(Pulau Pinang)
Second Meeting
ECS 468
INDETERMINATE STRUCTURES
Topic 2
Stiffness Method
(Beam)
CES 521 - INDETERMINATE STRUCTURES Slide 1 of 31 Topic 2 – Stiffness Method (Beam)
LEARNING OUTCOMES
(Pulau Pinang)
At the end of this topic, students should be able to:
1) Identify the constrained and unconstrained degree of
freedom (DOF) for beam.
2) Convert the intermediate loading to nodal forces .
3) Formulate the member stiffness matrices and assembly
the structure stiffness matrix.
4) Determine the unknown nodal deformations, support
reactions as well as internal forces for beam.
CES 521 - INDETERMINATE STRUCTURES Slide 2 of 31 Topic 2 – Stiffness Method (Beam)
Preliminary remarks
(Pulau Pinang)
• Member & node identification
– In general each element must be free from load & have a
prismatic cross section
– The nodes of each element are located at a support or at
points where members are connected together or where the
vertical or rotational displacement at a point is to be
determined
• Global & member coordinates
– The global coordinate system will be identified using x, y, z
axes that generally have their origin at a node & are positioned
so that the nodes at other points on the beam are +ve
coordinates.
CES 521 - INDETERMINATE STRUCTURES Slide 3 of 31 Topic 2 – Stiffness Method (Beam)
Preliminary remarks
(Pulau Pinang)
The local or member x’, y’, z’ coordinates have their origin at the
near end of each element
The positive x’ axis is directed towards
the far end
CES 521 - INDETERMINATE STRUCTURES Slide 4 of 31 Topic 2 – Stiffness Method (Beam)
Preliminary remarks
(Pulau Pinang)
– Consider the effects of both bending & shear.
– Each node on the beam can have 2 degrees of freedom, vertical
displacement & rotation.
– These displacement will be identified by code numbers.
– The lowest code numbers (1 to 4) will be used to identify the unknown
displacement & the highest numbers (5 to 8 ) are used to identify the
known displacement.
– Development of the stiffness method for beams follows a similar procedure
as that for trusses
CES 521 - INDETERMINATE STRUCTURES Slide 5 of 31 Topic 2 – Stiffness Method (Beam)
Preliminary remarks
(Pulau Pinang)
• Procedure of Analysis
– First we must establish the stiffness matrix for each element
– These matrices are combined to form the beam or structure
stiffness matrix
– We can then proceed to determine the unknown
displacement at the nodes
– This will determine the reactions at the beam & the internal
shear & moments at the nodes
CES 521 - INDETERMINATE STRUCTURES Slide 6 of 31 Topic 2 – Stiffness Method (Beam)
Beam--member stiffness matrix
Beam
(Pulau Pinang)
By superposition, the resulting four load-displacement relations for the member
can be expressed in matrix form as
------- eqn. 15.1
These equations can also be written in abbreviated form as
q = kd ------- eqn. 15.2
CES 521 - INDETERMINATE STRUCTURES Slide 7 of 31 Topic 2 – Stiffness Method (Beam)
Application of the Stiffness Matrix
(Pulau Pinang)
Once the stiffness matrix is determined, the loads at the nodes of the beam
can be related to the displacement using the structure stiffness equation.
Q = KD
Partitioning the stiffness matrix into the known & unknown elements of load &
displacement, we have
Qk K 11 K 12 Du
=
Qu K 21 K 22 Dk
Expanding the equation yields;
Qk = K11(Du) + K12 (Dk) ------ eqn. 15.3
Qu = K21(Du) + K22 (Dk) ------ eqn. 15.4
CES 521 - INDETERMINATE STRUCTURES Slide 8 of 31 Topic 2 – Stiffness Method (Beam)
Application of the Stiffness Matrix
(Pulau Pinang)
• Intermediate loadings
– It is important that the elements of the beam be free of loading along its
length. This is necessary as the stiffness matrix for each element was
developed for loadings applied only at its ends.
– First, apply FEM & reactions to the element which will be used in the
stiffness method. These loadings are refer to a column matrix, qo
– The distributed loading within the beam is determined by adding these 2
results.
– member forces become;
q = kd + q0 ------- eqn. 15.5
Fixed-end element Actual Loading and reactions
Actual Loading on fixed-supported element
Loading on joints
CES 521 - INDETERMINATE STRUCTURES Slide 9 of 31 Topic 2 – Stiffness Method (Beam)
Example 1
(Pulau Pinang)
Determine the reactions at support for the beam shown in figure (a). EI is constant.
CES 521 - INDETERMINATE STRUCTURES Slide 10 of 31 Topic 2 – Stiffness Method (Beam)
Example 1
(Pulau Pinang)
Step 1. Step 2.
Since the beam has been numbered, Determine member stiffness, k
determine the Known External Forces
and Known External Displacement.
Ny Nz Fy Fz
• By inspection, it can be seen that the
known external displacement are; 12EI 6EI 12EI 6EI
L3 −
D5=D6= 0 L2 L3 L2
• Also, the known external loads are; 6EI 4EI 6EI 2EI
− 2
Q1, Q3, & Q4, = 0 and Q2 = - 5 kN L2
L L L
k=
− 12EI 6EI
− 2
12EI
− 2
6EI
L3 L L3 L
6EI 2EI 6EI 4EI
− 2
L2 L L L
CES 521 - INDETERMINATE STRUCTURES Slide 11 of 31 Topic 2 – Stiffness Method (Beam)
Example 1
(Pulau Pinang)
Step 2.
Determine member stiffness matrix, k and Structure stiffness matrix, K = k1 + k2.
Member 1 Member 2
6 4 5 3 5 3 2 1
1.5 1.5 − 1.5 1.5 6 1.5 1.5 − 1.5 1.5 5
1.5 2 − 1.5 1 4 1.5 2 − 1.5 1 3
k1 = EI k 2 = EI
− 1.5 − 1.5 1.5 − 1.5 5 − 1.5 − 1.5 1.5 − 1.5 2
1.5 1 − 1.5 2 3 1.5 1 − 1.5 2 1
2 − 1.5 1 0 1.5 0 1
− 1.5 1.5 − 1.5 0 − 1.5 0 2
1 − 1.5 4 1 0 1.5 3
K = EI
0 0 1 2 − 1.5 1.5 4
1.5 − 1.5 0 − 1.5 3 − 1.5 5
0 0 1.5 1.5 − 1.5 1.5 6
CES 521 - INDETERMINATE STRUCTURES Slide 12 of 31 Topic 2 – Stiffness Method (Beam)
Example 1
(Pulau Pinang)
Step 3.
Writing equation, Q = KD.
Partition between Known and Unknown Forces / Displacement
Qk K 11 K 12 Du
=
Qu K 21 K 22 Dk
0 2 − 1.5 1 0 1.5 0 D1
- 5 − 1.5 1.5 − 1.5 0 − 1.5 0 D
2
0 1 − 1.5 4 1 0 1.5 D3
= EI
0 0 0 1 2 − 1.5 1.5 D4
Q5 1.5 − 1.5 0 − 1.5 3 − 1.5 0
6
Q 0 0 1.5 1.5 − 1.5 1.5 0
CES 521 - INDETERMINATE STRUCTURES Slide 13 of 31 Topic 2 – Stiffness Method (Beam)
Example 1
(Pulau Pinang)
Step 4.
From eqn. 15.3, Qk = K11(Du) + K12 (Dk), using Matrix multiplication, solve to determine the
value of D1, D2, D3 and D4.
0 2 − 1.5 1 0 D1 0 D1 − 16.667
D − 26.667
- 5 − 1.5 1.5 − 1.5
= EI 0 D2 0 =
2 1
+
0 1 − 1.5 4
1 D3 0 D3 EI − 6.667
0 0 0 1 2 D4 0 D
4 3.333
Step 5.
From eqn. 15.4, Qu = K21(Du) + K22 (Dk), using Matrix multiplication, solve to determine the
value of Q5, and Q6,.
D1
Q5 1.5 − 1.5 0 − 1.5 D2 0 Q5 10
= EI
+ =
Q6 0 0 1.5 1.5 D3 0 Q6 − 5
D4
CES 521 - INDETERMINATE STRUCTURES Slide 14 of 31 Topic 2 – Stiffness Method (Beam)
Example 2
(Pulau Pinang)
Determine the reactions at support for the beam shown in figure (a) if support 2 settle by
1.5mm. Take E = 200 Gpa and I = 22 x 10-6 m4.
CES 521 - INDETERMINATE STRUCTURES Slide 15 of 31 Topic 2 – Stiffness Method (Beam)
Example 2
(Pulau Pinang)
Step 1. Step 2.
Since the beam has been numbered, Determine member stiffness, k
determine the Known External Forces
and Known External Displacement.
Ny Nz Fy Fz
• By inspection, it can be seen that the
known external displacement are; 12EI 6EI 12EI 6EI
D4= & D6 = 0 and D5= – 0.0015m L3 L2
−
L3 L2
• Also, the known external loads are; 6EI 4EI 6EI 2EI
− 2
Q1 = 4 kN.m, Q2 = 0, Q3 = – 4 kN.m L2
L L L
k=
12EI 6EI 12EI 6EI
− L3 − 2
L L3
− 2
L
6EI 2EI 6EI 4EI
− 2
L2 L L L
CES 521 - INDETERMINATE STRUCTURES Slide 16 of 31 Topic 2 – Stiffness Method (Beam)
Example 2
(Pulau Pinang)
Step 2.
Determine member stiffness matrix, k and Structure stiffness matrix, K = k1 + k2.
Member 1 Member 2
6 3 5 2 5 2 4 1
1.5 1.5 − 1.5 1.5 6 1.5 1.5 − 1.5 1.5 5
1.5 2 − 1.5 1 3 1.5 2 − 1.5 1 2
k1 = EI k 2 = EI
− 1.5 − 1.5 1.5 − 1.5 5 − 1.5 − 1.5 1.5 − 1.5 4
1.5 1 − 1.5 2 2 1.5 1 − 1.5 2 1
2 1 0 − 1.5 1.5 0 1
1 4 1 − 1.5 0 1.5 2
0 1 2 0 − 1.5 1.5 3
K = EI
− 1.5 − 1.5 0 1.5 − 1.5 0 4
1.5 0 − 1.5 − 1.5 3 − 1.5 5
0 1.5 1.5 0 − 1.5 1.5 6
CES 521 - INDETERMINATE STRUCTURES Slide 17 of 31 Topic 2 – Stiffness Method (Beam)
Example 2
(Pulau Pinang)
Step 3.
Writing equation, Q = KD.
Partition between Known and Unknown Forces / Displacement
Qk K 11 K 12 Du
=
Qu K 21 K 22 Dk
4 2 1 0 − 1.5 1.5 0 D1
1 D
0 4 1 − 1.5 0 1.5 2
− 4 0 1 2 0 − 1.5 1.5 D3
= EI
Q4 − 1.5 − 1.5 0 1.5 − 1.5 0 0
Q5 1.5 0 − 1.5 − 1.5 3 − 1.5 − 0.0015
Q6 0 1.5 1.5 0 − 1.5 1.5 0
CES 521 - INDETERMINATE STRUCTURES Slide 18 of 31 Topic 2 – Stiffness Method (Beam)
Example 2
(Pulau Pinang)
Step 4.
From eqn. 15.3, Qk = K11(Du) + K12 (Dk), using Matrix multiplication, solve to determine the
value of D1, D2 and D3.
4 2 1 0 D1 − 1.5 1.5 0 0 D1 0.00158rad
0 = EI 1 4 1 D2 + EI − 1.5 0 1.5 − 0.0015 D
2 = 0
− 4 0 1 2 D3 0 − 1.5 1.5 0 D3 − 0.00158rad
Step 5.
From eqn. 15.4, Qu = K21(Du) + K22 (Dk), using Matrix multiplication, solve to determine the
value of Q4, Q5 and Q6,.
Q4 − 1.5 − 1.5 0 D1 1.5 − 1.5 0 0 Q4 − 0.525kN
Q
5 = EI 1.5 0 − 1.5 D2 + EI − 1.5 3 − 1.5 − 0.0015 Q
5 = 1.05kN
Q6 0 1.5 1.5 D3 0 − 1.5 1.5 0 Q6 − 0.525kN
CES 521 - INDETERMINATE STRUCTURES Slide 19 of 31 Topic 2 – Stiffness Method (Beam)
Example 3
(Pulau Pinang)
Determine the moment developed at support A for the beam shown in figure below.
Assume the roller support can pull down or push up on the beam.
Take E = 200 Gpa and I = 216 x 106 mm4.
48 kN
32 kN/m
A B C
6m 1m 1m
CES 521 - INDETERMINATE STRUCTURES Slide 20 of 31 Topic 2 – Stiffness Method (Beam)
Example 3
(Pulau Pinang)
Step 1.
Number the beam start with unconstraint joints.
4 5 6
3 2 1
A B C
Step 2.
The matrix analysis requires that the external loading be applied at the nodes. Loads will be
replaced by their equivalent fixed-end moments.
Q1 12 D1 D1
96 kN 96 kN 24 kN 24 kN
Q
2 84 D2 D2
96 kNm 96 kNm
12 kNm
Q3 Q3 − 96 D3 0
= =
Q4 Q4 − 96 D4 0
A
6m
B B
1m 1m
C Q5 Q5 − 120 D5 0
Q6 Q6 − 24 D6 0
CES 521 - INDETERMINATE STRUCTURES Slide 21 of 31 Topic 2 – Stiffness Method (Beam)
Example 3
(Pulau Pinang)
Step 3.
Determine member stiffness matrix, k and Structure stiffness matrix, K = k1 + k2.
Member 1 Member 2
4 3 5 2 5 2 6 1
2400 7200 − 2400 7200 4 64800 64800 − 64800 64800 5
7200 28800 − 7200 14400 3 64800 86400 − 64800 43200 2
k1 = k2 =
− 2400 − 7200 2400 − 7200 5 − 64800 − 64800 64800 − 64800 6
7200 14400 − 7200 28800 2 64800 43200 − 64800 86400 1
86400 43200 0 0 64800 − 64800 1
43200 115200 14400 7200 57600 − 64800 2
0 14400 28800 7200 − 7200 0 3
K =
0 7200 7200 7200 − 2400 0 4
64800 57600 − 7200 − 2400 67200 − 64800 5
− 64800 − 64800 0 0 − 64800 64800 6
CES 521 - INDETERMINATE STRUCTURES Slide 22 of 31 Topic 2 – Stiffness Method (Beam)
Example 3
(Pulau Pinang)
Step 4.
Writing equation, Q = KD.
Partition between Known and Unknown Forces / Displacement
Qk K 11 K 12 Du
=
Qu K 21 K 22 Dk
12 86400 43200 0 0 64800 − 64800 D1
D
84 43200 115200 14400 7200 57600 − 64800 2
Q3 − 96 0 14400 28800 7200 − 7200 0 0
=
4Q − 96 0 7200 7200 7200 − 2400 0 0
Q5 − 120 64800 57600 − 7200 − 2400 67200 − 64800 0
Q6 − 24 − 64800 − 64800 0 0 − 64800 64800 0
CES 521 - INDETERMINATE STRUCTURES Slide 23 of 31 Topic 2 – Stiffness Method (Beam)
Example 3
(Pulau Pinang)
Step 5.
From eqn. 15.3, Qk = K11(Du) + K12 (Dk), using Matrix multiplication, solve to determine the
value of D1 and D2.
12 86400 43200 D1 0 D1 - 3 − 0.278rad
= D + D = 10
84 43200 115200 2 0 2 0.833rad
Step 6.
From eqn. 15.4, Qu = K21(Du) + K22 (Dk), using Matrix multiplication, solve to determine the
value of Q3, Q4, Q5 and Q6,.
Q3 − 96 0 14400 0 Q3 108
Q − 96 D 0 Q
4 = 0 7200
1 + 4 = 102
Q5 − 120 64800 Q5 150
57600 D2 0
Q
6 − 24 − 64800 − 64800 0 6
Q − 12
CES 521 - INDETERMINATE STRUCTURES Slide 24 of 31 Topic 2 – Stiffness Method (Beam)
Example 3
(Pulau Pinang)
Step 5.
Member Internal forces can be determine using eqn. 15.5, q = kd + q0
q4 2400 7200 − 2400 7200 0 96 q4 102
96
q
3 = 7200 28800 − 7200 14400 0 + q
3 = 108
q5 − 2400 − 7200 2400 − 7200 0 96 q5 90
-3
q2 7200 14400 − 7200 28800 0.833x10 − 96 q2 − 72
4 5
32 kN/m
3 2
A B
6m
(a)
96 kN 96 kN
96 kN 96 kN 32 kN/m
96 kNm 96 kNm
96 kNm 96 kNm
A B A B
6m 6m
(b) (c)
CES 521 - INDETERMINATE STRUCTURES Slide 25 of 31 Topic 2 – Stiffness Method (Beam)
(Pulau Pinang)
Review
Problems
CES 521 - INDETERMINATE STRUCTURES Slide 26 of 31 Topic 2 – Stiffness Method (Beam)
Problem 1
(Pulau Pinang)
Determine the moment developed at support A and C for the beam shown in Figure P1
below. What will be the moment at support A and C for the beam if support B moves 5mm
upward?
Take EI = 60 x 106 N.m2.
25 kN/m
A B C
6m 4m
Figure P1
CES 521 - INDETERMINATE STRUCTURES Slide 27 of 31 Topic 2 – Stiffness Method (Beam)
Problem 2
(Pulau Pinang)
Determine the support reactions at A, B and C for the beam shown in Figure P2 below.
Assume B and C are rollers support and A is pinned. EI is constant.
15 kN/m
A B C
6m 8m
Figure P2
CES 521 - INDETERMINATE STRUCTURES Slide 28 of 31 Topic 2 – Stiffness Method (Beam)
Problem 3
(Pulau Pinang)
Determine the moment developed at support B and C for the beam shown in Figure P3
below. Assume A, B and C are rollers support and D is pinned. EI is constant.
4 kN/m
A B C D
12 m 12 m 12 m
Figure P3
CES 521 - INDETERMINATE STRUCTURES Slide 29 of 31 Topic 2 – Stiffness Method (Beam)
Problem 4
(Pulau Pinang)
A continuous beam ABC is loaded shown in Figure P4. The flexural rigidities of the beam for
spans AB and BC are EI and 2EI respectively.
a. Determine all member end moments using the moment distribution method.
b. Sketch the bending moment and shear force diagrams for the span BC only
c. If support B settles 5 mm downwards, calculate all the member end moments
using the moment distribution method.
6 kN
5 kN/m
20 kN
EI 2EI
A B C
4m 2m 2m 4m
Figure P4
CES 521 - INDETERMINATE STRUCTURES Slide 30 of 31 Topic 2 – Stiffness Method (Beam)
References
(Pulau Pinang)
Hibbeler R.C, (2012), “Structural Analysis, 8th Edition in S.I. Units”, Pearson,
Singapore
Hibbeler R.C, (2009), “Structural Analysis, 7th Edition in S.I. Units”, Pearson,
Singapore
Hibbeler R.C, (2006), “Structural Analysis, 6th Edition in S.I. Units”, Pearson,
Singapore
UiTM Structural Division (2003), “Basic Structural Analysis”, Cerdik
Publications Sdn. Bhd.
UiTM Structural Division (2003), “Basic Structural Mechanics”, Cerdik
Publications Sdn. Bhd.
Goh, C. H. et. al. (2012), “Problem and Solution on Stiffness Method for
Structures”, UiTM Press.
CES 521 - INDETERMINATE STRUCTURES Slide 31 of 31 Topic 2 – Stiffness Method (Beam)
