ENSC 3008 Lecture Notes 2016

ENSC3008
Structural Analysis
2016
James P Doherty
ENSC3008
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Structural Analysis ENSC3008

Objective:
To be able to analyse determinate and indeterminate beams, 2D trusses and 2D frames
under any static load condition.
Purpose:
For design
To check strength
To check serviceability (deflections).
Design Process:
Architect/
Draft Person/
Design Engineer
Proposed
Structure
Revise Design
Over
Conservative
Analyse under design

actions
Revise Design
Check Strength
Check Serviceability
Inadequate
Give to Draft person
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Restrictions:
This course is restricted to
a) Material that is linear elastic
b) Plane sections remain plane after application of loads

Generally these requirements mean that structures we analyse are made up of members that
are long in proportion to their depth. Since we deal with 2D structures we also restrict
ourselves to symmetric cross-sections. Hence, in all cases we analyse structures consisting of
elastic members.
With d<<L (i.e. large aspect ratio ) subject to some combination of loads/actions.
We use the
coordinate system
positive right
positive up
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Check Strength
Determine Stress Resultant (axial force, Bending movement & shear force) within the
member caused by design actions and compare with member capacity.
Stress Resultant:
At any cross-section of a beam (member) say
through the depth of the member.
there will be some variation of normal stress
The normal stress distribution at

resultants
1. A resultant internal axil force
. .
can be represented by 2 stress
acting through the neutral axis of the member

,
dA
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= width of beam as a function of the height
e.g.
Convention:
is positive when tensile
+
is negative when compression
2. A resultant internal bending moment
Where
.
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Convention
The negative sign is introduced to preserve smiling beam convention, so that
Internal Sign Convention
3. In addition to normal stress (), shear stress may also be present and may vary through
the depth of the member.
The resultant of the shear stresses is the shear force.
,
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Where sign convention is
Internal sign convention
1.
2.
3.
_______ normal stress

_______ shear stress
The use of the above stress resultants simplifies design in 2 ways:

1. The variation of stress in the direction can be neglected & stress resultants plotted
as a function of for each member.
Bending Moment Diagram

Axial Force Diagram
Shear Force Diagram
B.M.D
A.F.D
S.F.D
2. Strength (i.e. capacity) of a potential section can be determined in terms of stress

resultants (e.g. bending strength, axial strength, shear strength) and compared with the
strength required.
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Checking for Serviceability:

Usually check to ensure deflections are not too large. (Large deflections cause comfort
problems, cracking, damage to fixtures/fittings (windows) etc.)
Hence in addition to the stress resultants our analysis should determine the deflections both
normal to the members and along the member axis.
Summarising:
The objective of this unit is to develop the ability to:
Analyse: Any 2D structures consisting of line like members.
To obtain: Internal stress resultants
,
displacements along each member.
&
and the transverse & axial
For Structures Subject to: Any combination of design actions (external loads, prescribed or
imposed displacements & temperature variations.)
We want a general method that can handle any case we encounter. We restrict ourselves to
linear elasticity, but many of the principles can be extended to plastic analysis.
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Member Subject to Axial Loads:

Start by considering members subject to design actions which only vary in the axial direction
(x-axis). Such members will not deflect in the transverse direction (y-direction) &
0 &
0 for all 0
These members may be called bars, struts or columns. Members in a pin jointed truss are of
this type.
We denote the deflection in the direction by
deflection in the direction (along the member).
, so that
denotes the variation of
Consider a bar fixed at one point so that

0
0 and apply a distributed axial load
Assume a constant cross-section,
0.08 &
10 /
10
10
5
2
Because the bar statically determinate, we can find the external reaction from equilibrium of
the structure directly:
Draw a Free Body Diagram (F.B.D)
2
Note: For consistency, we always put the unknown reaction in the positive direction & not in
the direction we know/think they act. (i.e. is drawn in the positive sense)
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Equilibrium in the x-direction

2.5
10
Note: Summation applied to a distributed load becomes an integral.

We can find internal axial force (stress resultant
looking at equilibrium F.B.D
) by cutting the beam at a distance
&
10
10
5
2.5
We now have a simple function for the internal stress resultant

force diagram (A.F.D)
10
, so can plot the axial
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Fixed End
10

Free end
0
2
Now need to find displacements
Displacements:
A differential equation .
the definition of strain
relating the displacements to the axial force
comes from

Assuming constant
Assuming plane sections remain plane
Parallel
& constant cross-sectional area

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Note:
represents the displacement that occurs through deformation of the bar only. If
the bar does not have a fixed support at
0, then the displacement at
0 must be added.
0
0
0 may be considered an integration constant.
Or if indefinite integrals are used
Substituting
10
10
2.5
2.5

3
From the boundary conditions (BCs)

0
10
2.5

3
Displacement at the free end of the bar is found by substitution.

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. .
1
0.08
10
1.667
10 2
2.5
2
3
10
We can also plot the displacement function
1.67
10
0
2
Note: The Procedure
1. Find reactions from statics by summing (integrating) the load over the length (L) of
the bar
2. Find axial force

distributed load
from equilibrium of a cut section (at ) & integration
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3. Solve the differential equation
and impose B.Cs to find the
displacement
More Generally
If
is the applied load

0 provides the constant
& equilibrium (at the free end

Then
& compatibility with the displacement B.Cs provides the second integration constant
This is the general governing differential equation ( . ) for the deformation of an axial bar.
We solve it by integrating the applied load
twice and using boundary conditions to solve
for the constant &
The B.Cs are
2
0
Free end
0 at

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So applying the more general approach to the same problem

5

2.5
Impose B.C
2
2.5 2
10
&
2.5
10
Integrate again

Impose displacement B.C
1
0.08

10
10
2.5

3
0
0
Note: This approach is general provided we can express the load

function of .
as an integratable
The example we considered had a simple continuous load. Now consider the more complex
patch loading case:
5
0.08
1
15
10
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To be able to express such loads as function valid over all , we use Macaulay Brackets,
which are defined as

Integration & differentiation can be applied in the usual way:

i.e.

When
1
1
0, the Macaulay Bracket is equivalent to a step function.

This makes it possible to solve the problem at hand. i.e.
2
&
Can now apply general procedure to compare

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5
Free end
A.F.D

5
Free end
x (m)
Integrate again

1
0.08
10
5

2
B.C
0
Displacement diagram
.
.
2
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Any patch loading with constant, linear or polynomial variation can be represented using a
combination of Macaulay Brackets
e.g.
5
0.5
0.5
=
5
0.5
1.5
1.5
0.5
0.5
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1.5
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Patch loading using Macaulay Bracket
Step function
Linear Increase
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Parabolic Increase
Further Example
10
5
0.5
0.5
=
5
5
0.5
0.5
2
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+
5
0.5
5
0.5
1.5
+
1.5
10
1.5
+
1.5
1.5
2.5
0.5
0.5
10
1.5
1.5
Point Loads
As shown, Macaulay Brackets can handle any combination of continuous and discontinuous
load. If we could also handle point loads, all possible load combinations are covered. Point
loads are actually a convenient fiction. In reality, every load is distributed over some area,
although possibly a very small area. Calling it a Point Load means the area it is distributed
over is too small to matter.
e.g.
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Col
Beam
=
To represent a point load as being applied over an infinitely small area, Dirac delta function
is used
. This represents a spike at
i.e.
0
& has the properties

(For small
Hence if
then
.
& a point load has been represented.

22
0)
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Furthermore, the Dirac delta function is the derivative of the Macaulay Bracket step function
so that

To see how this can be used, put two point loads on the usual bar
EA
0.08
10
20
Note: The 10
10
load acts just inside the end of the bar so that the bar retains a free end
(i.e.
0
We represent this load as

20
10
1.9999
Integrate once to get

20
Impose B.C

10
1.99999
0
switch on just inside
0
20
10
10
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20
10
10
10
0
10
Integrate again

1
0.08
10
20
10
2nd B.C
0
2
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With this addition we can express any loading by a single loading function
.

& solve the
subject to B.Cs on displacement at one point & a B.C on force at another. It is possible to
account for variations in the bar cross-section by placing
inside the integral in the second
integration
i.e.

Macaulay Brackets can be used to account for sudden changes in cross-section

e.g.
1.5
0.5
0.3

0.05

10 0.3
0.25
10
1.5
However, the integrals become too difficult to solve by hand. Later we will see there is a
better way to handle change in cross-sectional area/properties.
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Statically Indeterminate Structures

A structure is statically indeterminate if the internal stress resultants cannot be found from
equilibrium alone.
An axial bar which is fixed against movement at both ends is statically indeterminate.
One equation of equilibrium
i.e.

Two unknown reactions
&
. Cannot solve.
In such cases the constitutive behaviour of the material (i.e. the relationship between stress &
strain) must be included.
In fact, we have already done this by constructing the governing . for an axial bar
i.e.

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This equation involves constitutive information

Only the B.Cs change
& internal equilibrium
and is valid for both determinate and indeterminate axial bars.
Statically Determinate

Using internal force at free end
0 equilibrium provides
and hence
throughout without reference to deformation. (i.e. no constitutive info required)
is found
Statically Indeterminate
which is an unknown

remains unknown
Both B.Cs are on displacement

e.g.
0
0
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OR
1mm
0
0.001
Prescribed displacement
Solve noting

1st B.C at
0
0
0
0

2nd B.C at

.
1

Example
10
2
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5
0.08
10
Find A.F.D &
Integrate
once
5 .
5
2
Integrate again

Now apply the two B.Cs to get the constants

0
2
0
1
5 2
6
Now substitute
&
back into equations

10
3
5
2
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Can now find reactions
Free Body Diagram (F.B.D) at L.H End
F.B.D at R.H End
2

Note: in both F.B.Ds above, F is drawn in the positive internal sense and R is drawn in the
positive external sense.
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Overall F.B.D
10
A.F.D
Dis
3.20
0 . .
10
0
1.155
Note: The loading functions

defines the variation in the internal axial force
within a constant, the B.Cs provide the constant
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External Load
B.C
Second Example
0.3
0.08
0.2
10
0.5
1.5
10
Draw A.F.D
1.8
0.5
1.5
10
0.2
1.8
0.5
1.5
10
0.2
Integrate again
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1.8
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1
5
2
5
2
0.5
1.5
10
0.2
1.8
Impose B.Cs
1st B.C
0
2nd B.C
0.0003
1
0.08
10
0.0003
5
1.5
2
5
1.5
2
10 1.8
3 0.2
Only one unknown, so

23.2
Substitute back into equation
5
0.5
1.5
10
0.2
1.8
23.2
13.2
11.2
8.2
0
0.2
0.5
1.5
33
1.8
23.2
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Temperature Effects (Actions of thermal change)

We must assume a reference or installation temp. This is denoted
to be the temperature from which all changes are measured.
Thermal strain t
and is assumed
Coefficient of thermal Expansion
There is no stress associated with thermal strain, but there is displacement. Taking as the
total strain (strain due to both internal stress resultant & thermal strain).
Mechanical strain
Simple Case
Recall

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Statically Determinate
Apply B.C to above equation
0
e.g. for constant
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Statically Indeterminate
Substitute into equation for
where
e.g. For constant
0
.
. .
(i.e.
is constant)
Note: in the absence of load

, the axial force generated by a temperature change is
always a constant (statically determinate = zero and statically indeterminate = non-zero).
However, displacement may not be constant.
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Example
60
20
0
20
0.08
10
20
10
Apply B.C
0
2
0.08
Solving
32
32
10
10
20 2
(i.e. in comp)
37
10 2
20
10
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10
20
20
2
(m)
A.F.D
10
32
However, if
0,
will no longer be a constant i.e. have
Constant component due to temperature change

Non constant component due to
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Example
5
10
0.5
1.0
1.5
0.08
10
20
20
0.001
2.0
60
20
10
0.5
0.08
10
10
10
1
0.08
10
10
0.5
20
1.5
5
2
5
2
1.5
20
10
20
1.5
.
1
0.5
20
Apply B.C
0
0
2
0.001
1
0.08
10
10 1.5
5
1
2
0.001
5
0.5
2
39
10
20 2
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0.001
1
0.08
0.001
10
80
13.125
10
1.4375
Now draw A.F.D & Dis
40
0.08
2
80
10
10
13.125

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Review:
We can now work out internal axial force
and displacement u
for statically
determinate and statically indeterminate bars subject to any combination of loading and/or
temperature variation with any combination of force or displacement B.Cs
B.C on force or disp
B.C on force or disp
Now, what if the B.C provides a relationship between force and displacement?
Idealise
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Note: Positive
results in negative
We cant apply the usual analysis because displacements at the ends are unknown
Need an alternative approach
This simple problem allows us to introduce the two classes of structural analysis techniques
The force method (Flexibility)

The displacement (Stiffness) method.
Example Problem
10
/
5
0.08
/
10
2
2000
2000
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The Force (Flexibility) Method

This problem has one degree of indeterminacy. That is, if we release the spring at the R.H
end it would be stat. det. and we could solve using statics alone
Draw cut point (spring) offset for clarity
From previous example problem

10
43
5

2
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At L.H End
0
10
0.005
1
0.08
0
2
10
10
5
6
0.005
0.005
5 2
6
0.005
1
0.08
10
0.005167
10 2
(at the cut end)
Note: The R.H end spring has no force (since it was cut/released) & therefore does not move.
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By releasing the spring we have introduced a compatibility problem in the structure i.e. the
displacements at the cut points dont match.
0.005167
Therefore, we must introduce additional forces to restore compatibility. The forces we

introduce must not violate equilibrium and therefore must be equal and opposite. This is done
with a force pair .
Note: The force pair are drawn in the positive sense for internal force.
Once we determine the value for to restore compatibility (remove overlap) we can then add
this to the original solution for the cut structure to determine the final solution that satisfies
both equilibrium and compatibility. Adding two solutions is valid as the structure is elastic
(principle of super position).
To find the value of , we first find the influence of a unit force pair on the overlap i.e. find
the size of the overlap generated by unit forces.
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= overlap caused by a unit force pair at release 1.

Note: later we look at multiple releases.
Position of Overlap
Position of Force
This problem is statically determinate.
1
0
1
1

2000
0
2
2
0.08
0.525
46
10
10
1
2000
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For the R.H end
0.5
10
Total overlap
0.525
1.025
0.5
10
10
To restore compatibility there must be no overlap
5.167
1.025
10
10
5.041
The second soln
5.041
5.041
5.041
5.041
2000
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5.041
0.08 10
5.041
2000
Release Soln
A.F.D
Force in spring
0
2
Dis
0.05167
0.005
Spring dis
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Second Soln
A.F.D
2
0
5.041
0.0025
0.00265
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Final Result
4.954
2
5.041
0.0252
0.00245
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The Displacement Method (Stiffness Method)

Consider previous example
0.08
10
2
2000
2000
Instead of releasing the bar, we turn the bar into a structure we can solve by fixing both ends.
0.08
10
Note: We have already solved this problem (Tuesday, week 2) & found.
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A.F.D
1.155
This is known as

the fixed end soln
& the fixed end relations are
If these fixed end forces were applied to our actual structure, the ends would not move.
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However, in reality these fixed end forces do not exist. So, just as the overlap in the force
method was removed, we must now remove the fixed end forces from the displacement
method. This can be done by superposing the soln to:
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onto the fixed end soln.

i.e.
(a)
+
(b)
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(c)
Want soln to (c)

& we have soln to (a)
Given (a) + (b) = (c)
Must solve for (b) and add it to (a)
To solve this new problem (b), we compute the displacements at the bar ends ( & ) that
are in equilibrium with the reverse of the fixing forces. To do this, we consider the influence
of a unit displacement at bar ends and calculate the corresponding force.
End 1 (termed degree of freedom or D.O.F 1)
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Where
= force at end 1 required to cause a unit displacement at end 1.
Location of force
Location of dis
0 . .
= force at end 2 due to a unit displacement at end 1, given
1,
consists of the force required to deform the spring at end 1 and the force required to
deform the bar.
Spring
1
1
Bar
(+ve tension)
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(negative indicates compression)
Now sum force using external convention (+)
Note:
0 so no force in deforming spring
End 2
?
Spring
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Bar
(i.e. assumed tensile force was correct)
Summing (+)
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Recall problem at hand (reverse of fixing forces)
Now have equations for unknowns
&
10
3
20
3
Have two equations & two unknowns can solve
0.08
10
40
2
2
42
40
10 .
10 .
40
42
10
10
10
3
10 .
20
3
10 .
Or
10
42
40
40
42
Soln
59
10
3
20
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0.00248
0.00252
So internal axial forces due to the reverse of the fixing forces

Spring 1
2000
4.954
Spring 2
2000
Bar
60
5.04
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1.626
Now superpose two solutions to get final soln
Fixed
OR
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A.F.D
3.33
1.155
6.667
3.20
10
1.155
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Reverse of the fixed end forces
1.626
0.0252
0.0248

2
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Final Result
3.33
1.626
4.954
2

6.667
1.626
5.041
Same as soln from flexibility method
0.0252
0.0248
(m)
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2
FLEX/FORCE
STIFFNESS/DIS
Release/Cut Structure
Found overlap ( ) at release
Calculated the effect of a unit force

pair (
forces)
Solve a structure with the reverse of the

fixing forces. This was done by
Solved for value of force pair
calculating the force required to cause
by
unit dis D.O.F.
summing overlaps
Fix Structure & Find Reaction (fixing
Solved for the dis at each D.O.F. due to

fixing forces
Sum soln i.e. superpose
Superpose
FLEXIBILITY TERMS
STIFFNESS TERMS
Displacement caused by a unit force
Force required to cause a unit dis
Spring =
Spring =
Bar =
Bar =
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Final Example
0.2
10
0.08
2
30,000
Flexibility Method
This example is twice statically indeterminate requires 2 releases
release 1
release 2
66
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Solution to two statically determinate bars with uniformly distributed load for released
and right bar squashes by 125 10
).
structure (left hand bar extends by 50 10
Work out the overlaps (
) at the releases.
50
10
50
75
50
10
125
10 m
10 m
125
Effect of a unit force pair at release 1
unaffected
35
10
67
10 /
10 /
10
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Effect of unit force pair at release 2
remains unaffected
1
43.3
10
Now we have two unknowns
10 /
10 /
&
Use sum of overlaps = 0 (i.e. compatibility)
Rel 1
. 35
10
. 10
10
68
0
75
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Rel 2
. 10
10
. 43
10
0
50
10
Solve simultaneously or
35
10
10
43.3
75
50
2.647
1.7647
Soln
Now superpose A.F.D (kN)
1. Released soln
10
10
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+
2. Redundant soln
2.6471
0.8824
=
3. Final soln
10.8824
0.8824
1.7647
7.3524
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Calculate
for yourselves
Same example now by the Stiffness Method
Introduce 1 fixity (D.O.F) at step change. Then we have two independent bars fixed at both
ends.
5
2
Bars have the same length and same load. So we end up with the same reactions as each end.
i..e (for both bars)
5kN
The sum of the reaction forces at the fixity (DOF 1)
10
10
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Need to solve for the reverse of the fixity force
10
Force in equilibrium with a unit displacement
(Summing Stiffness)
0.2
10
0.08
10
2
0.17
30000
10
Equilibrium with the reverse of fixing force

10
10
0.17 10
5.8824
10
Force in spring
30000
1.7647
72
5.8824

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Now superpose A.F.D (KW)
1. Fixed soln
2. Reverse of fixing force
5.8824
2.3524
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10.8824
5
0.8824
2.6471
1.7647
7.3524
2.3524
Same soln
Stiffness Method simpler for this problem
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Beams
We have now covered the general cases of statically determinate statically indeterminate
axial bars (dis/loads in x-direction). Now we will do the same for statically determinate/
indeterminate beams. The new content is strongly related to what we have covered.
A beam has a longitudinal axis in the x-direction a transverse load
direction.
applied in the y-
It is assumed the beam is symmetric about the plane of bending & all loads are applied in this
plane.
Section A-A1
N.A
Deflection in the y-direction is denoted and

deflection along .
75
is the variation in the transverse
ENSC3008
2016
Note: Dont get confused between
&
the shear force.
First consider a statically determinate beam subject to a distributed load.
Example:
Complete & plot the bending moment diagram (B.M.D) & the shear force diagram (S.F.D)
for simply prismatic beam with constant flexural rigidity
7.5
200
10000
2
1.5
1.5
7.5
1.5
5
We want the S.F. function
1.5
1.5
and B.M function

76
based equations of equilibrium.
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2016
Recall Sign Conventions
External
Internal
77
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Reaction

7.5
1.5
5.625
7.5
0.5
1.5
1.5
5.625
3
5.625
5.625 2.5
3
0
2.5
5.625
4.6875
4.6875
0.9375
Recall trying to solve for

0
&
1.5
F.B.D
0.9375
78
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0.9375
0.9375
0.9375
0.9375
1.5
F.B.D
2
1.5 /3
1.5 /3
5
1.5
1.5
0.9375
0.9375
0.9375
1.5
5
0.9375
1.5
2.5
1.5
79
0
1
2
1.5
1.5
3
1.5
2
0.9375
0.9375
1.5
1
2
1.5
2
1.5
3
1.5
ENSC3008
2016
5
6
0.9375
1.5
Note:
1. Due to use of Macaulay Brackets the above expression is valid for all .
i.e. 0
3
2.
Based on this we can come up with a more general procedure.
From vertical equilibrium
Or to be consistent with previous notation
Reaction
80
ENSC3008
2016

Provided we can obtain

valid at
0 over all 0
&
by integrating and using B.Cs to solve for constant &
we can obtain
Plotting S.F.D
Plotted positive side up
0.9375
2.5
1.5
0.9375
1.5
4.6875
Note: ends of S.F.D provide reactions
L.H. end
0
0
81
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R.H. end
3
3
0
3
B.M.D
For B.M.D we plot positive down. This is equivalent to tension side plotting i.e. positive
B.M indicates the tension side of the member.
tension
82
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B.M.D
5
6
0.9375
1.5
0.9375
1.5
2.11
1.5
3
1.784
0.9375
2.5
1.5
2.11
2.11
1.784
Displacements
When a beam has a small angle of rotation
tan
Recall from ENSC3004, deflection is related to B.M by
83
ENSC3008
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Where from? The curvature of the beam
may be approximated by
& the
moment is related to curvature by

. This provides the governing differential
equation for the transverse deflection, which may be integrated to find .
Curvature
Slope
Deflection
For a simply supported beam.
0
0
Already satisfied to obtain
0
0
Back to Example
84
&
. .
&
ENSC3008
2016
2.5
3
0.9375
1.5
0.9375
2
2.5
12
1.5
1 0.9375
6
2.5
60
1.5
Now solve for

3
1
4.21875
2
0.31641
0.6504
We can now plot the deflection diagram
1.7
1.5
0.7119
0.722
85
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Procedure
Traditional approach
1. Find reactions at supports from global
equilibrium
New approach
1. Write

2. Use equilibrium at cut sections to get
,
3.
2. Use B.C on
&
Solve by integrating twice & applying B.Cs to find
86
&
.
&
to find
ENSC3008
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BEAMS
BARS
Form
Form
1 Int
Int
2 Int
Int
Int
Stat det
Int
0
0
0
0
87
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Statically Indeterminate Beams

When a beam is statically determinate all of its external reactions
&
can be
computed from equilibrium applied to the F.B.D then deflection
is computed directly
from the governing differential equation. However for statically indeterminate beams the
number of unknown reaction exceeds the number of independent equation of equilibrium &
additional equation are needed to solve for
&
e.g.
Here we have 4 unknowns but two equations of equilibrium.
0 &
2 degrees of indeterminacy
As for the axial bar, the additional equation comes from using material constitutive
behaviour. This can be done by solving the governing d.e for the deflection of the beam &
impose the B.Cs to obtain integration constants
Governing
d.e
for
& Also
88
beam:
ENSC3008
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So given
1
1
2
1
6
89
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Example
Plot S.F.D, B.M.D and compute the reactions for the following statically indeterminate beam.
10
Zero disp & zero

slope of fixed ends
1. 0
2.
3. 4
4.
0
0
&
Solve for
10
10
10
1
2
1
2
1
2
5
5
3
10
1
1
90
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Apply B.C
4
4
5
3
6
4
12
5 3
2
4
4
4
4
4
2
Simplify to get the following set of system of equations

16
3
45
2
45
2
4
Solve to get
5.625
8.4375
Then
10
10
1
1
8.475
8.4375
5.625
Plot

8.4375

1.5625
91
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5.625
1.875
2
2.8125
Reactions
F.B.D at L.H end
5.625
+
0
8.4375
8.4375
8.4375
5.625
92
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F.B.D at R.H end
1.5625
1.875
1.5625
Note:
1. Could have a prescribed displacement at end (e.g. L.H support move up by 5mm)
2. Material is linear elastic, so superposition applies

So if we have complex load case can solve for each component separately & add up the final
answer.
93
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So if we have complex load case can solve for each component separately & add up the final
answer.
e.g.
Second Example
150
15
10
/
6.66
10
200
1332
1
4
Neglecting self-weight
Find
& plot
15

15
15
1 7.5
1332 3
2.5
2
3
3
2.5
6
1
7.5
1332
2.5
6
1
15
1332
2.5
2.5
24
2.5
120
94
3
3
140
ENSC3008
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Other B.C
2.5
4
120
7.5
5
3
0
7
7
6
2.5
4
6
15 5
7
2
Solve
7.8105
6.3401
15
15
7.5
3
2
2
2.5
2
2.5
120
2.5
6
3
3
7.8105
7.8105
7.8105
6
6.3401
6.3401
2
1
1332
Plot yourself
Summary
Can now solve for
,
&
for any single span beam (const ) subject to any
load combination (point/dist. & various combinations of end supports (pin, fixed & free) or
prescribed B.C (e.g. settlement)
Behaviour of Beams Subject to Temp Change

-
Consider deflection of beam caused by thermal effects

which
Assume beam initially straight with a reference (or installation) temp
is constant over the height of beam (h). This is the state from which we calculate
deflections.
95
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Temp change to
2016
on top of beam &
on the bottom
1. If
then the temp change
constant over the height of beam
i.e.at
No curvature of the beam results & beam behaves as an axial bar.

96
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i.e.
0

See notes on axial bars

2.
then temperature change is not constant over the height of the beam.
This cause curvature and deflection
e.g.
Assume a linear temp change over the height.

At
This temp change can be written as the sum of the components

97
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=
(A)
Const over the height of beam
(B)
Temp change not const over height
Notes
For temperature distribution A for double symmetric sections (e.g. I,

centroid = N.A, so axial response can be computed based on
) Mid-height =
e.g.
See notes on bars
Temp difference from B,
will produce curvature & hence deflections.

98
ENSC3008
Consider an element of length
2016
cut from the beam
Recall arc length formula
99
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Compute change in length at top & bottom of beam due to temp differential
Original Length =
Change from original length
Top
Bottom
Exploiting geometry
.
.
Define
Given
(i.e. curvature)
So deflection can be written as a function of temp change through height of beams
If additional loads or B.Cs are applied to the beam, the total curvature is
100
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0 (No transverse loads)
For
&
&
depend on B.C.s (i.e. if the deformation of the beam is restrained)
1
2
Example
0
B.C.s
0
0
i.e.
101
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This gives a non-zero , but internal B.M & S.F are both = 0. This is general result for
(compare to stat. det. axial bar
stat. det. for a beam with
0, with temp change
with
0)
For
0 + Temp change
&
0 but this is due to
only (stat. det)
Stat. Indet Beam
B.C.s
0
0
&
Note
For
B.M & S.F

102
ENSC3008
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0
Summary
1. Have separated temp change into 2 components
axial
transverse
2. This was developed for a beam with a doubly symmetric cross section (I,
For a non-symmetric beam, the only change to the procedure is the value of
compute at centroid or
.
N.A. Mid-height
tute 4 Q2.
103
).
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Axial & Transverse Behaviour

So far we have separately considered axial & transverse (vending) behaviour.
A general member has both.
As a consequence of the small deflection assumption (Lecture 1), the axial behaviour does
not affect the bending behaviour & vice versa. This is because the length of a members
neutral axis is assumed to change only by axial deformation & not by bending.
(On neutral axis)
This is only a good approximation when
Implication
Axial B.C.s do not affect bending B.C.s & vice versa

Can separately define det.indet. status of a member for axial/trans actions
A member that stat. indet overall may be

1. Indet for axial only
2. Indet for transverse (B.M. & S.F.) only
3. Indet for both.
e.g.
104
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Unknown Reaction
=
Indet axially
+
There is no difference for these
members in axial response
Indet trans
=
Indet axially
There is no difference of those

members for bending.
Det trans
=
Det axially
Det trans
A member that stat. indet overall is always stat. det. for both axial & transverse. When
dealing with beams (i.e. solving trans response) it is acceptable to neglect the difference
between
&
105
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Example
20
5
/
Install
40
10
Axial
5 sin 20
10 sin 40
Solve as bar
Trans
5 cos 20
10 cos 40
Solve as beam
106
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Summary of Where We Are

General Member
General Load
Small Disp Assumption
AXIAL BEHAVIOUR
TRANSVERSE BEHAVIOUR
External Load Function
External Load Function
Internal actions
Internal actions

If member is statically determinate integration constants can be found

at this stage from B.C.s on force/moment. Internal actions can then be
computed directly & plotted M x , V x & F x
All remaining constants of integration can now be found

from remaining B.C.s on disp/slope
M x , V x , F x , x &
107
2
1
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Flexibility Method for Beams

So far we have solved single span beams subject to any dis/force B.C. Now we consider
multi-span beams using Flexibility Method.
e.g.
12
1000
Introduce releases in the form of hinges over the supports each span becomes stat. det
Hinges
Deflections under Loads
108
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We need a sign convention for the rotation at the releases (compare overlaps in bars).
Using a positive moment applied at the release to correspond to a positive movement/rotation
in beam.
Span 1
Span 2
Then rotation is measured +ve anti-clockwise from the tangent of the 2nd span to the tangent
of the 1st span.
1st & 2nd Span
/
5
5
2.5
2.5 4
10
10
1
10
1000
109
2.5
2.5
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1
5
1000
1 5
1000 3
2.5
3
2.5
12
1
75
We want end rotation
tan
Recall
For small
1
5
1000
2.5
3
1
4
&
75
1
75
1
75
i.e.
3rd Span
12
12
110
12
12
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B.C
4
0
1
3
1000
1
1000
6
2
2
2
1
4
1000
2 2
3
250
1
3
1000
3
250
3
4
&
250
3
250
We can now find the rotation at the releases (equivalent to overlaps)
1
75
1
75
2

75
111
1
75
3
250
76
3000
ENSC3008
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Now want to find the (redundant) moment required at the hinges to reduce the rotations in
both hinges to zero at the same time (i.e. restore compatibility)
Proceed as before with moments instead of axial forces.
Unit Moment at Release 1
Where
= rotation at release 1 due to unit moment at 1
= rotation at release 2 due to unit moment at 1
112
ENSC3008
To find
2016
&
we need to solve
M=1kNm
From
Solve in general terms so can re-use
1
1
6
0
0
0
6
0
6
&
113
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Back Problem
1
375
1
1500
Now influence of unit moment at release 2
1
375
1
1500
114
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To reduce both hinge rotation to zero solve compatibility equations to determine

Release 1
Release 2
Substitute in values
1
375
1
1500
2
75
1
1500
1
375
76
3000
Solve
8.133
7.467
8.133
7.467
How to draw B.M.D for this loading
115
&
ENSC3008
2016

B.M.D
8.133
7.467
12
Complete the problem by superposing the 2 soln

Release Soln
10
10
116
12
ENSC3008
2016
+
Redundant Soln
8.133
7.467
12
8.133
7.467
10
10
12
117
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Stiffness Method Multi-span Beams

Solve the beam from last example
12
1000
Lock joints over the supports
Deformed
(spans are now independent of each other)
Span 1 & 2
5
5
4
1 1
1000 2
5
6
118
Shape
ENSC3008
2016
5
24
1 1
1000 6
0 &
4
1
2
0
5
4
6
4
40
3
1
6
64
0 &
5 4
24
4
2
40
3
0
6
2
3
So
10
0
2.5
2
6
3
2
3
6
2
3
Internal Convention
B.M.D
+
6
6
Negative by
external
convention
Positive by
external convention
119
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Locking Moments
6
3rd Span
12
6
6
12
12
1
3
1000
1
1000
12
0 3 4
6 2
6
6
0
12
6
Internal Convention
120
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B.M.D
+
6
6
Negative by
external
Positive by
external
Locking Moments
6
Now sum up the locking moments
6
i.e.
121
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So instead of analysing the actual structure, we have just found a soln to the following
12
We must now find a soln to the reverse of these locking moments & superpose to get final
soln
To do this we look at the moments in equilibrium with a unit rotation at each joint in turn,
keeping the other joints locked (stiffness terms - compare with bars).
For this, we need a soln for beam subjected to a unit rotation at one end
122
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Solve generally so we can re-use

Recall

.
0
2
0
0
6
1
6
&
2
4
So
0
&
Internal Convention
123
ENSC3008
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B.M.D
Now consider a unit rotation at each D.O.F in turn, holding others to zero:
D.O.F 1
500
1000
D.O.F
where moment
is applied
D.O.F
of rotation
124
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D.O.F 2
2000
500
500
1
1
D.O.F 3
500
2000
500
500
1000
D.O.F 4
Want to calculate the actual rotations

moments (i.e. be in equilibrium)
which will produce the reverse of the locking
125
ENSC3008
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D.O.F 1
6
2
3
D.O.F 2
0
D.O.F 3
0
D.O.F 4
0
Substituting in Values
1000
500
2000
500
0
500
0
500
2000
500
0
2
3
500
1000
2
3
solve (Matrix Inversion)
0.0079111
0.0024889
0.0020444
0.0070222
rotations in
equilibrium with
the reverse of
the fixing forces (radians)
To work out final soln, consider each span in turn. We compute the internal moments
(B.M.D) due to end rotations using standard soln derived for a beam with a unit rotation.
0
126
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2
External Convention
B.M.D
127
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B.M.D by tension side
Fixed ended moments under applied loads are superposed to find final soln
1000
Note:
500
Span 1
1000
0.0079111
500 0.0024889
6.667
500
0.0079111
1000 0.0024889
1.4667
+
1.4667
6.667
10
128
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=
6
1.4667
Expected due to
pin
Span 2
1000 0.0024889
500
0.0020444
1.4667
500 0.0024889
1000
0.0020444
0.8
+
1.4667
0.8
+
6
129
8.133
ENSC3008
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=
8.137
7.4667
10
Equilibrium
with Span 1
Span 3
1.4667
+
Fixed end
6
6
12
130
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7.4667
12
Equilibrium
with Span 2
pin
Complete B.M.D
8.133
7.4667
10
10
12
Shear force diagrams are constructed in a similar way. For any span, the shear force caused
by end rotations (only) is a constant.
6
(From
or
131
to general equation)
ENSC3008
2016
&
It is usually easier to use the second form as

end shear forces must then be superposed.
have already been calculated. The fixed
S.F.D
Fixed End Soln
10
10
2
6
10
10
132
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Reverse of the fixing forces
2.033
1.8667
0.1687
=
Final soln
7.9667
10.1687
7.8667
4.133
12.033
9.822
133
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Displacements
Fixed End Soln
+
Soln due to reverse of fixed end moments
How?
Span 1
1.4667
2.033
6.667
2.033
6.667
134
2.037
ENSC3008
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Solve for
&
using B.Cs
0
Same process to get
0 &
for span 2 & span 3
=
Final soln
Note: Can compute displacements for flexibility method in similar way.
i.e. released soln
+
Soln due to redundant moments
i.e. for each span

135
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=
Final Soln
Notes:
1. Summary Sheet applies to single span with given force or displacement B.Cs
etc.
2. For single span with B.Cs specified by a force-displacement relationship (springs) or
multi-span beams, must use either the flexibility or the stiffness method.
Etc
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3. Separate axial from transverse loads & B.Cs (small displacement assumption)
Axial
Trans
Must also be able to split temp change into axial & transverse components (See Notes)
Flexibility & Stiffness Methods (Main Ideas)
a) Turn problems into something we can solve (like in 1 above) soln 1
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b) Reverse the effect of the change

i.e.
Flexibility restore compatibility by redundant moment/force
Stiffness solve for reverse of fixing force/moments
Soln 2
c) Superpose soln 1 + soln 2 = final soln
138
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Generalising the Stiffness Method

Recall that the stiffness method generates a set of these equations that can be expressed
conveniently in matrix form.
e.g.
Stiffness terms
reverse of fixing moments
The rotation of the joints over the supports are called structure degrees of freedom (structure
d.o.f) i.e. describe ways in which the structure can deform.
In general, structure d.o.fs
behaviour).
may include translation as well as rotations (e.g. axial
We will use the symbol r to represent both translations and rotations at a structure dof. In
the stiffness method we find the locking forces & locking moments at the structure d.o.f
in equilibrium with zero displacement/rotation at these d.o.f.s (i.e. we solve the fixed end soln
for each member).
The net reverse of these are then applied to the structure d.o.f.s to unlock the structure.
These reverse forces/moments will be termed equivalent structure actions and be represented
by the symbol R.
139
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For 3 span beam from previous lectures
12
1000
= joint
We use circled number to indicate structure d.o.f.s
, ..
Net reverse of locking moments

From previous lecture
i.e.
6 ,
0, ..
140
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With this terminology, the matrix stiffness equations become
1000
500
500
2000
500
500
2000
500
500
1000
Structure
disp
(Stiffness Matrix)
To solve, invert
: . .| |
Equivalent
structure actions
| |
In this case we obtained

from our previous manual calculation method (i.e. calculated
,
etc. as moments in equilibrium with unit rotations at each structure d.o.f) and must
go back to these calculations to obtain internal moment
within each member.
However, we would prefer to have a complete Matrix Method:
Look at a single beam member

(One member = one span)
For transvers loading only, the behaviour of the member is completely described by the
rotations of the ends relative to the centreline. These rotations can be considered member
d.o.f.s (i.e. ways in which a member can deform)
Drawn in positive
external sense
141
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2016
Use to represent displacements/rotations at member d.o.f and to represent force/moments

at the member d.o.f.s. We use positive anti-clockwise for both member end rotations and
moments (external convention).
or
Member Stiffness Matrix

(for single member)
A structure usually has multiple members. Member d.o.f.s are number sequentially:
142
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The member stiffness equation becomes

4
Member stiffness matrix

Or
| |
| |
can be assembled very easily as shown. We have | | from soln to

| |
To get | | we relate | |
out the corresponding | |
| |
| | by putting a unit disp at each structure d.o.f in turn and work
i.e
1
1
143
ENSC3008

2016
1
1
1
1
1
1
144
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2016
Now can put together in matrix form
Influence of
on
This is called the compatibility matrix & is denoted

| |
| |
| |
| |
| |
| |
Structure D.O.F
| | - Rotn/disp of structure d.o.f
| | - Reverse of locking actions (force/moment) at structure d.o.f
equivalent structure actions
| |
| |
Structure stiffness matrix
Member d.o.f
| |- Member end rotation
145
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| | - Member end moments

| |
| |
We want a better way to form
| |
| |
| |
| |
| |
| |
Now need to relate | | & | | to complete the structure stiffness equation.
To do this, look equilibrium at each joint
Summing the moments
0 at the joints

Or in matrix form
146
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Note: This is the transpose of the compatibility matrix
. This is a general result.
So:
| |
| |
| |
| |
| |
| |
| |
| |
| |
| |

This implies the stiffness matrix can be formed from
as follows.
This is a general procedure for matrix stiffness analysis:

1. Assign structure d.o.f.s (to joints) and member d.o.f.s (to end of members)
2. Work out the compatibility matrix
by placing unit disp/rotn at each structure d.o.f
in turn & compute the corresponding disp/rotation at member d.o.f
| |
| |
(i.e. put 1
solve for | | to give jth column in
3. Form member stiffness matrix from individual member stiffness
4. Compute the structure stiffness matrix
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5. Compute the fixed ended soln for each member (soln 1) sum the locking actions at
each structure d.o.f.
Reverse of these
| |
equivalent structure actions.
6. Compute the structure disp/rotns

| |
| |
7. Compute the corresponding member actions due to | |

| |
| |
(soln 2)
8. Superpose soln 1 & 2 for each member to obtain final result.
Note:
a) Steps 5 to 8 can be repeated for multiple load cases.
need only be formed once.
b) This is the general method used by commercial frame analysis software (Space Gass,
Multi Frame etc.).
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Working through the last example

5
12
1000
1.
1
2.
3.
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1000
500
500
1000
1000
500
500
1000
1000
1000
500
500
1000
500
4.
1000
500
500
2000
500
500
2000
500
500
1000
(Same result as for manual method)
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5.
2/3
10
10
12
Net reverse
6
+
6
0
| |
2
3
6
151
2
3
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6.
+
0.007911
| |
0.0024889
| |
(radians)
0.002044
0.0070222
7.
+
6.667
1.4667
| |
1.4667
| |
0.8
1.4667
6
8. Superpose
| |
| |
10
10
Fixed
End
Soln
152
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+
BMD (kNm) From | |
1.4667
0.8
1.4667
=
Final BMD (kNm) Soln
8.133
7.4667
10
10
0
12
S.F.D
For each span compute constant shear due to end moments | | resulting from | |
6.667
1.4667
4
0.1666
1.866
153
2.033
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& superpose with the fixed end shear forces.

7.9667
10.166
7.866
1.866
10
0.1666
10
10
2.037
4.134
12.033
9.833
Fixed End Shear Forces

12
Spans 1 & 2
10
6
10
6
Notes:
1.
is max where
0
2. Reactions at supports come from S.F.D
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+
e.g. support 1
7.9667
7.9667
Support 2
12.037
10.166
22.2
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Standard Fixed ended solutions (transverse behaviour) previously computed from beam.
d.e

B.M.D
S.F.D
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B.M.D
S.F.D
Simplifies use of the stiffness method

Should memorise
Notes:
(1) For non-standard cases (non-symmetric loads, thermal effects, movement of a
support) you still need to solve the beam d.e

to get locking actions
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(2)

15
(Stand soln)
Fixed end soln can be superposed.
158
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Beams with a change in section at interior of span.

5
/
400
1000
We need to introduce a joint at the change of section, splitting the second span into two
members.
2
1
Note: The joint introduced between supports has two structure d.o.fs i.e. a transverse
displacement (positive in the positive y-direction ) and a rotation ( + ). In fact all joint in
2D beams have 2 structure d.o.fs unless restrained by support conditions.
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Free
y-roller
No-rotation
Fixed
Back to example problem
0
1
| |
1
0
0
0
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1
Centreline
Although is given a unit disp, dont think of it as being 1 as this violates the small
disp assumption. Instead, think of it as being some small unit disp, say ~1
. In the
calculation (for | |) the 1 is multiplied by & assumes the units of hence it is unitless
(similarly 1 radian). Redraw the above
Member/joint angle is unchanged
Centreline
Member/joint angle
is unchange
If 1
tan
(radians) since the rotations from the centreline to the member
tangent are clockwise, they are negative.

i.e.

1
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other members
0
0
| |
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=1
0
1
1
0
0
| |
0
1
1
0
1
0

1
0
0
| |
0
0
0
1
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Hence
| |
| |
The member d.o.f are till end rotations relative to centreline so

usual way.
Member 1 & 2:
4
1000
4
1000,
400
5
320,
500
Member 3:
4
So
164
160
is constructed in the
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1000
500
500
1000
1000
500
500
1000
320 160
160 320
Also, the relationship

| |
| |
still holds. If we multiply out we get
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4
Therefore, the following still holds
Structure Stiffness Matrix
Compute the fixed end soln for each member & sum the locking actions.
Using the standard soln s

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10.41167
10.41167
Built-in (fixed) end in original problem, so no structure d.o.f assigned here only consider
fixing actions at structure d.o.f
Fixing Force
22.5
+
Net reverse at structure d.o.f (equivalent structure actions)
22.5
0
| |
22.5
3.75
10.41167
167
10.41167
3.75
10.41167
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(radians)
0.04566
| |
0.35258
| |
0.08179
0.17922
+
22.83
45.66
| |
45.66
| |
27.60
Soln 2
31.35
10.42
Superpose for final soln
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B.M.D (kNm)
Due to | |
45.66
13
27.6
22.83
10.42
81.35
Fixed end soln
10.42
6
10
10
15.625
Final B.M.D
52.37
10
Pin
10
16.16
15.625
20.93
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S.F.D (kN)
(1)
Due | |
18.315
4.186
17.12
(2)
10
12.5
10
10
10
170
12.5
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Final S.F.D (kN)
28.31
18.315
10
8.315
12.5 4.186
8.315
7.12
16.69
27.12
Action applied at structure D.O.F
The equivalent structure action of any action (Force/moment) applied at a structure d.o.f is
just the action itself.
Locking actions
Reverse of locking action
| |
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Further uses for joints interior to spans

e.g. Patch
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could model
2
4
5
Fixed end soln
This prevents having to solve the beam d.e to find the fixed ended actions for the patch load
member
i.e.

. . . . . . etc.
can use standard soln s at cost of adding more joints (=more standard d.o.f = longer
matrices).
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Pinned joints & internal Pins
Hinge
We introduce joints so that pins only occur at the ends of the members.
Side is arbitrary
The pin(s) are considered to be internal to the member so the structure d.o.f s are not affected.
However, the compatibility matrix
is changed.
1
Pin
0
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Note: Previously considered no pin
0
0
2
0
0
0
1
6
2
6
2
Then
1 3
2
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3
2
1
2
Or on general
1
2
This is always the case i.e. the rotation at the pinned end is
the rotation at the end
where the member is fixed to a joint.
Use this when constructing
e.g.
10
2000
1.5
1000
1.5
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Follow steps 1 to 8
(1)
1
(2) Form
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1
tan
| |
=0
=1
0
| |
1
4
0
1
1
4
1
8
1
3
1
3
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(3)
1000
500
500
1000
0
8000 4000
3
3
4000 8000
3
3
(Usual Way)
(4)
935.76
1333.33
1333.33 2666.667
(5) Assemble | | must account for pin
Pin is not fixed,

only the structure d.o.f.
Need to solve the beam d.e using appropriated end conditions
Or can use standard soln
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B.M.D
Back to example
10
3.75
12.5
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So
| |
12.5
3.75
(6)
| |
| |
(7)
Pin
7.403
| |
| |
3.75
28.198
Soln 2
(8) Superpose B.M.D & S.F.D
Soln 1
10
3.75
+
Soln 2
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+
28.198
7.403
3.75
Final Soln
31.948
17.403
Pin
Do S.F.D in own time.
Internal hinges: Alternative Approach

1
1
pin
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Single member stiffness gives us:
4
2
1
2
pin
Since
&
are both known so can omit the member d.o.f at the hinge.
To do this
1. Modify the
(see below)
2. Modify the single member stiffness
| |
| |
Put this into
Removing a member d.o.f in this manner is optional but does reduce the size of matrices to
be manipulated (especially good when doing hand calcs).
For previous problem

(1)
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1
2
3
2
4
3
No member d.o.f at pin
(2)
0
1
Remove row of previous
(3)
0
0
(4)
935.76
1333.33
1333.33 2666.67
184
associated with
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(same as before)
Soln proceeds as usual: | |
| |
| |
| |
| |
Superpose with fixed end soln to get final soln
now 3
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Axial behaviour
Weve already analysed axial behaviour using the manual stiffness method. We now restate
in matrix terms.
Recall the example
5
0.0810
2
2000
2000
A spring has 1 member d.o.f i.e. stretch in the spring, this is denoted
Arrows drawn to indicate stretch is +ve
The corresponding member action is the force in the spring (tension +ve). The member
is just the spring constant
stiffness
| |
| |
Similarly, an axial bar has 1 member d.o.f, i.e. stretching of the member centreline. Member
d.o.f is drawn as for a spring.
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The corresponding member action is the internal axial force (tension +ve). The member
stiffness is
(from manual method).
| |
| |
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Based on this, can apply the generalised Stiffness Method (matrix analysis)
(1)
(2)

=1
1
1
0
0
1
1
(3)
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0
0
0
2000
4000
2000
(4)
42000
40000
40000
42000
Same matrix as for the Manual Method

(5)
Fixed ended soln & equivalent structure actions are obtained as before (i.e. by solving the
member d.e)
10
Locking actions
2
+
| |
(reverse of locking actions)
Soln proceeds in the usual way i.e. steps (6) to (8)

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(do in own time)
Standard fixed ended solutions (axial behaviour)

(1)
Locking actions
Equivalent structure actions
A.F.D
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(2)
Locking actions
A.F.D (KW)
Note: we could also add springs to beams
hinge
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4
2
10
Find
&
in the usual way except for the spring
5 6
1
2
3
4

5
6
7
8
9
10 0
spring
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1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
1
.
.
.
.
.
.
.
.
10
Spring const
Soln proceeds in usual way
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Combining Axial & Transverse Behaviour to Model Trusses & Frames
3
3
1
Joint d.o.f
2
Member d.o.f
In the analysis of a frame (instead of line member beams) joint translation causes both axial
and transverse behaviour in the member
i.e. the member is stretched bent
stretching
Bending with respect to the centreline
Before we move to the above case, lets consider what happens when both ends of each
member are pinned (i.e. pin-jointed truss)
1
2
pin
pin
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No matter what we do to the joints,

&
(measured + from member centreline to
tangent) are zero. As are & (end moments)
Rotate joint
Hence, for pin joint trusses, these d.o.f s can be left out, leaving only axial member d.o.f
i.e.
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Simply supported
Fixed Ended Solutions
B.M.D
i.e. Equivalent structure actions are forces only placed on jointly (i.e. no moments)
The joint have no rotational stiffness conceptually
Free to rotate
Free to rotate
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Since the joint is free to rotate & no moment is applied to it, the rotational structure d.o.f. can
be left out of the analysis leaving only translational structure d.o.f
For this type of structure, draw joints as

e.g.
2
Since all member loads can be replaced by equivalent structure actions at the structure d.o.f
(joints). We just consider cases with forces at the joints.
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Example: Stat. det. truss
80
120
10000
Find all member forces &
deflections at joints &
(1)
2
1
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(2)
Form

1&
0
0
| |
1
0
Assumed no axial deformation due to small displacement assumption
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Now

1&
1
0
| |
0
0
0
Small disp at
(others are zero)

1
0
Squash
?
Stretch
?
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Member 3
Component parallel to
the original member
position
Original position
42
cos
cos
4
Stretch
Member 4
5
cos
. .
squash
Original position
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0
1
| |
Small disp at
(others are zero)
0
Squash
Stretch
?
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Member 3
sin
Original position
Member 4
sin
So
Original position
0
0
| |
203
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Assemble together
0
1
Step 3
Assemble member stiffness matrix
using
1
4
0
1
4
1
42
0
Step 4
Step 5
0
80
| |
0
120
204
1
5
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Step 6
0.0026
0.032
| |
| |
0.026
0.055
Joint A moves down by 32 mm

Joint B moves down by 55 mm
Step 7
80
| |
| |
0
72.73
85.7
There are no fixed axial force to superpose in this case
205
(tension +ve)
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Simple rules for forming

1
Original position
of member
i.e. move joint in x-direction

stretch is
i.e. move joint in x-direction

stretch is
(i.e. squash)
i.e. move joint in the y-direction &

Original position
stretch is
move joint in y-direction

stretch is
(i.e. squash)
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Example: Stat. Indet Truss

Note: The matrix stiffness method can be applied without modification
100
Find all member forces

20,000
Not connected
8
Step 1
4
2
3
6
6 member d.o.f
5 structure d.o.f
3
4
2
8
6
207
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8 &
Step 2
Form

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1
1
1
0
1
0
209
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1
0
So
1
4
5
3
5
0
0
4
5
1
0
3
0
5
Step 3
210
3
5
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1
8
1
8
2000
0
1
6
1
6
1
10
1
10
Step 4
5 x 5 matrix
Step 5
0
0
| |
100
0
Step 6
0.023
0.105
| |
| |
0.030
0.118
0.013
Step 7
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58.33
75
| |
| |
43.75
43.75
93.75
72.98
212
(positive tension)
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Rigid Jointed Frame (Rectangular)

Members in a frame can bend as well as stretch. All members rigidly connected to a joint
rotate by the same amount. The joint rotations become another d.o.f (as for beams).
In a 2D rigid jointed frame (axial deformation included), each joint has 3 structure d.o.f,
unless restrained by a support.
2 translation
3
1 rotation
1
The member can be considered to have 3 member d.o.f

Joint
movement
1 = stretching of member centreline
3
1
Original
position of
member
2 & 3 = rotation of ends relative to (new)

centreline measured anticlockwise from
member centre line to member tangent
New
undeformed
member centre
We already have the axial stiffness
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& the bending stiffness
Combining them into matrix form we have:

0
0
0
Axial force
end moments
The member stiffness
end rotation
stretch
for a 2D frame can then be assembled together as follows:
0
0
0
0
0
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If the loads are applied directly at a structure d.o.f (like a truss), the matrix stiffness method
can be used without change. However, generation of the
matrix becomes more difficult.
Differences to the method occur when the loads are distributed.
Example: load at structure d.o.f
10
1000
100,000
1. Find movement of
3
joint A
2. Find all member
actions & draw
BMD, SFD, & AFD
3. Compute all
external reation
Step (1)
5
3
4
3
9. Member d.o.f
6. Structure d.o.f
3 degrees of
indeterminacy
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Step (2)
Form
1
tan
For small , tan

0 since stretch is
when joint is moved in x-direction & for member 1
Others = 0
1
1
0
Others = 0
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4
1
Others = 0
Others = 0
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Others = 0
1
Others = 0
218
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Influence of
219
etc.
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Step (3)
0
0
1000
0
0
0
0
0
Note: Size of matrix is (MDOF x MDOF i.e. 9 x 9)
Step (4)
6
Step (5)
10
1
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10
0
| |
0
0
0
0
Step (6)
| |
| |
17.54
0.092

4.165
17.34
0.092

4.092
10
Movement of joint
0.092
17.8
4.165
10
Step (7)
+ ve tension
3.062
1
8.918
6.142
4.980
| |
| |
6.142
6.106
3.062
6.106
8.834
221
end moment
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BMD/SFD/AFD
From analysis provides the axial forces & member moments | | due to | |. Internal axial
forces/bending moments/shear forces are best represented by diagrams.
For a 2D frame, BMD, SFD & AFD are drawn by plotting the individual diagram for each
member on the members themselves.
Recall
Indicates direction
Equilibrium
Constant
Constant
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If the BMD is plotted positive down then changing the x-direction for the member doesnt
change the shape of the BMD, but it does change the signs
Consequently, BMD are plotted on the tension side

omitted.
the sign/member direction are often
No sign
tension
Conversely, changing the member direction does change the shape of the AFD & SFD
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i.e.
S.F.D
Member
different shape
A.F.D
Member
Hence, on both the AFD & SFD member direction should always be indicated by a small
arrow on the member i.e. in direction of positive .
Note: This applies to diagrams for frames & trusses

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It is preferable to run members from left to right & bottom to top (but doesnt really matters
provided you indicate the direction)
e.g.
: Tension side
convention
Note: When member loads are included AFD & SFD will also vary along the length of the
member.
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(tension side convention)
BMD
6.106
1. Equilb
2. Tension side
remains same
6.106
6.142
6.142
(from | |)
8.918
8.834
Support moments
8.918
8.834
S.F.D
.
3.062
5.02
226
4.98
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5.02
4.98
Horizontal reactions
= End Shears
5.02
4.98
A.F.D
3.062
3.062
4.98
3.062
3.062
227
Vertical reaction
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Reactions
10
5.02
4.98
3.062
3.062
8.918
8.834
Load Paths
These diagrams show how the load is being carried from the point of application through to
the supports i.e. the load path. This structure has 2 load paths.
(1)
5.02
load carried
i.e. bending causes shear
by shear
5.02
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(2)
4.98
load carried in compression

load carried
by shear
4.98
Since the structure is indeterminate, stiffening the members in one load path will attract load
away from the other e.g. what happens if
of the right hand column is 10
10
reduced shear
increased shear
10
Could test by changing
in
. In an indeterminate structure stiffness attracts loads.
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Rigid Jointed Frames with Inclined Members

If members are inclined, when generating
break the unit displacement into components
normal & parallel to the member (original position)
Parallel component Stretching

Normal component Divide the member length to give rotation
For a joint movement in the x-direction
- stretch
Original position
tan
A.C.W member end rotation +ve
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For a joint movement in the y-direction
- stretch
Example
20
3
10
100,000
1000
Plot BMD, SFD & AFD

3
pin
4
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Step (1)
4
3
9 . . .
7 . . .
Matrix Sizes
5
7
1
| |9
Step (2)
1
C.W
232
| || | 7
1
1
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1
1
1
1
1
1
Others = 0
233
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1
1
0
234
ENSC3008

2016
1
1
1
Others = 0
1
Others = 0
235
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Influence of
Step (3)
Form
in usual way 9
Step (4)
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Step (5)
0
20
10
| |
5
0
0
0
Step (6)
| |
| |
Step (7)
27.065
11.739
1.244
7.701
| |
| |
11.244
4.035
7.065
4.035
0
pin
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BMD (kNm)
4.035
1.244
11.24
11.24
1.24
10
11.739
applied moment
Reactions:
11.739
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S.F.D
3.055
.
.
.
4.327
0.673
4.327
0.673
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A.F.D
7.701
27.067
7.065
27.067
7.067
Check global equilibrium in own time

(i.e.
0,
240
0 &
0)
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Member end Rotations: Positive (ACW) Negative (CW)?

To maintain the same angle of connection between the joint and the rigidly connected
member, the member ends must rotate in the opposite direction to the rotation of the member
centreline (for forming
)
ACW Member end rotations

Original position
Member centreline rotates clockwise
CW Member end rotations

Original position
Member centreline rotates A.C.W
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General Restraint Conditions for Frames

So far
Unrestrained
2
3
1
Full Fixed
Model
Pinned supports
1
Joint
pin
Note: the pinned restraint could be modelled with the joint on the other side of the pin
i.e.
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In this case the joint is fixed & has no structure d.o.f. However, we must account for the pin
when forming
(like an internal hinge)
Others
Pinned roller x
2
1
Fixed roller x
Pinned roller y
1
2
Fixed roller y
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Frames with Member Loads

So far we have analysed frames with loads only at the structure d.o.f.s Now apply the work
done for beams and bars with member loads (i.e. distributed or intermediate point loads) to
frames.
Basic principles remain the same
1. Lock joints from displacement/rotation (i.e. hold structure d.o.f at zero) and solve
Fixed ended soln
Equivalent structure
actions
Final Soln
Cancel out
Disp
+
Fixed ended soln
=
Equivalent structure
actions
244
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B.M.D
Equilibrium
Fixed ended
Example
100,000
1000
3
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2
5
3
4
3
Note: Already have
&
as they are same as example problem from last week

(see notes).
1. Lock joints & calculate the fixed ended actions
Columns
no loads
no fixed ended actions
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Beams
5
4
10
10
Fixed ended actions

B.M.D
10
10
2. Apply reverse of locking actions at joints = equivalent structure actions | | & solve
10
(soln (2))
10
Since equivalent structure actions are applied

at the structure d.o.f, solve using the matrix
stiffness method.
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0
10
20
3
| |
0
10
20
3
0.0483
0.3
| |
| |
10
3.654
0.0483
0.3
3.654
10
2.404
4.840
2.414
| |
| |
1.827
1.827
10
4.840
2.404
Soln (2)
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3. Superpose two solns
4.84
4.84
1.827
10
2.404
1.827
4.84
4.84
10
2.404
Reaction
2.404
2.404
S.F.D
Due | |
2.404
4.840 /3
1.827
1.827 /4
4.840
2.404 /3
249
2.414
0
2.414
4.84
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10
10
10
10
2.414
2.414
2.414
Reactions
2.414
2.414
2.414
A.F.D
2.414
10
2.414
10
10
10
Reactions
10
250
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Multiple Members at a joint

2
1
5
3
8
5
15 MDOF
7
6
Fixed ended soln
3.75
4
10
3.75
3
10
7.5
7.5
10
17.5
7.5
3.75
3.75
2.917
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0
10
20
3
0
| |
17.5
2.917
0
7.5
3.75
soln proceeds in usual way.
Assignment II due Wednesday
Note: Will always equilibrium of all members attached to joint
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Loads on sloping members
So far we have looked at transverse loads, which act normal to members
In general, a load may have components both normal & tangential to the member e.g.
Normal components moments & shears but no axial
Tangential Component (i.e. along member) axial force only
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Standard fixed ended solutions for tangential loads
A.F.D
A.F.D
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For non-standard cases, solve the member axial d.e to find fixed ended soln
In general, member loads are broken into normal and tangential components in order to find
the fixed ended solution. This can be done using similar triangles.
Fixed ended solutions of uniformly distributed loads (U.D.L)
B.M.D
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A.F.D
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A.F.D
Other loads (e.g. a non-central point load) will have both vertical & horizontal fixed ended
forces.
Example
3
100,000
1000
3
3
4
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,
This frame was analysed in previous lectures so already have
4
3
5
7
1
9
7
2
Fixed ended soln

Columns none
Beams
8.33
8.33
12.5
12.5
258
5
5
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12.5
12.5
8.33
8.33
0
12.5
8.33
0
| |
0
12.5
8.33
0
| |
| |
12.94
1.78
4.39
0.96
| |
| |
3.95
3.12
12.05
5.12
0
pin
Now drawing the BMD, SFD & AFD by superposing the fixed ended soln directly
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BMD
8.33
3.12
5.12
5.12
8.33
3.95
4.39
3.12
4.39
Dashed line = moments

from | | due to | |,
3.95
Need to superpose fixed
1.78
ended actions onto this.
Reactions
1.78
S.F.D
1.78
4.34 /3
3.95
5.12
0.17
0.87
3.12 /5
0 /6
0.17
0.87
9.83
0.17
10.17
0.17
0.87
0.87
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Reactions
0.87
0.87
Equal & opposite
A.F.D
0.96
6.54
0.96
0.96
8.46
0.673
12.05
12.95
Reactions
12.95
12.05
261
Vertical Equilibrium
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Second Example
Same frame, different load case
20
2.5
2.5
12
1
4
Fixed ended soln
A.F.D
12
(Standard soln)
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Beam
20
10
10
20
20
16
12
10
10
B.M.D
S.F.D
A.F.D
10
16
12
10
10
8
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Reverse of fixed ended Actions
10
10
18
10
10
0
18
10
0
| |
0
10
10
0
Shear Deformation
So far we have assumed that all beam displacements under transverse loads are due to
bending
i.e.
= transverse displacement
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This gave the general member stiffness equation
This assumes that the shear forces & hence shear stress in the beam causes no deformation
i.e.
plane sections remain plane
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However, shear forces in the beam will also cause deformation
Shear strain (deformation due to shear)
Plane section no longer plane
For small deflections, we ignore interaction between shear & bending deformation & simply
superpose
To work out the shear deformation
G= Shear Modulus
Hooks Law
2 1
= Poissons ratio
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However, shear stress in not constant over the depth of a beam:

Profile of
= Area
To take this into account we will use an effective shear area

shear stress
to compute the average
Shear force
For a rectangular beam,

1.2
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What about I-beams?
Magnitude of
It is only shear in the web which carries . i.e. we use the area of the web
effective shear area
to compute the
i.e.
1.2
for an I-beam on its side
effective shear area

.
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Concrete box girder
Effective web
.
Once we know the average shear stress we can work out the average shear strain

hence
Consider the effect of shear deformation on simple cantilever

e.g.
(Standard soln found by solving beam d.e)

S.F.D
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tan
For a steel rectangular beam

Poissons Ratios = 0.3
12
2.6
1.2
Parametric study
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1.0078
1.0312
1.0867
1.195
(Aspect Ratios)
10
5
3
2
Standard beam assumption

not valid as bending alone will
underestimate total deflection
More significant for large I beams- (UB) and composites
e.g. 610 UB 125
depth
kg/m
large flanges at large
distance from .
large
small web
small
1.0267
1.1068
1.2467
1.6627
(Aspect Ratios)
10
5
3
2
beam bending only

assumption not valid
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Composites can be worse because is increased, while
is virtually unchanged
Concrete
Steel UB
Web area is largely unchanged
Including shear deformation into matrix stiffness method
Since we can directly add the bending & shear deformation (small disp assumption) it is
easiest to start from member flexibility matrix
| |
| |
1
3
1
6
Due bending
1
6
1
3
Member flexibility matrix

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For equilibrium, the beam must have constant shear
This shear will cause deformation
Where
The movement of the centreline causes effective member end rotations of
due shear
1
3
1
6
1
6
1 1
1
3
1 1
bending
shear
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Introduce dimensionless section properly
12
1
1
3
1
1
6
4
2
1
1
6
1
1
3
2
4
Member flexibility matrix

including shear
Inverting

including shear deformation
As 0, the shear component disappears & the matrix goes back to standard form (i.e.
bending deformation >> shear deformation)
Removing constant
is the important factor
If is of similar magnitude to
Conversely if
then shear deformation will be significant.
then
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Single member stiffness for a general frame member (axial deformation included)
0
0
Axial stiffness unaffected by shear

Effect on member fixed ended Actions
If the member loads are symmetric (e.g. u.d.L
or central point load
shear deformation does not change the fixed ended actions.
However, the central deflection will be increased.

e.g
Fixed ended actions are unchanged
Deflections
Bending
(Standard soln)
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S.F.D
(at centre)
Conversely, if the member loads are unsymmetric fixed ended actions are changed e.g. noncentral point load.
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Standard fixed ended action (neglecting shear deformation i.e. solving
B.M.D
S.F.D
From these shears, we can work out the shear deformation (tan
small deflection)
L.H.S
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R.H.S
Together
0.5
0.4
0.3
0.2
0.1
0.25
0.26
0.24
0.18
0.1
0.25
0.21
0.15
0.08
0.03
0 No gap (symmetric load)
(i.e. symmetric load)
0
(i.e. gap at right hand support)
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Obviously a gap doesnt exist so our fixed ended moments (computed assuming bending
deformation only) must be wrong. They must be corrected to remove .
We do this by making the beam bend i.e. superpose
The change in member end rotations to restore compatibility is:
(CW)
Can now use the member stiffness (which includes shear deformation) to find the
corresponding changes in fixed ended moments &

6
1

Subst
12
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2 1
Superpose for fixed ended moments i.e.
If 0 then
0 & we have the original fixed ended soln.
Shear forces
Complex! If you can split members up by adding joints to make loads symmetric then do so!
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e.g.
Addition member/structure dof, but fixed ended solutions are easier.
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Example

now update
Using previous frame so already have
4
3
100,000
Beam
7
1000
6
9
1200
Column
1600
Column 1
12 1000
1600 3
0.8333
Beam
reducing importance of
shear deformation
12 1000
1600 5
0.4
Column 2
12 1000
1600 6
282
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0
0
0
0
0
1000
0
0
0
0
as usual.
Load case (1)
(Done previously without shear deformation)
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2016
component is symmetric about midpoint of beam, so fixed ended actions are
unchanged by shear deformation
0
12.5
8.33
| |
0
12.5
8.3
0
Unchanged see previous example
| |
| |
| |
| |
12.979
1.917
4.412
0.953
| |
3.921
3.343
12.021
4.990
0
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Load case (2)

20
16
2
12
is unsymmetric (i.e. about midpoint of beam). Two solution options
- Use formula from before

- Then proceed as usual
285
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Or
Insert additional joint at load point

adds 3 number & structure d.o.f
- No unsymmetrical loading
- No fixed ended soln
- Larger matrices
Shear deformation summary

1. Shear deformation can change the bending stiffness of structural elements
altering the distribution of shear & moments within an indeterminate structure.
2. Usually only significant for short stocky members with small web areas.
3. Can be important for composite (steel-concrete) beam large I small
4. Fixed ended actions are altered only for unsymmetric loading.
5. Dont forget about it just because it can be ignored in most situations.
Reactions and Prescribed Displacements

So far we have computed reactions from equilibrium (with internal actions) and have not
developed a general method for solving problems with prescribed displacements.
Settlements of supports (e.g. foundations) can cause significant redistribution of load within a
structure.
e.g. 2 span beam
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Before
B.M.D
After.B.M.D
Say 50
of differential settlement
The maximum (differential) settlement may be estimated from geotechnical analyses & must
be applied to the structure as a load case.
We will now extend the matrix stiffness method to include prescribed (imposed)
displacement and explicitly calculate reactions.
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How?
Restraints (supports) can be thought of as structure d.o.f at which we know the
displacement/rotation i.e. zero (our usual restraint condition) or a prescribed displacement
(e.g. 50
)
5
3
4
3
Unstrained
structure d.o.f
12
9
Restrained
10
structure d.o.f
11
4
If 0 then these structure d.o.f do not affect the member d.o.f.s and so far we
have ignored them. To find the effect of prescribed displacement at these d.o.f.s And/Or to
compute reactions explicitly we must include them.
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Compatibility
Unrestrained structure d.o.f
| |
Augmented compatibility
matrix
289
Restrained
structure d.o.f
ENSC3008
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| |
- usual compatibility
- Compat between retrained structure d.o.f & member d.o.f
| | - Disp/rotn of unrestrained structure d.o.f (unknown)
| | - Disp/rotn of restrained structure d.o.f (known)
| | - No changes (member action only)
| |
Previously showed by joint equilibrium that

| |
| |
Similarly can be shown that

| |
|
| - Structure action associated with restrained d.o.f (i.e. reactions)
Subs
| |
| | into above
Augmented structure stiffness matrix

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Where
- usual structure stiffness matrix
- Relates the disp/rotn at the restrained structure d.o.f & the actions at the unrestrained
structure d.o.f
- Relates the displacement/rotn at the restrained structure d.o.f to the actions at the
restrained structure d.o.f
How large is each portion of the augmented structure stiffness matrix

Num of unrestrained structure d.o.f
Num of restrained structure d.o.f
Looking at the final matrix equation

known
unknown
unknown
known
known
So
| |
| |
291
| |
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If the displacement at restrained d.o.f are zero

| |
0 | |
| | (as before)
However, if prescribed disp are non-zero, the new equation allows the rest of the structure
disp to be found. After this step
are now known. Hence to find the forces at the restrained
structure d.o.f (i.e. reaction)

|
| |
| |
Note: | | are only the reactions due to the equivalent structure actions | |. For the complete
son, any fixed ended reactions
must be superposed.
|
Summary: for finding reactions & including prescribed displacements
1. Add restrained structure d.o.f at points where:

a) Prescribed displacement occur and/at
b) Where you want to explicitly calculate the reactions
Then augment the compatibility matrix
| |
2. Form
(in usual way), then form the Augmented structure stiffness matrix by
multiplication.
Define size of each portion manually

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3. Form | | (from fixed ended soln) & | | & use the top of the matrix to find disp/rotn
at unrestrained structure d.o.f | |
| |
| |
| |
4. Find member actions, superpose fixed ended actions

| |
&
| |
| |
due | |
complete
fixed
5. Use the bottom portion of the matrix to find reactions due to | | & superpose fixed
ended reaction
|
| |
Or
|
|
|
|
complete
| |
|
| |
due to
fixed
Example 1
Beam
8
1000
1.5
3.5
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Compute member actions & all reactions explicitly when there is 5

central support.
settlement of the
4
3
3
Compatibility

unrestrained structure d. o. f
| |

294
restrained structure d. o. f
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1000
4
3
2
3
2
3
4
3
4
5
2
5
2
5
4
5
1333
667
667
667
667
2133
400
667
427
240
400
800
667
667
444
667
427
240
Manually partition
295
240
240
444
0
420
444
540
96
240
0
96
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Fixed Ended Actions
5.88
3
3.5
6.272
1.728
Standard Solutions
Hence
3
| |
5.88
2.88
2.52
6
6
6.272
12.272
1.728
Top portion of matrix

0
| |
| |
2.52
| |
0.005
0
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| |
667
667
667
247
240
240
3.33
0.005
240
2.133
1.2
Reactions
1.717
|
| | 2.075
0.358
Or
|
| |
| |
Superpose with fixed ended actions

1.717
|
2.075
6
12.272
0.358
1.728
4.283
14.347
1.370
4
20
vertical equilibrium satisfied
4.283
14.347
1.370
Alternative: can calculate from S.F.D

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Example (2)
5
/
1800
120,000
1200
3
Fixed member actions when

left hand support settles by
& moves to the right
by 5
.
Reactions are Not required.
Shear deformation to be
included.
6
4
5
3
7
2
2
1
9
Insert restrained structure d.o.f only where prescribed
disp occurs of full reactions not required.
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0.005
| |
0.008
Fixed Ended Soln

4
10
10
0
0
10
20
3
| |
0
10
20
3
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0.333333
0.333333
0.333333
0.333333
0.25
0.25
0.25
0.25
0.333333
0.333333
2
7
Column
0.888889
Beam
0.5
300
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2016
1035.294 235.2941
235.2941 1035.294
30000
900 300
300 900
40000
1035.294 235.2941
235.2941 1035.294
301
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1035.294
423.5294
235.2941
423.5294
30282.35
423.5294
40150
300
150
300
235.2941
423.5294
300
1935.294
300
300
30282.35
150
300
40150
30000
423.5294
0
300
282.3529
0
300
423.5294
40000
0
30000
423.5294
423.5294
282.3529
300
0.003775
0.003265
0.00825
0.001735
0.003314
0.00025
0.005679
423.5294
40000
423.5294
0
1035.294
300
282.3529
40000
0
0
10
6.666667
0
10
6.6666667
9.983191
8.88
16
4.408719
1.469573
2.257948
2.1907111
10.01681
4.475956
0.067237
0.005
0.008
2.117647
1.411765
320
2.117647
0
0
0
0
0
0
0
6.6666667
6.666667
0
0
0
302
2.117647
1.411765
330
4.54902
0
10
6.666667
9.983191
8.88
16
4.408719
1.469573
4.408719
4.475956
10.01681
4.475956
0.067237
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Draw BMD, SFD, and AFD in the usual way

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Further extensions to the Matrix Stiffness Method

1. Step change in member section property for a rigid jointed frame.
Solve as for beams i.e. Insert a joint at change point and solution proceeds as usual.
2. Internal pins for a rigid jointed frame again solve as for beams i.e. insert a joint
adjacent to hinge
- Modify
Alternative: Remove member d.o.f at hinge and modify
PIN
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PIN
PIN
Modifies fixed ended solution e.g.

Solution proceeds as usual.
PIN
3. Reminder: All work done solving the beam d.e.s to obtain displacements
and
and hence internal actions
,
and
under any condition of axial
and transverse loading may be used to obtain the fixed ended actions which are
needed for the matrix stiffness method.
e.g.
Solve d.e to obtain

fixed ended solution
locking actions
Boundary
Conditions
Installation temp
305
Reverse =
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Note: For common loading conditions

,
, the d.e.s have been solved to provide
standard solution. Since analysis is linear, these solutions may be superposed.
e.g.
Thermal Loading
Can also be treated separately and superposed.
Operating temp.
Installation Temp
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At
Linear variation
Change from installation temp
Beams/Rigid jointed frame members

Axial Force
Fixed ended moments
Truss members (bars)

No fixed ended moments
4. Since analysis is linear, the results from various loads may be directly superposed.
e.g.
Dead G {
Live Q
1.2
1.5 1.2
307
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5. 3D frames.
Most real structures can be idealised as 2D rigid jointed frames/trusses. However,
some structures have significant 3D behaviour and must be analysed as such e.g.
Bridge deck (grillage), towers subject to trust, etc.
The matrix stiffness method can be extended to do this.
Joints: If unrestrained, can translate and rotate in 3 directions.
2
3
1
4
3
Or drawing rotations as a double headed arrow [Right hand rule to give direction].
3
6
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Members. Previously stretch, bend about are principal axis. Now: bend about a second
principal axis + trust (torsion)
5
3
4
+
2
1
6
Displaced Shape
Twist
Displaced Shape
Or using rotation as above
Elevation
5
4
Plan
2
3
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So local stiffness (are member)
In-plane bending
Axial
2,3
Out of plane bending 4,5
0
0
0
0
Twist
6
Non-zero term if unsymmetric bending
Since
.
Touque
twist
Solving problems
(1) Assign member & structure d.o.f
(2) Compatibility
Formed in usual way Matrix
Much larger. Note: rotation of joint may cause both member and rotations AND trust
of connected members
13 18
7 12
19 20
1 6
Member d.o.f 1 6 etc.
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ENSC3008
(3)
(4)
2016
Assemble 6
6 matrices along main diagonal in the usual way.

. etc.
Method proceeds in usual way.
This analysis is too complex to do by hand.

Use a frame analysis program e.g. Multiframe or Space Gass. In these programs specify
(1)
(2)
(3)
(4)
Co-ordinates of nodes (joints)

Members connected between nodes.
Individual member properties e.g. , , , etc.
Connection between joints and members (e.g. Rigid or pin, etc.)
Member/Structure d.o.f. are automatically assigned.

loads are user specified and
is
From (1) to (4) program can form
,
automatically found from pre-programmed Standard Solutions. The program then follows
the same steps as weve used to compute and display the final solution.
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Summary
A course in analysis of 2D structures
Beam/bars
Pin-joined trusses
Rigid frames
Small deflection theory break the behaviour of member into axial & transverse
components.
Differential equations for a single member can be solved independently for two components
if the boundary conditions are known.
For more complicated structures, the members interact, so member end conditions are not
known. Two possible solution options
1) Flexibility/force Method
Soln 1:
-
Introduced releases so member end conditions are known
Compute disp/rotn in each release
Soln 2
-
Solve force/moments in releases to simultaneously reduce all release disp/rotn to

zero
2) Stiffness Method (disp method)

Soln 1.
-
Fixed, so end conditions are known
Compute the fixing actions
Soln 2.
-
Solved for disp/rotn at structure d.o.f (i.e. | |) to educe fixing actions to zero
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Matrix Stiffness Method
Member d.o.f & structure d.o.f

Degree of indeterminancy =
# . . .
Compatibility

| |
# . . .
| |
Structure Stiffness
| |
| |
| |
For each load case
| |
Find fixing action
Reverse = Equivalent structure actions
Structure disp | |
Member actions
Superpose
| |
for complete soln

| |
| |
Enhancements
Thermal loading - affects
Internal hinges - affect
& | |
,| |
Optionally
-
Shear deformation - affects
& for unsymmetric loads affects

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-
2016
Prescribed displacements - restrained structure d.o.f
Manual
| |
| |
| |
Reactions
|
Fixed ended reactions
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2016
Exam
2hr & 10 minutes
Focus is on Matrix Stiffness Method

-
No manual stiffness/flexibility
3 Question
-
Beam
Truss
Rigid jointed frame
Not all worth same marks
Must know fixed ended soln for standard load cases given in lectures
- symmetric
Must be able to compute fixed ended actions for a member with thermal loads
Must be able to compute & draw BMD, SFD & AFD

-
Titles
Units
Arrows (where appropriate)
Must be able
No past exams
Redo tutes & Assignments.
The following formulae will be provide in exam
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Formulae
Member stiffness matrix (trusses):

EA
{S1} = l * {s1}
Member stiffness matrix (beams, no shear deformation):

S1
=
S2
4EI
l
2EI
l
2EI
l
4EI
l
s1
*
s2
Member stiffness matrix (beams, including shear deformation):

S1
=
S2
(4+)EI
(1+)l
(2-)EI
(1+)l
(2-)EI
(1+)l
(4+)EI
(1+)l
s1
*
s2
Inverse of a 2x2 matrix:

a
-1
1 d
= ad-bc
-c
-b
316
where =
12 EI
GAs l 2

ENSC 3008 Lecture Notes 2016

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ENSC3008

Structural Analysis ENSC3008

Analyse under design

b) Plane sections remain plane after application of loads

there will be some variation of normal stress

The normal stress distribution at

can be represented by 2 stress

acting through the neutral axis of the member

= width of beam as a function of the height

2. A resultant internal bending moment

Internal Sign Convention

The resultant of the shear stresses is the shear force.

Where sign convention is

Internal sign convention

_______ normal stress

The use of the above stress resultants simplifies design in 2 ways:

Bending Moment Diagram

2. Strength (i.e. capacity) of a potential section can be determined in terms of stress

Checking for Serviceability:

and the transverse & axial

Member Subject to Axial Loads:

denotes the variation of

Consider a bar fixed at one point so that

Equilibrium in the x-direction

Note: Summation applied to a distributed load becomes an integral.

) by cutting the beam at a distance

We now have a simple function for the internal stress resultant

, so can plot the axial

Now need to find displacements

relating the displacements to the axial force

Assuming plane sections remain plane

& constant cross-sectional area

Or if indefinite integrals are used

From the boundary conditions (BCs)

Displacement at the free end of the bar is found by substitution.

We can also plot the displacement function

2. Find axial force

from equilibrium of a cut section (at ) & integration

3. Solve the differential equation

and impose B.Cs to find the

is the applied load

0 provides the constant

& equilibrium (at the free end

So applying the more general approach to the same problem

Impose displacement B.C

Note: This approach is general provided we can express the load

Integration & differentiation can be applied in the usual way:

0, the Macaulay Bracket is equivalent to a step function.

This makes it possible to solve the problem at hand. i.e.

Can now apply general procedure to compare

Patch loading using Macaulay Bracket

& has the properties

& a point load has been represented.

We represent this load as

Integrate once to get

& solve the

Macaulay Brackets can be used to account for sudden changes in cross-section

Statically Indeterminate Structures

One equation of equilibrium

This equation involves constitutive information

& internal equilibrium

and is valid for both determinate and indeterminate axial bars.

Both B.Cs are on displacement