Direct Stiffness Method – Example 1

2
Example: Construct the structural stiffness matrix by
using assembly from element stiffness matrices. 1
3
x 2 4
8

9
3 nodes, 2 members, 9 structural DoFs, 1

active DoFs (1-4), constrained DoFs (5-9) x Y

5
7 X
6

All the coefficients are

K = k1 + k2 =
assembled in global X-
Y coordinates
 Direct Stiffness Method – Example 1
(2)
4 5
Member 1 𝑘1 = 𝑇1𝑇 𝑘1′ 𝑇1
(1) (3)
5 6 4 6
EA/L 0 0 -EA/L 0 0
0 12EI/L3 6EI/L2 0 -12EI/L3 6EI/L2 T1
0 6EI/L2 4EI/L 0 -6EI/L2 2EI/L 1 1
k’1 =
-EA/L 0 0 EA/L 0 0 x
0 -12EI/L3 -6EI/L2 0 12EI/L3 -6EI/L2
0 6EI/L2 2EI/L 0 -6EI/L2 4EI/L
2
3
1
3
X
(5)
(7)
1 2
T1 (6)

5 6 7 1 2 3 𝛼1 = 90°
50 0 -250 -50 0 -250 5
0 1 0 0 0 0
0 4000 0 0 -4000 0 6 -1 0 0 0 0 0

k1 = -250 0 1500 250 0 800 7 0 0 1 0 0 0

T1 =
-50 0 250 50 0 250 1 0 0 0 0 1 0

2 0 0 0 -1 0 0
0 -4000 0 0 4000 0
0 0 0 0 0 1
-250 0 800 250 0 1500 3
 Direct Stiffness Method – Example 1
(2)

Member 1 5 6 7 1 2 3 5
(1) (3)
50 0 -250 -50 0 -250 5 4 6
0 4000 0 0 -4000 0 6

-250 0 1500 250 0 800 7

k1 = 1
-50 0 250 50 0 250 1

0 -4000 0 0 4000 0 2

-250 0 800 250 0 1500 3

1
3
X
(5)
(7)
2
(6)
2
1 2 3 4
50 0 250 1
0 1
3
x 2 4
8

0 4000 0 0 2 9
K = k1 + k2 = 1
250 0 1500 0 3
x Y
0 0 0 0 4
5
7 X
6
 Direct Stiffness Method – Example 1
2 5
Member 2 𝑘2 = 𝑇2𝑇 𝑘2′ 𝑇2
1 4
EA/L 0 0 -EA/L 0 0
x 2
3 6
0 12EI/L3 6EI/L2 0 -12EI/L3 6EI/L2
0 6EI/L2 4EI/L 0 -6EI/L2 2EI/L (2) T2= I (9)
k’2 = 2 5
-EA/L 0 0 EA/L 0 0
(1) 1
0 -12EI/L3 -6EI/L2 0 12EI/L3 -6EI/L2 4 (8)

0 6EI/L2 2EI/L 0 -6EI/L2 4EI/L 3 X 2 6

(3) (4)

T2

1 2 3 8 9 4 𝛼1 = 0°
5000 0 0 -5000 0 0 1
1 0 0 0 0 0
0 100 400 0 -100 400 2 0 1 0 0 0 0

k2 = 0 400 1200 0 -400 600 3 0 0 1 0 0 0

T2 =
-5000 0 0 5000 0 0 8 0 0 0 1 0 0

9 0 0 0 0 1 0
0 -100 -400 0 100 -400
0 0 0 0 0 1
0 400 600 0 -400 1200 4
 Direct Stiffness Method – Example 1
Member 2 1 2 3 8 9 4

5000 0 0 -5000 0 0 1

0 100 400 0 -100 400 2

(2) (9)
2 5 0 400 1200 0 -400 600 3
k2 =
(1) 1 -5000 0 0 5000 0 0 8
4 (8)
3 X 2 6 0 -100 -400 0 100 -400 9
(3) (4)
0 400 600 0 -400 1200 4

2
1 2 3 4
50 0 250 0 1
1
5000 0 0 0 3
x 2 4
8

0 4000 0 0 9
K = k1 + k2 = 2
0 100 400 400 1

250 0 1500 0 x
3 Y
0 400 1200 600
0 0 0 0 5
4
0 400 600 1200 7 X
6
 Direct Stiffness Method – Example 1
1 2 3 4
50 0 250 0
1
5000 0 0 0
0 4000 0 0
K = k1 + k2 = 2
0 100 400 400
250 0 1500 0
3
0 400 1200 600
0 0 0 0
4
0 400 600 1200
2

1
3
x 2 4
8

5050 0 250 0
9
1
0 4100 400 400
K= x Y
250 400 2700 600
5
0 400 600 1200 X
7
6
 Direct Stiffness Method – Example 2
400 kN 400 kN
Example: Solve the truss system shown for unknown
displacements by using the direct stiffness method. 800 kN
Also calculate the internal member axial forces.
Assume E=70 GPa and A=4000 mm2 for all members.
8m

There are 4 nodes, 5 members, 8 structural DoFs,

active DoFs (1-3), constrained DoFs (4-8)

6m 4m

Global and local coordinates D1

D3
3 x 2 4 3 2 4
D8 D2 Active (unknown)
DoFs
5 5
1 4 1 4
3 Constrained
3
x x x x (known) DoFs
x x x
Y x
1 2 1 2
D4 D6

X D5 D7
 dyrfdz rjis
d)
dy
rX
↑
-
is dr

&-> d
d2

⑭ de of
a

red d3
↑cd>
->

adz
+
92 ra -dc
&

dc
*
 Direct Stiffness Method – Example 2
Element stiffness matrices in global coordinates Member 1 𝑘1 = 𝑇1𝑇 𝑘1′ 𝑇1
𝑑3′ (D8) 𝑑4 (D1)
𝑑4′ 𝑑3
4 5 8 1

0 0 0 0 4
T1
1 1 0 35000 0 -35000 5
a = 90° k1 =
x 0 0 0 0 8
Y
y X 0 -35000 0 35000 1
𝑑2′ 𝑑1
𝑑1′ (D4) 𝑑 (D )
2 5

D1 D1 D2 D3
D3
3 2 4
D8 D2 35000 0 0 D1

1 4
5
K= 0 0 0 D2
3
x x
x x 0 0 0 D3
1 2
D4 D6

D5 D7
 Direct Stiffness Method – Example 2
Element stiffness matrices in global coordinates Member 2 𝑘2 = 𝑇2𝑇 𝑘2′ 𝑇2

y 8 1 2 3
𝑑1′ 2 𝑑3′
x 8
46667 0 -46667 0
𝑑2′ 𝑑4′
0 0 0 0 1
T2 a = 0°
Y k2 =
(D8) 𝑑1 𝑑3 (D2)
-46667 0 46667 0 2
2
X
0 0 0 0 3
(D1) 𝑑2 𝑑4 (D3)

D1 D1 D2 D3
D3
3 2 4
D8 D2 35000 0 0 D1

1 4
5
K= 0 46667 0 D2
3
x x
x x 0 0 0 D3
1 2
D4 D6

D5 D7
 Direct Stiffness Method – Example 2
Element stiffness matrices in global coordinates Member 3 𝑘3 = 𝑇3𝑇 𝑘3′ 𝑇3

𝑑3′ (D2)
𝑑3 𝑑4 (D3) 3
4 5 2
𝑑4′
10080 13440 -10080 -13440 4

3
T3 13440 17920 -13440 -17920 5
3 k3 =
a = 53.1°
-10080 -13440 10080 13440 2
y x Y
-13440 -17920 13440 17920 3
𝑑2′ X
𝑑1′ 𝑑1
(D4) 𝑑2 (D5)

D1 D1 D2 D3
D3
3 2 4
D8 D2 35000 0 0 D1

5
K= 46667 D2
1 4 0 13440
3 10080
x x
x x 0 13440 17920 D3
1 2
D4 D6

D5 D7
 Direct Stiffness Method – Example 2
Element stiffness matrices in global coordinates Member 4 𝑘4 = 𝑇4𝑇 𝑘4′ 𝑇4

(D8) 𝑑3 𝑑4 (D1)
𝑑4′ 6 7 8 1
𝑑3′
13333 -10666 -13333 10666 6
T4 7
4 4 -10666 8533 10666 -8533
a = 141.3° k4 =
Y
-13333 10666 13333 -10666 8

x 𝑑2′ 10666 -8533 -10666 8533 1

X
𝑑1
y 𝑑1′ (D6) 𝑑2
(D7)

D1 D1 D2 D3
D3

D8
3 2 4 35000 D1
D2 0 0
8533
1 4
5
K= 0 56747 13440 D2
3
x x
x x D3
1 2
0 13440 17920
D4 D6

D5 D7
 Direct Stiffness Method – Example 2
Element stiffness matrices in global coordinates Member 5 𝑘5 = 𝑇5𝑇 𝑘5′ 𝑇5

(D2)
𝑑4 (D3) 6 7 2 3
𝑑3′ 𝑑3
𝑑4′
6260.9 -12522 -6260.9 12522 6

5 T5 5 -12522 25043 12522 -25043 7

k5 =
a = 116.6° -6260.9 12522 6260.9 -12522 2

x Y 12522 -25043 -12522 25043 3

𝑑2′
X
y 𝑑1′ 𝑑1
(D6) 𝑑2
(D7)
D1
D3
D1 D2 D3
3 2 4
D8 D2
43533 0 0 D1
5
1 4
K= 56747 13440 D2
3 0
x x 6260.9 -12522
x x
1 2 13440 17920 D3
D4 D6 0
-12522 25043
D5 D7
 Direct Stiffness Method – Example 2
Force vector in global coordinates, P = PA - PF
400 kN 400 kN

800 kN
0
-400 -400 0
800 = - 8m
800 0
-400 -400 0

P PA PF

6m 4m

Construction of SSE

-400 43533 0 0 D1 D1 = -9.19 mm

800 =
0 63007.9 918 D2 D2 = 12.84 mm
-400 D3 D3 = -9.59 mm
0 918 42963

P K D
 Direct Stiffness Method – Example 2
nodael
Backsubstitution: member forces in local coordinates 𝑝1′ = 𝑘1′ 𝑇1 𝑑1
local w
the gosal to -
load
load ↑
9

↓
ext
EA)r
1 0 -1 0 0 1 0 0 0 321.6 atfell
0 0 0 0 -1 0 0 0 0 0 o
p1´ = 35000 = kN
-1 0 1 0 0 0 0 1 0 -321.6
0 0 0 0 0 0 -1 0 -9.19×10-3 0

321.6 D1
D3 𝑑3′ (D8) 𝑑4 (D1) =
0 3 2 4 𝑑4′ 𝑑3
D8 D2

1 5 T1
1 4
3
1 1
a = 90°
x x x
x x x
0 D4
1 2 Y
D6
y X
𝑑2′ 𝑑1
321.6 D5 D7 (D4) 𝑑 (D )
𝑑1′ 2 5
 Direct Stiffness Method – Example 2
Backsubstitution: member forces in local coordinates 𝑝2′ = 𝑘2′ 𝑇2 𝑑2

agel
1 0 -1 0 1 0 0 0 0 -599.1
0 0 0 0 0 1 0 0 -9.19×10-3 0
p2´ = 46667 = kN
-1 0 1 0 0 0 1 0 12.84×10-3 599.1
0 0 0 0 0 0 0 1 -9.59×10-3 0

D1
D3 y
𝑑1′ 2 𝑑3′
D8
3 2 4 x
D2
𝑑2′ 𝑑4′
T2 a = 0°
599.1 x 599.1 5
1 4 Y
2 3 (D8) 𝑑1 2 𝑑3 (D2)
x
x
x X
0 0 x
D4
1 2 (D1) 𝑑2 𝑑4 (D3)
D6

D5 D7
 Direct Stiffness Method – Example 2
Backsubstitution: member forces in local coordinates 𝑝3′ = 𝑘3′ 𝑇3 𝑑3

1 0 -1 0 0.6 0.8 0 0 0 -0.97

0 0 0 0 -0.8 0.6 0 0 0 0
p3´ = 28000 = kN
-1 0 1 0 0 0 0.6 0.8 12.84×10-3 0.97
0 0 0 0 0 0 -0.8 0.6 -9.59×10-3 0

0.97 D1 𝑑3′ (D2)

D3
𝑑3 𝑑4 (D3)
3 2 4 𝑑4′
D8
0 D2

T3
3 5 3 3
1 4 a = 53.1°
3
x x x Y
x y
x x
D4
1 2 𝑑2′ X
D6 𝑑1
𝑑1′
0 (D4) 𝑑2 (D5)
0.97
D5 D7
 Direct Stiffness Method – Example 2
Backsubstitution: member forces in local coordinates 𝑝4′ = 𝑘4′ 𝑇4 𝑑4

1 0 -1 0 -0.78 0.63 0 0 0 125.5

0 0 0 0 -0.63 -0.78 0 0 0 0
p4´ = 21865 = kN
-1 0 1 0 0 0 -0.78 0.63 0 -125.5
0 0 0 0 0 0 -0.63 -0.78 -9.19×10-3 0

125.5 0 D1 (D8) (D1)

D3
3 2 4
D8 D2
4 T4 4

4 a = 141.3°
5
1 4 Y
3 x
0 x x
X
x x x
1 2 y (D6)
D4 D6 (D7)
125.5
D5 D7
 Direct Stiffness Method – Example 2
Backsubstitution: member forces in local coordinates 𝑝5′ = 𝑘5′ 𝑇5 𝑑5

1 0 -1 0 -0.45 0.89 0 0 0 448.1

0 0 0 0 -0.89 -0.45 0 0 0 0
p5´ = 31305 = kN
-1 0 1 0 0 0 -0.45 0.89 12.84×10-3 -448.1
0 0 0 0 0 0 -0.89 -0.45 -9.59×10-3 0

448.1 D1
(D2)
0 D3 𝑑4 (D3)
𝑑3′ 𝑑3
𝑑4′
3 2 4
D8 D2

5 T5 5
5
5
1 4 a = 116.6°
3
x x x Y
x 0 x x 𝑑2′
D4
1 2 X
D6 y 𝑑1
𝑑1′ 𝑑2
(D6)
448.1 D5 D7 (D7)
 Direct Stiffness Method – Example 3
aDI

of CD
Example: Solve the frame system shown 125 kNm DJ 16.67 kN/m

for unknown displacements by using the

direct stiffness method. Also calculate the 300 kN
3m
internal member axial forces. M ()
Assume E=200 GPa, I=1.29×108 mm2 and G
A=7600 mm2 for all members. 3m v

There are 3 nodes, 2 members, 9 structural DoFs,

3m 6m
active DoFs (1-3), constrained DoFs (4-9)
D2
D9
x 2 2
D1 D7
2 3 2 3
D3
D8
1
Active (unknown)
1
DoFs

Y x
Constrained
1 D4 1
(known) DoFs

X D6
D5
 arerea
Cord
=
VIVE
ogian sind =
2155
-

-> [K] =

a
errsti
is
"
X

- --

Getrese gota la cedre

 Direct Stiffness Method – Example 3
Element stiffness matrices in global coordinates Member 1 𝑘1 = 𝑇1𝑇 𝑘1′ 𝑇1

4 5 6 1 2 3

46137 90225 -3077 -46137 -90225 -3077 4

90225 181477 1538 -90225 -181477 1538 5

-3077 1538 15384 3077 -1538 7692 6

k1 =
-46137 -90225 3077 46137 90225 3077 1

-90225 -181477 -1538 90225 181477 -1538 2

-3077 1538 7692 3077 -1538 15384 3

𝑑4′ 𝑑5 (D2) D2
𝑑5′
D9
𝑑6 𝑑4 (D1) 2
𝑑6′ (D3) D1 D7
2 3
D3
T1 D8
1 1 1
Active (unknown)

a = 63.4° DoFs
y
𝑑2′ x Y Constrained
(D4) 1
D4 (known) DoFs
𝑑1 X
𝑑3′ 𝑑3 (D ) D6
D5
𝑑1′ (D5) 𝑑2 6
 Direct Stiffness Method – Example 3
Element stiffness matrices in global coordinates Member 1 𝑘1 = 𝑇1𝑇 𝑘1′ 𝑇1

4 5 6 1 2 3

46137 90225 -3077 -46137 -90225 -3077 4

90225 181477 1538 -90225 -181477 1538 5

-3077 1538 15384 3077 -1538 7692 6

k1 =
-46137 -90225 3077 46137 90225 3077 1

-90225 -181477 -1538 90225 181477 -1538 2

-3077 1538 7692 3077 -1538 15384 3

D2
D9 D1 D2 D3
2
D1 D7
2 3
D3 46137 90225 3077 D1
D8
1
Active (unknown)
DoFs K= 90225 181477 -1538 D2

Constrained
D4 1 3077 -1538 15384 D3
(known) DoFs
D6
D5
 Direct Stiffness Method – Example 3
Element stiffness matrices in global coordinates Member 2 𝑘2 = 𝑇2𝑇 𝑘2′ 𝑇2

1 2 3 7 8 9

253333 0 0 -253333 0 0 1

0 1433.3 4300 0 -1433.3 4300 2

0 4300 17200 0 -4300 8600 3

k1 =
-253333 0 0 253333 0 0 7

0 -1433.3 -4300 0 1433.3 -4300 8

0 4300 8600 0 -4300 17200 9

D2
y
𝑑6′ 2
D9
2
𝑑1′ x D1
2 3
D7
𝑑3′ 𝑑4′ D3
𝑑2′ 𝑑5′ D8
Active (unknown)
T2 a = 0° 1
DoFs
Y (D9)
𝑑4(D7)
𝑑6
2 Constrained
(D1) 𝑑1 X 1
𝑑3 (D ) D4 (known) DoFs
3
(D2) 𝑑2 𝑑5 (D8) D6
D5
 Direct Stiffness Method – Example 3
Element stiffness matrices in global coordinates Member 2 𝑘2 = 𝑇2𝑇 𝑘2′ 𝑇2

1 2 3 7 8 9

253333 0 0 -253333 0 0 1

0 1433.3 4300 0 -1433.3 4300 2

0 4300 17200 0 -4300 8600 3

k1 =
-253333 0 0 253333 0 0 7

0 -1433.3 -4300 0 1433.3 -4300 8

0 4300 8600 0 -4300 17200 9

D2
D9
2 D1 D2 D3
D1 D7
2 3
D3 46137
90225 3077 D1
D8 253333
1
Active (unknown)
DoFs 181477 -1538
K= 90225 D2
1433.3 4300
Constrained
D4 1 -1538 15384 D3
(known) DoFs 3077
D6 4300 17200
D5
 Direct Stiffness Method – Example 3
Force vector in global coordinates, P = PA - PF
of
0
112.5
v
134.16 ↓ Y
16.67 kN/m
0
150
↑ ca 3
p
X P = 0 - 50
↑ 6m

.I
67.08 50 50
-125 -112.5
268.3
134.16 50 50 50
PA
6.71 m PF
112.5 Y
1
X
3
0 D4 0 D1
67.08 150 D5 50 D2
134.16
112.5 D6 50 D3
p1F = T1&
T p’ F =
1 p2F = T2T p’2F =
0 D1 0 D7
150 D2 50 D8
-112.5 D3 -50 D9
 Direct Stiffness Method – Example 3
Construction of SSE

0 0 299470 90225 3077 D1 D1 = 0.4x10-3 m

0 - 200 = 90225 182910 2762 D2 D2 = -0.13x10-2 m
-125 -62.5 3077 2762 32584 D3 D3 = -0.19x10-2 rad

PA PF K D

D2
125 kNm 16.67 kN/m
D9
2
D1 D7
2 3
300 kN D3
3m
D8
1
Active (unknown)
DoFs
3m
Constrained
D4 1
(known) DoFs

3m 6m D6
D5
 Direct Stiffness Method – Example 3
Internal force recovery (backsubstitution), phase 1 𝑑𝑖′ = 𝑇𝑖 𝑑𝑖

0.447 0.894 0 0 0 0 0 0
-0.894 0.447 0 0 0 0 0 0
0 0 1 0 0 0 0 0
d’1 = =
0 0 0 0.447 0.894 0 0.4x10-3 -0.95x10-3 m
0 0 0 -0.894 0.447 0 -0.13x10-2 -0.92x10-2 m
0 0 0 0 0 1 -0.19x10-2 -0.19x10-2 rad

0.4x10-3 m
-0.13x10-2 m
-0.19x10-2 rad (Transformation matrix is an identity matrix, i.e. T2=I)
d’2 = d2 =
0
0
0
 Direct Stiffness Method – Example 3
Internal force recovery (backsubstitution), phase 2 𝑝𝑖′ = 𝑘𝑖′ 𝑑𝑖′ + 𝑝𝑖′𝐹

226588 0 0 -226588 0 0 0 134.16 349.56 kN

0 1025.6 3440 0 -1025.6 3440 0 67.08 61.67 kN
0 3440 15384.2 0 -3440 7692.1 0 112.5 101.5 kNm
p’1 = + =
-226588 0 0 226588 0 0 -0.95x10-3 134.16 -81.24 kN
0 -1025.6 -3440 0 1025.6 -3440 -0.92x10-2 67.08 72.49 kN
0 3440 7692.1 0 -3440 15384.2 -0.19x10-2 -112.5 -137.77 kNm

253333 0 0 -253333 0 0 0.4x10-3 0 101.18 kN

0 1433.3 4300 0 -1433.3 4300 -0.13x10-2 50 40.24 kN
0 4300 17200 0 -4300 8600 -0.19x10-2 50 12.77 kNm
p’2 = + =
-253333 0 0 253333 0 0 0 0 -101.18 kN
0 -1433.3 -4300 0 1433.3 -4300 0 50 59.76 kN
0 4300 8600 0 -4300 17200 0 -50 -71.33 kNm
 Direct Stiffness Method – Example 3
Free-body and moment diagrams
12.77 16.67 kN/m 71.33
81.24 101.18 101.18
137.8
137.8 40.24 59.76
72.49
268.3
134.16 105.3 35.72
+ +
-
12.77
101.5 71.33
61.67 101.5
349.56
125 kNm 16.67 kN/m
71.33
Calculation of support reactions 101.17

300 kN
𝑝1 = 𝑇1𝑇 𝑝1′ 59.76

𝑝2 = 𝑇2𝑇 𝑝2′ Equilibrium should

101.5 be checked!
101.17

340.24
 Direct Stiffness Method – Example 4
Example: Solve the axially rigid beam shown for the joint displacements by using
the direct stiffness method. Assume EI is constant.

20 kN
2 kN/m

A B C D

8m 12 m 20 m 20 m

Without any modification for moment release, there are 4 structural DoFs (qA, qB, qC,
qD). If modification is used, then qA and qD can be eliminated since members AB and CD
are modified. Then there remain 2 DoFs.

D1=qB D2=qC
modified modified

A B C D
 Direct Stiffness Method – Example 4
Element Stiffness Matrices

Member AB (hinge at start node) 𝑇 ′

𝑘𝐴𝐵 = 𝑇𝐴𝐵 𝑘𝐴𝐵 𝑇𝐴𝐵

y
D1
d'1 d'2 3𝐸𝐼 −3𝐸𝐼 3𝐸𝐼
x 𝐿3 𝐿3 𝐿2
A L B d' ′ −3𝐸𝐼 3𝐸𝐼 −3𝐸𝐼
3 𝑘𝐴𝐵 = 𝑘𝐴𝐵 =
𝐿3 𝐿3 𝐿2
3𝐸𝐼 −3𝐸𝐼 3𝐸𝐼
TAB a = 0° D1
Y 𝐿2 𝐿2 𝐿

d1 d2
X D1 D2
A L B d
3 3𝐸𝐼
D1 D1
20
K=
′ D2
𝑘𝐴𝐵 = 𝑘𝐴𝐵 since 𝑇𝐴𝐵 = 𝐼
 Direct Stiffness Method – Example 4
Element Stiffness Matrices

Member BC (not modified) 𝑇 ′

𝑘𝐵𝐶 = 𝑇𝐵𝐶 𝑘𝐵𝐶 𝑇𝐵𝐶
D1 D2
y
12𝐸𝐼 6𝐸𝐼 −12𝐸𝐼 6𝐸𝐼
d'1 d'3
𝐿3 𝐿2 𝐿3 𝐿2
x 6𝐸𝐼 4𝐸𝐼 −6𝐸𝐼 2𝐸𝐼
B L C d' D1
d'2 4 ′ 𝐿2 𝐿 𝐿2 𝐿
𝑘𝐵𝐶 = 𝑘𝐵𝐶 =
−12𝐸𝐼 −6𝐸𝐼 12𝐸𝐼 −6𝐸𝐼
TBC a = 0° 𝐿3 𝐿2 𝐿3 𝐿2
Y 6𝐸𝐼 2𝐸𝐼 −6𝐸𝐼 4𝐸𝐼
D2
𝐿2 𝐿 𝐿2 𝐿
d1 d3
X
B L C d
d2 4 D1 D2
D1 D2
3𝐸𝐼 𝟒𝑬𝑰 𝟐𝑬𝑰
+ D1
20 𝟐𝟎 𝟐𝟎
′
𝑘𝐵𝐶 = 𝑘𝐵𝐶 since 𝑇𝐵𝐶 = 𝐼 K=
𝟐𝑬𝑰 𝟒𝑬𝑰
D2
𝟐𝟎 𝟐𝟎
 Direct Stiffness Method – Example 4
Element Stiffness Matrices

Member CD (hinge at end node) 𝑇 ′

𝑘𝐶𝐷 = 𝑇𝐶𝐷 𝑘𝐶𝐷 𝑇𝐶𝐷

y D2
d'1 d'3 3𝐸𝐼 3𝐸𝐼 −3𝐸𝐼
x 𝐿3 𝐿2 𝐿3
d'2 C L D ′ 3𝐸𝐼 3𝐸𝐼 −3𝐸𝐼
𝑘𝐶𝐷 = 𝑘𝐶𝐷 = D2
𝐿2 𝐿 𝐿2
−3𝐸𝐼 −3𝐸𝐼 3𝐸𝐼
TCD a = 0°
𝐿3 𝐿2 𝐿3
Y

d1 d3
X D1 D2
d2 C L D
D2 3𝐸𝐼 4𝐸𝐼 2𝐸𝐼
+ D1
20 20 20
′
𝑘𝐶𝐷 = 𝑘𝐶𝐷 K=
since 𝑇𝐶𝐷 = 𝐼 2𝐸𝐼 4𝐸𝐼 𝟑𝑬𝑰 D2
+
20 20 𝟐𝟎
 Direct Stiffness Method – Example 4
Force vector in global coordinates, P = PA - PF

20 kN
67.2 kNm 66.7 kNm 2 kN/m 66.7 kNm
D1 D1 D2
A B B C
8m 12 m 20 m

0.5 0 -67.2 + 66.7

= -
66.7 0 -66.7

P PA PF

Construction of SSE, K D = PA - PF

𝐸𝐼 7 2 D1 0.5 D1 = -57/6EI rad

=
20 2 7 D2 66.7 D2 = 206/9EI rad