FINITE ELEMENT METHOD

CHAPTER 3: Stiffness Matrices, Spring and Bar Elements

3.1 Introduction:
The primary characteristics of a finite element are embodied in the element
stiffness matrix. For structural finite element, the stiffness matrix indicates the resistance of
the element to deformation when subjected to loading. This includes axial, bending, shear,
and torsional effects. For heat transfer and fluid flow, stiffness matrix represents the
resistance of the element to change when subjected to external influences.
In this chapter, we develop the finite element characteristics of two relatively
simple, one-dimensional structural elements, a linearly elastic spring and an elastic tension-
compression member.

3.2 Linear Spring as a Finite Element

A linear static spring is a mechanical device capable of supporting axial loading
only and constructed such that under elastic limit, the deformation of the spring is directly
proportional to the applied load. The constant of proportionality between deformation 
and load f is referred to as the spring constant, spring rate, or spring stiffness, denoted by k,
and has a unit of force per unit length.
Principle: f  k
Formulation of the linear spring as a finite element is accomplished with reference to Figure
3.1-a.

u1 u2
force, f k
1
f1 f2 x
1 k 2
deflection,

Figure 3.1
(a) Linear spring element with nodes, nodal displacements, and nodal forces.
(b) Load-deflection curve.

In Figure 3.1-a, the ends of the spring are the nodes and the nodal displacements are denoted
by u1 and u2 (both in the positive sense). The positive forces f1 and f2 are required to be applied

Lecture Notes of Engr. Richard T. Earnhart

Finite Element Method 2
to the element only at the nodes. Assuming that both the nodal displacements are zero when
the spring is undeformed, the net spring deformation is given by
  u2  u1 (3.1)
and the resultant axial force in the spring is
f  k  ku2  u1  . (3.2)

Since,  fx  0 , we have, f1 + f2 = 0 or f1 = -f2.

Thus, by Equation 3.2,
f1 = -k(u2 - u1) (3.3a)
f2 = k(u2 - u1) (3.3b)

In matrix form, the above equations are equivalent to:

 k  k  u1   f1 
 k k  u     (3.4)
   2  f2 

or ke  u  f

 k  k
where ke     is the element stiffness matrix,
 k k 

u is the column matrix of nodal displacement, and

{f} is the column matrix of element nodal forces.
Remarks: 1. The element stiffness matrix for the linear spring is 2 x 2 which corresponds to
the fact that the element exhibits two nodal displacements and that the two displacements are
not independent (that is, the body is continuous and elastic).
2. The matrix is symmetric (matrix equal to its transpose). This indicates that the
body is linearly elastic and each displacement is related to the other by the same physical
phenomenon.
3. To solve for the unknown displacements , Equation 3.4 is equivalent to:
u1   f1 
   ke 
1
 . (3.5)
u2  f2 

5. The element stiffness matrix is singular (inverse does not exist) which is the
result of no constraints on the motion of the spring. The spring is not connected to any physical
object that would prevent or limit motion of either node. Thus, it is not possible to solve for the

Lecture Notes of
Engr. Richard T. Earnhart
3 Stiffness Matricess, Spring and Bar Elements
nodal displacements individually, instead, only the difference in the nodal displacements can be
determined. This difference represents the elongation or contraction of the spring element
owing to elastic effects.
6. For a single, unconstrained element, if arbitrary forces are applied at each
node, the spring not only deforms axially but also undergoes acceleration according to
Newton’s second law of motion.

3.2 System Assembly

The same procedure can be applied to a connected system by writing the equilibrium equation
for each node. The nodal equilibrium equations can be obtained more efficiently by considering
the effect of each element separately and adding the element force contribution to each nodal
equation. The process is described as “assembly”, as we take individual stiffness components
and “put them together” to obtain the system equations. We next consider the system of two
linear spring elements connected as shown in Figure 3.2 .

U1 U2 U3

1 2
F1 F2 F3
1 k1 2 k2 3
Figure 3.2 System of two springs with node numbers, element numbers, nodal
displacements, and nodal forces.

u1(1) u2(1) u1(2) u2(2)

1 2
f1(1) f2(1) x f2(2) f3(2)

1 k1 2 2 k2 3
(a) (b)

F1 1 f1(1) 2 F2 3
F3
f2(1) + f2(2) f3(2)
(c) (c) (c)

Figure 3.3 Free-body diagrams of elements and nodes for the two-element
system of Figure 3.2

Note: F and U denote system forces and deformations while f and u denote elemental forces
and deformations.
Finite Element Method 4

System of Equations For Figure 3.2:

 k1  k1 0  U1  F1 
     
 1 1  k2
 k k  k2  U2   F2  OR K U  F (2.8)
 0  k2 k2  U  F 
 3  3

Remarks: The system stiffness matrix, [K] is:

(1) symmetric;
(2) singular (since no constraints on motion)
(3) the system matrix is simply a superposition of the individual element stiffness
matrices with proper assignment of element nodal displacements and associated
stiffness coefficients to system nodal displacements.

Example 3.1: Consider the two element system depicted in Figure 3.2 given that Node
1 is attached to a fixed support, yielding the displacement constraint, U1 = 0.
k1 = 50 lb/in, k2 = 75 lb/in, F2 = F3 = 75 lb. For these conditions, determine nodal
displacements U2 and U3.

Example 3.2: Figure 3.4 depicts a system of three linear spring elements connected a
shown. The node and element numbers are as indicated. Node 1 is fixed to prevent motion,
node 3 is given specified a displacement  as shown. Forces F2 = -F and F4 = 2F are applied
at nodes 2 and 4. Determine the displacement of each node and the force required at node
3 for the specified conditions.

F2=-F
1 2 3
3 F4=2F
1 2 3k 4
k 2k

Figure 3.4 Example 3.2

Lecture Notes of
Engr. Richard T. Earnhart
5 Stiffness Matricess, Spring and Bar Elements

For solutions see FEM lectures, Chapter 3 page 25.

Finite Element Method 6

PROBLEM SET No.1

1. For the given assembly of springs shown, determine the global stiffness matrix using the
system of assembly procedure in section 3.3.

3
1 2 k2 4
k1 k3

2. For the spring assembly shown, determine force F3 required to displace node 2 an
amount  =0.75 in. to the right. Also compute displacement of node 3. Given
k1 = 50lb/in and k2 = 25 lb/in.


3
F3
1 2 k2
k1

3. Global Stiffness Matrix

Lecture Notes of
Engr. Richard T. Earnhart