Structural mechanics II
Method of displacements
Method of
displacements
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Method of forces
v-g: degree of statical
indeterminacy
Unknowns: v-g hyperstatic reactions
Method of displacement
s: degree of kinematic indeterminacy
Unknowns: s structure nodal displacements
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Method of forces
Among the ¥(v-g) solutions statically
admissible (i.e. balanced) I choose the
only one fulfilling congruence
Method of displacement
Among the ¥s solutions kinematically
admissible (i.e. congruent) I choose
the only one fulfilling equilibrium
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Method of forces
The (v-g) hyperstatic unknowns are
determined
by (v-g) congruence equations
Method of displacement
The (s) kinematic unknowns are
determined by (s) equilibrium
equations
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Parallel-arranged
bar system
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
B C D Hypothesis: the cross
member is rigid
l A2 A1 A2
Central bar has
P Q R cross section
area A1, edge
bars A2
F
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
B C D Structure is
symmetrical
A2 A1 A2
symmetrically loaded
l
P Q R
Cross member
F translates, does
not rotate
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Solution by method of forces
NBP NCQ NDR
B C D
l A2 A1 A2 F
P Q R NBP = NDR
2NBP + NCQ = F
F
Structure is 1-time hyperstatic
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
X
Structure is
B C D balanced by any X
value
l A2 A1 A2
P Q R
X actual value
has to be
F determined setting
congruence (vC=0)
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Relation between axial force N
and elongation d for a l-long bar
A B N
d
l EA k is the bar
!= N N= ! = k! stiffness
EA l
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
X Because of X point C moves
(positive downward) of:
B C D
l X l
v C (X) = ! ! X
A2 A1 A2 EA 2 2 EA1
P Q R Because of F point C
moves of:
F
l F
v C (F) = +
EA 2 2
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
X Congruence equation
B C D v C(F) + v C(X) = v C = 0
A2 A1 A2
A1
X= F = NCQ
P Q R A1 + 2A2
F A2
NBP = NDR = F
A1 + 2A2
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Solution by displacement
method
B C D
A2
vP = vQ = vR = d
l A1 A2
P Q R
Structure is 1 time
F kinematically
undetermined
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Structure is
kinematically
determined
B C D (congruent) for any d
l A2 A1 A2
d actual value has
to be determined
P Q R by setting
d
cross member
equilibrium
F
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Because of d
axial forces are:
B C D
l A2 A1 A2 EA2
NBP = NDR = ! = k2!
l
EA1
d P Q R NCQ = ! = k1!
l
F
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Equilibrium equation
NBP NCQ NDR
NBP + NCQ + NDR = F
F
F !=
k1 + 2k2
k1 k2
NCQ = F NBP = NDR = F
k1 + 2k2 k1 + 2k2
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Equilibrium equation
NBP NCQ NDR
NBP + NCQ + NDR = F
F
F !=
k1 + 2k2
A1 A2
NCQ = F NBP = NDR = F
A1 + 2A2 A1 + 2A2
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Note
If bars were (2n+1)
method of forces requires n
congruence equations
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Note
If bars were (2n+1)
method of displacement requires just
an equation
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
F
" = 2n + 1
!k
i =1
i
ki
Ni = 2n + 1 F
!k i
i =1 Distribution EiAi
coefficient ki =
(less than 1) li
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Stiffness matrix
of the beam
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
How can we apply
displacement method to
frames?
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Method of forces
To write congruence
equations one needs
displacements and
rotations of elementary
schemes statically
determined due to forces
and moments
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Method of displacements
To write equilibrium equations
one needs the reactions of
elementary schemes
kinematically determined due to
imposed displacements
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Doubly clamped beam
i j
We have to compute the
reactions due to given
settlements
(nodal displacements)
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Doubly clamped beam
i j
Reactions
Ni Nj
Mi Ti Tj
Mj
Displacements
wi wj
ji vi vj
jj
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
!i " 0
First scheme
vi = wi = ! j = v j = w j = 0
Elastica equation d4 v
4
=0
dz
z3 z2
v(z) = c1 + c2 + c 3z + c 4
6 2
M(z) = !EIv' ' (z) = T(z) = M' (z) =
= !EI(c1z + c2 ) = !EI c1
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Boundary conditions
v(0) = 0 c1 = - 6ji/l2
v’(0) = - ji c2 = 4ji/l
v(l) = 0 c3 = - ji
v’(l) = 0 c4 = 0
EI z
M(z) = "i(6 ! 4)
l l
6EI
T(z) = 2 !i
l
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
i j
ji
EI M
4 ji
l
EI
2 ji
l
EI
6 2 ji T
+
l
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
i j
ji
EI EI
4 ji 2 ji
l l
EI EI
6 2 ji 6 2 ji
l l
EI EI
Mi = 4 !i Ti = "6 2 !i Ni = 0
l l
EI EI
Mj = 2 !i Tj = +6 2 !i Nj = 0
l l
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Second vi " 0
scheme !i = w i = ! j = ! j = w j = 0
Elastica equation d4 v
4
=0
dz
z3 z2
v(z) = c1 + c2 + c 3z + c 4
6 2
M(z) = !EIv' ' (z) = T(z) = M' (z) =
= !EI(c1z + c2 ) = !EI c1
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Boundary conditions
v(0) = vi c1 = 12vi/l3
v’(0) = 0 c2 = -6vi/l2
v(l) = 0 c3 = 0
v’(l) = 0 c4 = vi
EI z
M(z) = 2 vi(6 ! 12 )
l l
12EI
T(z) = ! 3
vi
l
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
i j
vi
EI
6 2 vi M
EI l
6 2 vi
l
EI
– 12 3 vi T
l
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
i j
vi
EI EI
6 2 vi 6 2 vi
l EI EI l
12 3 vi 12 3 vi
l l
EI EI
Mi = !6 2 vi Ti = +12 3 vi Ni = 0
l l
EI EI
Mj = " 6 2 ! i Tj = !12 3 vi Nj = 0
l l
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
wi " 0
Third scheme
!i = v i = ! j = v j = w j = 0
i j Mi = 0
wi Ti = 0
EA
Ni = wi
EA EA l
wi wi Mj = 0
l l
Tj = 0
Note: the last 3 schemes
are analogous to the first 3
EA
Nj = ! wi
l
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Results can be cast in matrix form
(expanded)
Mi 4/l -6/l2 0 2/l 6/l2 0 ji
Ti -6/l2 12/l3 0 -6/l2 -12/l3 0 vi
Ni 0 0 A/Il 0 0 -A/Il wi
= EI
Mj 2/l -6/l2 0 4/l 6/l2 0 jj
Tj 6/l2 -12/l3 0 6/l2 12/l3 0 vj
Nj 0 0 -A/Il 0 0 A/Il wj
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Results can be cast in matrix form
(compact)
Nodal
{Q} = [K] {!} displacement
vector
Vector of
nodal Beam
reactions stiffness
matrix
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
In case external loads are
acting on the beam
Nodal
displacement
{Q} = [K] {"} ! {F} vector
Vector of Vector of
nodal nodal forces
Beam equivalent to
reactions stiffness external
matrix loads
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Example: Uniformly distributed load q
q
ql2 ql2 ql2
24 M
12 12
ql
+
2 –
ql
T
2
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Example: Uniformly distributed load q
q
ql2 ql2
12 12
ql ql
2 2
𝐓
𝒒𝒍𝟐 𝒒𝒍 𝒒𝒍𝟐 𝒒𝒍
𝐅 = , − , 𝟎, − ,− ,𝟎
𝟏𝟐 𝟐 𝟏𝟐 𝟐
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Frame solution by
displacement
method
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Method of displacement
I fix the (s) unknown nodal
displacement, setting a built-in
support in any node
I get a kinematically
determined structure
(fixed-node structure)
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Method of displacements
Fixed node structure is
subjected to external loads and
to the (s) unknown nodal
displacements
(seen as settlements)
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Method of displacements
The (s) unknown nodal
dispalcements are determined by (s)
nodal equilibrium equations dual to
the unknown displacements
(written exploiting the stiffness
matrix terms)
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Method of displacements
Among the ¥s solutions which are
kinematically admissible (i.e.
congruent), I have chosen the only
one fulfilling also equilibrium
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
2l
Example
q
B C
l Kinematic
unknowns
A D
6-times j B , (h H )B , (h V )B
kinematically
undetermined j C , (h H )C , (h V )C
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
2l
q Axial
B C undeformability
A D jB, (hH)B, (hV)B
jC, (hH)C, (hV)C
3-times
kinematically (hH)B = (hH)C = hH
undetermined
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
2l
q
B C
Simmetry
l
A D
1-time hH = 0
kinematically
undetermined jB = - jC
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Fixed-node scheme
B C
A D
Subjected to nodal displacements
(jB, jC) and external loads
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Rotation jB
EI
4 jB
2l
B jB C
EI
4 jB
l
A D
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Rotation jC
EI
2 jC
B 2l C
jC
A D
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
External load
q
B C
q(2l)2
12
A D
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Rotational equilibrium for
node B
EI EI EI q(2l)2
4 !B + 4 !B + 2 !C + =0
2l l 2l 12
Symmetry 1 ql3
jC = - jB "B = !
15 EI
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Bending moment: beam AB
4
ql2
From {Q}=[K]{d} 15
EI 2 B
MA = 2 "B = ! ql2
l 15
EI 4 2 2
MB = 4 "B = ! ql ql2 A
l 15 15
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Bending moment: beam BC
From {Q}=[K]{d}-{F}
(nodal displacement contribution)
EI EI 1 2
MB = 4 "B + 2 "C = ! ql
2l 2l 15
EI EI 1 2
MC = 2 !B + 4 !C = + ql
2l 2l 15
1 B C 1
ql2 ql2
15 15
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Bending moment: beam BC
Da {Q}=[K]{d}-{F}
(external load contribution)
q(2l)2 q(2l)2
MB = + MC = !
12 12
ql2
ql2 ql2
6
3 3
B C
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Bending moment
8ql2/30 8ql2/30
B C
7ql2/30
M
4ql2/30 A D 4ql2/30
Prof. Pietro Cornetti
Politecnico di Torino
Structural mechanics II
Method of displacements
Elastica
F F
F F
Prof. Pietro Cornetti
Politecnico di Torino
