STRUCTURAL ENGINEERING

Lecture 4

Engr. Danish Saeed

Lecturer
Department of Civil Engineering
KFUEIT, RYK
Introduction to Structural Dynamics and
Earthquake Engineering
Force Displacement Relation
• Consider the system shown in figure 4.1(a) with no dynamic excitation
subjected to an externally applied static force fS along the DOF u as shown.
• The internal force resisting the displacement u is equal and opposite to the
external force fS as shown in figure 4.1(b).

Figure 4.1
Force Displacement Relation
• It is desired to determine the relationship between the force fS and the
relative displacement u associated with deformations in the structure during
oscillatory motion.
• This force–displacement relation would be linear at small deformations but
would become nonlinear at larger deformations.
• Both nonlinear and linear relations are considered as shown in figure 4.1(c)
and (d).
Force Displacement Relation

Figure 4.1
Force Displacement Relation
Linearly Elastic Systems
• For a linear system the relationship between the lateral force fS and resulting
deformation u is linear, that is,

• where k is the lateral stiffness of the system; its units are force/length.

• This linear relationship implies that fS is a single-valued function of u (i.e.,

the loading and unloading curves are identical).
• Such a system is said to be elastic; hence we use the term linearly elastic
system to emphasize both properties.
Force Displacement Relation
• Consider the frame of figure 4.2(a) with bay width L, height h, elastic
modulus E, and second moment of the cross-sectional area (or moment of
inertia)† about the axis of bending = Ib and Ic for the beam and columns,
respectively.
• The columns are clamped (or fixed) at the base.
• The lateral stiffness of the frame can readily be determined for two extreme
cases:
• If the beam is rigid [i.e., flexural rigidity EIb =∞] shown in figure 4.2(b).

• On the other hand, for a beam with no stiffness [i.e., EIb = 0 (Fig. 4.2(c))]
Force Displacement Relation

Figure 4.2
Force Displacement Relation
Example
• Calculate the lateral stiffness for the frame shown in figure, assuming the
elements to be axially rigid.
Example
• This structure can be analysed by any of the standard methods, including
moment distribution.
• Here we use the definition of stiffness influence coefficients to solve the
problem.
• The system has the three DOFs.
Example
• To obtain the first column of the 3 × 3 stiffness matrix, we impose unit
displacement in DOF u1, with u2 = u3 = 0.
• The forces ki1 required to maintain this deflected shape are shown in figure.
Example
• The elements ki2 in the second column of the stiffness matrix are determined
by imposing u2 = 1 with u1 = u3 = 0; as shown below.
Example
• Similarly, the elements ki3 in the third column of the stiffness matrix can be
determined by imposing displacements u3 = 1 with u1 = u2 = 0.
• Thus the 3 × 3 stiffness matrix of the structure is known and the equilibrium
equations can be written.
• For a frame with Ib = Ic subjected to lateral force fS, they are
Example
• In equation form these equations can be written as;
Example
• Last two equations can be re written as;

Multiplying second equation by 6 and subtracting from first equation;

Substituting in any one of above equation

Example
• Substituting these values in first equation;

Thus the lateral stiffness of the frame is;

Force Displacement Relation
Inelastic systems:
• Determined by experiments, the force–deformation relation for a structural
steel component undergoing cyclic deformations expected during
earthquakes is shown in figure 4.3.
• The initial loading curve is nonlinear at the larger amplitudes of
deformation, and the unloading and reloading curves differ from the initial
loading branch; such a system is said to be inelastic.
Force Displacement Relation