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Advanced Structural Analysis
Statically Determinate Frame Structures
Lecture 2
Vesna Terzic PhD
Vesna Terzic, PhD 1
1: Nodal Equilibrium – 2D
3 equilibrium equations at each node (in global CS):
∑𝐹 0 , ∑ 𝐹 0 , ∑ 𝑀 0
𝑀
𝑃 𝑃
Node
𝑀
𝑃 𝑃 𝑀
𝑉 𝑃
𝑉
𝑃 𝐘
𝑀
𝐗
Vesna Terzic, PhD 2
Vesna Terzic PhD 1
CE 557 ‐ Lecture 2
2: Element Equilibrium ‐ 2D Frame Elements
𝑀 3 equations at the element (in local CS):
𝑉
𝑃 ∑𝐹 0 , ∑ 𝐹 0 , ∑ 𝑀 0
j
How many unknowns?
𝑉 i 𝐿
𝑃
Out of 6 internal forces,
𝑀 Local coordinate system only 3 are independent.
We will call them BASIC FORCES!
Vesna Terzic, PhD 3
2: Element Equilibrium ‐ 2D Frame Elements
a) Selection of basic forces (always in local coordinate system)
𝑄 𝑄
𝑄 𝑄
𝑄 𝑄
or
𝐿 𝐿
Vesna Terzic, PhD 4
Vesna Terzic PhD 2
CE 557 ‐ Lecture 2
2: Element Equilibrium ‐ 2D Frame Elements
b) Internal Element Forces as a Function of the Basic Forces
By superposition:
𝑄 𝑄 𝑄 𝑄
𝑄 𝑄
= + +
𝐿 1 2 3
Find 𝑃 , 𝑉 , and 𝑉 as a function of 𝑄 , 𝑄 , and 𝑄 :
1 2 𝑄 𝑄
𝑗 𝑄 𝑃 FBD 𝑄 𝑃 FBD
𝑖
𝑉 𝑉 𝑉 𝑉
𝐹 0: 𝑃 𝑄 𝐹 0: 𝑃 0
𝑄
𝑀 0: 𝑉.𝐿 0 → 𝑉 0 𝑀 0: 𝑉.𝐿 𝑄 → 𝑉
𝐿
𝑄
𝐹 0: 𝑉 𝑉 0 → 𝑉 0 𝐹 0: 𝑉 𝑉 → 𝑉
𝐿
𝑄
𝑄 𝑄
𝑄 𝑄
Vesna Terzic, PhD 𝐿 𝐿 5
2: Element Equilibrium ‐ 2D Frame Elements
b) Internal Element Forces as a Function of the Basic Forces (cont.)
3 𝑄 𝑄
𝑃 FBD 1 + 2 + 3
𝑉 𝑉
𝑄 𝑄
𝐹 0: 𝑃 0 𝑄 𝑄
𝑄
𝑀 0: 𝑉.𝐿 𝑄 → 𝑉
𝐿 𝑄 𝑄
𝑄 𝑄 𝑄
𝐹 0: 𝑉 𝑉 → 𝑉 𝐿
𝐿 𝐿
𝑄
𝑄 𝑄
𝐿 𝐿
Vesna Terzic, PhD 6
Vesna Terzic PhD 3
CE 557 ‐ Lecture 2
2: Element Equilibrium ‐ 2D Frame Elements
c) Basic element forces for 2D frame elements
1) Frame Element 3) Frame with an axial force release
𝑄 𝑄 𝑄 𝑄
𝑄 𝑄
𝑄 𝑄 𝑄 𝑄
𝑄 𝑄 𝑄 𝑄
𝐿 𝐿
𝐿 𝐿 axial force release
2) Frame with a moment release 4) Truss
𝑄 𝑄 𝑄 𝑄 𝑄
𝑄 𝑄
𝐿 𝐿
Vesna Terzic, PhD 7
2: Element Equilibrium ‐ 2D Frame Elements
d) Equivalent Element Forces
If uniform load is applied on the element, we will consider them in Equilibrium Equations as
equivalent forces acting at the element ends:
𝑞 𝑞
𝑞 𝐿 𝑞 𝐿
𝐿
2 2
If external moment is acting on the node, we will consider them in Equilibrium Equations as
equivalent forces acting at the element ends :
𝑀 𝑀
𝑀 𝑀
𝐿
L L
Note: The equivalent element forces are the reactions of the basic simply‐supported element.
Vesna Terzic, PhD 8
Vesna Terzic PhD 4
CE 557 ‐ Lecture 2
3: Assembling Equilibrium Equations for a 2D Frame
To assemble equilibrium equations of a 2D frame follow these steps:
1) Number degrees of freedom (DOFs) at all nodes (nf)(in global coordinate system)
2) Number basic forces for all elements (nq)
3) Calculate Degree of Indeterminacy (DOI) as nq ‐ nf
4) Draw free body diagrams for all nodes
5) Write equilibrium equations at all DOFs for each node
Vesna Terzic, PhD 9
3: Assembling Equilibrium Equations for a 2D Frame
a) Numbering DOFs
Example: Number degrees of freedom (DOFs) at all nodes (in global coordinate system)
5
Arrange global DOF displacements in vector U and
separate vector U into 2 sub vectors:
6
4 𝑈 𝑈 : displacements at free DOFs
2 8 𝑈
𝑈 𝑈 : displacements at restrained DOFs (support displacements)
3 9
1 7
Equivalently, arrange forces at global DOFs in vector P
13 11 10 14 and separate vector P into 2 sub vectors:
12 𝐘 15 𝑃 𝑃 : forces acting at the free DOFs
𝑃
𝑃 𝑃 : forces acting at the restrained DOFs (support reactions)
𝐗
nf: # of free DOFs = 10
nr: # of restrained DOFs = 5 Structural Analysis problem: Given: 𝑃 𝑎𝑛𝑑 𝑈
Note: first number free DOFs Find: 𝑃 𝑎𝑛𝑑 𝑈
and then restrained DOFs Vesna Terzic, PhD 10
10
Vesna Terzic PhD 5
CE 557 ‐ Lecture 2
3: Assembling Equilibrium Equations for a 2D Frame
b) Assembling 𝑷𝒇 𝒂𝒏𝒅 𝑼𝒅 vectors
Example: For the given load and support displacement assemble 𝑃 𝑎𝑛𝑑 𝑈 vectors.
5
20
6 P1 10
4 c P2 0 b
2 8 15 P3 0
10 0
3 9
200 P4 0
1 7 b d 0 a
P5 20 c
𝑃 𝑈 0
P6 0
13 10 14 0.1
11
a P7 0 e
e 0
P8 15 d
12 𝐘 15
𝐘 P9 200
0.1
P10 0 e
𝐗
𝐗
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Example 1: Use equilibrium equations to find the internal forces
15 5
a b c
𝐘 10 10 5
𝐗
1) Number DOFs and basic element forces: 2) Find the degree of indeterminacy (DOI):
8
1 4 3 6 9
2 5 7
nf = 9
𝑄 𝑄 𝑄 𝑄 nq = 9
q1 𝑄
a c 𝑄
DOI = nq‐ nf = 9 – 9 = 0
𝑄 𝑄
(q2+q3)/La (q2+q3)/La (q8+q9/La
b 𝑄
Vesna Terzic, PhD 12
(q5+q6)/La
12
Vesna Terzic PhD 6
CE 557 ‐ Lecture 2
Example 1 (cont.)
node #
3) Write equilibrium equations (use nodal equilibrium):
X 𝑃 𝑄 𝑄 Y 𝑄 𝑄 𝑄 𝑄 Z 𝑃 𝑄
𝑃
10 10
𝑃 𝑄 𝑄 𝑄 𝑄 𝑃 𝑄 𝑄
𝑃
𝑃 𝑄 5
𝑃 𝑄 𝑄
𝑃 𝑄
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Example 1 (cont.)
4) Set up equilibrium equations in the matrix form 𝑃 𝐵 .𝑄 𝑃 ‐ applied force vector
𝑄 ‐ basic element force vector
𝐵 ‐ equilibrium matrix for the free DOFs
1 2 3 4 5 6 7 8 9
0 𝑄 0 1 0 0 0 0 0 0 0
0 𝑄 1 0 0 1 0 0 0 0 0
15 𝑄 0 1/10 1/10 0 1/10 1/10 0 0 0
0 𝑄 0 0 1 0 1 0 0 0 0
𝑃 0 𝑄 𝑄 𝐵 0 0 0 1 0 0 1 0 0
0 𝑄 0 0 0 0 0 1 0 1 0
0 𝑄 0 0 0 0 0 0 1 0 0
5 𝑄 0 0 0 0 0 0 0 1/5 1/5
0 𝑄 0 0 0 0 0 0 0 0 1
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Vesna Terzic PhD 7
CE 557 ‐ Lecture 2
Example 1 (cont.)
We can reduce the size of the problem by:
a) eliminating the trivial equations,
b) separating out the equations that include the axial forces, and
c) replacing the cantilever with an equivalent load
Separate out the equations that include axial forces
Trivial equations: 𝑄 0, 𝑄 0, 𝑄 0
and focus on equations involving the end moments.
8
1 4 3 6 9 15 5
2 5 7 a b c
4 3 𝐘 10 10 5
𝐗
𝑄 𝑄
a
15 5
b
25
𝑄 𝑄
𝑄 𝑄 10 25 10
10 25
10 10 10
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Example 1 (cont.)
Write equilibrium equations (use nodal equilibrium):
𝑄 𝑄 25
𝑃
10 10
4 3
𝑃 𝑄 𝑄
𝑄 𝑄 𝑄 25
𝑄 15
a b 10 10
𝑄 𝑄 0 𝑄 𝑄 𝑄 𝑄
𝑄 𝑄 10 25 10
10 25 𝑄 𝑄
10 10 15 2.5
10 10 10
𝑄 5 ∗ 12.5 62.5 𝑄 62.5
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CE 557 ‐ Lecture 2
Example 1 (cont.)
6) Find axial forces: 𝑄 0 𝑁
𝑄 𝑄 0 𝑄 0 𝑁
𝑄 𝑄 0 𝑄 0 𝑁
7) Find support reactions (use FBD of a node):
Pin support:
𝑄 = 0
𝑅 𝑄 = 0 𝐹 0: 𝑅 0
𝑄
𝑅 𝐹 0: 𝑅 6.25
6.25 𝐿
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Example 1 (cont.)
8) Draw internal force diagrams:
25
Note: Moment is shown on the
M
tension side.
62.5
8.75
Note: Shear force is positive if it tends
+ to rotate the element counter‐
‐ V
6.25 ‐ 5 clockwise.
Note: Axial force is positive for
N the elements in tension.
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Vesna Terzic PhD 9
CE 557 ‐ Lecture 2
Example 2: For the given frame and the load, draw the moment diagram.
1) Number DOFs and basic element forces:
𝑞 =5
𝑄 𝑄
5 𝑄 𝑄 𝑄
2 5 8
3 1 6 4 9 7
12 10 𝑄 𝑄
𝑄
𝑄
11
8 8 𝑄 10
𝑄
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Example 2: For the given frame and the load, draw the moment diagram.
2) Remove trivial equations and separate axial force equations:
𝑞 =5
20 𝑄 20
5 𝑄
𝑄 𝑄 𝑄
𝑄
8 5 8 8
8
10
5 𝑄 3 1 4 9 7 𝑄
12
12 10
𝑄
𝑄
8 8
𝑄
𝑄 10
12
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Vesna Terzic PhD 10
CE 557 ‐ Lecture 2
Example 2 (cont.)
3) Write equilibrium equations and find the moments:
𝑄 20 𝑄 𝑄
𝑄
20 𝑃 5
12 10
𝑄 𝑄 𝑄
𝑄 𝑃 𝑄 𝑄 0 𝑄 𝑄
8 5 8 8
8
5 𝑄 3 1 4 9 7 𝑄 𝑄 𝑄
10 𝑃 20 0 𝑄 𝑄 160
12 8 8
𝑄
𝑄 𝑃 𝑄 𝑄 0 𝑄 𝑄
𝑄
10
𝑄
12 𝑄 60 & 𝑄 60
𝑄 100 & 𝑄 100
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Example 2 (cont.)
4) Draw moment diagram:
𝑞 𝐿
8 40
60 100
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Vesna Terzic PhD 11
CE 557 ‐ Lecture 2
Example 3: For the given systems find DOIs.
a) 3 b)
2
3 3
3 3
nf = 6
nf = 6
nq = 3*3 = 9
nq = 2*3 + 2 = 8
DOI = 9 – 6 = 3
DOI = 8 – 6 = 2
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Example 3 (cont.): For the given systems find DOIs.
c) 3 d)
3 2
3
3
2
3 3
3 3
nf = 2*3 + 2 = 8
nq = 2*3 + 4 = 10
nf = 3*4 = 12 DOI = 10 – 8 = 2
nq = 5*3 + 2 = 17
DOI = 17 – 12 = 5
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Vesna Terzic PhD 12
CE 557 ‐ Lecture 2
Example 3 (cont.): For the given systems find DOIs.
e) f)
3 3 3
1 3
3 3 3 3
2 3
3
nf = 2*3 + 1 + 1 = 8 3
nf = 6*3 + 1 + 2 = 21
nq = 3*3 + 1 = 10
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HW 1 is due next week!
5
5 15 5
a b c d
𝐘 5 10 10 5
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Vesna Terzic PhD 13
CE 557 ‐ Lecture 2
HW 1 is due next week!
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