Lecture -2

One-Dimensional Analysis

FEM Dr. Riessom 1

 Linear Approximation
ui uj
x (local coordinate
(1) L (2) system)
u(x)
Approximate Elastic Displacement
u  a1
u  a1  a 2 x  1
u2  a1  a2 L
x
u  u1  x  x (1 (2
 u  u1  2 x  1  u1   u2 ) )
L  L  L
 1 ( x )u1   2 ( x )u2 1(x) 2(x)
 u1   x x   u1 
u  1  2    1     [ N ]{d }
u2   L L  u2  1
[ N ] Approximation Function Matrix
{d }  Nodal Displacement Vector x
(1 (2
)
k(x) – Lagrange )
Interpolation
Functions
FEM Dr. Riessom 2
 Linear Approximation Scheme
 1
L
T T
L  L  1 1  AE  1  1
[ K ]   A[ B] E[ B]dx  AE[ B] [ B] dx  AE      L  1 1 
0 0 1  L L L  
 
 L 
 x
 P1  L  P1  L
   P  Af L 1
{F }      A[ N ] fdx     Af o   L dx   1   o  
T

 P2  0  P2  0 x  P2  2 1
 
 L 
u 
{d }   1   Nodal Displacement Vector
u2 

AE  1 1   u1   P1  Af o L 1
[ K ]{d }  {F }        
L  1  1 u2   P2  2 1

FEM Dr. Riessom 3

 Quadratic Approximation Scheme
u1 u2 u3
x
(1) (2) (3)
L
Approximate Elastic Displacement u(x)
u1  a1
2 L L2
u  a1  a2 x  a3 x  u2  a1  a2  a3
2 4 x
u3  a1  a2 L  a3 L2
(1 (2 (3
u  1 ( x )u1   2 ( x )u2   3 ( x )u3 ) ) )
2(x)
 u1  3(x)
  1(x)
u  1  2  3 u2   [ N ]{d}
u3  1
Element Equation
x
 7  8 1   u1   F1  (1 (2 (3
AE     
 8 16  8 u2    F2  ) ) )
3L  
 1  8 7  u3   F3 
FEM Dr. Riessom 4
 Example
P

A1,E1,L1 A2,E2,L2
Take Zero Distributed Loading
1 2
f 0
(1) (2) (3)
Global Equation Element 1 Global Equation Element 2
(1)
 1  1 0 U 1   P1  0 0 0  U 1   0 
A1 E1      A2 E 2     
 1 1 0 U 2    P2(1)  0 1  1 U 2    P1( 2 ) 
L1   L2  
 0 0 0 U 3   0  0  1 1  U 3   P2( 2 ) 

Assembled Global System Equation

 A1 E1 A1 E1 
 L  0 
 1 L1  U1   P1
(1)
  P1 
 A1 E1 A1 E1 A2 E 2
 
A2 E 2     (1)   
U 2    P2  P1( 2 )    P2 
 L1 
L1 L2 L2     (2)  P 
 AE A2 E 2  U 3   P2   3
 0  2 2 
 L2 L2 

FEM Dr. Riessom 5

 Continued…
P

A1,E1,L1 A2,E2,L2
1 2
(1) (2) (3)
Reduced Global System Equation
Boundary Conditions  A1 E1 A1 E1 
 L  0 
U1  0  1 L1 (1)
  0   P1 
P2( 2 )  P  A1 E1 A1 E1 A2 E 2

AE   
 2 2  U 2    0 

 L1 L1 L2 L2    
P2(1)  P1( 2)  0 
 AE A2 E 2  U 3   P 
 0  2 2 
 L2 L2 

 A1 E1 A2 E 2 A2 E2 
 L  L 
L2  U 2   0  For Uniform AE  2  1 U 2   0 
 1 2
   1 1  U    P 
  2 2A E A2 E2  U 3   P  Properties A, E , L L   3   
 L2 L2 
PL 2 PL
Solving  U 2  , U3  , P1(1)   P
AE AE
FEM Dr. Riessom 6
 Problem
Determine nodal displacement and elemental stress.

FEM Dr. Riessom 7

 One-Dimensional Beam Element
Deflection of an Elastic Beam
f(x) = Distributed Loading
x

I = Section Moment of Inertia

E = Elastic Modulus

Typical Beam Element d  d 2w   d 2w 

Q1   EI 2  , Q2   EI 2 
w1 w2 dx  dx 1  dx 1
1 2
W d  d 2w   d 2w 
(1) (2) Q3    EI 2  , Q4   EI 2 
L M2 dx  dx  2  dx  2
M1
V1 V2 dw dw
u1  w1 , u2  1   , u3  w2 , u4   2  
(Four Degrees of Freedom) dx 1 dx 2

Virtual Strain Energy = Virtual Work Done by Surface and Body

Forces edV  Q1u1  Q2 u2  Q3u3  Q4 w4  fwdV 

W W
L L
EI  [ B]T [ B]dx{d }  Q1u1  Q2 u2  Q3u3  Q4 w4   f [ N ]T dV
0 0
FEM Dr. Riessom 8
 Beam Approximation Functions
To approximate deflection and slope at each
node requires approximation of the form
w( x )  c1  c2 x  c3 x 2  c4 x 3

Evaluating deflection and slope at each node allows the

determination of ci thus leading to
w( x )  1 ( x )u1  2 ( x )u2  3 ( x )u3  4 ( x )u4 ,
where i are the Hermite Cubic Approximation Functions

FEM Dr. Riessom 9

 Beam Element Equation
L L
EI  [ B]T [ B]dx{d }  Q1u1  Q2 u2  Q3u3  Q4 w4   f [ N ]T dV
0 0

 u1 
u  d [ N ] d1 d2 d3 d4
 
{d }   2  [ B]  [ ]
dx dx dx dx dx
u3 
u4 

 6  3L  6  3L  1   6 
  3L 2 L2 3L 2   
L  2 
 L 
L 2 EI L L fL  
[ K ]  EI  [ B]T [ B]dx  3    f [ N ]T dx  f   dx   
0 L  6 3L 6 3L  0 0 
  3 12  6 
 2 2  4   L 
  3L L 3L 2 L 

 6  3L  6  3L  u1  Q1   6 

2 EI  3L 2 L
2
3L L2  u2  Q2  fL  L 
      
3
L  6 3L 6 3L  u3  Q3  12  6 
 2 
 3L L 3L 2 L2  u4  Q4   L 

FEM Dr. Riessom 10

 FEA Beam Problem
f Uniform
EI
a b
1 2
(1) (2) (3)
Element 1
 6 / a3  3 / a2  6 / a3  3 / a2 0 0 U1   6  Q1(1) 
 2    a   (1) 
 3 / a 2/ a 3 / a2 1/ a 0 0 U 2    Q2 
 6 / a 3 3 / a2 6 / a3 3 / a2 0 0 U 3  fa  6  Q3(1) 
2 EI  2        
 3 / a 1/ a 3 / a2 2/a 0 0 U 4  12  a  Q4(1) 
 0 0 0 0 0 0 U 5  0  0 
      
 0 0 0 0 0 0 U 6   0   0 

Element 2
0 0 0 0 0 0  U1   0 
0 0 0 0 0 0  U 2   0 

0 0 6 / b3  3 / b2  6 / b3  3 / b 2  U 3  Q1( 2) 
2 EI      
0 0  3 / b2 2/b 3 / b2 1 / b  U 4  Q2( 2) 
0 0  6 / b3 3 / b2 6 / b3 3 / b 2  U 5  Q3( 2) 
    
0 0  3 / b2 1/ b 3 / b2 2 / b  U 6  Q4( 2) 
FEM Dr. Riessom 11
 FEA Beam Problem
1 2
(1) (2) (3)

Global Assembled System

6 / a 3  3 / a2  6 / a3  3 / a2 0 0  U1   6   Q1(1) 
    a   
  2/ a 3 / a2 1/ a 0 0  U 2     Q2
(1)

   6 / a  6 / b 3 / a 2  3 / b2
3 3
 6 / a3 2
3/ a  3 U  fa  6   (1)
Q3  Q1 
( 2) 
2 EI           (1) 
    2/a 2/b 3 / a2 1 / a  U 4  12  a  Q4  Q2( 2) 
     6 / a3 3 / a 2  U 5   0   Q3( 2) 
      
      2 / a  U 6   0   Q4( 2) 

Boundary Conditions Matching Conditions

U1  w1(1)  0 , U 2  1(1)  0 , Q3( 2)  Q4( 2)  0 Q3(1)  Q1( 2)  0 , Q4(1)  Q2( 2)  0

Reduced System
6 / a 3  6 / b 3 3 / a 2  3 / b 2  6 / a3  3 / a 3  U 1  6  0
      
 2/ a 2/b 3 / a2 1 / a  U 2  fa a  0
2 EI         
   6 / a3 3 / a 2  U 3  12 0  0
   0  0
    2 / a  U 4 

Solve System for Primary Unknowns U1 ,U2 ,U3 ,U4

Nodal Forces Q1 and
FEM Q Can Then Be Determined
Dr.2Riessom 12
 Using Weighted Residual
The main step is deriving the element stiffness matrix
as the matrix relating the nodal displacement vector to
the nodal force vector.
U1 U (x) U2

f1 ( x ) f 2 ( x)

The differential equitation for the axial displacement

d 2U ( x)
EA 0 0xl
dx 2
The residual

2
d u ( x)
Rd  AE 2
 ax
dx
FEM Dr. Riessom 13
 Using Weighted Continued…
The weight residual statement

 2
d u ( x)
 w( x)( AE  ax)dx  0
0 dx 2

 2 
d u ( x)
0 w( x ) AE dx   w( x)axdx  0
dx 2
Recalling integration by parts 0

  
    
w( x ) AE d u 
  AE d u ( x )  dw
 dx   
 dx  dx  dx   w( x )axdx  0
 0 0   0

It is referred to as weak form because of the weaker

continuity demand on the trial solution.

FEM Dr. Riessom 14

 Using Weighted Continued…
Piece-wise trial function for the solution can be done by
having lower degree polynomials.
The piece-wise trial function needs to ensure continuity
of the field variable and its derivatives at the junctions
while the exact solution ensure at all.
d 2U ( x)
EA 2
0 0xl
dx
By integrating two times
EAu( x)  C1 x  C 2

Where c1 and c2 are constants of integration. The axial

displacement is equal to the nodal displacements
FEM Dr. Riessom 15
 Using Weighted Continued…
The nodal displacements u (0)  C 2  u1
u ()  C1  C 2  u 2
u 2  u1
 C1 

On substitution EAu ( x)  (
u 2  u1
) x  u1

 x x
 1  u1  u 2
  
The displacement U(x) is related to the nodal forces
through the boundary condition.
du ( x) du ( x)
EA x  0   f1 EA x    f2
dx dx
 u  u1   u  u1 
EA 2    f1 EA 2   f2
In matrix form
     

EA  1  1 u1   f 1 
    
  1 1  u 2   f 2 
FEM Dr. Riessom 16
 Weighted Residual Beam
The governing differential equation for beam bending
d 4 y ( x)
EI 4
0 0 x
d x
Typical Beam Element
w1 w2
1 2
W
(1) L (2)
M2
M1
V1 V2

1 1
By integrating four times y ( x) 
6
C1 x 3  C 2 x 2  C3 x  C 4
2
dy dy( x)
y ( x) x 0  y1  1 y ( x ) x l  y2  2
dx x 0 dx x l

FEM Dr. Riessom 17

 Weighted Residual Beam Cont…
Hence the equation for the bending displacement
3 2 3
      x 2 3
   x  2  x 3 
 
y  x   1  3 x

2  x
 2 

 x   x   x 
 y1   x   2      1  3   2   y 2          2
      
                  

d yx 3 d 2 yx 
  f1  x 0  f2
x0 dx 2
dx 3
d 3 y x  d 2 yx 
   f3  x   f4
dx 3
x  dx 2


f1 
3
12 y1  61  12 y 2  6 2  f2 

2
6 y1  41  6 y 2  2 2 

 
f3   12 y1  61  12 y 2  6 2  f4  6 y1  21  6 y 2  4 2 
3  2

FEM Dr. Riessom 18

Weighted Residual Beam Cont…
In matrix form
K  y   f 
The stiffness matrix becomes
 12 6  12 6 
 2
 6 2 2 
EI  6 4
k   3
l  12  6 12  6 
 2 
 6 2  6 4 2 

FEM Dr. Riessom 19

 Frame Structure
Frame members are loaded axially and transversely.
It is capable of carrying, axial, transverse forces, as
well as moments.

Frame elements are applicable for the analysis of

skeletal type systems of both planar frames (2D
frames) and space frames (3D frames).

Known generally as the beam element or general beam

element in most commercial software.

FEM Dr. Riessom 20

 Frame Element
Generalization of Bar and Beam Element with Arbitrary
w1 w2
Orientation 1 u
 2
1 W u2
P1 P2
(1) L (2)
M2
M1
V1 V2
 AE AE 
 L 0 0  0 0 
L
 12 EI 6 EI 12 EI 6EI   u   P 
 0 0   1 1
 L3 L2 L3 2
L   w  Q 
 0 6EI 4 EI 6 EI 2 EI   1   1 
0  2
 L2 L L L   1   Q2 
 AE AE   u2   P2 
 0 0 0 0    
 L 12 EI 6 EI
L
12 EI
 w  Q 
6EI   2   3 
 0   0  2    2  Q4 
 L3 L2 L3 L 
 0 6EI 2 EI 6 EI 4 EI 
 0  2
L2 L L L 

FEM Dr. Riessom 21

 Truss Element
Generalization of Bar Element With Arbitrary Orientation
y

k=AE/L

s  sin  , c  cos 

FEM Dr. Riessom 22

 Truss Structure
Bars in a truss have various orientations
member in
compression

member in
tension

Connecting pin

FEM Dr. Riessom 23

 Vector Decomposition
d 2y , f 2y
x̂
dˆ 2y , fˆ2y  0 d̂ 2x , f̂ 2x
y ŷ
d 2x , f 2x
d1y , f1y
dˆ 1y , fˆ1y  0 θ
d̂1x , f̂1x d1x , f1x

x
At node 1: At node 2:
d̂1y d̂ 2y

d1y d 2y
θ d̂1x θ d̂ 2x
d1x d 2x f̂ 2y  0
f̂1y  0

f1y f 2y
θ f̂1x θ f̂ 2x
f1x FEM Dr. Riessom
f 2x 24
In the global coordinate system, the vector of nodal
displacements and loads
d1x  f1x 
d  f 
 1y   1y 
d   ; f  
d f
 2x   2x 
d 2y  f 2y 

Our objective is to obtain a relation of the form

f  k d
41 4 4 41

Where k is the 4x4 element stiffness matrix in global

coordinate system
FEM Dr. Riessom 25
 The key is to look at the local coordinates
x̂
y ŷ dˆ 2y , fˆ2y  0
d̂ 2x , f̂ 2x
f̂1x   k - k  d̂1x 
θ     
dˆ 1y , fˆ1y  0
f̂ 2x  - k k  d̂ 2x 
d̂1x , f̂1x
EA
x k
L

Rewrite as f̂1x   k 0 - k 0 d̂1x 

     
f̂1y   0 0 0 0 d̂1y  f̂  k̂ d̂
   
f̂ 2x  - k 0 k 0 d̂ 2x 
f̂   0 0 0 0 d̂ 
 2y   2y 

FEM Dr. Riessom 26

 Observation

1. Assume that there is no stiffness in the local y^

direction.
2. If you consider the displacement at a point along the
local x direction as a vector, then the components of
that vector along the global x and y directions are the
global x and y displacements.
3. The expanded stiffness matrix in the local
coordinates is symmetric and singular.
4. In local coordinates we have f̂  k̂ d̂
41 4 4 41

FEM Dr. Riessom 27

But or goal is to obtain the following relationship

f  k d
41 4 4 41
Hence, need a relationship between d̂ and d
and between f̂ and f
d̂1y

d1x  d̂1x  d1y Need to understand

d    θ d̂1x
d̂1y  how the components
 1y  d1x
d    d̂    d̂ 2y of a vector change
d 2x
  d̂ 2x  with coordinate
d 2y  d̂  d 2y transformation
 2y  θ d̂ 2x
d 2x

FEM Dr. Riessom 28

 Transformation of a Vector
y vx v y cos θ Angle q is
ŷ x̂
measured positive
v̂ x
v̂ y
θ in the counter
v vy
v x sin θ clockwise direction
from the +x axis)
θ
v y sin θ x
v x cos θ

The vector v has components (vx, vy) in the global coordinate system
and (v^x, v^y) in the local coordinate system. From geometry
v̂ x  v x cos θ  v y sin θ
v̂ y   v x sin θ  v y cos θ
FEM Dr. Riessom 29
In matrix form

 v̂ x   cos θ sin θ   v x 
    
 y    sin θ cos θ   v y 
v̂
Or Direction cosines
 v̂ x   l m   v x  l  cos 
   v  where
v̂
 y   m l  y m  sin 
Transformation matrix for a single vector in 2D
*  l m v̂  T
*
v
T   relates
 m l 
 v̂ x   v x  are components of the same
where v̂    and v   
 v̂ y   v y  vector in local and global
coordinates, respectively.
FEM Dr. Riessom 30
Relationship between d̂ and d for the truss element
d̂1y
At node 1 d̂1x  * d1x 
 T   d1y
d̂1y  d1y  θ d̂1x
d1x d̂ 2y
At node 2 d̂ 2x  * d 2x 
 T   d 2y
d̂ 2y  d 2y  θ d̂ 2x
Putting these together d̂  Td d 2x

d̂1x   l m 0 0  d1x 
  
d̂1y   m l 0 0  d1y  T 
T * 0
*
  d  44
0 T 
d̂ 2x   0 0 l 
m  2x 
d̂   0 0  m l   2y 
 d 
  
2y
T
FEM Dr. Riessom d 31
d̂
 Relationship between f̂ and f for the truss element
At node 1 f̂1x  f̂1y
* f1x 
 T  
f̂1y  f1y  f1y
θ f̂1x
f̂ 2y
At node 2 f̂ 2x  * f 2x  f1x
 T   f 2y
f̂ 2y  f 2y  θ f̂ 2x
Putting these together f̂  Tf f 2x

f̂1x   l m 0 0  f1x 
  
f̂1y   m l 0 0  f1y  T 
T * 0
*
  f  44
0 T 
f̂ 2x   0 0 l 
m  2x 
f̂   0 0  m l   2y 
 f 
  
2y
T
FEM Dr. Riessom f 32
f̂
 The transformation matrix is orthogonal, i.e. its inverse is its
transpose
x̂ f̂  T f
y ŷ d̂ 2y , f̂ 2y
d̂ 2x , f̂ 2x d̂  T d
θ f̂  k̂ d̂
d̂1y , f̂1y
d̂1x , f̂1x
 T f  k̂ T d
x

 f  T k̂ T d

 
1

The desired relationship is f  k d k
41 4 4 41

T
Where k  T k̂ T is the element stiffness matrix in the
44 44 44 44 global coordinate system
FEM Dr. Riessom 33
  l m 0 0  k 0 - k 0
 m l  0
0 0 0 0 0
T  k̂  
 0 0 l m  - k 0 k 0
   
 0 0 m l  0 0 0 0

 l2 lm  l2  lm 
 2 2 
T EA  lm m  lm  m 
k  T k̂ T 
L   l 2  lm l2 lm 
 2 2 
 lm  m lm m 

FEM Dr. Riessom 34

 Computation of The Direction Cosines

2 (x2,y2)
x2  x1 L
l  cos  
L
y y θ
m  sin   2 1
L 1 (x ,y )
1 1

What happens if I reverse the node numbers?

x1  x2 1 (x1,y1)
l '  cos    l L
L
y1  y2
m'  sin    m θ
L 2 (x ,y )
2 2

FEM Dr. Riessom 35

 Example Bar element for stiffness matrix evaluation
E  30 106 psi
A  2 in 2
L  60 in
  30 3
l  cos 30 
2
1
m  sin 30 
 3 3 3 3  2
   
 4 4 4 4 
 3 1 3 1 
 
30 106 2  4  
4 4 4  lb
k  3  in
60 3 3 3
  
 4 4 4 4 
 3 1 3 1 
  
 4 4 4 4 
FEM Dr. Riessom 36
 Computation of Element Strains
© 2002 Brooks/Cole Publishing / Thomson Learning™
Recall that the element strain is
d̂ 1x 
 
d̂ 2x  d̂1x 1 d̂ 1y 
ε   1 0 1 0 
L L d̂ 2x 
d̂ 
 2y 
1
 l m 0 0    1 0 1 0 d̂
 m l L
1 0 0 
ε   1 0 1 0  d 1
L  0 0 l m    1 0 1 0 Td
  L
 0 0 m l 
1
  l  m l md
Recall that the element stress is
E E
L
d1x 
 
  Eε  d̂ 2x  d̂ 1x   l  m l m d
L L
 
d 
1  
  l  m l m 1y  Recall that the element tension is
L d
 2x  EA
d 2y  FEM TDr.  EAε 
Riessom 
l  m l m d 37
L
 Steps in Solving a Problem
Step 1: Write down the node-element connectivity table
linking local and global nodes; also form the table of
direction cosines (l, m)
Step 2: Write down the stiffness matrix of each element in
global coordinate system with global numbering

Step 3: Assemble the element stiffness matrices to form the

global stiffness matrix for the entire structure using the
node element connectivity table
Step 4: Incorporate appropriate boundary conditions

Step 5: Solve resulting set of reduced equations for the unknown

displacements
Step 6: Compute the unknown nodal forces

FEM Dr. Riessom 38