Structural Analysis 3 & 3A
Third Year Civil
CVG311 & CVS311
Lecture No. 2
Plane Trusses
Dr. Mohamed A Azim Nour
A Spring Problem
P d
k P P = kd
k is constant
k
k = Spring Stiffness
k
d
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Notations
k
Pi i j Pj
di dj
+ve X-direction
Two degrees of freedom (di and dj)
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A Spring Stiffness Matrix
Pi k Pj
di
k di k k di
+ve X-direction
Due to a positive displacement di at node i, the
developed forces at i and j are:
Pi = k di
Pj = - k di
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A Spring Stiffness Matrix
Pi k Pj
dj
k dj k k dj
+ve X-direction
And due to a positive displacement dj at node j,
the developed forces at i and j are:
Pi = - k dj
Pj = k dj
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A Spring Stiffness Matrix
By applying both of di and dj, the developed
forces at i and j are:
Pi = k di - k dj
Pj = - k di + k dj
In matrix form, it is written as:
Pi 1 1 d i
k
Pj 1 1 d j
or P = k d
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A Spring Stiffness Matrix
Then, the spring stiffness matrix k is:
k k 1 1
k k
k 1 1 Two
degrees of
freedom
(2 x 2)
The stiffness matrix k is defined as the force
due to unit displacements
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Example 1: A Single Degree of
Freedom System
The nodes are numbered 1 and 2. The probable displacements at nodes are coded with
numbers. If the displacement equals zero, it is coded with 0. If the displacement has a
value, it is coded with numbers, starting from 1. The displacement at node 1 (d 1) equals
zero. It is coded with 0, however, the displacement at node 2 (d2) has an unknown value.
It is coded with 1. This is formatted in a table called the variable correlation table (VCT).
The variable correlation table, VCT, is constructed as:
The spring number Starting d Ending d (0)
k (1)
1 0 1 P2
The spring stiffness matrix is
1 2
0 1
0 k -k
1 -k k X
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Example 1: A Single Degree of
Freedom System
The nodes are numbered 1 and 2. The probable displacements at nodes are coded with
numbers. If the displacement equals zero, it is coded with 0. If the displacement has a
value, it is coded with numbers, starting from 1. The displacement at node 1 (d 1) equals
zero. It is coded with 0, however, the displacement at node 2 (d2) has an unknown value.
It is coded with 1. This is formatted in a table called the variable correlation table (VCT).
The variable correlation table, VCT, is constructed as:
The spring number Starting d Ending d (0)
k (1)
1 0 1 P2
The spring stiffness matrix is
1 2
0 1
0 k -k
1 -k k X
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Example 1: A Single Degree of
Freedom System
The nodes are numbered 1 and 2. The probable displacements at nodes are coded with
numbers. If the displacement equals zero, it is coded with 0. If the displacement has a
value, it is coded with numbers, starting from 1. The displacement at node 1 (d 1) equals
zero. It is coded with 0, however, the displacement at node 2 (d2) has an unknown value.
It is coded with 1. This is formatted in a table called the variable correlation table (VCT).
The variable correlation table, VCT, is constructed as:
The spring number Starting d Ending d (0)
k (1)
1 0 1 P2
The spring stiffness matrix is
1 2
0 1
0 k -k
1 -k k X
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Example 1: A Single Degree of
Freedom System
The nodes are numbered 1 and 2. The probable displacements at nodes are coded with
numbers. If the displacement equals zero, it is coded with 0. If the displacement has a
value, it is coded with numbers, starting from 1. The displacement at node 1 (d 1) equals
zero. It is coded with 0, however, the displacement at node 2 (d2) has an unknown value.
It is coded with 1. This is formatted in a table called the variable correlation table (VCT).
The variable correlation table, VCT, is constructed as:
The spring number Starting d Ending d (0)
k (1)
1 0 1 P2
The spring stiffness matrix is
1 2
0 1
0 k -k
1 -k k X
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Example 1: A Single Degree of
Freedom System
The nodes are numbered 1 and 2. The probable displacements at nodes are coded with
numbers. If the displacement equals zero, it is coded with 0. If the displacement has a
value, it is coded with numbers, starting from 1. The displacement at node 1 (d1) equals
zero. It is coded with 0, however, the displacement at node 2 (d2) has an unknown value.
It is coded with 1. This is formatted in a table called the variable correlation table (VCT).
The variable correlation table, VCT, is constructed as:
(0) (1)
k
The spring number Starting d Ending d P2
1 0 1
The spring stiffness matrix is 1 2
0 1
0 k -k X
1 -k k
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Example 1: A Single Degree of
Freedom System
The nodes are numbered 1 and 2. The probable displacements at nodes are coded with
numbers. If the displacement equals zero, it is coded with 0. If the displacement has a
value, it is coded with numbers, starting from 1. The displacement at node 1 (d1) equals
zero. It is coded with 0, however, the displacement at node 2 (d2) has an unknown value.
It is coded with 1. This is formatted in a table called the variable correlation table (VCT).
The variable correlation table, VCT, is constructed as:
The spring number Starting d Ending d (0)
k (1)
1 0 1 P2
The spring stiffness matrix is
1 2
0 1
0 k -k
1 -k k X
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Example 1: A Single Degree of
Freedom System
The nodes are numbered 1 and 2. The probable displacements at nodes are coded with
numbers. If the displacement equals zero, it is coded with 0. If the displacement has a
value, it is coded with numbers, starting from 1. The displacement at node 1 (d1) equals
zero. It is coded with 0, however, the displacement at node 2 (d2) has an unknown value.
It is coded with 1. This is formatted in a table called the variable correlation table (VCT).
The variable correlation table, VCT, is constructed as:
The spring number Starting d Ending d (0)
k (1)
1 0 1 P2
The spring stiffness matrix is
1 2
0 1
0 k -k
1 -k k X
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Example 1: A Single Degree of
Freedom System
The nodes are numbered 1 and 2. The probable displacements at nodes are coded with
numbers. If the displacement equals zero, it is coded with 0. If the displacement has a
value, it is coded with numbers, starting from 1. The displacement at node 1 (d1) equals
zero. It is coded with 0, however, the displacement at node 2 (d2) has an unknown value.
It is coded with 1. This is formatted in a table called the variable correlation table (VCT).
The variable correlation table, VCT, is constructed as:
The spring number Starting d Ending d (0)
k (1)
1 0 1 P2
The spring stiffness matrix is
1 2
0 1
0 k -k
1 -k k X
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Example 1: A Single Degree of
Freedom System
The governing equation of the system is P = k d:
0 1
P1 = 0 k -k d1=0
P2=P 1 -k k d2
Rows or columns corresponding to code 0 of displacement are omitted, notice the italic
numbers. In this example, row 1 and column 1 are deleted.
Then
P kd 2
or
1
d 2 P k 1 P
k
The same value as before.
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Example 1: A Single Degree of
Freedom System
The governing equation of the system is P = k d:
0 1
P1 = 0 k -k d1=0
P2=P 1 -k k d2
Rows or columns corresponding to code 0 of displacement are omitted, notice the italic
numbers. In this example, row 1 and column 1 are deleted.
Then
P kd 2
or
1
d 2 P k 1 P
k
The same value as before.
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Example 1: A Single Degree of
Freedom System
The governing equation of the system is P = k d:
0 1
P1 = 0 k -k d1=0
P2=P 1 -k k d2
Rows or columns corresponding to code 0 of displacement are omitted, notice the italic
numbers. In this example, row 1 and column 1 are deleted.
Then
P kd 2
or
1
d 2 P k 1 P
k
The same value as before.
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Example 2: Two Degrees of
Freedom System
? ? ?
k1=2k P k2=k 2P
1 2 3
X
Extra spring with stiffness 2k is added to the previous
example, as shown in figure. Two concentrated loads
are applied at nodes 2 and 3. It is required the values of
the horizontal displacements at nods 2 and 3.
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Example 2: Two Degrees of
Freedom System
(0) (1) (2)
k1=2k P k2=k 2P
1 2 3
X
Extra spring with stiffness 2k is added to the previous
example, as shown in figure. Two concentrated loads
are applied at nodes 2 and 3. It is required the values of
the horizontal displacements at nods 2 and 3.
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Example 2: Two Degrees of
Freedom System
VCT is constructed as:
The spring number Starting d Ending d
1 0 1
2 1 2
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Example 2: Two Degrees of
Freedom System
Element Stiffness matrix:
Spring 1:
0 1 (0) (1) (2)
k1=2k k2=k
0 2k -2k P 2P
1 -2k 2k
Spring 2: 1 2 3
1 2
1 k -k
2 -k k X
The global stiffness matrix kg of the whole system is 2x2. Because the system has two
unknown displacements at nodes 2 and 3, which are coded 1 and 2.
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Example 2: Two Degrees of
Freedom System
Element Stiffness matrix:
Spring 1:
0 1 (0) (1) (2)
k1=2k k2=k
0 2k -2k P 2P
1 -2k 2k
Spring 2: 1 2 3
1 2
1 k -k
2 -k k X
The global stiffness matrix kg of the whole system is 2x2. Because the system has two
unknown displacements at nodes 2 and 3, which are coded 1 and 2.
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Example 2: Two Degrees of
Freedom System
Element Stiffness matrix:
Spring 1:
0 1 (0) (1) (2)
k1=2k k2=k
0 2k -2k P 2P
1 -2k 2k
Spring 2: 1 2 3
1 2
1 k -k
2 -k k X
The global stiffness matrix kg of the whole system is 2x2. Because the system has two
unknown displacements at nodes 2 and 3, which are coded 1 and 2.
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Example 2: Two Degrees of
Freedom System
The global stiffness matrix is constructed by adding the two
individual spring stiffnesses as shown in figure.
Global Stiffness Matrix:
Spring 1:
1 2
0 1
1 2k+k -k
0 2k -2k
2 -k k Spring 2:
1 -2k 2k
1 2
1 k -k
2 -k k
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Example 2: Two Degrees of
Freedom System
The global stiffness matrix is constructed by adding the two
individual spring stiffnesses as shown in figure.
Global Stiffness Matrix:
Spring 1:
0 1
1 2
0
1 2k+k -k
2k -2k
2 -k k Spring 2:
1 -2k 2k
1 2
1 k -k
2 -k k
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Example 2: Two Degrees of
Freedom System
The global stiffness matrix is constructed by adding the two
individual spring stiffnesses as shown in figure.
Global Stiffness Matrix:
Spring 1:
0 1
1 2
0
1 2k+k -k
2k -2k
2 -k k Spring 2:
1 -2k 2k
1 2
1 k -k
2 -k k
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Example 2: Two Degrees of
Freedom System
The global stiffness matrix is constructed by adding the two
individual spring stiffnesses as shown in figure.
Global Stiffness Matrix:
Spring 1:
0 1
1 2
0
1 2k+k -k
2k -2k
2 -k k Spring 2:
1 -2k 2k
1 2
1 k -k
2 -k k
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Example 2: Two Degrees of
Freedom System
The global stiffness matrix is constructed by adding the two
individual spring stiffnesses as shown in figure.
Global Stiffness Matrix:
Spring 1:
0 1
1 2
0
1 2k+k -k
2k -2k
2 -k k Spring 2:
1 -2k 2k
1 2
1 k -k
2 -k k
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Example 2: Two Degrees of
Freedom System
The global stiffness matrix is constructed by adding the two
individual spring stiffnesses as shown in figure.
Global Stiffness Matrix:
Spring 1:
0 1
1 2
0
1 2k+k -k
2k -2k
2 -k k Spring 2:
1 -2k 2k
1 2
1 k -k
2 -k k
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Example 2: Two Degrees of
Freedom System
Then the global stiffness matrix kg of the system is:
1 2
1 3k -k
2 -k k
Load vector P contains any applied loads at unknown displacement nodes:
1 P
2 2P
Solving for displacements d = kg-1 P
1 1.5 P/k
2 3.5 P/k
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Example 2: Two Degrees of
Freedom System
Then the global stiffness matrix kg of the system is:
1 2
1 3k -k
2 -k k
Load vector P contains any applied loads at unknown displacement nodes:
1 P
2 2P
Solving for displacements d = kg-1 P
1 1.5 P/k
2 3.5 P/k
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Example 2: Two Degrees of
Freedom System
Then the global stiffness matrix kg of the system is:
1 2
1 3k -k
2 -k k
Load vector P contains any applied loads at unknown displacement nodes:
1 P
2 2P
Solving for displacements d = kg-1 P
1 1.5 P/k
2 3.5 P/k
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Example 2: Two Degrees of
Freedom System
Internal forces: P1 = k1 d1
Spring 1:
P1 =k 2 -2 0 0 = -3P
-2 2 1 1.5 P/k 3P Tension
Tension
Spring 2:
P2 =k 1 -1 1 1.5 P/k = -2P
-1 1 2 3.5 P/k 2P Tension
Tension
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Example 2: Two Degrees of
Freedom System
Internal forces: P1 = k1 d1
Spring 1:
P1 =k 2 -2 0 0 = -3P
-2 2 1 1.5 P/k 3P Tension
Tension
Spring 2:
P2 =k 1 -1 1 1.5 P/k = -2P
-1 1 2 3.5 P/k 2P Tension
Tension
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Example 2: Two Degrees of
Freedom System
Internal forces: P1 = k1 d1
Spring 1:
P1 =k 2 -2 0 0 = -3P
-2 2 1 1.5 P/k 3P Tension
Tension
Spring 2:
P2 =k 1 -1 1 1.5 P/k = -2P
-1 1 2 3.5 P/k 2P Tension
Tension
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Example 2: Two Degrees of
Freedom System
Internal forces: P1 = k1 d1
Spring 1:
P1 =k 2 -2 0 0 = -3P
-2 2 1 1.5 P/k 3P Tension
Spring 2:
P2 =k 1 -1 1 1.5 P/k = -2P
-1 1 2 3.5 P/k 2P Tension
Tension
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Example 2: Two Degrees of
Freedom System
Internal forces: P1 = k1 d1
Spring 1:
P1 =k 2 -2 0 0 = -3P
-2 2 1 1.5 P/k 3P Tension
Spring 2:
P2 =k 1 -1 1 1.5 P/k = -2P
-1 1 2 3.5 P/k 2P Tension
Tension
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Example 2: Two Degrees of
Freedom System
Internal forces: P1 = k1 d1
Spring 1:
P1 =k 2 -2 0 0 = -3P
-2 2 1 1.5 P/k 3P Tension
Spring 2:
P2 =k 1 -1 1 1.5 P/k = -2P
-1 1 2 3.5 P/k 2P Tension
Tension
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Example 2: Two Degrees of
Freedom System
Internal forces: P1 = k1 d1
Spring 1:
P1 =k 2 -2 0 0 = -3P
-2 2 1 1.5 P/k 3P Tension
Spring 2:
P2 =k 1 -1 1 1.5 P/k = -2P
-1 1 2 3.5 P/k 2P Tension
Tension
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Example 2: Two Degrees of
Freedom System
Internal forces: P1 = k1 d1
Spring 1:
P1 =k 2 -2 0 0 = -3P
-2 2 1 1.5 P/k 3P Tension
Spring 2:
P2 =k 1 -1 1 1.5 P/k = -2P
-1 1 2 3.5 P/k 2P Tension
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Example 2: Two Degrees of
Freedom System
3P 3P 2P 2P
Spring 1 Spring 2
The structure (global) stiffness matrix, kg, is
symmetrical (kij=kji). Its main diagonal coefficients kii
are positive numbers greater than zero.
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Displacement Method of
Structural Analysis
Trusses
– Plane Trusses (Two Dimensional Trusses)
– Space Trusses (Three Dimensional Trusses)
Beams
Frames (Two Dimensional Plane Frames)
Advanced Topics
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Load Vector
?
Kg ?
Plane Trusses
?, ?
x P= d
z
?, ?
z
?, ? ?, 0
x
0, 0 2
z
1 3 ?, 0
P = d 0, 0
P = Kg d x
? k ?
0, 0 ?, 0
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Load Vector
Kg ?
Plane Trusses
?, ?
x P= d
z
?, ?
z
?, 0
x
0, 0
P = d
? k ?
0, 0 ?, 0
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Load Vector
Plane Trusses Kg ?
?, ?
x P= d
z
?, ?
z
?, 0
x
0, 0
P = d
? k ?
0, 0 ?, 0
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Plane Trusses
L= Length
E,A A= Cross Sectional Area
P
L E= Young’s Modulus
E,A P d
E =Stress/Strain = /
E,A
E= (P/A)/(d/L)
E,A E= (PL)/(Ad)
then P = (EA/L) d
d
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Notations
Fi i E,A,L j Fj
ui uj
+ve X-direction
Two degrees of freedom system ui , uj
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A Plane Truss Stiffness Matrix
E,A,L
Fi
ui
Fj =
E,A,L
EA/L ui EA/L ui
+ve X-direction
Due to a positive displacement ui at node i, the developed
forces at i and j are:
Fi = (EA/L) ui
Fj = - (EA/L) ui
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A Plane Truss Stiffness Matrix
E,A,L
Fj
uj
Fi =
EA/L uj E,A,L EA/L uj
+ve X-direction
Due to a positive displacement uj at node j, the developed
forces at i and j are:
Fi = - (EA/L) uj
Fj = (EA/L) uj
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A Plane Truss Stiffness Matrix
By applying both of ui and uj, the developed
forces at i and j are:
Fi = (EA/L) ui - (EA/L) uj
Fj = - (EA/L) ui + (EA/L) uj
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A Plane Truss Stiffness Matrix
By applying both of ui and uj, the developed
forces at i and j are:
Fi = (EA/L) ui - (EA/L) uj
Fj = - (EA/L) ui + (EA/L) uj
In matrix form, it is written as:
Fi EA 1 1 ui
F j L 1 1 u j
or P = k d
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A Plane Truss Stiffness Matrix
E,A,L
Fi
1
Fj =
E,A,L
EA/L EA/L
+ve X-direction
Due to a positive unit displacement at node i, the developed
forces at i and j are:
Fi = (EA/L)
Fj = - (EA/L)
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A Plane Truss Stiffness Matrix
EA/L
-EA/L
Due to a positive unit displacement at node i, the developed
forces at i and j are:{EA/L, -EA/L}
These values represent the first column of the
plane truss stiffness matrix.
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A Plane Truss Stiffness Matrix
E,A,L
Fj
1
Fi =
EA/L E,A,L EA/L
+ve X-direction
Due to a positive unit displacement at node j, the
developed forces at i and j are:
Fi = - (EA/L)
Fj = (EA/L)
10/16/2018 55
A Plane Truss Stiffness Matrix
- EA/L
EA/L
Due to a positive unit displacement at node j, the developed
forces at i and j are :{-EA/L, EA/L}
These values represent the second column of
the plane truss stiffness matrix.
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A Plane Truss Stiffness Matrix
EA/L - EA/L 1 -1
k= = EA/L
- EA/L EA/L -1 1
Fi EA 1 1 ui
and
F j L 1 1 u j
or P=k d
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Local Coordinate System
~
X
~
~ Fj
Z
j
E,A,L u~ j
i
~
Fi
u~i
10/16/2018 58
Stiffness - Local Coordinate
System
~ EA / L EA / L EA 1 1
k 1 1
EA / L EA / L L
~ ~
i
F EA 1 1 ui
and F~ L 1 1 u~ or ~ ~~
P kd
j j
The truss element behaves similarly as the spring whose
EA
axial stiffness k
L
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Local/Global Coordinate System
Local
Z, w
Global X, u
10/16/2018 60
Local/Global Coordinate System
Z,
w
X,
u
10/16/2018 61
Local/Global Coordinate System
Z,
w
X, u
10/16/2018 62
Local/Global Coordinate System
Z,
w
X,
u
10/16/2018 63
Local/Global Coordinate System
Z,
w
X, u
10/16/2018 64
Global Coordinate System
~
F jz X
~
Z, w Fj
j
~ F jx
Z E,A,L
z
i
Fix x
~
Fi Fiz
X ,u
10/16/2018 65
A Plane Truss Stiffness Matrix
10/16/2018 66
A Plane Truss Stiffness Matrix
10/16/2018 67
A Plane Truss Stiffness Matrix
10/16/2018 68
A Plane Truss Stiffness Matrix
10/16/2018 69
A Plane Truss Stiffness Matrix
10/16/2018 70
A Plane Truss Stiffness Matrix
10/16/2018 71
Stiffness Matrix - Global
Coordinate System
c2 sc c 2 sc
2
EA sc s 2
sc s
k
L c 2 sc c 2 sc
2
sc s s
2
sc
The plane truss stiffness matrix in global
coordinate system
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Stiffness Matrix - Global
Coordinate System
In general
Fix c2 sc c 2 sc ui
F 2
iz EA sc s 2
sc s i
w
F
jx L c sc c
2 2
sc u j
F jz 2
sc s
2
sc s w j
10/16/2018 73
Summary
10/16/2018 74
DOF for Plane Truss Structures
Degrees of Freedom (DOF)
3
4 12
5
12
10/16/2018 75
