Stiffness 2

• Assumptions

1. in the normal stiffness the axial force and

shear deformation are neglected but here
they are taken into consideration .

2. torsional deformation is neglected.

Structure system Deflected shape due to Deflected shape due to
Normal stiffness stiffness 2
• Member stiffness (local co-ordinate )
𝑅𝑦2 ´
𝑅𝑦1 ´
𝑀1 ´ 𝑀2 ´
• At joint 1
𝑅𝑥1 ´ 1 2 𝑅 ´
𝑥2
´ ´
𝑅𝑋1 𝛿𝑋1
• 𝑅𝑦1 ´ 𝛿𝑦1 ´
𝑀1 ´ 𝛿𝜃1 ´
• At joint 2
´ ´
𝑅𝑋1 𝛿𝑋1
• 𝑅𝑦1 ´ 𝛿𝑦1 ´
𝑀1 ´ 𝛿𝜃1 ´
 ´
• If 𝛿𝜃1 = 1 mB
´ 4𝐸𝐼
• 𝑀1 = mA
𝐿 δθ𝐴 = 1
´ 2𝐸𝐼
• 𝑀2 = δθ𝐵 = 1
𝐿
• If 𝛿𝜃2 ´ = 1 mA
L mB
´ 4𝐸𝐼
• 𝑀2 =
𝐿
´ 2𝐸𝐼
• 𝑀1 =
𝐿 L
´ 4𝐸𝐼 ´ 2𝐸𝐼 ´
• 𝑀1 = 𝛿𝜃1 + 𝛿𝜃2 …..1
𝐿 𝐿
4𝐸𝐼 2𝐸𝐼
• 𝑀2 =´
𝛿𝜃2 ´ + 𝛿𝜃1 ´ …..2
𝐿 𝐿
 ´
• If 𝛿𝑋1 = 1
´ 𝐸𝐴
• 𝑅𝑋1 =
𝐿
• But 𝑅𝑋1 ´ + 𝑅𝑋2 ´ = 0
´ 𝐸𝐴
• 𝑅𝑋2 = −
𝐿
• If 𝛿𝑋2 ´ = 1
´ 𝐸𝐴
• 𝑅𝑋2 =
𝐿
• But 𝑅𝑋1 ´ + 𝑅𝑋2 ´ = 0
´ 𝐸𝐴
• 𝑅𝑋1 = −
𝐿
𝐸𝐴 𝐸𝐴
• 𝑅𝑋1 = 𝛿𝑋1 − 𝛿𝑋2 ´
´ ´
…..3
𝐿 𝐿
´ 𝐸𝐴 ´ 𝐸𝐴 ´
• 𝑅𝑋2 = 𝛿𝑋2 − 𝛿𝑋1 …..4
𝐿 𝐿
• If 𝛿𝑦1 ´ = 1
6𝐸𝐼
• 𝑀1 ´ = −
𝐿2
6𝐸𝐼
• 𝑀2 ´ = − 2
𝐿
• If 𝛿𝑦2 ´ = 1
6𝐸𝐼
• 𝑀1 ´ =
𝐿2
´ 6𝐸𝐼
• 𝑀2 = 2
𝐿

4𝐸𝐼 2𝐸𝐼 6𝐸𝐼 6𝐸𝐼

• 𝑀1 ´ = 𝛿𝜃1 ´ + 𝛿𝜃2 ´ − 𝛿 ´
+ 𝛿 ´
…..5
𝐿 𝐿 𝐿2 𝑦1 𝐿2 𝑦2
4𝐸𝐼 ´ 2𝐸𝐼 6𝐸𝐼 6𝐸𝐼
• 𝑀2 ´ = 𝛿𝜃2 + 𝛿𝜃1 − 2 𝛿𝑦1 ´
´
+ 2 𝛿𝑦2 ´ …..6
𝐿 𝐿 𝐿 𝐿
• 𝑅𝑦1 ´ ∗ 𝐿 + 𝑀1 ´ + 𝑀2 ´ = 0
´ 𝑀1 ´ + 𝑀2 ´
• 𝑅𝑦1 = −
𝐿
6𝐸𝐼 6𝐸𝐼 12𝐸𝐼 12𝐸𝐼
• = (− 2 𝛿𝜃1 − 2 𝛿𝜃2 ´
´
+ 𝛿𝑦1
´
− 𝛿𝑦2
´
)…..7
𝐿 𝐿 𝐿3 𝐿 3

• But 𝑅𝑦1 ´ + 𝑅𝑦2 ´ = 0

6𝐸𝐼 6𝐸𝐼 12𝐸𝐼 12𝐸𝐼
• 𝑅𝑦2 ´ = ( 𝛿𝜃1 ´ + 𝛿𝜃2 ´ − 𝛿𝑦1
´
+ 𝛿 ´
𝑦2 )…..8
𝐿2 𝐿2 𝐿3 𝐿3

𝑅𝑦1 ´ 𝑅𝑦2 ´

𝑀1 ´ 𝑀2 ´
𝑅𝑥1 ´ 1 2 𝑅 ´
𝑥2
𝑅𝑋1 ´ 𝑬𝑨 0 0 𝑬𝑨 0 0 𝛿𝑋1 ´
−
𝑳 𝑳
𝑅𝑦1 ´ 0 12𝐸𝐼 −6𝐸𝐼 0 −12𝐸𝐼 −6𝐸𝐼 𝛿𝑦1 ´
𝐿3 𝐿2 𝐿3 𝐿2
0 −6𝐸𝐼 4𝐸𝐼 0 6𝐸𝐼 2𝐸𝐼
𝑀1 ´ 𝛿𝜃1 ´
𝐿2 𝐿2 𝐿2 𝐿2
−𝑬𝑨 0 0 𝑬𝑨 0 0
𝑅𝑋2 ´ 𝛿𝑋2 ´
𝑳 𝑳
𝑅𝑦2 ´ 0 −12𝐸𝐼 6𝐸𝐼 0 12𝐸𝐼 6𝐸𝐼 𝛿𝑦2 ´
𝐿3 𝐿2 𝐿3 𝐿2
𝑀2 ´ 0 −6𝐸𝐼 2𝐸𝐼 0 6𝐸𝐼 4𝐸𝐼 𝛿𝜃2 ´
𝐿3 𝐿2 𝐿3 𝐿2

𝑅1 ´ 𝑘11 ´ 𝑘12 ´
𝛿1 ´

𝑅2 ´ 𝑘21 ´ 𝑘22 ´ 𝛿2 ´
• Global coordinates 𝑅𝑦 y
• Transformation matrix x´
• FORCES y´ M´ M 𝑅𝑋 ´
´
𝑅𝑋 𝑅𝑦 ´ 𝛼 𝑅𝑋
x
• 𝑅𝑦 ´ local coordinates
𝑀´
𝑅𝑋
• 𝑅𝑦 Global coordinates
𝑀
• 𝑅𝑋 = 𝑅𝑋 ´ cos 𝛼 − 𝑅𝑦 ´ sin 𝛼
• 𝑅𝑦 = 𝑅𝑋 ´ sin 𝛼 + 𝑅𝑦 ´ cos 𝛼
• 𝑀´ = 𝑀
𝑅𝑋 cos 𝛼 − sin 𝛼 0 𝑅𝑋 ´
• 𝑅𝑦 = sin 𝛼 cos 𝛼 0 𝑅𝑦 ´
𝑀 0 0 1
𝑀´
• R=TR´.
• Displacement
𝛿𝑋 ´ 𝛿𝑦 y
x´
• 𝛿𝑦 ´ local coordinates
y´
𝛿𝜃 ´ 𝛿𝑋 ´
𝛿𝑋 𝛿𝑦 ´ 𝛼 x 𝛿𝑋
• 𝛿𝑦 Global coordinates
𝛿𝜃

• 𝛿𝑋 ´ = 𝛿𝑥 cos 𝛼 + 𝛿𝑦 sin 𝛼
• 𝛿𝑦′ = −𝛿𝑥 sin 𝛼 + 𝛿𝑦 cos 𝛼
• 𝛿𝜃 ´ = 𝛿θ
𝛿𝑋 ´ cos 𝛼 sin 𝛼 0 𝛿𝑋
• 𝛿𝑦′ = − sin 𝛼 cos 𝛼 0 𝛿𝑦
𝛿𝜃 ´ 0 0 1 𝛿𝜃

• 𝛿´ =𝑇 𝑇 𝛿
•
• 𝑅1 ´ = 𝑘11 ´ 𝛿1 ´ + 𝑘12 ´ 𝛿2 ´
´ ´ ´ ´ ´
• 𝑅2 = 𝑘21 𝛿1 + 𝑘22 𝛿2
• Multiplied by T
• 𝑇𝑅1 ´ = 𝑇𝑘11 ´ 𝛿1 ´ + 𝑇𝑘12 ´ 𝛿2 ´
´ ´ ´ ´ ´
• 𝑇𝑅2 = 𝑇𝑘21 𝛿1 + 𝑇𝑘22 𝛿2
• But 𝛿´ =𝑇 𝑇 𝛿
´ ´ 𝑇 ´ 𝑇
• 𝑇𝑅1 = 𝑇𝑘11 𝑇 𝛿1 + 𝑇𝑘12 𝑇 𝛿2
• 𝑇𝑅2 ´ = 𝑇𝑘21 ´ 𝑇 𝑇 𝛿1 + 𝑇𝑘22 ´ 𝑇 𝑇 𝛿2
• Global stiffness matrix
• 𝑅1 = 𝐾11 𝛿1 + 𝐾12 𝛿2
• 𝑅2 = 𝐾21 𝛿1 + 𝐾22 𝛿2

(AE/L C2 + 12 EI/L3 S2) CS( AE/L – 12 EI/L3 ) 6EI/L2 S

K11=

CS( AE/L – 12 EI/L3 ) (AE/L S 2 + 12 EI/L3 C2) - 6EI/L2 C

6EI/L2 S - 6EI/L2 C 4EI/L

K12= -(AE/L C2 + 12 EI/L3 S2) - CS( AE/L – 12 EI/L3 ) 6EI/L2 S

- CS( AE/L – 12 EI/L3 ) - (AE/L S 2 + 12 EI/L3 C2) - 6EI/L2 C

- 6EI/L2 S 6EI/L2 C 2EI/L

K21= -(AE/L C2 + 12 EI/L3 S2) - CS( AE/L – 12 EI/L3 ) -6EI/L2 S

- CS( AE/L – 12 EI/L3 ) - (AE/L S 2 + 12 EI/L3 C2) 6EI/L2 C

6EI/L2 S -6EI/L2 C 2EI/L

 (AE/L C2 + 12 EI/L3 S2) CS( AE/L – 12 EI/L3 ) - 6EI/L2 S

K22=
CS( AE/L – 12 EI/L3 ) (AE/L S 2 + 12 EI/L3 C2) 6EI/L2 C

-6EI/L2 S 6EI/L2 C 4EI/L

Structure stiffness for whole frame
• Compatibility equations
1 b 2
PB,∆𝐵 2 PC,∆𝐶
• 𝑅1 = 𝐾11 𝛿1 + 𝐾12 𝛿2 B C 2

• 𝑅2 = 𝐾21 𝛿1 + 𝐾22 𝛿2 a
c
• ∆𝐴 = 𝛿1 𝑎
PA,∆𝐴1 A D 1 PD,∆𝐷
• ∆𝐵 = 𝛿2 𝑎 = 𝛿1 𝑏
• ∆𝑐 = 𝛿2 𝑏 = 𝛿2 𝑐
• ∆𝐷 = 𝛿1 𝑐
• Eqilibrium equation
• 𝑃𝐴 = 𝑅1 𝑎
• 𝑃𝐵 = 𝑅2 𝑎 + 𝑅1 𝑏
• 𝑃𝑐 = 𝑅2 𝑏 + 𝑅2 𝑐
• 𝑃𝐷 = 𝑅1 𝑐
• Substitute for values of R with the external
displacements where
• member 𝛿1 𝛿2 𝑅1 𝑅2
a ∆𝐴 ∆𝐵 𝐾11 ∆𝐴 + 𝐾12 ∆𝐵 𝐾21 ∆𝐴 + 𝐾22 ∆𝐵
b ∆𝐵 ∆𝐶 𝐾11 ∆𝐵 + 𝐾12 ∆𝐶 𝐾21 ∆𝐵 + 𝐾22 ∆𝐶
c ∆𝐷 ∆𝐶 𝐾11 ∆𝐷 + 𝐾12 ∆𝐶 𝐾21 ∆𝐷 + 𝐾22 ∆𝐶
• 𝑃𝐴 = 𝐾11𝑎 ∆𝐴 + 𝐾12𝑎 ∆𝐵
• 𝑃𝐵 = 𝐾21𝑎 ∆𝐴 + 𝐾22𝑎 ∆𝐵 + 𝐾11𝑏 ∆𝐵 + 𝐾12𝑏 ∆𝐶
• 𝑃𝑐 = 𝐾21𝑏 ∆𝐵 + 𝐾22𝑏 ∆𝐶 + 𝐾21𝑐 ∆𝐷 + 𝐾22𝑐 ∆𝐶
• 𝑃𝐷 = 𝐾11𝐶 ∆𝐷 + 𝐾12𝐶 ∆𝐶

𝑃𝐴 𝐾11𝑎 𝐾12𝑎 0 0 ∆𝐴

𝑃𝐵 𝐾21𝑎 𝐾22𝑎 𝐾12𝑏

+ 𝐾11𝑏 ∆𝐵
𝑃𝑐 0 𝐾21𝑏 𝐾22𝑏 𝐾21𝑐 ∆𝐶
+ 𝐾22𝑐
𝑃𝐷 0 0 𝐾12𝐶 𝐾11𝐶 ∆𝐷
• Simply
member 1 2
a A B
b B C
c D C

𝑃𝐴 𝑲𝑨𝑨(𝐾11𝑎 ) 𝑲𝑨𝑩(𝐾12𝑎 ) KAC(0( KAD(0( ∆𝐴

𝑃𝐵 𝐾𝐵𝐴(𝐾21𝑎 ) 𝐾𝐵𝐵(𝐾22𝑎 + 𝐾11𝑏 ) 𝐾𝐵𝐶(𝐾12𝑏 ) KBD(0)

∆𝐵
𝑃𝑐 KCA(0( 𝐾𝐶𝐵(𝐾21𝑏 ) 𝐾𝐶𝐶(𝐾22𝑏 + 𝐾22𝑐 ) 𝐾𝐶𝐷(𝐾21𝑐 )
∆𝐶

𝑃𝐷 KDA(0( KDB(0) 𝐾𝐷𝐶(𝐾12𝐶 ) 𝐾𝐷𝐷(𝐾11𝐶 )

∆𝐷
• Example
• Establish the structure stiffness matrix using
stiffness 2 take EA/L=1/50”, EI/L=1”
• b
2 1 2
B C 2
6´

a
c

1 A 6´ D 1
 𝜶=90 𝜶=0
𝜶=90

member 𝜶 𝛿1 𝛿2 𝑅1 𝑅2

a 90 ∆𝐴 ∆𝐵 𝐾11 ∆𝐴 𝐾21 ∆𝐴
+ 𝐾12 ∆𝐵 + 𝐾212 ∆𝐵

b 0 ∆𝐵 ∆𝐶 𝐾11 ∆𝐵 𝐾21 ∆𝐵
+ 𝐾12 ∆𝐶 + 𝐾22 ∆𝐶

c 90 ∆𝐷 ∆𝐶 𝐾11 ∆𝐷 𝐾21 ∆𝐷
+ 𝐾12 ∆𝐶 + 𝐾22 ∆𝐶
• Equilibrium equations
• 𝑃𝐴 = 𝐾11𝑎 ∆𝐴 + 𝐾12𝑎 ∆𝐵
• 𝑃𝐵 = 𝐾21𝑎 ∆𝐴 + 𝐾22𝑎 ∆𝐵 + 𝐾11𝑏 ∆𝐵 + 𝐾12𝑏 ∆𝐶
• 𝑃𝑐 = 𝐾21𝑏 ∆𝐵 + 𝐾22𝑏 ∆𝐶 + 𝐾21𝑐 ∆𝐷 + 𝐾22𝑐 ∆𝐶
• 𝑃𝐷 = 𝐾11𝐶 ∆𝐷 + 𝐾12𝐶 ∆𝐶
𝑃𝐴 𝐾11𝑎 𝐾12𝑎 0 0 ∆𝐴

𝑃𝐵 𝐾21𝑎 𝐾22𝑎 𝐾12𝑏

+ 𝐾11𝑏 ∆𝐵
𝑃𝑐 0 𝐾21𝑏 𝐾22𝑏 𝐾21𝑐 ∆𝐶
+ 𝐾22𝑐
𝑃𝐷 0 0 𝐾12𝐶 𝐾11𝐶 ∆𝐷
• Boundary condition
• ∆𝐴 = ∆𝐷 = 0 (𝑓𝑖𝑥𝑒𝑑 𝑠𝑢𝑝𝑝𝑜𝑟𝑡)

𝑃𝐴 𝐾11𝑎 𝐾12𝑎 0 0 ∆𝐴

𝑃𝐵 𝐾21𝑎 𝐾22𝑎 𝐾12𝑏

+ 𝐾11𝑏 ∆𝐵
𝑃𝑐 0 𝐾21𝑏 𝐾22𝑏 𝐾21𝑐 ∆𝐶
+ 𝐾22𝑐
𝑃𝐷 0 0 𝐾12𝐶 𝐾11𝐶 ∆𝐷
𝑃𝐵 𝐾22𝑎 𝐾12𝑏 ∆𝐵
+ 𝐾11𝑏
𝐾21𝑏 𝐾22𝑏 ∆𝐶
𝑃𝑐
+ 𝐾22𝑐
 AE/L 0 0 AE/L=1/50

K11b= 12 EI/L3 =12/6*6*12*12=1/432

𝛼=0 0 12 EI/L3 -6EI/L2
6EI/L2 =6/6*12=1/12
0 - 6EI/L2 4EI/L

1/50 0 0

K11b= 0 1/432 -1/12

0 - 1/12 4

1/50 0 0
• AE/L 0 0
=

K22b= 0 1/432 1/12

0 12 EI/L3 6EI/L2
𝛼=0
0 1/12 4
0 6EI/L2 4EI/L
K22a= 12 EI/L3 0 -6EI/L2 1/432 0 -1/12
𝛼 = 90
=
0 AE/L 0 0 1/50 0

-6EI/L2 0 4EI/L -1/12 0 4

K22c= 12 EI/L3 0 -6EI/L2 1/432 0 -1/12

𝛼 = 90
=
0 AE/L 0 0 1/50 0

-6EI/L2 0 4EI/L -1/12 0 4

 -1/50 0 0
K12b= -AE/L 0 0
𝛼=0
-12 EI/L3 =
-1/432
0 -6EI/L2
0 -1/12
0 6EI/L2 2EI/L
0 1/12 2

-1/50 0 0
K21b= -AE/L 0 0
𝛼=0
-12 EI/L3
-1/432
0 6EI/L2
0 1/12
0 -6EI/L2 2EI/L
0 -1/12 2
 1/50+1/432 0 -1/12

𝐾22𝑎 + 𝐾11𝑏 = 0 1/432 +1/50 -1/12

-1/12 - 1/12 8

1/50+1/432 0 -1/12

𝐾22𝑏 + 𝐾22𝑐 =
0 1/432 +1/50 1/12

-1/12 1/12 8
• P=Ks∆
PBx=0 ∆𝑩𝒙
1/50+ 0 -1/12 -1/50 0 0
1/432
Pby=0 ∆𝑩𝒚
-1/432
0 1/432 -1/12 0 -1/12
+1/50
MB=30 - - 8 ∆𝑩𝜽
0 1/12 2
1/12 1/12

PCx=0 ∆𝒄𝒙
-1/50 0 0 1/50+ 0 -1/12
1/432
Pcy=0 ∆𝒄𝒚
-1/432
0 1/12 0 1/432 1/12
MC=30 +1/50
0 -1/12 2 -1/12 1/12 8 ∆𝒄𝜽