1

F
F
inite Element Method
inite Element Method
THE FINITE ELEMENT
METHOD
for readers of all backgrounds for readers of all backgrounds
G. R. Liu and S. S. Quek
CHAPTER 3:
2
Finite Ee!ent Met"#d $% G. R. Liu and S. S. Quek
CONTENTS
CONTENTS

STRONG AND &EA' FORMS OF GO(ERNING EQ)ATIONS

HAMILTON*S PRINCIPLE

FEM PROCED)RE
+
D#!ain di,-.eti/ati#n
+
Di,0a-e!ent inte.0#ati#n
+
F#.!ati#n #1 FE e2uati#n in #-a -##.dinate ,%,te!
+
C##.dinate t.an,1#.!ati#n
+
A,,e!$% #1 FE e2uati#n,
+
I!0#,iti#n #1 di,0a-e!ent -#n,t.aint,
+
S#3in4 t"e FE e2uati#n,

STATIC ANAL5SIS

EIGEN(AL)E ANAL5SIS

TRANSIENT ANAL5SIS

REMAR'S
3
Finite Ee!ent Met"#d $% G. R. Liu and S. S. Quek
STRONG AND WEAK
STRONG AND WEAK
FORMS OF GOVERNING
FORMS OF GOVERNING
EQUATIONS
EQUATIONS

S%,te! e2uati#n,: strong form6 di11i-ut t# ,#3e.

Weak form: .e2ui.e, 7eake. -#ntinuit% #n t"e

de0endent 3a.ia$e, 8u6 v6 w in t"i, -a,e9.

&eak 1#.! i, #1ten 0.e1e..ed 1#. #$tainin4 an

a00.#:i!ated ,#uti#n.

F#.!uati#n $a,ed #n a 7eak 1#.! ead, t# a ,et

#1 a4e$.ai- ,%,te! e2uati#n, + FEM.

FEM -an $e a00ied 1#. 0.a-ti-a 0.#$e!, 7it"

-#!0e: 4e#!et.% and $#unda.% -#nditi#n,.
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Finite Ee!ent Met"#d $% G. R. Liu and S. S. Quek
HAMILTONS PRINCIPLE
HAMILTONS PRINCIPLE

<O1 a t"e admissible ti!e "i,t#.ie, #1

di,0a-e!ent t"e !#,t a--u.ate ,#uti#n !ake, t"e
La4.an4ian 1un-ti#na a !ini!u!.=

An ad!i,,i$e di,0a-e!ent !u,t ,ati,1%:

+
T"e -#!0ati$iit% e2uati#n,
+
T"e e,,entia #. t"e kine!ati- $#unda.% -#nditi#n,
+ T"e -#nditi#n, at initia 8t
1
9 and 1ina ti!e 8t
2
9
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Finite Ee!ent Met"#d $% G. R. Liu and S. S. Quek
HAMILTONS PRINCIPLE
HAMILTONS PRINCIPLE

Mat"e!ati-a%
?
2
1

dt L
t
t
7"e.e L@T+W
f
V U U T
T
V
d

2
1
V c V
T
V
T
V
d d A A
2
1
B A
2
1


f s
T
S
b
T
V
f
S f U V f U W
f
d d

+
8'ineti- ene.4%9
8P#tentia ene.4%9
8&#.k d#ne $%
e:te.na 1#.-e,9
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FEM PROCEDURE
FEM PROCEDURE

Ste0 1: D#!ain di,-.eti/ati#n

Ste0 2: Di,0a-e!ent inte.0#ati#n

Ste0 3: F#.!ati#n #1 FE e2uati#n in #-a -##.dinate

,%,te!

Ste0 ;: C##.dinate t.an,1#.!ati#n

Ste0 >: A,,e!$% #1 FE e2uati#n,

Ste0 C: I!0#,iti#n #1 di,0a-e!ent -#n,t.aint,

Ste0 D: S#3in4 t"e FE e2uati#n,

D
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Step 1: Doma! "#$%et&ato!
Step 1: Doma! "#$%et&ato!

T"e ,#id $#d% i, di3ided int# N

e
ee!ent, 7it" 0.#0e.
connectivity + -#!0ati$iit%.

A t"e ee!ent, 1#.! t"e enti.e d#!ain #1 t"e 0.#$e!

7it"#ut an% #3e.a00in4 + -#!0ati$iit%.

T"e.e -an $e di11e.ent t%0e, #1 ee!ent 7it" di11e.ent

nu!$e. #1 n#de,.

T"e den,it% #1 t"e !e," de0end, u0#n t"e a--u.a-%

.e2ui.e!ent #1 t"e ana%,i,.

T"e !e," i, u,ua% n#t uni1#.!6 and a 1ine. !e," i, #1ten

u,ed in t"e a.ea 7"e.e t"e di,0a-e!ent 4.adient i, a.4e..
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Step ': D#p(a$eme!t !te%po(ato!
Step ': D#p(a$eme!t !te%po(ato!

Fa,e, #n #-a -##.dinate ,%,te!6 t"e di,0a-e!ent 7it"in

ee!ent i, inte.0#ated u,in4 n#da di,0a-e!ent,.
e i i
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i
y ! y ! y !
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d N d N U 9 6 6 8 9 6 6 8 9 6 6 8
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1
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di,0a-e!ent -#!0enent 1
di,0a-e!ent -#!0enent 2
di,0a-e!ent -#!0enent
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di,0a-e!ent, at n#de 1
di,0a-e!ent, at n#de 2
di,0a-e!ent, at n#de
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Step ': D#p(a$eme!t !te%po(ato!
Step ': D#p(a$eme!t !te%po(ato!

N i, a !at.i: #1 s"a#e functions

1 2
8 6 6 9 8 6 6 9 8 6 6 9 8 6 6 9

1#. n#de 1 1#. n#de 2 1#. n#de
d
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D#p(a$eme!t !te%po(ato!
D#p(a$eme!t !te%po(ato!

C#n,t.u-tin4 ,"a0e 1un-ti#n,

+
C#n,ide. -#n,t.u-tin4 ,"a0e 1un-ti#n 1#.
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+
A00.#:i!ate in t"e 1#.!
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8 9 8 9 8 9
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1 2 3
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Pa#$a( t%a!)(e o* mo!oma(#
Pa#$a( t%a!)(e o* mo!oma(#
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T T # #
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Pa#$a( p+%am" o* mo!oma(#
Pa#$a( p+%am" o* mo!oma(#
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T T # # #
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D#p(a$eme!t !te%po(ato!
D#p(a$eme!t !te%po(ato!
+
En1#.-e a00.#:i!ati#n t# $e e2ua t# t"e n#da
di,0a-e!ent, at t"e n#de,
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p x
p x
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M
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D#p(a$eme!t !te%po(ato!
D#p(a$eme!t !te%po(ato!
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T"e -#e11i-ient, in -an $e 1#und $%
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x x x
N x p x P p x P p x P p x P
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L
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D#p(a$eme!t !te%po(ato!
D#p(a$eme!t !te%po(ato!

Su11i-ient .e2ui.e!ent, 1#. FEM ,"a0e

1un-ti#n,
( )
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.i4id $#d% !#3e!ent9
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Step ,: Fo%mato! o* FE e-.ato!# ! (o$a(
Step ,: Fo%mato! o* FE e-.ato!# ! (o$a(
$oo%"!ate#
$oo%"!ate#
Since U@ Nd
e

T"e.e1#.e6
@ LU
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@ B d
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2
1
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A A
2
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V c
T
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d B B k

1D
Finite Ee!ent Met"#d $% G. R. Liu and S. S. Quek
Step ,: Fo%mato! o* FE e-.ato!# ! (o$a(
Step ,: Fo%mato! o* FE e-.ato!# ! (o$a(
$oo%"!ate#
$oo%"!ate#
Since U@ Nd
e

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U Nd
& &
#.
e e
T
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T d m d

2
1

7"e.e
8Ma,, !at.i:9
1 1 1
d d 8 d 9
2 2 2
e e e
T T T T T
e e e e
V V V
T V V V

U U d N Nd d N N d
& & & & & &
d
e
T
e
V
V

m N N
d
e
T
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V
V

m N N
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Finite Ee!ent Met"#d $% G. R. Liu and S. S. Quek
Step ,: Fo%mato! o* FE e-.ato!# ! (o$a(
Step ,: Fo%mato! o* FE e-.ato!# ! (o$a(
$oo%"!ate#
$oo%"!ate#
e
T
e s
T
e b
T
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W F d F d F d +
s b e
F F f +
8F#.-e 3e-t#.9
d d 8 d 9 8 d 9
e e e e
T T T T T T T T
f e b e s e b e s
V S V S
W V S V S + +

d N f d N f d N f d N f
d
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T
b b
V
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F N f
d
e
T
s s
S
S

F N f
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Finite Ee!ent Met"#d $% G. R. Liu and S. S. Quek
Step ,: Fo%mato! o* FE e-.ato!# ! (o$a(
Step ,: Fo%mato! o* FE e-.ato!# ! (o$a(
$oo%"!ate#
$oo%"!ate#
? d 9 8
2
1


+

t
e
T
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t
t
F d d k d d m d

9 8
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9
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t t
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t t t
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t
t
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d d d
2
1
2
1
2
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d m d d m d d m d d m d



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2
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+

t
e e e e
T
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t
t
F kd d m d

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2
1
2
1
8
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+

t
e
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t
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F d d k d d m d

e e e e e
f d m d k +

FE E2uati#n

8Ha!it#n*, 0.in-i0e9
2?
Finite Ee!ent Met"#d $% G. R. Liu and S. S. Quek
Step /: Coo%"!ate t%a!#*o%mato!
Step /: Coo%"!ate t%a!#*o%mato!
e e e e
f d m kd +

!
y
!K
yK
yK
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Local coordinate
systems
)lobal
coordinate
systems
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TD d
e e e e e
F D D ! +

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T m T
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T
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e
T
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f T F 6 6
7"e.e
8L#-a9
8G#$a9
21
Finite Ee!ent Met"#d $% G. R. Liu and S. S. Quek
Step 0: A##em1(+ o* FE e-.ato!#
Step 0: A##em1(+ o* FE e-.ato!#

Di.e-t a,,e!$% !et"#d

+
Addin4 u0 -#nt.i$uti#n, !ade $% ee!ent,
,"a.in4 t"e n#de
F D !D +

F !D 8Stati-9
22
Finite Ee!ent Met"#d $% G. R. Liu and S. S. Quek
Step 2: Impo#e "#p(a$eme!t $o!#t%a!t#
Step 2: Impo#e "#p(a$eme!t $o!#t%a!t#

N# -#n,t.aint, .i4id $#d% !#3e!ent

8!eanin4e,, 1#. ,tati- ana%,i,9

Re!#3e .#7, and -#u!n, -#..e,0#ndin4

t# t"e de4.ee, #1 1.eed#! $ein4 -#n,t.ained

! i, ,e!iL0#,iti3e de1inite
23
Finite Ee!ent Met"#d $% G. R. Liu and S. S. Quek
Step 3: So(4e t5e FE e-.ato!#
Step 3: So(4e t5e FE e-.ato!#

S#3e t"e FE e2uati#n6

1#. t"e di,0a-e!ent at t"e n#de,6 D

T"e ,t.ain and ,t.e,, -an $e .et.ie3ed $%

u,in4 @ LU and @ c 7it" t"e
inte.0#ati#n6 U=Nd
F D !D +

2;
Finite Ee!ent Met"#d $% G. R. Liu and S. S. Quek
STATIC ANAL6SIS
STATIC ANAL6SIS

S#3e !D=F 1#. D

+
Gau,, e!inati#n
+
L) de-#!0#,iti#n
+
Et-.
2>
Finite Ee!ent Met"#d $% G. R. Liu and S. S. Quek
EIGENVALUE ANAL6SIS
EIGENVALUE ANAL6SIS
? + D !D

8H#!#4ene#u, e2uati#n6 F @ ?9
A,,u!e 9 e:08 t i D
? M N
2
!
Let
2
? M N !
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i
M
i
@ ?
8Ei4en3e-t#.9
8R##t, #1 e2uati#n a.e t"e
ei4en3aue,9
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Finite Ee!ent Met"#d $% G. R. Liu and S. S. Quek
EIGENVALUE ANAL6SIS
EIGENVALUE ANAL6SIS

Met"#d, #1 ,#3in4 ei4en3aue e2uati#n

+
Oa-#$i*, !et"#d
+
Gi3en*, !et"#d and H#u,e"#de.*, !et"#d
+
T"e $i,e-ti#n !et"#d 8Stu.! ,e2uen-e,9
+
In3e.,e ite.ati#n
+
QR !et"#d
+
Su$,0a-e ite.ati#n
+
Lan-/#,* !et"#d
2D
Finite Ee!ent Met"#d $% G. R. Liu and S. S. Quek
TRANSIENT ANAL6SIS
TRANSIENT ANAL6SIS

St.u-tu.e ,%,te!, a.e 3e.% #1ten ,u$Pe-ted t#

transient e:-itati#n.

A t.an,ient e:-itati#n i, a "i4"% d%na!i- ti!e

de0endent 1#.-e e:e.ted #n t"e ,t.u-tu.e6 ,u-" a,
ea.t"2uake6 i!0a-t6 and ,"#-k,.

T"e di,-.ete 4#3e.nin4 e2uati#n ,%,te! u,ua%

.e2ui.e, a di11e.ent ,#3e. 1.#! t"at #1 ei4en3aue
ana%,i,.

T"e 7ide% u,ed !et"#d i, t"e ,#L-aed direct

integration met"od.
2E
Finite Ee!ent Met"#d $% G. R. Liu and S. S. Quek
TRANSIENT ANAL6SIS
TRANSIENT ANAL6SIS

T"e di.e-t inte4.ati#n !et"#d i, $a,i-a% u,in4

t"e finite difference met"od 1#. ti!e ,te00in4.

T"e.e a.e !ain% t7# t%0e, #1 di.e-t inte4.ati#n

!et"#dQ #ne i, i!0i-it and t"e #t"e. i, e:0i-it.

I!0i-it !et"#d 8e.4. Ne7!a.k*, !et"#d9 i, !#.e

e11i-ient 1#. .eati3e% ,#7 0"en#!ena

E:0i-it !et"#d 8e.4. -ent.a di11e.en-in4 !et"#d9

i, !#.e e11i-ient 1#. 3e.% 1a,t 0"en#!ena6 ,u-" a,
i!0a-t and e:0#,i#n.
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Finite Ee!ent Met"#d $% G. R. Liu and S. S. Quek
Ne7ma%8# met5o" 9Imp($t:
Ne7ma%8# met5o" 9Imp($t:
A,,u!e t"at
( ) ( )
2 1
2
t t t t t t t
t t
+ +
1
_
+ + +
1
,
]
D D D D D
& && &&
( ) ( )
1
t t t t t t
t
+ +
1 + +
]
D D D D
& & && &&
+ + !D "D D F
& &&
Su$,titute int#
( ) ( )
( ) ( )
{ }
2 1
2
1
t t t t t
t t t t t t t t
t t
t


+
+ + +

1
_
+ + + +
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1
,
]

1 + + +
]
! D D D D
" D D D D F
& && &&
& && && &&
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Finite Ee!ent Met"#d $% G. R. Liu and S. S. Quek
Ne7ma%8# met5o" 9Imp($t:
Ne7ma%8# met5o" 9Imp($t:
.e,idua
-! t t t t + +
! D F
&&
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F F ! D D D " D D
& && & &&
T"e.e1#.e6
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residual
t t t t

+ +
D ! F
&&
31
Finite Ee!ent Met"#d $% G. R. Liu and S. S. Quek
Ne7ma%8# met5o" 9Imp($t:
Ne7ma%8# met5o" 9Imp($t:
Sta.t 7it" D
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and
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+ + +
1
,
]
D D D D D
& && &&
( ) ( )
1
t t t t t t
t
+ +
1 + +
]
D D D D
& & && &&
Ma.-"
1#.7a.d
in ti!e
32
Finite Ee!ent Met"#d $% G. R. Liu and S. S. Quek
Ce!t%a( "**e%e!$e met5o" 9e;p($t:
Ce!t%a( "**e%e!$e met5o" 9e;p($t:
int .e,idua
1 +
]
D F "D !D F F F
&& &
.e,idua

1
D F
&&
8Lu!0ed !a,, + n# need t# ,#3e !at.i: e2uati#n9
( )
2
t t t t t
t
+
+ D D D
&
( )
2
t t t t t
t
+
+ D D D
& && &
( )
( )
2
1
2
t t t t t t
t
+
+

D D D D
&&
( )
( )
2
2
t t t t t
t
t

+ D D D D
& &&
33
Finite Ee!ent Met"#d $% G. R. Liu and S. S. Quek
Ce!t%a(
Ce!t%a(
"**e%e!$e
"**e%e!$e
met5o"
met5o"
9e;p($t:
9e;p($t:
D#
t
;
;
;
;
;
t
*
t Lt Lt+$ t+$
Find a3e.a4e 3e#-it% at ti!e t @
Lt+$ u,in4
Find u,in4 t"e a3e.a4e a--ee.ati#n at
ti!e t @ ?.
Find D
t
u,in4 t"e a3e.a4e 3e#-it% at ti!e t @tR2
O$tain D
Lt
u,in4
D
?
and a.e
0.e,-.i$ed and
-an $e #$tained 1.#!
),e t#
#$tain a,,u!in4 .
O$tain u,in4
Ti!e !a.-"in4 in "a1 t"e ti!e ,te0
?
D
&
?
D
&&
.e,idua

1
D F
&&
( )
( )
2
2
t t t t t
t
t

+ D D D D
& &&
R 2 t
D
&
( )
R 2 R 2 t t t t t
t
+
+ D D D
&
R 2 t
D
&
( )
R 2 R 2 t t t t t
t
+
+ D D D
& && &
( )
R 2 R 2 t t t t t
t
+
+ D D D
&
( )
R 2 R 2 t t t t t
t
+
+ D D D
& && &
t
D
&
R 2 ? t
D D
&& &&
t
D
&&
.e,idua

1
D F
&&
3;
Finite Ee!ent Met"#d $% G. R. Liu and S. S. Quek
REMARKS
REMARKS

In FEM6 t"e di,0a-e!ent 1ied U i, e:0.e,,ed $%

di,0a-e!ent, at nodes u,in4 s"a#e functions N
de1ined #3e. elements.

T"e ,t.ain !at.i: B i, t"e ke% in de3e#0in4 t"e

,ti11ne,, !at.i:.

T# de3e#0 FE e2uati#n, 1#. di11e.ent t%0e, #1

,t.u-tu.e -#!0#nent,6 a t"at i, needed t# d# i,
de1ine t"e ,"a0e 1un-ti#n and t"en e,ta$i," t"e
,t.ain !at.i: B.

T"e .e,t #1 t"e 0.#-edu.e i, 3e.% !u-" t"e ,a!e

1#. a t%0e, #1 ee!ent,.