Engineering

Example 1:

The structure shown consists of linear springs whose stiffness’s

are k1 , k2 , k3 and k4 . Only horizontal displacements are allowed.
(a) In matrix, write the three equilibrium equations of the
structures. The d.o.f. are u1 , u2 and u3 .
(b) Let k1 = k2 = k3 = k4 and F1 = F2 = 0. Determine u1 , u2 and u3 in
terms of k and F3 .

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Solution:
u1 , F1 u 2 , F2 u 3 ,F3

k1 k2 k3

k4

a.
* Calculating F1
activating u1 → F1 = k1u1 + k2u1 + k4u1
activating u2 → F1 = − k2u2
activating u3 → F1 = −k4u3
By superposition:
F1 = ( k1 + k2 + k4 ) u1 + ( − k2 ) u2 + ( − k4 ) u3

* Calculating F2
activating u1 → F2 = − k2u1
activating u2 → F2 = k2u2 + k3u2
activating u3 → F2 = −k3u3
By superposition:
F2 = ( − k2 ) u1 + ( k2 + k3 ) u2 + ( − k3 ) u3

* Calculating F3
activating u1 → F3 = − k4u1
activating u2 → F3 = −k3u2
activating u3 → F3 = ( k3 + k4 ) u3
By superposition:
F3 = ( −k4 ) u1 + ( −k3 ) u2 + ( k3 + k4 ) u3

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In matrix form:
⎡( k1 + k2 + k4 ) − k2 − k4 ⎤ ⎡ u1 ⎤ ⎡ F1 ⎤
⎢ ⎥
⎢ − k2 ( k 2 + k3 ) − k3 ⎥ ⎢⎢u2 ⎥⎥ = ⎢⎢ F2 ⎥⎥
⎢⎣ − k4 − k3 ( k3 + k4 )⎥⎦ ⎢⎣u3 ⎥⎦ ⎢⎣ F3 ⎥⎦

b.
⎡ 3 −1 −1⎤ ⎡ u1 ⎤ ⎡ 0 ⎤
k ⎢⎢ −1 2 −1⎥⎥ ⎢⎢u2 ⎥⎥ = ⎢⎢ 0 ⎥⎥
⎣⎢ −1 −1 2 ⎥⎦ ⎢⎣ u3 ⎥⎦ ⎣⎢ F3 ⎦⎥
adding the three equations → ku1 = F3
F3
u1 = → substitute
k
⎛4⎞ F ⎛5⎞ F
u2 = ⎜ ⎟ 3 and u3 = ⎜ ⎟ 3
⎝3⎠ k ⎝3⎠ k

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Example 2:

Activate DOF in turn.

M2 M2
M1 k1u1 M1 k1aθ1

F1 F1 F2
F2

k2u1 k2 aθ1

M1 M2 M1 M2
k1u2 k1aθ 2

F1 F1 F2
F2
k 2 u2 k2 aθ 2

⎡ k1 + k2 a ( k2 − k1 ) − ( k1 + k2 ) a ( k1 − k2 ) ⎤
⎢ ⎥
⎢ a ( k2 − k1 ) a ( k1 + k2 ) a ( k1 − k2 ) − a ( k1 + k2 ) ⎥
2 2

⎢ − ( k1 + k2 ) a ( k1 − k2 ) k1 + k2 a ( k2 − k1 ) ⎥
⎢ ⎥
⎢⎣ a ( k1 − k2 ) −a ( k1 + k2 ) a ( k2 − k1 ) a ( k1 + k2 ) ⎥⎦
2 2

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Example 3:

The plane truss shown has bars of stiffness k1, k2, k3 and k4,
where ki = AiEi/Li.
I. Free all d.o.f and write the structure stiffness matrix in
terms of the ki. Let nodal d.o.f. have the order:

{D} = ⎢⎣u1
T
v1 u2 v2 u3 v3 u4 v4 ⎥⎦

II. Considering the plane truss:

a. Impose support conditions implied by the sketch.
That is, by discarding the appropriate rows and
columns, obtain a smaller [K] that operates only the
active d.o.f.
b. For the loading by force F shown, write the 4 × 1
vecore {D} by inspection (not by solving simultaneous
equations). Hence, find the nodal loads {R} = [K]{D}.
Are these loads physically reasonable?

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Solution:

The system includes:

• 4 elements
• 4 nodes.
Each node has two degrees of freedom (d.o.f.s): ux, uy
Total number of d.o.f.s = 4 × 2 = 8
Active d.o.f.s: u2, u3, u4, v4
Restricted d.o.f.s: u1, v1, v2, v3.

[ D ] = [u1 v1 u2 v2 u3 v3 u4 v4 ] 'the displacement vector'

[Q ] = [Q1 Q2 Q3 Q4 Q5 Q6 Q7 Q8 ] 'the force vector'

Consider node c
Free body diagram (FBD)

Free Body Diagram

We consider the nodal loads consistent with the following

displacement states:
[ D ] = [u1 0 0 0 0 0 0 0]
[ D] = [0 v1 0 0 0 0 0 0]

Let [Q1] represent the vector of forces associated with unit

displacement u1 = 1:

[Q1 ] u1 = [ k4 0 0 0 0 0 ] u1
T
0 −k4

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Similarly [Q2] is the force vector associated with the unit

displacement v1 = 1:

[Q2 ] v1 = [0 0 0 0 0 0 0 0] v1
T

Approach:
Let [Q3 ] , [Q4 ] , [Q5 ] , [Q6 ] , [Q7 ] , and [Q8 ] represent the
equilibrium nodal force vectors associated with the remaining
six unit displacement states (u2 = 1, v2 = 1, u3 ….). Then, if all
eight nodal d.o.f.s may be non-zero simultaneously, by
superposition:
⎡ u1 ⎤ ⎡ p1 ⎤
⎢v ⎥ ⎢ q ⎥
⎢ 1⎥ ⎢ 1⎥
⎢u2 ⎥ ⎢ p2 ⎥
⎢ ⎥ ⎢ ⎥
v q
[Q1 Q2 Q3 Q4 Q5 Q6 Q7 Q8 ] ⎢ 2 ⎥ = ⎢ 2 ⎥
⎢u3 ⎥ ⎢ p3 ⎥
⎢ ⎥ ⎢ ⎥
⎢ v3 ⎥ ⎢ q3 ⎥
⎢u ⎥ ⎢ p ⎥
⎢ 4⎥ ⎢ 4⎥
⎣⎢ v4 ⎦⎥ ⎣⎢ q4 ⎦⎥

Consider node d
We consider the nodal loads consistent with the respective states
of displacement.

[ D] = [0 0 0 0 0 0] and
T
0 u2
[ D] = [0 0 0 0 0]
T
0 0 v2

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u2
θ u2 cosθ
Free Body Diagram
due to u2: u2

θ
Elongation in θ θ
member c = e1 e1

e1 = u2 cosθ = 0.6 u2

F1 = e1k1 = 0.6k1u2
F1x = 0.6 F1 = 0.36k1u2
F1 y = 0.8 F1 = 0.48k1u2
F2 = 0 F2 x = 0 F2 y = 0
F3 = 0 F3 x = 0 F3 y = 0
F4 = F4 x = k4u2 F4 y = 0

[Q3 ] = ⎡⎣ −k4 ( k4 + 0.36k1 )

T
0 0.48k1 −0.36k1 −0.48k1 0 0 ⎤⎦ u2

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Free Body Diagram

due to v2:
Elongation in θ υ2
member c = e1

e1 = v2 sinθ = 0.8 v2
θ u2
e1

θ θ

F1 = e1k1 = 0.8k1v2
F1x = 0.6 F1 = 0.48k1v2
F1 y = 0.8 F1 = 0.64k1v2
F2 x = 0 F2 y = k2 v2
F3 x = 0 F3 y = 0
F4 x = 0 F4 y = 0

[Q4 ] = ⎡⎣0 ( 0.64k1 + k2 )

T
0 0.48k1 −0.48k1 −0.64k1 0 0 ⎤⎦ v2

Consider node e
We consider the nodal loads consistent with the respective
displacement states:

[ D] = [0 0 0 0]
T
0 0 0 u3 and
[ D] = [0 0 0]
T
0 0 0 0 v3

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Free Body Diagram

due to u3:
Elongation in member (1)
c
e1 = u2 cosθ = 0.6 u2

u3 (3)

F1 = e1k1 = 0.6k1u2
F1x = 0.6 F1 = 0.36k1u2
F1 y = 0.8 F1 = 0.48k1u2
F2 x = 0 F2 y = 0
F3 x = k3u3 F3 y = 0 e1 θ
F4 x = 0 F4 y = 0
u3
θ

[Q4 ] = ⎡⎣0 ( 0.36k1 + k3 )

T
0 −0.36k1 −0.48k1 −0.48k1 − k3 0 ⎤⎦ u3

Free Body Diagram

due to v3:
Elongation in member
c = e1 (1)

e1 = v3 sinθ = 0.8 v3
θ

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F1 = e1k1 = 0.8k1v3
F1x = 0.6 F1 = 0.48k1v3
F1 y = 0.8 F1 = 0.64k1v3
F2 x = 0 F2 y = 0
F3 x = 0 F3 y = 0 θ
F4 x = 0 F4 y = 0 e1
θ

[Q5 ] = [0 −0.64k1 0.48k1 0.64k1 0 0] v3

T
0 −0.48k1

Consider node f
We consider the nodal loads consistent with the respective
displacement states:

[ D] = [0 0] and
T
0 0 0 0 0 u4

[ D] = [0 0 0 0 0 0 0 v4 ]
T

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Free Body Diagram (4)

due to u4: 1 2

F1x = F1 y = F1 = 0
F2 x = F2 y = F2 = 0
(1) (2)
F3 x = k3u4 F3 y = 0
F4 x = 0 F4 y = 0
(3) u4
3
4

[Q5 ] = [0 0] v3
T
0 0 0 − k3 0 k3

Free Body Diagram (4)

due to v4: 1 2

F1x = F1 y = F1 = 0
F2 x = 0 F2 y = k2 v4
(1) (2)
F3 x = F3 y = F3 = 0
υ4
F4 x = F4 y = F4 = 0

3
(3) 4

[Q6 ] = [0 0 0 0 k2 ] v4
T
0 0 − k2

Assembly of the stiffness matrix: [K]

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⎡ k4 0 − k4 0 0 0 0 0 ⎤
⎢ 0 0 0 0 0 0 0 0 ⎥⎥
⎢
⎢ −k4 0 k4 + 0.36k1 0.48k1 −0.36k1 −0.48k1 0 0 ⎥
⎢ ⎥
⎢ 0 0 0.48k1 k2 + 0.64k1 −0.48k1 −0.64k1 0 −k2 ⎥
⎢ 0 0 −3.6k1 −0.48k1 0.36k1 + k3 0.48k1 − k3 0 ⎥
⎢ ⎥
⎢ 0 0 −0.48k1 −0.64k1 0.48k1 0.64k1 0 0 ⎥
⎢ 0 0 0 0 − k3 0 k3 0 ⎥
⎢ ⎥
⎢⎣ 0 0 0 − k2 0 0 0 k2 ⎦⎥

The structure stiffness equations are:

[K][D] = [R]
where:
[D] is the vector of nodal d.o.f.
[R] is the vector of nodal loads
[K] is the total stiffness matrix (as shown above)
The structural equations [K][D] = [R] can be written in the form:
⎡ K11 K12 ⎤ ⎡ Dx ⎤ ⎡ Rc ⎤
=
⎢K
⎣ 21 K 22 ⎥⎦ ⎣⎢ Dc ⎦⎥ ⎣⎢ Rx ⎦⎥

where [Dc] and [Rc] are known and [Dx] and [Rx] are still
unknown.
Expanding:
[ K11 ][ Dx ] + [ K12 Dc ] = [ Rc ]
[ K 21 ][ Dx ] + [ K 22 Dc ] = [ Rx ]
The first equation →

[ D x ] = [ K11 ] {[ Rc ] − [ K12 ][ Dc ]}
−1

If the known DOFs (boundary conditions) have zero values: →

[ Dc ] = [0]
[ Dx ] = [ K 11 ] [ Rc ]
−1

where K11 is the remainder of the matrix after discarding rows

and columns related to the zero d.o.f.s.

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In this example:
u1 = v1 = v2 = v3 = 0
The discarded rows and columns will be:
⎡ k4 0 − k4 0 0 0 0 0 ⎤
⎢ 0 0 0 0 0 0 0 0 ⎥⎥
⎢
⎢ −k4 0 k4 + 0.36k1 0.48k1 −0.36k1 −0.48k1 0 0 ⎥
⎢ ⎥
⎢ 0 0 0.48k1 k2 + 0.64k1 −0.48k1 −0.64k1 0 −k2 ⎥
⎢ 0 0 −3.6k1 −0.48k1 0.36k1 + k3 0.48k1 − k3 0 ⎥
⎢ ⎥
⎢ 0 0 −0.48k1 −0.64k1 0.48k1 0.64k1 0 0 ⎥
⎢ 0 0 0 0 − k3 0 k3 0 ⎥
⎢ ⎥
⎢⎣ 0 0 0 − k2 0 0 0 k2 ⎦⎥

The stiffness matrix [K11] becomes:

⎡ k4 + 0.36k1 −0.36k1 0 0⎤
⎢ −0.36k 0.36k1 + k3 − k3 0 ⎥⎥
[ K11 ] = ⎢⎢ 0 1 − k3 k3 0⎥
⎢ ⎥
⎣ 0 0 0 k2 ⎦

The structural equations become:

⎡ k4 + 0.36k1 −0.36k1 0 0 ⎤ ⎡ u2 ⎤ ⎡ F ⎤
⎢ −0.36k 0.36k1 + k3 − k3 0 ⎥⎥ ⎢⎢ u3 ⎥⎥ ⎢⎢ 0 ⎥⎥
⎢ 1
=
⎢ 0 − k3 k3 0 ⎥ ⎢u4 ⎥ ⎢ 0 ⎥
⎢ ⎥⎢ ⎥ ⎢ ⎥
⎣ 0 0 0 k2 ⎦ ⎣ v4 ⎦ ⎣ 0 ⎦

By inspection:
u2 = u3 = u4 = F/k4, v4 = 0
Bars 1, 2, 3 translate right the same amount as a rigid body.
F
[ D ] = [1 1 1 0]
T

k4
For which, substituting in [R] = k[D]
[ R] = [ F 0 F 0 0 0 0 0]

Bar 4 stretches the amount FL/AE = F/k4.

There are no reactions at supports 2 and 3.

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Example 4:

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Solution:
uC − u A
Change of angle at B is
4L
Activate uA one unit, then uC one unit.
kB kB
4L 4L
FC FC

kB kB
4L 4L

kA FA FC kA FA FC

kB k kB
4 LFC + = 0; FC = − B 2 FC =
4L 16 L 16 L2
k
FA = k A − FC = k A + B 2 FA = − FC
16 L

⎡ k kB ⎤
k + B −
⎡ ⎤ ⎢ A 16 L2 16 L2 ⎥
⎢k ⎥ = ⎢ ⎥
⎣ ∼ ⎦ ⎢ − kB kB ⎥
⎢⎣ 16 L2 16 L2 ⎥⎦

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