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Lecture 7

LECTURE 7 TOPICS

I. Stability and Determinacy of Structures

Definitions

Statically Unstable System

Statically Determinate System
Statically Indeterminate System
Geometrically Unstable System

Stability and Determinacy of Beams

Stability and Determinacy of Trusses
Stability and Determinacy of Rigid Frames

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LECTURE 7 TOPICS

II. Deflection of Trusses and Frames

Method of Virtual Work

Castiglianos Theorem

Lecture 7-1

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Stability and Determinacy of Structures

Recall: A general coplanar force system in equilibrium
must satisfy the following equations:
w
A

B
L

Three (3) Equilibrium Equations of

Statics for a Coplanar Force System

Stability and Determinacy of Structures

Consider the beam as shown
FBD:

P
A

B
L

B
RA

Two Unknown Reactions:

Three Equilibrium Equations:

RB

RA and RB

Cannot be satisfied since there is no reaction to

counteract the horizontal component of P.

The system is said to be statically unstable.

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Stability and Determinacy of Structures

Consider the beam as shown
FBD:

P
A

B
L

B
RA

RB

NOTE 1: If there are fewer than 3 unknown independent reaction

elements, there are not enough unknowns to satisfy the 3 equations
of static equilibrium simultaneously. Fewer than three unknown
reaction elements are therefore insufficient to keep a planar structure
in equilibrium when it is acted upon by a general system of loads.
Under such a condition, a structure is said to be statically unstable.

Stability and Determinacy of Structures

Consider another beam as shown
FBD:

P
A

B
L

Three Unknown Reactions:

Three Equilibrium Equations:

HA
VA

RB

HA , VA and RB

The system is said to be statically determinate.

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Stability and Determinacy of Structures

Consider another beam as shown
FBD:

P
A

HA

VA

RB

NOTE 2: Since 3 unknowns can be obtained from the solution of 3

independent simultaneous equations, the reactions of a stable planar
structure having exactly 3 unknown reaction elements may be
obtained from the simultaneous solution of the 3 equations of static
equilibrium. In such a case, the reactions of the structure are said to
be statically determinate.

Stability and Determinacy of Structures

Consider the third beam as shown
FBD:

P
A

B
L

Four Unknown Reactions:

Three Equilibrium Equations:

HA

HB
VA

VB

HA , VA , HB and VB

The system is said to be statically indeterminate.

DEGREE of INDETERMINACY = No. of UNK No. of EQUIL. EQTNS

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Stability and Determinacy of Structures

Consider the third beam as shown
FBD:

P
A

B
L

HA

HB
VA

VB

NOTE 3: If the unknown reaction elements cannot be determined

simply by the equations of static equilibrium, the reactions of the
structure are said to be statically indeterminate. The structure is
then said to be indeterminate to a degree equal to the number by
which the unknowns exceed the available equations of statics.

Stability and Determinacy of Structures

Consider the fourth beam as shown
FBD:

P
A

RA

Three Unknown Reactions:

Three Equilibrium Equations:

RC

RB

RA , RB and RC

Cannot be satisfied since there is no reaction to

counteract the horizontal component of P.

The system is said to be geometrically unstable.

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Stability and Determinacy of Structures

Consider the fourth beam as shown
FBD:

P
A

C
L

B
RA

RC

RB

NOTE 4: Where there are nominally sufficient reaction elements but

the geometrical arrangement is such that the structure is unstable,
the structure is said to be geometrically unstable.
Therefore, the stability of a structure is determined not only by the
number of reaction elements but also by their arrangement.

Lecture 7-2

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Stability and Determinacy of BEAMS

Beams
Let
r = number of reaction elements
c = number of equations of condition
c = 0 for a beam without internal
connection (internal hinge)
c = 1 for one internal connection
c = 2 for two internal connection
1) If r < c + 3, the beam is unstable.
2) If r = c + 3, the beam is statically determinate
provided that no geometric instability is involved.
3) If r > c + 3, the beam is statically indeterminate.

Stability and Determinacy of BEAMS

Example 1:

Example 2:

R1

internal hinge

R1

R2

R3

R2

R3

r=3

(number of reactions)

r=3

(number of reactions)

c=0

(no internal connection)

c=1

(one internal connection)

r?c+3

r?c+3

3?0+3

3?1+3

3=3

3<4

STABLE AND DETERMINATE!

UNSTABLE!

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Stability and Determinacy of BEAMS

Example 3:

Example 4:
R6

R3

R1
R1
R2

R3

R4

R5

R4
R5

R2

r=5

(number of reactions)

r=6

(number of reactions)

c=2

(two internal connections)

c=1

(one internal connection)

r?c+3

r?c+3

5?2+3

6?1+3
6>4

5=5
STABLE AND DETERMINATE!

STATICALLY INDETERMINATE
TO THE SECOND ORDER!

Lecture 7-3

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Stability and Determinacy of TRUSSES

Trusses
Let

b = number of bars
r = number of reaction components
j = number of joints

Note:
1. Each bar of a truss is a two-force member; hence,
each represents one unknown element of internal
force. Therefore, number of unknowns = b + r
2. Each FBD of a joint yields two equations of
equilibrium, Fx = 0 & Fy = 0 . Therefore, total
number of independent equilibrium equations = 2j

Stability and Determinacy of TRUSSES

Trusses
Let

b = number of bars
r = number of reaction components
j = number of joints

1) If b + r < 2j, the system is unstable.

2) If b + r = 2j, the system is statically determinate
provided that it is also stable.
3) If b + r > 2j, the system is statically indeterminate.

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Stability and Determinacy of TRUSSES

Example 1:
b=7

(no. of bars)

r=3

(no. of reactions)

j=5

(no. of joints)
b + r ? 2j

R1

7 + 3 ? 2(5)
10 = 10
R2

STABLE AND DETERMINATE!

R3

Stability and Determinacy of TRUSSES

Example 2:
b=8

(no. of bars)

r=4

(no. of reactions)

j=5

(no. of joints)
b + r ? 2j

R1

R4

8 + 4 ? 2(5)
12 > 10

R2

R3

STATICALLY INDETERMINATE
TO THE SECOND ORDER!

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Stability and Determinacy of TRUSSES

Example 3:

b=6

(no. of bars)

r=4

(no. of reactions)

j=5

(no. of joints)
b + r ? 2j

R1

R4

6 + 4 ? 2(5)
10 = 10

R2

R3

However, due to lack of lateral

resistance in panel abcd, the
system is UNSTABLE!

Lecture 7-4

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Stability and Determinacy of RIGID FRAMES

NOTE: Rigid frames are built of beams and columns
2
connected rigidly.
3
1
A
A

Three (3) Unknown

Forces (N, V, M) in a
cut section of a
member

Stability and Determinacy of RIGID FRAMES

Rigid Frames
Let

b = number of members
r = number of reaction elements
j = number of rigid joints
c = number of equations of condition

Note:
1. As mentioned, there are 3 unknown forces per member.
Therefore, the number of unknowns = 3b + r.
2. Since the joint is rigid, the joint can resist moments.
Therefore there are 3 equilibrium equations per joint.
The total number of independent equations = 3j + c.

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Stability and Determinacy of RIGID FRAMES

Rigid Frames
Let

b = number of members
r = number of reaction elements
j = number of rigid joints
c = number of equations of condition

1) If 3b + r < 3j + c, the frame is unstable.

2) If 3b + r = 3j + c, the frame is statically determinate
provided that it is also stable.
3) If 3b + r > 3j + c, the frame is statically
indeterminate.

Stability and Determinacy of RIGID FRAMES

Example 1:
b=6

(no. of members)

r=6

(no. of reaction elements)

j=6

(no. of rigid joints)

c=0

(no. of condition equations)

3b + r ? 3j + c
3(6) + 6 ? 3(6) + 0
24 > 18

R1

R4
R3
R2

R6

STATICALLY INDETERMINATE
TO THE SIXTH ORDER!

R5

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Stability and Determinacy of RIGID FRAMES

Example 2:
b=6

(no. of members)

r=3

(no. of reaction elements)

j=6

(no. of rigid joints)

c=0

(no. of condition equations)

3b + r ? 3j + c
3(6) + 3 ? 3(6) + 0
21 > 18

R1
R2

STATICALLY INDETERMINATE
TO THE THIRD ORDER!

R3

Stability and Determinacy of RIGID FRAMES

Example 3:
b=6

(no. of members)

r=6

(no. of reaction elements)

j=6

(no. of rigid joints)

c=6

(no. of condition equations)

3b + r ? 3j + c
3(6) + 6 ? 3(6) + 6
24 = 24

R1

R4
R3
R2

R6
R5

STABLE AND DETERMINATE!

Known as PORTAL METHOD

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Lecture 7-5

Slope and Deflection of Trusses and Frames

Methods:
Frame
Truss

1. Method of Virtual Work (Unit Load)

2. Castiglianos Theorem

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Slope and Deflection of Trusses and Frames

1. Method of Virtual Load
A. Frames

B. Trusses

Slope:

Deflection:

where
P internal force in a bar due to
actual loads
U internal force in the same bar
due to a fictitious unit load at the
point where the deflection is sought
L length of bar
A cross sectional area of bar
E modulus of elasticity
m total number of bars

Slope and Deflection of Trusses and Frames

2. Castiglianos Theorem
A. Frames

B. Trusses

Slope:

Deflection:

where
P internal force in any bar due to
actual loads
L length of bar
A cross sectional area of bar
E modulus of elasticity

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Slope and Deflection of Trusses and Frames

Example 1
B

Determine the horizontal

displacement of point C on the
frame shown. Take Est = 29(103)
ksi and I = 600 in4 for both
members.

4 kip/ft

8 ft
CH

10 ft
A

Use Method of Virtual Work.

Slope and Deflection of Trusses and Frames

Example 1
Solution:

Step 1: Check Indeterminacy

8 ft
4 kip/ft

No. of Unknowns: 3 (HA, VA, RC)

No. of Equilibrium Equations.: 3

MP = 0

Fy = 0

Fx = 0

RC
10 ft
A

STATICALLY DETERMINATE!

HA

VA

Alternative: Is 3b + r = 3j + c ?

b=2
r =3

j=3

c=0

3(2) + 3 = 3(3) + 0
9=9

STATICALLY
DETERMINATE!

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Slope and Deflection of Trusses and Frames

Example 1

Virtual Loads
x2

Solution:

Step 2: Set-up Virtual Moment, m

Required is CH. Place a horizontal unit
load at C. Remove all real loads.
Define coordinate axes, x1 and x2
Determine Reactions (if needed)

MA = 0

RC = 1.25 kip

Fy = 0

VA = 1.25 kip

Fx = 0

H A = 1.0 kip

C
8 ft

RC
10 ft
x1

HA

VA

Slope and Deflection of Trusses and Frames

Example 1

Virtual Loads
x2

Solution:

Step 2: Set-up Virtual Moment, m

Set-up moment function, m1 and m2
A-B:

m1 = +1 x1 0

m2 = +1.25 x2 0

1.25

10 ft

m1 = x1
C-B:

8 ft

x1

1.25

m2 = 1.25x2

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Slope and Deflection of Trusses and Frames

Example 1

Real Loads
x2

Solution:

Step 3: Set-up Real Moment, M

8 ft
RC

4 kip/ft

Use the same coordinate axes

Determine Reactions (if needed)

MA = 0

RC = 25 kip

Fy = 0

VA = 25 kip

Fx = 0

H A = 40 kip

10 ft

x1

HA

VA

Slope and Deflection of Trusses and Frames

Example 1

Real Loads
x2

Solution:

Step 3: Set-up Real Moment, M

Set-up moment function, M1 and M2
1

M 1 = +40 x1 0

4
x1 0
2

M 1 = 40 x1 2 x1
C-B:

M 2 = +25 x2 0

8 ft
4 kip/ft

A-B:

x1

25
10 ft
A

40

25

M 2 = 25x2

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Slope and Deflection of Trusses and Frames

Example 1

Real Loads

Solution:

Step 4: Virtual Work Equation

8 ft
4 kip/ft

mM
dx
F EI

CH =

CH

10 ft

B
m1 M 1
mM
dx1 + 2 2 dx2
EI
A EI
C

8
1 10
( x1 )(40 x1 2 x12 )dx1 + 1 (1.25x2 )(25x2 )dx2

EI 0
EI 0

8333.33 5333.33 13666.67 kip ft 3

= 0.113 ft = 1.36 in
+
=
EI
EI
EI

Positive. Same
Direction as the
Unit Force.

Using Est = 29(103) ksi and I = 600 in4

Slope and Deflection of Trusses and Frames

Example 2
Determine the vertical displacement
of joint C of the steel truss shown.
The cross sectional area of each
member is A = 0.5 in2 and E =
29(103) ksi.

10 ft
A

B
10 ft

Use Method of Virtual Work.

4 kips

10 ft
10 ft
4 kips

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Slope and Deflection of Trusses and Frames

Example 2
Solution:

Step 1: Check Indeterminacy

10 ft

No. of Unknowns: 3 (HA, VA, RD)

No. of Equilibrium Equations.: 3

MP = 0

Fy = 0

HA

Fx = 0

10 ft

VA

STATICALLY DETERMINATE!

4 kips

10 ft
10 ft
4 kips

RD

Alternative: Is b + r = 2j ?

b=9
r =3

j=6

9 + 3 = 2(6 )
12 = 12

STATICALLY
DETERMINATE!

Slope and Deflection of Trusses and Frames

Example 2

Virtual Loads
F

Solution:
Step 2: Determine u forces
Required is CV. Place a vertical unit
load at C. Remove all real loads.

10 ft

HA

Determine Reactions

B
10 ft

10 ft

D
10 ft

VA

RD = 0.667 kip
VA = 0.333 kip
HA = 0

RD

u Forces
F -0.333 E

Determine Bar Forces

1. Method of Joints
2. Method of Sections

0.333

MA = 0
Fy = 0
Fx = 0

B
0.333

C
0.667

0.667

0.333

0.667
1

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Slope and Deflection of Trusses and Frames

Example 2

Real Loads
F

Solution:

Step 3: Determine P forces

10 ft

Determine Reactions

MA = 0
Fy = 0
Fx = 0

HA

RD = 4 kip
VA = 4 kip
HA = 0

C
10 ft

10 ft
4 kips

VA

D
10 ft

4 kips

RD

P Forces

Determine Bar Forces

-4

1. Method of Joints
2. Method of Sections

0
A

D
4

4
4 kips

4 kips

Slope and Deflection of Trusses and Frames

F

Example 2

10 ft
A

Solution:

u (kips)

10 ft 10 ft 10 ft
4k 4k

Step 4: Virtual Work

Member

P (kips)

L (ft)

uPL (kip2-ft)

AB

0.333

10

13.33

BC

0.667

10

26.67

CD

0.667

10

26.67

DE

-0.943

-5.66

14.14

75.42

FE

-0.333

-4

10

13.33

EB

-0.471

14.14

BF

0.333

10

13.33

AF

-0.471

-5.66

14.14

37.71

CE

10

40

uPL = 246.47

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Slope and Deflection of Trusses and Frames

Example 2
Solution:

Step 4: Virtual Work

CV =
CV =

10 ft

uPL 246.47
=
AE
AE

246.47 kip 2 ft (12 in ft )

(0.5 in 2 )(29(103 )k in 2 )

= 0.204 in

B
10 ft
4 kips

10 ft
10 ft
4 kips

Positive. Same
Direction as the
Unit Force.

Slope and Deflection of Trusses and Frames

Example 3
Find the horizontal displacement
and the rotational displacement
at support C for the rigid frame as
shown. EI is constant.

L
A

L
P
L

Use Castiglianos Theorem.

C
CH C

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Slope and Deflection of Trusses and Frames

Example 3

L
A

Solution:

HA

Step 1: Check Indeterminacy

VA

No. of Unknowns: 3 (HA, VA, RC)

No. of Equilibrium Equations.: 3

MP = 0

Fy = 0

Fx = 0

STATICALLY DETERMINATE!

RC

Alternative: Is 3b + r = 3j + c ?

b=2
r =3

j=3

c=0

3(2) + 3 = 3(3) + 0
9=9

STATICALLY
DETERMINATE!

Slope and Deflection of Trusses and Frames

Example 3
Solution:
Step 2: Virtual Forces
Required is CH. Place an arbitrary force P
at C.
Also required is C. Place an arbitrary
moment M at C.
However, we will use Q1 and Q2 instead of P

L
A

B
L
P
L
C

Q2
Q1

and M as the arbitrary force and moment

we are using in Castiglianos Theorem.
Note that P is being used as an actual load.
Q1 and Q2 will be set later on to ZERO.

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Slope and Deflection of Trusses and Frames

x1
L

Example 3
A

Solution:

HA

Step 3: Set-up Moment Functions

Define coordinate axes, x1 and x2

VA

Determine Reactions (if needed)

MB = 0

Q2
Q1

VA L PL Q1 (2 L ) Q2 = 0

x2

RC

Q
VA = P + 2Q1 + 2
L

NOTE: Solutions of reactions HA and RC are not needed because

they will not cause any moment in segments AB and CB,

respectively. These reactions are axial forces.

Slope and Deflection of Trusses and Frames

x1
L

Example 3
A

Solution:

HA

Step 3: Set-up Moment Functions

M = VA x1 0

M
= 2x1
Q1

M = P + 2Q1 + 2 x1
L

M x1
=
Q2 L

For Segment CB:

0

M = Q2 x2 0 + Q1 x2 0 + P x2 L

VA

For Segment AB:

1

P
L

Q2
Q1

x2

RC

M = Q2 + Q1 x2 + P x2 L
M
= x2
Q1

M
=1
Q2

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Slope and Deflection of Trusses and Frames

x1
L

Example 3
A

Solution:
Step 3: Set-up Moment Functions
Setting Q1 and Q2 to ZERO

HA

VA

For Segment AB:

M = Px1
M
= 2x1
Q1

Q2
Q1

M x1
=
Q2 L

x2

RC

For Segment CB:

M = P x2 L
M
= x2
Q1

M
=1
Q2

Slope and Deflection of Trusses and Frames

Example 3

L
A

Solution:
Step 4: Castiglianos Theorem

B
L

Horizontal Deflection at C

CH

1
M
= M
dx
Q1
F EI
1
M
1
M
=
M
dx1 +
M
dx2
Q1
Q1
AB EI
CB EI
2L
1
(Px1 )(2 x1 )dx1 + 1 (P x2 L )( x2 )dx2
0 EI
0 EI
2P L 2
1 2L
=
x1 dx1 + EI (P( x2 L ))( x2 )dx2
EI 0
L
2P L 2
1 2L
2
=
x1 dx1 + EI (Px2 PLx2 )dx2
EI 0
L
L

P
L
C
CH

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Slope and Deflection of Trusses and Frames

Example 3

L
A

Solution:

Step 4: Castiglianos Theorem

Horizontal Deflection at C

CH

2P L 2
1 2L
2
=
x1 dx1 +

(Px2 PLx2 )dx2

EI 0
EI L
3 L
3
2 2L
2 P x1
P x2 Lx2
=
+

EI 3 0 EI 3
2 L

L
C
CH

2P L3 P 8L3 4L3 L3 L3
= +

EI 3 EI 3
2 3 2

2PL3 5PL3
3PL3
+
=

3EI 6EI
2EI

Positive. Same
Direction as Q1.

Slope and Deflection of Trusses and Frames

Example 3
Solution:
Step 4: Castiglianos Theorem
Rotational Displacement at C

L
A

B
L
P

1
M
L
C = M
dx
Q2
F EI
C
1
M
1
M
=
M
dx1 +
M
dx2
Q2
Q2
AB EI
CB EI
L
2L
1
x
1
C

= ( Px1 ) 1 dx1 + (P x2 L )(1)dx2
0 EI
0 EI
L
2L
3 L
2

P x1
P x2
P L 2
P 2L
=
+

Lx
=
2
x1 dx1 + EI ( x2 L )dx2 EIL 3 EI 2
EIL 0
L
L
0
2
2
2
2

PL3
P 4 L2
L
PL
PL
5
PL

2
2
=
+

2
L

L
=
+
=
ccw

3EIL EI 2
6EI
2
3EI 2EI

Positive.
Same
Direction
as Q2.

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Slope and Deflection of Trusses and Frames

Example 4
Determine the vertical displacement
of joint C of the steel truss shown.
The cross sectional area of each
member is A = 0.5 in2 and E =
29(103) ksi.

E
10 ft

10 ft
4 kips

Use Castiglianos Theorem.

10 ft
10 ft
4 kips

Slope and Deflection of Trusses and Frames

Example 4
Solution:

Step 1: Check Indeterminacy

10 ft

No. of Unknowns: 3 (HA, VA, RD)

No. of Equilibrium Equations.: 3

MP = 0

Fy = 0

HA

Fx = 0

10 ft

VA

STATICALLY DETERMINATE!

4 kips

10 ft
10 ft
4 kips

RD

Alternative: Is b + r = 2j ?

b=9
r =3

j=6

9 + 3 = 2(6 )
12 = 12

STATICALLY
DETERMINATE!

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Slope and Deflection of Trusses and Frames

Example 4

Given Truss
F

Solution:

Step 2: Determine Bar Forces

10 ft

Required is vertical displacement at C

so apply a vertical force Q at joint C.

Temporarily replace the 4 kips at C
with a vertical force Q.
Determine Reactions in terms of Q

MA = 0
Fy = 0
Fx = 0

B
10 ft

10 ft

RD = 0.667Q + 1.33
VA = 0.333Q + 2.667
HA = 0
HA A

D
10 ft

4 kips

4 kips

E
10 ft

4 kips

D
10 ft

10 ft

10 ft

VA

RD

Slope and Deflection of Trusses and Frames

Example 4
Solution:
Step 2: Determine Bar Forces
Determine Bar Forces in terms of Q
-(0.333Q + 2.667)
E
0.333Q+2.667

B
0.333Q
+2.667

0.333Q + 2.667

4 kips

C
0.667Q
+1.333

0.667Q
+1.333

0.667Q + 1.333

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Slope and Deflection of Trusses and Frames

F

Example 4

10 ft
B

Solution:

10 ft 10 ft 10 ft
4k 4k

Step 3: Castiglianos Theorem

Member

P (kips)

P/
Q

P (Q = 4)

L (ft)

P(
P/
Q)L

AB

0.333Q + 2.667

0.333

10

13.33

BC

0.667Q + 1.333

0.667

10

26.67

CD

0.667Q + 1.333

0.667

10

26.67

DE

-(0.943Q + 1.886)

-0.943

-5.66

14.14

75.42

EF

-(0.333Q + 2.667)

-0.333

-4

10

13.33

FA

-(0.471Q + 3.772)

-0.471

-5.66

14.14

37.71

BF

0.333Q + 2.667

0.333

10

13.33

BE

-0.471Q + 1.886

-0.471

14.14

CE

10

40

= 246.47 kip ft

Slope and Deflection of Trusses and Frames

Example 4
Solution:

Step 3: Castiglianos Theorem

P L 246.47 kip ft
CV = P
=

AE
Q AE
2
246.47 kip ft (12 in ft )
CV =
(0.5 in 2 )(29(103 )k in 2 )
= 0.204 in

10 ft
A

B
10 ft
4 kips

10 ft
10 ft
4 kips

Positive. Same
Direction as Q.

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