Lecture 7

' and '

Dimensional Analysis

FEM Dr. Mesay A. 1

 Introduction and Summary
FEM Formulation of 2D elasticity (plane stress/strain)
• Displacement approximation

• Strain and stress approximation

• Derivation of element stiffness matrix and nodal

load vector
• Assembling the global stiffness matrix

Application of boundary conditions

Physical interpretation of the stiffness matrix

FEM Dr. Mesay A. 2

 Recall: 2D Elasticity
Displacement field u  u ( x, y ) u (x, y)
u 
Strain - Displacement Relation   u  v (x, y)
Stress - Strain Law   D  Du  
 0
 x 
x   x   
      0
   y     y   y 
     
 xy   xy   
 y x 
For plane stress For plane strain
(3 nonzero stress components) (3 nonzero strain components)
 

1  0 

1    0 
 E
D
E
 1 0  D   1  0 
1  2  1  
1   1  2   1  2 
0 0  0 0 

 2 
  2 
FEM Dr. Mesay A. 3
 Strain energy of the elastic body
Using the stress-strain law  D
1 1
U     dV    D  dV
T T

2 V 2 V

In 2D plane stress/plane strain

1
U     dV
T

2 V
T
 x  x 
1    
   y    y  dV
2 V   
 xy   xy 
1
   x x   y y   xy xy  dV
2 V

FEM Dr. Mesay A. 4

 F formulation for 2D
Step 1: Divide the body into finite elements connected
to each other through special points (“nodes”)
py
3 v3
px
4 3
u3
v4 u 1 
v 2 Element ‘e’ v2 v 
1 4  1
u ST u4 u 2 
u2  
v1 2
y v 2 
x y d 
Su u1
u 3 
1 v 3 
x v  
u
x u 4 
v 
FEM Dr. Mesay A.
 4
5
 Total Potential Energy Assgnt %
1 T T T
    dV   u X dV   u T S dS
2 V V S T

Potential energy of element ‘e’:

1 T T T
e     dV   u X dV   u T S dS
2 e e e
V V ST

This term may or may not be present depending on

whether the element is actually on ST
Total potential energy = sum of potential energies of the
elements
  e
e
FEM Dr. Mesay A. 6
Step 2: Describe the behavior of each element (i.e., derive
the stiffness matrix of each element and the nodal load
vector). Inside the element ‘e’
v3 Displacement at any point x=(x,y)
(x3,y3) 3
u3 u (x, y)
v4 u 
(x4,y4) v2 v (x, y)
Nodal displacement vector
4
u4
v u2 u 1 
v1 2 v  where
u (x2,y2)
y  1 u1=u(x1,y1)
u 2  v1=v(x1,y1)
u1  
1 (x ,y )
1 1 v 2  etc
x d 
u 3 
v 3 
 
u 4 
FEM Dr. Mesay A. v  7
 4
Recall
Strain - Displacement Relation   u
Stress - Strain Law   D  Du 

0 
 x   x   x


    0
   y     y  
y 
     

 xy   xy  
 y
x 
If we knew u then we could compute the strains and stresses
within the element.

Hence we need to approximate u first (using shape functions)

and then obtain the approximations (recall the case of
a 1D)
This is accomplished in the following 3 Tasks in the next slide
FEM Dr. Mesay A. 8
 Task 1: approximate the displacements within each element

Displacement approximation in terms of shape functions

v3
3
u3Displacement approximation within element ‘e’
v4
v2 u (x,y)  N1(x,y)u1  N2(x,y)u2  N3(x,y)u3  N4(x,y)u4
4 v (x,y) N1(x,y) v1  N2(x,y) v2  N3(x,y) v3  N4(x,y) v4
u4
u2
v1 2 u 1 
y v 
u1
 1
1 u 2 
v  
x u(x, y)  N 1 0 N2 0 N3 0 N4 0  v 2 
u u   
 v (x, y)  0 N1 0 N2 0 N3 0 N 4  u 3 
v 3 
uNd  
u 4 
v 
FEM Dr. Mesay A. 9 4 
Task 2: approximate the strain and stress within each
element Approximation of the strain in element ‘e’
u (x, y) N1(x, y) N 2(x, y) N3(x, y) N4 (x, y)
x   u1  u2  u3  u4
x x x x x
v (x, y) N1(x, y) N 2 (x, y) N3(x, y) N4 (x, y)
y   v1  v2  v3  v4
y y y y y
u (x, y) v (x, y) N1(x, y) N (x, y)
 xy    u1  1 v1  ......
 
y x y x
x
 
   y 
 xy 
 
u1 
v 
 N1(x, y) N2(x, y) N3(x, y) N4(x, y)  1 
 0 0 0 0 u 2 
  x  x  x  x  
 0
N1(x, y)
0
N2 (x, y)
0
N3 (x, y)
0
N 4 (x, y) v2 
 
 y y y y u3 
 N (x, y) N (x, y) N (x, y) N (x, y) N (x, y) N (x, y) N (x, y) N (x, y) 
 1 1 2 2 3 3 4 4
v3 
 y x y x y x y x u 
   4 
B v 
FEM Dr. Mesay A. εBd  4
10
 Stress approximation within the element ‘e’
Stress - Strain Law   D   D B

Task 3: derive the stiffness matrix of each element

using the principle of minimum potential energy

Potential energy of element ‘e’:

1 T T T
e     dV   u X dV   u T S dS
2 e e e
V V ST

Lets plug in the approximations

uNd εBd   DB d
1
 e (d )  D B d  B d N d N d
T
   dV    T
X dV    T
T S dS
2 e e e
V V S T

FEM Dr. Mesay A. 11

 Rearranging
1 T
 e (d)  d   e B D B dV  d  d   e N X dV   d   e N T S dS 
T T T T T

2 V  V   ST 
1 T
 d   e B D B dV  d  d   e N X dV   e N T S dS 
T T T T

2 V V ST

k f

1 T
  e (d )  d k dd f
T

2
From the Principle of Minimum Potential Energy
 e (d)
k d f 0
d

Discrete equilibrium equation for element ‘e’

kd f
FEM Dr. Mesay A. 12
 Element stiffness matrix for element ‘e’

For a 2D element, the size of the k matrix is

T
k   e B D B dV 2 x number of nodes of the element
V

Question: If there are ‘n’ nodes per element, then what is the size
of the stiffness matrix of that element?
Element nodal load vector

f   e N X dV   e N T S dS
T T STe
V
  ST

 
f f
b S
e

Due to body force

Due to surface traction
FEM Dr. Mesay A. 13
 If the element is of thickness ‘t’

T
For a 2D element, the size of the k matrix is
k   e t B D B dA 2 x number of nodes of the element
A

dA
dV=tdA
Element nodal load vector
t
f   e t N X dA   e t N T S dl
T T

A     lT
 
f f
b S

Due to body force Due to surface traction

1. The element stiffness matrix is singular and is therefore non-
invertible
2. The stiffness matrix is symmetric
3. Sum of any row (or column) of the stiffness matrix is zero!
(why?) FEM Dr. Riessom 14
Computation of the terms in the stiffness matrix of 2D elements

v4 v3
4
u4
3 The B-matrix (strain-displacement) corresponding to this element is
u3

u1 v1 u2 v2 u3 v3 u4 v4
v
 N1 (x,y) N 2 (x,y) N3 (x,y) N4 (x,y) 
y  0 0 0 0 
u v2  x x x x 
v1 (x,y)  N1 (x,y) N2 (x,y) N3 (x,y) N4 (x,y) 
 0 0 0 0 
 y y y y 
1 u1 2 u2  N1 (x,y) N1 (x,y) N 2 (x,y) N2 (x,y) N3 (x,y) N3 (x,y) N4 (x,y) N4 (x,y) 
 y x y x y x y x 
 
x

We will denote the columns of the B-matrix as

 
  N 1 (x,y) 
 
 0 
x  

0
   N 1 (x,y)  ; and so on...
B u1   ; B v1   
  N (x,y)  y
1  
    N 1 (x,y) 
 y   
x

FEM Dr. Mesay A. 15

 The stiffness matrix corresponding to this element is
T
k   e B D B dV which has the following form
V

u2 v2 u3 v3 u4 v4
u1 v1

 k11 k12 k 13 k 14 k15 k 16 k17 k 18  u1

k k 22 k 23 k 24 k 25 k 26 k 27 k 28  v1
 21 
 k 31 k 32 k 33 k 34 k 35 k 36 k 37 k 38  u2
 
k k 42 k 43 k 44 k 45 k 46 k 47 k 48  v2
k   41
 k 51 k 52 k 53 k 54 k 55 k 56 k 57 k 58  u3
 
 k 61 k 62 k 63 k 64 k 65 k 66 k 67 k 68  v3

k k 72 k 73 k 74 k 75 k 76 k 77 k 78  u4
 71 
 k 8 1 k 82 k 83 k 84 k 85 k 86 k 87 k 8 8  v4

The individual entries of the stiffness matrix may be computed as

follows k11   Bu T D Bu dV; k12   Bu T D Bv dV; k13   Bu T D Bu dV,...
1 1 1 1 1 2
Ve Ve Ve

T T
k21   e Bv1 D Bu1 dV; k21   e Bv1 D Bv1 dV;.....
V V
FEM Dr. Mesay A. 16
 Step 3: Assemble the element stiffness matrices into the
global stiffness matrix of the entire structure
v3

Element #1 3 u3
v1 For this create a node-element
v4 connectivity chart exactly as in 1D
1
u1
4 u4
v2

y ELEMENT Node 1 Node 2 Node 3

2 u2 Element #2
1 1 2 3
v
x 2 2 3 4
u

FEM Dr. Riessom 17

 Stiffness matrix of element 1 Stiffness matrix of element 2
u2 v2 u3 v3 u v4
u1 v1 u2 v2 u3 v3 4
  u2
u1
   
    v2
  v1
(2)   u3
(1 )   u2 k   
k   
v2
  v3
  k
(1)
 
  u3 u4
 u v1 u v2  v3 u v4
 
u3  v4
 1 2  v3 4 
u
  1
  v 1

  u k
(2)

  v 2
There are 6
K   u 2
degrees of freedom
3
  (dof) per element
Global stiffness v (2 per node)
matrix   3

  u 4

 FEM Dr. Riessom

 8v 84
18
 Physical interpretation of the stiffness matrix
Consider a single triangular element. The six corresponding
equilibrium equations ( 2 equilibrium equations in the x- and y-
directions at each node times the number of nodes) can be
written symbolically as
kd f
v1 k11 k12 k13 k14 k15 k16 u1  f1x 
v3
k  
1 u1
 21 k22 k23 k24 k25 k26v1  f1y 
v2 u3 k31 k32 k33 k34 k35 k36u2  f2x 
     
y 3
k41 k42 k43 k44 k45 k46v2  f2y 
u2 k51 k52 k53 k54 k55 k56u3  f3x 
2     
k61 k62 k63 k64 k65 k66v3  f3y 
x

FEM Dr. Mesay A. 19

 Three Dimensional Analysis
3D elasticity problem
• Governing differential equation + boundary
conditions
• Strain-displacement relationship

• Stress-strain relationship

Special cases
2D (plane stress, plane strain)
Axisymmetric body with axisymmetric loading

FEM Dr. Mesay A. 20

 Body Force
Volume
Xc dV
element dV Body force: distributed
Xb dV force per unit volume (e.g.,
Xa dV weight, inertia, etc)
w
Volume (V) X a 
v  
u X  X b 
Surface (S)
z X 
x  c
NOTE: If the body is accelerating,  u 
 
then the inertia force  u
   v 
y  w 
x   
may be considered as part of X
~
X  X   u
FEM Dr. Mesay A. 21
 Surface Traction
Volume pz
Xc dV Traction: Distributed
element dV
py force per unit surface
Xb dV p
Xa dV
x area
w
Volume (V)
v ST
u p x 
z  
x T S  p y 
p 
 z
y
x

FEM Dr. Mesay A. 22

 3D Elasticity:
INTERNAL FORCES
Volume sz
element dV
tzy
tzx tyz
w txz t sy
Volume (V) xy
v
u tyx
z sx
x

y
x If I take out a chunk of material from the body, I will see that,
due to the external forces applied to it, there are reaction forces
For the cube in the figure, the internal reaction forces per unit
area(red arrows) , on each surface, may be decomposed into
three orthogonal components.
FEM Dr. Mesay A. 23
 sz 3D Elasticity
sx, sy and sz are normal stresses.
tzy The rest 6 are the shear stresses
tzx tyz
txz sy Convention
z txy txy is the stress on the face
tyx perpendicular to the x-axis and points
sx in the +ve y direction
Total of 9 stress components of which
y only 6 are independent since  xy   yx
x
 x   yz   zy
The stress vector is therefore    zx   xz
 y
 z 
  
 xy 
 yz 
FEM Dr. Mesay A.
  24
 zx 
Strains: 6 independent strain components
 x 
Consider the equilibrium of a  
 y
differential volume element to obtain the   z 
3 equilibrium equations of elasticity   
 xy 
 x  xy  xz    yz 
   Xa  0 0 0  
x y z  x
 xy  y  yz     zx 
   Xb  0 0 0
x y z  y 
 xz  yz  z  
   Xc  0 0 0
z 
x y z  
 0
  X 0 where  y
T
x 
  
0 
 z y 
 0

 z x 
FEM Dr. Mesay A. 25
 Volume pz
Xc dV
element dV
Xb dV p py
x
Xa dV
w
Volume (V)
v ST
u
z
x
Su

y
x
1. Strong formulation of the 3D elasticity problem: “Given the
externally applied loads (on ST and in V) and the specified
displacements (on Su) we want to solve for the resultant
displacements, strains and stresses required to maintain
equilibrium of the body.”
FEM Dr. Mesay A. 26
 TS
nz pz Traction: Distributed
force per unit area
n
py p x 
ny  
T S  p y 
nx px p 
ST  z
n x 
If the unit outward normal to ST :  
n  n y 
n 
Then p x   x nx   xy n y   xz nz  z
p y   xy nx   y n y   yz nz
p z   xz nx   zy n y   z nz

FEM Dr. Mesay A. 27

 py TS
In 2D n txy
ny
q q q
dy ds nx sx dy ds px
txy dx
dx
y ST
sy
x Consider the equilibrium of the wedge in
x-direction
dx p x ds   x dy   xy dx
sin    ny
ds dy dx
dy  px   x   xy
cos    nx ds ds
ds  p x   x n x   xy n y
Similarly
p y   xy n x   y n y
FEM Dr. Mesay A. 28
2. Strain-displacement Relationships:
x 
u Compactly;
 u
x
 
y 
v
 x 0 0
y  x 
    
w  y 0 0
z   y 
z   z 
     u 
 xy 
u v
  xy  0 0
z   
y x  yz   u  v

v w    0 w 
 yz    zx   y x   
z y   
 zx 
u w
 0 
 z y 
z x
 0

 z x 

FEM Dr. Mesay A. 29

 u
dy
y
C’
In 2Dimenssional v y
v dy
y
C 2
B’
u A’  v
dy 1
x
dx
v
A dx B
x
  u   u
 dx   u  dx   u   dx u dx
A' B'  AB   x  u x
     
AB dx x
x

  v  
 dy   v  dy   v   dy
 y
A' C'  AC   v
     
AC dy y
y

π
   angle (C' A' B' )  β 1  β 2  tan β 1  tan β 2
2
xy

v u
 
x x
FEM Dr. Mesay A. 30
 3. Stress-strain Relationship:
Linear elastic material (Hooke’s Law)
  D (3)

Linear elastic isotropic material

1     0 0 0 
  1   0 0 0 

   1  0 0 0 
E  1  2 
D  0 0 0
2
0 0 
(1   )(1  2 )  
1  2
 0 0 0 0 0 
 2 
 1  2 
 0 0 0 0 0
2 
FEM Dr. Mesay A. 31
PLANE STRESS: Only the in-plane stress components
are nonzero
Area element dA Nonzero stress components  x ,  y , xy
h
 xy y
 xy
x
D
y Assumptions:
1. h<<D
2. Top and bottom surfaces are free
x from traction
3. Xc=0 and pz=0

FEM Dr. Mesay A. 32

 Plane Stress
Nonzero stresses:  x ,  y , xy
Nonzero strains:  x ,  y ,  z ,  xy
Isotropic linear elastic stress-strain law   D 
  
 x   1  0   x 
  E 
 y    1 0   y  z    x   y 
  1   2
 1    1 
 xy  0 0   xy 
 2 

Hence, the D matrix for the plane stress case is

 
1  0
E  
D 2
 1 0 
1   1  
0 0 
 2 
FEM Dr. Mesay A. 33
PLANE STRAIN Examples:
1. Dam Slice of unit thickness
1

 xy y
y  xy
z x

x
z
2. Long cylindrical pressure vessel subjected to internal/external
pressure and constrained at the ends

FEM Dr. Mesay A. 34

 Plane Strain
Nonzero stress:  x ,  y ,  z , xy
Nonzero strain components:  x ,  y ,  xy
Isotropic linear elastic stress-strain law  D

  
 x  1   0   x 
  E
 y     1  0    y   z    x   y 
  1   1  2   0 0
1  2   
 xy     xy 
 2 
Hence, the D matrix for the plane strain case is
 
1   0 
E
D   1  0 
1   1  2   1  2 
 0 0 
 2 
FEM Dr. Mesay A. 35
 y
Example Problem
 x  2 xy The square block is in plane strain
2

2 1  y  3xy 2 and is subjected to the following

3 strains
2  xy  x 2  y
3 4
x

Compute the displacement field (i.e., displacement

components u(x,y) and v(x,y)) within the block
u
x   2 xy (1)
x
Recall from definition v
y   3xy 2 (2)
y
u v
 xy    x 2  y 3 (3)
y x
FEM Dr. Mesay A. 36
 Solution
Integrating (1) and (2) Arbitrary function of ‘x’
u ( x, y )  x 2 y  C1 ( y ) (4)
3 Arbitrary function of ‘y’
v( x, y )  xy  C2 ( x) (5)
Plug expressions in (4) and (5) into equation (3)
u v
  x 2  y 3 (3)
y x


  
 x 2 y  C1 ( y )  xy 3  C2 ( x)

 x2  y3
y x
C ( y ) C ( x)
 x2  1  y3  2  x2  y3
y x
C1 ( y ) C2 ( x)
  0
y x

Function of ‘y’ Function of ‘x’

FEM Dr. Mesay A. 37
Hence
C1 ( y ) C ( x)
 2  C (a constant )
y x

Integrate to obtain
C1 ( y )  Cy  D1 D1 and D2 are two constants of
C2 ( x)  Cx  D2 integration

Plug these back into equations (4) and (5)

(4) u ( x, y )  x 2 y  Cy  D1
(5) v( x, y )  xy 3  Cx  D2

How to find C, D1 and D2?

FEM Dr. Mesay A. 38