Stiffness matrix for a beam element in its local coordinate system:

Ny’ Nz’ Fy’ Fz’

𝑞𝑁𝑦′ 12/𝐿3 6/𝐿2 −12/𝐿3 6/𝐿2 𝑑𝑁𝑦′

𝑞𝑁𝑧′ 6/𝐿2 4/𝐿 −6/𝐿2 2/𝐿 𝑑𝑁𝑧′ ]
= 𝐸𝐼 2 [
𝑞𝐹𝑦′ −12/𝐿3 −6/𝐿2 12/𝐿3 −6/𝐿 𝑑𝐹𝑦′
[ 𝑞𝐹𝑧′ ] [ 6/𝐿2 2/𝐿 −6/𝐿2 4/𝐿 ] 𝑑𝐹𝑧′
Internal forces in each member: q = k × D + q0

Stiffness matrix for a frame element in its local coordinate system: q = k'd
Nx’ Ny’ Nz’ Fx’ Fy’ Fz’
𝑞𝑁𝑥′ 𝐴𝐸/𝐿 0 0 −𝐴𝐸/𝐿 0 0 𝑑𝑁𝑥′
𝑞𝑁𝑦′ 0 12𝐸𝐼/𝐿3 6𝐸𝐼/𝐿2 0 −12𝐸𝐼/𝐿3 6𝐸𝐼/𝐿2 𝑑𝑁𝑦′
𝑞𝑁𝑧′ 0 6𝐸𝐼/𝐿2 4𝐸𝐼/𝐿 0 −6𝐸𝐼/𝐿2 2𝐸𝐼/𝐿 𝑑𝑁𝑧′
=
𝑞𝐹𝑥′ −𝐴𝐸/𝐿 0 0 𝐴𝐸/𝐿 0 0 𝑑𝐹𝑥′
𝑞𝐹𝑦′ 0 −12𝐸𝐼/𝐿3 −6𝐸𝐼/𝐿2 0 12𝐸𝐼/𝐿3 −6𝐸𝐼/𝐿2 𝑑𝐹𝑦′

[ 𝑞𝐹𝑧′ ] [ 0 6𝐸𝐼/𝐿2 2𝐸𝐼/𝐿 0 −6𝐸𝐼/𝐿2 4𝐸𝐼/𝐿 ] [ 𝑑𝐹𝑧′ ]

Stiffness matrix of a frame element in the Global Coordinates System:

k=
Nx Ny Nz Fx Fy Fz
𝐴𝐸 λ2𝑥 12𝐸𝐼 λ2𝑦 𝐴𝐸 12𝐸𝐼 6𝐸𝐼λy 𝐴𝐸 λ2𝑥 12𝐸𝐼 λ2𝑦 𝐴𝐸 12𝐸𝐼 6𝐸𝐼λy
( + 3
) ( − 3 )λxλy − −( + ) −( − 3 )λxλy −
𝐿 𝐿 𝐿 𝐿 𝐿2 𝐿 𝐿3 𝐿 𝐿 𝐿2
2 2
𝐴𝐸 12𝐸𝐼 𝐴𝐸 λ𝑦 12𝐸𝐼 λ2𝑥 6𝐸𝐼λx 𝐴𝐸 12𝐸𝐼 𝐴𝐸 λ𝑦 12𝐸𝐼 λ2𝑥 6𝐸𝐼λx
( − 3 )λxλy ( + ) −( − 3 )λxλy −( + )
𝐿 𝐿 𝐿 𝐿3 𝐿2 𝐿 𝐿 𝐿 𝐿3 𝐿2
6𝐸𝐼λy 6𝐸𝐼λx 6𝐸𝐼λy 6𝐸𝐼λx
− 2 4𝐸𝐼/𝐿 − 2 2𝐸𝐼/𝐿
𝐿 𝐿2 𝐿 2 𝐿
2 2 2 2
𝐴𝐸 λ𝑥 12𝐸𝐼 λ𝑦 𝐴𝐸 12𝐸𝐼 6𝐸𝐼λy 𝐴𝐸 λ𝑥 12𝐸𝐼 λ𝑦 𝐴𝐸 12𝐸𝐼 6𝐸𝐼λy
−( + 3
) −( − 3 )λxλy ( + ) ( − 3 )λxλy
𝐿 𝐿 𝐿 𝐿 𝐿2 𝐿 𝐿3 𝐿 𝐿 𝐿2
𝐴𝐸 12𝐸𝐼 𝐴𝐸 λ2𝑦 12𝐸𝐼 λ2𝑥 6𝐸𝐼λx 𝐴𝐸 12𝐸𝐼 𝐴𝐸 λ2𝑦 12𝐸𝐼 λ2𝑥 6𝐸𝐼λx
−( − 3 )λxλy −( + ) − 2 ( − 3 )λxλy ( + ) − 2
𝐿 𝐿 𝐿 𝐿3 𝐿 𝐿 𝐿 𝐿 𝐿3 𝐿
6𝐸𝐼λy 6𝐸𝐼λx 6𝐸𝐼λy 6𝐸𝐼λx
[ − 2 2𝐸𝐼/𝐿 − 2 4𝐸𝐼/𝐿 ]
𝐿 𝐿2 𝐿 2 𝐿
Qk=K11Du+K12Dk
Qu= K21Du+K22Dk
Internal forces: q= k’×T×D + qo, where
λx λy 0 0 0 0
−λy λx 0 0 0 0
0 0 1 0 0 0
𝑇=
0 0 0 λx λy 0
0 0 0 −λy λx 0
[ 0 0 0 0 0 1]

Fixed End Moments