University of Engineering & Technology

Peshawar, Pakistan

CE301: Structure Analysis II

Module 05:
Introduction to Stiffness Method
(displacement method)

By:
Prof. Dr. Bashir Alam
Civil Engineering Department
UET , Peshawar
 Topics to be Covered
• Methods of analysis for indeterminate structures
• Matrix analysis and methods
• Introduction to Stiffness method of analysis
• Stiffness of a member
• Kinematic indeterminacy
• General procedure of stiffness method
• Step wise procedure of stiffness method
• Example 1 & 2 ( comparison of stiffness & flexibility method)
• Computation of member end actions
• Fixed end actions
 Analysis of S.I Structures
Following are the methods used for the analysis of indeterminate
structures as discussed earlier.

Methods

Classical Matrix
Methods Methods

Consistent Slope Moment Flexibility

3 Moment Stiffness
deformatio deflection distribution Method
equation Method
n method equations method
 Analysis of S.I Structures
There are two ways to analyze indeterminate structures
1. Force Based Analysis
2. Deformation Based Analysis

• Force Based Analysis

It involves the calculation of reaction of the supports and
determination of internal action (Normal force, shear force, and
bending moment) within the structure.

• Deformation Based Analysis

Deformation analysis involves the evaluation of deformation
(displacements and strains) of the elements of a structure as
well as whole of the structure.
 Matrix Methods of Analysis

• Matrix analysis of a structure is a branch of structural analysis in

which matrix algebra is used as a tool for the analysis of structure.

• Objective of analysis of structure is to predict the behavior of a

structure due to external loads, temperature changes, settlement of
supports, vibrations etc.…
Matrix Methods of Analysis

Matrix
Methods

Stiffness
Flexibility (Force)
(displacement)
Method
Method
 Matrix Methods of Analysis
• Flexibility Method
In this method redundant constraints are removed and
corresponding redundant actions (forces or moment) are placed.
An equation of compatibility of deformation is written in terms of
these redundants and corresponding displacements. The
redundants are determined from these simultaneous equation.
Equations of statics are then used for calculation of designed
internal actions. In this method, actions are treated as basic
unknowns.
 Matrix Methods of Analysis
• Stiffness or Displacement Method

In the displacement method of analysis the equilibrium equations are

written by expressing the unknown joint displacements in terms of
loads by using load displacement relations. The unknown joint
displacements (the degrees of freedom of the structure) are calculated
by solving equilibrium equations. displacement method of analysis is
preferred to computer implementation.
 Stiffness Method of Analysis
 Stiffness:
Stiffness of a member measure its resistance to deformation.
The stiffness of a member is defined as the force which is to be
applied at some point to produce a unit displacement when all
other displacement are restrained to be zero.

If a member which behaves elastically is subjected to varying

axial tensile load (W) as shown in fig. 5.1 and a graph is drawn of
load (W) versus displacement () the result will be a straight line
as shown in fig. 5.2, the slope of this line is called stiffness.
 Stiffness Method of Analysis

2W

Load
W


 2
W
Displacement

Fig.5.1 Fig.5.2
(Members subjected to varying axial load ( (load vs displacement graph (
 Stiffness Method of Analysis
Mathematically it can be expressed as
S = W/ ----------5.1
In other words Stiffness ‘S’ is the force required at a certain point
to cause a unit displacement at that point.
Equation 5.1 can be written in the following form
W=S --------- 2.2
Where,
W = Force at a particular point
S = Stiffness ( k )
 = Unit displacement of the particular point.

The above equation relates the force and displacement at a single point. This can be
extended for the development of a relationship between load and displacement for more
than one point on a structure.
 Stiffness Method of Analysis
• Relationship between flexibility & stiffness:

Since the spring is linearly elastic i.e actions are directly

proportional to displacement i.e

𝐷 • Where f is the
D ∝ 𝐴  D = f A ---------(a)  f = flexibility of spring
𝐴
Also ;
𝐴 • Where s is called
A ∝ D  A = s D ---------(b)  s =
𝐷 stiffness of spring
 Stiffness Method of Analysis

As from equation “b” in previous slide

𝐴 = 𝑠𝐷
Also from equation “a”
𝐷 = 𝑓𝐴
putting the value of “A” from equation “b” in equation “a” we
will get
𝐷 = 𝑓𝑠𝐷  1 = 𝑓𝑠
from this
1 1
𝑓= & 𝑠=
𝑠 𝑓
From this it is clear that flexibility and stiffness are the reciprocal
of each other.
 Stiffness Method of Analysis
 Kinematic indeterminacy

Degree of kinematical indeterminacy is the number of unconstrained

degrees of freedom (displacements).

In Kinematic Indeterminacy we measure the total number of degree

of freedom possible at joints. A structure is said to be kinematically
indeterminate if the displacement components of its joints cannot be
determined by compatibility conditions alone. i.e. no. of unknown
joint displacements over and above the compatibility conditions will
give the degree of kinematic indeterminacy.
 Stiffness Method of Analysis
K.I for 2 dimension,
• Fixed support gives 3 reactions , one rotation and 2 translation hence
degree of freedom at fixed support is 0,
• Hinge gives 2 reaction both translations and no rotation reaction
hence degree of freedom at hinge is 1 , rotation.
• Roller gives 1 reaction in translation direction hence degree of
freedom at roller is 2 , one rotation and one translation.
• For a 2 dimension rigid joint or free end the number of degree of
freedom at a joint is 3 (one rotation and 2 translation).
• For internal hinge, the degree of freedom is 4, two rotational and 2
translational.
 Stiffness Method of Analysis
K.I for 3 dimension,
• Fixed support gives 6 reactions , 3 rotation and 3 translation hence
degree of freedom at fixed support is 0,
• Hinge gives 3 reactions all in translations and no rotation reaction
hence degree of freedom at hinge is 3 , rotation in all directions.
• Roller gives 1 reaction in translation in one direction hence degree of
freedom at roller is 5 , 3 rotations and 2 translation.
• For a 3 dimension rigid joint or free end the number of degree of
freedom at a joint is 6 (3 rotation and 3 translation).
• For internal hinge, the degree of freedom is 9, 6 rotations and 3
translations.
 Stiffness Method of Analysis
 Kinematic indeterminacy

Generally for a planer structure

𝐾. 𝐼 = 3𝑗 − 𝑟 + 𝑖
where
j = no. of joints
r = no. of reactions
i = no. of internal hinges.
Ignoring axial deformation ⇒ if we ignore axial deformation than the
kinematic indeterminacy will decrease.(why we are ignoring axial
deformations? Any idea)
Kinematic indeterminacy after ignoring the axial deformation is
𝐾. 𝐼 = 3𝑗 − 𝑟 + 𝑖 − 𝑁𝑜 𝑜𝑓 𝑚𝑒𝑚𝑏𝑒𝑟𝑠
 Stiffness Method of Analysis
 Kinematic indeterminacy
 Stiffness Method of Analysis
 Kinematic indeterminacy
 Stiffness Method of Analysis
• General procedure of stiffness method
This method is also called displacement method. In this method the
degree of K.I is determined and the displacement components are
identified. A coordinate is assigned to each independent
displacement component. Thus D1, D2, D3……….Dn are the
redundant displacement at 1,2,3……….n locations.

If all the redundant displacements restrained the resultant structure

known as Restrained structure or Basic kinematically determinate
structure.
 Stiffness Method of Analysis
It first requires satisfying equilibrium equations for the structure. To
do this the unknown displacements are written in terms of the loads
by using the load-displacement relations, then these equations are
solved for the displacements. Once the displacements are obtained,
the unknown loads are determined from the compatibility equations
using the load-displacement relations. For n independent
displacements
𝐴𝐷1 = 𝐴𝐷𝐿1 + 𝑆11𝐷1 + 𝑆12𝐷2 +. . … … … . . +𝑆1𝑛𝐷𝑛
𝐴𝐷2 = 𝐴𝐷𝐿2 + 𝑆21𝐷1 + 𝑆22𝐷2 +. . … … … . . + 𝑆2𝑛𝐷𝑛
…
…

…
𝐴𝐷𝑛 = 𝐴𝐷𝐿𝑛 + 𝑆𝑛1𝐷1 + 𝑆𝑛2𝐷2 +. . … … … . . + 𝑆𝑛𝑛𝐷𝑛
 Stiffness Method of Analysis
Writing the equations on the previous slide in matrix form called
matrix formulation of Stiffness method

𝐴𝐷1 𝐴𝐷𝐿1 𝑆11 𝑆12 … 𝑆1𝑛 𝐷1

𝐴𝐷2 𝐴𝐷𝐿2 𝑆21 𝑆22 … 𝑆2𝑛 𝐷2
= +
⋮ ⋮ ⋮ ⋮ ⋮ ⋮ ⋮
𝐴𝐷𝑛 𝐴𝐷𝐿𝑛 𝑆𝑛1 𝑆𝑛2 … 𝑆𝑛𝑛 𝐷𝑛

𝑨𝑫 𝐧∗𝟏 = 𝑨𝑫𝑳 𝐧∗𝟏 + 𝑺 𝐧∗𝒏 • 𝑫 𝐧∗𝟏

𝑫 = 𝑺 −𝟏 • 𝑨𝑫 − 𝑨𝑫𝑳
𝐧∗𝟏 𝐧∗𝒏 𝐧∗𝟏

Where AD = External actions corresponding to the displacement

joints
 Stiffness Method of Analysis

ADL = Actions corresponding to the displacement joints in the

restrained structure due to applied loads.( Fixed end actions)
D = The unknown joint displacements
S = Stiffness coefficient i.e displacement per unit force/action
 Stiffness Method of Analysis
 Step wise Solution Procedure using Stiffness method method:
The following steps must be followed while solving a structure using
Stiffness method.

• Step # 01: Make the structure kinametically determinate, by

restraining the joints i.e select the redundant joint displacement.
 Stiffness Method of Analysis

Step # 02: Apply the actual external loads on the BKDS (Basic
kinametically determinate structure) and find the
actions at the locations of redundant joints ( compute
fixed end actions) this will generate ADL matrix.
Step # 03: Apply the redundant joint displacement on the BKDS (To
standardize the procedure, only a unit displacement
is applied in the +ve direction) this will generate
stiffness coefficient matrix.
 Stiffness Method of Analysis
Step # 04: Apply equilibrium condition at the location of the
redundant joint displacement to write equilibrium
equations and solve for unknown joint displacement.

𝑨𝑫 = 𝑨𝑫𝑳 + 𝑺 • 𝑫

−𝟏
𝑫 = 𝑺 • 𝑨𝑫 − 𝑨𝑫𝑳

Step # 05: Compute the member end actions .

 Stiffness Method of Analysis
 Example: 01 let illustrate the above mentioned procedure
with the help of general example.
K.I = 1 degree
w So one redundant
A B joint displacement
should be chosen

Step#01: selection of
redundant joint
w
displacement. A
Rotation at B is taken B
as independent joint D
displacement.

B Basic kinametically
A determinate structure
( BKDS) or
Restrained structure
 Stiffness Method of Analysis
Step#02: BKDS acted A B
w
upon by actual load.
ADL = MB
Computation of ADL
values.

A θ=1
Step#03: BKDS structure
acted upon by unit value of
B
redundant joint displacement.
Computation of stiffness S = MB
coefficients values.

Step#04: Apply
equilibrium at the location
𝑨𝑫 = 𝑨𝑫𝑳 + 𝑺 • 𝑫
of the redundant joint
displacement and solve the −𝟏
𝑫 = 𝑺 • 𝑨𝑫 − 𝑨𝑫𝑳
matrices to compute the
values of unknown joint
displacements.
 Stiffness Method of Analysis
Comparison b/w Flexibility & stiffness method
Flexibility method Stiffness method
1. Determine the degree of S.I ,Compute 1. Determine the degree of K.I ,
the DRS values & choose the Compute the AD values & choose the
redundant action to obtain the BDS. redundant joint displacement to
obtained restrained structure

A B A B
S.I = 1 degree
K.I = 1 degree
w w
A B A
B
AR D

2. Assign coordinates to the chosen 2. Assign coordinates to the independent

redundants. displacement components.
 Stiffness Method of Analysis
3. In the released structure compute the 3. In the restrained structure compute the
displacements (DRL) at coordinates due actions (ADL) at the coordinates due to
to actual loads. the loads other than those acting at the
coordinates.
A B
w
A B
DRL
ADL = MB

4. In the released structure compute the 2. Compute the actions at the coordinates
displacements ( f ) at coordinates due to in the restrained structure due to a unit
the unit redundant actions. redundant displacements.
A θ=1

f B
A B
AR=1 S = MB
 Stiffness Method of Analysis
5. Use compatibility conditions at the 5. Use equilibrium conditions at the
coordinates to determine the redundants. coordinates to determine the independent
displacement.

𝑫𝑹𝑺 = 𝑫𝑹𝑳 + 𝒇 • 𝑨𝑹 𝑨𝑫 = 𝑨𝑫𝑳 + 𝑺 • 𝑫

𝑨𝑹 = 𝒇 −𝟏 • 𝑫𝑹𝑺 − 𝑫𝑹𝑳 𝑫 = 𝑺 −𝟏 • 𝑨𝑫 − 𝑨𝑫𝑳

6. Compute member end actions 6. Compute member end actions

7. Draw SF & BM diagrams 7. Draw SF & BM Diagrams

 Stiffness Method of Analysis
 Example: 02 Formulate the beam shown in fig below
using stiffness method.

P1 P2
A B C

K.I = 2 degree
So two independent joint displacement should be chosen.
 Stiffness Method of Analysis
• Step # 01: Selection of redundant Joint displacements and assign
coordinates at those locations. Also compute AD values.

P1 P2
1 2
A
B C 𝐷1 ?
D1 D2 𝐷 = =
L L 𝐷2 ?
𝐴𝐷1 0
𝐴𝐷 = =
Rotation at B & C is taken as redundant joint displacement. 𝐴𝐷2 0

B 1 2
A C

Basic Kinametically determinate structure ( BKDS) or

Restrained structure
 Stiffness Method of Analysis
• Step # 02 : Restrained structure acted upon by the actual loads.
compute the values of actions in the restrained
structure corresponding to the redundant locations.
This will generate ADL matrix.( Fixed end actions)

P1 B 1 P2 2
B
A C
ADL2
L L
ADL1

ADL1 = moment in the restrained structure under the actual loads

corresponding to redundant joint displacement 1.
ADL2 = moment in the restrained structure under the actual loads
corresponding to redundant joint displacement 2.
 Stiffness Method of Analysis
Step # 03 : Primary structure acted upon by the by a unit value of D &
computation of stiffness coefficients values in the BKDS
corresponding to the redundant joint displacement
locations.
• 1st a unit rotation is applied at location 1 & prevent it at 2 as shown.
Compute the values of S11 and S21 .

1 θ=1
A 𝟒𝑬𝑰𝜽 C 𝟐𝑬𝑰𝜽
𝟐𝑬𝑰𝜽 2
𝑳 𝑳
𝑳
𝟒𝑬𝑰𝜽
𝑳
B
𝟔𝑬𝑰𝜽 𝟔𝑬𝑰𝜽 𝟔𝑬𝑰𝜽 𝟔𝑬𝑰𝜽
𝑳𝟐 𝑳𝟐 𝑳𝟐 𝑳𝟐
where
S11 = Action(sum of moments in this case) in the BKDS at redundant displacement
location 1 due to unit rotation at that location.
S21 = Moment in the BDS at redundant displacement location 2 due to a unit
rotation applied at location 1
 Stiffness Method of Analysis
• Now a unit rotation is applied at the redundant displacement
location 2 and prevented at 1 as shown. Compute the values
of S12 & S22 .

1
θ=1
A 𝟐𝑬𝑰𝜽 2
𝑳 𝟒𝑬𝑰𝜽

B C 𝑳

𝟔𝑬𝑰𝜽 𝟔𝑬𝑰𝜽
𝑳𝟐 𝑳𝟐
where

S12 = Moment in the BKDS at redundant displacement location 1 due to

unit rotation applied at redundant displacement location 2.
S22 = Moment in the BKDS at redundant displacement location 2 due to a
unit rotation applied at that location.
 Stiffness Method of Analysis
Step # 04: Apply equilibrium condition at the location of the
redundant joint displacement to write equilibrium
equations and solve for unknown joint displacement.

𝐴𝐷1 = 𝐴𝐷𝐿1 + 𝑆11𝐷1 + 𝑆12𝐷2

𝐴𝐷2 = 𝐴𝐷𝐿2 + 𝑆21𝐷1 + 𝑆22𝐷2

𝐴𝐷1 𝐴𝐷𝐿1 𝑆11 𝑆12 𝐷1
= +
𝐴𝐷2 𝐴𝐷𝐿2 𝑆21 𝑆22 𝐷2
𝐴𝐷 2∗1 = 𝐴𝐷𝐿 2∗1 + 𝑆 2∗2 • 𝐷 2∗1

𝑫 = 𝑺 −𝟏 • 𝑨𝑫 − 𝑨𝑫𝑳
Step # 05: Compute the member end actions, same procedure as discussed in
flexibility method.
 Stiffness Method of Analysis
 Member End Actions: Member end actions are the moments
and shear at each point where its going to be changed. We can
find the member end actions using stiffness method when the
redundant joint displacements are known.
• Let us illustrate the procedure of finding member actions by
stiffness method with the help of the above mentioned Example
as shown in fig.
P1 P2
A B C
K.I = 2 degrees
 Stiffness Method of Analysis
P1 P2
Joint rotation at B & C 1 2
is taken as redundant
A
joint displacements B C
D1 D2
L L

Step # 01: Specify the member end actions AMn by assigning a No. to
them. e.g. in the above problem

AM5 AM6 AM7

A B C

AM1 AM2 AM3 AM4

AMn = is the member end action in the indeterminate structure at

different location specified with a number “n”. n shows the
number of member end actions.
 Stiffness Method of Analysis
Step # 02: Determine the member end actions ( shear & moments) in
the restrained structure under the actual applied loads
(AMLn) at the specified locations.

P1 P
AML5 AML6 B AML7 2
A 2
C

AML1 AML4
AML2 AML3

AMLn = is the member end actions in the restrained structure at

location “n” when acted upon by the actual applied loads.
 Stiffness Method of Analysis
Step # 03: Determine the member end actions ( shear & moments) in
the restrained structure when acted upon by a unit at
displacement 1st at redundant displacement location 1 and
then at 2 (AMDn1 & AMDn2).
When a unit action is applied at the redundant location 1 as shown.

AMD61 B θ=1 2
AMD51 AMD71
A C

1
AMD11 AMD41
AMD21 AMD31
 Stiffness Method of Analysis
When a unit rotations is applied at the redundant location 2 and prevented at1 as shown.

2
AMD62 B AMD72 θ=1
AMD51
A C

1
AMD42
AMD12
AMD22 AMD32

AMDn1 & AMDn2 = is the member end actions in the restrained structure when
acted upon by a unit displacement.
n shows the number member action and 1 & 2 shows the
unit displacement position.
Stiffness Method of Analysis

𝐴𝑀1 = 𝐴𝑀𝐿1 + 𝐴𝑀𝐷11𝐷1 + 𝐴𝑀𝐷12𝐷2

𝐴𝑀2 = 𝐴𝑀𝐿2 + 𝐴𝑀𝐷21𝐷1 + 𝐴𝑀𝐷22𝐷2

⋮ ⋮ ⋮ ⋮
𝐴𝑀7 = 𝐴𝑀𝐿7 + 𝐴𝑀𝐷71𝐷1 + 𝐴𝑀𝐷72𝐷2

𝐴𝑀1 𝐴𝑀𝐿1 𝐴𝑀𝑅11 𝐴𝑀𝑅12

𝐴𝑀2 𝐴𝑀𝐿2 𝐴𝑀𝑅21 𝐴𝑀𝑅22 𝐷1
= +
⋮ ⋮ ⋮ ⋮ 𝐷2
𝐴𝑀7 𝐴𝑀𝐿7 𝐴𝑀𝑅71 𝐴𝑀𝑅72

𝐴𝑀 = 𝐴𝑀𝐿 + 𝐴𝑀𝐷 𝐷

This method will be explained again in the coming problem

 Stiffness Method of Analysis
• Actions produced in member due to a unit displacement:
Consider the beam in which is pinned at one end and fixed at the other.
If a unit rotation is applied at joint A then the moment induced in the
member is shown in the fig.
B
𝟒𝑬𝑰𝜽𝑨 A 𝟐𝑬𝑰𝜽𝑨
𝑴𝑨 = 𝑴𝑩 =
𝑳 θA 𝑳

𝟔𝑬𝑰𝜽𝑨 𝟔𝑬𝑰𝜽𝑨
𝑹𝑨 = 𝑹𝑩 =
𝑳𝟐 𝑳𝟐

𝟒𝑬𝑰𝜽𝑨
Class activity: Prove that 𝑴𝑨 = (Hint: use conjugate beam method) you have 10 mints
𝑳
 Stiffness Method of Analysis
If a unit translation is applied at joint A then the moment induced in
the member is shown in the fig.

B
𝟔𝑬𝑰Δ𝑨 A 𝟔𝑬𝑰Δ𝑨
𝑴𝑨 = 𝑴𝑩 =
𝑳𝟐 𝑳𝟐
ΔA
𝟏𝟐𝑬𝑰Δ𝑨
𝟏𝟐𝑬𝑰Δ𝑨 𝑹𝑩 =
𝑹𝑨 = 𝑳𝟑
𝑳𝟑
 Stiffness Method of Analysis
𝟒𝑬𝑰𝜽𝑨
 Prove that 𝑴𝑨 =
𝑳
Stiffness Method of Analysis

Hence proved
 Stiffness Method of Analysis
• Fixed end actions:
The actions(moments & shear) at the “walls” or fixed joints of a
loaded member are called fixed-end actions.
Stiffness Method of Analysis
Stiffness Method of Analysis
 References

• Structural Analysis by R. C. Hibbeler

• Matrix structural analysis by William Mc Guire

• Matrix analysis of frame structures by William Weaver

• Online Civil Engineering blogs