M.

Vable

Notes for finite element method: Intro to FEM

Introduction to Finite Element Method

There are two version of FEM
1. Flexibility Method or Force Method:
2. Stiffness Method or Displacement Method.
The set of equations in the stiffness method are the equilibrium equations relating displacements of points.
Rayleigh-Ritz is an approximate method based on energy principle by
which we can obtain equilibrium equations in matrix form.
The learning objectives in this chapter is:
1. Understand Rayleigh-Ritz method and its application to axial members, torsion of circular shafts, and symmetric bending of beams.
2. Understand the perspective, the key issues, the terminology, and
steps used in solving problems by finite element method.

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M. Vable

Notes for finite element method: Intro to FEM

Rayleigh Ritz
Rayleigh Ritz method is an approximate method of finding displacements that is based on the theorem of minimum potential energy.
The method is restricted to conservative systems that may be linear or
non-linear.
Potential energy function (): = U W
U is the strain energy
W is the work potential of a force.
Internal virtual work: W int = U
External virtual work: W ext = W
Virtual work principle: W int W ext = U W = = 0
The zero virtual variation in the potential energy function occurs
where the slope of the potential energy function with respect to the
parameters defining the potential function is zero.
The parameters defining the potential function are the generalized displacements.
The zero slope condition can occur where the potential function is:
maximumUnstable equilibrium
saddle pointNeutral equilibrium
minimumStable equilibrium

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M. Vable

Notes for finite element method: Intro to FEM

Minimum Potential Energy

The theorem of minimum potential energy can be stated as:
Of all the kinematically admissible displacement functions the actual
displacement function is the one that minimizes the potential energy
function at stable equilibrium.
Corollary
The better approximation of displacement function is the one that
yields a lower potential energy.
The greater the degrees of freedom, lower will be the potential energy
for a given set of kinematically admissible functions.
Procedure
Let the displacement u(x) be represented by a series of kinematically
admissible functions fi(x), i.e.,
n

u(x) =

Ci fi ( x )
i=1

Substitute in Potential Energy: = ( C 1, C 2, C 3 C n )

Minimize Potential energy:

= 0
Ci

i = 1, n

Set of n-algebraic equations in the unknown Ci.

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M. Vable

Notes for finite element method: Intro to FEM

Rayleigh Ritz for Axial Members

Axial strain energy density:
1
du 2

U a = --- EA
d x
2
n

Ci fi ( x )

Displacement Approximation: u ( x ) =

i=1
n

du
=
dx

df j

Cj d x

j=1
n

n
df
df k
1
du
du
1
j
Cj
U a = --- EA = --- EA
Ck

2
dx dx
2
dx
dx
j = 1
k = 1

n
n
df j df k
1
Cj Ck
U a = --- EA
2
d x d x
j=1 k=1

Axial strain energy

L

1
U A = U a dx = --2
0

j=1 k=1

df j df k
C j C k EA dx
d x d x
0

df j df k
Define: K jk = EA dx ----Stiffness matrix
d x d x
0

EA can be function of x.
K jk = K kj Stiffness Matrix is symmetric

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M. Vable

Notes for finite element method: Intro to FEM

1
Axial Strain Energy: U A = --2

C j C k K jk

j=1 k=1

Work potential
px(x)
axial distributed force
Fq
concentrated axial forces applied at m xq points
The work potential of these forces can be written as:
L

WA =

px ( x )u ( x ) dx +
0

Fq u ( xq )

q=1

Substituting the displacement approximation.

n

WA =

Cj px ( x )fj ( x )
j=1

px ( x )fj ( x )

Fq Cj fj ( xq )
q = 1j = 1

Define: R j =

dx +

dx +

F q f j ( x q ) ---Load Vector

q=1
n

WA =

Cj Rj
j=1

Axial potential energy function:

n

1
A = U A W A = --2

j=1 k=1

C j C k K jk

Cj Rj
j=1

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M. Vable

Notes for finite element method: Intro to FEM

Axial potential energy function:

n

1
A = U A W A = --2

C j C k K jk

j=1 k=1

Minimize the potential energy function:

n

1
--2

C j

j=1 k=1

Note:

C k

C + Cj
K
Ci k
C i jk

C j

1
=
Ci
0

j=1

A
Ci

Cj Rj

= 0

C j

Ci Rj

= 0

i = 1, n

j=1

i = j
ij

n
n

1
--- C k K ik + C j K ji R i = 0
i = 1, n

2
k = 1

j=1
n

1
--- C j ( K ij + K ji ) R i = 0
i = 1, n

2
j = 1

Using symmetry of stiffness matrix: K ji = K ij

n

Kij Cj

= Ri

i = 1, n or [ K ] { C } = { R }

j=1

At Equilibrium only
n
n
n

1
A = --- C j K jk C k C j R j

j=1
k=1
j=1
n

1
A = --2

j=1

Cj Rj

j=1

1
C j R j = ---
2

Cj Rj
j=1

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M. Vable

Notes for finite element method: Intro to FEM

Strain energy at equilibrium

WA
1
U A = --------- = ( A ) = --2
2

Cj Rj

at equilibrium

j=1

More the degree of freedom, lower is the potential energy (more negative), higher is the strain energy stored in the structure.
With greater degree of freedom the structure becomes less stiff and
hence can store more energy.
In FEM mesh refinement schemes try to get a more uniform distribution of strain energy across the structure.

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M. Vable

Notes for finite element method: Intro to FEM

Symmetric Bending of Beams

2

d v
1
Bending strain energy density:U b = --- EI zz

2
2
dx

Displacement Approximation:v ( x ) =

Ci fi ( x )
i=1

Work Potential:
py(x)
Fq
Mq

distributed load
concentrated transverse forces applied at m1 xq points
concentrated transverse forces applied at m2 xq points
m1

WA =

m2

py ( x ) ( x ) dx +
0

Fq v ( xq ) +

q=1
2

Mq

dv
(x )
dx q

q=1
2

d f d f
j
k
dx
Stiffness Matrix: K jk = ( EI zz )
2 2
dx dx
0
L

Load Vector:
m1

Rj =

py ( x )fj ( x )
0

dx +

q=1

m1

Fq fj ( xq ) +

Mq

df j
dx

( xq )

q=1

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M. Vable

Notes for finite element method: Intro to FEM

8.6 For the beam shown in Fig. P8.6 determine one and two parameter
Rayleigh-Ritz displacement solution using the approximation for the
bending displacement given below. Calculate the potential energy function for the one and two parameters.

v(x) =

w kips / in

ix

Ci sin ------2L

i=1
L in

L in
Fig. P8.6

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M. Vable

Notes for finite element method: Intro to FEM

Finite Element Method (FEM)

In Rayleigh-Ritz the kinematically admissible function is over the entire
structure. In FEM the kinematically admissible function is piecewise
continuous over small (finite) domains called the elements.
Potential energy is a scaler quantity and can be written as:
n

(i)

i=1

where, n is the number of elements (structural members).

This perspective of reducing the complexity of analysis of large structures to analysis of simple individual members (elements) is what
makes the finite element method such a versatile and popular analysis
tool in structural (and engineering application) analysis.
Definition 1 Nodes are points on the structure at which displacements and rotations
are to be found or prescribed.
Definition 2 Element is a small domain on which we can solve the boundary value
problem in terms of the displacements and forces of the nodes on the
element.
Definition 3 The discrete representation of the structure geometry by elements and
nodes is called a mesh.
Definition 4 The process of creating a mesh (discrete entities) is called discretization.
Definition 5 Interpolation function is a kinematically admissible displacement function defined on an element that can be used for interpolating displacement values between the nodes.
Definition 6 The mesh, boundary conditions, loads, and material properties representing the actual structure is called a model.
Definition 7 Element stiffness matrix relate the displacements to the forces at the
element nodes.
Definition 8 Global stiffness matrix is an assembly of element stiffness matrix that
relates the displacements of the nodes on the mesh to applied external
forces.

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M. Vable

Notes for finite element method: Intro to FEM

Lagrange polynomials
Polynomial functions that yield function value at finite number of
points.
Linear Approximation: u ( x ) = C 1 + C 2 x
u1

x
x1

Node 1

Conditions: u ( x 1 ) = u 1

u2
Node 2

x2

u ( x2 ) = u2

x x2
x x1
u ( x ) = u 1 ----------------- + u 2 -----------------
x 1 x 2
x 2 x 1
x x2
Define: L1 ( x ) = -----------------
x 1 x 2

x x1
L 2 ( x ) = -----------------
x 2 x 1
2

u ( x ) = u1 L1 ( x ) + u2 L2 ( x ) =

ui Li ( x )
i=1

L1(x)
L2(x)

x
1

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M. Vable

Notes for finite element method: Intro to FEM

Quadratic displacement function: u ( x ) = C 1 + C 2 x + C 3 x

x
x1

u2

u1
Node 1

u3
Node 3

Node 2

x2
x3
n

ui Li ( x ) [

Alternative Approach: u ( x ) =

i=1
n

u ( xj ) =

ui Li ( xj ) = uj

i=1

1
Li ( xj ) =
0

i = j
ij

L1 ( x ) = a1 ( x x2 ) ( x x3 )

x x2 x x3
L 1 ( x ) = ----------------- -----------------
x 1 x 2 x 1 x 3

L2 ( x ) = a2 ( x x3 ) ( x x1 )

x x1 x x3
L 2 ( x ) = ----------------- -----------------
x 2 x 1 x 2 x 3

L3 ( x ) = a3 ( x x1 ) ( x x2 )

x x1 x x2
L 3 ( x ) = ----------------- -----------------
x 3 x 1 x 3 x 2

8-12

M. Vable

Notes for finite element method: Intro to FEM

Node 2

Node 1

Node 3

L1(x)

x
1

L2(x)

x
1

L3(x)

nth order polynomial:L i ( x ) =

j = 1

( x xj )
-------------------( xi xj )

i = 1, ( n + 1 )

ij

u2

u1
1

element 1

u2

u1

u3

element 1

u3
element 2

u4

u5

element 2

Lagrange polynomials ensure that the function these are used to represent will be continuous at the element ends.
The continuity of the derivative of the function cannot be ensured at
the element end irrespective of the order of polynomials when
Lagrange polynomials are used for representing the function.

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M. Vable

Notes for finite element method: Intro to FEM

Axial elements
Notation: superscript to designate quantities at element level and no
superscript at the global level.

(2)

(1)

and u 3 l refer to displacement of

node 3 for element 1 and 2. u 3 refers to displacement of node 3 on the
u3

actual structure.
Displacements: u

(e)

(e)

ui Li ( x )

i=1
(e)
du
Axial strains: xx =
dx

(e)

( e ) dL i
ui
dx

i=1
(e)

Axial Stress: xx = E

(e) (e)
(e)
xx = E

( e ) dL i

ui

dx

i=1

Internal axial force: N

(e)

(e) (e)
(e) (e)
= A xx = E A

( e ) dL i
ui
dx

i=1
(e)
In Equations for Rayleigh-Ritz substitute:C i = u i and f i ( x ) = L i ( x )
L
(e)
( e ) ( e ) dL j dL k
Element stiffness matrix: K jk = E A
dx
d
x
d
x

Element load vector:

(e)

Rj

(e)

(e)

px ( x )Lj ( x ) dx + F1 Lj ( x1 ) + Fn Lj ( xn )
0

For p x = 0

(e)

R1

(e)

= F1

(e)

Rn

(e)

= Fn

(e)

Rj

= 0

j = 2, ( n 1 )

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M. Vable

Notes for finite element method: Intro to FEM

(e)

(e)

Fj

is positive in the positive direction u j .

Assembly of global matrix and global load vector

The governing criteria is that the displacement function at the node
where two elements meet must be continuous i.e., be the same.
Assume there is no distributed force i.e., p x = 0
Use two quadratic axial elements
P/2

x
A

P/2
1

Element 1

Element 2

Virtual variation in potential energy in an element:

(m)

(m)

(m)

ui

(m)

u i

i=1
n
n
(m)
(m) (m)
(m)
(m)

=
u i
( K ij u j R i )
i=1
j=1

(1)

u ( 1 )
1

= u (21 )

u ( 1 )
3

(1) (1) (1)

K 11 K 12 K 13

K( 1 ) K( 1 ) K( 1 )
21 22 23
(1) (1) (1)
K 31 K 32 K 33

u( 1 )
(1)
1 F 1

(1)
u 2 0

( 1 )
u ( 1 ) F 3

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M. Vable

Notes for finite element method: Intro to FEM

(2)

u ( 2 )
1

= u (22 )

u ( 2 )
3

(2) (2) (2)

K 11 K 12 K 13

K( 2 ) K( 2 ) K( 2 )
21 22 23
(2) (2) (2)
K 31 K 32 K 33

u( 2 )
(2)
1 F 1

(2)
u 2 0

( 2 )
u ( 2 ) F 3

P/2

x
A

P/2
1

Element 1

(1)

u1

(2)

u1

Element 2

(1)

= u1

u2

= u3

u2

(2)

(1)

(1)

u ( 1 )
1

= u (21 )

u ( 1 )
3
T

u 1
u 2
u 3
u 4
u 5

(1)

= u2

u3

= u4

u3

(2)

(1) (1) (1)

K 11 K 12 K 13

K( 1 ) K( 1 ) K( 1 )
21 22 23
(1) (1) (1)
K 31 K 32 K 33

K( 1 ) K( 1 ) K( 1 )
11 12 13
(1) (1) (1)
K 21 K 22 K 23
(1) (1) (1)
K 31 K 32 K 33

0
0
0
0
0
0

= u3
= u5

u( 1 )
(1)
1 F 1
(1)

u 2 0

( 1 )
u ( 1 ) F 3

0 0
0 0
0 0
0 0
0 0

u1 F( 1 )
1
u2 0

u3 F( 1 )
3
u4 0

u5 0

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M. Vable

Notes for finite element method: Intro to FEM

(2)

u 1
u 2
u 3
u 4
u 5

0 0
0 0

u 1
u 2
u 3
u 4
u 5

0
0

0
0

(2)

(2)

(2)

(2)

(2)

(2)

(2)

(2)

(2)

0 0 K 11 K 12 K 13
0 0 K 21 K 22 K 23
0 0 K 31 K 32 K 33

Total potential energy =

0
0

(1)

u1 0

u2 0
(2)
u3 F1

u4 0
(2)
u5 F3

(2)

(1)
K( 1 ) K( 1 )
K 13
0
0
11 12
(1) (1)
(1)
K 23
0
0
K 21 K 22

K( 1 ) K( 1 ) ( K( 1 ) + K( 2 ) ) K( 2 ) K( 2 )
33
11
12
13
31 32
(2)
(2)
(2)

0
K 21
K 22 K 23
0

(2)
(2)
(2)
0
K 31
K 32 K 33
0

(1)
u1
F1

u2
0

u 3 F (31 ) + F (12 )

u4
0

(2)
u5
F3

The element stiffness matrix and element load components that add
corresponds to the degree of freedom associated with the shared node
of the elements.

Incorporating the external concentrated forces

P/2

x
A

P/2
1

Element 1

(1)

The force F 3

(2)

The force F 1

Element 2

(1)

is in the direction of u 3

(2)

is in the direction of u 1

8-17

M. Vable

Notes for finite element method: Intro to FEM

The applied force is in the direction of u 3 .

(1)

F1

= RA
T

u 1
u 2
u 3
u 4
u 5

(1)

(2)

F3 + F1

= P

(1)
(1) (1)
K 13
0
0
K 11 K 12
(1) (1)
(1)
K 23
0
0
K 21 K 22

K( 1 ) K( 1 ) ( K( 1 ) + K( 2 ) ) K( 2 ) K( 2 )
33
11
12
13
31 32
(2)
(2)
(2)

0
K 21
K 22 K 23
0

(2)
(2)
(2)
0
K 31
K 32 K 33
0

(2)

F3

= RC

u1

u2

u3

u4

u5

R A
0
P

0
R C

Incorporating the boundary conditions on displacements

The stiffness matrix in is singular, which reflects the fact that the two
element structure can move as a rigid body.
u1 = 0
u 1 = 0
u5 = 0
u 5 = 0

u
2

= u
3

u 4

(1)
K( 1 ) K( 1 )
K 13
0
0
11 12
(1) (1)
(1)
K 23
0
0
K 21 K 22

K( 1 ) K( 1 ) ( K( 1 ) + K( 2 ) ) K( 2 ) K( 2 )
33
11
12
13
31 32
(2)
(2)
(2)

0
K 21
K 22 K 23
0

(2)
(2)
(2)
0
K 31
K 32 K 33
0

0 R A

u 2 0

u 3 P

u 4 0

0 R C

or
T

(1)

K( 1 )

K
0
23
u 2 22
u 2 0

= u K ( 1 ) ( K ( 1 ) + K ( 2 ) ) K ( 2 ) u P

3 32
33
11
12 3

u
(2)
( 2 ) u 4 0
4
K 21
K 22

By principle of minimum potential energy: = 0

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M. Vable

Notes for finite element method: Intro to FEM

(1)

K 22

(1)

(1)

K 23
(1)

0
(2)

(2)

K 32 K 33 + K 11 K 12
0

(2)

K 21

(2)

K 22

u
2
0

=
u
3
P

0
u4

Reaction Forces:
(1)

(1)

R A = K 12 u 2 + K 13 u 3

(2)

(2)

R C = K 31 u 3 + K 32 u 4

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M. Vable

Notes for finite element method: Intro to FEM

Element strain energy

In Rayleigh-Ritz method we showed that the strain energy is half the
work potential of the forces at equilibrium.
(e)
1
U A = --2

(e) (e)

uj Rj

j=1
For p x = 0

(e)

R1

(e)

(e)

= F1

Rn

(e)

= Fn

(e)

Rj

= 0

j = 2, ( n 1 )

(e)
(e) (e)
1 (e) (e)
U A = --- ( u 1 F 1 + u n F n )
2
(e)

(e)

(e)

(e)

(e)

Fn

(e)

= N1

(e)

Fn

(e)

(e)

u1

un

F1

F1

(e)

(e)

u1

N1

un

(e)

Nn

(e)

= Nn

(e)

(e)

For p x = 0
N1 = Nn = N
(e)
(e) (e)
(e) (e)
1 (e) (e)
1 (e)
U A = --- ( u n N n u 1 N 1 ) = --- ( u n u 1 )N
2
2
Mesh Refinement

Elements with high strain energy identify the region of the body
where mesh should be refined.
The h-method of mesh refinement reduces the size of element.
The p-method of mesh refinement increases the order of polynomial in
an element.
The r-method of mesh refinement relocates the position of a node.
Combinations: hr-method, hp-method, hpr-method

8-20

M. Vable

Notes for finite element method: Intro to FEM

Coordinate transformation
yG

(1)
v G2
(1)
v G1

(1)
v G3

(1)
u G3

(1)
u2

(1)
u G2

(1)
u3

(1)
u1

(1)
u G1
xG

(e)

The displacement vector in global orientation: D 1

(e)

(e)

= u G1 i + v G1 j

The unit vector: e L = cos i + sin j

(1)

Axial displacement: u 1

(e)

(e)

(e)

= D 1 e L = u G1 cos + v G1 sin
(e)

(e)

u G1
u G1

(e)
(e)
v G1

v G1
(e)
u

(e)
(e)
1

cos sin 0
0
0
0 u G2
(e)
u G2
u2 =
0
0 cos sin 0
0 (e) = [T] (e)

v
v
0
0
0
0
cos

sin

G2
(e)

G2
u
3
(e)
(e)
u G3
u G3

(e)
(e)
v G3
v G3
The [T] matrix in the above equation is 3 x 6 matrix relating the local
and the global coordinate system.
For n nodes on the element the matrix [T] would be n x 2n size.

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M. Vable

Notes for finite element method: Intro to FEM

Transformation equation in matrix form: { u

(e)

(e)
} = [ T ] uG

Potential energy in matrix form:

(e)

= { u

(e) T

} ([K

(e)

]{u

(e)

} {R

(e)

} ) or

(e)

(e)
(e)
T (e)
(e)
= u G [ T ] [ K ] [ T ] u G { R } or

(e)

(e)
(e)
T (e)
T
(e)
= u G [ T ] [ K ] [ T ] u G [ T ] { R } or

Define:

(e)

[ KG ] = [ T ] [ K

(e)

(e)

(e)
T
(e)
RG = [ T ] { R }

][T]
T

( e ) ( e ) ( e ) ( e )
= u G [ K G ] u G R G

Linear and quadratic axial elements

We assume the following:
---the distributed load px is evaluated at the mid point of the element
and has a uniform value po
---the cross-sectional area (A) is evaluated at the mid point of the
element.
---the modulus of elasticity (E) is constant over the element.

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M. Vable

Notes for finite element method: Intro to FEM

Linear: u

(e)

(e)

(e)

( x ) = u 1 L 1 ( x ) + u 2 L2 ( x )
x x2
L 1 ( x ) = -----------------
x 1 x 2

u( e )
1
(e)
{u } =

u( e )
2

x x1
L 2 ( x ) = -----------------
x 2 x 1
[K

(e)

F( e )
p
L
(e)
o 1 1
{ R } = --------- +
2 1 ( e )
F
2

EA
] = -------- 1 1
L 1 1

Quadratic: u

(e)

(e)

(e)

(e)

( x ) = u 1 L 1 ( x ) + u 2 L2 ( x ) + u3 L3 ( x )

x x2 x x3
L 1 ( x ) = ----------------- -----------------
x 1 x 2 x 1 x 3

u( e )
1

(e)
{ u } = u( e )
2

(e)
u3

x x1 x x3
L 2 ( x ) = ----------------- -----------------
x 2 x 1 x 2 x 3
x x1 x x2
L 3 ( x ) = ----------------- -----------------
x 3 x 1 x 3 x 2

[K

(e)

F( e )
1 1
po L

{ R } = --------- 4 + 0
6

1 F( e )
3

7 8 1
EA
] = -------- 8 16 8
3L
1 8 7

(e)

= { u

(e) T

} ([K

(e)

]{u

(e)

} {R

(e)

})

8-23

M. Vable

Notes for finite element method: Intro to FEM

Steps in FEM procedure

1. Obtain element stiffness and element load vector.
2. Transform from local orientation to global orientation.
3. Assemble the global stiffness matrix and load vector.
4. Incorporate the external loads
5. Incorporate the boundary conditions.
6. Solve the algebraic equations for nodal displacements.
7. Obtain reaction force, stress, internal forces, strain energy.
8. Interpret and check the results.
9. Refine mesh if necessary, and repeat the above steps.

8-24

M. Vable

Notes for finite element method: Intro to FEM

8.8 A rectangular tapered aluminum bar (Eal = 10,000 ksi, = 0.25) is

shown in Figure 8.8. The depth of the tapered section varies as:
h ( x ) = 4 0.04x .Find the stress at point B, displacement at point C and the
strain energy in each element using the following FEM model: one linear
element in AB and one quadratic element in BC.

1 in

4 in A

h(x)
x

10 in

P = 10 kips

50 in

Fig. P8.8

8-25

M. Vable

Notes for finite element method: Intro to FEM

8.10 A force F= 20 kN is applied to the roller that slides inside a slot as

shown in Fig. P8.10. Both bars have an area of cross-section of
A = 100 mm2 and a Modulus of Elasticity E = 200 GPa. Bar AP and BP
have lengths of LAP= 200 mm and LBP= 250 mm respectively. Determine the displacement of the roller and the reaction force on the roller
using linear elements to represent each bar.
B

110o

A
P

Fig. P8.10

8-26

M. Vable

Notes for finite element method: Intro to FEM

Symmetric beam elements

In beam bending problems deflection

and its derivative

dv
dx

must be

continuous at all points on the beam including the element ends.

Lagrange polynomials cannot be used for representing v because it
would result in slope being discontinuous at the element end irrespective of the order of polynomial.
2

Deflection Approximation: v ( x ) = C 1 + C 2 x + C 3 x + C 4 x
(e)

(e)
dv
( x1 ) = 1
dx

(e)

(e)
dv
( x2 ) = 2
dx

v ( x1 ) = v1
Conditions:

v ( x2 ) = v2

(e)

(e)

(e)

(e)

v ( x ) = f 1 ( x )v 1 + f 2 ( x ) 1 + f 3 ( x )v 2 + f 4 ( x ) 2
x x1 2
x x1 3

f 1 ( x ) = 1 3 -------------- + 2 --------------
L
L
x x1
x x1 3
x x1 2

f 2 ( x ) = L -------------- 2 -------------- + --------------

L
L
L
x x1 2
x x1 3

f 3 ( x ) = 3 -------------- 2 --------------
L
L
x x1 2
x x1 3

f 4 ( x ) = L -------------- + --------------
L
L

8-27

M. Vable

Notes for finite element method: Intro to FEM

Conditions on interpolating functions

(e)

(e)

(e)

(e)

(e)

v ( x 1 ) = v 1 = f 1 ( x 1 )v 1 + f 2 ( x 1 ) 1 + f 3 ( x 1 )v 2 + f 4 ( x 1 ) 2
f1 ( x1 ) = 1
f2 ( x1 ) = 0
f3 ( x1 ) = 0
f4 ( x1 ) = 0

df 1
( e ) df 2
( e ) df 3
( e ) df 4
(e)
dv
( x1 ) =
( x 1 )v 1 +
( x 1 ) 1 +
( x 1 )v 2 +
( x 1 ) 2
dx
dx
dx
dx
dx
(e)

= 1
df 1
dx

( x1 ) = 0

df 2
dx

( x1 ) = 1

df 3
dx

( x1 ) = 0

df 3
dx

( x1 ) = 0

Hermite Polynomials for Beam Bending

Node 1

Node 2

zero slope

f1(x)
f2(x)

zero slope
x

x
zero slope

Node 2

Node 1

f3(x)

f4(x) zero slope

x
1

8-28

M. Vable

Notes for finite element method: Intro to FEM

Element Stiffness Matrix:

From Rayleigh-Ritz the stiffness matrix is:
2

d f d f
j
k
dx
K jk = ( EI zz )
2 2
dx dx
0
L

Assume:
the area moment of inertia (I) is evaluated for the cross-section at the
mid point of the element.
the modulus of elasticity (E) is constant over the element.
(e)
v1

(
e
)

1
(e)
{v } =

(
e
)
v
2
(e)
2

6
[K

(e)

2EI
] = --------3
L

3L

3L

3L 2L 3 L L
6 3 L 6 3 L
3L L

3 L 2L

Element Load Vector

From Rayleigh-Ritz the load vector is:
m1

Rj =

py ( x )fj ( x )

dx +

m1

Fq fj ( xq ) +

q=1

Mq

df j
dx

( xq )

q=1

Assume point forces and moments can only be applied at element end
nodes.
L
(e)
Rj

(e)

(e)

( e ) df j

py ( x )fj ( x ) dx + F1 fj ( x1 ) + F2 fj ( x2 ) + M1

dx

( e ) df j

( x1 ) + M2

dx

( x2 )

8-29

M. Vable

Notes for finite element method: Intro to FEM

the distributed load py is evaluated at the mid point of the element and
has a uniform value po.
(e)
F1

6
(
e
)
M
p
L
(e)
0 L 1
{ R } = --------- +
12 6 ( e )
F
L 2
(e)
M2

Positive directions for displacements, slopes, nodal forces and moments.

(e)
(e)
F1
v2
(e)
(e)
2
M1

(e)
v1

(e)
1

(e)

= { v

(e) T

} ([K

(e)

]{v

(e)

(e)
M2

} {R

(e)

(e)
F2

})

8-30

M. Vable

Notes for finite element method: Intro to FEM

8.23 Using a single beam element for AB and a single beam element for
BC in Fig. P8.23, determine (a) the slope at B and C (b) reaction force
and moment at A.
w
A

2L

Fig. P8.23

8-31