The term angular alludes to rotations. Moments about various axes can be described in terms of angles of rotation. Angular stiffness is the stiffness that resists these rotations. Since there are three mutually perpendicular local axes, two of the possible moments are bending moments and the third (about the centerline of the pipe or expansion joint) is a torsional moment. In modeling expansion joints, we typically assume the resistance to rotation about the joint's longitudinal centerline is very great (ir has a large stiffness).
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John Breen