Prepared By: Dr. Oscar Victor M. Antonio, JR

Prepared by : Dr. Oscar Victor M. Antonio, Jr.
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Introduction
Linear elastic stiffness analysis of complete frames
→ Development and application of the stiffness matrix of the

prismatic, bisymmetrical, 12-degree-of-freedom member
Assumptions
1) Linear elastic structures – small displacements
2) Material is homogenous and isotropic
3) Static behavior – forces are applied to the structure in a

gradual manner
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Stress-Strain Relationship
Basic deformations
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Stress-Strain Relationship
Typical stress-strain diagrams
E Young’s modulus
G Modulus of rigidity
n Poisson’s ratio
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Work and Energy
Definition
The work, dW, of a force F acting through a change in displacement

dD in the direction of that force is the product FdD.
Over a total displacement D1 the total work W is
ò
D1
0
FdD
Note that the force applied is a static (gradual) load.
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Work and Energy
Force-displacement relationship
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Work and Energy

Equations
matrix symbol for dot product Eqn 4.3
strain energy of deformation

corresponding to W
Eqn 4.4a
complementary strain energy of

deformation corresponding to W* Eqn 4.4b
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Work and Energy

Example 4.1
For the truss of Example 3.2 demonstrate the equivalence of:
1. Work calculated by Equation 4.3
2. Work calculated by Equation 4.4a
3. Strain energy calculated using a basic definition
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Work and Energy

Example 4.1
From the results of Examples 3.1 and 3.2, we computed

{P}, {D}, and [Kff].
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Work and Energy

Example 4.1
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Reciprocity
Maxwell’s Reciprocal Theorem
dij = dji and kij = kji
a special case of Betti’s Law, which states that the work

done by a system of forces {P1} acting through the
displacements {D1}2 that are caused by the system of forces
{P2}, is equal to the work done by the forces {P2}, acting
through displacements {D2}1 that correspond to {P1}
[D1]2 {P1} = [D2]1 {P2}

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Flexibility-Stiffness Transformation
Given one form of element force-displacement relationship,
it is possible to obtain the alternate forms through simple
transformations.
- transformations are based on general mathematical

operations and the principles of equilibrium & energy
- can be applied not only to simple elements but also to

complete system of members of which undergo compatibility
deformation
Stiffness-to-Flexibility Transformation
Flexibility-to-Stiffness Transformation
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Develop the global stiffness equation and apply the boundary

conditions…
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Partition the equation by grouping quantities relating to

support conditions and those relating to the remaining DOFs
{Ff} = [ Fx1 Fy1 Fx2 ]T {Fs} = [ Fy2 Fx3 Fy3 ]T

{Df} = [ u1 v1 u2 ]T {Ds} = [ v2 u3 v3 ]T
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Since {Ds} = {0} from the nature of supports
{Ff} = [kff ] {Df} → {Df} = [kff ]-1{Ff}

{Df} = [d] {Ff}
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Thus
[d] = [kff ] -1
The matrix [d] is the desired set of element flexibility coefficients
Flexibilities are derived from the stiffnesses by defining a stable,

statically determinate support system, removing from the
stiffness matrix the rows and columns corresponding to the
support components, and inverting the remainder.
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The previous slide showed the transformation from Stiffness

to Flexibility matrix.
What about Flexibility to Stiffness matrix???
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Start by inverting the given flexibility matrix
[kff ] = [d]-1
To obtain the complete stiffness matrix, we need to develop
equilibrium equations
{Fs} = [F] {Ff}

By substituting the equation for {Ff}
{Fs} = [F][d]-1 {Df}

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But
{Fs} = [ksf] {Df}
Then,
[ksf ] = [F][d] -1
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Using Reciprocal Theorem
[kfs] = [ksf]T
Thus,
[kfs] = -1
[d] [F] T
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Using equilibrium equation again
{kss} = [F][kfs]
Therefore,
[kss] = [F] -1
[d] [F] T
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[k] =
[ [d]-1
[F][d]-1
[d]-1 [F]T
]
[F] [d]-1 [F]T
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Example 4.2
Develop the stiffness matrix for the axial force member in arbitrary
coordinates. E, A, and L are constant.
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collecting terms
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Framework Element Stiffness Matrix

Consider a 12-degree-of-freedom element that is
straight, prismatic and symmetrical about both principal
cross-sectional axes (bisymmetrical)
Consider displacements resulting from uniform axial

deformation, flexural deformation, and twisting
deformation
Neglect displacements resulting from transverse

shearing deformations and those resulting from out of
plane(longitudinal) warping of a cross-section that
torsional forces may cause
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12-Degree-of-Freedom Element
Local x axis → centroidal axis

Local y axis → minor principal axis
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Local z axis → major principal axis
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Four cases to consider:
1. An axial force member
2. A pure torsional member
3. A beam bent about one principal axis
4. A beam bent about the other principal axis
The assembly of the results in a 12 x 12 stiffness matrix

having zero coefficients for all of the uncoupled forces
and displacements.
Note:
uncoupled - a situation in which a particular force vector
causes a displacement only in the same vector direction
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Axial Force Member
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Axial Force Member
-1
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Pure Torsional Member
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Pure Torsional Member
- measure of torsional strain
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Beam Bent About Its Principal Axes
Beam Bent About its z Axis
Beam Bent About its y Axis
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The stresses and strains at any cross section caused by

bending about the z axis are directed along the x axis of
the member.
They vary linearly with respect to the y axis and are

constant in the z direction for a fixed value of y.
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From elementary mechanics
Strain
Hooke’s Law
Moment about z axis
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Example 4.3
Develop the flexibility matrix for a prismatic beam

supported as a cantilever.
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Example 4.3
From the differential equation of the elastic curve
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Example 4.3
Boundary Conditions:
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Example 4.3
Determine flexibility influence coefficients:
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Example 4.3
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The member is viewed from the positive end of the coordinate
axis that is normal to the plane of the paper, and the forces and
degrees of freedom are shown in the positive directions
All moments and rotations are positive counterclockwise on the

ends of the members
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Flexibility Matrix
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Stiffness Matrix
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 12 6 12 6 
 L2 − 2 
L L L
 y1 
F  6 6   1 
M   4 − 2   
 z1  EI z  L L   z1 
 = 6  2
 Fy 2  L − 2 −
12 6 12
−  
M z 2   L L L 2 
L  
 6 6  z 2 
 2 − 4 
 L L 
 12 6 12 6
 L2 − − 2
− 
 z1  L L L
F  6 6   w1 
M  − 4 2   
 y1  EI
 L L   y1 
 =
y
 Fz 2  L − 2
12 6 12 6  w2
 
M y 2   L L L 2 
L  y 2 
 6 6  
− 2 4 
 L L 
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Complete Stiffness Equation
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Activity:
Create Excel Worksheet to automate the calculation of the
complete element stiffness matrix.
- allocate cells for the input variables
geometric properties: A, Iy, Iz, J, L
material properties: E, G, n
- select 12 x 12 cells
- calculate the values of each stiffness coefficient using Excel
formula
- label the Force matrix and Displacement matrix
- rename the current worksheet as “3D Frame”
- save your file 47
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Test your worksheet
Input the following geometric and material properties:

L = 2,000 mm
A = 4 x 103 mm2
Iy = 100 x 106 mm4
Iz = 150 x 106 mm4
J = 250 x 106 mm4
E = 200 GPa
n = 0.3
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Compare your output with these values
If there are no more errors, duplicate your worksheet and rename

it as “2D Frame w/ Torsion”
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Example 4.8 (Using the 2D Frame w/ Torsion worksheet,

create the stiffness matrices for members ab & bc)
For the system shown:
1. Write the element stiffness matrices– assume no bending normal to the plane
of the paper.
2. Assemble the global stiffness equations.
E = 200,000 MPa and ν = 0.3
a b c
8m 5m
A = 6x103 mm 2 A = 4x10 3 mm 2
I z = 200x10 6 mm 4 I z = 50x10 6 mm 4
J = 300x103 mm 4 J = 100x103 mm 4
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Example 4.8
For the system shown:
1. Write the element stiffness matrices– assume no bending normal to the plane
of the paper.
2. Assemble the global stiffness equations.
E = 200,000 MPa and ν = 0.3
Displacements
External Forces
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- delete the rows and columns associated with bending about
the y-axis
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Note that it is better if E is not factored out from the matrix)
member ab
member bc
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Assemble the Global Stiffness Equation

- create a larger matrix by combining the two stiffness matrices
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Example 4.9 (Duplicate the “2D Frame w/ Torsion and rename it
as “2D Fame w/o Torsion)
The beam of Example 4.8 is supported and loaded as shown.
1. Calculate the displacements at b and c.

2. Calculate the reactions.
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Boundary conditions, ua = va = xa = za =vb = 0

Also, xb = xc = 0 because of absence of torque.
- Using the “2D Fame w/o Torsion worksheet, input the forces and
boundary conditions 57
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- delete the rows and columns associated with Torsion
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- apply the boundary conditions

1. Displacements. Remove the rows and columns containing the supported nodes.
1.550
after reordering, operate in the matrix
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- solve manually or use Excel matrix operation
Expanding the top partition and solving for displacements caused by forces at b and c yields
Expanding bottom partition and solving for displacements caused by the moments at b and c,
in terms of vc
Expanding middle partition and using the above expression
Substituting vc in the expression above yields
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2. Reactions. The remaining rows of the stiffness equations are used as follows:
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Moment diagram
Deflected structure
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Example 4.10
The beam of Example 4.8 is supported and loaded as shown.

1. Calculate the rotation at b.
2. Calculate the rotation and bending moments.
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Boundary conditions,
ua = va = xa = za =vb = uc = xc = zc = 0
Also, ub =xb = 0 because of absence of axial force &torque.
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Global Stiffness Equation
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1. Displacements. Isolate row and column of displacement by moment at b
Pm zb  = 50 x103  = 2001.4x10 5  zb

 zb = 0.001786 rad
2. Reactions. The remaining rows of the stiffness equations yield
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Moment diagram
Deflected structure
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Example 4.11
The beam of Example 4.8 is supported as shown. The support b settles

20 mm, carrying the beam with it.
1. Calculate the rotation at b.
2. Calculate the reactions and bending moments.
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Example 4.11
FBD
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Example 4.11
1. Displacements. Remove all except the displacements at node b.
Solving the lower equation for Ѳzb,

Ѳzb = -0.0009643 rad
2. Reactions. The remaining rows of the stiffness equations yield
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Example 4.11
Moment diagram
Deflected structure
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Example 4.12
The beam of Example 4.8 is supported as shown and loaded by a 1kN

force applied to a rigid bracket projecting from the beam at b.
1. Calculate the displacements at b.
2. Calculate the reactions, torques, and bending moments.
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Example 4.12
FBD
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Example 4.12
1. Displacements. Isolate row and column of displacements at b
Solving the second equation of displacements,
Ѳxb = 0.009044 rad
Solving the first and third equations,
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Example 4.12
2. Reactions. The remaining rows of the stiffness matrix yield,
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Example 4.12
Visualization
Torque diagram
Moment diagram
Deflected Structure
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Reference:
Matrix Structural Analysis Second Edition by William McGuire,
Richard H. Gallagher, and Ronald D. Ziemian
79

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→ Development and application of the stiffness matrix of the

1) Linear elastic structures – small displacements

2) Material is homogenous and isotropic

3) Static behavior – forces are applied to the structure in a

Typical stress-strain diagrams

Work and Energy

The work, dW, of a force F acting through a change in displacement

Over a total displacement D1 the total work W is

Work and Energy

Work and Energy

matrix symbol for dot product Eqn 4.3

strain energy of deformation

complementary strain energy of

Work and Energy

Work and Energy

From the results of Examples 3.1 and 3.2, we computed

Work and Energy

dij = dji and kij = kji

a special case of Betti’s Law, which states that the work

[D1]2 {P1} = [D2]1 {P2}

- transformations are based on general mathematical

- can be applied not only to simple elements but also to

Develop the global stiffness equation and apply the boundary

Partition the equation by grouping quantities relating to

{Ff} = [ Fx1 Fy1 Fx2 ]T {Fs} = [ Fy2 Fx3 Fy3 ]T

Since {Ds} = {0} from the nature of supports

{Ff} = [kff ] {Df} → {Df} = [kff ]-1{Ff}

The matrix [d] is the desired set of element flexibility coefficients

Flexibilities are derived from the stiffnesses by defining a stable,

The previous slide showed the transformation from Stiffness

What about Flexibility to Stiffness matrix???

Start by inverting the given flexibility matrix

{Fs} = [F] {Ff}

{Fs} = [F][d]-1 {Df}

{Fs} = [ksf] {Df}

Using Reciprocal Theorem

Using equilibrium equation again

Framework Element Stiffness Matrix

Consider displacements resulting from uniform axial

Neglect displacements resulting from transverse

Framework Element Stiffness Matrix

Local x axis → centroidal axis

Framework Element Stiffness Matrix

The assembly of the results in a 12 x 12 stiffness matrix

Framework Element Stiffness Matrix

Framework Element Stiffness Matrix

Framework Element Stiffness Matrix

Framework Element Stiffness Matrix

- measure of torsional strain

Framework Element Stiffness Matrix

Beam Bent About its z Axis

Beam Bent About its y Axis

Framework Element Stiffness Matrix

The stresses and strains at any cross section caused by

They vary linearly with respect to the y axis and are

Framework Element Stiffness Matrix

From elementary mechanics

Moment about z axis