CÔ HOÏC KEÁT CAÁU PGS.TS.

ÑOÃ KIEÁN QUOÁC

Chapter 4
DISPLACEMENT OF STRUCTURES
 Purposes:
-Establishment of formulas to determine displacement of
structures
- Evaluation of structural stiffness (based on maximum
displacement)
-Placement of background for analysis of Statically
Indeterminate Structures

4.0. REVEW OF BASIC CONCEPTS AND KNOWLEGE

1. Equilibrium:
When a body has no motion (the case of structures fixed to
the ground by supports) then the resultant of forces must be zero
 the equilibrium equations can be used to determine the
unknown forces (support reactions or internal forces).
Establishment of equations:
Only 1 unknown in 1 equation.
This is the main content of Structural Mechanics 1.

2. Real and virtual displacement:

Consider a structure with an applied force P1 as in Fig 4.1
bellow. The displacement D11 produced by P1 is real. But D12
produced by P2 (or other causes such as subsidence of foundation
or change of temperature…) is called virtual. Virtual displacement
is similar to possible displacement.

3. Real Work:
Work done by force on real displacement: T11 = P1D11

4. Virtual Work:
Work done by force on virtual displacement: T12 = P1D12

5. Virtual Work Principle of Bernoulli for Rigid Body:

If a body is in equilibrium  Virtual work = 0

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6. State of Structures:
If a structure is under the action of a cause such as loads,
temperature, support subsidence… then it is in a state of internal
forces, deformation, displacement…
A complicated state can be separated into simple states, as
shown in Fig.4.1.

“k” Pk

Pk Pm Dkk

Dkk Pm
Dk “m
”
m Dkm
Fig. 4.1

Virtual work of force Pk of state “k” on virtual displacement Dkm of

state “m” is defined as:
Tkm = PkDkm
It is clear that Tkm has physical meaning.
In a deformable solid, the virtual displacement normally
accompanied with the virtual deformation. Correspondingly, there
are virtual works from both external and internal forces.

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4.1. VIRTUAL WORK IN ELASTIC STRUCTURES

1. Concepts
 Definition: virtual work in a structure is the work produced by
the external and internal forces of state “k” on the displacement
and the deformation of state “m”.
 The states “m” and “k”: Fig.4.2
Pm
- “m”: + Real problem with “m
displacement and deformation ”
to Di
produced by the actions of Pm, to, Di. Dk
The real displacement Dkm needs to be m Pk=1
calculated. “k”
+ Any state and action (used in
principle or theorem). Fig.4.2
- “k”: + Imaginary state with only Pk
= 1 in the direction of Dkm
+ Any state and action (used in principle or theorem).

2. Principle of Virtual Work in Elastic Structures (Poisson,

1833)
If a structure is in equilibrium of external and internal forces of
state “k”, then the total virtual work of the external forces Tkm
and the internal forces Akm of state “k” on the virtual
displacements and deformations of state “m” must be equal to
zero.
Tkm + Akm = 0
Or Akm = -Tkm
(1)
Notice: the virtual displacements and deformations must be small
and consistent with support conditions. The virtual displacements
and deformations of state “m” satisfy this requirement.

3. Virtual Work of External Forces

If in state “k” there are many forces then using the principle
of superposition:
Tkm = PkDkm
(2)

4. Virtual Work of Internal Forces

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Consider a small element of the structure in 2 states as in

Fig. 4.3:
- “k”: the forces Mk, Nk, Qk are external forces to the
element.
- “m”: the complicated deformation is analyzed into 3
elementary cases.
-
Mk Mk
Nk “k” Nk

Qk
ds+Dd
dj m g mtb ds
sm

dj m dj m ds ds
2 ds 2

“m
Hình
”
4.3
The virtual work done by the forces Mk, Nk, Qk of state “k” on
the displacements of state “m”:
dTkm = M k djm + N k Ddsm + Qk g mtb ds
From (1):
M k djm + N k Ddsm + Qk g mtb ds �
dAkm = - dTkm = - �
� �
Akm = - �
�
� M k djm +  � Qk g mtb ds �
N k Dsm +  � � (3)
Notice: - Sign �for the structural segment with 1 equation of
internal force
- Sign  for various segments
The deformations of “m” need to be expressed to the direct
causes: internal forces and pure thermal deformation.
 Deformation due to Mm , Nm , Qm:
Mm �
djmp = ds �
EJ
�
Nm �
Ddsm = p
ds � (4)
EF �
Q �
g mtb , p = m m ds �
GF �
m - coefficient for non uniform distribution of t on the height
of section.

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 Pure thermal deformation:

Assumption: The change of temperature varies linearly on the
height of section. dj m
Ddsm = a tc ds
t m
� t1m a t1mds
�
t2m - t1m � ds
dj = a
t
m ds � (5) h
h � tm
c
a tm
c ds

g mtb = 0 �
� t2m a t2mds
Fig. 4.4
Substituting (4) & (5) into (3):
� M N Q
Akm = - �
� M k m ds +  �N k m ds +  � Qk m m ds
� EJ EF GF
a � (6)
+ �M k Dtm ds +  �N ka tcm ds �
h �

where Dtm = t2m - t1m > 0

5. Detail Formula for the Principle of Virtual Work:
Substituting (2), (6) into (1):
� M N Q
�P D k km =�
�M k m ds +  �
EJ
N k m ds +  �
EF
Qk m m ds
GF
�
a � (7)
+ �
M k Dtm ds +  �N ka tcm ds �
h �

Formula (7) is applicable for straight structural members or with

h 1
small curvature r �5 .

4.2. THEOREMS RELATED TO VIRTUAL WORK

1. Theorem of Reciprocal Works (Betti, 1872)
 Theorem:
The virtual work done by the external forces of state “k” on
the displacement of state “m” is mutually equal to the virtual
work done by the external forces of state “m” on the
displacement of state “k”.
 Formula:
Tkm=Tmk
Pk D km = Pm D mk
 Proof: based on (7), notice no temperature change.

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� MkMm N N QQ �
�P Dk =�
km � m k m ds �
ds +  �k m ds +  �
� EJ EF GF �
� M mM k N N QQ �
�Pm D mk = � �EJ m m k ds �
ds +  �m k ds +  �
EF GF
� �

 Example: Fig.4.5. P
- PD P = M j - RD R
“k”
Tkm Tmk DR

j
DP
M
“m”
R
Fig. 4.5

2. Theorem of Reciprocal Unit Displacement (Maxwell,

1864)
Consider a structure at 2 states “k” “k” Pk =
and “m” with Pk = Pm = 1 as in Fig.4.6. 1 dmk
Unit displacement: produced by a unit
force ( d ) or unit subsidence of a support ( Pm =
& “m
d ). ”
d km 1
Applying Betti theorem resulting in:
d km = d mk Fig.4.6
This is the formula of Maxwell theorem,
to be used in the force method as in chapter 5.

3. Theorem of Reciprocal Unit Reaction (Rayleigh, 1875)

Consider a structure at 2 states “k” “k”
Dk
and “m” with D k = D m = 1 as in Fig.4.7.
=1
Unit reaction: produced by a unit
subsidence of a support ( r ) or unit force rkm
“m
( r&). Dm
”
The positive direction of the reaction =1
and the displacement is upward as rkm
Fig.4.7
shown, in a consistent manner:
rkm - D k , rmk - D m .
Applying Betti theorem resulting in:

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rkm = rmk
This is the formula of Rayleigh theorem, to be used in the
displacement method as in chapter 6.

4. Theorem of Reciprocal Unit Displacement and Unit

Reaction (Gvozdiev, 1927).
Consider a structure at 2 states “k” and “m” with D k =Pm = 1 as
in Fig.4.8. The force and the virtual displacement are positive if
they have the same direction.
Applying Betti theorem resulting in:
Tkm = 0 = Tmk “k”
Dk d&mk
T = r& + d& = 0
km km km
=1
&
km = -d km
r&
“m Pm
This is the formula of Gvozdiev ” =1
theorem, to be used in the mixed
method as in chapter 7. r&
km
Fig.
4.8

4.3. THE MAXWELL-MOHR FORMULA Intl Forces Mm , Nm ,

1. General Case: “m Qm Pm
?
” D im
Consider a general structure as in Fig.
4.9 in 2 states.
 “m”: Real state, under actions of P, t o, Intl Forces
D . The displacement Dkm needs to be “k” Pk
determined. =1
 “k”: Put the unit force Pk = 1, with Rki
corresponding position and direction to Fig.
4.9
Dkm.
Application of (7):

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� M N Q
1.D km + �Rki D im = �
� M k m ds +  �N k m ds +  � Qk m m ds
� EJ EF GF
a �
+ �
M k Dtm ds +  �N ka tcm ds �+ �Rki D im
h �

� M N Q
D km = -�Rki D im + �
� M k m ds +  � Qk m m ds
N k m ds +  �
� EJ EF GF
a � (8)
+ � N ka tcm ds �
M k Dtm ds +  �
h �

2. Particular cases:
1) Beams and Frames with only loads:
Neglecting the effects of N & Q to displacement compared to
M:
M M
D km = �� k m ds (Still complicated in calculation, to be
EJ
simplified)
2) Trusses with only loads:
In this case M m = Qm = 0 . Formula (8) becomes:
N N N N
D km = ��k m ds = � k m �
ds
EF EF
N N
D km = ��k m L
EF
Example:
“m” “k”
Find the horizontal
displacement in Fig. 4.10. +P 0
D km = 0.
0 1
Pk
P
Fig.4.1
=1
3) Statically Determinate 0
Structures with Support Subsidence:
In this case, no internal L
forces appear, (8) results in: Pk
=1
=> D km = -�Rki D im

( Rki > 0 in direction with D im ) “m” “k”

a
b L
j Fig.4.1 1
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Example: Vertical displacement in Fig.4.11?

D km = - [ -1.b + Lj ] = b + Lj
4) Statically Determinate Structures with Temperature Change:
In this case, no internal forces appear, eq. (8) results in:
a
D km = ��
N ka tcm ds + ��
M k Dtm ds
h
If the quantities t1, t2 , h , a are constants in each segment,
then
a
D km = �a tcm �
N k ds + � Dtm �
M k ds
h
a
D km = �a tcmW N + � DtmW M
k
h k

Example:
Find the horizontal displacement at A in Fig. 4.12.
L
t1 = Pk Pk 1
A
-2t =1 =1
-2t t2 = -2t L
Nk
+t
1 1 1
L 1 1 1 1
Fig.4.1
2
t1 + t2 t
tcm = =-
2 2
Dt m = t2 - t1 = t + 2t = 3t
� t a L2 � a
a (- )(1.L - 1.L) + 3t. .2�= 3 tL2
D km = �
� 2 h 2 � h

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Ro = Wf
4.4. “MULTIPLICATION” OF DIAGRAMS f(s
fd
Purpose: to ease the calculation of the )
s
integrals in eq.(8).
M M a b
The above formula D km = �� k m ds
EJ s d
b
s j(s
Can be rewritten: j ( s )f ( s )ds
I =� (a) )
a
j(s jo
 Property: )
a b
If: Fig.4.1
+ f ( s ) : 1 sign (+ or -) 3
+ j ( s ) : straight line
b

Then: j ( s )f ( s)ds = Rojo = Wfjo

I =� (b)
a

Where: Wf - Area of f ( s ) diagram

j0 - Ordinate on j ( s ) diagram corresponding to the
centroid of f ( s ) diagram
 Proof:
Imagine:
- f ( s ) as a distributed load. The resultant force on ds is f ds
- j ( s ) as an influence line S.
Then the formula (a) has the physical meaning of determination S
resulting from the load f ( s ) :
b
jf ds = S
I =�
a

According to the characteristics of linear influence line in

Chapter 3 of Structural Mechanics 1, we have:
I = Rojo = Wfjo
 Convention:
The integration (a) can be rewritten in the form of Diagram
Multiplication:
b

j ( s )f ( s )ds = f .j
I =�
a

Then the Maxwell – Mohr formula (8) can be rewritten:

D km = M k M m + N k N m + Qk Qm (c)
Notice:

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1 1 m
- Formula (c) implies the multipliers , , .
EJ EF GF
- j diagram must be a straight line.
- f diagram is 1 sign with the centroid and area to be known.
The centroid and area of parabolic diagrams are shown in
Fig.4.14.
W = 1/3 W = 1/3
W = 1/3
a a a

L/4 3L/4 5L/8 3L/8 L/2 L/2

Fig.
4.14
Example: Find the vertical displacement at point A in Fig.4.15.
q 3qL2 qL2
P L Pk=
=qL 2 8
1
A
“k”
L
Mm Mk

Fig.
4.15
Procedure:
- Plot M m
- Plot M k
- Multiplication of diagrams:
D km = M k M m
1 �
3qL2 1 3qL2 2 L 2 qL2 L � 47 qL4
D km = . L.L + . .L. - .L. �= >0 => In
EJ �
�2 2 2 3 3 8 2 � 24EJ
direction of Pk = 1 (downward).

4.5. STATE “K” FOR DETERMINATION OF RELATIVE

DISPLACEMENT
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1. Some Concepts
 Absolute displacement: compared to fixed body as the earth or the original
position of the point or section.
 Relative displacement: compared to another moving body or moving section.
 2 kinds of relative displacement: straight and rotational displacements.

2. Relative Straight Displacement

The illustration is given in Fig.4.16 for the relative straight displacement D AB
of points A and B in vertical direction. If D A and “m”
A DB
D B are assumed positive in opposite direction, Mm
B
then: DA
D AB = D A + D B “kA” PkA= 1
M kA
To find D A and D B , the states “kA” & “kB” are
set up as in Fig.4.16. “kB” PkB= 1
M kB
D A = M m .M kA
D B = M m .M kB “k” 1 1
Mk
D AB = M m �
M kA + M kB �
� � Fig.4.16
= M m .M k
Conclusion: the state “k” to find the relative straight displacement D AB consists of
2 opposite concentrated forces P = 1 in the direction of D AB .

Example:
Find D AB as shown in Fig.4.17.
Pk = 1 2
Pa a
A 2

a
Mk
Mm
B
P
a Pk = 1
Fig.4.17

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5
D AB = Pa 3 2
12 EJ
3.Relative Rotational Displacement
The process of analysis is similar to the case above, but the word straight is
replaced by rotational and concentrated forces P=1 is replaced by concentrated
moments M=1 as shown in Fig.4.18.

M=1

“k”

M=1
Fig.4.18

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