Chapter 2

Fundamentals

Chapter 2 Fundamentals
General
Equations of Equilibrium
Supports
Member Forces
Connections
Stability and Determinacy of a Structure with Respect to
Supports
General Stability and Determinacy of Structures
Methods of Analysis

2-1 General
Fundamental Concepts of Structural Analysis
Equilibrium

External
forces

Internal
forces

Compatibility
Internal
deformation

Force-deformation Relationship

External
deformation

2-2 Equations of Equilibrium

Static Equilibrium:
A structure is said to be in equilibrium if, under the action of
external forces, it remains at rest relative to the earth.
Also, each part of the structure, if taken as a free body isolated
from the whole, must be at rest relative to the earth under the
action of the internal forces at the cut sections and of the
external forces thereabout.
If such is the case, the force system is balanced, or in
equilibrium, or in equilibrium, which implies that imposed on
the structure, or segment thereof, must be zero.

R 0

2-2 Equations of Equilibrium

Remark: In fact, there are always some small deformations that
may cause some small changes of dimension in a structure and a
shifting of the action lines of the forces. In structural statics, such
effects are neglected and all force systems are assumed to act on
a rigid body. That is, the structural system is considered as a
rigid body when constructing the equations of equilibrium.

Non-conservative forces

2-2 Equations of Equilibrium

Coplanar System:

Fx 0,

Fy 0,

Ma 0

y
x

Alternative Forms

0,

0,

( If a b and ab y axis )

0,

0,

( If a b c and are not collinear )

y
x

2-2 Equations of Equilibrium

Special Cases: Concurrent system and Parallel system

Concurrent

system

o
a

F 0, F 0 ( M
or F 0, M 0
x

0 is satisfied automatically)

(If a is not on the line through the concurrent point of forces

and perperdicular to y-axis)
or

0,

(If a b and ab does not pass through the concurrent point of forces)

2-2 Equations of Equilibrium

Special Cases:
Parallel

system
a

0,

(If all forces parallel to y-axis,

0 is satisfied automatically)

or

0,

(If a b and ab // the forces of the system)

2-2 Equations of Equilibrium

Two-force member

Not in equilibrium.

2-2 Equations of Equilibrium

Three-force member

Not in equilibrium.

2-2 Equations of Equilibrium

Conclusions:

In general, there exists 3 equilibrium equations for a

coplanar system. However, there are only 2 equilibrium
equations for concurrent and parallel systems.
In space structural systems, there exists 6 equilibrium
equations:
SFx=0, SFy=0, SFz=0, SMx=0, SMy=0, SMz=0
Exceptions: for concurrent and parallel systems the
number of equilibrium equations will be reduced. For
example, in concurrent systems:
SFx=0, SFy=0, SFz=0

2-3 Supports
Functions of supports
Kinematic Provide constraints for a structural
system such that the structure can not be moved
freely.
Statics Provide reactions such that equilibrium
conditions can be preserved.
Types of Supports
Hinge support
Link support
Roller support
Fixed support

2-3 Supports

Hinge Support

R Rx2 Ry2

2-3 Supports

Link Support

The constraints provided by any two concurrent and nonparallel link supports is the similar to that provided by a
hinge support.

2-3 Supports
Roller

Support

2-3 Supports

Fixed Support

Rx d M o
R Rx2 R y2

Equivalent to a fixed support

2-4 Member Forces

Truss

2-4 Member Forces

Beams and Rigid Frames

2-5 Connections

Type of Connections
Hinge connection (Do not transfer moment from one
member to the connected members, i.e., M=0 at hinge
end of members)
Roller

connection (Do not transfer moment and axial

force from one member to the connected members)

Rigid

Connection (It can transfer moment, axial force

and shear force from a member to the connected
members)

2-5 Connections
Semi-rigid

Connections

It can transfer axial force, shear force and part of

moment from a member to the connected members.

Link

Connections (linker )

2-6 Stability and Determinacy of a Structure

With Respect to Supports

StabilityA structure remains in static equilibrium state when

it is acted on by a system of general loads, the structure is
stable. (The structure is considered as a rigid body, i.e., the
deformations of structural members are not considered.)
Main reasons that caused a structure unstable:
statically unstable without adequate number of
constraints
geometrically unstable the movement of a structure is
not well restrained by the supports, i.e., the geometrical
arrangement of supports is not correct.

2-6 Stability and Determinacy of a Structure

With Respect to Supports
Statically Unstable

Special cases for statically stable

2-6 Stability and Determinacy of a Structure

With Respect to Supports

(
)

2-6 Stability and Determinacy of a Structure

With Respect to Supports

Static Stability :

No. of independent unknowns (r)

Equilibrium Eqs. (ra )

= No. of independent static equations=

+
Condition Eqs. (c)
>

<

< Statically Unstable

= Statically Stable and Determinate (SD)
> Statically Stable and Indeterminate (SI)

2-6 Stability and Determinacy of a Structure

With Respect to Supports

Static Stability :

No. of independent unknowns (r) :

External () : reactions
External + Internal: reactions and member forces
No. Equilibrium Eqs. (for planar structure) (ra):
External: 3 eqs. (SFx=0, SFy=0, and SMo=0)
External + Internal: depends on the no. of joints and
structural type
Beam and Frames: 3 eqs. for each joint=3j
Truss : 2 eqs. for each joint=2j
No. of Condition Eqs. (c): compound type
structures
hingerollerlinker
e.g.hinge c=1roller
linkerc=2

2-6 Stability and Determinacy of a Structure

With Respect to Supports
Condition Equations

Simple type structures

2-6 Stability and Determinacy of a Structure

With Respect to Supports
Condition Equations (contl)

Compound type structuresroller

hingelinker

2-6 Stability and Determinacy of a Structure

With Respect to Supports
Condition Equations
simple type structure

0,

0,

compound type structure

()

compound type structure

2-6 Stability and Determinacy of a Structure

With Respect to Supports
No. of Condition Equations
Hinge Connection
O
A

Ohinge
AO

OB

or

Note: hingenn1
a
b
c
2

abcbd
b1

2-6 Stability and Determinacy of a Structure

With Respect to Supports
No. of Condition Equations
Roller or Link Connection
O
A

B Oroller
connection

AO

M
AO

0 or

M
OB

or

A
c

OB

Note: roller or link connection2

2-6 Stability and Determinacy of a Structure

With Respect to Supports
No. of Condition Equations
Examples

hinge

c=3

c=3

2-6 Stability and Determinacy of a Structure

With Respect to Supports
Statically Unstable Externally: r<ra+c
r=2
ra=3
c=0
unstable

2-6 Stability and Determinacy of a Structure

With Respect to Supports

Statically Stable and Determinate Externally (r=ra+c)

r=3, ra=3, c=0 SD externally

2-6 Stability and Determinacy of a Structure

With Respect to Supports

Statically Stable and Indeterminate Externally

(r>ra+c)

r=5, ra=3, c=0

SI externally to the 2nd degree of indeterminacy
(degree of indeterminacy =r(ra+c)=53=2)
()()

2-6 Stability and Determinacy of a Structure

With Respect to Supports

External Geometric Unstable ()

r ra+c

2-6 Stability and Determinacy of a Structure

With Respect to Supports

External Geometrical Unstable

2-6 Stability and Determinacy of a Structure

With Respect to Supports

Geometrically Unstable
Compound type structure

couple0
d
a

r=4, ra=3, c=1

2-6 Stability and Determinacy of a Structure

With Respect to Supports

Geometrically Unstable

Inspection method

Other methods

2-6 Stability and Determinacy of a Structure

With Respect to Supports

Conclusions for stability and determinacy of a structure with

respect to supports (External stability and determinacy)
If the number of unknown reactions is less than 3, the eqs.
of equilibrium are generally not satisfied, and the system is
said to be statically unstable externally.
If the number of unknown reactions is equal to 3 and if no
external geometric instability is involved, the system is said
to be statically stable and determinate externally.
If the number of unknown reactions is greater than 3 and if
no external geometric instability is involved, the system is
said to be statically stable and indeterminate externally.
The excess number n of unknown elements designated the
n-th degree of statically determinacy.

2-7 General Stability and Determinacy of Structures

(= External + Internal)
No. of independent unknowns :
External + Internal: reactions and member forces
No. Equilibrium Eqs. (for planar structure):
External + Internal: depends on the no. of joints and
structural type
Beam and Frames: 3 eqs. for each joint=3j
Truss : 2 eqs. for each joint=2j
No. of Condition Eqs.

No. of independent unknowns

Equilibrium Eqs.

< No. of independent static equations=

+
Condition Eqs.
=

>

2-7 General Stability and Determinacy of Structures

(= External + Internal)
Truss:
Unknowns : One unknown internal force for each member
(comp. or tension)No. of unknown reactions
Equilibrium Equations: Taking each node as a free body and
each free body can provide two equilibrium equations.
In truss structures, members are connected to each other by
hinges. No condition equations exists in truss structures.
<
statically unstable
Without
r+b = 2j statically stable and determinate
geometrically
>
statically stable and indeterminate unstable

2-7 General Stability and Determinacy of Structures

(= External + Internal)
Beams and Frames:
Each member has three independent unknown internal forces
(shear, axial force and bending moment)unknown reactions
Taking each node as a free body which can provide 3
equilibrium equations.
If members are connected by hinge, roller or linker, some
condition equations can be constructed.
<
statically unstable
Without
r+3b = 3j+c statically stable and determinate
geometrically
>
statically stable and indeterminate unstable

2-7 General Stability and Determinacy of Structures

(= External + Internal)
Truss:
b=13, r=3, j=8 b+r=16=2j SD

b=13, r=3, j=8 b+r=16=2j Unstable

2-7 General Stability and Determinacy of Structures

(= External + Internal)
:

abcd

2-7 General Stability and Determinacy of Structures

(= External + Internal)
Beams
<
statically unstable
r = 3+c statically stable and determinate
>
statically stable and indeterminate

Beams and Frames:

<
statically unstable
r+3b = 3j+c statically stable and determinate
>
statically stable and indeterminate

2-7 General Stability and Determinacy of Structures

(= External + Internal)

r=5, b=5, j=6, c=2, r+3b=20=3j+c

r=6, b=5, j=6, c=2, r+3b=21>3j+c=20
r=5, b=4, j=5, c=2, r+3b=17=3j+c
r=4, b=4, j=5, c=3, r+3b=16<3j+c=18
r=6, b=3, j=4, c=3, r+3b=15=3j+c
r=7, b=4, j=5, c=2, r+3b=19>3j+c=17

2-7 General Stability and Determinacy of Structures

(= External + Internal)

b=14, r=9, j=13, c=4, 3b+r=51>3j+c=43

b=11, r=9, j=10, c=1, 3b+r=42>3j+c=31

2-7 General Stability and Determinacy of Structures

(= External + Internal)
Remark:
Examples
abb
abb
a

(1) r=6, b=3, j=4, c=0

r+3b=15 > 3j+c=12
3
(2) r=6, b=2, j=3, c=0
r+3b=12 > 3j+c=9
3

2-7 General Stability and Determinacy of Structures

(= External + Internal)
A special method for portal frames

3
3x4=12

2-7 General Stability and Determinacy of Structures

(= External + Internal)
A special method for portal frames

3x4x8+3x15x3=231

2-7 General Stability and Determinacy of Structures

(= External + Internal)
Note:

3x41=11

2-7 General Stability and Determinacy of Structures

(= External + Internal)
Truss:
(A) Simple Rigid
(1) Formed from a basic rigid unit
3
Rigid Body stable

Non-rigid Body+additional constraints stable

Basic Rigid Unit for a Truss:

+3

2-7 General Stability and Determinacy of Structures

(= External + Internal)
Truss:

simple type truss

Note:

rigid unit

2-7 General Stability and Determinacy of Structures

(= External + Internal)
Truss:

2-7 General Stability and Determinacy of Structures

(= External + Internal)
Truss:

(2) Formed from a basic stable unit

Basic Stable Unit for a Truss:
+4

Basic Stable Unit

2-7 General Stability and Determinacy of Structures

(= External + Internal)
Truss:
Formed from a basic stable unit

2-7 General Stability and Determinacy of Structures

(= External + Internal)
Truss:
(B) Compound Rigid
3
Compound Rigid
Compound Rigid3

unstable
Compound Type Truss

unstable

2-7 General Stability and Determinacy of Structures

(= External + Internal)
Truss:
(B) Compound Rigid

r=6, b=40, j=23, r+b=2j

2-7 General Stability and Determinacy of Structures

(= External + Internal)
Truss:
(C) Non-rigid member arrangement
Non-rigid unit + 3+
= stable

2-7 General Stability and Determinacy of Structures

(= External + Internal)
(D) Complex Type Truss (sec.3-1)
basic rigid truss simple type truss
compound type trusscomplex truss

2-7 General Stability and Determinacy of Structures

(= External + Internal)
()

n
n() (b+r=2j3b+r=3j+c)

a11 x1 a12 x2 ... a1n xn b1

a21 x1 a22 x2 ... a2n xn b2
an1 x1 an 2 x2 ... ann xn bn

xi
bi

2-7 General Stability and Determinacy of Structures

(= External + Internal)

a11

a12

b1

a1n

a21

a22

b2

a2n

an1 an 2
xm
a11 a12

bn
a1m

ann
a1n

a21

a22

a2m

a2n

an1 an 2

anm

ann

0
1.
mxm

2.
m=0xm=0
m

0
1.
mxm=

2.
m=0xm

2-7 General Stability and Determinacy of Structures

(= External + Internal)

Conclusions:
0
0

Example:

R1

R2

F 0 0 0 0 Q
F 0 R R R P
M 0 0 LR 2LR PL
x
x

R3

0 0
1 1
0

0
1 0 unstable

L 2L

2-7 General Stability and Determinacy of Structures

(= External + Internal)

()

Example:
q

q
s2

s1
s3

s1cosq

s1=x
SFx=0 s2=s1=x
SFy=0 s2=s1=x
s2=s1=x=0
s3=0
Stable

s1

s1sinq

s2cosq
s2
s2sinq

2-7 General Stability and Determinacy of Structures

(= External + Internal)

Example: A double symmetric complex truss
a
s1=x
s1
s2
A=3 Joint a: SFx=0 s2=s1=x
f
s9
b
SFy=0 s9=6x/5
s
s4 6
s3 7
Joint b: SFx=0 s7=s1=x
s8
e
c
SFy=0 s3=6x/5
B=3 Joint f: SF =0 s =s =x
s5
s6
x
8
2
d
SFy=0 s4=6x/5
4
4
Joint d: SFx=0 and SFy=0
s4=s6=x

Unstable
Note:AB

2-8 Method of Analysis

Force methods

Displacement methods

2-8 Methods of Analysis

Force method (, EA=const.)
1. Joint equilibrium
Ra=P1, P1=P+P2, P2=Rc
2. Member flexibility
Elongation of member 1:
e1= (P+Rc)(1.5L)/EA
Elongation of member 2:
e2=RcL/EA
3. Joint displacement
ua=0
ub=e1= (P+Rc)(1.5L)/EA
uc=e1+e2
=(P+Rc)(1.5L)/EA
+RcL/EA= 0
Rc=0.6P
P2=0.6P, P1=0.4P
ub=0.6PL/EA

2-8 Method of Analysis

Displacement method
1. Joint displacement
ua=uc=0, ub=unknown
2. Member stiffness
Elongation of members:
e1=ubua=ub
e2=ucub=ub
Member forces:
P1=ubEA/(1.5L)
P2=ubEA/L
3. Joint equilibrium
P=P1P2
=ubEA/(1.5L)+ubEA/L
ub=0.6PL/EA
P1=0.4P, P2=0.6P

2-8 Method of Analysis

Force methods (Flexibility methods)
Chapter 3 Structural statics
Chapter 5 Consistent deformation methods
Chapter 6 Matrix force method
others
Displacement method (Stiffness methods)
Chapter 8 Slope deflection method
Chapter 9 Matrix displacement method
Chapter 7 Moment distribution method (A special version
of displacement methods)