Structural Engineering & Statics
where the load goes
Concept

Virtual work — where it appears

Multiplying a real force system by an imagined displacement, or an imagined force by a real one, to extract a single deflection or reaction. The imagined system need satisfy nothing but equilibrium and the real one nothing but compatibility, which is what makes the method work for structures nobody has solved.

Named by 24 essays across 4 fields — each of them below, with the objects they name alongside it.

The deflection at x = 4, by virtual work. Three diagrams: the moment from the real load, the moment from a unit load placed where the answer is wanted, and their product. The area under the third, divided by EI, is the deflection — 213.33 here. No standard case was consulted, so the method works for any load pattern at all.

One deflection, without solving everything

To find how far one point of a structure moves, put an imaginary force of one unit there, multiply two moment diagrams together, and integrate. The answer arrives without ever solving for the deflected shape.

deflection · Virtual work The shear part is not a curve at all. A 300 × 600 rectangle spanning 2,400 mm, a span-to-depth ratio of 4, with its bending deflection and its total drawn together. Bending gives 0.0254 mm and shear a further 0.0049 mm, so 16.3% of the movement is the term beam theory drops. The shear part is drawn separately beneath: two straight lines meeting under the load, each limb straight to 2e-16 of the peak. It is the shear diagram integrated once where the moment diagram above it is integrated twice, so it carries one degree of curvature less than the bending shape — none at all here. The real movement is 1 in 79,116 of the span; both panels are drawn at about 11,932 times it.

The deflection that is not bending

Engineer's beam theory computes a deflection as the second integral of a moment, and that calculation silently drops a term. The beam also shears, and the shear deflection is not a correction to the curve — it is a different shape, and for a deep member it is most of the answer.

deflection · Shear deflection Every member's share of the movement, and they are not the members expected. A Pratt truss of six panels at a depth of 0.85, carrying 10 kN at each top node, with the movement of the bottom chord at mid-span attributed member by member. The unit-load sum δ = ΣF·f·L/EA gives 631.06 at EA = 1: 47.2% from four top chords, 28.5% from six bottom chords, 22.3% from six diagonals, 2.0% from five verticals. The single worst member is a top chord at mid-span at 14.8% of the whole. Each member is drawn at the width of its own share. The same deflection from a stiffness solution that shares none of this arithmetic is 631.06, a relative residual of 3.6e-15.

Which member moved the roof

A beam sags because it curves. A truss has no curvature anywhere — it comes down because every one of its members changes length, and the sum of those changes, weighted member by member, is a ranking that names which ones are worth stiffening. Usually not the ones a designer worries about.

deflection · Truss deflection The area is the rotation, and its first moment is the movement. A 6 m cantilever under a tip load of 10, with the M/EI diagram beneath it. The shaded area is 180.00, which by the first theorem is the change of slope along the whole member. Its centroid is at 2.000 m, and the first moment about the tip is 720.00 — which by the second theorem is the deviation from the tangent, and for a cantilever that tangent is horizontal, so it is the deflection itself. Integrating the curvature twice instead gives 720.00.

The area of a diagram is a rotation

A deflection is the double integral of a bending moment, and the two constants of integration are the whole difficulty. Mohr's theorems replace them with two pictures — an area, and where that area's centre of gravity sits.

deflection · Moment-area The shear goes round the corner instead of across it. A 6-panel Vierendeel girder, 12 m by 1500 mm, under 100 kN at mid-span. There is no diagonal in it, so each panel's 50 kN of shear is carried as bending in the chords: the curves drawn along them are the chord moments, and every one passes through zero at the middle of its own panel. The local moment is the panel shear times the panel length over four, 25.0 kNm, and it adds to an axial force of 200 kN from the global moment at the same point. The girder deflects 6.20 mm against 3.18 mm for the same members triangulated — 1.95 times — and 68% of that movement is chord bending that a diagonal would have removed entirely.

The truss with no diagonals

A rectangle without a diagonal is a mechanism, so a Vierendeel girder makes its corners rigid instead. The shear a diagonal would have carried as axial force now travels as bending in the chords, and bending is a far more expensive way to move a force.

structures · Vierendeel A derivative taken with a ruler, and the step that makes it worst. Castigliano's theorem says the deflection is ∂U/∂P, and the derivative here is taken numerically — two solves at ±dQ and a central difference. Against the unit-load answer of 1.720635e-2 it agrees to 1.6e-13, which for a linear structure it must: ∂N/∂P is exactly the force a unit load produces, so the two expressions are the same sum written twice. The error against step size is the classic pair of straight lines — truncation falling as the step shrinks, round-off rising as the difference of two nearly equal energies loses its digits — meeting near dQ = 1.2e+1. For a linear structure the truncation term is exactly zero, so what is drawn here is round-off alone.

The deflection that is a derivative

A structure's strain energy is one number. Differentiate it with respect to a load and out comes the displacement under that load — and the trick that makes it a method rather than an identity is that the load does not have to be there.

deflection · Strain energy Half the beam does nearly all of the deflecting. The virtual-work integrand M·m/EI along the member, normalised to its own peak, with the running share of the answer beside it. The integrand is a density: it says how much of the deflection each millimetre of the beam produced. For this case the half nearest the root supplies 87.5 per cent of it, and the rest of the member supplies the remainder. Stiffening the busy 50 per cent by 1.5 times takes the deflection down by 29.2 per cent; the same material spent on the quiet end takes it down by 4.2 — a factor of 7.0 for the same steel. The map of what is contributing is not the map of where the moment is largest, and the second is the one that gets drawn.

Where a deflection comes from

The unit-load method gives a deflection as an integral, and this collection has treated that integral as a number to evaluate. It is not a number. It is a density, and it says which millimetres of the member produced the answer — which is not the same map as where the moment is largest.

deflection · Deflection distribution The two theorems close on the answer from opposite sides. A pinned-base portal frame under 200 kN at mid-span and 80 kN at the eaves, with a plastic moment of 200 kNm. The three horizontal lines are mechanisms — work equations, each an upper bound: the beam mechanism gives 1.000, sway 1.250 and the combined one 0.714. The curve is the lower bound: for each value of the one redundant, the largest load factor whose moment field stays inside the plastic moment everywhere. Its peak is 0.714, and it touches the lowest mechanism exactly — so the collapse load is known rather than bracketed. Using the beam mechanism instead would have claimed 1.40 times the real capacity, and the sway one 1.75 times, both of them on the wrong side.

Two ways of being wrong

Plastic analysis has two theorems and they point in opposite directions. Any equilibrium field that nowhere exceeds the plastic moment gives a load at or below the collapse load; any mechanism gives one at or above it. Only one of those errors is safe.

equilibrium · Bound theorems The point the rafter turns about, which is off the frame. A pitched portal of 8 m span and 4.0 m to the eaves, with a 1.5 m rise, collapsing. Each rigid part of the mechanism rotates about some point: the left column about its base hinge, the right about its own. The rafter between them does neither, and its centre is found by one rule — two bodies joined at a hinge share that hinge, so the second body's centre lies on the line through the first body's centre and the hinge, extended. Two hinges give two lines and they cross at (8.0, 11.0) metres, which is 5.5 m above the ridge and outside any drawing of the frame itself. From there the whole collapse is two ratios of lengths and no trigonometry: the load factor is 1.339. Flatten the roof and the centre descends; make the two lines parallel and it goes to infinity, which is the statement that the rafter translates instead of turning.

The point the mechanism turns about

A collapsing frame is a chain of rigid pieces, and every piece is rotating about some point. Find those points and the whole collapse load reads off two ratios of lengths, with no trigonometry anywhere — and for a pitched roof the point in question is well above the top of the drawing.

equilibrium · Instantaneous centre Almost all of it is exactly zero. The stiffness matrix of a 2-bay, 3-storey plane frame: 36 freedoms, of which 16.2 per cent of the 36² entries are non-zero. The zeros are not small numbers; they are absences. A member reaches only the two nodes at its ends, so it can contribute nothing to any row belonging to a node it does not touch, and every such entry is zero exactly rather than nearly. The non-zeros therefore sit in a band of width 13 about the diagonal. Before the supports are applied the matrix is singular, and its null space has exactly three dimensions — the three rigid-body motions a plane frame has with respect to the ground, which is the same statement the null vector of the equilibrium matrix makes about a truss that is a mechanism, arrived at from the other end.

The matrix that replaced the hand methods

Moment distribution passes moments round a frame until they stop moving. Virtual work computes one deflection at a time. Both are exact and both stop scaling in the low tens of members. What replaced them adds no physics at all — the whole of the invention is the bookkeeping.

deflection · Stiffness method Two different structures released, and one bending moment diagram. The bending moment in a continuous beam of 8, 10, 8 m under 12 kN/m, solved twice by the force method with different redundants. The first release puts a hinge over each interior support, so the released structure is a row of simple spans and the redundants are moments. The second removes each interior support, so the released structure is one simple span of the whole length and the redundants are reactions. The two released structures have nothing in common — different shapes, different deflections, different everything — and the diagrams they produce lie on top of each other to 9e-15 of the peak moment. Which restraints are released is a choice about the arithmetic and not about the structure, which is a fact worth trusting: it means a hand calculation can pick whichever release makes the sums easiest and be sure of the answer.

Choose what to take away

The other machine for a redundant structure works by removing restraints until what is left can be solved by statics, then putting back exactly enough force to close the gaps that opened. Which restraints are removed does not change the answer at all, and changes the arithmetic completely — one choice gives a tridiagonal matrix a person can solve on paper, and another gives a full one.

deflection · Force method One member's stiffness, scattered into the freedoms it touches. A member's own six-by-six stiffness matrix relates the forces at its two ends to the displacements there, and it is written in the member's own axes. Assembly is two operations and no physics: rotate it into the structure's axes, then add each of its thirty-six entries into the row and column of the global freedom that entry belongs to. Every member does the same, and the sum is the structure. The shaded rows and columns are the six freedoms this one member reaches; every other entry it contributes is exactly zero, and that is the whole reason a global stiffness matrix is sparse. Nothing here is an approximation — the result is the same equilibrium and the same compatibility a hand method writes, in an order a machine can follow.

The answer that depends on how it was divided

Every computed answer in this collection came out of a structure chopped into pieces — elements, strips, stations, trial positions. The chopping is invisible in the result and it is not neutral: some divisions give the exact answer, some give one that is always too stiff, and one of them changes nothing but the cost of getting there.

deflection · Discretisation A section has two areas and the tables give one of them. Peak shear stress divided by the mean, for four sections of exactly the same gross area and depth. The mean is V/A and is the number a first calculation uses; the peak is what the material actually sees, and the ratio between them is a property of shape alone. A rectangle's is 1.5 — the parabola's peak over its average — and it is one of the few numbers in this subject that is exactly derivable and universally ignored. An I-section's is near 1.98, and the reason is on the second bar: 97% of the shear is inside a web that is 56% of the area. So the flanges carry the moment and almost none of the shear, and the web carries the shear and almost none of the moment — which is why a shear check on an I-section uses the web area and a moment check uses the whole section, and why the two checks are about two different pieces of steel.

The section has two areas

A shear force divided by the area of the section is not the shear stress anywhere in it. A rectangle's peak is exactly one and a half times that number and an I-section's web carries nearly all of the shear over a fifth of the area, which is why a moment check and a shear check on the same member are checks on two different pieces of steel.

sections · Shear area Maxwell's reciprocal theorem. A load at one point and the deflection it causes at another, against the same load moved to the second point and the deflection read at the first. Both integrals return 307.5006, and neither calculation was told about the other. The two deflected shapes are entirely different; the two readings are identical.

An influence line is a deflected shape

Finding where a load has to stand to be worst means solving the structure once for every position it could stand in. Reciprocity says the answer is a single deflected shape — release the quantity being asked about, move it by a unit, and the shape the structure takes is the influence line.

deflection · Reciprocity Every member's share of the movement, and they are not the members expected. A Pratt truss of eight panels at a depth of 1, carrying 15 kN at each top node, with the movement of the bottom chord at mid-span attributed member by member. The unit-load sum δ = ΣF·f·L/EA gives 2019.41 at EA = 1: 49.4% from six top chords, 30.8% from eight bottom chords, 16.8% from eight diagonals, 3.0% from seven verticals. The single worst member is a top chord at mid-span at 11.9% of the whole. Each member is drawn at the width of its own share. The same deflection from a stiffness solution that shares none of this arithmetic is 2019.41, a relative residual of 1.4e-14.

The member that is not worth stiffening

A truss's deflection is a sum of one term per member, and a term is zero whenever either force in its product is. A vertical carrying the whole of a panel load can contribute nothing at all to the movement — which a total can never show and a per-member sum shows nothing else.

deflection · Truss deflection Two load sets with the same resultant and different work. The two ways of putting a uniform load of 10 kN/m onto a beam element 6.00 m long. Both put 30.0 kN at each node, so both have the same resultant and the same moment about any point — they are equivalent for a rigid body. The consistent set adds a couple of 30.0 kN·m at each end, in opposite senses, which is what makes it do the same virtual work over the element's shape functions as the real load does. The couples cancel in the resultant, which is exactly why the resultant cannot see them, and they are the whole difference between an exact answer and one that is a third out.

Equivalent in work, not in resultant

Two force systems with the same resultant and the same moment about every point are interchangeable — for a rigid body. A finite element is not a rigid body, and substituting one for the other on a beam element leaves the tip of a cantilever a third too low with no warning of any kind.

equilibrium · Force couple The whole deflected shape, found from the members' changes of length. A Pratt truss of eight panels at a depth of 1, carrying 15 kN at each top joint, at EA = 1, drawn as built and in its deflected shape, with every movement magnified the same number of times. The shape comes from Williot's construction and Mohr's correction: every joint's movement from the members' extensions alone, less the rigid rotation the supports forbid. The mid-span joint L4 moves down 2019.41 units, and the dots at every joint are a stiffness solution sharing none of that arithmetic, agreeing to 1e-14 of the largest movement. One construction gives all sixteen joints at once.

The drawing that is right except for a rotation

Williot's construction finds every joint of a truss from its members' changes of length alone, in one drawing — and puts the roller six thousand units off its support. The error is one rigid rotation, Mohr's diagram takes it away, and a drawing started from the member symmetry holds still never makes it.

deflection · Truss deflection 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 other area under the curve

Castigliano's theorem says a deflection is the derivative of the strain energy with respect to the load, and it is true only while the material is linear. Past that, the right energy is the area on the other side of the stress–strain curve. On two aluminium bars at their proof stress the strain energy gives a deflection four times too large, and on a redundant truss minimising it picks a set of forces in perfect equilibrium that no deformed shape can produce.

deflection · Strain energy

The truss that is stiff by accident

Give a truss a fixed volume of steel and ask how to divide it among the members. Sized for strength — every member at the same stress — its mid-span deflection comes within four per cent of the stiffest that steel can make, although stiffness was never asked about. The reason is an inequality, and the same inequality says where the accident stops: at the quarter point the strength design is sixty-nine per cent short of the best.

deflection · Truss deflection

The calculus answer, rounded, is the worst one

A real truss is built from a catalogue, and every member is rounded up to the next section. That rounding costs its stiffness almost nothing: the few per cent that separate the strength design from the stiffest survive it. What does cost is the next step. When a deflection limit governs, the obvious move — take the continuous optimum and round it up — needs more steel than any other way of stiffening the truss, and the exact discrete answer is within one per cent of a bound no catalogue can beat.

deflection · Truss deflection

The corners the pressure pulls up

Replace a uniform pressure on a beam element by its work-equivalent nodal loads and the ends acquire couples the resultant cannot see. Do the same on an eight-node plate element and the corners acquire forces pointing the wrong way: a pressure pushing down is represented by the corners being pulled up, a twelfth of the load each. It is correct, it is the vector that makes the solution the best one available, and it is the reason a printout of nodal forces is not a picture of where a load goes.

equilibrium · Force couple

The truss whose forces follow its sections

In a determinate truss each member's force is fixed before its section is chosen, so sizing for strength and sizing for stiffness can be done in either order. Put a counter-diagonal in every panel and they cannot. The fully stressed design becomes an iteration that starves some counters to nothing and keeps others, lands on a different truss from every start, and — whichever it lands on — weighs the same and deflects the same. Then enlarge one group of members to stiffen it, and a vertical nobody touched is overloaded by 58 per cent.

deflection · Truss deflection

The camber that lives in the member lengths

A beam is cambered by bending it; a truss cannot be, because it has no curvature to bend — its shape is nothing but the lengths of its members. So a truss's camber is a cutting list, and each millimetre on that list arrives at mid-span multiplied by the member's force under a unit load there: two and a half for the middle chords of a truss ten times as long as it is deep, nothing at all for some verticals. Build only the chords to their dead-load strain and a quarter of the sag stays, the webs' share. Cut every member to a millimetre of scatter and the mid-span misses by six, an eighth of the camber.

deflection · Camber

Named alongside it

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

DeflectionUnit load methodCompatibilityStiffnessStrain energyTrussEquilibriumFree bodyFlexibilityForce methodOptimisationReciprocity

All concepts