Structural

Analysis
R. C. Hibbeler
6th Edition
in SI Units

Teaching Slides
Chapter 15
Beam analysis using the
stiffness method

1
 Outline
 Preliminary remarks
 Beam-member stiffness matrix
 Beam-structure stiffness matrix
 Application of the stiffness method for beam
analysis

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 15-1 Preliminary remarks
 Member & node identification
 In general each element must be free from
load & have a prismatic cross section
 The nodes of each element are located at
a support or at points where members are
connected together or where the vertical or
rotational disp at a point is to be
determined

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 15-1 Preliminary remarks
 Global & member coordinates
 The global coordinate system will be
identified using x, y, z axes that generally
have their origin at a node & are positioned
so that the nodes at other points on the
beam are +ve coordinates, Fig 15.1(a)

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 15-1 Preliminary remarks
 The local or member x’, y’, z’ coordinates
have their origin at the near end of each
element

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 15-1 Preliminary remarks
 Global & member coordinates (cont’d)
 The positive x’ axis is directed towards the
far end, Fig 15.1(b)

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 15-1 Preliminary remarks
 Kinematic indeterminacy
 We consider the effects of both bending &
shear
 Each node on the beam can have 2
degrees of freedom, vertical disp & rotation
 These disp will be identified by code
numbers
 The lowest code numbers will be used to
identify the unknown disp & the highest
numbers are used to identify the known
disp
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 15-1 Preliminary remarks
 Kinematic indeterminacy (cont’d)
 To show an e.g., consider the beam in Fig
15.1(a)
 The beam is kinematically indeterminate to
the 4th degree
 There are 8 degrees of freedom for which
code numbers 1 to 4 rep the unknown disp
& 5 to 8 rep the known disp
 Development of the stiffness method for
beams follows a similar procedure as that
for trusses
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 15-1 Preliminary remarks
 Kinematic indeterminacy (cont’d)
 First we must establish the stiffness matrix
for each element
 These matrices are combined to form the
beam or structure stiffness matrix
 We can then proceed to determine the
unknown disp at the nodes
 This will determine the reactions at the
beam & the internal shear & moments at
the nodes
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 15-2 Beam-member stiffness
matrix
 We will develop the stiffness matrix for a
beam element or member having a constant
cross-sectional area & referenced from the
local x’, y’, z’ coordinate system, Fig 15.4

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 15-2 Beam-member stiffness
matrix
 Linear & angular disp associated with these
loadings also follow the same sign convention
 We will impose each of these disp separately
& then determine the loadings acting on the
member caused by each disp

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 15-2 Beam-member stiffness
matrix
 y’ displacement
 A positive disp dNy’ is imposed while other
possible disp are prevented
 The resulting shear forces & bending moments
that are created are shown in Fig 15.5(a)

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 15-2 Beam-member stiffness
matrix
 z’ rotation
 A positive rotation dNz’ is imposed while
other possible disp are prevented
 The required shear forces & bending
moments necessary for the deformation
are shown in Fig 15.6(a)
 Likewise, when dNz’ is imposed, the
resultant loadings are shown in Fig 15.6(b)

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 15-2 Beam-member stiffness
matrix

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 15-2 Beam-member stiffness
matrix
 z’ rotation (cont’d)
 By superposition, if the above results in Fig
15.5 & 15.6 are added, the resulting four
load-disp relations for the member can be
expressed in matrix form as

 These eqn can be written as

q  kd eqn 15.2
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 15-3 Beam-structure stiffness
matrix
 Once all the member stiffness matrices have
been found, we must assemble them into the
structure stiffness matrix, K
 The rows & columns of each k matrix, eqn
15.1 are identified by the 2 code numbers at
the near end (Ny’, Nz’) of the member followed
by those at the far end (Fy’, Fz’)
 When assembling the matrices, each element
must be placed in the same location of the K
matrix

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 15-3 Beam-structure stiffness
matrix
 K will have an order that will be equal to the
highest code number assigned to the beam
 Where several members are connected at a
node, their member stiffness influence
coefficients will have the same position in the
K matrix & therefore must be algebraically
added to determine the nodal stiffness
influence coefficient for the structure

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 15-4 Application of the stiffness
method for beam analysis
 Once the stiffness matrix is determined, the
loads at the nodes of the beam can be related
to the disp using the structure stiffness eqn
Q  KD
 Partitioning the stiffness matrix into the known
& unknown elements of load & disp, we have

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 15-4 Application of the stiffness
method for beam analysis
 This expands into 2 eqn:
Qk  K11 Du  K12 Dk eqn 15.3

Qu  K 21 Du  K 22 Dk eqn 15.4
 The unknown disp Du are determined from the
first of these eqn
 Using these values, the support reactions Qu
are computed for the second eqn

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 15-4 Application of the stiffness
method for beam analysis
 Intermediate loadings
 It is important that the elements of the
beam be free of loading along its length
 This is necessary as the stiffness matrix for
each element was developed for loadings
applied only at its ends
 Consider the beam element of length L in
Fig 15.7(a) which is subjected to uniform
distributed load, w

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 15-4 Application of the stiffness
method for beam analysis

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 15-4 Application of the stiffness
method for beam analysis
 Intermediate loadings (cont’d)
 First, we will apply FEM & reactions to the
element which will be used in the stiffness
method, Fig 15.7(b)
 We will refer to these loadings as a column
matrix qo
 The distributed loading within the beam is
determined by adding these 2 results

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 15-4 Application of the stiffness
method for beam analysis
 Member forces
 The shear & moment at the ends of each
beam element can be determined using
eqn 15.2 & adding on any fixed end
reactions qo if the element is subjected to
an intermediate loading
 We have:

q  kd  q0 eqn 15.5

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 ***Example 15.1
 Determine the reactions at the supports of the
beam shown in Fig 15.8(a)
 EI is constant

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 Example 15.1 - solution
 The beam has 2 elements & 3 nodes
identified in Fig 15.8(b)
 The known load & disp matrices are:
 0 1
Qk   5  3  
2 0 5
Dk 
0 0 6
 0 4

 Each of the 2 member stiffness matrices is

determined from eqn 15.1

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 Example 15.1 - solution

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 Example 15.1 - solution
 We can now assemble these elements into
the structure stiffness matrix
K11  0  2  2

K 55  1.5  1.5  3

Q  KD

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 Example 15.1 - solution
 The matrices are partitioned as shown

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 Example 15.1 - solution
 Carrying out the multiplication for the first 4
rows, we have
0  2 D1  1.5 D2  D3  0

5
  1.5 D1  1.5 D2  1.5 D3  0
EI
0  D1  1.5 D2  4 D3  D4

0  0  0  D3  2 D4

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 Example 15.1 - solution
 Solving, we have:
16.67 26.67
D1   , D2  
EI EI
6.67 3.33
D3   , D4 
EI EI

 Using these results, we get:

Q5  10kN

Q6  5kN

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 Example 15.3
 The beam in Fig 15.10(a) is subjected to the 2
couple moments
 If the center support 2 settles 1.5mm,
determine the reactions at the supports
 E = 200GPa
 I = 22(10-6)m4
 Fig 15.10

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 Example 15.3 - solution
 The beam has 2 elements & 3 unknown
degree of freedom

 4 1  0 4
Qk   0  2 Dk   0.0015 5
 4  3  0  6

 The member stiffness matrices are

determined using eqn 15.1 in accordance to
code numbers

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 Example 15.3 - solution

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 Example 15.3 - solution
 Assembling the structure stiffness matrix &
writing the stiffness eqn for the structure,
yields:

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 Example 15.3 - solution
 Solving for the unknown disp:
4
 2 D1  D2  0 D3  1.5(0)  1.5(0.0015)  0
EI
0  1D1  4 D2  1D3  1.5(0)  0  0

4
  0 D1  1D2  2 D3  0  1.5(0.0015)  0
EI
Sub EI into eqn & solving :
D1  0.001580rad ; D2  0; D3  0.001580rad

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 Example 15.3 - solution
 Using these results, the support reactions are
therefore:
Q4  0.525kN

Q5  1.05kN

Q6  0.525kN

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