Finite Element Method

Chapter 3
Development of Truss
Equations
Trusses: Engineering structures that are composed only
of two-force members. e.g., bridges, roof supports
Actual trusses: Airy structures composed of slender
members (I-beams, channels, angles, bars etc) joined
together at their ends by welding, riveted connections or
large bolts and pins

A typical truss structure

Gusset plate
Ideal trusses:
Assumptions
• Ideal truss members are connected only at their ends.
• Ideal truss members are connected by frictionless pins (no
moments)
• The truss structure is loaded only at the pins
• Weights of the members are neglected

A typical truss structure

Frictionless pin
These assumptions allow us to idealize each truss
member as a two-force member (members loaded only
at their extremities by equal opposite and collinear
forces)
member in
compression

member in
tension

Connecting pin
 FEM analysis scheme
Step 1: Divide the truss into bar/truss elements connected to
each other through special points (“nodes”)

Step 2: Describe the behavior of each bar element (i.e. derive its
stiffness matrix and load vector in local and global coordinate
system)

Step 3: Describe the behavior of the entire truss by putting

together the behavior of each of the bar elements (by assembling
their stiffness matrices and load vectors)

Step 4: Apply appropriate boundary conditions and solve

 Stiffness matrix of bar element

E, A

L: Length of bar
A: Cross sectional area of bar
E: Elastic (Young’s) modulus of bar
û(x̂) :displacement of bar as a function of local coordinate x̂ of bar
The strain in the bar at x̂ dû
ε(x̂) 
dx̂
The stress in the bar (Hooke’s law)
 (x̂)  E ε(x̂)
 d̂ 2x
Tension in the bar
T( x̂)  EAε  x̂  x̂
û(x̂)  1  d̂1x  d̂ 2x
x̂ d̂ 1x x̂
 L L

L
Assume that the displacement û(x̂) is varying linearly along the bar
 x̂  x̂
û(x̂)  1  d̂1x  d̂ 2x
 L L
dû d̂ 2x  d̂1x
Then, strain is constant along the bar: ε 
dx̂ L
Stress is also constant along the bar:
E

  Eε  d̂ 2x  d̂1x
L

Tension is constant along the bar: T  EAε 
EA
L

d̂ 2x  d̂1x 

k
The bar is acting like a spring with stiffness k  EA
L
Recall the lecture on springs
E, A

Two nodes: 1, 2
Nodal displacements: d̂ 1x d̂ 2x
Nodal forces: f̂1x f̂ 2x EA
Spring constant: k 
L
Element stiffness matrix in local coordinates

f̂  k̂ d̂
Element force Element nodal
Element displacement
vector
stiffness vector
matrix
 Stiffness Matrix for a Bar Element
Bar stiffness matrix
 AE AE 

 k k   L L 
k    
 k k    AE AE 
 L L 
E, A
AE  1 1
k 
L  1 1 

Element matrix form

AE  1 1 d 1x   f 1x 
L  1 1  d   f 
   2x   2x 
Stress in bar
d d  1 1  d 1x 
 x  E  x  E 2 x 1x   x  E    
L  L L  d 2 x 
What if we have 2 bars?
E1, A1
E2, A2

L2
L1

This is equivalent to the following system of springs

E 1A 1 E 2A 2
k1  k2 
L1 L2
x
Element 1 2 Element 23
1
d1x d2x d3x

PROBLEM
Problem 1: Find the stresses in the two-bar assembly loaded as
shown below
E, 2A
E, A
1 P
2 3
L
L
Solution: This is equivalent to the following system of springs
2EA EA
k1  k2 
L L
x
Element 1 2 Element 23
1
d1x d2x d3x

We will first compute the displacement at node 2 and then the

stresses within each element
 The global set of equations can be generated using the technique
developed in the lecture on “springs”
 k1  k1 0   d1x   F1x 
 k     
 1 k1  k2  k2  d 2 x    F2 x 
 0  k2 k2   d3 x   F3 x 
here d1x  d3 x  0 and F2 x  P
Hence, the above set of equations may be explicitly written as
 k1d 2 x  F1x (1)
(k1  k2 )d 2 x  P (2)
 k2 d 2 x  F3 x (3)
P PL
From equation (2) d 2 x  
k1  k2 3EA
To calculate the stresses:
For element #1 first compute the element strain
d 2 x  d1x d 2 x P
 (1)
  
L L 3EA
and then the stress as
P
 (1)
 E (1)
 (element in tension)
3A
Similarly, in element # 2
d3 x  d 2 x d2 x P
 
(2)
 
L L 3EA
P
  E  
(2) (2)
(element in compression)
3A
© 2002 Brooks/Cole Publishing / Thomson Learning™

Inter-element continuity of a two-bar structure

 Stiffness Matrix for a Bar Element
• Example 2
Find:
(a) The global stiffness matrix
(b) The displacement of node 1
(c) The reactions at nodes 1 and 2
(d) The stress in element 1 and 2 E 1  10 GPa , A1  60cm 2

 Solution E 2  20 GPa , A 2  30cm 2

P  300 kN
60  10  105  1 1 8 1 1 1
k1     10  2
0.6   1 1    1 1 
30  20  105  1 1 8 1 1 2
k2   1 1   10  1 1  3
0.6    
 1 1 0 
K  k 1  k 2  108  1 2 1 N / m The global stiffness matrix
 
 0 1 1 
 Stiffness Matrix for a Bar
Element
(b) the displacement of node 1
1 1 0  d 1x   F1 
    Matrix form
108  1 
2 1 d 2 x    F2 
 
 0 1 1  d 3x   F3 
1 1 0   0.   F1 
   
108  1 2 1 d 2 x   300  103   d 2 x  0.0015m
 
 0 1 1   0.   F3 

(c) The reactions at nodes 1 and 2

 1 1 0   0.   F1 
     F1  150  103 
108  1 2 1 0.0015  300  103    3
  F 150  10
 0 1 1   0.   F3   3  
 Stiffness Matrix for a Bar Element
(d) The stress in element 1 and 2
For element 1

 1 1  d 1x  9 1 1   0. 
 1x  E 1    d   10  10 
 0.6  
 1 L L 1   2x  0.6  0.0015
 1x  25  106 Pa (tension)

For element 1
 1 1  d 2 x  9 1 1  0.0015
 2x  E 2     20  10 
 0.6  
 L2 L 2  d 3x  0.6   0. 
 1x  50  106 Pa (compression)
Bars in a truss have various orientations

member in
compression

member in
tension

Connecting pin
• Bar element in two dimension
Transformation Matrix

dˆ1x  d 1x cos  d 1 y sin 

dˆ2 x  d 2 x cos  d 2 y sin 
 d 1x 
dˆ1x  C S 0. 0. d 1 y 
    
ˆ
d 2 x   0. 0. C S  d 2 x 
d 2 y 

dˆ  d sin   d cos 
1y 1x 1y

dˆ2 y  d 2 x sin   d 2 y cos

• Bar element in two dimension
Transformation Matrix

 dˆ1x  C S 0. 0.  d 
    1x
 
dˆ1 y   S C 0. 0.  d 1 y 
dˆ  T  d   ˆ   
d 2 x   0. 0. C S  d 2 x 
 ˆ   0. 0. S C  d 2 y 
d 2 y 
fˆ  T  f
fˆ  kˆ  dˆ  T  f  kˆ T  d  f T 1
 kˆ T  d
T is Transformation matrix and it is an orthogonal matrix

1
T T T
f T  kˆ T  d
1
 f  k d
k  T 1  kˆ T  T T  kˆ T
C S 0. 0.  1 0. 1 0.  C S 0. 0. 
 S C 0. 0.   0. 0. 0. 0.  S C 0. 0. 
  AE   
k  
 0. 0. C S  L  1 0. 1 0.  0. 0. C S 
     
 0. 0. S C   0. 0. 0. 0.  0. 0. S C 
The element global stiffness matrix

C2 CS C 2 CS 
 
AE  CS S2 CS S 2 
k 
L  C 2 CS C2 CS 
 2 
 CS S 2 CS S 

The system stiffness matrix

N
K  ke
e 1

Element global nodal force matrix

N
F  f e
e 1

F  K d
Stress for a bar in the x-y plane
fˆ2x

A L

E ˆ ˆ  E
 Eε  d 2x  d1x   1 1dˆ
L
E
   1 1 T  d
L
  C ' d
E C S 0. 0.
C '   1 1  
L  0. 0. C S 
E
C '   C S C S 
L
 d 1x 
d 
E  1y 
   C S C S   
L d 2 x 
d 2 y 
f A
Node element connectivity table

ELEMENT Node 1 Node 2

1 1 2
2 2 3

3 3 1

1 2 (x2,y2)
L
El 1 60 El 3
θ
2 60 60 3 1 (x ,y )
1 1
El 2
Stiffness matrix of element 1 Stiffness matrix of element 2
d1x d1y d2x d2y d2x d2y d3x d3y
  d1x   d2x
   
k
(1)
  d1y k
( 2)
  d2y
  d2x   d3x
   
  d2y   d3y

Stiffness matrix of element 3

There are 4 degrees of
d3x d3y d1x d1y
freedom (dof) per
  d3x element (2 per node)
 
k
( 3)
  d3y
  d1x
 
  d1y
 (1)
k
Global stiffness matrix
d1x d1y d2x d2y d3x d3y
  d1x
  ( 2)

  d1y k

  d2x
K  d2y
 
  d3x
( 3)
k
  d3y
  66

How do you incorporate boundary conditions?

 Example 2
The length of bars 12 and 23 are equal (L)
y E: Young’s modulus
3 A: Cross sectional area of each bar
El#2 P2
Solve for
P1 (1) d and d
2x 2y

El#1 (2) Stresses in each bar

2
45o
x
1 Solution

Step 1: Node element connectivity table

ELEMENT Node 1 Node 2

1 1 2
2 2 3
Table of nodal coordinates
Node x y
1 0 0
2 Lcos45 Lsin45

3 0 2Lsin45

Table of direction cosines

ELEMENT Length x 2  x1 y  y1
c s 2
length length
1 L cos45 sin45
2 L -cos45 sin45
Step 2: Stiffness matrix of each element in global coordinates
with global numbering
Stiffness matrix of element 1
C2 CS C 2 CS 
 2 
(1) AE  CS S2 CS S 
k 
L  C 2 CS C2 CS 
 2 
 CS S 2 CS S 

d1x d1y d2x d2y

 1 1 1 1  d1x
 1 1 1 1 
EA   d1y

2L  1 1 1 1  d2x
 
 1 1 1 1  d2y
 Stiffness matrix of element 2
d2x d2y d3x d3y
 1 1 1 1  d2x
 1 1 1 1 
(2) EA   d2y
k 
2L  1 1 1 1  d3x
 
 1 1 1 1  d3y
Step 3: Assemble the global stiffness matrix

 1 1 1 1 0 0 
 1 1 1 1 0 0 
 
EA  1 1 2 0 1 1 
K  
2L  1 1 0 2 1 1
 0 0 1 1 1 1
 
 0 0 1 1 1 1 

The final set of equations is Kd  F

Step 4: Incorporate boundary conditions

 0 
 0 
 
d2 x 
d  
d
 2y 
 0 
 
 0 

Hence reduced set of equations to solve for unknown

displacements at node 2

EA  2 0   d 2 x   P1 
  
2L 
0

2   d 2 y   P2 
Step 5: Solve for unknown displacements

 P1 L 
d2 x   EA  
 
  
d
 2 y   P2 L 

 EA  
Step 6: Obtain stresses in the elements 0

For element #1:  d1x  0

d 
E 1 1 1 1   1y 
  
(1)
   
L 2 2 2 2  d2 x 
d 2 y 
E PP
 (d 2 x  d 2 y )  1 2
2L A 2
For element #2: d2 x 
d 
E 1 1 1 1   2y  0
 (2)       
L 2 2 2 2   d3 x  0
 d3 y 
E P1  P2
 (d 2 x  d 2 y ) 
2L A 2
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
• Example
Determine the displacement at node 3
2
1, the stresses each member and the
element local force
Solution
1m 1
C 2
CS C 2
CS  2
 
AE  CS S 2 CS S 2 
k 
L  C 2 CS C 2 CS  4
  45o 3
CS S 2
CS S2  1

Element 1,   90o , C  0, S 1 1m

0 0 0 0  d 1x For all elements

 0 1 d 1 y 100 E  100 GPa
10  100  105 0 1 
k1  kN
1 0 0 0 0  d 2x A  10 cm 2
 
0 1 0 1 d 2y
 1 1
Element 2,   45o , C  , S
2 2
 0.5 0.5 0.5 0.5
 
108  0.5 0.5 0.5 0.5 8
k2   10
2  0.5 0.5 0.5 0.5 
 
 0.5 0.5 0.5 0.5 
 0.354 0.354 0.354 0.354  d 1x
 0.354 0.354 0.354 0.354  d
 1y
 0.354 0.354 0.354 0.354  d 3x
 d
 0.354 0.354 0.354 0.354  3y

Element 3,   0.o , C  1, S  0
1 0 1 0  d 1x
0 0 0 0 d 1y
k 3  108  
 1 0 1 0 d 4x
 
0 0 0 0 d 4 y
  1.354 0.354 0 0 0.354 0.354 1 0  d 1x
 0.354 1.354 0 1 0.354 0.354 0 0  d 1 y
 
 0 0 0 0 0 0 0 0 d 2x
 
8 0 1 0 1 0 0 0 0 d 2 y
K  10
 0.354 0.354 0 0 0.354 0.354 0 0  d 3x
 
 0.354 0.354 0 0 0.354 0.354 0 0  d 3 y
 1 0 0 0 0 0 1 0 d 4x
 
 0 0 0 0 0 0 0 0 d 4 y

F  Kd
 F1x  0   1.354 0.354 0 0 0.354 0.354 1 0   d 1x 
F  105   0.354 1.354  
  0 1 0.354 0.354 0 0   d 1y 
1 y
 
 F2 x   0 0 0 0 0 0 0 0  d 2 x  0 
     
 F2y  8 0 1 0 1 0 0 0 0  d 2 y  0 
   10  
 F3x   0.354 0.354 0 0 0.354 0.354 0 0  3x d  0 
 F3 y    
 0.354 0.354 0 0 0.354 0.354 0 0  d 3 y  0 
   
 F4x   1 0 0 0 0 0 
1 0  4x d  0 
 F4 y    
   0 0 0 0 0 0 0 0  d 4 y  0 

 0  8 1.354 0.354  d 1x  d 1x   0.2073  103 

 5   10       3 
10  0.354 1.354  d 1y  d
 1y  0.7927  10 
The stresses in each member
 d 1x 
d 
E  1y 
  C S C S  
L d 2 x 
d 2 y 
 0.2073  103 
 3 
100  10 9
 0.7927  10 
1   0  1 0 1   79.27 MPa
1  0 
 0 
 0.2073  103 
 
100  109  1 1 1 1  0.7927  103 
2         29.27 MPa
2  2 2 2 2  0 
 0 
The Forces in each member
 d 1x 
d 
AE  1y 
  C S C S  
L d 2 x 
d 2 y 
 0.2073  103 
 3 
10 8
 0.7927  10 
F1   0 1 0 1   79.27 kN
1  0 
 0 
 0.2073  103 
 
108  1 1 1 1  0.7927  103 
F2         29.27 kN
2 2 2 2 2  0 
 0 
  0.2073  103 
 3 
100  109  0.7927  10 
F3    1 0 1 0    20.73 kN
1  0 
 0 
The local element force
The local element forces can be also be calculated as follows:

fˆ  kˆ T  d
0 1 0. 0.  0.2073  103 
  
 f 1x  108  1 1  1 0 0. 0. 0.7927  103  79270 
     N
f 1  1 1   0. 0. 0 1   d 2 x  0   79270 
 2x   
 
 0. 0. 1 0   d 2 y  0 
 1 1
Element 2,   45o , C  , S
2 2
 1 1   0.2073  10 3

0 0  3 
 f 1x  108  1 1  2 2   0.7927  10 
      
f 3 x  2  1 1   1 1   d 3x  0 
0 0
 2 2   d 3 y  0 
 f 1x  29270 
   N
f 3x   29270 
Element 3,   0o , C  1, S  0
 0.2073  103 
 3 
 1x  10  1 1 1 0 0 0  
f 8
0.7927  10   f 1x   20730 
           N
f 4 x  1  1 1  0 0 1 0   d 4 x  0  f 4 x  20730 
 d 4y  0 
 
Physical significance of the stiffness matrix

In general

k ij = keeping
Force at d.o.f ‘i’ due to unit displacement at d.o.f ‘j’
all the other d.o.fs fixed
 Flow Chart
Start

Input Data
• Geometry (Joint Coordinate)
Member Properties
Material Properties
Loading
Support Conditions

Loop j=1 to Nele

Compute Element stiffness k

Assemble k into Total Stiffness K

Flow Chart -Continue

Apply boundary Conditions

Solve for unknown displacement

Compute Element forces

End
 Multi-point constraints

Plane truss with inclined boundary conditions at node 3

• Inclined or Skewed Supports
d '3x   C S  d 3x 
   d 
d '
 3y   S C   3y 
d 3  t 3  d '3 
T

d   T1  d '
T

 d 1x   d 1x 
d  d 
 1 y   I  o  
  d 
o  1y 

d 2 x    2x 
   o  I  o    d 
d 2 y   T   2y 
d 3x  o  o  t 3   d '3x 
   
d 3 y  d '
 3 y 
f  K d
T1  f  T1  K  T1  d '
T

 f 1x   f 1x   d 1x 
f   f  d 
 I  o  o   f 1y   f 1y   1y 
 d 2 x 
   2x   2x 
o  I     f   f   1   1 
T
o   T K  T  
 2y   2y  d
 2y 
o  o  t 3   f  f ' 

d '3x 
3x 3x
     
f 3 y  f '3 y  d '3 y 
 • Example
Determine the displacement and the reactions

Solution
Element 1,   90o , C  0, S  1
0 0 0 0  d 1x
 1 d 1 y
6  210  105 0 1 0

k1 
1 0 0 0 0  d 2x
 
0 1 0 1 d 2y
Element 2,   0.o , C  1, S 0
E  210 GPa  For all elements 
1 0 1 0  d 2 x
 0 0 0 d 2 y
6  210  105  0 
k2 
1  1 0 1 0  d 3x
A  6 cm 2  For elements 1 and 2 
 
0 0 0 d 3 y A 6 2 cm 2  For element 3
0
 1 1
Element 3,   45 , C 
o
, S
2 2
 0.5 0.5 0.5 0.5 d 1x
 0.5 0.5 d 1 y
6 2  210  105  0.5 0.5 
k3 
2  0.5 0.5 0.5 0.5  d 3x
 
 0.5 0.5 0.5 0.5  d 3 y

 0.5 0.5 0 0 0.5 0.5

 0.5 1.5 0 1 0.5 0.5
 
 0 0 1 0 1 0 
K  126  10 
6

 0 1 0 1 0 0 
 0.5 0.5 1 0 1.5 0.5 
 
 0.5 0.5 0 0 0.5 0.5 
  1 1   1 1 
 
C S   2 2 C S   2 2
t 3   S C    1  t 3   
T
   
   1  S C   1 1 
 2 2   2 2 
1 0 0 0 0 0  1 0 0 0 0 0 
0 1 0 0 0 0  0 1 0 0 0 0 
   
0 0 1 0 0 0  0 0 1 0 0 0 
   
0 0 0 1 0 0  0 0 0 1 0 0 
 1  T 1   
T
T  
 1 1   1 1 
0 0 0 0  0 0 0 0  
 2 2  2 2
 1 1   1 1 
0 0 0 0   0 0 0 0 
 2 2  2 2 
  0.5 0.5 0 0 0.5 0.5 
 0.5 1.5 0 1 0.5 0.5 
 
 0 0 1 0 1 0 
T1    K   126 10 
6

 0 1 0 1 0 0 
 0.707 0.707 0.707 0 1.414 0.707 
 
 0 0 0.707 0 0.707 0 

 0.5 0.5 0 0 0.707 0 

 0.5 1.5 0 1 0.707 0 
 
 0 0 1 0 0.707 0.707 
T1    K   T1 
T
 126  10 
6

 0 1 0 1 0 0 
 0.707 0.707 0.707 0 1.5 0.5 
 
 0 0 0.707 0 0.5 0.5 
 F1x   0.5 0.5 0 0 0.707 0   d 1x  0 
 F   0.5  d 0 
  1.5 0 1 0.707 0  1y 
1y
 
F2 x  10  6
 0 0 1 0 0.707 0.707   d 2 x 
  126  10  
6
  
 F  0 1 0 1 0 0 d  0
2y    2y 
 F '3x  0   0.707 0.707 0.707 0 1.5 0.5   d '3x 
     
 F ' 3y   0 0 0.707 0 0.5 d
0.5   3 y'  0 
 d 2 x  11.91 103 
  3 
m
d '3x  5.613  10 
 F1x  500 
F   
 1 y  500 
   kN
 F2 y   0 
F '3 y   707 
Stiffness Matrix for a Bar in Three Dimension
• Bar element in three dimension
Transformation
dˆ1x  d 1x cos x  d 1y cos y  d 1z cos z

dˆ2 x  d 2 x cos x  d 2 y cos y  d 2 z cos z

dˆ  T  d
 d 1x  x 2  x1
d  Cx 
 1y  L
dˆ1x  C x C y C z 0 0 0   d 1z  y  y1
    Cy  2
dˆ2 x   0 0 0 Cx Cy C z  d 2 x  L
d 2 y  z z
  Cz  2 1
L
d 2 z 
 C x 0 
C 0 
 y 
C x C y C z 0 0 0 C z 0 
T   T  
T

 0 0 0 C C C z  0 C
x y  x 
 0 Cy 
 
 0 Cz 
f  T T  kˆ T  d
C x 0 
C 0 
 y 
C z 0  AE  1 1 C x C y C z 0 0 0
K    1 1    0 
0 0 C C C
 0 Cx  L    x y z 

 0 Cy 
 
 0 C z 
  C x2 C xC y C xC z C x2 C x C y C x C z  d 1x
 
 C xC y C y2 C yC z C x C y C y2 C y C z  d 1 y
AE  C x C z C yC z C z2 C x C z C y C z C z2  d 1z    
k     
L  C x2 C x C y C x C z C x2 C xC y C x C z  d 2 x    
 C C C y2 C y C z C xC y C y2 C y C z  d 2 y
 x y
 C x C z C y C z C z2 C xC z C yC z C z2  d 2 z
 C x2 C x C y C x C z 
 
  C x C y C y C y C z 
2

C x C z C y C z C 2

 z 

F  K d
• Example
Determine the displacement at node
1, the stresses each member

Solution
Element 1
x 1  x 4    y 1  y 4   z 1  z 4 
2 2 2
L1 

 72    0    48
2 2 2
  86.5 cm

x 4  x 1 72
Cx    0.832
L1 86.5
y 4  y1
Cy  0
L1
z 4  z 1 48
Cz    0.555
L1 86.5
  C x2 C xC y C xC z C x2 C x C y C x C z 
 
 C xC y C y2 C yC z C x C y C y2 C y C z 
AE  C x C z C yC z C z2 C x C z C y C z C z2 
k   
L  C x2 C x C y C x C z C x2 C xC y C xC z 
 C C C y2 C y C z C xC y C y2 C y C z 
 x y
 C x C z C y C z C z2 C xC z C yC z C z2 
 0.69 0 0.46 0.69 0 0.46  d 1x
 0 0 0 0 0 0  d 1y
 
8.65  100  105  0.46 0 0.31 0.46 0 0.31 d 1z
k1   
0.865  0.69 0 0.46 0.69 0 0.46  d 4 x
 0 0 0 0 0 0 d 4y
 
 0.46 0 0.31 0.46 0 0.31  d 4 z
Element 2
 72    36    0 
2 2 2
L2   80.5 cm

x 2  x 1 72
Cx    0.894
L1 80.5
y 2  y 1 36
Cy    0.447
L1 80.5
z 2  z1
Cz   0.
L1

 0.8 0.4 0 0.8 0.40  d 1x

 0.4 0.2 0 0.4 0.2 0  d 1 y
 
8.05  100  10  0
5
0 0 0 0 0  d 1z
k2   
0.805  0.8 0.4 0 0.8 0.4 0  d 2 x
 0.4 0.2 0 0.4 0.2 0  d 2 y
 
 0 0 0 0 0 0 d 2z
Element 3
 72    36    72 
2 2 2
L3   108 cm

x 3  x 1 72
Cx    0.667
L3 108
y 3  y 1 36
Cy    0.333
L3 108
z 3  z 1 72
Cz    0.667
L3 108
 0.44 0.22 0.44 0.44 0.22 0.44  d 1x
 0.22 0.11 0.22 0.22 0.11 0.22 d
  1y
10.8  100  105  0.44 0.22 0.44 0.44 0.22 0.44 d 1z
k2   
1.08  0.44 0.22 0.44 0.44 0.22 0.44  d 3x
 0.22 0.11 0.22 0.22 0.11 0.22  d 3 y
 
 0.44 0.22 0.44 0.44 0.22 0.44  d 3z
  1.93 0.62 0.02 0.8 0.4 0 0.44 0.22 0.44 0.69 0 0.46  d 1x
 0.62 0.31 0.22 0.4 0.2 0 0.22 0.11 0.22 0 0 0  d 1y
 
 0.02 0.22 0.75 0 0 0 0.44 0.22 0.44 0.46 0 0.31  d 1z
 
 0.80 0.4 0 0.8 0.4 0 0.00 0 0 0.00 0 0  d 2x
 0.4 0.20 0 0.4 0.2 0 0 0.00 0 0 0.00 0  d 2 y
 
0 0 0.00 0 0 0 0 0 0.00 0 0 0.00  d 2 z
K  108 
 0.44 0.22 0.44 0.00 0 0 0.44 0.22 0.44 0.00 0 0  d 3x
 
 0.22 0.11 0.22 0 0.00 0 0.22 0.11 0.22 0 0.00 0  d 3 y
 0.44 0.22 0.44 0 0 0.00 0.44 0.22 0.44 0 0 0.00  d 3z
 
 0.69 0 0.46 0.00 0 0 0.00 0 0 0.69 0 0.46  d 4 x
 0 0.00 0 0 0.00 0 0 0.00 0 0 0 0 d 4y
 
 0.46 0 0.31 0 0 0.00 0 0 0.00 0.46 0 0.31  d 4 z
 F1x  0   d 1x 
 F  d  0 
 1y   1y 
F1z  10 
5
 d 1z 
   
 F2x  d
 2x  0 
 F2 y  d 2 y  0   0.  8 1.93 0.02  d 1x 
     5   10   d 
 F2z  d
 2z  0   10   0.02 0.75   1z 
 K   
 F3x  d
 3x  0  d 1x   0.000014 
 F3 y  d 3 y  0    m
    d 1z  0.001334 
 F3z  d 3 z  0 
 F  d  0 
 4x
  4x 
 F4 y  d 4 y  0 
 F  d  0 
 4z   4z 
Stresses in each member
E E
   1 1d   1 1 T  d
ˆ
L L
C x C y C z 0 0 0
T  
 0 0 0 C x C y C z 

 d 1x 
d 
 1y 
E  d 1z 
  C x C y C z C x C y C z   
L d 2 x 
d 2 y 
 
d 2 z 
 Stresses in element 1
 0.000014 
 0 
 
100  10 9
0.001334 
1  0.832 0 0.555 0.832 0 0.555    84.25MPa
0.865  0 
 0 
 
 0 
Stresses in element 2
 0.000014 
 0 
 
100  10 9
0.001334 
2  0.894 0.447 0 0.832 0.447 0    1.55MPa
0.805  0 
 0 
 
 0 
Stresses in element 3

 0.000014 
 0 
 
1011 0.001334 
3  0.667 0.333 0.667 0.667 0.333 0.667   
1.08  0 
 0 
 
 0 
 3  83.25MPa
Potential Energy Approach to Derive Bar Element
Equations
 p U  

Internal strain energy

the internal force z   x y z
the displacement of the face at x = 1  x  x
the displacement of the face at ( x  x ) =  2  x ( x  d  x )
therefore, the change in displacement =  2  1  x d  x
where d  x = differential change in strain occurring over length x
Potential Energy Approach to Derive Bar Element
Equations
dU   x (y ) (z ) (x ) d  x
V  y z x
then
dU   x d  x dV

U  
V
 x

0 
 x d  x dV

But for linear-elastic material, Hook's law states

 x  E x
x x
 0
 x d  x   E  x d  x  12 E  x2  12  x  x
0

U  1
2  
V
x  x dV

which is the strain energy for 1-D stress problems

 Potential Energy Approach to Derive Bar Element
Equations
Energy of the external forces

  W
M
    Xˆ b uˆ dV   Tˆx uˆ dS   fˆix dˆix
V S1 i 1

P.E. of body forces Xb P.E. of surface loading P.E. of nodal

(force per unit volume) or traction Tx (force per concentrated forces fix
unit area)
 Potential Energy Approach to Derive Bar Element
Equations
Consider the bar element the total potential energy can be written as:
M
p  1
2   x  x dV   Xˆ b uˆ dV   Tˆx uˆ dS   fˆix dˆix
V V S1 i 1

L
p  A
2   x  x d xˆ  fˆ1x dˆ1x  fˆ2 x dˆ2 x   uˆ Tˆx dS   uˆ Xˆ b dV
0
S1 V
Recall the displacement function:
 dˆ2 x  dˆ1x 
uˆ  
  xˆ  dˆ1x
 L 
 xˆ xˆ  dˆ1x 
uˆ  1   
 L L  dˆ2 x 

uˆ  [N ]{dˆ }

 xˆ xˆ  dˆ1x 
[N ]  1  and {dˆ }   
 L L  dˆ2 x 
 Potential Energy Approach to Derive Bar Element
Equations
d uˆ  1 1  dˆ1x 
x  { x }     
d xˆ  L L  dˆ2 x 
 1 1
{ x }  [B ]{dˆ} [B ]   
 L L 
{ x }  [D ]{ x } { x }  [ D ][ B ]{dˆ}
fˆ1x 
Let: {P }    and since
fˆ2 x 
{ x },{ x },{uˆ },{Tˆx }, and {Xˆ b } are column matrices
L
p  A
2  { x }T { x }d xˆ  {dˆ }T { P }   {uˆ }T {Tˆ }dS   {uˆ }T { Xˆ b }dV
0
S1 V
L
p  A
2  {dˆ}T [B ]T [D ]T [B ]{dˆ}d xˆ  {dˆ }T { P }   {dˆ }T [N ]T {Tˆx }dS
0
S1

  {dˆ }T [N ]T { Xˆ b }dV

V
 Potential Energy Approach to Derive Bar Element
Equations

Since [B}, [D] and dˆ are not functions of xˆ ,

then integrating with respect to xˆ yields
AL ˆ T
p  {d } [B ]T [D ]T [ B ]{dˆ}  {dˆ }T { fˆ }
2
{fˆ }  { P }   [N ]T {Tˆx }dS   [N ]T { Xˆ b }dV
S1 V

{fˆ }  { P }  {fˆs }  {fˆb }

Concentrated Surface Tractions Body Forces

Nodal Forces
 So , for the element at hand we have  p   p (dˆ1x , dˆ2 x )

which need to be minimized using  p

0
 d 
1 U
If U  {x }T [a ]{x } then  [a ]{x }
2  x 
So
 p
 AL [B ]T [D ][B ]{dˆ}  { fˆ }  0
{d }
 1
 L   1 1 ˆ
AL   [ E ]  {d }  { f ˆ}
 L 
 1   L
 L 
AE 1
   1 1 {dˆ}  { fˆ }
L  1

AE  1 1 dˆ1x  fˆ1x 

L  1 1  ˆ    ˆ 
  d 2 x  f 2 x 
kˆ  AL [B ]T [D ][B ]
 Example
A bar of length L is subjected to a linearly distributed axial
loading that varies from zero at node 1 to a maximum at
node 2. Determine the energy equivalent nodal loads.
 Example
Note that the total load is the area under the load distribution
given by.

Therefore, the equivalent nodal loads for a linearly varying

load are:
Example
For the rod loaded axially as shown determine the axial
displacement and axial stress. Let E= 30x106 psi,
A= 2 in2., and L= 60 in. Use:
(a) One Element
(b) Two elements in the finite element solutions.
 Example
One-element model:
 Example
One-element model:
Two-element model:

For element 2, we divide the load into a uniform part and a triangular part.
For the uniform part, half the total uniform load is placed at each node
associated with the element. Therefore:

For element 1
Two-element model:
Two-element model:
Element 1

Element 2
Comparison of Finite Element Solution to Exact Solution

The exact solution for displacement is obtained by solving

the equation
Comparison of Finite Element Solution to Exact Solution
Comparison of exact and finite element solutions for axial displacement
Comparison of Finite Element Solution to Exact Solution
Comparison of exact and finite element solutions for axial stress
Comparison of Finite Element Solution to Exact Solution

Axial stress at fixed end as number of elements increases

 HW:
3.30, 3.33(a), 3.41, 3.49, 3.58