Addis Ababa University

Addis Ababa Institute of Technology

School of Mechanical and Industrial Engineering

Introduction to
Finite Element Method

Chapter Three
FEA of One Dimensional Problems

Bililign Amare
 Spring Element
forces for the spring. At node i,
One Spring Element we have

and at node j

In matrix form,

or

 Where

Spring force-displacement relationship:

 Note: K is Symmetric.

 Consider the equilibrium of

 Spring Element cont..
Spring System

 For element 1, and For element 2

 where fi m is the (internal) force acting on local node i of element

m (i = 1, 2).
 Assemble the stiffness matrix for the whole system:--
Consider the equilibrium of forces at
node 1, at node 2, and node 3,
F 1 = f1 1 F 2 = f2 1 + f1 2 F 3 = f2 2
 Spring Element cont..
Spring System cont..
 That is, An alternative way of assembling the
whole stiffness matrix:
“Enlarging” the stiffness matrices for
elements 1 and 2, we have:
In matrix form,

Adding the two matrix equations

or [superposition], we have,
K is the stiffness matrix (structure
matrix) for the spring system.
 Spring Element cont..
Spring System cont..
 Example Solution

(a) The element stiffness matrices are:

(1)

(2)

(3)

 Applying the superposition concept, we

obtain the global stiffness matrix ,
 Spring Element cont..
Spring System cont..
Equilibrium equation for the whole Solving Eq (5), we can get

system is (6)

(c) From 1st and 2nd Eq of (4), the reaction

force becomes,
(4)

(d) The FE Eq for element 2 is,

(b) Applying BC (u1=u4=0) in Eq (4).
We have
Here, i=2, j=3; for element 2
(5)

= 200 (N)
 Bar Element

 A bar is a structural member that is loaded axially.

Axial deformation, 𝑢, is governed by the following DE

 It is either in direct tension or compression.


 Even a single linear element can solve this problem exactly

 Bar Element

Bar Element Assumptions

 Bar is geometrically straight.
 The material obeys Hook’s law.
 Forces are applied only at the ends of the bar.
 The bar supports axial loading only, bending,
torsion and shear are not transmitted to the
element.
 Bar Element
Stiffness matrix of bar element
E, A

© 2002 Brooks/Cole Publishing / Thomson Learning™

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 d̂1x 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

d̂ 2x  d̂ 1x 
L
k

The bar is acting like a spring with stiffness EA

k
L
Recall the lecture on springs
E, A

© 2002 Brooks/Cole Publishing / Thomson Learning™

Two nodes: 1, 2
Nodal displacements: d̂1x d̂ 2x
Nodal forces: f̂1x f̂ 2x
Spring constant: EA
k
L
Element stiffness matrix in local coordinates
f̂ k̂ d̂ 
f̂1x   k - k  d̂1x 
     
Element force Element nodal 
f̂ 2x 
  -k k  d̂ 2x 
vector
Element displacement      
stiffness vector f̂ k̂ d̂
matrix
What if we have 2 bars?
E1, A1
E2, A2

L2
L1

This is equivalent to the following system of springs

E 1 A1 E 2A 2
k1  k2 
L1 L2
x
1
Element 1 2 Element 2 3
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
1
Element 1 2 Element 2 3
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 d   F 
k2   3x   3x 
here d1x d 3 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) d2 x  
k1  k2 3EA
To calculate the stresses:
For element #1 first compute the element strain
d 2 x  d1x d2 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 d2x 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

Bars in a truss have various orientations

member in
compression

member in tension

Connecting pin
 d 2y , f 2y
x̂
dˆ 2y , fˆ2y 0 d̂ 2x , f̂ 2x
y ŷ
d 2x , f 2x
d 1y , f1y
dˆ 1y , fˆ1y 0 θ
d̂1x , f̂1x d 1x , f1x

x
At node 1:
d̂1y At node 2:
d̂ 2y
d1y
θ d̂1x d 2y
θ d̂ 2x
d1x
f̂1y 0 d 2x f̂ 2y 0

f1y f 2y
θ f̂1x θ f̂ 2x
f1x f 2x
 In the global coordinate system, the vector of nodal displacements and loads

d1x  f1x 
d  f 
 1y   1y 
d  ; f  
d 2x  f 2x
   

d 2y 
 
f 2y 


Our objective is to obtain a relation of the form

f k d
41 44 41

Where k is the 4x4 element stiffness matrix in global coordinate system

 The key is to look at the local coordinates
x̂
y ŷ dˆ 2y , fˆ2y 0
d̂ 2x , f̂ 2x

f̂1x   k - k 
d̂1x 
θ      
dˆ 1y , fˆ1y 0
  - k
f̂ 2x  k d̂ 2x 

d̂1x , f̂1x
EA
x k
L
Rewrite as f̂1x   k 0 -k 0 d̂1x 
     
f̂1y   0 0 0 0 d̂1y  f̂ k̂ d̂
   
f̂ 2x   - k 0 k 0 d̂ 2x 
f̂   0 0 0

0 d̂ 
 2y   2y 
NOTES

^
 Assume that there is no stiffness in the local y direction.
 If you consider the displacement at a point along the local ^x direction as a
vector, then the components of that vector along the global x and y directions
are the global x and y displacements.
 The expanded stiffness matrix in the local coordinates is symmetric and
singular.
 NOTES
 In local coordinates we have
f̂  k̂ d̂
41 44 41
But our goal is to obtain the following relationship

f k d
41 44 41

Hence, need a relationship between d̂ and d , and between f̂ and f .

d̂1y

d1x  d̂1x 
d    d1y
 1y  d̂1y  θ d̂1x
d   d̂   d1x
d 2x d̂ 2y
  d̂ 2x 

d 2y 
 d̂  d 2y
 2y  θ d̂ 2x
d 2x
 Transformation of a vector in two dimensions
Need to understand how the components of a vector change with coordinate
transformation
Angle q is measured
positive in the counter
clockwise direction from
the +x axis)

^ , v^ ) in
The vector v has components (vx, vy) in the global coordinate system and (v x y
the local coordinate system. From geometry
v̂ x  v x cos θ  v y sin θ
v̂ y  v x sin θ  v y cos θ
In matrix form
 v̂ x   cos θ sin θ  vx 
    
 v̂ y    sin θ cos θ  vy 
Or Direction cosines
 v̂ x   l m vx  l cos 
     where
 v̂ y    m l  vy  m sin 
Transformation matrix for a single vector in 2D
 l m *
v̂  T v
*
T  relates
 m l 
 v̂ x   v x  are components of the same vector
where v̂   and v  
 v̂ y   v y  in local and global coordinates,
respectively.
 Relationship between d̂ and d for the truss element
d̂1y
At node 1 
d̂1x 
 * d 1x 
  T   d1y
d̂1y 
  d1y  θ d̂1x
d1x d̂ 2y
At node 2 
d̂ 2x 
 * d 2x 
  T   d 2y
 d̂ d
 2y    2y  θ d̂ 2x
Putting these together d̂ T d d 2x

d̂1x   l m 0 0  d1x 
  
d̂1y    m l 0 0   d
 1y 

 T* 0
  d  T  *
d̂ 2x   0 0 l 
m  2x  44
 0 T 
d̂   0 0  m l 
 d 
     
2y
   
  
2y
T d
d̂
 Relationship between f̂ and f for the truss element
At node 1 f̂1y

f̂1x 
 * f1x 
  T  
f̂1y 
  f1y  f1y
θ f̂1x
f̂ 2y
At node 2 
f̂ 2x 
 * f 2x  f1x
  T   f 2y
f̂ 2y 
  f 2y  θ f̂ 2x
Putting these together f̂ T f f 2x

f̂1x   l m 0 0  f1x 
  
f̂1y    m l 0 0   f 
 1y  T 
 T* 0
*
  f  44
 0 T 
f̂ 2x   0 0 l 
m  2x 
f̂   0 0
 f 
 m l   2y 


2y           
T f
f̂
Important property of the transformation matrix T

The transformation matrix is orthogonal, i.e. its inverse is its transpose

1 T
T T

Use the property that l2+m2=1

Putting all the pieces together

f̂ T f

d̂ T d

f̂ k̂ d̂
 T f k̂ T d
 1
 f  T k̂ T d
  

The desired relationship is f k d k
41 44 41

T is the element stiffness matrix in the global

Where k T k̂ T
44 44 44 44 coordinate system
  l m 0 0   k 0 -k 0
 m 0   0
l 0 0 0 0
T  k̂ 
 0 0 l m  - k 0 k 0
   
 0 0  m l   0 0 0 0

 l2 lm  l2  lm 
 2 
T EA  lm m2  lm  m 
k T k̂ T 
L   l2  lm l2 lm 
 
  lm  m2 lm m 2

Computation of the direction cosines

2 (x2,y2)
L
x2  x1
l cos  
L
θ
y  y1
1 (x ,y ) m sin   2
1 1 L

What happens if the node numbers reverse?

1 (x1,y1)
L x1  x2
l ' cos    l
L
θ y  y2
m ' sin   1  m
2 L
(x2,y2)
Question: Does the stiffness matrix change?
 Example
1. For the given bar element, Compute
(a) stiffness matrix. (b) Strain. (c) Stress. and (d) Tension.
Solution
E 30 10 6 psi
(a) stiffness matrix
A 2 in 2
L 60 in 3
l cos 30 
 30 2
1
m sin 30 
2
 3 3 3 3 
   
 4 4 4 4 
 3 1 3 1 
k
 6

30 10 2   4 4

4

4  lb
60  3 3 3 3  in
   
 4 4 4 4 
 3 1 3 1 
   
 4 4 4 4 
 (b) Strain

d̂ 1x   l m 0 0 
   m l 0 0 
1
d̂ 2x  d̂ 1x 1 d̂ 1y  ε   1 0 1 0  d
ε   1 0 1 0  L  0 0 l m 
L L d̂ 2x   
 0 0  m l 
d̂ 
 2y  1
  l  m l md
1 L
  1 0 1 0 d̂
L d 1x 
1 d 
  1 0 1 0 T d 1  
  l  m l m 1y 
L L d
 2x 
d 2y 
(c) Stress

 Eε 
E
L
  E
d̂ 2x  d̂ 1x   l
L
 m l md

(d) Tension

EA
T EAε   l m l m d
L

The End