ANALYSIS OF INDETERMINATE STRUCTURES: SLOPE-DEFLECTION METHOD

12.1 Introduction

In the force (or compatibility) group of methods of structural analysis, such as the method of
consistent displacements and the method of least work, the unknowns are forces. By comparison,
in the slope-deflection method (which is one of the classical formulations of the displacement
group of methods) the unknowns are displacements. In this method, the moments at the ends of a
member are expressed in terms of the displacements of these ends. These moments at the end of
a member (known as member-end moments) are made up of the following components:

 the end moments due to external loads on the member with the member ends
assumed fixed, and
 the end moments caused by the actual member-end displacements (rotations and
translations).
This method takes into account only the bending deformations of structures, and consequently, is
used to analyse indeterminate structures, made up of moment-resisting members such as
continuous beams and rigid-jointed frames. The method was developed in Germany in 1914 by
Axel Bendexon but presented in greater detail in 1915 by Prof George Maney of University of
Minnesota.

In using the slope-deflection method, a slope-deflection equation is written for every member of
the given structure, expressing the end moments in terms of the member-end displacements.
Next, joint equilibrium equation is written for every joint capable of undergoing rotation. The
joint equilibrium equations express the condition that the joints are in equilibrium with respect to
the applied moments. The expressions on the right hand sides of the slope-deflection equations
are then substituted into the joint equilibrium equations. The resulting equations are solved for
the joint rotations. Finally, the values of the joint rotations are back-substituted into the slope-
deflection equations to yield the required values of the member-end moments.

Although the slope-deflection method is in itself an important method for the analysis of
indeterminate beams and frames, in addition to that, a good understanding of its basic principles
provides a very useful introduction to the matrix stiffness method of analysis, a method which
forms the bedrock of most general-purpose computer software currently used for the analysis of
all types of structures including beams, rigid-jointed frames, trusses, plates and shells.

In the next section, a formula will be developed for the slope-deflection method. To conveniently
and systematically do this, it is necessary to adopt a sign convention for the end forces and
displacements.

1
 Sign Convention

 Moment is considered positive if it acts counterclockwise at the end of a member

or clockwise at a joint adjacent to a member. This is illustrated in Fig.12.1.
 End rotation  is positive if it is counterclockwise in direction.
 A chord rotation  is positive if it is counterclockwise in direction.

member

+ -
joint
joint
Fig.12.1 Sign Convention for end moments

Note

All end moments, end rotations and chord rotations shown in Fig.12.2 (b) are positive by the
above sign convention.

12.2 Derivation of the Slope-Deflection Equation

When load is applied to a continuous beam or a rigid-jointed frame, moments are induced at the
ends of the members. The slope-deflection equation expresses the relationship between the
moments at the end of a member and the displacements of the member ends as well as the
external loads applied to the member.

To develop this relationship, let us consider a typical member AB (of constant flexural rigidity
EI) of a rigid-jointed structure shown in Fig.12.2 (a). Under the applied load let the end moments
developed and the deformed shape of the structure be as shown in Fig.12.2 (b).

2
Fig.12.2: Member-end displacements: (a) Typical member of a rigid-jointed frame; (b) Assumed
displacement pattern of member AB

The notations in Fig.12.2 (b) have the following meanings:

MAB = moment at end A of member AB;

MBA = moment at end B of member AB;

A, B = respective rotations of ends A and B of the member with reference to the un-
deformed (horizontal) axis of the member;

 = relative translation between the two ends of the member in the direction perpendicular to
the un-deformed axis of the member;

 = rotation of the member's chord (chord is the straight line connecting the member's ends

after deformation) due to the relative translation . The deformations are small and hence  =
L

 AB  tangential deviation of end A from the tangent to the elastic curve at end B;

 BA  tangential deviation of end B from the tangent to the elastic curve at end A.

3
12.3 Expressions for Member Moments

To derive an expression for member end moments in terms of the external load and the
deformations, we proceed by considering the moments developed at each member’s ends due to
end displacements θA, θB, Δ, and the external loading P. After this, the principle of superposition
will be employed to obtain their combined effect on member-end moments. Thus an end moment
MAB is a function of θA, θB, Δ, and P, i.e.,

M AB  f ( A , B , , P) .

1. End moments due to rotation A (B =  = P = 0).

Fig.12.3 (a) represents a member AB for which there is no rotation at end B (fixed end), no
relative translations of the ends (the chord joining the two ends of the member after deformation
remains horizontal) and there is no external load (P = 0).

Fig.12.3: (a) Member AB with the applied displacement and induced end moments; (b) M/EI
diagram for the end moments; (c) Tangential deviation ΔAB due to MAB; (d) Tangential deviation
ΔAB due to MBA.

According to the second moment-area theorem, the tangential deviation of a point A on the
elastic curve from the tangent at another point B on the elastic curve (or ΔAB), measured in the
direction perpendicular to the originally straight member, is equal to the moment of the area of
the M/EI diagram between A and B taken about A. The MAB/EI and MBA/EI diagrams are shown
in Fig.12.3 (b). The tangential deviation ΔAB due MAB and that due to MBA are shown
respectively in Figs.12.3 (c) and (d). Referring to these figures, we now obtain the expressions
for ΔAB due to MAB and that due to MBA as follows:

4
 Due to MAB:

M AB L2
 AB  ;
6 EI

Due to MBA:

M BA L2
 AB  .
3EI

Since the distance between A and a tangent drawn at B (or ΔAB) is zero (because a tangent drawn
at B is a horizontal line that coincides with the un-deformed axis of the beam), the sum of ΔAB
due to MAB and ΔAB due to MBA will also be zero. In writing the signs for the ΔAB terms, when
the tangential deviation as shown in Fig.12.3 (c) or (d) is in the same direction as that shown on
the member’s elastic curve of Fig.12.2 (b), the tangential deviation is positive. Accordingly, the
term M AB L2 / 6EI is negative whereas the term M BA L2 / 3EI is positive. Thus,

M BA L2 M AB L2
 0
3EI 6 EI

M AB
Or M BA  (12.1)
2

According to the first moment-area theorem, the angle in radians or the change in slope between
the tangents at two points A and B on the elastic curve of an originally straight member is equal
to the area of the M/EI diagram between points A and B. Hence,

M AB L M BA L
A   [Note that  A   B   A since  B  0 ]
2 EI 2 EI

The negative sign in the above expression recognizes the fact that θA is positive when
counterclockwise as in Fig.12.2 (b) whereas MBA tends to rotate it clockwise, which is negative.
On the other hand, MAB is positive because it rotates θA counterclockwise.

Taking cognisance of Eqn. (12.1), the above expression reduces to:

4 EI A 2 EI A
M AB  , M BA  (12.2)
L L

5
2. End moments due to rotation B (A =  = P = 0)

Fig.12.4 (a) represents a member that satisfies the above conditions.

Fig.12.4 (a): Given member with applied displacement and induced end moments

Analogous to Case1 (Fig.12.3),

4 EI B 2 EI B
M BA  , M AB  (12.3)
L L

2b. Modified or adjusted end-moments for member with far end hinged

Consider the beam shown in Fig.12.4 (b) which has a hinged far end. The relationship between
the applied moment MAB and the rotation A can be obtained by using the moment-area method
(as was used for the case of member with far end fixed: Fig.12.4 (a) above).

6
Fig.12.4 (b): (i) Member with far end hinged, (ii) M/EI diagram for the end moment

From Fig.12.4b(i), it is clear that

 BA
A 
L

According to the second moment area theorem,

BA = moment of M/EI diagram between A and B taken about B.

1 M AB 2 L L2 M AB
  BA   L 
2 EI 3 3EI

Note that the tangential deviation  BA is positive here because the chord rotation is
counterclockwise.

 BA LM AB
But  A  
L 3EI

3EI
 M AB  A (12.3b)
L

Eqn. (12.3b) represents the modified or adjusted end moment at A due to rotation A when the
far end of the member is hinged.

7
3. End moments due to a relative joint displacement  (A = B = P = 0)

A member with a relative joint displacement but no joint rotations is shown in Fig.12.5.

From the first moment-area theorem, the change in slope between A and B (referring to Fig.12.5
(a) this change in slope is zero since there is no angular rotation at either of the ends) is equal to
the area of the M/EI diagram between A and B.

Fig.12.5: (a) Member with joint displacement, (b) M/EI diagram for the end moments; (c)
Relative displacement Δ of end B due to MAB; (d) Relative displacement ∆ of end B due to MBA.

Thus:

M BA L M AB L
  0
2 EI 2 EI

The negative sign in the above expression is because MBA rotates the chord clockwise as shown
in Fig.12.5(d) whereas counterclockwise rotation is positive in Fig.12.2(b).

From the above equation we obtain the following:

OR MBA = MAB (12.4)

8
Applying the second moment-area theorem, the distance between B and A , measured vertically
from the tangent drawn at A is equal to the moment of the area of the M/EI diagram, taken about
B.

Hence

M BA L L M AB L 2 L
   
2 EI 3 2 EI 3

In the above expression, the negative sign in the second term of the right hand side is because in
Fig.12.2 (b) MAB induces a downward displacement Δ with respect to member end B whereas in
Fig.12.5 (c) the same moment induces an upward displacement ∆ with respect to end B. On the
other hand, the first term on the right hand side is positive because both in Fig.12.2 (b) and in
Fig.12.5 (d), MBA induces a downward displacement ∆ with respect to member-end B.

Combining the above expression with Eqn. (12.4), we obtain:

6 EI
M AB  M BA   (12.5)
L2

Note: Various member-end moments caused by end-displacements in a prismatic member are

presented in Table A2 of the Appendix for convenient reference.

4a End moments due to external loads acting on the member (A = B = = 0)

The fixed-end beam of Fig.12.6 represents this situation. Since the ends of the member are fixed
against rotation and translation, the member end moments are known as fixed-end moments
(FEM). They develop only as a result of the external loads. The fixed-end moments may be
obtained using the method of consistent displacements and moment-area theorems, or indeed any
convenient method of analysis of indeterminate structures. For ease of reference, fixed-end
moments for some common loading cases are usually given as appendix in standard text books.
For this purpose, Table A3 of the Appendix is provided for your use. In Table A3, although the
arrows indicate the actual direction of the fixed-end moments, the signs are inserted with respect
to our adopted sign convention, i.e., counterclockwise moments are positive while clockwise
moments are negative.

9
Fig.12.6: Fixed-end moments due to external loads

12.4 Slope-Deflection Equation

To obtain the total end moment of a member AB, it is necessary to sum up the various end
moments due to external loads (FEMs) and those due to rotations and translations. This will be
achieved by combining Eqns. (12.2), (12.3), (12.5) and the fixed-end moments (FEMs).

Hence:

2 EI 3
M AB  (2 A   B  )  FEM AB (12.6a)
L L

2 EI 3
M BA  (2 B   A  )  FEM BA (12.6b)
L L

A close look at Eqns. (12.6) reveals that the two equations have the same form and that one can
be obtained from the other by swarping the subscripts A and B. Consequently, they can be
combined into one equation as follows:

M nf 
2 EI
2n   f  3   FEM nf (12.7)
L

Eqn. (12.7) is known as the slope-deflection equation. The subscript "n" refers to the near end of
the member where the moment Mnf acts while the subscript "f" refers to the far (or other) end of
the member.


  , where  is the relative translation of the supports.
L

12.5 Modified Slope-Deflection Equation (For Pin-Supported End Span)

Sometimes an end span of a continuous beam or a frame is pin- or roller-supported at its far end.
For such a case, if the displacement  h at the hinged (or roller) support is not required to be
10
determined, the general slope deflection equation (12.7) can be modified such that it is applied
only once instead of twice to the span. To obtain the required expression, first, we apply
Eqn.(12.7) in turn to the rigid (near) end and the hinged (far) end of the end span in question, to
yield the following:

Mr 
2 EI
2r  h  3   FEM r (a)
L

Mh 
2 EI
2h  r  3   FEM h (b)
L

Noting that M h  0 (since a pin or roller cannot support moment) and multiplying Eqn. (a) by 2
and subtracting Eqn. (b) from Eqn. (a), we obtain the following:

M rh 
3EI
r     FEM rh  FEM hr  (12.7a)
L  2 

where the subscript "r" refers to the rigidly connected end of the member where the moment Mrh
is applied, and the subscript "h" refers to the hinged end of the member.

In the above equation, the expression in parentheses, i.e.,

 FEM hr 
 FEM rh  
 2 

is the modified value of the fixed-end moment at the rigid end of the member. Denoting this
quantity as FEM rh , we can rewrite Eqn.(12.7a) as follows:

M rh 
3EI
r    FEM rh (12.7b)
L

Also M hr  0 , since as noted earlier, a hinge cannot support moment.

12.6 Analysis of Continuous Beams

In the analysis of continuous beams, slope-deflection equations are written for each span in terms
of the unknown displacements. The unknown displacements are the rotations of members over
supports (n and f in Eqn. (12.7)) and support translations (represented by  in Eqn. (12.7))
when a support undergoes translation. After writing slope-deflection equations for the spans,
joint equilibrium equation is written for each of the joints that is free to rotate. A set of
simultaneous equations result if more than one joint can rotate. However, if only one joint can

11
rotate only one equation with one unknown joint rotation results. The resulting equation(s) is
(are) solved for the displacement(s). The values or expressions for the displacements are then
back-substituted into the slope-deflection equations, which are then solved to give member-end
moments. The above procedure is illustrated in the following example.

Example 12.1

Determine the member-end moments of the continuous beam ABC, fixed at ends A and C and
continuous over support B as shown in Fig.12.7a.

Fig.12.7 (a) Given beam and loading, (b) Free body diagram of joint B

Solution

First, we evaluate the fixed-end moments (Table A3 of the Appendix) as follows:

 L AB
2
18  42
FEM AB    24kN.m
12 12

FEM BA  24kN.m

PLBC 60  6
FEM BC    45kN.m
8 8

FEM CB  45kN.m

We now write the slope-deflection equation for each span using Eqn. (12.7):

M AB 
2 EI
2 A   B  3   FEM AB
LAB

12
Notice that in the given beam, A = 0 (fixed support) and the chord rotation  = 0 (since there is
no support translation, i.e., = 0).

2 EI B
 M AB   24
4

OR M AB  0.5EI B  24 (1)

M BA 
2 EI
2 B   A  3   FEM BA
LAB

Observe that while considering joint A, "A" was the near end ("n" in eqn 1.7) and "B" was the
far end ("f" in eqn.1.7) but when considering joint B, "B" will be the near ("n") end and "A" the
far ("f") end. Here again,  = 0.

 M BA 
2 EI
2 B   24
4

OR M BA  EI B  24 (2)

Similarly, for span BC:

M BC 
2 EI
2 B  C  3   FEM BC
LBC

=
2 EI
2 B   45
6

OR M BC  0.67 EI B  45 (3)

and

M CB 
2 EI
2C   B  3   45
LBC

2 EI B
=  45
6

OR

M CB  0.33EI B  45 (4)

Next, we isolate B (Fig.1.7b) and write the equilibrium equation for the free-body as follows:
13
 M BA  M BC  0 (5)

Substituting the values for MBA and MBC from eqns (2) and (3) into eqn (5) we obtain:

EI B  24  0.67 EI B  45  0

OR

12.57
B  
EI

Substitution of the value of B into Eqns. (1) to (4) yields the end moments as follows:

 12.57 
M AB  0.5EI     24  17.7kN.m
 EI 

 12.57 
M BA  EI     24  36.6kN.m
 EI 

 12.57 
M BC  0.67 EI     45  36.6kN.m
 EI 

 12.57 
M CB  0.33EI     45  49.2kN.m
 EI 

12.7 Structures with Overhangs

In a case where a beam has an overhang, to analyse the beam, the overhang is first replaced by
the equivalent moment applied on the adjacent support. The procedure then becomes the same as
before except that the overhanging member has a known end moment. The following example
will illustrate the steps involved.

Example 12.2

Determine the support moments for the beam shown in Fig.12.8

14
Fig.12.8 Given beam and loading

Solution

The overhanging span is replaced with its equivalent moment equal to 18kNm (12 x 1.5 = 18).
This moment is positive in accordance with our adopted sign convention since the 12kN load
tends to rotate joint C in a clockwise direction.

Notice that the fixed-end moments for spans AB and BC will be the same as for Example 12.1.

Thus

FEMAB = 24kNm; FEMBA = -24kNm;

FEMBC = 45kNm; FEMCB = -45kNm.

Considering the overhanging span as a fixed cantilever, the fixed-end moment at support C will
be

FEMCD = 12 x 1.5 = 18kNm.

Slope-deflection equation

2 EI B
M AB   24, OR M AB  0.5EI B  24 (1)
4

4 EI B
M BA   24, OR M BA  EI B  24 (2)
4

M BC 
2 EI
2 B  C   45, OR 0.67 EI B  0.33EIC  45 (3)
6

15
M CB 
2 EI
2C   B   45, OR 0.67EIC  0.33EI B  45 (4)
6

M CD  18kNm (5)

Next, we consider the equilibrium conditions of the free bodies of the joints (Fig.12.9).

MBA MCB
B C
MBC MCD

Fig.12.9: Free-body diagram of the joints

From Fig.12.9, we write:

MBA + MBC = 0 (6)

MCB + MCD = 0 (7)

Next, we substitute the values of the end moments from equations 2 to 5 into equations 6 and 7
and solve the resulting simultaneous equations for the end rotations, as follows:

EI B  24  0.67 EI B  0.33EIC  45  0

or 1.67 EI B  0.33EIC  21 (8)

and 0.67 EIC  0.33EI B  45  18  0

or 0.33EI B  0.67 EIC  27 (9)

Solving equations 8 and 9 simultaneously yields:

51.51  22.75
C  and B 
EI EI

Substituting these values of displacements C and B into the slope-deflection equations will
yield the end (or support) moments.

Thus:

16
   22.75 
M AB  0.5EI    24  12.63kNm
 EI 

  22.75 
M BA  EI    24  46.75kNm
 EI 

  22.75   51.51 
M BC  0.67 EI    0.33EI    45  46.75kNm
 EI   EI 

 51.51    22.75 
M CB  0.67 EI    0.33EI    45  18kNm
 EI   EI 

and M CD  18kNm

If it is required to obtain the support reactions, this can be conveniently carried out by separately
obtaining the simply supported beam reactions and the reactions due to support moments, and
then algebraically adding them together. This is carried out as shown in Fig.12.10.

Fig.12.10: (a) Simply supported beam reactions; (b) Reactions due to support moments; (c)
Total (Final) support reactions
17
Note that in applying the end moments obtained from the slope-deflection equation at the beam
support points, the adopted sign convention (i.e., counterclockwise moments are positive) is
observed but in using these moments for further calculations (such as obtaining support reactions
or span moments) the beam sign convention (i.e., sagging moments are positive and shears
upward to the left of the beam or downward to the right of the beam is positive) must be
followed.

Checks: To check the correctness of the final support reactions obtained in Fig.12.10 (c), the
equilibrium of the entire beam under vertical forces is considered as follows:

Fy = 0; 27.47 + 79.32 +37.21 - (18 x 4) - 60 12 = 0

144 - 144 = 0 (Satisfied)

To check the correctness of the moment at support A, we can take the sum of the moments of all
the active and reactive forces about A as follows:

MA = - 12(1.5 + 6 + 4) + 37.21(6 + 4) - 60(3 + 4) + (79.32 x 4) - (18 x 4 x 2)

= - 138 + 372.1 - 420 + 317.3 - 144

= - 12.6kNm (Satisfied)

12.8 Structures Subject to Support Settlement

If any of the supports settles, its effect on each span can be taken care of in the slope-deflection
equation. The known support settlement () is used to obtain the chord rotation , which is then
appropriately substituted into the slope-deflection equation(12.7) and the rest of the analysis
steps remains as before. This is illustrated using the following example.

Example 12.3

Determine the support moments for the beam of Fig.12.11 if under the given loading support B
sinks by 5mm. Take E = 210 x 106 kN/m2; I = 360 x 10-6m4

18
Fig.12.11: Given beam and loading

Solution

Fixed-end moments

36  42
FEM AB   48kNm
12

FEM BA  48kNm

60  6
FEM BC   45kNm
8

FEM CB  45kNm

FEM CD  30  2  60kNm

The chord rotations  are obtained as follows:

 5
 AB     0.00125rad.
LAB 4000

Note that the minus sign is because the chord rotation for member AB is clockwise as support B
sinks (See sign convention).

 5
 BC    0.000833rad.
LBC 6000

Slope-deflection equations

M AB 
2 EI
2 A   B  3 0.00125  48
LAB

19
or M AB  0.5EI B  0.001875EI  48 (1)

M BA 
2 EI
2 B   A  3 0.00125  48
4

Or M BA  EI B  0.001875EI  48 (2)

M BC 
2 EI
2 B  C  30.000833  45
6

Or M BC  0.67 EI B  0.33EIC  0.000833EI  45 (3)

M CB 
2 EI
2C   B  30.000833  45
6

Or M BC  0.67 EIC  0.33EI B  0.000833EI  45 (4)

M CD  60kNm (5)

Joint equilibrium equations (See Fig.12.12)

MBA MCB
B C

MBC MCD

Fig.12.12: Free-body diagrams of the joints

M BA  M BC  0 (6)

M CB  M CD  0 (7)

Substitution of Eqns. (2) to (5) into Eqns. (6) and (7) gives the following.

For Eqn. (6):

EI B  0.001875EI  48  0.67 EI B  0.33EIC  0.000833EI  45  0

Or 1.67 EI B  0.33EIC  0.00104EI  3

20
Dividing throughout by EI, we have:

3
1.67 B  0.33C   0.00104 (8)
EI

For Eqn. (7):

0.67 EIC  0.33EI B  0.000833  45  60  0

Dividing throughout by EI, we obtain:

15
0.33 B  0.67C    0.000833 (9)
EI

Solving Eqns. (8) and (9) simultaneously, we obtain:

25.782 6.891
C  0.00171  , B   0.00096
EI EI

But EI  210 106  360 106  75600kNm2

C  0.00171  0.000341  0.00137 or 1.37  103 rad.

and  B  0.0000911  0.00096  0.000869 or  8.69  104 rad

Final end moments:

M AB  0.5  75600 0.000869  0.001875  75600  48

or M AB  156.9kNm

M BA  75600 0.000869  0.001875  75600  48

or M BA  28kNm

M BC  0.67  75600 0.000869  0.33  756000.00137  0.000833  75600  45

or M BC  28kNm

M CB  0.67  756000.00137  0.33  75600 0.000869  0.000833  75600  45

or M CB  60kNm

21
We now consider an example of a beam for which spans have different second moments of area
I.

Example 12.4

Evaluate the member-end moments of the beam shown in Fig.12.13

Fig.12.13: Given beam and loading

Fixed-end moments

48  52
FEM AB   100kNm
12

FEM BA  100kNm

80  5
FEM BC   50kNm
8

FEM CB  50kNm

Slope-deflection equations

2 E 2 I 
M AB   B   100
5

or M AB  0.8EI B  100 (1)

2 E 2 I 
M BA  2 B   100
5

or M BA  1.6EI B  100 (2)

M BC 
2 EI
2 B  C   50
5

22
or M BC  0.8EI B  0.4EIC  50 (3)

M CB 
2 EI
2C   B   50
5

or M CB  0.8EIC  0.4EI B  50 (4)

Joint equilibrium equations: (See Fig.12.14)

MBA MCB =0
B C

MBC

Fig.12.14: Free-body diagrams of the joints

M BA  M BC  0 (5)

and M CB  0 (6)

Substituting the values of MBA and MBC from Eqns. (2), (3) and (4) into Eqns. (5) and (6), we
obtain the following:

1.6EI B  100  0.8EI B  0.4EIC  50  0

or 2.4EI B  0.4EIC  50 (7)

and 0.8EIC  0.4EI B  50  0 (8)

Solving Eqns. (7) and (8) simultaneously, we obtain:

EI B  11.36 and EIC  56.84

Final end moments

M AB  0.811.36  100  109.09kNm

M BA  1.611.36  100  81.82kNm

M BC  0.811.36  0.456.84  50  81.82kNm

23
M CB  0.856.84  0.411.36  50  0 (as expected)

12.9 Frames with No Lateral Translation of Joints

The procedure for the analysis of frames whose joint translations are prevented is similar to that
for the analysis of continuous beams. This is because like those of continuous beams, the
displacements of frames without lateral translation of joints consist of only the unknown joint
rotations, with the joint translations being either zero or some other known value (as in the case
of support settlement). Unlike the continuous beams however, more than two members may be
connected to a joint of a frame, and the equilibrium equation for such a joint would involve more
than two member-end moments. The next two examples illustrate the procedure involved.

Example 12.5

Determine the support moments of the frame shown in Fig.12.15.

Fig.12.15: Given frame and loading

Solution

Observe that joints B and C can rotate but none of the joints can translate.

Fixed-end moments

10  2  42
FEM AB   8.89kNm
62

10  4  22
FEM BA    4.44kNm
62
24
 30  6  32
FEM BC   20kNm
92

30  3  62
FEM CB    40kNm
92

Stiffnesses

1.5I I
K AB  
6 4

3I I
K BC  
9 3

K BC 4

K AB 3

Therefore, the relative values of the stiffnesses are K BC  4K and K AB  3K

We now use these relative stiffness values in the slope-deflection equations.

Slope-deflection equations

M AB  2  3EK B  8.89

or M AB  6EK B  8.89 (1)

M BA  4  3EK B  4.44

or M BA  12EK B  4.44 (2)

M BC  4  4EK B  2  4EKC  20

or M BC  16EK B  8EKC  20 (3)

M CB  4  4EKC  2  4EK B  40

or M CB  16EKC  8EK B  40 (4)

M CD  4  3EKC

or M CD  12EKC (5)

25
M DC  2  3EKC

or M DC  6EKC (6)

Joint equilibrium equations

M BA  M BC  0 (7)

M CB  M CD  0 (8)

Substituting Eqns. (2) to (5) into Eqns. (7) and (8), we have:

12EK B  4.44  16EK B  8EKC  20  0 (9)

and 16EKC  8EK B  40  12EKC  0 (10)

Simultaneous solution of Eqns. (9) and (10) yields:

EK B  1.048 and EKC  1.728

Final end moments (or support moments)

M AB  6 1.048  8.89  2.60kNm

M BA  12 1.048  4.44  17.02kNm

M BC  16 1.048  81.728  20  17.06kNm

M CB  161.728  8 1.048  40  20.74kNm

M CD  121.728  20.74kNm

M DC  61.728  10.37kNm

Example 12.6

Determine the member-end moments for the frame of Fig.12.16

26
Fig.12.16: Given frame and loading

Solution

Here only joints B and D are free to rotate. The structure therefore has only two degrees of
freedom, which are the unknown joint rotations B and D.

Fixed-end moments

100  8
FEM AB   100kNm ;
8

FEM BA  100kNm;

FEM BC  FEM CB  0 ;

15  62
FEM BD   45kNm;
12

FEM DB  45kNm;

75  6
FEM DE   56.25kNm;
8

FEM ED  56.25kNm.

Chord rotations

There is no settlement of any of the supports so the chord rotation of each of the four members is
zero, i.e., AB  BC  BD  DE  0 .

27
Slope-deflection equations

2  1.5EI
M AB   B   100  0.375EI B  100 (1)
8

2  1.5EI
M BA  2 B   100  0.75EI B  100 (2)
8

2  0.75EI
M BC  2 B   0.5EI B (3)
6

2  0.75EI
M CB   B   0.25EI B (4)
6

2  1.5EI
M BD  2 B   D   45  EI B  0.5EI D  45 (5)
6

2  1.5EI
M DB  2 D   B   45  EI D  0.5EI B  45 (6)
6

2  0.75EI
M DE  2 D   56.25  0.5EI D  56.25 (7)
6

2  0.75EI
M ED   D   56.25  0.25EI D  56.25 (8)
6

Joint equilibrium equations

We now apply moment equilibrium equations to the free bodies of joints B and D shown in Fig
12.17

M BA  M BC  M BD  0 (9)

M DB  M DE  0 (10)

28
Fig.12.17: Free-body diagrams of the joints

Joint rotations

To determine the unknown joint rotations  B and  D , we substitute slope-deflection Eqns. (2),
(3), (5), (6) and (7) into the joint equilibrium equations (9) and (10) to obtain the following
equations:

0.75EI B  100  0.5EI B  EI B  0.5EI D  45  0

or 2.25EI B  0.5EI D  55 (11)

and

EI D  0.5EI B  45  0.5EI D  56.25  0

or 0.5EI B  1.5EI D  11.25 (12)

Simultaneous solution of Eqns. (11) and (12) yields the following:

EI B  28.2; EI D  16.9

Member-end moments

The member-end moments are obtained by substituting the numerical values of EI B and EI D
into the slope-deflection equations as follows:

M AB  0.37528.2  100  110.58kNm;

M BA  0.7528.2  100  78.85kNm;

M BC  0.528.2  14.1kNm;

M CB  0.2528.2  7.05;
29
M BD  28.2  0.5 16.9  45  64.75kNm;

M DB  16.9  0.5  28.2  45  47.8kNm;

M DE   0.5  16.9  56.25  47.8kNm;

M ED   0.25 16.9  56.25  60.48kNm.

30
12.10 Frames with Lateral Translation of Joints

In general, the joint of a frame under load will be subject to lateral translation unless the joints
are restrained against translation or it is a symmetric frame with symmetric loading. Frames with
lateral translation of joints are also known as frames with sidesway or sway frames. For the
analysis of frames with joint translation, some other equilibrium conditions are required, in
addition to joint equilibrium equations. The procedure involved is illustrated by means of the
following example.

Example 12.7

Determine the member-end moments for the frame shown in Fig.12.18.

Fig.12.18: Given frame and loading

Solution

Recall that this frame was earlier analysed in Example 12.5 (Fig.12.15) but with the joint
translation prevented by provision of a lateral support at joint C. In this example, the support at C
has been removed to allow translation of joints to take place. A possible deformed shape of the
frame is shown in Fig.12.19. Since axial deformation is negligible, the lateral translations of
joints B and C () are equal. Here columns AB and CD are assumed to be inextensible and the
deformations of the frame are assumed to be small, so joints B and C can translate only in the
horizontal direction. In addition the beam BC is also assumed to be inextensible, so the
horizontal displacements of joints B and C must be the same. Therefore the frame has three
unknown joint displacements, namely, the rotations θB and θC of joints B and C, respectively,
and the horizontal displacement Δ of both joints B and C. As shown in Fig.12.19, the

31
displacement Δ of joints B and C causes the chords of the columns AB and CD to rotate. These
chord rotations can be expressed as follows:


 AB   CD   .
6

The negative sign here indicates that the chord rotations are clockwise. The chord rotation
 BC  0 , since joints B and C cannot undergo vertical displacement.

Fig.12.19 Possible deformed shape of the frame

Fixed-end moments

The fixed-end moments were obtained in Example 12.5 and are as follows:

FEM AB  8.89kNm; FEM BA  4.44kNm;

FEM BC  20kNm; FEM CB  40kNm.

As was done in the analysis of the frame of Example 12.5, in this example we shall use for
convenience, the relative values of the stiffnesses as K AB  KCD  3K and K BC  4K


Note also that the chord rotations are equal, i.e. AB  CD    
6

To relate the member-end moments to the unknown joint displacements θB, θC and Δ, we write
the slope deflection equations for the three frame members, by applying Eqn. (12.7).

Slope-deflection equations

M AB  2  3EK  B  3   8.89

32
or M AB  6EK B  18EK  8.89 (1)

M BA  6EK 2 B  3   4.44

or M BA  12EK B  18EK  4.44 (2)

M BC  2  4EK 2 B  C   20

or M BC  16EK B  8EKC  20 (3)

M CB  2  4EK 2C   B   40

or M CB  16EKC  8EK B  40 (4)

M CD  2  3EK 2C  3 

or M CD  12EKC  18EK (5)

M DC  2  3EK C  3 

or M DC  6EKC  18EK (6)

Joint equilibrium equations

M BA  M BC  0 (7)

M CB  M CD  0 (8)

Note that the joint equilibrium equations are only two but there are three unknowns:  B ;  C and
 . A third equation is therefore necessary in order to evaluate the three unknowns. This
equation, known as the shear equation, can be obtained by considering the equilibrium of the
entire frame under horizontal forces, i.e. Fx =0. The forces involved here are the external 10kN
force and the shears at the column bases. The two columns, together with the various forces
needed to establish the third equation, are shown in Fig.12.20.

33
Fig.12.20: Shears at column bases

Referring to Fig.12.20, we obtain the following equilibrium equation for horizontal forces:

Fx =0; 10 - HAB - HDC = 0 (9)

Expressions for the shears (HAB and HDC) can be obtained in terms of the end moments as
follows:

 M B  0; 6H AB  10  4  M AB  M BA  0

or

M AB  M BA  40
H AB  (10)
6

and  M C  0;

M CD  M DC
 H DC  (11)
6

Substituting equations (1) and (2) into Eqn. (10) and Eqns. (5) and (6) into Eqn. (11), and then
substituting the resulting expressions for HAB and HDC into Eqn. (9), we have:

 6 EK B  18EK  8.89  12 EK B  18EK  35.56 

10   
 6 
 12 EKC  18EK  6 EKC  18EK 
 0
 6 

OR 3EK B  3EKC  12EK  2.592 (12)

34
Substitution of Eqns. (2) and (3) into Eqn. (7) and Eqns. (4) and (5) into Eqn. (8) yields the
following equations (13) and (14) respectively;

28EK B  8EKC  18EK  15.56 (13)

and 8EK B  28EKC  18EK  40 (14)

Simultaneous solution of equations (12), (13) and (14) yields the joint displacements as follows:

EK B  1.0847; EKC  1.697; EK  0.0629.

Final member-end moments

M AB  6 1.0847  18 0.0629  8.89  3.51kNm;

M BA  12 1.0847  18 0.0629  4.44  16.32kNm;

M BC  16 1.0847  81.697  20  16.22kNm;

M CB  161.697  8 1.0847  40  21.52kNm;

M CD  121.697  18 0.0629  21.52kNm;

M DC  61.697  18 0.0629  11.31kNm.

12.11 Frames with Sloping Members

This is another type of frame sometimes encountered in practice. The analysis is similar to that
of rectangular frames earlier considered, except that when frames with sloping legs are subjected
to sidesway, their horizontal members also undergo chord rotations, which needs to be included
in the analysis. On the other hand, the chord rotations of the horizontal members of rectangular
frames, subjected to sidesway, are zero. For frames with sloping legs, the deflected shape of the
frame is very important as sway moments generated will depend on the deflected shape.

For the purpose of sketching the deflected shape of a frame with sloping members, the following
assumptions are made:

 The joints are fixed and cannot rotate.

 The angle between members at a rigid joint remains the same after sidesway, as before
sidesway.

 There is no axial deformation, so member lengths remain unchanged after sway.

35
  The curvature of a member does not affect the distance between member ends.

 Translation of member ends can only occur in a direction perpendicular to the member.

We now show the procedure involved by means of the following example.

Example 12.8

Determine the member-end moments in the frame shown in Fig.12.21.

60kN
40kN B 3I C

2I I 4m

A D
2m 3m 3m

Fig.12.21

Solution

Degrees of freedom

The frame has three (3) degrees of freedom: the rotation at joint B  B  , the rotation at joint C
 C  , and the horizontal translation   . A sketch of the deflected shape of the frame is shown in
Fig.12.22.
  
cos 
B  tan 
C



A D
Fig.12.22

Referring to Fig.12.22, we can write:

36
    tan 
 AB   ;  DC   ;  BC  
L AB LDC cos  LBC

Note that the distances  tan  and  / cos  were obtained from the known relationship that the
angle between two lines is equal to the angle between their perpendiculars. From the above
relations we have:

  0.75
 AB    0.25 ;  DC    0.25;  BC    0.15
4 50.8 5

Fixed-end moments

60  32  2
FEM BC   43.2kNm
52

60  2 2  3
FEM CB    28.8kNm
52

Slope-deflection equations

2 E 2 I 
M AB   B  30.25 
4

Or M AB  EI B  0.75EI (1)

2 E 2 I 
M BA  2 B  0.75
4

Or M BA  2EI B  0.75EI (2)

2 E 3I 
M BC  2 B   C  30.15   43.2
5

Or 2.4EI B  1.2EI C  0.54EI  43.2 (3)

2 E 3I 
M CB  2 C   B  30.15   28.8
5

Or 2.4EI C  1.2EI B  0.54EI  28.8 (4)

M CD 
2 EI
2 C  30.25 
5

37
Or 0.8EI C  0.3EI (5)

M DC 
2 EI
 C  30.25 
5

Or 0.4EI C  0.3EI (6)

Joint equilibrium equations

M BA  M BC  0 (7)

M CB  M CD  0 (8)

We now substitute the relevant slope-deflection equations into the joint equilibrium equations.
Thus:

2EI B  0.75EI  2.4EI B  1.2EI C  0.54EI  43.2  0

Or 4.4EI B  1.2EI C  0.21EI  43.2 (9)

2.4EI C  1.2EI B  0.54EI  28.8  0.8EI C  0.3EI  0

Or 1.2EI B  3.2EI C  0.24EI  28.8 (10)

O

8.33m
6.67m

L = 13.33m
10.67m

60kN
2m 3m

40kN B C

h = 6.402m

38
 
H AB M AB
A D
H DC M DC
N AB 3m
N CD
Fig.12.23: Free-body diagram of the frame.

In addition to the two joint equilibrium equations (7) and (8) or (9) and (10), a third independent
equilibrium equation is necessary for the determination of the three unknowns:  B , C and  . To
proceed, we now use the geometry of the free-body of the entire frame shown in Fig.12.23 to
calculate some parameters to further facilitate the analysis. Thus:

3
tan    0.75 ;   36.87
4

h 8
h   10.67m
tan  0.75

8 8 8
sin   ; L   13.33m
L sin  0.6

The above parameters are shown in Fig.12.23.

The third equilibrium equation may now be obtained by summing the moments of all the forces
and couples acting on the free-body of the entire frame about point O, which is the point of
intersection of the two columns, as shown in the figure. Thus:

+ M O  0;

M AB  M DC  10.67 H AB  13.33H DC  406.67  602  0 (11)

The shears H AB and H DC can be expressed in terms of column end moments (see Fig.12.24).
H CD
M BA M CD
B H BA C
5m
4m

H AB D M
A M AB H DC DC

39
Fig.12.24: Moments and shears in columns

The column shears can be expressed as follows:

M AB  M BA
H AB  (12)
4

M DC  M CD
H DC  (13)
5

Eqns. (12) and (13) are substituted into Eqn. (11) to give:

 M  M BA   M  M CD 
M AB  M DC  10.67 AB   13.33 DC   266.8  120  0
 4   5 

Or M AB  M DC  2.667M AB  2.667M BA  2.666M DC  2.666M CD  146.8  0

After substitution of the expressions for M AB , M BA , M CD and M DC , multiplying throughout by -

1, and simplification, we have:

7 EI B  2.8EI C  4.55EI  146.8 (14)

Equations (9), (10), and (14) are solved simultaneously to obtain:

EI B  17.249 ; EI C  19.001 ; EI  47.107

The final end-moments are obtained, as usual, by back-substitution of the above values into the
slope-deflection equations, to yield:

M AB  17.249  0.7547.107  18.08kNm

M BA  2 17.249  0.7547.107  0.83kNm

M BC  2.4 17.249  1.219.001  0.5447.107  43.2  0.84kNm

M CB  2.419.001  1.2 17.249  0.5447.107  28.8  29.34kNm

M CD  0.819.001  0.347.107  29.33kNm

M CD  0.419.001  0.347.107  21.732kNm

Checks

40
To check the correctness of the computations, we consider the equilibrium requirement of the
horizontal forces. Referring to Fig.12.23 we can write:

   Fx  0 ;

40  H AB  H DC cos   N CD sin   0 (a)

To continue, it is necessary to evaluate N CD , for which reason we consider the moment

equilibrium condition of all the forces and couples about point A in Fig.12.23. Thus:

+ M A  0;

N CD 6.402  H DC sin   8  602  404  M DC  M AB  0

49.04  120  160  21.73  18.08

Or N CD 
6.402

 N CD  45.18kN

Substitution of the above value for N CD into Eqn. (a) gives:

40  4.73  8.17  27.12  0 satisfied

12.12 Multistory Frames

The slope-deflection method can be extended to the analysis of multistory frames subjected to
lateral translation of joints. However, because the manual analysis of such a frame involves
much computational effort, for much greater efficiency the analysis is usually performed on
computers using the matrix formulation of the displacement method. However, for a clear
appreciation of the underlying frame behavior, we now illustrate the manual analysis by means
of the following example.

Example 12.9

Determine the member-end moments for the two-story frame shown in Fig.12.25.

16kN/m
30kN
C 3I D
I I 6m
60kN B 3I E
41
 I I 6m
A F
9m
Fig.12.25: Given frame with loading

Degrees of freedom

Joints B, C, D, and E can translate in the horizontal direction. The deflected shape of the frame is
shown in Fig.12.26. As shown in this figure, the horizontal displacement of joints B and E of the
first story is denoted as  1 and the horizontal displacement of joints C and D of the second story
is denoted as 1   2 , with  2 representing the displacement of the second story joints relative
to the first story joints. The frame therefore has six (6) degrees of freedom, namely,
 B , C , D , E , 1 , and  2 .

1  2 1  2
C D
C D

1 1
 BC  DE

B B E E

 AB  EF

A F

Fig.12.26: Deflected shape, with chord rotations

Fixed-end moments

FEM CD   FEM DC  108kNm

Chord rotations

Referring to Fig.12.26, we can write:

42
 1
 AB   EF  
6

2
 BC   DE  
6

 BE   CD  0

Slope-deflection equations

M AB 
2 EI
 B  0.51 
6

Or M AB  0.333EI B  0.167 EI1 (1)

M BA 
2 EI
2 B  0.51 
6

Or M BA  0.667 EI B  0.167 EI1 (2)

M FE  0.333EI E  0.167 EI1 (3)

M EF  0..667 EI E  0.167 EI1 (4)

M BC 
2 EI
2 B   C  0.5 2 
6

Or M BC  0.667 EI B  0.333EI C  0.167 EI 2 (5)

M CB 
2 EI
2 C   B  0.5 2 
6

Or M CB  0.667 EI C  0.333EI B  0.167 EI 2 (6)

M ED  0.667 EI E  0.333EI D  0.167 EI 2 (7)

M DE  0.667 EI D  0.333EI E  0.167 EI 2 (8)

2 E 3I 
M CD  2 C   D   108
9

43
Or M CD  1.333EI C  0.667 EI D  108 (9)

M BE  1.333EI B  0.667 EI E (10)

2 E 3I 
M DC  2 D   C   108
9

Or M DC  1.333EI D  0.667 EI C  108 (11)

M EB  1.333EI E  0.667 EI B (12)

Joint equilibrium

Consideration of equilibrium requirements for the joints gives the following:

M BA  M BC  M BE  0 (13)

M EF  M EB  M ED  0 (14)

M CB  M CD  0 (15)

M DC  M DE  0 (16)

In order to obtain the remaining two equilibrium equations, we pass a horizontal section in turn
just above the lower ends of the columns of each story of the frame, and then apply horizontal
equilibrium equation to the free-body of the portion of the frame above the section. The free
bodies obtained are shown in Figs.12.27 (a) and (b).
16kN/m 16kN/m
30kN 30kN
C D

M BC M ED
60kN B
H BC H ED E

M AB M FE
A
H AB F
H FE

(a) (b)

Fig.12.27: Free-body diagram of (a) top story; (b) entire frame

44
Horizontal equilibrium consideration of the top story (Fig.12.27a) yields the following:

H BC  H ED  30 (17)

Similarly, horizontal equilibrium consideration of the entire frame (Fig.12.27b) yields:

H AB  H FE  60 (18)

By expressing column end shears in terms of column end moments we have:

M BC  M CB
H BC 
6

M ED  M DE
H ED 
6

M AB  M BA
H AB 
6

M FE  M EF
H FE 
6

By substituting the above expressions into the force equilibrium equations (17) and (18), we
have:

M BC  M CB M ED  M DE
  30
6 6

Or M BC  M CB  M ED  M DE  180 (19)

And M AB  M BA  M FE  M EF  540 (20)

Joint displacements

Substitution of the slope-deflection equations (Eqns.1 to 12) into the joint equilibrium equations
(Eqns.13 to 16 and 19 and 20) yields the following:

2.667 EI B  0.333EI C  0.667 EI E  0.167 EI1  0.167 EI 2  0 (21)

0.667 EI B  0.333EI D  2.667 EI E  0.167 EI1  0.167 EI 2  0 (22)

0.333EI B  2EI C  0.667 EI D  0.167 EI 2  108 (23)

45
0.667 EI C  2EI D  0.333EI E  0.167 EI 2  108 (24)

EI B  EI C  EI D  EI E  0.668EI 2  108 (25)

EI B  EI E  0.668EI1  540 (26)

Simultaneous solution of Eqns. (21) to (26) by the Gauss-Jordan elimination method yields the
following values for joint displacements:

EI B  64.967; EI C  111.394; EI D  57.679;

EI E  93.118; EI1  1045.037; EI 2  586.527.

Final end moments

We now back-substitute the above displacement values into the slope-deflection equations to
obtain the final end moments as follows:

M AB  0.333 64.967  0.1671045.037  152.89kNm

M BA  0.667 64.967  0.1671045.037  131.19kNm

M BC  0.667 64.967  0.333 111.394  0.167586.527  17.52kNm

M CB  0.667 111.394  0.333 64.967  0.167586.527  2.02kNm

M FE  0.333 93.118  0.1671045.037  143.51kNm

M EF  0.667 93.118  0.1671045.037  112.41kNm

M ED  0.667 93.118  0.33357.679  0.167586.527  55.05kNm

M DE  0.66757.679  0.333 93.118  0.167586.527  105.41kNm

M CD  1.333 111.394  0.66757.679  108  2.02kNm

M DC  1.33357.679  0.667 111.394  108  105.41kNm

M BE  1.333 64.967  0.667 93.118  148.71kNm

M EB  1.333 93.118  0.667 64.967  167.46kNm

46