DIRECT STIFFNESS

METHOD

THE ANALYSIS OF BEAMS &

FRAMES
INTRODUCTION
For a TWO-DIMENSIONAL FRAME element each node has the
capability of translating in two directions and rotating about one
axis. Thus each node of plane frame has three degrees of
freedom. Similarly three structure forces (VERTICAL FORCE,
SHEAR FORCE and BENDING MOMENT) ACT AT A NODE.

For a TWO-DIMENSIONAL BEAM element each node has two

degrees of freedom (one rotation and one translation). Similarly
two structure forces (VERTICAL FORCE and a BENDING
MOMENT) act at a node. However in some structures a node has
one degree of freedom either rotation or translation. Therefore
they are subjected to a moment or a force as the case may be.

CASES FOR STRUCTURE STIFFNESS

MATRICES

I.

Beams and frames subjected to BENDING

MOMENT

II.

Beams and frames subjected TO SHEAR

FORCE and BENDING MOMENT

III.

Beams and frames subjected to SHEAR

FORCE, BENDING MOMENT and AXIAL
FORCES

Following steps provide a PROCEDURE for the DETERMINATION

of unknown deformation, support reactions and element forces
(AXIAL FORCES, SHEAR FORCES and BENDING MOMENT) using
the FORCE DISPLACEMENT relationship (W=K ). The same
procedure applies both to determinate and indeterminate
structures.

PROCEDURE TO ANALYSE BEAMS AND FRAMES USING DIRECT STIFFNESS

METHOD

STEP

Identifying
the
components of the structural
system
or
labeling
the
Structures & Elements.

As a first step, divide the structure into

some finite number of elements by
defining nodes or joints. Nodes may be
points of supports, points of
concentrated loads, corners or bends
or the points where the internal forces
or displacements are to be determined.
Each element extends between the
nodes and is identified by arbitrary
numbers (1,2,3).

STEP 1-A Structure Forces and

Deformations

At
a node structure
forcesNOT
are
assumed
STRUCTURES
FORCES
A
B
C
to act in their positive direction. The
ACTINGdirection
ATstructure
THE JOINTS
Equivalent
forces
or is
loads
at
positive
of the
forces
to the
Stiffness
methodandare
ispositive
applicable
to
the
joints/nodes
obtained
by
right
and
upward
moments
M
Mnet MFEMs M
reversing
the
signs
of
&
structures
with structure
forces
acting
at
and
rotations
are
clockwise.
Start
Reactions.
nodes only.the
However
the structure
is
numbering
knownif forces
first and
then
the unknown
forces. loads which
OR
subjected
to concentrated
R1
R2
R4
are not acting
at the
orR 3nodal
Reversing
the signs
of joints
Net
FEMs
or
reaction
equivalent
structure
points orgives
if it isthe
subjected
( Mto distributed
+M
M
M
loads
the joints/nodes.
loads on
then
equivalent joint loads are
FAB

FBA

FBC

FBA

FAB

FCB

FBC

FCB

CALCULATED USING THE FOLLOWING

PROCEDURE:
R
( R +R )
R1

( M FBA+ M FBC

M FAB

M FCB

I.
All
the joints
are
IV.
Equivalent
element
considered
be fixed.
forces
are tocalculated
from the equivalent
II. structure
Fixed End
loadsMoments
(b) Fixed End Moments
)
& Reactions
(FEMs)
and Reactions
V. (wFinal
element
forces
mustobtained
be calculated.
are
by the
following equation w =
III. wE
If more
+ wF than one FEM
(c) Net Fixed End Moments
& Reactions
and reactions are
present
then the net
WHERE:
and Reaction
is
wE =FEM
Equivalent
element
calculated.
forcesThis is done
(d) Equivalent Joint Loads (W )
algebricforces
summation.
wF =byElement
while
considering the elements to
be fixed.

(a) Actual Structure

R1

( R2 + R3 )

Fig.5.1

R4

STEP 1-B Element Forces

At a node structure forces are assumed

to act in their positive direction. The
positive direction of the forces is to the
right and upward and positive moments
and rotations are clockwise. Start
numbering the known forces first and
then the unknown forces.

STEP 2 Calculation of Structure

Stiffness Matrices of the members

Properties of each element like its

length, cross-sectional area, moment of
inertia, direction cosines, and numbers
identifying the structure forces acting at
its near and far ends can be
systematically tabulated.

STEP
STEP 4 3 Calculation
Formation of
of Unknown
Structure
Structure
and of
Displacements
StiffnessForces
Matrix
the Entire
Structure
the above equation into

Partitioning
known and unknown portions as shown
below:

Where
Wk = known loads
Wk K11 K12 u
Wu = unknown loads

W
K
K

22 matrix
k [K] of the entire
u 21 Stiffness
u
=structure
unknown
Following
relation
expresses
the
force- deformation
is formed.
displacement relationshipk =ofknown
the deformation
structure in the global coordinate
system:
Expansion of the above
leads to the following equation.
[W] = [K] []--------------------- (A)
[Wk] = [K11] [u] + [K12] [k]
[Wu] = [K21Where
] [u] + K22 k --------------------- (B)
As k = 0 [W] is the structure load vector
[K] isstructure
the structure
stiffness matrix
So, unknown
displacement
[u] can be calculated by
the displacement
vector form.
solving the relation[]
(A),iswhich
takes the following
[u] = [K11]^(-1) [Wk]
---------------------- (C)
Unknown structure force i.e. reactions can be calculated by solving
equation B which takes the following form
Wu = [K21] [u]
---------------------- (D)

STEP 5 Calculation of element forces:

Following are the [kT] matrices for
different elements used in the
subsequent examples:
Finally element forces at the end of the member are computed using the
following equation (E).
Case-III For frame element subjected to axial
w=k
Beams
to
Case-I
Beam/frame
subjected
force,Case-II
shear
force
andsubjected
bending
moment.
= T
Shear
Forces
& Bending
to bending
moment
only Moment
w = kT --------------- (E)
4 EI
2 EI
6 EI .l
6 EI .l
6 EI .m
6 EI .m
where [w]is the
element
force
vector

L
L
L
L
L
L
2 EI
4 EI
6 EIand
.l
6 EI .l
6 EIelement
.m
6 EI .m
[kT] is the product
of [k]
[T] matrices
of the

4
EI
2
EI

6
EI
6
EI

L
L
4
EI
2
EI
L
L
L
L

where [w]is
6the
EI element
6 EI
.l
12EI .l 2
122 EI.m
12EI .m
force
12LEIvector

L L

of

L
L
[kT] isL the product
[k]
and
[T]
matrices
of
the
element
L
L
L
L
L

2
EI
4
EI

6
EI
6
EI
kT
.l 2 EI 12EI 4.l 2EI 122EI.m 12EI .m
kT 6 EI

6
EI
12
EI
[] is the structure
the
L L vector

L for
L element.
kT displacement

L2

L2

L 6 EI L 12EI
EI
6AE
L
L
L2 m L2 AE mL3
L
6LEI
6
EI
12EI

AE
AE
m3
LL2 m L2 L L
3

.l
123EI AE

L L

12EIAE
.l
3

L
L
3

L3

AE.l

L
AE.l

ILLUSTRATIVE EXAMPLE
EXAMPLE 1 Solve the beam shown in the figure
using stiffness method.
Solution
Numbering element and structure forces
10k
10k

5'

2kip/ft

5'

W1 , 1

15'

6'

6'

W3 , 3

W2 , 2

W4 , 4

Structure loads and deformations

w1, 1

w2, 2
1

w4 ,4

w3 , 3
2

Element forces and deformation

w5 , 5

w6 ,6
3

Continuation of solution for Example 1

Calculating fixed end moments and
equivalent joint loads

12.5
12.5

37.5
FEF ' s

37
.
5

39

39

-12.5k'

10k

12.5k'

-37.5k'

10k

-39

2k/ft

2k/ft

37.5k'

Fixed end moments

W F

W1F 12.5
W 25

Net Fixed End Moments 2 F

W3 F 1.5

W 4 F 39
-1.5

-25

-12.5

Net fixed end moment

39

39

Continuation of solution for Example 1

Equivalent joint loads are :

W K

W1E 12.5
W 25

2E
W3 E 1.5

W 4 E 39

1.5

25

12.5

-39

Equivalent joint Moments

Calculating structure stiffness matrices of element

Following table lists the properties needed to form
structure stiffness matrices of elements.

Member

Length (ft)

10

15

12

Continuation of solution for Example 1

Structure stiffness matrices are:

EI 4 2 1
K 1
10 2 4 2
2

K 2

0.4 0.2 1
EI

0.2 0.4 2

EI 4 2 2

15 2 4 3
3

0.267 0.13 2
EI

0.13 0.267 3
3

0.34 0.167 3
EI 4 2 3
K3 EI

12 2 4 4
0.167 0.34 4

Continuation of solution for Example 1

Forming structure stiffness matrix of the entire structure

Using relation [K] = [K]1 + [K]2 + [K]3 structure stiffness
matrix of the entire structure is:

0.2
0
0 1
0.4
0.2 0.4 0.267
2
0
.
13
0

K EI
0
0.13 0.267 0.34 0.167 3

0
0.167 0.33 4
0

0
0 1
0.4 0.2
0.2 0.667 0.13
2
0

K EI
0
0.13 0.597 0.167 3

0
0
0
.
167
0
.
33

Continuation of solution for Example 1

Finding unknown deformations

Unknown deformations are obtained by using the following equation
[D] = [K]-1 [W]
1
0 .4

0 .2
2

EI
3
0

0
4

0.2

0.667

0.13

0.13

0.597

0.167

2.97
1

0.94
2

EI
3

0.24

0.123
4
18.8
1

24.85
2

EI
3

35

132.736
4

0.167

0.33

0.94

0.24

1.88

0.49

0.49

2.08

0.25

1.05

12.5

25

1.5

39

0.123

0.25

1.05

3.56

12.5

25

1 .5

39

Continuation of solution for Example 1

Calculating element forces
Using relation [w]=[kT][] we get

w1E
0 .4

w
0 .2
2E

w3 E
0

EI

w
4
E

w
0
5E

0
6E

0 .2

0 .4

0.267

0.13

0.13

0.267

0.34

0.167

0.167

0.34

12.5

18.8
13.7

24.85
11.325

EI

35
12
.
67

10.27
- 132.74

39
.
88

Continuation of solution for Example 1

Actual forces on the structure are obtained by superimposing the fixed
end reactions on above calculated forces.

w1 w1F w1E 12.5 12.5 0

w w w 12.5 13.7 26.2
2 2F 2E

w3 w3 F w3 E 37.5 11.325 26.2

w
w
w
37
.
5
12
.
67
4 4F 4E

50.1
w5 w5 F w5 E 39 10.27 50.1

w6 w6 F w6 E 39 39.08 0

Continuation of solution for Example 1

Moment Diagram

Shear Diagram