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STRUCTURAL
MECHANICS
STRUCTURAL
MECHANICS
MODELLING AND ANALYSIS
OF FRAMES AND TRUSSES
Karl-Gunnar Olsson
Chalmers University of Technology, Sweden
Ola Dahlblom
Lund University, Sweden
This edition first published 2016
© 2016 John Wiley & Sons Ltd
Registered office
John Wiley & Sons Ltd, The Atrium, Southern Gate, Chichester, West Sussex, PO19 8SQ, United Kingdom
For details of our global editorial offices, for customer services and for information about how to apply for
permission to reuse the copyright material in this book please see our website at www.wiley.com.
The right of the author to be identified as the author of this work has been asserted in accordance with the Copyright,
Designs and Patents Act 1988.
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any
form or by any means, electronic, mechanical, photocopying, recording or otherwise, except as permitted by the UK
Copyright, Designs and Patents Act 1988, without the prior permission of the publisher.
Wiley also publishes its books in a variety of electronic formats. Some content that appears in print may not be
available in electronic books.
Designations used by companies to distinguish their products are often claimed as trademarks. All brand names and
product names used in this book are trade names, service marks, trademarks or registered trademarks of their
respective owners. The publisher is not associated with any product or vendor mentioned in this book.
Limit of Liability/Disclaimer of Warranty: While the publisher and author have used their best efforts in preparing
this book, they make no representations or warranties with respect to the accuracy or completeness of the contents of
this book and specifically disclaim any implied warranties of merchantability or fitness for a particular purpose. It is
sold on the understanding that the publisher is not engaged in rendering professional services and neither the
publisher nor the author shall be liable for damages arising herefrom. If professional advice or other expert
assistance is required, the services of a competent professional should be sought.
1 2016
Contents
Preface ix
1 Matrix Algebra 1
1.1 Definitions 1
1.2 Addition and Subtraction 2
1.3 Multiplication 2
1.4 Determinant 3
1.5 Inverse Matrix 3
1.6 Counting Rules 4
1.7 Systems of Equations 4
1.7.1 Systems of Equations with Only Unknown Components in the Vector 𝐚 5
1.7.2 Systems of Equations with Known and Unknown Components in the
Vector 𝐚 6
1.7.3 Eigenvalue Problems 8
Exercises 10
Index 323
Preface
structures are presented, and tools for analysis and simulation are provided. The book has
been limited to treating trusses and frames in two and three dimensions. To demonstrate
the generality of the methodology the book also has a chapter, ‘Flows in Networks’, that
addresses other areas of applied mechanics, including thermal conduction and electrical flow.
The textbook supports three kinds of learning outcome:
• Knowledge of basic theory of structural mechanics. The textbook has a structure that high-
lights the theory as a whole. Different modes of action in structural mechanics are described
in a common format where basic concepts and relationships recur at different scale levels.
One aim is to highlight the mechanisms that determine how structures carry their loads
and how we by this knowledge can manipulate the distribution of internal forces as well as
patterns of deformations.
• Skills in modelling and analysis of structures. Being able to describe a structure by a math-
ematical model and perform computations is one of the most important engineering skills.
The matrix-based presentation of the textbook practices a computation methodology that
is general and can be applied for phenomena and geometries of structural mechanics as
well as for simulations in a variety of engineering areas far beyond the textbook limitations.
Through exercises and with support from the computer program Matlab/CALFEM students
in a course formulate about 30 computer algorithms of their own, each with increasing
complexity.
• Ability to evaluate and optimise designs proposed. Having an eye trained for patterns of
forces and deformations helps to evaluate and improve the efficiency of structural designs.
This facilitates modification of the design of a structure in the desired direction, thus creating
an efficient structural behaviour, for example by reducing bending in the favour of axial only
forces – compression and tension.
The textbook is intended for engineering students at the bachelor level. The presentation
assumes knowledge of calculus in one variable, linear algebra, classical mechanics and basic
solid/structural mechanics. Chapters 1–5 are a unit and should be read in the order they appear,
while Chapters 6–10 are independent of each other and can be read in any order. For a limited
course, we recommend primarily Chapters 1–6.
The Division of Structural Mechanics at Lund University has a long tradition in the devel-
opment of teaching materials in structural mechanics and the finite element method. A key
person behind this development is Hans Petersson who came to the division as a professor
in 1977. Within a few years, a group of young Ph.D. students and teachers gathered around
Hans, taking note of his knowledge and absorbed his enthusiasm about teaching and its tools.
We were two of them. Earlier, the framework of the computer program CALFEM (Computer
Aided Learning of the Finite Element Method) was developed, and based on his concept the
textbook ‘Konstruktionsberäkningar med dator’ (Design calculations using a computer) was
written with Sven Thelandersson as author. In this spirit, the division has continued to develop
teaching materials, and approaches. In more than 30 years time, both ideas and collaborators
spread. CALFEM is today a toolbox to the computer program Matlab and is used worldwide. In
Sweden, collaboration between Lund University, Chalmers and KTH Royal Institute of Tech-
nology has been established, and from the site www.structarch.org, CALFEM as well as other
software for structural mechanics analysis and conceptual design can be downloaded free of
charge.
Preface xi
The contents of this textbook have been developed over many years and there are many stu-
dents and colleagues at Lund University, Chalmers and Linnæus University, who contributed
with ideas, suggestions, corrections and translations during the creation of the book. We would
particularly like to mention Professor Per-Erik Austrell, Dr. Henrik Danielsson, Dr. Susanne
Heyden and Professor Kent Persson at Structural Mechanics in Lund, Dr. Mats Ander and
Dr. Peter Möller at Applied Mechanics at Chalmers and Ms. Louise Blyberg and Profes-
sor Anders Olsson at Linnæus University in Växjö. Professor Emeritus Bengt Åkesson at
Chalmers has with great precision and sharpness examined facts of the manuscript and given
us reason to examine and modify the conceptual choices and formulations. Dr. Samar Malek
has thoroughly proofread the English version of the text. Mr. Bo Zadig at Structural Mechanics
in Lund has skilfully drawn the figures. Sincere thanks to all of you for your commitment and
wise observations. And to Professor Göran Sandberg who with his character, his knowledge
and in his role as head of the department has built and continues to build a creative envi-
ronment for the teaching and development of teaching concepts and tools. We want to thank
people at John Wiley & Sons and their partners for cooperation and guidance. In particular we
are grateful to Eric Willner, Anne Hunt, Clive Lawson and Lincy Priya.
The textbook is also available in Swedish, with the reverse order of authors.
The method used in this textbook to formulate computational models is characterised by the
use of matrices. The different quantities – load, section force, stiffness and displacement – are
separated and gathered into groups of numbers. All load values are gathered in a load matrix
and all stiffnesses in a stiffness matrix. This is one of the primary strengths of the method. With
a matrix formulation, the formulae describing the relations between quantities are compact and
easy to view. Physical mechanisms and underlying principles become clear. We begin with a
short summary of the matrix algebra and the notations that are used.
1.1 Definitions
A matrix consists of a set of matrix elements ordered in rows and columns. If the matrix consists
of only one column it is referred to as a column matrix and if it has only one row it is referred
to as a row matrix. Such matrices are one-dimensional and may also be referred to as vectors.
A vector is denoted by a lower case letter set in bold:
⎡a1 ⎤
a = ⎢a2 ⎥ (1.1)
⎢ ⎥
⎣a3 ⎦
where a1 , a2 and a3 are the components of the vector. A two-dimensional matrix is denoted by
a capital letter set in bold:
where A11 , A12 and so on are elements of the matrix A. An arbitrary component of a matrix
is denoted Aij , where the first index refers to the row number and the second index to the
column number. The matrix A in (1.2) has the dimensions 4 × 3 and the matrix B has the
dimensions 3 × 3.
Structural Mechanics: Modelling and Analysis of Frames and Trusses, First Edition.
Karl-Gunnar Olsson and Ola Dahlblom.
© 2016 John Wiley & Sons, Ltd. Published 2016 by John Wiley & Sons, Ltd.
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The post oak is found from Southern Massachusetts—on Cape
Cod, on the islands of Martha’s Vineyard and Naushon—to Northern
Florida and, in certain localities, west to Eastern Kansas.
A large tree, 70 to 80 and (rarely) 150 feet high.
Black Oak Bark thick, rough, and dark. Twigs smooth, with a
Quercus bitter taste. Alternate leaf-scars. Buds very downy,
velutina
sharp-pointed, and large. The acorns are set in a
deep, conspicuously scaly cup. The kernel is bitter.
BLACK OAK
Quercus velutina
Page 92
The black oak is distinguished by its rough, dark outer bark and
rich yellow inner bark (which is seen when a small cut is made with
a penknife), and its downy pointed buds. On young trees as well as
old ones, the bark is very rough at the base of the trunk, and this
roughness extends upwards in old trees.
The round, thin, brittle balls found on black oaks and known as
oak-apples are produced by an insect which injures the leaf by
puncturing it and depositing an egg. This causes irritation and an
abnormal growth, from which the apple is formed. The grub which
lives inside this excrescence becomes a chrysalis in the autumn, and
changes to a fly in the spring, when it gnaws its way out by making
a little hole through the shell.
The wood of the black oak is heavy, hard, and strong, but not
tough, and it is liable to check in drying. The bark is rich in tannin,
and it makes a yellow dye,—quercitron,—obtained from the inner
bark. Used medicinally the bark is an astringent.
The specific name, velutina, was taken originally from the Latin
word vellus, meaning shorn wool, and was applied by botanists to
this tree on account of the fleecy character of the recent stems and
leaves. The black oak is found growing throughout New England and
in the South and West.
A large tree, 60 to 150 feet high. The bark is
Red Oak fissured in long clefts, with broad, smooth places
Quercus rubra between, giving the trunk a fluted column effect.
Large, sharp-pointed buds, with close scales. The
red oak buds resemble to some extent those of the chestnut oak,
but there is a fine hair on the scales of the red oak buds, while the
scales of the chestnut oak buds are bleached and have no hair.
Where the base of the bud joins the stem the buds of the red oak
are more constricted than those of the chestnut oak, and the
chestnut oak buds seem more sessile. Alternate leaf-scars. Acorn set
in a shallow cup of fine scales.
The red oak is a lofty, wide-spreading tree of great beauty. “No
other oak,” Emerson says, “flourishes so readily in every situation, no
other is of so rapid growth, no other surpasses it in beauty of foliage
and of trunk; no oak attains, in this climate, to more magnificent
dimensions; no tree, except the white oak, gives us so noble an idea
of strength.”
It is perhaps, of all the black oak group, the easiest to distinguish
in winter on account of the smooth spaces between the fissures of
the bark on its trunk, and its pointed buds, which are much less
downy than those of the black oak.
The wood is heavy, hard, and strong, but it is not particularly
valuable. It is used in the construction and interior finish of houses
and for making cheap furniture.
RED OAK
Quercus rubra
Page 94
The outline of the pin oak is not in the least like that of any other
oak after its leaves have fallen; for while most oaks are distinguished
by their far-reaching lateral branches which divide a short distance
at the trunk, the pin oak carries its main stem to the top of the tree,
and the lateral branches grow from the trunk, forming a pyramidal
head. In the forests where it grows in swamps and wet places, it
loses this shape, but even then the branches are characteristically
rigid and grow near together. The pyramidal shape of this tree, its
small, delicate buds and branches, and the pin-like twigs, from
which it takes its name of pin oak, make it easily recognized as we
see it growing in our parks and gardens.
The wood is hard and strong, where the tree is found growing
commonly, and is used in the construction of houses and for shingles
and clapboards.
The specific name is from the Latin paluster, an adjective meaning
swampy or boggy, and has reference to the moisture-seeking
characteristics of the tree.
The pin oak is found growing on the banks of the Connecticut
River in Massachusetts, but it occurs more commonly in the South
and West.
The scrub or bear oak (Quercus pumila) is a dwarfed, straggling
bush, three to ten feet high, and found on sandy, barren, and rocky
hills from Maine to Carolina. Its specific name, pumila (dwarf), was
given to it on account of its size and crooked manner of growth.
PIN OAK
Quercus palustris
Page 96
Chapter VIII
THE ELMS AND THE HACKBERRY
The Slippery Elm and the American Elm.
Chapter VIII
THE ELMS AND THE HACKBERRY
Family Ulmaceæ