STRUCTURE

STIFFNESS
MATRIX
18.2 Structure Stiffness Matrix
In the analysis of a structure using the direct stiffness method, we start by introducing sufficient
restraints (i.e., clamps) to prevent movement of all unrestrained joints. We then calculate the forces
in the restraints as the sum of fixed-end forces for the members meeting at a joint. The internal
forces at other locations of interest along the elements are also deter- mined for the restrained
condition.
In the next step of the analysis, we determine values of joint displacements for which the
restraining forces vanish. This is done by first applying the joint restraining forces, but with the
sign reversed, and then solving a set of equilibrium equations that relate forces and displacements
at the joints. In matrix form we have
K∆ = F
where F is the column matrix or vector of forces (including moments) the fictitious restraints but
with the sign reversed, ∆ is the column vector of joint displacements selected as degrees of
freedom, and K is the structure stiffness matrix.
The term degree of freedom (DOF refers to the independent joint displacement components that
are used in the solution of a particular problem by the direct stiffness method. The number of
degrees of freedom may equal the number of all possible joint displacement components (for
example, 3 times the number of free joints in planar frames) or may be smaller if simplifying
assumptions (such as neglecting axial deformations of members) are introduced. In all cases, the
number of degrees of freedom and the degree of kinematic indeterminacy are identical.
Once the joint displacements ∆ are calculated, the member actions (i.e., the moments, shears, and
axial loads produced by these displacements) can be readily calculated. The final solution follows
by adding these results to those from the restrained case.

The individual elements of the structure stiffness matrix K can be computed by introducing
successively unit displacements that correspond to one of the degrees of freedom while all other
degrees of freedom are restrained, the external forces at the location of the degrees of freedom
required to satisfy equilibrium of the deformed configuration are the elements of the matrix K.
More explicitly, a typical element kij of the structure stiffness matrix K is defined as follows: kij =
force at degree of freedom i due to a unit displacement of degree of freedom j; when degree of
freedom j is given a unit displacement, all others are restrained.

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The 2 x 2 Rotational Stiffness Matrix for a Flexural Member
In this section we derive the member stiffness matrix for an individual flexural element using only
joint rotations as degrees of freedom. The 2 X 2 matrix that relates moments and rotations at the
ends of the member is important because it can be. used directly in the solution of many practical
problems, such as continuous beams and braced frames where joint translations are prevented.
Furthermore, it is a basic item in the derivation of the more general 4 X 4-member stiffness matrix
to be presented in Section 18,4.

Figure 18.2 shows a beam of length L with and moments Mi and Mj. As a sign convention the end
rotations θi and θj are positive when clockwise and negative when counterclockwise. Similarly,
clockwise end moments are also positive, and counterclockwise moments are negative. To
highlight the fact that the derivation to follow is independent of the member orientation, the axis
of the element is drawn with an arbitrary inclination a.
In matrix notation, the relationship between the end moments and the resulting end rotations can
be written as

where is ꝁ the 2 X 2-member rotational stiffness matrix.

To determine the elements of this matrix, we use the slope-deflection equation to relate end
moments and rotations (see Eqs. 12.14 and 12.15). The sign convention and the notation in this
formulation are identical to those used in the original derivation of the slope-deflection equation
in Chapter 12. Since no loads are applied along the member's axis and no chord rotation Ψ occurs
(both Ψ and the FEM equal zero), the end moments can be expressed as

2𝐸𝐼
𝑀𝑖 = (2𝜽𝑖 + 𝜃𝑗) (18.3)
𝐿

and
2𝐸𝐼
𝑀𝑗 = (2𝜽𝑖 + 𝜃𝑗) (18.4)
𝐿

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Equations: 18.3 and 18.4 can be written in matrix notation as
Mi 2EI 2 1 𝜽𝑖
[ ]= L [ ][ ] (18.5)
Mj 1 2 𝜽𝑗

Equations: 18.2 and 18.5 it follows that the member rotational stiffness matrix ꝁ is
2EI 2 1
ꝁ= [ ] (18.6)
L 1 2

We will now illustrate the use of the preceding equations by solving a number of examples. To
analyze a structure, it is necessary to identify the degree of freedom first. After the degree of
freedom has been identified, the solution process can be conveniently broken down into the
following five steps:
1. Analyze the restrained structure and calculate the clamping forces at the joints. Fixed end
moments
2. Assemble the structure stiffness matrix.
3. Apply the joint clamping forces but with. the sign reversed to the original structure, and
then calculate the unknown joint displacements using Equation 18.1. K∆ = F
4. Evaluate the effects of joint displacements (for example, deflections, moments, shears).
5. Sum the results of steps 1 and 4 to obtain the final solution.

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EXAMPLE 18.1
Using the direct stiffness method, analyze the frame shown in Figure 18.3a. The change in length
of the members may be neglected. The frame consists of two members of constant flexural rigidity
El connected by a rigid joint at B. Member BC supports a concentrated load P acting downward at
midspan. Member AB carries a uniform load w acting to the right. The magnitude of w (in units
of load per unit, length) is equal to 3P/L.

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 −𝑃𝐿
𝑀𝐹𝐵𝐶 = = −0.125𝑃𝐿
8
𝑃𝐿
𝑀𝐹𝐶𝐵 = = 0.125𝑃𝐿
8
−𝑊𝐿2
𝑀𝐹𝐴𝐵 = = −0.25𝑃𝐿
12
𝑊𝐿
𝑀𝐹𝐵𝐴 = = 0.25𝑃𝐿
12

Step 1: Analysis of the Restrained Structure With the rotation Figure 18.3: (a) Details of frame;
at joint B restrained by a temporary clamp, the structure is transformed into two fixed-end beams
(Fig. 18.3c). The fixed-end moments (see Fig.12.5d) for member AB are

−𝑊𝐿2 3𝑃 𝐿2 𝑃𝐿
MIAB = = − (12) = −
12 𝐿 4
𝑃𝐿
MIBA = MIAB =
4

And for member BC

𝑃𝐿
-MIBC = MICB =
8

Figure 18.3c shows the fixed-end moments and the deflected shape of the restrained frame. To
illustrate the calculation of the restraining moment M1, a free-body diagram of joint B is also
shown in the lower right corner of Figure 18.3c. For clarity, shears acting on the joint are omitted.
From the requirement of rotational equilibrium of the joint (ΣMB = 0) we obtain
−𝑃𝐿 𝑃𝐿
+ + M1 = 0
4 8
𝑃𝐿
𝑓𝑟𝑜𝑚 𝑤ℎ𝑖𝑐ℎ 𝑤𝑒 𝑐𝑜𝑚𝑝𝑢𝑡𝑒 𝑀1 =
8

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In this I-degree of freedom problem, the value of Ml with its sign reversed is the only element in
the restraining force vector F (see Eq.18.1). Figure 18.3d shows the moment diagrams for the
members in the restrained structure.

Step 2: Assembly of the Structure Stiffness Matrix.

To assemble the stiffness matrix, we introduce a unit rotation at joint B and calculate the moment
required to maintain the deformed configuration. The deflected shape of the frame produced by a
unit rotation at joint B is shown in Figure 18.3e. Substituting θA = θC = 0 + θB = 1 into equation
18.5, we compute the moments at the ends of members AB and BC as

4E1 2E1

These moments are shown on the sketch of the

deformed structure in Figure 18.3e. The moment
required at joint B to satisfy equilibrium can be easily
determined from the free-body diagram shown in the
lower right corner of Figure 18.3e. Summing
moments at joint B, we compute the stiffness
coefficient K11 as
4𝐸𝐼 4𝐸𝐼 8𝐸𝐼
K11 = + =
𝐿 𝐿 𝐿

In this problem the value given by Equation 18.12 is

the only element of the stiffness matrix K. The
moment diagrams for the members corresponding to
the condition θB = 1 rad are shown in Figure 18.3f.
Step 3: of Equation 18.1 Because this problem has
only 1 degree of freedom, Equation 18,1 is a simple
algebraic equation. Substituting the previously
calculated values of F and K given by Equations
18.11 and 18.12, respectively, yields.

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 K∆ = F
8𝐸𝐼 𝑃𝐿
θB = -
𝐿 8

Solving for θB yields

𝑃𝐿2
θB = −
64𝐸𝐼
The minus sign indicates that the rotation of joint B is counterclockwise, that is, opposite in sense
to the direction defined as positive in Figure 18.3b.

Step 4: Evaluation of the Effects of Joint Displacements: Since the moments produced by a unit
rotation of joint B are known from step 2 (see Fig. 18.3f), the moments produced by the actual
joint rotation are readily obtained by multiplying the forces in Figure 18.3f by θB given by
Equation 18.14; proceeding, we find

The double prime indicates that these moments are associated with the joint displacement
condition.

Step 5: Calculation of Final Results. The final results are obtained by adding the values from the
restrained condition (step 1) with those produced by the joint displacements (step 4). Released
structure.

The member moment diagrams can also be evaluated by combining the diagrams from the
restrained case with those corresponding to the joint displacements. Once the end moments are

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known, however, it is much easier to construct the individual moment diagrams using basic
principles of statics. The final results are shown in Figure 18.3g

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EXA M P L E 1 8.2
Construct the bending moment diagram for the three-span continuous beam shown in Figure 18.4a.
The beam, which has a constant flexural rigidity El, supports a 20-kip concentrated load acting at
the center of b span BC. In addition, a uniformly distributed load of 4.5 kips/ft acts over the
length of span CD.

Fixed end moments

−𝑃𝐿 −20 𝑥 40
MFBC = = = -100kpft
8 8
𝑃𝐿
MFCB = 8 = 100 𝑘𝑝𝑓𝑡

−𝑊𝐿2 −4.5 𝑥 202

MFCD= = = - 150kpft
12 8
𝑊𝐿
MFDC= 12 = 150kpf

Solution

An inspection of the structure indicates that the degree of kinematic indeterminacy is 3. The
positive directions selected for the 3 degrees of freedom (rotations at joints B, C, and D) are shown
with curved arrows in Figure 18.4b.

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Step 1: Analysis of the Restrained Structure:The fixed-end moments induced in the restrained
structure by the applied loads are calculated using the formulas in Figure 12.5. Figure 18s4c shows
the moment diagram for the restrained condition and the free-body diagrams of the joints that are
used to calculate the forces in the restraints. Considering moment equilibrium, we compute the
restraining moments as follows:

Joint B M1 + 100 = 0 M1 = -100 kip. Ft

Joint C -100 + M2 + 150 = 0 M2 = -50 kip. Ft

Joint D -150 + M3 = 0 M3 = 150 kip. Ft

Reversing the sign of these restraining moments, we construct the force vector F:
100
𝐹 = [ 50 ] 𝑘𝑖𝑝. 𝑓𝑡
−150
Step 2: Assembly of the Structure Stiffness Matrix: The forces at the end of the members
resulting from the introduction of unit displacements at each one of the degrees of freedom are
shown in Figure 18.4d to f. The elements of the structure stiffness matrix are readily calculated
from the free-body diagrams of the joints. Summing moments, we calculate from Figure 18.4d:

−0.2𝐸𝐼 − 0.1𝐸𝐼 + 𝐾11 = 0 𝑎𝑛𝑑 𝐾11 = 0.3𝐸𝐼

−0.05𝐸𝐼 + 𝐾21 = 0 𝑎𝑛𝑑 𝐾21 = 0.05𝐸𝐼

𝐾31 = 0 𝑎𝑛𝑑 𝐾31 = 0

From Figure 18.4e,

−0.05𝐸𝐼 + 𝐾12 = 0 𝑎𝑛𝑑 𝐾12 = 0.05𝐸𝐼

−0.1𝐸𝐼 − 0.2𝐸𝐼 + 𝐾22 = 0 𝑎𝑛𝑑 𝐾22 = 0.3𝐸𝐼

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 −0.1𝐸𝐼 + 𝐾32 = 0 𝑎𝑛𝑑 𝐾32 = 0.1𝐸𝐼

From Figure 18.4f,

𝐾13 = 0 𝑎𝑛𝑑 𝐾13 = 0

−0.1𝐸𝐼 + 𝐾23 = 0 𝑎𝑛𝑑 𝐾23 = 0

−0.2𝐸𝐼 + 𝐾33 = 0 𝑎𝑛𝑑 𝐾33 = 0.2𝐸𝐼

Arranging these stiffness coefficients in matrix form, we produce the following structure stiffness
matrix K:
0.3 0.05 0
𝐾 = 𝐸𝐼 [0.05 0.3 0.1]
0 0.1 0.2
As we would anticipate from Betti’s law, the structure stiffness matrix K is symmetric.

Figure 18.4: (f) Stiffness coefficients produced Figure by a unit rotation of joint D with joints B
and C restrained;

Step 3: Solution of Equation 18.1 Substituting the previously calculated values of F and K (given
by Equations 18.19 and 18.20) into Equation 18.1 gives

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 0.3 0.05 0 𝜃1 100
𝐸𝐼 = [0.05 0.3 0.1] [𝜃2 ] = [ 50 ] … … … … … … … … . (18.21)
0 0.1 0.2 𝜃3 −150
Solving Equation 18.21, we compute
𝜃1 1 258.6
[𝜃2 ] = [ 448.3 ] … … … … … … … … … … … … … . . (18.22)
𝜃3 𝐸𝐼
−974.1

Step 4: Evaluation of the Effect of Joint Displacements: The moments produced by the actual
joint rotations are determined by multiplying the moments produced by the unit displacements (see
Figure 18.4d to f) by the actual displacements and superimposing the results. For example, the end
moments in span BC are

𝑀" 𝐵𝐶 = 𝜃1 (0.1𝐸𝐼) + 𝜃2 (0.05𝐸𝐼) + 𝜃3 (0) = 48.3𝑘𝑖𝑝. 𝑓𝑡 … … … … … … … . (18.23)

𝑀" 𝐶𝐷 = 𝜃1 (0.05𝐸𝐼) + 𝜃2 (0.1𝐸𝐼) + 𝜃3 (0) = 57.8𝑘𝑖𝑝. 𝑓𝑡 … … … … … … … . (18.24)

The evaluation of the member and moments produced by the joint displacements using
superposition requires that for an n degree of freedom structure we add n appropriately scaled unit
cases. This approach becomes increasingly cumbersome as the value of n increases. Fortunately,
we can evaluate these moments in one step by using the individual member rotation stiffness
matrices. For example, we consider span BC, for which the end moments due to joint
displacements were calculated preciously by using superposition. If we substitute the end rotations
𝜃1 and 𝜃2 (given by Eq. 18.22) into Equation 18.5 with L=40ft, we obtain

𝑀" 2𝐸𝐼 2 1 1 258.6 48.3

[ " 𝐵𝐶 ] = [ ] [ ]=[ ] … … … … … … … … . . (18.25)
𝑀 𝐶𝐵 20 1 2 𝐸𝐼 448.3 57.8

These results are, of course, identical to those obtained by superposition in Equations 18.23 and
18.24.

Proceeding in a similar manner for spans AB and CD, we find that;

𝑀" 2𝐸𝐼 2 1 1 0 25.9

[ "𝐴𝐵 ] = [ ] [ ]=[ ] … … … … … … … … . . (18.26)
𝑀 𝐵𝐴 20 1 2 𝐸𝐼 258.6 51.7

𝑀" 2𝐸𝐼 2 1 1 448.3 −7.8

[ " 𝐶𝐷 ] = [ ] [ ]=[ ] … … … … … … … … . . (18.27)
𝑀 𝐷𝐶 20 1 2 𝐸𝐼 −974.1 −150.0

The results are plotted in Figure 18.4g.

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25.9

51.7

(g)

Step 5: Calculation of Final Results: The complete solution is obtained by adding the results from
the restrained case in Figure 18.4c to those produced by the joint displacements in Figure 1 8.4g. The
resulting moment diagrams are plotted in Figure 18.4h.
8.25'

25.9

Figure 18.4: (h) Final moment diagrams (in units of kip s ft).

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The 4 X 4 Member Stiffness Matrix in Local Coordinates
In Section 18.3 we derived a 2 X 2-member rotational stiffness matrix for the analysis of a
structure in which joints can only rotate, but not translate. We, now derive the member stiffness
matrix for a flexural element considering both joint rotations and transverse joint displacements
as degrees of freedom; the axial deformation of the member is still ignored. With the resulting 4
X 4 matrix we can extend the application of the direct stiffness method to the solution of structures
with joints that both translate and rotate as a result of applied loading.
For educational purposes, the 4 X 4-member stiffness matrix in local coordinates will be derived
in three different ways.

Derivation 1: Using the Slope-Deflection Equation

Figure 18.5a shows a flexural element of length L with end moments and shears; Figure 18.5b
illustrates the corresponding joint displacements. The sign convention is as follows: Clockwise
moments and rotations are positive. Shears and transverse joint displacements are positive when
in the direction of the positive y axis.
The positive directions for local coordinates are as follows: The local x' axis runs along the member
from the near joint i to the far joint j. The positive z' axis is always directed into the paper, and y'
is such that the three axes form a right-handed coordinate system.

Setting the fixed-end moment (FEM) equal to zero in Equations 12.14 and 12.15 (assuming no
load between joints) yields

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 ……………………………. (18.28)

………………………………(18.29)

where the chord rotation 𝜑 from equation 12.4c is

………………………………….(18.30)

Equilibrium (EMS = 0) requires that the end shears and moments in Figure 18.5a be related as
follows:

Substituting Equation 18.30 into Equations 18.28 and 18.29 and then substituting these equations
into Equations 18.31, we produce the following four equations:

(18.32)

(18.33)
2𝐸𝐼
𝑉𝑖 =
𝐿

(18.35)

We can write these equations in matrix notation as

(18.36)

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where the 4 X 4 matrix together with the multiplier 2El/L is the 4 X 4-member stiffness matrix k'.

Derivation 2: Using the Basic Definition of Stiffness Coefficient The 4 X 4-member stiffness
matrix can also be derived using the basic approach of introducing unit displacements at each one
of the degrees of freedom. The external forces, at the DOF, required to satisfy equilibrium in each
deformed configuration are the elements of the member stiffness matrix in the column
corresponding to that DOF. Refer to Figure 18.6 for
the following derivations.

Unit Displacement at DOF 1 (θi= 1 rad)

The corresponding sketch is shown in Figure 18.6b;
the end moments computed with Equation 18.5 are the
usual 4El/L and 2El/L. The shears at the ends are
readily calculated from statics. (The positive sense of
displacements is indicated by the numbered arrows in
Fig. 18.6a.) From. these computations we get
4𝐸𝐼 ′ 2𝐸𝐼 6𝐸𝐼 6𝐸𝐼
𝑘 ′11 = 𝑘 21 = 𝑘 ′ 31 = 2 𝑘 ′ 41 = 2
𝐿 𝐿 𝐿 𝐿
………………(18.37)
These four elements constitute the first column of
matrix k'.

Unit Displacement at DOF 2 (Oj = 1 rad)

The sketch for this condition is illustrated in Figure
18.6c; proceeding as before, we obtain

2𝐸𝐼 4𝐸𝐼 6𝐸𝐼 6𝐸𝐼

𝑘′ 12 = 𝑘′ 22 = 𝑘′ 32 = 2 𝑘′ 42 =
𝐿 𝐿 𝐿 𝐿2
……………………..(18.38)

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Unit Displacement at DOF 3 (∆i = 1)
From the sketch in Figure 18.6d we can see that this displacement pattern, as far as member
distortions go, is equivalent to a positive rotation of IlL measured from the beam chord to the
deformed configuration of the beam. (Note that rigid-body motions do not introduce moments or
shears in the beam element.) Substituting these rotations in Equation 18.5, we obtain the following
end moments:
𝑀𝑖 2𝐸𝐼 2 1 1 1 6𝐸𝐼 1
[𝑀 ] = [ ] [ ] = 2 [ ] … … … … … … … . . (18.39)
𝑗 𝐿 1 2 𝐿 1 𝐿 1

The end moments and corresponding shears (calculated from statics) are depicted in Figure 18.6d;
again, we have
6𝐸𝐼 6𝐸𝐼 12𝐸𝐼 12𝐸𝐼
𝑘′ 13 = 𝑘′ 23 = 𝑘′ 33 = 3 𝑘′ 43 = − … … … … … … … . . (18.40)
𝐿 𝐿 𝐿 𝐿3
These four elements constitute the third column of matrix k'.

Unit Displacement at DOF 4 (∆j = 1) In this case the rotation from the beam chord to the final
configuration of the member, as shown in Figure 18.6e, is counterclockwise and, therefore,
negative. Proceeding in exactly the same manner as before, the result is

6𝐸𝐼 6𝐸𝐼 12𝐸𝐼 12𝐸𝐼

𝑘′ 14 = − 2 𝑘′ 24 = − 2 𝑘′ 34 = − 3 𝑘′ 44 = … … … … … … … . . (18.41)
𝐿 𝐿 𝐿 𝐿3

These four elements constitute the fourth column of matrix k'.

Organizing these coefficients in a matrix format for the member stiffness matrix yields
3 3
2 1 −
𝐿 𝐿
3 3
2𝐸𝐼 1 2 −
𝑘′ = 𝐿 𝐿
𝐿 3 3 6 6
2
− 2
𝐿 𝐿 𝐿 𝐿
−3 −3 6 6
[𝐿 − 2
𝐿 𝐿 𝐿2 ]
Equation 18.42 is identical to the matrix derived previously using the slope-deflection equation
(see Eq. 18.36).

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Derivation 3: Using the 2 X 2 Rotational Stiffness Matrix with a Coordinate Transformation
As we saw in the preceding derivation, as far as distortions go the transverse displacements of the
flexural member are equivalent to end rotations with respect to the chord. Since the rotations with
respect to the chord are a function of both the rotations with respect to the local axis x' and the
transverse displacements, we can write
𝜃𝑖
𝜃𝑖𝑐 𝜃𝑗
[𝜃 ] = 𝑇 … … … … … … … … … … … … … … . (18.43)
𝑗𝑐 ∆𝑖
[∆𝑗 ]
where T is the transformation matrix and the subscript c has been added to distinguish between
rotations measured with respect to the chord and rotations with respect to the local axis x'.
The elements of the transformation matrix T can be obtained with the aid of Figure 18.7. From
there we have

𝜃𝑖𝑐 = 𝜃𝑖 − 𝜑 … … … … … … … … … . (18.44)
𝜃𝑗𝑐 = 𝜃𝑗 − 𝜑 … … … … … … (18.45)
where the chord rotation is given by
∆𝑗 − ∆𝑖
𝜑=
𝐿

Substituting Equation 18;30 into Equations 18.44 and 18.45, we obtain

∆𝑖 ∆𝑗
𝜃𝑖𝑐 = 𝜃𝑖 + − … … … … … … … … … . (18.46)
𝐿 𝐿
∆𝑖 ∆𝑗
𝜃𝑗𝑐 = 𝜃𝑗 + − … … … … … … . . (18.47)
𝐿 𝐿

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Writing Equations 18.46 and 18.47 in matrix notation produces
1 1 𝜃𝑖
𝜃𝑖𝑐 1 0 −
[𝜃 ] = [ 𝐿 𝐿] [𝜃𝑗 ] … … … … … … … . . (18.48)
𝑗𝑐 1 1 ∆𝑖
0 1 −
𝐿 𝐿 ∆𝑗
The 2 X 4 matrix in Equation 18.48 is, by comparison with Equation 18.43, the transformation
matrix T.

From Section 17.7 we know that if two sets of coordinates are. geometrically related; then if the
stiffness matrix is known in one set of coordinates, it can be transformed to the other by the
following operation:
𝑘 ′ = 𝑇 𝑇 𝑘𝑇 … … … … … … … … … … … . . (18.49)
where k is the 2 x 2 rotational stiffness matrix. (Eq. 18.6) and k' is the 4 X 4-member stiffness
matrix in local coordinates. Substituting the T matrix in Equation 18.48 and the rotational stiffness
matrix of Equation 18.6 for k, we get
1 0
0 1 1 1
1 1 2𝐸𝐼 1 0 −
2 1 𝐿 𝐿]
𝑘′ = [ ][
𝐿 𝐿 𝐿 1 2 1 1
1 1 0 1 −
𝐿 𝐿
[− 𝐿 − 𝐿]

The multiplication of the matrices shown above yields the same beam element stiffness matrix as
derived previously arid presented as Equation 18.42; the verification is left as an exercise for the
reader.

EXAMPLE 18.3

80kips

Figure 18.8: Analysis of an unbraced frame. (a) Details of frame; (b) positive sense of unknown
joint displacements defined.
Analyze the plane frame shown in Figure I8.8a. The frame is made up of two columns of moment
of inertia I, rigidly connected to a horizontal beam whose moment of inertia is 31. The structure

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supports a concentrated load of 80 kips acting horizontally to the right at the midheight of column
AB. Neglect the deformations due to axial forces.

Solution
Because axial deformations are neglected, joints Band C do not move vertically but have the same
horizontal displacement. In Figure 18.8b we use arrows to show the positive sense of the three
independent joint displacement components. We now apply the five-step solution procedure
utilized in the preceding examples.

Step 1: Analysis of the Restrained Structure

With the degrees of freedom restrained by a clamp at B as well as a clamp and horizontal support
at C, the frame is transformed to three independent fixed-end beams. The moments in the restrained
structure are shown in Figure I8.8c. The restraining forces are calculated using the free-body
diagrams shown at the bottom of Figure 18.8c.
We note that the horizontal restraint at joint C that prevents sway of the frame (DOF 3) can be
placed at either joint B or C without affecting the results. The selection of joint C in the sketch of
Figure 18.8c is thus arbitrary. We also note that the simplification introduced by neglecting axial
deformations does not imply that there are no axial forces. It only means that axial loads are
assumed to be carried without producing shortening or elongation of the members.
From the free-body diagrams in Figure 18.8c we compute the restraining forces as

−160.0 + 𝑀1 = 0 𝑀1 = 160.0

𝑀2 = 0

40.0 + 𝐹3 = 0 𝐹3 = −40.0

160

Reversing the sign of restraining forces to construct the force vector F gives;

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 −160.0
𝐹=[ 0 ]
40.0
where forces are in kips and moments are in kip. Ft.

Step 2: Assembly of the. Structure Stiffness Matrix

The deformed configurations, corresponding to unit displacements at each degree of freedom, are
shown in Figure 18.8d. The moments at the end of the members, in the sketches corresponding to
unit rotations of joints B and C (i.e., DOF 1 and 2, respectively), are most easily calculated from
the 2 X 2-member rotational stiffness matrix of Equation 18.5. Using the appropriate free-body
diagrams, we compute
−0.25𝐸𝐼 − 0.4𝐸𝐼 + 𝐾11 = 0 𝑶𝑹 𝐾11 = 0.65𝐸𝐼

−0.2𝐸𝐼 + 𝐾21 = 0 𝑶𝑹 𝐾21 = 0.20𝐸𝐼

0.0234𝐸𝐼 + 𝐾31 = 0 𝑶𝑹 𝐾31 = −0.0234𝐸𝐼

−0.4𝐸𝐼 − 0.25𝐸𝐼 + 𝐾22 = 0 𝑶𝑹 𝐾22 = 0.65𝐸𝐼

0.0234𝐸𝐼 + 𝐾32 = 0 𝑶𝑹 𝐾32 = −0.0234𝐸𝐼

Figure 18.8: (d) Computation of stiffness coefficients by introducing unit displacements

corresponding to unknown joint displacements; the. restraints (clamps and the lateral support at
joint C) are omitted to simplify the sketches.

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The elements of the third row of the structure stiffness matrix are evaluated by introducing a unit
horizontal displacement at the top of the frame (DOF 3). The forces in the members are calculated
as follows. From Figure 18.8d we see that for this condition member BC remains undeformed,
thus having no moments or shears. The columns, members AB and DC, are subjected to the
deformation pattern given by
𝜃𝑖 0
𝜃𝑗
= [0]
∆𝑖 0
∆
[ 𝑗] 1

where the subscripts i and j are used to designate the near and the far joints, respectively. Notice
that by defining the columns as going from A to B and from D to C, both local y axes are in
accordance with the previously established sign convention, directed to the right, thus making the
displacement ∆ = 1 positive.
The moments and shears in each column are obtained by substituting the displacements shown
above into Equation 18.36, that is;
3 3
2 1 −
𝐿 𝐿
𝑀𝑖 3 3 0
𝑀𝑗 2𝐸𝐼 1 2 −
= 𝐿 𝐿 [0 ]
𝑉𝑖 𝐿 3 3 6 6 0
𝑉 − 2 1
[ 𝑗] 𝐿 𝐿 𝐿 2 𝐿
−3 −3 6 6
[𝐿 − 2
𝐿 𝐿 𝐿2 ]

These results are shown in Figure 18.8d. From equilibrium of forces in the horizontal direction on
the beam, we compute
−0.0029𝐸𝐼 − 0.0029𝐸𝐼 + 𝐾33 = 0 𝑂𝑅 𝐾33 = 0.0058𝐸𝐼

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Equilibrium of moments at joints Band C requires that 𝐾13 = 𝐾23 = −0.0234𝐸𝐼

Arranging these coefficients in matrix form, we produce the structure stiffness matrix
0.65 0.20 −0.0234
𝐾 = 𝐸𝐼 [ 0.20 0.65 −0.0234]
−0.0234 −0.0234 0.0058
As a check of the computations, we observe the structure stiffness matrix K is symmetric (Betti's
law).B

Step 3: Solution of Equation 18.1 Substituting F and K into Equation 18.1, we generate the
following set of simultaneous equations:

0.65 0.20 −0.0234 𝜃1 −160.0

𝐸𝐼 [ 0.20 0.65 −0.0234] [ 𝜃2 ] = [ 0.0 ]
−0.0234 −0.0234 0.0058 ∆3 40.0
Solving yields
𝜃1 1 −57.0
[ 𝜃2 ] = [ 298.6 ]
∆3 𝐸𝐼
7793.2

The units are radians and feet.

Step 4: Evaluation of the Effect of Joint Displacements

As explained in Example 18.2, the effects of the joint displacements are most easily calculated
using the individual element stiffness matrices. These computations produce the following values
of displacement at the ends of each member.
For member AB,
𝜃𝐴 0
𝜃𝐵 1 −57.0
[ ]= [ ]
∆𝐴 𝐸𝐼 0.0
∆𝐵 7793.2

For member BC,

𝜃𝐵 −57.0
𝜃𝐶 1 298.6
[ ]= [ ]
∆𝐵 𝐸𝐼 0.0
∆𝐶 0.0

For member DC

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 𝜃𝐷 0
𝜃𝐶 1 298.6
[ ]= [ ]
∆𝐷 𝐸𝐼 0.0
∆𝐶 7793.2

The results obtained by substituting these displacements into Equation 18.36 (with the appropriate
values of L and flexural stiffness EI) are shown graphically in Figure I8.8e.

Step 5: Calculation of Final Results

The complete solution is obtained by superimposing the results of the restrained case (Fig. 18.8c)
and the effects of the joint displacements (Fig. 18.8e). The final moment diagrams for the members
of the frame are plotted in Figure 18.8f.

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