Plane Frame and Grid Equations

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 = cos
S = sin
Using the second equation for the beam element, we can relate local nodal
degrees of freedom to global degree of freedom:
d1X
0 d1y
0 1
0 d 2 X
1 d 2 y
d1y S C 0 0 0

1 0 0 1 0 0
=
d2 y 0 0 0 S C
0 0 0 0 0
2
dy = Sd x + 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
T =
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:
12S 2
12SC
EI 6LS
k= 3
L 12S 2
12SC
6LS
12SC
6LS
12S 2
12SC
12C 2
6LC
12SC
12C 2
6LC
4L2
6LS
6LC
12SC
12SC
6LS
12S
12C 2
6LC
12SC
12C 2
6LC
2L2
6LS
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 AE 1 1 d1x
=

L 1 1 d 2 x
f2 x
Combining the axial effects with the shear force and bending moment effects, in
local coordinates,
gives:
f1x C
f1y 0
m 0
1
f
2 x C 1
0
f2 y
m 2 0
0
12C 2
6 LC 2
0
6 LC 2
4C 2 L2
C 1
0
0
0
12C 2
6 LC 2
0
12C 2
6 LC 2
0
6 LC 2
2C 2 L2
C1
0
0
0
12C 2
6 LC 2

d 1x
d
1x
1
0 d 2 x
6 LC 2 d
2y
4C 2 L2
2
0
6 LC 2
2C 2 L2
where
C1 =
AE
L
C2 =
EI
L3
Page 183
Therefore:
C1
0
0
k =
C1
0
0
12C 2
6LC 2
0
6LC 2
4C 2 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
4C 2 L2
0
6LC 2
2C2 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

d 1x
1
=
d 2 x
d
2y
2
C S 0 0 0 0 d 1x
S C 0 0 0 0 d
1x
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
T =
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:
k=
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
node 3. Let E = 30 x 106 psi and A = 10 in.2 for all elements, and let I = 200 in.4
for elements 1 and 3, and I = 100 in.4 for element 2.
Element 1: The angle between x and x is 90
C =0
S =1
where
12I 12(200 )
=
= 0.167 in 2
2
2
L
(120 )
6I 6(200 )
=
= 10.0 in 3
L
120
E 30 10 6
=
= 250,000 lb / in 3
L
120
Page 186
Therefore, for element 1:

d
1x
k (1)
d
1y
2x
2y
0
10 0.167 0
10
0.167
0
10
0
0
10 0
10
0
800
10
0
400 lb
= 250,000
10
0.167
0
10 in
0.167 0
0
10 0
0
10
0
0
400
10
0
800
10
C =1
S =0
12I 12(100 )
=
= 0.0835 in 2
2
2
L
(120 )
6I 6(100 )
=
= 5.0 in 3
L
120

d
k (2)
2x
2y
3x
3y
10
0
0
0
0
10
0
0
.
0835
5
0
0
.
0835
5
0
5
400
0
5
200 lb
= 250,000
in
10
0
0
10
0
0
0
0.0835 5
0
0.0835 5
5
200
0
5
400
0
C =0
S = 1
12I 12(200 )
=
= 0.167 in 2
2
2
L
(120 )
6I 6(200 )
=
= 10.0 in 3
L
120
E 30 106
=
= 250,000 lb / in 3
L
120
Page 187

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

d1x = d1y = d 4 x = d 4 y = 1 = 4 = 0
After applying the boundary conditions the global beam equations reduce to:
10
0
10
0
0 d 2 x
10,000
10.167
0
0
d
10
.
0835
5
0
0
.
0835
5
2y
0
10
5
5
1200
0
200 2
5
= 2.5 10

10
0
0
10
.
167
0
10
0
d 3 x
0
0
0.0835 5
5 d 3 y
0
10.0835
0
5
200
10
5
1200
5
,
000
3
Solving the above equations gives:
0.211 in
d 2 x
d
2 y 0.00148 in
2 0.00153 rad
=
0.209 in
d 3 x
d3 y 0.00148 in

3 0.00149 rad
Page 188
Element 1: The element force-displacement equations can be obtained using

f = kT d . Therefore, T d is:
0
1
0
Td =
0
0
1 0
0 0
0 1
0 0
0 0
0 0
d1x = 0
0
0 0

d1y = 0
0
0 0 0

1 = 0
0
0 0 0
=
0 1 0 d 2 x = 0.211 in 0.00148 in
1 0 0 d 2 y = 0.00148 in
0.211 in

0 0 1 2 = 0.00153 rad 0.00153 rad

0
Recall the elemental stiffness matrix is:

C1
0
0
k =
C1
0
C1
12C 2
6LC 2
12C 2
6LC 2
4C 2 L2
6LC 2
C1
12C2
6LC 2
12C 2
6LC 2
2C 2 L2
6LC 2
6LC 2
2C2 L2
0
6LC 2
4C 2 L2
0
Therefore, the local force-displacement equations are:

10
0
0
0
0
0
10
0
0
0
.
167
10
0
0
.
167
10
0
0
10
800
0
10
400
f (1) = kT d = 2.5 10 5
0
.
00148
in
10
0
0
10
0
10
0.167 10
0.211 in
0
0.167 10
0
.
00153
rad
0
10
400
0
10
800
Simplifying the above equations gives:

f1x 3,700 lb

f1y 4,990 lb
m
1 376 k in
=
lb
3
,
700
f
2x
f 4,990 lb
2y
2 223 k in
m
Page 189
Element 2:
1
0
0
Td =
0
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 d 2 y = 0.00148 in 0.00148 in
0 1 0 0 0 2 = 0.00153 rad 0.00153 rad
=
0.209 in
0 0 1 0 0 d 3 x = 0.209 in
0 0 0 1 0 d 3 y = 0.00148 in 0.00148 in

0 0 0 0 1 3 = 0.00149 rad 0.00149 rad

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

f2 x 5,010 lb

f2 y 3,700 lb
m
2 223 k in
=
lb
5
,
010
f
3x
f 3,700 lb
3y
3 221 k in
m
Element 3: The element force-displacement equations are:
0 1
1 0
0 0
Td =
0 0
0 0
0 0
0 0
0 0
1 0
0 0
0 1
0 0
0 d 3 x = 0.209 in 0.00148 in
0 0 d 3 y = 0.00148 in 0.209 in
0 0 3 = 0.00149 rad 0.00149 rad

=
d4 x = 0
1 0
0

d4y = 0
0
0 0

4 = 0
0
0 1
Page 190

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

f3 x 3,700 lb

f3 y 5,010 lb
m
3 226 k in
=
lb
3
,
700
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
1,000 lb/ft applied along element 2. Let E = 30 x 106 psi and A = 100 in.2 for all
elements, and let I = 1,000 in.4 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 =
wL
(1,000 )40
=
= 20k
2
2
wL2
(1,000 )402
m2 = m3 =
=
= 133,33 lb ft = 1,600 k in
12
12
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
S = 0.707
where
E 30 10 6
=
= 58.93 lb / in 3
L
509
12I
12(1,000 )
=
= 0.0463 in 2
2
2
L
12 30 2
6I
6(1,000 )
=
= 11.78551 in 3
L 12 30 2
d 2x
d 2y
k (1)
50.02 49.98 8.33

= 58.93 49.98 50.02 8.33
8.33 8.33 4000
Simplifying the above equation:

d2 x
d2y
2
k (1)
491
2,948 2,945
= 2,945 2,948
491
491 491 235,700
Page 192
C =1
S=0
where
E 30 10 6
=
= 62.5 lb / in 3
480
L
12I 12(1,000 )
=
= 0.0521 in 2
2
2
L
(12 40 )
6I 6(1,000 )
=
= 12.5 in 3
L 12 40
d 2x
d 2y
k (2)
0
0
100
= 62.50 0 0.052 12.5 lb
in
0
12.5 4,000
Simplifying the above equation:

d 2x
d 2y
2
k (2)
0
0
6,250
= 0
3.25
781.25 lb
in
0
781.25 250,000
The global beam equations reduce to:

0
491 d 2 x
9,198 2,945

290 d 2 y
20 k = 2,945 2,951
1,600 k in 491
2
290
485
,
700

d 2 x 0.0033 in

d 2 y = 0.0097 in
0.0033 rad
2
Page 193

0.707 0.707
0.707 0.707
0
0
Td =
0
0
0
0
0
0
0
0
1
0
0
0
0
0
0

0
0
0
0
0

0
0
0
0
0
=
0.707 0.707 0 0.0033 in 0.00452 in

0.707 0.707 0 0.0097 in 0.0092 in

0
0
1 0.0033 rad 0.0033 rad
0
Recall the elemental stiffness matrix is a function of values C1, C2, and L
AE (100 )30 10 6
=
= 5,893 k in
C1 =
L
12 30 2
EI 30 10 6 (1,000 )
= 0.2273 k in
C2 = 3 =
3
L
12 30 2

0
10
5,893
0
0
0
5,893
2.730
694.8
0
2.730 694.8
0
694.8 117,900
0
694.8 117,000
0
= 10
f(1) = kTd
0
0
5,983
0
0
5,893
0.00452 in
0
2.730 694.8
0
2.730 694.8 0.0092 in
694.8 117,000
0
694.8 235,800 0.0033 rad
0
f1x
26.64 k

f1y 2.268 k
m
1 389.1 k in
=
f2 x 26.64 k

2.268 k
f2 y
778.2
k
in
Page 194
Element 2: The element force-displacement equations are:

1
0
0
Td =
0
0
0 0 0 0 0 0.0033 in 0.0033 in
1 0 0 0 0 0.0097 in 0.0097 in
0 1 0 0 0 0.0033 rad 0.0033 rad
0 0 1 0 0
0
0

0
0 0 0 1 0
0
0
0
0 0 0 0 1
Recall the elemental stiffness matrix is a function of values C1, C2, and L
AE (100)30 10 6
C1 =
= 6,250
=
L
12 40
in
EI 30 10 6 (1,000)
= 0.2713
C2 = 3 =
L
(12 40)3
in

0
0
0
0
6,250
6,250
0.0033 in
0
0.0097 in
3.25
781.1
0
3.25
781.1
0
781.1
250,000
0
781.1
125,000
0.0033
rad
=
f(2) = kTd
0
0
6,250
0
0
0
6,250
0
3.25 781.1
0
3.25
781.1
0
781.1 125,000
0
781.1 250,00
0

20.63 k
2.58 k
832.57 k in
kd =
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 20.63 k
0
20.63 k

20 k

17.42 k
f2 y 2.58 k
2 832.57 k in 1600 k in 767.4 k in
20.63
0
k
f
3x

20.63 k

20 k

2.58 k
22.58 k
f
3
y

m
3 412.50 k in 1600 k in 2,013 k in
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.
Page 196
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 106 psi, A = 8 in2, and let I =
800 in4 for all elements.
Solution Procedure
1.
Express the applied load in the element 1 local coordinate system (here
x is directed from node 1 to node 4).
Page 197
2.
Next, determine the equivalent joint forces at each end of element 1,

using the table in Appendix D (see figure below).
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.
Page 198
4.
Then we analyze the structure, using the equivalent joint forces (plus
actual joint forces, if any) in the usual manner.
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
C = 0.447
S = 0.895
where
12I
12(800)
=
= 0.0334 in 2
2
2
L
( 44.7 12 )
6I
6(800)
=
= 8.95 in 3
L 44.7 12
E 30 10 6
=
= 55.9 lb / in 3
L 44.7 12
d4x
(1)
d4y
90.0 178
= 178
359
448
244
448
244
179,000
Page 199
Element 2: The angle between x and x is 116.57
C = 0.447
S = 0.895
where
12I
12(800)
=
= 0.0334 in 2
2
2
L
( 44.7 12 )
6I
6(800)
=
= 8.95 in 3
L 44.7 12
E 30 10 6
=
= 55.9 lb / in 3
L 44.7 12
d4x
k (2)
d4y
90.0 178
= 178
359
448
244
448
244
179,000
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 =1
S =0
E 30 106
=
= 50 lb / in 3
L
50 12
12I
12(800)
=
= 0.0267 in 2
2
2
L
( 50 12 )
6I 6(800)
=
= 8.0 in 3
L 50 12

d4x
(2)
400
= 0
0
d4y
0
0
1.334
400
400
160,000
Page 200
The global beam equations reduce to:

7.5 k 582
= 0
900 k in 896
896 d 4 x

400 d 4 y
518,000 4
0
719
400

d 4 x 0.0103 in

d 4 y = 0.000956 in
0.00172 rad
4

C S 0 0 0 0
S C 0 0 0 0
0 0 1 0 0 0
T =
0 0 0 C S 0
0 0 0 S C 0
0 0 0 0 0 1
0.447
0.895
0
Td =
0
0
0.895 0
0.447 0
0
0
0
0
0
C = 0.447
S = 0.895
0
0
0

0
0
0
0
0

0
0
0
0
0
=
0.447 0.895 0 0.0103 in 0.00374 in

0.895 0.447 0 0.000956 in 0.00963 in

0
0
1 0.00172 rad 0.00172 rad
0
Page 201
Recall the elemental stiffness matrix is:

C1
0
0
0
C1
0
12C 2
12C 2
6LC 2
0
2
0
6LC 2
6LC 2
4C 2 L
0
k =
C1
0
0
0
C1
0
12C2 6LC 2
0
12C 2
6LC 2
6LC 2
2C 2 L2
0
0
AE (8)30 10 6
=
= 447.2 k in
C1 =
L
12 44.72
6LC 2
2C2 L2
0
6LC 2
4C 2 L2
0
EI 30 10 6 (800)
= 0.155
C2 = 3 =
L
(12 44.72)3
in

0
0
0
0
0
447
447
1.868
500.5
0
1.868 500.5
0
500.5 179,000
0
500.5 89,490
0
f(1) = kT d =
0
0
447
0
0 0.00374 in
447
0
0
1.868 500.5 0.00963 in
1.868 500.5
500.5
89,490
0
500.5 179,000 0.00172 rad
0
1.67 k
0.88 k
158
in
=
f(1) = kd
1.67 k
0.88 k
311 k in
To obtain the actual element local forces, we must subtract the equivalent nodal
forces.
Page 202
f1x
1.67 k 3.36 k
5.03 k

7.59 k
6.71 k
f1y 0.88 k
m
1 158 k in 900 k in 1,058 k in

=
1.67
3.36
1.68 k
k
k
f4 x

0.88 k
6.71 k
5.83 k
f4 y

311
900
589
k
in
k
in
k
in
4
C S 0 0 0 0
S C 0 0 0 0
0 0 1 0 0 0
T =
0 0 0 C S 0
0 0 0 S C 0
0 0 0 0 0 1
0.447 0.895
0.895 0.447
0
0
Td =
0
0
0
0
0
0
0
0
1
0
0
0
C = 0.447
S = 0.895
0
0
0
0
0
0
0
0
0
0
0
0
0
=
0.447 0.895 0 0.0103 in 0.00546 in

0.895 0.447 0 0.000956 in 0.00879 in
0
0
1 0.00172 rad 0.00172 rad
0

AE (8)30 10 6
=
= 447.2 k in
C1 =
L
12 44.72
EI 30 10 6 (800)
= 0.155
C2 = 3 =
L
(12 44.72)3
in
Page 203
0
0
0
0
0
447
447
1.868
500.5
0
1.868 500.5
0
500.5 179,000
0
500.5 89,490
0
f( 2 ) = kT d =
447
0
0
447
0
0
0
.
00546
in
0
0
1.868 500.5 0.00879 in
1.868 500.5
500.5
89,490
0
500.5 179,000 0.00172 rad
0
2.44 k
0.877 k
158
k
in
=
f(2) = kd
2.44 k
0.877 k
312 k in
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
1
0
0
Td =
0
0
0 0 0 0 0 0.0103 in 0.0103 in
1 0 0 0 0 0.000956 in 0.000956 in
0 1 0 0 0 0.00172 rad 0.00172 rad
=
0
0
0 0 1 0 0

0
0
0 0 0 1 0

0
0
0 0 0 0 1

Page 204

AE (8)30 10 6
=
= 400
C1 =
L
12 50
in
EI 30 10 6 (800 )
= 0.111 k in
C2 = 3 =
3
L
(12 50 )
400
0
0
0
0 0.0103 in
400
0
0.000956 in
1
.
335
400
0
1
.
335
400
rad
0
.
00172
0
400
160
,
000
0
400
80
,
000
f( 3 ) = kT d =
400
0
0
400
0
0
0
0
1.335
0
1.335 400
400
0
0
400
80
,
000
0
400
160
,
000

4.12 k
0.687 k
= 275 k in
f(3) = kd
4.12 k
0.687 k
137 k in
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
500 kN
The frame 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.
Beam Element 1: The angle between x and x is 0
C =1
S =0
where
12I 12(5 10 5 )
=
= 6.67 10 5 m 2
2
2
L
(3 )
6I 6(5 10 5 )
=
= 10 4 m 3
L
3
E 210 10 6
=
= 70 10 6 kN / m 3
L
3
d1x
k (1)
d1y
0
0
2
= 70 103 0 0.067 0.10 kN

m
0 0.10 0.20
Page 206
Bar Element 2: The angle between x and x is 45
C = 0.707
S = 0.707
where
d1x
(2)
d1y
10 3 m 2 (210 10 6 kN / m 2 ) 0.5 0.5 kN

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

3
500 kN = 70 10 kN m 0.354 0.421 0.10 d1y
0
0
0.10 0.20 1

d1x 0.00388 m

d1y = 0.0225 m
0.0113 rad
1
Bar Element: The bar element force-displacement equations can be obtained

using f = kT d .
d1x
f1x AE 1 1 C S 0 0 d1y
=

L 1 1 0 0 C S d 3 x
f3 x
d 3 y
Page 207
Therefore, the forces in the bar element are:

AE
(Cd1x + Sd1y ) = 670 kN
f1x =
L
AE
(Cd1x + Sd1y ) = 670 kN
f3 x =
L
Beam Element: The beam element force-displacement equations can be
obtained using f = kd . Since the local axis coincides with the global coordinate
system, and the displacements at node 2 are zero. Therefore, the local forcedisplacement equations are:
C1
0
0
k =
C1
0
C1
12C 2
6LC 2
12C 2
6LC 2
4C 2 L2
6LC 2
C1
12C 2
6LC 2
12C 2
6LC 2
2C 2 L2
6LC 2
6LC 2
2C 2 L2
0
6LC 2
4C 2 L2
C1 =
AE
L
C2 =
EI
L3
0
0
0
0 0.00388 m
2
2
0
0.067
0.10
0 0.067 0.10 0.0225 m
0
0.10
0.10
0.20
0
0.10 0.0113 kN m
f(1) = kd = 70 103
0
0
2
0
0
0
2
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 473 kN

f1y 26.5 kN
m
0.0
1
=
kN
473
f
2x
f 26.5 kN
2y
2 78.3 kN m
m
Page 208
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 =0
S =1
where
12I 12(2 10 4 )
=
= 1.5 10 4 m 2
2
2
( 4)
L
6I 6(2 10 4 )
=
= 3 10 4 m 3
4
L
E 210 106
=
= 5.25 107 kN / m 3
4
L
Therefore, the stiffness matrix for element 1, considering only the parts
associated with node 2, is:
d 2x
( 1)
d 2y
0.015 0 0.03
= 5.25 10 0
2
0 kN
m
0.03 0 0.08
5
Page 209
C =1
S=0
where
12I 12(2 10 4 )
=
= 9.6 10 5 m 2
2
2
L
(5 )
6I 6(2 10 4 )
=
= 2.4 10 4 m 3
L
5
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
(2)
d 2y
0
0
2
= 4.2 10 0 0.0096 0.024 kN

m
0 0.024 0.08
5
Assembling the elemental stiffness matrices we obtain the global stiffness matrix:
0
0.0158
0.8480
1.0500 0.0101 kN
K = 10 6 0
m
0.0158 0.0101 0.0756
0
0
0.0158 d 2 x
0.8480
6
0
1.0500 0.0101 d 2 y
= 10 0
20 kN m
2
0
.
0158
0
.
0101
0
.
0756

6
d 2 x 4.95 10 m

6
d 2 y = 2.56 10 m
2.66 104 rad
2
Page 210
Element 1: The beam element force-displacement equations can be obtained

using f = kT d .
0
1
0
Td =
0
0
1 0
0 0
0 1
0 0
0 0
0 0
0 0
0
0

0 0
0
0

0 0 0
0
0
=
0 1 0 4.95 106 m 2.56 106 m

1 0 0 2.56 106 m 4.95 106 m

0 0 1 2.66 10 4 rad 2.66 104 rad

0
0

C1
0
0
0
0
C1
0
12C 2
12C 2
6LC 2
0
6LC 2
2
2
0
6LC 2 2C2 L
6LC 2
4C 2 L
0
k =
C1
0
0
0
0
C1
0
12C2 6LC 2
6LC 2
0
12C 2
6LC 2 4C 2 L2
6LC 2
2C 2 L2
0
0
AE (2 10 2 )210 10 6
C1 =
=
= 1.05 10 6
4
L
6
EI 210 10 (2 10 4 )
C2 = 3 =
= 656.25 kN m
3
L
(4)
kN
0
0
0 200
0
0
200
0
0
1 .5
3
0
1 .5 3
0
0
3
8
0
4
3
f(1) = kT d = 5.25 10 3
6
2
.
56
10
m
200
0
0
200
0
0
6
0
0
1.5 3 4.95 10 m
1.5 3
3
4
0
8 2.66 10 4 rad
3
0
Page 211
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
2 11.17 kN m
m
Element 2: The beam element force-displacement equations can be obtained

using f = kT d .
1
0
0
Td =
0
0
0 0 0 0 0
0
0

1 0 0 0 0
0
0

0 1 0 0 0
0
0
=
6
6
0 0 1 0 0 4.95 10 m 4.95 10 m
0 0 0 1 0 2.56 10 6 m 2.56 10 6 m

0 0 0 0 1 2.66 10 4 rad 2.66 10 4 rad

AE (2 10 2 )210 10 6
=
= 0.84 10 6
5
L
6
EI 210 10 (2 10 4 )
C2 = 3 =
= 336 kN m
3
L
(5)
C1 =
kN
0
0
0
0 4.95 10 6 m
200
200
2.56 10 6 m
0
0
.
96
2
.
40
0
0
.
96
2
.
40
0
2
.
40
8
0
2
.
40
4
rad
2
.
66
10
f( 2 ) = kT d = 4.2 103
200
0
0
200
0
0
0
0
0.96 2.40
0.96 2.40
0
2.40
4
0
8
2.40
0
0
Page 212

f2 x 4.16 kN
f2 y 2.69 kN
kN
m
8.92
2
=
f3 x 4.16 kN
2.69 kN
f3 y
kN
m
4.47
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.
We must transform the local boundary condition of d3y = 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:
Page 213
d ' 3 x cos

d ' 3 y = sin
' 0
3
sin
cos
0
0 d 3 x
0 d 3 y
1 3
We can rewrite the above expression as:

cos
[t3 ] = sin
0
{d ' } = [t ]{d }
3
sin
cos
0
0
0
We can apply this sort of transformation to the entire displacement vector as:
{d '} = [T ]{d }
i
or
{d } = [T ] {d '}
T
where the matrix [Ti] is:

[I ]
[Ti ] = [0]
[0]
[0 ]
[I ]
[0 ]
[0 ]
[0 ]
[t 3 ]
Both the identity matrix [I] and the matrix [t3] are 3 x 3 matrices.
The force vector can be transformed by using the same transformation.
{f '} = [T ]{f }
i
In global coordinates, the force-displacement equations are:
{f } = [K ]{d }
Applying the skewed support transformation to both sides of the forcedisplacement equation gives:
[Ti ]{f } = [Ti ][K ]{d }
Page 214
By using the relationship between the local and the global displacements, the
force-displacement equations become:
[Ti ]{f } = [Ti ][K ][Ti ]T {d '}
{f '} = [T ][K ][T ] {d '}
Therefore the global equations become:
F1x
d1x
F
d
1y
1y
M1
1
F2 x
d2 x
T
F2 y = [Ti ][K ][Ti ] d 2 y

M
2
2
d '3 x
F '3 x
d '
F '
3
y
3y
1
M3
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 215
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 fiy a
ix about the x axis, and a bending moment m
iz about the z
torsional moment m
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
x + 1x
L
Page 216
Or in matrix form:

= [N1 N2 ] = 1x
2 x
where N1 and N2 are the interpolation functions gives as:
N1 = 1
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 217
=r
d r
= 2 x 1x
dx L
The relationship between shear stress and shear strain is:
= G
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:
x =
m
GJ
2 x 1x
L
The nodal torque sign convention gives:

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

1x GJ
m
=
2x L
m
1 1 1x
1 1
2 x
Page 218
Combining the torsional effects with shear and bending effects, we obtain the
local stiffness matrix equations for a grid element.
f1y 12LEI
m
x
1
0
m
1z 6LEI
= 12 EI
f2 y L
m
2x 0

2 z 6LEI
m
3
6 EI
L2
12LEI
GJ
L
GJL
4 EI
L
6LEI
6LEI
12 EI
L3
GJL
GJ
L
2 EI
L
6LEI
d1y

0 1x
2 EI
1z
L

6LEI d2 y
0 2 x

4 EI
L
2 z
6 EI
L2
The transformation matrix relating local to global degrees of freedom for a grid
is:
1 0 0 0 0 0
0 C S 0 0 0
0 S C 0 0 0
TG =
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 xi
L
S = sin q =
z j zi
L
The global stiffness matrix for a grid element arbitrary oriented in the x-z plane is
given by:
T
kG = TG kGTG
Page 219
Grid Example
The frame is fixed at nodes 2, 3, and 4, and is subjected to a load of 100 kips
applied at node 1. Assume I = 400 in.4, J = 110 in.4, G = 12 x 10 3 ksi, and E = 30
x 10 3 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.
d 2 y = 2 x = 2 z = 0
d 3 y = 3 x = 3 z = 0
d 4 y = 4 x = 4 z = 0
Beam Element 1:
C = cos =
x2 x1 0 20
=
= 0.894
L(1)
22.36
S = sin =
z2 z1 20 10
=
= 0.447
L(1)
22.36
where
12EI 12(30 103 )(400)
=
= 7.45 k
3
3
in
L
(22.36 12)
6EI 6(30 103 )(400)

=
= 1,000 k
L2
(22.36 12)2
Page 220
4EI 4(30 103 )(400)

=
= 179,000 k in
L
(22.36 12)
GJ (12 103 )(110)

=
= 4,920 k in
L
(22.36 12)
The global stiffness matrix for element 1, considering only the parts associated
with node 1, and the following relationship:
T
kG = TG kGTG
0
0
1
TG = 0 0.894 0.447
0 0.447 0.894
d1y
k (1)
1x
TG
0
0
1
= 0 0.894 0.447
0 0.447 0.894
1z
0
1,000
7.45
= 0
4,920
0 k
in
1,000
0
179,000
Therefore, the global stiffness matrix is

1x
d 1y
(1)
1z
894
7.45 447
= 447 39,700 69,600 k

in
894 69,600 144,000
Beam Element 2:
C = cos =
x3 x1 0 20
=
= 0.894
L( 2 )
22.36
where
12EI 12(30 103 )(400)
=
= 7.45 k
in
L3
(22.36 12)3
S = sin =
z3 z1 0 10
=
= 0.447
L( 2 )
22.36
6EI 6(30 103 )(400)

=
= 1,000 k
L2
(22.36 12)2
Page 221
4EI 4(30 103 )(400)

=
= 179,000 k in
L
(22.36 12)
GJ (12 103 )(110)

=
= 4,920 k in
L
(22.36 12)
T
kG = TG kGTG
k (2)
0
0 7.45
0
1,000 1
0
0
1
0
4,920
0
= 0 0.894 0.447
0 0.894 0.447
0 0.447 0.894 1,000

0
179,000 0 0.447 0.894

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

=
= 5,000 k
L2
(10 12) 2
GJ (12 103 )(110 )
=
= 11,000 k in
L
(10 12)
T
k G = TG kGTG
Page 222
0
5,000 1 0 0
1 0 0 83.3
0 0 1
11,000
0
k ( 3 ) = 0 0 1 0
0 1 0 5,000
0
400,000 0 1 0
1x
d1y
k( 3 )
1z
5,000
0
83.3
= 5,000 400,000
0
0
0
11,000
Superimposing the three elemental stiffness matrices gives:

d1y
1x
1z
5,000
1,790
98.2
K = 5,000 479,000
0
1,790
0
299,000
5,000
1,790 d1y
F1y = 100 k 98.2

0
M1x = 0 = 5,000 479,000
1x
M = 0 1,790
0
299,000 1z
1z

2.83 in
d1y

1x = 0.0295 rad
0.0169 rad
1z
Page 223
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
TG d =
0
0
0
0
0
0
0
0
0
2.83 in 2.83 in
0.0295 rad 0.0339 rad
0.0169 rad 0.00192 rad

=
1
0
0
0
0

0 0.894 0.447
0
0

0 0.447 0.894
0
0

0
0
0
0
0
0
0
0
0

0
1,000
0
1,000 2.83 in
7.45
7.45
0.0339 rad
0
4
,
920
0
0
4
,
920
0
1
,
000
0
179
,
000
1
,
000
0
89
,
500
0
.
00192
rad
f = kT d =
7
.
45
0
1
,
000
7
.
45
0
1
,
000
0
0
0
0
4,920
0
0
4,920
1
,
000
0
89
,
500
1
,
000
0
179
,
000
0
( 1)

f1y 19.2 k
m
1x 167 k in
1z 2,480 k in
m
19.2
k
f
2y
167 k in
2x
k
in
2,260
m2 z
Page 224

using f = kGTG d .
0
0
1
0 0.894 0.447
0 0.447 0.894
TG d =
0
0
0
0
0
0
0
0
0
2.83 in 2.83 in
0.0295 rad 0.0188 rad
0.0169 rad 0.0283 rad

=
1
0
0
0
0

0 0.894 0.447
0
0

0 0.447 0.894
0
0

0
0
0
0
0
0
0
0
0

7.45
0
1,000
0
1,000 2.83 in
7.45
0
0.0188 rad
4
,
920
0
0
4
,
920
0
rad
1
,
000
0
179
,
000
1
,
000
0
89
,
500
0
.
0283
f = kT d =
7
.
45
0
1
,
000
7
.
45
0
1
,
000
0
4,920
0
0
4,920
0
0
1
,
000
0
89
,
500
1
,
000
0
179
,
000
0
(2)

f1y
7.23 k
1x
m
92.5 k in
1z 2,240 k in
m
7.23 k
f
3y
m
92.5 k in
3x
3 z 295 k in
m
Page 225

using f = kGTG d .
1
0
0
TG d =
0
0
0 2.83 in 2.83 in
0 0.0295 rad 0.0169 rad
0 0.0169 rad 0.0295 rad
=
1 0 0
0
0

0 0 1
0
0

0 1 0
0
0

0 0 0 0
0 1 0 0
1 0 0 0
0
0
0
0

83.3
0
5,000
0
5,000 2.83 in
83.3
0.0169 rad
0
11,000
0
0
0
11,000
5,000
0
400,000 5,000
0
200,000 0.0295 rad
f = kT d =
0
83
.
3
0
5
,
000
83
.
3
0
5
,
000
0
0
0
0
11,000
0
11,000
0
0
200,000 5,000
0
400,000
5,000
(3)

f1y 88.1 k
1x 186 k in
m
m
1z 2,340 k in
88.1 k
f4 y
m
186 k in
4x
4 z 8,240 k in
m
Page 226
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
f = T T f
T T = 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:
0
0 19.2 k 19.2 k
f1y 1
m1x = 0 0.894 0.447 167 k in = 1,260 k in
m1z 0 0.447 0.894 2,480 k in 2,150 k in

Page 227

0
0
7.23 k
7.23 k
f1y 1
m1x = 0 0.894 0.447 92.5 k in = 1,080 k in

m 0 0.447 0.894 2,240 k in 1,960 k in
1z

f1y 1 0 0 88.1 k 88.1 k
m1x = 0 0 1 2,340 k in = 2,340 k in

m 0 1 0 186 k in 186 k in
1z
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 = 0.0 k in
1z
= 2,150 + 1,060 + 186 = 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 228
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.
d 1y = 1x = 1z = 0
d 3y = 3 x = 3z = 0
Beam Element 1: the local x axis coincides the global x axis
C = cos =
x 2 x1 3
= =1
L(1)
3
S = sin =
z 2 z1 0
= =0
L(1)
3
where
12EI 12(210 10 6 )(16.6 10 5 )
=
= 1.55 10 4 kN / m
3
3
(3 )
L
6EI 6(210 106 )(16.6 10 5 )
=
= 2.32 10 4 kN
2
2
L
(3 )
4EI 4(210 10 6 )(16.6 10 5 )
=
= 4.65 10 4 kNm
L
3
GJ (84 106 )( 4.6 10 5 )
=
= 0.128 10 4 kNm
L
3
Page 229
with node 2, may be obtained from the following relationship:
T
kG = TG kGTG
k (1)
0
2.32 1 0 0
1 0 0 1.55
0.128
0 0 1 0 kN
= 10 4 0 1 0 0
m
0 0 1 2.32
0
4.65 0 0 1

2 x
d2y
2 z
0
2.32
1.55
0.128
0 kN
k(1) = 10 4 0
m
2.32
0
4.65
Beam Element 2: the local x axis is located from node 2 to node 3
C = cos =
x3 x 2 0
= =0
L( 2 )
3
S = sin q =
z3 z2 3
=
= 1
L(1)
3
with node 2, may be obtained using:
T
kG = TG kGTG
k (2)
0
2.32 1 0 0
1 0 0 1.55
0
0.128
0 0 0 1 kN
= 10 4 0 0 1
m
0 1 0 2.32
0
4.65 0 1 0

d2y
k( 2 )
2 x
2 z
0
1.55 2.32
= 10 2.32 4.65
0 kN
m
0
0
0.128
4
Page 230
Superimposing the two elemental stiffness matrices gives:

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

3.10 2.32 2.32 d 2 y
F2 y = 22 kN

4
0 2 x
M2 x = 0 = 10 2.32 4.78
M =0
2.32
0
4.78 2 x
2z

d 2 y 0.00259 m

2 x = 0.00126 rad
0.00126 rad
2z

using f = kGTGd .
1
0
0
TGd =
0
0
0 0 0 0 0
0
0

1 0 0 0 0
0
0

0 1 0 0 0
0
0
=

0 0 1 0 0 0.00259 m 0.00259 m
0 0 0 1 0 0.00126 rad 0.00126 rad

0 0 0 0 1 0.00126 rad 0.00126 rad
Page 231

0
2.32 1.55
0
2.32
0
1.55
0
.
128
0
0
0
.
128
0
0
2
.
32
0
4
.
65
2
.
32
0
2
.
33
0
f(1) = kT d = 10 4
1
.
55
0
2
.
32
1
.
55
0
2
.
32
0
.
00259
m
0.128
0
0
0.128
0
0.00126 rad
0
2.33 2.32
0
4.65 0.00126 rad
2.32
f1y 11.0 kN
1x
m
1.50 kN m
m
1z 31.0 kN m
f2 y 11.0 kN
m
1.50 kN m
2x
2 z 1.50 kN m
m
using f = kGTGd .
1
0
0
TGd =
0
0
0 0
0 1 0 0
1
0 0
0
0
0
0
1 0
0 0
0 1
0 0.00259 m 0.00259 m
0 0.00126 rad 0.00126 rad
0 0.00126 rad 0.00126 rad
=
0
0
0

0
0
1

0
0
0

Page 232

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 ) = kT d = 10 4
1
.
55
0
2
.
32
1
.
55
0
2
.
32
0
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
kN
m
1.50
m
m
2 z 1.50 kN m
kN
11.0
f
3y
1.50 kN m
3x
kN
m
31.0
m3 z
Page 233
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 axis y is the principle axis for which the moment of inertia is minimum, Iy.
The right-hand rule is used to establish the z axis and the maximum moment of
inertia, Iz.
y.
Bending in the x z plane: The bending in the x z plane is defined by m
The stiffness matrix for bending the in the x-z plane is:
12L
EI y 6L2
kY = 4
L 12L
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).
Page 234
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
kz = 4
L 12L
2
6L
6L2
4L3
6L2
2L3
12L
6L2
12L
6L2
6L2
2L3
6L2
4L3
where Iz is the moment of inertia about the z axis (the strong axis).
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
Page 235
The global stiffness matrix may be obtained using:

k = T T kT
where
3 x 3
T =
where
3 x 3
3 x 3
3 x 3
3 x 3
Cxx Cyx Czx
= Cxy Cyy Czy

Cxz Cyz Czz
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
cos xx =
x2 x1
=l
L
cos yx =
y 2 y1
=m
L
cos zx =
z2 z1
=n
L
Page 236
The y axis is selected to be perpendicular to the x and 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.
z x = y
G
i
1
z x = y =
0
D
l
G
j
0
m
G
k
mG
l G
1 = i +
j
D
D
n
where
D = l 2 + m2
The z axis is determined by the condition that z = x y
G
G G
i
j k
G
ln G mn G
1
z = x y =
l
m n = i
j + Dk
D
D
D
m l 0
Therefore, the transformation matrix
3 x 3
Cxx Cyx Czx
= Cxy Cyy Czy

Cxz Cyz Czz
becomes
Page 237
3 x 3
l
m
=
D
ln
D
m
l
D
mn
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 y is 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:
y =
12EI y
2
GAs L
z =
12EIz
GAs L2
where As is 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 the that shown previously
on page 235. This is the form of the stiffness matrix used by SAP2000 for its
frame element.
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 SAP 2000 to do frame analysis.
Page 243

Plane Frame and Grid Equations

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Plane Frame and Grid Equations

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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

Consider the frame shown in the figure below.

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

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

0 0 1 2 = 0.00153 rad 0.00153 rad

Recall the elemental stiffness matrix is:

Therefore, the local force-displacement equations are:

Simplifying the above equations gives:

The element force-displacement equations are:

0 0 0 0 1 3 = 0.00149 rad 0.00149 rad

Therefore, the local force-displacement equations are:

Simplifying the above equations gives:

0 0 3 = 0.00149 rad 0.00149 rad

CIVL 7117 Finite Elements Methods in Structural Mechanics

Therefore, the local force-displacement equations are:

Simplifying the above equations gives:

Rigid Plane Frame Example

Consider the frame shown in the figure below.

50.02 49.98 8.33

Simplifying the above equation:

CIVL 7117 Finite Elements Methods in Structural Mechanics

Element 2: The angle between x and x is 0

Simplifying the above equation:

The global beam equations reduce to:

CIVL 7117 Finite Elements Methods in Structural Mechanics

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

0.707 0.707 0 0.0033 in 0.00452 in

Therefore, the local force-displacement equations are:

CIVL 7117 Finite Elements Methods in Structural Mechanics

Element 2: 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

2 832.57 k in 1600 k in 767.4 k in

Rigid Plane Frame Example

CIVL 7117 Finite Elements Methods in Structural Mechanics

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

CIVL 7117 Finite Elements Methods in Structural Mechanics

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

CIVL 7117 Finite Elements Methods in Structural Mechanics

Element 1: The angle between x and x is 63.43

CIVL 7117 Finite Elements Methods in Structural Mechanics

Element 2: The angle between x and x is 116.57