Stiffness and Flexibility

Stiffness and Flexibility

• Stiffness and Flexibility
• The elastic Spring
• A elastic spring is shown in figure (a). The spring is held at
end 1 and a force P is applied at end 2, causing a
displacement of node 2 by an amount Δ. The stiffness of
spring is defined as
P
k

Or stiffness of a spring is force per unit deflection.
• Similarly, the flexibility of
 spring is
f 
P
Fig. Spring(a) and bar(b)
• The stiffness and flexibility are inversely related as

 P
k  f  f k   1
P 
The important thing to note is the force and
displacement in the spring can either be related
through stiffness coefficient or flexibility coefficient
• A bar subjected to axial force
• Consider a bar of length L, area A made of material with modulus of
elasticity E, fixed at end 1 and subjected to force P at free end 2 as
shown in fig.(b). The change in length of the bar, from elementary
knowledge of strength of materials is PL
• 
AE
• From the study of above equation, the stiffness and flexibility of bar
can be obtained. The stiffness of bar, which is force per unit
displacement will be AE
k
L
• And flexibility of bar, which is displacement per unit force is
L
f 
AE
• And once again AE L
f .k  k . f   1
L AE
• It should be noted that the behaviour of bar is similar to spring
• A cantilever beam
• Consider the cantilever beam shown in fig. , fixed at A and
free at B, of length L and flexural rigidity EI. At the free end
we can have two possible forces (a normal force and a
moment) or two possible displacement (normal
displacement and rotation). To determine flexibility and
stiffness coefficients, these can be applied one at a time.
• (a) Flexibility Coefficients
• To determine the flexibility coefficients, the structure
should be statically determinate as shown in fig (a).
Denoting the forces W and M actions 1 and 2 and applying
one action at a time as shown in Fig. (b) and (c), similar to
spring, these two forces and displacements can be related
through stiffness and flexibility coefficients.
• To obtain flexibility coefficients it will be necessary to apply
one force at a time and compute displacements, while for
stiffness coefficient it will be necessary to apply one
displacement at a time and obtain forces.
• For action in direction 1, i.e. applying only force W as
shown in fig. (b), we know

WL3 WL2
v and   
3EI 2 EI
To get the flexibility coefficient for unit load we have
L3 L2
f11  f 21  
3EI 2 EI
where,
f11 means displacement in the direction 1, when unit force in the direction1
f 21 means displacement in the derection 2, when unit load in the direction 1
f is the inf luence coefficient or flexibility coefficient.
• For action in direction 2, apply only moment M at free
end as shown in Fig ©, then
ML2 ML
v 
2 EI EI
or for unit moment
L2 L
f12  f 22 
2 EI EI
If both the forces, i.e.,W and M are present, the result can be
sup erimposed writing equations in matrix form u sin g inf luence coefficients
or flexibility coefficients, we get the flexibility matrix [ F ] as
we get the flexibility matrix [ F ] as
 L L 
3 2

 v   3EI  2 EI  W 
    L2   
   L
  M
 2 EI EI 
or   F P
 f11 f12 
where , F    
f
 21 f 22 

[ F ] is the flexibility matrix.

Thus, the flexibility matrix relates the displacement with forces.
 is the vector of displacements and
P is the vector of forces.
• (b) Stiffness Coefficients
• To determine stiffness coefficients the structure has to be
kinematically determinate as shown in fig.(d) . We shall
apply displacements (translation and rotation) in the
directions 1 and 2, one at a time.
• Applying displacement v in direction 1, Fig e, we have

12 EI 6 EI
F  3 .v M  2 .v
L L
For unit displacement we get the stiffness coefficients as
12 EI 6 EI
k11  3 k 21  2
L L
Applying unit rotation  in direction 2 fig f , we get
6 EI 4 EI
F 2  M 
L L
• And for unit rotation the stiffness coefficients are
6 EI 4 EI
k12  2 k 22 
L L
If both the displacements v and  present, the result can be sup erimposed
by writing above eq. in matrix form u sin g stiffness coefficients as
12EI 6 EI 
 F   L3 L2   v 
    6 EI 4 EI   
M   
 L2 L 
 k11 k12 
where, K    
k k
 21 22 
And the stiffness matrix relates the forces to displacements as
P  K 
• Again we note that the product of [F] and [K] matrix
is a Identity matrix

 L3 L2  12 EI 6 EI 
   3
[ F ][ K ]   3EI2 2 EI  L L2   1 0  [ I ]
L L  6 EI 4 EI  0 1
  2 
 2 EI EI   L L 
Also [ F ].[ K ]  [ K ].[ F ]  [ I ]
The [ F ] and [ K ] matrices are related inversely, or
[ F ]  [ K ]1 or [ K ]  [ F ]1
 Flexibility matrix and Stiffness matrix methods
• The final aim of the analyst is to determine the forces and
displacements in a structure under the action of external
loads. In case of statically determinate structure the forces
can be found out by using the equations of static
equlibrium. So also the displacements by any of the
available methods.
• It was shown that the flexibility coefficients can be obtained
in a statically determinate structure by applying a unit
force. Similarly, stiffness coefficients can be obtained for a
kinematically determinate structure by applying unit
displacement at a time.
• Most practical structures are statically as well as
kinematically indeterminate. The use of flexibility
coefficients is made to analyze a structure as a statically
indeterminate structure choosing forces as basic unknowns
giving the flexibility matrix method. The use of stiffness
coefficient is made to analyze a structure as a kinematically
indeterminate structure, choosing displacements as basic
unknown giving the stiffness matrix method. In both the
methods, the problem reduces to solution of set of linear
simultaneous equations. In the flexibility method the
solution of equation is for redundant forces, while in
stiffness method the solution of equations is for redundant
displacements. The following examples further illustrate
the procedure.
 A Propped Cantilever Beam
A propped cantilever beam shown in fig. will now be analyzed using
flexibility and stiffness method.
 (a) Flexibility Method
• The cantilever beam is statically indeterminate to first
degree. Support moment or reaction can be considered as
redundant to apply the condition of compatibility.
• Let us choose the support reaction at B, i.e. RB as the
unknown redundant. For analysis purpose the given
structure is assumed to be made of two primary statically
determinate structure as:
• (a) A cantilever with loads but without the support reaction
at B as shown in fig(b).
• The displacement of the beam at point B is denoted by ΔB
and is given by wL 4

B 
8 EI
• (b) Another cantilever beam with a unit load applied in the
direction of redundant RB at the free end in the upward
direction shown in fig.c
• To determine the upward deflection due to RB , use of
influence coefficient of flexibility coefficient can be made.
Apply a unit load at B, in the upward direction as shown in
fig. c to get the flexibility coefficient
L3
f BB 
3EI
 Contd..
• The actual deflection at B is zero. So applying the condition
of consistent deformation
 B  f BB .RB
wL4 L3
 RB
8 EI 3EI
3wL
RB 
8
• Knowing RB the structure is now determinate and forces
and displacements can be computed. For example
L 3 wL wL 2 2
•
M A  RB L  wL.  wL.L  
2 8 2 8
 (b) Stiffness Method
• The cantilever beam is kinematically indeterminate to first degree with
rotation θB as the redundant. To analyze the structure by stiffness
method, consider the beam to be made of two primary kinematically
determinate structures as
• (a) A beam with both ends fixed loaded by a uniformly distributed load w
as shown in fig. d.The moment at B will be

wL2
B 
• (b) Another beam fixedM at both ends, but with a rotation θB at B. To
12 due to θ ,use of stiffness coefficient
determine the equilibrating forces B
can be made by obtaining equlibrating forces (stiffness coefficients) due
to unit rotation at B, as shown in Fig. e

4 EI
k BB 
L
As in the actual beam, the moment at B is zero, the condition
of equilibrium is

M B  k BB B
2 3
wL 4 EI wL
 B  B 
12 L 48 EI
The final moment at A will be
2 2 2 2
wL 2 EI wL wL wL
MA  B.   
12 L 12 24 8
 Structure with more than one indeterminacy
• Consider the continuous beam shown in Fig. The beam is
statically indeterminate to second degree. The load, joint
numbers are shown in the fig.
 (a) Flexibility method
• To analyse the problem by flexibility method, we shall have
to choose two forces as basic unknowns, for which
following choices are available.
• 1. Reaction at 1 and 2, i. e. R1 and R2 .
• 2. Moment at 3, i.e. m03 and R1 .
• 3. Moment at 3, i.e. m03 and R2 .
• 4. Moment at 3 and 2, i.e. m03 and m02 .
• Let us choose R1 and R2 as the basic unknowns, or
redundant and release them to get the statically
determinate structure with loads as shown in fig. (b). Let
the displacement at 1 and 2 in this released structure be Δ01
and Δ02 .
• To determine flexibility coefficients in the direction
of R1 , apply a unit load at 1, acting upward as
shown in fig. ©. Analyse the structure and obtain
flexibility coefficients f11 and f21 .
Similarly, to obtain flexibility coefficients in the
direction of R2, apply a unit load at 2, upwards, as
shown in Fig. (d) and obtain after analysis flexibility
coefficient f22 and f12 .
The condition of deformation or compatibility can
be written at joints 1 and 2 as
  01  f11 .R1  f12 .R2  0
  02  f 21.R1  f 22 .R2  0
• Writing above equation in matrix form, we get

 f11 f12   R1   01 
f    
 21 f 22   R2   02 
• Above equation is a set of linear simultaneous equation,
the solution of which will give the redundant forces R1 and
R2 . Once these redundant forces are known the analysis
can be completed.
• From the solution of simple example by flexibility method,
we note that
• 1. For a problem, numbers of choices exist to select the
redundant forces.
• 2. To determine the flexibility coefficients, the complete
structure needs to be analysed for a redundant force.
 (b) Stiffness method
• To analyse the problem by stiffness method, we observe
that the beam is kinematically indeterminate to second
degree with the unknown displacement or redundant as θ1
and θ2 .
• The structure is made kinematically determinate by fixing
joints 1 and 2, as shown in fig. e and is analysed for loads to
get the moment at joints 1,2 and 3 as m01 , m02 and m03 .
• To get the stiffness coefficients corresponding to θ1, apply a
unit rotation at joint 1, to the kinematically determinate
structure without loads as shown in fig.f and obtain
equlibrating forces giving stiffness coefficients k11 and k21 ,
by analysing the structure.
• Similarly, to obtain stiffness coefficients corresponding to
rotation θ2 , apply unit rotation at joint 2, and obtain
equlibrating forces giving stiffness coefficients k12 , k22 and
k32 . It should be noted that as at joint 2, members 1 and 2
meet, the stiffness coefficients at two, i.e. k22 will be
summation of stiffness due to unit rotation at joint 2 in
members 1 and 2. The important thing to note is that
members 1 and 2 could be analysed separately and
summation obtained afterwards. Thus
k 22  k 22 1  k 22 2
The condition of equlibrium at jo int s 1 and 2 is
M 1  0 and M 2 0
• To write condition of equilibrium, assume that the
anticlockwise moments (and rotations) are positive and m01
, m02 are also in anticlockwise direction, so that
M 1  0 m01  k11 .1  k12 . 2  0
M 2  0 m02  k 21.1  k 22 . 2  0

• Putting above equation in matrix form, we get

 k11 k12  1    m01 
k    
 21 k 22   2   m02 

• Above eqn. is solved to obtain θ1 and θ2.

It should be noted that in the Stiffness method
• 1. The choice of displacement as basic unknowns is unique
and there is no ambiguity in the choice.
• 2. The stiffness coefficients can be obtained member wise
and can be superimposed.
• Analyse the continuous beam shown in fig. by
• (a) Flexibility matrix method
• (b) Stiffness matrix method
• Consider EI same for both members.
 (a) Flexibilty Matrix Method
• The structure is statically indeterminate to second degree. Remove supports 1 and
2 and treat R1 and R2 as redundants. The structure now becomes statically
determinate.
• The statically determinate structure with loads is shown in fig. (a) along with
bending moment diagrams (BMDs). Using moment area theorem
11 1  18495
 01   3  360  6  10.5   270  9  9  
EI 2  EI
1 1 3 1 1  7020
 02    360  6   6   270  6  4   90  6  2 
EI  3 4 2 2  EI

Remove loads and apply unit load in the direction of R1 . The moment diagram is
shown in fig. (b). Again using moment area theorem

1 576
f11   12  12  8 
2 EI
1 1 180
f 21   12  6  4   6  6  2 
2 2 EI
• Remove loads and apply unit load in the direction of R2 . From moment diagram of
fig c
1 72
f 22   6  6  4 
2 EI
1 180
f12   6  6 10 
2 EI

• The compatibility equations at 1 and 2 are

f11 R1  f12 R2   01
f 21 R1  f 22 R2   02
• or 576 R1  180 R2  18495
180 R1  72 R2  7020
Writing the equations in matrix form as

576 180  R1  18495

180 72   R    7020 
  2   
• Solving above equations, we get R1 =7.50 kN and R2 =78.75 kN
• Once R1 andR2 are known, by statics we get
• R3 =63.75 kN, M3 =-67.5 kNm and M2 =-45 kNm
• (b) Stiffness Matrix Method
• The structure is kinematically indeterminate to second
degree, with θ1 and θ2 as the unknown displacements.
Make the structure kinematically determinate by fixing
supports 1 and 2, as shown in fig.
• Consider kinematically determinate structure with loads as
shown in fig (a). Compute fixed end moments as
• Beams1-2
30  6
m01   22.5 kNm; m02  22.5kNm
8
Beam 2  3
20  6  6
m02   60kNm; m03  60kNm
12
• Support 2 is a common node for beams 1-2 and 2-3, hence
net fixed end moment at support 2 will be
• m02 =22.5-60=-37.5 kNm
• Consider kinematically determinate structure without loads
as shown in fig. (b) and apply unit rotation at node 1 in
anticlockwise direction and mark the equilibrating forces
which will be stiffness coefficients, thus

 4 EI   2 EI 
k11    k 21   
 L 1 2  L 1 2
• Consider kinematically determinate structure without loads
as shown in fig. (b) and apply unit rotation at node 2 in
anticlockwise direction and mark the equlibrating forces. It
is to be noted that at node 2 both beams are 1-2 and 2-3
are to be considered.
 2 EI   4 EI   4 EI   2 EI 
• k12    k 22      k31   
 L 1 2  L 1 2  L  23  L  2 3
The equlibrium equations at jo int s 1 and 2 can now be written as
M 1  0 k111  k12 2   m01
M 2  0 k 211  k 22 2  m02
For both the beams L  6m
4 EI 2 EI
1   2  22.5
6 6
2 EI 8 EI
1   2  37.5
6 6
• Simplifying and writing the equation in matrix form
4 2 1  22.5
EI     
2 8   2  37.5
Solving we get
22.5 22.5
1  and  2 
EI EI
Knowing the values of θ1 and θ2 , the final moments can now
be calculated, using slope deflection equations.
2 EI 2 EI 22.5
 M 3  m03   2  60  .
L 6 EI
 67.5kNm
4 EI 22.5
M 23  60  .  45kN / m
6 EI
M 21  45 kNm
M1  0