The Finite Element

Method in Engineering
Fifth Edition

Singiresu S. Rao
Professor and Chairman
Department of Mechanical and Aerospace Engineering
University of Miami, Coral Gables, Florida, USA

ELSEVIER

AMSTERDAM BOSTON HEIDELBERG LONDON

NEW YORK OXFORD PARIS SAN DIEGO
SAN FRANCISCO SINGAPORE SYDNEY TOKYO
Butterworth-Heinemann is an imprint of Elsevier

PREFACE

PART 1
CHAPTER 1

xiii

Introduction

Overview of Finite Element Method

1.2 Historical Background

1.3 General Applicability of the Method

1.4 Engineering Applications of the Finite Element Method

1.5 General Description of the Finite Element Method

1.6 One-Dimensional Problems with Linear Interpolation Model

12

1.7 One-Dimensional Problems with Cubic Interpolation Model

24

1.8 Derivation of Finite Element Equations Using a Direct Approach

28

1.9 Commercial Finite Element Program Packages

40

1.10 Solutions Using Finite Element Software

PART 2
CHAPTER 2

CHAPTER 3

CHAPTER 4

1.1 Basic Concept

40

Basic Procedure

Discretization of the Domain

53

2.1 Introduction

53

2.2 Basic Element Shapes

53

2.3 Discretization Process

56

2.4 Node Numbering Scheme

63

2.5 Automatic Mesh Generation

65

Interpolation Models

75

3.1 Introduction

75

3.2 Polynomial Form of Interpolation Functions

77

3.3 Simplex, Complex, and Multiplex Elements

78

3.4 Interpolation Polynomial in Terms of Nodal Degrees of Freedom

78

3.5 Selection of the Order of the Interpolation Polynomial

80

3.6 Convergence Requirements

82

3.7 Linear Interpolation Polynomials in Terms of Global Coordinates

85

3.8 Interpolation Polynomials for Vector Quantities

96

3.9 Linear Interpolation Polynomials in Terms of Local Coordinates

99

3.10 Integration of Functions of Natural Coordinates

108

3 . 1 1 Patch Test

109

Higher Order and Isoparametric Elements

119

4 . 1 Introduction

120

4.2 Higher Order One-Dimensional Elements

120

4.3 Higher Order Elements in Terms of Natural Coordinates

121

4.4 Higher Order Elements in Terms of Classical Interpolation

Polynomials

130

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CONTENTS

4.5 One-Dimensional Elements Using Classical Interpolation Polynomials.... 134

4.6 Two-Dimensional (Rectangular) Elements Using Classical
Interpolation Polynomials

135

4.7 Continuity Conditions

137

4.8 Comparative Study of Elements

139

4.9 Isoparametric Elements

140

4.10 Numerical Integration

CHAPTER 5 Derivation of Element Matrices and Vectors

148
157

5.1 Introduction

158

5.2 Variational Approach

158

5.3 Solution of Equilibrium Problems Using Variational (Rayleigh-Ritz)

Method

163

5.4 Solution of Eigenvalue Problems Using Variational (Rayleigh-Ritz)

Method

167

5.5 Solution of Propagation Problems Using Variational (Rayleigh-Ritz)

Method
168
5.6 Equivalence of Finite Element and Variational (Rayleigh-Ritz)
Methods

169

5.7 Derivation of Finite Element Equations Using Variational

(Rayleigh-Ritz) Approach

169

5.8 Weighted Residual Approach

175

5.9 Solution of Eigenvalue Problems Using Weighted Residual Method

182

5.10 Solution of Propagation Problems Using Weighted Residual Method....183

5.11 Derivation of Finite Element Equations Using Weighted Residual
(Galerkin) Approach

184

5.12 Derivation of Finite Element Equations Using Weighted Residual

(Least Squares) Approach

187

5.13 Strong and Weak Form Formulations

189

CHAPTER 6 Assembly of Element Matrices and Vectors and Derivation of

System Equations

199

6.1 Coordinate Transformation

199

6.2 Assemblage of Element Equations

204

6.3 Incorporation of Boundary Conditions

211

6.4 Penalty Method

219

6.5 Multipoint ConstraintsPenalty Method

223

6.6 Symmetry ConditionsPenalty Method

226

6.7 Rigid Elements

228

CHAPTER 7 Numerical Solution of Finite Element Equations

PART 3

241

7.1 Introduction

241

7.2 Solution of Equilibrium Problems

242

7.3 Solution of Eigenvalue Problems

251

7.4 Solution of Propagation Problems

262

7.5 Parallel Processing in Finite Element Analysis

268

Application to Solid Mechanics Problems

CHAPTER 8 Basic Equations and Solution Procedure

277

8.1 Introduction

277

8.2 Basic Equations of Solid Mechanics

277

8.3 Formulations of Solid and Structural Mechanics

CHAPTER 9

294

8.4 Formulation of Finite Element Equations (Static Analysis)

299

8.5 Nature of Finite Element Solutions

303

Analysis of Trusses, Beams, and Frames

311

9.1 Introduction

311

9.2 Space Truss Element

312

9.3 Beam Element

323

9.4 Space Frame Element

328

9.5 Characteristics of Stiffness Matrices

338

CHAPTER 10 Analysis of Plates

355

1 0 . 1 Introduction

355

10.2 Triangular Membrane Element

356

10.3 Numerical Results with Membrane Element

367

10.4 Quadratic Triangle Element

369

10.5 Rectangular Plate Element (In-plane Forces)

372

10.6 Bending Behavior of Plates

376

10.7 Finite Element Analysis of Plates in Bending

379

10.8 Triangular Plate Bending Element

379

10.9 Numerical Results with Bending Elements

383

10.10 Analysis of Three-Dimensional Structures Using Plate Elements....386

CHAPTER 1 1 Analysis of Three-Dimensional Problems
1 1 . 1 Introduction
11.2 Tetrahedron Element

401

11.3 Hexahedron Element

409

11.4 Analysis of Solids of Revolution

CHAPTER 12 Dynamic Analysis

PART 4

401
401

413
427

1 2 . 1 Dynamic Equations of Motion

427

12.2 Consistent and Lumped Mass Matrices

430

12.3 Consistent Mass Matrices in a Global Coordinate System

439

12.4 Free Vibration Analysis

440

12.5 Dynamic Response Using Finite Element Method

452

12.6 Nonconservative Stability and Flutter Problems

460

12.7 Substructures Method

461

Application to Heat Transfer Problems

CHAPTER 13 Formulation and Solution Procedure

1 3 . 1 Introduction

473
473

13.2 Basic Equations of Heat Transfer

473

13.3 Governing Equation for Three-Dimensional Bodies

475

13.4 Statement of the Problem

479

13.5 Derivation of Finite Element Equations

480

CHAPTER 14 One-Dimensional Problems

1 4 . 1 Introduction

489
489

14.2 Straight Uniform Fin Analysis

489

14.3 Convection Loss from End Surface of Fin

492

14.3 Tapered Fin Analysis

496

14.4 Analysis of Uniform Fins Using Quadratic Elements

499

14.5 Unsteady State Problems

502

14.6 Heat Transfer Problems with Radiation

507

CHAPTER 15 Two-Dimensional Problems

1 5 . 1 Introduction

517

15.2 Solution

517

15.3 Unsteady State Problems

526

CHAPTER 16 Three-Dimensional Problems

PART 5

517

531

16.1 Introduction

531

16.2 Axisymmetric Problems

531

16.3 Three-Dimensional Heat Transfer Problems

536

16.4 Unsteady State Problems

541

Application to Fluid Mechanics Problems

CHAPTER 17 Basic Equations of Fluid Mechanics

549

17.1 Introduction

549

17.2 Basic Characteristics of Fluids

549

17.3 Methods of Describing the Motion of a Fluid

550

17.4 Continuity Equation

551

17.5 Equations of Motion or Momentum Equations

552

17.6 Energy, State, and Viscosity Equations

557

17.7 Solution Procedure

557

17.8 Inviscid Fluid Flow

559

17.9 Irrotational Flow

560

17.10 Velocity Potential

561

17.11 Stream Function

562

17.12 Bernoulli Equation

564

CHAPTER 18 Inviscid and Incompressible Flows

571

1 8 . 1 Introduction

571

18.2 Potential Function Formulation

573

18.3 Finite Element Solution Using the Galerkin Approach

573

18.4 Stream Function Formulation

584

CHAPTER 19 Viscous and Non-Newtonian Flows

591

PART 6

19.1 Introduction

591

19.2 Stream Function Formulation (Using Variational Approach)

592

19.3 Velocity-Pressure Formulation (Using Galerkin Approach)

596

19.4 Solution of Navier-Stokes Equations

598

19.5 Stream Function-Vorticity Formulation

600

19.6 Flow of Non-Newtonian Fluids

602

19.7 Other Developments

607

Solution and Applications of

Quasi-Harmonic Equations

CHAPTER 20 Solution of Quasi-Harmonic Equations

613

2 0 . 1 Introduction

613

20.2 Finite Element Equations for Steady-State Problems

615

20.3 Solution of Poisson's Equation

615

20.4 Transient Field Problems

622

PART 7

ABAQUS and ANSYS Software and MATLAB Programs

for Finite Element Analysis

CHAPTER 2 1 Finite Element Analysis Using ABAQUS

631

2 1 . 1 Introduction

631

21.2 Examples

632

CHAPTER 22 Finite Element Analysis Using ANSYS

663

2 2 . 1 Introduction

663

22.2 GUI Layout in ANSYS

664

22.3 Terminology

664

22.4 Finite Element Discretization

665

22.5 System of Units

667

22.6 Stages in Solution

667

CHAPTER 23 MATLAB Programs for Finite Element Analysis

683

2 3 . 1 Solution of Linear System of Equations Using Choleski Method

684

23.2 Incorporation of Boundary Conditions

686

23.3 Analysis of Space Trusses

687

23.4 Analysis of Plates Subjected to In-plane Loads

Using CST Elements

691

23.5 Analysis of Three-Dimensional Structures Using CST Elements

694

23.6 Temperature Distribution in One-Dimensional Fins

23.7 Temperature Distribution in One-Dimensional Fins Including
Radiation Heat Transfer

697

23.8 Two-Dimensional Heat Transfer Analysis

699

23.9 Confined Fluid Flow around a Cylinder Using Potential

Function Approach
23.10 Torsion Analysis of Shafts

698

701
702

Appendix: Green-Gauss Theorem (Integration by Parts in Two

and Three Dimensions)
Index

705
707