SNU Structure

Class Note for Structural Analysis 2
Fall Semester, 2008
Hae Sung Lee, Professor

Dept. of Civil and Environmental Engineering
Seoul National University
Seoul, Korea
Contents
Chapter 1 Slope Deflection Method 1

1.0 Comparison of Flexibility Method and Stiffness Method 2
1.1 Analysis of Fundamental System..... 5
1.2 Analysis of Beams 8
1.3 Analysis of Frames... 17
Chapter 2 Iterative Solution Method & Moment Distribution Method 32

2.1 Solution Method for Linear Algebraic Equations 33
2.2 Moment Distribution Method... 37
2.3 Example - MDM for a 4-span Continuous Beam. 42
2.4 Direct Solution Scheme by Partitioning... 44
2.5 Moment Distribution Method for Frames 45
Chapter 3 Energy Principles 47

3.1 Spring-Force Systems... 48
3.2 Beam Problems. 49
3.3 Truss problems. 53
Chapter 4 Matrix Structural Analysis 56

4.1 Truss Problems 57
4.2 Beam Problems 68
4.3 Frame Problems... 76
Chapter 5 Buckling of Structures 79

5.0 Stability of Structures... 80
5.1 Governing Equation for a Beam with Axial Force... 81
5.2 Homogeneous Solutions... 82
5.3 Homogeneous and Particular solution.. 85
5.4 Energy Method. 86
5.5 Approximation with the Homogeneous Beam Solutions. 89
5.6 Nonlinear Analysis of Truss. 91
1
School of Civil, Urban & Geosystem Eng., SNU
Chapter 1
Slope Deflection Method
A B
Structural Analysis Lab.

Prof. Hae Sung Lee, http://strana.snu.ac.kr
2
2.0 Comparison of Flexibility Method and Stiffness Method
Flexibility Method Stiffness Method
P
P
k1 k2 k1 k2
z Remove redundancy (Equilibrium) z Compatibility

P
P
1 = 2 =
z Compatibility z Equilibrium
1 = 2 P
k1 + k2 = P =
X P X k1 k1 + k 2
= X = P
k1 k2 k1 + k 2

3
L/2 P
L/2 P
B
B A C
A C EI EI
EI EI
L L
L L
z Remove redundancy (Equilibrium) z Compatibility

3PL
16
+
B
+
1
BA = BC = B
z Equilibrium
z Compatibility
3PL 3EI
2
f
M BA = , M BCf
= 0 , M BA
B
= M BC
B
= B
L 1 PL PL 2L 16 L
B0 = (1 + ) 1 = , BB =
6 EI 2 4 16 EI 3EI M B =M BAf + M BCf + M BAB + M BCB = 0
B0 3PL 3PL 6 EI PL2
B 0 + BB M B = 0 M B = = + B = 0 B =
BB 32 16 L 32 EI

4
1. Release all redundancies. 1. Fix all Degrees of Freedom.

2. Calculate displacements induced by external loads at the released 2. Calculate fixed end forces induced by external loads at the fixed
redundancies. DOF.
3. Apply unit loads and calculate displacements at the released 3. Apply unit displacements and calculate member end forces at the
redundancies. DOFs.
4. Construct the flexibility equation by superposing the displacement 4. Construct the stiffness equation by superposing the member end
based on the compatibility conditions. forces based on the equilibrium equations.
5. Solve the flexibility equation. 5. Solve the stiffness equation.
6. Calculate reactions and other quantities as needed. 6. Calculate reactions and other quantities as needed.

5
2.1 Analysis of Fundamental System
2.1.1 End Rotation
A B
z Flexibility Method
i) B = 0
MA MB
L L
MA + M B = A
3EI 6 EI
M A = 4EI A , M B = 2EI A
L L L L
MA + MB = 0
6 EI 3EI
ii) A = 0
2 EI 4 EI
MA = B , M B = B
L L
z Sign Convention for M :Counterclockwise +
z A 0 , B 0
4 EI 2 EI
MA = A + B
L L
2 EI 4 EI
MB = A + B
L L
2.1.2 Relative motion of joints

6
z Flexibility Method
L L
MA + MB =
6 EI 6 EI
3EI 6 EI L
M = , MB =

A
L L L L L L
MA + MB =
6 EI 3EI L
6 EI 6 EI
or in the new sign convention : M A = , MB =
L L L L
z Final Slope-Deflection Equation
4 EI 2 EI 6 EI
MA = A + B +
L L L L
2 EI 4 EI 6 EI
MB = A + B +
L L L L
z In Case an One End is Hinged
4 EI 2 EI 6 EI 2 EI EI 3EI
MA = A + B + =0 A = B
L L L L L L L L
2 EI 4 EI 6 EI 3EI 3EI
MB = A + B + = B +
L L L L L L L
2.1.3 Fixed End Force
z Both Ends Fixed

7
z One End Hinged
MA MB
MA MA/2
3 3
MA MA
2 2
z Ex.: Uniform load case with a hinged left end
qL2 qL2 3qL2 qL2
M Bf = = = , M Af = 0
12 24 24 8
2.1.4 Joint Equilibrium
Ffixed
Fjoint
Fmember
Joint i
F fixed Fmember + F joint = 0
or
F fixed + Fmember = F joint

8
2.2 Analysis of Beams

2.2.1 A Fixed-fixed End Beam
P
B
A C
EI
a b
z DOF : B , B
z Analysis
i) All fixed : No fixed end forces
ii) B 0 , B = 0
2 EI 4 EI 4 EI 2 EI
M 1AB = B , M BA
1
= B , M 1BC = B , M CB
1
= B
a a b b
6 EI 6 EI
1
VBA = VAB
1
= 2 B , VBC 1
= VCB1
= 2 B
a b
2 EI 4 EI 4 EI 2 EI
B B B B
a a b b
6 EI 6 EI 6 EI 6 EI
B B B B
a2 a2 b2 b2
iii) B = 0 , B 0
6 EI 6 EI 6 EI 6 EI
2
M AB = 2
B , M BA
2
= 2 B , M BC2
= 2 B M CB
2
= 2 B
a a b b
12 EI 12 EI
2
VBA = VAB
2
= 3 B , VBC 2
= VCB
2
= 2 B
a b
6 EI 6 EI 6 EI 6 EI
B B B B
a2 a2 b2 b2
12 EI 12 EI 12 EI 12 EI
B B B B
a3 a3 b3 b3

9
z Construct the Stiffness Equation

1 1 1 1
M = 0 M BA
i
B
1
+ M BC
1
+ M BA2
+ M BC2
= 0 4 EI ( + ) B + 6 EI ( 2 2 ) B = 0
a b a b
1 1 1 1
VBi = P VBA1 + VBC1 + VBA2 + VBC2 = P 6 EI ( 2 2 ) B + 12 EI ( 3 + 3 ) B = P
a b a b
(b a)a b 2 2
ab3 3
B = 3
P , B = P
2 EIl 3EIl 3
2 EI 6 EI ab 2
M AB = M 1AB + M AB
2
= B + 2 B = 2 P ,
a a l
2 EI 6 EI a 2b
M CB = M CB
1
+ M CB
2
= B 2 B = 2 P
b b l
2.2.2 Analysis of a Two-span Continuous Beam (Approach I)
q qL
B
A C
EI 2EI
L L
z DOF : B , C
z Analysis
i) Fix all DOFs and Calculate FEM.
qL2 qL2 qL2 qL2
f
M AB = , M BA
f
= , M BC
f
= , M CB
f
=
12 12 8 8
ii) B 0 , C = 0
2 EI 4 EI 8EI 4 EI
M 1AB = B , M BA
1
= B , M BC
1
= B , M CB
1
= B
L L L L
iii) B = 0 , C 0
4 EI 8EI
2
M BC = C , M CB
2
= C
L L
qL2 EI EI
M i
B = 0 M BA
f
+ M BC
f
+ M BA
1
+ M BC
1
+ M BC
2
=0
24
+ 12 B + 4 C = 0
L L
qL2 EI EI
M i
C = 0 M CB
f
+ M CB
1
+ M CB
2
=0
8L
+ 4 B + 8 C = 0
L L

10
qL3 qL3
B = , C =
96 EI 48EI
z Member End Forces
qL2 2 EI 3
M AB = M AB
f
+ M 1AB = + B = qL2
12 L 48
qL2 4 EI 1
M BA = M BA
f
+ M BA
1
= + B = qL2
12 L 8
qL2 8 EI 4 EI 1
M BC = M BC
f
+ M BC
1
+ M BC
2
= + B + C = qL2
8 L L 8
qL2 4 EI 8 EI
M CB = M CB
f
+ M CB
1
+ M CB
2
= + B + C = 0
8 L L
z Various Diagram
- Freebody Diagram
1 2 1 2
qL qL
16 8
9 5
7 qL qL 3
qL 16 8 qL
16 8
19
qL
16
- Moment Diagram
1 2 17 2
qL qL 1 2 3 2
16 512 qL qL
8 16
7
L
16

11
2.2.3 Analysis of a Two-span Continuous Beam (Approach II)
q qL
B
A C
EI 2EI
L L
z DOF : B
z Analysis
i) Fix all DOFs and Calculate FEM.
qL2 qL2 qL2 1 qL2 3qL2
f
M AB = , M BA
f
= , M BC
f
= + =
12 12 8 2 8 16
ii) B 0
2 EI 4 EI 6 EI
M 1AB = B , M BA
1
= B , M BC
1
= B
L L L
z Construct Stiffness Equation
M B = 0 M BA
f
+ M BC
f
+ M BA
1
+ M BC
1
=0
qL2 3qL2 EI EI qL2

- + + 4 B + 6 B = 0 B =
12 16 L L 96 EI
z Member End Forces

qL2 2 EI 3
M AB = M AB
f
+ M 1AB = + B = qL2
12 L 48
2
qL 4 EI 1
M BA = M BA
f
+ M BA
1
= + B = qL2
12 L 8
2
3qL 6 EI 1
M BC = M BC f
+ M BC
1
= + B = qL2
16 L 8

12
2.2.4 Analysis of a Beam with an Internal Hinge (4 DOFs System)

q
B C
A D
EI EI EI
l l l
z DOF : B , CL , CR , C
z Analysis
i) All fixed
ql 2 ql 2
M f
AB = , M BA =
f
12 12
ii) B 0
2 EI 4 EI 2 EI 6 EI
M 1AB = B , M BA
1
= M BC
1
= B , M CB
1
= B , VCB
1
= 2 B
l l l l
iii) CL 0
2 EI L 4 EI L 6 EI
2
M BC = C , M CB
2
= C , VCB
2
= 2 CL
l l l
iv) CR 0
4 EI R 2 EI R 6 EI
3
M CD = C , M DC
3
= C , VCD
3
= 2 CL
l l l
v) C 0
6 EI 6 EI 12 EI
4
M BC = M CB
4
= 2
C , M CD
4
= M DC
4
= 2 C , VCD
4
= VCB
4
= 2 C
l l l

13
z Construct Stiffness Equation

ql 2 EI EI EI
M
i
i
1
12
=0
+ 8 B + 2 CL +
l l
0 +6
l2
C = 0
EI EI EI
i M 2i = 0 2 B + 4 CL +
l l
0 + 6 2 C = 0
l
EI EI
M
i
i
3 =0 4 CR 6 2 C = 0
l l
EI EI EI EI
V
i
4
i
=0 6 2 B + 6 2 CL 6 2 CR + 24 3 C = 0
l l l l
z Elimination of CL and CR
- 2nd and 3rd equation

EI L EI EI EI EI
2 C = ( B + 3 2 C ) , 2 CR = 3 2 C
l l l l l
- 1st equation
ql 2 EI EI EI
+ 8 B + 2 CL + 6 2 C =
12 l l l
2
ql EI EI EI EI ql 2 EI EI
+ 8 B ( B + 3 2 C ) + 6 2 C = 0 +7 B + 3 2 C = 0
12 l l l l 12 l l
- 4th equation
EI EI EI EI
6 2
B + 6 2 CL 6 2 CR + 24 3 C =
l l l l
EI EI EI EI EI EI EI
6 2 B 3( 2 B + 3 3 C ) 3(3 3 C ) + 24 3 C = 0 3 2 B + 6 3 C = 0
l l l l l l l
2.2.5 Analysis of a Beam with an Internal Hinge (2 DOFs System)

q
B C
A D
EI EI EI
l l l
z DOF : B , C
z Analysis
i) All fixed
ql 2 ql 2
f
M AB = , M BA
f
=
12 12

14
ii) B 0
2 EI 4 EI 3EI 3EI
M 1AB = B , M BA
1
= B , M BC
1
= B , VBC
1
= VCB
1
= 2 B
l l l l
iii) C 0
3EI 3EI 3EI

2
M BC = M DC
2
= 2
C , VBC
2
= VCB
2
= 2 C , VCD
2
= VDC
2
= 2 C
l l l

ql 2 EI EI
M
i
i
1 =0
12
+ 7 B + 3 2 C = 0
l l
EI EI
V
i
2
i
=0 3 2 B + 6 3 C = 0
l l
ql 3 ql 4
B = , C =
66 EI 132 EI
2 EI R 3EI C 3 C 3 ql 3
C = ( ) CR = =
l l l 2 l 264 EI
1 3 ql 3
3 ql 3
ql 3
CL = B = + =
2 2L 132 EI 2 132 EI 264 EI
2.2.6 Beam with a Spring Support

q
B C
A D
EI EI EI
k
l l l
z Analysis
i) All fixed
ql 2 ql 2
f
M AB = , M BA
f
=
12 12
15
ii) B 0
2 EI 4 EI 3EI 3EI
M 1AB = B , M BA
1
= B , M BC
1
= B , VBC
1
= VCB
1
= 2 B
l l l l
iii) C 0
kC
3EI
2
M BC = M DC
2
= C
l2
3EI 3EI
2
VBC = VCB
2
= 2 C , VCD
2
= VDC
2
= 2 C , VS2 = k C
l l

ql 2 EI EI
M 1i = 0
i 12
+ 7 B
l
+ 3 2 C = 0
l
EI EI
V
i
2
i
=0 3 2 B + (6 3 + k ) C = 0
l l
1+ ql 3 1 ql 4 6 EI
B = , C = where k =
1 + 14 / 11 66 EI (1 + 14 / 11) 132 EI l3
z 0
ql 3 ql 4
B = , C =
66 EI 132 EI
z
ql 3
B = , C = 0
84 EI

16
2.2.7 Support Settlement

l l
B C
A
EI EI
z DOF : B
z Analysis
i) All fixed
6 EI 3EI
f
M BA = , M BC
f
=
l l l l
ii) B 0
4 EI 3EI
1
M BA = B , M BC
1
= B
l l
z Construct the Equilibrium Equation

EI EI EI EI 3
M
i
i
1 =06
l l
3
l l
+ 4 B + 3 B = 0 B =
l l 7l
2.2.8 Temperature Change

A B
T1
T2
(T2 T1 ) (T2 T1 )
A = l , B = l
2h 2h
z Fixed End Moment

4 EI 2 EI (T2 T1 )
MA = A + B = EI
L L h
2 EI 4 EI (T2 T1 )
MB = A + B = EI
L L h

17
2.3 Analysis of Frames

2.3.1 A Portal Frame without Sidesway
l/2 P
B C
EI2
EI1 EI1
A D
z DOF : B , C
z Analysis
i) All fixed
Pl Pl
0
M BC = 0
, M CB =
8 8
ii) B 0
2 EI1 4 EI1
M 1AB = B , M BA
1
= B
l l
4 EI 2 2 EI 2
1
M BC = B , M CB
1
= B
l l
iii) C 0
2 EI 2 4 EI 2
2
M BC = C , M CB
2
= C
l l
4 EI1 2 EI1
2
M CD = C , M DC
2
= C
l l

Pl 4 EI1 4 EI 2 2 EI 2
M i
B =0
8
+(
l
+
l
) B +
l
C = 0
Pl 2 EI 2 4 EI1 4 EI 2
M i
C =0
8
+
l
B + (
l
+
l
) C = 0
1 Pl 2
B = C =
4 EI1 + 2 EI 2 8

18
z Member End Forces

2 EI1 2 EI1 Pl
M AB = B =
l 4 EI1 + 2 EI 2 8
4 EI1 4 EI1 Pl
M BA = B =
l 4 EI1 + 2 EI 2 8
Pl 4 EI 2 2 EI 2 4 EI1 Pl
M BC = + B + C =
8 l l 4 EI1 + 2 EI 2 8
Pl 2 EI 2 4 EI 2 4 EI1 Pl
M CB = + B + C =
8 l l 4 EI1 + 2 EI 2 8
4 EI1 4 EI1 Pl
M CD = C =
l 4 EI1 + 2 EI 2 8
2 EI1 2 EI1 Pl
M DC = C =
l 4 EI1 + 2 EI 2 8
z In case EI1 = EI 2
Pl Pl Pl Pl Pl Pl
M AB = , M BA = , M BC = , M CB = , M CD = , M DC =
24 12 12 12 12 24
2.3.2 A Portal Frame without Sidesway hinged suppoorts
l/2 P
B C
EI2
EI1 EI1
A D
z DOF : B , C
z Analysis
i) All fixed
Pl Pl
0
M BC = 0
, M CB =
8 8

19
ii) B 0
3EI1
1
M BA = B
l
4 EI 2 2 EI 2
1
M BC = B , M CB
1
= B
l l
iii) C 0
2 EI 2 4 EI 2
2
M BC = C , M CB
2
= C
l l
3EI1
2
M CD = C
l

Pl 3EI1 4 EI 2 2 EI 2
M i
B =0
8
+(
l
+
l
) B +
l
C = 0
Pl 2 EI 2 3EI1 4 EI 2
M i
C =0
8
+
l
B + (
l
+
l
) C = 0
1 Pl 2
B = C =
3EI1 + 2 EI 2 8
z Member End Forces

M AB = 0
3EI1 3EI1 Pl
M BA = B =
l 3EI1 + 2 EI 2 8
Pl 4 EI 2 2 EI 2 3EI1 Pl
M BC = + B + C =
8 l l 3EI1 + 2 EI 2 8
Pl 2 EI 2 4 EI 2 3EI1 Pl
M CB = + B + C =
8 l l 3EI1 + 2 EI 2 8
3EI1 3EI1 Pl
M CD = C =
l 3EI1 + 2 EI 2 8
M DC = 0
z In case of EI1 = EI 2
3 3 3 3
M AB = 0 , M BA = Pl , M BC = Pl , M CB = Pl , M CD = Pl , M DC = 0
40 40 40 40

20
2.3.3 A Frame with an horizontal force
B C
P
EI
z DOF : B ,
z Analysis
i) All fixed : None fixed end moment

ii) B 0
2 EI 4 EI
M 1AB = B , M BA
1
= B
l l
3EI 6 EI
1
M BC = B , VBA
1
= 2 B
l l
iii) 0
6 EI 6 EI
2
M AB = 2
, M BA
2
= 2
l l
12 EI
2
VBA = 3
l
z Construct the stiffness equation
4 EI 3EI 6 EI
M i
B =0 (
l
+
l
) B + 2 = 0
l
6 EI 12 EI
V i
=P
l 2
B + 3 = P
l
Pl 2 7 Pl 3
B = , =
8EI 48 EI
z Member end forces

2 EI 6 EI 5 4 EI 6 EI 3 3EI 3
M AB = B + 2 = Pl , M BA = B + 2 = Pl , M BC = B = Pl
l l 8 l l 8 l 8

21
2.3.4 A Portal Frame with an Unsymmetrical Load
a P
B C
A D
z DOF : B , C ,
z Analysis
i) All fixed
Pab 2 Pa 2b
0
M BC = , M 0
=
l2 l2
CB
ii) B 0
2 EI 4 EI
M 1AB = B , M BA
1
= B
l l
4 EI 2 EI 6 EI
1
M BC = B , M CB
1
= B , VBA
1
= 2 B
l l l
iii) C 0
2 EI 4 EI
2
M BC = C , M CB
2
= C
l l
4 EI 2 EI 6 EI
2
M CD = C , M DC
2
= C , VCD
2
= 2 C
l l l

22
iv) 0
6 EI 6 EI
3
M AB = M BA
3
= 2
, M CD
3
= M DC
3
= 2 ,
l l
12 EI
3
VBA = VCD
3
= 3
l

Pab 2 8EI 2 EI 6 EI
M Bi = 0 l 2
+
l
B +
l
c + 2 = 0
l
Pa 2b 2 EI 8 EI 6 EI
M Ci = 0 l 2
+
l
B +
l
c + 2 = 0
l
6 EI 6 EI 24 EI
V i
=0
l 2
B + 2 c + 3 = 0
l l
l
= ( B + C )
4
Pa 2b 13EI EI
2
+ B + c = 0
l 2l 2l
Pab 2 EI 13EI
2 + B + c = 0
l 2l 2l a=
l
1 Pab (a + 13b) 4
B =
84 EI l
1 Pab (13a + b)
C =
84 EI l
1 Pab
= (b a)
28 EI
2.3.5 A Portal Frame with a Bracing (Vertical Load)
a P
C
B
EI = 0, EA 0
z DOF : B , C , A D
z Analysis
i) All fixed
Pab 2 Pa 2b
0
M BC = , M 0
=
l2 l2
CB

23
ii) B 0
2 EI 4 EI
M 1AB = B , M BA
1
= B
l l
4 EI 2 EI
1
M BC = B , M CB
1
= B
l l
6 EI
1
VBA = 2 B
l
iii) C 0
2 EI 4 EI
2
M BC = C , M CB
2
= C
l l
4 EI 2 EI
M CD2
= C , M DC
2
= C
l l
6 EI
2
VCD = 2 C
l
iv) 0

6 EI
M = M = 2 ,
3
AB
3
BA
l
6 EI 2
M CD3
= M DC
3
= 2 ,
l
12 EI
3
VBA = VCD
3
= 3
l
EA EA 1 EA
ABD = (C) VBD = = VBD =
2l 2 2l 2 2 2l 2

Pab 2 8EI 2 EI 6 EI
M Bi = 0 l 2
+
l
B +
l
c + 2 = 0
l
2
Pa b 2 EI 8 EI 6 EI
M Ci = 0 l 2 + l B + l c + l 2 = 0
6 EI 6 EI 24 EI
V i = 0 l 2
B + 2 c + 3 (1 + ) = 0
l l
1 l EAl 2
= ( B + C ) , =
1+ 4 48 2 EI
z Solution for b = 3a
40 + 52 Pl 2 16 + 28 Pl 2 3 Pl 3
B = , C = , =
256(7 + 10 ) EI 256(7 + 10) EI 128(7 + 10) EI
For a w h rectangular section and l = 20h , = 50 2 .

Pl 2 Pl 2 Pl 3
B = 0.0203 , C = 0.0109 = 0.3282 10 4
EI EI EI

24
z Performance
with Bracing w/o bracing
Response Ratio(%)
( = 50 2 ) ( = 0)
B ( Pl 2 / EI ) -0.0203 -0.0223 91.03
C ( Pl 2 / EI ) 0.0109 0.0089 122.47
( Pl 3 / EI ) 0.328210-4 0.0033 0.99
(Pl) -0.0404 -0.0248 162.90
(Pl) -0.0810 -0.0694 116.71
CD (Pl) 0.0438 0.0554 79.06
DC (Pl) 0.0220 0.0376 58.51
P (Pl) 0.1158 0.1216 95.23
ABD (P) 0.0788 - -
Pmax (Pall)* 0.0720 0.0685 105.1
Pmax/vol. 0.0163 0.0228 71.5

*) Pall = all wh , M all = Pall h / 6
6 EI
Unbalanced shear force in the columns = ( B + C ) = 0.0564 P
l2
The bracing carries 99 % of the unbalanced shear force between the two columns.
2.3.6 A Portal Frame with a Bracing (Horizontal Load)

B
P C
EI = 0, EA 0
A D
z DOF : B , C ,
z Analysis
i) All fixed: No fixed end forces
ii)-iv) the same as the previous case

25

8EI 2 EI 6 EI
M i
B =0
l
B +
l
c + 2 = 0
l
2 EI 8 EI 6 EI
M Ci = 0 l B + l c + l 2 = 0
6 EI 6 EI 24 EI
V i = 0 l 2 B + l 2 c + l 3 (1 + ) = P
5 5
B = C , = B l = C l
3 3
z Solution
1 Pl 2 5 Pl 3
B = C = , =
(28 + 40) EI 3(28 + 40) EI
For = 50 2 ,
Pl 2 Pl 3
B = C = 0.3501 10 3 , = 0.5835 10 3
EI EI
z Performance
with Bracing w/o bracing
Response Ratio(%)
( = 50 2 ) ( = 0)
B ( Pl 2 / EI ) 0.3501 103 0.3571 101 0.98
C ( Pl 2 / EI ) 0.3501 103 0.3571 101 0.98
( Pl 3 / EI ) 0.5835 103 0.5952 101 0.98
(Pl) 0.2801 102 0.2857 0.98
(Pl) 0.2101 102 0.2143 0.98
CD (Pl) 0.2101 102 0.2143 0.98
DC (Pl) 0.2801 102 0.2857 0.98
ABD (P) 1.4004 - -
Pmax(Pall)* 0.7141 0.0292 2448
Pmax/vol. 0.1617 0.0097 1670
*) Governed by ABD for the structure with bracing, and by MDC for the structure without
bracing. Pall = all wh , M all = Pall h / 6
The bracing carries about 99% of the external horizontal load.

26
2.3.7 A Portal Frame with a Spring
a P
C
B
k
A D
z DOF : B , C , k
z Analysis
iv) 0
6 EI 6 EI
3
M AB = M BA
3
= 2
, M CD
3
= M DC
3
= 2 ,
l l
24 EI
3
VBA = VCD
3
= 3 , VS3 = k
l
Pab 2 8EI 2 EI 6 EI
M = 0 l 2 + l B + l c + l 2 = 0
i
B
Pa 2b 2 EI 8 EI 6 EI
C
M i
= 0
l 2
+
l
B +
l
c + 2 = 0
l
6 EI 6 EI 24 EI
V i = 0 l 2
B + 2 c + 3 = k
l l
6 EI 6 EI 24 EI
2
B + 2 c + ( 3 + k ) = 0
l l l
S
z Deformed Shapes ( = 0.41 )

EI
without a spring with a spring ( k = 24 )
l3

27
2.3.8 A Portal Frame Subject to Support Settlement
B C
A D
z DOF : B , C ,
z Analysis
i) All fixed
6 EI
0
M BC = M CB
0
=
l2
ii)-iv) the same as the previous problem

6 EI 8EI 2 EI 6 EI
M Bi = 0 l 2 + l B + l c + l 2 = 0
6 EI 2 EI 8EI 6 EI
M Ci = 0 l 2 + l B + l c + l 2 = 0
6 EI 6 EI 24 EI
V i = 0 l 2
B + 2 c + 3 = 0
l l

28
2.3.9 A Portal Frame with Unsymmetrical Supports
l/2 P
B C
A D
z DOF : B , C ,
z Analysis
i) All fixed
Pl Pl
0
M BC = 0
, M CB =
8 8
ii) B 0
3EI
1
M BA = B
l
4 EI 2 EI
1
M BC = B , M CB
1
= B
l l
3EI
1
VBA = 2 B
l
iii) C 0
2 EI 4 EI
2
M BC = C , M CB
2
= C
l l
4 EI 2 EI
M CD2
= C , M DC
2
= C
l l
6 EI
2
VCD = 2 C
l
iv) 0
3EI
3
M BA = ,
l2
6 EI
3
M CD = M DC
3
= ,
l2
3EI 12 EI
3
V BA = 3 , VCD
3
= 3
l l

29

Pl 7 EI 2 EI 3EI
M i
B =0
8
+
l
B +
l
c + 2 = 0
l
Pl 2 EI 8 EI 6 EI
M Ci = 0 8 + l B + l c + l 2 = 0
3EI 6 EI 15 EI
V i = 0 l 2
B + 2 c + 3 = 0
l l
l
= ( B + 2C )
5
2
1 Pl 1 9 Pl 2 1 Pl 3
B = , C = , =
44 EI 44 8 EI 176 EI
z Load Location that Causes No Sidesway

a P
B C
A D
l
= ( B + 2C ) = 0 B = 2C
5
- Stiffness equation
Pab 2 7 EI 2 EI Pa 2b 2 EI 8EI
M Bi = 0 l 2
+
l
B +
l
c = 0 , M Ci = 0 l 2
+
l
B +
l
c = 0
Pab 2 12 EI Pa 2b 4 EI
C = 0 , + c = 0
l2 l l2 l
Pab 2 Pa 2b
= 3 b = 3a
l2 l2

30
2.3.10 A Frame with a Skewed Member

P
B C
z DOF : B ,
z Analysis
Pl Pl 3 2 11
0
i) All fixed : M BC = + = Pl , VBC
0
= P
8 16 16 2 16
ii) B 0
2 EI EI EI 3EI EI
M 1AB = B = 2 B , M BA
1
=2 2 B , M BC
1
= B , VBA
1
= 3 2 B
2l l l l l
3 2 EI
1
VBC = B
2 l2
EI 1 2 2 EI
3 B =3 B
l l 2 2 l2
EI EI 1 EI
(2 2 B + 2 B ) = 3 2 B
l l 2l l
iii) 0
6 EI 3EI 3EI 3 2 EI EI
2
M BA = M AB
2
= = 2 M BC
2
= = 2
, VBA
2
=3 2 3 ,
2l 2l l l 2l 2 l l
3 EI
2
VBC =
2 l3
2 EI 1 1 3 EI
3 2
=
2 l l 2 2 l3
EI EI 1 EI
(3 2
+ 3 2 ) = 3 2 3 B
l l 2l l

31
z Construct the stiffness equation
EI 3 2 EI 3
M i
B = 0 (2 2 + 3)
l
B + (3
2 l
) 2 = Pl
16
3 EI 3 EI 2 11
V i = 0 (3 2 2) l 2 B + (3 2 + 2 ) l 3 = 2 16 P
EI EI
5.8284 B + 0.8787 2 = 0.1875 Pl
l l
EI EI
0.8787 2 B + 5.7426 3 = 0.4861P
l l
Pl 2 Pl 3
B = 0.0460 , = 0.0917
EI EI
z Results
- Deformed shape
- Moment diagram
- Shear force diagram

32
Chapter 3
Iterative Solution Method

&
Moment Distribution Method

33
3.1 Solution Method for Linear Algebraic Equations
3.1.1 Direct Method Gauss Elimination
a11 X 1 + a12 X 2 + L + a1i X i + L + a1n X n = b1

a 21 X 1 + a 22 X 2 + L + a 2i X + L + a 2 n X n = b2

M n
aij X j = bi for i = 1L n

a i1 X 1 + ai 2 X 2 + L + aii X i + L + a in X n = bi j =1
M

a n1 X 1 + a n 2 X 2 + L + a ni X i + L + a nn X n = bn
or in a matrix form
[ A]( X) = (b)
ai1
By multiplying to the first equation and subtracting the resulting equation from the i-th
a11
equation for 2 i n , the first unknown X1 is eliminated from the second equation as fol-
lows.

( 2)
a 22 X 2 + L + a 2( 2i ) X + L + a 2( 2n) X n = b2( 2 )
M
ai 2 X 2 + L + aii X i
( 2) ( 2)
+ L + ain( 2) X n = bi( 2 )
M
an2 X 2 + L + an2 X i
( 2) ( 2)
+ L + a nn
( 2)
X n = bn( 2 )
ai1 a1 j
where aij( 2) = aij . Again, the second unknown X2 is eliminated from the third equa-
a11
ai(22)
tion by multiplying ( 2) to the second equation and subtracting the resulting equation from
a 22
the i-th equation for 3 i n . The aforementioned procedures are repeated until the last
unknown remains in the last equation.
( 2)
a 22 X 2 + L + a 2( 2i ) X + L + a 2( 2n) X n = b2( 2 )
M M M
aii X i + L + ain X n
(i ) (i )
= bi( i )
M M
(n)
a nn X n = bn(n)

34
( k 1)
ai(,kk11) a k( k1,1j)
where a (k )
=a k i, j n , and a ij1 = aij . Once the system matrix is tri-
a kk11,k 1
ij ij
angularized, the solution of the given system is easily obtained by the back-substitution.
bn( n )
a nn X n = bn
(n) ( n)
X n = (n)
a nn
( n 1) ( n 1) ( n 1)
bn( n11) a n( n1,1n) X n
a n 1, n 1 X n 1 + a n 1, n Xn = b n 1 X n 1 =
a nn12,n 1
i +1
bi( i ) aik(i ) X k
aii( i ) X i + L + a i(,in) X n = bi(i ) Xi = k =n
i 1
for 1 i n 1
a ii
3.1.2 Iterative Method Gauss-Jordan Method
A system of linear algebraic equations may be solved by iterative method. For this purpose,
the given system is rearranged as follows.
b1 (a12 X 2 + L + a1n X n )
X1 =
a11
b2 (a 21 X 1 + a 23 X 3 + L + a 2 n X n )
X2 =
a 22
bi (ai1 X 1 + L + ai ,i 1 X i 1 + ai ,i +1 X i 1 + L + ain X n )
Xi =
aii
bn (a n1 X 1 + L + a n ,n 1 X n 1 )
Xn =
a nn
Suppose we substitute an approximate solution ( X) k 1 into the right-hand side of the above
equation, a new approximate solution ( X) k , which is not the same as ( X) k 1 , is obtained.
This procedure is repeated until the solution converges.
n
1
( X i )k = (bi aij ( X j ) k 1 )
aii j =1
i j
where the subscript k denotes the iterational count.

35
3.1.3 Iterative Method Gauss-Siedal Method
When we calculate a new Xi value in the k-th iteration of Gauss-Jordan iteration, the values of
X 1 ,L, X i 1 are already updated, and we can utilize the updated values to accelerate conver-
gence rate, which leads to the Gauss-Siedal Method.
b1 (a12 ( X 2 ) k 1 + L + a1n ( X n ) k 1 )
( X1)k =
a11
b2 (a 21 ( X 1 ) k + a 23 X 3 ) k 1 + L + (a 2 n X n ) k 1 )
( X 2 )k =
a 22
bi (ai1 ( X 1 ) k + L + ai ,i 1 ( X i 1 ) k + ai ,i +1 ( X i +1 ) k 1 + L + ain ( X n ) k 1 )
( X i )k =
aii
bn (a n1 ( X 1 ) k + L + a n ,n 1 ( X n 1 ) k )
( X n )k =
a nn
i 1 n
1
( X i )k = (bi aij ( X j ) k a ij ( X j ) k 1 )
aii j =1 j =i +1
i >1 i<n
3.1.4 Example
30 35.6 4klf
A B C D
EI 1.5EI EI
3@30=90
z Stiffness Equation
3EI 6 EI 3EI
168.7 + 133.3 + ( + ) B + C = 0
l l l
3EI 6 EI 3EI
133.3 + 450.0 + B + ( + )C = 0
l l l
EI EI
For the simplicity of derivation, B B , C C . The stiffness equation becomes
l l
35.4 + 9 B + 3 C = 0
316.7 + 3 B + 9 C = 0

36
z Gauss-Jordan Iteration
1
( B ) k = (35.4 3( C ) k 1 )
9
1
( C ) k = (316.7 3( B ) k 1 )
9
z Gauss-Siedal Iteration
1
( B ) k = (35.4 3( C ) k 1 )
9
1
( C ) k = (316.7 3( B ) k )
9
Gauss-Seidal Gauss-Jordan
GAUSS-SIEDAL ITERATION GAUSS-Jordan ITERATION
====================== ======================
***** Iteration 1***** ***** Iteration 1*****
X(1) = 0.3933334E+01 X(1) = 0.3933334E+01
X(2) = -0.3650000E+02 X(2) = -0.3518889E+02
ERROR = 0.1000000E+01 ERROR = 0.1000000E+01
X(1) = 0.1610000E+02 X(1) = 0.1566296E+02
X(2) = -0.4055556E+02 X(2) = -0.3650000E+02
ERROR = 0.2939146E+00 ERROR = 0.2971564E+00
X(1) = 0.1745185E+02 X(1) = 0.1610000E+02
X(2) = -0.4100617E+02 X(2) = -0.4040988E+02
ERROR = 0.3197497E-01 ERROR = 0.9044394E-01
X(1) = 0.1760206E+02 X(1) = 0.1740329E+02
X(2) = -0.4105624E+02 X(2) = -0.4055556E+02
ERROR = 0.3544420E-02 ERROR = 0.2971564E-01
X(1) = 0.1761875E+02 X(1) = 0.1745185E+02
X(2) = -0.4106181E+02 X(2) = -0.4098999E+02
ERROR = 0.3937214E-03 ERROR = 0.9812154E-02
****** MOMENT ****** ****** MOMENT ******
MBA =-115.84375 MBA =-116.34444

MBC = 115.82707 MBC = 115.04115
MCB =-326.81460 MCB =-326.88437
MCD = 326.81458 MCD = 327.03004

37
3.2 Moment Distribution Method
30 35.6 4klf
A B C D
EI 1.5EI EI
3@30=90
z At the Joint B
- Moment distribution
3EI AB 4 EI BC MB
MB = ( + ) B = M BA
1
+ M BC
1
B =
L AB LBC 3EI AB 4 EI BC
+
L AB LBC
3EI AB
3EI AB L AB
1
M BA = B = M = DBA M B
L AB 3EI AB 4 EI BC B
+
L AB LBC
4 EI BC
4 EI BC LBC
1
M BC = B = M = DBC M B
LBC 3EI AB 4 EI BC B
+
L AB LBC
2 EI BC 1
1
- Moment carry over to joint C: M CB = B = DBC M B
LBC 2
z At the Joint C
- Moment distribution
4 EI BC 3EI CD MC
MC = ( + ) C = M CB
2
+ M CD
2
C =
LBC LCD 4 EI BC 3EI CD
+
LBC LCD
4 EI BC
4 EI BC LBC
2
M CB = C = M = DCB M C
LBC 4 EI BC 3EI CD C
+
LBC LCD
3EI CD
3EI CD LCD
2
M CD = C = M = DCD M C
LCD 4 EI BC 3EI CD C
+
LBC LCD
2 EI BC 1
2
- Moment carry over to joint B: M BC = C = DCB M C
LBC 2

38
z Stiffness Equation in terms of Moment at Joints

1 1
35.4 + M B +DCB M C = 0 M B = 35.4 DCB M C
2 2

1
316.7 + DBC M B + M C = 0
1
M C = - 316.7 DBC M B
2 2
- Gauss-Siedal Approach
1
( M B ) k = 35.4 DCB ( M C ) k 1
2
1
( M C ) k = 316.7 DBC ( M B ) k
2
- Gauss-Jordan Approach
1
( M B ) k = 35.4 DCB ( M C ) k 1
2
1
( M C ) k = 316.7 DBC ( M B ) k 1
2
z For the given structure

1 2
D BA = DCD = , D BC = DCB =
3 3
z Incremental form for the Gauss-Siedal Method

- For k = 1
( M B ) 0 = ( M C ) 0 = 0 because we assume all degrees of freedom are fixed for step 0.
1
( M B )1 = 35.4 DCB ( M c ) 0 = 35.4 (M B )1 = 35.4
2
1 12
( M C )1 = 316.7 DBC ( M B )1 = 316.7 35.4 (M C )1 = 328.5
2 23
- For k > 1
1 1 1
( M B ) k = 35.4 DCB ( M c ) k 1 = 35.4 DCB ( M c ) k 2 DCB (M c ) k 1
2 2 2
1 1
= ( M B ) k 1 DCB (M c ) k 1 (M B ) k = DCB (M c ) k 1
2 2
1 1 1
( M C ) k = 316.7 DBC ( M B ) k = 316.7 DBC ( M B ) k 1 DBC (M B ) k
2 2 2
1 1
= ( M C ) k 1 DBC (M B ) k (M C ) k = DBC (M B ) k
2 2

39
- Iteration 1
(M B ) 0 = 0 , (M C ) 0 = 0
1
( M B ) 1 = 35.4 DCB ( M C ) 0 = 35.4 (M B ) 1 = 35.4
2
( M BA )1 = M BA
f
+ DBA (M B )1 = 168.7 + 0.33 35.4 = 168.7 + 11.8 (M BA )1 = 11.8
( M BC )1 = M BC
f
+ DBC (M B )1 = 133.3 + 0.67 35.4 = 133.3 + 23.6 (M BC )1 = 23.6
1 12
( M C )1 = 316.7 DBC (M B )1 = 316.7 35.4 = 328.5 (M c )1 = 328.5
2 23
1
( M CB )1 = M CB
f
+ DBC (M B )1 + DCB (M C )1 = 133.3 + 11.8 219.0
2
(M CB )1 = 11.8 219.0
( M CD )1 = M CD
f
+ DCD (M C )1 = 450 0.33 328.5 = 450 109.5 (M CD )1 = 109.5
- Iteration 2
(M BA ) 2 = DBA (M B ) 2 = 36.5
1 1
(M B ) 2 = DCB (M c )1 = 109.5 (M BC ) 2 = DCB (M c )1 + DBC (M B ) 2
2 2
= 109.5 + 73.0
(M ) = 1 D (M ) + D (M )
1 CB 2
2
BC B 2 CB C 2
(M C ) 2 = DBC (M B ) 2 = 36.5
2 = 36.5 24.3
(M CD ) 2 = DCD (M C ) 2 = 12.2
- Iteration 3
(M BA ) 3 = D BA ( M B ) 3 = 4.1
1 1
(M B ) 3 = DCB (M c ) 2 = 12.2 (M BC ) 3 = DCB (M c ) 2 + D BC (M B ) 3
2 2
= 12.2 + 8.2
1 ( M ) = 1 D (M ) + D (M ) = 4.1 2.7
(M C ) 3 = D BC (M B ) 3 = 4.1 CB 3
2
BC B 3 CB C 3
2 ( M CD ) 3 = DCD (M C ) 3 = 1.4
- Final Moments
M BA = M BA
f
+ (M BA ) k = 168.7 + 11.8 + 36.5 + 4.1 = 116.3
k
M BC = M f
BC + (M BC ) k = 133.3 + 23.6 + (109.5 + 73.0) + (12.2 + 8.2) = 116.4
k
M CB = M f
CB + (M CB ) k = 133.3 + (11.8 219.0) + (36.5 24.3) + (4.1 2.7) = 326.9
k
M CD = M f
CD + (M CD ) k = 450.0 109.5 12.2 1.4 = 326.9
k

40
0.33 0.66 0.67 0.33
-168.7 133.3 -133.3 450.0

11.8 23.6 11.8
-109.5 -219.0 -109.5
36.5 73.0 36.5
-12.2 -24.3 -12.2
4.1 8.2 4.1
-1.4 -2.7 -1.4
0.5 0.9 -326.9 326.9
-115.8 115.9
z Incremental form for the Gauss-Jordan Method

- For k = 1
( M B ) 0 = ( M C ) 0 = 0 because we assume all degrees of freedom are fixed for step 0.
1
( M B )1 = 35.4 DCB ( M c ) 0 = 35.4 (M B )1 = 35.4
2
1
( M C )1 = 316.7 DBC ( M B ) 0 = 316.7 (M C )1 = 316.7
2
- For k > 1
1 1 1
( M B ) k = 35.4 DCB ( M c ) k 1 = 35.4 DCB ( M c ) k 2 DCB (M c ) k 1
2 2 2
1 1
= ( M B ) k 1 DCB (M c ) k 1 (M B ) k = DCB (M c ) k 1
2 2
1 1 1
( M C ) k = 316.7 DBC ( M B ) k 1 = 316.7 DBC ( M B ) k 2 DBC (M B ) k 1
2 2 2
1 1
= ( M C ) k 1 DBC (M B ) k 1 (M C ) k = DBC (M B ) k 1
2 2
- Iteration 1
(M B ) 0 = 0 , (M C ) 0 = 0
1
( M B ) 1 = 35.4 DCB ( M C ) 0 = 35.4 (M B ) 1 = 35.4
2
( M BA ) 1 = M BA
f
+ D BA ( M B ) 1 = 168.7 + 0.33 35.4 = 168.7 + 11.8 (M BA ) 1 = 11.8
( M BC ) 1 = M BC
f
+ D BC ( M B ) 1 = 133.3 + 0.67 35.4 = 133.3 + 23.6 (M BC ) 1 = 23.6

41
1
( M C )1 = 316.7 DBC ( M B ) 0 = 316.7 = 316.7 (M c )1 = 316.7
2
( M CB )1 = M CB
f
+ DCB ( M C )1 = 133.3 0.67 316.7 = 133.3 212.2
(M CB )1 = 212.2
( M CD )1 = M CD
f
+ DCD ( M C )1 = 450 0.33 316.7 = 450 104.5 (M CD )1 = 104.5
- Iteration 2
(M BA ) 2 = DBA (M B ) 2 = 35.0
1 1
(M B ) 2 = DCB (M c )1 = 106.1 (M BC ) 2 = DCB (M c )1 + DBC (M B ) 2
2 2
= 106.1 + 71.1
(M ) = 1 D (M ) + D (M )
1 CB 2
2
BC B 1 CB C 2
(M C ) 2 = DBC (M B )1 = 11.8
2 = 11.8 7.9
(M CD ) 2 = DCD (M C ) 2 = 3.9
- Iteration 3
(M BA ) 3 = DBA (M B ) 3 = 1.3
1 1
(M B ) 3 = DCB (M C ) 2 = 4.0 (M BC ) 3 = DCB (M C ) 2 + DBC (M B ) 3
2 2
= 4 .0 + 2 .7
(M ) = 1 D (M ) + D (M )
1 CB 3
2
BC B 3 CB C 3
(M C ) 3 = DBC (M B ) 2 = 35.6
2 = 35.6 23.9
(M CD ) 3 = DCD (M C ) 3 = 11.7
0.33 0.66 0.67 0.33
-168.7 133.3 -133.3 450.0

11.8 23.6 -212.2 -104.5
-106.1 11.8
35.0 71.1 -7. 9 -3.9
-4.0 35.6
1.3 2. 7 -23.9 -11.7
-12.0 1.4
4.0 8.0 -0.9 -0.5
-0.5 4.0
0.2 0.3 -2.7 -1.3
-1.4 0.2
0.5 0.9 0.1 0.1
-115.9 115.9 -328.0 328.2

42
3.3 Example - MDM for a 4-span Continuous Beam
100
50
A B C D E
EI, L 1.5EI, L 1.5EI, L EI, L
EI EI 1.5 EI 1.5 EI EI 1.5 EI 1.5EI 1.5EI 1.5EI

D BA = 4 (4 +4 ) = 0.4 , D BC = 4 (4 +4 ) = 0.6 , DCB = 4 (4 +4 ) = 0.5 ,
L L L L L L L L L
1.5EI 1.5EI 1.5 EI 1.5 EI 1.5EI EI EI 1.5 EI EI

DCD = 4 (4 +4 ) = 0.5 , D DC = 4 (4 + 3 ) = 0.67 , DDE = 3 (4 + 3 ) = 0.33
L L L L L L L L L
z Gauss-Siedal Approach
0.4 0.6 0.5 0.5 0.67 0.33
0.0 0.0 125 -125 0.0 0.0 93.8

-25.0 -50.0 -75 -37.5
40.6 81.3 81.3 40.6
-45.0 -90.0 -44.3
11.3 22.5 22.5 11.3
-10.4 -20.8 -31.1 -15.6
3.9 7.8 7.8 3.9
-5.1 -10.2 -5.0
1.3 2.6 2.6 1.3
-1.1 -2.1 -3.1 -0.9 -0.4
36.5 -72.9 72.9 -63.9 64.1 -44.0 44.1

43
z Gauss-Jordan Approach
0.4 0.6 0.5 0.5 0.67 0.33
0.0 0.0 125 -125 0.0 0.0 93.8

-50 -75 62.5 62.5 -62.8 -31.0
-25.0 31.3 -37.5 -31.4 31.3
-12.5 -18.8 34.5 34.5 -21.0 -10.3
-6.3 17.3 -9.4 -10.5 17.3
-6.9 -10.4 10.0 10.0 -11.6 -5.7
-3.5 5.0 -5.2 -5.8 5.0
-2.0 -3.0 5.5 5.5 -3.4 -1.6
-1.0 2.8 -1.5 -1.7 2.8
-1.1 -1.7 1.6 1.6 -1.9 -0.9
-0.6 0.8 -0.9 -1.0 0.8
-0.3 -0.5 1.0 1.0 -0.5 -0.3
-36.4 -72.8 72.8 -64.4 64.7 -44.0 44.0

44
3.4 Direct Solution Scheme by Partitioning
20
L/3
B C
A D
z Slope deflection (Stiffness) Equation

8EI 2 EI 6 EI
L L L B 88.8
2 EI 8EI 6 EI [K ] (K ) () (P)
C + 44.4 = 0
K K + 0 = 0
L L L ( )
6 EI 6 EI 24 EI 0.0
L L L
[K ]() = (P) (K ) () = [K ] 1 (P) [K ] 1 (K ) = () P + ()
(K )() P + (K )() + K = 0
z Direct Solution Procedure by Partitioning
- Assume = 0 and calculate ()P.

- Assume an arbitrary = and calculate ( ) .

( )
- By linearity, ( ) =

- Calculate by the second equation by and ( ) .
(K )() P
=
K + (K )( )
- Obtain () by ( ) = ( ) P + ( ) .

45
3.5 Moment Distribution Method for Frames

z Solution Procedure
- Assume there is no sideway and do the MDM.
- Perform the MDM again for an assumed sidesway.
- Adjust the Moment obtained by the second MDM to satisfy the second equation.
- Add the adjusted moment to the moment by the first MDM.
z First MDM with no Sidesway
L/3 20
B 0.5 0.5 C
0.5
88.8 -44.4
0.5
-44.4 -44.4 -22.2
16.6 33.3 33.3
-8.3 8.3 -4.2
1.1 2.1 2.1
-0.6 -0.6 -0.3
-53.3 53.3 0.2 0.2
-35.5 35.5
A D
MAB = -53.3/2 = -26.7, MDC = -35.5/2 = 17.8, VAB = 2.67, VDC = -1.78, VP = 0.89
z Second MDM with an Arbitrary Sidesway

B C
10.0 10.0
-5.0 -5.0 -2.5
-1.9 -3.8 -3.8
1.0 1.0 0.5
-0.2 -0.3 -0.3
0.1 0.1 -5.9 5.9
6.1 -6.0
A D
MAB = 10 3.9/2.0 = 8.1, MDC = 10 4.1/2.0 = 7.9, VAB =-0.47, VDC = -0.46, V = -0.93

46
z Shear Equilibrium Condition (the 2nd equation)
No Sidesway (1st MDM) Sidesway Only (2nd MDM)
0.89 0.93
5.9
53.3 6.1
35.5
2.67 1.78 0.47 0.46
7.9
17.8 8.1
26.7
= -0.89/(-0.93) = 0.97
Total Moment = 1st Moment + 2nd Moment

47
Chapter 4
Energy Principles
Principle of Minimum Potential Energy and

Principle of Virtual Work
Mg
h P

48
Read Chapter 11 (pp.420~ 428) of Elementary Structural Analysis 4th Edition by C .H. Norris
et al very carefully. In this note an overbarred variable denotes a virtual quantity. The vir-
tual displacement field should satisfy the displacement boundary conditions of supports if
specified. For beam problems, displacement boundary conditions include boundary condi-
tions for rotational angle. Variables with superscript e denote the exact solution that satisfies
the equilibrium equation(s).
4.1 Spring-Force Systems

z Total Potential energy

The energy required to return a mechanical system to a reference status
0
1
int = k ( u )du = k ( u )du = k2 , ext = P
0
2
1 2
total = int + ext = k P
2
z Equilibrium Equation
ke=P
z Principle of Minimum Potential Energy for an arbitrary displacement = e + .

1
total = k (e + ) 2 P(e + )
2
1 1
= k (e ) 2 + ke + k ( ) 2 P(e + )
2 2
1 1
= k (e ) 2 Pe + k ( ) 2 + (ke P)
2 2
1 1
= k (e ) 2 Pe + k ( ) 2
2 2
1
= total
e
+ k ( ) 2 total
e
In the above equation, the equality sign holds if and only if = 0 . Therefore the total
potential energy of the spring-force system becomes minimum when displacement of
spring satisfies the equilibrium equation.

49
4.2 Beam Problems

q
any type of support w we any type of support

w
z Potential Energy of a Beam
l l l
1 M2 1 d 2w 2
2 0 EI 2 0
int = dx = EI ( ) dx , ext = qwdx
dx 2 0
l l
1 d 2w 2
2 0
total = int + ext = EI ( ) dx qwdx
dx 2 0
d 2M e d 4 we
EI = q or EI =q
dx 2 dx 4
z Principle of Minimum Potential Energy for a virtual displacement w = w e + w .

1 d 2 (we + w ) d 2 (we + w )
l l
h =
20
(
dx 2
EI
dx 2
)dx ( w e + w )qdx
0
l l
1 d 2 we d 2 we
2 0 dx 2
= ( EI )dx w e qdx +
dx 2 0
l l l
1 d 2w d 2w d 2w d 2 we
2 0 dx 2
( EI )dx ( 2 EI
+ )dx w qdx
dx 2 0 dx dx 2
0
l l l
1 d 2w d 2w d 2w 1 d 2 we
2 0 dx 2 0
= e + ( EI ) dx + ( EI ) ( EI )dx w qdx
dx 2 dx 2 EI dx 2 0
l l l
1 d 2w d 2w MM e
= + ( 2 EI
e
)dx + dx w qdx
2 0 dx dx 2 0
EI 0
l
1 d 2w d 2w
2 0 dx 2
= e + ( EI 2
)dx e for all virtual w
dx
Since the equation in the box represents the total virtual work in a beam, the total potential energy
of a beam becomes minimum for all virtual displacement fields when the principle of virtu-
al work holds. In the above equation, the equality sign holds if and only if w = 0 .

50
z Principle of Virtual Work

If a beam is in equilibrium, the principle of the virtual work holds for the beam,.
l
d 4 we
w ( EI
0 dx 4
q )dx = 0 for all virtual displacement w
l l l l
d 2w d 2 we dw d 2 we d 3 we
0 dx 2 dx 2
EI dx 0 w qdx +
dx
EI
dx 2 0
w EI
dx 3
=0
0
l l l l
d 2w d 2 we MM e
0 dx 2 dx 2
EI dx 0 w qdx = 0 EI dx 0 wqdx = 0
In case that there is no support settlement, the boundary terms in above equation vanishes
identically since either virtual displacement including virtual rotational angle or corre-
sponding forces (moment and shear) vanish at supports. The principle of virtual work
yields the displacement of an arbitrary point ~
x in a beam by applying an unit load at ~
x
and by using the reciprocal theorem.
l l l l e
MM
0 w qdx = 0 wq dx = 0 w( x x )dx = w( x ) = 0 EI dx
~ ~
z Approximation using the principle of minimum potential energy

- Approximation of displacement field
n
w = ai g i
i =1
- Total potential energy by the assumed displacement field

l l l l
1 d 2w d 2w 1 n n n
= ( 2 EI 2 )dx wqdx = ( ai g i)EI ( a j g j )dx ai g i qdx
h
2 0 dx dx 0
2 0 i =1 j =1 0 i =1
- The first-order Necessary Condition

h 1 n l n n l
= ( ( ai g i)EI ( ai g i)dx ai g i qdx)
a k a k 2 0 i =1 i =1 0 i =1
l n n l l
1
= [ g k EI ( a j g j )dx + ( ai g i)EIg kdx] g k qdx) or Ka = f
2 0 i =1 0 i =1 0
n l l n
= g k EIg idxai g k qdx = K ki ai f k = 0
i =1 0 0 i =1

51
z Example
P
i) with one unknown

w = ax( x l ) = a ( x 2 lx) w = 2a
l l l
1 l 1 l2 1 l2
2 0 0 2 0
total = EI ( w ) 2
dx P ( x ) wdx = EI ( 2 a ) 2
dx + aP = EI 4 a 2
l + aP
2 4 2 4
total l2 Pl Pl
= 0 4aEIl + P = 0 a = w= ( x 2 xl )
a 4 16 EI 16 EI
l l
w e ( ) w( )
l Pl 3 l Pl 3 Pl 3 2 2 = 0.25
w( ) = , we ( ) = = 0.0208 , Error =
2 64 EI 2 48 EI EI l
we ( )
2
ii) with two unknowns

w = ax( x l ) + bx( x 2 l 2 ) w = 2a + 6bx
l l l
1 l 1 l2 3l 3
2 0 0 2 0
total = EI ( w ) 2
dx P ( x ) wdx = EI ( 2 a + 6bx ) 2
dx P ( a b )
2 4 8
1 l2 l3 l2 3l 3
= EI (4a 2 l + 24ab + 36b 2 ) + P(a + b )
2 2 3 4 8
total l2
= 0 EI (4la + 6l 2 b) = P
a 4 1 Pl
a= , b = 0 ???
total 3l 3 16 EI
= 0 EI (6l 2 a + 12l 3 b) = P
b 8
iii) with three unknowns

w = ax( x l ) + bx( x 2 l 2 ) + cx( x 3 l 3 ) w = 2a + 6bx + 12cx 2
l l
1 l
total =
20 EI ( w) 2 dx P( x ) wdx
0
2
l
1 l2 3l 3 7l 4
= EI (2a + 6bx + 12cx ) dx P(a b
2 2
c )
20 4 8 16
1 l3 l5 l2 l3 l4
= EI (4a 2 l + 36b 2 + 144c 2 + 24ab + 48ac + 144bc ) +
2 3 5 2 3 4
2 3 4
l 3l 7l
P(a + b +c )
4 8 16

52
total l2 1 Pl
= 0 EI (4la + 6l b + 8l c) = P
a = 64 EI
2 3
a 4

total 3l 3 5 P
= 0 EI (6l 2 a + 12l 3 b + 18l 4 c) = P b =
b 8 32 EI
total 144 5 7l 4 5 P
= 0 EI (8l 3 a + 18l 4 b + l c) = P c = 64 EIl
c 5 16
1 Pl 5 P 5 P
w= x( x l ) x( x 2 l 2 ) + x( x 3 l 3 )
64 EI 32 EI 64 EIl
l Pl 3 1 1 5 3 5 7 21 Pl 3 Pl 3
w( ) = ( + )= = 0.0205 , Error = 0.0144
2 EI 64 4 32 8 64 16 1024 EI EI
iv) with one sin function

w = a sin x = w = a( ) 2 sin x
l l l

l l l
1 l 1
total = EI ( w) 2 dx P( x ) wdx = EI (a( ) 2 sin x) 2 dx aP
20 0
2 20 l l
l
l
1 1
= EIa 2 ( ) 4 sin 2 xdx + aP = EIa 2 ( ) 4 + aP
2 l 0 l 2 l 2
total l 2 Pl 3 2 Pl 3
= 0 EIa( ) 4 P = 0 a = 4 w= 4 sin x
a l 2 EI EI l
l 1 Pl 3 l Pl 3
w( ) = , we ( ) = , Error = 0.0145
2 48.7045 EI 2 48EI
v) with two sin function

3 3 3
w = a sin x + b sin x = w = a( ) 2 sin x + b( ) 2 sin x
l l l l l l
l l
1 l
total = EI ( w) 2 dx P( x ) wdx
20 0
2
3 3 2
l
1
=
20 EI (a( ) 2 sin x + b( ) 2 sin
l l l l
x) dx aP + bP
3 3
l l
1
= EIa 2 ( ) 4 sin 2 xdx +EIab( ) 2 ( ) 2 sin sin xdx +
2 l 0 l l l 0 l l
3 3
l
1
EIb 2 ( ) 4 sin 2 xdx aP + bP
2 l 0 l
1 l 1 3 l
= EIa 2 ( ) 4 + EIb 2 ( ) 4 aP + bP
2 l 2 2 l 2

53
total l 2 Pl 3
= 0 EIa( ) 4 P = 0 a = 4
a l 2 EI
total 3 l 2 Pl 3
= 0 EIb( ) 4 + P = 0 b =
b l 2 (3) 4 EI
2 Pl 3 1 3
w= (sin x sin x)
EI
4
l 81 l
l Pl 3 Pl 3 l Pl 3
w( ) = 0.0205(1 + 0.0123) = 0.0208 , w e ( ) = 0.0208 , Error 0
2 EI EI 2 EI
4.3 Truss problems
F ji
Fmi ( i )
F1i
i
X i
Xi Y
Yi
z Potential Energy
1 nmb ( Fi ) 2 li njn
int =
2 i =1 EA i
, ext =
i =1
( X i u i + Yi vi )
1 nmb ( Fi ) 2 li njn
total = int + ext =
2 i =1 EA i
( X i u i + Yi vi )
i =1
where nmb and njn denotes the total number of members and the total numbers of joints
in a truss.
z Equilibrium Equations
m(i ) m(i )
H + X = 0 , V ji + Y i = 0
i
j
i
for i = 1, L , njn
j =1 j =1
where m(i), H ij and V ji are the number of member connected to joint i, the horizontal
component and the vertical component of the bar force of j-th member connected to joint
i, respectively.

54
z Principle of Minimum Potential Energy

1 nmb ( Fi e + Fi ) 2 l i njn
total = ( X i (u i +u i ) + Yi (vi + vi ))
2 i =1 EAi i =1
1 nmb ( Fi e ) 2 li njn 1 nmb ( Fi ) 2 li nmb Fi e Fi li njn

=
2 i =1 EAi

i =1
( X u
i i + Y v
i i ) +
2 i =1 EAi
+
i =1 EAi
( X i u i + Yi vi )
i =1
1 nmb ( Fi e ) 2 li njn nmb

( Fi ) 2 li
=
2 i =1 EAi

i =1
( X u
i i + Y v
i i ) +
i =1 EAi
1 nmb ( Fi ) 2 l i
= + e
e for all virtual displacement fields
2 i =1 EAi
where Fi e and Fi are the bar force of i-th member induced by the real displacement of joints
and virtual displacement induced by the virtual displacement of joints. Since the equation in the
box represents the total virtual work in a truss, the total potential energy of a truss becomes
minimum for all virtual displacement fields when the principle of virtual work holds. In
the above equation, the equality sign holds if and only if the virtual displacements at all
joints are zero.
z Virtual Work Expression

If a truss is in equilibrium, the principle of the virtual work holds for the truss,.
njn m(i ) m(i )
(( H ij + X i )u i + (-V ji + Y i )v i ) = 0
i =1 j =1 j =1
(v 2 v1 ) sin i
(v 2 v1 )
(u 2 u1 ) cos i
(u 2 u1 )
i
i

55
njn m(i ) m(i )
(( F ji cos j + X i )u i + (- F ji sin j + Yi )vi ) = 0

i =1 j =1 j =1
njn m(i ) m(i ) njn
(u F
i =1
i
j =1
j
i
cos j + v i F ji sin j ) = ( X i u i + Yi vi )
j =1 i =1
nmb njn
( Fi e cos i (ui2 u i1 ) + Fi e sin i (vi2 vi1 )) = ( X i ui + Yi vi )

i =1 i =1
nmb nmb nmb

Fi l i nmb
F eF l
Fi e (cos i (ui2 u i1 ) + sin i (vi2 vi1 )) = Fi e li = Fi e
i =1 i =1 i =1
= i i i
( EAi ) i =1 ( EAi )
nmb e n
Fi Fi l i
i =1 ( EAi )
= ( X i u i + Yi vi )
i =1
The principle of virtual work yields the displacement of a joint k in a truss by applying an
unit load at a joint k in an arbitrary direction and by using the reciprocal theorem.
Fi e Fi l i
nmb
X k u k + Yk v k = X u k cos = u k cos =
i =1 ( EAi )
Since represnts the angle between the applied unit load and the displacement vector,
u k cos are the displacement of the joint k in the direction of the applied unit load.

56
Chapter 5
Matrix Structural Analysis
Mr. Force & Ms. Displacement

Matchmaker: Stiffness Matrix

57
5.1 Truss Problems

5.1.1 Member Stiffness Matrix
f yR y
R
f yL Ly
f xL Lx f xR Rx
z Force Displacement relation at Member ends

EA R
f xL = ( x Lx )
L
EA R
f xR = ( x Lx )
L
fy = fy = 0
L R
z Member Stiffness Matrix in Local Coordinate System

e e
f xL 1 0 1 0 Lx

fy
L
EA 0 0 0 0 Ly
=
f xR L 1 0

1 0 Rx
R
fy 0 0 0 0 Ry
(f )e = [k ]e ( )e
z Transformation Matrix
vy Vy
vx
Vx
V x = cos v x sin v y V x cos sin v x

= v
V y = sin v x + cos v y V y
sin cos y
(V ) = [ ]T ( v) ( v) = [ ](V )

58
z Member End Force

e e
Fx1 cos sin 0 0 f xL
1 sin cos 0
Fy 0 f yL
(F)e = []T (f )e
F2 = 0 0 cos sin f xR
x

F2 f yR
y 0 0 sin cos
z Member End Displacement

e e
Lx cos sin 0 0 1x
L sin cos
y 0 0 1y
2 ()e = []()e
R = 0 0 cos sin x
x 2
R
y 0 0 sin cos y
z Member Stiffness Matrix in Global Coordinate

(F)e = []T (f )e = []T [k ]e ( ) e = []T [k ]e []( ) e
(F ) e = [K ] e ( ) e
cos 2 sin cos cos 2 sin cos

EA sin cos sin 2 sin cos sin 2 [K 11 ]e [K 12 ]e
[K ] =
e
=
L cos 2 sin cos cos 2 sin cos [K 21 ]e [K 22 ]e

sin cos sin 2 sin cos sin 2
5.1.2 Global Stiffness Equation

(F1 ) m (3)
z Nodal Equilibrium (F 2 ) m ( 2 ) (F 2 ) m ( 4 )
n-th joint
(F1 ) m (1) (F1 ) m ( 5)
Pm
m-th joint Pm
i-th member
nm ( m )
(P) m = (F 1 ) m (1) + (F 2 ) m ( 2) + (F 1 ) m ( 3) + (F 2 ) m ( 4) + (F 1 ) m (5) = (F
k =1
1 or 2 m ( k )
)

59
Pn n-th joint (F 2 ) i
2
(F1 )i
1
Pm
i-th member m-th joint
nm (1) 1 or 2 1( k ) 0 0 0
(F ) M
(P) k =1
1
M M m-th row

M M ( F1 i
) I 0
p
(F )
nm ( m ) p 1 i p
( P ) = ( P ) = (F ) = M = M
m 1 or 2 m ( k )
M 2 i = [E]i (F)i = [E](F )
(F ) i =1
M
k =1 i =1 (F 2 )i i =1 0 I n-th row
nm ( q ) M
q
(P) 1 or 2 q ( k ) M M M
( F ) 0
k =1 0 0
(F ) 1

M
[E] = [[E]1 L [E]i L [E] p ] , (F) = (F) i

M
p
(F )

60
z Compatability Condition
un
n ( 2 )i
2
m um 1 ( 1 )i
i-th member
( 1 )i I 0 u m
( 1 )i = u m , ( 2 )i = u n ( )i = 2 i =
( ) 0 I u
n
m-th column u1

M
u
( ) 0 L I L 0 L 0
1 i m
( ) =
i = M = [C]i (u)
( 2 ) i 0 L 0 L I L 0
u
n
M
n-th column u
q
( )1 [C]1 u1

( ) = M = M M = [C](u)
( ) p [C] p u
q
Compatibility Matrix
z Contragradient
(P)T (u) = (F)T () (P)T (u) = (F)T [C](u)
((P)T (F)T [C])(u) = 0 for all possible (u) (P)T = (F)T [C]
(P) = [C]T (F) = [E](F) [C]T = [E]

61
z Unassembled Member Stiffness Equation

(F )1 [K ]1 L 0 L 0 ( )1

M M L M L M
(F ) i = 0 L [K ] i L 0 () i
(F) = [K ]()

M M L M L M M
p
(F) 0 L 0 L [K ] p () p
z Global Stiffness Equation

(P) = [C]T (F) = [C]T [K ]() = [C]T [K ][C](u)
(P) = [K ](u) where [K ] = [C]T [K ][C]
z Direct Stiffness Method
[K ]1 0 [C]
1
L 0 L

M L M L M
[
[K ] = [C]T [K ][C] = [C]1 L[C]i L[C] p
T T T
] 0

L [K ] i L 0 [C]

i

M L M L M M
0 L [K ] p [C]
p
L 0
= [C]1 [K ]1 [C]1 + L + [C]i [K ]i [C]i + L + [C] p [K ] p [C] p
T T T
0 0
M M

I 0
[K ] [K 12 ]i 0 L I L 0 L 0
i
[C] [K ] [C] = M
iT i i
M 11 i
[K ] [K 22 ]i 0 L 0 L I L 0
M I 21

M M
0 0

0 0
M M
m-th row
0 0 0 0 0
I 0 0 [ K ] i 0 [K 12 ] 0
i
0 L [K 11 ] L [K 12 ]i L 0
11

i
= M M = 0 0 0 0 0
0 L [K 21 ]i L [K 22 ]i L 0
M I 0 [K 21 ]i 0 [K 22 ] 0
i
n-th row
M M 0 0 0 0 0
0 0
m-th column n-th column

62
5.1.3 Example
P4, u4
P3, u3
2
1 2 P6, u6
P2, u2
L
1 3 P5, u5
P1, u1 3
2L
z Member Stiffness Matrix

cos 2 sin cos cos 2 sin cos

EA sin cos sin 2 sin cos sin 2 [K 11 ]e [K 12 ]e
[K ] e = =
L cos 2 sin cos cos 2 sin cos [K 21 ]e [K 22 ]e

sin cos sin 2 sin cos sin 2
- Member 1: = 45o
1 1 1 1
2
2 2 2
1 1 1 1
EA 2 2

2

2
[K ]1 =
2 L 1
1 1 1
2 2 2 2
1 1 1 1

2 2 2 2
- Member 2: =-45 o
1 1 1 1
2
2 2 2
1 1 1 1
EA 2 2 2

2
[K ] 2 =
2 L 1 1 1

1
2 2 2 2
1 1 1 1

2 2 2 2

63
- Member 3: = 0o
1 0 1 0
0 0 0
EA 0
[K ] 3 =
2 L 1 0 1 0

0 0 0 0
P4
P3
P2 P6
P5
P1
F 1 1
x
Fy1
2
Fx
P1 = ( Fx1 )1 + ( Fx2 ) 3 2
P1 1 0 0 0 0 0 0 0 0 0 1 0 Fy

P2 = ( F ) + ( F ) 1 Fx1
1 1 2 3 2
y y P2 0 1 0 0 0 0 0 0 0 0 0
P 0
P3 = ( Fx2 )1 + ( Fx1 ) 2 0 1 0 1 0 0 0 0 0 0 0 Fy1
3=
P4 = ( Fy2 )1 + ( Fy1 ) 2 P4 0 0 0 1 0 1 0 0 0 0 0 0 Fx2

P5 = ( Fx2 ) 2 + ( Fx1 ) 3 P5 0 0 0 0 0 0 1 0 1 0 0 0 Fy2
P 0
P6 = ( Fy2 ) 2 + ( Fy1 ) 3 6 0 0 0 0 0 0 1 0 1 0 0 F 1 3
x
F1
y2
[E]1 [E]2 [E]3 Fx
F 2
y

(P) = [[E1 ] [E 2 ] [E 2 ]](F) = [E](F)

64
z Compatibility Condition
u4
u3
u2 u6
u1 u5
1 1
x 1 0 0 0 0 0
1y
2 0 1 0 0 0 0 [C]1
x 0 0 1 0 0 0
2
y 2 0 0 0 1 0 0 u1 u1

1x 0 0 1 0 0 0 u 2 1 u2
1 [C]
y 0 0 0 1 0 0 u 3 2 u 3
= [C]
2 = 0 0 0 0 1 0 u 4 3 u 4
2x [C]
y 0 0 0 0 0 1 u 5 u
5
1 3 u
x 0 0 0 0 1 0 u6
6
1 0 0 0 0 0 1
2y [C]2
x 1 0 0 0 0 0
2 0 0 [C]3
y 1 0 0 0

( ) = [C](u)
[E1 ] = [C1 ]T , [E 2 ] = [C 2 ]T , [E 3 ] = [C 3 ]T [E] = [C]T
z Global Stiffness Matrix
[K ] = [C]T [K ][C] = [C]1 [K ]1 [C]1 + [C] 2 [K ] 2 [C] 2 + L + [C]3 [K ]3 [C]3

T T T

65
1 0 0 0 1 1

1 1

0
1 0 0 12 2
1
2
1
2
1 1 0 0 0 0 0
EA 0 0 1 0 2 0 1 0 0 0 0
[C1 ]T [K 1 ][C1 ] = 2 2 2
2 L 0 0 0 1 1 1 1 1 0 0 1 0 0 0

0 0 0

0 2 2 2 2 0 0 0 1 0 0

1 1 1 1
0 0 0 0
2 2 2 2
1 1 1 1
2 0 0
1 0 0 0 1 1

1

1
0 0 1
2 2 2

0 1 1 1
1 0 0 12 2 2 2
0 0
1 1 1 2 2 2 2
EA 0 0 2 0 0
1 0 0
0 1 EA 1 1 1
= 2 2 2 =
2 L 0 0 0 1 1
1 1 1
0 0 2 L 2 2 2 2

0 1 1 1 1
0 0 0 2 2 2 2
0 0
1 1 1 1 2 2 2 2
0 0 0 0 0 0
0 0 0 0 0 0
2 2 2 2
0 0 0 0 0 0
0 0 0 0 1
1

1 1
0 2 0
0 0 0 12 2
1
2
1 1 0 1 0 0 0
EA 1 0 0 0 2 0 0 0 1 0 0
[C 2 ]T [K 2 ][C 2 ] = 2 2 2
2 L 0 1 0 0 1 1 1 1 0 0 0 0 1 0

0 2 0
0 1 0 2 2 2 0 0 0 0 1
1 1 1 1
0 0 0 1
2 2 2 2
0 0 0 0 0 0
0 0
1 0 0 0 0 0
1

1

1 1
0 0 0 0
0 2
0
1 1 1 1
2 2 2 0
1 0 1 1 1 1
0
2
0 0
0 2 2 2
EA 0 0 1 2 = EA 0 1 1 1 1
= 2 2 2 0
2 L 0 0 0 1 0 0
1 1 1

1 2L 2 2 2 2
1
0 0 0 0 2 2 2 2 0
1 1 1

1 1 1 1 0
0 0 2 2 2 2
0 0 0

0
2 2 2 2 0 1 1 1 1
0
2 2 2 2
0 0 1 0
0 0 0 1 1 0 1 0 0 0 0 0 1 0

EA 0 0 0 0 0 0 0 0 0 0 0 0 0 1
[C 3 ]T [K 3 ][C 3 ] =
2 L 0 0 0 0 1 0 1 0 1 0 0 0 0 0
1
0 0 0 0 0 0 0 0 1 0 0 0 0

0 1 0 0

66
0 0 1 0 1 0 0 0 1 0
0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0

EA 0 0 0 0 0 0 0 0 0 0 EA 0 0 0 0 0 0
= =
2 L 0 0 0 0 1 0 0 0 1 0 2 L 0 0 0 0 0 0
1
1 0 0 0 0 0 0 0 0 0 0 0 0 1 0

0 1 0 0 0 0 0 0 0 0
1 1 1 1 0 0 0 0 0 0
2 0 0
2 2 2 0 0 0 0 0 0
1 1 1 1
0 0 1 1 1 1
0 0
2 2 2 2 2 2 2 2
EA 1
0 0 +
1 1 1 EA 1 1 1 1
[K ] =
2L 2 0 0
2 2 2 2L 2 2 2 2
1 1 1 1 1 1 1 1
0 0 0 0
2 2 2 2 2 2 2 2
0 0 0 0 0 0 0 0 1 1 1 1
0
0 0 0 0 0 2 2 2 2
1 0 0 0 1 0
0 0 0 0 0 0

EA 0 0 0 0 0 0
+
2L 0 0 0 0 0 0
1 0 0 0 1 0

0 0 0 0 0 0
1 1 1 1 1 1
2 2 + 2 2 2

2 2

2 2

2
0

1 1 1 1
0 0
2 2 2 2 2 2 2 2
1 1 1 1 1 1 1 1
+
EA 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2
=
L 1
1 1

1 1
+
1 1

1
2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2
1 1 1 1 1 1
0 +
2 2 2 2 2 2 2 2 2 2
1 1 1 1
0 0
2 2 2 2 2 2 2 2

67
z Stiffness Equation
1 + 2 1 1 1 1
0
2 2 2 2 2 2 2 2 2
Unknown P1 1 1

1

1
0 0 u1
2 2 2 2 2 2 2 2 Known
Unknown 2
P 1 1 1 1 1 u 2 Known

Known P3 EA 2 2
0
= 2 2 2 2 2 2 2 u 3 Unknown
Known P4 L 1
1 1 1

1 u 4 Unknown
0

Known P5 2 2 2 2 2 2 2 2 2 u 5
Unknown
Unknown P6 1 1 1 1+ 2 1 u
2 0 6 Known
2 2 2 2 2 2 2 2
1 1 1 1
0 0
2 2 2 2 2 2 2 2
z Application of Support Conditions (Boundary Conditions)

1 + 2 1 1 1 1
0
2 2 2 2 2 2 2 2 2
P1 1 1

1

1
0 0 u1
2 2 2 2 2 2 2 2
P2 1 1 1 1 1 u 2
P 0
=
3 EA 2 2 2 2 2 2 2 2 2 u 3
P4 L 1
1 1 1

1 u 4
0

2 2 2 2 2 2 2 2 2 u 5
P5
P 1 1 1 1+ 2 1 u
6 2 0 6
2 2 2 2 2 2 2 2
1 1 1 1
0 0
2 2 2 2 2 2 2 2
z Final Stiffness Equation

1
1 1 1 1
0 0
P3 2 2 2 u 3 u3 2 2 2 P3
EA 1 1 L 1 1
P4 = 0 u4 u4 = 0 P4
P L 2 2 2 u EA 2 2 2 P
5 u
1 1 1 + 2 5 5
1 1 1+ 2 5
2 2 2 2 2 2 2 2 2 2 2 2

68
5.2 Beam Problems

f yR y
R
f yL Ly
m L L m R R
z Force-Displacement Relation at Member Ends

4 EI e L 2 EI e R 6 EI e L 6 EI e R
mL = + + 2 y 2 y
Le Le Le Le
mR = + + 2 y 2 y
Le Le Le Le
M eL + M eR 6 EI e L 6 EI e R 12 EI e L 12 EI e R
f =
y
L
= 2 + 2 + 3 y 3 y
Le Le Le Le Le
M eL + M eR 6 EI 6 EI 12 EI 12 EI
f =
y
R
= 2 e L 2 e R 3 e Ly + 3 e Ry
Le Le Le Le Le
z Transformation Matrix is not required
f F, mM , ,

e e
Fy1 12 6 y
1
6 12
2
L2 Le Le Le
1 e
M 6 4
6
2
1
EI e Le Le
= L 12 or (F)e = [K ]e ( )e
e
6 12 6
Fy2 2
Le Le y
2
Le L2e
6 6
2 2 4
M Le Le 2y

69
5.1.2 Global Stiffness Matrix

z Nodal Equilibrium
Vi
Mi
(i-1)-th Member i-th Member

V i = ( Fy2 ) i 1 + ( Fy1 ) i
1
P i = (F) iR1 + (F) iL
M = ( M ) i 1 + ( M ) i
i 2
P 1 (F )1L

P 2 (F ) 1 + ( F ) 2
R L

M M (F ) 1
P i 1 (F ) R + (F) L
i2 i 1 M
i R L
[
P = (F ) i 1 + (F) i = [E]1 L [E]i L [E] p ]
(F) = [E](F)

i +1
i
P (F ) i + (F) i +1
R L M
M (F )
M p
P p (F ) p 1 + (F) p
R L
p +1
P
( F ) R
p
0 0 0

M M M
i-th row (F ) L I 0 (F )iL
iR = = [E]i (F)i
(i+1)-th row ( F ) i 0 I (F)iR
M M M

0 0 0

z Compatibility u2i 1 u 2 i +1
u2i u2i + 2
(i-1)-th Member i-th Member
(1y )i = u2i 1
(1 )i = u2i ( ) iL I 0 u i
( ) iL = u i , ( ) iR = u i +1 ( ) i = =
R i +1
(2y )i = u2i +1 ( ) i 0 I u
( 2 ) i = u 2 i + 2

70
i-th column
u1

M
( ) iL 0 L I 0 L 0 u i
( ) i = =
R i +1 = [C]i (u)
( ) i 0 L 0 I L 0 u

M
(i+1)-th column p +1
u
( )1 [C]1 u1

( ) = M = M M = [C](u)
( ) [C] u p +1
p p
z Unassembled Member Stiffness Equation

(F)1 [K ]1 L 0 L 0 ( )1

M M L M L M

0 () i
(F ) i = 0 L [K ] i L

(F) = [K ]()
M M L M L M M

(F ) p 0 L 0 L [K ] p () p
(P) = [C]T (F) = [C]T [K ]() = [C]T [K ][C](u)
(P) = [K ](u) where [K ] = [C]T [K ][C]
0 0 0 0 00

M M M M M M
0 L [ K [K 12 ]i L 0 i-th row
11 ]i
[C]Ti [K ]i [C]i =
0 L [K 21 ]i [K 22 ]i L 0 i+1-th row

M M M M M M

0 0 0 0 0 0
i-th column i+1-th column

71
5.2.3 Example
V 1 , w1 V 2 , w2 V 3 , w3 V 4 , w4
M 1 , 1 M 2 , 2 M 3 , 3
M 4 , 4
V 1 = V1L , M 1 = M 1L
V 2 = V1R + V2L , M 2 = M 1R + M 2L
V 3 = V2R + V3L , M 3 = M 2R + M 3L
V 4 = V4R , M 4 = M 4R
V1L

M 1L
R
V 1 1 0V1
0 0 0 0 0 0 0 0 0 0
R
M 1 0 1 0 0 0 0 0 0 0 0 0 0 M 1
2
0 0 V2
L
V 0 1 0 1 0 0 0 0 0 0

M 2 0 0 0 1 0 1 0 0 0 0 0

0 M 2L
(P) = 3 = = [E](F)
V 0 0 0 0 0 0 1 0 1 0 0 0V2R
3
M 0 0 0 0 0 0 0 1 0 1 0 0 M R
0 2
4 0 0 0 0 0 0 0 0 0 1 0 V L
V 3
M 4 0 0 0 0 0 0 0 0 0 0 0 1 L
M3
R
V3
[E]1 [E]2 [E]3 M R
3
z Compatability Condition
w1L = w1 , 1L = 1 , w1R = w 2 , 1R = 2
w2L = w 2 , 2L = 2 , w2R = w 3 , 2R = 3
w3L = w 3 , 3L = 3 , w3R = w 4 , 3R = 4

72
w1L
1 0 0 0 0 0 0 0
1L [C]1
R 0 1 0 0 0 0 0 0
w1 0 0 w w1
1
R
0 1 0 0 0 0
1
1 0 0 0 1 0 0 0 0 1
w2L 0 2 2
0 1 0 0 0 0 0 w w
L [C]1 2
2 0 0 2
() = R = = [C] 2
0 0 1 0 0 0 = [C](u)
w2 0 0 0 0 1 0 0 0 w 3 w 3
3 3
[C]
R 0 0 0 0 0 1 0 0 3
2
w3L 0 0 0 0 1 0 0 0 w 4 4
w
L 0 0 0 0 0 1 0 0 4 4
3
R 0 0 0 0 0 0 1 0 [C]3 [C]
w3 0 1
2
R 0 0 0 0 0 0
3
z Unassembled Member Stiffness Matrix

(F)1 [K ]1 0 0 () 1

(F ) = (F ) 2 = 0 [K ] 2 0 () 2 = [K ]()
(F ) 0 [K ]3 () 3
3 0

(P) = [E](F) = [E][K ](u) = [C]T [K ][C](u) = [K ](u)
[K ]1 0 0 [C]1
[ ]
(P) = [C]1T , [C]T2 , [C]T3 0 [K ] 2 0 [C] 2 (u)
0 0 [K ]3 [C]3
= [K ](u) = ( [C]1T [K ]1 [C]1 + [C]T2 [K ] 2 [C] 2 + [C]T3 [K ]3 [C] 3 )(u)

73
- Member 1
0 2
12 6 12 6
1 0 0

0 0 L L1 L12 L1
0
1 0
0 1 0 6 4
6
2 1 0 0 0 0 0 0 0

EI 1 0 0 0 1 L1 L1 0 1 0 0 0 0 0 0
=
L1 0 0 0 0 12 6 12 6 0 0 1 0 0 0 0 0
0
0 0 0 L2 L1 L12 L1 0 0 0 1 0 0 0 0
0 0 0 0 6
1

2
6
0 0 0 0 L 4
1 L1
12 6 12 6
L2 2 0 0 0 0
L1 L1 L1
1
6 4
6
2 0 0 0 0
L1 L1
12 6 12 6
0 0 0 0
EI 1 L2
L1 L12 L1
1
L1 6 6
2 4 0 0 0 0
L1 L1
0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0

0 0 0 0 0 0 0 0
- Member 2
0 0 0 0 12 6 12

6
0 2 L2
0 0 0 L2 L2 L22

1 0 6 2 0 0
0 0 6 0 1 0 0 0 0
4
EI 2 0 1 0 0 L2 L2 0 0 0 1 0 0 0 0
=
L2 0 0 1 0 12 6 12 6 0 0 0 0 1 0 0 0
0
0 0 1 L22 L2 L22 L2 0 0 0 0 0 1 0 0
0 0 6

0 0
6
0 L 2 4
0 0 0
2 L2
0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0
12 6 12 6
0 0 2 0 0
L22 L2 L2 L2
6 6
0 0 4 2 0 0
EI 2 L2 L2

L2 0 12 6 12 6
0 2 0 0
L2 L2 L22 L2
6 6
0 0 2 4 0 0
L2 L2
0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0

74
- Member 3
0 0 0 0 12 6 12

6
0 2 L3
0 0 0 L3 L3 L23

0 0 6 2 0 0
0 0 6 0 0 0 1 0 0
4
EI 3 0 0 0 0 L3 L3 0 0 0 0 0 1 0 0
=
L3 1 0 0 0 12 6 12 6 0 0 0 0 0 0 1 0
0
1 0 0 L23 L3 L23 L3 0 0 0 0 0 0 0 1
0 0 6

0 1
6
1 L 2 4
0 0 0
3 L3
0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0

0 0 0 0 0 0 0 0
0 12 6 12 6
0 0 0 2
EI 3 L23 L3 L3 L3
6 6
L3 0 0 0 0 4 2
L3 L3
12 6 12 6
0 0 0 0 2
L3 L3 L23 L3
0 0 0 0
6
2
6
4

L3 L3
12 I 1 6 I 1 12 I 6I1
L3 2
31 2
0 0 0 0
L1 L1 L1
1
6 I 1 4 I 1
2
6 I 1 2 I1
0 0 0 0
L12 L1 L1 L1
12 I 6 I 12 I 1 12 I 2 6 I 1 6 I 2 12 I 2 6I 2
3 1 21 + + 0 0
L1 L1 L13 L32 L12 L22 L32 L22
6I1 2 I1 6I1 6I 2 4 I1 4 I 2 6I 2 2I 2
+ + 0 0
L12 L1 L12 L22 L2 L2 L12 L2
E
12 I 2 6I 2 12 I 2 12 I 3 6 I 2 6 I 3 12 I 3 6 I 3
0 0 3 2 + 3 2 + 2 3
L2 L2 L32 L3 L2 L3 L3 L23

6I 2 2I 2 6I 2 6I 3 4I 2 4I 3 6I 3 2I 3
0 0 2 + 2 + 2
L22 L2 L2 L3 L2 L3 L3 L3
12 I 3 6I 3 12 I 3 6I 3
0 0 0 0 3 2 2
L3 L3 L33 L3
6I 3 2I 3 6I 3 4I 3
0 0 0 0 2
2
L 3 L 3 L3 L3

75
z Application of support Conditions
12 I 1 6I1 12 I 1 6I1
L3 0 0 0 0
L12 L13 2
L1
1
6I1 4I1
2
6I1 2I1
0 0 0 0
V 1 L12
L1 L1 L1 w1
12 I 6 I 12 I 1 12 I 2 6I1 6I 2 12 I 2 6I 2
M 1 3 1 21 + + 0 0 1
2 L1 L1 L13 3
L2 2
L1 2
L2 L23
L22
2
V 6I1 2I1 6I1 6I 2 4I1 4I 2 6I 2 2I 2 w
M 2 2 + 2 + 2 0 0 2

2
= E L1 L1 L1 L2 L2 L2 L1 L2
V
3 12 I 6I 12 I 2 12 I 3 6I 6I 12 I 6 I 3 w 3
0 0 32 22 + 3 22 + 23 3 3
3
L2 L2 L23
L3 L2 L3 L3 L23 3
M
4 0 0
6I 2 2I 2 6I 2 6I 3
2 + 2
4I 2 4I 3
+
6I 3
2
2 I 3 4
V L22 L2 L2 L3 L2 L3 L3 L3
w
M 4
6 I 3
4
12 I 3 6I 3 12 I 3
0 0 0 0 3 2 2
L3 L3 L33 L3
6I 3 2I 3 6I 3 4I 3
0 0 0 0
L23 L3 L23 L3
z Final Stiffness Equation
4 I1 4I 2 2I 2
L + L L2
0 0
M 2 2 2
2 I 3
2
2 I 2 4I 2 4I 3
+
6I 3
M 3 L2 L2 L3 L23 L3
3

4 = E 6I 12 I 3 6 I 4
V 0 23 23 w
M 4 L3 L33 L3 4
2I 3 6I 4 I 3
0 23
L3 L3 L3

76
5.3 Frame Problems

f yL , Ly f yR , Ry
mL , L mR , R
f xL , Lx f xR , Rx
z Force-Displacement Relation at Member Ends

- Beam action
mL = e + e + 2 y 2 y
Le Le Le Le
mR = e + e + 2 y 2 y
Le Le Le Le
M eL + M eR 6 EI e L 6 EI e R 12 EI e L 12 EI e R
f yL = = 2 e + 2 e + 3 y 3 y
Le Le Le Le Le
M eL + M eR 6 EI 6 EI 12 EI 12 EI
f yR = = 2 e eL 2 e eR 3 e Ly + 3 e Ry
Le Le Le Le Le
- Truss action
EA R
f xL = ( x Lx )
L
EA
f xR = ( Rx Lx )
L
Ve = Ve = 0
L R

f xL Lx

L Ae 0 0 Ae 0 0
fy 12 I e 6I e 12 I e 6 I e y
L
0 0 2
L2e Le Le Le

mL 6I e 6I L
0 4I e 0 e 2I e e
E Le Le
= or (f )e = [k ]e ( )e
A
f R Le e
0 0 Ae 0 0
R
x 12 Ie 6I e 12 I e 6 I e x
0 0
L2e Le L2e Le
R
0 6I e 6I
4 I e y
R
fy 2I e 0 e
Le Le

mR R
e

77
z Transformation Matrix
Vy
vy
vx

Vx
Vx = cos vx sin v y V cos sin 0 v

x x
Vy = sin vx + cos v y Vy = sin cos 0 v y
M 0 1 m
M =m 0
(V ) = [ ]T ( v) ( v) = [ ](V )
z Member End Force

e e
Fx1 cos sin 0 0 0 0 f xL
1 L
Fy sin cos 0 0 0 0 f y
1 0 0 1 0 0 0 m L
M2 = R (F) = [] (f )
e T e
Fx 0 0 0 cos sin 0 f x
F2 R
y 0 0 0 sin cos 0 f y
M 0

2
0 0 0 0 1 m R
z Member End Displacement

e e
Lx cos sin 0 0 0 0 1x
L sin cos 0 1
y 0 0 0 y
L 0 0 1
Re =
0 1 0 0
2 () = []()
e e
x 0 0 0 cos sin 0 x
R 2
y
0 0 0 sin cos 0 y

R
e 0 0 0 0 0 1 1

78
z Member Stiffness Matrix in Global Coordinate

(F)e = []T (f )e = []T [k ]e ( ) e = []T [k ]e []( ) e
[K11 ]e [K12 ]e
(F) = [K ] ( ) where [K ] =
e e e e
e
[K 21 ] [K 22 ]
e
z Nodal Equilibrium & Compatibility

The same as the truss problems.

(P) = [C]T (F) = [C]T [K ]() = [C]T [K ][C](u)
(P) = [K ](u) where [K ] = [C]T [K ][C]

The same as the truss problems.

79
Chapter 6
Buckling of Structures
P P

80
6.0 Stability of Structures
Q Q
z Stable state
KL L > QL KL > Q
The structure would return its original equilibrium position for a small perturbation in .
z Critical state
KL L = QL KL = Q
z Unstable state
KL L < QL KL < Q
The structure would not return its original equilibrium position for a small perturbation in
.

81
6.1 Governing Equation for a Beam with Axial Force
q
M M+dM
w
Q
V V+dV
dw
dx
dx
Q
z Equilibrium for vertical force

dV
(V + dV ) V + qdx = 0 = q
dx
z Equilibrium for moment

dx dw dM dw
( M + dM ) M Vdx + qdx P =0 Q =V
2 dx dx dx
z Elimination of shear force

d 2M d 2w
Q = q
dx 2 dx 2
z Strain-displacement relation
d 2w du
= 2
y+
dx dx
z Stress-strain relation (Hooke law)

d 2w du
= E = E 2
y+E
dx dx
z Definition of Moment
d 2w 2 du d 2w
M = ydA = EydA = ( E y E y ) dA = EI
A A A
dx 2 dx dx 2
z Beam Equation with Axial Force

d 4w d 2w
EI + Q =q
dx 4 dx 2

82
6.2 Homogeneous Solutions
z Characteristic Equation for P > 0

w = e x Q
x
where 2 =
e ( + ) = 0 = i, 0
4 2 2
EI
z Homogeneous solution
w = Aeix + Be ix + Cx + D
z Exponential Function with Complex Variable

i 2 2 i3 3 i 4 4 i5 5 i6 6
eix = 1 + ix + x + x + x + x + x +L
2! 3! 4! 5! 6!
(i ) 2 (i ) 3 (i ) 4 (i )5 5 (i )6 6
2 3 4
e ix = 1 ix + x + x + x + x + x +L
2! 3! 4! 5! 6!
1 1 1
eix + e ix = 2(1 x 2 + x 4 x 6 + L) = 2 cos x
2! 4! 6!
i i i
eix e ix = 2(ix x 3 + x 5 x 7 + L) = 2i sin x
3! 5! 7!
eix = cos x + i sin x , e ix = cos x i sin x
z Homogeneous solution
w = A(cos x + i sin x) + B(cos x i sin x) + Cx + D
= ( A + B) cos x + i ( A B) sin x + Cx + D
= A cos x + B sin x + Cx + D
z Characteristic Equation for P < 0

w = e x Q
x
where 2 =
e ( ) = 0 = , 0
4 2 2
EI
z Homogeneous solution for P < 0

w = Aex + Be x + Cx + D
e x + e x e x e x
= ( A + B) + ( A B) + Cx + D
2 2
= A cosh x + B sinh x + Cx + D

83
z Simple Beam
Q Q
Boundary Condition
w(0) = A + D = 0 , w(0) = A2 = 0 A = 0
w( L) = B sin L + CL = 0 , w( L) = B2 sin L = 0 B = C = 0
Characteristic Equation
A = B = C = D = 0 w = 0 (trivial solution) or
n 2 2 EI
L = n Q = , n = 1,2,3L
L2
n
w = B sin x = B sin x
L
z Fixed-Fixed Beam
Q Q
Boundary Condition
w(0) = A + D = 0
w(0) = B + C = 0
w( L) = A cos L + B sin L + CL + D = 0
w( L) = A sin L + B cos L + C = 0
Characteristic Equation
1 0 0 1 A 0 1 0 0 1

0 1 0 B 0 0 1 0
= Det ( )=0
cos L sin L L 1 C 0 cos L sin L L 1

sin L cos L 1 0 D 0 sin L cos L 1 0
1 0 0 1
1 0 0 1
0 1 0
= sin L L 1 cos L sin L L
cos L sin L L 1
cos L 1 0 sin L cos L 1
sin L cos L 1 0

84
( cos L) ((cos L + L sin L) + ) = (2 cos L 2 + L sin L) = 0

2 cos L 2 + L sin L = 2(cos L 1) + L sin L =
L L L
4 sin 2 + 2 L sin cos =
2 2 2
L L L L L L L L
sin ( cos sin ) = 0 sin = 0 or cos sin =0
2 2 2 2 2 2 2 2
Eigenvalues
Symmetric modes
L L 4n 2 2 EI
sin =0 = n Q = , n = 1,2,3L
2 2 L2
w(0) = A + D = 0 , w(0) = w( L) = B + C = 0, w( L) = A + CL + D = 0
2n
A + D = 0 A = D w = A(cos x 1) for A 0
L
Anti-symmetric modes
L L L L L 8.18 2 EI
cos sin =0 = tan Q =
2 2 2 2 2 L2

85
z Cantilever Beam
Q Q
Boundary Condition
w(0) = A + D = 0
w(0) = B + C = 0
M ( L) = EIw( L) = EI ( A 2 cos L B 2 sin L) = 0
d 3w dw
V ( L) = EI 3
P =0
dx dx
n 2 2 EI
Q= , n = 1,2,3L
4 L2
6.3.Homogeneous and Particular solution

w = wh + wp = A cos x + B sin x + Cx + D + wp
d 4 ( wh + w p ) d 2 ( wh + w p ) d 4 wh d 2 wh d 4 wp d 2wp
EI +Q = EI +Q + EI +Q
dx 4 dx 2 dx 4 dx 2 dx 4 dx 2
d 4wp d 2 wp
= EI +Q =q
dx 4 dx 2
z Four Boundary Conditions for Simple Beams

w(0) = A + D + w p (0) = 0 , M (0) = EIw(0) = EI ( A 2 + wp (0)) = 0
w( L) = A cos L + B sin L + CL + D + w p ( L) = 0
M ( L) = EIw( L) = EI ( A 2 cos L B 2 sin L + wp ( L)) = 0
1 0 0 1 A w p ( 0)
2 B w (0)
0 0 0 + p = 0 KX + F = 0
cos L sin L L 1 C wp ( L)
2

cos L sin L 0 0 D wp ( L)
2
z The homogenous solution is for the boundary conditions, while the particular solution is
for the equilibrium.

86
6.4.Energy Method
z Total Potential Energy
l l l
1 d 2w d 2w 1 dw dw
= 2 EI 2 dx Q dx wqdx
2 0 dx dx 2 0 dx dx 0
L L L
1
L= ds = 1 + ( w) dx (1 + ( w) 2 )dx
2
0 0 0
2
L L L
1 1 1
L= L+
0
2
( w) 2 dx = 0
2
( w) 2 dx ( w) 2 dx for << L
20
z Principle of the Minimum Potential Energy

1 d 2 (w e + w ) d 2 (we + w ) 1 d (we + w ) d (we + w )
l l l
2 0
h = 2
EI 2
dx Q dx ( w e + w )qdx
dx dx 2 0
dx dx 0
l l l
1 d 2 we d 2 w e dw e dw e d 2 we d 2 w dw e dw
= ( EI Q )dx w qdx + (
e
EI Q )dx
2 0 dx 2 dx 2 dx dx 0 0 dx 2 dx 2 dx dx
l l
1 d 2w d 2 w dw dw
w qdx +
2 0 dx 2
( EI Q )dx
0 dx 2 dx dx
l l
d 4 we d 2 we 1 d 2w d 2 w dw dw
= + w ( EI
2 0 dx 2
e
+ Q q ) dx + ( EI Q )dx
0 dx 4 dx 2 dx 2 dx dx
l
1 d 2w d 2 w dw dw
2 0 dx 2
= e + ( EI Q )dx
dx 2 dx dx
z The principle of minimum potential energy holds if and only if

l
d 2w d 2 w dw dw
(
0 dx 2
EI
dx 2
Q
dx dx
)dx > 0 for all possible w
z The principle of the minimum potential energy is not valid for the following cases.
l
d 2w d 2 w dw dw
(
0 dx 2
EI
dx 2
Q
dx dx
)dx 0 for some w

87
z The critical status of a structure is defined as

l
d 2w d 2 w dw dw
(
0 dx 2
EI
dx 2
Q
dx dx
)dx = 0
z Approximation
n
Approximation of displacement: w = ai g i
i =1
Critical Status
l n n l n n
( ai g i)EI ( a j g j )dx P ( ai g i )( a j g j )dx =

0 i =1 j =1 0 i =1 j =1
n n l n n l n n n n
ai g iEIg idxa j Q ai g ig j dxa j = ai K ij a j Q ai K ijG a j =

i =1 j =1 i =1 j =1 i =1 j =1 i =1 j =1
0 0
(a ) (K K )(a ) = 0 Det (K K ) = 0
T G T G
z Example - Simple Beam
with a parabola: w = ax( x l ) g1 = 2 x l , g1 = 2

l l
g iEIg idx = 2 EI 2dx = 4 EIl

0 0
l l l
4 1 3
0 g iEIg idx = 0 (2 x l ) dx = 0 (4 x 4 xl + l )dx = ( 3 2 + 1)l = 3 l
2 2 2 3
1 12 EI 2 EI EI
Det (4 EIl Q l 3 ) = 0 Qcr = 2 (exact : 2
= 9.86 2 , error = 22%)
3 l l l
x x x
with one sine curve: w = a sin g1 = cos , g1 = ( ) 2 sin
l l l l l
4 2 x 4 l
l l
0 g iEIg idx = EI ( l ) 0 sin l dx = EI ( l ) 2

2 2 x 2 l
l l
0 g iEIg idx = ( l ) 0 cos l dx = ( l ) 2

l l 2 EI
Det ( EI ( ) 4 Q( ) 2 ) = 0 Q = 2 (exact )
l 2 l 2 l

88
z Example Cantilever Beam
Q Q
with one unknown:

w = ax 2 g1 = 2 x , g1 = 2
l l l l
4 3
g iEIg idx = 2 EI 2dx = 4EIl , g iEIg idx = 4 x dx =
2
l
0 0 0 0
3
4 3EI 2 EI EI
Det (4 EIl Q l 3 ) = 0 Qcr = 2 (exact : 2
= 2.46 2 , error = 22%)
3 l 4l l
with two unknowns:

w = ax 2 + bx 3 g1 = 2 x , g 2 = 3 x 2 , g1 = 2 , g 2 = 6 x
l l l
4 6 9
K11G = 4 x 2 dx = l 3 , K12G = K 21
G
= 6 x 3dx = l 4 , K 22
G
= 9 x 4 dx = l 5
0
3 0
4 0
5
l l l
K11 = 4dx = 4l , K12 = K 21 = 12 xdx = 6l , K 22 = 36 x 2 dx = 12l 3
2
0 0 0
4l 6l 2 1 40l 3 45l 4 4l 40l 3 6l 2 45l 4 1 Q

Det ( EI 2 3
Q 4 5
)=0 2 = 0, =
6l 12l 30 45l 54l 6l 45l 12l 54l
4 3 5
30 EI
(4l 40l 3 )(12l 3 54l 5 ) (6l 2 45l 4 ) 2 = 0 4l 4 52l 6 + 45l 8 2 = 0
26l 6 26 2 l 12 180l 12 26 22.27 0.0829 1.0727 EI EI

= 8
= 2
= 2
or 2
Qcr = 2.487 2 or 32.181 2
45l 45l l l l l
EI EI
Qexact = 2.49 2
(error = 1.2%) or Qexact = 22.19 2 (error = 45%)
l l

89
6.5 Approximation with the Homogeneous Beam Solutions
z Homogeneous Solution of Beam

u2i 1 u 2 i +1
u2i u2 i + 2 P
i-th member
Ly

Lz
w = N 1 y + N 2 z + N 3 y + N 4 z = ( N 1 , N 2 , N 3 , N 4 ) R = ( N )( i ) = (N)( i )
i L L R R
y
R
z
2 3 2 3 2
3x 2x 2x x 3x 2 x3 x 2 x3
N1 = 1 2 + 3 , N 2 = x + 2 , N3 = 2 , N4 = + 2
L L L L L L L L
6.5.1 Beam Analysis

z Total Potential Energy
l l p l
1 d 2 wi
p
d 2 wi p
1 dwi dwi
= 2
EI dx Q dx wi qi dx
i =1 2 0 dx dx 2 i =1 2 0
dx dx i =1 0
l l p l
p
1 d 2 wi T d 2 wi p
1 dwi T dw i
=
2 0 dx 2
( ) EI 2
dx Q ( ) dx ( wi ) T qi dx
i =1 dx i =1 2 0
dx dx i =1 0
l l l
p
1 d 2N T d 2N p
1 dN T dN p
= ( i ) ( 2 ) EI
T
2
dx( i ) Q( i ) ( )
T
dx( i ) ( i ) T (N) T qi dx
i =1 2 0 dx dx i =1 2 0
dx dx i =1 0
1 p p
= i
2 i =1
( ) T
([ K 0
i ] [ K G
i )( i )
i =1
( i ) T (f i )
1 T p p
= (u) [C i ]T ([K i0 ] [K Gi ])[C i ](u) (u) T [C i ]T (f i )
2 i =1 i =1
1 T p p
= (u) [C i ]T [K i ][C i ](u) (u) T [C i ]T (f i )
2 i =1 i =1
1 T
= (u) [K ](u) (u) T (P )
2
12 6 12 6 6 1 6 1
L2
Li L2i Li 5L 10 5Li 10
i i

6
6
2 1 2 Li 1 Li
EI Li
4

K Gi = Q 10 30
Li 15 10
K i0 = i
6
,
Li 12 6 12 6 1 6 1

Li Li
2
Li L2i 5 Li 10 5Li 10
6 6 1 L 1 2 Li
2 4 10 i
Li Li 30 10 15

90
z Principle of Minimum Potential Energy for Q < Qcr
1 T 1 n n n
= (u) [K ](u) (u)T (P) = ui K ij u j ui Pi
2 2 i=1 j =1 i =1
1 n u i n
1 n n u j n
= K ij u j + i ij u
u K u i Pi
u k 2 i =1 u k j =1 2 i =1 j =1 k i =1
n
1 1 n 1 n 1 n
= kj j 2
2 j =1
K u +
i =1
u i K ik Pk = kj j 2
2 j =1
K u +
i =1
K ki u i Pk
1 n 1 n n
=
2 j =1
K kj u j + K kj u j Pk = K kj u j Pk = 0 for k = 1, L , n [K ](u) = (P)
2 j =1 j =1
z Calculation of the Critical Load
Det ([K ]) = Det ([K 0 ] [K G ]) = 0
z Frame Members
f xL Lx

L Ae 0 0 Ae 0 0 0 0 0 0 0 0 L
fy 12 I e 6Ie 12 I e 6Ie 6 1 6 1 y
0 0 2 0 0
L2e Le Le Le 10

5 Le 10 5 Le
L
mL 0 6Ie 6Ie
2 I e e e
4Ie 0 0 1 2 Le 1 L
0
P 30 )
E Le Le 10 15 10
=(
0
f R Le Ae 0 0 Ae 0 0

0 0
6
0
1
0 0
6 1 R
x 0 12 I e
2
6Ie
0
12 I e

6Ie
0 0 x
Le Le L2e Le
5Le 10 5Le 10

R 6Ie 6I 0 1 L 1 2 Le R
fy 0 e 4Ie e 0
15 y
2Ie 0 10 30 10
Le Le

mR R
e
Lx Rx
P = EA
Le

91
6.6 Nonlinear Analysis of Truss

f yR y
R
f yL Ly
f xL x f xR Rx
L
z Force Displacement relation at Member ends

EA R
f xL = ( x Lx )
L
EA R
f xR = ( x Lx )
L
Ry Ly R
fy = fy =
R L
fx
l

e e
f xL 1 0 1 0 0 0 0 0 Lx

fy
L
EA 0 0 0 0 Rx Lx 0
1 0 1 Ly
= +
f xR l 1 0 1 0 l 0 0 0 0 Rx

f yR 0 0 0 0 0 1 0 1 Ry
(f )e = ([k ]e0 + f xR [k ]eg )( )e = ([k ]e0 + p e [k ]eg )( )e
z Equilibrium Analysis
(f )ie = ([k ]e0 + pie [k ]eg )( )ie
(F)e = []T (f )e = []T [k ]e ( )e = []T ([k ]0e + pie [k ]eg )[]( )e = [K ]e ( )e
z Successive substitution
(F) ie1 []T ([k ]e0 + pie1 [k ]eg )[]( ) e = [K ]ie1 ( ) e
(P) = ([K ]0 + [K ( pie1 )]G )(u)i

92
z Newton-Raphson Method
(f )ie = ([k ]e0 + pie [k ]eg )( )ie

= ([k ]e0 + ( pie1 + pie )[k ]eg )( ie1 + ie )
= ([k ]0e + pie1[k ]eg ) ie1 + ([k ]0e + pie1[k ]eg ) ie + pie [k ]eg ( ie1 + ie )
([k ]e0 + pie1[k ]eg ) ie1 + ([k ]e0 + pie1[k ]eg ) ie + pie [k ]eg ie1
= (f )ie1 + ([k ]e0 + pie1[k ]eg + [k ]e ) ie
([k ]0e + pie1[k ]eg + [k ]e ) ie = (f )ie (f )ie1 = (f )ie
([K ]0 + [K ( pie1 )]G + [K ] )u = (P)i
e
0 0 0 0 Lx
0
EA 1 0 1 Ly Rx Lx
pie [k ]eg ie1 =
l 0 0 0 0 Rx l
R
0 1 0 1 y
i 1
e e
0 Lx
L L
EA y Ry y
= 2 ( 1 0 1 0 ) R
0
l x
R L
y R
y i 1 y i
e
0 0 0 0 Lx

EA R L e 1 0 1 0 Ly
= 2 ( y y ) i 1
l 0 0 0 0 Rx

1 0 1 0 Ry
i
= [k ]e ie


SNU Structure

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SNU Structure

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Class Note for Structural Analysis 2

Fall Semester, 2008

Hae Sung Lee, Professor

Chapter 1 Slope Deflection Method 1

Chapter 2 Iterative Solution Method & Moment Distribution Method 32

Chapter 3 Energy Principles 47

Chapter 4 Matrix Structural Analysis 56

Chapter 5 Buckling of Structures 79

Slope Deflection Method

Structural Analysis Lab.

Flexibility Method Stiffness Method

z Remove redundancy (Equilibrium) z Compatibility

Structural Analysis Lab.

z Remove redundancy (Equilibrium) z Compatibility

Structural Analysis Lab.

1. Release all redundancies. 1. Fix all Degrees of Freedom.

Structural Analysis Lab.

2.1 Analysis of Fundamental System

2.1.1 End Rotation

z Sign Convention for M :Counterclockwise +

2.1.2 Relative motion of joints

Structural Analysis Lab.

Structural Analysis Lab.

z One End Hinged

2.1.4 Joint Equilibrium

F fixed Fmember + F joint = 0

F fixed + Fmember = F joint

Structural Analysis Lab.

2.2 Analysis of Beams

Structural Analysis Lab.

z Construct the Stiffness Equation

2.2.2 Analysis of a Two-span Continuous Beam (Approach I)

Structural Analysis Lab.

Structural Analysis Lab.

2.2.3 Analysis of a Two-span Continuous Beam (Approach II)

z Construct Stiffness Equation

qL2 3qL2 EI EI qL2

z Member End Forces

Structural Analysis Lab.

2.2.4 Analysis of a Beam with an Internal Hinge (4 DOFs System)

Structural Analysis Lab.

z Construct Stiffness Equation

- 2nd and 3rd equation

2.2.5 Analysis of a Beam with an Internal Hinge (2 DOFs System)

Structural Analysis Lab.

3EI 3EI 3EI

z Construct the Stiffness Equation

2.2.6 Beam with a Spring Support

z Construct the Stiffness Equation

Structural Analysis Lab.

2.2.7 Support Settlement

z Construct the Equilibrium Equation

2.2.8 Temperature Change

z Fixed End Moment

Structural Analysis Lab.

2.3 Analysis of Frames

z Construct the Stiffness Equation

Structural Analysis Lab.

z Member End Forces

2.3.2 A Portal Frame without Sidesway hinged suppoorts

Structural Analysis Lab.

z Construct the Stiffness Equation

z Member End Forces

Structural Analysis Lab.

MOMENT MOMENT