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General
(2.2)
The subscripts identify the coordinates systems used to define the elements of the vectors. The order of the double subscript in the transformation
matrix define the direction of the transformation. In general, the force transformation matrix to B from A, [Hba ], is different from the transformation
matrix to A from B, [Hab ].
Since forces and displacements vectors have specific meaning in structural mechanics, the above transformations also have their corresponding
specific meaning in mechanics rather than simply a mathematical operation. Specifically, the force vector [Pb ] in Equation 2.1 refers to a statically
equivalent set of forces of the force vector [Pa ]. For Equation 2.2, the displacement vector [Ub ] is the kinematically equivalent displacement to the
displacement vector [Ua ] resulting from a rigid body motion.
1
2.2
Coordinate System
xy
If the thumb, index and middle finger of right hand are oriented to form three orthogonal axes, the thumb is the xaxis, the index finger is the y-axis, and the middle finger
is the zaxis. Instead of naming the axes with letters, numbers may be assigned starting
with 1 for the xaxis. Using numbers indicate ranking between axes with the x being
the lowest, then y, then z.
3
y
x
z
z
a) P or
b) M or
Px
[P ] = Py
Pz
x
[] = y
z
Mx
[M ] = My
Mz
x
[] = y
z
(2.3)
Py
P
Py
y
z
Px
Px
a) Planar Force
b) Spacial Force
Vectors are column matrices. To print it along with the text and to save print space,
its transpose is frequently shown.
3
more commonly calculated as = arctan(Py /Px ) but the arccos function was used to
be consistent with the space force
and
Px2 + Py2
Px
= arccos
|P |
(2.4)
(2.5)
For the space force in Figure 2.3b, the magnitude and orientation are
given by Equations 2.6 to 2.7.
|P | =
x = arccos
Px
,
|P |
y = arccos
Py
,
|P |
(2.6)
z = arccos
Pz
|P |
(2.7)
The principal axes are those where the product moment of inertia
R
A
yzdA vanishes.
P1
y2
P2
x2
xm1
xm2
y1
x
Global Axis, x-y
ym2
Member Axes, xm-ym
2.3
axis).
Considering a planar force P in Figure 2.6a, this can be defined by its
components Pxa and Pya in the xa yb coordinate axes. As there are no
restrictions on what set of coordinate axes to use, the force P can also be
defined by its components in the xb yb or xc yc axes as shown in Figure 2.6b
and 2.6c.
xc
ya
P
xb
yb
xc
Pya
xa
P yb
a) [PA]
yc
Pxa
P xb
c) [PC]
b) [PB]
P xb
Pyb
or in matrix form;
"
"
P xb
cos sin
=
sin cos
Pyb
#"
P xa
P ya
(2.8)
or simply
[Pb ] = [Lba ][Pa ]
with
(2.9)
"
cos sin
[Lba ] =
sin cos
(2.10)
ya
yb
yb
xb
Pya = 1
xb
xa
Pxa = 1
a) First Column
xa
b) Second Column
30 kN
[Pa ] =
40 kN
Solution:
[Pb ] = [Lba ] [Pa ]
"
"
#"
Pxb
cos(30 ) sin(30 )
=
P yb
sin(30 ) cos(30 )
"
0.866 0.500
=
0.500 0.866
"
45.981 kN
[Pb ] =
19.641 kN
#"
30 kN
40 kN
30 kN
40 kN
to show the equivalence of the forces, determine the resultants and orientations using Equations 2.4 and 2.5. Based on vector [Pa ]:
|Pa | = 50 kN
and
c = 53.13
and
b = 23.13
As shown in the example, the three force vectors can be resolved into the
same resultant force of 50 kN acting at an angle of 53.13 from the xa axis.
As such, the three force systems should elicit the same response to a structure if applied separately. Such force systems are referred to as statically
equivalent, i.e. although composed of forces of different magnitudes they
will elicit the same response on a body.
As a result, structural problems can be solved using equivalent systems
where the forces are replaced with their statical equivalents. For example,
any of the three systems shown in Figure 2.9 which are subject to equivalent
forces can be used to determine the response of the plane truss.
40 kN
50 kN
45.98 kN
19.64 kN
30 kN
30o
53.13o
30o
30o
Inverse Transformation
The inverse transformation, [Pa ] = [Lab ][Pb ] can similarly be determined.
Referring to Figure 2.10 and using the unit load method, the elements of
the first column of [Lab ] are the components of a unit vector along the xb
axis on the xa and ya axes: cos and sin respectively. The elements of
the second column are the components of a unit force along yb axis on the
xa and ya axes: sin and cos respectively. Therefore:
[Pa ] = [Lab ][Pb ]
where
"
cos sin
[Lab ] =
sin
cos
(2.11)
#
(2.12)
10
ya
yb
yb
yb
xb
xb
P xb
xa
xa
cos(2 ) sin(2 )
[Lab ] =
sin(2 ) cos(2 )
"
cos() sin()
=
sin() cos()
"
cos sin
sin
cos
Still another alternative is available if we recognize that we already determined the transformation matrix [Lba ], such that [Pb ] = [Lba ][Pa ]. Then
from matrix algebra, if we multiply both sides by the inverse of [Lba ], we get
[Pa ] = [Lba ]1 [Pb ]
therefore:
[Lab ] = [Lba ]1
Inverting the matrix [Lba ] again gives the same expression as Equation 2.12.
Obviously this approach only works for cases where the inverse is defined
for which it does for this case.
Lastly, from a comparison [Lab ] in Equation 2.10 and [Lba ] in Equation
2.12, we see that [Lab ] is simply the transpose of [Lba ], i.e. [Lab ] = [Lba ]T
such that
[Lab ] = [Lba ]1 = [Lba ]T
(2.13)
A matrix whose inverse is equal to its transpose is referred to as an
orthogonal matrix. It will be shown in the discussion of the rotational
transformations in three-dimensional space that this is a property of the
rotational transformation matrix.
11
P xa
[Pa ] = Pya
M za
Px
b
[Pb ] = Pyb
Mz b
(2.14)
ya
ya
yb
xb
Pya
P xb
Pxa
Mza
xa
yb
xa
M zb
PB
PA
(2.15)
12
concept. That is, l31 and l32 are the moments about the zb axis when unit
loads along Pxa and Pya are applied. Since the lever arms of these forces
are zeros from the zb axis, l31 and l32 are both zero. For the third column,
elements l13 and l23 are the equivalent forces along xb and yb axes when a
unit moment along za is applied. Recalling that a couple can be viewed as
two equal and opposite forces separated by a lever arm, it has no direct force
resultant and cannot have direct force components along any axis. Lastly,
the moment Mza will transform identically since the za and zb axes are
coincident. Therefore:
P xa
cos sin 0
Px
b
Pyb = sin cos 0 Pya
M za
0
0
1
M zb
therefore
(2.16)
cos sin 0
(2.17)
cos sin 0
cos 0
[Rba ] = sin
0
0
1
(2.18)
It should be recognized that the generalized displacement vector corresponding to the generalized force vector for the plane frame, i.e.
[U ]T = [x
z ]
will have the same rotational transformation matrix as that of the forces.
[Ub ] = [Rba ][Ua ]
2.4. 3D ROTATION
13
ya
ya
Pya
Pyb
Mxa
za
xa
yb
M zb
xa
zb
za
xb
xb
za
b) [PB]
a) [PA]
P ya
Py
1
0
0
b
M
0
cos
sin
M
=
xa
xb
0 sin cos Mxa
Mz b
(2.19)
1
0
0
cos sin
[Rba ] = 0
0 sin cos
(2.20)
[Rab ] = 0
0
0
0
cos sin
sin
cos
(2.21)
Similar to the plane frame case, the generalized displacement vector corresponding to the generalized force vector for the plane grid, i.e. [U ]T =
[y x z ] will have the same rotational transformation matrix as that of
the forces.
2.4
The transformation for the planar structures is only a special case of the
general transformation equation for rotation about three axes. Again, it is
required to determine the force components on the xb yb zb axes given its
components in the xa yb za axes.
We will again first consider a direct force now defined by its three vector
components, [Pa ]T = [Pxa Pyb Pza ] and determine its statical equivalent set
[Pb ]T = [Pxb Pyb Pzb ].
14
ya
xb
xb
Pya
yb
y
z
P xb
Pxa
xa
za
zb
za
za
xa
a) 3-D Coordinates
b) Pxb as sum of
components of [PA]
Px
cos x cos y cos z Pxa
b
(2.22)
From Equation 2.22 the elements of the rotational transformation matrix, [L], are all cosines of angles and are referred to as direction cosines.
Thus the values of the elements of [L] can only be in the range of -1.0 to 1.0.
Also note that the xy planar case previously derived are the four upper
left elements of the 3dimensional case. The sine term in the second row of
the first column or the matrix in Equation 2.10 is actually cos x , i.e. the
cosine of the angle between the yb axis and the xa axis or cos( 2 ). The
2.4. 3D ROTATION
15
sin in the first row and second column is cos x , the cosine of the angle
between the xb axis and the ya axis or cos( 2 ).
The above is primarily to show that the elements of the [L] matrix are
cosines of angles. Methods of determining the direction cosines to be discussed below does not require the determination of the direction angles so
that rather than using Equation 2.22 we shall return to the usual matrix
designation of the elements of a matrix shown in Equation 2.23.
(2.23)
xb
l1
l 32
l22
zb
zb
l 31
yb
xa
l21
yb
xb
l 11
16
unit length which is normal to the plane containing the other two vectors.
l11
[Lba ] = l21
l31
l12
l22
l32
l13
l23
l33
Ea2
Ea3
m
h
[Lba ] = Ea1
(2.24)
= 0.0
Thus for the unit vectors defined by the columns of [L], the dot product of
any column with itself equals unity, and the dot product of any two different
columns must be zero. Stated mathematically;
3
X
lij lik =
i=1
1 if
0 if
j=k
j 6= k
(2.25)
[Eaj ] [Eak ] =
1
0
if
if
j = k,
j 6= k
(2.26)
2.4. 3D ROTATION
17
The nine possible dot products can be generated in matrix form by the
matrix product [L]T [L].
h
[Lba ]T [Lba ] =
Ea3
Ea2
Ea1
iT h
Ea2
Ea1
Ea3
Ea1 T h
T
=
Ea2 Ea1
Ea2
Ea3
Ea3 T
T
Ea1 Ea1
T
=
Ea2 Ea1
EaT1 Ea2
EaT1 Ea3
EaT2 Ea2
EaT2 Ea3
EaT3 Ea1
EaT3 Ea2
EaT3 Ea3
Applying Equation 2.26 to the resulting elements of the product, the diagonal elements have equal subscripts and thus evaluate to 1.0, all other
elements evaluate to 0. The resulting product is therefore an identity matrix.
1
0
0
1
0
[Lba ]T [Lba ] = 0
0
0
1
From the definition of the inverse of a matrix, it follows that the transpose
of [Lba ] is also its inverse, i.e.
[Lba ]T = [Lba ]1
Based on this, the inverse force transformation is therefore
[Pa ] = [Lab ][Pb ] = [Lba ]1 [Pb ] = [Lba ]T [Pb ]
or
[Lab ] = [Lba ]1 = [Lba ]T
Following the same reasoning, the columns of [Lab ] define unit orthogonal
vectors along the xb , yb and zb axes. Since [Lab ] is the transpose of [Lba ], it
follows that the columns of [Lab ] are the rows of [Lba ].
h
[Lab ] = Eb1
Eb2
Eb3
(2.27)
18
EbT1
= EbT2
EbT3
l11
= l21
l31
l12
l22
l32
l13
l23
l33
The above discussion describes the properties of the rotational transformation matrix without any discussion on how these are generated. For the
planar case, the generation is relatively simple and straight forward. For
the general three-dimensional structures, two basic procedures to be discussed below determine the direction cosines directly without determining
the corresponding direction angles.
As mentioned before, the transformations required in structural analysis
generally involves those relating the global or structure coordinates to the
local force and/or member axes. The most common types of load acting
on a structure are can be classified as gravity loads which act vertically
downward, or transverse or horizontal loads. As the global axes are almost
always defined along the horizontal and vertical axes, generally only the
point of application for these loads need to be defined. Wind loads act
either as a pressure or suction normal to the surface to which it is acting,
and its local axes is thus related to the member local axes. Therefore the
following shall assume that the local axis is that for the member.
2.4. 3D ROTATION
19
plane.
xA
[A] = yA
zA
xB
[B] = yB
zB
xC
[C] = yC
zC
ya
yb
xb
zb
za
xa
its origin at A. Note that the position vector6 AB is along xb and we can
determine a unit vector by normalizing this. 7 Thus:
(xB xA )
(2.28)
where
|VBA | =
=
[VBA ]T [VBA ]
(2.29)
20
is equal to the cosine of the angle between xb and xa axes in the plane xb
xa . Similarly, the term l12 = (yB yA )/|VBA | is equal to the cosine of the
angle between xb and ya axes in the plane xb ya ; and l13 = (zB zA )/|VBA |
is equal to the cosine of the angle between xb and za axes in the plane xb
za .
To determine the other two rows of [Lba ], we first determine the vector
AC defined by the vector [VCA ] or preferably the normalized unit vector [Ec ]
with its origin at point A and lying in the xb yb plane.
(xC xA )
|VCA | =
[VCA ]T [VCA ]
~i
~
C = a1
b1
~j ~k
a2 a3
b2 b3
= (a2 b3 a3 b2 )~i
(a1 b3 a3 b1 ) ~j + (a1 b2 a2 b1 ) ~k
Thus the cross-product of [Eb1 ] and [Ec ] is a vector, [Vz ], in the z
2.4. 3D ROTATION
21
~c
direction: V~z = E~b1 E
~i
~z = l11
V
ec1
~j
l12
ec2
~k
l13
e c3
[Eb3 ] =
1
[Vz ]
|Vz |
Vector [Eb3 ] is thus seen to be a unit vector along the zb axis and its
transpose is thus equal to the third row of [Lba ]. Note that if point C is
in the negative yb quadrants, a unit vector in the negative zb direction is
determined from the indicated order of the vector cross product.
What remains is the determination of the second row of [Lba ]. The
second row of [Lba ] represents a unit vector normal to the xb zb plane. This
is thus equal to the vector cross-product E~2 = E~3 E~1 .
~i
~ b = l31
E
2
l11
~k
~j
l32 l33
l12 l13
22
Solution : The position vector [VBA ] and unit vetor [Eb1 ] along axis xb are
4.00
0.400
1
[Eb1 ] =
[VBA ] = 0.866
|VBA |
0.300
The position vector [VCA ] and unit vetor [Ec ] on the plane xb -yb are
2.97
0.244
1
[Ec ] =
[VCA ] = 0.912
|VCA |
0.329
Taking the cross product of [Eb1 ] and [Ec ] gives a vector along the zb -axis.
0.011
~
~
~
Vz = Eb1 Ec = 0.058
0.154
Normalizing, with |Vz | = 0.165
0.067
1
[Eb3 ] =
[Vz ] = 0.354
|Vz |
0.933
Taking the cross product of [Eb3 ] and [Eb1 ] gives a unit vector along the
yb -axis.
0.914
0.400
[Lba ] = 0.914
0.067
0.866
0.353
0.354
0.300
0.200
0.933
2.4. 3D ROTATION
23
xa
yd
yb
ya
zc
xc
xb
za
zd
zb
yb
yc
za
xa
yd
xb, xc
xd
xc
zb
zc, zd
(2.30)
The angles , , and are known as the Euler Angles and the transformation may be expressed as
cos
[L ] = 0
sin
0
1
0
sin
0
cos
[L ] = 0
0
cos sin
[L ] = sin cos
0
0
0
0
1
0
0
cos sin
sin cos
(2.31)
24
Again, the order of the triple product is important and must follow
the order of the planar transformations in this case. What remains to be
ya
x
w
xa
za
yb
Ly
(yB yA)
xb
(z
B
zA
(xB x
A)
zb
Ly =
(xB xA )
,
Ly
p
cos =
and
sin =
(xB xA )2 + (zB zA )2
(Ly )
,
|VBA |
and
sin =
(zB zA )
Ly
(2.32)
and
(yB yA )
|VBA |
(2.33)
2.4. 3D ROTATION
25
Solution :
The angles and can be determined solely from the coordinates of points
A and B. More importantly, the cosines and sines of these angles can be
determined solely from the coordinates without determining the values of the
angles.
Ly =
(xB xA )
= 0.80
Ly
Ly
cos =
= 0.50
|VBA |
sin =
cos =
cos
[L ] = 0
sin
0
1
0
cos sin
[L ] = sin cos
0
0
[L ] = 0
0
0.800
sin
0 = 0
0.600
cos
0
1
0
0.600
0
0.800
0.500 0.866
= 0.866 0.500
0
0
0
0
1
0
0
1
0
0
1
cos sin = 0
sin cos
0
0
0
0.707 0.707
0.707 0.707
0.400
[Lba ] = [L ] [L ] [L ] = 0.914
0.066
0.866 0.300
0.354 0.198
0.354 0.933
The result is identical to that of Problem 2.2 since the coordinates of point
C was intentionally chosen to be on a plane rotated /4 from the vertical
plane about the local xb -axis.
26
xd-yd plane is a
vertical plane
yb
yd
xd, xb
zd
zb
za
xa
(2.34)
1
|VBA |
or
[E1 ]T = [l11
l12
l13 ]
We do not have or need a point C for this procedure since we know that
the xc yc plane is vertical. We can therefore arbitrarily select any vector
on this vertical plane. There are an infinite number of such vectors, but
2.4. 3D ROTATION
27
probably the most obvious and simplest is a vertical unit vector along the
ya axis which we also know to be on the vertical plane. Therefore take
[Ec ]T = [ 0
0]
This is used to determine a vector, Vz , along the zd axis (which is coincident to the zc axis).
~i
~
Vz = l11
0
~k
~j
l12 l13
1
0
= l13 ~i 0 ~j + l11 ~k
Normalizing Vz gives the third row of [LBA ]. Finally the second row, a unit
vector along the yb axis, is determined as E~2 = E~3 E~1 . Equation 2.35
gives the resulting [L ] in terms of the elements of the first row.
l11
l12
q l11 l12
[L ] =
2 + l2
l11
13
l13
2 + l2
l11
13
l13
2 + l2
l11
13
l12 l13
(2.35)
l11
(2.36)
[L ] = sin cos cos sin sin
sin
0
cos
Substitution of the proper expressions for the elements of Equations 2.35
and 2.36 in terms of the coordinates of the A- and Bend of the member
should give identical results.
With [Lda ] determined and recognizing that [Lbd ] is simply [L ] as defined
in Equation 2.31, the rotational transformation matrix [LBA ] is determined
from Equation 2.34 or.
[Lba ] = [L ][Lda ]
28
0]
~c
V~z = E~b1 E
h
assembling gives
0.400
[Lba ] = 0.914
0.066
0.866 0.300
0.354 0.198
0.354 0.933
"
Pb
L
= ba
Mb
Lba
or
[Pb ] = [Rba ][Pa ]
#"
Pb
Mb
(2.37)
29
[Rba ]
Lba
Lba
LTba
LTba
"
#1
=
#
" 1
L
"
ba
L1
ba
Lba
Lba
#T
thus,
[R]1 = [R]T
(2.38)
That is, [R] matrix is also an orthogonal matrix. And the reverse transformation may be expressed as
[Pa ] = [Rab ][Pb ] = [Rba ]T [Pb ]
[Ua ] = [Rab ][Ub ] = [Rba ]T [Ub ]
2.5
While it was recognized that the origin of the local axes generally differs
from that of the global axes, the discussion on rotational transformations
considered only the relative rotations of the axes. In this section we shall
consider the relative position of the axes. To separate the effect of relative rotations, we shall consider systems where the corresponding axes are
parallel.
In the case where the origins of the two coordinate systems involved
is not coincident, force transformations should be taken as the process of
finding the statically equivalent of a force system defined with respect to
a particular coordinate axis in another set of coordinates. As previously
stated, statical equivalence means that the two force systems will have the
same overall effect on the structure or system.
30
yc
ye
b) About Axis at e = M/P
a) About Centroid
(2.39)
31
yb
ya
yb
ya
Pyb
Pxb
xb
y
Pya
Pxa
Mza
Mzb
xb
xa
xa
A
a)
[PA]
b) [PB]
yb
Pxa
xb
B
Pxa
y Pxa
xb
xa
x
a) Pxa at A
Pxa
Pxa xb
Pxa
A
yb
ya
yb
ya
xa
xa
b) Equivalent System 1
c) Equivalent System 2
= P xa
P yb
= P ya
= yPxa xPya + Mza
M zb
or in matrix form,
Px
1
b
Pyb = 0
M zb
y
0
1
x
0
P xa
0 P ya
1
Mz a
(2.40)
32
yb
ya
yb
ya
yb
Pya
Pya
xb
y
Pya
A
xb
Pya
Pya
xa
a) Pya at A
x Pya
xa
xa
A
xb
B
b) Equivalent System 1
c) Equivalent System 2
ya
yb
ya
Mza
xb
y
Mza
A
xa
ya
Mza
Mza
yb
Mza
xb
xb
B
xa
xa
a) Mza at A
b) Equivalent System 1
c) Equivalent System 2
[Tba ] = 0
y
0
1
x
0
1
33
a
b
ya
xa
za
b
ya
yb
yb
Pya
Pya
xa
xa
z
Pya
xb
xb
x
za
za
zb
zb
Pya
b) Equivalent System 1
a) Pya at A
ya
xa
ya
yb
x Pya
xa
Pya
xb
xb
zb
c) Equivalent System 2
z Pya
za
zb
Py
1
b
M
z
=
xb
Mz b
x
0
1
0
0
P ya
0 Mxa
1
Mz a
(2.41)
34
ya
yb
Mxa
yb
xa
xa
z
Mxa
xb
xb
x
za
za
zb
zb
b) Equivalent System at B
a) Mxa at A
yb
Mya
xb
Pya
Pxa
Pza
Mxa
xa
zb
Mza
za
Pb
=
(2.42)
Ma
XBA I
Mb
As was shown in the planar cases, forces and moments transform identically because the corresponding axes are parallel. Therefore the diagonal
elements of Equation 2.42 must be identity matrices. The null matrix in the
upper right results from moments not having any direct force resultants and
therefore cannot have any statical equivalent direct force components.
Therefore, the only submatrix to be determined is the [Xba ] matrix in
the lower left. Since the axes are translated, unit forces along the xa , ya ,
and za axes have equivalent moments about the xb , yb , and zb axes. From
the discussion made for planar grids, the moments about any axis are equal
to the force multiplied by the corresponding perpendicular distances. For
example, for the first column of Xba a unit force along the xa axis results in
an equivalent couple equal to (z) 1 about yb , and a couple equal to y 1
35
about the zb axis. Being parallel to the xb axis, no lever arm and therefore
no couple about this axis could be generated. The elements of the other
columns of [Xba ] can be similarly determined. The matrix Xba is therefore
x
0
z
0
x
[Xba ] = z
y
P xb
1
0
0
Py 0
1
0
b
P 0
1
1
zb
=
Mxb 0
z y
Myb z
0
x
y x 0
M zb
0
0
0
1
0
0
0
0
0
0
1
0
Pxa
0
Py
0
a
0
Pza
0 Mxa
0 Mya
Mz a
1
(2.43)
"
Pa
I
=
Ma
Xab I
#"
Pb
Mb
(2.44)
z
0
x
[Xab ] = z
y
x
0
In summary
"
[Tba ] =
"
[Tab ] =
(2.45)
Xba I
I
T
Xba
I
(2.46)
36
2.6
(2.47)
yb
xb
yb
xa
xb
B
xb
ya
xa
A
xa
ya
ya
37
yb
yb
ya
y
xa
xb
ya
xa
A
xa
a)
za
xb
xa
A
xa
za
xa
ya
za
xb
za
b)
at A
ya
at A
c)
xa
at A
1
x
b
yb = 0
0
zb
0
1
0
ya
y
x ya
za
1
(2.48)
Note that the above matrix is generated more conveniently column wise
using the unit displacement method similar to the generation of force transformation matrices.
38
ya
ya
yb
xa
ya
A
x
a)
zb
ya
xa
xa
xa
ya
za
yb
yb
xb
z
zb
at A
xb
za
b)
xa
za
za
xa
zb
za
za
xb
xa
c)
at A
za
at A
x
1
b
=
yb 0
zb
0
z
1
0
x
ya
0 ya
1
za
(2.49)
39
yb
ya
xb
Uya
Uxa
xa
Uza
zb
za
za
ya
xa
ya
xb
xa
xa
za
yb
a) Due to xa
zb
za
za
yb
xa
xa
ya
ya
x ya
xb
y
zb
za
xb
xa
za
za
ya
b) Due to ya
c) Due to za
[Yba ] = z
y
z
0
x
x
0
40
1
xb
y 0
b
0
zb
=
xb 0
yb 0
0
zb
0
1
1
0
0
0
xa
0 0
z y
y
0 z
0
x
a
1 y x 0
za
0 1
0
0 xa
0 0
1
0 ya
za
0 0
0
1
(2.51)
The inverse transformation matrix, [Tab ], such that [Ua ] = [Tab ][Ub ] can
be determined following the same reasoning used for the force transformation. Thus in summary:
"
[Tba ] =
I Xba
T
I Xba
(2.52)
"
[Tab ] =
(2.53)
Comparison of Equations 2.45 and Equations 2.53 shows that the displacement transformation from a point A to a point B is equal to the transpose of the force transformation from B to A. Similarly, the displacement
transformation from a point B to a point A is equal to the transpose of
the force transformation from A to B. This property of the transformation
matrices will be shown in Section 2.7 to be an example of the more general
contragradient law for displacement and force transformations.
2.7
We may now consider the general the transformation of forces and displacements to an axis which has been both translated and rotated with respect
to the original set as shown in Figure 2.33. In particular we would like to
determine the transformation relationship in the following form:
[Pb ] = [Hba ][Pa ]
(2.54)
(2.55)
Rather than generate the Hmatrices directly, the transformation is generally easier to determine by visualizing the transformation as the result of
the pure translation stage and a pure rotation stage.
41
yc
b
xc
xa
zb
zc
za
Force Transformation
While the discussion is equally applicable for the threedimensional case,
consider the coordinates for the plane frame case in Figure 2.34a. The
force system at point A may be transformed to an equivalent set of forces
referred to a parallel axis xc yc zc with its origin at point C which is
conincident with point B; then a rotational transformation of the latter
forces to determine its components in the xb yb zb axes.
yc
ya
ya
xb
yb
xb
yb
yd
xc
xd
y
xa
A
y A
xa
x
42
therefore,
[Hba ] = [Rba ][Tba ]
(2.56)
[Hba ] = ba
Lba
#"
Xba I
"
Lba
=
Lba Xba Lba
(2.57)
(2.58)
While this procedure results in the same [Hba ] matrix, it requires the
determination of the relative position of point B with respect to the D-axes,
indicated as x0 and y 0 in Figure 2.34b. These can be determined by the a
rotational transformation of the position vector. To avoid this additional
computation, it is preferred to determine the transformation using the first
option.
If the inverse transformation [Hab ] is required, it is more convenient to
rotate from the xb yb axis to the xc yc axis, then to translate to the xa
ya axis. This avoids the additional computation discussed in the previous
paragraph. Alternatively, we can simply invert the [Hba ]. Performing the
latter, we have
[Hab ] = [Hba ]1 = [Rba Tba ]1
= [Tba ]1 [Rba ]1
(2.59)
[Hab ] =
LTba
LTba
#"
T
Xba
I
"
LTba
Lba
(2.60)
T LT
T
Xba
ba Lba
"
#T
43
Note that the for the planar case, it is frequently easier to generate the
[Hba ] and [Hab ] matrices using the unit load method rather than performing
the indicated matrix product.
Displacement Transformation
For the displacement transformation, the same procedure discussed for the
force transformation shall be followed using the applicable matrices. Performing a translation then a rotational transformation.
[Uc ] = [Tba ][Ua ]
[Ub ] = [Rba ][Uc ]
Recall that the rotational transformation is identical for any vector. Combining
[Ub ] = [Rba ][Tba ][Ua ]
= [Hba ][Ua ]
therefore,
[Hba ] = [Rba ][Tba ]
(2.61)
[Hba ] = ba
Lba
#"
I Xba
I
"
L
Lba Xba
= ba
Lba
(2.62)
"
[Hab ] =
LTba
LTba
#"
T LT
LTba Xba
ba
"
"
Lba
LTba
#T
44
2.8
Contragradient Relationship
(2.63)
[Hab ] = [Hba ]T
(2.64)
and
Since the matrix transpose operation is reversible, the above equations
may also be written in as a relationship of the force transformation matrices
to the transpose of the corresponding inverse displacement transformations.
The relationship shown is referred to as Contragradience or the contragradient relationship between force and displacement transformations.
Equations 2.63 and 2.64 actually represents a special case of contragradience where the transformation relationships are reversible (the inverse of
the transformation matrices exists). In general, the contragradient principle
may be stated as follow:
Given two statically equivalent force vectors and their corresponding displacement vectors such that the elements of the
displacement vectors are the displacements in the direction of
the corresponding element of the force vector. If the two force
vectors are related by a linear transformation, then the inverse
displacement transformation matrix is the transpose of the force
transformation matrix.
For example, if the force vectors are related such as [P ] = [Hpq ][Q],
then inverse displacement relationship is such that [Uq ] = [Hpq ]T [Up ]. Or
[Hqp ] = [Hpq ]T .
In structural mechanics, the linear transformation relationship of the
force vectors generally results from the application of the static equilibrium
requirements. Further, the vectors are normally generalized force vectors
not limited to the vectors defined in this chapter. As previously stated, one
vector may represent the forces acting at the joints of the structure, and the
other representing the internal member forces. As such, the size of the two
force vectors are generally different.
For example, consider the free body diagram of a joint of a planar truss
as shown in Figure 2.35. The joint loads, Px and Py , can be defined as the
elements of a vector [P ], and the member forces, Q1 , Q2 , and Q3 , can be
defined as the elements of matrix [Q]. A linear transformation relationship
between the two vectors, [P ] = [E][Q], can be written based on equilibrium,
i.e. summation of forces along the x and yaxes. Note that [E] has two
45
rows and three columns and is therefore not square. As such, its inverse
is not defined, and the inverse relationship is cannot be determined. The
physical interpretation of this is that: if we know the values for the Qforces,
we can determine the joint loads P . We cannot, however, find determine
the Qforces when the P forces are given. This is because we only have two
independent equations of equilibrium available, and therefore we cannot
determine the three unknown Qforces.
With the [E] matrix defined, from contragradience, the relation between
the corresponding displacement vectors is given as [Up ] = [E]T [Uq ]. The
physical interpretation of this is that: if we know the displacent of the joint,
[Up ], we can determine the kinematically equivalent displacements along
each member direction. Recall that the kinematically equivalent displacement along a given axis, say Uq1 is equal to the sum of the components Upx
and Upy on Uq1 .
P2
Q1
Q2
P1
Q3
46
Proof of Contragradience
The proof of contragradience is based on the equivalence of the virtual work8
done by the two force systems.
If a force system [P ] acting on a body is subject to a displacement [Up ]
where the elements of [Up ] contain displacements in the direction of the
corresponding elements of [P ], it is said to do virtual work equal to [P ]T [Up ].
Consider now a statically equivalent force system [Q] which is related to
[P ] by a linear transformation in the form
[Q] = [Hqp ][P ]
If an equivalent system is used where the [P ] forces are replaced by the [Q]
forces, and is subject to the displacement [Up ], the virtual work done by the
Q-forces is equal to [Q]T [Uq ]. The vector [Uq ] represents the kinematically
equivalent dislacements along the Q-forces due to the P -displacements.
Since we are dealing with an equivalent systems, the response (the virtual
work done) must be the same. Thus,
V W = [P ]T [Up ] = [Q]T [Uq ]
but
[Q] = [Hqp ][P ]
substituting
[P ]T [Up ] = [Hqp P ]T [Uq ]
[P ]T [Up ] = [P ]T [Hqp ]T [Uq ]
Since P and Q are arbitrary:
[Up ] = [Hqp ]T [Uq ]
The relationship is specially useful and will be used continuously throughout the course. Specifically, contragradience will be used to determine the
compatibility (displacement transformation) matrices by transposing the
corresponding equilibrium (force transformation) matrices.
This can be taken as the basic definition of work which is force times the displacement.