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/

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 Finite element discretization
• Consider a problem domain Ω with boundary Γ discretized
with nel number of 2D finite elements (triangles or
quadrilaterals).

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 Finite element discretization
• The x and y components of the displacement field
ux  T
=u =
u  u x u y 
 y
are generally approximated by the same shape functions.
• Let n be the number of nodes in the finite element mesh.
There are two degrees-of-freedom per node for each of the
two components of the nodal displacements, so the nodal
displacement matrix
u 
is:
x1
u 
 y1 
 ux 2 
  T
=d =u y 2  u x1 u y1 u x 2 u y 2 ... u xn u yn 
 ... 
 
 xn 
u
u 
 yn 
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 Finite element discretization
• The finite element approximation of the displacement field
can be expressed by:
n
u xh ( x, y ) = ∑ N i ( x, y )u xi
i =1
n
u hy ( x, y ) = ∑ N i ( x, y )u yi
i =1
• The global shape functions Ni are C0 continuous (smooth
over element domains but with kinks at the element
boundaries).
• Therefore, the integral over Ω in the weak form is computed
as a sum of integrals over element domains Ωe

( )
nel e T nel nel
∑ ∫ ∇S w D ∇
= Su dΩ ∑ ∫ w td Γ + ∑ ∫ w bd Ω ∀w ∈ U 0
e e e T
e T

e 1Ω e
=e 1 =
Γ e 1Ω e

t
e

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 Finite element discretization

( )
nel e T nel nel
∑ ∫ ∇S w D ∇
= Su dΩ ∑ ∫ w td Γ + ∑ ∫ w bd Ω ∀w ∈ U 0
e e e T
e T

e 1Ω e
=e 1 =
Γ e 1Ω e

t
e

• Here ue is the finite element approximation of the

displacement field in element e.

{ue (
x, y )} =  N e ( x, y )  {d e }
 
x and y Nodal
displacements displacements
at po int ( x , y )
• The element shape function matrix Ne in the matrix form is

 N e
0 N 2e 0 e
... N nen 0 
N e  =  1

 
 0 N1e 0 N 2e ... 0 N nen 
e

where nen is the number of element nodes.

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 Strain displacement matrix
• We need to compute the strains in terms of the element
shape functions and the nodal displacements. Applying the
symmetric gradient operator to Ne gives
εe 
 x
{ε e } = ε ey  =
 
{∇ S N e  d e
∇S ue =

 
} { }
γ xy
e
 [B ] e

where the strain-displacement matrix Βe is defined as:

 ∂N e
∂N e
∂N e

 ∂x 0 0 ... 0

1 2 nen

∂x ∂x
[B ] =
e

[∇ N e
 0
]= ∂N 1
e

0
∂N e

2
... 0
∂N e

nen 
S
 ∂y ∂y ∂y 
 ∂N ∂N ∂N ∂N ∂N ∂N 
e e e e e e

1 1 2 2
... nen nen

 ∂y ∂x ∂y ∂x ∂y ∂x 

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 Approximation of the weight functions
• The vector of weight functions is approximated by the same
shape functions as the displacement fields:
{ } { } ( { }) { }
T T T
we ( x,=
y)  N e ( x, y )  we ⇒ weT (=
x, y )  N e ( x, y )  w=
e
we N e 
       
Virtual Nodal
displacement Values
vector at po int
( x, y )

• Similarly applying the symmetric gradient on the vector of

weight functions gives:

{ } { } { } ( { } ) = {w }
T T
e T T
∇ S w ( x, y ) = ∇ S N e ( x, y )  we ⇒ ∇ S we ( x, y )
e
=  B e ( x, y )  we  Be 
 
 
[B ]
e

• We now need to substitute these equations into the weak

form.

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 Weak formulation
∇ S weT ( x, y ) =
weT B eT weT ( x, y ) = weT N eT εe =
∇S ue =
Bed e

( )
nel e T nel nel
∑ ∫ ∇S w D ∇
= Su dΩ ∑ ∫ w td Γ + ∑ ∫ w bd Ω ∀w ∈ U 0
e e e T
e T

e 1Ω e
=e 1 =
Γ e 1Ω e

t
e

• Substituting into the weak form and recalling the local to

global degrees of freedom transformations, de=Led,
weT=wTLeT yields
 nel e  
w  ∑ L  ∫ B D B d ΩL d − ∫ N td Γ − ∫ N bd Ω  = 0 ∀wF ∈ U 0
T e e e e e e
T T T T

e =1 Ω e
Γ Ω e

t 
e

• The arbitrary weight functions w(x,y) has been replaced by

arbitrary parameters wF which is the portion of w
corresponding to nodes not on an essential boundary.
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 Element stiffness matrix and load vector

 nel e  
w  ∑ L  ∫ B D B d ΩL d − ∫ N td Γ − ∫ N bd Ω  = 0 ∀wF ∈ U 0
T e e e e e e
T T T T

e =1 Ω e
Γ Ω 
e

t
e

• From the above weak form we can conclude that:

= e
∫ B D B dΩ
e e e T

K
Ω e

= ∫ N td Γ + ∫ N bd Ω
e e e
T T

f
Γ
 Ω 
e e

 t

f e
fΩ
e

boundary body
force vector force vector

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 Element stiffness matrix and load vector
 nel e  
w  ∑ L  ∫ B D B d ΩL d − ∫ N td Γ − ∫ N bd Ω  = 0 ∀wF ∈ U 0
T e e e e e e
T T T T

e =1 Ω e
Γ Ω 
e

t
e

• We can now re-write this weak form as:

 

T  nel e e e  nel e e  
w  ∑ L K L  d −  ∑ L f   =0 ∀wF ∈ U 0
T T

=  =
e 1  
e 1  
 K f 
 
• This is simplified as: T 
 
w  Kd − f  =0 ∀wF ∈U 0 ⇒

r 
 residual 

 wTE T   rE 
 wF    =0 ∀wF ∈ U 0
 rF 
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 Element stiffness matrix and load vector
 wTE T   rE 
 wF    =0 ∀wF ∈ U 0
 rF 
• Since wE =0 and wF is arbitrary, it follows that rF =0.
Partioning the finite element nodes in E and F nodes, gives:
 KE K EF   d E   f E + rE 
 T   =  
 K EF K F  d F   f F 

• This equation is solved using the two-step partition

approach discussed in an earlier lecture.

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 Piecewise-linear interpolation on triangles
• Consider that Ωh consists of E 3-node triangular elements
and that we have linear interpolation of the x- u ( x, y ) x

and y-displacements on each element e. u ( x, y ) e

x

u xe =α1 + α 2 x + α 3 y
u ey =α 4 + α5 x + α 6 y

• This is a constant strain element.

• We already have seen how to
compute the coefficients and
eventually the basis functions,e.g.
u xe ( x1 , y1 ) =α1 + α 2 x1 + α 3 y1 ,
α1 + α 2 x2 + α 3 y2 ,
u xe ( x2 , y2 ) =
u xe ( x3 , y3 ) =α1 + α 2 x3 + α 3 y3 ,

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 Piecewise-linear interpolation on triangles
u xe =α1 + α 2 x + α 3 y
• We determine the 3 constants as follows:
 u xe1   u xe ( x1 , y1 )  1 x1 y1  α1 
 e   e    α 
u ≡
 x2   x 2 2  
u ( x , y ) = 1 x y 2  2
2

 u e   u e ( x , y )  1 x y  α 
 x3   x 3 3   3 3 3

• Solving this system of equations leads to:

1  e 
α1
= u x1 ( x2 y3 − x3 y2 ) + u x 2 ( x3 y1 − x1 y3 ) + u x 3 ( x1 y2 − x2 y1 ) 
e e

2 Ae        

 a1 a2 a3 
1  e 
=α2 u x1 ( y2 − y3 ) + u x 2 ( y3 − y1 ) + u x 3 ( y1 − y2 ) 
e e

2 Ae          

 b1 b2 b3 
1  e 
=α3 u x1 ( x3 − x2 ) + u x 2 ( x1 − x3 ) + u x 3 ( x2 − x1 ) 
e e

2 Ae          

 c1 c2 c3 
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 Piecewise-linear interpolation on triangles
1
α1
= u xe1a1 + u xe 2 a2 + u xe 3a3 
2 Ae
u xe =α1 + α 2 x + α 3 y α2
=
1
u xe1b1 + u xe 2b2 + u xe 3b3 
2 Ae
1
α3
= u xe1c1 + u xe 2 c2 + u xe 3c3 
2 Ae
• Substituting the coefficients in the first approximation:

u xe ( x ) = u xe1 N1e ( x, y ) + u xe 2 N 2e ( x, y ) + u xe 3 N 3e ( x, y )

where:
1 1
N1e ( x, =
y) [a1 + b1 x + c1=
y] [( x2 y3 − x3 y2 ) + ( y2 − y3 ) x + ( x3 − x2 ) y ]
2 Ae 2 Ae
1 1
N 2e ( x,=
y) [a2 + b2 x + c2=
y] [( x3 y1 − x1 y3 ) + ( y3 − y1 ) x + ( x1 − x3 ) y ]
2 Ae 2 Ae
1 1
N 3e ( x, =
y) [a3 + b3 x + c3=
y] [( x1 y2 − x2 y1 ) + ( y1 − y2 ) x + ( x2 − x1 ) y ]
2 Ae 2 Ae

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 Linear shape functions over a triangular element
u xe ( x ) = u xe1 N1e ( x, y ) + u xe 2 N 2e ( x, y ) + u xe 3 N 3e ( x, y ) u xe ( x, y )
u ey ( x ) = u ey1 N1e ( x, y ) + u ey 2 N 2e ( x, y ) + u ey 3 N 3e ( x, y )
1
N1e ( x, =
y) [a1 + b1 x + c1 y ]
2 Ae
1 N 3e ( x, y )
N 2e ( x, =
y) [a2 + b2 x + c2 y ]
2 Ae
1
N 3e ( x, =
y) [a3 + b3 x + c3 y ]
2 Ae

• Please note that: N 2e ( x, y )

N ie ( x j , y j ) = δ ij
N1e ( x, y )

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3-node (constant strain) triangular element
• We have 6 DOF per element:
e T
d = u xe1 u ey1 u xe 2
e
u ey 2 u xe 3 u y3 

• The Ne matrix for the interpolation of

displacements is:
 u xe   N1e 0 N 2e 0 N 3e 0  e
 e= d
u y   0 N1e 0 N 2e 0 e
N 3 

• The Be matrix for computing strains in terms of de is: ∂N ie

 ε xe   N1,e x 0 N 2,e x 0 N 3,e x 0  =
N e
i, x = bi
∂x
   
 ε ey  =  0 N1,e y 0 N 2,e y 0 N 3, y  d e where N=
e
e ∂N ie
= ci
    i, y
∂y
γ xy
e
  N1,e y N1,e x N 2,e y N 2,e x N 3,e y N 3, x 
e
i = 1,2,3
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3-node (constant strain) triangular element
• We can compute the derivatives of the shape functions
analytically:
 ε xe 
   b1 0 b2 0 b3 0 
 ε ey  = e  0 c1 0 c2 0 c3  d e
1
 e  2A  
 c1 b1 c2 b2 c3 b3 
γ xy  
[B ]
e

where
b1 =
y2e − y3e , b2 =
y3e − y1e , b3 =
y1e − y2e
c1 =−
x3e x2e , c2 =−
x1e x3e , c3 =−
x2e x1e

1 x1e y1e 
1  
A = det 1 x2e
e e
y2 
2  e 
1 x3 y3e 

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3-node (constant strain) triangular element
• As expected, the Be matrix is not a function of x or y , i.e.,
this is a constant strain element.

= e
∫ B D B d Ω ⇒ K e = Ae B e D e B e (unit thickness )
e
e e T
T

K
Ω e

• We will not list the stiffness matrix (6 x 6) explicitly. The

required matrix multiplications are performed in the
computer.

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3-node (constant strain) triangular element
= ∫ B D B dΩ ⇒
e e e e T

• For plane stress, the element stiffness K

Ω e

 b1 0 c 1 
0 c b1 
 1   
1  2  1 v 0  1  b1 0 b2 0 b3 0
b 0 c2 E 0 c 0
Ke = ∫ e 0  v 1 0  c2 0 c3  t e dA
 2 Ae  
1
Ω 2A  c2 b2 1 − v 2

e

 (1 − v )   c1 b1 c2 b2 c3 b3 
b 3 0 c3  0 0 2
0 c b 
 3 3
 b1 0 c 1 
0 c b1  
 1  1 
e e
 b2 0 c2  
v 0  b1 0 b2 0 b3 0
  0 c1 0 c3 
t E
K =  v
e

( ) e 0
1 0 c2 0
4 1− v A 
2 c2 b 2   
b 3 0 c3  0 0 (1 − v )   c1 b1 c2 b2 c3 b3 
2
0 c b 
 3 3
• For variable thickness within the element, you need to
e
evaluate using Gauss quadrature ∫ t dA
Ae

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Element nodal body force for 3-node triangular
=f Ωe ∫ N bd Ω
e T

Ω e

• To evaluate this integral, we start by interpolating b with a

linear function using area coordinates. At the end, the
needed integration is performed analytically.
• We interpolate the body force in the element by the linear
shape functions in the triangular coordinates as

 3 N e be 
 bxe  3  bxi
e  ∑ i xi
 i =1

=b = e
 ∑ Ni  =
e
e
  
by  i =1 byi   ∑ N e be 
3
i =1 i yi 

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Element nodal body force for 3-node triangular
 bxe  3  bxi
e 

=f Ωe ∫ N bd Ω
e =b =  ∑ i  e 
e
T

e
N
Ω e
by  i =1 byi 
• Substitution and performing the
integration gives:
 N1e 0 
   2bx1 + bx 2 + bx 3 
 0 N1 
e  2b + b + b 
 e   y1 y 2 y3 
0  3 e  bxi  Ae t e  bx1 + 2bx 2 + bx 3 
e
N 2
f Ωe ∫ = ∑ N  d Ω
e  i =1 i b e
 
Ωe
0 N2  yi  12 b
 y1 + 2 b y2 + b y3 
 
N e 0   b + b + 2b 
 3
  x1 x2 x3

b +
 y1 y 2b + 2 b y3 

 0 N 3e 

• Note that computing integrals like this, you can use the
α ! β !γ !
∫ ( 1 ) ( 2) ( 3)
e α e β e γ
following: N N N dA = 2 Ae
A e
(α + β + γ + 2 ) !
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Element nodal body force for 3-node triangular
 2bx1 + bx 2 + bx 3 
 2b + b + b 
 y1 y 2 y3 

Ae t e  bx1 + 2bx 2 + bx 3 
fΩ =
e
 
12 by1 + 2by 2 + by 3 
 b + b + 2b 
 x1 x 2 x3

b +
 y1 y 2
b + 2 b y3 

• Assume that the body force is constant in the element in
each direction with components bx and by, then:
 bx 
b 
 y In this case of constant body force in each direction,
Ae t e  bx  the force is distributed equally in the three nodes.
fΩ =
e
 
3 by 
b 
 x
by 

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Nodal boundary force vector for 3-node triangular

=f Γe ∫ N td Γ
e T

Γ e

• Let us assume for simplicity that the applied traction is in

the element edge joining nodes 1 and 2.
e
• We know that from the property of shape functions, 3 N
vanishes at nodes 1 and 2, and since the shape function is
linear along the edge, it vanishes along the entire edge.
• In addition, N1e and N 2e along the edge 12 become the
same as the linear shape functions in 1D:
1 1
N1e= (1 − ξ ) , N 2e= (1 + ξ ) , −1 ≤ ξ ≤ 1
2 2
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Nodal boundary force vector for 3-node triangular

=f Γe ∫ N td Γ
e T

Γ e

• We can now substitute in the expression for the boundary

force:  1 (1 − ξ ) 0

2 
   2t x1 + t x 2 
 0 1 
(1 − ξ )  
 2  1 1   2t y1 + t y 2 
  t
 2 (1 − ξ ) + t (1 + ξ )  Lt t x1 + 2t x 2 
e
1 1 x1 x 2
2 L
f Γe ∫= (1 + ξ ) 0   t e dξ  
−1  2  t 1 (1 − ξ ) + t 1 (1 + ξ )  2 6 t y1 + 2t y 2 
 1   y1 2 y2
2   
 0 (1 + ξ )  0
2  
   0 
 0 0 
 0 0 

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 Nodal boundary force vector for 3-node triangular

=f Γe ∫ N td Γ
e T

Γ e

t=
x1 t =
x2 t x
• For a constant traction over the segment 12, t=
y1 t =
y2 t y

 2t x1 + t x 2  t x 
    In this case of constant traction components,
 2 t y1 + t y 2  t y  the force (traction times the area of the
Lt e  t x1 + 2t x 2  Lt e  t x  segment where it is applied), it is distributed
= e
fΓ =    
6 t y1 + 2t y 2  2 t y  equally at the 2 nodes of the segment.
 0  0
   
 0  0

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 Example of traction boundary conditions
• Consider a unit square of thickness t under plane stress
and tractions conditions as shown. Assume that it is
discretized with 2 linear (triangular elements). Compute the
form of the assembled nodal force vector due to applied
tractions.  We denote the 4 boundary sides as 1,2,3,4
3
4  Traction is applied on sides 2 and 3.
3 0  Node 1
0 
2  
4 2 1 
1   Node 2
t 0 
fΓ =  
2 1 
Node 3
1 2
1 
1  
0  Node 4
1 
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 More general boundary conditions
• Since this is a 2D problem, on a given boundary we may
have different conditions (displacement/traction) applied on
the 2 directions along and normal to the boundary segment.
• On a given boundary we cannot describe on the same
direction both displacement and traction (recall from earlier
lectures you cannot specify on the same part of the
boundary work conjugate variables).
• The most general boundary conditions are the following:
 
σ=x  n t x on Γ tx , Γtx ∩ Γux = 0
 
σ=y  n t y on Γ ty , Γty ∩ Γuy = 0
where:
=ux u x on Γux Γtx ∪ Γux = Γ
=uy u y on Γuy Γty ∪ Γuy = Γ

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 Example problem
• Construct the weak form corresponding to the plane stress
problem shown in the figure. Consider a one-element
triangular mesh. The boundary conditions are as follows.
– edge BC is constrained in y and traction free x,
– edge AB is constrained in x and traction free in y.
– edge AC is subject to prescribed normal traction

Compute:
(a) Construct the stiffness matrix
(b) Calculate the nodal force vector
Ae =
1
3 × 3= 4.5m 2 (c) The unknown displacement vector
2
3 (d) The stress at (1.5, 1.5).

2
= =
E 310 6
Pa, v 0.3

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 Example problem: Shape functions
• The displacement vector is: 1

u eAx e T
d =
e
 u eAy e
uBx e
uBy e
uCx uCy 

1
Ae = 3 × 3= 4.5m 2
• The shape functions are: 2
3
2
= =
E 310 6
Pa, v 0.3

N1e=
1
2 Ae
x (y
2 3 − x y
3 2 + ( y 2 − y 3 ) x + ( x3 − x2 ) )
y =
1
9
( 0 − 0 + 0 + 3 y )
=
y
3
1 1 x y
N 2e = e ( x3 y1 − x1 y 3 + ( y3 − y1 ) x + ( x1 − x3 ) y ) = ( 9 − 0 − 3x − 3 y ) = 1 − −
2A 9 3 3
1 1 x
N 3e= ( x y
1 2 − x y
2 1 + ( y1 − y 2 ) x + ( x2 − x1 ) y )
= ( 0 − 0 + 3 x + 0 )
=
2 Ae 9 3

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 Example problem: Be and D matrices
• The non-zero derivatives of the 1
shape functions are:
∂N1e 1 ∂N 2e 1 ∂N 2e 1 ∂N 3e 1
= , =
− , =
− , =
∂y 3 ∂x 3 ∂y 3 ∂x 3 Ae =
1
3 × 3= 4.5m 2
2
3
• The Be matrix is computed next:
2
 ε xe   N1,e x 0 N 2,e x 0 N 3,e x 0  0 0 −1 0 1 = = 6
     0 E 310 Pa, v 0.3
1
 ε ey   0 N1,e y 0 N 2,e y 0= N 3,e y  d e 0 1 0 −1 0 0 d e
    3 

 − − 

γ xy
e
  N1,e y N1,e x N 2,e y N 2,e x N 3, y N 3, x 
e e 1 0 1 1 0 1

B e

• The elastic property matrix is:

 
 1 v 0  32.967 9.89 0 
 106  9.89 32.967 
E
D = v 1 0 0
1 − v2    
0 0 (1 − v )   0 0 11.5385
 2
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 Example problem: Stiffness
• The element stiffness for unit 1
thickness is given as:

K = A B De Be
e e e T

1
Ae = 3 × 3= 4.5m 2
2
3
• With substitution:
2
0 0 1 = =
E 310 6
Pa, v 0.3
0 1 0
  32.967 9.89 0   0 0 −1 0 1 0 
1  −1 0 −1 6   1  0 1 0 −1 0 0 
Ke 4.5  10 9.89 32.967 0
3 0 −1 −1  3 
   0 0 11.5385 1 0 −1 −1 0 1 
1 0 0
 0 0 1   5.769 0 −5.769 −5.769 0 5.769 
   
0 16.48 −4.945 −16.48 4.945 0
 
 −5.769 −4.945 22.25 10.71 −16.48 −5.769 
• Finally: K e = 106 
−5.769 −16.48 10.71 22.25 −4.945 −5.769 
 
 0 4.945 −16.48 −4.945 16.48 0 
 5.769 −5.769 −5.769 5.769 
 0 0

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 Example problem: Boundary load
• The boundary load is given as: 1

=f Γe ∫ N td Γ
e T

Γ e

1
Ae = 3 × 3= 4.5m 2
• With substitution: 2
3
1 
2 (1 − ξ ) 0 
2
  = E =
310 6
Pa, v 0.3
1  2 t x1 + t x 3 
 0 (1 − ξ )   
 2  1 1   2 t y1 + t y 3 
  t
 2 (1 − ξ ) + t (1 + ξ ) L L 
x1 x 3
1 0 0 2 0
f Γe ∫=    dξ  
−1  0 0  1 1
t y1 (1 − ξ ) + t y 3 (1 + ξ )  2 6 0 
1   2 2 
  t x1 + 2t x3 
 (1 + ξ ) 0   
2  L = 3 2m t y1 + 2t y 3 
 1 
 0 (1 + ξ )  t=x1 t =x 3 15cos 45 =
o
15
2
N /m
 2  2
2
where: t=
y1 t = =
y 3 15sin 45
o
15 N /m
2

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Example problem: Boundary and body forces
• With substitution: 1
 2
 15 
 2 
 2t x1 + t x3   2  22.5
   2 
15  22.5
 2t y1 + t y 3 
1
Ae = 3 × 3= 4.5m 2
    2
3 2 0  3 2  0   0  3
f Γe =  = 3  0 
6  0  6 0    2
 
 t x1 + 2t x3   2  22.5 = =
E 310 6
Pa, v 0.3
  15   
t y1 + 2t y 3   2   22.5
 2
 2 
15

• The body force is zero f Ωe = 0.

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 Example problem:Essential BC
• Based on the essential BC, the 1
reaction forces are:
T
r e =r r r r r r 
 1 x 1 y 2 x 2 y 3 x 3 y  1
Ae = 3 × 3= 4.5m 2
T 2

=  r1x 0 r2 x r2 y 0 r3 y  3
2
• The displacement and nodal force = =
E 310 6
Pa, v 0.3

vector are summarized below:

 22.5 + r1x   u1x = 0 

 22.5   u 
   1 y 
 r2 x  e  u2 x = 0 
= e
=  
r2 y 
f , d
  u
 2y = 0 
 22.5   u 
   3x

 22.5 + r3 y   u3 y = 0 

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 Example problem: Solution step
• We are ready to solve for 1
displacements once we partition the
load/stiffness equations: Ae =
1
2
3 × 3= 4.5m 2

3
 5.769 0 −5.769 −5.769 0 5.769   u1x = 0   22.5 + r1x 
 0     2
16.48 −4.945 −16.48 4.945 0   u1 y   22.5  = =
E 310 6
Pa, v 0.3
 
 −5.769 −4.945 22.25 10.71 −16.48 −5.769   u2 x = 0   r2 x 
106   = 
−5.769 −16.48 10.71 22.25 −4.945 −5.769  u2 y = 0  r2 y 
 
 0 4.945 −16.48 −4.945 16.48 0   u3 x   22.5 
 5.769    
 0 −5.769 −5.769 0 5.769   u3 y = 0   22.5 + r3 y 

• We thus solve:

16.48 4.945  u1 y   22.5  u1 y  1.05 −6

6
10     =   ⇒ = 1.05 10 m
 4.945 16.48  u3 x   22.5 u3 x   

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 Example problem: Stress calculation
• The constant strain in this triangle is 1
given as:
 0 
 −6 
ε  e  1.0510  0.35
 −    
1
  1
x 0 0 1 0 1 0 Ae = 3 × 3= 4.5m 2
 2

 ε ey  = 0 1 0 −1 0 0   0
= 0.35 10−6 3
  3  0   
2
1 0 −1 −1 0 1    0 
γ xy    1.0510−6  
e
= =
E 310 6
Pa, v 0.3
B e
 
 0 

• Using the elastic moduli, we can

now compute the constant stress in
this element:
 σ xe   εe 
   1 v 0  
x
 32.967 9.89 0  0.35 15
  ε ey  106  9.89 32.967  0.35 10−6 15 Pa
E
 σ ey  = v 1 0 = 0
  1− v 
2
      
σ xy
e
 0 0 (1 − v )  γ xy
e


 0 0 11.5385  0   0 
 2
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 Stress recovery
• How do we compute the stress at any point inside the
domain?
σ e   εe  εe 
 x
  1 v 0  x 
E v 1
 x
 σ ey  = 0   ε ey   ε ey  = [ B e ]{d e }
  1− v 
2
 
σ xy 
e 0 0 (1 − v )  γ xy
e
  
 2   γ xy
e


• Since the finite element approximated displacement field

u , v ∈ C 0 , the stress field σ ∈ C −1 , i.e. the stresses are
discontinuous in inter-element boundaries.
• We compute the stresses at the Gauss points where they
are more accurate and then extrapolate them at the nodes
using a least squares approximation.

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Example problem: Element equs from min potential energy

• The general expression for the strain energy is as follows:

1 1 1 T
U =
∑∫ σ ε dV = ε ε
∑ ∑ ∫ ij ijkl kl
C dV ∫ {ε } [C ]{ε } dV
ij V 2 
ij ij
ij kl V 2 V2
∑ Cijkl ε kl
kl

• For plane stress, we can write this explicitly as:

U ∫ (σ xxε xx + σ yy ε yy + σ xyγ xy ) dV
1
=
V2

σ xx    ε 
 1 v 0  xx
  E  
• This can be further simplified using: σ yy  =  v 1 0  ε xx 
  1 − v 2
   
 (1 − v )  γ
σ xy  0 0 2   xy 

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Example problem: Element eqs. from min potential energy

• The strain energy for plane stress becomes:

ε xx   
1 T 1 v 0
U = ∫ {ε } [C ]{ε }dV   E  
=
where: {ε } =ε yy  , [C ] v 1 0 
V2 1− v  
2
 
γ xy  0 0 (1 − v ) 
 2
• This can be written explicitly as:

E  1−υ 2 
=U 2 ∫  xx
(ε + υε )ε
yy xx + (υε xx + ε )ε
yy yy + γ xy  dV
2(1 − υ ) V  2 

• We can now introduce our approximations for strain within

each finite element

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Example problem: Element eqs. from min potential energy

U
1 T
∫=
V2
1 e T  e e
{ε } [C ]{ε }dV ∑ ∫ ε
eΩ 2 
 C  ε

dV
e
{ } { }
{d } [ B ]
e T e T
[ B ]{d }
e e

• Thus the strain energy in element e is as follows:

1 e e e T e T  e e
U = t A {d } [ B ] C  [ B ]{d e }
e
2
• The external work done is similarly computed as:
e  x e t x 
{ } { }
b
Wext =∑ ∫ u x u y   + ∑ ∫ u x u y   d Γ
e e
eΩ    by  e Γ 
e
 t y  e

{d } [ N ] {d } [ N ]
t
T T
e T e e T e

e T  x  e T  e T  t x 
b
• Finally: Wext 
e T
∑ {d } ∫ N b  d Ω + ∑ {d } ∫  N    d Γ
 
e Ω  y
e
e Γ t y  e

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Example problem: Element eqs. from min potential energy

1 e e e T e T  e e
P =−
U W ext =∑ t A {d } [ B ]  C  [ B ]{d e
}
e 2
 T  bx  e T  e T  t x  
 
−  ∑ {d } ∫  N    d Ω + ∑ {d } ∫  N    d Γ 
e T e

e Ωe
by  e Γ e

t t y  

• Minimization of this with respect to the nodal displacements

leads to the same algebraic equations as those derived
earlier via the weak form (principle of virtual work):

 bx  e T T t x 
∑ t A [ B ]=
e e C [ B ]{d } ∑ ∫  N
e T e e e
b  d Ω + ∑ ∫  N    d Γ
e
e 
   
eΩ  ye


eΓ t y  e

[K ]
t
e

{F }

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 Example problem
• Consider the linear elasticity problem shown. The vertical
left edge is fixed. The bottom and the right vertical edges
are traction free. Traction t y = −20 N/m is applied on the top
horizontal edge. E = 3⋅107 Pa and ν = 0.3 . Plane stress
conditions are considered. Discretize the domain using one
quadrilateral element.

t=
x t=
y 0

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 Example problem
• The elasticity matrix is:
 
 1 v 0   1 0.3 0 
D =
E 
v 1 0  3.3107 0.3 1 0 
1 − v2    
 0 0 (1 − v)   0 0 0.35
 2

• The coordinate matrix is:

 x1e y1e 
 e  0 1 
0 0 
e   x2 y2 
e
= e
y  =  
x e e  2 0.5
 3
x y3
 e 2 1 
e  
 4
x y 4 1 = 1 (1 − ξ )(1 − η ), N
N  2 = 1 (1 + ξ )(1 − η )
4 4
• The shape functions are:  3 = 1 (1 + ξ )(1 + η ), N
 4 = 1 (1 − ξ )(1 + η )
N
4 4

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 Example problem: Jacobian
• The Jacobian matrix is:
 4   x1 y1 
e e
 ∂x ∂y  ∂N1 2
∂N ∂N3 ∂N
 ∂ξ ∂ξ    
= e
=   ∂ξ ∂ξ ∂ξ ∂ξ   x2e y2e 
=
 4   xe y e 
J
 ∂x ∂y  ∂N1 2
∂N ∂N3 ∂N
  3 3
 ∂η ∂η   ∂η ∂η ∂η ∂η   x e y e 
 4 4
0 1 
1 η − 1 1 − η 1 + η −η − 1  0 0  0 0.125η − 0.375
 =
4 ξ − 1 −ξ − 1 1 + ξ 1 − ξ   2 0.5 1 0.125ξ + 0.125
2 1 


• The inverse and determinant of the Jacobian are:

1 + ξ 
3 −η 1 
 , −0.125η + 0.375
−1

Je = | J e |=
 8
0
η − 3 

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 Example problem: Be matrix
• The Be matrix is:
 ∂N1 ∂N 2 ∂N3 ∂N 4 
 0 0 0 0 
 ∂x ∂x ∂x ∂x 
 ∂N1 ∂N 2 ∂N3 ∂N 4 
Be =  0 0 0 0
∂y ∂y ∂y ∂y 
 
 ∂N1 ∂N1 ∂N 2 ∂N 2 ∂N3 ∂N3 ∂N 4 ∂N 4 
 ∂y ∂x ∂y ∂x ∂y ∂x ∂y ∂x 


• To calculate the stiffness matrix we use 4 Gauss points (2

1 1
in each direction): (ξ ,η ) =
(± , ± ), Wi =
Wj =
1
3 3
1 1
= ∫ B=
D B dΩ
1 e e e
J e | d ξ dη
∫ ∫ B D B |=
e e e
T T

K
Ω −1 −1

{ }(ξ ,η )
2 2
=∑ ∑ Be De Be | J e |
T

WiW j
• The stiffness is: =i 1 =j 1  i j

These are the weights

from 1D integration
in the ξ and η
directions

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 Example problem: Be matrix
• The Be contribution from the Gauss
1 1
point ξ η = − −
3 can be computed as follows:
( , ) ( , ),
3
∂N3 ∂N1 ∂ N
2 ∂N3 ∂N4 
 ∂N1 ∂N 2 ∂N 4 
 ∂x  
∂x ∂x ∂x  e −1  ∂ξ ∂ξ ∂ξ ∂ξ   −0.44 −0.06 0.12 0.38
  J= (ξ ,η )  
 ∂N1 ∂N 2 ∂N3 ∂N 4  1 1
∂N1 ∂ N
2 ∂N3 ∂N4   0.88 −0.88 −0.24 0.24 
 ∂y ∂y ∂y ∂y   
 ∂η ∂η ∂η ∂η  (ξ ,η )
1 1

 ∂N1 ∂N 2 ∂N3 ∂N 4 
 0 0 0 0 
 ∂x ∂x ∂x ∂x   −0.44 0 −0.06 0 0.12 0 0.38 0 
 ∂N1 ∂N 2 ∂N3 ∂N 4   0
=
B e(ξ ,η )  0 0 0 0= 0.88 0 −0.88 0 −0.24 0 0.24 
1 1
∂y ∂y ∂y ∂y   
   0.88 −0.44 −0.88 −0.06 −0.24 0.12 0.24 0.38 
 ∂N1 ∂N1 ∂N 2 ∂N 2 ∂N3 ∂N3 ∂N 4 ∂N 4 
 ∂y ∂x ∂y ∂x ∂y ∂x ∂y ∂x 


• The stiffness from this Gauss point is then:

{ }(ξ ,η )
K 1 ⇐ W1W1 B e D e B e | J e |
T

1 1

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 Final stiffness matrix
• The final stiffness is:

1.49 −0.74 −0.66 0.16 −0.98 0.65 0.15 −0.08

 2.75 0.24 −2.46 0.66 −1.68 −0.16 1.39 
 
 1.08 0.33 0.15 −0.16 −0.56 −0.41
 2.6 −0.08 1.39 −0.41 −1.53
7
K = 10
 2 −0.82 −1.18 0.25 
 Symmetric 
 3.82 0.33 −3.53
 1.59 0.25 
 
 3.67 

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 Load vector
• There is no body force: f Ωe = 0.
1 4

• The load contribution from the 3

applied traction 1is:
 
 ∫ N 1dη 0 

2 t=
x t=
y 0
 −1 
 1
  1 0  0 
∫ N 1dη  0
 0
−1 1  −20 
     
 0 0  0 0  0 
1  0 0  0  0 0   0   0 
=f Γe ∫ N=
T
td Γ ∫ N T t |ξ =
= dη  =  =  
  −20  0   −20 
 rx1   0 
−1,η
Γ −1  0 0 0  0 
 0    r − 20 
   0 
0 
14

  0 0  y1 
 0   
 
1  1 0  rx 2 
 0   0 
 ∫ N 4 dη 0         0 
 −1  0 1
= r  −20 
 and d  
  =f e y 2
1

∫ N 4 dη 
 0   u x3 
 0    
 −1  u
• Accounting for reaction forces,  0   y 3 
  u 
 0   x4 
the assembled load vector is:  −20  u y 4 

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 Example problem: Solution step

1.49 −0.74 −0.66 0.16 −0.98 0.65 0.15 −0.08  0   rx1 

    
2.75 0.24 −2.46 0.66 −1.68 −0.16 1.39   0   ry1 − 20 
 
 1.08 0.33 0.15 −0.16 −0.56 −0.41  0   rx 2 
    
7 2.6 −0.08 1.39 −0.41 −1.53  0   ry 2 
10 =
 2 −0.82 −1.18 0.25   u x3   0 
    
 3.82 0.33 −3.53  u y 3   0 
 1.59 0.25   u x 4   0 
    
 3.67  u y 4   −20 

 0 
 0 
 
 u x3   −1.17   0 
u   −9.67   0 
 y3 
= 10−6  = ⇒d  
ux 4   2.67   −1.17 
   −9.94   
u y 4     −9.67 
 2.67 
 
 −9.94 

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 Computing the stresses
1 1
• To compute the stress at e.g. the Gauss point (ξ ,η ) =
(− , − ),
3 3
σ 
 xx 
σ (ξ1 ,η1 ) =
=e
σ yy  D=ε (ξ1 ,η1 ) D e B e=
e e
(ξ1 ,η1 )d e
 
σ xy  (ξ ,η )
1 1

 0 
 0 
 
 0 
 1 0.3 0   −0.44 −0.06 0 
0 
0 0 0.12 0 0.38
7    
3.310 0.3 1 0 0 0.88 0 −0.88 0 −0.24 0 0.24 =
    −1.17 
 0 0 0.35  0.88 −0.44 −0.88 −0.06 −0.24 0.12 0.24 0.38   
 −9.67 
 2.67 
 
 −9.94 
 −12.5
 −5.64 
 
 −45.5

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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