Finite Elements

for
Structural Analysis
An Introduction
Yvona Kolekov
Slovak University of Technology

and
Gnther Schmid
Ruhr University Bochum

Lecture held at Faculty of

Civile Engineering
2007/2008

Edition, May 07

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FINITE ELEMET METHOD (FEM) IN LINEAR ELASTICITY

FOR STATIC LAODING

Boundary Value Problem

1.1 Definitions
V
dV

elastic region
infinitesimal element of V
boundary of the region V
infinitesimal element of
x
point in V or on
u(x) displacement vector
u(x) prescribed displacement vector, x on 1

p(x) prescribed load vector, x on 2

pV ( x) prescribed body force vector in V
(x) stress tensor in V
(x) strain tensor in V

x3
2
d

dV

x2

pV

x1

Fig. 1.1: Boundary value problem in 3-dimensional space V with boundary .

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1.2 Basic Equations

Material equation (Hookes law; stress-strain relation)

=E

(1.1)

Kinematic relation

= (u )

(1.2)

Principle of Virtual Work

Wint = Wext

(1.3)

where
Wint = dV

(1.4b)

Wext = u pV dV + u p d

(1.4b)

Wext

uu

DIFFERENTIAL
EQUATION

KINEMATIC
COMPATIBILITY

pV

STATIC
COMPATIBILITY

=E
Wint

Fig.1.2: Structure of Theory of Elasticity

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1.2.1 Temperature Loading

We assume that at an initial state the structure is stress free and that thereafter the structure is
subjected to a temperature change T (x) . The temperature will produce a pure dilatation of the
material, resulting in strain due temperature T (x) = T where is the coefficient of thermal
expansion. If the structure is statically determined the known temperature related strains will
produce a kinematic motion and will not produce stresses in the structure. The total strain will be
equal to the strain due to temperature change: ( x) = T ( x) :
In general the temperature change will create stresses which will result in additional elastic
strains el ( x) and the total strains will be

( x) = el (x) + T ( x)

(1.5)

from where we have

el ( x) = (x) T ( x)

(1.6)
As only elastic stains produce elastic stresses the material law in equ. (1.1) is extended as
= E [( x) T ( x)] = E (x) ET (x)
(1.7)
Note that equation (1.2) stays valid for the total strains.

2 One-Dimensional Region; Classical Ritz-Approach

Beam under longitudinal loading
q(x)
B

dx

u(x) EA

Fig. 2.1: One-dimensional structural system

2.1 System
Coordinate in longitudinal direction x
Length a
E-modulus E
Cross section A

m
m
N/m2
m2

Load p(x)

N/m

Horizontal displacement u(x)

Longitudinal strain (x)
Normal stress (x)

m
N/m2

Reaction Forces in B and C: FB , FC

N
Note: The reaction forces are positive in positive x-direction

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2.2 Boundary value problem

Find for the beam with boundary conditions u (0) = u ( a ) = 0 the displacement u(x), the stress
(x) and the reaction forces FB , FC due to the load p(x).
Note:
1)The kinematic terms (displacements, strains) and the dynamic terms (forces, stresses) are dual:
u
p,
, uB
FB , uC
FC .
2)Multiplication of dual terms give work.

2.3 Approximation
2.3.1 Solution Method
We choose shape functions N i ( x ) multiplied with unknown parameters u i (weights of the
shape functions) as approximation for u(x). The shape functions have to satisfy the kinematic
(displacement) boundary conditions. Using equations (1.2) and (1.1) the unknown parameters
(which are generalized kinematic degrees of freedom) are determined form equation (1.3).
With
n

u(x) =

N ( x)u
i =1

+ N 2 ( x)u 2 + ..... + N n ( x )u n

(2.1a)

or, using index notation (summation over repeated indices)

u(x) = N i ( x) u i , i = 1, 2,..., n

(2.1b)

we obtain from equation (1.3) with equation (1.4), with dV=Adx

a

( x) ( x) Adx = u(x) p(x) dx

With Hookes law
( x ) = E ( x )
and the kinematic relation
d
= u(x)= N i( x) ui = Bi ( x) ui
dx
and with u = N i ( x) ui
= B j ( x) u j

(2.2)

(2.3)
(2.4)

= Bi ( x) ui

(2.5)

one obtains
a

ui B i ( x) EA B j ( x) dx u j = ui N i (x) p(x) dx

(2.6)

K ij u j =Pi

(2.7)

or
with
K ij = B i ( x) EA B j ( x) dx = N i ( x) EA N j ( x) dx
A

P i = N i (x) p(x) dx
0

The linear equation system (2.7) is written in matrix notation as

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Ku = P
(2.9)
From equation (2.7) the unknown parameters ui are obtained and the approximate solution is
given by equ (2.1). The stress distribution in the beam is obtained from the displacements ui with
equations (2.3) and (2.4).
Note: 1) The solution is only possible if the shape functions Ni(x) are linear independent.
2) As the parameters ui determine the kinematic of the system they are also called
kinematic degrees of freedom (DOF).
Example 2.1
Solve the problem specified in section 2.1 and 2.2 with q(x) = q = constant. Choose 1 DOF, u1,
x
with shape function N 1 ( x) = sin
.
a
Verify that the shape function satisfies the kinematic B.C.s.
Calculate the displacement at the center of the beam, the stresses at the ends of the beam and the
reaction forces.

a/2

a/2
C

N1(x)

Fig. 2.2: Shape function continuous along the beam

N1 ( x) = sin

With

x
a

, B1 ( x) =

cos

x
a

we obtain from equations (2.8) and (2.9)

a

K11 =
0

2
a

cos

x
a

dx =

2 EA
2a

, P1 = p sin
0

x
a

dx =

The displacement (at the middle of the beam) becomes

u1 =

P1
4a 2 p
a2 p
= 3
= 0.129
K11 EA
EA

and

u( x) =

4a 2 p

4a p
x
4ap
x
(
x
)
cos
(
x
)
cos
x

=
sin
,
,
3 EA
a
a
a
2 EA
2A

and

(0) =
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4ap
4ap
, (a) = 2
2
A
A

2ap

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FB =

4ap

= 0.405 ap, FC =

4ap

= 0.405 ap

Note: The exact solution is

u( x) =

a2 p x x
pa 2 x
1 , ( x) =
1
2 EA a a
2A
a

a2 p
pa
pa
, (0) =
, (0) =
2A
2A
EA
pa
pa
, FC =
FB =
2
2

u ( a / 2 ) = 0.125

Example 2.2
Solve the problem in example 2.1 with n (generalized) DOFs choosing the shape functions
i x
N i ( x ) = sin
; i = 1, 2,LL , n
a
and discus the result.

3 One-Dimensional Region; FEM-Approach

Beam under longitudinal loading
3.1 Approximation with 1 DOF
In the finite element method we allow shape functions Ni (x) with relaxed continuity conditions.
We find from equations (2.8) that the functions to be integrated have zero- and firstorder
derivatives. Therefore it is sufficient if the shape functions have C0-continuity, i.e. the functions
Ni (x) have to be continuous but may have discontinuous first derivatives.
Such a function can be constructed by selecting a node point x1. The node divides the beam in
two finite beam elements. For simplicity we choose x1 in the middle of the beam such that the
beam elements are of equal length L(1) = L(1) = L = a/2.
N1(x)

x1
x

Fig. 3.1: Longitudinal beam, subdivided into two elements, with C0-continuous shape function
We verify that N1(x) satisfies the kinematic B.C.s.
If we choose N1(x1) = 1 we obtain by inspection:
N 1 ( x) =

x
a
x
, 0 < x < ; N 1 ( x) = 1 ,
2
L
L

a
<x<a
2

(3.1)

or
N1(1) ( x ) =

x
a
x
a
, 0 < x < ; N 1( x ) = 1 , 0 < x <
L
L
2
2

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where x is the element related (local) coordinate with origin at the left end of each element.
From PVW we obtain as before from equations. (2.7), (2.8)
K11u1 = P1
where K11 =

(1)
1

( x ) EAB1(1) ( x ) dx +

(1)

(2)
1

( x ) EAB1(2) ( x ) dx

(3.3)

( 2)

P1 =

B
L

(1)
1

( x ) p( x ) dx +

L(1)

N1(2) ( x ) p ( x ) dx

(3.4)

L( 2 )

Due to the discontinuities in the shape functions the intergral over the beam has to be written as
sum over the beam elements.
We obtain
K11 =

EA EA 2 EA
pL pL
+
=
+
= pL
, P1 =
L
L
L
2
2

(3.5)

The midpoint displacements results in

P
pL2
pa 2
pa 2
u1 = 1 =
=
= 0.125
K11 2 EA 8 EA
EA
and

u (1) ( x) = N1(1) ( x )u1 =

(1) ( x ) = B1(1) u1 =
(1) ( x ) =

pa
,
4A

pa 2 x
,
8 EA L

pa
,
4 EA

(3.6)

u (2) ( x) = N1(2) ( x )u1 =

(2) ( x ) = B1(2) u1 =

(2) ( x ) =

pa
4A

pa
4 EA

pa 2
8 EA

x
1
L

(3.7)

(3.8)
(3.9)

The reaction forces are

FB =

pa
,
4

FC =

pa
4

Exercise: Discuss the result

3.2 Approximation with n DOFs

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(2)

(1)
1

.......
.
2 ... i-1

....

(e)
i

j+1 .... n

(E)

L(e)
x

Figure 3.2: Longitudinal beam subdivided in E elements

We choose n node points xi , i = 1,2, , n which subdivide the beam into E elements with length
L(e) , e = 1,2 , E.
For each node we choose, as shown in Figure 3.3, the global tent-function N i ( x ) with the
property N i ( x j ) = i j . ( i j is the Kronecker-symbol, being one for i = j and zero for i j ).
We consider a typical element (e) with length L(e) = xj - xi for which the element-related local
shape functions Ni(e) , N (e)
j are indicated in Fig.3.3
N i(e)

Ni

(2)

(1)
1

N (e)
j
Nj

.......
.
2 ... i-1

....

(e)
i

(E)

j+1 .... n

L(e)
x

Fig. 3.3: Global and local shape functions

According to equations (2.7), (2.8) we obtain the equations to determine the nodal displacements
ui, i = 1, 2, ...., n of the beam, i.e. of the global system. Due to the discontinuities of the shape
functions we have to calculate the integrals as sum of the integrals of the finite elements:
(3.11)

K ij u j =P j

K i j = e =1

(e)
i

(e)

( x ) EAB (j e ) ( x ) dx = e =1 K i(e)j
E

(3.11a)

Pi = e

L( e )

N i( e ) ( x ) p ( x ) dx = e Pi(e)
E

(3.11b)

3.3 Element matrices

u(e) ( x )
uj

ui, Pi
i

(e)

uj, Pj
j

ui

(e)
i

Fig.3.4: Linear axial beam element; rod element.

Definition of nodal variables and displacement approximation

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We assume that in each element with nodes i and j and with length L the elasticity modulus E,
the cross section A and the loading p is constant.
Then we have from equations (3.11) with
x
x
1
1
(3.12)
N i(e ) ( x ) = 1 ,
N j(x ) = ;
Bi(e ) ( x ) = ,
B j(x ) =
L
L
L
L
the stiffness and load coefficients
EA
EA
(e)
K (e)
, K i(e)j =K (e)
,
(ii) =K (j j) =
ji = L
L
(ii) means: no summation
pL
(e)
(e)
Pi = Pj =
2
Whence the force-displacement relation for the linear beam element in longitudinal direction is
K ( e )u ( e ) = P ( e )

with

K (e) =

ui
Pi pL 1
EA 1 1
, u( e ) = , P ( e ) = =

L 1 1
u j
Pj 2 1

(3.13)

Note: The element matrices can be referred to global or local nodes:

Local

K
K ( e ) = 11
K 21

K 12
P
, P( e ) 1

K 22
P 2

Global

K ii
K (e) =
K ji

K ij
Pi
, P( e ) = , no sum on repeated indices

K jj
P j

Note: As the beam element is not supported (no displacement specified) the beam element can
undergo a (horizontal) rigid body motion. Therefore the element matrix is singular.

3.4 Temperature loading

3.4.1 Element matrices
According to chapter 3.2 it is sufficient to consider one typical element, (e), only, "loaded" by a
temperature increase T . (We assume here also p = 0 ).
(e)
i

L(e)

T ( x )
j

Fig 3.5: Longitudinal beam element under temperature load

Applying equations (1.2), (1.5)-(1.7) to the beam element we write, omitting for simplification
the upper index e:
du ( x )
(3.14)
= u ( x ) , ( x ) = el . ( x ) + T ( x ) , ( x ) = E el . ( x ) = E ( ( x ) T ( x ) ) .
(x ) =
dx
We use the P.V.W. as given in equation (2.2):
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L

( x) ( x) Adx = u(x) p(x) dx

0

(3.15)

and obtain with p=0

L

( x) ( x) Adx = 0 .

(3.16)

Inserting equations (3.14) into (3.16) we obtain

L

( x ) EA ( x ) dx ( x ) EA

( x ) dx = 0 .

(3.17)

With the shape functions, as given already in equation (2.5)

( x ) = B j ( x ) u j = N j ( x ) u j , ( x ) = Bi ( x ) ui = Ni( x ) u i
equation (3.17) gives
L

(3.18)

ui Bi ( x ) EAB j ( x ) dx u j = ui Bi ( x ) EA T ( x ) dx

(3.19)
(e)

(e)
K ij(e) u (e)
,
K ( e )u ( e ) = PT
j =Pj
where again the upper index has been introduced for the considered element.
The left integral in equation (3.19) defines the already derived element stiffness matrix given in
equation (3.13). The right integral in equation (3.19) is the consistent equivalent element load
vector with

or

Pi ,T ( e ) = Bi ( x ) EA T ( x ) dx,
0

P j ,T ( e ) = B j ( x ) EA T ( x ) dx ,

where T ( x ) = T ( x ) . (3.20)

(e)

The equivalent temperature load P T creates the strain in the element consistent with the strain
due to the temperature increase T ( x ) .
1
1
With Bi = , B j = and the assumption that T is constant along the element one has
L
L

1

1
PT( e ) = EA T = EA T
(3.21)
1
1
Note: PT( e ) is a self-equilibrating system.
The system equations, and from those the system displacements, are obtained according to
equations (3.11)-(3.13) or according to chapter 4.
3.4.2 Element stresses
With the element list we select from the system displacements ui, i = 1, n the displacements
related to element (e), i.e. u i(e) and u (e)
j and obtain the element stress

( e ) ( x ) = E el( e.) ( x ) = E ( e ) ( x ) E T( e ) ( x ) = E ( Bi ( x ) ui( e ) + B j ( x )u (je ) ) E T , no sum on i,j

or
E (e)
( ui u (je) ) E T (el )
L
or in matrix notation
( e ) ( x ) = E B ( e )u ( e ) E T ( e )

(e) ( x ) =

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(3.22a)
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Direct Stiffness Procedure

The assembly of the finite elements to the global structure is done using the direct stiffness
method. We explain the procedure in an example
Example 4.1

Figure 4.1: Fixed longitudinal beam under distributed constant load

EA = const
P = const
a = 10 m

Determine the displacement function of the beam and the reaction forces at the support using an
approximation with 4 linear finite elements with equal length L.
1
(2)
2
3
(1)
(3)
(4)

Fig. 3.5: Discretization of longitudinal beam

1. Element list

(e)
1
2
3
4

i
0
1
2
3

j
1
2
3
0

The nodes with zero

displacements are denoted
as 0

Procedure to build the system matrices K and P from the element matrices K ( e ) and P ( e ) using
the element list; (ii) means "no summation" :
(e)
(e)
K (ii) = K (ii) +K11
, K ij = K ji =K ij +K12
, K (jj) =K (jj) +K (e)
22 ,

Pi =Pi + P1(e) , Pj =P j + P2(e)

Note: Nodes with rigid support obtain the node number zero as they possess no degree of
freedom.
2. Element stiffnesses

K (1) = K ( 2 ) = K ( 3) = K ( 4 ) = K ( e )
K (e) =
3. Consistent element load

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P (1) = P ( 2 ) = P ( 3) = P ( 4 ) = P ( e )
P(e ) =

pL 1
2 1

4. Summation: K = e =1 K (e) according to element list

4

0
1 + 1 1
EA
1 1 + 1 1
K=
L
1 1 + 1
0
5. Summation: P = e=1 P (e) according to element list
4

1 + 1
pL
1 + 1
P=

2
1 + 1
We repeat:
K ( e )u ( e ) = P ( e )
Note: K ( e ) is singular with the diminishing of the rank (Rangabfall) equal to possible rigid body
motions of the element
E

K = K (e)
e=1

P = P (e)
e=1

Ku = P
If the structure is at least statically determinate supported
u = FP with F = K 1
Definitions:
element displacements
u(e)
(e)
P
element loads
(e)
K
element stiffness matrix
u
system displacements
P
system loads
K
system stiffness matrix
F
system flexibility matrix
Work
PT u = u T P = u T K u = PT F P > 0
It follows: K and F are symmetric and positive definite

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5 General Finite Element Procedure

Example 5.1
Consider a beam with E = 4 elements, loaded with a constant distributed force p, as shown in
Figure 3.5 and with an additional point load P3 at x3.
p(x) = p
(1)

(2)
1

(3)
2

(4)

P3

x
Figure 5.1: Beam with n = 5 nodes and E = 4 elements
We chose nodes on the beam and number it, first within the beam and then at the supports.
The positions of the nodes and the point load are given in the nodal list. The length of the
element are obtained from the element list as L( e ) = x j x i , e = 1, 2,3, 4
Node No

xi

x1

x2

3
4

x3
x4

x5

Pi
(e)
1
2
3
4

P3

i
4
1
2
3

j
1
2
3
5

Table 5.1: Element list

Table 5.1: Nodal list

The direct stiffness method gives
2 1 1
1 2 1

EA
1 2
K=
1 ;
L

1
1

1
1

2 0
2 0
pL
2 + P3
P=
2
1 0
1 0

or

K
K = aa
K ba

K ab
Pa
; P=

K bb
P b

The partitioned system equation is written as

K aa
K
ba

K ab u a P a
=
K bb u b R b

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At each DOF, i, one of the dual values, ui or Pi has to be prescribed (marked by an upper line).
The corresponding dual values are the unknowns of the system: the displacements u a of the of
the beam and the reaction forces R b .
The first matrix equation of equation (5.1) gives
K aa u a + K ab u b = P a
from where the unknown displacement are found as
1
u a = K aa
( P a K abu b ) .

(5.2a)
(5.2b)

The reaction forces due to the P a and u b are obtained from the second matrix equation in
equation (5.1):
R b = K ba u a + K bb u b
Note: The total reaction forces are the sum due to the consistent loads P b acting on the supports
plus the reaction forces R b (see figure 5.2).
P4

R4 + P4

R5 + P5

P5

Exercises to chapters 3-5

Exercise 1.1
For the beam with length L, elasticity modulus E and cross section A, shown in figure1,
determine the displacement u(x), the stress ( x) along the beam and the reaction force at support
B, using one linear beam element. Use the general FEM formulation with node 1 at the left
support and node 2 at the right support.

p0
B

EA

x
L

Figure 1: Longitudinal loaded beam

Exercise 1.2
The beam, shown in Figure 2, with an elasticity modulus E, cross section A and a thermal
expansion coefficient is subjected to a pair of concentrated forces and a temperature change
T . Determine the nodal displacements, the stresses in the elements and the reactions at the
supports. (Solution see [1], section 17.4, p.231)
10 000 N
B

A1
a

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20 000 N
A1
a

A2
b

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Fig.2: Beam loaded by concentrated forces and temperature change

a = 0.75 m, b = 0.60 m; E =20x1010 N/m2;
A1 = 15 x 10-4 m2 , A2 = 24 x 10-4 m2,
T =100C, E =20 x 1010 N/m2, =11 x 10-6 1/ 0 C
0

6 General Derivation of 1-D Elements with C -Continuity

In this chapter we derive systematically 1-D finite elements with various orders of
approximations.
As we derive the element relations in an element related coordinate system we can choose such
local coordinate system which are most appropriate. Local coordinate systems are shown in
Figure 6.1

i
x

a)

x
;
L

0 x L

0 1

L/2

L/2

b)

2x
;
L

1 +1

L
i

c)

j
xj

xi

i =

xi
;
L

j =

xj
L

0 i 1, 0 j 1

i + j = 1

Fig 6.1: Element related coordinate systems

There is a unique relation between the coordinate system:
L
= +
2
i = , j = 1 , i + j = 1 .
The different coordinate system have different advantages.
With system a) the shape functions and their derivatives can be calculated in a straight forward
manner.
System b) is used if the integrals in the element terms have to be evaluated numerically by Gauss
quadrature .
Systems c), often called natural coordinates (triangular coordinates in 2-D; tetrahedral
coordinates in 3-D) is used for higher order elements since there exist simple integration
formulas for these coordinates.
In the preceding chapters the shape functions, which have to satisfy the conditions
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N i ( xj ) = i j ,

had been chosen by inspection.

In the following chapter we will derive the shape functions systematically.

6.1 Linear element; coordinate system a)

Since in the following all derivations are related to a typical element (e) we omit in general "(e)".
i

j
L

Fig.6.1: Linear element

We assume within the element a linear function expressed in the local coordinate system as
(6.1)
u ( x ) = ax + b
The constants a and b can be determined by requirements
u ( xn ) = ui ; n = i, j
(6.2)
n refers to the nodes in the element.
Since we have two unknown constants, a, b, we have to choose two nodes on the element. And in
order to fulfill C0-continuity in the global system these points have to be the endpoints of the
beam.
From equation (6.2) we have:
u ( xi ) = u (0) = ui ; u ( x j ) = u ( L ) = u j
u (0) = ui = b
u ( L ) = u j = aL + b

one obtains
b = ui , a =

uj

ui
i

u j ui
L

Whence

u( x ) =

u j ui
L

x
x
x + ui = 1 ui + u j = N i ( x )ui + N j ( x )u j no sum on i,j
L
L

and

(x ) =

d
d
d
1
1
u( x ) =
N i ( x ) ui + N j ( x ) u j = ui + u j = Bi ( x )ui + B j ( x ) u j .
dx
dx
dx
L
L

Note: For this element Bi ( x ) and B j ( x ) are constant.

In matrix notation
u
x ui
x
u ( x ) = 1
= Ni ( x ) N j ( x ) i = N( x ) u

L ui
L
ui

1
L

( x ) =
Version March 07

u
1 ui
= Bi ( x ) B j ( x ) i = B( x ) u

L ui
ui

u(e)
uj
ui
i

x
L

Finite Elements

18

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The corresponding element stiffness matrix and element load matrix have been given in
chapters 3.2 and 3.3

6.2 Quadratic element; coordinate system a)

j, 2

i, 1
L/2

k, 3
L/2

x
Within the element we approximate the displacement u(x) trough a quadratic function
u ( x ) = ax 2 +bx + c
(6.3)
For the three constants we need 3 nodes on the element. We choose in addition the mid-point of
the element and number the points with i, j, k or, equivalently with 1, 2, 3.
The constants are obtained from the conditions given in equation (6.2)
u ( xi ) = ui ; 1 = 1, 2,3
(6.4)
or
aL 2
L
u1 = c, u2 =
+ b + c, u3 = aL 2 +bL + c
(6.5a)
4
2
or
0 1
0
2
a u1
L
L
1 b = u2 .
(6.5b)
4

2
L 2 L 1 c u3

The solution of equation (6.5) introduced into equation (6.3) gives the displacement
u ( x ) expressed in the shape function N i ( x ) , i = 1, 2, 3:
u ( x ) = N1 ( x )u1 + N 2 ( x )u2 + N 3 ( x )u3 = N i ( x )ui , sum over i
where
2

x
x
N1 ( x ) = 2 3 + 1
L
L
2

x
x
N 2 ( x ) = 4 + 4
L
L

(6.6)

x x
N3 ( x ) = 2
L L

Note: As u ( x ) = N i ( x )ui and u ( xi ) = ui it follows that u ( x j ) = N i ( x j )ui = u j or N i ( x j ) = ij .

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7 Plane stress and plane strain problems

7.1 Basics from 3-D elasticity theory
The basic theory for plane stress and plane strain problems is given by the 3-dimensional theory
of elasticity. The basic equation used in the Finite Element Method are therefore given first in
3 dimensions. For details see any book about linear elasticity. See also Fig.1.1
Definitions:
V
dV
E

Volume of the elastic region; m3

infinitesimal element of V; m3
Elasticity module; N/m2
Poison's ratio; components of the displacement vector u ; m
components of the load vector p at the surface (boundary) of the volume; N/ m2
components of the load vector pV in the interior of the region; N/m3
components of the stress tensor ; N/m2

ux, uy ,uz
px, py
pv,x, pv,y, pv,z
x,y,xy
nx, ny
components of the outward unit normal vector n on the boundary of V; Principle of virtual work
Internal virtual work
( x, y, z ) ( x, y, z) dV

(7.1)

External virtual work

u(x) p(x) d + u(x,y,z) p

(x,y,z) dV , x ; x,y,z V

(7.2)

External variables
p V ,x
ux
px

u
p
u = y , p = y , pV = pV , y
pV , z
u z
pz

2
3
with u, p, pV given in m, N/m and N/m , respectively

(7.3)

Internal variables
x
x


y
y

z
z
= , =
xy
xy

yz
yz


zx
zx

(7.4)

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With these definitions the principle of virtual work has the form

( x, y ) ( x, y ) dV = uT (x) p (x) d + uT (x,y) p V (x,y) dV

(7.5)

Kinematics
Normal strains

x ( x, y , z ) =

u ( x, y, z )
u x ( x, y, z )
u ( x, y, z )
, y ( x, y , z ) = y
, z ( x, y , z ) = z
x
y
z

(7.6a)

Shear strains

u x ( x, y, z ) u y ( x, y, z )
+
,
y
x
u ( x, y, z ) u z ( x, y, z )
yz ( x, y, z ) = y
+
,
z
y
u ( x, y, z ) u z ( x, y, z )
+
,
zx ( x, y, z ) = z
z
x

xy ( x, y, z ) =

(7.6b)

or
u x

x
x

u y
0

x ( x, y , z )
y

( x, y , z )
0
y
u z

y ( x, y , z )
z
or ( x, y , z ) = Lu( x, y , z ) =

=
u

xy ( x, y, z ) u x + y

y
yz ( x, y, z )
y
x

zx ( x, y, z ) u y u z
0
z + y

u z u x

+
x
z
z
where L is an operator matrix.
Material law (constitutive equations )
The relation between elastic strain and stresses is given as

Version March 07

y
0

z
0

u ( x, y , z )
x

u y ( x, y , z )
0 u ( x, y , z )

(7.7)

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_____________________________________________________________________________________________________________________

1
x
1

E 1
y

z
el = =

xy

yz
0

zx el

x

0
y

z or
1 0 0 xy
1
0 1 0 yz

G
0 0 1 zx

el = C

(7.8)

compliance matrix

Thermal stains due to temperature increase T is

1
1

1
T = T , with [1/ 0C] coefficient of thermal expansion
0
0

0

(7.9)

The total stain representing the gradient of displacement field is

= Lu = el + T

Inversion of equation (7.8) gives

where G =

(7.10)

= Eel

with

E=C

(generalized Hookes law)

E
:
2(1 + )

v
1 v

v
1 v
E (1 v)
E=

(1 + v)(1 2v) 0

v
1 v

v
1 v
v
1 v

1 2v
2(1 v)

1 2v
2(1 v)

1
v
1 v

1 2v

2(1 v)
0

Note: 0 v < 0.5 .

For v = 0.5 the material is incompressible, i.e. xx + yy + zz = 0 .
(Rubber is often modeled as incompressible).
Version March 07

(7.11)

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_____________________________________________________________________________________________________________________

Note: Temperature change creates in unconstrained material only normal strains.

Problem definition
Find the displacement u( x, y, z ) and the stresses ( x, y , z ) in the considered region with
prescribed displacement boundary values u on boundary 1 and loads p on boundary 2 , pV in V
and temperature increase T in V; 1 U 2 = .

7.3 Plane stress problem; membrane plate

Flat structural members are called plates if the extension in one direction, the thickness, is very
thin compared to its width and length. The plate is called membrane plate (Scheibe) if it is
loaded only in its own plane with forces which are constant over the thickness. Since there are no
loads normal to the parallele plate surfaces the stress components in z-dirction (co-ordinate
system see Fig.7.1) are zero:z =zx =zy = 0 .
n

A
dA

pV

E,

xy

dA

xy

x
t

Fig. 7.1: Plane stress problem

Definitions for membrane plate:
A
dA
t
ux, uy
px, py
pv,x, pv,y
x,y,xy
nx, ny

area of the plate; m2

infinitesimal element of A; m2
thickness of the plate; m
components of the displacement vector u ; m
components of the load vector p at the boundary of the plate; N/m
components of the load vector p A = t pV in the interior of the plate; p A in N/m2
components of the stress tensor ; N/m2
components of the outward unit normal vector n on the boundary of A; -

It is assumed that the loads act only within the plane and are constant over the thickness.
It follows that all stresscomponents in z-direction (normal to the plate) are zero.
Problem definition
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_____________________________________________________________________________________________________________________

Find the displacement u ( x, y ) and the stresses ( x, y ) due to the loads p and pV in the plate with
prescribed displacement boundary values u on boundary 1 and loads p on boundary 2 , p A in A
and temperature increase T in A uniform over the thickness; 1 U 2 = .
Principle of virtual work
Internal virtual work
( x, y) ( x, y) tdA

(7.12a)

External virtual work

u(x) p(x) d + u(x,y) p

(x,y) tdA, x

(7.13a)

We write the field variables as matrices:

External variables

ux
px
p A, x p V , x
u = , p = , pA =
=t

u y
py
p A, y pV , y
(7.14)
Internal variables
x
x


= y , = y
xy
xy

(7.15a)

With these definitions the principle of virtual work has the form

( x, y ) ( x, y ) tdA = uT (x) p(x) d + uT (x,y) p A (x,y) dA

(7.16a)

Kinematics

x ( x, y ) =

u ( x, y )
u x ( x, y )
u ( x, y ) u y ( x, y )
, y ( x, y ) = y
, xy ( x, y ) = x
+
x
y
y
x

u x

x ( x, y )

u y

y ( x, y ) =
y

xy ( x, y )

u u
y
x+

x
y
or

Version March 07

(7.17)

(7.18)

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24

_____________________________________________________________________________________________________________________

( x, y ) = Lu ( x, y ) = 0

u x ( x, y )

y u y ( x, y )

where L is an operator matrix.

Material law (constitutive equation, generalized Hooke's law)

1
T = T 1
= E el = E ( T ) = E ET
0

(7.19)

with

1
v
0
1

E T
E
ET =
(7.20)
v
1
0 ;
E=
1
1

1 v 2
0
1 v
0
0

Note: The deformation normal to the planes surface, in z-direction, is not zero, but decoupled
from the stress and deformation state in the plane. The strain in z-direction is obtained from
the strain-stress relation in z-direction after the stresses in the plane surface are obtained,
and from the strain-temperature relation in z-direction:

z ,el = ( x + y ); z ,T = T .

E
Exercise: Derive equations (7.9a) and (7.9b) from
1
1
1
x ,el = ( x y z ), y ,el = ( y x z ), z ,el = ( z x y )
E
E
E
1
1
1
xy = xy ; yz = yz ; zx = zx and from equ.(7.9a ).
G
G
G

(7.21)

Note we use here =

xy
xy

7.4 Plane strain problem (e.g. Geo-technical structures)

Plane strain occurs if the structure and its load does not change its properties, in z-direction (see
Fig. 7.2.1 and Fig. 7.2.2)

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Finite Elements

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_____________________________________________________________________________________________________________________

z
H

L>> H

x
Fig. 7.2.1
fixed in
z- direction

fixed in
z- direction

z
x
Fig. 7.2.2

Definitions for plane strain:

A
dA
L
ux, uy
px, py
pv,x, pv,y

x,y,xy,z
nx, ny

cross section of structure; m2

infinitesimal element of A; m2
Length of structure in z-direction; m (cancels in the analysis)
components of the displacement vector u in considered cross section; m
components of the line load vector p in N/m along the boundary of the considered
cross section, specified per unit length in z-direction
components of the load vector p A in N/m2 in the considered cross section,
specified per unit length in z-direction
components of the stress tensor in the considered cross section; N/m2
components of the outward unit normal vector n on the boundary of he cross
section a A; -

It is assumed that the geometrical material values of the structure and the loading are constant in
z-direction. It follows that all strain components in z-direction (normal to the cross section of the
structure) are zero. The displacements in z-direction are zero due to the assumed geometrical
conditions.
Version March 07

Finite Elements

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_____________________________________________________________________________________________________________________

Problem definition
Find the displacement u( x, y ) and the stresses ( x, y ) due to the loads p and p A in the cross
section with prescribed displacement u on boundary 1 and line loads p along boundary 2 , area
load p A in A, and temperature increase T , constant in z-direction; 1 U 2 = .
Principle of virtual work
Internal virtual work (integrated over the length L)
L ( x, y ) ( x, y ) dA

(7.12b)

External virtual work (integrated over the length L

L u(x) p(x) d + L u(x,y) p A (x,y) dA, x

(7.13b)

We write the field variables as matrices:

External variables
ux
px
p A, x
u = , p = , pA =

u y
py
p A, y
Internal variables
x
x


= y , = y
xy
xy

(7.14b)

(7.15b)

With these definitions the principle of virtual work has the form

( x, y ) ( x, y ) dA = uT (x) p(x) d + uT (x,y) p A (x,y) dA

In bothe cases shown in Fig.7.2 is u x = u x ( x, y ) ,

z =

u z
= 0;
z

(7.16b)

zx =

u y = u x ( x, y ) , u z = 0 . It follows that

u z u x
u u
+
= 0; zx = z + x = 0
x
z
x
z

zy =

u z u y
+
= 0.
y
z

(7.22)

With equation (7.22) follows from the 3-D material laws

E (1 v) v
E=
(1 + v)(1 2v) 1 v

v
1 v
1
0

x
x ,T

0 ; = y ; n ,T = y ,T = T 1
xy
z ,T

1

1 2v
2(1 v)

(7.23 a,b,c)

Note: 0 v < 0.5 .

For v = 0.5 the material is incompressible (rubber is often modeled as incompressible).

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_____________________________________________________________________________________________________________________

Note: The strain z and the shear stresses zx and zy are zero. The stress z normal to the x-y
plane surface is not zero. The strain due to temperature increase is all directions not zero in.
The stress state is obtained from equation (7.11) with z = zx = zy = 0 and equ.(7,23).

= Eel = E( T )

(7.24)

If we write in equ.(7.24) first the stresses in the x-y-plane and than z we obtain:

x

y
xy

z

E (1 v)
1 v
=

(1 + v)(1 2v)
0

v
1 v

0 x
v

E (1 v)

1 v

1 2v y (1 + v)(1 2v)
xy
0
2(1 v)
v

0
1 v

v
1 v

1
0
v
1 v

v
1 v
1
0
v
1 v

v
1 v

1
v

1 v T 1

0
1

or

x
v

y = E (1 v) 1 v
xy
(1 + v)(1 2v) 0

v
1 v

v
1 v
1
0
v
1 v

0 x
E T
y
1 2v
1 2v

2(1 v) xy

1
1

0

1

(7.24)

7.5 FEM-Approximation
The derivations are here given for the case of plane stress. The case of plane stress is obtained
with the material laws of plain strain and an extension in z-direction equal 1 (thickness of the
plate ).
We subdivide the plate in finite plate elements, defined by the node points of the elements.
At each node, i, we have two kinematic DOF's u x ,i and u y ,i
As in the 1-D approximation we express the displacement field with C0-continuous shape
functions having the properties to be 1 at the considered DOF and zero at all other DOF's.
Again it is sufficient to derive the expression of virtual work only for one typical element (e).

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Fig.7.2: Example of plate discretization with triangular and quadrilateral elements

7.2.1 Linear triangular element

6
y
k, 3

5
j, 2

2
i, 1

4
3

Fig. 7.3: Linear triangle; constant stress triangle

We assume for the horizontal and vertical displacement component a linear variation within the
element:
u x ( x , y ) = + x + y , u y ( x, y ) = + x + y
(7.25)
where , , are constants to be determined from:
u x ( xi , yi ) = u x ,i , i = 1, 2,3
(or from u y ( xi , yi ) = u y ,i )
One obtains:
1 xi

1 x j
1 xk

yi u x ,i

y j = u x , j
yk u x ,k

(7.26)

(7.27)

from where
1
{ai ux,i + a j ux, j + ak ux,k }
2A
1
=
{bi ux,i + b j ux, j + bk ux,k }
2A
1
=
{ci ux,i + c j ux, j + ck ux,k }
2A
ai = x j yk xk y j , bi = y j yk , ci = xk y j

with

and the area of the triangle as

1 xi yi
A = 1 xj yj .
1 xk yk
The constants a j , ak , b j , bk , c j , ck are obtained through cyclic permutation.
The element approximation is obtained from equ. (7.25) with equ. (7.28) as
Version March 07

(7.28)

(7.29)

(7.30)

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29

_____________________________________________________________________________________________________________________

u x ( x , y ) = N i ( x , y ) u x , i + N j ( x , y ) u x , j + N k ( x, y ) u x , k

(7.31)

1
( ai + bi x + ci y )
2A
1
N j ( x, y ) =
( a j + bj x + c j y )
2A
1
N k ( x, y ) =
( ak + bk x + ck y )
2A

(7.32)

with
N i ( x, y ) =

In the same way one obtains

u y ( x , y ) = N i ( x , y ) u y , i + N j ( x, y ) u y , j + N k ( x, y ) u y , k

(7.33)

Note that again N i ( x j , y j ) = i j , i, j = 1, 2,3

Ni

Nj

Nj

k,3
u x( e )

u (ye )

i, 1

j, 2

Fig.7.4: Shape functions and element approximation; linear triangular element

If we define the element nodal displacement as
v1 u x ,i
v u
2 y ,i
v3 u x , j

v= =

v
u
y, j
4

v u
5 x ,k
v6 u y ,k

one obtains in matrix notation

u ( x, y ) = N ( x , y ) v
with
0
N j ( x, y )
0
N k ( x, y )
0
N i ( x, y )
N ( x, y ) =
0
0
N i ( x, y )
N j ( x, y )
N k ( x, y )
0
The strain in the element is
Version March 07

(7.34)

(7.35)
(7.36)

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30

_____________________________________________________________________________________________________________________

u x

=
N i ( x, y ) u x ,i + N j ( x, y ) u x , j + N k ( x , y ) u x , k
x x
x
x
u

y ( x, y ) = y = N i ( x , y ) u y , i + N j ( x , y ) u y , j + N k ( x , y ) u y , k
y y
y
y
u u

xy ( x, y ) = x + y = N i ( x, y ) u x ,i + N j ( x, y ) u x , j + N k ( x, y ) u x ,k
y
x y
y
y

+ N i ( x, y )u y ,i + N j ( x, y )u y , j + N k ( x, y )u y , k
x
x
x

x ( x, y ) =

Using the definitions (7.6) and (7.31, 7.32) one obtains from (7.36) in matrix notation
v1
v
x
bi 0 b j 0 bk 0 2
1
v3
0
0
0
c
c
c
=
y
i
j
k
2A
v or = B v
xy
ci bi c j b j c j bk 4

v

5
v 6

(7.36)

(7.37)

The element related matrices are obtained from equation (7.5)

( x, y ) ( x, y ) tdA = uT (x) p(x) d + uT (x,y) p A (x,y) tdA

With the above given relations

u( x, y ) = N( x, y ) v, u( x, y ) = N( x, y ) v ,
( x, y ) = B ( x , y ) v ,
( x, y ) = B( x, y ) v , and = E
one obtains

vT BT ( x, y ) E B( x, y ) tdA v = vT NT (x) p(x) d + vT NT (x,y) p A (x,y) tdA

or
with

(7.38)

(7.39)

(e) v (e) = P(e)

(7.40)

( e ) = BT ( x, y ) E B( x, y ) tdA

(7.41)

P ( e ) = NT (x) p(x) d + NT (x,y) p V (x,y) tdA

(7.42)

If we define
E = tE
p A (x,y) = t pV (x,y)
one has for the element related matrices
( e ) = B T ( x , y ) E B ( x , y ) dA

(7.343)

(7.44)

with E from equation (7.9),(7.29) and B from equation. (7.23);

P ( e ) = NT (x) p(x) d + NT (x,y) p A (x,y) dA .

For the linear element all matrices in equation (7.30 a) are constant and one obtains
Version March 07

(7.45)

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_____________________________________________________________________________________________________________________

( e ) = A( e ) B ( e )T E B ( e )
where A( e ) is the area of the considered element and E and B ( e ) represent the material and the
kinematic of the element, defined through equations (7.29), (7.9) and (7.23).
Note: As the element is not supported it can undergo 3 rigid body displacements. ( e ) is singular
with "Rangabfall" 3. The rank of ( e ) is 3.
Load vector
If in the element p A and p are constant (equ.7.28) one has for the load in the direction of DOF i
Pxi ( e ) = px N i (x) d + t p Ax N i (x,y) dA

Similar expressions hold f or the other DOFs.

As N i represent a pyramid with base A (see Figure 7.3) the integrals can be obtained through
geometric consideration.

One obtains for the element with nodes j, k on the boundary

0
p Ax
0
p

Ay
i
L jk px tA p Ax
2
(e)
[ px ] = N/m; [ p Ax ] = N/m
P =
+
2 p y 3 p Ay
px
p Ax


p y
p Ay

k
py

pVy

Ljk
px
x

pVx
j

Fig 7.5: Loaded element having nodes

j,k on the boundary .
We see that the consistent loads in the linear triangular element are distributed to equal parts to
the nodes of the element.
Element stresses
The element stresses are given once the system displacements are known.
From v one obtains v ( e ) from where
(6,1)

(n,1)

(e)

(e)

(e)

(e)

= E = E B ( x, y ) v .

(7.46)

or
x ( , )
E
( , )
y
= 1 v2
xy ( , )

v
1
0

bi
0
1
0
0
2
A
ci
1 v

bj

bk

ci
bi

0
cj

cj
bj

0
cj

u x ,i

u y ,i
0

ux, j
ck
u
bk y , j
u x , k
u
y ,k

As for the linear shape functions the stresses are constant the element stresses of the constant
stress element is related to the center of the triangular area.
7.2.1.1 Exercise
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Obtain for the not yet supported plate with elasticity modulus E and Poisson's number , shown
0
in Figure 7.6a for constant material properties and constant load p A ( x, y ) = p 0 =
the
p

0
y

stiffness matrix and consistent load vector. Solve the problem for the supported plate, shown in
Figure 7.3b.
y
y

a
a)

b)

Fig. 7.6: Plate discretized with 2 triangular elements; a) not supported, b) supported.
Procedure
1) Choose the node points and node numbers
2) Define the DOFs, i.e. the system displacements
3) Define the vector of nodal displacements and nodal loads
4) Give the nodal list
5) Give the element list
6) Obtain the element matrices (1) and (2)
7) Obtain the element load matrices P (1) and P (2)
8) Add the element matrices to the system matrices
9) Include displacement B.C.'s
10) Obtain the system displacements
11) Obtain the element stresses
12) Obtain the support reaction
13) Discuss the result

7.2.2 Bi-linear rectangular element

m, 4

, y

j, 2

i, 1
a

k, 3

, x

b
4

2
j

i
1

Fig:7.7: Rectangular element; coordinates, node numbers, DOFs

The element related coordinate system has its origin in the center of the rectangle. The axis ore
oriented parallel to its sides. The non-dimensional coordinates are defined as
2x
2y
(7,47)
= , 1 +1; = , 1 +1 .
a
b
Also we have
2
2
ab
(7,48)
d = dx; d = dy; dx dy =
d d .
4
a
b
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Note: In general terminology of coordinate transformation (see section 7.3) we have also

dA = dx dy = J d d
dx
d
J=

0 a

= 2
dy
0
d

b
2

J=J =

ab
4

(7.49)

where J is the Jacobi matrix and J the Jacobian.

We approximate each of the two components of the displacement vector within the element
through shape functions N i ( x, y ) , i = 1, 2, 3, 4 corresponding to the 4 nodal points of the
elements
u x ( , ) = N i ( , )u xi ,
sum over i
(7,50)
u y ( , ) = N i ( , )u yi , i = 1, 4
where N i has the property N i ( j , j ) = ij .
We obtain by inspection from Figure 7.7
1
N i ( , ) = ( 1)( 1)
4
1
N j ( , ) = ( + 1)( 1)
4
(7,51)
1
N k ( , ) = ( + 1)( + 1)
4
1
N m ( , ) = ( 1)( + 1)
4
Note: For each displacement component we have 4 nodal values to approximate the shape
functions. This corresponds for the horizontal component (and for the vertical components
correspondingly) to u x ( x, y ) = a + bx + c y + d xy .
This is an incomplete quadratic polynomial which does not preserve its properties when rotated.
Therefore the element has always to be oriented parallel to the global coordinate axis.
With the definition
u
v1 x ,i
v u y ,i

v3 u x , j

u
v
y, j
4
(7.52)
v = =

v5
u x ,k

v 6 u y , k

u
7
x ,m

v8 u
y ,m
we obtain
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u x ,i

u y ,i
u
x, j
N j ( , )
N k ( , )
N m ( , )
0
0
0
0
u x ( , ) N i ( , )
u y , j

u ( , ) = 0
N i ( , )
N j ( , )
N k ( , )
N m ( , ) u x ,k
0
0
0
y

u
y ,k
u x , m

u y ,m

or

u ( , ) = N ( , ) v

(2,1)

(2,8)

(7.53)

(8,1)

The element strains are

u x

x ( x, y )

u y
=
y ( x, y ) =

xy ( x, y )

u x u y
+

x
y

N i ( , )
x

N i ( , )
y

or

N j ( , )
x

N i ( , )
y

N i ( , )
x

N j ( , )
y

N k ( , )
x

N j ( , )
y

N j ( , )
x

N k ( , )
y

N k ( , )
y

N k ( , )
x

( , ) = B ( , ) v
(3,8)

(3,1)

N m ( , )
x
0

N m ( , )
y

u x ,i

u
y ,i
0
u x , j

u y , j

N m ( , )

y
u x , k

N m ( , ) u y , k
x
u x ,m

u y , m

(7.54)

(8,1)

The element matrices are as given before in equ. (7.30):

( e ) = B T ( x , y ) E B ( x , y ) dA

(7.55)

P ( e ) = NT (x) p(x) d + NT (x,y) p A (x,y) dA

(7.56)

As the shape functions are derived in non-dimensional form the integrals have to be
transformed to non-dimensional coordinates.
With N(x,y)= N( , ), p A (x,y)= p A ( , ), dA =

ab
d d
4

(7.57)

and
a
a
x= , d = dx = d
2
2
b
b
x= , d = dx = d
2
2
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for horizontal boundaries

(7.58)

for vertical boundaries

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and with equ. (7.33)

N i ( , ) N i ( , ) N i ( , ) 2 N i ( , )
N ( , )
=
+
=
+ 0 i
x

x a

(7.60)

N i ( , ) N i ( , ) N i ( , )
N ( , ) 2 N i ( , )
=
+
= 0 i
+
y

(7.61)

and similar expression for j , k , m and with

N i ( , ) 1
N i ( , ) 1
= ( 1) ,
= ( 1)
4
4

N j ( , )
N j ( , )
1
1
= ( 1) ,
= ( + 1)

4
N k ( , ) 1
N k ( , ) 1
= ( + 1) ,
= ( + 1)

4
N m ( , )
N m ( , )
1
1
= ( + 1) ,
= ( 1)

4
one obtains finally the kinematic matrix in non-dimensional coodinates

1
2a ( 1)

0
B( , ) =

1 ( 1)
2b

0
1
( 1)
2b
1
( 1)
2a

1
( 1)
2a
0
1
( + 1)
2b

1
( + 1)
2a

0
1
( + 1)
2b
1
( 1)
2a

0
1
( + 1)
2b

(7.62)

0
1
( + 1)
2b
1
( + 1)
2a

1
( + 1)
2a
0
1
( 1)
2b

1
( 1)

2b

1
( + 1)
2a

(7.63)
Whence the element stiffness matrix becomes
+1

(e)

(8,8)

+1

BT ( , ) E B( , ) Jd d =

=1 =1

+1

+1

ab
BT ( , ) E B( , ) d d

4 =1 =1

(7.49)

After the matrix multiplication BT E B the integration of the elements of the stiffness matrix can
be obtained analytically.
Load vector (here no temperature loading)

P ( e ) = NT (x) p(x) d + NT (x,y) p A (x,y) dA

(7.64)

with
+1 +1

ab
T
A N (x,y) p A (x,y) dA = 4 1 1 N ( , ) p A ( , ) d d
L jk +1 T
T
N (x) p(x) d = 2 1 N ( ) p ( ) d
T

and

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(7.66)

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where L jk is the length of the side of the element on .

Integration gives for p A and p constant in the element with nodes j, k on the boundary

P(e)

p Ax
0
p
0
Ay

p Ax
px


ab p Ay c px
=
+
4 p Ax 2 0


p Ay
0
p
0
Ax

p Ay
0

p Ay
b

(7.53)

py
Ljk

px

p Ax
j
a

Fig. 7.8: Loaded element with nodes j,k on boundary .

We see that the consistent loads in the bi-linear element are distributed to equal parts to the nodes
of the element.
Element stresses
The element stresses are given once the system displacements are known.
From v one obtains v ( e ) from where
(8,1)

(n,1)

(e)

(e)

(e)

= E = E B( , ) v

(7.67)

or
x ( , )
E
( , )
y
= 1 v2
xy ( , )

1
2a ( 1)

1 ( 1)
2b

0
1
( 1)
2b
1
( 1)
2a

1
( 1)
2a
0
1
( + 1)
2b

v
1
0

0
1
( + 1)
2b
1
( 1)
2a

0 x
1

2(1 v)

1
( + 1)
2a
0
1
( + 1)
2b

0
1
( + 1)
2b
1
( + 1)
2a

1
( + 1)
2a
0
1
( 1)
2b

( 1)

2b

( + 1)

2a
0

(7.68)

7.2.2.1 Exercise
a) Obtain by analytical integration the stiffness matrix of the bilinear rectangular element.
b) Solve with one quadrilateral element the problem of exercise 7.2.1.1
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u x ,i

u y ,i
u
x, j
u y , j

u x , k
u
y ,k
u x , m

u y , m

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7.3 Isoparametric plane stress elements

The elements developed in section 7.22 can only be used if the element boundaries are parallel to
the global co-ordinate axis. The extension to an arbitrary 4 node triangular element is made by
mapping a unit quadrilateral "parent" element into a general quadrilateral element (see Fig. 7.9).

-1,1

k 1,1
mapping

-1,-1

x = x( , )
y = y ( , )

m
i

1,-1
x

Fig. 7.9: Mapping of parent element into a general element

The mapping is given as
x = x( , )
y = y ( , )
As mapping function we choose the same functions as for the shape functions given in equation
(7.36) and have for the mapped geometry
x( , ) = N i ( , ) xi + N j ( , ) x j + N k ( , ) xk + N m ( , ) xm

y ( , ) = N i ( , ) yi + N j ( , ) y j + N k ( , ) yk + N m ( , ) ym
We conclude for a typical function N i :
N i ( , ) = N i ( x, y ) .
and for its derivatives
N i ( , ) N i ( x, y ) x N i ( x, y ) y
=
+

N i ( , ) N i ( x, y ) x N i ( x, y ) y
=
+

or
N i x y N i
x

N i x y N i
y

where

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x

J=
x

y

is the Jacobian matrix and
(7.70 a)
y

x y y x
J = det J = J =

is the Jacobian
(7.70 b)

From equation (7.3.1) we obtain the gradients occurring in the element stiffness matrix
N i
N i

x
.

= J 1
N i
N i

y

(7.61)

r r
Considering the sides of the infinitesimal area element dx dy as vectors d x , d y one shows with
x
x

d
d

r
; d yr =

dx=
y
y

d
d

that

r
r
dA = dx x dy = J d d .

(7.62)

With expressions (7.3.2)-(7.3.4) one can write the element related integral as functions of
an :
Stiffness matrix:
(e)

+1

(8,8)

+1

BT ( , ) E B( , ) J d d

=1 =1

N i
N i
in equation (7.39)
,
x
y
are obtained from equation (7.3.3). Similarly we obtain the terms with indices j, k, m.

where the terms

Load vector duet loading over the element:

1

(e)

( , ) p A ( , ) J d d

1 1

As in general the Jacobi matrix is a function of and the intergrals have to be evaluated by
numerical integration.
Note: All internal angles of the quadrilateral have to be less than 180 0 in oder that the mapping
between ( , ) - and (x,y)-coordinate system is unique (in both directions).
Exercise:
Obtain for the rectangular element shown in Figure 7.3 the stiffness matrix in the formulation of
chapter 7.3 analytically and through Gauss integration
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8 Plate bending
8.1 Assumptions and definitions
We consider thin plates where shear deformations can be neglected. It follows that there will
be no material law relating shear forces with shear deformations. This has the effect that the
force values corresponding to vertical boundary displacements are the Kirchhoff shear forces or
total shear forces.
In this introduction we will consider only rectangular plates with sides parallel to the global
x- and y- axis. Only vertical distributed loads or vertical point loads within the area of the plate
are considered.
Furthermore we will assume such boundary conditions where at supported edges the
displacement values (vertical displacements; rotations) are prescribed as zero and at free edges
the specified loads (vertical forces; moments) are zero. It follows that the boundary terms do not
contribute to the external (virtual) work.
P
x
dA
Q
middle surface
t

E,

y
z
Fig. 8.1: Loaded plate
Terminology
t plate thickness, m
A plate surface, m2
E Young's modulus or Elasticity modulus, N/ m2
Poison' ratio, P Point load, N
Q load normal to plate surface, N/m2
Qx shear force at edge normal to x-axis, N/m
Qy shear force at edge normal to y-axis, N/m
Mxx bending moment at edge normal to x-axis, Nm/m
Myy bending moment at edge normal to y-axis, Nm/m
Mxy torsion or twisting moment at edges, Mxy = Myx, Nm/m
w displacement normal to plate surface, m
x rotation around x-axis
y rotation around y-axis
Mx external moment around x-axis
My external moment around y-axis

8.2 Basic relations

8.2.1 External forces and external deformations
At a position (x,y) of the middle surface of the plate we describe the external deformation
state through the vertical displacement w and the rotation x and y around the coordinate
axis, as shown in Figure 8.2.
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To each degree of freedom belongs a corresponding load ( vertical force P and

moments M x and M y , respectively around the coordinate axes.
From Figure 8.2 we see that
w
w
x =
; y =
y
x

(8.1)
x

w(x,y)

Fig. 8.2: Definition of external degrees of freedom

We collect the displacement and force variables in the corresponding vectors
w
P


u = x ; P = M x
y
M y


Note that we assumed that external moments are specified as zero.
8.2.3 Internal forces (defined at middle surface of element dA )
Mxy

Myy

Mxx

Myx

Myx
Mxx

Myy

x
y

Mxy
Fig. 8.3: Internal moments
Note: Shear forces are not shown in Figure 8.3 as they do not contribute to internal work
because the shear deformations are assumed as zero.
The positive bending moments M xx and M yy are defined such that they create positive strain at
the positive side of the middle surface. The positive sign of the torsion moments M xy = M yx are
chosen such that they are proportional to the negative curvature of the displacement field (see
also section 8.3 below).
We collect the internal forces in the column matrix
M xx

= M yy
M xy

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8.2.3 Internal deformation variable and kinematic relations

The deformation variables corresponding to the internal moments are the
curvatures xx , xx and xy = yx . The corresponding column matrix is defined as
xx

= yy
2 yx

where we obtain from Figure 8.2 the kinematic relations

xx =

y
x

2w
,
x 2

yy =

x
2w
= 2
y
y

y
x
2w
2w
, yx =
=
=
x
xy
y
xy
The deformation states corresponding to constant bending and twisting curvatures are shown in
Figure 8.4

xy =

Mxx

Myy
Mxx

xx

x
y

yy

Myy

Mxy
Myx

xy

Myx

yx

M xy = M yx

Mxy
Fig.: 8.4: Constant curvatures xx , yy and xy = yx .
8.2.3 Constitutive relation

y
u
z

x
y

z
v

Fig. 8.5 Horizontal displacements due to bending

The deformation over the thickness of the plate are (see Figure 8.5) with equations (8.1):
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w
w
, v = z x = z
y
x
u
2w
v
2w
= z 2
x =
y = = z 2
y
y
x
x
which give the corresponding stresses

u = zy = z

xy = xy =

v u
2w
+
= 2 z
x y
xy

2w
2w
E
E
+ 2
x =
( x + y ) =
z
1 2
1 2 x 2
y
2w
2w
E
E
+
=

+
y =
(

y
y
1 2
1 2 y 2
y 2

xy = xy = G xy = 2G z

E
2w
2w
z
=
1 + xy
xy

from where the bending and torsion moments are obtained

t/2
t/2
2w
2w
E t3
M xx = z x dz = E z 2 2 + 2 dz =
+ yy )
2) ( xx

x
y
12(1

t / 2
t / 2
2
2w
E t3
2 w
+
=

z
dz

y 2 x 2 12(1 2) ( yy + xx )
t / 2
t / 2
t/2
t/2
E
2w
G t3
xy , with G =
.
M xy = z xy dz = G 2 z 2
dz =
2(1 + )
12
xy
t / 2
t / 2

t/2

M yy =

z y dz = E

t/2

The constitutive equation of the plate, i.e. the relation between moments and curvatures, are
then in matrix notation
M xx
0
1
xx
E t3

0
M yy = 12(1 2 ) 1
yy
M xy
0 0 (1 ) / 2 2 xy

or
= E
(8.1)
with
M xx
xx
0
1

E t3

, = M yy ,
= yy .
(8.2
E=
0
1
2

12(1 )
M xy
2 xy
0 0 (1 ) / 2

8.2.3 Equilibrium expressed through virtual work

Internal virtual work is
Aint. = T dA
(8.3)
A

External virtual work is

Aex t. = wT Q dA
A

The equilibrium is expressed as

T
T
dA = w Q dA
A

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(8.4)

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8.3 Finite Element approximation

We subdivide the middle plane of the considered rectangular plate in rectangular and /or
triangular finite element.
In each element we represent the displacement field w(x,y) through polynomials which
should, to guarantee convergence, be
- complete and
- conforming (i.e. satisfying C1-continuity).
In each element the chosen number of degrees of freedom should be identical to the number m
of the chosen complete polynomial in the Pascal triangle (see Pascal triangle in Fig. 8.6). It turns
out that complete and conforming plate elements can not be easily constructed.

1
y

x
x2
x3
x4

0 order, m=1

xy

1st order, m=3

y2

x2 y x y2
x3 y x2 y2 x y3

2nd order, m=6

y3

3rd order, m=10

y4

4th order, m=15

Fig. 8.6: Pascal triangle; the polynomials on horizontal lines represent complete
polynomials up to 4th order; m represents the corresponding number of
degrees of freedom.
w
are continuous across element
Note: The element is C1-continuous if w and
n
r
boundaries n is the direction of the normal n of the element sides (see Fig 8.7).
r
n
r
n

Fig. 8.7: C1-continouity across element sides

We approximate
w( x, y ) = 1 + x + 3 y + 4 x 2 + ... + n x p y q
(8.5)
by polynomials and express the parameters i , i = 1, n through the nodals DOFs vi (as shown in
chapter 9.2) to obtain
n

w( x, y ) = N i ( x, y ) vi = N( x, y ) v
i =1

N i are the shape functions with the properties

Ni ( x j , y j ) = i , j .
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Setting the virtual internal work equal to the virtual external work and using equations
(8.1)-(8.5) result in the element equation
K (e) v (e) = P(e)
with
v1
v
(e)
T
(e)
T
(e)
K = B E B dA , P = N Q( x, x) dA , and v = 2
M
A( e )
A( e )

v n
The global system equation is obtain through the direct stiffness method as:
K V = P + [ Pi ]

(8.6)

with
E

e =1

e =1

K = K (e) , P = P(e)

where E is the total number of elements and Pi represents a point load at the system node i.
The solution of equation (8.6) gives the displacements and rotations in all nodes of the system,
V , and through the element list the displacements and rotations of the nodes of the individual
element, v ( e ) , from which the moment distributions in the element are obtained
M xx

M yy
M xy

(e)

0
1
xx
E t3

=
1
yy
0
2

12(1 )
0 0 (1 ) / 2 2 xy

(e)

with
xx

yy
2 xy

(e)

2w

2
x
2w
=
2
y
2w
2

xy

(e)

and
w ( e ) ( x, y ) = N ( x , y ) v ( e )
In Figure 8.7 two plate elements are shown

x
y
a)

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b)

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Fig. 8.7: Plate elements; a) 4-node element with12 DOF; incomplete (the used polynomials are
w
bold in Fig. 8.6); non-conforming in
.
n
w
b) 6-node element with 6 DOF; complete, non-conforming in w and
.
n
Note: For practical analysis also so-called mixed or hybrid-elements are used based on mor
general variational principles and also thin full 3-dimensional elements with special
approximation over the thickness of the plate.

9 Shells
9.1 General shells; Folded Plates
Shells have in general a double curved surface. When loaded, membrane stresses and bending
stresses are created.
In the finite element analysis we subdivide the middle surface of the shell into finite shell
elements (see Figure 9.1)
shell element

Figure 9.1: Shell; a) subdivided into elements; b) geometrical approximation with flat elements
We consider here only rectangular 4-node "flat shell" elements. These elements can be
understood as a superposition of a membrane element (see chapter 7.2.2) and a plate bending
element (see Figure 8.7 b) in a common local element-related coordinate system as shown in
Figure 9.2.

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Figure 9.2: Use of flat shell elements taken from Klaus-Jrgen Bathe: "Finite Element
Procedures".

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% and the membrane stiffness

Note that in the local coordinate system the bending stiffness K
B
12 x12

% are decoupled, so that the local flat shell element stiffness matrix is
K
M
8 x8

%
% = K B
K
S
20 x 20
0

0
.
%
K
M

(9.1)

To each node in the global coordinate system belong 6 DOFs, 3 translational and 3 rotational
ones. Therefore we may extend the local stiffness also to 24 DOF introducing at each of the 4
nodes a rotational DOF around the local z-axis. If we arrange, for the demonstration purpose
only, these 4 DOF as last 4 element DOF and set the corresponding stiffness coefficients to zero
we obtain
%
% * = K S
K
S
24 x 24
0

0
.
0

(9.2)

The final shell element stiffness matrix is obtained through the transformation from local to
global coordinates. If we assume now that the DOF are ordered in the usual manner, i.e. 3
translation in x-, y-, z-direction and 3 rotation about x-, y-, z-axis the transformation has the form
%*T
(9.3)
K = TT K
S
With the transformation matrix
T1

T1

T2
n1 n2 n3

T
2

, T = j j
T=
(9.4)
i
1 2 j3 ; i = 1, 2,3, 4

T3
k1 k2 k3

T3

T4

T4

where ni , ji , ki ; i = 1, 2,3 are the components of the unit normal of the local coordinate axis
measured in the global coordinate system (see Figure 9.3)
z

z
y%

z%

r
j

r
k

j cos
r 1
j = j2 = cos
j3 cos

r
j

j1

r
n

j3
j2

x%

Fig. 9.3: Local x% - y% - z% and global x-y-z- coordinate system

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9.2 Axi-symmetric shell under axi-symmetric load

Due to symmetry only two normal stresses, N s , N , and two bending moments, M ss , M , exist
(as indicated in Figure 9.5), where the index s indicates the direction along the meridian and the
direction normal to the meridian.
The constitutive relation are those of plane stress and plate bending yielding
for the membrane state
NS
E t 1 S

=

2
N
1 1

(9.5)

for the bending state

M SS
E t 3 1 SS
=

2
M 12(1 ) 1

(9.6)

Ns

M ss

t
N

M ss

M
meridian

Ns

Fig.9.5: Axi-symmetric shell and infinitesimal shell element with internal forces
We subdivide the shell in ring elements as indicated in Figure 9.6 and approximate the
section of the middle surface of the shell through a straight line. The membrane state is
represented through two DOFs, u% 1 , u% 2 in the direction of the meridian segment, the bending state
is represented through 4 DOFs, the displacement normal to meridian segment , w% 1 , w% 2 and
through the rotations, 1 , 2 .

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ring element

w% 1

w1

n L

u% 1

u1

w% 2

z
u2

w2

u% 2

Fig. 9.6: Shell ring element; conical ring element with local DOF; local and global DOFs
Note that the cross section where the displacement are shown corresponds to the beam
element with 6 DOFs.
The local and global DOFs are collected in the column matrices, respectively
u% 1
w%
1
,
v% = 1
u% 2
w% 1

1

u1
w
1

v= 1
u2
w2

2

(9.7)

which are related through the relation

with

v% = T v
cos
sin

0
T=

sin

cos
0

0
1

cos

sin

sin
0

cos
0

0
0

(9.8)

w% i

wi

u% i =

cos u i + sin wi

w% i = sin u i + cos wi
ui

u% i

Fig. 9.7: Transformation relations between local and global coordinates

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Kinematic relations
From the geometry one derives the relations between displacements and strains (for details see
Miodrag Sekulovic "Metod Konacnih Elemenata", pp.423):
du%
sin
cos
; =
u% +
w%
ds
r
r
d 2u%
sin dw
dw
s = 2 ; s =
; =
;
ds
r ds
ds

s =

or
d

ds
s sin

= r
s
0

0

cos
u%
r

2
w%
d
2
ds
sin d

r ds

or

(s, ) = L u(s, )

Selection of polynomials; determination of shape functions

We use corresponding to the beam element) a linear polynomial for the membrane (axial)
state and a cubic polynomial for the bending state:
u% ( s ) = 1 + s 2

w% ( s ) = 3 + s 4 + s 2 5 + s 3 6

and obtain
dw% ( s )
= 4 + 2 s 5 + 3s 2 6
ds
d 2 w% ( s )
= 2 5 + 6s 6 .
ds 2
with ( s) = dw% ( s )
ds

In matrix notation we write

0
0
u% ( s ) 1 s 0 0
w% ( s ) = 0 0 1 s
2
s
s 3

( s ) 0 0 0 1 2 s 3s 2

or

u( s ) = A( s ) .

With the definitions of the DOF at the nodes one obtains

u% (0) = v% 1 = 1
w% (0) = v% 2 = 3
dw% (0)
= 1 =v% 3 = 4
ds
u% ( L) = v% 4 = 1 + L 2

w% ( L) = v% 5 = 3 + L 4 + L2 5 + L3 6
dw% ( L)

= 2 = v% 6 = 4 + 2 L 5 + 3L2 6
ds

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or
v% 1
v%
2
v% 3
=
v% 4
v% 5

v% 6

1

2
3

0
0
0 4
2
L
L
L3 5

1 2 L 3L2 6

1
0
0

0
0
0

0 0
1 0
0 1

0
0
0

0
0
0

or

v% = C

from where we express the polynomial parameters through the DOFs of the nodes
= C1 v% .
Now we have the all kinematic relations we need in the expressions of virtual external and
internal work to obtain the matrices for the ring element in local coordinates.
With
u% ( s )
u% ( s ) = w% ( s ) = ( s ) = ( s )C1 v% = N( s ) v%
( s )

and
s ( s)
( s)
( s ) = = Lu( s ) = LA( s ) = LA( s )C1 v% = B( s ) v%
s ( s )

( s )
we obtain the matrices N( s ) and B( s) .

The stiffness matrix and the load vector for the ring element in local coordinates, calculated
for a unit radian = 1 , are
% =
K

BT EB r d ds =

=1 L

BT EB r d ds =

=0 s =0

ring

P% =

NT ( s ) p% ( s ) r d ds =

=0 s =0

( s )EB( s ) r ( s ) ds

s =0

( s )p% ( s )r ( s ) ds

s =0

where p% ( s ) contain the forces tangential and normal to the element and the external moment per
unit radian, corresponding to the external DOF of the element.
Generally the integrals are evaluated using Gauss integration
Note that we assumed the external moments to be zero.
The matrices for the ring element in global coordinates are obtained with the transformation
matrix T , given in equ.(9.8); (see also Fig.9.7):
% ; P = TT P%
K = TT KT

If the loads are given in in horizontal (index r) and vertical (index z) components per unit
radian one writes the load vector in the form
L

P=

pr ( s )

N% (s) pz (s) rds

s =0

where we assumed the external moments are zero

Here N% ( s) are the usual shape function of a beam element for axial and normal displacements.
1x 6

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Exercise 9.1
Derive as special cases of the conical shell element
a) the cylindrical shell ring element; = 0 .
b) the ring plate element; = / 2 ;
(see the general elements and the special ones in: Sekulovic: Metod Konacnih Elemenata,
pp.423.)

10 Literature
[1] Segerlind, Applied Finite Analysis
[2] Bathe, Finite Element Procedures
[3] Ottosen etl al., Finite Element Method
[4] Huebner, The Finite Element Method for Engineers
[5] Sekulovic, Metod Konacnin Elemenata

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Appendix A: Numerical Integration

Sometimes it is convenient or necessary to evaluate the integrals given in the expressions for the
stiffness matrix or the consistent load vector not analytically but numerically. The usual
procedure is to use the Gauss-Legendre quadrature. Details are given in any text book about
Finite Elements (see literature in section 10).

A.1 One-dimensional integral (straight beam elements)

For Gauss-Legendre quadrature the coordinate system introduced in Section 6, Fig. 6.1.b is used
(see Fig. A 1).
L

2x
;
L

1 + 1

x
Fig. A 1
We write the integral in the non-dimensional coordinates:
L
+1
L
I = f ( x) dx = f ( ) d .
2 1
0
Or, replacing the integral through its numerical approximation
I

(A1.1)

L n
L n
f
(

)
W
=
f i Wi , with i = 1, 2,...., n
i i 2
2 i =1
i =1

(A1.1)

The discrete points i , i = 1, 2,.... , n are called sampling points and Wi is the weight
corresponding to i . n is the selected number of sampling points or Gauss points.
If n sampling points are selected the Gauss quadrature integrates exactly polynomials of degree
2n 1 . In Table A1 the values for i and Wi for n =1, 2, 3, 4 are listed.
n

Wi

1
2
3

0.0
+/- 0.577350
0.0
+/- 0.774597
+/- 0.861136
+/- 0.339981

2.0
1.0
8/9
5/9
0.347855
0.652145

Table A1
Example:
Intergrate the function f ( x) = 3 x 2 + x 3 over the interval
We have with =
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L
x
and dx =
L/2
2

L
L
x .
2
2

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L/2

x 2 x3
L
I = (3 2 + 3 )dx =
(3 2 + 3 )d .

L L
2 =1
x = L / 2

If n = 2 is chosen, then the integration is exact up to the polynomial degree 2n 1. Therefore

two Gauss-point are sufficient to integrate the given function exactly.
Gauss-Quadrature leads to
I=

L 2
L
2
3
2
3
fi Wi = 3 ( 0.577350 ) + ( 0.577350 ) 1.0 + 3 ( 0.577350 ) + ( 0.577350 ) 1.0

2 i=1
2
L
= ( 6 x0.33333) = L .
2

Exercise: Obtain the value of the integral I by analytical integration.

A.2 Two-dimensional integral (plain stress, plain strain elements)

Quadrilateral Elements
We write the integral in the non-dimensional coordinates:
I = f ( x, y ) dA =
A

+1 +1

+1 +1

1 1

1 1

f ( , ) J ( , )d d = g ( , )d d ;

J=J,

(A2.1)

Where J is the Jacobian and J the Jacobi-Matrix.

Replacing the integral through its numerical approximation we obtain
m

I g (i , j ) Wi W j , with i = 1, 2,...., n

(A2.2)

i =1 j =1

The values of m and n are obtained by equating (2m-1)to the highest power of and (2n-1) to the
highest power of .
In the special case of rectangular element with side lengths a and b the Jacobian obtains the
ab A
= and the equation (A2.2) becomes
constant value J =
4 4
m

I J f (i , j ) Wi W j .

(A2.3)

i =1 j =1

The integral (A2.1)is often written in the form of one sum corresponding to
m

I g k Wk ; g k = g (i , j ); Wk = Wi W j ; m = i x j with i = 1, 2,...., m;

j = 1, 2,..., n

k =1

Note: The integration formulas can also be applied, if the quadrilateral deteriorates to a triangle
(i.e.: one side length of the quadrilateral is zero).
The coordinates of some Gauss points and the corresponding weights can be seen in Table A2,
which is taken from [ ].

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Triangular Elements

1
Fig. A2: Possible coordinate system for numerical Integration
The area integral over a triangular region is (see section ):
I = f ( x, y ) dA =
A

11

f (1 , 2 ) J (1 , 2 )d 1 d 2 =

1 = 0 2 = 0

11

g (1 , 2 ) d1 d 2 .

1 = 0 2 = 0

1 , 2 , 3 = 1 1 2 are the triangular coordinates introduced in section ().

The numerical integration is written in the form
n

I g (1i , 2i ) Wi , with i = 1, 2,...., n .

i =1

The location of the sampling points and the corresponding weights are given in Table (A2.1). In
the special case of a triangle with straight sides the Jaccobian obtains the constant value J = 2 A
And the integration formula () can be written as
n

I 2 A f (1i , 2i ) Wi .
i =1

point

1i

2i

Table A2 (fill out)

A.3 Integration Formulas in Natural Coordinates

One-dimensional

dx =

a b
1 2

a !b !
L
(a + b + 1) !

Two-dimensional

dx dy =

a b c
1 2 3

a !b !c !
2A
(a + b + c + 2) !

Three-Dimensional

dx dy =

a b c d
1 2 3 4

Note: 0! = 1
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a !b !c !d !
6V
(a + b + c + d + 3)!

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Example
Calculate for a triangular linear element the consistent load vector for a constant area load p.
a) Numerical integration (Gauss-Quadrature)
The load at node 1 is with N1 (1 , 2 , 3 ) = 1 and choosing n=3:
3
1 Ap
1 1 1 1
+
+0 =
P1 = 2 A p1d 1d 2 2 Ap 1i Wi = 2 Ap
6 3
26 26
i =1
A
P2 = P3 = P1
Note: The same result is obtained for one Gauss-point, since the integrand is linear.

b) Integration formula
P1 = p1dxdy = 2 Ap
A

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1!0!0!
1 Ap
= 2 Ap =
(1 + 0 + 0 + 2)!
6
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