Workshop Exercises n◦1:

Direct Stiness Method : Pin Jointed Structures

Statements and Solutions of Exercises

Laruelle Cédric Volvert Martin

Assistant Assistant
cedric.laruelle@uliege.be m.volvert@uliege.be
Bât. B52/3 +2/541 Bât. B52/3 +2/418

Author: Gaëtan Wauthelet

February 9, 2018
rev. 15 2

◦
Exercise n 1 : Three bars truss - Part 1.

Write down the expression of the structural L L

stiness matrix of the equilateral plane truss
represented in Figure 1, made up of 3 identical EA
bars. The length and the extensional stiness
of each bar are respectively L [m] and EA [N ].
L

Figure 1: Wording of exercise 1.

Since we are working with vector components and matrix entries, a coordinate system Oex ey
has to be introduced. The position of the origin O of this coordinate system doesn't matter;
only the orientation of the axes is relevant, because the problem is studied in terms of dis-
placement components.

1) Structural nodal displacement vector q (s)

First, the nodes/joints and the elements/members are numbered in the following way :
3
ey

L L
O (I) (III)
ex

EA
(II)
1 2
L
This numbering is arbitrary and must be unique. The uniqueness ensures the continuity of
displacement components at each node/joint.

Since the 2D structure is made up of bars (2 DoFs per node/joint), the structural nodal
displacement vector can immediately be formed :
 T
q (s) = u1 v1 u2 v2 u3 v3

Remark : we do not have to calculate the structural nodal load vector g(s) here. We do not
give a loading and we only ask for the structural stiness matrix K (s) expression.
rev. 15 3

2) Elementary stiness matrices K (e) expressed in the global axes Oex ey

For each element/member, a local coordinate system Oex ey has to be introduced. In practice,
one has to choose the nodes associated with the origin and the end of the bar.

Then, the angle α(e) corresponding to the plane anti-clockwise rotation from the global axes
Oex ey to the local axes Oex ey is deduced.

(a) Element I : Oblique bar element from node 1 to 3 inclined at an angle α(eI ) = 60◦ .

v3
u2

2=3 u3
Length : L(eI ) = L
Angle α(eI ) such that
L cos α(eI ) = √12
v1 (I) sin α(eI ) = 23
Extensional stiness : EA
ey u1
e
ey e x !( I)

O ex u1
1=1

Element I in global axes.

In local axes, the stiness matrix K and the corresponding nodal displacement vector of
(eI )

this element are :

 
(e )
u1 I
 
(eI ) EA 1 −1
K = ; q (eI ) =  
L −1 1 (e )
u2 I

In global axes, the stiness matrix K (eI ) and the corresponding nodal displacement vector of
rev. 15 4

this element are :

 
(e )
 √ √  u1 I
√1 3 −1
√ − 3 
 (eI ) 

EA  3 3 − 3 −3
 v1 
K (eI ) = √ √  ; q (eI ) = 
  
4L 
  (eI ) 
−1
√ − 3 √1 3  u2 
− 3 −3
 
3 3 (eI )
v2

The corresponding index vector used for the element assembly process is
 z Structural
}|
DoFs 
{
IN DEX(1, 1 : 4) = 1|{z}2 5|{z}6
NODE 1 NODE 2

The element connectivity yields :

⇒ q (eI ) = q (s) (IN DEX(1, 1 : 4))
   
(e )
u1 I u1
   
 (eI )   
v1   v 
 =  1 

⇒
(e ) 
u2 I 
  
  u3 
   
(eI )
v2 v3
| {z } | {z }
Element level Structural level

Finally, one has

u1 v1 v3 u3  
 √ √  u
1 −1 − 3
3 u1  1 
 
(eI ) EA  √ √ 
(e )
 v1 
K = − 3 −3  v1 ; q I =
 
3 3 
4L
  
 √ √   u3 
−1 − 3
 
 1 3  u3  
 √ √  v3
− 3 −3 3 3 v3

(b) Element II : Horizontal bar element from node 1 to 2.

v1 v2
Length : L(eII ) = L
u1 = u1 u2 = u2
ey = ey Angle α(eII ) such that
1=1 (II) 2=2
cos α(eII ) = 1
L
sin α(eII ) = 0
O ex = ex
Element II in global axes. Extensional stiness : EA
rev. 15 5

In local axes, the stiness matrix K and the corresponding nodal displacement vector of
(eII )

this element are :

 
(e )
u1 II
 
(eII ) EA 1 −1
K = ; q (eII ) =  
L −1 1 (e )
u2 II

In global axes, the stiness matrix K (eII ) and the corresponding nodal displacement vector
of this element are :
 
(e )
  u1 II
1 0 −1 0
 
 (eII ) 
EA  0 0 0 0 v1 
K (eII ) = (e )
 ; q II = 
 
L
 −1 0 1 0  (eII ) 
u2 
0 0 0 0  
(e )
v2 II

The corresponding index vector used for the element assembly process is
 z Structural
}|
DoFs 
{
IN DEX(2, 1 : 4) = 1|{z}2 3|{z}4
NODE 1 NODE 2

The element connectivity yields :

⇒ q (eII ) = q (s) (IN DEX(2, 1 : 4))
   
(eII )
u1 u
   1 
(e )
v1 II 
   
  v1 
⇒  =  
 (eII )   
 u2   u2 
   
(eII )
v2 v2
| {z } | {z }
Element level Structural level

Finally, one has

u1 v1 u2 v2  
  u1
1 0 −1 0 u1 



EA    v1 
K (eII ) = (e )
v1 ; q II =
 
 0 0 0 0   
L   
 u2 
 −1
 
0 1 0  u2  
  v2
0 0 0 0 v2

Remark : as can be seen here, this element/member has no stiness in the vertical direction,
because a bar can not withstand loads applied in a direction perpendicular to its axis.
rev. 15 6

(c) Element III : Oblique bar element from node 2 to 3 inclined at an angle α(eIII ) = 120◦ .

v3
u2

2=3
u3
Length : L(eIII ) = L
Angle α(eIII ) such that
(III)
v2 − 21
cos α(eIII ) = √
u1 sin α(eIII ) = 23
L
ey e
a( III) Extensional stiness : EA
ex

O ex u2
ey 1 = 2

Element III in global axes.

In local axes, the stiness matrix K and the corresponding nodal displacement vector of
(eIII )

this element are :

 
(e )
u1 III
 
(eIII ) EA 1 −1
K = ; q (eIII ) =  
L −1 1 (e )
u2 III

In global axes, the stiness matrix K (eIII ) and the corresponding nodal displacement vector
of this element are :
 
(e )
 √ √  u1 III
1
√ − 3 √−1 3 
 (eIII ) 

EA  − 3 −3 v1
√3 3
 
K (eIII ) = √  ; q (eIII ) = 
  
4L 
  (eIII ) 
√−1 3 1
√ − 3  u2 
−3 − 3
 
3 3 (e )
v2 III

The corresponding index vector used for the element assembly process is
 z Structural
}|
DoFs 
{
IN DEX(3, 1 : 4) = 3|{z}4 5|{z}6
NODE 1 NODE 2
rev. 15 7

The element connectivity yields :

⇒ q (eIII ) = q (s) (IN DEX(3, 1 : 4))
   
(eIII )
u1 u
   2 
(e )
v1 III 
   
  v2 
⇒  =  
 (eIII )   
 u2   u3 
   
(eIII )
v2 v3
| {z } | {z }
Element level Structural level

Finally, one has

u2 v2 u3 v3  
 √ √  u2
1 − 3 −1 3 u2 



EA  √ √   v2 
K (eIII ) =  − 3 −3 
(e )
v2 ; q III =
 
3 3  
4L  √ √ 

 u3 
 −1 − 3 
 
3 1 u3  
 √ √  v3
3 −3 − 3 3 v3

3) Structural stiness matrix K (s)

By using the color code of the elements, the structural stiness matrix K (s) is formed by
adding step by step each elementary stiness matrix K (e) expressed in the global axes to the
entries of K (s) corresponding to the elementary DoFs q (e) .

Element I : Oblique bar element from node 1 to 3 inclined at an angle α(eI ) = 60◦ .
 √ √   
1 3 0 0 −1 − 3 u
 √ √   1 
3 3 0 0 − 3 −3   v1 
   

   
   
EA  0 0 0 0 0 0 u 
 ; q (s) =  2 
 
K (s) = 
4L  0

0 0 0 0 0 
  
 v2 
 √ √   
 −1 − 3
   
0 0 1 3   u3 
 √ √   
− 3 −3 0 0 3 3 v3
rev. 15 8

Element II : Horizontal bar element from node 1 to 2.

   
4 0 −4 0 0 0 u
   1 
0 0 0 0 0 0  v1 
   
 
   
−4 0
   
EA  4 0 0 0  u 
 ; q (s) =  2 

K (s) (s)
=K + 
4L 
 0 0 0 0 0 0


 
 v2 
   
   
 0 0 0 0 0 0   u3 
   
0 0 0 0 0 0 v3

Element III : Oblique bar element from node 2 to 3 inclined at an angle α(eIII ) = 120◦ .

   
0 0 0 0 0 0 u
   1 
0 0 0 0 0 0  v1 
   
 
 √ √   
− 3 −1
   
EA  0 0 1 3 u 
 ; q (s) =  2 
 
K (s) (s)
=K +  √ √
4L 
 0 0 − 3 3 3 −3


 
 v2 
 √ √   
−1 − 3
   
 0 0 3 1   u3 
 √ √   
0 0 3 −3 − 3 3 v3

Eventually, one gets

 
√ √ u
 1
 
1√
+4 3 −4 0 −1
√ − 3
 v1 
 
 

 3 3 0 0
√ − 3 −3 
√ 
 
 
EA  −4 0 4+ − 3 −1 u2 
√1 3 
K (s) =  √  ; q (s) = 
4L  0 0 − 3 3 √ −3√ 
√3
  
 √  v2 
−1 − 3 −1
   
√ √ 3 √1 +√1 3− 3   
u3 

− 3 −3 3 −3 3− 3 3 + 3  
v3

which leads to
 
√ √ u
 1
 
√5 3 −4 0 −1
√ − 3
 v1 
 
 

 3 3 0 0
√ − 3 √−3 

 
 
EA  −4 0 5 − 3 −1 3  u 2 
K (s) =  √ √  ; q (s) = 
4L  0 0 − 3 −3
√3 3
  
 √   v2 
−1 − 3 −1
   
√ √ 3 2 0  
u 3 
 
− 3 −3 3 −3 0 6  
v3
rev. 15 9

Check :
K (s) → is a symmetric matrix,
6
Kij = 0, ∀j = 1, . . . , 6 (i.e. columns = 0).
X (s)
X
K (s) →
j=1

Remark : Since the structural stiness matrix is symmetric, one has just to perform the
assembly process for the upper or lower matrix entries with respect to the main diagonal.
rev. 15 10

◦
Exercise n 2 : Three bars truss - Part 2.

• Determine the expression of the struc-

tural nodal displacement vector q (s) of P
the structure from Exercise 1, submitted
to the loading and the support conditions
depicted in Figure 2. L
L
• Calculate the reaction forces.
EA
• Recover the stresses and the strains in
each bar. P P
L
• Compare your results with the ones ob-
tained from a pin jointed structure static
Figure 2: Wording of exercise 2.
analysis (i.e. the Method of Joints).

1) Structural nodal load vector g (s)

Since the structure is only loaded by concentrated forces at the joints/nodes, the structural
nodal load vector g (s) can immediately be formed :
 T
g (s) = P R1 −P R2 R3 −P

where R1 , R2 , R3 are respectively the reaction forces at nodes 1 → 3.

2) Reduced system of equations K RED q RED = g RED

The support conditions (rolling bearings at nodes 1 to 3) involve that

v1 = v2 = u3 = 0

We remove the corresponding rows and columns from the structural stiness matrix K (s)
and the corresponding rows from the structural nodal loads vector g (s) . What is left from
K (s) q (s) = g (s) , is
   
 √  u 1
EA 
5 −4 −√ 3  1  
3  u2  = P −1
   
4L
 −4
√ √5    
− 3 3 6 −1
| {z } v3
K | {z } | {z }
RED
q RED g RED
rev. 15 11

3) Solving for the unknown structural nodal displacements q RED

Two possibilities can be considered :

,→ First possibility : "Simply" invert the 3 × 3 linear system of equations∗ ,

,→ Second possibility : One observes that there is a relation between line 1 and 2,
because of the vertical symmetry property of both geometry and loading.
√ 4P L
5u1 − 4u2 − 3v3 = (1)
EA
√ 4P L
−4u1 + 5u2 + 3v3 = − (2)
EA
(1)+(2)
⇒ u1 = −u2 (vertical symmetry property)†
We can rewrite the linear system of equations in terms of u2 and v3 only, and eliminate line
1. For the other lines, one has
√ √ √
line 2: −4u1 + 5u2 + 3v3 = −4(−u2 ) + 5u2 + 3v3 = 9u2 + 3v3
√ √ √ √ √
line 3: − 3u1 + 3u2 + 6v3 = − 3(−u2 ) + 3u2 + 6v3 = 2 3u2 + 6v3
Comment :
• line 2 corresponds to the equilibrium equation at joint/node 2 along the ex global/structural
axis.
• line 3 corresponds to the equilibrium equation at joint/node 3 along the ey global/structural
axis.
Finally, one still has to solve the following 2 × 2 linear system of equations :

√ !   
EA 9 3 u2 1
√   = −P  
4L 2 3 6 v 1
| {z } | {z3 }
K (s∗) q (s∗)

Reminder :
Let A be an 2 × 2 arbitrary matrix :
 
A= a b
c d
∗
Pay attention that, in the case of long expressions, the calculations can become very long and you are
more likely to make mistakes.
†
Do not strike out the row and column corresponding to u1 in K (s∗) , if you considered u2 and v3 as the
remaining unknowns. Otherwise, stiness contributions of some actual bars will simply be removed from
K (s∗) and your solution q (s∗) will correspond to another structure, where a restraint is imposed on node/joint
1 instead of a rolling bearing !
rev. 15 12

The determinant of A is :
det A = ad − cb
If det A 6= 0, the inverse of A is :
 
1 d −b
invA = −c a
ad − cb

The inverse of K (s∗) is :

√ √
9EA 6EA 2 3EA 3EA
⇒ det K (s∗) = × − ×
4L 4L 4L 4L
 2
EA
⇔ det K (s∗) = 48
4L

 2 √ !
1 4L EA 6√ − 3
⇒ invK (s∗) = × ×
48 EA 4L −2 3 9
√ !
L 6√ − 3
⇔ invK (s∗) =
12EA −2 3 9

So that, one has

√ !
   
u2 L 6√ − 3 1
q (s∗) = = × −P  
v3 12EA −2 3 9 1
  √ 
u2 PL  3 − 6 
q (s∗) = =
v3 12EA 2√3 − 9

From which one can deduce :

PL  √ 
⇒ u1 = −u2 = 6− 3
12EA
rev. 15 13

4) Reaction forces

Once the structural nodal displacement vector q (s) is determined, the reaction forces R1 , R2
and R3 at nodes 1, 2 and 3 are respectively obtained by the structural equilibrium equations
relative to DOFs v1 , v2 and u3 respectively :

 
u
 1
v 
   
√ √  1

  R1 

3 3 0
√ 0 −√ 3 −3 u2   
EA  
0 0 − 3 √3 3 −3  =
 R2 

4L √

 v2   
−1 − 3 −1 3 2 0   R3
 
u3 
 
v3

Because of the support conditions v1 = v2 = u3 = 0, one gets

  √ 
R 3u − 3v3
 1  EA  √ 1 
R2  = − 3u2 − 3v3 
   
  4L  
R3 −u1 − u2
Since u1 = −u2 (vertical symmetry property), one has

  √ 
R1 3u1 − 3v3
EA  √
  
⇒ R2  =  3u1 − 3v3 
  
  4L  
R3 0
  √ √ √ 
R 3(6 − 3) − 3(2 3 − 9)
 1 EA PL √ √ √ 
⇔ R2  = ×  3(6 − 3) − 3(2 3 − 9)
  
  4L 12EA  
R3 0
   
P
R
 1 2
⇔ R2  =  P2 
   
   
R3 0
rev. 15 14

5) Strains and stresses in each bar

Strains and stresses are elementary/member quantities, what diers from displacements that
are nodal/joint quantities. For each element/member, one has to transform the elementary
nodal displacement vector components from the global axes to the local axes.

,→ Element I : Oblique bar element from node 1 to 3 inclined at an angle α(eI ) = 60◦ .
The strains and stresses in the bar element I can be expressed in local axes as
 
(e )

 (eI ) = u L I −u(0)
L(eI )
 σ (eI ) = E(eI )

with L(eI ) = L and

 u(eI ) (0) = u cos α(eI ) + v sin α(eI ) v1==0 P L (6 − √3)

1 1 24EA
 u(eI ) (L) = u cos α(eI ) + v sin α(eI ) u3==0 P L (6 − 9√3)
3 3 24EA

It comes
√
(eI ) P  √  √  −P √ 3 P
 = 6−9 3− 6− 3 = ×8 3=−
24EA
√ 24EA 3 EA
3 P
σ (eI ) = − (< 0 ⇒ compression)
3 A
,→ Element II : Horizontal bar element from node 1 to 2 inclined at an angle α(eII ) = 0◦ .
The strains and stresses in the bar element II can be expressed in local axes as
 
(e )

 (eII ) = u L II −u(0)
L(eII )
 σ (eII ) = E(eII )

with L(eII ) = L and

 u(eII ) (0) = u cos α(eII ) + v sin α(eII ) v1==0 P L (6 − √3)

1 1 12EA
 u(eII ) (L) = u cos α(eII ) + v sin α(eII ) v2==0 − P L (6 − √3)
2 2 12EA

It comes
√ !
P  √  √  P  √  3 P
(eII ) = −6 + 3 − 6 − 3 = −12 + 2 3 = −1
12EA 12EA 6 EA
√ !
3 P
σ (eII ) = −1 (< 0 ⇒ compression)
6 A
rev. 15 15

,→ Element III : Oblique bar element from node 2 to 3 inclined at an angle α(eIII ) = 120◦ .
The strains and stresses in the bar element III can be expressed in local axes as
 
(e )

 (eIII ) = u L III −u(0)
L(eIII )
 σ (eIII ) = E(eIII )

with L(eIII ) = L and

 u(eIII ) (0) = u cos α(eIII ) + v sin α(eIII ) v2==0 P L (6 − √3)

2 2 24EA
 u(eIII ) (L) = u cos α(eIII ) + v sin α(eIII ) = P L (6 − 9√3)
u 3 =0
3 3 24EA

It comes
√
(eIII ) PL  √  √  P √ 3 P
 = 6−9 3− 6− 3 =− ×8 3=−
24EA
√ 24EA 3 EA
3P
σ (eIII ) = − (< 0 ⇒ compression)
3 A
rev. 15 16

6) Pin jointed structure static analysis

First, all structural members are assumed to be in tension. When a member is submitted
to tensile forces at both ends, then the bar n◦ i is said to be in tension and the internal force
N (ei ) (i.e. the axial force) is designated as positive sign (N (ei ) > 0). Conversely, when a
member is submitted to compressive forces at both ends, then the bar n◦ i is said to be in
compression and the internal force N (ei ) is designated as negative sign (N (ei ) < 0).

In the method of joints, a virtual cut is made around a joint/node and the P
cut portion is
isolated as a Free Body Diagram (FBD). Using the equilibrium equations Fx = 0 and
Fy = 0 in 2D, the unknown internal forces N (e) can be solved. It is assumed that all
P
members are joined together in the form of an ideal pin (No moment is transmitted
from one member to another !); and that all internal forces are assumed to be in tension
N (e) > 0.

An imaginary section may completely be passed around a joint in the truss. The joint be-
comes a free
P body in equilibrium under all the forces that are applied to it. The equilibrium
equations Fx = 0 and Fy = 0 are written down at the joint to determine the unknown
P
forces N (e) in members meeting there. It is obvious that no more than two unknowns can
be determined at a joint with these two equations.

Here are some simple guidelines for this method of truss static analysis :
1. Draw the Free Body Diagram (FBD) of the given structure,
2. Solve for the reactions of the given structure (3 equations in 2D),
3. SelectPa joint with aPminimum number of unknown (not more than 2) and analyse it
with Fx = 0 and Fy = 0,
4. Proceed to the rest of the joints and again concentrate on the joints that have few
unknowns,
5. Check member forces at unused joints with Fx = 0 and Fy = 0,
P P

6. Tabulate the internal forces depending on whether they are in tension (N (e) > 0) or
compression (N (e) < 0).
rev. 15 17

,→ Reactions

P
ey
Global equilibrium equations
RH 3

O ex • Horizontal : P − P + RH3 = 0 ⇔ RH3 = 0

• Vertical : RV1 + RV2 − P = 0

P P

RV 1 RV 2 • Vertical symmetry : RV1 = RV2

P
⇒ RV1 = RV2 =
Figure 3: Structure free body dia- 2
gram.

,→ Internal forces N (e) in each bar

One checks the internal equilibrium of each node/joint.

Up (Node 3)

Equilibrium equations

P
ey • Horizontal:
RH 3 −N (eI ) cos α(eI ) − N (eIII ) cos α(eIII ) + RH3 = 0

(I) (III) α(eI ) =π−α(eIII )

O ex
⇔ N (eI ) = N (eIII )
a( I)=60° a( III)=120°
e e

• Vertical:
−P − N (eI ) sin α(eI ) − N (eIII ) sin α(eIII ) = 0
(e ) (e )
N I N III
α(eI ) =π−α(eIII ) P
⇔ N (eI ) = N (eIII ) = −
2 sin α(eI )
Figure 4: Node 3 free body diagram. P
√
3
⇒ N (eI ) = N (eIII ) =− ◦
=− P
2 sin 60 3
rev. 15 18

Down (Node 1 ≡ Node 2 because of the vertical symmetry property)

Equilibrium equations

• Horizontal:
ey (eI)
N P + N (eII ) + N (eI ) cos α(eI ) = 0

(I) a(eI)=60° ⇔ N (eII ) = −P − N (eI ) cos α(eI )

√
O ex 3
⇔ N (eII ) = −P + P cos 60◦
P
3
√ !
(II) (e )
N II 3
⇔ N (eII ) = −1 P
RV1 6

• Vertical:
RV1 + N (eI ) sin α(eI ) = 0 → check N (eI )
?

Figure 5: Node 1 free body diagram.
√
P 3
⇔ − P sin 60◦ = 0 ⇒ ok
2 3

,→ Stress recovery in each bar

Once all the internal forces have been obtained, the stresses in each bar can be determined :
√
N (eI ) 3 P
⇒ σ (eI ) = =− (< 0 ⇒ compression)
A 3 A !
√
N (eII ) 3 P
⇒ σ (eII ) = = −1 (< 0 ⇒ compression)
A 6 A
√
N (eIII ) 3 P
⇒ σ (eIII )
= =− (< 0 ⇒ compression)
A 3 A
rev. 15 19

◦
Exercise n 3: Question 1 of the exam of January 2004.
Q
1. Write down the expression of the exibility coef-
L
cients u/P and v/Q for the plane truss, whose P
loading and boundary conditions are depicted in
Figure 6. This truss is made up of 3 bars of the
same extensional stiness (EA [N ]): use an appro-
priate FEM-KA discretization for the bar! EA 2h
2. Recover the strains and stresses in each bar.
3. Compare your results with the ones obtained from
a pin jointed structure static analysis (i.e. the
Method of Joints). P

4. How do these exibility coecients evolve accord- Q

ing to the shape factor SF = h/L?
Figure 6: Wording of exercise 3.

1) Simplied bar truss

First, the symmetry property (of both geometry and loading) should be analyzed in order
to simplify the structure which is to be studied.
Q
Q
L L
P 2 P

(II) h
SYMMETRY
3
EA 2h (I)
EA

ey
1
P
O ex
Q
Comment : it is also correct to proceed without using the symmetry property. In this case,
however, the calculations will be a lot longer and might consequently lead to more mistakes.

2) Structural nodal displacement vector q (s)

Since the 2D structure is made up of bars (2 DoFs per node), the structural nodal displace-
ment vector can immediately be formed:
 T
q (s) = u1 v1 u2 v2 u3 v3
rev. 15 20

3) Elementary stiness matrix K (e) in global axes

(a) Element (I) : Oblique bar element from node 1 to 2 inclined at an angle α(eI ) = α.

v2
u2
L √
2=2 Length : L(eI ) = L
cos α(eI )
= L2 + 4h2
u2
(e )
L I Angle α(eI ) such that
v1 (I) 2h cos α(eI ) = cos α = √L2L+4h2
ey u1 sin α(eI ) = sin α = √L22h
+4h2

ey e x a(eI) Extensional stiness : EA

O e u1
1=1 x
Element I in global axes.

In global axes, the stiness matrix and the corresponding nodal displacement vector of this
element are
 
u
 1
 
cos3 α cos2 α sin α − cos3 α − cos2 α sin α  
EA  2
cos α sin2 α − cos2 α sin α − cos α sin2 α   v1 
K (eI ) =  cos α sin α  ; q (eI ) = 
L  − cos3 α − cos2 α sin α cos3 α 2
cos α sin α   
u 2 
− cos2 α sin α − cos α sin2 α cos2 α sin α cos α sin2 α  
v2

The corresponding index vector used for the element assembly process is
 
IN DEX(1, 1 : 4) = 1 2 3 4

(b) Element (II) : Vertical bar element from node 3 to 2.

u2 = v2

2=2
u2 Length : L(eII ) = h
Angle α(eII ) such that
cos α(eII ) = 0
u 1 = v 3 (II) L(eII) = h
sin α(eII ) = 1
ex = ey e
a( II) Extensional stiness : EA
3=1
ey O ex u3
Element II in global axes.
rev. 15 21

In global axes, the stiness matrix and the corresponding nodal displacement vector of this
element are
 
u
   3
0 0 0 0  
EA  0 1 0 −1  v3 
K (eII ) = (e )
 ; q II =
 
h
 0 0 0 0  
u 2 
0 −1 0 1  
v2

The corresponding index vector used for the element assembly process is
 
IN DEX(2, 1 : 4) = 5 6 3 4

4) Structural stiness matrix K (s)

By using the color code of the elements, one forms the structural stiness matrix K (s) of the
two elements while taking into account their corresponding length:
 
  u1
3 2 3 2
h cos α h cos α sin α −h cos α −h cos α sin α 0 0  
v 
 h cos2 α sin α  1
h cos α sin2 α −h cos2 α sin α −h cos α sin2 α
 
 0 0 
  
EA  u 
K (s)  −h cos3 α −h cos2 α sin α h cos3 α h cos2 α sin α 0 0  ; q (s)  2

= = 
hL 
 −h cos2 α sin α −h cos α sin α h cos α sin α h cos α sin2 α + L 0
2 2

−L 
 v2 
   
0 0 0 0 0 0 
 
 u3 
0 0 0 −L 0 L
 
v3

5) Structural nodal loads vector g (s)

Since the structure is only loaded with concentrated forces, the structural nodal load vector
g (s) can immediately be formed:
 T
g (s) = R1 R2 P Q 0 R3

where R1 , R2 are respectively the horizontal and vertical components of the reaction force at
node 1 and R3 is the vertical reaction force at node 3.

6) Full reduced system of equations K RED q RED = g RED

The support conditions (restraint at node 1 and rolling bearing at node 3) involve that
u1 = v1 = v3 = 0

One removes the corresponding rows and columns from the structural stiness matrix K (s)
and the corresponding rows from the structural nodal load vector g (s) .
rev. 15 22

What is left from K (s) q (s) = g (s) , is a 3 × 3 linear system of equations

   
  u P
EA  h cos
3
α h cos2 α sin α 0  2  
2 2  v2  = Q
   
hL h cos α sin α h cos α sin α + L 0
0 0 0
   
| {z } u3 0
K
RED
| {z } | {z }
q RED g RED

The DoF u3 is undetermined: 0 × u3 = 0. Since the element (II) between the nodes 2 and
3 is a bar -that can only withstand tensile or compression forces- this implies that

u3 = u2

7) Solving the reduced system for the unknown structural nodal displacements q RED

Eventually, the following 2 × 2 linear system of equations still has to be solved:

   
u P
 
EA 3
h cos α 2
h cos α sin α  2 =  
2 2
hL h cos α sin α h cos α sin α + L
| {z } v2 Q
K (s∗) | {z }
q (s∗)

The inverse of K (s∗) is:

 2
(s∗) EA
⇒ det K = (h2 cos4 α sin2 α + hL cos3 α − h2 cos4 α sin2 α)
hL
E 2 A2 cos3 α
⇔ det K (s∗) =
hL  
hL EA h cos α sin2 α + L −h cos2 α sin α
⇒ invK (s∗) = ×
E 2 A2 cos3 α hL −h cos2 α sin α h cos3 α
 
1 h cos α sin2 α + L −h cos2 α sin α
⇔ invK (s∗) =
EA cos3 α −h cos2 α sin α h cos3 α
So that, one has
   
u2 P
 2 2

1 h cos α sin α + L −h cos α sin α
⇒ q (s∗) =  = ×  
v2 EA cos3 α −h cos2 α sin α h cos3 α Q
   
PL
u2 h P tan2 α + h cos3 α − Q tan α
⇔ q (s∗) =   =
v2 EA −P tan α + Q

But, from the geometry and trigonometric formulae, one deduces:

2h L
tan α = tan α(eI ) = and cos α = cos α(eI ) = √ 2 (3)
L L + 4h2
rev. 15 23

So that, one gets the solution in terms of h and L:

     
4h2 (L2 +4h2 )3/2 2h
u2 h P L2 + L2 h
−QL
⇒ q (s∗) = = 
v2 EA 2h
−P L + Q

8) Strains and stresses in each bar

Strains and stresses are elementary/member quantities, what diers from displacements that
are nodal/joint quantities. For each element/member, one has to transform the elementary
nodal displacement vector components from the global axes to the local axes.

(a) Element I : Oblique bar element from node 1 to 2 inclined at an angle α(eI ) = α.

The strains and stresses in the bar element I can be expressed in local axes as
 
(e )

 (eI ) = u L I −u(0)
L(eI )
 σ (eI ) = E(eI )

with L(eI ) = L
cos α(eI )
and

⇒ u(eI ) (0) = u1 cos α(eI ) + v1 sin α(eI )

⇔ u(eI ) (0) = 0
⇒ u(eI ) (L(eI ) ) = u2 cos α(eI ) + v2 sin α(eI )
⇔ u(eI ) (L(eI ) ) = u2 cos α + v2 sin α
sin2 α sin2 α
 
(eI ) (eI ) h PL
⇔ u (L ) = P + − Q sin α − P + Q sin α
EA cos α h cos2 α cos α
PL
⇔ u(eI ) (L(eI ) ) =
EA cos2 α

Using Eq. (3), one gets

P
(eI ) = > 0 (tension)
EA cos α
√
P L2 + 4h2
σ (eI ) = > 0 (tension)
AL
rev. 15 24

(b) Element II : Vertical bar element from node 3 to 2.

The strains and stresses in the bar element II can be expressed in local axes as
 
(e )

 (eII ) = u L II −u(0)
L(eII )
 σ (eII ) = E(eII )

with L(eII ) = h and

⇒ u(eII ) (0) = u3 cos α(eII ) + v3 sin α(eII )
⇔ u(eII ) (0) = 0

u(eII ) L(eII ) = u2 cos α(eII ) + v2 sin α(eII )

⇒
u(eII ) L(eII ) = v2


⇔
 
(eII ) (eII )

h 2h
⇔ u L = Q− P
EA L

It comes  
1 2h
 (eII )
= Q − P > 0 (tension)
EA L
 
1 2h
σ (eII )
= Q − P > 0 (tension)
A L
rev. 15 25

9) Pin jointed structure static analysis

Using the Method of Joints, the internal equilibrium of node/joint 2 is checked because it is
the only one that does not require the calculation of the support reactions.

2 P Equilibrium equations

a(
e I)
• Horizontal: P − N (eI ) cos α(eI ) = 0
ey
(I) (II)
N(e I)
• Vertical: Q − N (eII ) − N (eI ) sin α(eI ) = 0
N(e II) O ex

Figure 7: Node 2 free body diagram.

From these equilibrium equations, and by using Eq. (3), one gets the expression of the
internal forces:
P P√ 2
N (eI ) = (e )
= L + 4h2
cos α I L
2h
N (eII ) = Q − N (eI ) sin α(eI ) = Q − P tan α(eI ) = Q − P
L
Once all the internal forces have been obtained, the stresses in each bar can be determined:
N (eI ) P √ 2
⇒ σ (eI ) = = L + 4h2
A AL
N (eII )

1 2h
⇒ σ (eII ) = = Q− P
A A L
rev. 15 26

10) Evolution of the truss exibility coecients according to the shape factor SF = h
L

• Flexibility coecient denition: u2

P
and v2
Q

• It is assumed that SF = Lh .

First, each exibility coecient has to be expressed in terms of α and SF :

4h2 (L2 + 4h2 )3/2 (L2 + 4h2 )3/2
 
u2 h hQ L 1
= 2
+ 2
−2 with 2
=
P EA L Lh LP Lh h cos3 α
 
u2 1 L Q
⇒ = 4hSF 2 + 3
− 2hSF
P EA cos α P
and  
v2 h hP
= 1−2
Q EA LQ
 
v2 1 P
⇒ = h − 2hSF
Q EA Q

Study of the evolution of the truss exibility coecients :

,→ if SF → 0, i.e. h
L
→ 0 and α → 0 ⇒ cos α → 1
ey

Q
u2 1 L L 1
O ex → → =
L P 3
EA cos α EA Stiness of a bar of length L
2=3 P v2 h 1
(I) → =
1 Q EA Stiness of a bar of length h

,→ if SF → ∞, i.e. h
L
→ ∞ and α → π
2
⇒ cos α → 0
Q

2 P

(II) u2 1
h P
→∞=
zero stiness
3 v2 1
Q
→∞=
ey zero stiness
h ⇒ There is no stiness anymore.
(I)
O ex
1