FORMULA SHEET

Overall stiffness matrix of bar element in global coordinates:

a b − a −b  EA EA
b a= cos 2  , b= sin  cos 
c −b −c   
K  = 

−a −b a b EA 2
  c= sin 
 −b −c b c 

u j − u i 
Axial force in a bar element connected to nodes i and j: Si j =
EA

cos i j sin i j  
i j  v j − vi 

( )
Axial deformation of a bar element connected to nodes i and j:  i j = u j − u i cos  i j + v j − v i sin  i j ( )

Global stiffness matrix of a general beam element:

a b c −a −b c  EA 12 EI  EA 12EI 
b a= cos 2  + sin 2  , b =  −  sin  cos 
 d e −b −d e    3
  3 
 
 c e f −c −e g
k  =  
− a − b −c − c 6 EI EA 2 12 EI
a b c=− sin  , d = sin  + cos 2 
− b − d −e b d − e  2   3
 
 c e g −c −e f 
6 EI 4 EI 2 EI
e= cos  , f = , g=
2  

Element end forces are calculated using equation {𝐹̅ } = [𝑘̅ ][𝑇]{𝑞}

𝐸𝐴 𝐸𝐴 𝐸𝐴 𝐸𝐴
𝑐𝑜𝑠∅ 𝑠𝑖𝑛∅ 0 − 𝑐𝑜𝑠∅ − 𝑠𝑖𝑛∅ 0
𝑙 𝑙 𝑙 𝑙
12𝐸𝐼 12𝐸𝐼 6𝐸𝐼 12𝐸𝐼 12𝐸𝐼 6𝐸𝐼
− 3 𝑠𝑖𝑛∅ 𝑐𝑜𝑠∅ 𝑠𝑖𝑛∅ − 3 𝑐𝑜𝑠∅ 𝑢1
𝑋1 𝑙 𝑙3 𝑙2 𝑙3 𝑙 𝑙2
𝑌1 6𝐸𝐼 6𝐸𝐼 4𝐸𝐼 6𝐸𝐼 6𝐸𝐼 2𝐸𝐼 𝑣1
𝑀1 − 2 𝑠𝑖𝑛∅ 𝑐𝑜𝑠∅ 𝑠𝑖𝑛∅ − 2 𝑐𝑜𝑠∅ 𝜃1
= 𝑙 𝑙2 𝑙 𝑙2 𝑙 𝑙
𝑋2 𝐸𝐴 𝐸𝐴 𝐸𝐴 𝐸𝐴 𝑢2
𝑌2 − 𝑐𝑜𝑠∅ − 𝑠𝑖𝑛∅ 0 𝑐𝑜𝑠∅ 𝑠𝑖𝑛∅ 0 𝑣2
𝑙 𝑙 𝑙 𝑙
{𝑀2 } 12𝐸𝐼 12𝐸𝐼 6𝐸𝐼 12𝐸𝐼 12𝐸𝐼 6𝐸𝐼 {𝜃2 }
𝑠𝑖𝑛∅ − 3 𝑐𝑜𝑠∅ − − 3 𝑠𝑖𝑛∅ 𝑐𝑜𝑠∅ − 2
𝑙3 𝑙 𝑙2 𝑙 𝑙3 𝑙
6𝐸𝐼 6𝐸𝐼 2𝐸𝐼 6𝐸𝐼 6𝐸𝐼 4𝐸𝐼
[ − 𝑙 2 𝑠𝑖𝑛∅ 𝑙2
𝑐𝑜𝑠∅
𝑙 𝑙2
𝑠𝑖𝑛∅ − 2 𝑐𝑜𝑠∅
𝑙 𝑙 ]
Horizontal element: ∅ = 0 , 𝑐𝑜𝑠∅ = 1 , 𝑠𝑖𝑛∅ = 0
Y

~-~o~
𝑀1 , 𝜃1 1 2 𝑀2 , 𝜃2
X

1~-----~~
𝑌1 , 𝑣1

ℓ
𝑌2 , 𝑣2

𝑑 𝑒 −𝑑 𝑒
𝑒 𝑓 −𝑒 𝑔 6𝐸𝐼 4𝐸𝐼 2𝐸𝐼
[k] = 𝑑 = 12𝐸𝐼
3 , 𝑒 = ,𝑓= ,𝑔 =
−𝑑 −𝑒 𝑑 −𝑒 𝑙 𝑙2 𝑙 𝑙
𝑒 𝑔 −𝑒 𝑓

Element end forces are calculated from the {𝐹̅ } = [𝑘̅ ][𝑇]{𝑞} which is given in the following.

12𝐸𝐼 6𝐸𝐼 12𝐸𝐼 6𝐸𝐼

−
𝑙3 𝑙2 𝑙3 𝑙2
𝑌1 6𝐸𝐼 4𝐸𝐼 6𝐸𝐼 2𝐸𝐼 𝑣1
− 2
𝑀
{ 1} = 𝑙2 𝑙 𝑙 𝑙 {𝜃1 }
𝑌2 12𝐸𝐼 6𝐸𝐼 12𝐸𝐼 6𝐸𝐼 𝑣2
𝑀2 − 3 − 2 − 2 𝜃2
𝑙 𝑙 𝑙3 𝑙
6𝐸𝐼 2𝐸𝐼 6𝐸𝐼 4𝐸𝐼
[ 𝑙2 − 2
𝑙 𝑙 𝑙 ]

Vertical element: ∅ = 90 , 𝑐𝑜𝑠∅ = 0 , 𝑠𝑖𝑛∅ = 1

𝑀2 , 𝜃2 Y

𝑋2 , 𝑣2

𝑎 𝑐 −𝑎 𝑐
2

𝑐 𝑓 −𝑐 𝑔
[𝑘] = −𝑎 −𝑐 𝑎 −𝑐
𝑐 𝑔 −𝑐 𝑓
ℓ

12𝐸𝐼 6𝐸𝐼 4𝐸𝐼 2𝐸𝐼

𝑎= , c= − ,𝑓= ,𝑔 =
𝑙3 𝑙2 𝑙 𝑙

0
1

~
X
𝑋1 , 𝑣1 V 𝑀 ,𝜃1 1
For ∅ = 90 , 𝑐𝑜𝑠∅ = 0 , 𝑠𝑖𝑛∅ = 1 the general relationship {𝐹̅ } = [𝑘̅][𝑇]{𝑞} becomes

𝐸𝐴 𝐸𝐴
0 0 0 − 0
𝑙 𝑙
12𝐸𝐼 6𝐸𝐼 12𝐸𝐼 6𝐸𝐼
− 0 0 𝑢1
𝑋1 𝑙3 𝑙2 𝑙3 𝑙2
𝑌1 6𝐸𝐼 4𝐸𝐼 6𝐸𝐼 𝑣1
2𝐸𝐼
𝑀1 − 2 0 0 𝜃1
= 𝑙 𝑙 𝑙2 𝑙
𝑋2 𝐸𝐴 𝐸𝐴 𝑢2
𝑌2 0 − 0 0 0 𝑣2
𝑙 𝑙
{𝑀2 } 12𝐸𝐼 6𝐸𝐼 12𝐸𝐼 6𝐸𝐼 {𝜃2 }
0 − − 0 − 2
𝑙3 𝑙2 𝑙3 𝑙
6𝐸𝐼 2𝐸𝐼 6𝐸𝐼 4𝐸𝐼
[ − 𝑙2 0
𝑙 𝑙2
0
𝑙 ]

Canceling out the terms related with axial stiffness yields

𝑀2 , 𝜃2

X
𝑌2 , 𝑣2

6𝐸𝐼 6𝐸𝐼
0 0
𝑙2 𝑙2
2

𝑌1 4𝐸𝐼 2𝐸𝐼
𝑣1
𝑀 0 0 𝜃1
{ 1} = 𝑙 𝑙
{𝑣 }
𝑌2 6𝐸𝐼
0 − 2 0 −
6𝐸𝐼 2
𝑀2 𝑙 𝑙2 𝜃2
2𝐸𝐼 4𝐸𝐼
[ 0 𝑙
0
𝑙 ]
ℓ
1
Y

𝑌1 , 𝑣1

𝑀1 , 𝜃1
\J
STIFFNESS MATRIX OF A BOTH ENDS RIGIDLY CONNECTED FRAME MEMBER IN LOCAL
COORDINATES

𝐸𝐴 𝐸𝐴
0 0 − 0 0
𝑙 𝑙
12𝐸𝐼 6𝐸𝐼 12𝐸𝐼 6𝐸𝐼
0 0 −
𝑙3 𝑙2 𝑙3 𝑙2
6𝐸𝐼 4𝐸𝐼 6𝐸𝐼 2𝐸𝐼
0 0 − 2
[𝑘̅] = 𝑙2 𝑙 𝑙 𝑙
𝐸𝐴 𝐸𝐴
− 0 0 0 0
𝑙 𝑙
12𝐸𝐼 6𝐸𝐼 12𝐸𝐼 6𝐸𝐼
0 − − 0 −
𝑙3 𝑙2 𝑙3 𝑙2
6𝐸𝐼 2𝐸𝐼 6𝐸𝐼 4𝐸𝐼
[ 0 𝑙2 𝑙
0 − 2
𝑙 𝑙 ]

COMPATIBILITY MATRIX OF A FRAME MEMBER

𝑐𝑜𝑠 ∅ 𝑠𝑖𝑛 ∅ 0 0 0 0
− 𝑠𝑖𝑛 ∅ 𝑐𝑜𝑠 ∅ 0 0 0 0
[𝑇] = 0 0 1 0 0 0
0 0 0 𝑐𝑜𝑠 ∅ 𝑠𝑖𝑛 ∅ 0
0 0 0 − 𝑠𝑖𝑛 ∅ 𝑐𝑜𝑠 ∅ 0
[ 0 0 0 0 0 1]

[𝒌][𝑩𝑻]MATRIX OF A FRAME MEMBER

𝐸𝐴 𝐸𝐴 𝐸𝐴 𝐸𝐴
𝑐𝑜𝑠 ∅ 𝑠𝑖𝑛 ∅ 0 − 𝑐𝑜𝑠 ∅ − 𝑠𝑖𝑛 ∅ 0
𝑙 𝑙 𝑙 𝑙
12𝐸𝐼 12𝐸𝐼 6𝐸𝐼 12𝐸𝐼 12𝐸𝐼 6𝐸𝐼
− 3 𝑠𝑖𝑛 ∅ 𝑐𝑜𝑠 ∅ 𝑠𝑖𝑛 ∅ − 𝑐𝑜 𝑠 ∅
𝑙 𝑙3 𝑙2 𝑙3 𝑙3 𝑙2
6𝐸𝐼 6𝐸𝐼 4𝐸𝐼 6𝐸𝐼 6𝐸𝐼 2𝐸𝐼
− 2 𝑠𝑖𝑛 ∅ 2
𝑐𝑜𝑠 ∅ 2
𝑠𝑖𝑛 ∅ − 2 𝑐𝑜𝑠 ∅
[𝑘][𝑇] = 𝑙 𝑙 𝑙 𝑙 𝑙 𝑙
𝐸𝐴 𝐸𝐴 𝐸𝐴 𝐸𝐴
− 𝑐𝑜𝑠 ∅ − 𝑠𝑖𝑛 ∅ 0 𝑐𝑜𝑠 ∅ 𝑠𝑖𝑛 ∅ 0
𝑙 𝑙 𝑙 𝑙
12𝐸𝐼 12𝐸𝐼 6𝐸𝐼 12𝐸𝐼 12𝐸𝐼 6𝐸𝐼
𝑠𝑖𝑛 ∅ − 3 𝑐𝑜𝑠 ∅ − 2 − 3 𝑠𝑖𝑛 ∅ 𝑐𝑜 𝑠 ∅ − 2
𝑙3 𝑙 𝑙 𝑙 𝑙 3 𝑙
6𝐸𝐼 6𝐸𝐼 2𝐸𝐼 6𝐸𝐼 6𝐸𝐼 4𝐸𝐼
[ − 𝑠𝑖𝑛 ∅ 𝑐𝑜𝑠 ∅ 𝑠𝑖𝑛 ∅ − 2 𝑐𝑜𝑠 ∅
𝑙2 𝑙2 𝑙 𝑙2 𝑙 𝑙 ]
 TYPE 1: OVERALL STIFFNESS MATRIX OF A FRAME MEMBER BOTH END ARE RIGIDLY CONNECTED

a b c −a −b c
b −b −d e  𝐸𝐴 12𝐸𝐼 𝐸𝐴 12𝐸𝐼
 d e 𝑎= 𝑐𝑜𝑠 2 ∅ + 𝑙3 𝑠𝑖𝑛2 ∅ , 𝑏 = ( 𝑙 − 𝑙3 ) 𝑠𝑖𝑛 ∅ 𝑐𝑜𝑠 ∅
𝑙
c e f −c −e g 6𝐸𝐼 6𝐸𝐼
K  =   𝑐 = − 2 𝑠𝑖𝑛 ∅  ,   𝑒 = 2 𝑐𝑜𝑠 ∅
 −a −b −c a b −c 
𝐸𝐴
𝑙
12𝐸𝐼
𝑙
4𝐸𝐼 2𝐸𝐼
 −b −d −e b d −e  𝑑= 𝑠𝑖𝑛2 ∅ + 3 𝑐𝑜𝑠 2 ∅ , 𝑓 = , 𝑔=
  𝑙 𝑙 𝑙 𝑙
c e g −c −e f 

LOCAL STIFFNESS MATRIX OF A FRAME MEMBER HAVING A HINGE AT ITS FIRST END

𝐸𝐴 𝐸𝐴
0 0 − 0 0
𝑙 𝑙
3𝐸𝐼 3𝐸𝐼 3𝐸𝐼
0 0 0 −
𝑙3 𝑙3 𝑙2
0 0 0 0 0 0
[𝑘̅ ] = 𝐸𝐴 𝐸𝐴
− 0 0 0 0
𝑙 𝑙
3𝐸𝐼 3𝐸𝐼 3𝐸𝐼
0 − 0 0 −
𝑙3 𝑙3 𝑙2
3𝐸𝐼 3𝐸𝐼 3𝐸𝐼
[ 0 𝑙2
0 0 − 2
𝑙 𝑙 ]

COMPATIBILITY MATRIX OF A FRAME MEMBER HAVING A HINGE AT ITS FIRST END

𝑐𝑜𝑠 ∅ 𝑠𝑖𝑛 ∅ 0 0 0 0
− 𝑠𝑖𝑛 ∅ 𝑐𝑜𝑠 ∅ 0 0 0 0
[𝑇] = 0 0 0 0 0 0
0 0 0 𝑐𝑜𝑠 ∅ 𝑠𝑖𝑛 ∅ 0
0 0 0 − 𝑠𝑖𝑛 ∅ 𝑐𝑜𝑠 ∅ 0
[ 0 0 0 0 0 1]
  k  B  MATRIX OF A FRAME MEMBER HAVING A HINGE AT ITS FIRST END
𝐸𝐴 𝐸𝐴 𝐸𝐴 𝐸𝐴
𝑐𝑜𝑠 ∅ 𝑠𝑖𝑛 ∅ 0 − 𝑐𝑜𝑠 ∅ − 𝑠𝑖𝑛 ∅ 0
𝑙 𝑙 𝑙 𝑙
3𝐸𝐼 3𝐸𝐼 3𝐸𝐼 3𝐸𝐼 3𝐸𝐼
− 3 𝑠𝑖𝑛 ∅ 𝑐𝑜𝑠 ∅ 0 𝑠𝑖𝑛 ∅ − 3 𝑐𝑜 𝑠 ∅
𝑙 𝑙3 𝑙3 𝑙 𝑙2
0 0 0 0 0 0
[𝑘][𝑇] = 𝐸𝐴 𝐸𝐴 𝐸𝐴 𝐸𝐴
− 𝑐𝑜𝑠 ∅ − 𝑠𝑖𝑛 ∅ 0 𝑐𝑜𝑠 ∅ 𝑠𝑖𝑛 ∅ 0
𝑙 𝑙 𝑙 𝑙
3𝐸𝐼 3𝐸𝐼 12𝐸𝐼 12𝐸𝐼 6𝐸𝐼
𝑠𝑖𝑛 ∅ − 3 𝑐𝑜𝑠 ∅ 0 − 3 𝑠𝑖𝑛 ∅ 𝑐𝑜 𝑠 ∅ −
𝑙3 𝑙 𝑙 𝑙3 𝑙2
3𝐸𝐼 3𝐸𝐼 3𝐸𝐼 3𝐸𝐼 3𝐸𝐼
[ 𝑙 2 𝑠𝑖𝑛 ∅
−
𝑙2
𝑐𝑜𝑠 ∅ 0
𝑙2
𝑠𝑖𝑛 ∅ − 2 𝑐𝑜𝑠 ∅
𝑙 𝑙 ]

TYPE 2: OVERALL STIFFNESS MATRIX OF FRAME MEMBER HAVING A HINGE AT ITS FIRST
END

𝑎̄ 𝑏̄ 0 −𝑎̄ −𝑏̄ 𝑐̄
𝑏̄ 𝑑̄ 0 −𝑏̄ −𝑑̄ 𝑒̄
0 0 0 0 0 0 𝐸𝐴 3𝐸𝐼
[𝑘] = 𝑎̄ = 𝑐𝑜𝑠 2 ∅ + 𝑠𝑖𝑛2 ∅
−𝑎̄ −𝑏̄ 0 𝑎̄ 𝑏̄ −𝑐̄ 𝑙 𝑙3
−𝑏̄ −𝑑̄ 0 𝑏̄ 𝑑̄ −𝑒̄
[ 𝑐̄ 𝑒̄ 0 −𝑐̄ −𝑒̄ 𝑓̄ ]
𝐸𝐴 3𝐸𝐼
𝑏̄ = ( − 3 ) 𝑠𝑖𝑛 ∅ 𝑐𝑜𝑠 ∅
𝑙 𝑙
3𝐸𝐼 3𝐸𝐼
𝑐̅ = − 2 𝑠𝑖𝑛 ∅  ,  𝑒̅ = 𝑐𝑜𝑠 ∅
𝑙 𝑙2
𝐸𝐴 3𝐸𝐼
̅
𝑑 = 𝑠𝑖𝑛2 ∅ + 𝑐𝑜𝑠 2 ∅
𝑙 𝑙3
3𝐸𝐼
𝑓̅ =
𝑙

LOCAL STIFFNESS MATRIX OF A FRAME MEMBER HAVING A HINGE AT ITS SECOND END

𝐸𝐴 𝐸𝐴
0 0 − 0 0
𝑙 𝑙
3𝐸𝐼 3𝐸𝐼 3𝐸𝐼
0 0 − 0
𝑙3 𝑙2 𝑙3
3𝐸𝐼 3𝐸𝐼 3𝐸𝐼
[𝑘̅ ] = 0 0 − 2 0
𝑙2 𝑙 𝑙
𝐸𝐴 𝐸𝐴
− 0 0 0 0
𝑙 𝑙
3𝐸𝐼 3𝐸𝐼 3𝐸𝐼
0 − − 0 0
𝑙3 𝑙2 𝑙3
[ 0 0 0 0 0 0]
COMPATIBILITY MATRIX OF A FRAME MEMBER HAVING A HINGE AT ITS SECOND END

𝑐𝑜𝑠 ∅ 𝑠𝑖𝑛 ∅ 0 0 0 0
− 𝑠𝑖𝑛 ∅ 𝑐𝑜𝑠 ∅ 0 0 0 0
[𝑇] = 0 0 1 0 0 0
0 0 0 𝑐𝑜𝑠 ∅ 𝑠𝑖𝑛 ∅ 0
0 0 0 − 𝑠𝑖𝑛 ∅ 𝑐𝑜𝑠 ∅ 0
[ 0 0 0 0 0 0]

 k  B  MATRIX OF A FRAME MEMBER HAVING A HINGE AT ITS SECOND END

𝐸𝐴 𝐸𝐴 𝐸𝐴 𝐸𝐴
𝑐𝑜𝑠 ∅ 𝑠𝑖𝑛 ∅ 0 − 𝑐𝑜𝑠 ∅ − 𝑠𝑖𝑛 ∅ 0
𝑙 𝑙 𝑙 𝑙
3𝐸𝐼 3𝐸𝐼 3𝐸𝐼 3𝐸𝐼 3𝐸𝐼
− 3 𝑠𝑖𝑛 ∅ 𝑐𝑜𝑠 ∅ 𝑠𝑖𝑛 ∅ − 3 𝑐𝑜 𝑠 ∅ 0
𝑙 𝑙3 𝑙2 𝑙3 𝑙
3𝐸𝐼 3𝐸𝐼 3𝐸𝐼 3𝐸𝐼 3𝐸𝐼
[𝑘][𝐵] = − 𝑙 2 𝑠𝑖𝑛 ∅ 𝑙2
𝑐𝑜𝑠 ∅
𝑙 𝑙2
𝑠𝑖𝑛 ∅ − 2 𝑐𝑜𝑠 ∅
𝑙
0
𝐸𝐴 𝐸𝐴 𝐸𝐴 𝐸𝐴
− 𝑐𝑜𝑠 ∅ − 𝑠𝑖𝑛 ∅ 0 𝑐𝑜𝑠 ∅ 𝑠𝑖𝑛 ∅ 0
𝑙 𝑙 𝑙 𝑙
3𝐸𝐼 3𝐸𝐼 3𝐸𝐼 3𝐸𝐼 3𝐸𝐼
𝑠𝑖𝑛 ∅ − 3 𝑐𝑜𝑠 ∅ − − 3 𝑠𝑖𝑛 ∅ 𝑐𝑜 𝑠 ∅ 0
𝑙3 𝑙 𝑙2 𝑙 𝑙3
[ 0 0 0 0 0 0]

TYPE 3: OVERALL STIFFNESS MATRIX OF FRAME MEMBER HAVING A HINGE AT ITS

SECOND END

𝑎̄ 𝑏̄ 𝑐̄ −𝑎̄ −𝑏̄ 0
𝑏̄ 𝑑̄ 𝑒̄ −𝑏̄ −𝑑̄ 0
𝑐̄ 𝑒̄ 𝑓̄ −𝑐̄ −𝑒̄ 0 𝐸𝐴 3𝐸𝐼
[𝑘] = 𝑎̄ = 𝑐𝑜𝑠 2 ∅ + 𝑠𝑖𝑛2 ∅
−𝑎̄ −𝑏̄ −𝑐̄ 𝑎̄ 𝑏̄ 0 𝑙 𝑙3
−𝑏̄ −𝑑̄ −𝑒̄ 𝑏̄ 𝑑̄ 0
[0 0 0 0 0 0]
𝐸𝐴 3𝐸𝐼
𝑏̄ = ( − 3 ) 𝑠𝑖𝑛 ∅ 𝑐𝑜𝑠 ∅
𝑙 𝑙
3𝐸𝐼 3𝐸𝐼
𝑐̅ = − 2 𝑠𝑖𝑛 ∅  ,  𝑒̅ = 𝑐𝑜𝑠 ∅
𝑙 𝑙2
𝐸𝐴 3𝐸𝐼
𝑑̅ = 𝑠𝑖𝑛2 ∅ + 𝑐𝑜𝑠 2 ∅
𝑙 𝑙3
3𝐸𝐼
𝑓̅ =
𝑙
 TYPE 4: HINGE CONNECTION AT BOTH ENDS (AXIAL MEMBER)

𝑎̅ 𝑏̅ 0 −𝑎̅ −𝑏̅ 0
̅𝑏 𝑐̅ 0 −𝑏̅ −𝑑̅ 0
𝐸𝐴 𝐸𝐴
[𝑘] = 0 0 0 0 0 0 𝑎̅ = 𝑐𝑜𝑠 2 𝜑 , 𝑏̅ = 𝑠𝑖𝑛 𝜑 𝑐𝑜𝑠 𝜑
−𝑎̅ −𝑏̅ 0 𝑎̅ 𝑏̅ 0 ℓ ℓ
−𝑏̅ −𝑐̅ 0 𝑏̅ 𝑐̅ 0
[ 0 0 0 0 0 0]
𝐸𝐴
𝑐̅   =   𝑠𝑖𝑛2 𝜑
ℓ