4.

13 ROTATION OF AXES IN TWO DIMENSIONS Direct Method of formulation of member stiffnesses suitable only for continuous beams and trusses Method of rotational transformation well suited for complex structures Consider an action A which lies in the x-y plane

Direction Cosines are expressed in terms of angle as follows:

11 = cos 12 = cos(90 ) = sin 22 = cos

21 cos(90 + ) = sin

where the first subscript refers to the xM,yM axes and the second subscript refers to the xS,yS axes. Also Number 1 denotes the x direction (either xM or xS ) and Number 2 denotes the y direction (either yM or yS )

2D_rot_transf

Page 1 of 6

Relating actions of member axes AM to actions of structure axes AS

AXM = 11 AXS + 12 AYS AYM = 21 AXS + 22 AYS

AXM 11 12 AXS A = YM 21 22 AYS

(4-35)

AXM cos A = sin YM

sin AXS cos AYS

(4-36) (4-37)

AM = RAS

where R is the rotational transformation matrix

12 cos R = 11 = sin 22 21
sin cos

(4-38)

2D_rot_transf

Page 2 of 6

Relating actions of structure axes AS to actions of member axes AM

AXS = 11 AXM + 12 AYM AYS = 21 AXM + 22 AYM

AXS 11 A = YS 12

21 AXM 22 AYM

(4-39)

AXS cos A = sin YS

sin AXM cos AYM

(4-40) (4-41) (4-42)

AS = R T A M

It is apparent that

RT = R-1

and it follows that the rotational matrix is a orthogonal matrix. Transformation of Displacements are also treated in a similar manner giving DM = RDS (4-43)
DS = R T DM

(4-44)

2D_rot_transf

Page 3 of 6

4.14 APPLICATION OF ROTATIONAL TRANSFORMATION TO TRUSS MEMBERS

cos R= sin

sin C X = cos CY

CY CX

(4-45)

Here

C X = cos

CY = sin A Mi = SMi DMi

Action-Displacement Relationship

(4-46)

Omitting subscript i Eq.(4-46) is written as

AM 1 S M 11 A S M 2 = M 21 AM 3 S M 31 AM 4 S M 41 S M 12 S M 22 S M 32 S M 42 S M 13 S M 23 S M 33 S M 43 S M 14 DM 1 S M 24 DM 2 S M 34 DM 3 S M 44 DM 4

( a)

A Mj SMjj SMjk DMj A = S Mk Mkj SMkk DMk RASj SMjj SMjk RDSj RA = S Sk Mkj SMkk RDSk R 0 0 R
2D_rot_transf

(b)

( c)

ASj SMjj SMjk R 0 DSj = ASk SMkj SMkk 0 R DSk

Page 4 of 6

(d)

writing Eq.(d) is rewritten as

R RT = 0

0 R

(4-47)

R T AS = SM R T DS
1 RT

(e)

Premultiplying both sides of Eq.(e) by

1 AS = R T SM R T DS

(f)

Since R is orthogonal, RT is also orthogonal. This is verified as

R T = RT R T T 0 0 R 0 R T R 0 R 1R 0 I 0 = = = =I T T 1 R 0 R 0 R R 0 R R 0 I
1 RT = RT T

It follows that Substituting Eq.(4-48) in (f) gives Action-Displacement Relationship Comparing Eqs.(4-49) & (4-50)

(4-48) (4-49) (4-50) (4-51)

T AS = R T SM R T DS

AS = SMSDS
T SMS = R T SM R T

Evaluation of this matrix SMS is performed as follows:

CX C = Y 0 0 C Y CX 0 0 0 0 CX CY EA X 0 L 0 0 CY EA X CX L 0 0 0 0 0 EA X L 0 EA X L 0 0 CX 0 C Y 0 0 0 0 CY CX 0 0 0 0 CX C Y 0 0 CY CX

SMS

2D_rot_transf

Page 5 of 6

Rotation Transformation concept can also be used for construction of equivalent joint load vector AE from elements of matrix AML.
A MSi = R T Ti A MLi
( AMS )1,i CXi ( A ) MS 2,i = C Yi ( AMS )3,i 0 ( AMS ) 4,i 0 CYi CXi 0 0 0 0 CXi CYi 0 ( AML )1,i CXi ( AML )1,i CYi ( AML ) 2,i ( A ) C ( A ) + C ( A ) 0 Xi ML 2,i ML 2,i = Yi ML 1,i CYi ( AML )3,i CXi ( AML )3,i CYi ( AML ) 4,i C Xi CXi ( AML )3,i C Yi ( AML ) 4,i ( AML ) 4,i

(4-52)

Joint load vector

AEi = -AMsi

Rotation Transformation concept can also be extended for the computation of final member end-actions.
A Mi = A MLi + SMi D Mi

DMi is to be obtained from DJ which gives displacements about the structure axis.
D Mi = R Ti D Ji

substituting

A Mi = A MLi + SMi R Ti D Ji

( AM )1,i 1 ( A ) M 2,i = EA X 0 ( AM )3,i L 1 0 ( AM ) 4,i

0 1 0 CXi C 0 0 0 Yi 0 1 0 0 0 0 0 0

CYi CXi 0 0

0 0 CXi CYi

0 ( DJ ) j1 (D ) 0 J j2 CYi ( DJ ) k1 CXi ( DJ ) k 2

2D_rot_transf

Page 6 of 6