Lecture 11: The Stiffness Method

Washkewicz College of Engineering

Introduction
Although the mathematical formulation of the flexibility and stiffness methods are
similar, the physical concepts involved are different.
We found that in the flexibility method, the unknowns were the redundant actions. In the
stiffness method the unknown quantities will be the joint displacements. Hence, the
number of unknowns is equal to the degree of kinematic indeterminacy for the stiffness
method.
Flexibility Method:
Unknown redundant actions {Q} are
identified and structure is released
Released structure is statically
determinate
Flexibility matrix is formulated and
redundant actions {Q} are solved for
Other unknown quantities in the
structure are functionally dependent
on the redundant actions

Stiffness Method:
Unknown joint displacements {D} are
identified and structure is restrained
Restrained structure is kinematically
determinate, i.e., all displacements are zero
Stiffness matrix is formulated and unknown
joint displacements {D} are solved for
Other unknown quantities in the structure
are functionally dependent on the
displacements.
1

Lecture 11: The Stiffness Method

Washkewicz College of Engineering

Actual Beam

Restrained Beam #1

Restrained Beam #2

Neglecting axial deformations, the beam

to the left is kinematically indeterminate
to the first degree. The only unknown is
a joint displacement at B, that is the
rotation. We alter the beam such that it
becomes kinematically determinate by
making the rotation B zero. This is
accomplished by making the end B a
fixed end. This new beam is then called
the restrained structure.
Superposition of restrained beams #1
and #2 yields the actual beam.

Lecture 11: The Stiffness Method

Washkewicz College of Engineering

Due to the uniform load w, the moment 1MB

1

MB

wL2

12

is developed in restrained beam #1. The moment 1MB is an action in the restrained
structure corresponding to the displacement B in the actual beam. The actual beam
does not have zero rotation at B. Thus for restrained beam #2 an additional couple at B
is developed due to the rotation B. The additional moment is equal in magnitude but
opposite in direction to that on the loaded restrained beam.
2MB

4 EI
B
L

Imposing equilibrium at the joint B in the restrained structure

wL2

12

4 EI
B
L

yields

wL3
48 EI

Lecture 11: The Stiffness Method

Washkewicz College of Engineering

In a manner analogous to that developed for the flexibility method, we seek a way
to consider the previous simple structure under the effect of a unit load. We also
wish to utilize the superposition principle. Both will help develop a systematic
approach to structures that have a higher degree of kinematic indeterminacy.
The effect of a unit rotation on the previous beam is depicted below

Here the moment applied mB will produce a unit rotation at B. Since mB is an action
corresponding to the rotation at B and is caused by a unit rotation, then mB is a
stiffness coefficient for the restrained structure. The value of mB is

mB

4 EI
L
4

Lecture 11: The Stiffness Method

Washkewicz College of Engineering

Again, equilibrium at the joint is imposed. The couple in the restrained beam from
the load on the beam will be added to the moment mB (corresponding to a unit value
of B) multiplied by B. The sum of these two terms must give the moment in the
actual beam, which is zero, i.e.,

mB B

MB

or

4 EI

B
L

wL2

12

Solving for B yields once again

wL3
48 EI

The positive sign indicates the rotation is counterclockwise.

5

Lecture 11: The Stiffness Method

Washkewicz College of Engineering

This seems a little simple minded, but the systematic approach of applying the principle
of superposition will allow us to analyze more complex structures.
Having obtained B then other quantities, such as member end-actions and reactions
can be computed. For example, the reaction force R acting at A can be computed by
summing the force RA in the restrained structure due to loads and the force rA multiplied
by B, i.e.,

rA B

RA

The forces RA and rA are

RA

wL
2

6 EI
L2

rA

6 EI
L2

wL3

48 EI

thus

wL
2
5wL
8

Lecture 11: The Stiffness Method

Washkewicz College of Engineering

Useful Beam Tables

The next several beam cases will prove useful in establishing components of the
stiffness matrix. Consult your Steel Design manual for many others not found here.

Lecture 11: The Stiffness Method

Washkewicz College of Engineering

Lecture 11: The Stiffness Method

Washkewicz College of Engineering

Lecture 11: The Stiffness Method

Washkewicz College of Engineering

Note that every example cited have fixed-fixed end conditions. All are kinematically
determinate.
10

Lecture 11: The Stiffness Method

Washkewicz College of Engineering

Multiple Degrees of Kinematic Indeterminacy

If a structure is kinematically
indeterminate to more than one degree a
more generalized matrix notation will be
utilized.
Consider the beam to the left with a
constant flexural rigidity, EI. Since
rotations can occur at joints B and C, the
structure is kinematically indeterminate
to the second degree when axial
displacements are neglected.
Designate the unknown rotations as D1
(and the associated bending moment as
AD1) and D2 (with a bending moment
AD2). Assume counterclockwise
rotations as positive. The unknown
displacements are determined by
applying the principle of superposition to
the bending moments at joints B and C. 11

Lecture 11: The Stiffness Method

Washkewicz College of Engineering

All loads except those corresponding to the unknown joint displacements are assumed to
act on the restrained structure. Thus only actions P1 and P2 are shown acting on the
restrained structure.

The moments ADL1 and ADL2 are the actions of the restraints associated with D1 (AD1) and D2
(AD2) respectively. The notation in parenthesis will help with the matrix notation
momentarily.

12

Lecture 11: The Stiffness Method

Washkewicz College of Engineering

In order to generate the stiffness coefficients at joints B and C, unit values of the unknown
displacements D1 and D2 are induced in separately restrained structures.
In the restrained beam to the left a
unit rotation is applied to joint B.
Thus the actions induced in the
restrained structure corresponding to
D1 and D2 are the stiffness
coefficients S11 and S21, respectively
In the restrained beam to the left a
unit rotation is applied to joint B.
Thus the actions induced in this
restrained structure corresponding to
D1 and D2 are the stiffness
coefficients S12 and S22, respectively
All the stiffness coefficients in the figures have two subscripts (Sij). The first subscript
identifies an action associated with an unknown displacement (Di). The second subscript
denotes where the unit displacement is being applied. Stiffness coefficients are taken as
positive when the action represented by the coefficient is in the same direction as the ith
13
displacement.

Lecture 11: The Stiffness Method

Washkewicz College of Engineering

Two superposition equations describing the moment conditions on the original structure
may now be expressed at joints B and C. The superposition equations are

AD1

ADL1

AD 2

ADL 2

S 21 D1

S11 D1

S12 D2
S 22 D2

The two superposition equations express the fact that the actions in the original structure
are equal to the corresponding actions in the restrained structure due to the loads plus the
corresponding actions in the restrained structure under the unit displacements multiplied by
the displacements themselves. These equations can be expressed in matrix format as

AD

ADL

S D

14

Lecture 11: The Stiffness Method

Washkewicz College of Engineering

here

AD

AD1

A
D2

ADL

ADL1

A
DL 2

S
D

S11
S
21

S12
S 22

D
1
D2

and

S 1 AD

ADL

15

Lecture 11: The Stiffness Method

Washkewicz College of Engineering

With

P1

2P

PL

P2

P3

ADL1

then

AD

PL

0

ADL

PL
4

ADL1

PL
8

ADL1

PL
8

PL
PL PL

4
8
8

PL

The next step is the formulation of the stiffness matrix. Consider a unit rotation at B

16

Lecture 11: The Stiffness Method

Washkewicz College of Engineering

thus

S11

4 EI
L

S11

S11 S11
S 21

S11

8 EI
L

4 EI
L

2 EI
L

With a unit rotation at C

S 22

4 EI
L

S12

2 EI
L

and the stiffness matrix is

EI 8 2
L 2 4

17

Lecture 11: The Stiffness Method

Washkewicz College of Engineering

The inverse of the stiffness matrix is

S 1

L
14 EI

2 1
1 4

which leads to the following expression

L 2 1 Pl

14 EI 1 4 0

PL2 17

112 EI 5

PL
8
PL

18

Lecture 11: The Stiffness Method

Washkewicz College of Engineering

Member End-Actions And Reactions

We would now like to develop the matrix equations for determining member end actions
and reactions using stiffness methods. The procedure closely follows the procedure
developed for the flexibility method. First member end-actions due to the external loads,
denoted by {AML }, are determined. Then the contributions of the member end-actions
caused by unit displacements multiplied by the now known actual displacements are added.
Thus

AM

AML

AMD D

Here:
{AM } is the vector of member end actions on the actual structure
{AML } is the vector of member end actions due to the external loads on the restrained
structure.
{AMD } is the matrix of member end-actions due to unit values of the displacements on
19
the restrained structure

Lecture 11: The Stiffness Method

Washkewicz College of Engineering

A similar equation can be written for the reactions, i.e.,

AR

ARL

ARD D

Here:
{AR } is the vector reactions in the actual structure
{ARL } is the vector of reactions due to the external loads on the restrained structure
{ARD }is the matrix of reactions due to unit values of the displacements on the
restrained structure

20

Lecture 11: The Stiffness Method

Washkewicz College of Engineering

Example 11.1

21