z ' ⎥ 3 ⎢ 0 13.5 36 0 − 13.5 18 ⎥ ⎢ 0 0 1 0 0 0⎥ ⎢ 0 ⎥ ⎢ 13.33 ⎥
⎢ ⎥ = 10 * ⎢ ⎥⎢ ⎥⎢ ⎥+⎢ ⎥
⎢ q2 x ' ⎥ ⎢− 600 0 0 600 0 0 ⎥⎢ 0 0 0 0 1 0⎥ ⎢ 1.822 * 10 − 3 ⎥ ⎢ 0 ⎥
⎢q ⎥ ⎢ 0 − 6.75 − 13.5 0 6.75 − 13.5⎥ ⎢ 0 0 0 −1 0 0⎥ ⎢ − 1.0091 * 10 − 5 ⎥ ⎢ 20 ⎥
⎢ 2 y' ⎥ ⎢ ⎥⎢ ⎥⎢ ⎥ ⎢ ⎥
⎣⎢ q2 z ' ⎦⎥ ⎣⎢ 0 13.5 18 0 − 13.5 36 ⎥⎦ ⎣⎢ 0 0 0 0 0 1⎦⎥ ⎣⎢− 3.0716 * 10 − 4 ⎦⎥ ⎣⎢− 13.33⎦⎥
Chapter 3 47
⎡ q1x ' ⎤ ⎡ 600 0 0 − 600 0 0 ⎤⎡ 0 ⎤ ⎡ 0 ⎤
⎢ ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ 20 ⎥
⎢ q1 y ' ⎥ ⎢ 0 6.75 13.5 0 − 6.75 13.5 ⎥ ⎢ 0 ⎥ ⎢ ⎥
⎢ q1z ' ⎥ 3 ⎢ 0 13.5 36 0 − 13.5 18 ⎥ ⎢ 0 ⎥ ⎢ 13.33 ⎥
⎢ ⎥ = 10 * ⎢ ⎥⎢ ⎥+⎢ ⎥
⎢ q2 x ' ⎥ ⎢− 600 0 0 600 0 0 ⎥ ⎢ − 1.0091 * 10 − 5 ⎥ ⎢ 0 ⎥
⎢q ⎥ ⎢ 0 − 6.75 − 13.5 0 6.75 − 13.5⎥ ⎢ − 1.822 * 10 − 3 ⎥ ⎢ 20 ⎥
⎢ 2 y' ⎥ ⎢ ⎥⎢ ⎥ ⎢ ⎥
⎣⎢ q2 z ' ⎦⎥ ⎣⎢ 0 13.5 18 0 − 13.5 36 ⎦⎥ ⎣⎢− 3.0716 * 10 − 4 ⎦⎥ ⎣⎢− 13.33⎦⎥
⎡ q1x ' ⎤ ⎡ 6.05 ⎤ ⎡ 0 ⎤ ⎡ 6.05 ⎤

⎢ ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎢ q1 y ' ⎥ ⎢ 8.15 ⎥ ⎢ 20 ⎥ ⎢ 28.15 ⎥
⎢ q1z ' ⎥ ⎢ 19.07 ⎥ ⎢ 13.33 ⎥ ⎢ 32.4 ⎥
⎢ ⎥=⎢ ⎥+⎢ ⎥=⎢ ⎥
⎢ q2 x ' ⎥ ⎢− 6.05⎥ ⎢ 0 ⎥ ⎢− 6.05⎥
⎢q ⎥ ⎢ − 8.15⎥ ⎢ 20 ⎥ ⎢ 11.85 ⎥
⎢ 2 y' ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣⎢ q2 z ' ⎦⎥ ⎣⎢ 13.54 ⎦⎥ ⎣⎢− 13.33⎦⎥ ⎣⎢ 0.21 ⎦⎥
Element 3:
⎡ q3 x ' ⎤ ⎡ 600 0 0 − 600 0 0 ⎤ ⎡0 − 1 0 0 0 0⎤ ⎡ 1.8072 * 10 −3 ⎤
⎢ ⎥
⎢q ⎥
⎢ 3 y' ⎥
⎢ 0
⎢ 6.75 13 .5 0 − 6 .75 13 .5 ⎥⎥ ⎢⎢1 0 0 0 0 0⎥⎥ ⎢− 2.3242 * 10 − 5 ⎥
⎢ q3 z ' ⎥ 3 ⎢ 0 13.5 36 0 − 13.5 18 ⎥ ⎢0 0 1 0 0 0⎥ ⎢− 2.5995 * 10 − 5 ⎥
⎢ ⎥ = 10 * ⎢ ⎥⎢ ⎥⎢ ⎥
⎢ q4 x ' ⎥ ⎢− 600 0 0 600 0 0 ⎥ ⎢0 0 0 0 − 1 0⎥ ⎢ 0 ⎥
⎢q4 y ' ⎥ ⎢ 0 − 6.75 − 13.5 0 6.75 − 13.5⎥ ⎢0 0 0 1 0 0⎥ ⎢ ⎥
0 ⎥
⎢ ⎥ ⎢ ⎥⎢ ⎥⎢
⎢⎣ q4 z ' ⎥⎦ ⎢⎣ 0 13.5 18 0 − 13.5 36 ⎥⎦ ⎢⎣0 0 0 0 0 1⎥⎦ ⎢⎣ 0 ⎥⎦
⎡ q3 x ' ⎤ ⎡ 600 0 0 − 600 0 0 ⎤ ⎡ 2.3242 * 10 −5 ⎤ ⎡ 13.94 ⎤

⎢ ⎥ ⎢ ⎢ ⎥
⎢ q3 y ' ⎥ ⎢ 0 6.75 13.5 0 − 6.75 13.5 ⎥⎥ ⎢ 1.8072 * 10 − 3 ⎥ ⎢⎢ 11.85 ⎥⎥
⎢ q3 z ' ⎥ 3 ⎢ 0 13.5 36 0 − 13.5 18 ⎥ ⎢− 2.5995 * 10 − 5 ⎥ ⎢ 23.46 ⎥
⎢ ⎥ = 10 * ⎢ ⎥⎢ ⎥=⎢ ⎥
⎢ q4 x ' ⎥ ⎢− 600 0 0 600 0 0 ⎥⎢ 0 ⎥ ⎢− 13.94⎥
⎢q ⎥ ⎢ 0 − 6.75 − 13.5 0 6.75 − 13.5⎥ ⎢ 0
⎥ ⎢− 11.85⎥
⎢ 4 y' ⎥ ⎢ ⎥⎢ ⎥ ⎢ ⎥
⎢⎣ q4 z ' ⎥⎦ ⎢⎣ 0 13.5 18 0 − 13.5 36 ⎥⎦ ⎢⎣ 0 ⎥⎦ ⎢⎣ 23.93 ⎥⎦
Element 2:
⎡ q2 x ' ⎤ ⎡ 800 0 0 − 800 0 0 ⎤ ⎡ 1.822 * 10 −3 ⎤ ⎡ 0 ⎤
⎢q ⎥ ⎢ 0 − 4 12 ⎥⎢ −5 ⎥ ⎢ ⎥
⎢ 2 y' ⎥ ⎢ 4 12 0 ⎥ ⎢ − 1.0091 * 10 ⎥ ⎢ 10 ⎥
⎢ q2 z ' ⎥ 3⎢ 0 12 48 0 − 12 24 ⎥ ⎢− 3.0716 * 10 − 4 ⎥ ⎢ 15 ⎥
⎢ ⎥ = 10 ⎢ ⎥⎢ −3
⎥+⎢ ⎥
⎢ q3 x ' ⎥ ⎢− 800 0 0 800 0 0 ⎥ ⎢ 1.8072 * 10 ⎥ ⎢ 0 ⎥
⎢ q3 y ' ⎥ ⎢ 0 − 4 − 12 0 4 − 12 ⎥ ⎢ − 2.3242 * 10 − 5 ⎥ ⎢ 10 ⎥
⎢ ⎥ ⎢ ⎥⎢ ⎥ ⎢ ⎥
⎢⎣ q3 z ' ⎥⎦ ⎢⎣ 0 12 24 0 − 12 48 ⎥⎦ ⎢⎣ − 2.5995 * 10 − 5 ⎥⎦ ⎢⎣− 15⎥⎦
⎡ q2 x ' ⎤ ⎡ 11.84 ⎤ ⎡ 0 ⎤ ⎡ 11.84 ⎤

⎢q ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎢ 2 y ' ⎥ ⎢ − 3.95 ⎥ ⎢ 10 ⎥ ⎢ 6.05 ⎥
⎢ q2 z ' ⎥ ⎢ − 15.21⎥ ⎢ 15 ⎥ ⎢ − 0.21 ⎥
⎢ ⎥=⎢ ⎥+⎢ ⎥=⎢ ⎥
⎢ q3 x ' ⎥ ⎢− 11.84⎥ ⎢ 0 ⎥ ⎢ − 11.84 ⎥
⎢ q3 y ' ⎥ ⎢ 3.95 ⎥ ⎢ 10 ⎥ ⎢ 13.95 ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎢⎣ q3 z ' ⎥⎦ ⎢⎣ − 8.46 ⎥⎦ ⎢⎣− 15⎥⎦ ⎢⎣− 23.46⎥⎦
Chapter 3 48
6.06
-11.85
-13.95
11.85
28.15
Shear Force Diagram (kN)
-23.46
0.21
18.39
7.22
-32.4 23.93
Bending Moment Diagram (kNm)
Chapter 3 49
Example 6
Determine the reactions at the supports, and the member end forces of the frame
by stiffness method. Given that A = 0.12 m2, I = 1.6*10-3 m4 and E = 25*106
kN/m2.
Solution
Fixed End Forces:

11* 24 * 4 2
FEM 23 = = 22 kNm
192
5 * 24 * 4 2
FEM 32 = = 10 kNm
192
Chapter 3 50
V23 = 24 * 2 * 3 / 4 + (22 − 10) / 4 = 39 kN
V32 = 24 * 2 *1 / 4 − (22 − 10) / 4 = 9 kN
⎡ 0 ⎤1
⎢ − 39 ⎥ 2
⎢ ⎥
⎢ − 22 ⎥ 3
⎢ ⎥
⎢ Q 4 ⎥4
Qk = ⎢ Q5 ⎥ 5
⎢ ⎥
⎢ Q6 ⎥ 6
⎢ Q7 ⎥ 7
⎢ ⎥
⎢ Q8 − 9 ⎥ 8
⎢Q + 10⎥ 9
⎣ 9 ⎦
AE 0.12 * 25 * 10 6
= = 600000kN / m
L 5
12 EI 12 * 25 *10 6 *1.6 *10 −3
= = 3840kN / m
L3 53
6 EI 6 * 25 * 10 6 * 1.6 * 10 −3
= = 9600kN
L2 52
4 EI 4 * 25 * 10 6 * 1.6 * 10 −3
= = 32000kNm
L 5
2 EI 2 * 25 * 10 6 * 1.6 * 10 −3
= = 16000kNm
L 5
Transformation matrix,
3−0 4−0
λx = = 0.6 and λ y = = 0.8
5 5
Chapter 3 51
⎡ 218.46 286.16 − 7.68 − 218.46 − 286.16 − 7.68⎤ 4
⎢ 286.16 385.38 5.76 − 286.16 − 385.38 5.76 ⎥ 5
⎢ ⎥
⎢ − 7. 68 5 .76 32 7. 68 − 5 .76 16 ⎥6
k12 = 10 3 ⎢ ⎥
⎢− 218.46 − 286.16 7.68 218.46 286.16 7.68 ⎥ 1
⎢− 286.16 − 385.38 − 5.76 286.16 385.38 − 5.76⎥ 2
⎢ ⎥
⎣ − 7.68 5.76 16 7.68 − 5.76 32 ⎦ 3
AE 0.12 * 25 *10 6
= = 750000kN / m
L 4
12 EI 12 * 25 *10 6 *1.6 *10 −3
= = 7500kN / m
L3 43
6 EI 6 * 25 * 10 6 * 1.6 * 10 −3
= = 15000kN
L2 42
4 EI 4 * 25 * 10 6 * 1.6 * 10 −3
= = 40000kNm
L 4
2 EI 2 * 25 * 10 6 * 1.6 * 10 −3
= = 20000kNm
L 4
⎡ 750 0 0 − 750 0 0 ⎤1
⎢ 0 7.5 15 0 − 7.5 15 ⎥ 2
⎢ ⎥
⎢ 0 15 40 0 − 15 20 ⎥3
k 23 = 103 * ⎢ ⎥
⎢ − 750 0 0 750 0 0 ⎥7
⎢ 0 − 7.5 − 15 0 7.5 − 15⎥ 8
⎢ ⎥
⎣ 0 15 20 0 − 15 40 ⎦9
Chapter 3 52
⎡218.46 + 750 286.16 7.68 − 218.46 − 286.16 7.68 − 750 0 0 ⎤1
⎢ 286.16 ⎥2
⎢ 385 .38 + 7. 5 − 5 . 76 + 15 − 286 . 16 − 385 .38 − 5. 76 0 − 7. 5 15 ⎥
⎢ 7.68 − 5.76 + 15 32 + 40 − 7.68 5.76 16 0 − 15 20 ⎥ 3
⎢ ⎥
⎢ − 218.46 − 286.16 − 7.68 218.46 286.16 − 7.68 0 0 0 ⎥4
3 ⎢
K = 10 * − 286.16 − 385.38 5.76 286.16 385.38 5.76 0 0 0 ⎥5
⎢ ⎥
⎢ 7.68 − 5.76 16 − 7.68 5.76 32 0 0 0 ⎥6
⎢ − 750 0 0 0 0 0 750 0 0 ⎥7
⎢ ⎥
⎢ 0 − 7.5 − 15 0 0 0 0 7.5 − 15⎥ 8
⎢ ⎥
⎣ 0 15 20 0 0 0 0 − 15 40 ⎦ 9
⎡ 968.46 286.16 7.68 − 218.46 − 286.16 7.68 − 750 0 0 ⎤1

⎢ 286.16 392.88 9.24 − 286.16 − 385.38 − 5.76 0 − 7.5 15 ⎥⎥ 2
⎢
⎢ 7.68 9.24 72 − 7.68 5.76 16 0 − 15 20 ⎥ 3
⎢ ⎥
⎢− 218.46 − 286.16 − 7.68 218.46 286.16 − 7.68 0 0 0 ⎥4
K = 10 3 * ⎢− 286.16 − 385.38 5.76 286.16 385.38 5.76 0 0 0 ⎥5
⎢ ⎥
⎢ 7.68 − 5.76 16 − 7.68 5.76 32 0 0 0 ⎥6
⎢ − 750 0 0 0 0 0 750 0 0 ⎥7
⎢ ⎥
⎢ 0 − 7.5 − 15 0 0 0 0 7.5 − 15⎥ 8
⎢ ⎥
⎣ 0 15 20 0 0 0 0 − 15 40 ⎦ 9
⎡ 0 ⎤ ⎡ 968.46 286.16 7.68 − 218.46 − 286.16 7.68 − 750 0 0 ⎤ ⎡ D1 ⎤

⎢ − 39 ⎥ ⎢ ⎥ ⎢D ⎥
⎢ ⎥ ⎢ 286 . 16 392 . 88 9. 24 − 286 . 16 − 385 . 38 − 5. 76 0 − 7 .5 15 ⎥ ⎢ 2⎥
⎢ − 22 ⎥ ⎢ 7.68 9.24 72 − 7.68 5.76 16 0 − 15 20 ⎥ ⎢ D3 ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎢ Q4 ⎥ ⎢− 218.46 − 286.16 − 7.68 218.46 286.16 − 7.68 0 0 0 ⎥ ⎢0⎥
⎢ Q5 ⎥ = 10 * ⎢− 286.16 − 385.38 5.76
3
286.16 385.38 5.76 0 0 0 ⎥⋅⎢ 0 ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎢ Q6 ⎥ ⎢ 7.68 − 5.76 16 − 7.68 5.76 32 0 0 0 ⎥ ⎢0⎥
⎢ Q ⎥ ⎢ − 750 0 0 0 0 0 750 0 0 ⎥ ⎢0⎥
⎢ 7 ⎥ ⎢ ⎥ ⎢ ⎥
⎢ Q8 − 9 ⎥ ⎢ 0 − 7 .5 − 15 0 0 0 0 7.5 − 15⎥ ⎢ 0 ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣Q9 + 10⎦ ⎣ 0 15 20 0 0 0 0 − 15 40 ⎦ ⎣ 0 ⎦
⎡ 0 ⎤ ⎡968.46 286.16 7.68⎤ ⎡ D1 ⎤

Hence, ⎢ − 39 ⎥ = 10 3 * ⎢286.16 392.88 9.24⎥ ⎢ D2 ⎥
⎢ ⎥ ⎢ ⎥⎢ ⎥
⎢⎣− 22⎥⎦ ⎢⎣ 7.68 9.24 72 ⎥⎦ ⎢⎣ D3 ⎥⎦
⎡ D1 ⎤ ⎡ 28201.98 − 20532.56 − 373.2 ⎤ ⎡ 0 ⎤

⎢D ⎥ = 1 ⎢− 20532.56 69670.14 − 6750.86 ⎥ ⎢ − 39⎥
2
⎢⎣ D3 ⎥⎦
(
⎢ ⎥ 2.1434 *10 7 *10 3 ) ⎢
⎢⎣ − 373.2
⎥⎢ ⎥
− 6750.86 298601.02⎥⎦ ⎢⎣− 22⎥⎦
⎡ 3.774 *10 −5 ⎤
⎢ ⎥
= ⎢ − 11.984 *10 −5 ⎥
⎢− 29.420 *10 −5 ⎥
⎣ ⎦
Chapter 3 53
The reactions are:
⎡ Q4 ⎤ ⎡− 218.46 − 286.16 − 7.68⎤ ⎡ 28.31 ⎤

⎢ Q ⎥ ⎢− 286.16 − 385.38 5.76 ⎥ ⎢ 33.69 ⎥
⎢ 5 ⎥ ⎢ ⎥ ⎡ 3.774 *10 − 5 ⎤ ⎢ ⎥
⎢ Q6 ⎥ ⎢ 7. 68 − 5 .76 16 ⎥ ⎢ −5 ⎥ ⎢ − 3 .73 ⎥
⎥ = 10 ⋅ ⎢ ⎥ ⋅ ⎢ − 11.984 *10 ⎥ = ⎢
3
⎢ ⎥
⎢ Q 7 ⎥ ⎢ − 750 0 0 ⎥ ⎢− 29.420 *10 ⎥ ⎢ − 5 − 28 .31⎥
⎢ Q8 − 9 ⎥ ⎢ 0 − 7.5 − 15 ⎥ ⎣ ⎦ ⎢ 5.31 ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣Q9 + 10⎦ ⎣ 0 15 20 ⎦ ⎣ − 7.68 ⎦
⎡Q4 ⎤ ⎡ 28.31 ⎤ ⎡ 28.31 ⎤

⎢Q ⎥ ⎢ 33.69 ⎥ ⎢ 33.69 ⎥
⎢ 5⎥ ⎢ ⎥ ⎢ ⎥
⎢Q6 ⎥ ⎢ − 3.73 ⎥ ⎢ − 3.73 ⎥
Hence, ⎢ ⎥ = ⎢ ⎥=⎢ ⎥
Q
⎢ ⎥ ⎢
7 − 28 .31 ⎥ ⎢ − 28 .31 ⎥
⎢Q8 ⎥ ⎢ 5.31 + 9 ⎥ ⎢ 14.31 ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣ 9⎦ ⎣
Q − 7 .68 − 10 ⎦ ⎣ − 17. 68 ⎦
Chapter 3 54
Revision
Read reference 1 on P.533 -549, and P.553 - 564.
Read reference 2 on P.683 -719.
Main Reference
1. Structural Analysis, SI Edition (2005), R.C. Hibbeler, Prentice Hall.
2. Fundamentals of Structural Analysis (2005), 2nd Edition, Kenneth M. Leet,
Chia-Ming Uang, McGraw Hill International Edition.
Chapter 3 55
│TUTORIAL 4│
Form the Structure Stiffness Matrix for the structures shown in Q1 to Q7. Determine the support reactions, and
hence draw the shear force and bending moment diagrams of the structures.
Q1.
Q2.
Q3.
Chapter 3 56
│TUTORIAL 4│
Q4.
Given that A = 0.15 m2, E = 3*107 kN/m2 and I = 3.125*10-3 m4
Q5.
Chapter 3 57
│TUTORIAL 4│
Q6.
Q7.
Given that A = 0.2 m2, E = 3*107 kN/m2 and I = 5*10-3 m4
Chapter 3 58

CH3 - Stiffness Method - Beams Frames

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CON4378 ADVANCED STRUCTURAL ANALYSIS

Methods of structural analysis can be classified as either a force method or a

Although the name method of consistent deformation has been appropriately

1.3 Displacement Method (Stiffness Method)

The matrix-displacement method, which is also known as the stiffness method,

It should be noted that the moment-distribution method, although not a matrix

2. Degree of Freedom and Boundary Conditions

When the stiffness method is applied to structural frameworks a node is usually

Framework Type Nodal Degree of Freedom

Figure 1 - Nodal Degree of Freedom

2.2 Boundary Conditions

Figure 2 - Boundary Conditions for Plane Trusses & Plane Frames

The determination of the degree of freedom of a framed structure is a

Figure 3 - Unrestrained Nodal Displacements

3.1 Member and Node Identification

3.2 Global and Member (Local) Coordinates

Figure 5 – Degree of Freedoms

Figure 6 – Positive Sign Convention

Ny’ Nz’ Fy’ Fz’

3.5 Structure Stiffness Matrix for Beam (K)

3.7 Application of the Stiffness Method for Beam Analysis

Which when expanded yielded the two equations

Determine the reactions at the supports by stiffness method. Given that EI is

Element Stiffness Matrices:

Known load and Displacement Matrices:

Displacements and Loads:

⎡− 100⎤ ⎡ 0.2799 + 0.096 − 0.4898 + 0.24 0.24 − 0.2799 − 0.4898 − 0.096⎤ ⎡ D1 ⎤

⎡− 100⎤ ⎡ 0.3759 − 0.2498 0.24 − 0.2799 − 0.4898 − 0.096⎤ ⎡ D1 ⎤ 1

⎡ D1 ⎤ ⎡ 1.3943 0.2958 − 0.5662⎤ ⎡− 100⎤ ⎡− 443.62⎤

Hence the support reactions are:

Repeat Example 1 with one element.

Determine the Fixed End Forces of the element.

Displacements and Loads:

⎡ 84.78 ⎤ ⎡ 0.4706 0.083 0.2353 − 0.083 ⎤ ⎡ D1 ⎤

⎡ Q2 − 63.09 ⎤ ⎡ 0.083 ⎤ ⎡ 14.95 ⎤

⎡Q2 ⎤ ⎡ 14.95 + 63.09 ⎤ ⎡78.04⎤

Determine the Fixed End Forces of the elements.

Element Stiffness Matrices:

Known load and Displacement Matrices:

Displacements and Loads:

⎡ 45 ⎤ ⎡ 0.8889 0.4444 0 0 0.2963 − 0.2963⎤ ⎡ D1 ⎤

Partition the matrix,

⎡ 45⎤ ⎡0.8889 0.4444⎤ ⎡ D1 ⎤

⎡D ⎤ 1 1 ⎡ 2.2222 − 0.4444⎤ ⎡ 45⎤ 1 ⎡49.50⎤

The reactions are:

⎡Q3 ⎤ ⎡ 0.75 + 72 ⎤ ⎡ 72.75 ⎤

q = kd + Fixed End Forces = kD + Fixed End Forces

⎡ q1 y ' ⎤ ⎡ 0.1111 0.3333 − 0.1111 0.3333 ⎤ ⎡ 0 ⎤ ⎡ 72 ⎤

⎡ q1 y ' ⎤ ⎡ 0.75 ⎤ ⎡ 72 ⎤ ⎡72.75⎤

⎡q2 y ' ⎤ ⎡ 15.33 ⎤ ⎡ 40 ⎤ ⎡55.33⎤

Bending Moment Diagram (kNm)

4.1 Element Stiffness Matrix for Frame-Member

Nx’ Ny’ Nz’ Fx’ Fy’ Fz’

4.2 Displacement and Force Transformation Matrices

4.2.1 Displacement Transformation Matrix

Similarly, a global coordinate displacement DNY is imposed to the near end of a

d Fx ' = DFY ⋅ cos θ y , d Fy ' = DFY ⋅ cos θ x

And dFz’ = DFZ

Apply qNy’ as shown in Figure 15 (b), it is noted that:

QFX = − qFy ' ⋅ cosθ y QFY = qFy ' ⋅ cos θ x

Consider element stiffness matrix

Hence the global stiffness matrix of an element is

By performing the matrix multiplication, we can prove:

The unknown displacements Du are determined from the first of these