Faculty of Engineering

Faculty of Engineering
Mechanical Engineering Department
ME 646, Dr. Hafeth Bu Jldain,

A First Course in the Finite Element Method, Fourth Edition, Daryl L. Logan 1
Introduction
 We will derive the stiffness matrix for a linear-elastic truss (or bar) element
using the basic concepts of linear spring illustrated in Chapter 2.
 We will also discuss the transformation of a vector from the local coordinate
system to the global coordinate system.
 We will use the concept of transformation matrices to express the stiffness

matrix of an arbitrarily oriented bar element in terms of the global system.

Direct Stiffness Method
To Derive The Stiffness Matrix for a Truss Element
We will now consider the derivation of the stiffness matrix for the linear-
elastic, constant cross-sectional area truss element shown below. The bar is
subjected to tensile forces T directed along the local axis of the bar and
applied at nodes 1 and 2.
The bar element is assumed to have:
A: constant cross-sectional area,
E: modulus of elasticity,
L: initial length,
^d1x: node 1 displacement, and
^d2x: node 2 displacement.
Direct Stiffness Method : Derive The Stiffness Matrix for
a Truss Element in Local Coordinates
From Hooke’s law and the strain/displacement relationship, we write:
From force equilibrium, we have:
By substituting we get:

Step 1: Select the Element Type
Represent the bar by labeling nodes at each end and in general by labeling
the element number.

Step 2: Select a Displacement Function
Assume a linear displacement variation along the x^ axis of the bar because
a linear function with specified endpoints has a unique path. The most
common functions used are polynomials.
In general, the total number of coefficients a is equal to the total number of

degrees of freedom associated with the element. Here the total number of
degrees of freedom is two. In matrix form,

We now want to express u^ as a function of the nodal displacements ^d1x
and ^d2x. We achieve this by evaluating u^ at each node and solving for a1
and a2 as follows:

In matrix form,
Here N1 and N2 are called the shape functions or often called interpolation
functions.
Step 3: Define the Strain/ Displacement and Stress/Strain Relationships
The strain/displacement relationship is :
The stress/ strain relationship is:

Step 4: Derive the Element Stiffness Matrix and Equations
The element stiffness matrix is derived as follows. From elementary mechanics,
we have:
Now, we obtain:
Also, by the nodal force sign convention:
When we substitute above Eq. becomes:

Similarly, Becomes,
Step 4: Derive the Element Stiffness Matrix and Equations
In matrix form,
Here AE/L for a bar element is analogous to the spring constant k for a
spring element.
We obtain,
k represents the local stiffness matrix for the bar element in local coordinates.
Step 5: Assemble the Element Equations to Obtain the Global
Equations
The global stiffness matrix and global force matrix are assembled using the
direct stiffness method described in Chapter 2. This step applies for structures
composed of more than one element such that:
where k and f are now element stiffness and force matrices expressed in a
global reference frame.

Step 6: Solve for the Nodal Displacements
The displacements are then determined by imposing boundary conditions, such
as support conditions, and solving a system of equations, F = Kd,
simultaneously.
Step 7: Solve for the Element Forces

Finally, determine the strains and stresses in each element by back-substitution
of the displacements into equations.

Example 3.1:
For the three-bar assemblage shown in Figure below, determine (a) the global
stiffness matrix, (b) the displacements of nodes 2 and 3, and (c) the reactions
at nodes 1 and 4. A force of 3000 lb is applied in the x direction at node 2. The
length of each element is 30 in. Let E = 30x106 psi and A = 1 in2 for elements 1
and 2, and let E = 15x106 psi and A = 2 in2 for element 3. Nodes 1 and 4 are
fixed.

Example 3.1:
(a). We begin by expressing each element stiffness matrix as follows:

Example 3.1:
Using the concept of superposition (the direct stiffness method), we obtain the
global stiffness matrix as:

Example 3.1:
(b). The global stiffness matrix relates global forces to global nodal
displacements as follows:
Invoking the boundary conditions, we have:
Solving Eqs. simultaneously for the displacements yield:

Example 3.1:
(c). Back-substituting, we obtain the global nodal forces, which include the
reactions at nodes 1 and 4, as follows:
The results show that the sum of the reactions F1x and F4x is equal in
magnitude but opposite in direction to the applied nodal force of 3000 lb at
node 2. Equilibrium of the bar assemblage is thus verified.

PROBLEMS:
Determine the nodal
displacements and
the reactions.

Assignment #3 Determine the nodal displacements and the reactions.

Transformation of Vectors in Two Dimensions
 In many problems it is convenient to introduce both local and global
coordinates.
 Local coordinates are always chosen to represent the individual element

conveniently.
 Global coordinates are chosen to be convenient for the whole structure.
 We will develop a transformation matrix that will subsequently be used to

develop the global stiffness matrix for a bar element.

Given the nodal displacement of an element, represented by the vector d in
Figure below, we want to relate the components of this vector in one coordinate
system to components in another. We define the angle θ to be positive when
measured counterclockwise from x to x^. We can express vector displacement d
in both global and local coordinates by:
Relationship between local

and global vectors

Now, we can write: 𝑑1𝑥 = 𝑑1𝑥 𝑐𝑜𝑠𝜃 + 𝑑1𝑦 𝑠𝑖𝑛𝜃
𝑑1𝑦 = −𝑑1𝑥 𝑠𝑖𝑛𝜃 + 𝑑1𝑦 𝑐𝑜𝑠𝜃
𝑑2𝑥 = 𝑑2𝑥 𝑐𝑜𝑠𝜃 + 𝑑2𝑦 𝑠𝑖𝑛𝜃
𝑑2𝑦 = −𝑑2𝑥 𝑠𝑖𝑛𝜃 + 𝑑2𝑦 𝑐𝑜𝑠𝜃
𝑑1𝑥 𝑑1𝑥
𝐶 𝑆 0 0
𝑑1𝑦 𝑑1𝑦
In matrix form, = −𝑆 𝐶 0 0 𝑑 = 𝑇𝑑
𝑑2𝑥 0 0 𝐶 𝑆 𝑑2𝑥
𝑑2𝑦 0 0 −𝑆 𝐶 𝑑2𝑦
Transformation Matrix 𝑇
The above Equation relates the global displacement to the local displacement.
where C = cos θ and S = sin θ.
Similarly, 𝑓1𝑥 = 𝑓1𝑥 𝑐𝑜𝑠𝜃 + 𝑓1𝑦 𝑠𝑖𝑛𝜃
𝑓1𝑦 = −𝑓1𝑥 𝑠𝑖𝑛𝜃 + 𝑓1𝑦 𝑐𝑜𝑠𝜃
𝑓2𝑥 = 𝑓2𝑥 𝑐𝑜𝑠𝜃 + 𝑓2𝑦 𝑠𝑖𝑛𝜃
𝑓2𝑦 = −𝑓2𝑥 𝑠𝑖𝑛𝜃 + 𝑓2𝑦 𝑐𝑜𝑠𝜃
𝑓1𝑥 𝑓1𝑥
𝐶 𝑆 0 0
𝑓1𝑦 𝑓1𝑦
In matrix form, = −𝑆 𝐶 0 0 𝑓 = 𝑇𝑓
𝑓2𝑥 0 0 𝐶 𝑆 𝑓2𝑥
𝑓2𝑦 0 0 −𝑆 𝐶 𝑓2𝑦
Transformation Matrix 𝑇
The above Equation relates the global displacement to the local displacement.
where C = cos θ and S = sin θ.
Global Stiffness Matrix
We will now use the transformation relationship to obtain the global stiffness
matrix for a bar element. We have shown that for a bar element in the local
coordinate system,
In expanded form it becomes:
or, in simplified matrix form, becomes: 𝑓 = 𝑘𝑑

Global Stiffness Matrix
Substitute 𝑑 = 𝑇 𝑑 and 𝑓 = 𝑇𝑓 in 𝑓 = 𝑘 𝑑 we get: 𝑘 = 𝑇 𝑇 𝑘 𝑇
Where, 𝑇 −1 = 𝑇 𝑇
After matrices multiplication,

𝑘 = 𝑇 𝑇 𝑘 𝑇 We obtain :

Example 3.3:
For the bar element shown in Figure evaluate the global stiffness matrix with
respect to the x-y coordinate system. Let the bar’s cross-sectional area equal 2
in.2, length equal 60 in., and modulus of elasticity equal 30x106 psi. The angle
the bar makes with the x axis is 30o .

Example 3.3:
To evaluate the global stiffness matrix k for a bar, we use:

Example 3.3:
Therefore,
Simplifying, we have:

Computation of a Stress for a Bar in the x-y Plane
We will now consider the determination of the stress in a bar element. For a
bar, the local forces are related to the local displacements by Eq.:
The usual definition of axial tensile stress is axial force divided by cross-sectional
area. Therefore, axial stress is:
where ^ f2x is used because it is the axial force that pulls on the bar as shown
in Figure of Example 3.3.

Computation of a Stress for a Bar in the x-y Plane
𝑑1𝑥
𝑑1𝑥 𝐶 𝑆 0 0 𝑑1𝑦
We can write the following, = 0 0 𝐶 𝑆 𝑑2𝑥 𝑑 = 𝑇∗𝑑
𝑑2𝑥
𝑑2𝑦
𝑑1𝑥
𝑓1𝑥 𝐴𝐸 1 −1 𝐶 𝑆 0 0 𝑑1𝑦
The axial force in the bar is: =
𝐿 −1 1 0 0 𝐶 𝑆 𝑑2𝑥
𝑓2𝑥
𝑑2𝑦
𝑓2𝑥 𝐸 𝑑1𝑥
Therefore, axial stress is: 𝜎= = −1 1
𝐴 𝐿 𝑑2𝑥 𝑑1𝑥
𝐶 𝑆 0 0 𝑑1𝑦
Combining both Eqs. yields: 𝜎 = 𝑓2𝑥 = 𝐸 −1 1 0 0 𝐶 𝑆 𝑑2𝑥
𝐴 𝐿
𝑑2𝑦
Stress can be expressed as: 𝜎 = 𝐸 −𝐶 −𝑆 𝐶 𝑆 𝑑
𝐿
Example 3.4:
For the bar shown in Figure below, determine the axial stress. Let A = 4x10-4
m2, E = 210 GPa, and L = 2 m, and let the angle between x and x^ be 60o.
Assume the global displacements have been previously determined to be d1x =
0.25 mm, d1y = 0.0, d2x = 0.50 mm, and d2y = 0.75 mm.

Example 3.4:
Now d is given by:
We obtain the bar axial stress as:

𝐸
𝜎= −𝐶 −𝑆 𝐶 𝑆 𝑑
𝐿

Solution of a Plane Truss
 We will now illustrate the use of equations developed, along with the direct
stiffness method of assembling the total stiffness matrix and equations, to
solve the following plane truss example problems.
 A plane truss is a structure composed of bar elements that all lie in a

common plane and are connected by frictionless pins.
 The plane truss also must have loads acting only in the common plane and
all loads must be applied at the nodes or joints.

Example 3.5:
For the plane truss composed of the three elements shown in the Figure below
subjected to a downward force of 10,000 lb applied at node 1, determine the x
and y displacements at node 1, the reactions and the stresses in each element.
Let E = 30x106 psi and A = 2 in.2 for all elements. The lengths of the elements
are shown in the figure.

Example 3.5:
First, we determine the global stiffness matrices for each element. This requires
determination of the angle 𝜽 between the global x axis and the local 𝑥 axis for
each element. In this example, the direction of the 𝑥 axis for each element is
taken in the direction from node 1 to the other node. The node numbering is
arbitrary for each element. However, once the direction is chosen, the angle
𝜽 is then established as positive when measured counterclockwise from positive
𝑥 to 𝑥. For element 1, the local 𝑥 axis is directed from node 1 to node 2;
therefore, 𝜽(𝟏) = 𝟗𝟎𝒐. For element 2, the local 𝑥 axis is directed from node 1
to node 3 𝜽(𝟐) = 𝟒𝟓𝒐 . For element 3, the local 𝑥 axis is directed from node 1
to node 4 and 𝜽(𝟑) = 𝟎𝒐.

Example 3.5:
It is convenient to construct Table below to aid in determining each element
stiffness matrix.

Example 3.5:
For element 1, along with Table above for the direction cosines, we obtain:

Example 3.5:

Example 3.5:

Example 3.5:
The common factor of 30x106x2/120 = 500,000 can be taken from each of Eqs.
After adding terms from the individual element stiffness matrices into their
corresponding locations in K, we obtain the total stiffness matrix as:

Example 3.5:
The global K matrix, relates the global forces to the global displacements.

Example 3.5:
Here we will use the latter approach; that is, we eliminate rows and columns
3–8 because those rows and columns correspond to zero displacements. We
then obtain:
The above Equations can now be solved for the displacements by multiplying
both sides of the matrix equation by the inverse of the 2x2 stiffness matrix or
by solving the two equations simultaneously. Using either procedure for
solution yields the displacements,

Example 3.5: The reaction forces are:
𝐹2𝑥 = 0 𝑙𝑏
𝐹2𝑦 = 500,000 −1 −1.59 × 10−2 = 7950 𝑙𝑏
𝐹3𝑥 = 500,000 −0.354 0.414 × 10−2 + (−0.354)(−1.59 × 10−2 ) = 2081.52 𝑙𝑏
𝐹3𝑦 = 500,000 −0.354 0.414 × 10−2 + (−0.354)(−1.59 × 10−2 ) = 2081.52 𝑙𝑏
𝐹4𝑥 = 500,000 −1 0.414 × 10−2 = −2070 𝑙𝑏
𝐹4𝑦 = 0 𝑙𝑏

Example 3.5:
𝐸
𝐿
Using Eq. and Table above, we

determine the stresses in each element.

Example 3.5:
𝐸
𝐿

Example 3.5:
𝐸
𝐿

Example 3.5:
𝐸
𝐿

Example 3.5:
We now verify our results by examining force equilibrium at node 1; that is,
summing forces in the global x and y directions, we obtain:

Example 3.6:
For the two-bar truss shown in Figure below, determine the displacement in
the y direction of node 1 and the axial force in each element. A force of P =
1000 kN is applied at node 1 in the positive y direction while node 1 settles an
amount δ = 50 mm in the negative x direction. Let E = 210 GPa and A = 6x
10-4 m2 for each element. The lengths of the elements are shown in the figure.

Example 3.6:
stiffness matrix.

Example 3.6:
stiffness matrix.

Example 3.6:
stiffness matrix.

Example 3.6:
We obtain the global K matrix, which relates the global forces to the global
displacements.

Example 3.6:
We consider the boundary conditions, with F1y = P and d1x = δ.

Example 3.6:
We obtain d1y as:

Example 3.6:
Element 1:
The local element forces are obtained by using the following Eq.
Performing the matrix triple product yields:

Example 3.6:
Element 2:
The local element forces are obtained by using the following Eq.
Performing the matrix triple product yields:

Example 3.7:
To illustrate how we can combine spring and bar elements in one structure, we
now solve the two-bar truss supported by a spring shown in Figure below.
Both bars have E = 210 GPa and A = 5x10-4 m2. Bar one has a length of 5 m
and bar two a length of 10 m. The spring stiffness is k = 2000 kN/m.

Example 3.7:

Example 3.7:

Example 3.7:

Example 3.7:
Using the boundary conditions,
The reduced assembled global equations are given by:
Solving Eq. for the global

displacements, we obtain:

Example 3.7:
We can obtain the stresses in the bar elements by using Eq below as,
ME 646, Dr. Hafeth Bu Jldain, 64

A First Course in the Finite Element Method, Fourth Edition, Daryl L. Logan
Thank you
65

Faculty of Engineering

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Faculty of Engineering

Mechanical Engineering Department

ME 646, Dr. Hafeth Bu Jldain,

 We will use the concept of transformation matrices to express the stiffness

ME 646, Dr. Hafeth Bu Jldain,

From force equilibrium, we have:

ME 646, Dr. Hafeth Bu Jldain,

ME 646, Dr. Hafeth Bu Jldain,

In general, the total number of coefficients a is equal to the total number of

ME 646, Dr. Hafeth Bu Jldain,

ME 646, Dr. Hafeth Bu Jldain,

The strain/displacement relationship is :

The stress/ strain relationship is:

ME 646, Dr. Hafeth Bu Jldain,

Also, by the nodal force sign convention:

When we substitute above Eq. becomes:

ME 646, Dr. Hafeth Bu Jldain,

Step 7: Solve for the Element Forces

ME 646, Dr. Hafeth Bu Jldain,

ME 646, Dr. Hafeth Bu Jldain,

ME 646, Dr. Hafeth Bu Jldain,

ME 646, Dr. Hafeth Bu Jldain,

Invoking the boundary conditions, we have:

Solving Eqs. simultaneously for the displacements yield:

ME 646, Dr. Hafeth Bu Jldain,

ME 646, Dr. Hafeth Bu Jldain,

ME 646, Dr. Hafeth Bu Jldain,

ME 646, Dr. Hafeth Bu Jldain,

 Local coordinates are always chosen to represent the individual element

 Global coordinates are chosen to be convenient for the whole structure.

 We will develop a transformation matrix that will subsequently be used to

ME 646, Dr. Hafeth Bu Jldain,

Relationship between local

ME 646, Dr. Hafeth Bu Jldain,

In expanded form it becomes:

or, in simplified matrix form, becomes: 𝑓 = 𝑘𝑑

After matrices multiplication,

ME 646, Dr. Hafeth Bu Jldain,

ME 646, Dr. Hafeth Bu Jldain,

ME 646, Dr. Hafeth Bu Jldain,

ME 646, Dr. Hafeth Bu Jldain,

ME 646, Dr. Hafeth Bu Jldain,

ME 646, Dr. Hafeth Bu Jldain,

We obtain the bar axial stress as:

ME 646, Dr. Hafeth Bu Jldain,

 A plane truss is a structure composed of bar elements that all lie in a

ME 646, Dr. Hafeth Bu Jldain,

ME 646, Dr. Hafeth Bu Jldain,

ME 646, Dr. Hafeth Bu Jldain,

ME 646, Dr. Hafeth Bu Jldain,

ME 646, Dr. Hafeth Bu Jldain,

ME 646, Dr. Hafeth Bu Jldain,

ME 646, Dr. Hafeth Bu Jldain,

ME 646, Dr. Hafeth Bu Jldain,

ME 646, Dr. Hafeth Bu Jldain,

ME 646, Dr. Hafeth Bu Jldain,

ME 646, Dr. Hafeth Bu Jldain,

Using Eq. and Table above, we

ME 646, Dr. Hafeth Bu Jldain,

ME 646, Dr. Hafeth Bu Jldain,

ME 646, Dr. Hafeth Bu Jldain,

ME 646, Dr. Hafeth Bu Jldain,

ME 646, Dr. Hafeth Bu Jldain,