Finite Element Analysis for

Mechanical and Aerospace Design

Prof. Nicholas Zabaras
Materials Process Design and Control Laboratory
Sibley School of Mechanical and Aerospace Engineering
101 Frank H. T. Rhodes Hall
Cornell University
Ithaca, NY 14853-3801

Email: zabaras@cornell.edu
URL: http://mpdc.mae.cornell.edu/

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 Truss analysis
• The truss element forms the
basic element of such
structures.
• It can only take forces along
its span (no moments).
• Many engineering
structures consist of
straight members
connected at their ends
by bolts, pins or welding.

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 Truss analysis
• Internal forces in a truss element act along
the member F '( e )
1y  F2y  0
'( e )

• However, displacements at the nodes can

have both components (x’- and y’-directions,
in local coordinates).
• This is due to rotation

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 Truss analysis
• To analyze a truss
element in the global
coordinates x and y, you
need to account for both
components of
displacement:
(e) (e) ( e) ( e)
u1x , u1 y , u2 x , u2 y
• Also note that the cross
section of truss elements
can vary as shown.
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 Stiffness of a truss element
• The internal force p e in the
F1( e ) F2( e ) truss is given (see free body
diagram) as:
pe  F2( e)   F1( e)  Ae e
• Assuming elastic
deformations:
pe  F2( e)   F1( e)  Ae E e e
• The (small) strain is given as:

 F1 
(e)
 k
(e)
 k (e)   (e)
 1 
u  u e
 u e

 (e)    (e) (e)   (e) 

 e
 2
e
1


 F2    k k  u2   L e e
AE
e e F2( e )   F1( e )  (u e
 u1)
e
AE
k  e
e • Finally: L e 2

L  k e (u2e  u1e )
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Truss element stiffness in local coordinates
• We can re-write the
element stiffness
equations as:
 F1'(xe )  1 0 1 0  1x 
u '( e )

 '( e )  0   '( e ) 
 F1 y  (e)  0 0 0 u1 y 

 '( e )   k 
 F1'(xe )   k ( e )  k ( e )  u1'(xe )   F2 x   1 0 1 0  u2'( xe ) 
 '( e )    ( e )  F '( e )     '( e ) 
( e )   '( e )  0 0 0 0 u
 F2 x   k k  u2 x   2y   2y 
(e) [ K '( e ) ]
{F ' } { d '( e ) }

Notice (as it should be) that: {F '( e) }  [ K '( e) ]d '( e) 

F1'(ye )  F2'(ye)  0

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 Element stiffness in global coordinates
• We need to be able to
transform displacements
from the x’ and y’ axes to
displacements along the x
and y axes. We start with
the reverse:
u1'(xe )  cos  e sin  e 0 0  u1x 
(e)

The angle  is measured  '( e )     (e) 

e

u1 y    sin  cos  e 0  u1 y 

e
anti-clockwise from 0
x to x’  '( e )    e   (e) 
u2 x  0 0 cos  e sin  u2 x 

u '( e )  0  sin  e e  (e) 
cos   u2 y 
 2y   0
{d '( e ) } T (e) {d ( e ) }

Transformation matrix T(e)

MAE 4700 – FE Analysis for Mechanical & Aerospace Design
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 Coordinate transformation

{d 'e }  [T e ]{d e }

u1'(xe )  cos  e sin  e 0 0  u1x 

(e)

 '( e )     (e) 
u1 y    sin  cos  0 0  u1 y 
e e

 '( e )    e   (e) 
u2 x  0 0 cos  sin  u2 x 
e

u '( e )  0 e  (e) 
 sin  cos   u2 y 
e
 2y   0
[T ( e ) ] {d ( e ) }
{d '( e ) } Note that :
[T e ]T [T e ]  [ I ]

{d e }  [T e ]T {d 'e }

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 Coordinate transformation
Verify that: [T e ]T [T e ]  [ I ]4 x 4

cos  e  sin  e 0 0  cos  e sin  e 0 0 

  
 sin  e
cos  e 0 0   sin  e
cos  e 0 0 
0 
0 cos  e  sin  e  0 0 cos  e sin  e 
  
0 0 sin  e cos   0
e
0  sin  e cos  
e

T
Te Te

1 0 0 0
0 1 0 0
 
0 0 1 0
 
0 0 0 1
I 44

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 Stiffness of a truss element
• Similarly for the forces:
{F 'e }  [T e ]{F e }
 F1'(xe )  cos  e sin  e 0 0   F1x 
(e)

 '( e )     (e) 
 F1 y    sin  cos  e 0   F1 y 
e
0
 '( e )    e   (e) 
 F2 x  0 0 cos  e sin   F2 x 

 F '( e )  0  sin  e e  (e) 
cos    F2 y 
 2y   0
{ F 'e } [T ( e ) ] {F e }

{F e }  [T e ]T {F 'e }

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 Stiffness of a truss element
• Using {F '( e) }  [ K '( e) ]d '( e) 

and the transformation

equations, {F '(e) }  [T (e) ]F (e) 
{d '( e) }  [T ( e) ]d ( e) 

we can write the

stiffness in the x,y
system as follows:
{F '( e) }  [ K '( e) ]d '( e)  
[T ( e) ]F ( e)   [ K '( e) ][T ( e) ]d ( e)   F   [T
(e) (e) T
] [ K '( e ) ][T ( e) ]d ( e)  
[ K (e) ]
[ K ]  [T ] [ K ' ][T ]
(e) (e) T (e) (e)

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 Truss element stiffness
[ K ]  [T ] [ K ' ][T ]
(e) (e) T (e) (e)

1 0 1 0 cos  e sin  e 0 0 
0  
0   e
cos  e
[T ( e ) ]  
0 0 sin 0 0 
[ K '( e ) ]  k ( e )  ,
 1 0 1 0 0 0 cos  e sin  e 
   
0 0 0 0 0 0  sin  e cos  e 

cos 2  e sin  e cos  e  cos 2  e  sin  e cos  e 

 2 e 
( e ) sin  cos  sin   sin  cos   sin  
e e 2 e e e

[K ]  k 
(e)

 cos 2  e  sin  e cos  e cos 2  e sin  e cos  e 

 
  sin  cos   sin 
e e 2 e
sin  cos 
e e
sin  
2 e

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 Truss element stiffness
 F1(xe )  cos 2  e sin  cos 
e e
 cos 
2 e
 sin  cos 
e e
 u (e)

 (e) 
1x
 2 e 
 (e) 
 1y  ( e ) sin  cos  sin   sin  cos   sin   u1x 
e e 2 e e e
F
 (e)   k  e   (e) 
 F2 x   cos 2 e
 sin  cos 
e e
cos 
2 e
sin  cos  u2 x 
e
 
 F (e)     e
 e
 2
 e
 e
 e 2
 e
 u ( e ) 
 2y   sin cos sin sin cos sin   2y 
• Note the 2x2 symmetric submatrix structure
• This implies that you can reverse the numbering of nodes (1 and 2)
without any changes in the element stiffness.
 F2(xe )  cos 2  e sin  e cos  e  cos 2  e  sin  e cos  e  u2 x 
(e)

 (e)   2 e 
 (e) 
 F2 y  ( e ) sin  cos  sin   sin  cos   sin   u2 x 
e e 2 e e e

 (e)   k  e   (e) 
 F1x   cos 2 e
 sin  cos 
e e
cos 2 e
sin  cos  u1x 
e
 
 F (e)     e
 e
 
2 e
 e
 e

2 e
 u ( e ) 
 1y   sin cos sin sin cos sin   1y 
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 Assembly process
• The assembly process is identical to the
one discussed for `spring structures’ and it
will not be repeated here in its general
form (no need to show at this point
complicated looking matrix operations).
• We will however provide soon a simple
example demonstrating this assembly
process.

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Generalizing the application of essential BCs
• You already have seen through an example
how essential boundary conditions are
applied to the global system of eqs: [ K ]{d}  {F}
• In essence, we partition the stiffness matrix
in a way that separates known from unknown
degrees of freedom as follows:
 K E K EF  d E   f E 
 T     
 K EF K F  d F   f F 

d E : Known displacements f E : Unknown reaction forces

corresponding to
d F : Unknown displacements nodes/directions
fF : Applied (known) forces with prescribed displacement

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Generalizing the application of essential BCs

 K E K EF  d E   f E  K E d E  K EF d F  f E
 T     
 K EF K F  d F   f F  T
K EF d E  KF dF  fF

 The unknown displacements are obtained from the 2nd eq. as:

T
K EF d E  K F d F  f F  d F  K F1 ( f F  K EF
T
dE)

 With known d F , we can return to the 1st eq. to compute the

reaction forces:
f E  K E d E  K EF d F
 Note that the matrix K F is symmetric and positive definite,
so a solution for d F always exists!
MAE 4700 – FE Analysis for Mechanical & Aerospace Design
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 A truss example
Note that point D is
3,4 5,6 free to move in the x
1,2
direction
A2  2 A

A1  A  102
E = 107Pa
1 2 3 A3  A

7,8

• Construct the global stiffness matrix and load vector

• Partition the matrices and solve for the unknown
displacements at point B, and displacement in x
direction at point D.
• Find the stresses in the three bars
• Find the reactions at C, D and F
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 A truss example: Element 1

Local node 2

 (1)  1350

Local node 1
7 8 1 2

1/ 2  1/ 2  1/ 2 1/ 2  7
 1/ 2 1/ 2 1/ 2  1/ 2  8
EA  
[K ] 
(1)

2  1/ 2 1/ 2 1/ 2  1/ 2  1
 
1/ 2  1/ 2  1/ 2 1/ 2  2
Note: Recall that you can number the corresponding global nodes in the
sequence 1 2 7 8 without any changes in [ K (1) ] .
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 A truss example: Element 2
Local node 2
3,4
A2  2 A

  900

Local node 1
7 8 3 4

0 0 0 0  7
 
EA 0 2 2 0  2 2 8
[K ] 
(2)

2 0 0 0 0  3
 
0  2 2 0 2 2  4

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 A truss example: Element 3
Local node 2

A3  A
  450

Local node 1

7 8 5 6

1/ 2 1/ 2  1/ 2  1/ 2  7
1/ 2 1/ 2  1/ 2  1/ 2  8
EA  
[K ] 
(3)

2  1/ 2  1/ 2 1/ 2 1/ 2  5
 
 1/ 2  1/ 2 1/ 2 1/ 2  6

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 A truss example: Assembly (element 1)
7 8 1 2

1/ 2  1/ 2  1/ 2 1/ 2  7
 
EA  1/ 2 1/ 2 1/ 2  1/ 2  8
[K ] 
(1)

2  1/ 2 1/ 2 1/ 2  1/ 2  1
 
1/ 2  1/ 2  1/ 2 1/ 2  2

1 2 3 4 5 6 7 8
1
1/ 2  1/ 2 0 0 0 0  1/ 2  1/ 2 
 1/ 2 1/ 2 0 0 0 0 1/ 2  1/ 2 
2
 
0 0 0 0 0 0 0 0  3
  4
EA 0 0 0 0 0 0 0 0 
[K ] 
2 0 0 0 0 0 0 0 0  5
 
0 0 0 0 0 0 0 0  6
 1/ 2 1/ 2 0 0 0 0 1/ 2  1/ 2  7
 
1/ 2  1/ 2 0 0 0 0  1/ 2 1/ 2  8

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 A truss example: Assembly (element 2)
7 8 3 4

0 0 0 
0 7
 
EA 0 2 2 0  2 2 8
[ K (2) ] 
2 0 0 0 0  3
 
0 2 2 0 2 2  4

1 2 3 4 5 6 7 8

1/ 2  1/ 2 0 0 0 0  1/ 2  1/ 2  1
 1/ 2 1/ 2 0 0 0 0 1/ 2  1/ 2  2
 
0 0 0 0 0 0 0 0  3
 
EA 0 0 0 2 2 0 0 0 2 2  4
[K ] 
2 0 0 0 0 0 0 0 0  5
 
0 0 0 0 0 0 0 0  6
 1/ 2 1/ 2 0 0 0 0 1/ 2  0  1/ 2  0 
  7
1/ 2  1/ 2 0 2 2 0 0  1/ 2 1/ 2  2 2  8

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 A truss example: Assembly (element 3)
7 8 5 6

1/ 2 1/ 2  1/ 2  1/ 2  7
  1/ 2  1/ 2  8
EA 1/ 2 1/ 2

[K ] 
(3)

2  1/ 2  1/ 2 1/ 2 1/ 2  5
 
 1/ 2  1/ 2 1/ 2 1/ 2  6

1 2 34 5 6 7 8
1/ 2  1/ 2 0 0 0 0  1/ 2  1/ 2 1
 1/ 2 1/ 2 0 0 0 0 1/ 2  1/ 2 2
 
0 0 0 0 0 0 0 0 3
 
EA 0 0 0 2 2 0 0 0 2 2 4
[K ] 
2 0 0 0 0 1/ 2 1/ 2  1/ 2  1/ 2 5
 
0 0 0 0 1/ 2 1/ 2  1/ 2  1/ 2 6
 1/ 2 1/ 2 0 0  1/ 2  1/ 2 1/ 2  0  1/ 2  1/ 2  0  1/ 2  7
 
1/ 2  1/ 2 0  2 2  1/ 2  1/ 2  1/ 2  1/ 2 1/ 2  2 2  1/ 2  8

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 A truss example: Assembly

1 2 3 4 5 6 7 8

1/ 2  1/ 2 0 0 0 0  1/ 2  1/ 2 
1
 1/ 2 1/ 2 0 0 0 0 1/ 2  1/ 2  2
 
0 0 0 0 0 0 0 0  3
  4
EA 0 0 0 2 2 0 0 0 2 2 
[K ] 
2 0 0 0 0 1/ 2 1/ 2  1/ 2  1/ 2  5
 
0 0 0 0 1/ 2 1/ 2  1/ 2  1/ 2  6
 1/ 2 1/ 2 0 0  1/ 2  1/ 2 1 0  7
 
1/ 2  1/ 2 0  2 2  1/ 2  1/ 2 0 1  2 2  8

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 A truss example: Partition and BCs

1/ 2  1/ 2 0 0 0 0  1/ 2  1/ 2
 d1  0  r1 
 1/ 2 1/ 2 
 1/ 2  r 

0 0 0 0 1/ 2
 2 d  0  2 
0 0 0 0 0 0 0  d3  0  r3
0 
    
EA 0 0 0 2 2 0 0 0 2 2  d 4  0   4 r 
    
2 0 0 0 0 1/ 2 1/ 2  1/ 2  1/ 2  d 0
  5   
0 0 0 0 1/ 2 1/ 2  1/ 2  1/ 2  d 6  0  r6 
 1/ 2 1/ 2     3 
 1/ 2  1/ 2
 d7  10 N 
0 0 1 0

1/ 2  1/ 2 0  2 2  1/ 2  1/ 2 0 1  2 2  d8  0
 



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 A truss example: Partition and BCs
dE  0

fE
[KE ] [ K EF ]

1/ 2  1/ 2 0 0 0 0  1/ 2  1/ 2
 d1  0  r1 
 1/ 2 1/ 2 
 1/ 2  r 

0 0 0 0 1/ 2
 2 d  0  2 
0 0 0 0 0 0 0  d3  0  r3
0 
    
EA 0 0 0 2 2 0 0 0 2 2  d 4  0   4 r 
    
2 0 0 0 0 1/ 2 1/ 2  1/ 2  1/ 2  d 0 r
  6  6 
0 0 0 0 1/ 2 1/ 2  1/ 2  1/ 2  d5  0 
 1/ 2 1/ 2     3 
 1/ 2  1/ 2
 d7  10 N 
0 0 1 0

 1/ 2  1/ 2 0  2 2  1/ 2  1/ 2 0 1  2 2  d8  0
 


[ K TEF ] [KF ] dF fF

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 A truss example: Partition and BCs

1/ 2  1/ 2  1/ 2  d5  0 
EA     
 1/ 2 1 0  d 7   103 N 
2    
 1/ 2 0 1  2 2  d8  0 
KF dF fF

d5  0.038284m 
   
d 7   0.033284m 
d  0.005m 
 8  

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 A truss example: Reaction calculation
f E  K E d E  K EF d F dE  0

fE
[KE ] [ K EF ]

1/ 2  1/ 2 0 0 0 0  1/ 2  1/ 2
 d1  0  r1 
 1/ 2 1/ 2  1/ 2  r 

0 0 0 0 1/ 2
 2 d  0  2 
0 0 0 0 0 0 0  d3  0  r3
0 
    
EA 0 0 0 2 2 0 0 0 2 2  d 4  0   4 r 
    
2 0 0 0 0 1/ 2 1/ 2  1/ 2  1/ 2  d 0 r
  6  6 
0 0 0 0 1/ 2 1/ 2  1/ 2  1/ 2  d5  0 
 1/ 2 1/ 2     3 
 1/ 2  1/ 2
 d7  10 N 
0 0 1 0

1/ 2  1/ 2 0  2 2  1/ 2  1/ 2 0 1  2 2  d8  0
 


[ K TEF ] [KF ] dF fF

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 A truss example: Reaction calculation

0  1/ 2 1/ 2  r1   RFx  1000 N 

r1  r   R  
r    
0 1/ 2  1/ 2  d5   2   Fy 
 
1000N

 2  EA   
   r3    RCx   0 
 3
r 0 0 0 d7   r   R   1000 N 
r  2  
0 0  2 2   d8   4   Cy   
 4 r6   RDy  0 
r6    dF
1/ 2  1/ 2  1/ 2 
fE K EF

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 A truss example: Compute the stresses

u 'e
 u 'e
u 'e
 u 'e
 e  2 x e 1x   e  E e 2 x e 1x
L L

However:
u1'(xe )  cos  e sin  e 0 0  u1x 
(e)

 '( e )     (e) 
u1 y    sin  cos  e 0  u1 y 
e
0
 '( e )    e   (e) 
u2 x  0 0 cos  e sin  u2 x 

u '( e )  0  sin  e cos  e  u2( ey) 
 2y   0
Combining the 2 Eqs gives:
Ee {d e }
  e   cos  e
e
 sin  e
cos  e
sin   {d }
e e

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 A truss example: Compute the stresses
Ee
  e   cos  e
e
 sin  e cos  e sin  e  {d e }
L

• Applying this to each element, we have:

0.033284m 
 
E  2 2 2 2  0.005m 
 
(1)
      141.421kPa
2 2 2 2 2  0 
0 
0.033284m 
0.005m 
 
  E  0  1 0 1 
(2)
  50kPa
 0 
0 
0.033284m 
 
E  2 2 2 2  0.005m 
 
(3)
       0kPa
2 2 2 2 2  0.038284m 
0 

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Three-dimensional (space) truss structures

• The local stiffness eqs are exactly as

before, i.e.  F1'(xe)  k (e)  k (e)  u1'(xe) 
 '( e )    ( e )
e e
  '( e )  , k (e)
 A E
 F2 x   k  u2 x  Le
(e)
k
• However, we now have to include
displacements and forces in the x, y and z
axes.
MAE 4700 – FE Analysis for Mechanical & Aerospace Design
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Three-dimensional (space) truss structures

 F1'(xe )   k ( e )  k ( e )  u1'(xe ) 
 '( e )    ( e ) ( e )   '( e ) 
 F2 x   k k  u2 x 

• A unit vector along the direction x’ of a 3D truss

element has the components (direction cosines of
the axes between x’ and x,y,z, respectively):
x e2  x1e y e2  y1e z e2  z1e
l se  , mes  , nes 
Le Le Le
Le  ( x e2  x1e ) 2  ( y e2  y1e ) 2  ( z e2  z1e ) 2
where ( xe , y e , z e ) and ( x2e , y2e , z e ) are the nodal
1 1 1 2

coordinates in the (x,y,z) system.

MAE 4700 – FE Analysis for Mechanical & Aerospace Design
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Three-dimensional (space) truss structures
 F1'(xe )   k ( e )  k ( e )  u1'(xe ) 
 '( e )    ( e ) ( e )   '( e ) 
 F2 x   k k  u2 x 

• The displacement transformation then takes the form:

u1(xe ) 
 (e) 
u1 y 
u1'(xe )  l s m s
e e
n es 0 0 0  u1(ze ) 
 '( e )      e e
  [T ]{ d }
u2 x  0 0 l se mes n s  u2 x 
e (e)
0
[T e ]
u ( e ) 
 2y 
u ( e ) 
 2z   F1'(xe ) 
 '( e )   [T ]{F }
e e
{d e }
• Similar transformation is applied for the forces:  F2 x 
MAE 4700 – FE Analysis for Mechanical & Aerospace Design
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Three-dimensional (space) truss structures
 F1'(xe )   k ( e )  k ( e )  u1'(xe ) 
 '( e )    ( e ) ( e )   '( e ) 
 F2 x   k k  u2 x 

• Similar transformation can be written for the nodal

forces:  F1(xe )   l e 0
 (e)   e 
s

 F1 y   m s 0
 (e)   ne 
0   F1'(xe ) 
 F1z   s
 (e)     e T e
e    [T ] { F ' }
 F2 x   0 l s  F2 x 
'( e )

 F (e)   0 m s  { F 'e }
e
 2y  
e 
 F (e)   0 n s 
 2z  
{F e } [T e ]T

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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Three-dimensional (space) truss structures
 F1'(xe )   k ( e )  k ( e )  u1'(xe ) 
 '( e )    ( e ) ( e )   '( e ) 
 F2 x   k k  u2 x 
{ F 'e }  K 'e  [T e ]{ d e }
 

{F e }  [T e ]T {F 'e }

• Similarly to the derivation for 2D trusses, the stiffness

matrix in global coordinates is then:

[ K ]  [T ]
(e) e T
 K '  [T ]
e e

6 x6 6x2 2x2 2 x6

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 Stiffness of a space element
l se 2 mes l se n es l se  l se 2  m es l se  n es l se 
 ee 
 ms l s mes 2 m es n es  m es l se  m es 2  ms ns e e

 
e e nel e
E A  s s m e e
n n e2
 n e e
l  m es n es  ns  e2

[K ]  e  e2
(e) s s s s s

L  l  m e e
l  n e e
l l e2
m es l se n es l se 
s s s s s s

 ee 

 s sm l  m e2
s
 m e e2
s
n s
m e e
l
s s
m es 2 m es n es 
 nel e  me ne  ne 2 n e e
l mes n es n es 2 
 s s s s s s s

x e2  x1e y e2  y1e z e2  z1e

where : l se  , mes  , n es 
Le Le Le
Le  ( x e2  x1e ) 2  ( y e2  y1e ) 2  ( z e2  z1e ) 2

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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Computing the stresses in a space truss element
u 'e
 u 'e
 e  2 x e 1x 
L
e u2 x  u1 x
'e 'e
E e 'e
 E
e
e
 e
(u 2x  u 'e
1x )
L L

u1(xe ) 
 (e) 
 However: u1 y 
u1'(xe )  l s m s
e e
n es 0 0 0  u1(ze ) 
 '( e )      e e
  [T ]{d }
u2 x  0 0 l se mes n s  u2 x 
e (e)
0
u ( e ) 
 Combining the 2 Eqs gives:  2y 
u ( e ) 
 2z 
Ee
  e  l se
e
 mes  nes l se mes nes  {d e }
L

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 Accounting for thermal effects in truss analysis
• Consider a truss structure that is heated. We need to
account for thermal expansion effects. Note:    elastic   thermal
e e e

total strain

• Hooke’s law is now modified as follows (using the x’

coordinate system):
u e
 u e
 e  E e elastic
e
 E e (  e   thermal
e
)  E e ( 2 e 1   e T e )
total strain
L
u2e  u1e
F2
(e)
 F 1
(e)
 p A A E (
e e e
e
  e T e ) 
e e

L e 0

Ae E e
 k (u  u )  A E  , k  e
e e
2
e
1
e e e
0
e

 F1( e )  e e e  1
 k ( e )  k ( e )  u1( e ) 
 (e)   A E  0     (e) (e)   (e) 
 2 
F   
1  k k  u2 
Therma l n odal vector

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 Element equations with thermal effects
• Expanding these equations to include nodal displacements
in the y’ axis gives:

 F1'(xe )  1 1 0 1 0  1x 
u '( e )

 '( e )  0  0   '( e ) 
 F1 y  e e e   (e)  0 0 0 u1 y 

 '( e )   A E  0    k 
 F2 x  1
   1 0 1 0  u2'( xe ) 
 F '( e )  0   
0 0 0 0  u '( e ) 
 2y   2y 
e
(e) { F 'thermal } [ K '( e ) ]
{F ' } { d '( e ) }

• We need to transform this to x and y displacements (our

degrees of freedom for this element)
{d 'e }  [T e ]{d e } {F 'e }  [T e ]{F e }

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 Element equations with thermal effects
 F1'(xe )  1 1 0 1 0  1x 
u '( e )
{d 'e }  [T e ]{d e }
 '( e )      '( e ) 
 F1 y  e e e 0  ( e ) 0 0 0 0  u1 y 
 '( e )   A E  0    k 
 1

0  u2'( xe )  {F 'e }  [T e ]{F e }
 F2 x  1  0 1
 F '( e )  0   
0 0 0 0  u '( e ) 
 2y   2y 
e
{ F 'thermal } [ K '( e ) ]
{ F '( e ) } { d '( e ) }

• We can transform these element equations as follows:

[T e ]{F e }  {F 'thermal
e
}  [ K '( e ) ][T e ]{d e }
• From these equations, we conclude that:
{F e }  [T e ]T {F 'thermal
e
}  [T e ]T [ K '( e ) ][T e ]{d e }
e
{ Fthermal } [ K (e) ]

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 Element equations with thermal effects
{F e }  [T e ]T {F 'thermal
e
}  [T e ]T [ K '( e ) ][T e ]{d e }
e
{ Fthermal } [ K (e) ]

cos  e sin  e 0 0 
 
  sin  e cos  e 0 0 
[T ]  
(e)

sin  e 
Use: (for 2D trusses)
0 0 cos  e
 
0 0  sin  e cos  
e

Finally we obtain:

 F1(xe )   cos  e  cos 2  e sin  e cos  e  cos 2  e  sin  e cos  e  u1x 

(e)

 (e)   e   2 e 
 (e) 
 1y 
F e e e   sin   (e)  sin  e
cos  e
sin 2 e
  sin  e
cos  e
 sin   u1 y 
 (e)   A E  0  e 
 k   cos 2  e e   (e) 
 2x       e
 e

2 e
 e

  2x 
F cos sin cos cos sin cos u

 F (e)  sin  e    sin  e cos  e  sin 2  e sin  e cos  e sin 2  e  u2( ey) 
 2y   
e
{F ( e ) } { Fthermal } [ K (e) ] d (e)

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 Element equations with thermal effects
 What do you need to do to account for thermal effects in truss analysis?

 For each truss element that is heated, simply add to the element force, the
following extra term
 cos  e 
 e 
  sin  
Ae E e 0e   , where  e
  e
T e

cos  
e 0

sin  e 
 
e
{ Fthermal }

 You will need to define at which truss elements thermal effects take place and
for each of them read the values  e and T e .

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 Principle of minimum potential energy
• An alternative equivalent approach to solving
many structural problems is the principle of
minimum potential energy.
From all the possible compatible
displacements of a structure, the one that
minimizes the total potential energy is the
exact solution.
Potential energy Strain energy Work done by external
for given = for these given - loads on these given
displacements displacements displacements

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 Principle of minimum potential energy
• Let us see this principle applied to the truss
problems discussed earlier.

min   
e e e e
PE , PE U W
Assembly {d } e
process
1 e e
PE     dV e  ( F1'(xe )u1'(xe )  F2'(xe )u2'( xe ) )
e

e
2
External Work
Elastic strain energy density
( work / volume )

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 Principle of minimum potential energy
• Lets apply this principle to one truss
element. We need to minimize with respect
to the nodal displacements (local
'( e ) '( e )
coordinates) 1x 2 x . Recall that:
u , u
u 'e
 u 'e
 e  2 x e 1 x ,  e  E e e
L
1 e e2 e
PE   E  dV  F1'(xe )u1'(xe )  F2'(xe )u2'( xe ) 
e

e
2
1 e u2' ex  u '1ex 2
e 2  
e '( e ) '( e ) '( e ) '( e )
E ( e
) dV F1x u1x F2 x u2 x

L Ae dx '

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 Principle of minimum potential energy

1 u 'e
 u 'e

min PE e
 min E e e e
A L ( 2x
e
1x 2
)  F '( e ) '( e )
1x u1x  F '( e ) '( e )
2 x u2 x
u1' ex ,u 'e2 x u1' ex ,u 'e2 x 2 L
'e e
• Take partial derivatives of PE wrt u1 x , u ' 2 x : e

PE e E e Ae ' e
 0  ( u  u 'e
)  F1x  0
'( e )
  
    1x 
'( e ) '( e )
 1x  
(e) (e)
u '1x F k k u
e e 1x 2x
L  
 '( e )   ( e ) ( e )   '( e ) 
PE e e e
E A 'e 
 F2 x    k k  u2 x  
 0  (u  u ' e
)  F '( e )
 0
u 'e2 x
2x 1x 2x
Le
These are the same Eqs as those obtained with the direct method!
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 Principle of minimum potential energy
• In general (not just for mechanics
problems!), the principle of minimum
potential energy takes the following form:
  1 (e) T (e) (e)  
min
{d }

e
PE e
 min   2
{d }  e 
{d } [ K ]{d } 

 {d }T
{F } 


or after assembly:
1 

min{d }PE min  {d }T
[ K ]{d }  {d }T
{ F } 
{d }  2 
• Note that the minimization gives us the
familiar solution: [ K ]{d}  {F}
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 Principle of minimum potential energy
• We will not use this method to repeat the truss
calculations.
• However, it will be our starting point for computing
the stiffness of beam elements (lecture 4).
• The method of minimum potential energy can be
applied to many problems not related to mechanics
– however there are many problems where this
technique is not applicable.
• After discussing beam bending problems, we will
need to look for more powerful (`unfortunately’ also
more mathematical) methods (weak (Galerkin)
formulations).

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 Revisiting the 2-node truss element
• Up to now we used the direct method to express the nodal loads vs.
nodal displacements for the 2-node truss element.
• Let us linearly interpolate the displacement ux'( e) of any point x’ in the
element in terms of the nodal displacements:
x ' '( e ) x ' '( e ) x' x' u1'(xe ) 
u x'( e )  (1  e )u1x  e u2 x  [1  e , e ]  '( e )   [ N (e)
] {d '(e)
}
L L L L u2 x  basis functions
N1( e ) N 2( e ) matrix
Nodal
displacements
element basis
functions
du x' e
• The strain in this 2-node element  
e
can now
dx '
be computed as follows:
dux' e d [ N ( e ) ]{d '( e ) } dN ( e)
u '( e )
x  [ N ]{d ' }   
(e) (e) e
 [ ]{d '( e) }  [ B( e) ]{d '( e) }
dx ' dx ' dx '
• This is exactly the same
1 1 u1x  u2'( xe )  u1'(xe )
'( e )
dN1( e ) dN 2( e ) 1 1
[B ]  [
(e)
, ]  [ e , e ]    [ e , e ]  '( e )  
e
approximation we used
dx ' dx ' L L L L u2 x  Le
Gradient of
basis functions
before (constant strain
matrix
element)
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 Revisiting the 2-node truss element
• Let us use these interpolation formulas u '( e)  [ N ( e) ]{d '( e) }, e  [ B(e) ]{d '(e) } to
express the potential energy in a format that will become very familiar
as we proceed forward in this course.
1 e e2 e
PE e  e 2    2 x u2 x 
'( e ) '( e ) '( e ) '( e )
E dV F1x u1x F


 d ' 
1 (e) T e T e e
e 2 [ B ] E [ B ] d '( e )
 dV e
 F1
'( e ) '( e )
x u1 x  F2 x u2 x 
'( e ) '( e )

 Ae dx '
e
T
e

1 (e) T   (e)

2
 d '   [ B e T
] E e
[ B e
]dV e
 d '   F1x u1x  F2 x u2 x
'( e ) '( e ) '( e ) '( e )

 e 
[Ke ]
Element stiffness
matrix

• For now these calculations are identical to our earlier approach! Indeed:
 1
Le
  Le  e 1 1 e
Le
Ae E e  1 1
[ K ]   [ B ] E [ B ]dV   [ B ] E [ B ] A dx '   
e e T e e e e T e e e
 E [ e , e ] A dx '  e 
 e
0 0 
1  L L L  1 1 
 Le  ke

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Truss analysis with displacement constraints
• Up to this point, we imposed essential boundary conditions
in terms of prescribed x- or y- nodal displacements. How
about if the support is inclined as in the figure below:

For this problem, the constraint is that

there is no normal displacement
at the support 1

• Here, we don’t know the displacements at node 1 but we

know the relation between u1x and u1y. In general, we write
these constraints on our nodal degrees of freedom as:
Cd=q.
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Truss analysis with displacement constraints
• Note that at node 1 we don’t have essential boundary
conditions – we have a displacement constraint.

• To solve this problem, we use the principle of minimum

potential energy with the constraint Cd=q:
Find d and l such that
1
min L  {d }T [ K ]{d }  {d }T {F }  {l}T ([C ]{d }  {q})
{d } 2 Lagrange constraint
Potential energy multiplier
of unconstrained enforcing
system the constraint

• Here, we enforce the constraint using Lagrange multipliers.

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Truss analysis with displacement constraints
Find d and l such that
1
min L  {d }T [ K ]{d }  {d }T {F }  { λ} T
([C ]{d }  {q})
{d } 2 Lagrange constraint
Potential energy multiplier
of unconstrained enforcing
system the constraint

• l is the Lagrange multiplier that enforces the constraint – it

is nothing else but the reaction force at node 1 (normal to
the support!)

• Minimization is now performed with respect to both d and l.

K CT   d   F  Apply essential boundary conditions
       and then solve for {dF} and l
C 0  l   q  (here, reaction force at node 1)
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Displacement constraints: Implementation
• How do you implement this in the MatLab
libraries of HW1? ux1 sin 30  u y1 cos30  0

• Introduce the constraints in the InputData.m and then

modify the stiffness and load vectors in the NodalSoln.m.
• Form the extended system of equations and then apply the
boundary conditions by removing the appropriate equations
from the system and solve it.
ncon = 1; % number of constraints
C = zeros(ncon,neq); % The dimension of C is ncon times neq
InputData.m
C(1,1) = sin(pi/6); C(1,2) = cos(pi/6); % Here there is only one constraint
q = zeros(ncon,1);

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 Displacement constraints: NodalSoln.m
function [d, rf, L] = NodalSoln(K, R, debc, ebcVals, C, q)

% K=global stiffness, R=global force, debc=degrees of freedom with essential BC, ebcVals=specified displacements
% C=constraints matrix, q=prescribed constraints

%Form the system of equations

[ncon,neq] = size(C); % Extract number of constraints
Knew= [K C'; C zeros(m)]; % Augment global equations with the Lagrange multipliers K CT   d   F 
     
0  l   q 
Rnew= [R;q]; % Augment load vector
C
dof = length(Rnew); % Extract the total dimension
df = setdiff(1:dof, debc); % Sets the difference between two sets of indices, i.e. the global degrees of freedom minus the
% degrees of freedom with prescribed essential boundary conditions
%Apply BC
Kf = Knew(df, df); % Remove eqs. corresponding to prescribed displacements
Rf = Rnew(df) - Knew(df, debc)*ebcVals; % Modify the remaining load vector to account for the essential boundary conditions

dfVals = Kf\Rf; % Solve the linear system of equations.

d = zeros(dof - ncon,1); % Restore the solution vector (i.e. include back the nodes with prescribed displacements).
d(debc) = ebcVals; % Store the essential boundary conditions values.
d(df(1:length(df)-ncon)) = dfVals(1:(length(dfVals)-ncon)); %Store the calculated solutions values

rf = K(debc,:)*d - R(debc); % Calculate the reaction vector at nodes with prescribed displacements

L = dfVals((length(dfVals)-ncon+1):length(dfVals)); % Calculate Lagrange multipliers (reactions at nodes with constraints)

A MatLab implementation of this example can be downloaded from here.

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