Lecture -2

One-Dimensional Analysis

FEM Dr. Riessom 1

 One-Dimensional Bar Element
Axial Deformation of an Elastic Bar
x

f(x) = Distributed Loading A = Cross-sectional Area

E = Elastic Modulus
Typical Bar Element
du ui  uj du j
Pi   AE i Pj   AE
dx (i) L (j) dx
(Two Degrees of Freedom)

Virtual Strain Energy = Virtual Work Done by Surface and Body Forces

 V
ij eij dV   Ti n ui dS   Fi ui dV
St V

For One-Dimensional Case

 edV  P u

i i  Pj u j   fudV


2
One-Dimensional Bar Element
Approximation : u    k ( x )uk  [ N ]{d }
k

du d d[N ]
Strain : e     k ( x )u k  {d }  [ B]{d }
dx k dx dx
Stress - Strain Law :   Ee  E[ B]{d }

 edV  P u

i i  Pj u j   fudV 

L  Pi  L
{δd }T  A[ B]T E[ B]dx{d }  {δd }T    {δd }T  A[ N ]T fdx 
 Pj 
0 0
L L
   
T T
A[ B ] E [ B ]dx{d } { P } A[ N ] fdx
0 0

L
[ K ]   A[ B]T E[ B]dx  Stiffness Matrix
0

 Pi  L
[ K ]{d}  {F} {F }      A[ N ]T fdx  Loading Vector
 Pj 
0

 ui 
{d }     Nodal Displacement Vector
u j 
3
 Linear Approximation
ui uj
x (local coordinate
(1) L (2) system)
u(x)
Approximate Elastic Displacement
u  a1
u  a1  a 2 x  1
u2  a1  a 2 L
x
u  u1  x x (1 (2
 u  u1  2 x  1  u1   u2 ) )
L  L  L
 1 ( x )u1   2 ( x )u2 1(x) 2(x)
 u1   x x   u1 
u  1  2    1     [ N ]{d }
u2   L L  u2  1
[ N ] Approximation Function Matrix
{d }  Nodal Displacement Vector x
(1 (2
)
k(x) – Lagrange )
Interpolation
Functions
FEM Dr. Riessom 4
 Linear Approximation Scheme
 1
L L  L  1 1  AE  1  1
[ K ]   A[B] E[B]dx  AE[B] [B] dx  AE  
T T

1  L L   1 1 
L
0 0
  L  
 L 
 x
 P1  L  P1  L
1   P  Af L 1
{F}      A[N] fdx     Af o   L dx   1   o  
T

 P2  0  P2  x  P2  2 1
 
0

 L 
u 
{d}   1   Nodal Displacement Vector
u2 

AE  1  1 u1   P1  Af o L 1
[K ]{d}  {F}         
L  1 1  u2   P2  2 1

FEM Dr. Riessom 5

 Quadratic Approximation Scheme
u1 u2 u3
x
(1) (2) (3)
L
Approximate Elastic Displacement u(x)
u1  a1
L L2
u  a1  a 2 x  a3 x 2
 u2  a1  a 2  a3
2 4 x
u3  a1  a 2 L  a3 L2
(1) (2) (3)
u  1 ( x )u1   2 ( x )u2   3 ( x )u3
2(x)
 u1  3(x)
  1(x)
u  1  2  3 u2   [ N ]{d }
u3  1
Element Equation
x
 7  8 1   u1   F1  (1) (2) (3)
AE     
 8 16  8 u2    F2 
3L  
 1  8 7  u3   F3 
FEM Dr. Riessom 6
 Example
P

A1,E1,L1 A2,E2,L2
Take Zero Distributed Loading
1 2
f 0
(1) (2) (3)
Global Equation Element 1 Global Equation Element 2
 1  1 0 U 1   P1  0 0 0  U 1   0 
(1)

A1 E1         
 1 1 0 U 2    P2(1) 
A2 E 2 
0 1  1 U 2    P1( 2 ) 
L1   L2  
 0 0 0 U 3   0  0  1 1  U 3   P2( 2 ) 

Assembled Global System Equation

 A1 E1 A1 E1 
 L  0 
L1  U 1   P1   P1 
(1)
 1
 A1 E1 A1 E1 A2 E 2 A2 E 2     (1)   
  U 2    P2  P1( 2 )    P2 
 L1 L1 L2 L2    
  P 
A2 E 2  U 3   P2
(2)
AE   3
 0  2 2 
 L2 L2 

FEM Dr. Riessom 7

 Continued…
P

A1,E1,L1 A2,E2,L2
1 2
(1) (2) (3)
Reduced Global System Equation
Boundary Conditions  A1 E1 A1 E1 
 L  0 
U1  0  1 L1   0   P1 
(1)

 A1 E1 AE    
 2 2  U 2    0 
A1 E1 A2 E 2
P2( 2 )  P 
 L1 L1 L2 L2    
 
P2(1)  P1( 2 )  0 AE A2 E 2  U 3   P 
 0  2 2 
 L2 L2 

 A1 E1 A2 E 2 A2 E 2 
 L  L 
L2  U 2   0  For Uniform AE  2  1 U 2   0 
 1    1 1  U    P 
A2 E 2  U 3   P 
2

  2 2A E Properties A, E , L L   3   
 L2 L2 
PL 2 PL
Solving  U 2  , U3  , P1(1)   P
AE AE
FEM Dr. Riessom 8
 Problem
Determine nodal displacement and elemental stress.

FEM Dr. Riessom 9

 One-Dimensional Beam Element
Deflection of an Elastic Beam
f(x) = Distributed Loading
x

I = Section Moment of Inertia

E = Elastic Modulus

Typical Beam Element d  d 2w   d 2w 

Q1   EI 2  , Q2   EI 2 
w1 w2 dx  dx 1  dx 1
1 2
 d  d 2w   d 2w 
(1) (2) Q3    EI 2  , Q4   EI 2 
L M2 dx  dx  2  dx  2
M1
V1 V2 dw dw
u1  w1 , u2  1   , u3  w2 , u4  2  
(Four Degrees of Freedom) dx 1 dx 2

Virtual Strain Energy = Virtual Work Done by Surface and Body

Forces
edV  Q1u1  Q2u2  Q3u3  Q4 w4   fwdV 
L L
EI  [ B]T [ B]dx{d }  Q1u1  Q2 u2  Q3u3  Q4 w4   f [ N ]T dV
0 0
FEM Dr. Riessom 10
 Beam Approximation Functions
To approximate deflection and slope at each
node requires approximation of the form
w( x )  c1  c2 x  c3 x 2  c4 x 3

Evaluating deflection and slope at each node allows the

determination of ci thus leading to
w( x )  1 ( x )u1  2 ( x )u2  3 ( x )u3  4 ( x )u4 ,
where i are the Hermite Cubic Approximation Functions

FEM Dr. Riessom 11

 Beam Element Equation
L L
EI  [ B]T [ B]dx{d }  Q1u1  Q2 u2  Q3u3  Q4 w4   f [ N ]T dV
0 0

 u1 
u  d [ N ] d1 d2 d3 d4
  [ B]  [
{d }   2  ]
dx dx dx dx dx
u3 
u4 

 6  3L  6  3L  1   6 
    L 
2 EI   3L 2 L
2
3L L2  L L  2  fL  
  f [ N ]T dx  f   dx 
L
[ K ]  EI  [ B] [ B]dx  3
T
 
0 L  6 3L 6 3L  0 0 
  3 12  6 
 2  4   L 
  3L L2
3 L 2 L 

 6  3L  6  3L  u1  Q1   6 

2 EI  3L 2 L
2
3L L2  u2  Q2  fL  L 
      
L  6
3
3L 6 3L  u3  Q3  12  6 
 
 3L L
2
3L 2 L2  u4  Q4   L 

FEM Dr. Riessom 12

 FEA Beam Problem
f Uniform
EI
a b
1 2
(1) (2) (3)
Element 1
 6 / a3  3 / a2  6 / a3  3 / a2 0 0 U1   6  Q1(1) 
    a   (1) 
 3 / a
2
2/a 3 / a2 1/ a 0 0 U 2    Q2 
 6 / a 3 3 / a2 6 / a3 3 / a2 0 0 U 3  fa  6  Q3(1) 
2 EI        
 3 / a
2
1/ a 3 / a2 2/a 0 0 U 4  12  a  Q4(1) 
 0 0 0 0 0 0 U 5  0  0 
      
 0 0 0 0 0 0 U 6   0   0 

Element 2
0 0 0 0 0 0  U1   0 
0
 0 0 0 0 0  U 2   0 
0 0 6 / b3  3 / b2  6 / b3  3 / b 2  U 3  Q1( 2) 
2 EI      
0 0  3 / b2 2/b 3 / b2 1 / b  U 4  Q2( 2) 
0 0  6 / b3 3 / b2 6 / b3 3 / b 2  U 5  Q3( 2) 
    
0 0  3 / b2 1/ b 3 / b2 2 / b  U 6  Q4( 2) 
FEM Dr. Riessom 13
 FEA Beam Problem
1 2
(1) (2) (3)

Global Assembled System

6 / a 3  3 / a2  6 / a3  3 / a2 0 0  U1   6   Q1(1) 
    a   
 
(1)
2/a 3 / a2 1/ a 0 0  U 2     Q2 
   6 / a  6 / b 3 / a2  3 / b2
3 3
 6 / a3 2
3/ a  3 U   6  
fa   Q3  Q1 
(1) ( 2) 
2 EI           (1) 
    2/a  2/b 3 / a2 1 / a  U 4  12  a  Q4  Q2( 2) 
     6 / a3 3 / a 2  U 5   0   Q3( 2) 
      
      2 / a  U 6   0   Q4( 2) 

Boundary Conditions Matching Conditions

U1  w  0 , U 2    0 , Q
(1)
1
(1)
1
( 2)
3 Q ( 2)
4 0 Q3(1)  Q1( 2)  0 , Q4(1)  Q2( 2)  0
Reduced System
6 / a 3  6 / b 3 3 / a 2  3 / b 2  6 / a3  3 / a 3  U1  6  0
      
 2/a 2/b 3 / a2 1 / a  U 2  fa a  0
2 EI        
   6 / a3 3 / a 2  U 3  12 0  0
   0  0
    2 / a  U 4 

Solve System for Primary Unknowns U1 ,U2 ,U3 ,U4

Nodal Forces Q1 and Q2 Can Then Be Determined
FEM Dr. Riessom 14
 Using Weighted Residual
The main step is deriving the element stiffness matrix
as the matrix relating the nodal displacement vector to
the nodal force vector.
U1 U (x) U2

f1 ( x) f 2 ( x)
x
L

The differential equitation for the axial displacement

d 2U ( x)
EA 0 0 xl
dx 2
The residual

2
d u ( x)
Rd  AE 2
 ax
dx
FEM Dr. Riessom 15
 Using Weighted Continued…
The weight residual statement

 2
d u ( x)
 w( x)( AE
0 dx 2
 ax)dx  0


 2 
d u ( x)
0 w( x ) AE
dx 2
dx   w( x)axdx  0
Recalling integration by parts 0


 
 

 
 w( x) AE d u 
  AE d u ( x )  dw
 dx   
 dx  dx  dx   w( x)axdx  0
 0 0   0

It is referred to as weak form because of the weaker

continuity demand on the trial solution.

FEM Dr. Riessom 16

 Using Weighted Continued…
Piece-wise trial function for the solution can be done by
having lower degree polynomials.
The piece-wise trial function needs to ensure continuity
of the field variable and its derivatives at the junctions
while the exact solution ensure at all.
d 2U ( x)
EA 2
0 0 xl
dx
By integrating two times
EAu( x)  C1 x  C2

Where c1 and c2 are constants of integration. The axial

displacement is equal to the nodal displacements
FEM Dr. Riessom 17
 Using Weighted Continued…
The nodal displacements u (0)  C 2  u1
u ()  C1  C 2  u 2
u 2  u1
u 2  u1  C1 
On substitution EAu ( x)  ( ) x  u1 

 x x
 1  u1  u 2
  
The displacement U(x) is related to the nodal forces
through the boundary condition.
du ( x) du ( x)
EA x  0   f1 EA x    f2
dx dx
 u  u1   u  u1 
EA 2    f1 EA 2   f2
     
In matrix form
EA  1  1 u1   f1 
    
  1 1  u 2   f 2 
FEM Dr. Riessom 18
 Weighted Residual Beam
The governing differential equation for beam bending
d 4 y ( x)
EI 4
0 0 x
d x
Typical Beam Element
w1 w2
1 2

(1) L (2)
M2
M1
V1 V2

1 1
By integrating four times y ( x)  C1 x 3  C 2 x 2  C3 x  C 4
6 2
dy dy( x)
y ( x) x 0  y1  1 y ( x ) x l  y2  2
dx x 0 dx x l

FEM Dr. Riessom 19

 Weighted Residual Beam Cont…
Hence the equation for the bending displacement

       x 2    x  2  x 3 
3 2 3 3
 x      
y x   1  3 x
2 x x x

 2   y1   x   2     1  3   2   y 2          2
                          

d yx 
3

d 2 yx 
 f2
 x 0  f1 dx 2
x 0

dx 3
d 3 yx  
d 2 yx 
 f4
 x    f3 x 
dx 3 dx 2

f1 

 3

12 y1  61  12 y2  6 2  f2 

2
6 y1  41  6 y 2  2 2 


 12 y1  61  12 y 2  6 2  
f3 
3
f4  2
6 y1  21  6 y 2  4 2 


FEM Dr. Riessom 20

Weighted Residual Beam Cont…
In matrix form
K  y   f 
The stiffness matrix becomes
 12 6  12 6 
 2
 6 2 2 
EI  6 4
k   3
l  12  6 12  6 
 
 6 2
2
 6 4 2 

FEM Dr. Riessom 21

 Frame Structure
Frame members are loaded axially and transversely.
It is capable of carrying, axial, transverse forces, as
well as moments.

Frame elements are applicable for the analysis of

skeletal type systems of both planar frames (2D
frames) and space frames (3D frames).

Known generally as the beam element or general beam

element in most commercial software.

FEM Dr. Riessom 22

 Frame Element
Generalization of Bar and Beam Element with Arbitrary
w1 w2
Orientation 1 u
 2
u
P1
1  2
P2
(1) L (2)
M2
M1
V1 V2
 AE AE 
 L 0 0  0 0 
L
 12 EI 6 EI 12 EI 6 EI   u   P 
 0 0   1 1
 L3 L2 L3 L   w  Q 
2

 0 6 EI 4 EI 6 EI 2 EI   1   1 
0  2
 L2 L L L   1   Q2 
 AE AE   u2   P2 
 0 0 0 0    
 L L  w  Q 
12 EI 6 EI 12 EI 6 EI   2   3 
 0   0  2   2  Q4 
 L3 L2 L3 L 
 0 6 EI 2 EI
0
6 EI
 2
4 EI 
 L2 L L L 

FEM Dr. Riessom 23

 Truss Element
Generalization of Bar Element With Arbitrary Orientation
y

k=AE/L

s  sin  , c  cos 

FEM Dr. Riessom 24

 Truss Structure
Bars in a truss have various orientations
member in
compression

member in
tension

Connecting pin

FEM Dr. Riessom 25

 Vector Decomposition
d 2y , f 2y
x̂
dˆ 2y , fˆ2y  0 d̂ 2x , f̂ 2x
y ŷ
d 2x , f 2x
d1y , f1y
dˆ 1y , fˆ1y  0 θ
d̂1x , f̂1x d1x , f1x

x
At node 1: At node 2:
d̂1y d̂ 2y

d1y d 2y
θ d̂1x d̂ 2x
θ
d1x d 2x f̂ 2y  0
f̂1y  0

f1y f 2y
θ f̂ 2x
θ f̂1x
f1x FEM Dr. Riessom
f 2x 26
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
FEM Dr. Riessom 27
 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

f̂ 2x 
 - k 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 

FEM Dr. Riessom 28

 Observation

1. Assume that there is no stiffness in the local y^

direction.
2. 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.
3. The expanded stiffness matrix in the local
coordinates is symmetric and singular.
4. In local coordinates we have f̂  k̂ d̂
41 44 41

FEM Dr. Riessom 29

But or 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  d1y Need to understand

d    θ d̂1x
 1y  d̂1y  how the components
d    d̂    d1x
d̂ 2y of a vector change
d 2x
  d̂ 2x  with coordinate
d 2y  d̂  d 2y transformation
 2y  θ d̂ 2x

d 2x

FEM Dr. Riessom 30

 Transformation of a Vector
y vx v y cos θ Angle q is
ŷ x̂ measured positive
v̂ x
v̂ y
θ in the counter
v v x sin θ clockwise direction
vy
from the +x axis)
θ
v y sin θ x
v x cos θ

The vector v has components (vx, vy) in the global coordinate system
and (v^x, v^y) in 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
FEM Dr. Riessom 31
In matrix form

 v̂ x   cos θ sin θ   v x 
    
 y    sin θ cos θ   v y 
v̂
Or Direction cosines
 v̂ x   l m   v x  l  cos 
   v  where
 y 
v̂  m l  y m  sin 
Transformation matrix for a single vector in 2D
 l m 
*
T  v̂ T v
*
 relates
  m l 
 v̂ x   v x  are components of the same
where v̂    and v   
 v̂ y   v y  vector in local and global
coordinates, respectively.
FEM Dr. Riessom 32
Relationship between d̂ and d for the truss element
d̂1y
At node 1 d̂1x  * d1x 
 T   d̂1x
d1y
d̂1y  d1y  θ
d1x d̂ 2y
At node 2 d̂ 2x  * d 2x 
 T   d 2y
d̂ 2y  d 2y  θ d̂ 2x
Putting these together d̂  T d d 2x

d̂1x   l m 0 0  d1x 
  
d̂1y   m l 0 0  d1y  T 
T * 0
*
  d  44
0 T 
d̂ 2x   0 0 l 
m  2x 
d̂   0 0  m l   2y 
 d 
  
2y
T
FEM Dr. Riessom d 33
d̂
 Relationship between f̂ and f for the truss element
f̂1y
At node 1 f̂1x  * f1x 
 T  
f̂1y  f1y  f̂1x
f1y
θ
f̂ 2y
At node 2 f̂ 2x  * f 2x  f1x
 T  
f̂ 2y  f 2y  f̂ 2x
f 2y
θ
Putting these together f̂  T f f 2x

f̂1x   l m 0 0  f1x 
     
f̂1y    m l 0 0  f1y  T * 0
  f  T  *
f̂ 2x   0 m   2x  0
0 l 44 T 
f̂   0  f 
0  m l   2y 
 2y 
   
T f
f̂ FEM Dr. Riessom 34
 The transformation matrix is orthogonal, i.e. its inverse is its
transpose
x̂ f̂  T f
y ŷ d̂ 2y , f̂ 2y
d̂ 2x , f̂ 2x d̂  T d
θ f̂  k̂ d̂
d̂1y , f̂1y
 T f  k̂ T d
d̂1x , f̂1x

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

k  T k̂ T is the element stiffness matrix in the

T
Where
44 44 44 44 global coordinate system
FEM Dr. Riessom 35
  l m 0 0  k 0 -k 0
 m l  0
0 0 0 0 0
T  k̂  
 0 0 l m  - k 0 k 0
   
 0 0 m l  0 0 0 0

 l2 lm  l 2  lm 
 
EA  lm m 2
 lm  m 2 
k  T k̂ T 
T

L   l 2  lm l2 lm 
 
 lm  m 
2
lm m2

FEM Dr. Riessom 36

 Computation of The Direction Cosines

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

What happens if I reverse the node numbers?

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

FEM Dr. Riessom 37

 Example Bar element for stiffness matrix evaluation
E  30  106 psi
A  2 in 2
L  60 in
  30 3
l  cos 30 
2
1
m  sin 30 
 3 3 3 3  2
   
 4 4 4 4 
 3 1 3 1 
k
 
30 106 2  4 4

4

4  lb
60  3 3 3 3  in
  
 4 4 4 4 
 3 1 3 1 
  
 4 4 4 4 
FEM Dr. Riessom 38
 Computation of Element Strains
© 2002 Brooks/Cole Publishing / Thomson Learning™
Recall that the element strain is
d̂ 1x 
 
d̂ 2x  d̂ 1x d̂ 1y 
  1 0 1 0 
1
ε
L L d̂ 2x 
d̂ 
 2y 
 l m 0 0    1 0 1 0 d̂
1
 
 m l 0 0  L
ε   1 0 1 0 
1 d
L  0

0 l m 
 
1
 1 0 1 0 Td  
 0 0 m l  L
  l  m l md
1 Recall that the element stress is
L
d 1x 
E
L
E
  Eε  d̂ 2x  d̂1x   l  m l m d
L
   
d 
 
  l  m l m 1y 
1 Recall that the element tension is
L d
 2x  EA
d 2y  T  EAε  l m l m d  
FEM Dr. Riessom L 39
 Steps in Solving a Problem
Step 1: Write down the node-element connectivity table
linking local and global nodes; also form the table of
direction cosines (l, m)
Step 2: Write down the stiffness matrix of each element in
global coordinate system with global numbering

Step 3: Assemble the element stiffness matrices to form the

global stiffness matrix for the entire structure using the
node element connectivity table
Step 4: Incorporate appropriate boundary conditions

Step 5: Solve resulting set of reduced equations for the unknown

displacements
Step 6: Compute the unknown nodal forces

FEM Dr. Riessom 40

 Strain and Stress in Truss Element

(1) Determine the displ.

components of node 3
(2) Determine the reaction
forces at nodes 1, 2
and the element displ.,
stresses and forces

Element lengths :

Element stiffness matrices :

A1 
E  A2 
E  1.5
10 in
10
2
6
lb/in 2
1 2

FEM Dr. Riessom 41

Global stiffness matrix :

Applying boundary conditions :

first solved

We obtain

FEM Dr. Riessom 42

Analysis of Truss Structures (cont.) :

From :

The element displacements :

FEM Dr. Riessom 43

 The element stress :

substitute the known values :

The element nodal forces :

FEM Dr. Riessom 44

 Problem 1

The plane truss shown in figure is subjected to a

downward vertical load at node 2. determine via the
direct stiffness method the deflection of node 2 in the
global coordinate system specified and the axial stress
in each element. For both elements, A=0.5 in2, E=30e6
psi.

FEM 45
 Problem 2
The plane truss shown in figure below is composed of
members having a square 15 mm x 15mm cross section and
modulus of elasticity E=69 GPa. Compute the nodal
displacements in the global coordinate system and the axial
stress in each element for the loads shown.

FEM Dr. Riessom 46

 Problem 3
For the truss shown in figure below solve for the global
displacement components of node 3 and the stress in
each element. The elements have cross sectional area
A=1.0 in2 and modulus of elasticity E=15e6 psi.

300 N

250 N

FEM Dr. Riessom 47