PLANE (2-D) FRAMES

 Introduction
o Plane frame members have combined axial and bending forces and displacements.
o Bending forces are shear and moments that are related (V = dM/dx).
o Axial and shear forces and their displacements are translational while bending
moments and displacements are rotational.
o Free joints have 3 DOF’s, translational displacements in the global X and Y axes and
rotational displacement about the Z axis perpendicular to the 2-D plane.

2 4 6
4 5
1 2 3
Y

X
1 3 5

1) INPUT DATA

JDAT Array (No. of rows = NOJ, No. of columns = 6)

Join Joint Force Force Moment
X-coord Y-coord
t Type X Y Z
1
2
:
NOJ

Joint Types:
a. Fixed  0 DOF
b. Hinge  1 DOF
c. Roller x & Roller y  2 DOF’s
d. Free joint  3 DOF’s

MDAT Array (No. of rows = NOM, No. of columns = 6)

End End Mom. of Modulus of Member
Member Area
1 2 Inertia Elasticity Loads
1
2
:
NOM
 2) NDF Array (No. of rows = NOJ, No. of columns = 3)

D2,Q2 D6,Q6 D11,Q11

D3,Q3 D7,Q7 D12,Q12
D1,Q1 D5,Q5 D10,Q10
2 4 6
4 5
1 2 3
Y

X 1 D4,Q4 D9,Q9
3 5
D8,Q8

Joint Type Joint No. X (or u) Y (or v) Z (or 

1 Fixed 1 0 0 0

2 Free 2 1 2 3

3 Hinge 3 0 0 4

4 Free 4 5 6 7 TDOF = 12

5 Roller X 5 8 0 9

6 Free 6 10 11 12
3) {Q}sys  System Loads/Forces
Note that {Q}sys  Joint Loads
For frames, some members have member loads (loads that are within the
member length, e.g. distributed loads, concentrated loads, etc.).
There is a need to convert member loads to equivalent joint loads.
Conversion Procedure:
a. From the FBD of the member, get the fixed end forces (reactions).
b. The equivalent joint loads are the “fixed end actions”. They are equal
but opposite in direction to the fixed end reactions.
c. Combine them with the actual joint loads to complete the {Q}sys vector.

12 kN/m 150 kN

50 kN
2 4 6
10m 12m

1 3 5
 FBD’s and Fixed-End Reactions

12 kN/m

100 kN-m 100 kN-m

10 m
60 kN 60 kN 150 kN

225 kN-m 225 kN-m

75 kN 75 kN

Fixed-End Actions (Equivalent Loads) Applied to the Frame

60 kN 60 kN 75 kN 75 kN

6
2 4
10m
100 kN-m 100 kN-m 225 kN-m 225 kN-m

1 3 5

Combined Fixed End Actions and Actual Joint Loads

60 kN 135 kN 75 kN
50 kN 6
2 4
100 kN-m 10m
125 kN-m 225 kN-m

1 3 5

{Q}sys = {Q1 = 50, Q2 = -60, Q3 = -100, Q4 = 0, Q5 = 0, Q6 = -135, Q7 = -125, Q8 = 0, Q9 = 0,

Q10 = 0, Q11 = -75, Q12 = 225}T
 4) MCODE  Member Incidences & NDF Array
No. of columns = 6 columns = 3 for End 1 + 3 for End 2
End 1 End 2
Member X Y Z X Y Z Difference
1 0 0 0 1 2 3 2
2 5 6 7 0 0 4 3
3 8 0 9 10 11 12 4
4 1 2 3 5 6 7 6
5 10 11 12 5 6 7 7
Therefore, HBW = max. diff. + 1 = 7 + 1 = 8

5) [K]  [K]sys
Member local stiffness matrix, [k]  {f} = [k] {d}
Member local force vector, {f} = { fa1, fv1, M1, fa2, fv2, M2}T
Member local displacement vector, {d} = { da1, dv1, 1, da2, dv2,  2}T

LOCAL FORCES LOCAL DISPLACEMENTS

fv2 dv2 da2
fa2
End 2 End 2
M2 2
y
y x
fv1 x dv1

End 1 da1 End 1

fa1
M1 1

 The local stiffness matrix retains the axial stiffness (AE/L) for the axial forces and
displacements. The stiffness’s for bending forces have to be added to complete the
member local matrix [k]. Note that axial and bending are independent of each other.
 The elements of the 2nd column is derived by setting the 2nd displacement dv1 = 1 and the
rest of the displacements da1 = 1 = da2 = dv2 =  = 0.
Local Stiffness Matrix, k
fa1 AE/L 0 0 -AE/L 0 0 da1=0
fv1 0 k22 k23 0 k25 k26 dv1=1
M1 0 k32 k33 0 k35 k36 1=0
=
fa2 -AE/L 0 0 AE/L 0 0 da2=0
fv2 0 k52 k53 0 k55 k56 dv2=0
M2 0 k62 k63 0 k65 k66 2=0
  The derivation for the expressions for displacements in terms of the forces are
derived using Conjugate Beam Method.

fv1 = k22
M1 = k32
fv2 = k52
dv1 = 1
dv1 = 1
M2 = k62
End 1
Conjugate Beam:

M
P
PL/EI

L M/EI

 = PL2 / (2EI)  = ML / (EI)

 = PL3 / (3EI)  = ML2 / (2EI)

Compatibility: PL2/ (2EI) = ML / (EI)  M = PL/2

PL3 / (3EI) - ML2 / (2EI) = 1  P = 12EI / L3 = fv1 = k22

M = 6EI / L2 = M1 = k32
F = 0 fv2 = -fv1 = -12EI / L3 = k52
M = 0 M2 = fv1*L + M1 = 6EI / L2 = k32

For column 3, set all displacements equal to zero except 1 = 1.

1 1 End 1
1 = 1 =
M2 = k63
M1 = k33 fv2 = k53
f = k23 v1
 Conjugate Beam Analysis:

PL/EI L

L M/EI

 = PL*L / (2EI)  = ML / (EI)

 = PL3 / (3EI)  = ML2 / (2EI)

Compatibility: PL3 / (3EI) = ML2 / (2EI)  M = 2PL/3

ML / (EI) - PL*L / (2EI) = 1  P = 6EI / L2 = fv1

M = 4EI / L = M1
F = 0 fv2 = -fv1 = -6EI / L2
M = 0 M2 = fv1*L – M1 = 2EI / L

For column 5, set the 5th displacement dv2 = 1 and the rest of the 5 displacements = 0.
For column 6, set the 6th displacement 2 = 1 and the rest of the 5 displacements = 0.
fv2 = k55
M1 = k36 End 2
M2 = k65 M2 = k66
fv1 = k25 1
2=
dv2 = 1
M1 = k35 fv1 = k26 fv2 = k56
End 1
MEMBER LOCAL (BENDING) STIFFNESS MATRIX
Column 2 Column 3 Column 5 Column 6
Row 2 12EI/L3 6EI/L2 -12EI/L3 6EI/L2
Row 3 6EI/L2 4EI/L -6EI/L2 2EI/L
Row 5 -12EI/L3 -6EI/L2 12EI/L3 -6EI/L2
Row 6 6EI/L2 2EI/L -6EI/L2 4EI/L

AE/L 0 0 -AE/L 0 0
0 12EI/L3 6EI/L2 0 -12EI/L3 6EI/L2
0 6EI/L2 4EI/L 0 -6EI/L2 2EI/L
[k] =
-AE/L 0 0 AE/L 0 0
0 -12EI/L3 -6EI/L2 0 12EI/L3 -6EI/L2
0 6EI/L2 2EI/L 0 -6EI/L2 4EI/L
 k11 = AE/L 0 0 - k11 0 0
k22 = 12EI/L3 k23 = 6EI/L2 0 - k22 k23
[k] = k33 = 4EI/L 0 - k23 k33/2
k11 0 0
Symm. k22 - k23
k33

 Transformation Matrix

GLOBAL FORCES AND DISPLACEMENTS LOCAL DISPLACEMENTS

v2 , Fy2
dv2 da2
End 2 u2 , FX2 End 2
2
v1 , Fy1 2 , M2
dv1
End 1

u1 , FX1 End 1
 1 , M1 da1 1

F = T f where T = Transformation matrix

Fx1 = fa1*l – fv1*m Fy1

fa1
Fy1 = fa1*m + fv1*l fv1
M1 = M1  
Fx2 = fa2*l – fv2*m 

Fx1
Fy2 = fa2*m + fv2*l
M2 = M2 Local and Global Forces at End 1

{F} = [T] {f}

Fx1 l -m 0 0 0 0 fa1
Fy1 m l 0 0 0 0 fv1
M1 0 0 1 0 0 0 M1
=
Fx2 0 0 0 l -m 0 fa2
Fy2 0 0 0 m l 0 fv2
M2 0 0 0 0 0 1 M2

 
[T] =
 
 l -m 0
[] = m l 0
0 0 1

 
[T]T =
 

l m 0 0 0 0
-m l 0 0 0 0
0 0 1 0 0 0
[T]T =
0 0 0 l m 0
0 0 0 -m l 0
0 0 0 0 0 1

{f} = [k] {d} )

{F} = [T] {f} )  [K] = [[T] [k] [T]T ]
{d} = [T]T {D} )

Member [K] together with the MCODE  [K]sys

K11 = k11l2 + k22m2 K12 = (k11 – k22)lm K13 = -k23m -K11 -K12 K13
2 2
K22 = k11m + k22l K23 = k23l -K12 -K22 K23
K33 = k33 -K13 -K23 K33/2
[K] = K11 K12 -K13
symmetrical K22 -K23
K33

To solve for [K], evaluate the following for each member:

o Coordinates of End 1 (x1,y1) and End 2 (x2,y2)
o L using Pythagorean theorem
o Direction cosines m, l
o Local stiffness elements: k11 = AE/L, k22 = 12EI/L3, k23 = 6EI/L2 and k33 = 4EI/L.
o Global stiffness elements: K11 = k11l2 + k22m2, K12 = (k11 – k22)lm, K13 = -k23m,
K22 = k11m2 + k22l2, K23 = -k23l and K33 = k33

To formulate the [K]sys, for each member solve for [K] and transfer the elements to the [K] sys by
using the MCODE as the row and column addresses in the [K]sys. Do this for all members.
Step 6) Cholesky: [K]sys {D}sys = {Q}sys  {D}sys

1. Decomposition  [U]
2. Forward Elimination, [U]T{y} = {Q}sys  {y}
 3. Backward Substitution, [U]{Dsys} = {y}  { Dsys }

Step 7) Member forces: {f} = [k] [T]T {D}

GLOBAL DISPLACEMENTS v2 , Fy2

End 2 u2 , FX2

v1 2 , M2
End 1
1
u1

{D} = {u1 v1 1 u2 v2 2}T

The forces from the equation {f} = [k] [T]T {D} are due to displacements, {f}displ
only!!! These are not yet the final forces for members with member loads.
The final forces are {f}final = {f}displ + {f}reactions
Note: Members with member loads converted to equivalent joint loads have
{f}reactions. For members without member loads, {f}final = {f}displ

From the Moment-Distribution Method (MDM), the analysis is deemed complete if the member
end moments are determined. The end shear forces or reactions can be solved using the
equilibrium equations from the FBD of the frame member. Consequently, the shear and
moment diagrams can be derived with the end shears and moments from the member FBD.

The end moments together with the axial force are expressed in the formulas below.

M1 = (EI/L) [41 + 22] + (6EI /L2)[(u2 – u1)m + (v1 - v2)l]

M2 = (EI/L) [21 + 42] + (6EI /L2)[(u2 – u1)m + (v1 - v2)l]
fa2 = (AE/L) [(u2 - u1) l + (v2 - v1) m]

For each member, get the values of the Direction cosines m, l and local stiffness: k11 = AE/L, k22
= 4EI/L and k23 = 6EI/L2 from Step 5.

EXAMPLE 1.
50 kN

10 kN/m

2
 1 3.5m 3.5m
1 6m 2 3

In the above problem, determine the member end moments. Note that the axial forces are zero.
1) INPUT:

JOINT DATA:
Joint x y Type
1 0 0 Fixed
2 6 0 Roller-X
3 13 0 Roller-X

MEMBER DATA:
Member End 1 End 2 Area (m2) I (x106 mm4) E (x108 kN/m2) Member loads
1 1 2 0.2 0.4 22 w1 = -10 kN/m
2 3 2 0.25 0.5 22 P = -150 kN x = 3.5m

2) NDF Array – There are only four rotational DOF’s that are relevant.

Joint X (u) Y (v) Z ()

1 0 0 0
2 1 0 2
3 3 0 4

TDOF = 4

3) System Load Vector, {Q}sys

The fixed end moments of the beams are:

 Therefore, the combined equivalent forces are:

By inspection and comparison of the above figures,

0
-13.75
{Q}sys =
0
43.75

4) MCODE

End 1 End 2
Member
X Y Z X Y Z
1 0 0 0 1 0 2
2 3 0 4 1 0 2

Max. Difference = 4 – 1 = 3
HBW = 3 + 1 = 4
5) System Stiffness Matrix, [K]sys Show k11, k22, k23 and k33
 1 2 3 4
1,847,619 0 -514,286 0 1
 2,6857, 0 342.86 2
[K]sys =
514,286 0 3
685.71 4

6) Cholesky, Dsys

6) Member Forces due to Displacements ONLY!!! {f} = [k] [T]T {D} Show k33 and
k33/2

M1 = (EI/L) [41 + 22]

M2 = (EI/L) [21 + 42]
EXAMPLE 2.
Determine the member forces. Assume all members are axially rigid and with equal A, I and E.
Note that in the original NDF Array, there are no DOF’s in the x-direction because because the
loads are in the y-direction and therefore will be no displacements in the x-direction. Also, all
the joints are restrained in the y-direction and therefore there are also no DOF’s in this
direction. Finally, since the x and y columns of the NDF array all contain zeroes, the NDF array
can be reduced to a single column by eliminating the x and y columns.
Show FBD of Member 3
EXAMPLE 3. Solve for the member forces of the given frame.

Solution:
EXAMPLE 4 Solve for the member forces of the frame in Example 3 assuming that all members are
axially rigid.

Note that if all members are axially rigid, the displacements D 1 and D4 in Example 3 will be equal.
Furthermore, the displacements D2 and D5 will both be zero. Thus, the DOF’s will be reduced to 3 DOF’s.
 2) Determine the member forces usinf stiffness method 7-step procedure for the frame shown

68 kN
3.9m 3 7.8m 3.6m 7.5m
2.4m E = 24.3 GPa
2 300x600
45 kN 2 mm 7 5 3 1

below. Assume that all members are axially rigid.

400x400 Solve for JDAT, MDAT, NDF, Qsys,
1 4.2m MCODE.
mm 4 3 2 1
Solve for the member [k]’s in terms
3.8m
1
of kN and m units only. Assemble
Ksys. 7 6 5
7.2m Solve for the member forces.
8 6 4 2
30 kN
25 kN/m
Exercises:

1)