Structural Engineering & Statics
where the load goes
Concept

Self-stress — where it appears

A set of internal forces in equilibrium with no load at all, which a redundant structure can carry and statics cannot see. It is the null space of the transposed equilibrium matrix, it can be introduced deliberately as prestress, and it lends a mechanism geometric stiffness of one sign in tension and the other in compression.

Named by 17 essays across 6 fields — each of them below, with the objects they name alongside it.

Three legs, three equations, one answer. A rigid top on three legs carrying 120 kN at (0.3, 0.2) m. The three equilibrium equations available — one vertical and two moments — leave three unknowns, so the system is exactly determinate and the reactions are 56.8, 13.6, 49.6 kN. Move the load anywhere and the answer moves with it; nothing about the legs' stiffness enters.

Six equations, and the drawing shows three

Every essay so far has taken place on a piece of paper, where equilibrium is three equations and a structure is a diagram. The real object has six, the extra three are the ones nobody writes down, and the difference between three legs and four is not a matter of degree.

equilibrium · Three-dimensional equilibrium It moves, or it pushes. Never both, and never neither. A 30 m steel member 30 °C warmer than it was built, in three conditions. Free, it grows 10.8 mm and carries nothing. Held, it moves nothing and carries 75.6 MPa in compression — which is E·α·ΔT and contains neither the length nor the area of the member, so the identical stress arises in a two-metre strut. Held by a spring it does some of each: 3.2 mm of movement and 53.2 MPa, and the split is decided by the spring rather than by the member.

The movement nobody applied

A temperature change is the only load in this collection that a structure can decline. Let it move and it produces a movement with no stress; hold it and it produces a stress with no movement — and that stress contains no length, no area and no second moment, so a bracket and a bridge girder carry exactly the same one.

deflection · Thermal movement The plan a straight beam does not have. A beam of radius 12 m turning through 60°, seen from above, with bending drawn outward from the axis in one colour and torsion in the other. The load is vertical and uniform and nothing is applied off the axis. Bending reaches 446 and torsion 155; the two peaks are in different places, which is why the section has to be chosen for a combination rather than for either.

Bending that arrives as twist

A straight beam under a vertical load carries no torsion unless something applies one. A beam whose axis curves on plan carries torsion everywhere, from the same load, with nothing applied off the axis — and it cannot be simply supported at all.

internal-forces · Curved in plan Two null spaces of one matrix, and the count is their difference. Two pin-jointed frames, each with the forces it can carry with nothing applied to it drawn on its bars — tension one colour, compression the other, thickness in proportion. That force set is the null space of the equilibrium matrix; a mechanism is the null space of its transpose; and Maxwell's count b + r − 2j is the difference of their dimensions and knows neither of them separately. A square with both diagonals has s = 1 and m = 0. Two bars in a straight line has s = 1 and m = 1 with a count of 0, so the count is satisfied by a frame that both folds and can be prestressed — and the prestress stiffness is positive, which is why a tensioned pair of collinear bars is stiff at all.

The forces that are there with nothing applied

Maxwell's count is the difference between two dimensions, and it knows neither of them separately. A frame can satisfy it exactly and still both fold and be prestressable — and when it does, the second of those is what stops the first.

structures · Self-stress Two curvatures of opposite sign, which is what makes it a structure. A cable net over a 36 m square, drawn as the two families of cables that are also the two rulings of the surface. One family sags and carries downward load by hanging; the other rises and carries upward load — wind uplift, and a load reversal anywhere — by the same mechanism upside down. Neither can do anything alone. A single family of cables is a mechanism: it changes shape freely under any load pattern it was not tensioned for, and the shape it moves to is decided by the load rather than by the designer. Put the two together and each is the other's restraint, but only if they are pulled against one another first — the pretension of 520 kN in the sagging family and 715 in the hogging one is a self-equilibrating state that exists with no load on the roof at all, and it is what turns two mechanisms into one structure. The curvatures are drawn four times their true value: a real net of this span sags 2.2 m over 36, which is flatter than it looks anywhere.

Two curvatures of opposite sign

A single family of cables is not a structure. It is a mechanism that takes whatever shape the load asks for, and it will do that under any load pattern it was not tensioned for. Cross it with a second family curved the other way, pull the two against each other, and the pair becomes stiff — with no bending anywhere and no material property involved in the stiffness at all.

structures · Cable net The check that everything adds up, and the error it cannot see. Four versions of the same 3-bay, 4-storey frame, with the global equilibrium residual each one produces — the sum of the reactions against the sum of the applied loads, as a fraction of the applied total. It is the first thing every analysis prints and it is worth having: a lost restraint and a load entered in the wrong unit both show up immediately, at 8% and 32%, because both change what the structure is carrying. The fourth bar is the point. A member whose stiffness is wrong by a factor of ten redistributes the internal forces completely — the second bar shows the change in the member forces, 24% — and the global residual is exactly zero, because the wrong answer is still in equilibrium with the same loads. Equilibrium is one equation per degree of freedom of the whole body, and a stiffness error lives entirely in the many equations underneath it. A model can satisfy every equilibrium check ever devised and be a model of a different structure.

The check that cannot see the error

Every analysis prints a global equilibrium residual, and it is the first thing anybody looks at. It catches a lost restraint and a load entered in the wrong unit immediately. It is structurally incapable of catching a member whose stiffness is wrong by a factor of ten, because the wrong answer is still in equilibrium with the same loads.

equilibrium · Equilibrium check Five millimetres short, and a hundred kilonewtons in every member. An X-braced bay 6 m by 4 m in which one diagonal was fabricated 5 mm short, with the force that leaves in every member. Nothing is applied to this frame. The forces are the self-stress state the frame's one redundancy supports, scaled so that the diagonal is pulled back to the length it should have been: tension in both diagonals at 100 kN, compression in the four members round the outside, and the whole set in equilibrium with nothing. That is 25% of the force the diagonal was sized to carry, and it is there for the life of the structure. Take one diagonal out and the frame becomes determinate: the short member then simply puts the joint somewhere else, and the structure is in the wrong place instead of under stress. Redundancy is bought, and this is the price.

Built to the wrong length

A redundant structure's members do not have independent lengths. Choose all but one and geometry decides the last, so a member made a different length has to be pulled or pushed into place — and the force required stays in the structure for as long as the structure does. Nothing has been applied to it, there is no load case and no factor, and the members are carrying real force.

connections · Fit-up Influence line for the shear force at x = 10.5. The shear force at one fixed station, plotted against the position of a unit load walking across the span. The beam was re-solved at 301 load positions. The worst position is x = 10.56, giving 0.560.

Two diagonals, one of which is absent

A truss diagonal is sized for the shear in its panel, and near mid-span that shear changes sign depending on where the load stands. A member that can only pull cannot carry the reversed case, so the panel gets a second diagonal — and at any instant one of the pair is not there.

structures · Truss A reaction with no load, and the moment it bends the beam with. The prestress moments in a 2-span beam. The primary moment is −P·e, the tendon acting on its own section, and it reaches 1440 kNm over the middle support. The secondary moment is what is left when the primary is taken off the total, and it is 720 kNm — 50% of the primary, with the same sign, so it does not cancel anything. It comes from the middle support refusing to let the beam lift: 102.9 kN pressing down there and 51.4 kN lifting at each end, a reaction set that sums to 0e+0 because nothing external was applied. Its diagram is straight between supports to 3.6e-13% of its own peak, which it has to be: reactions are point forces and a point force puts no curvature in a span.

The tendon that can be moved

Lift a continuous beam's tendon at its interior support without changing its drape and nothing about the beam's total moment changes. The primary falls, the secondary rises by exactly as much, and the pressure line stays where it was — which turns a parasitic effect into a quantity a designer can place.

internal-forces · Secondary prestress Which of them stops moving. Three load cases on the same rectangle, each a constant moment plus a temperature profile cycled from nothing to a peak and back, over sixteen cycles. At 20% of the plastic moment with a 40°C profile it never yields at all; At 50% of the plastic moment with a 150°C profile it shakes down; At 90% of the plastic moment with a 260°C profile it ratchets, at 51.0% of the first-yield curvature per cycle. The ratcheting case never collapses and never returns: it simply arrives somewhere further round every cycle, which is a serviceability failure that no collapse calculation contains.

The map with three regions

A structure carrying a constant load and a cycling temperature has three possible fates and only one of them is a collapse. It can stay elastic, it can yield once and then stop, or it can gain a little more deformation every cycle for ever — and the third has no failure load at all.

materials · Shakedown Same deck, same load, and two pier forces. A deck bearing on a pier of 20 kN/mm with μ = 0.03, taken to the same final state two ways: the deck moves 4 mm over the pier, and the bearing's load rises from 2000 to 4000 kN. Moved first, while the bearing carries 2000 kN, the pier force reaches the limit of 60 kN and the bearing slides for the rest of the movement; the load arriving afterwards raises the limit and changes nothing, and the pier is left carrying 60 kN. Loaded first, the limit is 120 kN before the deck moves, the bearing grips throughout, and the pier carries 80 kN. Both states are at the same displacement under the same load, and both satisfy equilibrium and the friction bound; the order is the only difference, and it appears in neither.

The order the loads arrived in

Statics allows a contact with friction a whole range of forces and has no way to choose between them. A real structure does choose, and what it chooses by is the order in which things happened to it — so the force in a pier under a sliding bearing is a record of its history, not a function of its loads.

equilibrium · Friction A unit load carried by the prop taken away. A beam fixed at its left end and propped at its right, under 4 kN/m over 8 m, asked how far it moves at 4 m. The real moment is the propped cantilever's own, with -32.0 kNm at the wall. The unit load is carried by the prop taken away, whose moment diagram peaks at 4.00. Their product has 98.92 of area on one side and -13.33 on the other, and the net, divided by EI, is 85.33 — the propped cantilever's closed-form deflection, 85.33, which no part of this calculation was given.

Any structure will carry the unit load

Virtual work has two readings and each is free exactly where the other is bound. A unit load needs only something to stand on in equilibrium, so the deflection of a beam statics cannot solve comes out of a cantilever statics can. A virtual displacement needs only to fit together, so a reaction comes out of pushing a mechanism — and on a redundant beam the unknown cancels out of the equation and nothing is found at all.

deflection · Virtual work The push that tips it, in every direction. The tipping push in each plan direction, drawn as a distance from the centre, for a 6000 kN body with its weight 15 m up and the push at 18 m. On rigid ground the curve is the hull's: weakest along the axes at 1333 kN. On four equal pads it shrinks, and more toward the corners. With the pads as built — stiffnesses 20000, 20000, 8000, 20000 kN/m — it is no longer symmetric: the weakest direction is 15°, on the soft pad's side, at 1039 kN.

It tips inside its own hull

On rigid ground a body tips when its resultant reaches the edge of its base, and how stiff its supports are has nothing to do with it. On pads that settle, the body leans as it is pushed, the lean moves its weight, and the push that tips it falls by one number a site engineer already has: settlement times the height of the weight, over the square of the half-width. Toward a corner the loss doubles, and one soft pad makes the weakest direction one nobody checks.

equilibrium · Overturning Settling down or walking away, cycle by cycle. The total plastic hinge rotation of the beam after each cycle of loading — span 1, both, span 2, neither — with the midspan load at 0.98, 1.02, 1.05, 1.10 times the shakedown load of 126.3 kN. At 0.98 it stops at 0.59 mrad. At 1.02 it grows 4.57 mrad a cycle. At 1.05 it grows 11.43 mrad a cycle. At 1.10 it grows 22.86 mrad a cycle. Nothing collapses in any single cycle; above the shakedown load the beam walks.

The load it can carry once

A two-span beam whose loads come and go span by span collapses at 150 kN under any one arrangement, and walks at 127. Between the two it can carry every arrangement once and none of them forever: each cycle leaves a few more milliradians of rotation at the support and a midspan fifteen millimetres lower. Melan's theorem finds the limit as the last residual moment line that fits, Koiter's as a mechanism no single load state can drive, and a cycle-by-cycle calculation walks exactly where both say it will.

materials · Shakedown A roof truss and its reciprocal figure. Left, a pitched roof truss of 8 m under three loads of 10.0 kN, its 13 members drawn in the colour of their force — 5 in tension, 6 in compression and 2 carrying nothing — with a letter on every region outside it between one external force and the next and a number on every cell inside it. Right, the force diagram: every lettered or numbered space is a point, every member is the line between the two spaces it separates, drawn parallel to the member and as long as its force, and every joint of the frame is a closed polygon. The eight joints and eleven spaces of the frame have become eight polygons and eight distinct points — fewer points than spaces, because some spaces land on one point, as the two either side of a member carrying nothing always do. Force times length adds to 190.0 kN·m over the tension members and 250.0 over the compression members, and the difference, −60.0, is fixed by the loads and where they act, whatever frame carries them. Each point was placed by crossing one member, and the 8 crossings not used to place anything all close to within 5e-15 kN.

Every space a point, every joint a polygon

A truss's force diagram is a second drawing of the truss in which the joints have become polygons and the spaces between members have become points. Maxwell showed in 1864 that the exchange runs both ways, so a designer can draw the forces first and ask what shape carries them. His theorem also says which frames have such a diagram at all, and the answer is a surprise, because it is about polyhedra.

equilibrium · Graphic statics The forces the girder can hold with nothing on it. The one self-stress state of a K-braced girder of eight 3 m panels, 3 m deep: member forces in equilibrium at every joint with no load and no reaction. It lives entirely in the two middle panels — twelve members: the four diagonals meeting at the middle joint of the central vertical in tension, and the four central chord members and the half-verticals at the outer side of each middle panel in compression, at 0.89 and 0.45 of the diagonal force. It is symmetric about mid-span, so a symmetric load can call on it as freely as any other: symmetry does not supply the missing equation. Every other member of the girder is idle in it, drawn faint.

The redundancy only the sun can find

A K-braced girder that is symmetric about mid-span has one member more than statics can resolve, and it is at the centre, where two K's meet at one joint. Symmetry does not remove it, because the forces it allows are symmetric themselves. Loads barely touch it — a section calculation that ignores it is exact for a load at almost any joint. What finds it is a millimetre of misfit or a sunlit top chord, which put forces into the middle of the girder that no load calculation contains.

equilibrium · Method of sections The same rib, fixed, bends at both ends as well as the crown. The bending moment that axial shortening leaves in a 60 m parabolic concrete rib at a 6 m rise (EI 420,000 kN·m², EA 20,400,000 kN) under 60 kN/m, sagging upward, from a frame solve of the rib. Dashed: two-hinged, sagging throughout, 29.4 kN·m at the crown. Solid: fixed at the springings, 57.9 kN·m sagging at the crown and 112.4 kN·m hogging at each springing. The funicular load itself leaves no moment in either rib; all of this is the 0.10 and 0.63 per cent of the thrust the two ribs lose by getting shorter.

The springings that make shortening worse

Fixing an arch at its springings is the stiffer, cheaper and usual way to build one in concrete, and it makes the arch six times as sensitive to its own shortening. The thrust it loses acts at the elastic centre, two thirds of the way up, so the moment lands at the springings as well as the crown, twice as large and the other way round — at the section the fixed arch is designed at, not away from it.

deflection · Rib shortening

Named alongside it

The objects these essays reach for when they reach for this one.

IndeterminacyDeterminacyFree bodyMechanismCompatibilityPrestressThermal movementEquilibriumFunicularPlastic hingeRatchetingResidual stress

All concepts