September 18, 2002 Ahmed Elgamal September 18, 2002 Ahmed Elgamal

Stiffness coefficients for a flexural element (neglecting

axial deformations), Appendix 1, Ch. 1 Dynamics of
Structures by Chopra.
Stiffness Coefficients for a Flexural
Element u2 u
4 u3 u1
Positive directions
k21 k11
Ahmed Elgamal
k41 k31
4 degrees of freedom

1 2

September 18, 2002 Ahmed Elgamal September 18, 2002 12EI Ahmed Elgamal
L3
These are (see structures textbook)
To obtain k coefficients in 1st column of stiffness matrix, 6EI
6EI
L2
move u1 = 1, u2 = u3 = u4 = 0, and find forces and L2
moments needed to maintain this shape.
12EI
L3 Note that Σ Forces = 0
Σ Moments = 0
12EI 12EI
ΣM= 3
- = 0
L L3
u1 1.0
12EI
i.e. remember , and you Positive directions
L3 k21 k11
L can find other forces & moments
k41 k31

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September 18, 2002 Ahmed Elgamal September 18, 2002 Ahmed Elgamal

⎡ k 11 k 12 k 13 k 14 ⎤
⎢k u2 = 1, u1 = u3 = u4 = 0
k 22 k 23 k 24 ⎥⎥ k ij = k , where i is row number
k = ⎢ 21 and j is column number
⎢k 31 k 32 k 33 k 34 ⎥
⎢ ⎥
⎣k 41 k 42 k 43 k 44 ⎦

1.0 u2

⎡ 12 ⎤
⎢ ⎥ L
EI − 12
k= 3 ⎢ ⎥
L ⎢− 6L ⎥
⎢ ⎥
⎣− 6L ⎦

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September 18, 2002 Ahmed Elgamal September 18, 2002 Ahmed Elgamal

12EI
L3

6EI u3 = 1, u1 = u2 = u4 = 0
L2
u2 = 1 6EI
L2

12EI
Σ M = 0, Σ F = 0 u3 = 1
L3 1.0

⎡ - 12 ⎤ Positive directions
⎢ ⎥ L
EI 12 k22 k12
k= 3⎢ ⎥
L ⎢ 6L ⎥
⎢ ⎥
⎣ 6L ⎦ k42 k32

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September 18, 2002 Ahmed Elgamal September 18, 2002 Ahmed Elgamal

2EI
L
4EI u4 = 1, u1 = u2 = u3 = 0
L

6EI 6EI
L2 L2
Σ M = 0, Σ F = 0
u4 = 1 1.0

⎡ - 6EI ⎤
⎢ L2 ⎥
⎢ 6EI ⎥
⎢ ⎥ Positive directions L
k=⎢ L2 ⎥ k23 k13
⎢ 4EI ⎥
⎢ L ⎥
⎢ 2EI ⎥ k43 k33
⎢ ⎥
⎣ L ⎦ 9 10

September 18, 2002 Ahmed Elgamal September 18, 2002 Ahmed Elgamal

Example: Water Tank

4EI
2EI
L
L
u1 m
6EI 6EI m is lumped at a point & does
u2 not contribute in rotation
L2 L2
Σ M = 0, Σ F = 0
L
⎡ - 6EI ⎤
⎢ L2 ⎥
⎢ 6EI ⎥
⎢ ⎥ Positive directions
k=⎢ L2 ⎥
2EI ⎥ k24 k14
⎢ ug
⎢ L ⎥
⎢ 4EI ⎥ k44 k34
⎢ ⎥
⎣ L ⎦ u2 above was u3 in the earlier section of these notes
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September 18, 2002 Ahmed Elgamal September 18, 2002 Ahmed Elgamal

Example: Water Tank (continued) Example: Water Tank (continued)

Static Condensation:
u1 m k11 k12
u2 k21 k22 Way to solve a smaller system of equations by eliminating degrees
of freedom with zero mass.
L
e.g., in the above, the 2nd equation gives

ug − 6EI 4EI
2
u1 + u2 = 0
⎡ 12EI − 6EI ⎤ L L
⎡m ⎤ ⎡ &u&1 ⎤ ⎢ L3 L2 ⎥ ⎡ u1 ⎤ = − ⎡m ⎤ &u&
⎢ + ⎢
0⎥⎦ ⎢⎣&u& 2 ⎥⎦ ⎢ − 6EI 4EI ⎥ ⎢⎣u 2 ⎥⎦ ⎢0⎥ g or
⎣ ⎥ ⎣ ⎦ 6EI L 6 3
⎣ L2 L ⎦ u2 = u1 = u1 = u 1 ----- *
Rotational
L2 4EI 4L 2L
“Note Symmetry” (used to be u3)

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September 18, 2002 Ahmed Elgamal September 18, 2002 Ahmed Elgamal

Example: Water Tank (continued) Example: Water Tank (continued)

Substitute * into Equation 1
⎛ 12EI 6EI 3 ⎞ ⎛ 3EI ⎞
m&u&1 + ⎜ 3 − 2 ⎟u 1 = − m&u& g m&u&1 + ⎜ 3 ⎟u 1 = −m&u& g
⎝ L L 2L ⎠ ⎝ L ⎠
or, k of water tank as we were given earlier.
⎛ 24EI − 18EI ⎞
m&u&1 + ⎜ ⎟u 1 = − m&u& g
⎝ 2L3 ⎠
or of column
if EIb = 0
or,
⎛ 3EI ⎞
m&u&1 + ⎜ 3 ⎟u 1 = −m&u& g
⎝ L ⎠ Ib
Now, solve for u1 and u2 can be evaluated from Equation * above.
Static condensation can be applied to large MDOF systems of
15 16
equations, the same way as shown above.
 September 18, 2002 Ahmed Elgamal September 18, 2002 Ahmed Elgamal

Example
Mandatory Reading

bending (a)
Example 9.4 page 362-364
beam
Example 9.8 page 368-369

Sample Exercises: 9.5, 9.8, & 9.9

(b)

17 Reference: Dynamics of Structures, Anil K. Chopra, Prentice Hall, New Jersey, ISBN 0-13-086973-2 18

September 18, 2002 Ahmed Elgamal September 18, 2002 Ahmed Elgamal

(c) (e)

(f)

(d)

Reference: Dynamics of Structures, Anil K. Chopra, Prentice Hall, New Jersey, ISBN 0-13-086973-2 19 Reference: Dynamics of Structures, Anil K. Chopra, Prentice Hall, New Jersey, ISBN 0-13-086973-2 20
 September 18, 2002 Ahmed Elgamal September 18, 2002 Ahmed Elgamal

(i)

(g)

(j)

(h)

Reference: Dynamics of Structures, Anil K. Chopra, Prentice Hall, New Jersey, ISBN 0-13-086973-2 21 Reference: Dynamics of Structures, Anil K. Chopra, Prentice Hall, New Jersey, ISBN 0-13-086973-2 22

September 18, 2002 Ahmed Elgamal September 18, 2002 Ahmed Elgamal

therefore, Column Stiffness (lateral vibration)

m
bending
beam

3EI k
L k= , ω=
L3 m
⎡ 12 − 12 − 6L − 6L ⎤ ⎡ m1 ⎤
⎢ 0 ⎥⎥ ⎢ ⎥
EI − 12 24 6L m2
k= 3⎢ , M=⎢ ⎥
L ⎢− 6L 6L 4L2 2L2 ⎥ ⎢ 0 ⎥ beam with EIbeam = 0
⎢ ⎥ ⎢ ⎥
⎣− 6L 0 2L2 8L2 ⎦ ⎣ 0⎦

Sample Exercise: For the above cantilever system, write equation of

⎛ 3EI ⎞
motion and perform static condensation to obtain a 2 DOF system. ⇒ k = 2⎜ 3 ⎟
⎝ L ⎠
Reference: Dynamics of Structures, Anil K. Chopra, Prentice Hall, New Jersey, ISBN 0-13-086973-2 23 24
September 18, 2002 Ahmed Elgamal September 18, 2002 Ahmed Elgamal

Case of
u EIb = ∞
(rigid roof)

12EI (See example 1.1 in

k= ⎛ 12EI ⎞ h
L k = 2⎜ 3 ⎟ Dynamics of Structures
L3 ⎝ L ⎠
by Chopra)
L = 2h

96EI c
k= if EI b = EI c
12E 1 I1 12E 2 I 2 7h 3
k= + beam
column
h1 h 13 h 32
h2
24EIc 12ρ + 1 , Ib
k= ρ= & Ec = Eb = E
h 3 12ρ + 4 4I c
25 26

September 18, 2002 Ahmed Elgamal September 18, 2002 Ahmed Elgamal

Obtained by “static condensation” of 3x3 system

Draft Example
u1 force Neglect axial deformation

fs
θ1
θ2 u3 u2
u1
call it u2 Ib
call it u3
Ic Ic
⎡ ⎤ ⎡ u 1 ⎤ ⎡f S ⎤
⎢ ⎥ ⎢u ⎥ = ⎢ 0 ⎥ Use to represent u2 and u3 in terms of
⎢ ⎥⎢ 2 ⎥ ⎢ ⎥
⎢⎣ ⎥⎦ ⎢⎣ u 3 ⎥⎦ ⎢⎣ 0 ⎥⎦ u1 & plug back into

Technique can also be used

and get fs = ku1 for large systems of equations
(See example 1.1 in Dynamics of Structures by Chopra) 27 28
September 18, 2002 Ahmed Elgamal September 18, 2002 Ahmed Elgamal

u1 = 1 u2 = 1
u2 = u3 = 0 u1 = u3 = 0

6EI c 6EI c
L2 L2 2EI b 4EI b 4EI c
(2)⎛⎜ 12EI3 c ⎞⎟ L L L
6EI c
⎝ L ⎠
L2

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September 18, 2002 Ahmed Elgamal September 18, 2002 Ahmed Elgamal

u3 = 1
u1 = u2 = 0 If frame is subjected to lateral force fs

4EI b Then (for simplicity, let Ic = Ib = I)

L 2EI b
6EI c L
L2 ⎡ 24 6L 6L ⎤ ⎡ u 1 ⎤ ⎡f s ⎤
4EI c EI ⎢
2L2 ⎥⎥ ⎢⎢u 2 ⎥⎥ = ⎢⎢ 0 ⎥⎥
⎡ 24I c 6I c L 6I c L ⎤
E 6L 8L2
k = 3 ⎢⎢6I c L 4(I b + I c )L2 ⎥ 3 ⎢
L
2I b L2 ⎥ L
L
⎢⎣6I c L 2I b L2 4(I b + I c )L2 ⎥⎦ ⎢⎣6L 2L2 8L2 ⎥⎦ ⎢⎣ u 3 ⎥⎦ ⎢⎣ 0 ⎥⎦

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September 18, 2002 Ahmed Elgamal September 18, 2002 Ahmed Elgamal

Static condensation: Substitute into 1st equation

From 2nd and 3rd equations,
EI ⎡ 36 36 ⎤ 168EI
3 ⎢
24 − − ⎥ u 1 = f s = u1
⎡u 2 ⎤ ⎡8L2 2L2 ⎤ ⎡6L⎤
−1
Note matrix inverse: L ⎣ 10 10 ⎦ 10L3
⎢u ⎥ = −⎢ 2 ⎥ ⎢ ⎥ u1
⎣ 3⎦ ⎣2L 8L2 ⎦ ⎣6L⎦ ⎡a b ⎤
−1
1 ⎡ d − b⎤
⎢c d ⎥ =
−1 ⎣ ⎦ ad − cb ⎢⎣− c a ⎥⎦ or
−1 ⎡ 8L2 - 2L2 ⎤ ⎡6L⎤
= ⎢ ⎥ ⎢ ⎥ u1
64L4 − 4L4 ⎣- 2L2 8L2 ⎦ ⎣6L⎦ 168EI
k= (check this result)
10L3
− 6 ⎡1⎤
= u1
10L ⎢⎣1⎥⎦

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September 18, 2002 Ahmed Elgamal September 18, 2002 Ahmed Elgamal

u1 = 1
Draft Example 2 u2 = u3 = 0

6EI c 6EI c
u3 u2 L2 L2
u1 (2)⎛⎜ 12EI3 c ⎞⎟
⎝ L ⎠

2L

35 36
September 18, 2002 Ahmed Elgamal September 18, 2002 Ahmed Elgamal

u2 = 1 u3 = 1
u1 = u3 = 0 u1 = u2 = 0

2EI b 4EI c 4EI b 2EI b

4EI b
2L L 6EI c 2L 2L
2L
6EI c L2
4EI c
L2 L

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September 18, 2002 Ahmed Elgamal September 18, 2002 Ahmed Elgamal

⎡ ⎤ Static condensation:
⎢ 24I 6I c L 6I c L ⎥
⎢ c ⎥
E⎢ ⎛ Ib ⎞ ⎥ −1
k = 3 6I c L 4⎜ + I c ⎟L2 I b L2 ⎡u 2 ⎤ ⎡6L2 L2 ⎤ ⎡6L⎤
L ⎢ ⎝ 2 ⎠ ⎥
⎢u ⎥ = − ⎢ 2 ⎥ ⎢ ⎥ u1
⎢ ⎥ 6L2 ⎦ ⎣6L⎦
⎢6I c L ⎛ Ib ⎞ 2⎥ ⎣ 3⎦ ⎣L
IbL 2
4⎜ + I c ⎟L
⎣⎢ ⎝2 ⎠ ⎦⎥ −1
− 1 ⎡6L2 - L2 ⎤ ⎡6L⎤
= ⎢ ⎥ ⎢ ⎥ u1
For simplicity, let Ib = Ic 36L4 − L4 ⎣- L2 6L2 ⎦ ⎣6L⎦

⎡ 24 6L 6L ⎤ ⎡ u 1 ⎤ ⎡f s ⎤ − 30 ⎡1⎤ − 6 ⎡1⎤
= ⎢ ⎥ u1 = u1
EI ⎢
6L 6L2 L2 ⎥⎥ ⎢⎢u 2 ⎥⎥ = ⎢⎢ 0 ⎥⎥ 35L ⎣1⎦ 7L ⎢⎣1⎥⎦
L3 ⎢
⎢⎣6L L2 6L2 ⎥⎦ ⎢⎣ u 3 ⎥⎦ ⎢⎣ 0 ⎥⎦

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September 18, 2002 Ahmed Elgamal September 18, 2002 Ahmed Elgamal

Sample Exercise
Substitute in 1st Equation 1) 1.1 Derive stiffness matrix k for

EI ⎡ 36 36 ⎤ EIb
24 − − ⎥ u 1 = f s
L3 ⎢⎣ 7 7⎦

h1 EIc1
96 EI EIc2 h2
or, fs = u1
7 L3

96EI Same as in Example 1.1, L

or, k=
7L3 Dynamics of Structures by Chopra
1.2 For the special case of Ic1 = Ic2 = Ib, h1 = h2 = h and L = 2h,
find lateral stiffness k of the frame.
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September 18, 2002 Ahmed Elgamal September 18, 2002 Ahmed Elgamal

Sample Exercise Sample Exercise (Optional)

2) Derive equation of motion for: 3) Derive lateral k of system (need to use computer to invert
m 3x3 matrix)
2
EIb
Flexural rigidity of beams and columns Ib Ib

h EIc EIc
m E = 29,000 ksi, h = 12 ft
EIb Ic Ic Ic
Columns W8x24 sections
use 600 lb/ft
with Ic = 82.4 in4
h EIc EIc
h = 12 ft 24 ft 24 ft

2h Ib = ½ Ic
E = 29,000 ksi,
Ic = 82.4 in4 W8x24 sections
Ib = ½ Ic

43 44