University of Jordan

Department of Civil Engineering

" Matrix Analysis of Structures "
CH 3: Plane Trusses

Lecturer :- Dr. Yasmeen Murad

Done By :- Waseem Al Omari 8181582
Muath Al Shataiwi 8181529
Table of Contents

1. Introductions & Objectives

2. Sec 3.1) Global & Local coordinate systems
3. Sec 3.2) Degree of Freedoms
4. Sec 3.3) Coordinate Transformations
5. Sec 3.5) Member Stiffness matrix in the global coordinate system
6. Sec 3.7) Structural stiffness relations
7. Sec 3.8) Procedure for Analysis
Why do we use the
matrix stiffness method
for analyzing trusses ?

Cont.
 Why do we use the matrix stiffness
method (M.S.M.) for analyzing trusses ?

• Recall that Method of Analysing trusses depends on the degree of

determinacy .

b=13 , r=3 , j=8

• Degree of determinacy can be expressed using the following equation 16=16
b+r=2j where; b: No. bars, r: No. reactions, and j: No. of joints. Therefore, Statically Determinant Truss

If b+r=2j (Statically determinant) b+r>2j (indeterminant)

• M.S.M. analysis is general, in the sense that it can be applied to

statically determinate, as well as indeterminate plane trusses of any
size and shape and it was developed specifically to effectively and
easily implement into computer software to evaluate complicated
structures that contain a large number of elements.
b=15, r=4 , j=9
19=18
Therefore, Statically indeterminant Truss
Introduction

• The plane truss is defined as a two dimensional

frame work of straight prismatic members
connected at their ends by frictionless hinged
joint, and subjected to loads and reactions that
act and lie in the plane of structure .
• the members of a plane truss are subjected to
axial compressive or tensile forces only .
• The Objective of this chapter is to develop the
analysis of plane trusses based on the matrix
stiffness method .

Cont.
3.1 Global and Local Coordinate System

• Since loads and displacements are vector quantities, it is necessary to establish a coordinate
system in order to specify their correct sense of direction.
• In the matrix Stiffness method two type of coordinate system are employed to specify the
structural and loading data and to establish the necessary force displacement relations .
• These are referred to as:
1. Global (Structural) Coordinate System .
2. Local (Member) Coordinate System .

Cont.
 Global & Local Coordinate Systems
Global Coordinate System
• Describes the overall geometry & load –deformation
relations for the entire structure (Defined for the entire
truss )
• The Origin can be located at any point on the truss (it’s
recommended to locate it at the lower left of the
structure so that most of the X&Y Coordinates Are +ve)

Local Coordinate System

• It’s used to derive the internal forces & Displacements
of the member in the directions along and
perpendicular to members. (Defined for each of the
members )
• The origin located at one of the 2-ends of the member
(Y-must be +ve so that the system is right handed)
• .
 3.2 Degree of Freedom

• The degrees of freedom of a structure are defined as the independent joint displacements
(translations and rotations) that are necessary to specify the deformed shape of the structure
when subjected to an arbitrary loading.

• Only joint translations (X and Y directions) are considered in establishing the degrees of
freedom of trusses because the joints are assumed to be frictionless hinges. (no moment)
• Degree of freedom are related to joint
displacements “ d “ of the truss shown in
figure that is

 d1 
d 
 2
d=  d 3 
 
d 4 
 d 5 

• Where d is called the joint displacement

vector, with the number of rows equal to the
number of degrees of freedom of the structure
NDOF = NCJT (NJ) − NR

Where:
• NDOF: Number of degrees of freedom
• NCJT: the number of degrees of freedom of a free joint
• NJ: Number of joints
• NR: number of joint displacements restrained by supports

For Plane Truss

NCJT = 2
NDOF = 2(NJ) − NR

Example from the figure

NDOF= 2(4)-3 = 5 degrees of freedom

 Numbering of Degrees of Freedom and
Restrained Coordinates

• Numbering starts at the lowest numbered joint that has

degree of freedom (start with X then Y direction) to the
highest numbered joint

• In the case of more than one degree of freedom at a joint,

the translation in the X direction is numbered first,
followed by the translation in the Y direction. The first
degree of freedom is assigned the number one, and the last
degree of freedom is assigned a number equal to NDOF.

• Once all the degrees of freedom of the structure have been

numbered, we number the restrained coordinates in a
similar manner, but begin with a number equal to NDOF
+1

• Example in figure
 75 k

129.9 k

Joint Load Vector and

Reaction Vector

• A load corresponding to a degree of freedom di is

denoted by the symbol Pi. The five joint loads of the
truss can be collectively written in matrix form as • Restrained coordinates numbering
 P1   0  starts from NDOF + 1
P  129.9
  2    R6 
P=  P3  =   75  k  
R=  R7 
   
P
 4  0   R8 
 P5    75 
• Example: 3.1
• Identify numerically the degrees of freedom and
restrained coordinates of the tower truss shown in
Fig. 3.2(a). Also, form the joint load vector P for the
truss.
• Solution: The truss has nine degrees of
freedom, which are identified by the numbers
1 through 9 in Fig. 3.2(c). The five restrained
coordinates of the truss are identified by the
numbers 10 through 14 in the same figure.

• By comparing Figs. 3.2(b) and (c), we express

the joint load vector as

 20 
 0 
 
 0 
 
 20 
• P=  0 
 
k
 0 
  35 
 
 10 
  20 
 
 3.3 Member Stiffness Relations in The Local Coordinate System
In the stiffness method of analysis, the joint displacements, d, of a structure due to an external
loading, P, are determined by solving a system of simultaneous equations, expressed in the form

P = Sd

In which, S is called the structure stiffness matrix

• structure stiffness matrix is formed by assembling the stiffness matrices for its individual
members

• The stiffness matrix for a member expresses the forces at the ends of the member as functions
of the displacements of those ends.
• Study of member m to find relation between Q and u

• Figures 3.3(a) and 3.3(b) demonstrate study of member m

• When the truss is subjected to external loads, m deforms and

internal forces are induced at its ends. The initial and displaced
positions of m are shown in Fig. 3.3(b) where; L: length, E:
young’s modulus of elasticity of m, A: cross sectional area of
m. The member is prismatic in the sense that its axial rigidity
EA is constant.

• Member end displacements and forces are numbered by

beginning at the end of the member designated “b”, where the
origin of the local coordinate system is located, with the
translation and force in the x direction numbered first, followed
by the translation and force in the y direction. The
displacements and forces at the opposite end of the member,
designated “e,” are then numbered in the same order.
 • The relationships between member
end forces and end displacements
The end forces is the algebraic sums of the end forces required
to cause the individual end displacements. +

Q1  k11u1  k12u2  k13u3  k14u4

Q2  k 21u1  k 22u2  k 23u3  k 24u4
Q3  k31u1  k32u2  k33u3  k34u4
Q4  k 41u1  k 42u2  k 43u3  k 44u4 +

in which:
Q: member end force vector in the local coordinate system
u: member end displacement vector in the local coordinate
system +
k: member stiffness matrix in the local coordinate system.
𝒌𝒊𝒋 : Stiffness Coefficient (i :force , j: displacement)
By using the definition of matrix multiplication it can be expressed by:

 Q1   k11 k12 k13 k14   u1 

Q  k k 22 k 23 k 24  u 
 2 =  21  2
Q3  k31 k32 k33 k34  u3 
     
Q4  k 41 k 42 k 43 k 44  u4 

or, symbolically, as

Q = ku
• Apply equations of equilibrium to determine the stiffness
coefficient corresponding to a unit displacement

• +
F x 0 k11  k31  0
k31  k11
• +
F y 0 k 21  k 41  0

• +
M e 0  k 21 ( L)  0

Since L is not zero then k 21  0 k 41  0

𝑎𝑥𝑖𝑎𝑙 𝑓𝑜𝑟𝑐𝑒 𝑘11 ∗1 𝑐ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 𝑙𝑒𝑛𝑔𝑡ℎ 1
σ= = , ε= = , σ = Eε
𝑐𝑟𝑜𝑠𝑠−𝑠𝑒𝑐𝑡𝑖𝑜𝑛𝑎𝑙 𝑎𝑟𝑒𝑎 𝐴 𝑜𝑟𝑖𝑔𝑖𝑛𝑎𝑙 𝑙𝑒𝑛𝑔𝑡ℎ 𝐿

𝑬𝑨 𝑬𝑨
𝒌𝟏𝟏 = 𝒌𝟑𝟏 = -
𝑳 𝑳

Similar Approach

𝑬𝑨 𝑬𝑨
𝒌𝟏𝟑 = - 𝒌𝟐𝟑 = 0 𝒌𝟑𝟑 = 𝒌𝟒𝟑 = 𝟎
𝑳 𝑳
• The deformed shape of m due to a unit value of displacement 𝒖𝟐 , while all other
displacements are zero, is shown in Figure. Applying the equilibrium equations, we
write:

• + F x 0 k12  k32  0
k32  k12
• + F y 0 k 22  k 42  0

• + M e 0  k 22 ( L)  0

Since L is not zero then k 22  0 k 42  0

• As for the axial forces 𝒌𝟏𝟐 and 𝒌𝟑𝟐 , from Figure, the
deformed length of the member, 𝐿′ , can be expressed in
terms of its undeformed length L as

𝐿′ = 𝐶𝑂𝑆𝐿 𝜌

• Since the displacements are assumed to be small, cos ρ ≈ 1

and the equation above reduces to

𝐿′ ≈ L 𝐿′ - L ≈ 0 Fig 3.3

Since the change in the length of m is negligibly small then

𝒌𝟏𝟐 = 𝒌𝟑𝟐 = 0

Similarly

𝒌𝟏𝟒 = 𝒌𝟐𝟒 = 𝒌𝟑𝟒 = 𝒌𝟒𝟒 = 0

By substituting the foregoing values of the stiffness coefficients into the local
stiffness matrix:

 EA
0 
EA
O
 1 0 1 0
 L 0
 0 0 0
L
0 𝐸𝐴  0 0 0
k =  EA  =
 1
 0
EA
0 𝐿 0 1 0
 L L   
 0 0 0 0  0 0 0 0

Note: The stiffness matrix k is symmetric; that is, 𝒌𝒊𝒋 = 𝒌𝒋𝒊 , and in general
stiffness matrices for linear elastic structures are always symmetric.
Example 3.3

The displaced position of member 8 of the truss in Figures below. Calculate the axial force in this
member.
Solution

E = 200 GPa = 200(106 ) kN/𝑚2 ; A = 1,200 𝑚𝑚2 = 0.0012 𝑚2 , L = 32 + 42 = 5 m

𝐸𝐴
= 48000 kN/m
𝐿

Member Stiffness Matrix in the Local Coordinate System:

1 0 1 0
0 0 0 0 kN/m
𝑘8 = 48000 
 1 0 1 0
 
0 0 0 0

From Fig. we can see that

 0.009
 
𝑢8 =  0.012 m
 0.012 
 
 0.016 
Cont. Solution

Member End Forces in the Local Coordinate System

Q = ku
 Q1  1 0 1 0  0.009  1008
Q  0  0 
0 0 0  0.012
 =   kN
𝑄8 =  2  = 48000  
Q3   1 0 1 0  0.012   1008 
       
Q4  0 0 0 0  0.016   0 
Fig. 3.5

𝑄𝑎8 = 1,008 kN (T)

3.5 Coordinate Transformation

• When members of a structure are oriented in different

directions, it becomes necessary to transform the stiffness
relations for each member from its local coordinate system
to a single global coordinate system selected for the entire
structure.
• The member stiffness relations as expressed in the global
coordinate system are then combined to establish the
stiffness relations for the whole structure
• The aim of this section is to determine the equivalent
system of end forces and displacements at point b & e, in
the local xy coordinates if it’s given in the global coordinate
system and vice versa , which has the same effect on m
whenever it’s oriented .

Cont.
 Transformation from Global to
Local coordinate system
• From figure , the member end forces and displacements in the
global coordinate system are denoted respectively as 𝑭𝟏 to 𝑭𝟒 &
𝒗𝟏 to 𝒗𝟒 .
• From figure , we can observe that :
𝑸𝟏 = 𝑭𝟏 𝒄𝒐𝒔𝜽 + 𝑭𝟐 𝒔𝒊𝒏𝜽
𝑸𝟐 = −𝑭𝟏 𝒔𝒊𝒏𝜽 + 𝑭𝟐 𝒄𝒐𝒔𝜽
• Similarly, at e :-
𝑸𝟑 = 𝑭𝟑 𝒄𝒐𝒔𝜽 + 𝑭𝟒 𝒔𝒊𝒏𝜽
𝑸𝟒 = −𝑭𝟑 𝒔𝒊𝒏𝜽 + 𝑭𝟒 𝒄𝒐𝒔𝜽
• Equations above can be expressed in a matrix form as :-

𝑄1 𝑐𝑜𝑠𝜃 𝑠𝑖𝑛𝜃 0 0 𝐹1
𝑄2 −𝑠𝑖𝑛𝜃 𝑐𝑜𝑠𝜃 0 0 𝐹
• 𝑄3
=
0 0 𝑐𝑜𝑠𝜃 𝑠𝑖𝑛𝜃
× 2
𝐹3
𝑄4 0 0 −𝑠𝑖𝑛𝜃 𝑐𝑜𝑠𝜃 𝐹4

Cont.
• Or symbolically as, 𝑸 = 𝑻𝑭 :-
T :The transformation matrix
cosθ sinθ 0 0
−sinθ cosθ 0 0
𝑻=
0 0 cosθ sinθ
0 0 −sinθ cosθ
• The direction cosines of the member, necessary for the evaluation of T, can be conveniently determined by
using the following relationships:
𝑿𝒆 −𝑿𝒃 𝑿𝒆 −𝑿𝒃
𝒄𝒐𝒔𝜽 = = 𝑿𝒃 & 𝒀𝒃 global coordinates of the beginning joint of the member
𝑳 (𝑿𝒆 −𝑿𝒃 )𝟐 +(𝒀𝒆 −𝒀𝒃 )𝟐

𝒀𝒆 −𝒀𝒃 𝒀𝒆 −𝒀𝒃
𝒔𝒊𝒏𝜽 = = 𝑿𝒆 & 𝒀𝒆 global coordinates of the ending joint of the member
𝑳 (𝑿𝒆 −𝑿𝒃 )𝟐 +(𝒀𝒆 −𝒀𝒃 )𝟐

• The transformation matrix T developed for transforming end forces, can also be used to transform member
end displacements from the global to local coordinate system; that is,
𝒖 = 𝑻𝒗

Cont.
Transformation from Local to
Global coordinate system
• A comparison between Figures indicates that at end b of m,
the global force 𝑭𝟏 must be equal to the algebraic sum of the
components of the local forces 𝑸𝟏 and 𝑸𝟐 in the direction of
the global X axis , that is :-

𝑭𝟏 = 𝑸𝟏 𝒄𝒐𝒔𝜽 − 𝑸𝟐 𝒔𝒊𝒏𝜽
𝑭𝟐 = 𝑸𝟏 𝒔𝒊𝒏𝜽 + 𝑸𝟐 𝒄𝒐𝒔𝜽
• Similarly at e :-
𝑭𝟑 = 𝑸𝟑 𝒄𝒐𝒔𝜽 − 𝑸𝟒 𝒔𝒊𝒏𝜽
𝑭𝟒 = 𝑸𝟑 𝒔𝒊𝒏𝜽 + 𝑸𝟒 𝒄𝒐𝒔𝜽

Cont.
• Previous equations can be written in a matrix form as :

F1 cosθ −sinθ 0 0 Q1
F2 sinθ cosθ 0 0 Q
= × 2
F3 0 0 cosθ − sinθ Q3
F4 0 0 sinθ cosθ Q4

𝑻𝑻
Or symbolically as, 𝑭 = 𝑻𝑻 𝑸 In similar manner 𝒗 = 𝑻𝑻 𝒖

𝐐𝟏 𝐜𝐨𝐬𝛉 𝐬𝐢𝐧𝛉 𝟎 𝟎 𝐅𝟏 𝑭𝟏 𝒄𝒐𝒔𝜽 −𝒔𝒊𝒏𝜽 𝟎 𝟎 𝑸𝟏

𝐐𝟐 −𝐬𝐢𝐧𝛉 𝐜𝐨𝐬𝛉 𝟎 𝟎 𝐅 𝑭 𝒔𝒊𝒏𝜽 𝒄𝒐𝒔𝜽 𝟎 𝟎 𝑸
• Comparing
𝐐𝟑
=
𝟎 𝟎 𝐜𝐨𝐬𝛉 𝐬𝐢𝐧𝛉
× 𝟐 with 𝟐 =
𝐅𝟑 𝑭𝟑 𝟎 𝟎 𝒄𝒐𝒔𝜽 − 𝒔𝒊𝒏𝜽
× 𝟐
𝑸𝟑
𝐐𝟒 𝟎 𝟎 −𝐬𝐢𝐧𝛉 𝐜𝐨𝐬𝛉 𝐅𝟒 𝑭𝟒 𝟎 𝟎 𝒔𝒊𝒏𝜽 𝒄𝒐𝒔𝜽 𝑸𝟒

T Transformation Matrices

• Note that the inverse of the transformation matrix must be equal to its transpose; that is,
𝑻−𝟏 = 𝑻𝑻 (Matrix is orthogonal)

Cont.
Example#1

• Determine the transformation matrices for

the members of the truss shown in Fig.
3.11 ?

𝑓𝑖𝑔. 3.11
 Solution:-
• For Member 1 , From Fig. 3.11, we can see that joint 1 is the beginning joint and joint 2 is the
end joint for member 1. By applying Eqs. (3.62), we determine
𝑿𝒆 −𝑿𝒃 𝟔−𝟎 𝒀𝒆 −𝒀𝒃 𝟎−𝟎
𝒄𝒐𝒔𝜽 = = = 𝟏, 𝒔𝒊𝒏𝜽 = = =𝟎
𝑳 𝟔 𝑳 𝟔

1 0 0 0
0 1 0 0
T From Eqs. (3.61) = =𝐼
0 0 1 0
0 0 0 1
• For Member 2 , 𝒄𝒐𝒔𝜽 =
𝑿𝒆 −𝑿𝒃
𝑳
=
0−6
𝟔
= −𝟏, 𝒔𝒊𝒏𝜽 =
𝒀𝒆 −𝒀𝒃
𝑳
=
6−6
8
=𝟎

−1 0 0 0
0 −1 0 0
T=
0 0 −1 0
0 0 0 −1
• For Member 3, 𝒄𝒐𝒔𝜽 =
𝑿𝒆 −𝑿𝒃
𝑳
=
0−0
8
= 0, 𝒔𝒊𝒏𝜽 =
𝒀𝒆 −𝒀𝒃
𝑳
=
8−0
8
=1

0 1 0 0
−1 0 0 0
T=
0 0 0 1
0 0 −1 0
• For Member 4, 𝒄𝒐𝒔𝜽 =
𝑿𝒆 −𝑿𝒃
𝑳
=
6−6
8
= 0, 𝒔𝒊𝒏𝜽 =
𝒀𝒆 −𝒀𝒃
𝑳
=
0−8
8
= −1

0 −1 0 0
1 0 0 0
T=
0 0 0 −1
0 0 1 0
• For Member 5, 𝐋 = (𝑿𝒆 − 𝑿𝒃 )𝟐 + (𝒀𝒆 − 𝒀𝒃 )𝟐 = (𝟔 − 𝟎)𝟐 + (𝟖 − 𝟎)𝟐 = 𝟏𝟎

• 𝒄𝒐𝒔𝜽 =
𝑿𝒆 −𝑿𝒃
𝑳
=
6−0
10
= 0.6 , 𝒔𝒊𝒏𝜽 =
𝒀𝒆 −𝒀𝒃
𝑳
=
8−0
10
= 0.8

0.6 0.8 0 0
−0.8 0.6 0 0
T=
0 0 0.6 0.8
0 0 −0.8 0.6
• For Member 6, , 𝐋 = (𝑿𝒆 − 𝑿𝒃 )𝟐 + (𝒀𝒆 − 𝒀𝒃 )𝟐 = (𝟎 − 𝟔)𝟐 + (𝟖 − 𝟎)𝟐 = 𝟏𝟎

• 𝒄𝒐𝒔𝜽 =
𝑿𝒆 −𝑿𝒃
𝑳
=
0−6
10
= −0.6, 𝒔𝒊𝒏𝜽 =
𝒀𝒆 −𝒀𝒃
𝑳
=
8−0
10
= 0.8

−0.6 0.8 0 0
−0.8 −0.6 0 0
T=
0 0 −0.6 0.8
0 0 −0.8 −0.6
Example#2

For the truss shown in Fig. 3.12(a), the

end displacements of member 2 in the
global coordinate system are (Fig.
3.12(b)):
Fig. 3.12
0.75
 0 
𝑣2 =   in
 1.5 
 
  2 

Calculate the end forces for this member

in the global coordinate system. Is the
member in equilibrium under these forces
?

Fig. 3.12
 Solution:-

• 𝐋= (𝑿𝒆 − 𝑿𝒃 )𝟐 + (𝒀𝒆 − 𝒀𝒃 )𝟐 = (𝟗 − 𝟎)𝟐 + (𝟏𝟐 − 𝟎)𝟐 = 𝟏𝟓

• 𝐸𝐴 10000×9
𝐿
=
180
= 500 k/in

• 𝒄𝒐𝒔𝜽 =
𝑿𝒆 −𝑿𝒃
𝑳
=
9−0
15
= 0.6 , 𝒔𝒊𝒏𝜽 =
𝒀𝒆 −𝒀𝒃
𝑳
=
12−0
15
= 0.8

1 0 −1 0 1 0 −1 0
0 0 0 0 0 0 0
• 𝐸𝐴
𝒌𝟐 = ×
𝐿 −1 0 1
0 = 500 ×
0 −1 0 1 0
0 0 0 0 0 0 0 0

cosθ sinθ 0 0 0.6 −0.8 0 0

−sinθ cosθ 0 0 0.8 0.6 0 0
• 𝑻𝟐 =
0 0 cosθ sinθ
=
0 0 0.6 −0.8
0 0 −sinθ cosθ 0 0 0.8 0.6
 0.6 0.8 0 0 0.75 0.45
−0.8 0.6 0 0
• 𝒖𝟐 = 𝑻𝟐 𝒗 =
0 0 0.6 0.8
× 0 = −0.6
1.5 −0.7
0 0 −0.8 0.6 −2 −2.4

1 0 −1 0 0.45 575
0 0 0
• 𝑸 = 𝒌𝟐 𝒖𝟐 = 500 ×
−1 0 1
0 × −0.6 =
0 −0.7
0
−575
k
0 0 0 0 −2.4 0

0.6 −0.8 0 0 575 345

0.8 0.6 0 0
• 𝑭 = 𝑻𝑻 𝑸 =
0 0 0.6 −0.8
× 0
−575
= 460 𝑘
−345
0 0 0.8 0.6 0 −460
• Equilibrium Check: To check whether or not the
member is in equilibrium, we apply the three
equations of equilibrium, as follows :
1. σ 𝐹𝑋 = 0 345 − 345 = 0
2. σ 𝐹𝑌 = 0 345 − 345 = 0
3. σ 𝑀1 = 0 345(12) − 460(9) = 0
• Therefore, the member is in equilibrium.
 3.6 Member Stiffness relations in the Global Coordinate
System

• By using the member stiffness relations in the local coordinate system and the transformation
relations we can establish the stiffness relations for members in the global coordinate system

• 1st Substitute the local stiffness relations Q = ku into the force transformation relations F = 𝑻𝑻 Q :

F = 𝑻𝑻 Q = 𝑻𝑻 ku

• Substitute the displacement transformation relations u = Tv into the above equation,

• F = 𝑻𝑻 kTv this equation can be expressed as:

F = Kv where K= 𝑻𝑻 kT

Cont.
.The explicit form of K

cos   sin  0 0  1 0 1 0  cos  sin  0 0 

 sin  cos  0 0  𝐸𝐴  0 0 0 0  sin  cos  0 0 
 
K=  0 0 cos   sin   𝐿  1 0 1 0  0 0 cos  sin  
     
 0 0 sin  cos   0 0 0 0  0 0  sin  cos  

• Performing the matrix multiplications, we obtain

 cos 2  cos  sin   cos 2   cos  sin  

 
cos  sin  sin 2   cos  sin   sin 2  
K= 
  cos 2   cos  sin  cos 2  cos  sin  
 
 cos  sin   sin 2  cos  sin  sin 2  

Cont.
Example
For the truss shown in Fig. (a), the end displacements
of member 2 in the global coordinate system are:

0.75
 0 
𝑣2 =   in
 1.5 
 
  2 

Calculate the end forces for this member in the global

coordinate system. Is the member in equilibrium
under these forces ?

(Solve using member stiffness relationships in the

Local coordinates and member stiffness
relationships in the Global Coordinates relations)
 Solution
1. Using member stiffness relationships in the Local coordinates

• 𝐋= (𝑿𝒆 −𝑿𝒃 )𝟐 + (𝒀𝒆 − 𝒀𝒃 )𝟐

• L= (9 − 0)2 + (12 − 0)2 = 15𝑓𝑡(180 𝑖𝑛)

• 𝐸𝐴 10000×9
𝐿
= 180 = 500 k/in

• 𝒄𝒐𝒔𝜽 =
𝑿𝒆 −𝑿𝒃
𝑳
=
9−0
15
= 0.6 , 𝒔𝒊𝒏𝜽 =
𝒀𝒆 −𝒀𝒃
𝑳
=
12−0
15
= 0.8

1 0 −1 0 1 0 −1 0
0 0 0 0 0 0 0
• 𝐸𝐴
𝒌𝟐 = 𝐿 ×
−1 0 1 0
= 500 ×
−1 0 1
0
0
0 0 0 0 0 0 0 0

cosθ sinθ 0 0 0.6 −0.8 0 0 Fig. 3.12

−sinθ cosθ 0 0 0.8 0.6 0 0
• 𝑻𝟐 =
0 0 cosθ sinθ
=
0 0 0.6 −0.8
0 0 −sinθ cosθ 0 0 0.8 0.6

Cont.
 0.6 0.8 0 0 0.75 0.45
−0.8 0.6 0 0
• 𝒖𝟐 = 𝑻𝟐 𝒗𝟐 =
0 0 0.6 0.8
× 0 = −0.6
1.5 −0.7
0 0 −0.8 0.6 −2 −2.4

1 0 −1 0 0.45 575
0 0 0 0
• 𝑸 = 𝒌𝟐 𝒖𝟐 = 500 ×
−1 0 1 0
× −0.6 =
−0.7
0
−575
k
0 0 0 0 −2.4 0
The Negative value of 𝑸𝟑 indicates that the member is under
Compression Force !

0.6 −0.8 0 0 575 345

0.8 0.6 0 0
• 𝑭 = 𝑻𝑻 𝑸 =
0 0 0.6 −0.8 × 0
−575
= 460 𝑘
−345
0 0 0.8 0.6 0 −460

Cont.
Solution
2.Using member stiffness relationships in the Global coordinates

Member 2:

𝐸𝐴
=500 k/in, cos θ=0.6 , 𝑠𝑖𝑛 θ = 0.8
𝐿

 180 240  180  240

 240 320  240  320 
𝐾2 =   k/in.
 180  240 180 240 
 
  240  320 240 320 

Applying the relationship F = Kv

 F1   180 240  180  240 0.75  345 
 F   240 320  240  320   0   460 
F=   = 
2    =  k
 F3    180  240 180 240   1.5    345
       
 F4   240  320 240 320    2   460
• Equilibrium Check:
To check whether or not the member is in equilibrium, we
apply the three equations of equilibrium, as follows :
1. σ 𝐹𝑋 = 0 345 − 345 = 0
2. σ 𝐹𝑌 = 0 345 − 345 = 0
3. σ 𝑀1 = 0 345(12) − 460(9) = 0
• Therefore, the member is in equilibrium.
 3.7 Structure Stiffness Relations

Once we found out the member stiffness matrices in the global coordinates K we can now
establish the stiffness matrix for the whole structure S

The structure stiffness matrix relate the external force acting on the joint of the structure
with joint displacement

P=Sd
Methods to find the structure stiffness matrix
1- Direct stiffness method

2- Physical interpretation of structure stiffness matrix

• (First two methods are Essential for developing an understanding of the concept of the
stiffness of multiple-degrees-of-freedom structures but can not be implemented easily on
computers and, therefore, are seldom used in practice)

3- Member code numbers

• The technique was introduced by S. S. Tezcan in 1963

• Main advantage is that it can be programmed conveniently on computers.

Direct stiffness method
Relationship of the external loads P acting at the joints of the structure as functions of the joint
displacements d can be established as follows:

1. The joint loads P are first expressed in terms of the member end forces in the global
coordinate system, F, by applying the equations of equilibrium for the joints of the structure.

2. The joint displacements d are then related to the member end displacements in the global
coordinate system, v, by using the compatibility conditions that the displacements of the member
ends must be the same as the corresponding joint displacements.

3. The compatibility equations are substituted into the member force–displacement relations, F =
Kv, to express the member global end forces F in terms of the joint displacements d. The F–d
relations thus obtained are then substituted into the joint equilibrium equations to establish the
desired structure stiffness relationships between the joint loads P and the joint displacements d.
Consider an arbitrary plane truss as shown in figure
It indicates that the structure has two degrees of freedom, 𝑑1 and 𝑑2 . The joint loads
corresponding to these degrees of freedom are designated 𝑃1 and 𝑃2 , respectively.
• The global end forces F and end
displacements v for the three
members of the truss are shown in
the figure.

• where the superscript (i) denotes the

member number.
• Equilibrium Equations

(1) (2) (3)

𝑃1 = 𝐹3 + 𝐹1 + 𝐹3
(1) (2) (3)
𝑃2 = 𝐹4 + 𝐹2 + 𝐹4

• Compatibility Equations

The compatibility conditions for member 1 are

(1) (1) (1) (1)

𝑣1 = 𝑣2 = 0 𝑣3 = 𝑑1 𝑣4 = 𝑑2

The compatibility conditions for member 2 are

(2) (2) (2) (2)

𝑣1 = 𝑑1 𝑣2 = 𝑑2 𝑣3 = 𝑣4 = 0

The compatibility conditions for member 3 are

(3) (3) (3) (3)

𝑣1 = 𝑣2 = 0 𝑣3 = 𝑑1 𝑣4 = 𝑑2
Member Stiffness Relations

We can write the member global stiffness relation F = Kv in expanded form for member 1 as

 F1(1)   K11(1) K12(1) K13(1) K14(1)  v1(1) 

 (1)   (1) (1) (1) (1)   (1) 
 F2  =  K 21 K 22 K 23 K 24  v2 
 F3(1)   K 31(1) K 32(1) K 33(1) K 34(1)  v3(1) 
 (1)   (1) (1) 
 (1) 
 4 
F  K 41
(1)
K 42 (1)
K 43 K 44  v4 

From which we obtain the expressions for forces at end 1 of the member

(1) (1) (1) (1) (1) (1) (1) (1) (1)

𝐹3 = 𝐾31 𝑣1 + 𝐾32 𝑣2 + 𝐾33 𝑣3 + 𝐾34 𝑣4

(1) (1) (1) (1) (1) (1) (1) (1) (1)

𝐹4 = 𝐾41 𝑣1 + 𝐾42 𝑣2 + 𝐾43 𝑣3 + 𝐾44 𝑣4

Cont.
Similarly obtain the expressions for forces at end 1 of the member 2 and member 3

(2) (2) (2) (2) (2) (2) (2) (2) (2)

𝐹1 = 𝐾11 𝑣1 + 𝐾12 𝑣2 + 𝐾13 𝑣3 + 𝐾14 𝑣4 Recall that compatibility conditions for member 1 are
(1) (1) (1) (1)
𝑣1 = 𝑣2 = 0 𝑣3 = 𝑑1 𝑣4 = 𝑑2

(2) (2) (2) (2) (2) (2) (2) (2) (2)

𝐹2 = 𝐾21 𝑣1 + 𝐾22 𝑣2 + 𝐾23 𝑣3 + 𝐾24 𝑣4

(3) (3) (3) (3) (3) (3) (3) (3) (3)

𝐹3 = 𝐾31 𝑣1 + 𝐾32 𝑣2 + 𝐾33 𝑣3 + 𝐾34 𝑣4

(3) (3) (3) (3) (3) (3) (3) (3) (3)

𝐹4 = 𝐾41 𝑣1 + 𝐾42 𝑣2 + 𝐾43 𝑣3 + 𝐾44 𝑣4

Cont.
• We can express the member end forces 𝑭(𝟏) in terms of the joint displacements d by
substituting the compatibility equations (v) for member 1 into its force–displacement relations
(d) :

(1) (1) (1)

𝐹3 = 𝐾33 𝑑1 + 𝐾34 𝑑2 Recall that compatibility conditions for member 1 are
(1) (1) (1) (1)
𝑣1 = 𝑣2 = 0 𝑣3 = 𝑑1 𝑣4 = 𝑑2
(1) (1) (1)
𝐹4 = 𝐾43 𝑑1 + 𝐾44 𝑑2

• In similar manner

Member 2 Member 3

(2) (2) (2) (3) (3) (3)

𝐹1 = 𝐾11 𝑑1 + 𝐾12 𝑑2 𝐹3 = 𝐾33 𝑑1 + 𝐾34 𝑑2

(2) (2) (2) (3) (3) (3)

𝐹2 = 𝐾21 𝑑1 + 𝐾22 𝑑2 𝐹4 = 𝐾43 𝑑1 + 𝐾44 𝑑2
Structure Stiffness Relations
The relationships between the joint loads P and the joint displacements d of the truss can
be obtained by

(1) (2) (3) (1) (2) (3)

𝑃1 = (𝐾33 + 𝐾11 + 𝐾33 ) 𝑑1 + (𝐾34 + 𝐾12 + 𝐾34 ) 𝑑2

(1) (2) (3) (1) (2) (3)

𝑃2 = (𝐾43 + 𝐾21 + 𝐾43 ) 𝑑1 + (𝐾44 + 𝐾22 + 𝐾44 ) 𝑑2

Equations above can be expressed in condensed matrix form as

P = Sd in which
(S is the structure stiffness matrix)
 K 33(1)  K11( 2 )  K 33(3) K 34(1)  K12( 2 )  K 34(3)  Structure stiffness matrices of linear
S=  (1) ( 3) 
 43
K  K ( 2)
21  K ( 3)
43
(1)
K 44  K 22
( 2)
 K 44  elastic structures are always symmetric

Cont.
Physical Interpretation of Structure Stiffness Matrix

This interpretation of the structure stiffness matrix indicates that such a matrix can be determined
by subjecting the structure, separately, to unit values of each of its joint displacements, and by
evaluating the joint loads required to cause the individual displacements.
A structure stiffness coefficient 𝑆𝑖𝑗 represents
the force at the location and in the direction
of 𝑃𝑖 required, along with other joint forces,
to cause a unit value of the displacement 𝑑𝑗 ,
while all other joint displacements are zero.

From figure:

(1) (2) (3)

𝑆11 = 𝐾33 + 𝐾11 + 𝐾33

(1) (2) (3)

𝑆21 = 𝐾43 + 𝐾21 + 𝐾43

Similarly

(1) (2) (3)

𝑆12 = 𝐾34 + 𝐾12 + 𝐾34

(1) (2) (3)

𝑆22 = 𝐾44 + 𝐾22 + 𝐾44

Cont.
Member Code Numbers

The structure stiffness matrix S can be formulated

directly by adding the elements of the member
stiffness matrices into their proper positions in the
structure matrix

To determine the positions of the elements of a

member matrix K in the structure matrix S, we
identify the number of the structure’s degree of
freedom or restrained coordinate, at the location and
in the direction of each of the member’s global end
displacements, v. (member’s code number)
 2 2 2

1 1 1

1 2 3
4 6 8

3 5 7

• The code numbers for member 1 are 3, 4, 1, 2.

• The code numbers for member 2 are 1, 2, 5, 6.
• The code numbers for member 3 are 7, 8, 1, 2.
• Compare member global end displacements with the structure degrees of freedom and restrained
coordinates the code numbers 3, 4, 1, 2 imply the following compatibility equations for member 1:

(1) (1) (1) (1)

𝑣1 = 𝑑3 , 𝑣2 = 𝑑4 , 𝑣3 = 𝑑1 , 𝑣4 = 𝑑2 Since 𝒅𝟑 = 𝒅𝟒 = 0 then:

(1) (1) (1) (1)

𝑣1 = 𝑣2 = 0 𝑣3 = 𝑑1 𝑣4 = 𝑑2
To obtain the equilibrium equations for the truss of this Figure, we write the code
numbers for its three members by the side of their respective end force vectors, as

 F1(1)  3  F1( 2 )  1  F1(3)  7

 (1)   ( 2)   ( 3) 
𝐅𝟏 =  F2  4 𝐅𝟐 =  F2  2 𝐅𝟑 =  F2  8
 F3(1)  1  F3( 2 )  5  F3(3)  1
 (1)   ( 2)   ( 3) 
 F4  2  F4  6  F4  2
• The equilibrium equation corresponding to degree of freedom 1 and 2 is
given by

(1) (2) (3) (1) (2) (3)

𝐏𝟏 = 𝐹3 + 𝐹1 + 𝐹3 𝐏𝟐 = 𝐹4 + 𝐹2 + 𝐹4

Cont.
• The structure stiffness matrix S can now be established from the global stiffness matrix K
for members 1,2,3 as follows

• Note: Since the number of rows and columns of S equal the number of degrees of freedom (NDOF)
of the structure, only those elements of a K matrix with both row and column code numbers less than
or equal to NDOF belong in S.
Cont.
Assembly of the Support Reaction Vector Using
Member Code Numbers

• The support reactions R of a structure can be

expressed in terms of the member global end
forces F, using the equilibrium equation

• The reaction corresponding to a restrained

coordinate can be evaluated by algebraically
summing those elements of the F vectors of all the
members whose code numbers are the same as the
restrained coordinate. (Example in Figure)

Cont.
Summary
Once S has been determined, the structure stiffness relations, P = Sd , can be solved for the unknown
joint displacements d.

With d known, the end displacements v for each member can be obtained by applying the
compatibility equations defined by its code numbers

The corresponding end displacements u and end forces Q and F can be computed by using the
member’s transformation and stiffness relations.

the support reactions R can be determined from the member end forces F, by considering the
equilibrium of the support joints in the directions of the restrained coordinates
Example 3.7

Determine the structure stiffness matrix for the truss shown in Figure
Solution

We will determine, for each member, the global

stiffness matrix K and store its pertinent elements
in their proper positions in S by using the
member’s code numbers.

For Member 1

𝐸𝐴
L = 6 m, cos θ = 1, sin θ = 0 , = 17500 kN/m
𝐿
 cos 2  cos  sin   cos 2   cos  sin  
 
cos  sin  sin 2   cos  sin   sin 2  
𝐸𝐴 
Recall K=   cos 2   cos  sin  cos 2  cos  sin  
𝐿
 
 cos  sin   sin 2  cos  sin  sin 2  

7 8 2 3
1 2 3
 17500 0  17500 0 7
 0 0 0 0 1
0 8
 0 0
0 17500 0
𝐊 𝟏 =  17500

0 17500 0 2

Store in S S=   2
 0 0 0 0 3 0 0 0 3
Member 2

𝐸𝐴
L = 10 m, cos θ = 0.6 , sin θ = 0.8 , = 10500 kN/m
𝐿
1 4 2 3

 3780 5040  3780  5040 1

 5040 6720  5040  6720  4
𝐊𝟐 =  
 3780  5040 3780 5040  2
 
  5040  6720 5040 6720  3

Store in S

1 2 3
 3780  3780  5040 1
 cos 2  cos  sin   cos 2   cos  sin  
S=  3780 17500  3780 5040  2 kN/m 
cos  sin  sin 2   cos  sin   sin 2  

𝐸𝐴 
 5040 5040 6720  3 Recall K=   cos 2 
𝐿  cos  sin  cos 2  cos  sin  
 
 cos  sin   sin 2  cos  sin  sin 2  
Same method
𝐸𝐴
Member 3 L = 8 m, cos θ = 0, sin θ = 1, = 13125 kN/m
𝐿
5 6 2 3
1 2 3
0 0 0 0  5
 3780  3780  5040  1
 0  13125
𝐊 𝟑 = 0 13125 6 Store in S S=  3780 17500  3780 5040 
 2
0 0 0 0  2  5040 5040 6720  13125 3
 
0  13125 0 13125  3

The Structure stiffness for the whole structure is now given by

1 2 3
 3780  3780  5040 1
 3780 21280 5040  2
S=
  kN/m
 5040 5040 19845  3
 3.8 Procedure for Analysis
• Using the Matrix stiffness Method, the following step by-step procedure can be developed for the
analysis of plane trusses subjectedto joint loads.
Evaluate structural stiffness
Prepare Analytical Prepare the NDOF x 1
Model for the truss Matrix using the code Numbers
( determine K for each joint load vector P
(Draw line diagram , Establish Member )
G.C.S & L.C.S and N.D.O.F)

Apply the
Find T to determine u𝒊 compatibility Evaluate d using
Find Q using Q = ku
Using u=Tv conditions P = Sd
to find 𝒗𝒊

Using Code Numbers Check the calculations using

store the pertinent elements of F
Find F using F = 𝑻𝑻 𝑸 in their proper positions in the
the
3-equilibrium equations
support reaction vector R

Cont.
Example 3.8

Determine the joint displacements d, member

axial forces Q and support reactions R for the
truss shown in Figure by the matrix stiffness
method.

Cont.
 Solution :-
1. Analytical Model :-
It can be indicated that the truss had 2 degree of freedom as Figure b:-

Analytical
Model

Cont.
1. Evaluate Structural Stiffness Matrix (S) :-
• Member #1:-
𝑳𝟏 = 20ft= 240 in 𝒄𝒐𝒔𝜽 = 0.6 , 𝒔𝒊𝒏𝜽 = 0.8

 cos 2  cos  sin   cos 2   cos  sin  

 
cos  sin  sin 2   cos  sin   sin 2  
𝐸𝐴 
Recall K=   cos 2   cos  sin  cos 2  cos  sin  
𝐿
 
 cos  sin   sin 2  cos  sin  sin 2  

3 41 2
348 464 −348 −464 3
464 618.67 −464 −618.67 4 𝑘/𝑖𝑛
Therefore, 𝑲𝟏 =
−348 −464 348 464 1
−464 −618.67 464 618.67 2

𝑪𝒐𝒅𝒆 𝑵𝒖𝒎𝒃𝒆𝒓𝒔

Fig. 3.18
Cont.
• Member #2:-
𝑳𝟐 = 𝟏𝟔ft (192 in) / 𝒄𝒐𝒔𝜽 = 𝟎 / 𝒔𝒊𝒏𝜽 = 𝟏
5 6 1 2
0 0 0 0 5
0 906.25 0 −906.25 6 𝑘/𝑖𝑛
𝑲𝟐 =
0 0 0 0 1
0 −906.25 0 906.25 2

• Member #3:-
𝑳𝟑 = 𝟐𝟎ft (240 in) / 𝒄𝒐𝒔𝜽 = −0.6 / 𝒔𝒊𝒏𝜽 = 0.8
7 8 1 2
348 −464 −348 464 7
−464 618.67 464 −618.67 8 𝑘/𝑖𝑛
𝑲𝟑 =
−348 464 348 −464 1
464 −618.67 −464 618.67 2

𝑪𝒐𝒅𝒆 𝑵𝒖𝒎𝒃𝒆𝒓𝒔 𝑭𝒐𝒓 𝑴𝒆𝒎𝒃𝒆𝒓𝒔

𝑵𝒖𝒎𝒃𝒆𝒓 𝟐 & 𝟑 .

Cont.
• After Determining K values , now we can determine the
structural stiffness matrix S :-
1 2
𝑠 𝑠
• S = 𝑠11 𝑠12 1 k/in
21 22 2

1 2
(348 + 0 + 348) (464 + 0 − 464) 1
S=
(464 + 0 − 464) (618.67 + 906.25 + 618.67) 2

1 2
696 0 1
𝑺= k/in
0 2143.6 2
2. Joint Load vector:-
Comparing the 2 figures, the external loads 𝑃1 = 150 k &
𝑃2 = −300 𝑘 can be written in a matrix form as :-
150
𝑷= 𝑘
−300

Fig. 3.18

Cont.
3. Joint Displacement :-
150 696 0 𝑑
Recall 𝑷 = 𝑺𝒅 = = × 1
−300 0 2143.6 𝑑2
Solving these Eqs yields , 𝒅𝟏 = 0.21552 𝑖𝑛 & 𝒅𝟐 = −0.13995 𝑖𝑛
0.21552
Or in matrix form 𝒅 = 𝑖𝑛
−0.13995
• Check solution
696 0 0.21552
Applying 𝑷 = 𝑺𝒅 𝑷=
0 2143.6 −0.13995
150
P= 𝑘
−300

Fig. 3.18

Cont.
4. Member End Displacements and End Forces:-
• Member #1:-
𝑣1 3 0 0
𝑣2 4 0 0
𝒗𝟏 = 𝑣 = 𝑑 = 𝑖𝑛
3 1 1 0.21552
𝑣4 2 𝑑2 −0.13995

cosθ sinθ 0 0
−sinθ cosθ 0 0
To calculate u = Tv ,we have to find T =
0 0 cosθ sinθ
0 0 −sinθ cosθ

0.6 0.8 0 0 0
−0.8 0.6 0 0 0
Therefore , 𝑻𝟏 = & 𝒖𝟏 = 𝑖𝑛
0 0 0.6 0.8 0.017352
0 0 −0.8 0.6 −0. 25639

Cont.
𝑸= 𝒌𝒖

1 0 −1 0 966.67 0 −966.67 0
𝐸𝐴 0 0 0 0 0 0 0 0 𝑘/𝑖𝑛
𝒌𝟏 = 𝐿 × =
−1 0 1 0 −966.67 0 966.67 0
0 0 0 0 0 0 0 0

966.67 0 −966.67 0 0 −16.774

0 0 0 0 × 0 0
𝑸𝟏 =𝒌𝟏 𝒖𝟏 = = 𝑘
−966.67 0 966.67 0 0.017352 16.774
0 0 0 0 −0. 25639 0
Thus, 𝑸𝒂𝟏 = 16.774 k (T)
Recall that , The Member End Forces in Global Coordinate System can be
determined using the following equation :

0.6 −0.8 0 0 −16.774 −10.064 3

0.8 0.6 0 0 0 −13.419 4
𝑭𝟏 = 𝑻 𝑻 𝑸 𝟏 = × = 𝑘
0 0 0.6 −0.8 16.774 10.064 1
0 0 0.8 0.6 0 13.416 2

Cont.
• For Member #2 :-

𝑣1 5 0 0
𝑣2 0 0
• 𝒗𝟐 = 𝑣 6=
𝑑1 =
0.21552
𝑖𝑛
3 1
𝑣4 2 𝑑2 −0.13995

1 0 −1 0 0 0
0 0 0 0 0 0
• 𝒖𝟐 = 𝑻𝟐 𝒗𝟐 =
0 0 0 1
×
0.21552
=
−0.13995
𝑖𝑛
0 0 −1 0 −0.13995 −0.21552

1 0 −1 0 0 126.83
0 0 0 0 0 0
• 𝑸𝟐 = 𝒌𝟐 𝒖𝟐 = 906.25 ×
−1 0 1 0
×
−0.13995
=
−128.634
𝑘
0 0 0 0 −0.21552 0
• from which we obtain the member axial force 𝑸𝒂𝟐 = 126.83 k (C)

0 −1 0 0 126.83 0 5
1 0 0 126.83 6
• 𝑭𝟐 = 𝑻 𝑻 𝑸 𝟐 =
0 0
0
0
0 ×
−128.634
=
0 1
𝑘
−1
0 0 1 0 0 −128.634 2
Cont.
• For Member #3 :-
• Another method to find Q by using F=Kv , and Q = TF as follows :-
• 𝐅 = 𝐊𝐯

348 −464 −348 464 0

−464 618.67 464 −618.67 0
• 𝑭𝟑 =
−348 464 348 −464
×
0.21552
464 −618.67 −464 618.67 −0.13995

−139.94 7
186.58 8
Therefore, 𝑭𝟑 = k
139.94 1
−186.58 2

−0.6 0.8 0 0 −139.94 233.23

−0.8 −0.6 0 0 186.58 0
• 𝑸𝟑 = 𝐓𝑭𝟑 =
0 0 −0.6 0.8
×
139.94
=
−233.23
k
0 0 −0.8 −0.6 −186.58 0
• from which we obtain the member axial force 𝑸𝒂𝟑 = 233.23 k (C)

Cont.
5. Support Reactions :-
Using the Partitioned values of F , the completed R vector
is given as follows :-
−10.064 3
−13.419 4
0 5𝑘
𝑅 = 126.83
6
−139.94 7
186.58 8
• Equilibrium Check:
1. σ 𝐹𝑋 = 0 150 − 10.064 + 139.94 = 0
2. σ 𝐹𝑌 = 0 300 + 13.419 − 126.83 − 186.58 = 0

σ 𝑀1 = 0 − 10.064 16 + 13.419 12 −
3. 139.94 16 + 186.58(12)
= 0.076k-ft ≈ 0
• Therefore, the member is in equilibrium.
Summary of the Procedure :-
Identify degrees of freedom d and For each member:
restrained coordinates of the truss Evaluate K & Store K in S

Solve P = Sd for d Form joint load vector P

For each member:

Obtain v from d , calculate 𝒖 = 𝑻𝒗 , 𝑸 = 𝒌𝒖 & 𝑭
= 𝑻𝑻 𝑸
Thank you for your time
Any Questions ?