INTRODUCTION TO FINITE ELEMNT METHOD

1. INTRODUCTION:
The finite element method is a numerical method for solving problems of engineering and
mathematical physics.
Typical problem areas of interest:
Structural analysis, heat transfer, fluid flow, mass transport, and Electromagnetic
potential
Useful for problems with complicated geometries, loadings, and material properties where
analytical solutions can not be obtained.
The finite element formulation of the problem results in a system of simultaneous algebraic
equations for solution, rather than requiring the solution of differential equations.
Process of modeling a body by dividing it into an equivalent system of smaller bodies or
units (finite elements) interconnected at points common to two or more elements (nodal
points or nodes) and/or boundary lines and/or surfaces is called discretization.
The solution for structural problems typically refers to determining the displacements at
each node and the stresses within each element making up the structure that is subjected
to applied loads.
In nonstructural problems, the nodal unknowns may, for instance, be temperatures or
fluid pressures due to thermal or fluid fluxes.
Contd
Brief History:
Grew out of aerospace industry
Post-WW II jets, missiles, space flight
Need for light weight structures
Required accurate stress analysis
Paralleled growth of computers
Common FEA Applications
Mechanical/Aerospace/Civil/Automotive
Engineering
Structural/Stress Analysis
Static/Dynamic
Linear/Nonlinear
Fluid Flow
Heat Transfer
Electromagnetic Fields
Soil Mechanics
Acoustics
Biomechanics
General Steps In Finite Element method Analysis:
There are two general direct approaches traditionally associated with the finite element
method as applied to structural mechanics problems.
One approach, called the force, or flexibility, method, uses internal forces as the
unknowns of the problem.
The second approach, called the displacement, or stiffness, method, assumes the
displacements of the nodes as the unknowns of the problem.
For computational purposes, the displacement (or stiffness) method is more desirable
because its formulation is simpler for most structural analysis problems.
1. Discretization:
The first step involves dividing the body into an equivalent system of finite elements with
associated nodes and choosing the most appropriate element type to model most closely the
actual physical behavior.
Model body by dividing it into an equivalent system of many smaller bodies or units (finite
elements) interconnected at points common to two or more elements (nodes or nodal
points) and/or boundary lines and/or surfaces.
Contd
Feature
Obtain a set of algebraic equations to solve for unknown (first) nodal quantity
(displacement).
Secondary quantities (stresses and strains) are expressed in terms of nodal values of
primary quantity.
Types of Elements:
The primary line elements consist of bar (or truss) and beam elements (1D). They have a
cross-sectional area but are usually represented by line segments. In general, the cross-
sectional area within the element can vary, but it will be considered to be constant for the
sake of this section.
These elements are often used to model trusses and frame structures. The simplest line
element (called a linear element) has two nodes, one at each end.
The basic two-dimensional (or plane) elements are loaded by forces in their own plane
(plane stress or plane strain conditions). They are triangular or quadrilateral elements.
The simplest two-dimensional elements have corner nodes only (linear elements) with
straight sides or boundaries The elements can have variable thicknesses throughout or be
constant.
The most common three-dimensional elements are tetrahedral and hexahedral (or
brick) elements; they are used when it becomes necessary to perform a three-
dimensional stress analysis. The basic three-dimensional elements have corner nodes
only and straight sides.
FEM FORMULATION PROCEDURE:
Principles of FEA:
The finite element method (FEM), or finite element analysis
(FEA), is a Computational technique used to obtain approximate
solutions of boundary value problems in engineering.
Boundary value problems are also called field problems. The field
is the domain of interest and most often represents a physical
structure.
The field variables are the dependent variables of interest governed
by the differential equation.
The boundary conditions are the specified values of the field
variables (or related variables such as derivatives) on the
boundaries of the field.
For simplicity, at this point, we assume a two-dimensional case
with a single field variable (x, y) to be determined at every point
P(x, y) such that a known governing equation (or equations) is
satisfied exactly at every such point.
A finite element is not a differential element of size dx dy.
A node is a specific point in the finite element at which the value of the field variable is
to be explicitly calculated.
The Mathematical and Physical FEM
Mathematical FEM:
The centerpiece in the process steps of the Mathematical FEM is the
mathematical model which is often an ordinary or partial differential equation in
space and time.
Adiscrete finite element model is generated from of the mathematical model.
The resulting FEM equations are processed by an equation solver, which
provides a discrete solution.
FEMdiscretization may be constructed without any reference to physics.
The concept of error arises when the discrete solution is substituted in the
mathematical and discrete models.
This replacement is generically called verification.
The solution error is the amount by which the discrete solution fails to satisfy
the discrete equations. This error is relatively unimportant when using
computers. More relevant is the discretization error, which is the amount by
which the discrete solution fails to satisfy the mathematical model.
PHYSICAL FEM:
The processes of idealization and discretization are carried out concurrently to
produce the discrete model.
Indeed FEMdiscretization may be constructed and adjusted without reference to
mathematical models, simply from experimental measurements.
The concept of error arises in the physical FEM in two ways, known as
verification and validation.
Verification is the same as in the Mathematical FEM: the discrete solution is
replaced into the discrete model to get the solution error. As noted above, this
error is not generally important.
Validation tries to compare the discrete solution against observation by
computing the simulation error, which combines modeling and solution errors.
Since the latter is typically insignificant, the simulation error in practice can be
identified with the modeling error.
Comparing the discrete solution with the ideal physical system would in
principle quantify the modeling errors.
Chapter 2. The Direct Stiffness Method Of FEM
Introduction:
The primary characteristics of a finite element are embodied in the element
stiffness matrix.
For a structural finite element, the stiffness matrix contains the geometric and
material behavior information that indicates the resistance of the element to
deformation when subjected to loading.
For finite elements used in nonstructural analyses, such as fluid flow and heat
transfer, the term stiffness matrix is also used, since the matrix represents the
resistance of the element to change when subjected to external influences.
Contd
Basic premise of the finite element method is to describe the continuous
variation of the field variable (physical displacement) in terms of discrete
values at the finite element nodes. In the interior of a finite element, as well as
along the boundaries (applicable to two- and three-dimensional problems), the
field variable is described via interpolation functions that must satisfy
prescribed conditions.
As introduction we present several such principles applicable to finite element
analysis. First, and foremost, for spring and bar systems, we utilize the principle
of static equilibrium butand this is essentialwe include deformation in the
development; that is, we are not dealing with rigid body mechanics.
For extension of the finite element method to more complicated elastic structural
systems, we also state and apply the first theorem of Castiglianos and the more
widely used principle of minimum potential energy .
Both theorems relate displacements and applied forces to the equilibrium
conditions of a mechanical system in terms of mechanical energy.
Steps In Direct Stiffness Method:
Step 1: Select the Element Type
Step 2: Select a Displacement Function
Step 3: Define the Strain/Displacement and Stress/Strain
Relationships
Step 4 :Derive the Element Stiffness Matrix and Equations
Step 5: Assemble the Element Equations to Obtain the
Global Equations and Introduce Boundary Conditions
Step 6: Solve for the Nodal Displacements
Step 7: Solve for the Element Forces
Direct Stiffness Method For Linear springs and Bars
Introduction:
The direct equilibrium approach, will be used to derive the stiffness matrix for a
one-dimensional linear springthat is, a spring that obeys Hookes law and
resists forces only in the direction of the spring.
Reference points 1 and 2 are located at the ends of the element. These reference
points are called the nodes of the spring element.
The local nodal forces are f
1x
and f
2x
for the spring element associated with the
local axis x. The local axis acts in the direction of the spring so that we can
directly measure displacements and forces along the spring.
The local nodal displacements are d
1x
and d
2x
for the spring element. These nodal
displacements are called the degrees of freedom at each node. Positive directions
for the forces and displacements at each node are taken in the positive x direction
as shown from node 1 to node 2 in the figure.
The symbol k is called the spring constant or stiffness of the spring.
Contd
We know that a prismatic uniaxial bar has a spring constant k =
AF
L
, where A
represents the cross-sectional area of the bar, E is the modulus of elasticity, and
L is the bar length.
Similarly, we know that a prismatic circular cross- section bar in torsion has a
spring constant k =
]6
L
, where J is the polar moment of inertia and G is the
shear modulus of the material.
For one-dimensional heat conduction, k =
Ak
xx
L
, where K
xx
is the thermal
conductivity of the material.
And for one- dimensional fluid flow through a porous medium, the stiffness
k =
Ak
xx
L
, where K
xx
is the permeability coefficient of the material.
Observe that the stiffness method can be applied to nonstructural problems, such
as heat transfer, fluid flow, and electrical networks, as well as structural
problems by simply applying the proper constitutive law (such as Hookes law
for structural problems, Fouriers law for heat transfer, Darcys law for fluid
flow and Ohms law for electrical networks) and a conservation principle such as
nodal equilibrium or conservation of energy.
1. The Linear Spring FEM
1. Select the element type:
Consider the linear spring element (which can be an element in a system of
springs) subjected to resulting nodal tensile forces T (which may result from
the action of adjacent springs) directed along the spring axial direction x as
shown in Figure below, so as to be in equilibrium.
The local x axis is directed from node 1 to node 2.
We represent the spring by labeling nodes at each end and by labeling the
element number. The original distance between nodes before deformation is
denoted by L.
The material property (spring constant) of the element is k.
Fig. Linear spring subjected to tensile forces
The Linear Spring FEM contd
2. Select a Displacement Function:
We must choose in advance the mathematical function to represent the deformed
shape of the spring element under loading. Because it is difficult, if not impossible
at times, to obtain a closed form or exact solution,
We assume a solution shape or distribution of displacement within the element by
using an appropriate mathematical function. The most common functions used are
polynomials.
Because the spring element resists axial loading only with the local degrees of
freedom for the element being displacements d
1x
and d
2x
along the x direction, we
choose a displacement function u to represent the axial displacement throughout
the element.
Here a linear displacement variation along the x axis of the spring is assumed,
because a linear function with specified endpoints has a unique path.
Therefore, u = o
1
+o
1
x
In general, the total number of coefficients a is equal to the total number of degrees
of freedom associated with the element. Here the total number of degrees of
freedom is twoan axial displacement at each of the two nodes of the element In
matrix form, becomes:
Contd
We now want to express u as a function of the nodal displacements d
1x
and d
2x
.
This will allow us to apply the physical boundary conditions on nodal
displacements directly as indicated in Step 3 and to then relate the nodal
displacements to the nodal forces in Step 4. We achieve this by evaluating u at
each node and solving for a
1
and a
2.
Back substituting the values:
In matrix form:
Where :
Contd
N
1
and N
2
are called the shape functions because the N
i
s express the shape of
the assumed displacement function over the domain (x coordinate) of the
element when the i
th
element degree of freedom has unit value and all other
degrees of freedom are zero.
In this case, N
1
and N
2
are linear functions that have the properties that N
1
= 1 at
node 1 and N
1
= 0 at node 2, whereas N
2
= 1 at node 2 and N
2
=0 at node 1.
Also, N
1
+ N
2
=1 for any axial coordinate along the bar.
In addition, the N
i
s are often called interpolation functions because we are
interpolating to find the value of a function between given nodal values.
Fig.(a) Spring element showing plots of (b) displacement function u and
Shape functions (c) N1 and (d) N2 over domain of element
3. Define the Strain/Displacement and Stress/Strain Relationships:
The tensile forces T produce a total elongation (deformation) d of the spring.
Here d
1x
is a negative value because the direction of displacement is opposite to
the positive x direction, whereas d
2x
is a positive value.
The deformation of the spring is then represented by:
For a spring element, we can relate the force in the spring directly to the
deformation. Therefore, the strain/displacement relationship is not necessary
here.
The stress/strain relationship can be expressed in terms of the force/deformation
relationship instead as:
4: Derive the Element Stiffness Matrix and Equations
We now derive the spring element stiffness matrix. By the sign convention for
nodal forces and equilibrium, we have:
or
In a single matrix equation yields:
This relationship holds for the spring along the Y axis. From our basic definition
of a stiffness matrix and application.
Here k is called the local stiffness matrix for the element. We observe from that k
is a symmetric (that is, k
ij
= k
ji
square matrix (the number of rows equals the
number of columns in k).
The main diagonal of the stiffness matrix is always positive. Otherwise, a
positive nodal force Fi could produce a negative displacement dia behavior
contrary to the physical behavior of any actual structure.
5 : Assemble the Element Equations to Obtain the Global Equations and
Introduce Boundary Conditions
The global stiffness matrix and global force matrix are assembled using nodal
force equilibrium equations, force/deformation and compatibility equations, and
the direct stiffness method described.
This step applies for structures composed of more than one element such that
where k and f are now element stiffness and force matrices expressed in a global
reference frame. (the sign used in this context does not imply a simple summation
of element matrices but rather denotes that these element matrices must be
assembled properly according to the direct stiffness method.
6: Solve for the Nodal Displacements
The displacements are then determined by imposing boundary conditions, such
as support conditions, and solving a system of equations, F = Kd,
simultaneously.
7 :Solve for the Element Forces
Finally, the element forces are determined by back-substitution, applied to each
element, into equations
The direct stiffness method for elastic Bar
Consider an elastic bar subjected to axial forces only.
This element, which we simply call a bar element, is particularly useful in the
analysis of both two- and three dimensional frame or truss structures.
Formulation of the finite element characteristics of an elastic bar element is
based on the following assumptions:
1. The bar is geometrically straight.
2. The material obeys Hookes law.
3. Forces are applied only at the ends of the bar.
4. The bar supports axial loading only; bending, torsion, and shear are not
transmitted to the element via the nature of its connections to other elements.
The last assumption, while quite restrictive, is not impractical; this condition is
satisfied if the bar is connected to other structural members via pins (2-D) or ball
and socket joints (3-D).
Recognize this element as the familiar two-force member of elementary statics,
meaning, for equilibrium, the forces exerted on the ends of the element must be
collinear, equal in magnitude, and opposite in sense.
Contd
Fig. A bar (or truss) element with element coordinate system and nodal displacement
notation.
Figure above depicts an elastic bar of length L to which is affixed a uniaxial
coordinate system x with its origin arbitrarily placed at the left end. This is the
element coordinate system or reference frame. Denoting axial displacement at
any position along the length of the bar as u(x), we define nodes 1 and 2 at each
end as shown and introduce the nodal displacements;
u
1
= u(x = 0) and u
2
= u(x = L).
Thus, we have the continuous field variable u(x), which is to be expressed
(approximately) in terms of two nodal variables u
1
and u
2
. To accomplish this
discretization, we assume the existence of interpolation functions N
1
(x ) and
N
2
(x ) (also known as shape or blending functions) such that:
Contd
To determine the interpolation functions, we require that the boundary values of
u(x ) (the nodal displacements) be identically satisfied by the discretization
such that:
This leadtothefollowingboundary(nodal)conditions:
As we have two conditions that must be satisfied by each of two one-
dimensional functions, the simplest forms for the interpolation functions are
polynomial forms:
Application of conditions represented by the previous Equation above yields a
0
= 1, b
0
= 0 while Equation above results in a
1
= (1/L) and b
1
= x/L. Therefore,
the interpolation functions are
And the continuous displacement function is represented by the discretization
Contd
This can be expressed in matrix form as:
The task remains to determine the relation between the nodal displacements and
applied forces to obtain the stiffness matrix for the bar element.
Recall from elementary strength of materials that the deflection of an elastic
bar of length L and uniform cross-sectional area A when subjected to axial
load P is given by:
where E is the modulus of elasticity of the material. Using the above Equation,
we obtain the equivalent spring constant of an elastic bar as.
Ultimately, we wish to compute the nodal displacements given some loading
condition on the element.
To obtain the necessary equilibrium equations relating the displacements to
applied forces, we proceed from displacement to strain, strain to stress, and
stress to loading, as follows. In uniaxial loading, as in the bar element, we need
consider only the normal strain component, defined as
Contd.
which, when applied to Equation
which shows that the spar element is a constant strain element. This is in accord
with strength of materials theory: The element has constant cross-sectional area
and is subjected to constant forces at the end points, so the strain does not vary
along the length. The axial stress, by Hookes law, is then
And the associated axial force is:
Lets now use it to relate the applied nodal forces f
1
and f
2
to the nodal
displacements u
1
and u
2
.
Contd
The equations are expressed in matrix form as:
Stiffness matrix for the bar element is given by:
As is the case with the linear spring, we observe that the element stiffness matrix
for the bar element is symmetric, singular, and of order 2 2 in correspondence
with two nodal displacements or degrees of freedom.
It must be emphasized that the stiffness matrix given by the Equation above is
expressed in the element coordinate system, which in this case is one-
dimensional. Application of this element formulation to analysis of two- and
three-dimensional structures is considered in the next Topics.
Finite element method for truss
Vector transformation in 2-dimension
Local coordinates are always chosen to represent the individual element
conveniently. Global coordinates are chosen to be convenient for the whole
structure.
Given the nodal displacement of an element, represented by the vector d in
figure below, we want to relate the components of this vector in one coordinate
system to components in another. For general purposes, we will assume in this
section that d is not coincident with either the local or the global axis. In this
case, we want to relate global displacement components to local ones. In doing
so, we will develop a transformation matrix that will subsequently be used to
develop the global stiffness matrix for a bar element. We define the angle to be
positive when measured counterclockwise from X to x. We can express vector
displacement d in both global and local coordinates by:
Contd.
We will now relate i and j to i and j through use of the following Figure:
From vector addition :
Form laws of cosine :
And because i is, by definition, a unit vector, its magnitude is given 1:
There for we obtain
Now a is in the i direction and b is in the j direction. Therefore,
Contd
This yields :
Similarly:
So from
Combining similar terms:
In matrix form:
Where:
is called the transformation (or rotation) matrix
Direct Stiffness method for Truss
Contd.
We will now use the transformation relationship to obtain the global stiffness
matrix for a bar element in truss. We need the global stiffness matrix of each
element to assemble the total global stiffness matrix of the structure.
We have shown that for a bar element in the local coordinate system,
We now want to relate the global element nodal forces f to the global nodal
displacements d for a bar element arbitrarily oriented with respect to the global
axes as was shown in Figure above. This relationship will yield the global
stiffness matrix k of the element. That is, we want to find a matrix k such that
Contd
Or, in simplified matrix:
We know from vector transformation relationship:
In matrix:
Or as where:
Similarly, because forces transform in the same manner as displacements, we have
or
So relating the force and the displacements:
Substituting the above transformations:
Contd
However, to write the final expression relating global nodal forces to global nodal
displacements for an element, we must invert T. This is not immediately possible
because T is not a square matrix. Therefore, we must expand d, f , and k to the
order that is consistent with the use of global coordinates even though f
1y
and
f
2y
are zero. Using vector transformation for each nodal displacement, we thus
obtain
Or
where:
Similarly we can write
Contd
Also, k must be expanded to a 4 x 4 matrix. Therefore, in expanded form
becomes:
Because f
1y
and f
2y
are zero, rows of zeros corresponding to the row numbers
f
1y
and f
2y
appear in k.
Finally we obtain:
Solving for f:
where T
-1
is the inverse of T. but it can be shown that T
-1
is equal to T
T
.
where T
T
is the transpose of T. (Property of orthogonal Matrix)
Contd
Equating equations and
We obtain the transformed elemental matrix as:
The obtained matrix would be:
The stiffness matrix and force matrix for each element can be summed by using
the direct stiffness method to obtain
K now relates the global nodal forces F to the global nodal displacements d for
the whole structure by:
Computing Stress in bars (Truss)
For a bar, the local forces are related to the local displacements by the following
equation. This equation is repeated here for convenience.
The usual definition of axial tensile stress is axial force divided by cross-
sectional area. Therefore, axial stress is:
where f
2x
is used because it is the axial force that pulls on the bar.
Substituting the axial stress in the above equation:
Now by using the transformation concept:
In simpler form where:
Finite Element Method for Beam
A. ELEMENTARY BEAM THEORY (Euler- Bernoulli beam theory ):
Figure below (a) depicts a simply supported beam subjected to a general,
distributed, transverse load q(x ) assumed to be expressed in terms of force per
unit length. The coordinate system is as shown with x representing the axial
coordinate and y the transverse coordinate. The usual assumptions of
elementary beam theory are applicable here:
1. The beam is loaded only in the y direction.
2. Deflections of the beam are small in comparison to the characteristic
dimensions of the beam.
3. The material of the beam is linearly elastic, isotropic, and homogeneous.
4. The beam is prismatic and the cross section has an axis of symmetry in the
plane of bending
Contd
Considering a differential length dx of a beam after bending as in Figure above b
(with the curvature greatly exaggerated), it is intuitive that the top surface has
decreased in length while the bottom surface has increased in length. Hence, there
is a layer that must be un deformed during bending. Assuming that this layer is
located distance from the center of curvature O and choosing this layer (which,
recall, is known as the neutral surface) to correspond to y = 0, the length after
bending at any position y is expressed as:
And the bending strain is then:
From basic calculus, the radius of curvature of a planar curve is given by:
where v = v(x) represents the deflection curve of the neutral surface.
In keeping with small deflection theory, slopes are also small, so above is
approximated by:
Contd
such that the normal strain in the direction of the longitudinal axis as a result of
bending is:
And the corresponding normal stress is:
where E is the modulus of elasticity of the beam material. Equation above shows
that, at a given cross section, the normal stress varies linearly with distance from
the neutral surface.
As no net axial force is acting on the beam cross section, the resultant force of the
stress distribution given by Equation above must be zero. Therefore, at any axial
position x along the length, we have:
Noting that at an arbitrary cross section the curvature is constant, Equation above
gives:
Contd
The above equation is satisfied if the xz plane (y = 0) passes through the centroid
of the area. Thus, we obtain the well-known result that the neutral surface is
perpendicular to the plane of bending and passes through the centroid of the cross-
sectional area.
Similarly, the internal bending moment at a cross section must be equivalent to the
resultant moment of the normal stress distribution, so
The integral term in the above equation represents the moment of inertia (I
z
) of
the cross sectional area about the z axis, so the bending moment expression
becomes:
Combining Equations of normal stress and bending moment, we obtain the normal
stress equation for:
In the above equation as per the sign convention compressive (negative) and
tensile (positive) stress values are obtained correctly depending on the sign of the
y location value.
B. Beam stiffness
A beam is a long, slender structural member generally subjected to transverse
loading that produces significant bending effects as opposed to twisting or axial
effects.
This bending deformation is measured as a transverse displacement and a
rotation. Hence, the degrees of freedom considered per node are a transverse
displacement and a rotation.
Consider the beam element shown in Figure below. The beam is of length L with
axial local coordinate x and transverse local coordinate y. The local transverse
nodal displacements are given by J

s and the rotations by 1

s. The local nodal

forces are given by

s and the bending moments by m

s as shown. We initially
neglect all axial effects.
At all nodes, the following sign conventions are used:
1. Moments are positive in the counterclockwise direction.
2. Rotations are positive in the counterclockwise direction.
3. Forces are positive in the positive y direction.
4. Displacements are positive in the positive y direction.
Figurebelowindicatesthesignconventionsusedinsimplebeamtheoryforpositive
shearforces: andbendingmomentsm.
The differential equation is derived as follows. Consider the beam shown in Figure below
subjected to a distributed loading (force/length). From force and moment equilibrium of a
differential element of the beam, shown in the next Figure (c),we have:
Beam Stiffness Matrix Based on Euler-Bernoulli Beam Theory
(Considering Bending Deformations Only)
The differential equation is derived as follows. Consider the beam shown in
Figure (a) above subjected to a distributed loading w x (force/length). From
force and moment equilibrium of a differential element of the beam, shown in
Figure above (c), we have:
Or, simplifying the above equation, we obtain
The final form of the above equation relating the shear force to the bending
moment, is obtained by dividing the left equation by Jx and then taking the limit
of the equation as Jx approaches 0. The w x term then disappears.
Contd
Also, the curvature k of the beam is related to the moment by
where r is the radius of the deflected curve shown in Figure above (b), : is the
transverse displacement function in the y direction, E is the modulus of elasticity,
and I is the principal moment of inertia about theZ
`
axis.
The curvature for small slopes: is given by:
Combining the above two equations:
Solving Eq. above for M and substituting this result into the shear force and the
distributed load equations found earlier we obtain.
For constant EI and only nodal forces and moments, the above equation becomes:
Now we will use the above equation to develop a stiffness matrix in direct
method just like we did for trusses and bars.
1. Select the element type
Represent the beam by labeling nodes at each end and in general by labeling the
element number (figure).
2. Select a displacement function:
Assume the transverse displacement variation through the element length to be:
The complete cubic displacement function Eq. (above) is appropriate because
there are four total degrees of freedom (a transverse displacement J
`
iy and a small
rotation

i at each node). The cubic function also satisfies the basic beam
differential equationfurther justifying its selection. In addition, the cubic
function also satisfies the conditions of displacement and slope continuity at
nodes shared by two elements.
Contd..
Using the same procedure as described in FEM of bars, we express : as a
function of the nodal degrees of freedom J
`
1
,J
`
2
,

1
, and

2
as follows:
where for the assumed small rotation . Solving the above equations for
a
1
through a
4
in terms of the nodal degrees of freedom and substituting into the
transverse displacement equation we have:
Contd
In matrix form:
N
1
, N
2
, N
3
, and N
4
are called the shape functions for a beam element. These
cubic shape (or interpolation) functions are known as Hermite cubic
interpolation (or cubic spline) functions.
Step 3 : Define the Strain/Displacement and Stress/Strain Relationships
Assume the following axial strain/displacement relationship to be valid:
we can relate the axial displacement to the transverse displacement by:
where we should recall from elementary beam theory the basic assumption that
cross sections of the beam (such as cross section ABCD) that are planar before
bending deformation remain planar after deformation. and, in general, rotate
through a small angle

Contd
From elementary beam theory, the bending moment and shear force are related
to the transverse displacement function. Because we will use these relationships
in the derivation of the beam element stiffness matrix, we now present them as
Step 4 Derive the Element Stiffness Matrix and Equations:
First, derive the element stiffness matrix and equations using a direct equilibrium
approach. We now relate the nodal and beam theory sign conventions for shear
forces and bending moments.
Contd
Where the minus signs in the second and third of (the above equations) are the
result of opposite nodal and beam theory positive bending moment conventions.
In matrix form, the above equation becomes:
Where the stiffness matrix is then:
Note :This method doesnt include the effect of transverse axial shear deflections.
Castiglione's method for finding beam and frame deflections is a convenient way
to include the effects of the transverse shear term. E.g (Timoshenko beam)
Distributed Loading in Beams:
Beam members can support distributed loading as well as concentrated nodal
loading. Therefore, we must be able to account for distributed loading. Consider
the fixed-fixed beam subjected to a uniformly distributed loading w shown in
Figure below.
Therefore, guided by the results from structural analysis for the case of a
uniformly distributed load, we replace the load by concentrated nodal forces
and moments tending to have the same effect on the beam as the actual
distributed load.
Example Determining Equivalent Loads
Goal is to ensure equivalent loads produce same strain energy
By making use of the work equivalence method:
This method is based on the concept that the work of the distributed load w(x) in
going through the displacement field v(x) is equal to the work done by nodal
loads

and m

in going through nodal displacements J

`

and

for arbitrary
nodal displacements.
2 4 2 3 1 2 1 1
) ( ) ( ) ( ) ( ) ( u u x N v x N x N v x N x v + + + =
2 3
2
4
2
2
3
3
3
2 3
2
2
2
2
3
3
1
1 1
) (
3 2
) (
2 1
) (
1
3 2
) (
x
L
x
L
x N
x
L
x
L
x N
x x
L
x
L
x N
x
L
x
L
x N
=
+ =
+ =
+ =
( )
|
.
|

\
|
+ + =
|
|
.
|

\
|
+ + + =
+ + + =
+ + + =
= =
} } } }
} } } }
}
} }
2 2 1 1
0
4 2
0
3 2
0
2 1
0
1 1
0
2 4
0
2 3
0
1 2
0
1 1
0
2 4 2 3 1 2 1 1
0 0
12 2
1
12 2
1
) ( ) ( ) ( ) (
) ( ) ( ) ( ) (
) ( ) ( ) ( ) (
) ( ) (
u u
u u
u u
u u
L
v
L
v qL W
dx x N dx x N v dx x N dx x N v q W
dx x N q dx v x N q dx x N q dx v x N q W
dx x N v x N x N v x N q W
dx x v q qdx x v W
L L L L
L L L L
L
L L
Equivalent Loads (continued)
In the same way one can use the work equivalence method to analyze other type
of loadings.
( ) ( )
2 1 2 1
u u + + = M v v F W
( ) ( )
|
.
|

\
|
+ + = + + =
2 2 1 1 2 1 2 1
12 2
1
12 2
1
u u u u
L
v
L
v qL M v v F W
12
2
2
qL
M
qL
F
=
=
M
F F
M
General Formulation:
In general, we can account for distributed loads or concentrated loads acting on
beam elements by starting with the following formulation application for a
general structure:
where F are the concentrated nodal forces and F
o
are called the equivalent nodal
forces,
Assume that concentrated nodal forces are not present F = u, as we are solving
beam problems with distributed loading only.
For a uniformly distributed load w acting over a one-element beam, we have:
Finite Element method for Frames:
Frames are used in Structures like buildings and bridges.
Frame is a combination of beam element in plane and trusses.
Consider a two dimensional arbitrarily oriented beam element:
Local displacements transformed in to global
From the figure we can see that only a displacement in the direction of local
coordinate exists so we take only the second term in equation of the
transformation matrix and expand it to a three degree of freedom equation at each
node.
Contd
Where : is the transformation matrix for beam elements
Note:- Here the axial effect is not yet included. And that rotation is invariant with
respect to either coordinate system. For example, rotation

1
=
1
, and moment
m
1
= m
1
.
Recall a stiffness matrix for beam element in elemental coordinate system was
found earlier to be:
Contd
By using the general formula of stiffness matrix transformation in to global stiff
ness;
The general global stiffness matrix is:
The above stiffness matrix is for beam element that includes shear and bending
resistance. Local axial effects are not yet included.
FRAME FEM contd
To include the axial effect consider the following figure:
The element now has three degrees of freedom per each node.
Recall for axial loading of on bars:
Recall also the shear and bending Effect of beams:
Contd
Combining the axial loading, the shear and bending moment in local coordinate
we have.
The k
`
matrix in Eq. above now has three degrees of freedom per node and it
includes axial effects (in the x direction), as well as shear force effects (in the
y direction) and principal bending moment effects (about the z axis).
Contd..
Next step is to relate the local displacement to the global by the transformation
matrix with 3 degrees of freedom at each node.
Contd
By using the general formula of stiffness matrix transformation in to global stiff
ness; which is:
we obtain the general transformed global stiffness matrix for a beam element
that includes axial force, shear force, and bending moment effects as follows:
CHAPTER THREE:
Introduction To FEM for Two Dimensional Finite
Elements