MODULE 6 - INTRODUCTION TO MATRIX STRUCTURAL ANALYSIS

• Matrix Structural Analysis – analysis of framed structures using matrix methods; i.e. flexibility
method and stiffness/displacement methods.

• Framed structures - structures composed of long straight members (also referred to as

skeletal structures). Examples of framed structures are beams, and plane and space trusses
and rigid frames.

A. HISTORICAL BACKGROUND
The theoretical foundation for matrix methods of structural analysis was laid by
• James C. Maxwell, who introduced the method of consistent deformations in 1864; and
• George A. Maney, who developed the slope-deflection method in 1915.
These classical methods are considered to be the precursors of the matrix flexibility and
stiffness methods, respectively.
• S. Levy is generally considered to have been the first to introduce the flexibility method in
1947, by generalizing the classical method of consistent deformations.
• The matrix stiffness method was developed by R. K. Livesley in 1954.

B. Classical versus Matrix Methods

• Classical methods of structural analysis:

o Moment-distribution method
o Slope-deflection method
• Matrix methods of structural analysis:
o Flexibility method
o Stiffness/displacement method

• Matrix methods were specifically developed for computer implementation; they are
systematic (so that they can be conveniently programmed), and general (in the sense that the
same overall format of the analytical procedure can be applied to the various types of framed
structures).
• Because of the latter characteristic, a computer program developed to analyze one type of
structure (e.g., plane trusses) can be modified with relative ease to analyze another type of
structure (e.g., space trusses or frames).

C. FLEXIBILITY AND STIFFNESS METHODS

Flexibility Method -

• also referred to as force or compatibility method

• It is essentially a generalization in matrix form of the classical method of consistent
deformations.
• In this approach, the primary unknowns are the redundant forces, which are calculated
first by solving the structure’s compatibility equations. Once the redundant forces are
known, the displacements can be evaluated by applying the equations of equilibrium
and the appropriate member force-displacement relations
• The flexibility method is generally convenient for analyzing small structures with a few
redundants.

Introduction to Matrix Structural Analysis Page 1

 Stiffness matrix method

• Also called displacement or equilibrium method.

• it originated from the classical slope-deflection method.
• In this approach, the primary unknowns are the joint displacements, which are
determined first by solving the structure’s equations of equilibrium. With the joint
displacements known, the unknown forces are obtained through compatibility
considerations and the member force–displacement relations.
• The stiffness method is more systematic and can be implemented more easily on
computers; therefore, it is preferred for the analysis of large and highly redundant
structures.
• Most of the commercially available software for structural analysis is based on the
stiffness method; particular version known as the direct stiffness method, which is
currently used in professional practice.

ANALYTICAL MODELS
• An analytical model is an idealized representation of a real structure for the purpose of
analysis.
• Its objective is to simplify the analysis of a complicated structure by discarding much of
the detail (about connections, members, etc.) that is likely to have little effect on the
structure’s behavioral characteristics of interest, while representing, as accurately as
practically possible, the desired characteristics.
• In matrix methods of analysis, a structure is modeled as an assemblage of straight
members connected at their ends to joints.
• A member is defined as a part of the structure for which the member force-displacement
relationships to be used in the analysis are valid.
• A joint is defined as a structural part of infinitesimal size to which the ends of the members
are connected. In finite-element terminology, the members and joints of structures are
generally referred to as elements and nodes, respectively.

Line Diagrams

• The analytical model of a structure is represented by a line diagram, on which each

member is depicted by a line coinciding with its centroidal axis.
• The member dimensions and the size of connections are not shown. Rigid joints are
usually represented by points, and hinged joints by small circles, at the intersections of
members. Each joint and member of the structure is identified by a number.
• For example, the analytical model of the plane truss of Fig. 1.10(a) is shown in Fig. 1.10(b),
in which the joint numbers are enclosed within circles to distinguish them from the
member numbers enclosed within rectangles.

Introduction to Matrix Structural Analysis Page 2

A. ANALYSIS OF ONE-DIMENSIONAL ROD/BAR

Stiffness Matrix Definition

The concept of force-displacement relationship, given by the stiffness equation 𝐹 = 𝑘𝜇 can be

expanded to structure with many DOFs and is given by a stiffness equation in matrix form as
{𝐹 } = [𝑘 ]{𝜇 }
Where: {𝐹 } − 𝑛𝑜𝑑𝑎𝑙 𝑓𝑜𝑟𝑐𝑒 𝑚𝑎𝑡𝑟𝑖𝑥
[𝑘 ] − 𝑠𝑡𝑖𝑓𝑓𝑛𝑒𝑠𝑠 𝑚𝑎𝑡𝑟𝑖𝑥
{µ} − 𝑛𝑜𝑑𝑎𝑙 𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝑚𝑎𝑡𝑟𝑖𝑥

For a two-degree freedom system, this matrix equation is:

𝐹 𝑘 𝑘12 𝜇1
{ 1 } = [ 11 ]{ }
𝐹2 𝑘21 𝑘22 𝜇2

and in expanded form is given by

𝐹1 = 𝑘11 𝜇1 + 𝑘12𝜇2
𝐹2 = 𝑘21 𝜇1 + 𝑘22 𝜇2

where𝑘𝑖𝑗𝑠 are called the stiffness influence coefficients. Each coefficient, 𝑘𝑖𝑗 , is defined as the
force at i corresponding to a unit displacement at j and j alone.

Individual Element Stiffness

Consider the single element shown:

1 2
FL FR
µL E,A,L - constant µR
The stiffness matrix equation can be written as:

𝐹 𝑘 𝑘12 𝜇𝐿
{ 𝐿 } = [ 11 ]{ }
𝐹𝑅 𝑘21 𝑘22 𝜇𝑅

Consider a unit displacement at the left Consider a unit displacement at the right
node, node 1: node, node 2:
𝜇𝑅 = 0, 𝜇𝐿 = 1 𝜇𝑅 = 1, 𝜇𝐿 = 0
𝐹𝐿 = 𝑘11 𝐹𝐿 = 𝑘12
𝐹𝑅 = 𝑘21 𝐹𝑅 = 𝑘22

From strength of materials: From strength of materials:

𝐹𝐿 𝐹𝐿
𝛿= 𝛿=
𝐸𝐴 𝐸𝐴

𝐹𝐿 𝐿 𝐹𝑅 𝐿
𝜇𝐿 = =1 𝜇𝑅 = =1
𝐸𝐴 𝐸𝐴

𝐸𝐴 𝐸𝐴
𝐹𝐿 = 𝐹𝑅 =
𝐿 𝐿
−𝐸𝐴 −𝐸𝐴
𝐹𝑅 = −𝐹𝐿 = 𝐹𝐿 = −𝐹𝑅 =
𝐿 𝐿
𝑬𝑨 −𝑬𝑨 −𝑬𝑨 𝑬𝑨
∴ 𝒌𝟏𝟏 = , 𝒌𝟐𝟏 = ∴ 𝒌𝟏𝟐 = , 𝒌𝟐𝟐 =
𝑳 𝑳 𝑳 𝑳

Introduction to Matrix Structural Analysis Page 3

Therefore the element stiffness matrix [𝑘 ] becomes
𝐸𝐴 −𝐸𝐴

[𝑘 ] = 𝐿 𝐿 𝐸𝐴 1 −1
[−𝐸𝐴 𝐸𝐴 ]= [ ]
𝐿 −1 1
𝐿 𝐿
So the force-displacement relationship for this one-dimensional bar or rod element becomes:
𝑬𝑨 −𝑬𝑨
𝑭 𝝁𝑳 𝑭 𝑬𝑨 𝟏 −𝟏 𝝁𝑳
{ 𝑳 } = [−𝑬𝑨
𝑳 𝑳
] {𝝁 } or { 𝑳 } = [ ]{ }
𝑭𝑹 𝑬𝑨 𝑹 𝑭𝑹 𝑳 −𝟏 𝟏 𝝁𝑹
𝑳 𝑳

NON-NODAL FORCES

Up to this point we have dealt with structures that have forces applied only at the nodes. Clearly,
we need to be able to address problems that have concentrated and distributed loads applied
between nodal points. Figure 1.16 shows such a structure.

P(x)

F
x

Fig. 1.16. Non-nodal loads on an element

Suppose we fix each node in position before applying the loads. After the loads have been
applied, forces are required at the nodes in order to maintain zero displacements. These are the
fixed-end forces. If the nodal restraints are now removed, the ensuing displacements will be
those caused by loads equivalent to the opposite of the fixed end forces. That is, the fixed end
forces are removed when the nodes are allowed to displaced. Thus the displacements will be due
to loads equal in magnitude to the fixed end forces but opposite in sense. Therefore, equivalent
forces that must be applied to the nodes of an element in order to account for non-nodal forces
are exactly opposite of the fixed end forces.

Consider the superposition diagram shown:

R
R = +

(a) original (b) Fixed-end (c) Equivalent nodal

forces forces

For determining the nodal displacements we solve part (c) of the superposition diagram shown
above. Since part (b) of the diagram has zero nodal displacements, the displacements found in
part (c), using the equivalent nodal forces are the true nodal displacements of the original
structure. However, we must add the forces in both parts (b) and (c) in order to obtain the forces
acting at the nodes of the original structure.

Formulating the procedure algebraically, we can write

{𝐹 } + {𝐹𝑒𝑞𝑢𝑖𝑣 } = [𝐾 ]{𝜇 } → 𝑒𝑞𝑛. 1

The solution of eqn. 1 yields the true nodal displacements. The true nodal forces acting on the
members are found using

{𝐹 }𝑖 = [𝐾 ]𝑖 {𝜇 }𝑖 − {𝐹𝑒𝑞𝑢𝑖𝑣 }
𝑖

Introduction to Matrix Structural Analysis Page 4

 {𝐹 }𝑖 = [𝐾 ]𝑖 {𝜇 }𝑖 + {𝐹𝑓𝑖𝑥𝑒𝑑−𝑒𝑛𝑑 }
𝑖

Where all subscripted terms refer to the element being considered.

After determining the true nodal forces we can then construct the axial force diagrams by
considering F.B.D. or original structure with the actual loads applied.

Fixed-End Forces for One-Dimensional Rod

1. 4.

kx2
w
P
Ff1 Ff2 Ff1 Ff2
a b
L L

Parabolic spandrel
𝑃𝑏 𝑃𝑎 𝑘𝐿3 𝑤𝐿 𝑘𝐿3 𝑤𝐿
𝐹𝑓1 = 𝐹𝑓2 = 𝐹𝑓1 = = 𝐹𝑓2 = =
𝐿 𝐿 12 12 4 4

5.
2.
kx3
w
w
Ff1 Ff2
Ff1 Ff2
L
L cubic spandrel

𝑤𝐿 𝑤𝐿 𝑘𝐿4 𝑤𝐿 𝑘𝐿4 𝑤𝐿
𝐹𝑓1 = 𝐹𝑓2 = 𝐹𝑓1 = = 𝐹𝑓2 = =
2 2 20 20 5 5

3.
6.

kx Sin πx/L
w
Ff1 Ff2 Ff1 Ff2

L L

𝑘𝐿2 𝑤𝐿 𝑘𝐿2 𝑤𝐿 𝐿 𝐿
𝐹𝑓1 = = 𝐹𝑓2 = = 𝐹𝑓1 = 𝐹𝑓2 =
6 6 3 3 𝜋 𝜋

Introduction to Matrix Structural Analysis Page 5

Problems:

1. For the structure shown, find the nodal displacements, member forces and support
reactions using stiffness matrix method. E = 29,000 ksi

1
2 3 4
5k 15 k

1 2 3

10 in. 10 in. 10 in.

3 in2 2 in2 1 in2

Solution:
a. Consider force displacement relationship of each element:
𝐸𝑙𝑒𝑚𝑒𝑛𝑡 1:
𝐸𝐴 29000(3)
= = 8700 𝑘/𝑖𝑛
𝐿 10
1 2
𝐹 8700 −8700 𝜇1 1
{ 11 } = [ ]{ }
𝐹21 −8700 8700 𝜇2 2

𝐸𝑙𝑒𝑚𝑒𝑛𝑡 2:
𝐸𝐴 29000(2)
= = 5800 𝑘/𝑖𝑛
𝐿 10
2 3
𝐹 5800 −5800 𝜇2 2
{ 22 } = [ ]{ }
𝐹32 −5800 5800 𝜇3 3

𝐸𝑙𝑒𝑚𝑒𝑛𝑡 3:
𝐸𝐴 29000(1)
= 10 = 2900 𝑘/𝑖𝑛
𝐿
3 4
𝐹 2900 −2900 𝜇3 3
{ 33 } = [ ]{ }
𝐹43 −2900 2900 𝜇4 4

b. Combine the elements to form the overall structural stiffness matrix equation:
1 2 3 4
𝐹11 8700 −8700 0 0 𝜇1 1
𝐹21 + 𝐹22 −8700 8700 + 5800 −5800 0 ] {𝜇2 } 2
{ }=[
𝐹32 + 𝐹33 0 −5800 5800 + 2900 −2900 𝜇3 3
𝐹43 0 0 −2900 2900 𝜇4 4
1 2 3 4
𝐹1 8700 −8700 0 0 𝜇1 1
𝐹2 14500 𝜇
{ } = [−8700 −5800 0 ] { 2} 2
𝐹3 0 −5800 8700 −2900 𝜇3 3
𝐹4 0 0 −2900 2900 𝜇4 4

c. Apply nodal conditions:

𝜇1 = 0 (𝐽𝑡. 𝐴 − 𝑓𝑖𝑥𝑒𝑑 𝑠𝑢𝑝𝑝𝑜𝑟𝑡)
1 2 3 4
𝑅1 8700 −8700 0 0 0 1
{−5} = [−8700 8700 + 5800 −5800 0 ] {𝜇2 } 2
0 0 −5800 5800 + 2900 −2900 𝜇3 3
15 0 0 −2900 2900 𝜇4 4

Introduction to Matrix Structural Analysis Page 6

c. Form the reduced stiffness matrix equation:
−5 14500 −5800 0 𝜇2
{ 0 } = [−5800 8700 −2900] {𝜇3 }
15 0 −2900 2900 𝜇4

d. Solve for the nodal displacements:

1
𝜇2 = 𝑖𝑛.
870
13
𝜇3 = 3480 𝑖𝑛.
31
𝜇4 = 3480 𝑖𝑛.

e. Solve for the member forces:

Element 1:
𝐹 −10 𝑘
{ 11 } = { }
𝐹21 10 𝑘
Element 2:
𝐹 −15 𝑘
{ 22 } = { }
𝐹32 15 𝑘
Element 3:
𝐹 −15 𝑘
{ 33 } = { }
𝐹43 15 𝑘
f. Solve for the reaction at the support:
{𝑅1 } = {−10 𝑘 }

2. Find the nodal displacements, member forces and support reactions using stiffness matrix
method. E = 30 x 106 psi.

4.5 k/in
1.5 k/in 3 k/in

4
1 2 3
1 2 3
12 in. 12 in. 16 in.
2 in2 1.5 in2 2 in2

Solution:
a. Consider force displacement relationship of each element:
𝐸𝑙𝑒𝑚𝑒𝑛𝑡 1:
𝐸𝐴 30000(2)
= = 5000 𝑘/𝑖𝑛
𝐿 12
𝐹𝑓𝑖𝑥𝑒𝑑 :
4.5 k/in
1.5 k/in
Ff11 Ff21
1 2

12 in.

𝑤𝐿 𝑤𝐿 1.5(12) 3(12)
𝐹𝑓11 = + = + = 15 𝑘 ←
2 6 2 6
𝑤𝐿 𝑤𝐿 1.5(12) 3(12)
𝐹𝑓21 = + = + = 21 𝑘 ←
2 3 2 3

−15 𝑘
𝐹𝑓𝑖𝑥𝑒𝑑 = { }
−21 𝑘
1 2
𝐹 5000 −5000 𝜇1
{ 11 } + {15} = [ ]{ } 1
𝐹21 21 −5000 5000 𝜇2 2

Introduction to Matrix Structural Analysis Page 7

 𝐸𝑙𝑒𝑚𝑒𝑛𝑡 2:
𝐸𝐴 30000(1.5)
= = 3750 𝑘/𝑖𝑛
𝐿 12
𝐹𝑓𝑖𝑥𝑒𝑑 :
4.5 k/in 3 k/in
Ff22 Ff32
2 3

12 in.

𝑤𝐿 𝑤𝐿 3(12) 1.5(12)
𝐹𝑓22 = + = + = 24 𝑘 ←
2 3 2 3
𝑤𝐿 𝑤𝐿 3(12) 1.5(12)
𝐹𝑓32 = + = + = 21 𝑘 ←
2 6 2 6

−24 𝑘
𝐹𝑓𝑖𝑥𝑒𝑑 = { }
−21 𝑘
2 3
𝐹 24 3750 −3750 𝜇2 2
{ 22 } + { } = [ ]{ }
𝐹32 21 −3750 3750 𝜇3 3

𝐸𝑙𝑒𝑚𝑒𝑛𝑡 3:
𝐸𝐴 30000(2)
𝐿
= 16
= 3750 𝑘/𝑖𝑛
𝐹𝑓𝑖𝑥𝑒𝑑 :
3 k/in

F f33 Ff43
3 4

16 in.

𝑤𝐿 3(16)
𝐹𝑓33 = = = 16 𝑘 ←
3 3
𝑤𝐿 3(16)
𝐹𝑓43 = = = 8𝑘 ←
6 6

−16 𝑘
𝐹𝑓𝑖𝑥𝑒𝑑 = { }
−8 𝑘
3 4
𝐹 16 3750 −3750 𝜇3 3
{ 33 } + { } = [ ]{ }
𝐹43 8 −3750 3750 𝜇4 4

b. Combine the elements to form the overall structural stiffness matrix equation:
1 2 3 4
𝐹11 15 5000 −5000 0 0 𝜇1 1
𝐹21 + 𝐹22 45 −5000 5000 + 3750 −3750 0 ] { 𝜇2 } 2
{ }+{ }= [
𝐹32 + 𝐹33 37 0 −3750 3750 + 3750 −3750 𝜇3 3
𝐹43 8 0 0 −3750 3750 𝜇4 4

1 2 3 4
𝐹1 15 5000 −5000 0 0 𝜇1 1
𝐹2 45 −5000 5000 + 3750 −3750 0 ] {𝜇2 } 2
{ }+{ } =[
𝐹3 37 0 −3750 3750 + 3750 −3750 𝜇3 3
𝐹4 8 0 0 −3750 3750 𝜇4 4

Introduction to Matrix Structural Analysis Page 8

c. Apply nodal conditions:
𝜇1 = 0, 𝜇4 = 0 (𝑛𝑜𝑑𝑒𝑠 1 & 4 − 𝑓𝑖𝑥𝑒𝑑 𝑠𝑢𝑝𝑝𝑜𝑟𝑡)
1 2 3 4
𝑅1 + 15 5000 −5000 0 0 0 1
0 + 45 8750 −3750 0 ] {𝜇2 }
{ } [−5000 2
−30 + 37 = 0 −3750 7500 −3750 𝜇3 3
𝑅4 + 8 0 0 −3750 3750 0 4

1 2 3 4
𝑅1 + 15 5000 −5000 0 0 0 1
45 −5000 8750 −3750 0 ] { 𝜇2 } 2
{ 7 }=[
0 −3750 7500 −3750 𝜇3 3
𝑅4 + 8 0 0 −3750 3750 0 4

c. Form the reduced stiffness matrix equation:

2 3
45 8750 −3750 𝜇2 2
{ }=[ ]{ }
7 −3750 7500 𝜇3 3

d. Solve for the nodal displacements:

97
𝜇2 = 13750 𝑖𝑛.
92
𝜇3 = 20625 𝑖𝑛.
e. Solve for the member forces:
Element 1:
553
𝐹 − 11 𝑘
{ 11 } = { 157 }
𝐹21 𝑘
11
Element 2:
157
𝐹 − 11 𝑘
{ 22 } = { 338 }
𝐹32 − 11 𝑘
Element 3:
8
𝐹 𝑘
{ 33 } = { 11
272 }
𝐹43 − 𝑘
11
f. Solve for the reactions at the supports:
553
𝑅 − 11 𝑘
{ 1 } = { 272 }
𝑅2 − 𝑘
11

B. ANALYSIS OF TWO-DIMENSIONAL TRUSSES

A plane truss is defined as a two-dimensional framework of straight prismatic members

connected at their ends by frictionless hinged joints, and subjected to loads and reactions that
act only at the joints and lie in the plane of the structure. The members of a plane truss are
subjected to axial compressive or tensile forces only.

Assumptions in the analysis of truss problems:

1. The members of the truss are connected only at their ends.
2. The connections between members at a joint consist of frictionless pins.
3. The members are straight.
4. Loads are applied only to the joints.

Introduction to Matrix Structural Analysis Page 9

Global and Local Coordinate Systems

In the matrix stiffness method, two types of coordinate systems are employed to specify the
structural and loading data and to establish the necessary force-displacement relations. These
are referred to as the global (or structural) and the local (or member) coordinate systems.

Global coordinate system – the x and y axes are oriented in the horizontal (positive to the right)
and vertical (positive upward) directions, respectively.
{𝐹 } = [𝐾 ]{𝜇 }
{𝐹 } - elemental forces
[𝛽] - stiffness matrix
{𝜇 } - nodal displacements

Local coordinate system – the x and y axes are in the directions along and perpendicular to
members.

{𝑃} = [𝑘 ]{𝛿 }
{𝑃} - elemental forces
[𝑘 ] - stiffness matrix
{𝛿} - nodal displacements

Coordinate Transformations

Consider the truss member shown: in Fig. 2.1.

To express the elemental displacements in terms of the global or system displacements, we

are going to use a transformation matrix ß. This transformation will take the form

{𝛿 } = [𝛽]{𝜇 } (2.1)

To derive the transformation matrix ß, consider the left end of the member as shown in Fig.
2.2. Let θ the angle between the global x-axis and the local (elemental x-axis), measured
positive counterclockwise.

Introduction to Matrix Structural Analysis Page 10

 𝛿1 = 𝜇1 𝑐𝑜𝑠 𝜃 + 𝜇2 𝑠𝑖𝑛 𝜃
𝛿2 = 𝜇2 𝑐𝑜𝑠 𝜃 − 𝜇1 𝑠𝑖𝑛 𝜃
The same relationships between displacements will also exist at the right end of the member.
Thus

𝛿3 = 𝜇3 𝑐𝑜𝑠 𝜃 + 𝜇4 𝑠𝑖𝑛 𝜃
𝛿4 = 𝜇4 𝑐𝑜𝑠 𝜃 − 𝜇3 𝑠𝑖𝑛 𝜃

In matrix form, {𝛿 } = [𝛽]{𝜇 } , becomes

𝛿1 𝑐𝑜𝑠 𝜃 𝑠𝑖𝑛 𝜃 0 0 𝜇1
𝛿2 0 0 ] {𝜇2 }
{ } = [−𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜃
𝛿3 0 0 𝑐𝑜𝑠 𝜃 𝑠𝑖𝑛 𝜃 𝜇3
𝛿4 0 0 −𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜃 𝜇4

The length of the displacement vector must be the same in both the system and the elemental
coordinate systems. Thus
𝛿1 2 + 𝛿2 2 = 𝜇1 2 + 𝜇2 2

𝛿 𝜇1
[𝛿1 𝛿2 ] { 1 } = [𝜇1 𝜇2 ] {
𝜇2 }
𝛿2

which can be written as

[𝛿 ]𝑇 {𝛿 } = [𝜇 ]𝑇 {𝜇 } (2.2)

Since {𝛿 } = [𝛽]{𝜇 } then {𝜇 } = [𝛽]−1 {𝛿} (2.3)

From matrix Algebra, if [𝐴] = [𝐵][𝐶 ], then [𝐴]𝑇 = [𝐶 ]𝑇 [𝐵]𝑇 . Thus

[𝛿 ]𝑇 = [𝜇 ]𝑇 [𝛽]𝑇 (2.4)

Using (2.3) and (2.4) in (2.2):

[𝜇 ]𝑇 [𝛽]𝑇 {𝛿 } = [𝜇]𝑇 [𝛽]−1 {𝛿 }

Thus,
[𝛽 ]𝑇 = [𝛽]−1
Global Stiffness Matrix

The equation {𝛿 } = [𝛽]{𝜇 } can also be used for forces as well as displacements. That is, we
can write
{𝑃 } = [𝛽]{𝐹}
{𝑃 } = [𝑘 ]{𝛿}
[𝑘 ]{𝛿} = [𝛽]{𝐹}
[𝑘 ][𝛽 ]{𝜇 } = [𝛽]{𝐹}

Solving for {𝐹}:

{𝐹} = [𝛽]−1 [𝑘][𝛽]{𝜇}
(2.5)
In the global coordinate system, the force-displacement relationship is
{𝐹} = [𝐾 ]{𝜇 } (2.6)

Introduction to Matrix Structural Analysis Page 11

Equate (2.5) and (2.6):

[𝐾 ]{𝜇} = [𝛽]−1 [𝑘][𝛽]{𝜇 }

[𝐾 ] = [𝛽]−1 [𝑘][𝛽]

𝑐 −𝑠 0 0 1 0 −1 0 𝑐 𝑠 0 0
𝐸𝐴 𝑠 𝑐 0 0 0 0 0 0 ] [−𝑠 𝑐 0 0
[𝐾 ]𝑔𝑙𝑜𝑏𝑎𝑙 = [ 𝑐 −𝑠] [ −1 0 𝑐 −𝑠]
𝐿 0 0 1 0 0 0
0 0 𝑠 𝑐 0 0 0 0 0 0 −𝑠 𝑐

𝑐2 𝑐𝑠 −𝑐 2 −𝑐𝑠
𝐸𝐴 𝑐𝑠 2
−𝑐𝑠 −𝑠 2 ]
[𝐾 ]𝑔𝑙𝑜𝑏𝑎𝑙 = [ 2 𝑠
𝐿 −𝑐 −𝑐𝑠 𝑐2 𝑐𝑠
−𝑐𝑠 −𝑠 2 𝑐𝑠 𝑠2

Summary of Formulas:

Member Force-Displacement Relationship in the Local Coordinate System

{P} = [k]{}

P1 1 0 -1 0 1
P2 EA 0 0 0 0 2
=
P3 L -1 0 1 0 3
P4 0 0 0 0 4

Transformation from Global to Local Coordinate Systems

To express the global displacements in terms local displacements,

{} = []{}
1 cos  sin  0 0 1
2 2
= -sin  cos  0 0
3 3
0 0 cos  sin 
4 4
0 0 -sin  cos 

To express the global forces in terms of the local forces,

{P} = []{F}
P1 cos  sin  0 0 F1
P2 = -sin  cos  0 0 F2
P3 0 0 cos  sin  F3
P4 0 0 -sin  cos  F4

Transformation from Local to Global Coordinate Systems

To express the elemental displacements in terms of the global displacements,

{  } = [ T ] {  }

Introduction to Matrix Structural Analysis Page 12

 1 cos  -sin  0 0 1
2 = sin  cos  0 0 2
3 0 0 cos  -sin  3
4 0 0 sin  cos  4
The transpose of the transformation matrix, T, can also be used to express the local forces
in terms of global forces, thus,
{ F } = [ T] { P }
F1 cos  -sin  0 0 P1
F2 = sin  cos  0 0 P2
F3 0 0 cos  -sin  P3
F4 0 0 sin  cos  P4

Member Force-Displacement Relationship in the Global Coordinate System

{F} = [K]{}
F1 cos2  cos  sin  -cos2  -cos  sin  1
F2 EA cos  sin  sin2  -cos  sin  -sin2 2
= -cos2 -cos  sin  cos2  cos  sin  3
F3 L
F4 -cos  sin  -sin 2 cos  sin  sin2  4

Problems:

1. Determine the nodal displacements, member forces and support reactions due to
the given loading. A = 0.75 in2, E = 29(103) ksi

Solution:
a. Consider force displacement relationship of each element in the global coordinate system:
F1 cos2  cos  sin  -cos2  -cos  sin  1
F2 EA cos  sin  2
sin  -cos  sin  -sin 
2
2
= -cos2 -cos  sin  2
cos  cos  sin  3
F3 L
F4 -cos  sin  -sin2  cos  sin  sin2  4

𝐸𝑙𝑒𝑚𝑒𝑛𝑡 1:
𝐸𝐴 29000(0.75) 3625
= = 𝑘/𝑖𝑛
𝐿 48√2 8√2
𝑜 √2 1
𝜃1−2 = 225 cos 𝜃 = − cos 2 𝜃 = 2
2
√2 1 1
sin 𝜃 = − sin2 𝜃 = 2 sin 𝜃 𝑐𝑜𝑠 𝜃 = 2
2

Introduction to Matrix Structural Analysis Page 13

 1 2 3 4
𝐹1 160.204 160.204 −160.204 −160.204 𝜇1 1
𝐹2 −160.204] {𝜇2 }
{ } = [ 160.204 160.204 −160.204
𝜇3
2
𝐹3 −160.204 −160.204 160.204 160.204 3
𝐹4 −160.204 −160.204 160.204 160.204 𝜇4 4

𝐸𝑙𝑒𝑚𝑒𝑛𝑡 2:
𝐸𝐴 29000(0.75) 3625
= = 8 = 453.125 𝑘/𝑖𝑛
𝐿 48
𝜃1−3 = 270𝑜 cos 𝜃 = 0 cos 2 𝜃 = 0
sin 𝜃 = −1 sin2 𝜃 = 1 sin 𝜃 𝑐𝑜𝑠 𝜃 = 0
1 2 5 6
𝐹1 0 0 0 0 𝜇1 1
𝐹2 𝜇
{ } = [0 453.125 0 −453.125] { 2 }
𝜇5
2
𝐹5 0 0 0 0 5
𝐹6 0 −453.125 0 453.125 𝜇6 6

𝐸𝑙𝑒𝑚𝑒𝑛𝑡 3:
𝐸𝐴 29000(0.75) 3625
𝐿
= 48 2
= 8 2
𝑘/𝑖𝑛
√ √
𝑜 √2 1
𝜃1−4 = 315 cos 𝜃 = cos 2 𝜃 = 2
2
√2 1 1
sin 𝜃 = − sin2 𝜃 = 2 sin 𝜃 𝑐𝑜𝑠 𝜃 = − 2
2

1 2 7 8
𝐹1 160.204 −160.204 −160.204 160.204 𝜇1 1
𝐹2 −160.204 160.204 160.204 −160.204] {𝜇2 } 2
{ }=[
𝐹7 −160.204 160.204 −160.204 −160.204 𝜇7 7
𝐹8 160.204 −160.204 −160.204 160.204 𝜇8 8

b. Combine the elements to form the overall structural stiffness matrix equation:
1 2 3 4 5 6 7 8
𝐹1 160.204 + 0 + 160.204 160.204 + 0 − 160.204 −160.204 −160.204 0 0 −160.204 160.204 𝜇1 1
𝐹2 160.204 + 0 − 160.204 160.204 + 453.125 + 160.204 −160.204 −160.204 0 −453.125 160.204 −160.204 𝜇2 2
𝐹3 −160.204 + 0 −160.204 + 0 160.204 160.204 0 0 −8700 0 𝜇3 3
𝐹4 −160.204 + 0 −160.204 − 453.125 160.204 160.204 0 0 0 0 𝜇4 4
= 𝜇5
𝐹5 0 0 0 0 0 0 0 0 5
𝐹6 0 −453.125 0 0 0 453.125 0 0 𝜇6 6
𝐹7 −160.204 160.204 0 0 0 0 −160.204 −160.204 𝜇7 7
{𝐹8 } [ 160.204 −160.204 0 0 0 0 −160.204 160.204 ] {𝜇8 } 8

c. Apply nodal conditions:

1 2 3 4 5 6 7 8
−0.50 160.204 + 0 + 160.204 160.204 + 0 − 160.204 −160.204 −160.204 0 0 −160.204 160.204 𝜇1 1
0 160.204 + 0 − 160.204 160.204 + 453.125 + 160.204 −160.204 −160.204 0 −453.125 160.204 −160.204 𝜇2 2
𝑅3 −160.204 + 0 −160.204 + 0 160.204 160.204 0 0 −8700 0 0 3
𝑅4 −160.204 + 0 −160.204 − 453.125 160.204 160.204 0 0 0 0 0 4
𝑅5 =
0 0 0 0 0 0 0 0 0 5
𝑅6 0 −453.125 0 0 0 453.125 0 0 0 6
𝑅7 −160.204 160.204 0 0 0 0 −160.204 −160.204 0 7
{ 𝑅8 } [ 160.204 −160.204 0 0 0 0 −160.204 160.204 ] { 0 } 8

d. Form the reduced stiffness matrix equation:

1 2
−0.50 320.408 0 𝜇1 1
{ }=[ ] {𝜇 }
0 0 773.533 2 2

d. Solve for the nodal displacements:

125
𝜇1 = − 80102 𝑖𝑛.
𝜇2 = 0
Introduction to Matrix Structural Analysis Page 14
e. Solve for the member forces (global coordinate system):
Element 1:
𝐹1 −0.25 𝑘
𝐹2
{ } = {−0.25 𝑘 }
𝐹3 0.25 𝑘
𝐹4 0.25 𝑘
Element 2:
𝐹1 0
𝐹2
{ } = {0}
𝐹5 0
𝐹6 0
Element 3:
𝐹1 −0.25 𝑘
𝐹2
{ } = { 0.25 𝑘 }
𝐹7 0.25 𝑘
𝐹8 −0.25 𝑘
f. Solve for the reactions at the supports:
𝑅3 0.25 𝑘
𝑅4 0.25 𝑘
𝑅5 0
=
𝑅6 0
𝑅7 0.25 𝑘
{𝑅8 } {−0.25 𝑘}
g. Solve for the member forces (local coordinate system):
{𝑃} = [𝛽]{𝐹 }
P1 cos  sin  0 0 F1
P2 = -sin  cos  0 0 F2
P3 0 0 cos  sin  F3
P4 0 0 -sin  cos  F4
√2 √2
Element 1: 𝜃1−2 = 225𝑜 cos 𝜃 = − sin 𝜃 = −
2 2

𝑃1 −0.70711 −0.70711 0 0 −0.25 0.353 𝑘

𝑃2
{ } = [ 0.70711 −0.70711 0 0 ] {−0.25 } = { 0 } (𝐶)
𝑃3 0 0 −0.70711 −0.70711 0.25 −0.353 𝑘
𝑃4 0 0 0.70711 −0.70711 0.25 0

Element 2: 𝜃1−3 = 270𝑜 cos 𝜃 = 0 sin 𝜃 = −1

𝑃1 0 −1 0 0 0 0
𝑃2
{ } = [1 0 0 0 ] {0} = {0}
𝑃5 0 0 0 −1 0 0
𝑃6 0 0 1 0 0 0

√2 √2
Element 3: 𝜃1−4 = 315𝑜 cos 𝜃 = sin 𝜃 = −
2 2

𝑃1 0.70711 −0.70711 0 0 −0.25 −0.353 𝑘

𝑃2
{ } = [0.70711 0.70711 0 0 ]{ 0.25 }={ 0 } (𝑇)
𝑃7 0 0 0.70711 −0.70711 0.25 0.353 𝑘
𝑃8 0 0 0.70711 0.70711 −0.25 0

Introduction to Matrix Structural Analysis Page 15

 2. Determine the nodal displacements, member forces and support reactions due to the
given loading Take 𝐸𝐴 = 8 𝑥 103 𝑘𝑁.

60o

100 kN

Solution:
a. Consider force displacement relationship of each element in the global coordinate system:
𝐸𝑙𝑒𝑚𝑒𝑛𝑡 1:
𝐸𝐴 8000
𝐿
= 3
𝑘𝑁/𝑚
𝜃1−2 = 90𝑜 cos 𝜃 = 0 cos 2 𝜃 = 0
sin 𝜃 = 1 sin2 𝜃 = 1 sin 𝜃 𝑐𝑜𝑠 𝜃 = 0

3 4 1 2
𝐹3 0 0 0 0 𝜇3 3
𝐹4 0 −2666.667] {𝜇4 }
{ } = [0 2666.667
𝜇1
4
𝐹1 0 0 0 0 1
𝐹2 0 −2666.667 0 2666.667 𝜇2 2

𝐸𝑙𝑒𝑚𝑒𝑛𝑡 2:
𝐸𝐴 8000
= 5 = 1600 𝑘𝑁/𝑚
𝐿
𝜃2−3 = 216.870𝑜 cos 𝜃 = −0.8 cos 2 𝜃 = 0.64
sin 𝜃 = −0.6 sin2 𝜃 = 0.36 sin 𝜃 𝑐𝑜𝑠 𝜃 = 0.48
1 2 5 6
𝐹1 1024 768 −1024 −768 𝜇1 1
𝐹2 −576] {𝜇2 }
{ } = [ 768 576 −768
𝜇5
2
𝐹5 −1024 −768 1024 768 5
𝐹6 −768 −576 768 576 𝜇6 6

𝐸𝑙𝑒𝑚𝑒𝑛𝑡 3:
𝐸𝐴 8000
= 4 = 2000 𝑘𝑁/𝑚
𝐿
𝜃1−2 = 0𝑜 cos 𝜃 = 1 cos 2 𝜃 = 1
sin 𝜃 = 0 sin2 𝜃 = 0 sin 𝜃 𝑐𝑜𝑠 𝜃 = 0

7 8 1 2
𝐹7 2000 0 −2000 0 𝜇7 7
𝐹8 0] {𝜇8 }
{ }=[ 0 0 0 8
𝐹1 −2000 0 2000 0 𝜇1 1
𝐹2 0 0 0 0 𝜇2 2

Introduction to Matrix Structural Analysis Page 16

b. Combine the elements to form the overall structural stiffness matrix equation:
1 2 3 4 5 6 7 8
𝐹1 0 + 1024 + 2000 0 + 768 + 0 0 0 −1024 −768 −2000 0 𝜇1 1
𝐹2 0 + 768 + 0 2666.667 + 576 + 0 0 −2666.667 −768 −576 0 0 𝜇2 2
𝐹3 0 0 0 0 0 0 0 0 𝜇3 3
𝐹4 0 −2666.667 0 2666.667 0 0 0 0 𝜇4 4
=
𝐹5 −1024 −768 0 0 1024 768 0 0 𝜇5 5
𝐹6 −768 −578 0 0 768 576 0 0 𝜇6 6
𝐹7 −2000 0 0 0 0 0 2000 0 𝜇7 7
{𝐹8 } [ 0 0 0 0 0 0 0 0] {𝜇8 } 8

c. Apply nodal conditions:

1 2 3 4 5 6 7 8
50 0 + 1024 + 2000 0 + 768 + 0 0 0 −1024 −768 −2000 0 𝜇1 1
−86.603 0 + 768 + 0 2666.667 + 576 + 0 0 −2666.667 −768 −576 0 0 𝜇2 2
𝑅3 0 0 0 0 0 0 0 0 0 3
𝑅4 0 −2666.667 0 2666.667 0 0 0 0 0 4
𝑅5 =
−1024 −768 0 0 1024 768 0 0 0 5
𝑅6 −768 −578 0 0 768 576 0 0 0 6
𝑅7 −2000 0 0 0 0 0 2000 0 0 7
{ 𝑅8 } [ 0 0 0 0 0 0 0 0] { 0 } 8

d. Form the reduced stiffness matrix equation:

1 2
50 3024 768 𝜇1 1
{ }=[ ] {𝜇 }
−86.603 768 3242.667 2 2

d. Solve for the nodal displacements:

𝜇1 = 0.02481 𝑚.
𝜇2 = −0.032583 𝑚.
e. Solve for the member forces (global coordinate system):
Element 1:
𝐹3 0
𝐹4 86.888 𝑘𝑁 }
{ }={
𝐹1 0
𝐹2 −86.888 𝑘𝑁

Element 2:
𝐹1 0.382 𝑘𝑁
𝐹2
{ } = { 0.286 𝑘𝑁 }
𝐹5 −0.382 𝑘𝑁
𝐹6 −0.286 𝑘𝑁

Element 3:
𝐹7 −49.62 𝑘𝑁
𝐹8 0
{ }={ }
𝐹1 49.62 𝑘𝑁
𝐹2 0

f. Solve for the reactions at the supports:

𝑅3 0
𝑅4 86.888 𝑘𝑁
𝑅5
=
−0.382 𝑘𝑁
𝑅6 −0.286 𝑘𝑁
𝑅7 −49.62 𝑘𝑁
{𝑅8 } { 0 }
g. Solve for the member forces (local coordinate system):
{𝑃} = [𝛽]{𝐹 }

Element 1: 𝜃1−2 = 90𝑜 cos 𝜃 = 0 sin 𝜃 = 1

Introduction to Matrix Structural Analysis Page 17

 𝑃1 0 1 0 0 0 86.888 𝑘𝑁
𝑃2
{ } = [−1 0 0 0] { 86.888 } = { 0 } (𝐶)
𝑃3 0 0 0 1 0 −86.888 𝑘𝑁
𝑃4 0 0 −1 0 −86.888 0

Element 2: 𝜃2−3 = 216.87𝑜 cos 𝜃 = −0.8 sin 𝜃 = −0.6

𝑃1 −0.8 −0.6 0 0 0.382 −0.4772 𝑘𝑁

𝑃2
{ } = [ 0.6 −0.8 0 0 ] { 0.286 } = { 0 } (𝑇)
𝑃5 0 0 −0.8 −0.6 −0.382 0.4772 𝑘𝑁
𝑃6 0 0 0.6 −0.8 −0.286 0

Element 3: 𝜃1−4 = 0𝑜 cos 𝜃 = 1 sin 𝜃 = 0

𝑃7 1 0 0 0 −49.62 −49.62 𝑘𝑁
𝑃8
{ } = [0 0 0 0] { 0 } = { 0 } (𝑇)
𝑃1 0 0 1 0 49.62 49.62 𝑘𝑁
𝑃2 0 0 0 0 0 0

3. Determine the joint displacements, member axial forces, and support reactions for the
truss shown using matrix stiffness method. E = 200 GPa, A1 = A2 = 4000 mm2, A3 = 6000
mm2.

3
80 kN

5m 3
2

1 2
1

5m

4. Determine the joint displacements, member axial forces, and support reactions for the
truss shown due to the given loads. E = 200 GPa, A = 0.0015 m2
120 kN

2 80 kN

1
6m
3

2
1 3

8m 6m

Introduction to Matrix Structural Analysis Page 18

C. ANALYSIS OF TWO-DIMENSIONAL BEAMS

Introduction

The beam element has two degrees-of-freedom at each end: a rotation about an axis
perpendicular to the plane of the beam and a translation perpendicular to the axis of the beam.
Axial deformation is neglected.
There is no coordinate transformation required for the beam element, since, as in the
case of the one-dimensional bar, all elemental axes are aligned (in the longitudinal axes).

P2,u2 P4,u4

P1,u1 P3,u3

Fig. 1. Positive values of local forces and displacements.

The Beam Elemental Stiffness Matrix

The force-displacement relationships for a beam element is given by the equation:

𝑃1 12𝐸𝐼/𝐿3 6𝐸𝐼/𝐿2 −12𝐸𝐼/𝐿3 6𝐸𝐼/𝐿2 𝜇1

𝑃 6𝐸𝐼/𝐿2 4𝐸𝐼/𝐿 −6𝐸𝐼/𝐿2 4𝐸𝐼/𝐿 𝜇
{ 2} = { 𝜇2 }
𝑃3 −12𝐸𝐼/𝐿3 −6𝐸𝐼/𝐿2 12𝐸𝐼/𝐿 −6𝐸𝐼/𝐿2
3 3
𝑃4 𝜇4
[ 6𝐸𝐼/𝐿2 4𝐸𝐼/𝐿 −6𝐸𝐼/𝐿2 4𝐸𝐼/𝐿 ]
Or:

𝑃1 12 6𝐿 −12 6𝐿 𝜇1
𝑃 2
−6𝐿 4𝐿 ] {𝜇2 }
2
[ 6𝐿 4𝐿
𝐸𝐼
{ 2} =
𝑃3 𝐿3 −12 −6𝐿 12 −6𝐿 𝜇3
𝑃4 6𝐿 4𝐿2 −6𝐿 4𝐿2 𝜇4

Note: The stiffness matrix is symmetric, Kij = Kji.

Fixed – End Forces For Non-nodal Loads in Beams

1.
P

a b
MA MB
L

RA RB

𝑃𝑎𝑏2 𝑃𝑎2 𝑏
𝑀𝐴 = 𝑀𝐵 =
𝐿2 𝐿2
𝑃𝑏2 (3𝑎+𝑏) 𝑃𝑎2 (𝑎+3𝑏)
𝑅𝐴 = 𝑅𝐴 =
𝐿3 𝐿3

Introduction to Matrix Structural Analysis Page 19

2.
P

L/2 L/2
MA MB
L

RA RB
𝑃𝐿 𝑃
𝑀𝐴 = 𝑀𝐵 = 𝑅𝐴 = 𝑅𝐵 =
8 2

3.
P P

L/3 L/3 L/3

MA MB
L

RA RB
2𝑃𝐿
𝑀𝐴 = 𝑀𝐵 = 𝑅𝐴 = 𝑅𝐵 = 𝑃
9

4.
P P P

L/4 L/4 L/4 L/4

MA MB
L

RA RB
15𝑃𝐿 3𝑃
𝑀𝐴 = 𝑀𝐵 = 𝑅𝐴 = 𝑅𝐵 =
48 2

5.
W

MA MB
L

RA RB

𝑤𝐿2 𝑤𝐿
𝑀𝐴 = 𝑀𝐵 = 𝑅𝐴 = 𝑅𝐵 =
12 2

6.
W

MA MB
L/2

L
RA RB

5𝑤𝐿2 11𝑤𝐿2
𝑀𝐴 = 𝑀𝐵 =
192 192
7.
W

MA MB

L
RA RB

𝑤𝐿2 𝑤𝐿2
𝑀𝐴 = 𝑀𝐵 =
30 20

Introduction to Matrix Structural Analysis Page 20

8.
M
a b
MA MB

L
RA RB

𝑀𝑏(𝑏−2𝑎) 𝑀𝑎(𝑎−2𝑏)
𝑀𝐴 = 𝑀𝐵 =
𝐿2 𝐿2
6𝑀𝑎𝑏 6𝑀𝑎𝑏
𝑅𝐴 = 𝑅𝐵 =
𝐿3 𝐿3

9.
W

MA MB

L/2 L/2
RA RB
5𝑤𝐿2 𝑤𝐿
𝑀𝐴 = 𝑀𝐵 = 𝑅𝐴 = 𝑅𝐵 =
48 4

10.
W

MA MB
a a
L
RA RB
𝑤𝑎2
𝑀𝐴 = 𝑀𝐵 = (3𝐿 − 2𝑎 𝑅𝐴 = 𝑅𝐵 = 𝑤𝑎
6𝐿

Problem:

Determine the nodal displacements, member forces and support reactions for the beam
structure shown, using stiffness matrix method.

30 k
1.5 k/ft
10'

20' 15' 20 '

EI - constant
E = 29,000 ksi
I = 510 in4

Solution:
a. Consider force displacement relationship of each element:
Element 1:
Ffixed :
30 k

10'
A B

20'
RA = RB = P/2 = 15 K
MA = MB = PL/8 = 75 K – ft

Introduction to Matrix Structural Analysis Page 21

 15 k
Ffixed = 900 k - in
15 k
-900 k – in

P1 -15 12.84 1,540.625 -12.84 1,540.625 1

P2 -900 1,540.625 246,500 -1,540.625 123,250 2
+ =
P3 -15 -12.84 -1540.625 12.84 -1,540.625 3
P4 900 1,540.625 123,250 -1,540.625 246,500 4

Element 2:

P3 30.43 2,738.89 -30.43 2,738.89 3

P4 2,738.89 328,666.67 -2,738.89 164,333.33 4
=
P5 -30.43 -2,738.89 30.43 -2,738.89 5
P6 2,738.89 164,333.33 -2,738.89 328,666.67 6

Element 3:

1.5 k/ft
A B

20'
RA = RB = wL/2 = 15 K
MA = MB = wL2/12 = 50 K – ft
15 k
Ffixed = 600 k - in
15 k
-600 k – in

P5 -15 12.84 1,540.625 -12.84 1,540.625 5

P6 -600 1,540.625 246,500 -1,540.625 123,250 6
+ =
P7 -15 -12.84 -1540.625 12.84 -1,540.625 7
P8 600 1,540.625 123,250 -1,540.625 246,500 8
b. Form the reduced stiffness matrix equation:
4 6
900 246,500 + 328,666.67 164,333.33 4
=
- 600 164,333.33 246,500 + 328,666.67 6

900 575,166.67 164,333.33 4

=
- 600 164,333.33 575,166.67 6
4 = 0.00203 in.
6 = - 0.001623 in.
c. Solve for elemental forces:
Element 1:
P1 18.13 k
P2 = 1150.2 k-in
P3 11.87 k
P4 - 400.605 k-in

Element 2:
P3 1.11 k
P4 = 400.48 k-in
P5 - 1.11 k
P6 - 199.83 k-in

Introduction to Matrix Structural Analysis Page 22

 Element 3:
P5 12.5 k
P6 = 199.93 k-in
P7 17.5 k
P8 - 800.03 k-in

d. Solving for the reactions:

18.13 k 1
1150.2 k – in. 2
R = 12.98 k 3
11.39 k 5
17.5 k 7
- 800.03 k - in 8

Problem:
Determine the nodal displacements, member forces and support reactions for the beam
structure shown, using stiffness matrix method.

200 kN 150 kN
30 kN/m 90 kN - m
5m

6m 4m 10 m
1.5 I I

E = 28 GPa
I = 5.8 x 109 mm 4

Solution:
a. Consider force displacement relationship of each element:

Element 1:
Ffixed :
30 kN/m

A B

6m

RA = 63 kN; RB = 27 kN
MA = wL2/20 = 54 kN – m ; MB = wL/30 = 36 kN – m

63 kN
Ffixed 54 kN - m
=
27 kN
- 36 kN - m

P1 - 63 13,533.33 40,600 - 13,533.33 40,600 1

P2 - 54 40,600 162,400 - 40,600 81,200 2
+ =
P3 - 27 -13,533.33 - 40,600 13,533.33 - 40,600 3
P4 36 40,600 81,200 - 40,600 162,400 4

Element 2:

P3 45,675 91,350 - 45,675 91,350 3

P4 91,350 243,600 - 91,350 121,800 4
=
P5 - 45,675 - 91,350 45,675 - 91,350 5
P6 91,350 121,800 - 91,350 243,600 6

Introduction to Matrix Structural Analysis Page 23

Element 3:
150 kN

5m
A B

10 m

RA = RB = P/2 = 75 kN
MA = MB = PL/8 = 187.5 kN – m

75 kN
Ffixed = 187.5 kN - m
75 kN
- 187.5 kN – m

P5 -75 1948.8 9,744 -1,948.8 9,744 5

P6 -187.5 9,744 64,960 - 9,744 32,480 6
+ =
P7 -75 -1,948.8 - 9,744 1,948.8 - 9,744 7
P8 187.5 9,744 32,480 - 9,744 64,960 8

b. Form the reduced stiffness matrix equation:

3 4 6 8
P3 – 27 13,533.33 + 45,675 - 40,600 + 91,350 91,350 0 3
P4 + 36 - 40,600 + 91,350 162,400 + 243,600 121,800 0 4
=
P6 – 187.5 91,350 121,800 243,600 + 64,960 32,48 6
P8 + 187.5 0 0 32,480 64,960 8

- 200 – 27 59,208.33 50,750 91,350 0 3

+ 36 50,750 406,000 121,800 0 4
=
- 90 – 187.5 91,350 121,800 308,560 32,480 6
187.5 0 0 32,480 64,960 8

- 200 – 27 59,208.33 50,750 91,350 0 3

+ 36 = 50,750 406,000 121,800 0 4
- 742.5 182,700 243,600 584,640 0 6
8
- 200 – 27 59,208.33 50,750 91,350 3
+ 36 = 50,750 406,000 121,800 4
- 742.5 182,700 243,600 584,640 6

- 710.3 196,233.312 81,200 0 3

915.3 = 60,900 1,705,200 0 4
6
- 710.3 196,233.312 81,200 3
915.3 = 60,900 1,705,200 4

3 = - 0.0038994 m.
4 = 0.0006760 rad.
6 = - 0.0003331 rad.
8 = 0.0030529 rad.

Introduction to Matrix Structural Analysis Page 24

c. Solve for elemental forces: d. Solving for the reactions:

Element 1:
P1 143.22 kN 143.22 kN 1
P2 = 267.21 kN-m 267.21 kN – m 2
P3 - 53.22 kN R = 248.3 kN 5
P4 232.1 kN-m 48.5 kN 7

Element 2:
P3 -146.78 kN
P4 = - 232.11 kN- m
P5 146.78 kN
P6 - 355.02 kN-m

Element 3:
P5 101.52 kN
P6 = 265.02 kN-m
P7 48.5 kN
P8 0

Problem:
Determine the nodal displacements, member forces and support reactions for the beam
structure shown, using stiffness matrix method.

200 kN 150 kN
30 kN/m 90 kN - m
5m

6m 4m 10 m
1.5 I I

E = 28 GPa
I = 5.8 x 109 mm 4

Solution:
a. Consider force displacement relationship of each element:
Element 1:
Ffixed :
30 kN/m

A B

6m

RA = 63 kN; RB = 27 kN
MA = wL2/20 = 54 kN – m ; MB = wL2/30 = 36 kN – m

63 kN
Ffixed 54 kN - m
=
27 kN
- 36 kN – m

P1 - 63 13,533.33 40,600 - 13,533.33 40,600 1

P2 - 54 40,600 162,400 - 40,600 81,200 2
+ =
P3 - 27 -13,533.33 - 40,600 13,533.33 - 40,600 3
P4 36 40,600 81,200 - 40,600 162,400 4

Introduction to Matrix Structural Analysis Page 25

Element 2:

P3 45,675 91,350 - 45,675 91,350 3

P4 91,350 243,600 - 91,350 121,800 4
=
P5 - 45,675 - 91,350 45,675 - 91,350 5
P6 91,350 121,800 - 91,350 243,600 6

Element 3:
150 kN

5m
A B

10 m

RA = RB = P/2 = 75 kN
MA = MB = PL/8 = 187.5 kN – m

75 kN
Ffixed = 187.5 kN - m
75 kN
- 187.5 kN – m

P5 -75 1948.8 9,744 -1,948.8 9,744 5

P6 -187.5 9,744 64,960 - 9,744 32,480 6
+ =
P7 -75 -1,948.8 - 9,744 1,948.8 - 9,744 7
P8 187.5 9,744 32,480 - 9,744 64,960 8

b. Form the reduced stiffness matrix equation:

3 4 6
P3 – 27 13,533.33 + 45,675 - 40,600 + 91,350 91,350 3
P4 + 36 - 40,600 + 91,350 162,400 + 243,600 121,800 4
=
P6 – 187.5 91,350 121,800 243,600 + 64,960 6

- 200 – 27 59,208.33 50,750 91,350 3

+ 36 50,750 406,000 121,800 4
=
- 90 – 187.5 91,350 121,800 308,560 6

- 1852 422,916.64 609,000 3

- 267.3 = 50,749.992 - 89,320 6
3 = - 0.0047787 m.
4 = 0.0006027 rad.
6 = 0.0002775 rad.

c. Solve for elemental forces: d. Solving for the reactions:

Element 1:
P1 152.14 kN 152.14 kN 1
P2 = - 91.08 kN-m -91.08 kN – m 2
P3 - 62.14 kN R = 215.56 kN 5
P4 255.89 kN-m 72.3 kN 7
- 178.49 kN – m 8
Element 2:
P3 -137.82 kN
P4 = - 255.92 kN- m
P5 137.86 kN
P6 - 295.53 kN-m

Introduction to Matrix Structural Analysis Page 26

 Element 3:
P5 77.70 kN
P6 = 205.53 kN-m
P7 72.3 kN
P8 - 178.49 kN - m

D. ANALYSIS OF TWO-DIMENSIONAL FRAMES

The frame element has three degrees of freedom at each end. It includes axial
deformation at each end in addition to the beam deformations. The axis of the two-dimensional
frame member can have any orientation in the plane of the structure, thus, the development of
the [] transformation matrix will be necessary.

Stiffness Matrix for the Two-dimensional Frame Element in the Local System
y

x'
4
P
y'

6
P
F6
x
2

F4

5
F5 P
L

F2

 F1
3
P

2
P
1

F3
P

Local & global displacements

The force-displacement relationships for the two-dimensional frame element in the local
coordinate system is given as:

P1 EA/L 0 0 -EA/L 0 0 1
P2 0 12EI/L3 6EI/L2 0 -12EI/L3 6EI/L2 2
P3 = 0 6EI/L2 4EI/L 0 -6EI/L2 2EI/L 3
P4 -EA/L 0 0 EA/L 0 0 4
P5 0 -12EI/L3 -6EI/L2 0 12EI/L3 -6EI/L2 5
P6 0 6EI/L2 2EI/L 0 -6EI/L2 4EI/L 6

The Transformation Matrix for the Frame Element

cos  sin  0 0 0 0
- sin  cos  0 0 0 0
 = 0 0 1 0 0 0
0 0 0 cos  sin  0
0 0 0 - sin  cos  0
0 0 0 0 0 1

Introduction to Matrix Structural Analysis Page 27

 Stiffness Matrix For the Frame Element in the Global Coordinate System, K global:

AL2C2 AL2 AL2C2 AL2

+ 12S2 - 12 CS - 6LS - + 12S2 - - 12 CS - 6LS
I I I I

AL2 AL2S2 AL2 AL2S2

- 12 CS + 12C2 6LC - - 12 CS - + 12C2 6LC
I I I I

- 6LS 6LC 4L2 6LS - 6LC 2L2

EI
Kglobal =
L3 AL2C2 AL2 AL2C2 AL2
- + 12S2 - - 12 CS 6LS + 12S2 -12 CS 6LS
I I I I

AL2 AL2S2 AL2 AL2S2

- - 12 CS - + 12C2 - 6LC - 12 CS + 12C2 - 6LC
I I I I
- 6LS 6LC 2L2 6LS - 6LC 4L2

Problem:
Determine the nodal displacements, member forces and support reactions for the frame structure
shown, using stiffness matrix method.
75 kN

3
2 El. 2

24
El. 1

E,A, I = constant
10 m. kN/m E = 200 GPa
A = 4,720 mm 2
I = 22.2 x106 mm 4

4 m. 4 m.

Solution:
a. Consider force displacement relationship of each element:
Element 1:
E = 200 x 106 kN/m2
A = 0.00474 m2
I = 2.22 x10 – 5 m4
L = 10 m.
1-2 = 90o
cos  = 0; cos 2 = 0
sin  = 1; sin2  = 1

Ffixed :
local coordinate system global coordinate system
RBx' RBy

MB MB
RBy'

RBx

B B B

24 24 24
El. 1

El. 1

El. 1

kN/m kN/m kN/m

A A
RAy'

A
RA x

y' x
MA MA

RAx' RAy

x' y

Introduction to Matrix Structural Analysis Page 28

 RAx’ = RBx’ = 0
RAy’ = RBy’ = wL/2 = 240/2 = 120 kN
MA = MB = wL2/12 = 200 kN-m

0 1
120 kN 2
Pfixed (local) 200 kN – m 3
=
0 4
120 kN 5
- 200 kN – m 6

Ffixed (global) = [ T] {Pfixed (local) }

0 -1 0 0 0 0 0 1
1 0 0 0 0 0 120 2
Ffixed (global) 0 0 1 0 0 0 200 3
=
0 0 0 0 -1 0 0 4
0 0 0 1 0 0 120 5
0 0 0 0 0 1 - 200 6

-120 kN 1
0 2
Ffixed (global) 200 kN - m 3
=
-120 kN 4
0 5
-200 kN – m 6

EI/L3 = 200x 106(2.22x10-5)/103

= 4.44

1 2 3 4 5 6

F1 120 53.28 0 - 266.4 - 53.28 0 - 266.4 1

F2 0 0 94,800 0 0 - 94,800 0 2
+ =
F3 -200 - 266.4 0 1776 266.4 0 888 3
F4 120 - 53.28 0 266.4 53.28 0 266.4 4
F5 0 0 - 94,800 0 0 94,800 0 5
F6 200 - 266.4 0 888 266.4 0 1,776 6

Element 2:

E = 200 x 106 kN/m2

A = 0.00474 m2
I = 2.22 x10 – 5 m4
L = 8 m.
2-3 = 0o
Ffixed :
local coordinate system global coordinate system
y' y

75 kN 75 kN
MB MB
MA MA

x' R A B RBx' x R A B R Bx
Ax' Ax
El. 1 El. 1

RAy' RBy' R Ay R By

Introduction to Matrix Structural Analysis Page 29

 RAx = RBx = 0
RAy = RBy = P/2 = 37.5 kN
MA = MB = PL/8 = 75 kN – m
0
37.5 kN
75 kN - m
Ffixed = 0
37.5 kN
- 75 kN – m
(Note: Plocal = Fglobal since 2-3 = 0o ).

Use force displacement relationship in the local system since 2-3 = 0o :

4 5 6 7 8 9

F4 0 118,500 0 0 - 118,500 0 0 4
F5 - 37.5 0 104.06 416.25 0 -104.06 416.25 5
F6 + - 75 = 0 416.25 2220 0 -416.25 1110 6
F7 0 -118,500 0 0 118,500 0 0 7
F8 - 37.5 0 -104.06 -416.25 0 104.06 -416.25 8
F9 75 0 416.25 1110 0 -416.25 2220 9

b. Form the reduced stiffness matrix equation:

4 5 6 9
0 120 + 0 53.28 + 118500 0+0 266.4 + 0 0 4
0 0 – 37.5 0+0 94800 + 104.06 0 + 416.25 416.25 5
+ =
0 200 - 75 266.4 + 0 0 + 416.25 1776 + 2220 1110 6
0 75 0 416.25 1110 2220 9

120 118553.28 0 266.4 0 4

-37.5 0 94904 416.25 416.25 5
=
125 266.4 416.25 3996 1110 6
75 0 416.25 1110 2220 9

4 = 0.0009522 m.
5 = - 0.0005995 m.
6 = 0.025391 rad.
9 = 0.02120 rad.

c. Solve for elemental forces:

Global:
Element 1:
F1 -126.81 kN
F2 56.83 kN
F3 = 222.8 kN - m
F4 - 113.19 kN
F5 - 56.83 kN
F6 -154.65 kN-m

Element 2:
F4 112.84 kN
F5 56.83 kN
F6 = 154.65 kN - m
F7 - 112.84 kN
F8 - 56.83 kN
F9 0

Introduction to Matrix Structural Analysis Page 30

 Support Reactions and Moments:

-126.81 kN 1
56.83 kN 2
R = 222.8 kN – m 3
-112.84 kN 7
-56.83 kN 8

Local: P = F
Element 1:
P1 0 1 0 0 0 0 -126.81
P2 -1 0 0 0 0 0 56.83
P3 = 0 0 1 0 0 0 222.8
P4 0 0 0 0 1 0 - 113.19
P5 0 0 0 -1 0 0 - 56.83
P6 0 0 0 0 0 1 -154.65

P1 56.83 kN
P2 126.81 kN
P3 = 222.8 kN-m
P4 -56.83 kN
P5 113.19 kN
P6 -154.65 kN
Element 2:

P4 112.84 kN
P5 56.83 kN
P6 = 154.65 kN - m
P7 - 112.84 kN
P8 - 56.83 kN
P9 0

Problems:
Determine the nodal displacements, member forces and support reactions for the frame structure shown,
using stiffness matrix method.
1.5 k/ft
125 k-ft
3
90 k 2 El. 2
10'
E = 29,000 ksi
1

A = 11.8 in 2
El.

I = 310 in4
10'
1

10' 20'

Introduction to Matrix Structural Analysis Page 31

Solution:
a. Consider force displacement relationship of each element:
Element 1:
Ffixed :
local coordinate system global coordinate system

x'
Ff5

y'

f4
f6

P
P
Ff 6

Ff4

2
90 k

k
0

k
98
si n

98
90 40
co 

.4
40
90

.2

.4
f5
80
4

P
s0 .2

80
9

in
4
in

k 9

3
in
k

.3
3

3
.3

68
.3
68

68

=2
=2
=2

L
L
L

 = 63.435o Ff1
f3

1
P

Ff3 x
f1
P

f2
P

Ff2

1-2 = 63.435o
cos  = 0.447; cos 2 = 0.2
sin  = 0.894; sin2  = 0.8

Pf1 = Pf4 = 80.498/2 = 40.249 k

Pf2 = Pf5’ = 40.249/2 = 20.125 k
Pf3 = Pf6 = PL/8 = 1350 k-in

40.249 k 1
20.125 k 2
Pfixed (local) 1350 k – in 3
=
40.249 k 4
20.125 k 5
- 1350 k – in 6

Ffixed (global) = [ T] {Pfixed (local) }

0.447 - 0.894 0 0 0 0 40.249 1

0.894 0.447 0 0 0 0 20.125 2
Ffixed (global) 0 0 1 0 0 0 1350 3
=
0 0 0 0.447 - 0.894 0 40.249 4
0 0 0 0.894 0.447 0 20.125 5
0 0 0 0 0 1 - 1350 6

0 1
45 k 2
Ffixed (global) 1350 k – in 3
=
0 4
45 k 5
- 1350 k – in 6

EI/L3 = 29,000(310)/268.333 (M+)

1 2 3 4 5 6
F1 0 259.53 507.89 - 670.08 - 259.53 - 507.89 - 670.08 1
F2 - 45 507.89 1,021.4 335.04 - 507.89 - 1021.4 335.04 2
+ =
F3 -1350 - 670.08 335.04 134,015 670.08 - 335.04 67,008 3
F4 0 - 259.53 - 507.89 670.08 259.53 507.89 670.08 4
F5 - 45 - 507.89 - 1,021.4 - 335.04 507.89 1021.4 - 335.04 5
F6 1350 - 670.08 335.04 67,008 670.08 - 335.04 134,015 6

Introduction to Matrix Structural Analysis Page 32

Element 2:

Pf6
1.5 k/ft = 0.125 k-in Pf9
Pf4
Pf8
2 240 in. 3

Pf5 Pf7

Pf4 = Pf7 = 0
Pf5 = Pf8 = wL/2 = 15 K
Pf6 = Pf9 = wL2/12 = 50 K – ft
0 0 4
15 15 k 5
600 600 k – in 6
Pfixed = 0 Ffixed = 0 7
15 15 k 8
- 600 - 600 k – in 9

2-3 = 0o
cos  = 1; cos 2 = 1
sin  = 0 ; sin2  = 0
EI/L3 = 29,000(310)/2403
4 5 6 7 8 9

F4 0 1,425.83 0 0 - 1,425.83 0 0 4
F5 - 15 0 7.80 936.46 0 - 7.80 936.46 5
F6 + - 600 = 0 936.46 149,833.33 0 936.46 74,916.67 6
F7 0 -1,425.83 0 0 1,425.83 0 0 7
F8 - 15 0 - 7.80 - 936.46 0 7.80 - 936.46 8
F9 600 0 936.46 74,916.67 0 - 936.46 149,833.33 9
b. Form the reduced stiffness matrix equation:
4 5 6
F4 + 0 + 0 259.53 + 1425.83 507.89 + 0 670.08 + 0 4
=
F5 - 45 -15 507.89 + 0 1021.4 + 7.8 - 335.04 + 936.46 5
F6 + 1350 –600 670.08 + 0 - 335.04 + 93.46 134,015 + 149, 833 6

0 1685.36 507.89 670.08 4

- 60 = 507.89 1029.2 601.42 5
-1500 + 750 670.08 601.42 283,848 6

4 = 0.021302 in.
5 = - 0.06732 in.
6 = - 0.0025499 rad.

c. Solve for elemental forces:

Global elemental forces:
Element 1:
F1 30.371 k
F2 102.09 k
F3 = 1215.965 k – in
F4 -30.371 k
F5 -12.083 k
F6 - 1,654.9 k-in

Introduction to Matrix Structural Analysis Page 33

 Element 2:
F4 30.372 k
F5 12.087 k
F6 = 154.9 k – in
F7 -30.372 k
F8 17.913 k
F9 - 854.07 k-in

Local elemental forces:

Element 1:
P1 cos  sin  0 0 0 0 30.371
P2 -sin  cos  0 0 0 0 102.09
P3 = 0 0 1 0 0 0 1215.965
P4 0 0 0 0 cos  sin  -30.371
P5 0 0 0 0 -sin  cos  -12.083
P6 0 0 0 0 0 1 - 1,654.9
P1 104.89 k
P2 18.489 k
P3 = 1,216 k – in
P4 -24.39 k
P5 21.761 k
P6 - 1,654.9 k-in

Element 2:
P4 30.372 k
P5 12.087 k
P6 = 154.9 k – in
P7 -30.372 k
P8 17.913 k
P9 - 854.07 k-in

d. Solving for the reactions:

30.371 k 1
102.09 k 2
R = 1,216 k-in. 3
-30.372 k 7
17.913 k 8
- 854.07 k - in 9

Introduction to Matrix Structural Analysis Page 34