Finite Element Method

Linear Elastic Spring Element

Engineer Renato Carvalho|2024

Índice:

1 Linear Elastic Spring Element

2 System Assembly in Global Coordinates

3 Exercises

Engineer Renato Carvalho| Page 2

1 Linear Elastic Spring Element A linear spring supports only axial loading. The applied
force is linearly proportional to the deflection

Linear Elastic Spring

• A linear elastic spring is a mechanical device capable

of supporting axial loading only and constructed
such that, over a reasonable operating range
(meaning extension or compression beyond
undeformed length), the elongation or contraction
of the spring is directly proportional to the applied
axial load.
• The constant of proportionality between
deformation and load is referred to as the spring
constant, spring rate, or spring stiffness, generally
denoted as k, and has units of force per unit length.

Engineer Renato Carvalho| Page 3

1 Linear Elastic Spring Element A linear spring supports only axial loading. The applied
force is linearly proportional to the deflection

𝐿
Applied
Force

2𝐹
∆𝐿

𝑭
𝐹
∆𝐿

𝟐𝑭 tg 𝜃

∆𝐿 ∆𝐿 Variation in
spring length
𝐹
tg 𝜃 = = 𝑘 → 𝑠𝑝𝑟𝑖𝑛𝑔 𝑠𝑡𝑖𝑓𝑓𝑛𝑒𝑠𝑠
∆𝐿

𝑭 = 𝒌∆𝑳
Engineer Renato Carvalho| Page 4
1 Linear Elastic Spring Element A linear spring supports only axial loading. The applied
force is linearly proportional to the deflection

Linear elastic
spring element

𝑢1 𝑢2

𝑓1 𝑓2 x
1 2

Nodes

Element coordinate system or

Local coordinate system
Engineer Renato Carvalho| Page 5
1 Linear Elastic Spring Element A linear spring supports only axial loading. The applied
force is linearly proportional to the deflection

𝑢1 𝑢2 (1) 𝑵𝒆𝒕 𝑠𝑝𝑟𝑖𝑛𝑔 𝑑𝑒𝑓𝑜𝑟𝑚𝑎𝑡𝑖𝑜𝑛 → 𝛿 = 𝑢2 − 𝑢1

(2) 𝑹𝒆𝒔𝒖𝒍𝒕𝒂𝒏𝒕 𝑎𝑥𝑖𝑎𝑙 𝑓𝑜𝑟𝑐𝑒 → 𝑓 = 𝑘𝛿 = 𝑘(𝑢2 − 𝑢1 )

𝑓1 𝑓2 x
1 2 (3) 𝐹𝑜𝑟 𝑒𝑞𝑢𝑖𝑙𝑖𝑏𝑟𝑖𝑢𝑚 → 𝑓1 + 𝑓2 = 0 → 𝑓1 = −𝑓2

𝑅𝑒𝑤𝑟𝑖𝑡𝑡𝑖𝑛𝑔 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 2 :

𝑓1 = −𝑘 𝑢2 − 𝑢1 𝑎𝑛𝑑 𝑓2 = 𝑘 𝑢2 − 𝑢1

𝑊ℎ𝑖𝑐ℎ 𝑐𝑎𝑛 𝑏𝑒 𝑒𝑥𝑝𝑟𝑒𝑠𝑠𝑒𝑑 𝑖𝑛 𝑚𝑎𝑡𝑟𝑖𝑥 𝑓𝑜𝑟𝑚 𝑎𝑠:

𝑘 −𝑘 𝑢1 𝑓1
=
−𝑘 𝑘 𝑢2 𝑓2
Engineer Renato Carvalho| Page 6
 1 Linear Elastic Spring Element A linear spring supports only axial loading. The applied
force is linearly proportional to the deflection

𝑢1 = 5 𝑚𝑚 𝑢2 = −5 mm 𝑢1 = 5 𝑚𝑚 𝑢2 = 7 mm

𝑘 = 1 𝑘𝑁/𝑚𝑚 𝑘 = 1 𝑘𝑁/𝑚𝑚
𝑓1 𝑓2 x 𝑓1 𝑓2 x
1 2 1 2

𝛿 = 𝑢2 − 𝑢1 = −5 − 5 = −10 𝑚𝑚 (𝐶𝑜𝑚𝑝𝑟𝑒𝑠𝑠𝑖𝑜𝑛) 𝛿 = 𝑢2 − 𝑢1 = 7 − 5 = 2 𝑚𝑚 (𝑇𝑟𝑎𝑐𝑡𝑖𝑜𝑛)

𝑓1 = −𝑘 𝑢2 − 𝑢1 = −1 ∗ −10 = 10 𝑘𝑁 𝑓1 = −𝑘 𝑢2 − 𝑢1 = −1 ∗ 2 = −2 𝑘𝑁

𝑓2 = 𝑘 𝑢2 − 𝑢1 = 1 ∗ −10 = −10 𝑘𝑁 𝑓2 = 𝑘 𝑢2 − 𝑢1 = 1 ∗ 2 = 2 𝑘𝑁

𝑢1 = 5 𝑚𝑚 𝑢2 = 5 mm 𝑢1 = 5 𝑚𝑚 𝑢2 = 7 mm

𝑘 = 1 𝑘𝑁/𝑚𝑚 𝑘 = 1 𝑘𝑁/𝑚𝑚
𝑓1 = 10 𝑘𝑁 𝑓2 = 10 𝑘𝑁 x 𝑓1 = 2 𝑘𝑁 𝑓2 = 2 𝑘𝑁 x
1 2 1 2
Engineer Renato Carvalho| Page 7
1 Linear Elastic Spring Element A linear spring supports only axial loading. The applied
force is linearly proportional to the deflection

𝑘 −𝑘 𝑢1 𝑓1 𝑘 −𝑘
𝑢 = 𝑘𝑒 𝑢 = 𝑓 𝑘𝑒 =
−𝑘 𝑘 2 𝑓2 −𝑘 𝑘

Element stiffness matrix in

the element coordinate Column matrix (vector) of Column matrix (vector) of
system (or local coordinate nodal displacements element nodal forces
system)

Engineer Renato Carvalho| Page 8

1 Linear Elastic Spring Element An element exhibiting N degrees of freedom has a
corresponding N × N, symmetric stiffness matrix

𝑘 −𝑘 Attention!
𝑘𝑒 =
−𝑘 𝑘

• The element stiffness matrix for the linear spring element is a 2 x 2 matrix.

• This corresponds to the fact that the element exhibits two nodal
displacements (or degrees of freedom).

• Furthermore, the matrix is symmetric. A symmetric matrix has off-diagonal

terms such that 𝑘𝑖𝑗 = 𝑘𝑗𝑖 .

• As will be seen as more complicated structural elements are developed, this

is a general result: An element exhibiting N degrees of freedom has a
corresponding N × N, symmetric stiffness matrix.

Engineer Renato Carvalho| Page 9

1 Linear Elastic Spring Element The element stiffness matrix is singular, and this also
proves to be a general result in most cases

𝑢1 𝑢2

• [𝑘𝑒 ]−1 is the inverse of the element stiffness

matrix.
𝑓1 𝑓2 x • However, this inverse matrix does not exist,
since the determinant of the element stiffness
1 2 matrix is identically zero.
𝑢1 𝑓1 • Therefore, the element stiffness matrix is
𝑘𝑒 𝑢2 = singular, and this also proves to be a general
𝑓2 result in most cases.
• That occurs because no displacement constraint
−1
𝑢1 −1 𝑓1 whatever has been imposed on motion of the
𝑘𝑒 𝑘𝑒 𝑢2 = 𝑘 𝑒 spring element.
𝑓2 • With no constraint, it is not possible to solve for
𝑢1 −1 𝑓1 the nodal displacements individually.
[𝐼] 𝑢 = 𝑘𝑒 • For unconstrained individual element, there will
2 𝑓2 have rigid body motion.
• Which means that we need to constrain at least
𝑢1 −1 𝑓1 one node to solve the problem.
𝑢2 = 𝑘 𝑒 𝑓2
Engineer Renato Carvalho| Page 10
Índice:

1 Linear Elastic Spring Element

2 System Assembly in Global Coordinates

3 Exercises

Engineer Renato Carvalho| Page 11

2 System Assembly in Global Coordinates In a system assembly, the nodes, displacements and
forces are global

Consider the system of two linear spring elements

connected as shown in the figure below

In a system assembly, the nodes, displacements and forces are global. Notice that the displacements and forces are
represented with upper case letters, which means that they are global to the system and not local to the element.

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2 System Assembly in Global Coordinates Equilibrium condition is the physical principle that will
be used in the mathematical model

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

(2) (2)
𝑢2 𝑢3

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2 System Assembly in Global Coordinates Equilibrium condition is the physical principle that will
be used in the mathematical model

Equilibrium conditions for each spring

(2)
𝑢2
(2)
𝑢3

*Note: the superscript is element number.

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2 System Assembly in Global Coordinates Connectivity between elements are guaranteed by the
compatibility conditions

Displacement compatibility conditions

Global

(2) (2)
𝑢2 𝑢3

Local

(2) (2)
𝑢2 𝑢3
Engineer Renato Carvalho| Page 15
2 System Assembly in Global Coordinates Equilibrium condition is the physical principle that will
be used in the mathematical model

Equilibrium conditions for each spring

(2)
𝑢2
(2)
𝑢3

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2 System Assembly in Global Coordinates Equilibrium condition is the physical principle that will
be used in the mathematical model

Equilibrium conditions for each spring

Engineer Renato Carvalho| Page 17

2 System Assembly in Global Coordinates Equilibrium condition is the physical principle that will
be used in the mathematical model

Equilibrium condition for the whole system

Engineer Renato Carvalho| Page 18

2 System Assembly in Global Coordinates Equilibrium condition is the physical principle that will
be used in the mathematical model

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

Engineer Renato Carvalho| Page 19

2 System Assembly in Global Coordinates Equilibrium condition is the physical principle that will
be used in the mathematical model

Equilibrium conditions for nodes 1, 2, and 3

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2 System Assembly in Global Coordinates Equilibrium condition is the physical principle that will
be used in the mathematical model

Equilibrium condition for the whole system

Engineer Renato Carvalho| Page 21

2 System Assembly in Global Coordinates Equilibrium condition is the physical principle that will
be used in the mathematical model

Equilibrium condition for the whole system

Attention!

• This equation is of the form 𝑲 𝑼 = 𝑭

• It represents the equations governing the system composed of two connected
spring elements.
• The physical principal used to create this set of equations was the equilibrium
condition (Newton’s second law → 𝐹 = 𝑚𝑎 = 𝑚 ∗ 0 = 0 → σ 𝐹 = 0)

Engineer Renato Carvalho| Page 22

2 System Assembly in Global Coordinates System matrix is simply a superposition of the individual
element stiffness matrices

System stiffness matrix [K]

System stiffness matrix [K]

• The system stiffness matrix is symmetric, as

is the case with all linear systems referred to
orthogonal coordinate systems;
• It is singular, since no constraints are
applied to prevent rigid body motion of the
system;
• And 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.

Engineer Renato Carvalho| Page 23

Índice:

1 Linear Elastic Spring Element

2 System Assembly in Global Coordinates

3 Exercises

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3 Exercises A linear spring supports only axial loading. The applied
force is linearly proportional to the deflection

Exercise 01

Consider the two-element system depicted above. Node 1 is attached to a fixed support
𝑁 𝑁
yielding the displacement constraint 𝑈1 = 0. 𝑘1 = 50 ; 𝑘2 = 75 ; 𝐹2 = 𝐹3 = 75 𝑁
𝑚𝑚 𝑚𝑚

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3 Exercises A constraint equation represents the equilibrium condition
of a node at which the displacement is constrained

Exercise 01

𝑲 𝑼 = {𝑭}

50 ∗ 0 + −50 ∗ 𝑈2 + 0 ∗ 𝑈3 = 𝐹1
−50 ∗ 𝑈2 = 𝐹1
Engineer Renato Carvalho| Page 26
3 Exercises A constraint equation represents the equilibrium condition
of a node at which the displacement is constrained

Exercise 01

−50 ∗ 𝑈2 = 𝐹1
Unknown reaction force

This is known as a constraint equation, as it

represents the equilibrium condition
of a node at which the displacement is constrained.

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3 Exercises The active displacements are the ones that aren’t
constrained and must be calculated

Exercise 01

Let’s just consider the

equations of active
displacements

−50 ∗ 0 + 125 ∗ 𝑈2 + −75 ∗ 𝑈3 = 75 → 125 ∗ 𝑈2 − 75 ∗ 𝑈3 = 75

0 ∗ 0 + −75 ∗ 𝑈2 + 75 ∗ 𝑈3 = 75 → −75 ∗ 𝑈2 + 75 ∗ 𝑈3 = 75

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3 Exercises The active displacements are the ones that aren’t
constrained and must be calculated

Exercise 01

125 ∗ 𝑈2 − 75 ∗ 𝑈3 = 75

−75 ∗ 𝑈2 + 75 ∗ 𝑈3 = 75

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3 Exercises The stiffness matrix for the active displacements is not singular,
since constraints were applied to prevent rigid body motion

Exercise 01

Active displacements

The stiffness matrix for the active

displacements is not singular, since constraints
were applied to prevent rigid body motion. That
means that this matrix can be inverted, and the
active displacements can be calculated.

Engineer Renato Carvalho| Page 30

3 Exercises The stiffness matrix for the active displacements is not singular,
since constraints were applied to prevent rigid body motion

Exercise 01
125 −75 𝑈2 75
=
−75 75 𝑈3 75
−1 −1
125 −75 125 −75 𝑈2 125 −75 75
=
−75 75 −75 75 𝑈3 −75 75 75
𝑈2 −1
125 −75 75
[𝐼] =
𝑈3 −75 75 75
𝑈2 1/50 1/50 75
=
𝑈3 1/50 1/30 75
𝑈2 1/50 1/50 75 𝑈 3
= → 2 = 𝑚𝑚
𝑈3 1/50 1/30 75 𝑈3 4
Engineer Renato Carvalho| Page 31
3 Exercises A linear spring supports only axial loading. The applied
force is linearly proportional to the deflection

Exercise 01

𝑅𝑒𝑎𝑐𝑡𝑖𝑜𝑛 𝑓𝑜𝑟𝑐𝑒 → −50 ∗ 𝑈2 = 𝐹1 = −50 ∗ 3 = −150 𝑁

(1)
50 −50 0 𝑓1−150
𝐹𝑜𝑟 𝑒𝑙𝑒𝑚𝑒𝑛𝑡 1 → = (1) = 𝑁
−50 50 3 𝑓2 150

(2)
75 −75 3 𝑓2
−75
𝐹𝑜𝑟 𝑒𝑙𝑒𝑚𝑒𝑛𝑡 2 → = (2) = N
−75 75 4 𝑓3 75

Engineer Renato Carvalho| Page 32

3 Exercises A linear spring supports only axial loading. The applied
force is linearly proportional to the deflection

Exercise 02

The figure depicts a system of three

linearly elastic springs supporting
three equal weights W suspended in a
vertical plane. Treating the springs as
finite elements, determine the
vertical displacement of each weight.

Engineer Renato Carvalho| Page 33

3 Exercises An element exhibiting N degrees of freedom has a
corresponding N × N, symmetric stiffness matrix

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3 Exercises Connectivity between elements are guaranteed by the
compatibility conditions

The element-to-global displacement relations are:

Engineer Renato Carvalho| Page 35

3 Exercises System matrix is simply a superposition of the individual element stiffness
matrices with proper assignment of element nodal displacements

Individual element equations:

System assembly equations:

EL. (1)

EL. (2)
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.
EL. (3)

Engineer Renato Carvalho| Page 36

3 Exercises A constraint equation represents the equilibrium condition of
a node at which the displacement is constrained

𝑈1 = 0 (𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝑐𝑜𝑛𝑠𝑡𝑟𝑎𝑖𝑛𝑡)

1𝑠𝑡 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 (𝑪𝒐𝒏𝒔𝒕𝒓𝒂𝒊𝒏𝒕 𝑬𝒒𝒖𝒂𝒕𝒊𝒐𝒏) → −3𝑘𝑈2 = 𝐹1

Reaction Force

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3 Exercises The active displacements are the ones that aren’t
constrained and must be calculated

Nonsingular stiffness Active displacements

matrix of the assembly

Engineer Renato Carvalho| Page 38

3 Exercises A linear spring supports only axial loading. The applied
force is linearly proportional to the deflection

→ 𝐾 𝑈 = 𝐹 → 𝑈 = [𝐾]−1 {𝐹}

Solving this set o algebraic equations yields the displacements as:

𝑪𝒐𝒏𝒔𝒕𝒓𝒂𝒊𝒏𝒕 𝑬𝒒𝒖𝒂𝒕𝒊𝒐𝒏 → −3𝑘𝑈2 = 𝐹1 → 𝐹1 = −3𝑊

Engineer Renato Carvalho| Page 39

3 Exercises There is a FEM general procedure that was used for the
spring element and will be used for more complex FEA

Attention!

FEM general procedure:

• Formulate the individual element stiffness matrices;

• Write the element to global displacement relations;
• Assemble the global equilibrium equation in matrix form;
• Reduce the matrix equations according to specified constraints;
• Solve the system of equations for the unknown nodal displacements;
• Solve for the reaction forces by back-substitution.

Engineer Renato Carvalho| Page 40

Thank you for your
attention!