University of Engineering & Technology

Peshawar, Pakistan

CE301: Structure Analysis II

Module 10:
Analysis of Indeterminate Pin Jointed Frames
(Trusses) & Beams Using Direct Stiffness method

By:
Prof. Dr. Bashir Alam
Civil Engineering Department
UET , Peshawar
 Topics to be Covered
• Introduction
• Prerequisites for using direct stiffness method for Trusses
• Member and nodes
• Kinematic indeterminacy
• Elemental and structural stiffness matrices
• Elemental and structural stiffness matrices Problem
• Analysis Problem 1, 2 & 3
• Direct stiffness method for beams
• Problems 1 & 2
• References
 Direct Stiffness Method for Trusses

 Introduction:
Trusses are analyzed with direct stiffness method due to
• To solve the problem in matrix notation, which is more systematic
• To compute reactions at all the supports reactions and unknown member
forces in a large and complicated structure for which the stiffness method
discussed in previous module appear to be inefficient.
• This procedure provides the basis for most computer programs to analyze
the structure.
 Direct Stiffness Method for Trusses
 Introduction:
Application of the direct stiffness method requires subdividing the
structure into a series of discrete finite elements and identifying their
end points as nodes. For truss analysis, the finite elements are
represented by each of the members that compose the truss, and the
nodes represent the joints. The force-displacement properties of each
element are determined and then related to one another using the
force equilibrium equations written at the nodes.
 Direct Stiffness Method for Trusses
 Introduction:
In this method each individual element is treated as a structure and
structure stiffness matrix is obtained for this element and the Total
structure stiffness matrix can be obtained by superimposing the
structure stiffness matrices of the individual elements. Once it is
established, the unknown displacements of the nodes can then be
determined for any given loading on the structure. When these
displacements are known, the external and internal forces in the
structure can be calculated using the force displacement relations
for each member.
 Direct Stiffness Method for Trusses

 Prerequisites for Analysis with Direct Stiffness method:

It is necessary that students must have strong background of
the following concepts before starting analysis with direct
stiffness method.
• Enough concept of Matrix Algebra
• Must be able to find the kinematical Indeterminacy of trusses
• Enough concept of trigonometry
• Must know the analysis of structures using indirect stiffness method.
 Direct Stiffness Method for Trusses
Before developing a formal procedure for applying the direct stiffness
method, it is first necessary to establish some preliminary definitions
and concepts.
1. Member and Node identification
2. Local and global coordinates
3. Kinematic indeterminacy
4. Elemental and structural stiffness matrices
 Direct Stiffness Method for Trusses
1. Member and Node identification:
One of the first steps when applying the stiffness method is to
identify the elements or members of the structure and their nodes.
We will specify each member by a number enclosed within a
square, and use a number enclosed within a circle to identify the
nodes. Also, the “near” and “far” ends of the member must be
identified. This will be done using an arrow written along the
member, with the head of the arrow directed toward the far end.
Examples of member, node, and “direction” identification for a truss
are shown on next slide.
 Direct Stiffness Method for Trusses
1. Member and Node identification:
 Direct Stiffness Method for Trusses
2. Local and global coordinates:

i) Local or member or element coordinate system:

In this coordinate system x-axis is collinear with the longitudinal axis of
the element or member. Element stiffness is calculated with respect to this
axis. This system is illustrated in figure 3.1 on next slide.

Element 'A' Element 'B'

 Direct Stiffness Method for Trusses
2. Local and global coordinates:
ii) Structure or global coordinate system:
A single coordinate system for the entire structure is chosen, with respect to
which stiffness of all elements must be written.

Local or member
or element axes
for element 'A'

Local or member
or element axes for
element B

A B

Structure or Figure 3.1

globel axes
 Direct Stiffness Method for Trusses
3. Kinematic Indeterminacy of Trusses:
• The truss is said to be kinematiclly indeterminate when the total
number of degrees of freedom at joints exceeds the no of
reactions forces.
• At each joint there are two degrees of freedom but joints where
supports are present , reduce the degree of freedom according to
their nature at that joint , Roller support can restrained only
perpendicular settlement to it & hinge support can restrained both.

K. I = 2𝑗 − 𝑟
where j and r are number of joints and unknown reaction components
respectively.
 Direct Stiffness Method for Trusses
• Example: Find the KI of the truss shown in fig.

For the given truss , KI will be

r=4, j=4
K. I = 2𝑗 − 𝑟 = 2 ∗ 4 − 4 = 4 ∘
 Direct Stiffness Method for Trusses
4. Elemental and Structural Stiffness matrix:
Combining the stiffness matrix of the individual members can
generate the stiffness matrix of a structure However the combining
process should be carried out by identifying the truss joint so that
matrix elements associated at particular member stiffness matrices
are combined. The procedure of formation of structure stiffness
matrix is as follows:
 Direct Stiffness Method for Trusses
4. Elemental and Structural Stiffness matrix:
i. Individual element stiffness matrices for each member
The method of formation of elemental matrix has been explained in
last module. Let we have a member as shown then elemental matrix
is given as
 Direct Stiffness Method for Trusses
4. Elemental and Structural Stiffness matrix:
i. Individual element stiffness matrices for each member

Y 𝑋𝑘 − 𝑋𝑗
y sin 𝜃 =
x 𝐿

𝑦𝑘 − 𝑦𝑗
k D4 cos 𝜃 =
𝐿

𝑦𝑘 𝑦𝑘 − 𝑦𝑗 L D3
D2 x & y are member/local
j θ coordinate system.
𝑦𝑗 D1 D1, D2, D3 & D4 are
X the degrees of freedom
𝑋𝑗 𝑋𝑘 − 𝑋𝑗 global axes X & Y.

𝑋𝑘
 Direct Stiffness Method for Trusses
4. Elemental and Structural Stiffness matrix:
i. Individual element stiffness matrices for each member
𝑆11 𝑆12 𝑆13 𝑆14
𝑆21 𝑆22 𝑆23 𝑆24
𝑆 =
𝑆31 𝑆32 𝑆33 𝑆34
𝑆41 𝑆42 𝑆43 𝑆44

𝑥𝑘 − 𝑥𝑗 2 𝑥𝑘 − 𝑥𝑗 (𝑦𝑘 − 𝑦𝑗) − 𝑥𝑘 − 𝑥𝑗 2 − 𝑥𝑘 − 𝑥𝑗 (𝑦𝑘 − 𝑦𝑗)

𝐸𝐴 𝑥𝑘 − 𝑥𝑗 (𝑦𝑘 − 𝑦𝑗) 𝑦𝑘 − 𝑦𝑗 2 − 𝑥𝑘 − 𝑥𝑗 (𝑦𝑘 − 𝑦𝑗) − 𝑦𝑘 − 𝑦𝑗 2
= 3
𝐿 − 𝑥𝑘 − 𝑥𝑗 2 − 𝑥𝑘 − 𝑥𝑗 (𝑦𝑘 − 𝑦𝑗) 𝑥𝑘 − 𝑥𝑗 (𝑦𝑘 − 𝑦𝑗) 𝑥𝑘 − 𝑥𝑗 (𝑦𝑘 − 𝑦𝑗)
− 𝑥𝑘 − 𝑥𝑗 (𝑦𝑘 − 𝑦𝑗) − 𝑦𝑘 − 𝑦𝑗 2 𝑥𝑘 − 𝑥𝑗 2 𝑦𝑘 − 𝑦𝑗 2

𝐶2 𝐶𝑆 −𝐶2 −𝐶𝑆 𝑋𝑘 − 𝑋𝑗
𝐸𝐴 𝐶𝑆 sin 𝜃 =
𝑆2 −𝐶𝑆 −𝑆2 𝐿
𝑆 =
𝐿 −𝐶2 −𝐶𝑆 𝐶2 𝐶𝑆
𝑦𝑘 − 𝑦𝑗
−𝐶𝑆 −𝑆2 𝐶𝑆 𝑆2 cos 𝜃 =
𝐿
 Direct Stiffness Method for Trusses
4. Elemental and Structural Stiffness matrix:
ii. Structure Stiffness matrix
• Form a square matrix, whose order should be equal to that of
structure deformations.
• Place the elements of each individual element stiffness matrix
framed into structure in the corresponding rows and columns of
structure stiffness matrix.
• If more than one element are to be placed in the same location of
the structure stiffness matrix then those elements will be added.
 Direct Stiffness Method for Trusses
4. Elemental and Structural Stiffness matrix:
ii. Structure Stiffness matrix
• Following figure shows the above mentioned process

Structure 1
stiffness matrix
2

1 & 2 shows near and far 3

end of the member

Structure
stiffness
1 2 Structure
stiffness
matrix for matrix for
member-1 2 3 member-2
 Direct Stiffness Method for Trusses
4. Elemental and Structural Stiffness matrix:
ii. Structure Stiffness matrix

In the matrix the

element in the
second row and
second column is
k1+k2 where k1 is for
member 1 and k2 is
for member 2.This is
because both k1 and
k2 have structure
coordinates 2-2.

*1, 2 & 3 are the near and far ends of the members
 Direct Stiffness Method for Trusses
4. Elemental and Structural Stiffness matrix:
iii. Example:
Form the structure stiffness matrix for the following truss.
 Direct Stiffness Method for Trusses
4. Elemental and Structural Stiffness matrix:
iii. Example: Constructing elemental matrix
5 6 1 2
0.432 0.576  0.432  0.576 5
AE 0.576 0.768  0.576  0.768  6

K 1   0.432  0.576 0.432 0.576  1
L
 0.576  0.768 0.576 0.768  2
1 2 3 4
0.432  0.576  0.432 0.576 1

AE  0.576 0.768  2
K 2   0.432 0.576 0.432  0.576  3
0.576 0.768
L
 0.576  0.768  0.576 0.768  4
3 4 5 6
 1.00
 1.00 0 
0 3
AE  0 0 0 0 4
K 3 
L  1.00 0 1.00 0 5
 0 0 0 0 6
 Direct Stiffness Method for Trusses
4. Elemental and Structural Stiffness matrix:
iii. Example: Structural Stiffness matrix

1 2 3 4 5 6
 0.864 0.000  0.432 0.576  0.432  0.576 1
 0.000 1.536 0.576  0.768  0.576  0.768 2
AE  0.432 0.576 1.432  0.576  1.000 0.000  3
K  
L  0.576  0.768  0.576 0.768 0.000 0.000  4
 0.432  0.576  1.000 0.000 1.432 0.576  5
 0.576  0.768 0.000 0.000 0.576 0.768  6
 Direct Stiffness Method for Trusses
Problem 01: Analyze the given pin jointed frame using direct
stiffness method.

1 2
B A

Take E = 30*106 psi

1 2 40 in

C 5000 lb
3
40 in 30 in
 Direct Stiffness Method for Trusses
• Step # 01: Remove all the joints restrains, then determine the
DOF and find global displacement # in 𝑋 and 𝑌 direction.

B A

By removing all the restrains

K.I = 6 degrees
 Direct Stiffness Method for Trusses
• Step # 01: Remove all the joints restrains, then determine the
DOF and find global displacement # in 𝑋 and 𝑌 direction.

• Global displacement # in 𝑋 direction = 2(Global Node #) − 1

= 2 1 −1 = 1
= 2(2) − 1 = 3
= 2 3 –1 = 5

• Global displacement # in 𝑌 direction = 2(Global Node #)

= 2 1 =2
= 2(2) = 4
= 2 3 =6
 Direct Stiffness Method for Trusses
• Step # 01: Remove all the joints restrains, then determine the
DOF and find global displacement # in 𝑋 and 𝑌 direction. All the
known and unknown forces and displacements are shown below

D4
D2 B A

D3
D1

𝐴1 ? 𝐷1 0
𝐴2 ? D6 C 𝐷2 0
𝐴3 ? 𝐷3 0
= =
𝐴4 ? 𝐷4 0
D5
𝐴5 5000 𝐷5 ?
A = joint forces 𝐷6 ?
𝐴6 0
D = joint displacement
 Direct Stiffness Method for Trusses
• Step # 02: Tabulate material properties, geometric properties,
element and nodes numbers.

Element # E(Psi) A(in2) L(in) Global Node # Angle θ

Start End

1 30*106 1.5 56.57 1 3 315o

2 30*106 2.0 50 3 2 53.13o

 Direct Stiffness Method for Trusses
• Step # 03: Construct elemental and structural stiffness matrices.
As we know that elemental stiffness matrix is given by
𝑋𝑘 − 𝑋𝑗
𝐶2 𝐶𝑆 −𝐶2 −𝐶𝑆 sin 𝜃 =
𝐿
𝐸𝐴 𝐶𝑆 𝑆2 −𝐶𝑆 −𝑆2
[K] = 𝑆 =
𝐿 −𝐶2 −𝐶𝑆 𝐶2 𝐶𝑆 𝑦𝑘 − 𝑦𝑗
cos 𝜃 =
−𝐶𝑆 −𝑆2 𝐶𝑆 𝑆2 𝐿

• For element/member 1, θ = 315o

1 2 5 6
𝐸1𝐴1
0.5 −0.5 −0.5 0.5 1 K1 =
𝐿1
−0.5 0.5 0.5 −0.5 2
𝐾 1 = K1 5
−0.5 0.5 0.5 −0.5 = 30 ∗ 106 ∗ 1.5/56.57
0.5 −0.5 −0.5 0.5 6
 Direct Stiffness Method for Trusses
• Step # 03: Construct elemental and structural stiffness matrices.

• For element/member 2, θ = 53.13o

5 6 3 4
0.36 0.48 −0.36 −0.48 5
0.48 0.64 −0.48 −0.64 6
𝐾 2 = K2
−0.36 −0.48 0.36 0.48 3
−0.48 −0.64 0.48 0.64 4

𝐸2𝐴2
where K 2= = 30 ∗ 106 ∗ 2/50
𝐿2
 Direct Stiffness Method for Trusses
• Step # 03: Construct elemental and structural stiffness matrices.

• Now structural stiffness matrix

𝐴𝑠 [𝑆] = [𝐾] = [𝐾]1 + [𝐾]2

1 2 3 4 5 6

0.5𝑘1 −0.5𝑘1 0 0 −0.5𝑘1 0.5𝑘1 1

−0.5𝑘1 0.5𝑘1 0 0 0.5𝑘1 −0.5𝑘1 2
0 0 0.36𝑘2 0.48𝑘2 −0.36𝑘2 −0.48𝑘2 3
𝐾 =
0 0 0.48𝑘2 0.64𝑘2 −0.48𝑘2 −0.64𝑘2 4
−0.5𝑘1 0.5𝑘1 −0.36𝑘2 −0.48𝑘2 0.5𝑘1 + 0.36𝑘2 −0.5𝑘1 + 0.48𝑘2 5
0.5𝑘1 −0.5𝑘1 −0.48𝑘2 −0.64𝑘2 −0.5𝑘1 + 0.48𝑘2 0.5𝑘1 + 0.64𝑘2 6
 Direct Stiffness Method for Trusses
Step # 04: Apply equilibrium condition at the location of the
redundant joint displacement to write equilibrium
equations and solve for unknown joint displacement.
𝐴 = 𝑆𝐷
1 2 3 4 5 6
𝐴1 0.5𝑘1 −0.5𝑘1 0 0 −0.5𝑘1 0.5𝑘1 0
𝐴2 −0.5𝑘1 0.5𝑘1 0 0 0.5𝑘1 −0.5𝑘1 0
𝐴3 0 0 0.36𝑘2 0.48𝑘2 −0.36𝑘2 −0.48𝑘2 0
=
𝐴4 0 0 0.48𝑘2 0.64𝑘2 −0.48𝑘2 −0.64𝑘2 0
5000 −0.5𝑘1 0.5𝑘1 −0.36𝑘2 −0.48𝑘2 0.5𝑘1 + 0.36𝑘2 −0.5𝑘1 + 0.48𝑘2 𝐷5
0 0.5𝑘1 −0.5𝑘1 −0.48𝑘2 −0.64𝑘2 −0.5𝑘1 + 0.48𝑘2 0.5𝑘1 + 0.64𝑘2 𝐷6

𝑫 = 𝑺 −𝟏 • 𝑨
 Direct Stiffness Method for Trusses
Step # 04: Contd.
Reduce the stiffness matrix by removing rows associated with the unknown
forces & columns corresponding to zero displacement values. This leaves the
following equations for this,
0.5𝑘1 + 0.36𝑘2 −0.5𝑘1 + 0.48𝑘2 𝐷5 5000
=
−0.5𝑘1 + 0.48𝑘2 0.5𝑘1 + 0.64𝑘2 𝐷6 0

Putting the values of k1 and k2,

829737.5 178262.5 𝐷5 5000

=
178262.5 1165737.5 𝐷6 0

𝐷5 0.00623
=
𝐷6 −0.00095
 Direct Stiffness Method for Trusses
Step # 04: Contd.
Now to find the unknown reactions at joints reduce the stiffness matrix by
removing rows associated with known forces and columns corresponding to
known joint displacements i.e D = 0
−0.5𝑘1 0.5𝑘1 𝐴1
0.5𝑘1 −0.5𝑘1 𝐷5 𝐴
= 2
−0.36𝑘2 −0.48𝑘2 𝐷6 𝐴3
−0.48𝑘2 −0.64𝑘2 𝐴4
Putting the values of k1, k2, D5 & D6

𝐴1 −2855.84
𝐴2 2857.14
=
𝐴3 −2144.16
𝐴4 −2857.14
 Direct Stiffness Method for Trusses
Step # 04: Contd.
2857.14 lb 2857.14 lb

2855.84 lb 2144.16 lb
B A
1 2

1 2

C 5000 lb
3
 Direct Stiffness Method for Trusses
Step # 05: Member Forces: As we know that in global coordinates each end of
the member can have two degrees of freedom or independent displacements;
namely, joint N has DNX and DNY and joint F has and DFX and DFY . Now to find
member forces we have to determine its component displacement along the
member. For that 1st transformed the global displacement components D in local
displacement and then find change in length of member ΔL.

𝐸𝐴
Force in member = 𝑃 = Δ𝐿
𝐿

𝐷𝑁𝑋
Δ𝑁 𝐶𝑜𝑠θ 𝑆𝑖𝑛θ 0 0 𝐷𝑁𝑌
=
Δ𝐹 0 0 𝐶𝑜𝑠θ 𝑆𝑖𝑛θ 𝐷𝐹𝑋
𝐷𝐹𝑌
Δ𝑳 = Δ𝑵 − Δ𝑭 N = Near End F= Far End
 Direct Stiffness Method for Trusses
Step # 05: Contd.

• For element/member 1, θ = 315o

𝐷1
Δ1 𝐶𝑜𝑠θ 𝑆𝑖𝑛θ 0 0 𝐷2
=
Δ2 0 0 𝐶𝑜𝑠θ 𝑆𝑖𝑛θ 𝐷5
𝐷6
0
Δ1 𝐶𝑜𝑠315 𝑆𝑖𝑛315 0 0 0
=
Δ2 0 0 𝐶𝑜𝑠315 𝑆𝑖𝑛315 0.00623
−0.00095
Δ1 0
=
Δ2 0.00513

Force in member 1 = 𝑃1 = 𝐸𝐿1𝐴1 Δ𝐿1 = 30 ∗ 106 ∗ 1.5(0.00513 − 0)/56.57

1

Force in member 1 = 𝑃1 = 4080.80 𝑙𝑏 ( 𝑇𝑒𝑛𝑠𝑖𝑜𝑛)

 Direct Stiffness Method for Trusses
Step # 05: Contd.

• For element/member 2, θ = 53.13o

𝐷5
Δ1 𝐶𝑜𝑠θ 𝑆𝑖𝑛θ 0 0 𝐷6
=
Δ2 0 0 𝐶𝑜𝑠θ 𝑆𝑖𝑛θ 𝐷3
𝐷4
0.006230
Δ1 𝐶𝑜𝑠53.13 𝑆𝑖𝑛53.13 0 0 −0.00095
=
Δ2 0 0 𝐶𝑜𝑠53.13 𝑆𝑖𝑛53.13 0
0
Δ1 0.00298
=
Δ2 0

Force in member 2 = 𝑃2 = 𝐸𝐿2𝐴2 Δ𝐿2 = 30 ∗ 106 ∗ 2(0.00298 − 0)/50

2

Force in member 2 = 𝑃2 = −3576 𝑙𝑏𝑠 (𝐶𝑜𝑚𝑝𝑟𝑒𝑠𝑠𝑖𝑜𝑛)

 Direct Stiffness Method for Trusses
Step # 05: Contd.
2857.14 lb 2857.14 lb

2855.84 lb 2144.16 lb
B A
1 2

4080.8 lbs 3576lbs

1 2

C 5000 lb
3

Final Analyzed structure

 Direct Stiffness Method for Trusses
Step # 06: Stresses in Members, Now we can easily find stresses in
members
𝑃
stress in member = σ =
𝐴

𝑃1 4080.80
stress in member 1 = σ1 = = = 2720.53 𝑃𝑠𝑖
𝐴1 1.5

𝑃2 3576
stress in member 2 = σ2 = = = 1788 𝑃𝑠𝑖
𝐴2 2
 Direct Stiffness Method for Trusses
Problem 02: Analyze the given pin jointed frame using direct
stiffness method.
40 k

20 k
C

Take E A= constant 10 ft 1
2 20 ft

1
B 2

10 ft 20 ft
 Direct Stiffness Method for Trusses
• Step # 01: Remove all the joints restrains, then determine the
DOF and find global displacement # in 𝑋 and 𝑌 direction.

1
2

1 A

B 2

By removing all the restrains

K.I = 6 degrees
 Direct Stiffness Method for Trusses
• Step # 01: Remove all the joints restrains, then determine the
DOF and find global displacement # in 𝑋 and 𝑌 direction.

• Global displacement # in 𝑋 direction = 2(Global Node #) − 1

= 2 1 −1 = 1
= 2(2) − 1 = 3
= 2 3 –1 = 5

• Global displacement # in 𝑌 direction = 2(Global Node #)

= 2 1 =2
= 2(2) = 4
= 2 3 =6
 Direct Stiffness Method for Trusses
• Step # 01: Remove all the joints restrains, then determine the
DOF and find global displacement # in 𝑋 and 𝑌 direction. All the
known and unknown forces & displacements are shown below.

D6

3
D5

1
2
D2
𝐴1 ? 𝐷1 0
1 A
𝐴2 ? D4
𝐷2 0
𝐴3 ? D1 𝐷3 0
= B 2 =
𝐴4 ? 𝐷4 0
𝐴5 20𝑘 A = joint forces D3 𝐷5 ?
𝐴6 −40𝑘 D = joint displacement 𝐷6 ?
 Direct Stiffness Method for Trusses
• Step # 02: Tabulate material properties, geometric properties,
element and nodes numbers.

Element # EA L(in) Global Node # Angle θ

Start End

1 Constant 169.7 1 3 45o

2 Constant 339.4 2 3 135o

 Direct Stiffness Method for Trusses
• Step # 03: Construct elemental and structural stiffness matrices.
As we know that elemental stiffness matrix is given by
𝑋𝑘 − 𝑋𝑗
𝐶2 𝐶𝑆 −𝐶2 −𝐶𝑆 sin 𝜃 =
𝐿
𝐸𝐴 𝐶𝑆 𝑆2 −𝐶𝑆 −𝑆2
[K] = 𝑆 =
𝐿 −𝐶2 −𝐶𝑆 𝐶2 𝐶𝑆 𝑦𝑘 − 𝑦𝑗
cos 𝜃 =
−𝐶𝑆 −𝑆2 𝐶𝑆 𝑆2 𝐿

• For element/member 1, θ = 45o

1 2 5 6
0.5 0.5 −0.5 −0.5 1
𝐸1𝐴1
0.5 0.5 −0.5 −0.5 2 K1= = 𝐸𝐴/169.7
𝐾 1 = K1 5
𝐿1
−0.5 −0.5 0.5 0.5
− 0.5 −0.5 0.5 0.5 6
 Direct Stiffness Method for Trusses
• Step # 03: Construct elemental and structural stiffness matrices.
As we know that elemental stiffness matrix is given by

• For element/member 2, θ = 135o

3 4 5 6
0.5 −0.5 −0.5 0.5 3
−0.5 0.5 0.5 −0.5 4
𝐾 2 = K2 5
−0.5 0.5 0.5 −0.5
0.5 −0.5 −0.5 0.5 6

𝐸2𝐴2
where K 2= = 𝐸𝐴/339.4
𝐿2
 Direct Stiffness Method for Trusses
• Step # 03: Construct elemental and structural stiffness matrices.

• Now structural stiffness matrix

+
𝐴𝑠 [𝑆] = [𝐾] = [𝐾]1 [𝐾]2

1 2 3 4 5 6

0.5𝑘1 0.5𝑘1 0 0 −0.5𝑘1 −0.5𝑘1 1

0.5𝑘1 0.5𝑘1 0 0 −0.5𝑘1 −0.5𝑘1 2
0 0 0.5𝑘2 −0.5𝑘2 −0.5𝑘2 0.5𝑘2 3
𝐾 =
0 0 −0.5𝑘2 0.5𝑘2 0.5𝑘2 −0.5𝑘2 4
−0.5𝑘1 −0.5𝑘1 −0.5𝑘2 0.5𝑘2 0.5𝑘1 + 0.5𝑘2 0.5𝑘1 − 0.5𝑘2 5
−0.5𝑘1 −0.5𝑘1 0.5𝑘2 −0.5𝑘2 0.5𝑘1 − 0.5𝑘2 0.5𝑘1 + 0.5𝑘2 6
 Direct Stiffness Method for Trusses
Step # 04: Apply equilibrium condition at the location of the
redundant joint displacement to write equilibrium
equations and solve for unknown joint displacement.

𝐴 = 𝑆𝐷

1 2 3 4 5 6
𝐴1 0.5𝑘1 0.5𝑘1 0 0 −0.5𝑘1 −0.5𝑘1 0
𝐴2 0.5𝑘1 0.5𝑘1 0 0 −0.5𝑘1 −0.5𝑘1 0
𝐴3
= 0 0 0.5𝑘2 −0.5𝑘2 −0.5𝑘2 0.5𝑘2 0
𝐴4 0 0 −0.5𝑘2 0.5𝑘2 0.5𝑘2 −0.5𝑘2 0
20 −0.5𝑘1 −0.5𝑘1 −0.5𝑘2 0.5𝑘2 0.5𝑘1 + 0.5𝑘2 0.5𝑘1 − 0.5𝑘2 𝐷5
−40 −0.5𝑘1 −0.5𝑘1 0.5𝑘2 −0.5𝑘2 0.5𝑘1 − 0.5𝑘2 0.5𝑘1 + 0.5𝑘2 𝐷6

𝑫 = 𝑺 −𝟏 • 𝑨
 Direct Stiffness Method for Trusses
Step # 04: Contd.
Reduce the stiffness matrix by removing rows associated with the unknown
forces & columns corresponding to zero displacement values. This leaves the
following equations for this,
0.5𝑘1 + 0.5𝑘2 0.5𝑘1 − 0.5𝑘2 𝐷5 20
=
0.5𝑘1 − 0.5𝑘2 0.5𝑘1 + 0.5𝑘2 𝐷6 −40

Putting the values of k1 and k2,

0.00442 0.00147 𝐷5 5000

𝐸𝐴 =
0.00147 0.00442 𝐷6 0

𝐷5 8459.77 1
= ∗
𝐷6 −11850.57 𝐸𝐴
 Direct Stiffness Method for Trusses
Step # 04: Contd.
Now to find the unknown reactions at joints reduce the stiffness matrix by
removing rows associated with known forces and columns corresponding to
known joint displacements i.e D = 0
−0.5𝑘1 −0.5𝑘1 𝐴1
−0.5𝑘1 −0.5𝑘1 𝐷5 𝐴
= 2
−0.5𝑘2 0.5𝑘2 𝐷6 𝐴3
0.5𝑘2 −0.5𝑘2 𝐴4
Putting the values of k1, k2, D5 & D6

𝐴1 9.97
𝐴2 9.97
=
𝐴3 −29.85
𝐴4 29.85
 Direct Stiffness Method for Trusses
Step # 04: Contd.
40 k

20 k
C

1
2

9.97k A

1
B 2
9.97k 29.85k

29.85k
 Direct Stiffness Method for Trusses
Step # 05: Member Forces: As we know that In global coordinates each end of
the member can have two degrees of freedom or independent displacements;
namely, joint N has DNX and DNY and joint F has and DFX and DFY . Now to find
member forces we have to determine its component displacement along the
member. For that 1st transformed the global displacement components D in local
displacement and then find change in length of member ΔL.

𝐸𝐴
Force in member = 𝑃 = Δ𝐿
𝐿

𝐷𝑁𝑋
Δ𝑁 𝐶𝑜𝑠θ 𝑆𝑖𝑛θ 0 0 𝐷𝑁𝑌
=
Δ𝐹 0 0 𝐶𝑜𝑠θ 𝑆𝑖𝑛θ 𝐷𝐹𝑋
𝐷𝐹𝑌
Δ𝑳 = Δ𝑵 − Δ𝑭 N = Near End F= Far End
 Direct Stiffness Method for Trusses
Step # 05: Contd.

• For element/member 1, θ = 45o

𝐷1
Δ1 𝐶𝑜𝑠θ 𝑆𝑖𝑛θ 0 0 𝐷2
=
Δ2 0 0 𝐶𝑜𝑠θ 𝑆𝑖𝑛θ 𝐷5
𝐷6
0
Δ1 𝐶𝑜𝑠45 𝑆𝑖𝑛45 0 0 0
=
Δ2 0 0 𝐶𝑜𝑠45 𝑆𝑖𝑛45 8459.77/𝐸𝐴
−11850.57/𝐸𝐴
Δ1 0
=
Δ2 −2397.66/𝐸𝐴

Force in member 1 = 𝑃1 = 𝐸𝐿1𝐴1 Δ𝐿1 = EA(− 2397.66

EA
− 0)/169.7
1

Force in member 1 = 𝑃1 = −14.13 𝑘 (𝐶𝑜𝑚𝑝𝑟𝑒𝑠𝑠𝑖𝑜𝑛)

 Direct Stiffness Method for Trusses
Step # 05: Contd.
• For element/member 2, θ = 135o
𝐷3
Δ1 𝐶𝑜𝑠θ 𝑆𝑖𝑛θ 0 0 𝐷4
=
Δ2 0 0 𝐶𝑜𝑠θ 𝑆𝑖𝑛θ 𝐷5
𝐷6
0
0
Δ1 𝐶𝑜𝑠135 𝑆𝑖𝑛135 0 0 8459.77
=
Δ2 0 0 𝐶𝑜𝑠135 𝑆𝑖𝑛135 𝐸𝐴
11850.57
−
𝐸𝐴

Δ1 0
= − 14361.58
Δ2 𝐸𝐴

Force in member 2 = 𝑃2 = 𝐸𝐿2𝐴2 Δ𝐿2 = EA(− 14361.58

EA
− 0)/339.41
2

Force in member 2 = 𝑃2 = −42.3 𝑘 (𝐶𝑜𝑚𝑝𝑟𝑒𝑠𝑠𝑖𝑜𝑛)

 Direct Stiffness Method for Trusses
Step # 05: Contd.
40 k

20 k
C

3
14.13k
42.313k

1
2

9.97k A

1
B 2
9.97k 29.85k

29.85k
Final Analyzed structure
 Direct Stiffness Method for Trusses
Problem 03: Determine the force in member 2 of the assembly in
Fig. below if the support at joint 2 settles downward 25 mm.

Take E A=8(103) kN
 Direct Stiffness Method for Trusses
• Step # 01: Remove all the joints restrains, then determine the
DOF and find global displacement # in 𝑋 and 𝑌 direction.

By removing all the restrains

K.I = 8 degrees
 Direct Stiffness Method for Trusses
• Step # 01: Remove all the joints restrains, then determine the
DOF and find global displacement # in 𝑋 and 𝑌 direction. All the
known and unknown forces and displacements are shown below

𝐴1 0 𝐷1 ?
𝐴2 0 𝐷2 ?
𝐴3 ? 𝐷3 0
𝐴4 ? 𝐷4 −0.025
= =
𝐴5 ? 𝐷5 0
𝐴6 ? 𝐷6 0
𝐴6 ? 𝐷7 0
𝐴6 ? 𝐷8 0

A = joint forces
D = joint displacement
 Direct Stiffness Method for Trusses
• Step # 02: Tabulate material properties, geometric properties,
element and nodes numbers.

Element # EA(kN) L(m) Global Node # Angle θ

Start End

1 3 2 1 90o

2 8*103 5 1 3 216.86o

3 4 4 1 0o
 Direct Stiffness Method for Trusses
• Step # 03: Construct elemental and structural stiffness matrices.
As we know that elemental stiffness matrix is given by
𝑋𝑘 − 𝑋𝑗
𝐶2 𝐶𝑆 −𝐶2 −𝐶𝑆 sin 𝜃 =
𝐿
𝐸𝐴 𝐶𝑆 𝑆2 −𝐶𝑆 −𝑆2
[K] = 𝑆 =
𝐿 −𝐶2 −𝐶𝑆 𝐶2 𝐶𝑆 𝑦𝑘 − 𝑦𝑗
cos 𝜃 =
−𝐶𝑆 −𝑆2 𝐶𝑆 𝑆2 𝐿

• For element/member 1, θ = 90o & L = 3m

 Direct Stiffness Method for Trusses
• Step # 03: Construct elemental and structural stiffness matrices.
As we know that elemental stiffness matrix is given by
• For element/member 2, θ = 216.86o & L= 5m

• For element/member 3, θ = 0o & L= 4m

 Direct Stiffness Method for Trusses
• Step # 03: Construct elemental and structural stiffness matrices.

• Now structural stiffness matrix

𝐴𝑠 𝑆 = 𝐾 = 𝐾 1 + 𝐾 2+ 𝐾 3
 Direct Stiffness Method for Trusses
Step # 04: Apply equilibrium condition at the location of the
redundant joint displacement to write equilibrium
equations and solve for unknown joint displacement.

𝐴 = 𝑆𝐷

Note: A is also denote by Q in some book.

 Direct Stiffness Method for Trusses
Step # 04: Contd.
Reduce the stiffness matrix by removing rows associated with the unknown
forces & columns corresponding to zero displacement values. This leaves the
following equations for this,
 Direct Stiffness Method for Trusses
Step # 05: Member Forces: As we know that In global coordinates each end of
the member can have two degrees of freedom or independent displacements;
namely, joint N has DNX and DNY and joint F has and DFX and DFY . Now to find
member forces we have to determine its component displacement along the
member. For that 1st transformed the global displacement components D in local
displacement and then find change in length of member ΔL.

𝐸𝐴
Force in member = 𝑃 = Δ𝐿
𝐿

𝐷𝑁𝑋
Δ𝑁 𝐶𝑜𝑠θ 𝑆𝑖𝑛θ 0 0 𝐷𝑁𝑌
=
Δ𝐹 0 0 𝐶𝑜𝑠θ 𝑆𝑖𝑛θ 𝐷𝐹𝑋
𝐷𝐹𝑌
Δ𝑳 = Δ𝑵 − Δ𝑭 N = Near End F= Far End
 Direct Stiffness Method for Trusses
Step # 05: Contd.

• For element/member 2, θ = 216.86o

𝐷1
Δ1 𝐶𝑜𝑠θ 𝑆𝑖𝑛θ 0 0 𝐷2
=
Δ2 0 0 𝐶𝑜𝑠θ 𝑆𝑖𝑛θ 𝐷5
𝐷6
0.00556
Δ1 𝐶𝑜𝑠216.86 𝑆𝑖𝑛216.86 0 0 −0.021875
=
Δ2 0 0 𝐶𝑜𝑠216.86 𝑆𝑖𝑛216.86 0
0

Δ1 −0.008673
=
Δ2 0

Force in member 2 = 𝑃2 = 𝐸𝐴
𝐿
Δ𝐿2 = 8 ∗ 103(−0.008673 − 0)/5
2

Force in member 2 = 𝑃2 = −13.87 𝑘 (𝐶𝑜𝑚𝑝𝑟𝑒𝑠𝑠𝑖𝑜𝑛)

Direct Stiffness Method for Beams

Direct Stiffness Method for Beams

 Direct Stiffness Method for Beams
 Introduction:
The concepts presented in the previous slides will be extended here
and applied to the analysis of beams. It will be shown that once the
member stiffness matrix and the transformation matrix have been
developed, the procedure for application is exactly the same as that
for trusses. Special consideration will be given to cases of differential
settlement and temperature.
 Direct Stiffness Method for Beams
Before developing a formal procedure for applying the direct stiffness
method, it is first necessary to establish some preliminary definitions
and concepts.
1. Member and Node identification
2. Local and global coordinates
3. Kinematic indeterminacy
4. Elemental and structural stiffness matrices
 Direct Stiffness Method for Beams
1. Member and Node identification:
In order to apply the stiffness method to beams, we must first
determine how to subdivide the beam into its component finite
elements. In general, each element must be free from load and have
a prismatic cross section. For this reason the nodes of each element
are located at a support or at points where members are connected
together, where an external force is applied, where the cross-
sectional area suddenly changes, or where the vertical or rotational
displacement at a point is to be determined.
 Direct Stiffness Method for Beams
1. Member and Node identification:

Using the same scheme as that for trusses, four nodes are specified
numerically within a circle, and the three elements are identified
numerically within a square. Also, notice that the “near” and “far”
ends of each element are identified by the arrows written alongside
each element.
 Direct Stiffness Method for Beams
2. Local and global coordinates:
The global coordinate system will be identified using x, y, z axes that
generally have their origin at a node and are positioned so that the
nodes at other points on the beam all have positive coordinates.
The local or member xʹ, yʹ, zʹ coordinates have their origin at the
“near” end of each element, and the positive axis is directed towards
the “far” end.
 Direct Stiffness Method for Beams
2. Local and global coordinates:
Notice that for each beam element the x and axes will be
collinear and the global and member coordinates will all be parallel.
Therefore, unlike the case for trusses, here we will not need to develop
transformation matrices between these coordinate systems.
 Direct Stiffness Method for Beams
3. Kinematic Indeterminacy of Beams:
If we consider the effects of both bending and shear, then each
node on a beam can have two degrees of freedom, namely, a vertical
displacement and a rotation.
 Direct Stiffness Method for Beams
4. Elemental and Structural Stiffness matrix:
Development of the stiffness method for beams follows a similar
procedure as that used for trusses. First we must establish the
stiffness matrix for each element, and then these matrices are
combined to form the beam or structure stiffness matrix.
To develop the stiffness matrix for a beam element or
member having a constant cross-sectional area and referenced from
the local xʹ, yʹ, zʹ coordinate system, shown in figure on next slide.
 Direct Stiffness Method for Beams
4. Elemental and Structural Stiffness matrix:

There are two reactions at each end of the element, consisting of

shear forces 𝑞𝐹𝑦ʹ and 𝑞𝑁𝑦ʹ and bending moments 𝑞𝑁𝑧ʹ and 𝑞𝐹𝑧ʹ .These
loadings all act in the positive coordinate directions.
Linear and angular displacements associated with these loadings
also follow this same positive sign convention.
 Direct Stiffness Method for Beams
4. Elemental and Structural Stiffness matrix:

We will now impose each of these displacements separately and

then determine the loadings acting on the member caused by each
displacement.
 Direct Stiffness Method for Beams
4. Elemental and Structural Stiffness matrix:
• Displacement in yʹ direction:
When a positive displacement 𝑑𝑁𝑦ʹ is imposed while other possible
displacements are prevented, the resulting shear forces and bending
moments that are created are shown in Fig. a below. Likewise, when
𝑑𝐹𝑦ʹ is imposed, the required shear forces and bending moments are
given in Fig. b.
 Direct Stiffness Method for Beams
4. Elemental and Structural Stiffness matrix:
• Rotations in zʹ direction:
When a positive rotation 𝑑𝑁𝑧ʹ is imposed while other possible
displacements are prevented, the resulting shear forces and bending
moments that are created are shown in Fig. a below. Likewise, when
𝑑𝐹𝑧ʹ is imposed, the required shear forces and bending moments are
given in Fig. b.
 Direct Stiffness Method for Beams
4. Elemental and Structural Stiffness matrix:
By superposition, if the above results in above Figs. are added, the
resulting four load-displacement relations for the member can be
expressed in matrix form as

k =
 Direct Stiffness Method for Beams
4. Elemental and Structural Stiffness matrix:
The structure stiffness matrix can be constructed by combing the
elemental stiffness matrix as explained in trusses.
 Direct Stiffness Method for Beams
 Application of Direct Stiffness Method for Beam Analysis:
After the structure stiffness matrix is determined, the loads at the
nodes of the beam can be related to the displacements using the
structure stiffness equation.

Here Q and D are column matrices that represent both the known and
unknown loads and displacements.
 Direct Stiffness Method for Beams
Problem 04: Determine the reaction at the supports of the beam
shown in figure. EI is constant.
 Direct Stiffness Method for Beams
• Step # 01: Remove all the joints restrains, then determine the
DOF and find global displacement # in 𝑋 and 𝑌 direction.

By removing all the restrains

K.I = 6 degrees
 Direct Stiffness Method for Beams
• Step # 01: Remove all the joints restrains, then determine the
DOF and find global displacement # in 𝑋 and 𝑌 direction. All the
known and unknown forces and displacement are given below

𝑄1 0 𝐷1 ?
𝑄2 −5 𝐷2 ?
𝑄3 0 𝐷3 ?
= =
𝑄4 0 𝐷4 ?
𝑄5 ? 𝐷5 0
𝑄6 ? 𝐷6 0

Q = joint forces and moments

D = joint displacement
 Direct Stiffness Method for Beams
• Step # 02: Construct elemental and structural stiffness matrices.
As we know that elemental stiffness matrix is given by

k=
 Direct Stiffness Method for Beams
• Step # 02: Construct elemental and structural stiffness matrices.
As we know that elemental stiffness matrix is given by
• For element/member 1 & 2, L= 2m
 Direct Stiffness Method for Beams
• Step # 02: Construct elemental and structural stiffness matrices.

• Now structural stiffness matrix

𝐴𝑠 𝑆 = 𝐾 = 𝐾 1 + 𝐾 2
 Direct Stiffness Method for Beams
Step # 03: Apply equilibrium condition at the location of the
redundant joint displacement to write equilibrium
equations and solve for unknown joint displacement.

𝑄 = 𝐾𝐷
 Direct Stiffness Method for Beams
Step # 03: Contd.
The matrices are partitioned as shown. Carrying out the multiplication
for the first four rows, we have
 Direct Stiffness Method for Beams
Step # 04: Reaction Forces:
To find the reaction forces using the above results, and multiplying the last two
rows, gives
 Direct Stiffness Method for Beams
Problem 05: Determine the internal shear and moment in member
1 of the compound beam shown in Fig. EI is constant.
 Direct Stiffness Method for Beams
• Step # 01: Ignore all the joints restrains, then determine the DOF
and find global displacement # in 𝑋 and 𝑌 direction.

When the beam deflects, the internal pin will allow a single deflection, however, the slope of
each connected member will be different. Also, a slope at the roller will occur. These four
unknown degrees of freedom are labeled with the code numbers 1, 2, 3, and 4.

By removing all the restrains

K.I = 7 degrees
 Direct Stiffness Method for Beams
• Step # 01: Ignore all the joints restrains, then determine the DOF
and find global displacement # in 𝑋 and 𝑌 direction. the known
and unknown forces and displacement components are shown
below
𝑄1 0 𝐷1 ?
𝑄2 0 𝐷2 ?
𝑄3 0 𝐷3 ?
𝑄4 = −𝑀𝑜 𝐷4 = ?
𝑄5 ? 𝐷5 0
𝑄6 ? 𝐷6 0
𝑄7 ? 𝐷7 0

Q = joint forces and moments

D = joint displacement
 Direct Stiffness Method for Beams
• Step # 02: Construct elemental and structural stiffness matrices.
As we know that elemental stiffness matrix is given by

k=
 Direct Stiffness Method for Beams
• Step # 02: Construct elemental and structural stiffness matrices.
As we know that elemental stiffness matrix is given by
• For element/member 1 & 2, Length= L
 Direct Stiffness Method for Beams
• Step # 02: Construct elemental and structural stiffness matrices.

• Now structural stiffness matrix

𝑆 = 𝐾 =
 Direct Stiffness Method for Beams
Step # 03: Apply equilibrium condition at the location of the
redundant joint displacement.
𝑄 = 𝐾𝐷
 Direct Stiffness Method for Beams
Step # 03: Contd.
The matrices are partitioned as shown. Carrying out the multiplication
for the first four rows, we have
 Direct Stiffness Method for Beams
Step # 04: Reaction Forces:
Using these results, the reaction is obtained from the multiplication of the fifth row.

Similarly, Q6 & Q7 can be determined.

Note: Do practice on problems from Hibbler book

 References

• Structural Analysis by R. C. Hibbeler

• Matrix structural analysis by William Mc Guire

• Matrix analysis of frame structures by William Weaver

• Online Civil Engineering blogs