Ministry of Industry & Trade

Industrial University of HCM City

Chapter 3: DEVELOPMENT OF TRUSS

EQUATIONS
3.1 The Stiffness Matrix for a Bar Element
We will now consider the bar element for the linear-
elastic, constant cross-sectional area A , modulus of
elasticity E, and initial length L.

The nodal degrees of freedom are local axial displace-

ments (longitudinal displacements directed along the
length of the bar) represented by u1 and u2 at the ends
of the element as shown in figure.
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3.1 The Stiffness Matrix for a Bar Element
Hooke’s law  x  E x
du
The strain/displacement relationship x 
dx
Force equilibrium A x  T  const
The differential equation governing the linear-elastic
bar behavior as:
d  du 
 AE   0
dx  dx 

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 3.1 The Stiffness Matrix for a Bar Element

The following assumptions are used in deriving the bar

element stiffness matrix:
+ The bar cannot sustain shear force or bending moment
+ Any effect of transverse displacement is ignored

+ Hooke’s law applies; that is, axial stress and axial strain
+ No intermediate applied loads

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 3.1 The Stiffness Matrix for a Bar Element
Step 1 Select the Element Type

Step 2 Select a Displacement Function

Assume a linear displacement variation along the x axis of
the bar
u  a1 +a 2 x
The total number of coefficients equal to the total number
of degrees of freedom associated with the element.
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3.1 The Stiffness Matrix for a Bar Element

 u2  u1   u1 
u  u1 +  x  u   N1 N 2   
 L  u2 
with shape functions given by
x x
N1  1  ; N2 
L L
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3.1 The Stiffness Matrix for a Bar Element
Step 3 Define the Strain/Displacement and Stress/Strain
Relationships

The Strain/Displacement relationships

du  u2  u1 
x    (3.1)
dx  L 

The Stress/Strain relationships

 x  E x (3.2)

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3.1 The Stiffness Matrix for a Bar Element
Step 4 Derive the Element Stiffness Matrix and Equations

The axial force T  A x (3.3)

Using Eqs. (3.1) and (3.2) in Eq. (3.3), we obtain

 u2  u1 
T  AE   (3.4)
 L 

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3.1 The Stiffness Matrix for a Bar Element

Assume equilibrium node of the element bar

 u2  u1 
f1x  T   AE   (3.5)
 L 
 u2  u1 
f 2 x  T  AE   (3.6)
 L 
The nodal force in matrix form
 f1x  AE  1 1  u1 
f   1 1  u  (3.7)
 2x  L   2
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 3.1 The Stiffness Matrix for a Bar Element
 f1x  AE  1 1  u1 
f   1 1  u  (3.7)
 2x  L   2
Equation 3.7 is written:
 f   k d 
The stiffness matrix for a bar element in local coordinates
AE  1 1
k    1 1 
L  
EA/L for a bar element is analogous to the spring constant
k for a spring element.
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3.1 The Stiffness Matrix for a Bar Element
Step 5 Assemble Element Equations to Obtain Global or
Total Equations

Assemble the global stiffness and force matrices and

global equations using the direct stiffness method
described in Chapter 2
N N
 K    k
e 1
(e)
   
F  f (e)
 
e 1

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3.1 The Stiffness Matrix for a Bar Element
Step 6 Solve for the Nodal Displacements

Determine the displacements by imposing boundary

conditions and simultaneously solving a system of
equations:  F    K d 

Step 7 Solve for the Element Forces

Determine the strains and stresses in each element by

back-substitution of the displacements

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 Example 1
For the three-bar assemblage shown, determine (a) the
global stiffness matrix, (b) the displacements of nodes
2 and 3, and (c) the reactions at nodes 1 and 4. A force
of 3000lb is applied in the x direction at node 2. The
length of each element is 30in. Let E =30.106psi and A
=1in for elements 1 and 2,and let E = 15 106psi and A
=2in. Nodes 1 and 4 are fixed

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Solution

a) The global stiffness matrix

The element stiffness matrices are

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Assembling the element stiffness matrices by the
direct stiffness method, we obtain the global stiffness
matrix as:

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b) The displacements of nodes 2 and 3
Equation equilibrium of the three-bar assemblage in
global coordinate:

The boundary conditions

u1 =u 4 =0
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Applying the boundary conditions, we solve equations
2 and 3 of the equation equilibrium:

Solving Eq simultaneously for the displacements yields

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c) The reactions at nodes 1 and 4
Back-substituting u1, u4 into the equation equilibrium ,
we obtain the global nodal forces, which include the
reactions at nodes 1 and 4, as follows:

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 Homeworks
Problem 01

For the bar assemblages shown in Figures, determine

the nodal displacements, the forces in each element,
and the reactions. Use the direct stiffness method for
these problems.

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Problem 02
Solve for the axial displacement and stress in the
tapered bar shown in Figure, using one and then two
constant-area elements. Evaluate the area at the center
of each element length. Use that area for each element.
Let A0=2in, L =20 in,E = 107psi, and P = 1000 lb.
Compare your finite element solutions with the exact
solution.

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3.2 Transformation of vectors in two dimensions
Ox’y’: local coordinates
Oxy: global coordinates

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3.2 Transformation of vectors in two dimensions
We can express vector displacement d in both global and
local coordinates by: d  ui  vj  u ' i ' v ' j '

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 3.2 Transformation of vectors in two dimensions
Now a is in the i’ direction and b is in the j’ direction

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3.2 Transformation of vectors in two dimensions

d  ui  vj  u ' i ' v ' j '

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3.2 Transformation of vectors in two dimensions

Equation relates the global displacement matrix {d} to the

local displacement {d’} as

Where:

The matrix [T] is called the

transformation matrix

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3.2 Transformation of vectors in two dimensions

For the case of v’=0, we have:

We then obtain the magnitude of u’ as

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 Example
The global nodal displacements at node 2 have been
determined to be u2=0,1 in. And v2 =0,2 in. for the bar
element shown in figure flowing . Determine the local x
displacement at node 2.

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3.3 Global Stiffness Matrix for Bar Arbitrarily
Oriented in the Plane
We now consider a bar inclined at an angle  from the
global x axis identified by the local axis x’ directed from
node 1 to node 2 along the direction of the bar, as shown

in figure:

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3.3 Global Stiffness Matrix for Bar Arbitrarily
Oriented in the Plane
Equation equilibrium a bar element in the local coordinate

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 3.3 Global Stiffness Matrix for Bar Arbitrarily
Oriented in the Plane
Equation equilibrium a bar element in the global coordinate

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 3.3 Global Stiffness Matrix for Bar Arbitrarily
Oriented in the Plane
By using relationships between local and global force
components and between local and global displacement
components, we will be able to obtain the global stiffness
matrix.

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 3.3 Global Stiffness Matrix for Bar Arbitrarily
Oriented in the Plane
We replace local and global displacements with local and
global forces and obtain

Equation equilibrium a bar element in the global coordinate

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 3.3 Global Stiffness Matrix for Bar Arbitrarily
Oriented in the Plane
Equation equilibrium a bar element in the global coordinate

We must invert [T]. This is not immediately possible

because [T] is not a square matrix.
Using equation for each nodal displacement, we thus obtain

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3.3 Global Stiffness Matrix for Bar Arbitrarily
Oriented in the Plane
Equation equilibrium a bar element in the local coordinate

for each nodal displacement, f’1y=f’2y=0

where [T]T is the transpose of [T] 38

 3.3 Global Stiffness Matrix for Bar Arbitrarily
Oriented in the Plane
Equation equilibrium a bar element in the global coordinate

We obtain the global stiffness matrix for an element as

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 3.3 Global Stiffness Matrix for Bar Arbitrarily
Oriented in the Plane
The stiffness matrix for each element can be summed by
using the direct stiffness method to obtain

Similarly each element global nodal force matrix can be

summed such that

Equation equilibrium for structure in the global coordinate

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 Example
For the bar element shown in figure, evaluate the global
stiffness matrix with respect to the x-y coordinate system.
Let the bar’s cross-sectional area equal 2 in2. length equal
60 in., and modulus of elasticity equal 30.106psi. The
angle the bar makes with the x axis is 300.

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 Solution
With angle  defined to be positive when measured
counterclockwise from x to x’

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 Homeworks
For each of the bar elements shown in figure, evaluate the
global x-y stiffness matrix.

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3.4 Computation of Stress for a Bar in the x-y Plane

Equation equilibrium for bar element in local coordinate

The usual definition of axial tensile stress is axial force

divided by cross-sectional area.

With:

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3.4 Computation of Stress for a Bar in the x-y Plane

The stress in the bar element in local coordinate

The stress in the bar element in global coordinate

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 Example

For the bar shown in Figure 3–14, determine the axial

stress. Let A = 4.10-4m2 , E= 210 GPa, and L = 2 m, and
let the angle between x and x’ be 60. Assume the global
displacements have been previously determined to be
u1=0.25 mm, v1= 0, u2= 0.50 mm, and v2= 0.75 mm.

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 Solution
We fist caculate [C’]

With:

The global displacements are given by:

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The bar axial stress

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 Homeworks
Determine the axial stress in each of the bar elements
shown in figure

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3.5 Solution of plane truss

“A plane truss is a structure composed of bar elements

that all lie in a common plane and are connected by
frictionless pins”

The plane truss also must have loads acting only in the
common plane and all loads must be applied at the nodes
or joints.

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 Example 01
For the plane truss composed of the three elements shown
in figure subjected to a downward force of 10000 lb
applied at node 1, determine the x and y displacements at
node 1 and the stresses in each element. Let E = 30 .10 6
psi and A =22 in2. for all elements. The lengths of the
elements are shown in the figure.

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 Solution
*The global stiffness matrices for structure
The angle  between the global x axis and the local x’
axis for each element

No. element Conection

1 1 2
2 1 3
3 1 4

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*The global stiffness matrices for each element

Element 1

Element 2

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 Element 3

The global stiffness matrices for structure

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Equation equilibrium for structure, when apllied force at
node 1 and the boundary constraints at nodes 2–4 as
follows

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We then obtain

Solution yields the displacements

We determine the stresses in each element as follows:

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 Example 02
Determine the displacement in the y direction of node 1
and the axial force in each element. A force of P = 1000
kN is applied at node 1 in the positive y direction while
node 1 settles an amount =50mm in the negative x
direction. Let E = 210 GPa and A =6.10-4 m2 for each
element. The lengths of the elements are shown in the
figure.

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 Solution
*The global stiffness matrices for each element

Element 1

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Element 2

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 *The global stiffness matrices for structure

The boundary conditions

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The local element forces are obtained
Element 1

Element 2

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 Example 03
To illustrate how we can combine spring and bar
elements in one structure, we now solve the two-bar truss
supported by a spring shown in figure. Both bars have E
=210 GPa and A = 5.10-4m2. Bar one has a length of 5 m
and bar two a length of 10 m. The spring stiffness is
k=2000 kN/m.

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 Solution
The global stiffness matrices for each element
Element 1

Element 2

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Element 3

Applying the boundary conditions, we have

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Solving equation for the global displacements, we obtain

We can obtain the stresses in the bar elements

Element 1

Element 2

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 Homeworks
Assemble the stiffness matrix for the assemblage shown
in figure by superimposing the stiffness matrices of the
springs. Here k is the stiffness of each spring. Find the x
and y components of deflection of node 1

45N

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For the plane truss structure shown in figure, determine
the displacement of node 2 using the stiffness method.
Also determine the stress in element 1. Let A=5 in2,
E=7000 N/mm2 , L=100 in

45KN

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Find the horizontal and vertical displacements of node 1
for the truss shown in figure. Assume AE is the same for
each element

630N

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For the truss shown in figure
solve for the horizontal and
vertical components of
displacement at node 1 and
4,5KN
determine the stress in each
4,5KN
element Also verify force
equilibrium at node 1. All
elements have A=1 in2,
E=70000 N/mm2 , L=100 in
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For the truss shown in figure, solve for the horizontal and
vertical components of displacement at node 1. Also
determine the stress in element 1. Let A =1in2 ,E=70000
N/mm2 , L=100 in
53KN

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Determine the nodal displacements and the element
forces for the truss shown in figure. Assume all elements
have the same AE
4,5KN

4,5m

6m 4,5KN
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Determine the displacement components at node 3 and
the element forces for the plane truss shown in figure.Let
A =3in2 ,E=207 KN/mm2

6m
22KN

44KN 12m

9m 9m
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For the plane trusses shown in figure, determine the
horizontal and vertical displacements of node 1 and the
stresses in each element. All elements A =4.10-
m ,E=210 GPa
4 2

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3.6 Stiffness Matrix for a Bar in 3D
Bar in three-dimensional space

Ox’y’z’: local coordinates

Oxyz: global coordinates
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3.6 Stiffness Matrix for a Bar in 3D

Relation displacement in local and global coordinate

We begin the derivation of [T] by considering the vector

d expressed in three dimensions as:

The dot product of equation with i’

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3.6 Stiffness Matrix for a Bar in 3D
By definition of the dot product

Where:

We have

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3.6 Stiffness Matrix for a Bar in 3D

We can write the local axial displacement at node 1 and 2

in explicit form as

We write equation in matrix form

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3.6 Stiffness Matrix for a Bar in 3D

The global force matrix in terms of the local force matrix

using [T] as:

Now in local coordinates, the local forces are related to

the local displacements by

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3.6 Stiffness Matrix for a Bar in 3D

The global forces are related to the global displacements

by:

[k] the global stiffness matrix

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3.6 Stiffness Matrix for a Bar in 3D

We obtain the explicit form of [k] as

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 Example

We will now determine the stiffness matrices of the three

elements in following figure

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 Solution

Element 1

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Element 2

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Element 3

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We have the total stiffness matrix for the truss as

We obtain the displacements:

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The stress of three dimension element

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 Excercises
For the space trusses shown in figures, determine the
nodal displacements and the stresses in each element.
E=210Gpa, A=10-3m2

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