Chapter05 - Plane Frame and Grid Eq

Plane Frame and Grid Equations
Introduction
Many structures, such as buildings and bridges, are composed of frames
and/or grids. This chapter develops the equations and methods for solution of
plane frames and grids. First, we will develop the stiffness matrix for a beam
element arbitrarily oriented in a plane. We will then include the axial nodal
displacement degree of freedom in the local beam element stiffness matrix. Then
we will combine these results to develop the stiffness matrix, including axial
deformation effects, for an arbitrarily oriented beam element. We will also
consider frames with inclined or skewed supports.
Two-Dimensional Arbitrarily Oriented Beam Element

We can derive the stiffness matrix for an arbitrarily oriented beam element,
shown in the figure below, in a manner similar to that used for the bar element.
The local axes x and y are located along the beam element and transverse to
the beam element, respectively, and the global axes x and y are located to be
convenient for the total structure.
The transformation from local displacements to global displacements is given in

matrix form as:
CIVL 7117 Finite Elements Methods in Structural Mechanics
Page 181

d x C S d x

d y S C
d y
C
S
cos
sin
Using the second equation for the beam element, we can relate local nodal
degrees of freedom to global degree of freedom:
d1y

1

d2 y

2
S C 0 0 0 0
0 0 1 0 0 0
0 0 0 S C 0
0 0 0 0 0 1
d1X
d1y
1

d 2 X
d 2 y
dSd
y
Cd y
For a beam we will define the following as the transformation matrix :

S C 0 0 0 0
0 0 1 0 0 0
0 0 0 S C 0
0 0 0 0 0 1
Notice that the rotations are not affected by the orientation of the beam.
Substituting the above transformation into the general form of the stiffness matrix
k T T kT gives:
2
12SSC
12
12SC 12C 2
6LC
EI 6LS
3
2
L 12SSC 12
12SC
12
C 2
6LC
6LS
6LS
6LC
4L2
6LS
6LC
2L2
12S 2
12SC
6LS
12S 2
12SC
6LS
12SC
12C 2
6LC
12SC
12C 2
6LC
6LS
6LC
2L2
6LS
6LC
4L2
Lets know consider the effects of an axial force in the general beam
transformation.
Page 182
Recall the simple axial deformation, define in the spring element:

f1x

f2 x
AE
L
1 1d1x

1 1
d 2 x
Combining the axial effects with the shear force and bending moment effects, in
local coordinates,
gives:
f1x

fCLC
1y

mLC
1
f2 x

f2 y
m 2
C 1
0
12
4C 2L
2
2
C 1
0
0
12CLC
6
0
2
2
2
2C 2L
0 6 LC
2
C 1
12C 2
6 LC 2
2C 2L 2
6 LC 2
0
C2
12
6 LC 2
6 LC 2
4C 2L 2
C1

d 1x
d1x

1
d 2 x

d 2 y

2
where
C1
AE
L
C2
EI
L3
Page 183
Therefore:
C1
0
0
k
C1
0
12C 2
6LC 2
0
12C2
6LC 2
0
6LC 2
4C2 L2
0
6LC 2
2C 2 L2
C1
0
0
C1
0
0
0
12C 2
6LC 2
0
12C 2
6LC 2
0
6LC 2
2
2C2 L
0
6LC 2
4C2 L2
The above stiffness matrix include the effects of axial force in the x direction,
shear force in the y , and bending moment about the z axis. The local degrees of
freedom may be related to the global degrees of freedom by:
d1x

d1x
1

d2x
d
2y
2
C S 0 0 0 0d1x

S C 0 0 0 0
d1x
0 0 1 0 0 0 1

0
0
0
C
S
0
d 2 x
0 0 0 S C 0 d 2 y

0 0 0 0 0 1
2
where the transformation matrix, including axial effects is:
C S 0 0 0 0
S C 0 0 0 0
0 0 1 0 0 0
0 0 0 C S 0
0 0 0 S C 0
0 0 0 0 0 1
Page 184
Substituting the above transformation into the general form of the stiffness matrix
k T T kT gives:
E
L
The analysis of a rigid plane frame can be undertaken by applying stiffness

matrix. A rigid plane frame is defined here as a series of beam elements rigidly
connected to each other; that is, the original angles made between elements at
their joints remain unchanged after the deformation. Furthermore, moments are
transmitted from one element to another at the joints. Hence, moment continuity
exists at the rigid joints. In addition, the element centroids, as well as the applied
loads, lie in a common plane. We observe that the element stiffnesses of a frame
are functions of E, A, L, I, and the angle of orientation of the element with
respect to the global-coordinate axes.
Page 185
Rigid Plane Frame Example

Consider the frame shown in the figure below.
The frame is fixed at nodes 1 and 4 and subjected to a positive horizontal force
of 10,000 lb applied at node 2 and to a positive moment of 5,000 lb-in. applied at
2
node 3. Let E = 30 x 106psi and A = 10 in. for
all elements, and let I = 200 in. 4
for elements 1 and 3, and I = 100 in. 4for element 2.
Element 1: The angle between x and x is 90
C
where
12I
L2
E
L
(12
200 )
120 2
30 10 6
120
0.167 in 2
6I
L
(6
200 )
120
10.0 in 3
,250
000 lb / in 3
Page 186
Therefore, for element 1:
d
1x
d
1y
10
0
0.167
0
10
0
10
0
800
250,000
0.167 0
10
0
10 0
0
400
10
k (1)
2x
2y
0.167 0
10
10 0
0
10
0
400 lb
0.167
0
10 in
0
10
0
10
0
800

C
12I
L2
S
(12
100 )
120 2
0
6I
L
0.0835 in 2
(6
100 )
120
5.0 in 3

d
2x
2y
3x
3y
10
0
0
0
0
10
0
0
.
0835
5
0
0
.
0835
5
0
5
5
400
0
200 lb
,250
000
in
10
0
0
10
0
0
0
0.0835 5
0
0.0835 5
5
5
200
0
400
0
k (2)

C
12I
L2
E
L
S
(12
200 )
120 2
30 10 6
120
1
0.167 in 2
6I
L
(6
200 )
120
10.0 in 3
,250
000 lb / in 3
Page 187

d
3x
3y
4x
4y
0
10 0.167
0
10
0.167
0
10
10
0
0
0
10
10
0
800
0
400 lb
,250
000
0.167
10 0.167
10 in
0
0
0
10
0
0
10
0
10
0
400
0
800
10
k (3)
The boundary conditions for this problem are:

d1x
d1y
d4 x
d4 y
After applying the boundary conditions the global beam equations reduce to:
10
000
0
10
0
0 d 2 x
,10
10.167
0
0
d
10
.
0835
5
0
0
.
0835
5
2 y
0
10
5
5
1200
0
200 2
5
2
.
5
10

0
0
10.167
0
10 d 3 x
0
10
0
0
0.0835 5
5 d 3 y
0
10.0835
5
000
5
200
10
1200
,5
0
3
Solving the above equations gives:
d2 x
d
2y
2
d3 x
d3 y
0.211 in
0.00148 in
0.00153 rad
0.209 in
0.00148 in
0.00149 rad
Page 188
Element 1: The element force-displacement equations can be obtained using

f Tkd . Therefore, dT is:
Td
0
0
1 0
0 0
0
0
0
0
1
0
0
0
d1x 0
0 0
d
0
0 0
1
y
0
0 0 0
1
0 1 0 d 2 x 0.211 in
1 0 0 d 2 y 0.00148 in
0 0 1
2 0.00153 rad
0
0
0.00148 in
0.211 in
0.00153 rad
Recall the elemental stiffness matrix is:
C1
0
C1
0
12C 2
6LC 2
0
6LC 2
4C2 L2
C1
0
0
0
12C 2
6LC 2
0
12C2
6LC 2
0
6LC 2
2C 2 L2
C1
0
0
0
12C 2
6LC 2
0
6LC 2
4C2 L2
0
6LC 2
2C2 L2
Therefore, the local force-displacement equations are:

10
0
0
0
0
0
10
0
0
.
167
10
0
0
.
167
10
0
0
10
800
0
10
400
0
f (1) Tkd 2.5 10 5
10
0
0
10
0
10
0
.
00148
in
0.167 10
0.211 in
0
0.167 10
10
10
400
0
800
0
0.00153 rad
Simplifying the above equations gives:
f1x
700 lb
,3

990 lb
f1y ,4
m
1 376 k in

,3
700
lb
f
2x
f ,4
990 lb
2y

m
2 223 k in
Page 189
Element 2:
1
0
Td
0
The element force-displacement equations are:

0.211 in
0 0 0 0 0 d 2 x 0.211 in

1 0 0 0 0
0.00148 in
d 2 y 0.00148 in
0 1 0 0 02 0.00153 rad 0.00153 rad
0 0 1 0 0 d3 x 0.209 in
0.209 in
0 0 0 1 0 d3 y 0.00148 in 0.00148 in

0 0 0 0 1
3 0.00149 rad 0.00149 rad

10
0
0
0
0
0.211 in
10
0
0
.
0833
5
0
0
.
0833
5
0
.
00148
in
0
5
400
0
5
200
0
.
00153
rad
f ( 2 ) Tkd 2.5 10 5
10
0
0
10
0
0
0
.
209
in
0.0833 5
5
0.00148 in
0
0.0833
0
5
200
0
5
400
0
.
00149
rad

f2 x
,5
010 lb

700 lb
f2 y ,3
m
2 223 k in

,5
010
lb
f
3x
f
,3
700 lb
3y
3 221 k in
m
Element 3: The element force-displacement equations are:
Td
0 1 0 0 0
1 0 0 0 0
0 0 1 0 0
0 0 0 0 1
0 0 0 1 0
0 0 0 0 0
0 d3 x 0.209 in
0.00148 in
0
d 3 y
03 0.00149 rad
d4 x 0
0
d4y 0
0
4 0
1
0.00148 in
0.209 in
0.00149 rad
Page 190

10
0
0
0
0 0.00148 in
10
0
0.209 in
0
.
167
10
0
0
.
167
10
0
10
800
0
10
400
0
.
00149
rad
f ( 3 ) Tkd 2.5 10 5
10
0
0
10
0
10
0
0.167 10
0
0.167 10
0
10
10
400
0
800
0
0

f3 x
700 lb
,3

010 lb
f3 y ,5
m
3 226 k in

,3
700
lb
f
4x
f ,5
010 lb
4y

4 375 k in
m

The frame is fixed at nodes 1 and 3 and subjected to a positive distributed load of
2
1,000 lb/ft applied along element 2. Let E = 30 x 10 6psi and A = 100 in. for
all
4
elements, and let I = 1,000 in. for all elements.
Page 191
First we need to replace the distributed load with a set of equivalent nodal
forces and moments acting at nodes 2 and 3. For a beam with both end fixed,
subjected to a uniform distributed load, w, the nodal forces and moments are:
f2 y
f3 y
m2
m3
wL
2
(1,000lb /ft )40 ft

2
wL2
12
20
k
2
(1,000lb /ft)(40 )ft

12
133,333 lb ft
1,600 k in
If we consider only the parts of the stiffness matrix associated with the three
degrees of freedom at node 2, we get:
C
0.707
0.707
where
E
L
30 106
509
6I
L
6(1,000)
12 30 2
58.93 kin
/
12(1,000)
12 30
0.0463 in 2
11.78551 in 3

d2 x
d2 y
k (1)
12I
L2
50.02 49.98 8.33

58.93
49.98 50.02 8.33
8.33 8.33 4000
k
in
Simplifying the above equation:

2
d2 x
d2 y
k (1)
491
2,948 2,945
2,945
2,948
491
in
491
491
235,700
Page 192
Element 2:
C
The angle between x and x is 0

S
where
E 30 106
L
480
6I
L
0
62.5 kin
/
12(1,000)
12 40
0.0521 in 2
6(1,000)
12.5 in 3
12 40

d2 x
d2y
(2)
12I
L2
0
0
100
62.50 0 0.052 12.5 k

in
0
12.5
4,000
Simplifying the above equation:

2
d2 x
d2y
k
(2)
0
0
6,250
0
3.25
781.25 k
in
781.25 250,000
0
The global beam equations reduce to:

0
20 k
,1
600 k in
198
,9
,2
945
491
,2
945
,2
951
290
491 d 2 x
290
d
2
y
,485
700

d 2 x
d 2y
0.0033 in
0.0097 in
0.0033 rad
Page 193

f kT d . Therefore, dT is:
0.707 0.707
0.707 0.707
0
0
0
0
0
0
0
0
Td
0
0
0
0
0
0
1
0
0
0 0.707 0.707
0 0.707 0.707
0
0
0
0
0
0
0
0
0
0 0.0033 in
0 0.0097 in
1
0
.
0033
rad
0
.
00452
in
0.0092 in
0
.
0033
rad
Recall the elemental stiffness matrix is a function of values C 1, C 2, and L

C1
AE
L
(100 )30 10 6
12 30 2
,5
893
in
C2
EI
L3
30 10 6 ( ,1
000 )
12 30
0.2273 k in
fkTd
(1)
5,893
10
5,893
0
10
2.730
694.8
694.8 117,900
0
0
2.730 694.8
694.8 117,000
5,893
0
0
5,983
0
0
0
0
0
2.730 694.8
0
694.8 117,000
0
0
0
0.00452 in
694.8 0.0092 in
2.730
694.8 235,800
0.0033 rad

f1x

f1y

m1
f2 x
f2 y
m
2
26.64 k
2.268 k
389.1 kin
26.64 k
2.268 k
778.2 kin
Page 194
Element 2: The element force-displacement equations are:
Td
0
1
0
0
0
0
0
0
1
0
0
0
0
0
0
1
0
0
0 0.0033 in
0
0.0097 in
0 0.0033 rad
0
0
0
0
1
0
0
0
0
0
1
0
0.0033 in
0.0097 in
0.0033 rad
Recall the elemental stiffness matrix is a function of values C 1, C 2, and L

C1
AE
L
(100 )30 10 6
12 40
,6
250
C2
in
30 10 6 ( ,1
000 )
12 40 3
EI
L3
0.2713
in
fkTd
(2)
6,250
6,250
6,250
3.25
781.1
781.1 250,000
6,250
3.25
781.1
781.1 125,000
0.0033 in
3.25
0.0097 in
781.1
781.1 125,000 0.0033 rad
0
0
0
3.25
781.1
0
781.1 250,00
0

20.63 k
2.58 k
dk
832.57 k in
20.63 k
2.58 k
412.50 k in
Page 195
To obtain the actual element local forces, we must subtract the equivalent nodal
forces.
f2 x

f2 y

m2
f3 x
f3 y
m
3
20.63 k
0
2.58 k
20 k
832.57
kin
1600 kin
20.63 k
0
20 k
2.58 k
412.50 kin
1600 kin
20.63 k

17.42 k

767.4 kin
20.63 k

22.58 k

2,013 kin

Consider the frame shown in the figure below. In this example will illustrate the
equivalent joint force replacement method for a frame subjected to a load acting
on an element instead of at one of the joints of the structure. Since no distributed
loads are present, the point of application of the concentrated load could be
treated as an extra joint in the analysis.
This approach has the disadvantage of increasing the total number of joints,
as well as the size of the total structure stiffness matrix K . For small structures
solved by computer, this does not pose a problem. However, for very large
structures, this might reduce the maximum size of the structure that could be
analyzed.
The frame is fixed at nodes 1, 2, and 3 and subjected to a concentrated load of

15 k applied at mid-length of element 1. Let E = 30 x 10 6psi, A = 8 in ,2and let I =
800 in4for all elements.
Page 196
Solution Procedure
1.
Express the applied load in the element 1 local coordinate system (here
x is directed from node 1 to node 4).
2.
Next, determine the equivalent joint forces at each end of element 1,

using the table in Appendix D (see figure below).
Page 197
3.
Then transform the equivalent joint forces from the local coordinate
system forces into the global coordinate system forces, using the
equation f T T f . These global joint forces are shown below.
4.
Then we analyze the structure, using the equivalent joint forces (plus
actual joint forces, if any) in the usual manner.
Page 198
5.
The final internal forces developed at the ends of each element may be
obtained by subtracting Step 2 joint forces from Step 4 joint forces.
Element 1: The angle between x and x is 63.43
where
12I
L2
E
L
0.447
12(800)
44.7 12
30 106
44.7 12
0.895
6I
L
0.0334 in 2
55.9 kin
/
6(800)
44.7 12
8.95 in 3

d4 x
k (1)
d4y
178
90.0
178
359
244
448
448
244
179,000
k
in
Element 2: The angle between x and x is 116.57

C
where
12I
L2
E
L
0.447
12(800)
44.7 12
30 106
44.7 12
0.895
6I
L
0.0334 in 2
55.9 kin
/
6(800)
44.7 12
8.95 in 3

d4x
(2)
d4y
90.0 178
178
359
244
448
448
244
179,000
k
in
Page 199
Element 3: The angle between x and x is 0 (The author of your textbook

directed the element from node 4 to 3. In general, as we have discussed in class,
we usually number the element numerically or from 3 to 4. In this case the angle
between x and x is 180)
C
12I
L2
S
12(800)
50 12
E
L
30 106
50 12
6I
L
0.0267 in 2
50 k /in
6(800)
50 12
8.0 in 3

d4x
k (2)
400
d4y
0
0
1.334
400 kin
400
160,000
The global beam equations reduce to:

7.5 k
900 kin
582
0
896
0
719
400
896 d 4 x

400
d 4 y
4
518,000

din
4x
din
4y
0.0103
0.000956
0.00172 rad
Page 200
Element 1: The element force-displacement equations can be obtained

u s i n g fk T d . T h e r e f o is:
re, dT
C S 0 0 0 0
S C 0 0 0 0
0 0 1 0 0 0
0 0 0 C S 0
0 0 0 S C 0
0 0 0 0 0 1
Td
0.447
0.895
0
0
0.895
0.447
0
0
0
0
0
0
1
0
0
0
0
0
0
0.447
0.895
0
0
0
0
0.895
0.447
0
0.447
0.895
0
0
0
0
0
0
0
0
0
0 0.0103 in 0.00374 in
0 0.000956 in 0.00963 in
1 0.00172rad
0.00172 rad
Recall the elemental stiffness matrix is:
C1
0
C1
C1
AE
L
0
12C 2
6LC 2
0
12C2
6LC 2
0
6LC 2
4C2 L2
0
6LC 2
2C 2 L2
(8)30 10 6
12 44.72
C1
0
0
C1
0
0
447.2
in
0
12C 2
6LC 2
0
12C 2
6LC 2
C2
0
6LC 2
2
2C2 L
0
6LC 2
4C2 L2
EI
L3
30 10 6 (800 )
12 44.72 3
0.155
in
Page 201

447
0
0
0
447
0
1.868
1.868
500.5
0
0
500.5
500.5
,179
000
0
f(1) Tkd
447
0
0
447
0
0
1.868 500.5
0
1.868
500.5
500.5
,89
490
0
0
0
0
500.5
0
,89
490
0
0 0.00374 in
500.5 0.00963 in
,179
000
0.00172 rad
fkd
(1)
1.67 k
0.88 k
158 kin
1.67
k
0.88 k
311
kin
To obtain the actual element local forces, we must subtract the equivalent nodal
forces.
f1x
3.36 k
1.67 k
5.03 k

k
6.71 k
7.59 k
f1y 0.88

kin
1,058 kin
158kin

900
m1

1.67 k
3.36
k
f4 x
1.68 k

0.88 k
k
5.83 k
6.71
f4 y
311
kin
900
kin
589
kin
Page 202

f Tkd . Therefore, dT is:
C S 0 0 0 0
S C 0 0 0 0
0 0 1 0 0 0
0 0 0 C S 0
0 0 0 S C 0
0 0 0 0 0 1
Td
0.447 0.895
0.895 0.447
0
0
0
0
0
0
0
0
0.447
0
0
0
0
0
0
1
0
0
0 0.447 0.895
0 0.895 0.447
0
0
0
0.895
0
0
0
0
0
0
0 0.0103 in
0 0.000956 in
1
0
.
00172
rad
0.00546 in
0.00879 in
0
.
00172
rad

AE
L
C1
f( 2 )
(8)30 10 6
12 44.72
kT d
447.2
0
447
0
1.868
0
500.5
447
0
0
1.868
500.5
0
in
C2
EI
L3
30 10 6 (800 )
12 44.72 3
447
0
0
1.868
500.5
0
500.5
,179
000
0
0
447
0
500.5
0
1.868
500.5
,89
490
0
0.155
in
0
0
500.5
0
,89
490
0
0 0.00546 in
500.5 0.00879 in
,179
000
0.00172 rad
Page 203
fkd
(2)
2.44 k
0.877 k
158 kin
2.44 k
0.877 k
312 kin
Since there are no applied loads on element 2, there are no equivalent nodal
forces to account for. Therefore, the above equations are the final local nodal
forces
Element 3: The element force-displacement equations can be obtained
u s i n g fk T d . T h e r e f o is:
re, dT
Td
0
1
0
0
0
0
0
0
1
0
0
0
0
0
0
1
0
0
0
0
0
0
1
0
0 0.0103 in
0
0.000956 in
0 0.00172 rad
0
0
0
0
1
0
0.0103 in
0.000956 in
0.00172 rad
Page 204
AE
L
C1
f( 3 )
(8)30 10 6
12 50
Tkd
400
0
400
0
1.335
0
400
400
0
0
1.335
400
0
in
C2
EI
L3
30 10 6 (800 )
12 50 3
400
0
0
1.335
400
0
400
,160
000
0
0
400
0
400
0
1.335
400
,80
000
0
0.111 k in
0 0.0103 in
0.000956 in
400
,80
000 0.00172 rad
0
0
400
0
,160
000
0

4.12 k
0.687 k
275 kin
fkd
(3)
4.12 k
0.687 k
137 kin
Since there are no applied loads on element 3, there are no equivalent nodal
forces to account for. Therefore, the above equations are the final local nodal
forces. The free-body diagrams are shown below.
Page 205

The frame shown on the right is fixed at nodes 2 and
3 and subjected to a concentrated load of 500 kN
applied at node 1. For the bar, A = 1 x 10 -3 m2, for the
beam, A = 2 x 10 -3 m2, I = 5 x 10 -5 m4, and L = 3 m.
Let E = 210 GPa for both elements.
Page 206
Beam Element 1: The angle between x and x is 0

C
where
12I
L2
E
L
(12
5 10 5 )
( 3 )2
210 10 6
3
6I
L
6.67 10 5 m 2
(6
5 10 5 )
3
10 4 m 3
70 10 6 kN / m 3

d1x
k (1)
d1y
0
0
2
kN
70 10 3
0 0.067 0.10
m
0 0.10 0.20
Bar Element 2: The angle between x and x is 45

0.707
0.707
where
(2)
10 3 m 2 210 10 6 kN / m 2
4.24 m
d1x
k (2)
d1x
d1y
0.5 0.5kN
0.5 0.5 m
d1y
0.354 0.354 kN
70 10 3
0.354 0.354 m
Assembling the elemental stiffness matrices we obtain the global stiffness matrix
K
0
2.354 0.354
kN
70 10 3
0.354 0.421 0.10
0.10 0.20
0
Page 207
The global equations are:

0
0 d1x
2.354 0.354
d
70 10 3 kN
0
.
354
0
.
421
0
.
10
500 kN
1y
m
0
0.10 0.20
1
d1x

d1y
0.00388 m
0.0225 m
0.0113 rad
Bar Element: The bar element force-displacement equations can be obtained

u s i n g fk T d .
d1x

f1x
AE 1 1C S 0 0 d1y

L
1
1
0
0
C
S
f
3
x
3x

d 3 y
Therefore, the forces in the bar element are:
f1x
AE
Cd1x Sd1y
L
f3 x
AE
Cd1x Sd1y
L
670 kN
670 kN
Beam Element: The beam element force-displacement equations can be

o b t a i n e d u s i n g f k d . S i n c e t h e l o c a l a x i s c o i n c i d e s w i t h t h e
glo
b a l cand
o o the
r d idisplacements
nate
system,
at node 2 are zero. Therefore, the local forcedisplacement equations are:
Page 208
f(1)
C1
0
C1
0
12C 2
6LC 2
0
12C 2
6LC 2
0
6LC 2
4C 2 L2
0
6LC 2
2C 2 L2
C1
0
0
C1
0
0
0
12C 2
6LC 2
0
12C 2
6LC 2
0
6LC 2
2C 2 L2
0
6LC 2
4C 2 L2
C1
AE
L
C2
EI
L3
2
0
0
0
0 0.00388 m
2
0
0.0225 m
0
.
067
0
.
10
0
0
.
067
0
.
10
0.0113 kN m
0
0
.
10
0
.
20
0
0
.
10
0
.
10
dk
70 103
2
0
0
2
0
0
0
0 0.067 0.10 0
0.067 0.10
0
0.10
0.10
0.10
0
0.20
0
0
Substituting numerical values into the above equations gives:

f1x

f1y
m
1

f2 x
f
2y
m
2
473 kN
26.5 kN
0. 0
473 kN
26.5 kN
78.3 kN m
Page 209

The frame is fixed at nodes 1 and 3 and subjected to a moment of 20 kN-m

applied at node 2. Assume A = 2 x 10 -2 m2, I = 2 x 10 -4 m4, and E = 210 GPa for
all elements.
C
where
12I
L2
E
L
(12
2 10 4 )
( 4)2
210 10 6
4
1.5 10 m
4
6I
L
(6
2 10 4 )
4
3 10 4 m 3
5.25 107 kN / m 3
Therefore, the stiffness matrix for element 1, considering only the parts
associated with node 2, is:
d 2x
k (1)
d 2y
0.015 0 0.03
kN
5.25 10 5
2
0
0
m
0.03 0 0.08
Page 210

C
where
12I
L2
(12
2 10 4 )
( 5 )2
9.6 10 5 m 2
6I
L
(6
2 10 4 )
5
2.4 10 4 m 3
E 210 10 6
4.2 107 kN / m 3
L
5
Therefore, the stiffness matrix for element 2, considering only the parts
associated with node 2, is:
d 2x
k (2)
d 2y
0
0
2
kN
4.2 10 5
0 0.0096 0.024
m
0 0.024 0.08
Assembling the elemental stiffness matrices we obtain the global stiffness matrix:
K
0
0.0158
0.8480
kN
10 6
1.0500 0.0101
0
m
0.0158 0.0101 0.0756

0
0
0.0158 d 2 x
0.8480
6
1.0500 0.0101
d
0
10 0
2
y
20 kN m
0.0158 0.0101 0.0756
Page 211
4.95 10 6 m
d2 x

2.56 10 6 m
d
2y
4
2 2.66 10 rad
Element 1: The beam element force-displacement equations can be obtained
u s i n g f k T d .
Td
0
0
1
0
0
0
0
0
0 0 0
0 0 0
1 0 0
0 0 1
0 1 0
0 0 0
0
0
0
0
0
0
0 4.95 106 m
0 2.56 106 m
4
1 2.66 10
rad
0
0
0
6
2.56
10 m
10 6 m
4.95
4
2.66
10 rad
C1
0
C1
C1
AE
L
C2
EI
L3
0
12C 2
6LC 2
0
6LC 2
4C 2L2
C1
0
0
0
12C 2
6LC 2
0
12C2
6LC 2
0
6LC 2
2C2 L2
C1
0
0
0
12C2
6LC 2
2
(2 10 )210
4
106
210 106 (2 10 )4
1.05 106
0
6LC 2
4C 2L2
0
6LC 2
2C2 L2
kN
656.25 kN m
Page 212
f(1)
0
0 200
0
0
0
200
1
.
5
3
0
1
.
5
3
0
0
3
8
0
3
4
0
5.25 10 3
200
0
0
200
0
0
2
.
56
10
m
1. 5 3
0
1.5 3 4.95 10 m
0
3
4
0
3
8
2
.
66
10
rad
Tkd
Solving for the forces and moments gives:

f1x
2.69 kN

4.2 kN
f1y
m
1 5.59 kN m

f2 x 2.69 kN
f
4.2 kN
2y
m
2 11 .17 kN m
Element 2: The beam element force-displacement equations can be obtained
u s i n g fk T d .
Td
0
1
0
0
0
0
0
0
1
0
0
0
0
0
0
1
0
0
0
0
0
0
1
0
0
0
0
0
0
0
6
0 4.95 10 m
0 2.56 10 6 m
4
1
2.66 10 rad
6
4.95 10 m
2.56 10 6 m
4
2.66 10 rad

C1
AE
L
C2
EI
L3
2
(2 10 )210
5
106
210 106 (2 10 )4
0.84 106
kN
336 kN m
Page 213
f( 2 )
kT d
200
0
0
0
0 4.95 10 6 m
200
0

6
0
.
96
2
.
40
0
0
.
96
2
.
40
2
.
56
10
m
0
2
.
40
8
0
2
.
40
4
2
.
66
10
rad
4.2 103
200
0
0
200
0
0
0
0.96 2.40
0
0.96 2.40
0
2.40
2.40
4
0
8
0
0

f2 x
4.16 kN

f2 y 2.69 kN

8.92 kN m
m2
4.16 kN
f3 x
2.69 kN
f3 y
4.47
kN
m
m
3
Inclined or Skewed Supports

If a support is inclined, or skewed, at some angle for the global x axis, as
shown below, the boundary conditions on the displacements are not in the global
x-y directions but in the x-y directions.
Page 214
We must transform the local boundary condition of d 3y = 0 (in local coordinates)

into the global x-y system. Therefore, the relationship between of the
components of the displacement in the local and the global coordinate systems
at node 3 is:
d ' 3 x
d ' 3 y
'
3
cos
sin
sin
cos
0
0 d 3 x
0
d
3y

1
We can rewrite the above expression as:
d '
3
[t 3 ]
d3
cos sin 0
sin cos 0
0
1
0
We can apply this sort of transformation to the entire displacement vector as:
d'
[Ti ]d
or
[Ti ]T
d'
where the matrix [Ti ] is:

[Ti ]
[I ]
[ 0]
[0]
[0 ]
[I ]
[0 ]
[0 ]
[0 ]
[t 3 ]
Both the identity matrix [I] and the matrix 3[t ] are 3 x 3 matrices.
The force vector can be transformed by using the same transformation.
f'
[Ti ]
f
In global coordinates, the force-displacement equations are:
[K ]
d
Page 215
Applying the skewed support transformation to both sides of the forcedisplacement equation gives:
[Ti ]
f
[Ti ][K ]
d
By using the relationship between the local and the global displacements, the
force-displacement equations become:
[Ti ]f [Ti ][K ][Ti ]T
d'
f'
[Ti ][K ][Ti ]T

d'
Therefore the global equations become:
F1x
d 1x
F
d
1
y
1y
M1
1
F
d
2
x
2
x
T
[Ti ][K ][Ti ] d 2 y
F2 y
M

2
2
F '3 x
d '3 x
F '3 y
d '3 y
M3
1
Grid Equations
A grid is a structure on which the loads are applied perpendicular to the plane
of the structure, as opposed to a plane frame where loads are applied in the
plane of the structure. Both torsional and bending moment continuity are
maintained at each node in a grid element. Examples of a grid structure are
floors and bridge deck systems. A typical grid structure is shown in the figure
below.
Page 216
A representation of the grid element is shown below:
The degrees of freedom for a grid element are: a vertical displacement d iy

(normal to the grid), a torsional rotation ix about the x axis, and a bending
rotation iz about the z axis. The nodal forces are: a transverse force f iy a
torsional moment m ix about the x axis, and a bending moment m izabout the z
axis.
Lets derive the torsional rotation components of the element stiffness matrix.
Consider the sign convention for nodal torque and angle of twist shown the figure
below.
A linear displacement function is assumed.
a1 a2 x
Applying the boundary conditions and solving for the unknown coefficients gives:
2 x 1x
L
x 1x
Page 217
Or in matrix form:

N2 1x
2 x
where N1 and N2 are the interpolation functions gives as:

N1
x
L
N2
x
L
To obtain the relationship between the shear strain and the angle of twist
consider the torsional deformation of the bar as shown below.
If we assume that all radial lines, such as OA , remain straight during twisting or
torsional deformation, then the arc length AB is:
AB
max dx
Rd
Therefore;
max
Rd
dx
At any radial position, r, we have, from similar triangles OAB and OCD :
Page 218
d
dx
r
2 x 1x
L
The relationship between shear stress and shear strain is:
where G is the shear modulus of the material. From elementary mechanics of

materials, we get:
x
m
R
where J is the polar moment of inertia for a circular cross section or the
torsional constant for non-circular cross sections. Rewriting the above equation
we get:
xxx
m
GJ
2 1
L
The nodal torque sign convention gives:

1x
m
x
m
2x
m
x
m
Therefore;
1xxx
m
GJ
1 2
L
2x
m
GJ
L
2 x 1x
In matrix form the above equations are:

1x
m
GJ 1 11x

2x L
1 1
m
2 x
Page 219
Combining the torsional effects with shear and bending effects, we obtain the
local stiffness matrix equations for a grid element.
f1y
m
x
1
m
1z

f2 y
m
2x
m
2 z
12LEI
0
6LEI
12EI
L
0
6EI
L
6 EI
L2
12LEI
GJ
L
0
0
GJL
4 EI
L
6LEI
6LEI
12 EI
L3
0
0
GJ
L
2 EI
L
6LEI
d1y

0
1x
2 EI
1z
L

6LEI d2 y
0 2 x

4 EI
2 z
L
0
GJL
6 EI
L2
The transformation matrix relating local to global degrees of freedom for a grid
is:
TG
1 0 0 0 0 0
0 C S 0 0 0
0 S C 0 0 0
0
0
0
1
0
0
0 0 0 0 C S
0 0 0 0 S C
where is now positive taken counterclockwise from x to x in the x-z plane:

therefore;
C
cos
x j xzz
iji
L
sin
The global stiffness matrix for a grid element arbitrary oriented in the x-z plane is
given by:
kG
T
TG kGTG
Page 220
Grid Example
The frame is fixed at nodes 2, 3, and 4, and is subjected to a load of 100 kips
3
applied at node 1. Assume I = 400 in. 4, J = 110 in. 4, G = 12 x 10 ksi,
and E = 30
3
x 10 ksi for all elements.
To facilitate a timely solution, the boundary conditions at nodes 2, 3, and 4 are
applied to the local stiffness matrices at the beginning of the solution.
2 x
3 x
4 x
d2 y
d3 y
d4y
2 z
3 z
4 z
0
0
0
Beam Element 1:
C
cos
x2 x1
L(1)
0 20
22.36
0.894
sin
z2 z1
L(1)
20 10
22.36
0.447
where
12EI
L3
12(30 103 )(400)

(22.36 12)3
7.45 k
in
6EI
L2
6(30 103 )(400)

(22.36 12)2
1,000 k
Page 221
4(30 103 )(400)

(22.36 12)
4EI
L
GJ
L
179,000 kin
3
(12 10 )(110)
(22.36 12)
4,920 kin
The global stiffness matrix for element 1, considering only the parts associated
with node 1, and the following relationship:
kG
T
TG kGTG
TG
0
0
1
0 0.894 0.447
0
0
.
447
0
.
894
1x
d1y
7.45
0
000
,1
k (1)
TG
0
0
1
0 0.894 0.447
0
0
.
447
0
.
894
1z
,1
000
k
0
in
,179
000
0
,4
920
0
Therefore, the global stiffness matrix is
k (1)
d 1y
1x
7.45
447
894
447
1z
,39
700
,69
600
894
k
,69
600
in
,144
000
Beam Element 2:
C
cos
x3 x1
L( 2 )
0 20
22.36
0.894
sin
z3 z1
L( 2 )
0 10
22.36
0.447
where
12EI
L3
12(30 103 )(400)

(22.36 12)3
7.45 k
in
6EI
L2
6(30 103 )(400)

(22.36 12)2
1,000 k
Page 222
4(30 103 )(400)

(22.36 12)
4EI
L
GJ
L
179,000 kin
3
(12 10 )(110)
(22.36 12)
4,920 kin
kG
T
TG kGTG
0
0 7.45
1
0 0.894 0.447
000
0 0.447 0.894
,1
k (2)
,1
000 1
0
0
0
0 0.894 0.447
,179
000
0
0
.
447
0
.
894
0
,4
920
0

1x
d 1y
7 . 45
447
894
k (2)
1z
894
k
69 ,600
in
144 ,000
447
39 ,700
69 ,600
Beam Element 3:
C
cos
x 4 x1
L( 3 )
20 20
10
sin
z 4 z1
L( 3 )
0 10
10
where
12EI
L3
4EI
L
(12
30 10 3 )( 400 )
(10 12) 3
(4
30 103 )( 400 )
(10 12)
83.3 k / in
,400
000 k in
6EI
L2
GJ
L
(6
30 10 3 )( 400 )
(10 12) 2
,5
000 k
(12 103 )(110 )

(10 12)
,11
000 k in
kG
T
TG kGTG
Page 223
0
,5
000 1 0 0
1 0 083.3
k
0
0
1
0
,11
000
0
0
0
1
0
1
0
,5
000
0
,400
000
0
1
0

(3)
1x
d1y
k( 3 )
83.3
,5
000
1z
,5
000
,400
000
0
0
0
,11
000
Superimposing the three elemental stiffness matrices gives:

d1y
98.2
5,000
1,790
1x
1z
1,790
5,000
479,000
0
0
299,000

F1y 100 k
M1x 0
1z 0
98.2
5,000
1,790
1,790 d1y
5,000

479,000
0
1x

0
299,000
1z

2.83 in
d1y
1x
0.0295 rad
0.0169 rad
1z
Page 224
Element 1: The grid element force-displacement equations can be obtained

using f kGTG d .
0
0
1
0 0.894 0.447
0 0.447 0.894
0
0
0
0
0
0
0
0
0
TG d
0
0
0 2.83 in
0
0
0
0.0295 rad
0
0
0 0.0169 rad
1
0
0
0
0 0.894 0.447
0
0 0.447 0.894
0
2.83 in
0.0339 rad
0.00192 rad
( 1)
Tkd
0
7.45
0
,4
920
,1
000
0
7.45
0
0
,4
920
000
0
,1
7.45
,1
000
0
,4
0
0
920
,179
000 ,1
000
0
,1
000
7.45
0
0
0
,4
920
,89
500 ,1
000
0
,1
000 2.83 in
0.0339 rad
0
,89
500 0.00192 rad
,1
000
0
0
0
,179
000
0

f1y
19.2 k
1x
167
kin
m
m
1z 2,480 kin
19.2
k
f
2 y
167 kin
m
2 x
2,260
kin
m2 z
Page 225

d .
using fkT
G G
TG d
0
0
1
0 0.894 0.447
0 0.447 0.894
0
0
0
0
0
0
0
0
0
0
0
0 2.83 in
0
0
0
0.0295 rad
0
0
0 0.0169 rad
1
0
0
0
0 0.894 0.447
0
0 0.447 0.894
0

7.45
0
,1
000
0
7.45
0
,4
,4
920
0
0
920
000
0
,179
000 ,1
000
0
Tkd ,1
f
7.45
,1
0
000
7.45
0
0
,4
920
0
0
,4
920
000
0
,89
500 ,1
000
0
,1
(2)
2.83 in
0.0188 rad
0.0283 rad
,1
000 2.83 in
0
0.0188 rad
,89
500 0.0283 rad
,1
000
0
0
0
,179
000
0

f1y
7.23 k

1x
92.5 kin
m
m
1z 2,240 kin
7.23 k
f3 y

92.5 kin
3x
m
3 z 295 kin
Page 226

d .
using fkT
G G
TG d
0 0
0 1
1 0
0 0
0 0
0 0
0
0
0
1
0
0
0 0 2.83 in
0 0
0.0295 rad
0 0 0.0169 rad
0 0
0
0 1
0
1 0
0
2.83 in
0.0169 rad
0.0295 rad
(3)
Tkd
0
83.3
0
,11
000
,5
000
0
83.3
0
0
,11
000
000
0
,5
83.3
,5
000
0
,11
0
0
000
,400
000 ,5
000
0
,5
000
83.3
0
0
0
,11
000
,200
000 ,5
000
0
,5
000 2.83 in
0.0169 rad
0
,200
000 0.0295 rad
,5
000
0
0
0
,400
000
0
f1y
1x
m
m
1z
f4 y
m
4 x
4 z
m
88.1 k

186 kin
2,340 kin
88.1 k
186 kin
8,240 kin
Page 227
To check the equilibrium of node 1 the local forces and moments for each
element need to be transformed to global coordinates. Recall, that:
f Tf
T T f
TT
T 1
Since we are only checking the forces and moments at node 1, we need only the
upper-left-hand portion of the transformation matrix TG .
Therefore; for Element 1:
fkk
1y
mkin
1x
mkin
1z
19.2
0
0
1
0 0.894 0.447
167
2,480
0 0.447 0.894
19.2
1,260 k in
2,150 k in
Page 228

fkk
1y
mkin
1x
mkin
1z
0
1
0 0.894
0 0.447
7.23
0
0.447
92.5
2,240
0.894
7.23
1,080 k in
1,960 k in

fkk
1 0
1y

0 0
mkin
1x
mkin
0 1
1z
88.1
0
1
2,340
0 186
88.1
2,340
k in
186 k in
The forces and moments that are applied to node 1 by each element are equal in
magnitude and opposite direction. Therefore the sum of the forces and moments
acting on node 1 are:
1y
100 7.23 19.2 88.1 0.07 k
1x
,1
260 ,1
080 ,2
340
1z
,2
150 ,1
060 186
0.0 k in
4.0 k in
The forces and moments accurately satisfy equilibrium considering the

amount of truncation error inherent in results of the calculations
presented in this example.
Page 229
Grid Example
The frame is fixed at nodes 1 and 3, and is subjected to a load of 22 kN applied

at node 2. Assume I = 16.6 x 10 -5 m4, J = 4.6 x 10 -5 m4, G = 84 GPa, and E = 210
GPa for all elements.
To facilitate a timely solution, the boundary conditions at nodes 1 and 3 are
applied to the local stiffness matrices at the beginning of the solution.
1x
3 x
d 1y
d 3y
1z 0
3 z 0
Beam Element 1: the local x axis coincides with the global x axis
C
cos
x 2 x1
L(1)
3
3
sin
z 2 z1
L(1)
0
3
where
12EI
L3
(12
210 10 6 )(16.6 10 5 )
(3)3
1.55 10 4 kN / m
6EI
L2
(6
210 10 6 )(16.6 10 5 )
(3)2
2.32 10 4 kN
4EI
L
(4
210 10 6 )(16.6 10 5 )
3
4.65 10 4 kNm
GJ
L
(84 10 6 )( 4.6 10 5 )
3
0.128 10 4 kNm
Page 230
with node 2, may be obtained from the following relationship:
kG
k (1)
T
TG kGTG
2.321 0 0
0
1 0 01.55
kN
10 4
0 1 0
0.128
0
0 1 0
0
4.65
0 0 1
2.32
0 0 1

2 x
d2y
k(1)
2 z
2.32
0
1.55
kN
10 4
0.128
0
0
m
0
4.65
2.32
Beam Element 2: the local xaxis is located from node 2 to node 3

C
cos
x3 x 2
L(2)
0
3
sin
z3 z2
L(1)
3
3
with node 2, may be obtained using:
kG
k (2)
T
TG kGTG
2.321 0 0
0
1 0 01.55
kN
10 4
0 0 1
0.128
0
0 0 1
0
4.65
2.32
0 1 0
0 1 0

d2y
k( 2 )
2 x
2 z
0
1.55 2.32
kN
10 4
2.32 4.65
0
0
0.128
0
Page 231
Superimposing the two elemental stiffness matrices gives:

2 x
d2y
3 . 10
10 4
2 . 32
2 . 32
2 . 32
4 . 78
0
2 z
2 . 32
kN
0
m
4 . 78

F2 y 22 kN
3.10 2.32 2.32d 2 y

4
2 x
0
M2 x 0 10 2.32 4.78
0
0
4.78
2z
2.32
2x
d2 y
0.00259 m
0.00126 rad
2x
0.00126 rad
2 z

d .
using fkT
G G
TG d
0
1
0
0
0
0
0
0
1
0
0
0
0
0
0
1
0
0
0
0
0
0
1
0
0
0
0
0
0
0
0 0.00259 m
0 0.00126 rad
1
0.00126 rad
0.00259 m
0.00126 rad
0.00126 rad
Page 232

0
2.32 1.55
0
2.32
0
1.55
0.128
0.128
0
0
0
0
2
.
32
0
4
.
65
2
.
32
0
2
.
33
0
f(1) Tkd 10 4
1.55
2.32 1.55
2.32 0.00259 m
0
0
0
0.128
0
0
0.128
0 0.00126 rad
0
2.33 2.32
0
4.65
2.32
0.00126 rad
f1y
11.0 kN

1x

m
1.50 kN m
m
1z 31.0 kN m
11.0 kN
f2 y
1.50 kN m
m
2 x
2 z 1.50 kN m
m
d .
using fkT
G G
TG d
0 0
0 1
1 0
0 0
0 0
0 0
0
0
0
1
0
0
0 0 0.00259 m
0 0
0.00126 rad
0 0 0.00126 rad
0 0
0
0 1
0
1 0
0
0.00259 m
0.00126 rad
0.00126 rad
Page 233

0
2.32 1.55
0
2.32 0.00259 m
1.55
0
0.00126 rad
0
.
128
0
0
0
.
128
0
2
.
32
0
4
.
65
2
.
32
0
2
.
33
0
.
00126
rad
f( 2 ) Tkd 10 4
1
.
55
0
2
.
32
1
.
55
0
2
.
32
0
0.128
0
0
0.128
0
0
0
2.33 2.32
0
4.65
0
2.32

f2 y
11.0 kN
2x
1.50
kN
m
m
m
2 z 1.50 kN m

11.0
kN
f
3 y
1.50 kN m

m
3 x
31.0
kN
m
m3 z
The resulting free-body diagrams:
Page 234
Beam Element Arbitrarily Oriented in Space

In this section,we will develop a beam element that is arbitrarily oriented in
three-dimensions. This element can be used to analyze three-dimensional
frames. Let consider bending about axes, as shown below.
The y axis is the principle axis for which the moment of inertia is minimum, I y .
The right-hand rule is used to establish the z axis and the maximum moment of
inertia, Iz .
Bending in the x z plane: The bending in the x z plane is defined by m y.
The stiffness matrix for bending the in the x-z plane is:
kY
12L
2
EI y
6L
12L
L4
2
6L
6L2
4L3
6L2
2L3
12L
6L2
12L
6L2
6L2
2L3
6L2
4L3
where Iy is the moment of inertia about the y axis (the weak axis).
z .
Bending in the x y plane: The bending in the x y plane is defined by m
The stiffness matrix for bending the in the x y plane is:
12L
2
EI z 6L
12L
L4
2
6L
12L
6L2
2
3
6
L
2
L
kz
2
2
6L
12L 6L
2L3 6L2
4L3
where Iz is the moment of inertia about the z axis (the strong axis).
6L2
4L3
Page 235
Direct superposition of the bending stiffness matrices with the effects of axial
forces and torsional rotation give:
d 1x
d 1y
d 1z
1x
1y
1z
d 2 x
d 2 y
d 2 z
2 x
2 y
2 z
The global stiffness matrix may be obtained using:

k T T kT
where
3 x 3
where
3 x 3
3 x 3
3 x 3
Page 236
3 x 3
C xx C xy C xz
C
C
C
yx
yy
yz
C
C
C
yz
zz
xz
where the direction cosines, Ci j , are defined as shown below
The direction cosines of the x axis are:

G
G
G
x
cos x x i cos y x j cos z x k
where
x2 x1
y 2 y1
z2 z1
l
cos xy
m
cos xz
n
L
L
L
The y axis is selected to be perpendicular to the xand the z axes is such a way
that the cross product of global z with x results in the y axis as shown in the
figure below.
cos xx
z x
Page 237
z x
G G G
i
j k
1
0 0 1
D
l m n
mG l G
i
j
D
D
where
D
l 2 m2
The z axis is determined by the condition that

G G G
i
j k
1
ln G mn G
z x y
l
m n i
j
D
D
D
m l 0
x y
G
kD
Therefore, the transformation matrix becomes:
3 x 3
C xx C xy C xz
C yx C yy C yz
Cxz Cyz C zz
3 x 3
lmn
m
l
D
D
ln mn
D
D
There are two exceptions that arise when using the above expressions for
mapping the local coordinates to the global system: (1) when the positive x
coincides with z; and (2) when the positive x is in the opposite direction as z. For
the first case, it is assumed that yis y.
0 0 1
0 0 0
1
0
0
In case two, it is assumed that y is y.
0 0 1
0
0
0
1
0
0
Page 238
If the effects of axial force, both shear forces, twisting moment, and both bending
moments are considered, the stiffness matrix for a frame element is:
Page 239
In this case the symbol are:
12EI y
GAsL
12EI z
GAsL2
where A sis the effective beam cross-section in shear. Recall the shear modulus
of elasticity or the modulus of rigidity, G, is related to the modulus of elasticity
and the Poissons ratio, as:
G
E
2 1
If y and z are set to zero, the stiffness matrix reduces to that shown previously
on page 235. This is the form of the stiffness matrix used by SAP2000 for its
frame element.
d 1x
d 1y
d 1z
1x
1y
1z
d 2 x
d 2 y
d 2 z
2 x
2 y
2 z
Page 240
Example Frame Application

A bus subjected to a static roof-crush analysis. In this model 599 frame
elements and 357 nodes are used.
Concept of Substructure Analysis

Sometimes structures are too large to be analyzed as a single system or
treated as a whole; that is, the final stiffness matrix and equations for solution
exceed the memory capacity of the computer. A procedure to overcome this
problem is to separate the whole structure into smaller units called
substructures . For example, the space frame of an airplane, as shown below,
may require thousands of nodes and elements to completely model and describe
the response of the whole structure. If we separate the aircraft into substructures,
Page 241
such as parts of the fuselage or body, wing sections, etc., as shown below, then
we can solve the problem more readily and on computers with limited memory.
Page 242
Problems
14. Do problems 5.3, 5.8, 5.13, 5.28, 5.41, and 5.43 on pages 240 - 263 in your
textbook A First Course in the Finite Element Method by D. Logan.
15. Do problems 5.23, 5.25, 5.35, 5.39 , and 5.55 on pages 240 - 263 in your
textbook A First Course in the Finite Element Method by D. Logan. You
may use the SAP2000 to do frame analysis.
Page 243

Chapter05 - Plane Frame and Grid Eq

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Plane Frame and Grid Equations

Two-Dimensional Arbitrarily Oriented Beam Element

The transformation from local displacements to global displacements is given in

CIVL 7117 Finite Elements Methods in Structural Mechanics

For a beam we will define the following as the transformation matrix :

CIVL 7117 Finite Elements Methods in Structural Mechanics

Recall the simple axial deformation, define in the spring element:

CIVL 7117 Finite Elements Methods in Structural Mechanics

where the transformation matrix, including axial effects is:

CIVL 7117 Finite Elements Methods in Structural Mechanics

The analysis of a rigid plane frame can be undertaken by applying stiffness

CIVL 7117 Finite Elements Methods in Structural Mechanics

Rigid Plane Frame Example

CIVL 7117 Finite Elements Methods in Structural Mechanics

Therefore, for element 1:

Element 2: The angle between x and x is 0

Therefore, for element 2:

Element 3: The angle between x and x is 270

CIVL 7117 Finite Elements Methods in Structural Mechanics

Therefore, for element 3:

The boundary conditions for this problem are:

CIVL 7117 Finite Elements Methods in Structural Mechanics

Element 1: The element force-displacement equations can be obtained using

Recall the elemental stiffness matrix is:

Therefore, the local force-displacement equations are:

The element force-displacement equations are:

Therefore, the local force-displacement equations are:

Simplifying the above equations gives:

CIVL 7117 Finite Elements Methods in Structural Mechanics

Therefore, the local force-displacement equations are:

Simplifying the above equations gives:

Rigid Plane Frame Example

(1,000lb /ft )40 ft

(1,000lb /ft)(40 )ft

Therefore, for element 1:

50.02 49.98 8.33

8.33 8.33 4000

Simplifying the above equation:

CIVL 7117 Finite Elements Methods in Structural Mechanics

The angle between x and x is 0

Therefore, for element 2:

62.50 0 0.052 12.5 k

Simplifying the above equation:

The global beam equations reduce to:

Solving the above equations gives:

CIVL 7117 Finite Elements Methods in Structural Mechanics

Element 1: The element force-displacement equations can be obtained using

Recall the elemental stiffness matrix is a function of values C 1, C 2, and L

Therefore, the local force-displacement equations are:

Simplifying the above equations gives:

CIVL 7117 Finite Elements Methods in Structural Mechanics

Element 2: The element force-displacement equations are:

Recall the elemental stiffness matrix is a function of values C 1, C 2, and L

Therefore, the local force-displacement equations are:

Simplifying the above equations gives:

CIVL 7117 Finite Elements Methods in Structural Mechanics

Rigid Plane Frame Example

The frame is fixed at nodes 1, 2, and 3 and subjected to a concentrated load of

Next, determine the equivalent joint forces at each end of element 1,

CIVL 7117 Finite Elements Methods in Structural Mechanics

CIVL 7117 Finite Elements Methods in Structural Mechanics

Element 1: The angle between x and x is 63.43