SI 3211 – MATRIX STRUCTURAL ANALYSIS

SI 3211 - LECTURE 11
SUBJECT OUTLINE

STIFFNESS METHOD : BEAM & FRAME ELEMENTS

MEMBER LOADING

semester 2 - 2010
 LECTURE OUTLINE

This lecture will cover:

• Introduction to the frame element
• Introduction to member loading
• Some examples using the stiffness method
 STIFFNESS METHOD : FRAME ELEMENT

FRAME ELEMENT
What are the DOF of a FRAME ELEMENT?
DOF at each NODE END correspond to TRANSLATION ALONG THE
VERTICAL & HORIZONTAL LOCAL AXES and ROTATION ABOUT THE
END NODES YL
f1y ,u1y f2z ,u2z f2y ,u2y
SIGN CONVENTION: 1 2 XL
Anti-clockwise rotations are f1x ,u1x f2x ,u2x
assumed to be positive. f1z ,u1z
 STIFFNESS METHOD : FRAME ELEMENT

Using the concept of NEAR and FAR nodes, the DOF can be referred to
as: YL
fNy ,uNy fFz ,uFz fFy ,uFy
1 2 XL
fFx ,uFxfNx ,uNx fFx ,uFx
fNz ,uNz
YL
and the relevant DOF would 2 6 5
1 2 XL
be as follows:
1 4
Z,ZL
3
 STIFFNESS METHOD : FRAME ELEMENT
STIFFNESS MATRIX
The stiffness relationship for a frame element expressed in local
coordinates is defined below as: 1 2 3 4 5 6
YL f2y ,u2y  EA

EA 
f1y ,u1y f2z ,u2z


L
0 0
L
0 0 
6 EI   u
1 2 X f   0
L    1x
12 EI 6 EI
0 
12 EI
 1x 1
 u 
3 2 3 2
f L L L L
   1y 6 EI 4 EI 6 EI 2 EI   1y  2
f1x ,u1x  f   0 L 2
L
0 
L L   u
2 
1z  3
    EA
1z
 u 
f1z ,u1z f ,u
2x 2x  f  

2x 0 0
EA
0 0  2x  4
f   L L  u 
2y 5
   6 EI   
2y
12 EI 6 EI 12 EI
which can be written as:  f   0
2z

L

L3
0 2
L 3

L 
u2 2z 
6

 f   k e u 


0
6 EI
L 2
2 EI
L
0 
6 EI
L
4 EI 
L 
2 
 STIFFNESS METHOD : FRAME ELEMENT

TRANSFORMATION MATRIX
The frame element is a very generic element and we want to be able
to use it for generic frame analysis, where the elements axes are
located at different angles relative to the global coordinate system.

For this reason we need to introduce the TRANSFORMATION MATRIX

to relate the stiffness relationship that we have introduced (expressed
in local coordinates) in GLOBAL COORDINATES.
 STIFFNESS METHOD : FRAME ELEMENT

TRANSFORMATION MATRIX
Following the procedure utilized to obtain the TRANSFORMATION
MATRIX for the truss element, the required rotation matrix R for the
frame element is now derived.
The rotation matrix which relates a generic vector in the GLOBAL
COORDINATES of to those expressed in the LOCAL AXES is first
derived.
The same procedure is then applied to relate a generic vector in the
LOCAL COORDINATES to those in the GLOBAL ONES.
 STIFFNESS METHOD : FRAME ELEMENT

ROTATION MATRIX R FOR DISPLACEMENTS

Determine the rotation matrix required to transform a vector V in global
coordinates into local coordinates where the origins of the local & global
coordinate systems coincide.
The relative rotation between the two coordinate systems is defined by
the angle q, which is assumed to be positive when anticlockwise and to
be measured from the global X-axis.
 STIFFNESS METHOD : FRAME ELEMENT

Y V B Y B
Yl V
Vy vx Xl
vy
A Vx A
X X

Z,ZL Z,ZL
ZL- and Z-axes are
coming out of the page
 STIFFNESS METHOD : FRAME ELEMENT

The TRANSFORMATION MATRIX that we need, which we will be

referred to as [R], relates the displacements in local and global
coordinates as follows: v x   R11 R12 R13  Vx 
v  RV  where v  v  R   R R R  V   V 
 y  21 22 23   y
v   R31 R32 R33  V 
NOTE:  z  z
In the following capital and small letters will be used to refer to
matrices and vectors. Moreover, capital letters will be used to refer
terms defined in the global coordinate system while small letters will
be used to refer terms defined in the local coordinate system
 STIFFNESS METHOD : FRAME ELEMENT
We will now impose one unit vector Y
along one global DOF at the time YL
(while keeping the remaining global vx XL
DOF restrained) and see how this
can be expressed in local coordinates q
X
Vx  1 Z,ZL Vx=1
    vy
V y   0
V  0 ZL- and Z-axes are
 z  
coming out of the page
 STIFFNESS METHOD : FRAME ELEMENT

From trigonometry we can express Vx=1 in local coordinates as:

vx= cos q vx   cos q   c
Or, in matrix form      
vy= -sin q v y     sin q    s 
v   0   0
vz= 0  z    

Then,
vx   R11 R12 R13  Vx   R11 R12 R13  1  R11   c 
          
v y    R21 R22 R23  Vy    R21 R22 R23  0   R21     s 
v   R R33    R33       
 z   31 R32 Vz   R31 R32 0  R31   0 
 STIFFNESS METHOD : FRAME ELEMENT

applying the same procedure with

the following set of coordinates:
Y
YL
Vx  0 Vy=1
   
V y   1 vy q XL
V  0 vx
 z   X
q

Z,ZL
 STIFFNESS METHOD : FRAME ELEMENT

From trigonometry we can express Vy=1 in local coordinates as:

vx   sin q   s 
     

 y 
v cos q   c 
v   0  0
 z    
Then,
vx   R11 R12 R13  Vx   R11 R12 R13  0  R12   s 
          
v y    R21 R22 R23  Vy    R21 R22 R23  1  R22   c 
v   R R33    R33       
 z   31 R32 Vz   R31 R32 0  R32  0
 STIFFNESS METHOD : FRAME ELEMENT

applying the same procedure with

Y
the following set of coordinates: YL

Vx  0 XL
   
V y   0 q
X
V  1
 z  
Vz=1

Z,ZL
 STIFFNESS METHOD : FRAME ELEMENT

From trigonometry we can express Vz=1 in local coordinates as:

Vx  0
   
 y
V  0
V  1
 z  
Then,
vx   R11 R12 R13  Vx   R11 R12 R13  0  R13  0
          
v y    R21 R22 R23  Vy    R21 R22 R23  0  R23   0
v   R R33    R33       
 z   31 R32 Vz   R31 R32 1  R33  1
 STIFFNESS METHOD : FRAME ELEMENT

collecting the previous results we can write the rotation matrix as follows:

 R11 R12 R13   c s 0

R   R21 R22 R23     s c 0
 R31 R32 R33   0 0 1

Obviously, this rotation matrix relates the coordinates of ONE VECTOR

only (between global and local coordinates).
 STIFFNESS METHOD : FRAME ELEMENT

The ROTATION MATRIX [R] which relates a vector in local & global
coordinates looks as:
v  R V 
where,
v x   R11 R12 R13  Vx 
v  v y  R   R21 R22 R23  V   Vx 
v   R31 R32 R33  V 
 z  x
 STIFFNESS METHOD : FRAME ELEMENT
TRANSFORMATION MATRIX:
FROM LOCAL TO GLOBAL COORDINATES
Let’s assume to have a vector V expressed in local coordinate system.
In the following we will derive the transformation matrix required to
convert its coordinates in terms of the global coordinate system.

The origins of the local and global coordinate systems coincide.

The relative rotation between the 2 systems is defined by the angle q
which is assumed to be positive when anticlockwise and to be measured
from the X-axis.
 STIFFNESS METHOD : FRAME ELEMENT
We will now impose one unit vector Y
along one local DOF at the time
(while keeping the remaining local YL
XL
DOF restrained) and see how this Vy vx=1
can be expressed in global coordinates
q
X
v x  1
    Z,ZL Vx
v y   0
v  0 ZL- and Z-axes are
 z  
coming out of the page
 STIFFNESS METHOD : FRAME ELEMENT

From trigonometry we can express vx=1 in global coordinates as:

vx  cos q  c 
     
v y    sin q   s 
v   0  0
 z    
Then,
Vx   r11 r12 r13  vx   r11 r12 r13  1 r11  c 
          
Vy   r21 r22 r23  v y   r21 r22 r23  0  r21    s 
V  r r33    r33       
 z   31 r32 vz  r31 r32 0 r31  0
 STIFFNESS METHOD : FRAME ELEMENT

applying the same procedure with

the following set of coordinates: YL Y
vy=1 Vy
v x  0
    q XL
v y   1
v  0 q
 z  
Vx

Z,ZL
 STIFFNESS METHOD : FRAME ELEMENT

From trigonometry we can express vy=1 in local coordinates as:

Vx   sin q   s 
     

 y 
V cos q  c 
V   0   0 
 z    
Then,
Vx   r11 r12 r13  vx   r11 r12 r13  0  r12   s 
          
Vy   r21 r22 r23  v y   r21 r22 r23  1  r22    c 
V  r r33    r33       
 z   31 r32 vz  r31 r32 0 r32   0 
 STIFFNESS METHOD : FRAME ELEMENT

applying the same procedure with

Y
the following set of coordinates: YL

v x  0 XL
   
v y   0 q
X
v  1
 z  
vz=1

Z,ZL
 STIFFNESS METHOD : FRAME ELEMENT

From trigonometry we can express vz=1 in local coordinates as:

v x  0
   
 y
v  0
v  1
 z  
Then,
Vx   r11 r12 r13  vx   r11 r12 r13  0 r13  0
          
Vy   r21 r22 r23  v y   r21 r22 r23  0  r23   0
V  r r33    r33       
 z   31 r32 vz  r31 r32 1 r33  1
 STIFFNESS METHOD : FRAME ELEMENT

collecting the previous results we can write the rotation matrix as follows:

 r11 r12 r13  c  s 0

r  r21 r22 r23    s c 0
r31 r32 r33  0 0 1

Obviously, this rotation matrix relates the coordinates of ONE VECTOR

only (between local and global coordinates).
 STIFFNESS METHOD : FRAME ELEMENT

The ROTATION MATRIX [r] which relates a vector in global & local
coordinates looks as:
V   r  v
where,
Vx   r11 r12 r13  vx 
V   Vy  r  r21 r22 r23  v  vx 
V  r31 r32 r33  v 
 z  x

IT CAN BE NOTICED FROM [R] = [r]T and therefore

THE PREVIOUS DERIVATIONS
V   r  v  RT v
 STIFFNESS METHOD : FRAME ELEMENT

APPLYING THE RESULTS OBTAINED TILL NOW TO DERIVE THE FRAME

STIFFNESS ELEMENT IN GLOBAL COORDINATES
NOTE: this element was previously derived in local coordinates
 f   k e u  f 1x   u1x 
f  u 
 1y   1y 
YL f2y ,u2y  f1z   u1z 
f1y ,u1y f2z ,u2z f     u   
2 XL  f 2x  u 2 x 
1  f2y  u 2 y 
f1x ,u1x    
 f 2 z  u 2 z 
f1z ,u1z f2x ,u2x
 XL 5 XL

2
Y Y 4
YL YL 2

X X
1

 f   k e u F   K e U 
where the subscript e highlights that the stiffness relationship is
written for 1 element in global coordinates
 STIFFNESS METHOD : FRAME ELEMENT

Considering the previously derived transformations matrix for the

displacements occurring at nodes 1 and 2 separately:

u1x   c s 0 U1x  u2 x   c s 0 U 2 x 

         
u1 y     s c 0 U1 y  u2 y     s c 0 U 2 y 
u   0 0 1 U  u   0 0 1 U 
 1z     1z   2z     2z 
 STIFFNESS METHOD : FRAME ELEMENT

These can then be re-written in a more compact form as:

 u1x   c s 0 0 0 0 U1x 
u    s c 0 0 0 0 U1 y 
 1y  
 u1z   0
 
0 1 0 0 0 U1z 
 
Or: u  T  U 
u2 x   0 0 0 c s 0 U 2 x 
u2 y   0 0 0 s c 0 U 2 y 
    
u2 z   0 0 0 0 0 1 U 2 z 
 STIFFNESS METHOD : FRAME ELEMENT

Considering the previously derived transformations matrix for the

element end forcess occurring at nodes 1 and 2 separately:

 f1x  c  s 0  F1x   f 2 x  c  s 0  F2 x 
         
 f1 y    s c 0  F1 y   f2 y   s c 0  F2 y 
 f  0 0 1    f  0 0 1  
 1z    F1z   2z    F2 z 
 STIFFNESS METHOD : FRAME ELEMENT

These can then be re-written in a more compact form as:

 f1x  c  s 0 0 0 0  F1x 
 f  s c 0 0 0 0  F1 y 
 1y  
 f1z  0
   
0 1 0 0 0  F1z 
 
Or:  f   T T F 
 f 2 x  0 0 0 c s 0  F2 x 
 f 2 y  0 0 0 s c 0  F2 y 
    
 f 2 z  0 0 0 0 0 1  F2 z 
 STIFFNESS METHOD : FRAME ELEMENT

Recalling the stiffness relationship Yl 5

2 6
for the FRAME ELEMENT 2 Xl
1 2 3 4 5 6 1
 EA
0 0 
EA
0 0 
 1 4
 L
 f1x   0
 12 EI 6 EI
0
L

12 EI 6 EI   u  1
 1x
3
f   L3 L2 L3 L2  u  2
 1y   6 EI 4 EI 6 EI 2 EI   1 y 
 f1z   0  2
L   u1z  3
0
    EA
 f 2 x  
L2
0
L
0
EA
L
0

0  u2 x  4
which can be written as:
 f2 y   L L  u  5
  
 f 2 z   0


12 EI
L3

6 EI
L2
0
12 EI
L3
6 EI   2 y 
 2 u2 z  6
L   f   k e u
6 EI 2 EI 6 EI 4 EI 
 0 0  2 
 L2 L L L 
 STIFFNESS METHOD : FRAME ELEMENT

STIFFNESS MATRIX IN GLOBAL COORDINATES

At this point the derivation of the STIFFNESS ELEMENT in global
coordinates becomes
 f   k  u
 f   k T  U  From before u  T U 
F   T T k T  U  From before F   T T  f 
F   K e  U  where [Ke] represents the stiffness matrix of
K e   T T k T  the frame element in global coordinates.
 STIFFNESS METHOD : FRAME ELEMENT

Going through the calculations to determine the stiffness matrix of the

generic frame element (in global coordinates) yields
1 2 3 4 5 6
  EA 6 EI 
s 1
12 EI   EA 12 EI  6 EI  EA 12 EI   EA 12 EI 
  L c  L s    cs  s  c  s    cs 
2 2 2 2

       
3 3 2 3 3 2
 L L L L L L L L 
c 2
  EA 12 EI   EA 12 EI  6 EI  EA 12 EI   EA 12 EI  6 EI 
  cs 
2
s  2
c    cs  
2
s  2
c 
  L L 
3
 L
3
L 
2
L  L
3
L   L
3
L 2
 L 
 2 EI 
 3
6 EI 6 EI 4 EI 6 EI 6 EI
  s c s  c
K   EA
 
2 2 2 2
L L L L L L
  12 EI   EA 12 EI   EA 12 EI   EA 12 EI  6 EI 
e
s 4
6 EI
  L c  L s    cs  s  c    cs
2 2 2 2
s
3
 L 3
L  2
L  L 3
L   L 3
L 2
L 
 
   EA  12 EI cs   EA s  12 EI c   6 EI c  EA 12 EI   EA 12 EI 
L  5
6 EI 
2 2
  cs 
2
s  2
c   c
  L L 
3
 L
3
L 2
 L  L
3
L   L
3
L 2

 4 EI 
 6
6 EI 6 EI 2 EI 6 EI 6 EI
  s c s  c
 L2 2
L L 2
L 2
L L 
 STIFFNESS METHOD : FRAME ELEMENT

MEMBER LOADS
Loads applied in the member span w
are referred to as MEMBER LOADS.
1 2
Let’s first consider the common case L
of a Uniformly Distributed Load w
(or UDL). NOTE: thanks to the PRINCIPLE OF
SUPERPOSITION we know that THE
FOLLOWING EQUALITIES ARE POSSIBLE
 w
1 2 Actual loading
L
w
Actual loading and reactions
1 wL2 wL2
2 of a fixed-fixed member
wL 12 L 
12 wL
2 2

wL wL Opposite reactions of a
fixed-fixed member subjected
2 2
1 wL2 wL2
2

12
L 12 to UDL
 STIFFNESS METHOD : FRAME ELEMENT

Let’s now look at this EQUALITY in more details.

LET’S CONSIDER THE FOLLOWING CASE:
 w w
wL wL
2 3 2 3 2 2 3
wL2

wL2 2 
wL2 wL2
wL 12 12 wL 12 12
2 2

L L L

1 4 1 4 1 4
L L L
STRUCTURE S1 STRUCTURE S2 STRUCTURE S3
We will now see how the results from structures S1, S2 and S3 relate
to each other.
 STIFFNESS METHOD : FRAME ELEMENT

S1 S3 S2
2 3 COMPARISON OF THE RESULTS
S1, S3 The COMPARISON OF THE
RESULTS for S1, S2 and S3 is
carried out with L=10m and
S2 w=500kN/m

1 4
 STIFFNESS METHOD : FRAME ELEMENT

SUMMARY OF DISPLACEMENTS (m):

NODE 2 NODE 3
Ux Uy Uz Ux Uy Uz
S1 0.0022 -0.0436 -1.9843 S1 -0.0022 -0.0436 1.9843
S2 0 0 0 S2 0 0 0
S3 0.0022 -0.0436 -1.9843 S3 -0.0022 -0.0436 1.9843

U1  U 2  U 3
 STIFFNESS METHOD : FRAME ELEMENT

SUMMARY OF REACTIONS (kN, kNm):

NODE 1 NODE 4
Fx Fy Fz Fx Fy Fz
S1 250 2500 0 S1 -250 2500 0
S2 0 0 0 S2 0 0 0
S3 250 2500 0 S3 -250 2500 0

F1  F2  F3
 STIFFNESS METHOD : FRAME ELEMENT

At member level the following considerations need to be carried out:

f1  f 2  f 3 S2 3
2
S1, S3
For STRUCTURE S3 the nodal
actions at the element end S3
S1
expressed in local coordinate S2
system can be derived as:
f 3  k e T U 
1 4
 STIFFNESS METHOD : FRAME ELEMENT
For example, the BMD for structure S2 looks as shown below
4167
4167
2 3 The BMD and SFD along the element 23
2083 are equivalent to those of a fixed ended
beam subjected to a UDL and therefore:

w=500kN/m L=10m
2 3
4167
4167
1 4 2 3
2083
 STIFFNESS METHOD : FRAME ELEMENT
YL f2y ,u2y
f1y ,u1y f2z ,u2z
2 XL f1  f 2  f 3
1
f1x ,u1x
f1z ,u1z f2x ,u2x  f1, S1   f1, S 2   f1, S 3 
Yl f  f  f 
f2 f5  2, S 1   2, S 2   2, S 3 
f6  f 3, S1   f 3, S 2   f 3, S 3 
2 Xl    
1 f f
 4, S 1   4, S 2   4, S 3 f
f1 f4  f 5, S 1   f 5, S 2   f 5, S 3 
f3      
 f 6, S1   f 6, S 2   f 6, S 3 
 STIFFNESS METHOD : FRAME ELEMENT
NOTE:
SIMILAR CONSIDERATIONS APPLY TO THE CASE OF A BEAM ELEMENT
3
1 Yl 4
1 2
2 Xl

For example considering the common case of a UDL w.

 w
1 2 Actual loading
L
w
Actual loading and reactions
1 wL2 wL2
2 of a fixed-fixed member
wL 12 L 
12 wL
2 2

wL wL Opposite of reactions of a
fixed-fixed member subjected
2 2
1 wL2 wL2
2

12
L 12 to UDL
 STIFFNESS METHOD : FRAME ELEMENT

In matrix form:
 f   FEM  k e u
Or:
 f   FEM  k e T U 
 STIFFNESS METHOD : EXAMPLES

EXAMPLE 2 (from Hibbeler)

Determine the support reactions at 1 and 3. Take E = 200 Gpa,
I = 300  106 mm4, A = 21  103 mm2 for each member.
1 2 300 kNm

4m

3
5m
 STIFFNESS METHOD : EXAMPLES
In order to solve this problem we will use the frame element.
Before we start let’s number the DOF of the frame:
8 2
1 1 3 2
9 7 300 kNm 1 Once we have numbered the DOF
2 we can draw a FBD of the frame.
4 6
3
5
 STIFFNESS METHOD : EXAMPLES

8 2 Based on the generic expression for the

9 1 1 3 2 stiffness matrix for the frame element, let’s
calculate the stiffness contribution for each
P7 7 1
300 kNm element separately.
P9 P8 2 At this point, the vectors of known actions
4 6 and displacements are:
0 5
P5 3 5 0 6
 
 0 1
 0 2
P6 U k   0 7 Pk    
0 8 300 3
   0  4
0 9
 STIFFNESS METHOD : EXAMPLES
For ease of reference, the generic expression for the stiffness
matrix for the frame element is illustrated below:
1 2 3 4 5 6
  EA 2 12 EI 2  6 EI 
  L c  L3 s 
 
 EA 12 EI 

 L
 3 cs
L 

6 EI
L 2
 EA 2 12 EI 2 
s 
 L
c  3 s 
L 

 EA 12 EI 
 L
 3 cs  2 s 
L  L 
1





EA
 L
12 EI
 3 cs
L 
 

 L
EA 12
L
EI 
s2  3 c2 

6 EI
L2

 EA 12 EI 
 L
 EA 2 12 EI 2 
 3 cs  
L   L
s  3 c 
L 
6 EI 
L2 
c 2
 2 EI 

K e    EA L12 EI
6 EI
 2 s
6 EI
L2
c
4 EI
L
6 EI
L2
s 
6 EI
L2
c
L 
 3
  2  EA 12 EI   EA 2 12 EI 2   EA 12 EI  6 EI 
  L c  L3 s 
2

 L
 3 cs
L 
6 EI
L 2
s 
 L
s  3 c 
L 

 L
 3 cs
L  L2 
s 4
 
   EA  12 EI cs   EA s 2  12 EI c 2   EA 12 EI   EA 2 12 EI 2 
  L L3   L L3 
6 EI
 2 c
L

 L
 3 cs
L 

 L L 
6 EI 
s  3 c   2 c
L  5
 4 EI 


6 EI
 2 s
L
6 EI
L2
c
2 EI
L
6 EI
L2
s
6 EI
 2 c
L L 
 6
 STIFFNESS METHOD : EXAMPLES
For member 1: q= 0º  c = 1; s = 0
EA 0.021 200 106 4 EI 4  200 106  300 10 6
  840,000 kN / m   48,000 kNm
L 5 L 5
12 EI 12  200 106  300 10 6 2 EI 2  200 106  300 10 6
  5,760 kN / m   24,000 kNm
L3 53 L 5
6 EI 6  200 106  300 10 6
  14,400 kN
L2 52

DOF of the frame element DOF of the frame element in global

in local coordinate coordinate
2 5 8 2
3 6 9
1 1 1 3
1
1 2 4 7 2 1
 2 5 8 2
3 9 3
1 6 1 1
1
1 2 4 7 2 1
7 8 9 1 2 3
1 2 3 4 5 6
 840,000 0 0  840,000 0 0  1 7
 0 5,760 14,400 0  5,760 14,400  2 8

 0 14,400 48,000 0  14,400 24,000  3 9
K1   
  840,00 0 0 840,000 0 0  4 1
 0  5,760  14,400 0 5,760  14,400 5 2
 
 0 14,400 24,000 0  14,400 48,000  6 3
 STIFFNESS METHOD : EXAMPLES
For member 1:
1 2 3 4 5 6 7 8 9
1
2
3
4
[K]= 5
6
7
8
9
 STIFFNESS METHOD : EXAMPLES
For member 2: EA 0.021 200 106
L

4
 1,050,000 kN / m
4 EI 4  200 106  300 10 6
L

4
 60,000 kNm
12 EI 12  200 106  300 10 6 2 EI 2  200 106  300 10 6
q= 90º L3

43
 11,250 kN / m
L

4
 30,000 kNm
6 EI 6  200 106  300 10 6
c = 0; s = 1 L2

42
 22,500 kN

5 2
6 3
4 1 DOF in global
DOF in local
2 coordinate 2 coordinate
2 4 6
3 1 5
 5 2
6 3
4 1
2 2
6
2

3 1 4 5
5 6 4 1 2 3
1 2 3 4 5 6
 11,250 0  22,500  11,250 0  22,500 1 5
 0 1 ,050 ,000 0 0  1,050, 000 0  2 6
 
  22,500 0 60,000 22,500 0 30,000  3 4
K2   
  11,250 0 22,500 11,250 0 22,500  4 1
 0  1,050,000 0 0 1,050,000 0  5 2
 
  22,500 0 30,000 22,500 0 60,000  6 3
 STIFFNESS METHOD : EXAMPLES
For member 2:
1 2 3 4 5 6 7 8 9
1
2
3
4
[K]= 5
6
7
8
9
 STIFFNESS METHOD : EXAMPLES

As the structure possesses 9 DOF, the stiffness matrix of the

whole structure must be 9x9.

Let’s now look at the assembling procedure.

At the beginning of this process the matrix will be full of

zeros:
 STIFFNESS METHOD : EXAMPLES
Global Stiffness Matrix
1 2 3 4 5 6 7 8 9
0 0 0 0 0 0 0 0 0 1
0 0 0 0 0 0 0 0 0 2
0 0 0 0 0 0 0 0 0 3
0 0 0 0 0 0 0 0 0 4
[K]= 0 0 0 0 0 0 0 0 0 5
0 0 0 0 0 0 0 0 0 6
0 0 0 0 0 0 0 0 0 7
0 0 0 0 0 0 0 0 0 8
0 0 0 0 0 0 0 0 0 9
 STIFFNESS METHOD : EXAMPLES

We will see how each element would contribute with its terms
to [K]. Once the contribution of each element has been
identified individually, then we will add them together in the
[K] matrix.

Let’s start from member 1.

The terms in the stiffness matrix expressed in global coordinates should
be inserted in the appropriate locations into the structures matrix [K].
This is shown below for six terms of the matrix.
 7 8 9 1 2 3
1 2 3 4 5 6
 840,000 0 0  840,000 0 0  1 7
 0 5,760 14,400 0  5,760 14,400  2 8

 0 14,400 48,000 0  14,400 24,000  3 9
K1   
  840,00 0 0 840,000 0 0  4 1
 0  5,760  14,400 0 5,760  14,400 5 2
 
 0 14,400 24,000 0  14,400 48,000  6 3 1 2 3 4 5 6 7 8 9
0 0 0 0 0 0 0 0 0 1
0 0 0 0 0 0 0 0 0 2
0 0 0 0 0 0 0 0 0 3
0 0 0 0 0 0 0 0 0 4
[K]
0 0 0 0 0 0 0 0 0 5
=
0 0 0 0 0 0 0 0 0 6
0 0 0 0 0 0 0 0 0 7
0 0 0 0 0 0 0 0 0 8
0 0 0 0 0 0 0 0 0 9
 7 8 9 1 2 3
 840,000  840,000 

 0
0
5,760
0
14,400 0
0
 5,760
0
14,400 
7
8 Inserting all terms included in the

K1  
0
  840,00
14,400
0
48,000
0
0
840,000
 14,400
0
24,000 
0 

9
1
stiffness matrix of element 1


0  5,760  14,400 0 5,760  14,400
 14,400

2
into the structures stiffness matrix [K]
 0 14,400 24,000 0 48,000  3

1 2 3 4 5 6 7 8 9

84,000 0 0 0 0 0 -84,000 0 0 1

0 5,760 -14,400 0 0 0 0 -5,760 -14,400 2

0 -14,400 48,000 0 0 0 0 14,400 24,000 3

0 0 0 0 0 0 0 0 0 4
[K]= 0 0 0 0 0 0 0 0 0 5

0 0 0 0 0 0 0 0 0 6

-840,000 0 0 0 0 0 840,000 0 0 7

0 -5,760 14,400 0 0 0 0 5,760 14,400 8

0 -14,400 24,000 0 0 0 0 14,400 48,000 9

 5 6 4 1 2 3
 11,250
 0
0
1,050,000
 22,500  11,250
0 0
0
 1,050,000
 22,500
0 
5
6
Inserting all terms included in the

  22,500
K2  
0 60,000 22,500 0 30,000 

4 stiffness matrix of element 2
  11,250 0 22,500 11,250 0 22,500  1


0  1,050,000 0 0 1,050,000 0 

2 into the structures stiffness matrix [K]
  22,500 0 30,000 22,500 0 60,000  3
1 2 3 4 5 6 7 8 9

840,000 0+ 0+ 22,500 -11,250 0 -840,000 0 0 1

+11,250 0 22,500
0+ 5,760+ -14,400+ 0 0 -1,050,000 0 -5,760 -14,400 2
0 1,050,000 0
0+ -14,400+ 48,000+ 30,000 -22,500 0 0 14,400 24,000 3
22,500 0 60,000
22,500 0 30,000 60,000 -22,500 0 0 0 0 4
[K]=
-11,250 0 -22,500 -22,500 11,250 0 0 0 0 5

0 -1,050,000 0 0 0 1,050,000 0 0 0 6

-840,000 0 0 0 0 0 840,000 0 0 7

0 -5,760 14,400 0 0 0 0 5,760 14,400 8

0 -14,400 24,000 0 0 0 0 14,400 48,000 9

 STIFFNESS METHOD : EXAMPLES
Global Stiffness Matrix
1 2 3 4 5 6 7 8 9

851,250 00 22,500 22,500 -11,250 0 -84,000 0 0 1

0 1,055,760 -14,400 0 0 -1,050,000 0 -5,760 -14,400 2

22,500 -14,400 108,000 30,000 -22,500 0 0 14,400 24,000 3

22,500 0 30,000 60,000 -22,500 0 0 0 0 4

[K]= -11,250 0 -22,500 -22,500 11,250 0 0 0 0 5

0 -1,050,000 0 0 0 1,050,000 0 0 0 6

-840,000 0 0 0 0 0 840,000 0 0 7

0 -5,760 14,400 0 0 0 0 5,760 14,400 8

0 -14,400 24,000 0 0 0 0 14,400 48,000 9

The stiffness relationship for the whole structure can then be
re-written as:
1 2 3 4 5 6 7 8 9
 0   851250 0 22500 22500  11250 0  840000 0 0  U1  1
 0   0 1055760  14400 0 0  1050000 0  5760  14400 U 2  2
  
300  22500  14400 108000 30000  22500 0 0 14400 24000  U 3  3
    
 0   22500 0 30000 60000  22500 0 0 0 0  U 4  4
    
 P5    11250 0  22500  22500 11250 0 0 0 0  0 5
P    1050000

0  0 6
 6  
0 0 0 0 1050000 0 0
 
 P7    840000 0 0 0 0 0 84000 0 0   0 7
P    
 8   0  5760 14400 0 0 0 0 5760 14400   0  8

 P9   0  14400 24000 0 0 0 0 14400 48000   0  9
 STIFFNESS METHOD : EXAMPLES

Solving for the unknown displacements

851250 0 22500 22500 U1   0  U1    0.00004322 m 
 0
 1055760  14400 0  U 2   0  U   0.00004417 m 
 2  
     
 22500  14400 108000 30000 U 3  300 U 3   0.00323787 rad 
 
 22500 0 30000 60000 U 4   0  U 4   0.00160273 rad 

and calculating the unknown reactions

 P5    11250 0  22500  22500   36.3 kN 
P     
0    46.4 kN 
0 .00004322
 6   0  1050000 0 
 0.00004417   
 P7    840000 0 0 0     36.3 kN 
P    0. 00323787
0  5760 14400 0    46.4 kN 
 8   0.00160273  
 P9   0  14400 24000 0   
 77.1 kNm 
 STIFFNESS METHOD : EXAMPLES

77.07 kNm 300 kNm Checking equilibrium

36.30 kN 1 1 2
 F  36.3  36.3  0
x

 F  46.37  46.37  0
y

46.37 kN 2  M  300  77.07  36.3  4  46.37  5  0

z

4m
36.30 kN 3
5m 46.37 kN
 STIFFNESS METHOD : EXAMPLES

EXAMPLE 3 (from Hibbeler)

Determine the reactions at the supports. There is a smooth slider at
node 1and EI is constant.

w
1 2
L
 STIFFNESS METHOD : EXAMPLES

As there is only transverse loading on the member, both frame and

beam elements can be used in the solution process.
The truss element cannot be used because it is not able to resist
transverse loading.
Once we have numbered the DOF
Let’s define the DOF numbering
we can draw a FBD of the frame.
as follows: 3
1 w 3 1 w P4

1 2 1 2
2 L 1 4 P2
2
1 4 P3
 STIFFNESS METHOD : EXAMPLES
The uniformly distributed load is now replaced by its equivalent nodal
loads as shown.
1 w 3 wL
2
w wL
P wL 2
wL
2 2 
4 12 12

1 2 1 2
P2 1 4 P3
2

 f   FEM  k e U  1
wL
2
wL
2
3P
2 wL2
4
Or: 12
2
 f  FEM   k e U  P2
1
wL2 1

12 4 P3
 STIFFNESS METHOD : EXAMPLES

wL wL
The vectors of known
1
2
2 wL2
2
3P displacements and actions
4
12 can then be expressed as:
1 2 0 2
P2 1 Pk    wL  U k   0
2
wL

4 P3 1 3
12  2  0
  4
 wL2 
while the vectors of unknown  P2   2
 12 
displacements and actions: Pu    P3  wL  3 U u   U1 1
 2 
2
 P  wL 
 4 12  4
 STIFFNESS METHOD : EXAMPLES

1 2 3 4
The stiffness relationship 

wL   12 EI 6 EI

12 EI 6 EI 
 2   
can then be written as:  2 
L3 L2 L3 L2
 U1 1
 P2  wL   6 EI 4 EI 6 EI
 2
2 EI
  0 2
 12    L2 L L L   
 wL   12 EI  
  0 3
6 EI 12 EI 6 EI
 P3    3  2  2
 2   L L L3 L   0 4
 wL 
2  6 EI 2 EI 6 EI 4 EI 

 4 12  
P   2 
L2 L L L 

and can be solved for the

12 EI wL wL4
unknown displacement as: L3
U 1  
2
 U1  
24 EI
 STIFFNESS METHOD : EXAMPLES
Once the unknown displacement 1 w
has been determined, the unknown
actions can be calculated as: 1 2
P2 1 4 P3
2
 wL2   6 EI   wL2   wL2 
   2        wL2


 P2   12  L  12   4   
   wL   12 EI  wL   wL   wL   6 
4

 P3       3        wL 2 
 P   2 2   L  24 EI   2 2   2 2   wL 
 4   wL   6 EI 
  wL   wL   3 
 12   L2   12   4   
 STIFFNESS METHOD : EXAMPLES
wL2
6 w
Check for equilibrium
1 2
F y  wL  wL  0
wL wL2 wL2 wL2
w 3  z
M  wL  L 
6

3
 wL 
L
2
0
 STIFFNESS METHOD : EXAMPLES

EXAMPLE 4 (from Hibbeler)

Determine the structure stiffness matrix [K] for the two-
member frame.

Take E=200 GPa, I=350(106) mm4, A=20(103) mm2 for

each member.
 STIFFNESS METHOD : EXAMPLES

2 20 kN
9
3 2 3
1 2 4 8
12 kN/m
4m
7 1
5
1
6
3m 2m 2m
Let’s draw a FBD of our structure to highlight the reactions
of the problem. 2 20 kN
9
2 3
3 1 2 P8 4 8
P9
12 kN/m
4m
7 1
1
P6 5 6 3m 2m 2m
P7
 STIFFNESS METHOD : EXAMPLES

Member 1: c = 0.6; s = 0.8

EA 0.020  200 106 4 EI 4  200 109  350 10 6
  800 106 N / m   56.00 106 Nm
L 5 L 5
12 EI 12  200 109  350 10 6 2 EI 2  200 10  350 10 6
9

3
 3
 6.720 106 N / m   28.00 106 Nm
L 5 L 5
6 EI 6  200 109  350 10 6
2
 2
 16.80 106 N
L 5
 2
2
1
3
12 kN/m

7 1
1 6 7 5 1 2 3
 292.30  13.44  292.30  380.77  13.44 
P6 5 6
380.77 6
 380.77 514.42 10.08  380.77  514.42 10.08  7
P7 
  13.44 10.08 56.00 13.44  10.08 28.00  5
K1  106   
 292.30  380.77 13.44 292.30 380.77 13.44 1
 380.77  514.42  10.08 380.77 514.42  10.08  2
 
  13.44 10.08 28.00 13.44  10.08 56.00  3
 STIFFNESS METHOD : EXAMPLES
For member 1:
1 2 3 4 5 6 7 8 9
1
2
3
4
[K]= 5
6
7
8
9
 STIFFNESS METHOD : EXAMPLES

For member 2: q= 0º  c = 1; s = 0

EA 0.020  200 109 4 EI 4  200 109  350 10 6

  1,000 106 N / m   70.00 106 Nm
L 4 L 4
12 EI 12  200 109  350 10 6 2 EI 2  200 10  350 10 6
9

3
 3
 13.125 106 N / m   35.00 106 Nm
L 4 L 4
6 EI 6  200 109  350 10 6
2
 2
 26.25 106 N
L 4
 STIFFNESS METHOD : EXAMPLES
2 20 kN
9
2 3
3 1 2 P8 4 8
P9
1 2 3 8 9 4
 1000.00 0 0  1000.00 0 0  1
 0 13 .125 26 . 25 0  13.125 26.25  2
 
 0 26.25 70.00 0  26.25 35.00  3
K 2  106   
  1000. 00 0 0 1000 . 00 0 0  8
 0  13.125  26.25 0 13.125  26.25 9
 
 0 26.25 35.00 0  26.25 70.00  4
 STIFFNESS METHOD : EXAMPLES
For member 2:
1 2 3 4 5 6 7 8 9
1
2
3
4
[K]= 5
6
7
8
9
 STIFFNESS METHOD : EXAMPLES

1 2 3 4 5 6 7 8 9
 1292.30 380.77 13.44 0 13.44  292.30  380.77  1000.00 0  1
 380.77 527.54 16.17 26.25  10.08  380.77  514.42 0  13.125 2

 13.44 16.17 126.00 35.00 28.00  13.44 10.08 0  26.25  3
 
 0 26 .25 35 .00 70 .00 0 0 0 0  26 .25  4
K   106   13.44  10.08 28.00 0 56.00  13.44 10.08 0 0  5
 
  292.3  380.77  13.44 0  13.44 292.30 380.77 0 0  6
  380.77  514.42 10.08 0 10.08 380.77 514.42 0 0  7
 
  1000 .00 0 0 0 0 0 0 1000 .00 0  8
  13.125  26.55  26.55 13.125  9
 0 0 0 0 0
EXAMPLE 5 (from Hibbeler)
Determine the support reactions at 1 and 3 of the previous
example. 2 20 kN
9
2 3
1 2 4 8
3
12 kN/m
4m
7 1

1
6
5 3m 2m 2m
 STIFFNESS METHOD : EXAMPLES
By considering the equivalent nodal loads for the structure:
For member 1: 2 0 kN
2 -25 kNm
30 kN
12 kN/m 12 kN/m

25 kNm
1 1
30 kN
0 kN
 STIFFNESS METHOD : EXAMPLES

For member 2:
20 kN
10 kNm -10 kNm
0 kN 2 3
0 kN
10 kN 10 kN
 10 kN 10 kN
30 kN 10 kNm 9
3 2 1 4 3
25 kNm P8 8
2
-10 kNm P9

30 kN 7 1  f   FEM  k e u
Or:

P6 5
1 6 F   T T FEM  T T k e T U 
-25 kNm
P7 F  T T FEM   K e U 
The vectors of displacements & actions can be determined as:
10 kN 10 kN
303/5=18 kN
30 kN 2 10 kNm
30 kN 9
2 4 3
304/5=24 kN 3 1 P8 8
-10 kNm 2 P9
25 kNm U1   24000 
U    28000 
 2  
30 kN 7 1 U 3 
 
 15000 
 
U4  10000 
U u     Pu   
-25 kNm    U 5 
U k   0 
     25000 
 Pk   P  24000
   6 
P6 1 6 0  7P  18000 
5  
0

 P5 

P7  0   P6  10000 
The stiffness relationship for the whole structure can then be
written as:
1 2 3 4 5 6 7 8 9
 24000   1292.30 380.77 13.44 0 13.44  292.30  380.77  1000.00 0  U1 
  28000   380 .77 527 .54 16 . 17 26.25  10.08  380 .77  514 .42 0  13.125  U 
     2
 15000   13.44 16.17 126.00 35.00 28.00  13.44 10.08 0  26.25  U 3 
    
 10000   0 26.25 35.00 70.00 0 0 0 0  26.25  U 4 
   
  25000   10    10.08  13.44 0  U 5 
6
13.44 28.00 0 56.00 10.08 0
 P  24000  
  292.3  380.77  13.44 0  13.44 292.30 380.77 0 0 0 
 6
  
 P7  18000    380.77  514.42 10.08 0 10.08 380.77 514.42 0 0 0 
    
 P8    1000 .00 0 0 0 0 0 0 1000 . 00 0 0 
 P9  10000    13.125  26.55  26.55 13.125   0 
 0 0 0 0 0
and solving for the unknown displacements: U1   56.50 m 
U    116.06 m 
 2  
6
U 3   10   244.01 rad 
U   64.38 rad 
  4
 
U 5    602.90 rad 
Once the unknown displacements are
determined, the unknown actions can be calculated as:
 56.50 
 P6  24000   292.30  380.77  13.44 0  13.44   116.60 
 P  18000    380.77  514.42   
 7   10.08 0 10.08  6 
   10 6
  10  244.01 
 P8    1000.00 0 0 0 0   64.38 
 P9  10000     
 0  13.125  26.55  26.55 0 
 602.90
 P6  24000    8.50 kN 
 P  18000     52.60 kN 
 7      
         
 P8   0     56.50 kN 
 P9  10000     3.43 kN 
 STIFFNESS METHOD : EXAMPLES

EXAMPLE 6
Select the appropriate element to use for the analysis (among the truss,
beam and frame elements) and determine the displacements of the
100 mm
following structure. Take E = 200 GPa for each member.
5 kN/m
2

200 mm

190 mm
1 3
10m 10m
90 mm
 STIFFNESS METHOD : EXAMPLES
Obviously, the truss element is not appropriate as the
element needs to resist the load in flexure. The truss element
can resist only axial forces.

Both beam and frame elements can be used for the analysis
of this structure as both can be used to model the member
which is loaded in flexure.

Let’s start analyzing the structure using the frame element.

 STIFFNESS METHOD : EXAMPLES
USING THE FRAME ELEMENT:
First of all, we place the location vectors and the DOF which are
required for the FRAME ELEMENT.

5 kN/m
2 3
1
1 2
 STIFFNESS METHOD : EXAMPLES

Numbering first the DOF related to the unknown displacements

(i.e. in this context displacements refers to both displacements
and rotations)
5 kN/m
2 3
1
1 2 1 2
 STIFFNESS METHOD : EXAMPLES

Once the DOF related to the unknown displacements have

been numbered move on and number the remaining DOF.
5 3 8
5 kN/m
2 3
1
1 1 2 7
6 4 2 9
 STIFFNESS METHOD : EXAMPLES

Let’s now draw a FBD of the structure to highlight the reactions.

5 3 8
6 5 kN/m 9
P4 1 2 P7 3
4 1 2 1 2 7
P6 P P9 P
5 P3 8
The uniformly distributed load is replaced by its equivalent
nodal loads as shown.
5 kN/m 25 kN 25 kN

1 1 2
1
41.67 kNm -41.67 kNm
10m
-25 kN -25 kN
2
1 2
1 41.67 kNm
-41.67 kNm
 -25 kN -25 kN

5 3 8
6 41.67 kNm 9
P4 1 2 P7 3
4 1 1 2 7
P6 2 P9 P
-41.67 kNm P3 8
P5
0 3
0 4
 
Let’s now specify the vectors of  0 1
0 5
Pk     U k   0 6
known actions and displacements: 41.67  2 0 7
 
0 8
 
0 9
 STIFFNESS METHOD : EXAMPLES
Noting that ALL KNOWN DISPLACEMENTS are zero, the system of
equations to be solved changes from:

Pk   K11 K12  U u  Pk  K11U u

    
 Pu   K 21 K 22  U k  Pu  K 21U u

As we need to calculate only the displacements of the problem we

need only K11 and Pk for this purpose.
So, we need to determine the contribution of each element to K11 for
the structure:
 -25 kN -25 kN

5 3 8
6 41.67 kNm 9
P4 1 2 P7 3
4 1 1 2 7
P6 2 P9 P
-41.67 kNm P3
P5 8

K11  K11,element 1  K11,element  2

Based on global DOF
1 2 1 2
4 6 1 3
Based on local DOF
  4 1   1 1
   
 6 2  3 2
The two contributions can the be calculated as:
K11  K11,element 1  K11,element  2
1 2 1 2
Based on global DOF
4 6 1 3
 EA  4 1  EA  1 1 Based on local DOF
 L 0   L 0 
 
4 EI  4 EI 
 0 6 2  0 3 2
 L   L 
 EA   EA  
 L     0 
   el 1  L  el  2 
  4 EI   4 EI  
0      
  L  el 1  L  el  2 

 STIFFNESS METHOD : EXAMPLES

Calculating the required cross-sectional properties:

for ELEMENT 1 for ELEMENT 2
EA EA
 58,000 kN / m  58,000 kN / m
L L
4 EI 4 EI
 1217.60 106 kNm  1217.60 106 kNm
L L

and substituting into the matrix K11 previously derived:

58,000  58,000 0  116,000.00 0 
K11     
 0 1217.60  1217.60   0 2435.20 
 STIFFNESS METHOD : EXAMPLES
The problem to be solved can Pk  K11U u
then be expressed as:

which can be written  0  116,000.00 0  U1 

numerically as:    U 
41.67   0 2435.20   2

Solving this system of

U1   0 m 
equation yields:   
 2 
U 0.0171 rad 
 STIFFNESS METHOD : EXAMPLES

USING THE BEAM ELEMENT:

First of all, we place the location vectors and the freedoms
which are required for the BEAM ELEMENT.

5 kN/m
2 3
1
1 2
 STIFFNESS METHOD : EXAMPLES

We number first the DOF related to the unknown displacements

(i.e. in this context displacements refers to both displacements
and rotations)
5 kN/m
2 3
1
1 1 2
 STIFFNESS METHOD : EXAMPLES

Once the DOF related to the unknown displacements have

been numbered move on and number the remaining DOF.
3 2 5
5 kN/m
2 3
1
1 1 2
4 6
 STIFFNESS METHOD : EXAMPLES

Let’s now draw a FBD of the structure to highlight the reactions.

3 2 5
4 5 kN/m 6
2
1 3
1 1 2
P4 P P6 P
3 P2 5
 STIFFNESS METHOD : EXAMPLES
The uniformly distributed load is replaced by its equivalent
nodal loads as shown.
5 kN/m 25 kN 25 kN

1 1 2
1
41.67 kNm -41.67 kNm
10m
-25 kN -25 kN

1 2
1 41.67 kNm
-41.67 kNm
 -25 kN -25 kN

3 2 5
4 41.67 kNm 6
1 2 3
1 1 2
P4 -41.67 kNm P6 P
P2 5
P3
0 2
0 3
 
Let’s now specify the vectors of Pk   41.67 1 U k   0 4
known actions and displacements: 0 5
 
0 6
 STIFFNESS METHOD : EXAMPLES
Noting that ALL KNOWN DISPLACEMENTS are zero, the system of
equations to be solved changes from:

Pk   K11 K12  U u  Pk  K11U u

    
 Pu   K 21 K 22  U k  Pu  K 21U u

As we need to calculate only the displacements of the problem we

need only K11 and Pk for this purpose.
So, we need to determine the contribution of each element to K11 for
the structure:
 -25 kN -25 kN

3 3 5
4 41.67 kNm 6
1 2 3
1 1 2
P6 -41.67 kNm P9 P
P5 P3 8

K11  K11,element 1  K11,element  2

Based on global DOF
1 1
4 2 Based on local DOF
  4 1   2 1
 STIFFNESS METHOD : EXAMPLES

The two contributions can the be calculated as:

K11  K11,element 1  K11,element  2
1 1 Based on global DOF
4 2

 4 EI   4 EI  Based on local DOF

  4 1   2 1
 L   L 
 STIFFNESS METHOD : EXAMPLES

Calculating the required cross-sectional properties:

for ELEMENT 1 for ELEMENT 2
4 EI 4 EI
 1217.60 kNm  1217.60 kNm
L L

and substituting into the matrix K11 previously derived:

K11  1217.60  1217.60  2435.20
 STIFFNESS METHOD : EXAMPLES
The problem to be solved can Pk  K11U u
then be expressed as:
which can be written 41.67  2435.20U1
numerically as:

Solving this system of

U1  0.0171 rad
equation yields:
which is the same solution obtained
with the FRAME ELEMENT.
 STIFFNESS METHOD : EXAMPLES
NOTE:
In this case we could have used straight away the beam
element as the structure has to resist only transverse loading.
The main advantage of using the beam element (in hand
calculations) is to keep the size of the problem as small as
possible.
Finally, if we was going to program this we might prefer to use
the frame element in all cases to keep the programming
component simple. This last aspect is very subjective
 STIFFNESS METHOD : EXAMPLES
EXAMPLE 7
Select the appropriate element to use for the analysis (among the truss,
beam and frame elements) and determine the displacements of the
following structure. This example is identical to the previous one with the
addition of an AXIAL FORCE at node 2. Take E = 200 GPa for each
member.. 100 mm

5 kN/m
2

200 mm

190 mm
1 3
300 kN
10m 10m
90 mm
 STIFFNESS METHOD : EXAMPLES

Obviously, the truss element is not appropriate as the element needs to

resist the transverse load in flexure. The truss element can resist only
axial forces.
The beam element would be appropriate to resist the transverse force
but it is not able to account for axial loading. Therefore, it cannot be
used for this example.
The frame element is the only element capable of considering both
axial and transverse loading.
So, the following solution is based using the FRAME ELEMENT.
 STIFFNESS METHOD : EXAMPLES

The set-up of the problem is identical to previous EXAMPLE

(using the FRAME ELEMENT).

The only difference is that the vector of applied action has

now to include also the axial force applied at node 2 along
DOF 1.
 -25 kN -25 kN

5 3 8
6 41.67 kNm 9
P4 1 300 kN 2 P7 3
4 1 1 2 7
P6 2 P9 P
-41.67 kNm P3 8
P5
0 3
0 4
 
Let’s now specify the vectors of  300.00  1
0 5
Pk     U k   0 6
known actions and displacements:  41.67  2 0 7
 
0 8
 
0 9
 STIFFNESS METHOD : EXAMPLES
Noting that ALL KNOWN DISPLACEMENTS are zero, the system of
equations to be solved changes from:

Pk   K11 K12  U u  Pk  K11U u

    
 Pu   K 21 K 22  U k  Pu  K 21U u

As we need to calculate only the displacements of the problem we

need only K11 and Pk for this purpose.
So, we need to determine the contribution of each element to K11 for
the structure:
 STIFFNESS METHOD : EXAMPLES
The problem to be solved can P  K U
k 11 u
then be expressed as:

which can be written 300.00  116,000.00 0  U1 

numerically as:    U 
 41.67   0 2435.20   2

Solving this system of

U1   0.00258 m 
equation yields:   
 2 
U 0 .0171 rad 
EXAMPLE 8 (from Hibbeler)
Determine the loadings at the ends of each member of the frame shown.
Take E=200 GPa, I=225(106)mm4, A = 7500mm2 for each member.

50 kN/m
2 3

4.5 m
1

6m 6m
 STIFFNESS METHOD : EXAMPLES

2 8
2 9 3
3 1 2 7

5 1
6
1 4
 50 kN/m 50 kN/m
2 3 2 3

1 1

150 kN 50 kN/m 150 kN

1 -150 kN -150 kN
150 kNm 2 -150 kNm
2 3
-150 kN -150 kN
-150 kNm 150 kNm
1 2
-150 kNm 150 kNm
1
 STIFFNESS METHOD : EXAMPLES
-150 kN -150 kN
The vectors of known actions 2 8
and displacements are: -150 kNm 9
2 3
1 2 150 kNm
7
3
0 4
0 5
5 1  0  1  
0 6
6 Pk    150 2 U k    
 150 3 0 7
  0 8
1 4  
0 9
 STIFFNESS METHOD : EXAMPLES
We already know that the stiffness relationship for a frame
element in local coordinates is defined as
YL 5
2 6
2 XL
1 2 3 4 5 6 1
 EA
0 0 
EA
0 0 
 1 4
 L
 f1x   0
 12 EI 6 EI
0
L

12 EI 6 EI   u  1
 1x
3
f   L3 L2 L3 L2  u  2
 1y   6 EI 4 EI 6 EI 2 EI   1 y 
 f1z   0  2
L   u1z  3
0
    EA
 f 2 x  
L2
0
L
0
EA
L
0

0  u2 x  4
which can be written as:
 f2 y   L L  u  5
  
 f 2 z   0


12 EI
L3

6 EI
L2
0
12 EI
L3
6 EI   2 y 
 2 u2 z  6
L   f   k e u
6 EI 2 EI 6 EI 4 EI 
 0 0  2 
 L2 L L L 
 STIFFNESS METHOD : EXAMPLES

Stiffness matrix of an isolated frame element (in global coordinates)

1 2 3 4 5 6
  EA 2 12 EI 2  6 EI 
  L c  L3 s 
 
 EA 12 EI 

 L
 3 cs
L 
6 EI
 2 s 
L
 EA 2 12 EI 2 
 L
c  3 s 
L 

 EA 12 EI 
 L
 3 cs  2 s 
L  L 
1





EA
 L
12 EI
 3 cs
L 
 

EA
 L
12 EI 
s2  3 c2 
L 
6 EI
L2

 EA
 L
12 EI 
 3 cs  
L 
 EA
 L
12 EI
s2  3 c2 
L


6 EI 
L2 
c 2
 2 EI 

K e    EA L12 EI
6 EI
 2 s
6 EI
L2
c
4 EI
L
6 EI
L2
s 
6 EI
L2
c
L 
 3
  2  EA 12 EI   EA 2 12 EI 2   EA 12 EI  6 EI 
  L c  L3 s 
2

 L
 3 cs
L 
6 EI
L 2
s 
 L
s  3 c 
L 

 L
 3 cs
L  L2 
s 4
 
   EI   EA 12 EI   EA 2 12 EI 2 
 

EA
 L
12 EI
 3 cs  
L 
EA
 L
12
s2  3 c2 
L 
6 EI
 2 c
L

 L
 3 cs
L 

 L L 
6 EI 
s  3 c   2 c
L  5
 4 EI 


6 EI
 2 s
L
6 EI
L2
c
2 EI
L
6 EI
L2
s 
6 EI
L2
c
L 
 6
 STIFFNESS METHOD : EXAMPLES
Member 1: L=7.5m c = 0.8 s = 0.6
EA 0.075  200 106 4 EI 4  200 106  225 10 6
  200000 kN / m   24,000 kNm
L 7.5 L 7.5
12 EI 12  200 106  225 10 6 2 EI 2  200 106  225 10 6
  1280 kN / m   12,000 kNm
L3 7.53 L 7.5
6 EI 6  200 106  225 10 6
  4800 kN
L2 7.52
4 5 6 1 2 3
 128.46 95.39  2.88  128.46  95.39  2.88  4
 95.39 72.82 3.84  95.39  72.82 3.84 5

  2.88 3.84 24.00 2.88  3.84 12.00  6
K1  103   
  128.46  95.39 2.88 128.46 95.39 2.88 1
  95.39  72.82  3.84 95.39 72.82  3.84  2
 
  2.88 3.84 12.00 2.88  3.84 24.00  3
 STIFFNESS METHOD : EXAMPLES
Member 2: L=6m c=1 s=0
EA 0.075  200 106 4 EI 4  200 106  225 10 6
  250000 kN / m   30,000 kNm
L 6 L 6
12 EI 12  200 106  225 10 6 2 EI 2  200 106  225 10 6
  2500 kN / m   15,000 kNm
L3 63 L 6
6 EI 6  200 106  225 10 6
  7500 kN
L2 62
1 2 3 7 8 9
 250.00 0 0  250.00 0 0  1
 0 2.50 7.50 0  2.50 7.50 2

 0 7.50 30.00 0  7.50 15.00  3
K 2  103   
 250.00 0 0 250.00 0 0  7
 0  2.50  7.50 0 2.50  7.50  8
 
 0 7.50 15.00 0  7.50 30.00  9
 STIFFNESS METHOD : EXAMPLES

1 2 3 4 5 6 7 8 9
 378.46 95.39 2.88  128.46  95.39 2.88  250.00 0 0  1
 95.39 75.32 3.66  95.39  72.82  3.84 0  2.50 7.50 2

 2.88 3.66 54.00  2.88 3.84 12.00 0  7.50 15.00  3
 
  128.46  95.39  2.88 128.46 95.39  2.88 0 0 0  4
K   103    95.39  72.82 3.84 95.39 72.82 3.84 0 0 0  5
 
 2.88  3.84 12.00  2.88 3.84 24.00 0 0 0  6
  250.00 0 0 0 0 0 250.00 0 0  7
 
 0  2.50  7.50 0 0 0 0 2.50  7.50  8
  7.50  15.00  7.50 30.00 
 0 0 0 0 0 9
 STIFFNESS METHOD : EXAMPLES
The stiffness relationship for the whole structure can then be
written as:
1 2 3 4 5 6 7 8 9
 0   378.46 95.39 2.88  128.46  95.39 2.88  250.00 0 0  U1  1
  150   95.39 75.32 3.66  95.39  72.82  3.84 0  2.50 7.50 U 2  2
  
  150   2.88 3.66 54.00  2.88 3.84 12.00 0  7.50 15.00  U 3  3
    
 P4    128.46  95.39  2.88 128.46 95.39  2.88 0 0 0   0 4
   
 P5   10    95.39  72.82 0   0 5
3
3.84 95.39 72.82 3.84 0 0
 P   
 2.88  3.84 12.00  2.88 3.84 24.00 0 0 0   0 6
 6
  
 P7    250.00 0 0 0 0 0 250.00 0 0   0 7
 P  150   
 8   0  2.50  7.50 0 0 0 0 2.50  7.50   0  8
 P9  150   7.50 30.00   0  9
 0 7.50 15.00 0 0 0 0
The hand calculations could have been
reduced by noting that: K11 required to determine
the unknown displacements Uu
1 2 3 4 5 6 7 8 9
 0   378.46 95.39 2.88  128.46  95.39 2.88  250.00 0 0  U1  1
  150   95.39 75.32 3.66  95.39  72.82  3.84 0  2.50 7.50 U 2  2
  
  150   2.88 3.66 54.00  2.88 3.84 12.00 0  7.50 15.00  U 3  3
    
 P4    128.46  95.39  2.88 128.46 95.39  2.88 0 0 0   0 4
   
 P5   10    95.39  72.82 0   0 5
3
3.84 95.39 72.82 3.84 0 0
 P   
 2.88  3.84 12.00  2.88 3.84 24.00 0 0 0   0 6
 6
  
 P7    250.00 0 0 0 0 0 250.00 0 0   0 7
 P  150   
 8   0  2.50  7.50 0 0 0 0 2.50  7.50   0  8
 P9  150   7.50 30.00   0  9
 0 7.50 15.00 0 0 0 0

K21 required to determine the

unknown actions (reactions) Pu
 STIFFNESS METHOD : EXAMPLES

Solving for the unknown displacements

 0  378.46 95.39 2.88  U1  U1   0.00072 m 
        
 150  10   95.39 75.32 3.66  U 2   U 2     0.00277 m 
3

 150  2.88 3.66 54.00   U    0.00262 rad 

  U 3   3  

And calculating the unknown reactions

 P4    128.46  95.39  2.88   P4   179.80 kN 
 P    95.39  72.82 3 .84   P   123.30 kN 
 5     0.719  5  
 P6   2.88  3.84 12.00     P6    18.80 kNm
    2.77       
 P7    250 .00 0 0   2.62  P
  
7  179.80 kN 
 P8  150  0  2.50  7.50     P8   176.60 kN 
       
 P9  150  0 7.50 15.00   P9   210.20 kNm
 STIFFNESS METHOD : EXAMPLES
The internal actions of member 1 can then be calculated as:
 f   k el 1T U  FEM 
 f1   200.00 0 0  200.00 0 0   0.8 0.6 0 0 0 0   0   217.80 kN 
f   0 1.28 4.80 0  1.28  
4.80   0.6 0.8 0 0 0 0   0    9.22 kN 
 2 
 f 3   0 4.80 24.00 0  4.80 12.00   0 0 1.0 0 0 0   0    18.80 kNm
     
 f 4    200.00 0 0 200.00 0 0   0 0 0 0.8 0.6 0   0.72  217.80 kN 
 f5   0  1.28  4.80 0 1.28  4.80   0 0 0  0.6 0.8 0    2.77   9.22 kN 
         
 f 6   0 4.80 12.00 0  4.80 24.00   0 0 0 0 0 1.0   2.62   50.30 kNm
 2
-50.30kNm -217.80kN
9.22kN

4.5 m
1
-18.8kNm
1
-9.22kN
217.80kN 6m Checking equilibrium on local axes:
 F  217.8  217.8  0
x

 F  9.22  9.22  0
y

 M  18.80  50.30  9.22  7.5  0

z
 STIFFNESS METHOD : EXAMPLES
The internal actions of member 2 can then be calculated as:

 f   k el 2 T U  FEM 

 f1   250.00 0 0  250.00 0 0  1.0 0 0 0 0 0   0.72  0   179.80 kN 
f   0 2.50 7.50 0  2.50  
7.50  0 1.0 0 0 0 0    2.77   150.00  123.35 kN 
 2 
 f 3   0 7.50 30.00 0  7.50 15.00   0 0 1.0 0 0 0    2.62   150.00  50.34 kNm
      
 f 4    250.00 0 0 250.00 0 0  0 0 0 1.0 0 0   0   0    179.80 kN 
 f5   0  2.50  7.50 0 2.50  7.50   0 0 0 0 1.0 0   0   150.00  176.65 kN 
           
 f 6   0 7.50 15.00 0  7.50 30.00   0 0 0 0 0 1.0  0   150.00   210.24 kNm 
 150.00 kN 150.00 kN
50 kN/m
2 3  f 2  FEM 

150.00 kNm 2 -150.00 kNm

-26.65 kN 26.65 kN
179.80 kN 2 3 -179.80 kN  f 3  k el 2 T U 
-99.66 kNm -60.24 kNm
123.35 kN 176.65 kN
50 kN/m
179.80 kN 2 3 -179.80 kN  f 1  k el 2 T U  FEM 

50.34 kNm -210.24 kNm

 STIFFNESS METHOD : EXAMPLES
123.35 kN 176.65 kN
50 kN/m
179.80 kN 2 3 -179.80 kN

50.34 kNm 6m -210.24 kNm

Checking equilibrium on local axes:

F x  179.8  179.8  0
F y  123.35  50  6  176.65  0
50  6 2
 M z  50.34  210.24  176.65  6  2  0