FINITE ELEMENT METHOD

(BDA 31003)

Lecture Module 3: Axial and Torsional Elements

Waluyo Adi Siswanto

Universiti Tun Hussein Onn Malaysia

Except where otherwise noted, content on this module is licensed under a Creative Commons Attribution 3.0 License.
 What is Axial/Torsional Element
This type of element has only one (1) single degree of freedom in each node

It could be axial or torsional

AE
k=
L
translation

A : cross section
E: elasticity
L: length of element

rotation

Lecture Module 3 BDA31003 2

 Problems in
Axial/Torsional Elements

Element 1 Element 2

1 2

1 2
Lecture Module 3 BDA31003 3
 Stiffness, Displacement and Force

1 k 2

f1 u1 u2 f2

f 1=k u 1− k u 2
f 2=k u 2− k u 1

Rearrange the equation in matrix [ k −k

−k k ]{ } { }
u1
u2
f
= 1
f2

[k ] { u } ={ f }
A E 1 −1
L −1 1 [ ]{ } { }
u1 = f 1
u2 f2

Lecture Module 3 BDA31003 4

 Elemental (local)
Stiffness Matrix
The stiffness matrix of the element now can be expressed as

[k ]= [
AE 1 −1
L −1 1 ]
Now in general term, in every element consists of i and j nodes

ui u j

[k e ]=
A E 1 −1
L −1 1 [ ] ui
uj

e
[k ]=
[ k ii
k ji
e

e
k ij
k jj
e

e ]
Lecture Module 3 BDA31003 5
 Example Problem 3-1

a. Divide the structure into 6 element. Each segment consists of 2 elements

b. Calculate the stiffness matrix of each element

Lecture Module 3 BDA31003 6

 Element Node 1 Node 2 L A E
1 1 2 La/2 Aa Ea
2 2 3 La/2 Aa Ea
3 3 4 Lb/2 Ab Eb
4 4 5 Lb/2 Ab Eb
5 5 6 Lc/2 Ac Ec
6 6 7 Lc/2 Ac Ec

Lecture Module 3 BDA31003 7

 Assemble Stiffness Matrices Globally

The assemble of stiffness matrices can be expressed as simple as

1 2 3 n
[ K ]=[k ]+[k ]+[ k ]+⋯+[k ]

However this is not a direct additional operation but SELECTIVE

The order of [K} equals to

the number of nodes multiply by the number of degrees of freedom each node

Lecture Module 3 BDA31003 8

 Example Problem 3-2
Assemble the local/individual stiffness matrix in a global structural stiffness matrix [K]

Arrange the structural stiffness matrix into a complete static matrix equation
[K]{u} = {f}

Lecture Module 3 BDA31003 9

 Element meshing

You want to divide into 3 elements , numbered e1, e2, e3 :

1 e1 2 e2 3 e3 4

u1 u2 u3 u4

A1 E 1 A2 E 2 A3 E 3

L1 L2 L3

Lecture Module 3 BDA31003 10

 Assemble Elements
global static equation
1 e1 2 e2 3 e3 4

u1 u2 u3 u4

In the system there are 4 nodes and every node has 1 DOF, the static equation will be:

u1 u2 u3 u4
u1 u1 F1
u2 u2 F2
=
u3 u3 F3
u4 u4 F4

[K ] {u} = {F }
Lecture Module 3 BDA31003 11
 Assemble Elements
stiffness matrix
1 e1 2 e2 3 e3 4

u1 u2 u3 u4
u1 u2 u1 u2
A1 E 1 1 − 1 u1
Element e1 [k e1 ] =
L1 − 1 [1 u2
=
a1
]b1 u1
c1 d1 u 2 [ ]
Saved in the global stiffness matrix

u1 u2 u3 u4
a1 b1 u1
c1 d1 u2
[ K 1] =
u3
u4

Lecture Module 3 BDA31003 12

 Assemble Elements
stiffness matrix
1 e1 2 e2 3 e3 4

u1 u2 u3 u4
u2 u3 u2 u3
A2 E 2 1 −1 u 2
Element e2 [k e2 ] =
L 2 −1 [
1 u3
=
a2
]b2 u2
c2 d2 u 3 [ ]
Saved in the global stiffness matrix

u1 u2 u3 u4
u1
a2 b2 u2
[ K 2] =
c2 d2 u3
u4

Lecture Module 3 BDA31003 13

 Assemble Elements
stiffness matrix
1 e1 2 e2 3 e3 4

u1 u2 u3 u4
u3 u4 u3 u4
A3 E 3 1 − 1 u 3
Element e3 [k e3 ] =
L3 − 1 [1 u4
=
]
a3 b3 u3
c3 d3 u 4 [ ]
Saved in the global stiffness matrix

u1 u2 u3 u4
u1
u2
[ K 3] =
a3 b3 u3
c3 d3 u4

Lecture Module 3 BDA31003 14

 Assemble Elements
stiffness matrix – combine all elements
u1 u2 u3 u4
a1 b1 u1
c1 d1 u2 Combine all elements into
[ K 1] =
u3 the structure
u4
[ K ] = [ K 1 ]+ [ K 2 ]+ [ K 3 ]+ ... + [ K n ]

u1 [K] =
a2 b2 u2 u1 u2 u3 u4
[ K 2] =
c2 d2 u3 a1 b1 0 0 u1
u4 c1 d1+a2 b2 0 u2
0 c2 d2+a3 b3 u3
u1 0 0 c3 d3 u4
u2
[ K 3] =
a3 b3 u3 The same cells +
c3 d3 u4 Unoccupied remains 0
Lecture Module 3 BDA31003 15
 Assemble Elements
force vector
1 e1 2 e2 3 e3 4

u1 u2 F2 u3 u4 F4

Element e1 [ f e1 ] =
{ }
0 u1
− F 2 u2

Saved in the global force vector

0 u1
{ F 1} = −F2 u2
u3
u4

Lecture Module 3 BDA31003 16

 Assemble Elements
force vector
1 e1 2 e2 3 e3 4

u1 u2 F2 u3 u4 F4

Element e2
{} u
[ f e2 ] = 0 2
0 u3
Force at node 2
has been defined by e1

Saved in the global force vector

u1
{ F 2} = 0 u2
0 u3
u4

Lecture Module 3 BDA31003 17

 Assemble Elements
force vector
1 e1 2 e2 3 e3 4

u1 u2 F2 u3 u4 F4

Element e3
{ }
[ f e3 ] = 0 2
u
F 4 u3

Saved in the global force vector

u1
{ F 3} = u2
0 u3
F4 u4

Lecture Module 3 BDA31003 18

 Assemble Elements
force vector – combine all elements
0 u1
{ F 1} = − F 2 u2 Combine all elements into
the structure
u3
u4 { F } = { F 1 }+ { F 2 }+ { F 3 }+ ... + { F n }

u1 0 u1
0 u2
{ F 2} = { F 3} = − F 2 + 0 u2
0 u3 0+0 u3
u4 u4
F4

u1
{ F 3} = u2
0 u3
F4 u4
Lecture Module 3 BDA31003 19
 Constraints
I have now the static equation complete:

a1 b1 0 0 u1 0
c1 d1+a2 b2 0 u2 − F 2+ 0
=
0 c2 d2+a3 b3 u3 0+0
0 0 c3 d3 u4 F4

I can solve the unknown displacement vector {u} No.... WAIT a minute

Have you ever considered this :

This end is fixed This end will move

not allowed to move at all at certain distance only,
no more than that
Oh.. No... ?????
Lecture Module 3 BDA31003 20
 Constraints

This end is fixed This end will move

not allowed to move at all at certain distance only,
no more than that

In engineering, these are called CONSTRAINTS

In mathematics, some say BOUNDARY CONDITIONS

The nodes MUST follow the constraints !

Lecture Module 3 BDA31003 21

 Constraints
β

This end is fixed This end will move

not allowed to move at all at certain distance only,
no more than that

Now you have to express in mathematics, see your FEM model :

1 e1 2 e2 3 e3 4

u1 u2 u3 u4

u1 = 0 u4 = β

Lecture Module 3 BDA31003 22

 Constraints
1 e1 2 e2 3 e3 4
Before constraints :

u1 u2 u3 u4
a1 b1 0 0 u1 0
c1 d1+a2 b2 0 u2 F2
=
0 c2 d2+a3 b3 u3 0
0 0 c3 d3 u4 F4

After constraints : 1 e1 2 e2 3 e3 4

u1 =β1 u2 u3 u 4 =β4
The equations a1 b1 0 0 u1 0
must be modified c1 d1+a2 b2 0 u2 F2
so that =
0 c2 d2+a3 b3 u3 0
u1 =β1 u 4 =β4 u4
0 0 c3 d3 F4
Lecture Module 3 BDA31003 23
 Handling constraints
direct elimination method
1 e1 2 e2 3 e3 4

u1 =β1 u2 u3 u 4 =β4

[ ]{ } { }
K 11 K 12 K 13 K 14 u1 F1
K 21 K 22 K 23 K 24 u2 F
Before introducing constraints = 2
K 31 K 32 K 33 K 34 u3 F3

]{ } {
K 41 K 42 K 43 K 44 u4 F4

[ }
1 0 0 0 u1 β1
0 K 22 K 23 0 u2 F − K β −K 24 β4
After introducing constraints = 2 21 1
0 K 32 K 33 0 u3 F 3−K 31 β1−K 34 β4
0 0 0 1 u4 β4

Lecture Module 3 BDA31003 24

 Handling constraints

]{ } {
direct elimination method

[ }
1 0 0 0 u1 β1
After introducing constraints 0 K 22 K 23 0 u2 F − K β −K 24 β4
= 2 21 1
0 K 32 K 33 0 u3 F 3−K 31 β1−K 34 β4
0 0 0 1 u4 β4

u 1= 1 u 4=β4

Then solve the simultaneous equation after 2 variables have been eliminated:

[ ]{ } {
K 22 K 23 u2
K 32 K 33 u3
F − K 21 β1− K 24 β4
= 2
F 3 − K 31 β1− K 34 β4 }
to find u 2 and u 3

Lecture Module 3 BDA31003 25

 Handling constraints
penalty method

The idea in penalty method:

● The correct solutions at the constrained nodes are obtained by

introducing high value at the dof of the nodes so this will
ignore other value corresponding to the constraints.

● There is no elimination process and solving the equations can

be started immediately. This will be easier to program and
faster solution

Lecture Module 3 BDA31003 26

 Handling constraints
penalty method
1 e1 2 e2 3 e3 4

u1 =β1 u2 u3 u 4 =β4

[ ]{ } { }
K 11 K 12 K 13 K 14 u1 F1
K 21 K 22 K 23 K 24 u2 F
Before introducing constraints = 2
K 31 K 32 K 33 K 34 u3 F3

]{ } { }
K 41 K 42 K 43 K 44 u4 F4

[
K 11 +C K 12 K 13 K 14 u1 F 1 +β1 C
After introducing constraints
K 21 K 22 K 23 K 24 u2 F2
=
Using high value penalty :
K 31 K 32 K 33 K 34 u3 F3
C=Max∣K ij∣1020 K 41 K 42 K 43 K 44+C u4 F 4 +β 4 C

Lecture Module 3 BDA31003 27

 Handling constraints
penalty method

]{ } { }
Proof that penalty method can define the constraint

[
K 11 +C K 12 K 13 K 14 u1 F 1 +β1 C
K 21 K 22 K 23 K 24 u2 F2
= C=Max∣K ij∣10
20
K 31 K 32 K 33 K 34 u3 F3
K 41 K 42 K 43 K 44+C u4 F 4 +β 4 C

( K 11 + C )u1+ K 12 u 2+ K 13 u 3+ K 14 u 4=F 1+ β1 C

K 41 u 1+ K 42 u 2+ K 43 u3+ ( K 44+ C) u 4=F 4+ β4 C

Since C is a huge value compared to other items the equations can be written

(C)u1≈ β1 C u1 ≈ β 1
(C)u 4≈ β4 C u 4≈ β4
Lecture Module 3 BDA31003 28
 Handling constraints
penalty method
1 e1 2 e2 3 e3 4
Another alternative approach
in imposing penalty constraints
u1 =β1 u2 u3 u 4 =β4

[ ]{ } { }
K 11 K 12 K 13 K 14 u1 F1
K 21 K 22 K 23 K 24 u2 F
Before introducing constraints = 2
K 31 K 32 K 33 K 34 u3 F3

]{ } { }
K 41 K 42 K 43 K 44 u4 F4

[
C K 12 K 13 K 14 u1 β1 C
After introducing constraints
K 21 K 22 K 23 K 24 u2 F2
=
Using high value penalty :
K 31 K 32 K 33 K 34 u3 F3
C=Max∣K ij∣1020 K 41 K 42 K 43 C u4 β4 C

Lecture Module 3 BDA31003 29

 Axial Element
static problem - summary

➢ FEM modeling

➢ Analyse elemental stiffness matrix and force vector and save them
in global storage

➢ Assemble all elements into the global matrix, [K ]{u}={ F }

Modify equations by considering the constraints, [ K ]{u}={ F }

c c
➢
by using either direct elimination method or penalty method

➢ Solve the equation to find the nodal deformation vector, {u}

Lecture Module 3 BDA31003 30

 Example Problem 3-3

E2, A2, L2 E1, A1, L1

E2=1, A2=2, L2=1, E1=1, A1=1, L1=1, F=10

Develop a finite element model to represent the problem

(2 Elements, 3 nodes)

Calculate the displacement in each node,

USING DIRECT ELIMINATION METHOD.

Lecture Module 3 BDA31003 31

 Calculate every element [k] and {f}
1 1 2 2 3

u 1=0 f 3=−10

Element Node 1 Node 2 L A E AE/L

1 1 2 1 2 1 2
2 2 3 1 1 1 1

Element 1 u1 u2
1
[ k ]=2 1
[− 1 u1
−1 1 u 2 ] { f }=
1
{}
0
0
u1
u2

Element 2 u2 u3
2
[k ]=1 1
[− 1
− 1 1 u3
u2
] { f }=
2
{ }
0
−10
u2
u3
Lecture Module 3 BDA31003 32
 Assemble all elements to get [K] and {F}

You need yo prepare a global storage for [K] and {F}

How to determine the order of global matrix:

Number of DOF in every node: DOF = 1

Number of nodes in the system: N=3

Order of Matrix: DOF x N = 3

Lecture Module 3 BDA31003 33

 Assemble all elements to get [K] and {F}
u1 u2 u3

[ ] {}
0 0 0 u1 0 u1
[ K ]= 0 0 0 u2 { F }= 0 u2
0 0 0 u3 0 u3
u1 u2 u3

[ ] 2 −2 0
{}
u1 0 u1
[ K ]= −2 2 0 u2 { F }= 0 u2
0 0 0 u3 0 u3

{ }
u1 u2 u3

[ 2 −2 0
[ K ]= −2 2+1 −1
0 −1 1 ] u1
u2
u3
0 u1
{ F }= 0 u 2
−10 u 3

Lecture Module 3 BDA31003 34

 Apply constraints
u1 =0

u1 u2 u3

[ ] { }
2 −2 0 u1 0 u1
[ K ]= −2 2+1 −1 u2 { F }= 0 u 2
0 −1 1 u3 − 10 u 3

[
1 0 0
[ K ]= 0 2+1 −1
0 −1 1 ] { 0
{ F } = 0−(−2) u 1
−10−(0) u 1 }
[3 −1
−1 1 ]{ } { }
u2
u3
=
0
−10
u 2=−5
u 2=−15
Lecture Module 3 BDA31003 35
 Assemble all elements to get [K] and {F}
u1 u2 u3

[ ] {}
0 0 0 u1 0 u1
[ K ]= 0 0 0 u2 { F }= 0 u2
0 0 0 u3 0 u3
u1 u2 u3

[ ] 2 −2 0
{}
u1 0 u1
[ K ]= −2 2 0 u2 { F }= 0 u2
0 0 0 u3 0 u3

{ }
u1 u2 u3

[ 2 −2 0
[ K ]= −2 2+1 −1
0 −1 1 ] u1
u2
u3
0 u1
{ F }= 0 u 2
−10 u 3

Lecture Module 3 BDA31003 36

 Apply constraints
u 1=0

u1 u2 u3

[ ] { }
2 −2 0 u1 0 u1
[ K ]= −2 2+1 −1 u2 { F }= 0 u 2
0 −1 1 u3 − 10 u 3

[ 1 0 0
[ K ]= 0 2+1 −1
0 −1 1
] { 0
{ F } = 0−(−2) u 1
−10−(0) u 1 }
[ 3 −1
−1 1 ]{ } { }
u2
u3
=
0
−10
u 2=−5
u 2=−15
Lecture Module 3 BDA31003 37
 Example Problem 3-4
Reconsider the Example Problem 3.3.
Apply the penalty method to define the matrix equation after the constraint

u1 u2 u3

[ ] { }
10
30
−2 0 u 1 0+(0)1030 u1
[ K ]= −2 2+1 −1 u 2 { F }= 0 u2
0 −1 1 u 3 −10 u3

{}{ }
u1 0
u 2 = −5
u3 −15

Lecture Module 3 BDA31003 38

 Multi Point Constraints
If the displacements of nodes are related each other or depending on a
specific function, it is referred to as Multi Point Constraints.
Constraints

3 4 c
b
2 1 a

1 2 5 u1
u2
u5

u1 a a
= u 1− u 5=0
u5 c c
β1 ui +β2 u j =β 0
u2 b b
= u 2− u 5=0
u5 c c

Lecture Module 3 BDA31003 39

 Additional Matrix in MPC
In order to obtained the correct equation

β1 ui +β2 u j =β 0

Additional matrix should be considered

ui uj

additional =
[ β1
β1 β2
2
β 1 β2
β2
2 ] ui
uj

Lecture Module 3 BDA31003 40

 Strain and Stress in
Axial Element
Strain (ε) in an element occurs when the element is stretched or
compressed, i.e. Elongation (δ)

δ =u j −u i
e e e

e
δ
e
ϵ= e
L

Stress (σ) in an element σ e =E e ϵ e

Force (F) in an element F e =σe Ae

Lecture Module 3 BDA31003 41

 Example Problem 3-5
A1 Circular cross section
A1 = 0.0036 m2
A2
A3 A2 = 0.0025 m2
A4 1kN
-250 N A3 = 0.0009 m2
A4 = 0.0004 m2
E = 70 GPa
0.25 m 0.25 m 0.25 m

Prepare a finite element model consisting of 3 elements

To represent each segment. (use inner cross section for your model)

a. Calculate the deformation in every segment, at A1, A2, A3 and A4

b. Calculate the strain (ε) in every element
c. Find the stress (σ) in every element
d. Find the elemental force.
e. find the reaction force
Lecture Module 3 BDA31003 42
 1 e1 2 e2 3 e3 4

u1 u2 u3 u4

A2 E A3 E A4 E

L L L

Element Node i Node j A E L AE/L

1 1 2 0.00250 70000000000 0.25 700000000
2 2 3 0.00090 70000000000 0.25 252000000
3 3 4 0.00040 70000000000 0.25 112000000

Lecture Module 3 BDA31003 43

Element 1: Stiffness Matrix and Force Vector
El 1 (1,2) u1 u2 u3 u4 f1
k1= 700000000 -700000000 u1 0
-700000000 700000000 u2 -250
u3 0
u4 0

Element 2: Stiffness Matrix and Force Vector

El 2 (2,3) u1 u2 u3 u4 f2
k2= u1 0
252000000 -252000000 u2 0
-252000000 252000000 u3 0
u4 0

Element 3: Stiffness Matrix and Force Vector

El 3 (3,4) k3= u1 u2 u3 u4 f3
u1 0
u2 0
112000000 -112000000 u3 0
-112000000 112000000 u4 1000

Lecture Module 3 BDA31003 44

 Stiffness Matrix in global
Matrix Equation Before Constraints
u1 u2 u3 u4
700000000 -700000000 0 0 u1 0
-700000000 952000000 -252000000 0 u2 -250
0 -252000000 364000000 -112000000 u3 0
0 0 -112000000 112000000 u4 1000

Matrix Equation After Constraints (Penalty Method) C= 1.00E+30

u1 u2 u3 u4
K= 1.00E+30 -700000000 0 0 u1 0
-700000000 952000000 -252000000 0 u2 -250
0 -252000000 364000000 -112000000 u3 0
0 0 -112000000 112000000 u4 1000

~0

Lecture Module 3 BDA31003 45

 Matrix Equation After Constraints (Elimination)
1 0 0 0 0
0 952000000 -252000000 0 -250
0 -252000000 364000000 -112000000 0
0 0 -112000000 112000000 1000

0 1.43E-09 0 u2= 1.07E-06

0 5.40E-09 0 u3= 5.04E-06
0 5.40E-09 0 u4= 1.40E-05

Element Node j Node j A E Le ui uj δe=uj-ui εe=δe/Le σe=Ee*εe Fe=σe*Ae

1 1 2 0.00250 70000000000 0.25 0.00E+00 1.07E-06 1.07E-06 4.29E-06 3.00E+05 7.50E+02
2 2 3 0.00090 70000000000 0.25 1.07E-06 5.04E-06 3.97E-06 1.59E-05 1.11E+06 1.00E+03
3 3 4 0.00040 70000000000 0.25 5.04E-06 1.40E-05 8.93E-06 3.57E-05 2.50E+06 1.00E+03

Lecture Module 3 BDA31003 46

 Example Problem 3-6
A1 Circular cross section
A1 = 0.0036 m2
A2
A3 A2 = 0.0025 m2
A4 1kN
-250 N A3 = 0.0009 m2
A4 = 0.0004 m2
E = 70 GPa
0.25 m 0.25 m 0.25 m

Prepare a finite element model consisting of 6 elements

Every segment consists of 2 elements.
(use inner cross section for your model)

a. Calculate the deformation in every node

b. Calculate the strain (ε) in every element
c. Find the stress (σ) in every element
d. Find the elemental force.
e. Find the reaction force

Lecture Module 3 BDA31003 47

 Example Problem 3-7
20cm

E=69GPa E=101GPa E=73GPa

D A2
A B C 1 kN E F x
A3
A1 E=101GPa
A2

25cm 25cm 40cm 50cm 1cm

A1=5cm2 A2=2cm2 A3=5cm2

Prepare a finite element model to investigate the displacement at point

A, B, C, D, E and F also the stresses of each element.

You have to provide of the following information

a. The deformation in every node
b. The strain (ε) in every element
c. The stress (σ) in every element
d. The elemental force.
e. The reaction force
f. Verify all results with FEM application software (Mecway or LISA)
Lecture Module 3 BDA31003 48
 Loading

Loading can be generated by

● Nodal concentrated loading
● Distributed Body loading
● Thermal loading
f tot = f L + f b+ f t

{ }{ }{ }{ }
f toti
f totj
=
fi
fj
+
f bi
f bj
+
f ti
f tj

Lecture Module 3 BDA31003 49

 Distributed Axial (Body) Loading

{ } { }
f bi L 2 bi +b j
=
f bj 6 bi +2 b j

Lecture Module 3 BDA31003 50

 Thermal Loading

{ }
f ti
f tj { }
=E Aα(t j −t i )
−1
1

α : thermal expansion coefficient

Lecture Module 3 BDA31003 51

 Example Problem 3-8
A1 Circular cross section
A1 = 0.0036 m2
A2
A3 A2 = 0.0025 m2
A4 1kN
-250 N A3 = 0.0009 m2
A4 = 0.0004 m2
E = 70 GPa
0.25 m 0.25 m 0.25 m
100o C
Alpha = 0.000012
Other nodes 50o C
Prepare a finite element model consisting of 3 elements
To represent each segment. (use inner cross section for your model)

a. Calculate the deformation in every segment, at A1, A2, A3 and A4

b. Calculate the strain (ε) in every element
c. Find the stress (σ) in every element
d. Find the elemental force.
e. find the reaction force
Lecture Module 3 BDA31003 52
 Torsional Element

JG E
k= Shear Modulus G=
L 2 (1+ ν)
i  j
e
[k ]=
J G 1 −1
L −1 1 [ ] i
j
Inertia polar or Torsional constant
(for circular cross section) J=
πR
2
4

Lecture Module 3 BDA31003 53

Lecture Module 3 BDA31003 54