ANALYSIS OF STATICALLY INDETERMINATE STRUCTURES BY THE FORCE METHOD

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Force Method of Analysis: Beams Maxwells Theorem of Reciprocal Displacements; Bettis Law Force Method of Analysis: Frames Force Method of Analysis: Trusses Force Method of Analysis: General Composite Structures

Force Method of Analysis : Beams

1 Degree of freedom Compatibility of displacement M1
1

Compatibility of slope M1
1

A
R1 P

C
L

B
R2

A
R1 P

C
L

B
R2

2 + f22 R2

=
A
2

=
B

C
1

+
1 f22 R2 1 = 2 = 0 11

+
M1

1 + 11M1

= 1= 0

2 Degree of freedom Ax A

1 B

2 C

Ay A

R1 B 1 + 2

R2 C

Dy D

f21 D xR R1 1

f11 1 + f22 1 1 + f11 R1 + f12 R2 2 + f21 R1 + f22 R2 = 1 = 0 = 2 = 0

f12 A

xR R2 2

Maxwells Theorem of Reciprocal Displacements; Bettis Law f21 A f11 f21 1 1 2 B

m2 M 1 mm dx = 2 1 dx EI EI L L

1 f 21 =

m1

f 21 =

m2 m1 dx EI L

A f12

1 f22

m2
4

f12 A f12

2 1 f22 m2 B

f 21 =

m2 m1 dx EI L
m1M 2 mm dx = 1 2 dx EI EI L L

1 f12 =

f12 =

m1m2 dx EI L

f 21 = f12

Maxwells Theorem: B f21

f ij = f ji

f11 m1

f11, f22 A

1 1

2 B f11 f21
1 f11 =

m1M 1 mm dx = 1 1 dx EI EI L L

m1

1 f 22 =

m2 M 2 mm dx = 2 2 dx EI EI L L

In general, A f12 m2
6

1 f22

1 f ij = f =
L

mi m j EI m j mi EI

dx

1 f ji = f ji =
L

dx

1 A P1

2 D

d11 = f11 P1

d21 = f21 P1

P2 A D

d12 = f12 P2

d22 = f22 P2

Force Method of Analysis: General

Compatibility Eq. 1 + f11R1 + f12R2 = 1 = 0 2 + f21R1 + f22R2 = 2 = 0 0 1 0 2 1 2

w 1 2

1 2

= +
f11 1 f21 xR1

f11 f12 R1 f12 f22 R 2 f11 f12 R1 f12 f22 R 2

=-

General form: f11 f12 f1n f21 f22 f2n . . . fn1 fn2 fnn R1 R2 . . . Rn 1 2 . =- . . n
8

+
f12 f22 1 xR2

Example 9-1 Determine the reaction at all supports and the displacement at C.

50 kN B 6m

A 6m

SOLUTION

Use compatibility of displacement for find reaction 50 kN B 6m RB

Principle of superposition MA A RA 6m

=
50 kN

B + RB fBB x R B Compatibility equation : ' B + f BB RB = 0 -----(1) 1

10

 Use formulation for B and fBB 50 kN A 6m C 6m B C 6C B

B = C+ (6 m)C
P(6) 3 P ( 6) 2 'B = + ( 6) 3EI 2 EI

50(6)3 (50)(6) 2 9000 = + (6) = , EI 3EI 2 EI

A
f BB

C
PL3 (1)(12) 3 576 = = = , 3EI 3EI EI

B 1

fBB

11

 Substitute B and fBB in Eq. (1): 'B + f BB RB = 0

9000 576 +( ) RB = 0 EI EI RB = 15.63 kN,

'B =

9000 , EI 576 , EI

+ :

f BB =

50 kN 6m MA A RA Equilibrium equation : + MA = 0: + Fy = 0:
M A 50(6) + 15.63(12) = 0, + RA 50 + 15.63 = 0,

6m C B 15.63 kN

MA = 112.4 kN, Ra = 34.37 kN,

12

 Quantitative shear and bending diagram and qualitative deflected curve 50 kN 112.4 kNm A 34.37 kN 34.37 V (kN) -15.63 93.78 M (kNm) 3.28 -112.44 6 12 x (m) -15.63 x (m) 6m C 6m B 15.63 kN

13

Or use compatibility of slope to obtain reaction Principle of superposition MA A RA 6m C 50 kN 6m B RB

=
50 kN

A C

A
1 A fAA

+
C B xM MA A

Compatibility equation :

' A + f AA M A = A= 0

-----(2)

14

 Use the table on the inside front cover for B and fBB 50 kN A C B

A
PL2 A'= 16 EI

1 A

fAA C
f CC = L 3EI

Substitute the values in equation: ' A + f AA M A = A= 0 +:

PL2 L + MA =0 16 EI 3EI MA = 3PL 3(50)(12) = 16 16

= 112.5 kNm, +
15

Or use Castigliano least work method x1 12RB - 300 = MA A 50 - RB = RA M 12RB - 300 diagram 6m C 6m M2 = RBx2 M1 = (12RB - 300) + (50 - RB)x1 x (m) 50 kN x2 B RB

B = 0 = (
0

M M ) dx RB EI
6 6

1 1 0= ( 12 x )( 12 R 300 + 50 x R x ) dx + x2 ( RB x2 ) dx2 B B 1 1 1 1 EI EI 0 0
6 900 x1 24 x1 50 x1 x1 x 0 = (144 RB x1 3600 x1 + RB + RB ) 0 + 2 RB 2 2 3 3 3

6 0

RB =15.63 kN,

16

Use conjugate beam for find the displacement 50 kN 112 kNm A 34.4 kN M (kNm) 3.28 -112 6 93.6/EI Conjugate Beam -112/EI
281 223 776 M 'C = ( 2) (6 ) = EI EI EI C = M 'C = 776 , EI

6m

C
C

6m B

Real Beam

93.6

15.6 kN

x (m) 12

M C

281/(EI)

223/(EI)

VC 2 m

4m

223/(EI)

17

Use double integration to obtain the displacement 50 kN 112 kNm A 34.4 kN M (kNm) 3.28 -112 6 12
d 2 EI 2 = 112 + 34.4 x1 dx d x12 EI = 112 x1 + 34.4 + C1 dx 2 2 x1 x13 EI = 112.4 + 34.4 + C1 x1 + C2 2 6 1 62 63 778 (112( ) + 34.4( ) + 0 + 0) = C = , 2 6 EI EI
18

6m

C
C

6m B

Real Beam

93.6

15.6 kN

x (m)

Example 9-2 Draw the quantitative Shear and moment diagram and the qualitative deflected curve for the beam shown below.The support at B settles 5 mm. Take E = 200 GPa, I = 60(106) mm4.

16 kN A 2m 2m B C B = 5 mm 4m

19

SOLUTION

Use compatibility of displacement to obain reaction 16 kN B C B = 5 mm 2m 2m 4m 16 kN

Principle of superposition A

+
fBB 1 kN Compatibility equation :
B = 0.005m = 'B + f BB RB

=
B

RB

-----(1)

20

 Use conjugate beam method for B 16 kN Real A beam 12 kN 2m 2m 24 16 B B 4m C 4 kN

M diagram
24 Conjugate EI beam
56 EI

24 EI

72 EI

16 EI

32 EI 40 EI

MB
2 3

4 3

2m

4m

40 EI

2 4 3 32 4 40 + MB = 0: M ' ' B + ( ) (4) = 0 EI 3 EI 117.33 ' B = M ' ' B = , 21 EI

VB 4 3

 Use conjugate beam method for fBB fBB B 4m 1 kN 4m

Real A beam 0.5 kN m diagram

C 0.5 kN
4 3 2 4 3

mB -2 vBB + MB = 0:
4 EI 2 EI 4 EI 4 EI

Conjugate beam
4 EI

4 EI

4 EI

mB ' '

4 4 4 ( )+ (4) = 0 EI 3 EI 10.67 f BB = mB ' ' = , EI

22

 Substitute B and fBB in Eq. (1):

+ : 0.005 =

B = 0.005 m = ' B + f BB RB

117.33 10.67 RB + EI EI

'B = M ' 'B = f BB

(0.005) EI = 117.33 + 10.67 RB

117.33 , EI 10.67 = mB ' ' = , EI

(0.005)(200 60) = 117.33 + 10.67 RB

16 kN

RB = 5.37 kN,

xRB = 5.37 0.5 kN 1 kN 0.5 kN

12 kN 16 kN A

4 kN

=
B

RA = 9.31 kN 5.37 kN

RC = 1.32 kN

23

 Quantitative shear and bending diagram and qualitative deflected curve 16 kN A B C B = 5 mm RC = 1.32 kN 4m

RA = 9.31 kN 5.37 kN 2m 9.31 V diagram -6.69 M diagram Deflected Curve 18.62 5.24 2m

-1.32

B = 5 mm

24

Or use Castigliano least work method Principle of superposition 16 kN

RA = 12 - 0.5RB 2m 2m

RB 4m

RC = 4 - 0.5RB

0.5RB

12

16 kN

RB

0.5RB

25

16 kN x1 x2 x3

RA = 12 - 0.5RB x1 V1 2m M1 = (12 - 0.5RB)x1 12 - 0.5RB 2m

RB 4m

RC = 4 - 0.5RB x3 (4 - 0.5RB)x3 = M3 V3 4 - 0.5RB

M2 = 0.5x2RB + 16 - 2RB + 4 x2 V2

B = 0.005 = (
0

M i M i ) dx RB EI
2

RB x2 4m
2

4 - 0.5RB

1 1 0.005 = ( 0 . 5 x )( 12 x 0 . 5 x R ) dx + (0.5 x2 2)(0.5 x2 RB + 16 2 RB + 4 x2 )dx2 1 1 1 B 1 EI EI 0 0 4 1 + (0.5 x3 )(4 x3 0.5 x3 RB )dx3 EI 0

0.005 EI = 117.34 + 10.66 RB , RB = 5.38 kN,
26

Example 9-3 Draw the quantitative Shear and moment diagram and the qualitative deflected curve for the beam shown below.EI is constant. Neglect the effects of axial load.

5 kN/m A 4m 4m B

27

SOLUTION

Use compatibility of displacement to obtain reaction

Principle of superposition A

5 kN/m 4m 4m

A=0

B=0

5 kN/m

A
1 kNm

=
B

AA

BA

MA

AB
Compatibility equation :

1 kNm M B

BB
-----(1) -----(2)
28

A = 0 = ' A + AA M A + AB M B B = 0 = 'B + BA M A + BB M B

 Use formulation: A, B, AA, BA, BB, AB, 5 kN/m

3wL3 3(5)(8) 3 60 'A = = = EI 128 EI 128EI

1 kNm

7 wL3 7(5)(8) 3 46.67 'B = = = EI 384 EI 384 EI

1 kNm

AA
AA = BA =

BA
M o L 1(8) 2.67 = = 3EI 3EI EI M o L 1(8) 1.33 = = 6 EI 6 EI EI

AB
BB = AB =

BB
M o L 1(8) 2.67 = = 3EI 3EI EI M o L 1(8) 1.33 = = 6 EI 6 EI EI
29

Note : Maxwells theorem of reciprocal displacement is AB = BA

 Substitute A, B, AA, BA, BB, AB, in Eq. (1) and (2) 5 kN/m A

'A = AA

A=0

4m

4m

B=0

60 EI 2.67 = EI 1.33 EI 46.67 EI

A = 0 = ' A + AA M A + AB M B B = 0 = 'B + BA M A + BB M B
+
0=

AB =
-----(1) -----(2)

'B = BA = BB

60 2.67 1.33 +( )M A + ( )M B EI EI EI 46.67 1.33 2.67 +( )M A + ( )M B EI EI EI

1.33 EI 2.67 = EI

0=

Solving these equations simultaneously, we haave MA = -18.31 kNm, MB = -8.36 kNm, + +

30

MA = -18.31 kNm, MB = -8.36 kNm, 5 kN/m 18.31 kNm A RA + MA = 0: + Fy = 0: 4m

+ +

B 4m RB

8.36 kNm

18.31 20( 2) + RB (8) 8.36 = 0, 3.76 + R A 20 + RB = 0,

RB = 3.76 kN, Ra = 16.24 kN,

31

 Quantitative shear and bending diagram and qualitative deflected curve 5 kN/m 18.31 kNm A 4m 4m B 8.36 kNm

16.24 kN 16.24

3.76 kN

V diagram

3.25 m

-3.76

M diagram -18.31

8.08

6.67 -8.36

Deflected Curve

32

Force Method of Analysis : Frames Principle of superposition fCC C x B C Cx w Cy w CH 1 kN

=
Ax Ay Compatibility equation :

CH = 0 = 'CH + f CC C x
33

Example 9-4 Draw the quantitative Shear and moment diagram and the qualitative deflected curve for the Frame shown below.EI is constant.

6m

2 kN/m

6m

34

SOLUTION

Use compatibility of displacement to obtain reaction fCC C x

Principle of superposition B 6m C Cx 2 kN/m 2 kN/m Cy CH

1 kN

=
Ax Ay

6m

Compatibility equation :
CH = 0 = 'CH + f CC C x

-----(1)

35

2 kN/m

Use Castiglianos method for CH CH 6m B C 2 kN/m Cy 3m 12 kN 3m A Ay

L

x2 P

M2 = (6 + P)x2 P V2 6+P x2

6m

6+P M1 = (12 + P)x1- x12 V1

x1 -12 - P -6 - P 2x1

Ax

x1 -12 - P -6 - P

'CH

0 0 6 6 1 1 2 M 'i M 'i ( x ) ( 12 x + x P x )dx1 + ( x2 )(6 x2 + x2 P) dx2 ) = ( dx = 1 1 1 1 EI 0 EI 0 P EI 0

1 1 2 3 2 = ( 12 x x ) dx + ( 6 x ) dx2 1 1 1 2 EI 0 EI 0 1 12 x1 x1 6 1 6 x2 = ( )0+ ( ) EI EI 3 3 4
3 4 3
6 0

972 , EI

36

 Use Castiglianos method for fCC fCC B 6m C Cy 6m x1 A Ay Ax -P -P 1 kN

x2 P

m2 = x2P P v2 P m1 = x1P v1 x1 -P -P x2 P

f CC

1 1 6 6 1 1 m' m' ( x1 )( x1 P)dx1 + ( x2 )( x2 P )dx2 = ( i ) i dx = EI 0 EI 0 P EI 0

L

1 x1 6 1 x2 = ( ) + ( ) EI 3 0 EI 3

6 0

144 , EI
37

 Substitute CH and fCC in Eq. (1) CH = 0 = 'CH + f CC C x +:

0= 972 144 + Cx EI EI

-----(1)
CH = 972 , EI 144 f cc = , EI

Cx = -6.75 kN,

1 kN 2 kN/m 2 kN/m

C 6.75 kN

6 kN

1 kN
C x = 6.75kN

0.75 kN

+
12 kN 6 kN 1 kN

1 kN A 0.75 kN

5.25 kN

38

Or use Castigliano least work method: x2 B 6m C Cx 2 kN/m 6 - Cx 6m x1 12 - Cx 6 - Cx

M2 = (6-Cx)x2 Cx V2 x2 6 - Cx M1 = (12 - Cx)x1- x12 V1 2x1

M i M i U i ) dx = CH = 0 = ( C x 0 C x EI
6 6

x1 12 - Cx 6 - Cx

0=

1 1 2 ( x )( 12 x C x x ) dx + ( x2 )(6 x2 C x x2 )dx2 1 1 1 1 x 1 EI EI 0 0
3 3 4 3 3
6 0

12 x1 C x x1 x1 6 6x C x 0 = ( + + ) 0 + ( 2 + x 2 3 3 4 3 3

0 = -972 + 144Cx , Cx = 6.75 kN,

39

 Quantitative shear and bending diagram and qualitative deflected curve B 6m C 6.75 kN 2 kN/m 0.75 kN

- 0.75

B
- 6.75

- 0.75

6m 2.63 m

V, (kN)
5.25

5.25 kN 0.75 kN

C
1.33 m

-4.5 -4.5

Deflected curve A

6.90

M, (kNm) A
40

Force Method of Analysis : Truss (Externally indeterminate) E D

A Ay

Ax

B P

C Cy

Cx

'CH + f CC C x = CH = 0

+
A B P C C A B C 1 x Cx

fCC

41

Truss (Internally indeterminate) D

1 5 3 6 2 4

P C

B
'6 + f 66 F6 = 6 = 0

=
P 6 A C

f66 1

+
A

C xF6 B

42

Example 9-5 Determine the reaction at support A, C, E and all the member forces. Take = 200 GPa and A = 500. mm2 . E

E 4m A

40 kN D B C 5m

5m

43

SOLUTION

Use compatibility of displacement to obtain reaction

Principle of superposition RE

40 kN D B C 5m
RC

4 m Ay
Ax

5m

40 kN

Cy
fCC

+
C

1 kN Compatibility equation :
C = 0 = 'C + f CC RC

-----(1)

44

 Use unit load method for C and fcc 5.39 m 53.85 50 20 E

+53 .85

40 kN D 0

5.39 m

C = =

niNiLi AiEi (53.85)(-2.69)(5.38) (200x106)(500x10-6)

4 m 20 kN 85 -53. 50 A 5m 53.85 2.5 0 2.5 A 1 E

-2.6 9

0 C 0 5m C fCC = =

=- 7.81 mm, niniLi AiEi 2(-2.69)2(5.385) (200x106)(500x10-6) 2(2.5)2(5) (200x106)(500x10-6)

N i (kN)

D 0 +2.5 B 0

-2.6 9

fCC C

+2.5

1 kN

= 1.41 mm,
45

ni (kN)

 Substitute Cv and fCC in Eq. (1): C = 0 = 'C + f CC RC

+ : 7.81 + 1.41RC = 0 RC = 5.54 kN ,

'C = 7.81 mm, f CC = 1.41 mm,

53.85 50

20 E
+53 .85

40 kN D 0

53.85 2.5

1 E 0 A
-2.6 9

20 kN 85 . 3 5 50 A 0

0 C 0 2.5

D 0 +2.5 B 0

xRC = 5.54 kN
-2.6 9

C +2.5 1 kN

38.93 kN 36.15 kN 36.15 kN

14.46 kN E +38 .95 20 kN 53.85 A

N i (kN)

ni (kN)
40 kN D -1 4.90 0 21.8o B +13.85

+13.85

C 5.54 kN
46

N i (kN)

Or use Castigliano least work method:

5.39 m

-2.7 RC + 53.85 = RE

4m Ax = -2.5RC +50 = Ax

5.39 E -2.7 R m 40 kN C +5 3.85 D -2.7 5 RC 8 . -53 0 21.8o

A Ay = 20

2.5RC 5m

2.5RC 5m

C RC

Castiglianos Theorem of Least Work :

CV = 0 = ( 0= N i N i Li ) RC AE

1 [(2.7)(2.7 RC + 53.85)(5.39) + ( 2.7)(2.7 RC )(5.39) + 0 + 0 + 2[(2.5)(2.5 RC )(5)]] AE

0 = 39.3RC 783.68 + 39.3RC + 62.5 RC

RC = 5.55 kN,

47

Example 9-6 Determine the force in all member of the truss shown : (a) If the horizontal force P = 6 kN is applied at joint C. (b) If the turnbuckle on member AC is used to shorten the member by 1 mm. (c) If (a) and (b) are both accounted. Each bar has a cross-sectional area of 500 mm2 and E = 200 GPa.

C 2m

A 3m

48

SOLUTION

Part (a) : If the horizontal force P = 6 kN is applied at joint C.

Principle of superposition

D
3

1 6 5 2 4

6 kN C 2m B

A 3m D
6 E E

3m C 6 kN 2m B
Compatibility equation :
Note : AE + E ' C = L

D
1 E

C
E f66 1

+
A
6 + f66 F6 = 0

F6 B

----------(1)
49

 Use unit load method for 6 and f66

3m D
+4 6 +6 6 +6 E E
-7. 2 1

C 6 kN
0

-0.832 1

C
1

3 -0.555 2
6 3. 1
3.6 1

2 m -0.555
0

A
4 -14.98 -4.44
0

B
4

A
0

-0.832 ni (kN)

B
0
'6 =

3 Li (m)
n'i N 'i Li Ai Ei

N i (kN)

2.08 0 0.616
6 3. 1
3.6 1

-2 6. 0 3 -14.98

0.616

2.08 ni2Li (kN2m)

= =

1 [4.44 26.03 2(14.98)] AE

60.43 AE

niN iLi (kN2m)

2

n' L 1 12.61 [2(0.616) + 2(2.08) + 2(3.61)] = f 66 = i i = Ai Ei AE AE

50

 Substitute 6 and f66 in Eq. (1)

3m
+6 6 +4 6 4 +6 E E
-7. 2 1

60.43 12.61 + ( F6 ) = 0 AE AE F6 = 4.80 kN, (T)

6 kN 0

-0.832 1

C
1

2m

-0.555 0

-0.555 x F6 = 4.80 kN

A
0

-0.832 ni (kN)

B
0

=
+2
80 . +4 2.4 1 +2

N i (kN)

D
+1.34 6

6 kN C
-2.66

A
4

B
4
51

Ni (kN)

Part (b) : If the turnbuckle on member AC is used to shorten the member by 1 mm.
f 66 = 12.61 12.61 = = 1.26(10-4) m = 0.126 mm (500)(200) AE
F6 = 1 mm (1 kN ) = 7.94 kN 0.126 mm

D
-0.555 0

-0.832 1
1

C
1 -0.555

D
-4.41

-6.61
94 . +7 7 .94 -6.61

C
-4.41

A
0

-0.832 ni (kN)

B
0

x F6 = 7.94 kN

B
4

A
4

Ni (kN)

52

Part (c) : If the horizontal force P = 6 kN is applied at joint C and the turnbuckle on member AC is used to shorten the member by 1 mm are both accounted. +2
80 . +4 2.4 1 +2

D
+1.34 6

6 kN C

-6.61
94 . +7 7 .94 -6.61

C
-4.41

A
4

B
4

-2.66

-4.41 0

B
0

(Ni)load (kN)

(Ni)short (kN)

D
-3.07 6

-4.61
1 74 . 2
5.5

6 kN C
3

-7.07

-4.61

B
4
53

A
4

(Ni)total (kN)

Or use compatibility equation : 6 + f66 F6 = 6 = 0.001

60.43 12.61 + ( F6 ) = 0.001 AE AE 0.001AE + 60.43 0.001(500)(200) + 60.43 = = 12.72 kN, (T) 12.61 12.61

F6 =

+6 +4 6 4 +6 N i (kN) 6 -7 .2

6 kN
0

-0.832 1 1 -0.832 ni (kN)

C
x F6 = 12.72 kN f66 -0.555 1

+ =
-4.58
12 2 .7

-0.555 0

A
0

B
0

D
-3.06 6

C
5.5 1

6 kN

-7.06

-4.58

B
4
54

A
4

(Ni)total (kN)

Composite Structures Example 9-7 Find all reaction and the tensile force in the steel support cable. Consider both bending and axial deformation. Steel cable Ac = 2(10-4) m2 Ec = 200(103) kN/m2

2m A 5 kN Ab = 0.06 Ib = 5(10-4) m4 Eb = 9.65(103) kN/m2 6m m2 B

55

SOLUTION
m 6.32

RC = T

A x 5 kN 0.316T T M = 0.316Tx - 5x N = -0.949T V 5 kN

6

18.43o B 6m

2m Bx By MB

0.949T

By Castiglianos Theorem of Least Work ; C = 0 = (U ib + U in ) T L L M M N N C = 0 = ( dx + ( ) ) dx T EI T AE 0 0

6 6.32

1 1 1 0= ( 0 . 316 x )( 0 . 316 xT 5 x ) dx + ( 0 . 949 )( 0 . 949 T ) dx + Eb I b Ab Eb Ac Ec 0 0

6 1 0.316 2 x 3 (0.316 5) x 3 6 1 1 2 0= [( T) ]0+ (0.949 xT ) 0 + ( xT ) Eb I b 3 Ab Eb Ac Ec 3

(1)(T )dx
0

6.32 0

0 = (1.49T - 23.58) + 9.33(10-3)T + 0.158T

; T = 14.23 kN, (tension) #

56

4.5 kN
m 6.32

RC = T = 14.23 kN 13.5 kN

A x 5 kN + F = 0: x + Fy = 0: + MB = 0:

18.43o B 6m Bx = Rc cos = 13.5 kN,

2m Bx By MB

By = 5 - Rc sin = 0.5 kN, MB = 13.5(2) - 5(6) = -3 kNm, +

57