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Static & Kinematic Indeterminacy Static & Kinematic Indeterminacy

Static indeterminacy may be internal or external (or both), The degree of kinematic indeterminacy refers to the number
depending on the redundancy. The total number of releases of independent joint displacements that are unknown and
required to make a structure statically determinate is called are needed to describe the displaced shape of the structure.
the degree of statical indeterminacy. It is also known as the number of degrees of freedom.

This truss system is This truss system is

statically determinate kinematically
Indeterminate to
the 2nd degree

1 2
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Structural Analysis Methods Flexibility and Stiffness Matrices

The force method: D = f ×A
the redundant(s) of a statically indeterminate structure are A = s× D
removed and solutions are obtained by setting the relative Where:
displacements at the redundant(s) to zero.
A is the action, D is the displacement, f is the flexibility coefficient
The displacement method: and s is the stiffness coefficient of the spring.
constraints are added to the structure, and subsequently D 1 = f 11 A1 + f 12 A 2
equations are written satisfying the equilibrium conditions, D 2 = f 21 A1 + f 22 A 2
[ D ] = [ f ][ A ]
the solution of which is the constrained displacements.
A1 = s11 D 1 + s12 D 2
A 2 = s 21 D 1 + s 22 D 2
[ A ] = [ s ][ D ]
3 4
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Flexibility & Stiffness Matrices Equivalent Joint Load

In matrix structural analysis, loads must be placed at the joints.

f11 s21
f21

s11
Equivalent joint load

s22

f22 f12
s12

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Matrix Methods for Structural Analysis, AAiT Bedilu Habte 5 Matrix Methods for Structural Analysis, AAiT Bedilu Habte

Principles of Superposition Flexibility & Stiffness

The forces acting on a structure may be separated or divided into any
convenient fashion and the structure analyzed for the separate cases.
Then the final results can be obtained by adding up the individual A, D
results.
Provided: Where:
1. the geometry of the structure is not appreciably altered under load, A is the action, D is the displacement, f is the flexibility coefficient
and and s is the stiffness coefficient of the spring.
2. the structure is composed of a material in which the stress is linearly
related to the strain. D = f × A
A = s× D
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Flexibility & Stiffness Matrix Methods

A1,D1 A2,D2

D1 = f11 A1 + f12 A2 A1 = s11 D1 + s12 D 2 • The Flexibility method is also called 1)Force Method 2)Static Method 3)
Compatibility Method.
D 2 = f 21 A1 + f 22 A2 A2 = s 21 D1 + s 22 D 2 • Similarly the Stiffness method is also called 1)Displacement Method 2)
Kinematic Method 3)Equilibrium Method.
[ D ] = [ f ][ A ] [ A ] = [ s ][ D ] • Both force & displacement methods are used for the analysis of
indeterminate structures.
Flexibility equation Stiffness equation
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The Flexibility Method – Basic Method The Flexibility Method - Basic

In this method the degree of static indeterminacy of the structure is D1 = D1(AL)+ D1(Aq) Where D1 … Dn = Displ. at co-ord. 1,2 … n
determined and the redundant are identified. A direction (coordinate) D2 = D2(AL)+ D2(Aq) D1(AL) … Dn(AL) = displ. at coord. 1,2 … n due to applied loads
| | |
is assigned to each redundant actions. | D1(Aq) …Dn(Aq) = displ. at coord. 1,2 … n due to redundant forces
Dn = Dn(AL)+ Dn(Aq)
Thus, Aq1, Aq2 …, Aqn are the redundant at the coordinates: 1,2, … n.
If all the redundant are removed, the resulting structure is statically
determinate. Such a released structure is called the primary-structure.
D1 = D1(AL)+ f11 Aq1 + f12 Aq2 + - - - - - f1nAqn
From the principle of superposition the total displacement at any point D2 = D2(AL)+ f21 Aq1 + f22 Aq2 + - - - - - f2nAqn
| | | | |
in statically indeterminate structure is the sum of the displacements in | | | | | … (2)
the basic structure due to the applied loads and the redundants. This is
known as the compatibility condition and may be expressed by the Dn = Dn(AL)+ fn1 Aq1 + fn2 Aq2 + - - - - - fnnAqn
following equations.
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The Flexibility Method – Basic Approach The Flexibility Method – Beam Example
The above equations may be written in compact form as Method of consistent deformation is the basis of the method
[D] = [DL] + [DAq] - - - - - - (2) Redundant forces are chosen to create the primary unknowns
∴[D] = [DL] + [F] [Aq] - - - - - - (3)
where [F] is the array of flexibility coefficients
[Aq]= [F]-1 {[D] – [DL]} - - - - - - (4)
If the net (total) displacements at the redundants are zero then
D1, D2 … Dn = 0,
Then ∴ [Aq] = - [F] -1 [DL] - - - - - - (5) Beam is indeterminate to 1st degree
The redundants Aq1, Aq2, … Aqn are thus determined. A stable and determinate structure (primary structure) is obtained by
removing the vertical reaction at A (AqA) as redundant.

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The Flexibility Method - Beam The Flexibility Method - Beam

Da = Upward Deflection of A on primary structure due to all causes
Dao = Upward Deflection of A on primary structure due to applied load L3
(Redundant removed i.e condition Aqa = 0) f aa =
3EI
Daa = Upward Deflection of A on primary structure due to Aqa ( i.e Redundant)
wL4
faa = Upward Deflection of A on primary structure due to Aqa = 1; this is the Dao = −
flexibility coefficient (faa). 8EI
Daa = faa . Aqa Da = DaL + Aqa × f aa
∴Da = Dao + Daa Substituting for Daa Da = 0 ⇒
Da = Dao + faa . Aqa Superposition equation DaL 3wL
Due to compatibility, the net displacement at A = 0 i.e Aqa = − = ↑
f aa 8
Da = 0 we get Aqa = – Dao / faa
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Flexibility Method – Beam Flexibility method – Truss

Analyze the beam shown below using the basic flexibility method.

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Flexibility method – Truss The Stiffness Method

Stiffness Method:
Using the virtual load method (Virtual work): The number of unknowns in the stiffness method of analysis is known as the
degree of kinematic indeterminacy, that refers to the number of
Member A L P q qPL/A q2L/A node/joint displacements that are unknown and are required to describe the
displaced shape of the structure, which are well-defined.
AB 2A/sqrt(3) 2L/sqrt(3) -P -1/sqrt(3) PL/([Link](3)) L/(3A) • Positive Sign Convention:
• Axial force and displacement along X-axis
AC A L 0 1 0 L/A • Transverse forces and displacements along Y-axis
• Counterclockwise moments and rotations
AD 4A/sqrt(3) 2L/sqrt(3) P -1/sqrt(3) -PL/([Link](3)) L/(6A)

The i,j stiffness coefficient is the action at kinematic degree of

SUM PL/([Link](3)) 3L/(2A)
freedom i required to cause a unit displacement at kinematic degree
of freedom j with all other displacements equal to zero.

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BEAM EXAMPLE BEAM EXAMPLE

Analyze the propped cantilever beam Since moment at the roller support equals 0
shown in the figure by the stiffness
method. E = constant. M Bθ + M Bw = 0 RB = RBθ + RBW
4 EI = −3.75 + 15
Solution: θ B − 7.5 = 0
3 = 11.25kN
5.625 RA = 30 − 11.25
Kθθ =
4 EI 4
= EI
θB =
L 3 EI = 18.75kN
− 6 EI 2 EI ∴ M Bθ = 7.5kN − m
K Vθ = =− M A = 30(3)(1.5) − 11.25(3)
L2 3 −2 EI
RBθ = θ B = −3.75kN = 11.25kN − m
3

Matrix Methods for Structural Analysis, AAiT Bedilu Habte 21 Matrix Methods for Structural Analysis, AAiT Bedilu Habte 22

SPRING SYSTEM Review of Last Lecture

Example:
Analyse the frame shown in the figure below
Analyze the spring arrangement shown in below by the stiffness
method. EI = constant

Solution:
P − k1U 2 − K 2U 2 = 0
P
U2 =
k1 + K 2
 K1   K2 
∴ F1 = P   F2 = P  
 k2 + K1   k2 + K1 
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TRUSS EXAMPLE – Basic Stiffness Method TRUSS EXAMPLE

Example: The stiffness of the truss due to D1 = 1: Shh and Svk
Analyze the truss shown below by the stiffness method. TAD LAD
δ AD
1
= = 1× sin 30o
AE
T L
δ BD
1
= BD BD = 0
AE
TCD LCD
δ CD
1
= = −1× cos 30o
AE
0.5 AE cos 30o AE
1
TAD = 1
TBD = 0 TCD
1
=−
2 / cos 30o 4
 3 + 3 
S11 = TAD
1
sin 30o − TCD
1
cos 30o =   AE

 16 
Let A = 4000mm2 and E = 200GPa 3− 3 
S 21 = TAD
1
cos 30o + TCD
1
sin 30o =   AE

25
 16  26
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TRUSS EXAMPLE TRUSS EXAMPLE

The stiffness of the truss due to D2 = 1: S12 and S22 The stiffness equation of the truss:

T L  A1  AE 3 + 3 3 − 3   D1 
δ AD = AD AD = 1× cos 30o  A  = 16 
2
 
AE  2 3 − 3 9 + 3 3   D2 
T L
δ BD
2
= BD BD = 1
AE For A1 = 100 cos30o = 86.6kN and A2 = 100 sin30o = 50kN
T L the displacements are obtained as:
δ 2
CD = CD CD = 1× sin 30o
AE −1
o  D1   AE 3 + 3 3 − 3   86.67 1 284.53
2
TAD =
cos 30 AE
TBD2
=
AE
TCD2
=
0.5 AE  D  =  16     = AE  30.94  kN − m
2 / cos 30o 2 4  2  3 − 3 9 + 3 3    50   
 3 − 3 
S12 = TAD
2
sin 30o − TCD
2
cos 30o =   AE

If A = 4000mm2 and E = 200GPa
 16 
 D1  0.356
S 22 = TAD
2
cos 30o + TBD2
+ TCD
2
9+2 3 
sin 30o =   AE  D  = 0.039 mm
  2  
 16 
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In Short
Flexibility Method:
Unknown redundant actions (Aq) are identified and structure is released
(primary structure – statically determinate)
Structure flexibility matrix is formulated and redundant actions (Aq) are
solved for
Other unknown quantities in the structure are dependent on the redundant
actions
Stiffness Method:
Unknown joint displacements (Dj) are identified and structure is restrained
(kinematically determinate)
Structure stiffness matrix is formulated and unknown joint displacements
(Dj) are solved for
Other unknown quantities in the structure are dependent on the unknown
displacements
Matrix Methods for Structural Analysis, AAiT Bedilu Habte 29