Applied Linear Algebra 1st Edition Olver Solutions Manual

Applied Linear Algebra 1st Edition
Olver Solutions Manual

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For the exclusive use of adopters of the book Applied Linear Algebra, by Peter J. Olver and Cheri Shakiban. ISBN 0-13-147382-4.
Solutions — Chapter 6
! 0 1 !
18
3 −2 @ 5 A = 3.6
6.1.1. (a) K = ; (b) u = ; (c) the first mass has moved the
−2 3 17 3.4
“ ” 5
17 T
farthest; (d) e = 18 1
5 ,− 5,− 5 = ( 3.6, − .2, − 3.4 )T , so the first spring has stretched
the most, while the third spring experiences the most compression.
! 0 1 !
11
3 −1 @ 5 A 2.2
6.1.2. (a) K = ; (b) u = = ; (c) the second mass has moved the
−1 2 13 2.6
“ ”T 5
farthest; (d) e = 11 2 13
5 , 5,− 5 = ( 2.2, .4, −2.6 )T , so the first spring has stretched the
most, while the third spring experiences even more compression.
! ! !
3 −2 7 7.0
6.1.3. 6.1.1: (a) K = ; (b) u = = ; (c) the second mass has
−2 2 17 8.5
“ ”T 2
moved the farthest; (d) e = 7, 32 = ( 7.0, 1.5 )T , so the first spring has stretched the
most. ! 0 1 !
7
3 −1 2 A = 3.5
6.1.2: (a) K = ; (b) u = @ 13 ; (c) the second mass has moved
−1 1 6.5
“ ”T 2
the farthest; (d) e = 7
2,3 = ( 3.5, 3. )T , so the first spring has stretched slightly farther.
6.1.4.
(a) u = ( 1, 3, 3, 1 )T , e = ( 1, 2, 0, −2, −1 )T . The solution is unique since K is invertible.
(b) Now u = ( 2, 6, 7.5, 7.5 )T , e = ( 2, 4, 1.5, 0 )T . The masses have all moved farther, and
the springs are elongated more; in this case, no springs are compressed.
6.1.5.
(a) Since e1 = u1 , ej = uj − uj+1 , for 2 ≤ j ≤ n, while en+1 = − un , so
e1 + · · · + en+1 = u1 + (u2 − u1 ) + (u2 − u1 ) + · · · + (un − un−1 ) − un = 0.
Alternatively, note that z = ( 1, 1, . . . , 1 )T ∈ coker A and hence z · e = e1 + · · · + en+1 = 0

since e = A u ∈ rng A.
(b) Now there are only n springs, and so
e1 + · · · + en = u1 + (u2 − u1 ) + (u2 − u1 ) + · · · + (un − un−1 ) = un .
1 1
Thus, the average elongation n (e1 + · · · + en ) = n un equals the displacement of the
last mass divided by the number of springs.
♦ 6.1.6. Since the stiffness matrix K is symmetric, so is its inverse K −1 . The basis vector ei
represents a unit force on the ith mass only; the resulting displacement is uj = K −1 ei ,
which is the ith column of K −1 . Thus, (j, i) entry of K −1 is the displacement of the j th
mass when subject to a unit force on the ith mass. Since K −1 is a symmetric matrix, this
is equal to its (i, j) entry, which, for the same reason, is the displacement of the i th mass
when subject to a unit force on the j th mass.
159
♣ 6.1.7. Top and bottom support; constant force:
12
0.4
10
8 0.2
6
20 40 60 80 100
4 -0.2
2
-0.4
20 40 60 80 100
Top and bottom support; linear force:
12
0.2
10
8 20 40 60 80 100
6 -0.2
4
-0.4
2
-0.6
20 40 60 80 100
Top and bottom support; quadratic force:
15
0.4
12.5
10 0.2
7.5
20 40 60 80 100
5
-0.2
2.5
-0.4
20 40 60 80 100
Top support only; constant force:

50 1
40 0.8
30 0.6
20 0.4
10 0.2
20 40 60 80 100 20 40 60 80 100
Top support only; linear force:

1
60
0.8
50
40 0.6
30
0.4
20
0.2
10
20 40 60 80 100 20 40 60 80 100
Top support only; quadratic force:

50 1
40 0.8
30 0.6
20 0.4
10 0.2
20 40 60 80 100 20 40 60 80 100
160
6.1.8.
(a) For maximum displacement of the bottom mass, the springs should be arranged from
weakest at the top to strongest at the bottom, so c1 = c = 1, c2 = c0 = 2, c3 = c00 = 3.
(b) In this case, the order giving maximum displacement of the bottom mass is c 1 = c = 2,
c2 = c0 = 3, c3 = c00 = 1.
♣ 6.1.9.
(a) When the bottom end is free, for maximum displacement of the bottom mass, the springs
should be arranged from weakest at the top to strongest at the bottom. In fact, the
ith elongation is ei = (n − i + 1)/ci . The displacement of the bottom mass is the sum
Xn Xn n−i+1
un = ei = of the elongations of all the springs above it, and achieves
i=1 i=1 ci
its maximum value if and only if c1 ≤ c2 ≤ · · · ≤ cn .
(b) In this case, the weakest spring should be at the bottom, while the remaining springs
are arranged in order from second weakest at the top to strongest just above the last
mass. A proof that this is best would be interesting...
6.1.10.
1 i+1
The sub-diagonal entries of L are li,i−1 = − , while the diagonal entries of D are dii = .
i i
♥ 6.1.11.
(a) Since y = A u, we have y ∈ rng A = corng AT . Thus, according to Theorem 5.59, y has
minimal Euclidean norm among all solutions to AT y = f .
(b) To find the minimal norm solution to AT y = f , we proceed as in Chapter 5, and append
T
the conditions 0
that y is orthogonal
1 to ker A = coker A. In the particular case of Exam-
1 −1 0 0
ple 6.1, AT = B@0 1 −1 0C T T
A, and ker A is spanned by z = ( 1, 1, 1, 1 ) . To find
0 1 0 1
0 0 1 −1 1 −1 0 0 0
B
B0 1 −1 0CC
B C
B1C
the minimal norm solution, we solve the enlarged system B
@0
Cy = B C
0 1 −1 A @0A
1 1 1 1 0
obtained by appending the compatibility condition z · y = 0, whose solution y =
“ ”T
1 1 1 1
2, 2,−2,−2 reproduces the stress in the example.
0 1 0 1
2 −1 0 2 −1 0
B0 3 C B0 3
6.1.12. Regular Gaussian Elimination reduces them to @ 2 1 A, @ 2 1CA , respec-
0 0 34 0 0 1
3
tively. Since all three pivots are positive, the matrices are positive definite.
6.1.13. Denoting the gravitation
0 force by g: 10 1 0 1
1 2 −1 0 u g
B CB 1 C
(a) p(u) = ( u1 u2 u3 ) @ −1 2 −1 A @ u2 A − ( u1 u2 u3 )B
@gA
C
2 0 −1 1 u3 g
= u21 − u1 u2 + u22 − u2 u3 + 21 u23 − g (u1 + u2 + u3 ).
0 10 1 0 1
2 −1 0 0 u1 g
1 B C B C B C
B −1 2 −1 0 C B u2 C BgC
(b) p(u) = ( u1 u2 u3 u4 ) B CB C − ( u 1 u2 u3 u4 ) B C
2 @ 0 −1 2 −1 A @ u3 A @gA
0 0 −1 2 u4 g
= u21 − u1 u2 + u22 − u2 u3 + u23 − u3 u4 + u24 − g (u1 + u2 + u3 + u4 ),
161
0 10 1 0 1
2 −1 0 0 u1 g
B
1 −1 2 −1 0C B C
C B u2 C
B C
BgC
(c) p(u) = ( u 1 u2 u3 u4 ) B
B
@ 0
CB C − ( u 1 u2 u3 u4 ) B C
2 −1 2 −1 A @ u3 A @gA
0 0 −1 1 u4 g
= u21 − u1 u2 + u22 − u2 u3 + u23 − u3 u4 + 1
2 u24 − g (u1 + u2 + u3 + u4 ).
6.1.14. ! ! !
1 3 −2 u1 4
(a) p(u) = ( u1 u2 ) − ( u 1 u2 )
2 −2 3 u 2 3
“ ”
3 2 3 2 ?
= 2 u1 − 2 u1 u2 + 2 u2 − 4 u1 − 3 u2 , so p(u ) = p 3.6, 3.4 = − 12.3.
(b) For instance, p(1, 0) = −2.5, p(0, 1) = −1.5, p(3, 3) = −12.
6.1.15.
(a) p(u) = u21 − 21 u1 u2 +“12
3
4
7 2
u2 − 23”u2 u3 + 127 2
u3 − 12 u3 u4 + 34 u24 − u2 − u3 ,
so p(u? ) = p 1, 3, 3, 1 = − 3.
(b) For instance, p(1, 0, 0, 0) = p(0, 0, 0, 1) = .75, p(0, 1, 0, 0) = p(0, 0, 1, 0) = −.4167.
6.1.16.
(a) Two masses, both ends fixed, c1 = 2, c2 = 4, c3 = 2, f = ( −1, 3 )T ;
equilibrium: u? = ( .3, .7 )T .
(b) Two masses, top end fixed, c1 = 4, c2 = 6, f = ( 0, −2 )T ;
“ ”T
equilibrium: u? = − 21 , − 56 = ( −.5, −.8333 )T .
(c) Three masses, top end fixed, c1 = 1, c2 = 3, c3 = 5, f = ( 1, 1, −1 )T ;
“ ”T
equilibrium: u? = − 21 , − 56 = ( −.5, −.8333 )T .
(d) Four masses, both ends fixed, c1 = 3, c2 = 1, c3 = 1, c4 = 1, c5 = 3, f = ( −1, 0, 2, 0 )T ;
equilibrium: u? = ( −.0606, .7576, 1.5758, .3939 )T .
6.1.17. In both cases, the homogeneous system A u = 0 requires 0 = u1 = u2 = · · · = un , and so
ker A = {0}, proving linear independence of its columns.
6.1.18. This is an immediate consequence of Exercise 4.2.9.
♥ 6.1.19.
(a) When only the top end is supported, the potential energy is lowest when the springs are
arranged from weakest at the top to strongest at the bottom: c1 = c = 1, c2 = c0 = 2,
c3 = c00 = 3, with energy − 17
3 = −5.66667 under a unit gravitational force.
(b) When both ends are fixed, the potential energy is minimized when either the springs are
in the order c1 = c = 1, c2 = c0 = 3, c3 = c00 = 3 or the reverse order c1 = c = 2,
15
c2 = c0 = 3, c3 = c00 = 1, both of which have energy − 22 = −.681818 under a unit
gravitational force.
6.1.20. True. The potential energy function (6.16) uniquely determines the symmetric stiffness
matrix K and the external force vector f . According to (6.12), (6.15), the off-diagonal en-
tries of K determine the individual spring constants c2 , . . . , cn of all but the first and (if
there is one) last springs. But once we know c2 and cn , the remaining one or two con-
stants, c1 and cn+1 , are uniquely prescribed by the (1, 1) and (n, n) entries of K. If cn+1 =
0, then the bottom end is not attached to a support. Thus, the potential energy uniquely
prescribes the entire mass–spring chain.
162
6.2.1. (a) (b)
(c) (d) (e)
0 1
1 −1 0 0 0 10 1 0 1
B1 0 −1 0C 3 −1 −1 u 3
B C
B 1C
6.2.2. (a) A = B
B1
B
0 0 −1 C
C;
C
(b) B
@ −1 3 −1 C B C
A @ u 2 A = @ 0 A.
@0 1 −1 0A −1 −1 2 u3 0
0 1 0 −1
“ ”T
(c) u = 15 9 3
8 , 8, 2 = ( 1.875, 1.125, 1.5 )T ;
“ ”T
(d) y = v = A u = 34 , 38 , 15 3 9
8 , −8, 8 = ( .75, .375, 1.875, − .375, 1.125 )T .
(e) The bulb will be brightest when connected to wire 3, which has the most current
flowing through.
0 1
1 −1
B1 0C
B C
6.2.3. The reduced incidence matrix is A? = B B1
B
0 C
C, and the equilibrium equations are
C
@0 1A
00 11
! ! 9 !
3 −1 3 @ 8 A 1.125
u = , with solution u = = ; the resulting currents are
−1 3 0 3 .375
“ ”T 8
y = v = A u = 34 , 98 , 98 , 83 , 38 = ( .75, 1.125, 1.125, .375, .375 )T . Now, wires 2 and 3
both have the most current. Wire 1 is unchanged; the current in wires 2 has increased; the
current in wires 3, 5 have decreased; the current in wire 4 has reversed direction.
0 1
1 −1 0 0 0
B0 0 34 1
B 1 −1 0 0CC 0 1
B
B1
C B 35 C .9714
0 −1 0 0C B 23 C B C
B
B1
C B 35 C B .6571 C
6.2.4. (a) A = B 0 0 −1 0CC; (b) u = B
B 19
C
C
=B C;
@ .5429 A
B
B0 1 0 −1 0CC @ 35 A
B
@0
C 16 .4571
0 1 0 −1 A 35
0 0 0 1 −1
“ ”T
y= 11 4 3 9 1 19 16
35 , 35 , 7 , 35 , 5 , 35 , 35 = ( .3143, .1143, .4286, .2571, .2000, .5429, .4571 )T ;
(c) wire 6.
6.2.5. (a) Same incidence matrix; (b) u = ( .4714, −.3429, .0429, −.0429 )T ;
y = ( .8143, −.3857, .4286, .2571, −.3000, .0429, −.0429 )T ; (c) wire 1.
♠ 6.2.6. None.
163
♠ 6.2.7. There is no current on the two wires connecting the same poles of the batteries (positive-
positive and negative-negative) and 2.5 amps along all the other wires.
♠ 6.2.8.
(a) The potentials remain the same, but the currents are all twice as large.
(b) The potentials are u = ( −4.1804, 3.5996, −2.7675, −2.6396, .8490, .9376, −2.0416, 0. ) T ,
while the currents are
y = ( 1.2200, −.7064, −.5136, .6876, .5324, −.6027, −.1037, −.4472, −.0664, .0849, .0852, −.1701 ) T .
♣ 6.2.9. Resistors 3 and 4 should be on the battery wire and the opposite wire — in either or-
der. Resistors 1 and 6 are connected to one end of resistor 3 while resistors 2 and 5 are
connected to its other end; also, resistors 1 and 5 are connected to one end of resistor 4
while resistors 2 and 6 are connected to its other end. Once the wires are labeled, there
are 8 possible configurations. The current through the light bulb is .4523.
♣ 6.2.10.
(a) For n = 2, the potentials are
0 1
1 1 1 0 1
B 16 8 16 C .0625 .125 .0625
B C
B
@
1
8
3
8
1
8
C
A
=B
@ .125 .375 .125 CA.
1 1 1 .0625 .125 .0625
16 8 16
The currents along the horizontal wires are
0 1
1 1 1 1 0 1
B − 16 − 16 16 16 C −.0625 −.0625 .0625 .0625
B C
B
@ − 18 − 14 1
4
1
8
C
A
=B
@ −.125 −.25 .25 .125 CA,
1
− 16 1
− 16 1 1 −.0625 −.0625 .0625 .0625
16 16
where all wires are oriented from left to right, so the currents are all going away from
the center. The currents in the vertical wires are given by the transpose of the matrix.
For n = 3, the potentials are
0 1
.0288 .0577 .0769 .0577 .0288
B .0577 .125 .1923 .125 .0577 C
B C
B
B .0769
B
.1923 .4423 .1923 .0769 C
C.
C
@ .0577 .125 .1923 .125 .0577 A
.0288 .0577 .0769 .0577 .0288
0 1
−.0288 −.0288 −.0192 .0192 .0288 .0288
B −.0577 −.0673 −.0673 .0673 .0673 .0577 C
B C
B
B −.0769
B
−.1153 −.25 .25 .1153 .0769 C
C,
C
@ −.0577 −.0673 −.0673 .0673 .0673 .0577 A
−.0288 −.0288 −.0192 .0192 .0288 .0288
the center. The currents in the vertical wires are given by the transpose of the matrix.
For n = 4, the potentials are
0 1
.0165 .0331 .0478 .0551 .0478 .0331 .0165
B .0331 .0680 .1029 .125 .1029 .0680 .0331 C
B C
B C
B .0478 .1029 .1710 .2390 .1710 .1029 .0478 C
B C
B .0551 .125 .2390 .4890 .2390 .125 .0551 C
B C.
B
B .0478 .1029 .1710 .2390 .1710 .1029 .0478 C
C
B C
@ .0331 .0680 .1029 .125 .1029 .0680 .0331 A
.0165 .0331 .0478 .0551 .0478 .0331 .0165
164

0 1
−.0165 −.0165 −.0147 −.0074 .0074 .0147 .0165 .0165
B −.0331 −.0349 −.0349 −.0221 .0221 .0349 .0349 .0331 C
B C
B C
B −.0478 −.0551 −.0680 −.0680 .0680 .0680 .0551 .0478 C
B C
B −.0551 −.0699 −.1140 −.25 .25 .1140 .0699 .0551 C
B C,
B
B −.0478 −.0551 −.0680 −.0680 .0680 .0680 .0551 .0478 C
C
B C
@ −.0331 −.0349 −.0349 −.0221 .0221 .0349 .0349 .0331 A
−.0165 −.0165 −.0147 −.0074 .0074 .0147 .0165 .0165
the center source. The currents in the vertical wires are given by the transpose of the
matrix.
As n → ∞ the potentials approach a limit, which is, in fact, the fundamental so-
lution to the Dirichlet boundary value problem for Laplace’s equation on the square,
[ 47, 59 ]. The horizontal and vertical currents tend to the gradient of the fundamental
solution. But this, of course, is the result of a more advanced analysis beyond the scope
of this text. Here are graphs of the potentials and horizontal currents for n = 2, 3, 4, 10:
6.2.11. This is an immediate consequence of Theorem 5.59, which states that the minimum
norm solution to AT y = f is characterized by the condition y = corng AT = rng A. But,
solving the system AT A u = f results in y = A u ∈ rng A.
6.2.12.
(a) (i) u = ( 2, 1, 1, 0 )T , y = ( 1, 0, 1 )T ; (ii) u = ( 3, 2, 1, 1, 0 )T , y = ( 1, 1, 0, 1 )T ;
(iii) u = ( 3, 2, 1, 1, 1, 0 )T , y = ( 1, 1, 0, 0, 1 )T ; (iv ) u = ( 3, 2, 2, 1, 1, 0 )T ,
y = ( 1, 0, 1, 0, 1 )T ; (v ) u = ( 3, 2, 2, 1, 1, 1, 0 )T , y = ( 1, 0, 1, 0, 0, 1 )T .
(b) In general, the current only goes through the wires directly connecting the top and bot-
tom nodes. The potential at a node is equal to the number of wires transmitting the
current that are between it and the grounded node.
6.2.13. “ ”T “ ”T
(i) u = 23 , 12 , 0, 0 , y = 1, 12 , 1
2 ;
165
“ ”T “ ”
5 3 1 1 1 T
(ii) u = ,
2 2 2 , , 0, 0 , y = 1, 1, ,
2 2 ;
“ ”T “ ”
7 4 1 1 1 1 T
(iii) u = 3 , 3 , 3 , 0, 0, 0 , y = 1, 1, 3 , 3 , 3 ;
“ ”T “ ”
8 3 1 3 2 1 1 T
(iv ) u = 5 , 5 , 0, 5 , 0, 0 , y = 1, 5 , 5 , 5 , 5 ;
“ ”T “ ”T
11 4 1
(v ) u = 7 , 7 , 0, 7 , 0, 0 , y = 1, 74 , 37 , 17 , 17 , 17 .
6.2.14. According to Exercise 2.6.8(b), a tree with n nodes has n − 1 edges. Thus, the reduced
incidence matrix A? is square, of size (n − 1) × (n − 1), and is nonsingular since the tree is
connected.
6.2.15.
(a) True, since they satisfy the same systems of equilibrium equations K u = − A T C b = f .
(b) False, because the currents with the batteries are, by (6.37), y = C v = C A u + C b,
while for the current sources they are y = C v = C A u.
6.2.16. In general, if v1 , . . . , vm are the rows of the (reduced) incidence matrix A, then the re-
m
X
sistivity matrix is K = AT C A = ci viT vi . (This relies on the fact that C is a diagonal
i=1
matrix.) In the situation described in the problem, two rows of the incidence matrix are
the same, v1 = v2 = v, and so their contribution to the sum will be c1 vT v + c2 vT v =
(c1 + c2 )vT v = c vT v, which is the same contribution as a single wire between the two
vertices with conductance c = c1 + c2 . The combined resistance is
1 1 1 R1 R2
R= = = = .
c c1 + c 2 1/R1 + 1/R2 R1 + R 2
6.2.17.
(a) If f are the current sources at the nodes and b the battery terms, then the nodal volt-
age potentials satisfy AT C A u = f − AT C b.
(b) By linearity, the combined potentials (currents) are obtained by adding the potentials
(currents) due to the batteries and those resulting from the current sources.
♦ 6.2.18. The resistivity matrix K ? is symmetric, and so is its inverse. The (i, j) entry of (K ? )−1
is the ith entry of uj = (K ? )−1 ej , which is the potential at the ith node due to a unit cur-
rent source at the j th node. By symmetry, this equals the (j, i) entry, which is the potential
at the j th node due to a unit current source at the ith node.
6.2.19. If the graph has k connected subgraphs, then there are k independent compatibility
conditions on the unreduced equilibrium equations K u = f . The conditions are that the
sum of the current sources at the nodes on every connected subgraph must be equal to
zero.
6.3.1. 8 cm
6.3.2. The bar will be stress-free provided the vertical force is 1.5 times the horizontal force.
6.3.3.
(a) For a unit horizontal force on the two nodes, the displacement vector is
u = ( 1.5, − .5, 2.5, 2.5 )T , so the left node has moved slightly down and three times as
far to the right, while the right node has moved five times as far up and to the right.
Note that the force on the left node is transmitted through the top bar to the right
node, which explains why it moves significantly further. The stresses are
166
e = ( .7071, 1, 0, − 1.5811 )T , so the left and the top bar are elongated, the right bar is
stress-free, and the reinforcing bar is significantly compressed.
(b) For a unit horizontal force on the two nodes, u = ( .75, −.25, .75, .25 )T so the left node
has moved slightly down and three times as far to the right, while the right node has
moved by the same amount up and to the right. The stresses are e = (.353553, 0.,
−.353553, −.790569, .79056)T , so the diagonal bars fixed at node 1 are elongated, the
horizontal bar is stress-free, while the bars fixed at node 4 are both compressed. the re-
inforcing bars experience a little over twice the stress of the other two diagonal bars.
6.3.4. The swing set cannot support a uniform horizontal force, since f1 = f2 = f ,
g1 = g2 = h1 = h2 = 0 does not satisfy the constraint for equilibrium. Thus, the swing
set will collapse. For the reinforced version, under a horizontal force of magnitude f , the
displacements of the two free nodes are ( 14.5 f, 0, −3 f )T and ( 14.5 f, 0, 3 f )T respectively,
so the first node has moved down and in the direction of the force, while the second node
has moved up and in the same horizontal direction. The corresponding elongation vector is
e = ( 1.6583 f, 1.6583 f, 0, −1.6583 f, −1.6583 f, −3 f, −3 f )T ,
and so the horizontal bar experiences no elongation; the diagonal bars connecting the first
node are stretched by an amount 1.6583 f , the diagonals connecting the second node are
compressed by the same amount, while the reinforcing vertical bars are, respectively, com-
pressed and stretched by an amount 3 f .
0 1 3 1
0 1 0 0 u1 −
B C 2 2 v1 − u2 = 0,
B −1 0 1 0
C 1 3
B
B 0 0 0 C
1
C − 2 u1 + 2 v1 = 0,
♥ 6.3.5. (a) A = B C; (b)
B 0 0 √1 1
√ C − u1 + 3 1
B
@ 2 2C
A 2 u2 + 2 v2 = 0,
− √1 √1 0 0 1 3
2 2 2 u2 + 2 v2 = 0.
3! !
2 , −1
(c) Stable, statically indeterminate. (d) Write down f = K e1 , so f1 = f2 = .
− 12 0
The horizontal bar; it is compressed by −1; the upper left to lower right bar is compressed
− √1 , while all other bars are stress free.
2
♥ 6.3.6. Under a uniform horizontal force, the displacements and stresses are: Non-joined version:
“ √ √ ”T
u = ( 3, 1, 3, −1 )T , e = 1, 0, −1, 2, − 2 ; Joined version: u = ( 5, 1, 5, −1, 2, 0 )T ,
“ √ √ √ √ ”T
e = 1, 0, −1, 2, − 2, 2, − 2 ; Thus, joining the nodes causes a larger horizontal
displacement of the upper two nodes, but no change in the overall stresses on the bars.
Under a uniform vertical force, the displacements and elongations are:
Non-joined version:
“ ”
1 5 T
u= 1 5
7, 7, −7, 7 = ( .1429, .7143, − .1429, .7143 )T ,
„ √ √ «T
e= 5 2 2
7,
2 2 2 5
7 , −7, 7 , 7 = ( .7143, − .2857, .7143, .4041, .4041 )T ;
Joined version:
u = ( .0909, .8182, − .0909, .8182, 0, .3636 )T ,
e = ( .8182, − .1818, .8182, .2571, .2571, .2571, .2571 )T ;
Thus, joining the nodes causes a larger vertical displacement, but smaller horizontal dis-
placement of the upper two nodes. The stresses on the vertical bars increases, while the
horizontal bar and the diagonal bars have less stress (in magnitude).
167
0 1
6.3.7. 0 1 0 0 0 0
B C
B
B − √1 − √1 √1 √1 0 C
C0
B 2 2 2 2 C.
(a) A = B C
B
@
0 0 − √1 √1 √1 1
−√ C
2 2 2 2A
0 0 0 0 0 1
(b) There are two mechanisms: u1 = ( 1, 0, 1, 0, 1, 0 )T , where all three nodes move by the
same amount to the right, and u2 = ( 2, 0, 1, 1, 0, 0 )T , where the upper left node moves
to the right while the top node moves up and to the right.
(c) f1 + f2 + f3 = 0, i.e., no net horizontal force, and 2 f1 + f2 + g2 = 0.
(d) You need to add additional two reinforcing bars; any pair, e.g. connecting the fixed
nodes to the top node, will stabilize the structure.
♥ 6.3.8. 0 1
0 1 0 0 0 0
B C
B
B − √3 − √1 √3 √1 0 0 C
C
B 10 10 10 10 C
B C
(a) A = B
B −1 0 0 0 1 0 C C
B C
B 0 0 − √3 √1 √3 − √1 C
@ 10 10 10 10 A
0 0 0 0 0 1
0 1
0 1 0 0 0 0
B − .9487 − .3162 .9487 .3162 0 0 C
B C
=B B −1
B
0 0 0 1 0 C
C;
C
@ 0 0 − .9487 .3162 .9487 − .3162 A
0 0 0 0 0 1
(b) One instability: the mechanism of simultaneous horizontal motion of the three nodes.
(c) No net horizontal force: f1 + f2 + f3 = 0. For example, if f1 = f2 = f3 = ( 0, 1 )T , then
„ q q «T
e = 23 , 52 , − 32 , 52 , 32 = ( 1.5, 1.5811, −1.5, 1.5811, 1.5 )T , so the compressed di-
agonal bars have slightly more stress than the compressed vertical bars or the elongated
horizontal bar.
(d) To stabilize, add in one more bar starting at one of the fixed nodes and going to one of
the two movable nodes not already connected to it.
„ q q «T
(e) In every case, e = 23 , 52 , − 32 , 52 , 32 , 0 = ( 1.5, 1.5811, −1.5, 1.5811, 1.5, 0 )T , so the
stresses on the previous bars are all the same, while the reinforcing bar experiences no
stress. (See Exercise 6.3.21 for the general principle.)
♣ 6.3.9. Two-dimensional house:
0 1
0 1 0 0 0 0 0 0 0 0
B C
B 0 −1 0 1 0 0 0 0 0 0 C
B C
B C
B −1 0 0 0 0 0 0 0 1 0 C
B C
B C
(a) A = B
B 0 0 − √2 − √1 √2 √1 0 0 0 0 C
C;
B 5 5 5 5 C
B C
B
B
0 0 0 0 − 2
√ √1 √2 − √1 0 0 C
C
B 5 5 5 5 C
B
@ 0 0 0 0 0 0 0 1 0 −1 C
A
0 0 0 0 0 0 0 0 0 1
(b) 3 mechanisms: (i) simultaneous horizontal motion of the two middle nodes; (ii) simultaneous
horizontal motion of the three upper nodes; (iii) the upper left node moves horizon-
tally to the right by 1 unit, the top node moves vertically by 1 unit and to the right by
1
2 a unit.
168
(c) Numbering the five movable nodes in order starting at the middle left, the correspond-
ing forces f1 = ( f1 , g1 )T , . . . , f5 = ( f5 , g5 )T must satisfy: f1 + f5 = 0, f2 + f3 +
f4 = 0, f2 + 12 f3 + g3 = 0. When f1 = f2 = f4 = f5 = ( 0, 1 )T , f3 = 0,
then e = ( 2, 1, 0, 0, 0, 1, 2 )T , so the lower vertical bars are compressed twice as much
as the upper vertical bars, while the horizontal and diagonal bars experience no elon-
gation or stress. When f1 = f5 = 0, − f2 = f4 = ( 1, 0 )T , f3 = ( 0, 1 )T , then
„ √ √ «T
1 1 5 5 1 1
e = 2 , 2 , 2 , 0, 2 , 2 , 2 , so all the vertical bars are compressed by .5, the di-
agonal bars slightly more than twice as compressed, while the horizontal bar has no
stress.
(d) To stabilize the structure, you need to add in at least three more bars.
(e) Suppose we add in an upper horizontal bar and two diagonal bars going from lower left
to upper right. For the first set of forces, e = ( 2, 1, 0, 0, 0, 1, 2, 0, 0, 0 )T ; for the second
„ √ √ «T
set of forces, e = 12 , 12 , 25 , 0, 25 , 12 , 12 , 0, 0, 0 . In both cases, the stresses remain
the same, and the reinforcing bars experience no stress.
Three-dimensional house:
(a)
0
0 0 1 0 0 0 0 0 0
B 0
B − √1 − √1 0 √1 √1 0 0 0
B 2 2 2 2
B 0 −1 0 0 0 0 0 1 0
B
B
B 0 0 0 0 − √1 √1 0 √1 − √1
B 2 2 2 2
B
B 0 0 0 0 0 0 0 0 1
B
B −1 0 0 0 0 0 0 0 0
B
A= B 0
B 0 0 −1 0 0 0 0 0
B
B 0 0 0 0 0 0 −1 0 0
B
B 0 0 0 0 0 0 0 0 0
B
B 0 0 0 0 0 0 0 0 0
B
B
B 0 0 0 0 0 0 0 0 0
B
@ 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0
1
0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 C
C
C
0 0 0 0 0 0 0 0 0 C
C
0 0 0 0 0 0 0 0 0 C
C
0 0 0 0 0 0 0 0 0 C
C
C
1 0 0 0 0 0 0 0 0 C
C
0 0 0 1 0 0 0 0 0 C
C;
C
0 0 0 0 0 0 1 0 0 C
C
0 0 1 0 0 0 0 0 0 C
C
0 − √1 − √1 0 √1 √1 0 0 0 C
C
2 2 2 2 C
0 −1 0 0 0 0 0 1 0 C
C
0 0 0 0 − √1 √1 0 √1 − √ C
1
A
2 2 2 2
0 0 0 0 0 0 0 0 1
(b) 5 mechanisms: horizontal motion of (i) the two topmost nodes in the direction of the
bar connecting them; (ii) the two right side nodes in the direction of the bar connect-
ing them; (iii) the two left side nodes in the direction of the bar connecting them;
169
(iv ) the three front nodes in the direction of the bar connecting the lower pair; (v ) the
three back nodes in the direction of the bar connecting the lower pair.
(c) Equilibrium requires no net force on each unstable pair or nodes in the direction of the
instability.
(d) For example, when the two topmost nodes are subject to a unit downwards vertical
force, the vertical bars have elongation/stress − 21 , the diagonal bars have √1 = .7071,
2
1
while the front and back horizontal bars have 2. The longer horizontal bars have no
stress.
(e) To stabilize, you need to add in at least five more bars, e.g., two diagonal bars across
the front and back walls and a bar from a fixed node to the opposite topmost node.
In all cases, if a minimal number of reinforcing bars are added, the stresses remain
the same on the old bars, while the reinforcing bars experience no stress. See Exercise
6.3.21 for the general result.
♥ 6.3.10.
(a) Letting wi denote the vertical displacement and hi the vertical component of the force
on the ith mass, 2 w1 − w2 = h1 , − w1 + 2 w2 − w3 = h2 , − w2 + w3 = h3 . The system is
statically determinate and stable.
(b) Same equilibrium equations, but now the horizontal displacements u1 , u2 , u3 are arbi-
trary, and so the structure is unstable — there are three independent mechanisms cor-
responding to horizontal motions of each individual mass. To maintain equilibrium, the
horizontal force components must vanish: f1 = f2 = f3 = 0.
(c) Same equilibrium equations, but now the two horizontal displacements u 1 , u2 , u3 , v1 , v2 , v3
are arbitrary, and so the structure is unstable — there are six independent mechanisms
corresponding to the two independent horizontal motions of each individual mass. To
maintain equilibrium, the horizontal force components must vanish: f1 = f2 = f3 =
g1 = g2 = g3 = 0.
♥ 6.3.11.
(a) The incidence matrix is
0 1
1 −1
B −1 1 C
B C
B C
B
B
−1 1 C
C
A= B
B −1 1 C
C
B .. .. C
B C
@ . . A
−1 1
of size n × n. The stiffness matrix is
0 1
c1 + c 2 − c2 − c1
B − c 2 c2 + c 3 − c3 C
B C
B C
B
B
− c3 c3 + c 4 − c4 C
C
B
B − c4 c4 + c 5 − c5 C
C
K = AT C A = B
B
C,
C
B
B .. .. .. C
C
B . . . C
B C
B C
@ − cn−1 cn−1 + cn − cn A
− cn − c n cn + c 1
and the equilibrium system is K u = f .
(b) Observe that ker K = ker A is one-dimensional with basis vector z = ( 1, 1, . . . , 1 ) T .
Thus, the stiffness matrix is singular, and the system is not stable. To maintain equilib-
rium, the force f must be orthogonal to z, and so f1 + · · · + fn = 0, i.e., the net force on
170
the ring is zero.

(c) For instance, if c1 = c2 = c3 = c4 = 1, and f = ( 1, −1, 0, 0 )T , then the solution is
“ ”T
u = 14 , − 12 , − 14 , 0 + t ( 1, 1, 1, 1 )T for any t. Nonuniqueness is telling us that the
masses can all be moved by the same amount, i.e., the entire ring is rotated, without
affecting the force balance at equilibrium.
♣ 6.3.12.
(a)
0 1
−1 0 0 1 0 0 0 0 0 0 0 0
B C
B 0 −1 0 0 0 0 0 1 0 0 0 0
C
B C
B 0 0 −1 0 0 0 0 √1 0 0 0 0
C
B 2 C
B C
A= B
B 0 0 0 √1 − √1 0 − √1 0 0 0 0 1 CC;
B 2 2 2 C
B C
B 0 0 0 √1 0 − √1 0 0 0 − √1 0 1
√ C
B 2 2 2 2C
@ A
0 0 0 0 0 0 0 √1 − √1 0 − √1 √1
2 2 2 2
0 1 0 1 0 1 0 1 0 1 0 1
1 0 0 0 0 0
B0C B1C B0C B 0C B 0C B 0C
B C B C B C B C B C B C
B0C B1C B0C B 0C B 0C B −1 C
B0C B0C B1C B 0C B −1 C B 0C
(b) v1 = B C, v2 = B C, v3 = B C, v4 = B C B C B C
B1C B0C B0C B 0 C, v5 = B 0 C, v6 = B 1 C;
B0C B0C B1C B −1 C B 0C B 0C
@0A @1A @0A @ 1A @ 0A @ 0A
0 0 1 0 0 0
(c) v1 , v2 , v3 correspond to translations in, respectively, the x, y, z directions;
(d) v4 , v5 , v6 correspond to rotations around, respectively, the x, y, z coordinate axes;
0 1
1 0 0 −1 0 0 0 0 0 0 0 0
B 0 1 0 0 0 0 0 −1 0 0 0 0C
B C
B
B 0
B
0 1 0 0 0 0 0 0 0 0 −1 C
C
C
B −1
B 0 0 2 − 21 − 12 − 12 2
1
0 − 12 0 1C
2C
B C
B 0
B 0 0 − 21 1
2 0 1
2 − 21 0 0 0 0CC
B C
B 0
B 0 0 − 21 0 1
2 0 0 0 1
2 0 − 12 C
C
(e) K = B
B 0 0 0 − 21 1
0 1
− 21 0 0 0 0C
C;
B 2 2 C
B 1 1 1C
B 0
B
−1 0 2 −2 0 − 12 2 − 21 0 − 12 2C
C
B 1C
B 0
B
0 0 0 0 0 0 − 21 1
2 0 1
2 −2 C C
B
B 0
B
0 0 − 21 0 1
2 0 0 0 1
2 0 − 12 C
C
C
B 1 1 1 1C
@ 0 0 0 0 0 0 0 −2 2 0 2 −2 A
1
0 0 −1 2 0 − 12 0 1
2 − 12 − 12 − 12 2
171
(f ) For fi = ( fi , gi , hi )T we require f1 + f2 + f3 + f4 = 0, g1 + g2 + g3 + g4 = 0,
h1 + h2 + h3 + h4 = 0, h3 = g4 , h2 = f4 , g2 = f3 , i.e., there is no net horizontal force
and no net moment of force around any axis.
(g) You need to fix three nodes. Fixing two still leaves a rotation motion around the line
connecting them.
(h) Displacement of the top node: u4 = ( −1, −1, −1 )T ; since e = ( −1, 0, 0, 0 )T , only the
vertical bar experiences compression of magnitude 1.
♣ 6.3.13.
(a)
0 1 0 1 0 1 0 1
√1 1 1
− √ − √ 0
B 3C B 2 3 C B 2 3 C B C
B C B C B C B 0 C
Placing the vertices at B 0 C,
@ A
B
@
1 C,
A
B
@ − 12 C,
A
B
@ √ C,
A
we obtain
2
√2
0 0 0 3
0 3 1
√ − 12 0 − √3 1
2 0 0 0 0 0 0 0
B 2 2 C
B 3 1 C
B√
B 2 2 0 0 0 0 − √3 − 12 0 0 0 0 C
C
B √ 2 √ C
B 1 C
B√
B 3 0 − √2 0 0 0 0 0 0 − √1 0 √2 C
C
A= B 3 3 3 C;
B C
B 0 0 0 0 1 0√ 0 −1 0 0 0 0 C
B √ C
B 1 1 C
B 0
B 0 0 − √
2 − √2 0 0 0 1
√ − 12 √2 C
C
@ 2 3 3 √ 2 3 √3 A
1
0 0 0 0 0 0 − √ − 12 − √2 1
√ 1
2
√2
2 3 3 2 3 3
0
1 0 1 0 1 0 √ 1 0 0 √ 1 1
1 0 0 −√ 2 0 −√2
B0C B1C B0C B
B C
B C
B C
B C
B C
B C
B
B
6 C
C
C
B −2 C
B
B
C
C
B
B − 6 C
B
C
C
B0C B0C B1C
B 0 C
B −1 C B √ C B −1 C
B C
B1C
B C
B0C
B C
B0C
B √ C
B −2 2 C B
B C
B C B C B C B C B 3 C
C
B
B 0 CC
B0C B1C B0C B 0 C B 1 C B 0 C
(b) v1 = B C, v = B C, v = B C, v = B C , v = B √ C, v = B √ C;
B1C 2 B0C 3 B0C 4 B C 5 B− 3C 6 B C
B C B C B C B 0 C B C B −2 2 C
@0A @1A @0A @ 0 A @ 0 A @ 0 A
0 0 1 0 0 0
(c) v1 , v2 , v3 correspond to translations in, respectively, the x, y, z directions;
(d) v4 , v5 , v6 correspond to rotations around the top node;
172
(e) K =
0 √ √ √ √ 1
11 2
B 6 0 − 3 − 43 4
3
0 − 34 − 4
3
0 − 13 0 3
2
C
B √ √ C
1 3
B 0
B √ 2 0 4 − 41 0 − 4
3
− 14 0 0 0 0 C
C
B √ C
B 2 2 2 C
B− 3
B
0 3 0 0 0 0 0 0 3 0 − 23 C
C
√
B C
B −3 3
0 5
− √1 √1
0 0 0 − 121 1
√ − √1 C
B 4 4 6 3 3 2 4 3 3 2 C
B √ C
B 3 C
B
B 4 − 14 0 − √1 3
2 − √1 0 −1 0 1
√ − 41 √1 C
C
B 3 6 4 3 6 C
B 1 C
B 0 0 0 √ − √1 2
3 0 0 0 − √ 1 √1 − 23 C
B √ 3 2 6 3 2 6 C
B C.
B 3 C
B −4 − 43 0 0 0 0 5
6
√1 1
√ − 121
− √ 1
− √ 1
C
B √ 3 3 2 4 3 3 2 C
B C
B 3 C
B− 4 − 14 0 0 −1 0 √1 3
2
√1 − √ 1
− 41 − √1 C
B 3 6 4 3 6 C
B 1 C
B 0 0 0 0 0 0 √ √1 2
− √ 1
− √1 − 23 C
B 3 2 6 3 3 2 6 C
B √ C
B C
B −1 0 2 1
− 12 1
√ − √1
− 121
− √ 1
− √ 1 1
0 0 C
B 3 3 4 3 3 2 4 3 3 2 2 C
B C
B 1 C
B 0 0 0 √ − 14 √1 − √ 1
− 41 − √1 0 1
2 0 C
B √ 4 3 6 4 3 6 C
@ A
2
3 0 − 23 − √1 √1 − 23 − √ 1
− √1 −3 2
0 0 2
3 2 6 3 2 6
(f ) For fi = ( fi , gi , hi )T we require
√ √ √
f1 + f2 + f3 + f4 = 0, − 2 f1 + 6 g1 − h1 − 2 2 f2 + h2 = 0,
√ √
g1 + g2 + g3 + g4 = 0, − 2 g1 + 3 f2 + g2 − 3 f3 + g3 = 0,
h1 + h2 + h3 + h4 = 0, √ √ √
− 2 f1 − 6 g1 − h1 − 2 2 f3 + h3 = 0,
i.e., there is no net horizontal force and no net moment of force around any axis.
(g) You need to fix three nodes. Fixing only two nodes still permits a rotational motion
around the line connecting them.
“ ”T
(h) Displacement of the top node: u = 0, 0, − 21 ; all the bars connecting the top node
experience compression of magnitude √1 .
6
6.3.14. True, since stability only depends on whether the reduced incidence matrix has trivial
kernel or not, which depends only on the geometry, not on the bar stiffnesses.
6.3.15. (a) True. Since K u = f , if f 6= 0 then u 6= 0 also. (b) False if the structure is unsta-
ble, since any u ∈ ker A yields a zero elongation vector y = A u = 0.
6.3.16.
(a) 3 n.
(b) Example: a triangle each of whose nodes is connected
to the ground by two additional, non-parallel bars.
♦ 6.3.17. As in Exercise 6.1.6, this follows from the symmetry of the stiffness matrix K, which
implies that K −1 is a symmetric matrix. Let fi = ( 0, . . . , 0, n, 0, . . . , 0 )T denote the force
vector corresponding to a unit force at node i applied in the direction of the unit vector n.
The resulting displacement is ui = K −1 fi , and we are interested the displacement of node j
in the direction n, which equals the dot product fj · ui = fjT K −1 fi = (K −1 fj )T fi = fi · uj ,
proving equality.
173
6.3.18. False in general. If the nodes are collinear, a rotation around the line through the nodes
will define a rigid motion. If the nodes are not collinear, then the statement is true.
6.3.19. Since y = e = A u ∈ rng A = corng AT , which, according to Theorem 5.59, is the
condition for the solution of minimal norm to the adjoint equation.
♦ 6.3.20.
(a) We are assuming that f ∈ rng K = corng A = rng AT , cf. Exercise 3.4.31. Thus, we can
write f = AT h = AT C g where g = C −1 h.
(b) The equilibrium equations K u = f are AT C A u = AT C g which are the normal equa-
tions (4.57) for the weighted least squares solution to A u = g.
♥ 6.3.21. Let A be the reduced incidence matrix of the structure, so the equilibrium equations are
AT C A u = f , where we are assuming f ∈ rng K = rng AT C A. We use Exercise 6.3.20 to
write f = AT C g and characterize u as the weighted least squares solution to A u = g, i.e.,
the vector that minimizes the weighted norm k A u − g k2 . !
e A
Now, the reduced incidence matrix for the reinforced structure is A = where
B
the rows of B represent the reinforcing bars. The structure will be stable if and only if
corng Ae = corng A + corng B = R n , and the number of bars is minimal if and only if
corng A ∩ corng B = {0}. Thus, corng A and corng B are complementary subspaces of
R n , which implies, as in Exercise 5.6.12, that their orthogonal complements ker A and ker B
are also complementary subspaces, so ker A + ker B = R n , ker A ∩ ker B = {0}.
The reinforced equilibrium equations for the new displacement v are A eT CeA e v = AT C A v+
T
B D B v = f , where D is the diagonal
! matrix whose entries are the stiffnesses of the rein-
!
e C O T T T e T e g
forcing bars, while C = . Since f = A C g = A C g + B D 0 = A C ,
O D 0
again using Exercise 6.3.20, the reinforced displacement v is the least squares solution to
the combined system
A v = g, B v = 0, i.e., the vector that minimizes the combined weighted norm k A v − b k 2 +
k B v k2 . Now, since we are using the minimal number of bars, we can uniquely decom-
pose v = z + w where z ∈ ker A and w ∈ ker B, we find k A v − b k2 + k B v k2 =
k A w − b k2 + k B z k2 . Clearly this will be minimized if and only if B z = 0 and w min-
imizes k A w − b k2 . Therefore, w = u ∈ ker B, and so the entries of B u = 0 are the
elongations of the reinforcing bars.
♥ 6.3.22.
0 3 1 1
0 1 2 2 −1 0 0
B C
√1 √1 0 0 0C B 1 1
0 0 0C
B 2 2 B 2 2 C
B C B C
(a) A? = B
B −1 0 1 0 0C
? ? ?
C; K u = f where K =
−1 0 3 1
2 −2 −2 C
B
B
1 C.
@ 1 1 A B C
0 −√ 0 √ √1 0 0 − 1 1 B
@
1C
2 2 2 2 2 2A
1 1 1
0 0 −2 2 2
(b) Unstable: there are two mechanisms prescribed by the kernel basis elements ( 1, −1, 1, 1, 0 ) T ,
which represents the same mechanism as when the end is fixed, and ( 1, −1, 1, 0, 1 ) T , in
which the roller and the right hand node move horizontally to the right, while the left
node moves down and to the right.
174
♥ 6.3.23. 0 1
√1 √1 0 0 0
B 2 2 C
B C
(a) A? = B
B − 1 0 1 0 0 C;
C
@ A
0 0 − √1 √1 − √1
2 2 2
0 3 1 1
2 2 −1 0 0
B 1 1 C
B 0 0 0C
B 2 2 C
B C
K ? u = f ? where K ? = −1 B
B − 120 2C
3
1 C.
2
B C
B 1C
0 @
1
20 − 21
− 2A
1
0 − 120 1
2 2
(b) Unstable: there are two mechanisms prescribed by the kernel basis elements ( 1, −1, 1, 1, 0 ) T ,
which represents the same mechanism as when the end is fixed, and ( −1, 1, −1, 0, 1 ) T ,
in which the roller moves up, the right hand node moves horizontally to the left, while
the left node moves up and to the left.
♥ 6.3.24. 0 1
.7071
B
.7071 0 0 0 C
B
−1
B 0 1 0 0 CC
(a) Horizontal roller: A? = B
B
C;
@ 0 0 − .7071 .7071 .7071 C A
− .9487 .3162 0 0 .9487
0 1
2.4 .2 −1 0 − .9
B C
B .2 .6 0 0 .3 C
B C
K ? u = f ? where K ? = B B −1
B 0 1.5 − .5 − .5
C
C;
C
B C
@ 0 0 − .5 .5 .5 A
− .9 .3 − .5 .5 1.4
unstable: there is one mechanism prescribed by the kernel basis element
( .75, −.75, .75, −.25, 1 )T , in which the roller moves horizontally to the right, the right
hand node moves right 0
and slightly down, while the left node moves 1
right and down.
B
.7071 .7071 0 0 0 C
B C
? B − 1 0 1 0 0 C
(b) Vertical roller: A = B B
C;
@ 0 0 − .7071 .7071 − .7071 C A
− .9487 .3162 0 0 − .3162
0 1
2.4 .2 −1 0 .3
B C
B .2 .6 0 0 − .1 C
B C
K ? u = f ? where K ? = B B −1
B 0 1.5 − .5 .5
C
C;
C
B C
@ 0 0 − .5 .5 − .5 A
.3 − .1 .5 − .5 .6
unstable: there is one mechanism prescribed by the kernel basis element
( −.25, .25, −.25, .75, 1. )T , in which the roller moves up, the right hand node moves up
and slightly to the left, while the left node moves slightly left and up.
6.3.25.
(a) Yes, if the direction of the roller is perpendicular to the vector between the two nodes,
the structure admits an (infinitesimal) rotation around the fixed node.
(b) A total of six rollers is required to eliminate all six independent rigid motions. The
rollers must not be “aligned”. For instance, if they all point in the same direction, they
do not eliminate a translational mode.
175

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Alternatively, note that z = ( 1, 1, . . . , 1 )T ∈ coker A and hence z · e = e1 + · · · + en+1 = 0

♣ 6.1.7. Top and bottom support; constant force:

Top and bottom support; linear force:

Top and bottom support; quadratic force:

Top support only; constant force:

Top support only; linear force:

Top support only; quadratic force:

6.2.1. (a) (b)

(c) (d) (e)

The currents along the horizontal wires are

the ring is zero.

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