CHAPTER 3

STIFFNESS METHOD

Learning Outcome
At the end of this chapter, students should:

1) Able to differentiate between constrained and unconstrained DOF system.

(CO1:PO1)

2) Able to establish the element global stiffness matrices and structure stiffness
matrix. (CO2:PO4)
3) Able to establish nodal forces and nodal displacement. (CO2:PO4)
4) Able to establish equivalent element nodal forces and equivalent nodal forces
for the structure (due to member loads, end displacement, lack-of-fit and
temperature changes). (CO2:PO4)
5) Able to assemble the member stiffness into a structure stiffness matrix.
(CO2:PO4)
6) Calculate nodal displacements, nodal forces for structures as well as member

forces for trusses. (CO2:PO4)

1

3-1 Introduction
Both the flexibility (force) and the stiffness (displacement) methods can be
expressed in matrix form.
The stiffness method is more systematic and can be more easily implemented on
computers.
The stiffness method can be used to analyze statically determinate and
indeterminate structures.
The stiffness method yields the displacements and forces directly whereas with the
flexibility method, the displacements are not obtained directly.
3-2 Truss Analysis Using the Stiffness Method
Application of the stiffness method requires subdividing the structure into a series of
discrete finite elements and identifying their end points as nodes.
For truss analysis, the nodes represent the joints and the elements represent the
members.
The force-displacement properties of each element are determined and then related
to one another using the force equilibrium equations written at the nodes.
These relationships, for the entire structure, are then grouped together into what is
called the structure stiffness matrix K.
Once it is establish, the unknown displacement of the nodes can then be determined
for any given loading on the structure.
When these displacements are known, the external and internal forces in the
structure can be calculated using the force-displacement relations for each member.
3-3 Degree of Freedom (DOF)
1. Each displacement component is a degree of freedom. The number of DOF is the
function of the manner in which the real structure has been idealized for
analysis.
2. Unconstrained DOF (Free DOF) is unknown displacement.
3. Constrained DOF (Fixed DOF) is zero displacement.
4. Plane truss (2D) has 2 DOF per node.
5. Plane frame (2D) has 3 DOF per node.
6. Beam (2D) has 2 DOF per node.
3-4 STIFFNESS METHOD vs. FLEXIBILTIY METHOD
1. The stiffness method is a displacement method, whereas the flexibility method
is a force method.
2. The stiffness method can be used to analyze both statically determinate and
indeterminate structures, whereas the flexibility method can be used to analyze
indeterminate structures only.
3. Stiffness method can be used to analyzed indeterminate structure with higher
degree of indeterminacy, whereas, the flexibility method, can only be use to
analyzed indeterminate structures with lower degree of indeterminacy.
4. The stiffness method yields the displacements and forces directly, whereas the
displacement cannot be obtained directly using the flexibility method.

3-5 Requirement s of application of the stiffness method

1) Subdividing the structure into a series of discrete finite elements and identifying
their end points as nodes.
2) For truss analysis, the finite elements are represented by each of the members
that compose the truss, and the nodes represent the joints.
3) The force-displacement properties of each element are determined and then
related to one another using the force equilibrium equations, written at the nodes.
4) These relationships, for the entire structure, are then group together into what is
called the structure stiffness matrix, K.
5) Once it is established, the unknown displacements of the nodes can then be
determined for any given loading on the structure.
6) When these displacements are known, the external and internal forces in the
structure can be calculated using the force-displacement relations for each member.
3-6 Member and node identification
1) Identify elements or members of the structure and their nodes.
2) Identify the "Near" and "Far" ends of the member. This will be done using an
arrow written along the member, with the head of the arrow directed toward the far
end.

Figure 3-1
3-7 Global and Member Coordinates
Since loads and displacements are vector quantities, it is neccesary to establish a
coordinate system in order to specify their correct sense of direction.
A single global or structure coordinate system, x and y will be used .
A local or member coordinate system, x' and y' will be used. (Please refer Texbook
page 554 & 555, Hibbeler)

3-8 Kinematic Indeterminacy (Truss System)

We will use: 1) The unconstrained degrees of freedom (DOF) for the truss represent the primary
unknowns, and must be identified.
2) There are 2 DOF, or 2 possible displacements, for each joint (node) and each DOF
will be specified on the truss using code number, shown at the joint or node, and
referenced to its positive global coordinate direction using an associated arrow.
3

Figure 3-2
3) For example, the truss in the above figure has 8 degrees of freedom, which have
been identified by the "code numbers" 1 through 8 as shown. The truss is
kinematically indeterminate to the fifth degree because of these eight possible
displacements: 1 through 5 represent unknown or UNCONSTRAINED DOF, and 6
through 8 represent CONSTRAINED DOF.
4) Due to the constraints, the DISPLACEMENTS here are ZERO.
5) For later application, the lowest code numbers will always be used to identify the
UNKNOWN DISPLACEMENTS (UNCONSTRAINED DOF) and the highest code numbers
will be used to identify the KNOWN DISPLACEMENT (CONSTRAINED DOF). The
reason for choosing this method of identification has to do with the convenience of
later partitioning the structure stiffness matrix, so that the unknown displacements
can be found in the most direct manner.
6) Once the truss is labeled and the code numbers are specified, the structure
stiffness matrix K can be determined.

Example 3-1/
EXAMPLE 14.1 PAGE 538 HIBBELER

4m

3m

Figure 3-3
Determine the structure stiffness matrix for the two-member truss shown in Figure
3-3. AE is constant.
Solution:
(1) Identify and draw the truss due to unconstrained and constrained degrees of
freedom (DOF).
Unconstrained DOF (Unknown displacement)

2
1
The lowest code numbers will be used to identify the unknown displacement.

Constrained DOF (Unknown reaction forces)

6
5

4
3

The highest code numbers will be used to identify the known displacement.
(2) Label node and element (member) number. Put arrows along the two members
to identify the near and far ends of each member.
6
1
5
1

4
2
3

2
1

(3) Choose the origin of the global coordinate system. It can be located at any point
(nodes). Then, put the coordinate for all nodes.

(3,4)
1

5
1

4
2
3

2
1
(0,0)

(3,0)

(4) Determine the element global stiffness matrix.

(a) Draw the member (The head of the arrow directed towards the far end)
(b) Use the coordinate at each node to determine Cx and Cy for the element.

Element stiffness matrix, k is as follows:

C2x
Cx Cy
C2x C x C y

C2y
C x C y C2y
AE C x C y
k
C2x
Cx C y
L C2x C x C y

2
CxCy
C2y
C x C y C y

ELEMENT GLOBAL STIFFNESS MATRIX FOR MEMBER 1

(3,4)

6
F
5

L=5m

2
N
1
(0,0)

0.48 0.36 0.48

0.36
0.48
0.64 0.48 0.64
AE
k1
0.48
5 0.36 0.48 0.36

0.64
0.48 0.64 0.48

0.096 0.072 0.096

0.072
0.096
0.128 0.096 0.128

k1 AE
0.072 0.096 0.072
0.096

0.128
0.096 0.128 0.096

ELEMENT GLOBAL STIFFNESS MATRIX FOR MEMBER 2

L=3m
1

2
2

(0,0)

AE 0
k2
3 1

0.333
0
k 2 AE
0.333

(3,0)

0 1
0 0
0 1
0 0

0
0
0

0 0.333
0
0
0 0.333
0
0

0
0
0

STRUCTURE STIFFNESS MATRIX

K k1 k 2
0.096 0.333
0.405
0.096
0.128
0

0.333
0
0.333
K AE
0
0
0
0.072 0.096
0

0
0.096 0.128

0 0.072 0.096
0 0.096 0.128
0
0
0

0
0
0
0 0.072
0.096

0 0.096
0.128

a) Stiffness equation / force-displacement equation

Nodal forces, Q
Nodal displacement

D1
D
2
D
Q 3
0
0

0

0
20

0
Q

Q4
Q5

Q6
Structure Stiffness Equation

Q KD

0
148.8 27.3
20
27.3
11.4

0
0
0
3

AE (10 )
0
Q4
83.3
Q5
65.5 27.3

Q6
27.3 11.4

0 83.3 65.5 27.3 D1

0
0
27.3 11.4 D2
0
0
0
0 D3

0 83.3
0
0 0
0
0
65.5
27.3 0

0
0
27.3
11.4 0

10

b) Unknown displacement

0
148.8 27.3 0 D1
20 AE (10 3 ) 27.3 11.4 0 D

2
0
0
0
0 D3

0
119.04 21.84 0 D1
20 (103 ) 21.84 9.12 0 D

2
0
0
0
0 D3
D1 0.000714
D 0.0039 (m)
2

D3

0
c) Unknown reaction forces

0
0 0.000714
Q4
66.64
Q (103 ) 52.4 21.84 0 0.0039
5

0
Q6
21.84 9.12 0

Q4 47.58
Q 47.76 (kN )
5

Q6 19.97
d) Member forces
Member 1

L 12 2 5 2 13m
Cx

12 0
0.923
13

Cy

q1

AE
C X
L

CY

50
0.385
13

CX

D1
D
CY 2
D5

D6

0.000714
0.0039
AE
132.95kN
0.923 0.385 0.923 0.385
q1

0
13

11

Member 2
L 12m

Cx

12 0
1
12

Cy

q2

AE
C X
L

CY

00
0
12
CX

D1
D
CY 2
D4

D3

0.000714
0.0039
AE
47.6kN
1 0 1 0
q2

0
12

Example 3-2: Truss

2

(12,5)

1
20 kN

(0,0)

5m

(12,0)

12 m
Figure 3-4
Figure above shows a plane truss with pinned support at node 2 and roller support at node 3. One
concentrated load act at node 1 as shown. By taking E = 200 GPa and A = 4000 mm 2 and AE is
constant for each member,
a) Establish the element global stiffness matrices for the structure above.
b) Assemble the structure stiffness matrix.
12

c)
d)
e)
f)

Form the stiffness equation.

Determine the unknown displacement.
Determine the unknown reaction forces.
Calculate the member forces for each member.

Solution
Unconstrained (Unknown displacement)
Q = 0 (unless the value is given in the question)

2
2

3
1

Constrained (Unknown reaction forces)

D=0
6
5

2
4

13

e) Element global stiffness matrix

Member 1
6
(12,5)

5
F

2
(0,0)
N

L 12 2 5 2 13m

Cx

12 0
0.923
13

Cy

50
0.385
13

27.3 65.5 27.3

65.5
27.3
11.4 27.3 11.4
k1 AE (10 3 )
65.5 27.3 65.5
27.3

11.4
27.3 11.4 27.3

14

Member 2
3

1
(0,0)

2
F

L 12m

Cx

12 0
1
12

Cy

83.3
0
k 2 AE (10 3 )
83.3

0
f)

Structure Stiffness Matrix

K k1 k 2

15

00
0
12

0 83.3
0
0
0 83.3
0
0

0
0
0

4
(12,0)

 148.8 27.3
27.3 11.4

0
0
K AE (10 3 )
0
83.3
65.5 27.3

27.3 11.4

0 83.3 65.5 27.3

0
0
27.3 11.4
0
0
0
0

0 83.3
0
0
0
0
65.5
27.3

0
0
27.3 11.4

g) Stiffness equation / force-displacement equation

Nodal forces, Q
Nodal displacement

0
20

0
Q

Q4
Q5

Q6

D1
D
2
D
Q 3
0
0

0

Structure Stiffness Equation

Q KD
0
148.8 27.3
20
27.3
11.4

0
0
0
3

AE (10 )
0
Q4
83.3
Q5
65.5 27.3

27.3 11.4
Q6

h) Unknown displacement
16

0 83.3 65.5 27.3 D1

0
0
27.3 11.4 D2
0
0
0
0 D3

0 83.3
0
0 0
0
0
65.5
27.3 0

0
0
27.3
11.4 0

 0
148.8 27.3 0 D1
20 AE (10 3 ) 27.3 11.4 0 D

2
0
0
0
0 D3
0
119.04 21.84 0 D1
20 (103 ) 21.84 9.12 0 D

2
0
0
0
0 D3

D1 0.000714
D 0.0039 (m)
2

D3

i)

Unknown reaction forces

0
0 0.000714
Q4
66.64
Q (103 ) 52.4 21.84 0 0.0039
5

Q6
21.84 9.12 0

0
Q4 47.58
Q 47.76 (kN )
5

Q6 19.97
j) Member forces
Member 1

L 12 2 5 2 13m

Cx

12 0
0.923
13

Cy

q1

AE
C X
L

CY

17

50
0.385
13

CX

D1
D
CY 2
D5

D6

0.000714
0.0039
AE
132.95kN
0.923 0.385 0.923 0.385
q1

0
13

Member 2

L 12m
12 0
Cx
1
12

q2

AE
C X
L

CY

Cy

00
0
12

CX

D1
D
CY 2
D4

D3

0.000714
0.0039
AE
47.6kN
1 0 1 0
q2

0
12

18