THEORY OF STRUCTURES 2

CHAPTER 4 – DISPLACEMENT METHOD OF ANALYSIS: SLOPE DEFLECTION EQUATIONS

Displacement Method of Analysis: General Procedures

The method first requires satisfying the equilibrium equations for the structure. To do this the unknown displacements
are written in terms of the loads by using the load-displacement relations, then these equations are solved for the
displacements. Once the displacements are obtained, the unknown loads are determined from the compatibility
equations using the load-displacement relations. Every displacement method follows this general procedure. In this
chapter, the procedure will be generalized to produce the slope-deflection equations.

Degrees of Freedom

When a structure is loaded, specified points on it, called nodes, will undergo displacement. These displacements are
referred to as the degrees of freedom for the structure, and in the displacement method of analysis it is important to
specify these degrees of freedom since they become the unknowns when the method is applied.

To determine the number of degrees of freedom we can imagine the structure to consist of a series of members
connected to nodes, which are usually located at joints, supports, and at the ends of a members, or where the members
have sudden change in cross section. In three dimensions, each node on a frame or beam, cam have at most three linear
displacements and three rotational displacements; and in two dimensions, each node can have at most two linear
displacements and one rotational displacements. Furthermore, nodal displacements may be restricted by the supports,
or due to assumptions based on the behavior of the structure. For example, if the structure is a beam and only
deformation due to bending is considered, then there can be no linear displacement along the axis of the beam since
this displacement is caused by axial-force deformation.

To clarify these concepts we will consider some examples, beginning with the beam in figure.

Here any load P applied to the beam will cause node A only to rotate (neglecting axial deformation), while node B is
completely restricted from moving. Hence the beam has only one degree of freedom, ϴA. The beam in figure:

Has nodes at A, B, and C, and so has four degrees of freedom, designated by rotational displacements ϴA, ϴB, ϴC, and the
vertical displacement ΔC. In figure:
Again, if we neglect axial deformation of the members, and arbitrary loading P applied to the frame can cause nodes B
and C to rotate and these nodes can be displaced horizontally by an equal amount. The frame therefore has three
degrees of freedom, ϴB, ϴC, and ΔB.

In summary, specifying the number of unconstrained degrees of freedom for the structure is a necessary first step when
applying a displacement method of analysis. It identifies the number of unknowns in the problem, based on the
assumptions made regarding the deformation behavior of the structure. Furthermore, once these nodal displacements
are known, the deformation of the structural members can be completely specified, and the loadings within the
members obtained.

Slope-Deflection Equation

The slope-deflection method is so named since it relates the unknown slopes and deflections to the applied load on a
structure. In order to develop the general form of the slope-deflection equations, we will consider the typical span AB of
a continuous beam as shown in figure:

Which is subjected to the arbitrary loadings and has a constant EI. We wish to relate the beam’s internal end moments
MAB and MBA in terms of its three degrees of freedom, namely, its angular displacements ϴA , and ϴB, and linear
displacements Δ which could be caused by a relative settlement between the supports. Since we will be developing a
formula, moments and angular displacements will be considered positive when they act clockwise on the span, as shown
in figure. Furthermore, the linear displacement Δ is considered positive as shown, since this displacement causes the
cord of the span and the span’s cord angle Ψ to rotate clockwise.

The slope-deflection equations can be obtained by using the principles of superposition by considering separately the
moments developed at each support due to each displacements, ϴA, ϴB, and Δ, and then the loads.
Angular Displacement at A, ϴA. Consider node A of the member shown in figure:

To rotate ϴA while its far-end node B is held fixed. To determine the moment M AB needed to cause this displacement, we
will use the conjugate-beam method. For this case the conjugate beam is shown:

Notice that the end shear at A’ acts downward on the beam, since ϴA is clockwise. The deflection of the “real beam” in
the first figure is to be zero at A and B, and therefore the corresponding sum of the moments at each end A’ and B’ of
the conjugate beam must also be zero. This yields:

∑ M A ' =0
1 M AB L 1 M BA 2L
− (( )) (( ))
2 EI
L +
3 2 EI
L
3
=0

∑ M B ' =0
1 M BA L 1 M AB 2L
− (( )) (( ))
2 EI
L +
3 2 EI
L
3
+θ A L=0

From which we obtain the following load-displacement relationships.

4 EI
M AB= θ
L A

2 EI
M BA = θ
L A

Angular Displacement at B, ϴB. In similar manner, if end B of the beam rotates to its final position ϴB, while end A is held
fixed as shown in figure:
We can relate the applied moment MBA to the angular displacement ϴB and the reaction moment MBA to the angular
displacement ϴB and the reaction moment MAB at the wall. The results are:

4 EI
M BA = θ
L B

2 EI
M AB= θ
L B

Relative Linear Displacement, Δ. If the far node B of the member is displaced relative to A, so that the cord of the
member rotates clockwise (positive displacement) and yet both ends do not rotate, then equal but opposite moment
and shear reactions are developed in the member, as shown in figure:

As before, the moment M can be related to the displacement Δ using the conjugate-beam method. In this case, the
conjugate beam as shown in figure:

Is free at both ends, since the real beam (member) is fixed supported. However due to the displacement of the real
beam at B, the moment at the ends B’ of the conjugate beam must have a magnitude of Δ as indicated.

∑ M B=0
1 M 2 1 M 1
−( 2 EI ( )) (
( L) L +
3 2 EI 3( ))
( L ) L −∆=0

−6 EI
M AB=M BA =M = ∆
L2

This induced moment is negative since for equilibrium it acts counter-clockwise on the member.

Fixed-End Moments

In the previous cases we have considered relationships between the displacements and the necessary moments M AB and
MBA acting at nodes A and B, respectively. In general, however, the linear or angular displacements of the nodes are
caused by loadings acting on the span of the member, not by moments acting at its nodes. In order to develop the slope-
deflection equations, we must transform these span loading into equivalent moments acting at the nodes and then use
the load-displacement relationships just derived. This is done simply by finding the reaction moment that each develops
at the nodes. For example consider the fixed-supported member shown in figure:
Which is subjected to a concentrated load P at its center. The conjugate beam for this case is shown in figure:

Since we require the slope at each end to be zero:

∑ F y =0
1 PL 1 M
(( )( ) ) ( ( ) )
2 4 EI
L −2
2 EI
L =0

PL
M=
8

This moment is called fixed-end moment (FEM). Note that according to our sign convention, it is negative at node A
(counterclockwise) and positive at node B (clockwise). For convenience in solving problems, fix-ended moments have
been calculated as shown in the table:
Assuming these FEMs have been computed for a specific problem as shown in figure:

We have:

M AB=( FEM )AB

M BA =(FEM )BA

Slope-Deflection Equation:

If the end moments due to each displacement and the loadings are added together, the resultant moments at the ends
can be written as:

M AB=2 E ( LI )(2 θ + θ −3( ∆L ))+(FEM )

A B AB
M BA =2 E ( LI )(2 θ +θ −3 ( ∆L ))+( FEM )
B A BA

Since these two equations are similar, the result can be expressed as a single equation. Referring to one end of the span
as the near end (N) and the other end as the far end (F), and letting the member stiffness be represented as k = I/L, and
the span’s cord rotation as Ψ (psi) = Δ/L, we can have:

M N =2 Ek ( 2 θ N +θ F −3Ψ ) +( FEM ) N

For Internal Span∨End Span with Far End ¿

Where:

M N =internal moment∈the near end of the span ; this moment is positive clockwise when acting onthe span

E=Modulus of elasticity of material

k =span stiffness=I / L

θ N , θF =Near∧Far ended slopes∨angular displacements of the span at the supports ;

the angles are measured ∈radians∧are positive clockwise

Ψ =span rotation of its cord due ¿ a linear displacement ,that is ,

∆
Ψ = ; this angle is measured ∈radians∧is positive clockwise
L

( FEM ) N =¿−end moment at the near−end support ; the moment is positive clockwise when acting on the span

This equation is both compatibility and load-displacement relationship found by considering only the effects of bending
and neglecting axial and shear deformations. It is referred to as the general slope-deflection equation. When used for
the solution problems, this equation is applied twice for each member span (AB); that is, application is from A to B and
from B to A for span AB.

Pin-Supported End Span

Occasionally an end span of a beam or frame is supported by a pin or roller at its far end as shown in figure:

When this occurs, the moment at the roller or pin must be zero; and provided the angular displacement ϴB at this
support does not have to be determined, we can modify the general slope deflection equation so that it has to be
applied only once to the span rather than twice.

M N =3 Ek ( θN −Ψ ) +( FEM )N

Only for End Span with Far End Pinned ∨Roller Supported
Since the moment at the far end is zero, only one application of this equation is necessary for the end span. This
simplifies the analysis since the general equation would require two applications for this span and therefore involve the
(extra) unknown angular displacement ϴB (or ϴF) at the end support.

EXAMPLES:

1. Draw the shear and moment diagram for the beam shown in figure. EI is constant.

SO LUTION :

−w L2 −( 6 ) 62
( FEM )BC = = =−7.2 kN −m
30 30
2
w L2 (6)6
( FEM )CB = = =10.8 kN −m
20 20

( FEM ) AB=( FEM )BA=0

θ A =θC =0

Ψ AB =Ψ BC =0

For span AB , considering A ¿ be near end∧B ¿ be far end

M N =2 E ( LI ) (2θ +θ −3 Ψ )+( FEM )

N F N

I EI
M AB=2 E ()
8
( 2( 0)+θ B−3(0) ) +0= θ B
4

Now , considering B¿ be near end∧ A ¿ be the far end , we have :

M BA =2 E ( 8I ) (2(θ )+ 0−3( 0))+ 0= EI2 θ

B B

For span BC :

M BC =2 E ( 6I )( 2(θ )+0−3(0))−7.2= 2 3EI θ −7.2

B B

M CB =2 E ( 6I ) (2(0)+θ −3(0))+ 10.8= EI3 θ +10.8

B B

M BA + M BC =0

EI 2 EI
θB+ θ −7.2=0
2 3 B

6.17
θ B=
EI

Resubstitute this value¿ all equations :

 M AB=1.54 kN−m

M BA =3.09 kN −m

M BC =−3.09 kN−m

M CB =12.86 kN −m

2. Draw the shear and moment diagram for the beam shown. EI is constant.

SOLUTION :

−wL 2 −1
( FEM ) AB= = (2)¿
12 12

wL2 1 ( ) ( )2
( FEM )BA = = 2 24 =96 k−ft
12 12
 −3 PL −3 ( 12 ) ( 8 )
( FEM )BC = = =−18 k −ft
16 16

θ A =0

Ψ AB =Ψ BC =0

I
M N =2 E ()L
( 2θ N +θ F −3 Ψ ) +( FEM )N

M AB=2 E ( 24I )( 2(0)+ θ −3(0))−96

B

M AB=0.08333 EI θ B−96

M BA =2 E ( 24I ) (2 θ + 0−3 (0))+96

B

M BA =0.1667 EI θ B+ 96

M N =3 Ek ( θN −Ψ ) + ( FEM )N

M BC =3 E ( 8I ) (θ −0)−18
B

M BC =0.375 EI θ B−18

M BA + M BC =0

0.1667 EI θ B +96+ 0.375 EI θ B−18=0

−144.0
θ B=
EI

Resubstitute this value¿ all equations :

M AB=−108.0 k −ft

M BA =72.0 k−ft

M BC =−72.0 k−ft
3. Determine MAB and MBA for the beam shown in figure. The support at B is displaced (settles) 80 mm. Take E = 200 GPa,
I = 5(10)6 mm4.

SOLUTION :

0.08 m
Ψ AB =Ψ BA = =0.02 rad
4

Stiffness for AB :
6 4 −12 4 4
I 5 ( 10 ) mm (10) m /mm
k= = =1.25 ¿
L 4m

θ A =0

M N =2 E ( LI ) (2θ +θ −3 Ψ )+( FEM )

N F N

(
M AB=2 200 ( 10 )
9
( mN ))¿
2

(
M BA =2 200 ( 10 )
9
( mN )) ¿
2

∑ M B=0
−M BA + 8000 N ( 3 m )=0

M BA =24,000 N −m

(
24,000 N−m=2 200 ( 10 )
9
( mN )) ¿
2
 θ B=0.054 rad

M AB=−3.00 kN −m

M BA =24 kN −m

4. Determine the internal moments at the supports of the beam shown in figure. The support at C is displaced (settles)
0.1 ft. Take E = 29(10)3 ksi, I = 1500 in4.

SOLUTION :

−wL 2 −1
( FEM ) AB= = (1.5)¿
12 12

wL2 1
( FEM )BA = = (1.5) ¿
12 12

0.1 ft
Ψ BC = =0.005 rad
20 ft

0.1 ft
Ψ CD = =−0.00667rad
15 ft

1500
k AB = 24
=0.003014 ft 3
24(12)

1500
k CD= 24
=0.004823 ft 3
15(12)

1500
k BC = 24
=0.003617 ft 3
20(12)

θ A =θ D=0

For span AB :

M AB=2 ( 29 ( 10 )3 122) ( 0.003014 ) ( 2(0)+ θB −3(0) ) −72

M AB=25173.6 θ B−72

M BA =2 ( 29 ( 10 )3 122 ) ( 0.003014 ) ( 2(θ B )+ 0−3 (0) ) +72

 M BA =50347.2θ B +72

For span BC :

M BC =2 ( 29 ( 10 )3 122 ) ( 0.003617 ) ( 2(θB )+θC −3(−0.005) ) +0

M BC =60416.7θ B +30208.3 θC −453.1

M CB =2 ( 29 (10 )3 122 ) ( 0.003617 ) ( 2(θC )+θB −3(−0.005)) + 0

M CB =60416.7 θC +30208.3 θB −453.1

For span CD :

M CD =2 ( 29 ( 10 )3 122 ) ( 0.004823 ) ( 2(θC )+0−3(−0.00667) ) +0

M CD =80555.6 θC −805.6

M DC =2 ( 29 (10 )3 122 ) ( 0.004823 ) ( 2(0)+θC −3 (−0.00667) ) +0

M DC =40377.8 θC +805.6

M BA + M BC =0

M CB + M CD =0

θC +3.667 θ B=0.01263

−θC −0.214 θ B=0.00250

θ B=0.00438 rad

θC =−0.00344 rad

Resubstitute this value¿ all equations :

M AB=38.2 k −ft

M BA =292 k−ft

M BC =−292k −ft

M CB =−529 k−ft

M CD =529 k−ft

M CB =667 k −ft