4.

FINITE ELEMENT METHOD:

PLANE AND AXISYMMETRIC ELASTIC PROBLEMS

Computational Mechanics and

Inelastic Structural Analysis
(Prof. Alberto Corigliano)

1
 EXERCISE N. 1

𝐸, 𝜈 = 0
Thickness t
 Idealization
 Discretization

Let us consider a mesh made of four Constant Strain Triangles (CST), as shown in the picture above.
Since the problem is symmetric (both for the geometry and for the loading/boundary conditions), it
is possible to consider a simplified problem with one element only, corresponding to one fourth of
the original one, as shown in the figure below. In this reduced problem, the horizontal displacement
of node C and the vertical one of node B have to be constrained to account for the symmetry.

2
Only the global displacement U1 and U2, in figure, are free; also the degree of freedom U3 has to be
considered in the global solving system, so that the reaction force R3, acting in node C, can be
explicitly computed. The global solving system writes as:

 K11 K12 K13   U1   P1 

 K 22 K 23   U 2    P2 

 K 33  U 3  0   R 

 Modelling, assembly and boundary conditions imposition

Let us now look at the local numbering of the nodes and the degrees of freedom (dofs) of the
element.

 u1   1
u 
 2
u   3
u   3
u4 
u5   5
 
u6 

Only the local dofs 1,3 and 5 are of interest. The correspondence between these three local degrees
of freedom and the global ones can be read in the following “connectivity matrix”.
3
 1 2 3 4 5 6
El. 1 2 - 3 - 1 -

The coefficients of the local stiffness matrix of the element distribute in the global system accordingly
to the connectivity matrix, as follows:

 K 55e K 51e K 53e   U1   P1   P5e 

   
 K11e K13e   U 2    P2    P1e 
 K 33e  U 3  0   R   R 


As a consequence, only the terms K11e , K13e , K 33

e e
, K55 e
, K 51 e
and K 53 of the local stiffness matrix
need to be computed, being 𝐊 𝑒 a (6 x 6) matrix.

For the computation of the coefficients of the stiffness, matrix two different procedure can be chosen:
using a pre-calculated stiffness matrix or explicitly computing each term of the local stiffness matrix.

a) Pre-calculated stiffness matrix

Let us consider, a triangular element of edges 𝑙1 and 𝑙2 , as depicted in the figure. As an example,
𝑒
only the calculation of the coefficient 𝐾11 is shown here. Under the hypothesis of plane stress state
with 𝜈 ≠ 0:

k11   D11b12  D33a12 

4A e
t

with:

a1   x3  x2   0  l1  l1 b1   y2  y3   0  l2  l2

1
A  l1l2 4 A  2l1l2
2

4
  
1 v 0 
E   E E
D  v 1 0   D  D33 
1  v 2   1 v 
11
1  v 2  2 1  v 
0 0 
 2 
t  E E 
 K11e    l 2
  l 2

2l1l2  1  v 2  2 1  v  
2 1
 
tE  l22 l12  tE  l2 1 l1 
      
2l1l2 1  v  1  v 2  2 1  v   l1 2 l2 

𝑒
If 𝑙1 = 𝑙2 and 𝜈 = 0, 𝐾11 becomes:

3
K11e  tE
4

b) Computation of the coefficients of the stiffness matrix.

K e  t  BT DBdA
A

3
 K ije  t   Bri Drs Bsj dA
A r , s 1

Thus:

K11e  t  Br1 Drs Bs1dA  t   D11B112  D22 B212  D33 B312 dA
A A

K33e  t   D11 B132  D22 B232  D33 B332 dA

A

K55e  t   D11B152  D22 B252  D33 B352  dA

A

5
K13e  t   B11 D11 B13  B21D22 B23  B31D33 B33  dA
A

K15e  t   B11 D11B15  B21 D22 B25  B31 D33 B35  dA

A

K35e  t   B13 D11B15  B23 D22 B25  B33 D33 B35  dA

A

The strain-displacement matrix B is defined as:

 N1, x 0 N 2, x 0 N 3, x 0 
 
B 0 N1, y 0 N 2, y 0 N 3, y 
 N1, y N1, x N 2, y N 2, x N 3, y N 3, x 


being 𝑁1 , 𝑁2 and 𝑁3 the shape functions of the element, given by:

  1
 lx y  N1, x   l
 N1 ( x, y )  
 l N   1
  1, y l

  1
 x  N 2, x 
 N 2 ( x, y )   l
 l 
  N 2, y  0
  N 3, x  0
 N ( x, y )  y 
  1
 N 3, y  l
3
l



 1 0 1 0 0 0 
 B   0 1 0 0 0 1 
1
l
 1 1 0 1 1 0 

 1 E 1 3 1 l2 3
K11e  t   E  2  0   2 dA  t  E  2   tE
A
l 2 l  2 l 2 4
𝑒
As expected, the value of the stiffness coefficient 𝐾11 is the same found with the previous
approach.

tE
K 33e  ... 
2

tE
K 55e 
4

6
 tE
K13e  
2

tE
K15e  
4

K35e  0

Thus, the global stiffness matrix is given by:

1/ 4 1/ 4 0   u1   P1 

E 3 / 4 1/ 2   u2    P2 
 1/ 2  u3  0   R 

 Equivalent nodal forces

P1  P5e P2  P1e

 e l

 P1  t  N1  0, y     p  dy
 0
 l
 P e  t N 0, y   p dy
 5

0 3    
l
pt   l  y  
2
l y
l
ptl
P1  t       p  dy      
e

0
l  l  2  2
0

l
pt  y 2 
l
y ptl
P  t     p  dy       
5
e

0
l l  2 0 2

 Global solving system

The global system can be written as:

 1/ 4 1/ 4 0  U1    ptl / 2 


E  1/ 4 3 / 4 1/ 2  U 2     ptl / 2 
 0 1/ 2 1/ 2   0   R 

From the first two rows of the system, one gets the values of the unknown displacements 𝑈1 and
𝑈2 :

4 pl 2 pl
U1   U2  
E E

while the reaction force R can be computed from the third row of the system.

7
  1  pl
R  tE  0 U1  U 2   tE   plt
 2  E

 Solution recovery (post-processing)

Displacement field

s  Nu

  l  x  y  2 pl  y  4 pl 
 s x ( x, y )       
  l  E  l  E 
 s ( x, y )  0
 y

 2 pl  x y 
 s x ( x, y )   1   
 E  l l
 s ( x, y )  0
 y

Strain field

 s 2p
 x  x 
 x E
 s y
 y  0
  y
  s s  2p
  xy   x  y   
  y x  E

Stress field


 x  E  x  2 p

 y  E  y  0 being 𝜈 = 0

 xy  E  xy   p
 2

8
 EXERCISE N. 2

The material is linear elastic with Young’s modulus E and Poisson’s ratio 𝜐. Under the hypothesis of
plane stress with unit thickness:
 
1 v 0 
E  
D 2 
v 1 0 
1  v   1 v 
0 0 
 2 

The problem has been discretized by one rectangular element with 4 nodes (ISOP4).

As shown in figure, only the vertical displacements of nodes 2 and 3 are free. The global vector of
unknown displacements can, thus, be written only in terms of U1 and U2.

 K11 K12  U1   P1 

K 
 21 K 22  U 2   P2 
9
  Connectivity matrix

Let us now consider the local numbering of the degrees of freedom (dofs) of the element. The
connectivity matrix, giving the correspondence between the local and the global dofs, can be written
as:

1 2 3 4 5 6 7 8
El. 1 - - - 1 - 2 - -

Since the mesh is composed by one element only, the assembly of the global stiffness matrix is
straightforward. The global solving system becomes:

 K 44
e e
K 46  U1   P4e 
 e     e
 K 66  U 2   P6 

 Shape functions

The expression of each shape function can be easily determined by writing the implicit equations of
the two lines opposite to the node in the local reference system and normalizing their product by the
element area, in order to satisfy the condition:

𝑁𝑖 (𝑥𝑖 , 𝑦𝑖 ) = 1

Since only the fourth and the sixth dofs are free, it is enough to evaluate the expressions of the
shape functions of nodes 2 and 3.

N 2 ( x, y ) 
b  y  x N 3 ( x, y ) 
xy
ab ab

 Strain-displacement matrix

The strain-displacement matrix B contains the derivatives of the shape functions N2 and N3 with
respect to the coordinates x and y in the local reference system of the element. Only the columns 4
𝑒 𝑒 𝑒
and 6 of matrix B are necessary for the computation of the stiffness coefficients 𝐾44 , 𝐾46 and 𝐾66 .
10
N 2, x 
b  y  N 2, y 
x
ab ab

y x
N3, x  N3, y 
ab ab

 0 0   0 0 
  1 
B  ... ... ... N 2, y ... N 3, y ... ...   ... ... ...  x ... x ... ...
ab
 N 2, x N 3, x   b y y 

 Stiffness matrix

The coefficients of the local stiffness matrix are defined as:

3
K ije  t   Bri Drs Bsj dA
A r , s 1

Thus:

K 44e  t  Br 4 Drs Bs 4 dA 
A

 t  B24  D21 B14  D22 B24  D23 B34   B34  D31B14  D32 B24  D33 B34 dA 
A

 2 2 1    
 t   B242 D22  B342 D33  dA 
t E
2 
x  b  y  dA 
A  ab 
2
1  v  A  2 
E
 ...   2a 2  b 2 1      K 66e
6ab 1  v 2  

E
e
K 46  ...   4a 2  b2 1   
2 
12ab 1  v 

 Equivalent nodal forces

a a
x
P6e  t  N 3  x, y  b     p  dx  tp  dx 
0 0
a
a
tp  x 2  tpa
    
a  2 0 2

a
P4e  t  N 2  x, y  b     p  dx  0
0

11
  Global solving system

The global system can be written in matrix form as:

tE  4a 2  2b 2 1    4a 2  b 2 1     U1  tpa 0

  
12ab 1  v 2   4a 2  2b 2 1     U 2  2 1 

Starting from the algebraic form of the solving system, it is easy to obtain the solution in terms of
the two unknowns U1 and U2.

 K12
 K11U1  K12U 2  0  U1  
K11
U2


K U  K U  P  K K 
 U 2  K 22  21 12   P2
 21 1 22 2 2
 K11 

K11  K 21
 U2  P2 U1  P
 K11K22  K12 
2
 K11K22  K122  2
4a 2  2b 2 1    12ab 1   2   pa 
U2     
 4a 2  2b 2 1       4a 2  b 2 1      2 
2 2
E

Under hypothesis of zero Poisson’s ratio, U2 becomes:

4a 2  2b 2 12ab  pa 
  0  U2  
 
2
 4a 2  2b 2    4a 2  b 2 
2
E  2 

Moreover, assuming that the rectangle has equal sides, the expression of U2 further simplifies and
becomes:

6a 2 12a 2  pa  4 pa
a  b  U2     
 6a    3a 
2 2 E  2 
2
2 3 E

12
 EXERCISE N. 3

This example can be treated in plane stress. The mechanical behaviour of the elastic isotropic
material is described only by the Young modulus E, since it is assumed that the Poisson’s ratio is
zero. Thus:

1 0 0 
D  E 0 1 0 
0 0 1/ 2 

The stiffness matrix can be built only in terms of the three global degrees of freedom: the vertical
displacements V1 and V2 of nodes 3 and 4 respectively and the additional displacement V3, subjected
to the constraint 𝑉3 = −𝑉̅. 𝑉3 has to be initially treated as free, in order to account for the imposed
displacement and, if necessary, to compute the reaction force acting in node 5.

Element 1

 Displacement model and shape functions

u  u  u   0 
u     i ( x, y )  i   3  3    
v   vi   v3   3v3 

being 𝑣3 the 6th dof of the element

x 1
3  3, x  3, y  0
a a

13
  Strain model and strain-displacement matrix

 1 2 3   u1 

 0 0 0  v 
 x   x x x  1
   1 2 3  u2 
  y   C  u ( x)   0 y
0
y
0  
y   v2 
  xy  
   1 1 2 2 3 3  u3 
  
 y x y x y x   v3 
B1

 Local stiffness matrix

K 1   B1T DB1dA


 K1 ij   Bsi Dsr Brj dA



 K1 66   Bs 6 Dsr Br 6 dA


1E1 E a2 E
 K1 66    B16 D11B16  B26 D22 B26  B36 D33 B36 d    d  2 
 
a 2a 2a 2 4

Element 3

 Shape functions

 yx 1 1
1  a  1, x  
a
1, y 
a

 y 1
 2  1   2, x  0 2, y 
 a a
 x 1
 3  a  3, x  3, y  0
 a

14
  Strain-displacement matrix

 1 1 
 a 0 0 0
a
0
 
B3   0 0
1 1
0  0
 a a 
 
 1 
1

1
0 0
1
 a a a a 

 Local stiffness matrix

 K3 ij   Bsi Dsr Bsj dA



 K3 22   Br 2 Drs Bs 2 d     B12 D11B12  B22 D22 B22  B32 D33 B32 d 
 
2
1  1 E 3 E a2 3
  2 E   d   E

a  a 2 2 a2 2 4
1 a2 E
 K3 24   K3 42   Br 2 Drs Bs 4 d     B12 D11B14  B22 D22 B24  B32 D33 B34 d    2
E 
 
a 2 2
1 E 1 a2 E
 K3 26   Br 2 Drs Bs 6 d    Br 2 Dr 3 B36 d    B32 D33 B36 d    
  
a 2a 2 4
1 a2 E
 K3 44   Br 4 Drs Bs 4 d    B24 D22 B24 d   E 
 
a2 2 2
 K3 46   Br 4 Drs Bs 6 d    Br 4 Dr 3 B36d    B34 D33 B36d   0
  

Element 2

15
The required stiffness coefficients are:
 K 2 22  K 2 24   K 2 42  K 2 44
Because of the 𝜋 angle of rotation, it holds that:
 K 2 ij   K3  ji
being 𝑲𝟐 = 𝐓 𝐓 𝐊 𝟑 𝐓 with 𝐓 = −𝐈. Thus:
3
 K 2 22  E
4
1
 K 2 24   K 2 42   E
2
1
 K 2 44  E
2

 Equivalent nodal forces

a a
QB   p( x)B ( x)dx   p( x) xdx
0 0

 x
a a
QA   p( x) A ( x)dx   p( x) 1   dx
0 0  a

16
It holds an analogy between the equivalent nodal forces of a CST element and the reaction forces
of a simply supported beam. For the Betti’s theorem:
a

 p ( x )
0
B ( x)dx  RB 1  0

 a

 B  p ( x) B ( x)dx
R 
 0

 a
 x
 RA   p ( x)  1   dx
 0  a
 A

pa
QA  
6
5
Q2   pa
6
pa
Q3  
2
17
  Connectivity matrix and stiffness assembly

The connectivity matrix, which gives the correspondence between the local dofs of each element
and the global ones, can be written as:

1 2 3 4 5 6
El. 1 - - - - - 2
El. 2 - 1 - 2 - -
El. 3 - 2 - 1 - 3

The global stiffness matrix can be assembled as:

 K 2 22   K 3 44  K 2 24   K3 42  K3 46 

K 
 K 2 42   K 3 24  K3 22   K 2 44   K1 66  K3 26 

V 
 K 2 22   K 3 44  K 2 24   K3 42  K3 46   1   0 
 V 
 K 3 24   K 2 42  K3 22   K 2 44   K1 66  K3 26   2    5 pa 
V3   6 

 Solution

Since V3  V :

3 E E E 
4 E  2  0
2 2  V1      pa   K3 46  V
  
 E  E E E 3  V2 
  E
5   K3 26 
 2 2 6
4 2 4 

5 / 4 1  V1  5 pa 0   0 
E     
6 1    E / 4 
V
 1 3 / 2  V2 

V1  5 pa 1 3 / 2 1  0  8 3 / 2 1  1 0 
V    6 E 15  1 5 / 4  1   7  1 5 / 4  4 1  V
 2 1       
8

V1  5  8 pa  1  2  1  5 pa  4 1  4
V    6  7 E 5 / 4   7 5 / 4 v   21 E  5   14  5  V
 2        

ε n  Bnu  const  σ n  Dε n  const

18
 EXERCISE N. 4

Let us consider the case of plane stress with 𝜈 = 0. So:

1 0 0 
D  0 1 0  E
0 0 1/ 2 

Element 1

The only local degree of freedom (dof) of element 1 corresponding to a global unknown is the “6th”.
Consequently, it is sufficient to determine the shape function of node 3 and the sixth column of strain-
displacement matrix B only.

19
  Shape function and strain-displacement matrix

 
 0   
  0
  
Br 6   3    0 
x
3 ( x, y )  
L y
  1
 3   
 x   L 

 Local stiffness matrix

1
K 66   Br 6 Drs Bs 6 d 


1 E L2 E
1
K 66   B36 D33 B36 d   

L2 2 2 4

Element 3

The dofs of element 3 corresponding to global unknowns are {2,4,6} in the local numbering.

 Shape functions

Lx y y x
1 ( x, y )   2 ( x, y )  3 ( x, y ) 
L L L

 Strain-displacement matrix

 1 1 
 L 0 0 0
L
0
   1 0 0 0 1 0 
0   0 1 0 1 0 0 
1
B 0 
1 1
 0 0
 L L  L
 1  1 1 1 0 0 1 
 1 1 1 
 0 0
 L L L L 

20
  Local stiffness matrix

E L2 1 E L2 3
K 22   Br 2 Drs Bs 2 d     B22 D22 B22  B32 D33 B32  d     E
 
L2 2 L2 2 2 4

1 L2 E
K 24   Br 2 Drs Bs 4 d    B22 D22 B24 d    2
E 
 
L 2 2

1 L2 E
K 44   Br 4 Drs Bs 4 d    B24 D22 B24 d   E 
 
L2 2 2

1 E L2 E
K 66   Br 6 Drs Bs 6 d    B36 D33 B36 d   
 
L2 2 2 4

1 E L2 E
K 26   Br 2 Drs Bs 6 d    B32 D33 B36 d    2

 
L 2 2 4

K 46   Br 4 Drs Bs 6 d   0


Element 4

With a suitable choice of the local reference system, the element number 4 can be obtained by
applying a rotation of 180° to element 3, as depicted in the figure above. As shown in the previous
example, it is possible to state that:

K4  K3

thus, avoiding the explicit computation of the shape functions.

21
 Element 2

The dofs of element 2 corresponding to global unknowns are {6,8} in the local numbering.

 Shape functions

xy xL  y
6 ( x , y )  8 ( x, y ) 
L2 L2

 Strain-displacement matrix

 i     
 0  0  0 
 x     
 i  x x 
B  ... 0 ... B6   2  
B8   2
y L   L 
  y L y
 i i   2  2 
  L   L 
 y x 

 Local stiffness matrix

 x x y E y
K 662   Br 6 Drs Bs 6 d     B26 D22 B26  B36 D33 B36  d     2 E 2  2  d 

 
L L L 2 L2 
E 2 E E L4 E L4 E
L4  2 L4 
 x d   y 2
d    
L4 3 2 L4 3 2

 x  x  y E L y
K 682   Br 6 Drs Bs 8 d     B26 D22 B28  B36 D33 B38  d     2 E   2   2 d 
  
L  L  L 2 L2 
E 2 E E L4 E  2 L2 L4  E E 1 1 E
 4 
x d   4 
y  L  y  d     4 
L      
L  2L  4
L 3 2L  2 3  3 2  2 3 4

22
  x  2  L y E
2

K   Br 8 Drs Bs 8 d      2  E   2   d  
2
88
  L   L  2 
2
E L4 EL  y 
L 1
E EL 1 2 E E E
 4
L 3
  1   dy  
2 0 L 3 2 L0  d      K 662
3 6 2

Equivalent nodal forces

Determining the equivalent nodal forces requires computing a line integral along the element’s edge
interested by the distributed load.

 Element 2

x y x
ˆ 8  8  1   
L  L  y 0 L

v( x)  ˆ 8  v8

L L
P P
Q8  v8    v( x)    ˆ 8  v8  v8
0
L 0
L
L
P P 1 L2 P
L 0
 Q8  
ˆ dx  
LL 2 2

𝑄8 represents a concentrated force equivalent to the distributed load in the sense of the Virtual
Work Principle.

 Element 3

Lx y x
2  6 
L L

P  x P  x  x
L L
P
Q2    1   2 y 0
dx    1    1  dx 
0
L  L 0
L  L  L 3

P  x x P  L2 L3  P
L
Q6    1     dx    2 
0
L  L L L  2 L 3L  6

Connectivity table

The connectivity matrix, giving the correspondence between the local dofs of the elements and the
global ones, can be written as:

1 2 3 4 5 6 7 8
El. 1 - - - - - 1 X X
El. 2 - - - - - 1 - 2
El. 3 - 2 - 1 - 3 X X
El. 4 - 4 - 3 - 1 X X

23
 Global solving system

The global stiffness matrix and the global right hand side vector become:

 K 66
1
 K 662  K 44
3
 K 664 K 682  K 42
3 3
K 46  K 644 K 624 
 
K862  K 243
K882  K 22
3 3
K 26 0 
K 
 3
K 64  K 464 3
K 62 3
K 66  K 444 K 424 
 3 
 K 264 0 K 244 K 22 

E E E E E E E  3 3 1
4  2  2  4  
4 2
00 
4   2 
4
0  
4
   
 EE E 3
 E
E
 0   3 5

1
0 
 4 2 2 4 4   4 4 4 
K   E
 E E E E 1 3 1
00      0   
 4 4 2 2  4 4 2
 E E 3   1 1 3 
  0  E  0  
 4 2 4   4 2 4 

 P 
P P
  
Q  
2 3
P 
 
 6 
 R4 

The global solving system is, thus, given by:

P
 6 3 0 1 V1   5P 
    
E  3 5 1 0  V2   6 
Kv  P  
4  0 1 3 2  V3   P 
    
 1 0 2 3  V4   6 
 R4 

By imposing that 𝑉4 = Δ, one gets both the three unknowns displacements and the reaction force R4.

  6 3 0  V1  6 1 
E     P    E
V4      3 5 1 V2   5    0  
4 6 4
  0 1 3  V3  1   2 

 V1 
  
 R  E  1 0 2 3 V2 
 4 4 V3 
  
 

24
  V1   20  88 
  P      P
 V2   6  21 57  100 57 E
 V3   45  46 

R4   R4   15 P  61   E
 9 228

25
 EXERCISE N. 5

A rigid bar links nodes 2 and 3, so that the vertical displacements are constrained to be equal one
to the other:

U1  U 2  U

Three strategies can be adopted to deal with this problem.

a) The kinematic constraint between 𝑈1 and 𝑈2 can be imposed a priori, while writing the kinematic
model for the displacement field. The strain-displacement matrix B and the stiffness matrix can
be then computed with the usual procedure, obtaining a solving system whose only unknown is
U.

 Displacement field

The displacement field can be written as a linear interpolation of the two nodal unknowns, by means
of the shape functions 𝜑2 and 𝜑3 of nodes 2 and 3 respectively. Note that the horizontal
displacement is completely constrained.

u ( x, y )  0
v( x, y )  U1  2 ( x, y )  U 2  3 ( x, y)  U 2 ( x, y)  3 ( x, y) 

By imposing the constraint 𝑈1 = 𝑈2 = 𝑈, the vertical displacement in a generic point of coordinates

(x,y) can be expressed as a function of the unique unknown U.

 x  b  y  xy  bx x
v ( x, y )  U    U U
 ab ab  ab a

𝑥(𝑏−𝑦) 𝑥𝑦
being 𝜑2 (𝑥, 𝑦) = 𝑎𝑏
and 𝜑3 (𝑥, 𝑦) = 𝑎𝑏.

26
  Strain field

 u 
x   x  0  0 
     
ε  y    v  1
y    0  U  B  0 
 xy      1 
a
  v  u   1 a 
 x y 

 Stiffness matrix

1 G b E
K  1 t  BT DBd    Gd   2 ab  G with G
 
a 2
a a 2 1   

 Solving system

 p 
a a

 ij ij d    pi vi d   Lext  0  p3 ( x, b)U 3dx  0   a x  2 ( x, 0)U1dx

 
a
x

U 3 U1
 Lext  U    p 3 ( x, b)  2 ( x, 0)  dx 
0  a 
x x x  a
a
a 5
 U    p     dx  U    p   p     pa  U
0 a a a  2 3 6
5 a 5 5 a2 p
 KU   ap  U   ap  
6 bG 6 6 bG

b) An alternative procedure consists in considering, at the beginning, the two nodal displacements
as independent. The kinematic constraint is then imposed directly at the level of the global
system solution.

27
 Shape functions

 2 ( x, y ) 
 b  y  x  ( x, y)  xy
3
ab ab

 Strain-displacement matrix

 j 4 j 6   j 4 j 6 
 0 0   0 0 
   
 2 3   x x
B  ... ... ...  ...  ... ...
3 x8 y y  ab ab 
   
 2 3   b y y

 x x   ab ab 

 Stiffness matrix

K 44   Br 4 Drs Bs 4 d     B24 D22 B24  B34 D33 B34  d  

 

E 1 E 1
 2 2 
x2d    2 2  b  y  d 
2

1  a b 
2
2 1    a b 

E a E b
  
1   3  b 2 1    6a
2

E
  2a 2  b 2 1      K 66
6ab 1   2  

K 46   Br 4 Drs Bs 6 d     B24 D22 B26  B34 D33 B36  d  

 

E 1 E 1
 2 2 
1  a b 
2
 x2d    2 2
2 1    a b   b  y  yd  


E a E 1  b2 b3  E a E b
  2 2 
b  a   a    
1   3  b 2 1    a b 
2
2 3 1   3  b 2 1    6a
2

E
  4a 2  b 2 1    
12ab 1   
2 

E  4a 2  2b 2 1   4a 2  b 2 1   
K  
12ab 1  2   4a  b 1   4a  2b 1   
2 2 2 2

28
  Equivalent nodal forces

p 
a a
p pa
Q1     x  2 ( x, 0)dx   2  x 2 dx  
0
a  a 0 3

a a
x pa
Q2    p 3 ( x, b)dx   p  dx  
0 0
a 2

Inserting a rigid bar as a relative constraint between two nodes is equivalent to impose:

U1  U 2  U

from a kinematic point of view, and to write:

Q1  Q1  X

Q2  Q2  X

from a static point of view, being X the unknown axial force acting in the bar. So, the global system
becomes:

K K12  U   Q1  X 
  11 
 K 21 K 22  U  Q2  X 

29
By summing up the first and the second rows of the system:

E
K  K11  K12  K 21  K 22   4a 2  4a 2  4a 2  4a 2  b 2 1      2  1  1  2 
2 
12ab 1   

E b b G
K 
2a 1    a

5
Q  Q1  X  Q2  X  Q1  Q2   pa
6

5 pa 2
U  
6 bG

3b 2 1    pa
 X   K11  K12  U  Q1  EU  
12ab 1   2
 3
5 pa 2 b2 E pa pa 5 pa 4  5 pa
     pa  
6 bG 4ab 1    3 3 6 2 12 12

c) The previous result can be obtained also if the kinematic constraint is imposed both to the real
and to the virtual displacements vectors. So:

 K11 K12  U1   Q1  K K12  U1  Q 

K         U1 U 2   11      U1 U 2   1  U
 21 K 22  U 2  Q2   K 21 K 22  U 2  Q2 

 U1  U 2 
   U  K11  K12  K 21  K 22   U   Q1  Q2  U U
U1  U 2 

 K11  K12  K 21  K 22  U   Q1  Q2 

30
 EXERCISE N. 6

Let us solve the problem shown in the picture above, with and without considering a rigid bar
connecting nodes 3 and 4.

 
1 v 0 
 E,   0 E  
D 2 
v 1 0 
t 1 1  v   1 v 
0 0 
 2 

Element 1

31
  Shape functions

xL  y xy
 2 ( x, y )  2
3 ( x, y )  2
L L

 Strain-displacement matrix

 j 4 j 6   
 0 0   0 0 
 2 3   x x

B   ... ... ...   ...  ... ...
 y y   L2 L2 
 2 3   L y y 
   
x x  L2 L2 
Br 4 Br 6

 Stiffness matrix

K 44   Br 4 Drs Bs 4 d     B24  D2 s Bs 4   B34  D3s Bs 4   d  

 

   B24  D21 B14  D22 B24  D23 B34   B34  D31B14  D32 B24  D33 B34   d 


E  x  x   L  y  1    L  y   E  1 L3 1   1 L3 
1   2   L2  L2   L2  2  L2  
     
       d    L   L 
1   2  L4 3 2 L4 3 
E 1 1  E 1  E
 2 
   2 
  12  4 
1    3 6 6  1    2 6  24 1   2 

K 46   Br 4 Drs Bs 6 d     B24  D21B16  D22 B26  D23 B36   B34  D31B16  D32 B26  D33 B36   d  
 

E  x  x  L  y  1   y  E  1 L3 1   1  L2 L3  
1   2   L2  L2  L2  2 L2 
         d     L    L  L   L   
1   2  L4 3 2 L4  2 3 
E  1 1  1  E 4  1   E E  2  3   
 2 
      6  2   K 46 
1   3 2 6  1  24 1    24 1   2 
2 2
12

E
K66  4 3   
24 1   2 

32
 Element number 2

 Stiffness matrix

 K 22 K 24 K 26   3  2 1   
K 2   K 42 K 46    2 0 
E
K 44 2
4 1  2  
 K 62 K 64 K 66   1  0 1  

For example,

K 26   Br 2 Drs Bs 6 d 


   
 0   0 
    0
   y  x    1
B r 2   1       1
y y  L    L
    1
 1     y  x 
 x   x  
  L 

   
 0   0 
    0 
     
B r 6   3        0 
x 1
y y  L   L
   1 
 3     x  
 x   x  L  
  

33
K 26    B12  D11B16  D12 B26  D13 B36   B22  D21B16  D22 B26  D23 B36  


E 1 1  1
 B32  D31 B16  D32 B26  D33 B36   d   2 
 d 
1   L 2 L
E  1    L2 E 1   
     
1   2  2 L2  2 4 1   2 

 Equivalent nodal forces

Np

 ij ij d    Fiui d    PiVi

  i 1

   d   u
T
ij ij Ku


 F u d     p   ( x)U  d     p    U

i i
1
3 6
2
1 2  3U 6  d 

FE1 FE 2

Np

 PV
i 1
i i  R3  V3  pL  V3  2 pL  V1

L 
xL Lx
L

Lext   p  2 U 6 dx  p   U 2  U 6  dx  R3V3  pLV3  2 pLV1
x
0 
0
L L L
3 ( x , L )  
FE1 FE 2

being:

U 6 FE1
 V2 U 2 FE 2
 V2 U 6 FE 2
 V3

L L L
Lext   p V2  p V2  p V3  R3V3  pLV3  2 pLV1 
2 2 2
 3 
 2 pLV1  pLV2   R3  pL  V3
 2 

Lext  Q1  V1  Q2  V2  Q3  V3  V1 , V3 , V3

Thus,

Q1  2 pL
Q2   pL
3
Q3  R3  pL
2

34
  Connectivity matrix

1 2 3 4 5 6 7 8
El. 1 - - - 1 - 2 - -
El. 2 - 2 - 1 - 3 - -

 Solving system (without rigid bar)

Without the rigid bar connecting nodes 3 and 4, the global stiffness matrix and the right hand side
of the system are assembled as:

 K 44
1
 K 442 1
K 46  K 422 K 462 
 1 
K   K 64  K 242 1
K 66  K 222 K 262  
 K 642 K 622 K 662 

12  4  12 6  2  12 0 

E  6  2  12 12  4  18  6 6  6  
24 1  
2 
 0 6  6 6  6 
12  2 9  0 

E  9  15  5 3  3 
12 1  2  
 0 3  3 3  3 

 2 
  0 
Q   1  pL  R3 0 
 
  3 2  1 

 E 12  2 9   V1  2

       pL 1 
12 1    9  15  5  V2   
2


R  E V1  3
 0 3  3  V   2 pL


3
12 1   2
  2

 4 13  10  3 2  pL
V1 
 11   E

 40 1    pL
V2 
 11   E
 53  3
 R3  2 11 


 

The solution depends on the value of the Poisson’s ratio.

35
 V1   0 
  0.72
V1   0.5 
 V   0 
 2
  0.64
V
 2   0.5 
 R   0 
 3  0.98
 R3   0.5 

 Solving system (with rigid bar)

If a rigid bar is inserted between nodes 3 and 4, it holds that 𝑉1 = 𝑉2. In this case, the connectivity
matrix reads:

1 2 3 4 5 6 7 8
El. 1 - - - 1 - 1 - -
El. 2 - 1 - 1 - 3 - -

Assembling the global system accordingly to the connectivity matrix, the stiffness matrix and the
r.h.s. vector become:

 K 44
1
 K 46
1
 K 46
1
 K 64
1
 K 22
2
 K 24
2
 K 42
2
 K 44
2 2
K 26  K 46
2
 Q1  Q2 
K 
*
 Q *
  Q 
 K 622  K 642 K 662   3 

The matrix 𝐊 ∗can be obtained from K by summing up the first two columns (since 𝑉1 = 𝑉2) and,
then, the first two rows (corresponding to the sum of the loads), as scketched below.

A B D  A B D
B C  A  2B  C D  E

E    B  C E   

 DE F 
 D E F   D  E F 
K*

 E 12  2 9   V1  2

 2       pL  
12 1    9  15  5  V2  1 
 
R  E  V  3
 3 12 1  2   0 3  3  V   2 pL
1

  2
 E
12 1  2 9  9   V1  3 pL
  

 3
 R3  3 1    V1  2 pL
 pL
V1  4 1    E

 R  5 pL
 3 2

36
 EXERCISE N. 7

Let us analyze the problem shown in the figure below, assuming the hypothesis of plane stress
with:

t  1, E,  =0

 
1 0 0 
 
D  E 0 1 0 
 1
0 0 
 2

There are two possible procedures are possible to deal with the problem of an inclined constraint.

a) The general procedure requires to rotate the reference system for the degrees of freedom of the
node constrained by the inclined roller.

The linear transformation below allows to write the dofs U3 and U4 in the (x,y) reference system as
a function of the displacements 𝑈3′ and 𝑈4′ in the rotated reference system (x’,y’). Note that only 𝑈3′ is
free, while 𝑈4′ is constrained by the roller.

U 3  U 3' cos   U 4' sin   cos   sin   U 3' 

U    '   ' 
 4  U 3 sin   U 4 cos    sin  cos   U 4 
'

By means of the inverse transformation, the equivalent nodal forces 𝑄3′ and 𝑄4′ in the rotated
reference system can be computed starting from the components Q3 and Q4 .

37
 Q3'  1  3 
Q  cos  sin   Q3 
 'T    
Q4  TT Q4    sin  cos   Q4 

 Shape functions

x l  y  xy
 2 ( x, y )  2
 3 ( x, y )  2
l l

 Strain-displacement matrix

 
 2 3   ly y 
 0   0 
 x x   l2 l2
  
2
...  ... ...
x
B  ... 0 0 0  0
 y    l2 
   
2 2 3 x ly x 
    2

 y x y   l l2 l2
 j 3 j 4 j 5 

 Stiffness matrix

  l  y 2 E x 2  l l3 E l3 E
K55  K 44  K33  t  Br 3 Drs Bs 3d     E 4
 4 
d  E 4  4 l 
 
1
 l 2 l  l 3 2l 3 2
x ly E E l2 l2 E
K34   Br 3 Drs Bs 4 d     2 2 d   4 
 
l l 2 2l 2 2 8
E x ly E
K 45   Br 4 Drs Bs 5 d    2 2
d 

2 l l 8
K35  0

 4 1 0 
K   1 4 1 
E
8
 0 1 4 

 Global solving system

 4 1 0  U 3   Q3 
 1 4 1  E U   Q 
  8  4  4
 0 1 4  U 5  Q5 

Introducing now the linear transformation and defining the vector 𝐔𝐀′ of the rotated degrees of
freedom:

U 3  U 3' 
U   T  '   U A  TU A
'

 4 U 4 
38
the global system can be written as:

K AA K AB   U A  Q A 

K
 BA K BB   U 5   Q5 

K AAT K AB   U'A  Q A 
K T K      Q 
 BA BB   U 5   5

The right hand side vector has to be written in term of the rotated vector 𝐐′𝐀 , by exploiting the inverse
transformation:

T T Q A  Q 'A

The first row of the global matrix and of the right hand side vector have, thus, to be pre-multiplied by
𝑻𝑻 . So:

T T K AAT T T K AB   U'A  T T Q A  Q 'A 

      
 K BAT K BB   U 5   Q5   Q5 

 4  2 cos  sin  sin 2   cos 2  sin   U 3'   0 

E 2  
  sin   cos 2  4  2 cos  sin  cos    0    R4' 
8
 sin  cos  4  U 5   P 


  4  sin 2 sin   U 3'   0  8


     P E
  sin 4  U 5   

 ' U 3'  E
 4 
R   cos 2 cos   
 U 5  8

 U '  8P   sin  
 3   E
 U 5  16  4sin 2  sin   4  sin 2 
2

 ' P  sin  cos 2  4 cos   cos  sin 2  4 cos   sin 
 R4  P
 16  4sin 2  sin 
2
16  4sin 2  sin 2 

The same result can be reached directly by writing the Virtual Work Principle.

Np

   d    F u d    P u

ij ij

i i
j 1
j j

U 3   Q3 
  U 3 U 4 U 5   B DBd  U 4    U 3
T
U 4 U 5  Q4 

U 5  Q5 
K

K K AB  U A  Q 
U TA U 5   AA      U TA u5   A 
 K BA K BB  U 5   Q5 
39
By introducing the linear transformation both for the displacements vector and for its virtual
variation:

U A  TU'A  U A  T  U'A ,

the previous system becomes:

T T K AAT T T K AB   U 'A  T T Q A 
U 'AT U 5       U A
'T
U 5   
 K BAT K BB   U 5   Q5 
U 3'   0 
T K AAT T K AB     ' 
T T
  0  R4
 K BAT K BB     
U 5   P 
 

b) An alternative way to solve the problem is to impose the constraint, starting directly from the
shape functions, as follows.

The shape function for the nodes 2 and 3 of the element are given by:

x l  y  xy
 2 ( x, y )  2
 3 ( x, y )  2
l l

The displacement field can be written as a function of the free nodal displacements, simply
substituting the relationships between the dofs in the (x,y) reference system and the rotated ones in
the displacement model of the element.

u ( x, y )  U 32 ( x, y )  U 53 ( x, y )

v( x, y )  U 42 ( x, y )

u ( x, y )  U 3' cos   2 ( x, y )  U 53 ( x, y )



v( x, y )  U 3 sin   2 ( x, y )

'

40
The strain field can be computed by imposing the compatibility conditions, i.e. deriving the
displacements with respect to x and y.

 u ly
 U 3' cos    2  U 5 2
y
 x 
 x l l
  x 
 y  U 3 sin     2 
'

 l 
  v u  ly  x 
 xy      U 3' sin    2  U 3' cos     2   U 5 2
x
  x y  l l  l

It is now trivial to reconstruct the strain-displacement matrix B.

  l  y  cos  y
 1
B  x sin  0 2
l
 l  y  sin   x cos  x 

Thus,

E  4  sin 2 sin  
K  t  BT DBd  

8  sin  4 

0
Q 
P

41
 EXERCISE N. 8

The body is subjected both to volume forces and to a parabolic distributed load.

 Plane stress with t  1, E,  =0

 Volume load b   FL3 
4
 Surface load p   FL2    p   y l  y 
l2

The Virtual Work Principle can be written as:

   d    b u d    p u d 

ij ij

i i

i i

   

x x   y  y   xy  xy  d     b  v( x, y )d    p( y )v(l , y )dy
 0

 Displacement field and shape functions

u ( x, y )  0

v( x, y )  U 42 ( x, y )  U 63 ( x, y )

with:

x l  y  xy
 2 ( x, y )  2
 3 ( x, y )  2
l l

42
  Strain field and strain-displacement matrix

   
 0 0   0 0
  x     
   3  U 4   x x   U 4 
ε    y   Bu   2  
y y   U 6   l 2 l 2   U 6 
 xy    l  y
 
 2 3  y  u
 2 
 x x   l l2 
B

 Stress field

 
1 0 0 
 
σ  E 0 1 0   ε  D  ε
 1
0 0 
 2

 Solution

    ( x, y )  l
  ( x, y ) 
UT    BT DBd    U  UT  b  2  d   U T
 p( y)  2 dy U
    3 ( x, y )  0  3 ( x, y ) 
K

 2 1 E U 4  bl 2t 1 plt 1

t      
 1 2  4 U 6  4 1 3 1
U 4  3bl 2  4 pl 1
U    1
 6 3E 

 Stress recovery

The stress vector for the element can be easily recovered from the nodal displacements.

   
1 0 0   0 
   
σ  E 0 1 0  Bu   0   const
 1  bl 2 p 
0 0    
 2  2 3 

Note that the equilibrium equations are not satisfied.

0
CT σ  b  b     0
 b 

bl 2 p
η  σ   xy    p( y )
 2 3

43
 EXERCISE N. 9

Let us analyze the problem shown in the figure below, assuming the hypothesis of plane stress
with:

t  1, E,  =0

 
1 0 0 
 
D  E 0 1 0 
 1
0 0 
 2

The two triangles are connected by a spring in node A and by a hinge in node B. Moreover, the rigid
bars connecting nodes A and A’ to node B imposes the constraint:

v A  vB

Because of the symmetry, it is possible to consider only half of the problem.

 Displacement field

 x y
u ( x, y )  U 32 ( x, y )  U 3 l

 v ( x , y )  U  ( x, y )  U  ( x, y )  U       U x
 4 2 6 3 4 2 3 4
l

44
  Strain field

 u 
   1 
U
  x   x   l 3   1 0
   v    1  U 3 
  y    y    0    0 0   U   BU
  xy     U U  l  1 1   4 
   u v    3  4    U
    l l  B
 y x 

 Virtual Work Principle

The contribution of the spring has to be added to the strain energy in computating of the internal
work variation.

   2k 0 
Li   εT Dεd   U 3  2k  U 3  U T   BT DBd   U  U T  U
    0 0 
l2  2k 0  
 U T  BT DB    U
 2  0 0 

 Stiffness matrix

 
1 0 0   1 0   1  3 1
 1 0    1 0   
E 1 0 1  
0 1 0   0 0   2 
E 2   E 2 2
BT DB  2      0 0  2  
l 0 0 1   l  1  l  1 1 
1   1 1  0 0  1 1  
0 0   2    2 2 
 2

l 2 E  3 1  2r 0 E 3  8r 1
K  2   E  
2 2l  1 1   0 0 4  1 1 

being 8r the spring contribution with 2k  2rE

 Equivalent nodal forces

 0 
Q   P
 
 2

 Global solving system

0
E 3  8r 1 U 3   
   P
4  1 1  U 4   
2

45
U 3   P  4 1 1  0 
U   4 1  4r E 1 3  8r  1 
 4     

U 3  P  1 
U   1  4r E 3  8r 
 4    

 0 
U 3   
If r      2 P
U 4   
E 

Adding a diagonal term 𝑟 ≫ 1 (i.e. an high value of stiffness) to the stiffness matrix is an
approximated way to constrain the corresponding degree of freedom (penalty method). An
alternative way to impose an homogeneous b.c. is to decouple the constrained dof from the free
ones, by substituting the row and the column corresponding to the constrained dof itself with zero
vectors and the diagonal term with 1; in addition, also the term of the nodal force vector has to be
put to zero.

Consider now the case of a spring connecting two nodes, i.e. solving the complete problem.

U1 U 3
E  3 1
K 1   B1T DB1d  

4  1 1 

U 2 U3
E 3 1
K 2   B2T DB2 d   K 1 

4 1 1

46
For the spring:

w  opening displacement  U 2  U1

U1 U 2
k  k  U 1 
Li spring  w  kw   U1 U 2  
 k k  U 2 

U1 U2 U3
3  4r 4r 1   0 
K tot 
E  4 r 3  4 r 
1  Q   0 
4 
 1 1 1  1   P 

U 1   1 
 
K tot U  Q  U  U 2  
P  1 
E 1  4r   
U 3   3  8r 

47
 EXERCISE N. 10

Let us determine the vertical displacement of point A adopting four different approach:

a) 2D finite element method with 4-node rectangular element, modelled under the hypothesis
of plane stress state;
b) Rayleigh-Ritz method
c) Finite element method with one Eulero-Bernoulli beam element
d) Finite element method with one Timoshenko beam element

L = 4000 mm t = 100 mm h = 200 mm

E = 30000 N/mm2 𝜈 = 0.16

𝑁
𝛾 = 2.5 ∙ 10−5
𝑚𝑚3

a) 2D finite element method with one 4-nodes rectangular element, modelled under the
hypothesis of plane stress state

 Shape functions

x h  y xy
1 ( x, y )   4 ( x, y ) 
l h hl

 Strain-displacement matrix

j2 j 8
   
 0 0   0 0
   
1 4 
B  ...  x x
...  ...  ...
y y   lh lh 
  
 1 4  h y y
 
 x x   lh lh 

48
  Stiffness matrix

 
1 v 0 
E  
D 2 
v 1 0 
1  v   1 v 
0 0 
 2 

K 22  K88  t  Br 2 Drs Br 2 d   t   B22  D21B12  D22 B22  D23 B32  

 

tE  x   h  y  1   
2 2

 B32  D31 B12  D32 B22  D33 B32   d  

1   2   lh   lh  2 
       d 

t  E 1  hl 3 lh3 1    t  E 1  l h 1  
        
1   2 l 2h2  3 3 2  1  2 3 h l 2 

t  E  x2 y h  y 1  
K 28  t   B22 D22 B28  B32 D33 B38  d   2 
 22  d 

1    h l h 2l 2 2 
 h 2 h3 
 
1   t  E  l
h
tE hl 3
h 1   tE  l h 
 2 
 2 2 l 22 2 3  2 
     1    
1    3h l hl 2  1    3h 6l 2  3 1     h 4l
2 

 

 Equivalent nodal forces

  ( x, y )  lh 1
Q  t   1     
 ( x, y )  4 1
d t
  4

 Global solving system

U  lh 1
K  2  t  
U 8  4 1
 l h l h 
  1      1    
t E h 2l h 4l U 2  lh 1
       
4 1
t
3 1   2   l h
 1      8 
l h U
  1   
 h 4l h 2l 
U 2  l 1    1
2

U   1
 8 E 

Because of the adopted discretization, the solution does not depend on h.

 h  h   h  h 
v A  U 21  l ,   U 84  l ,   U 2 1  l ,   4  l ,    U 2
 2  2   2  2 
1 1
 1
2 2

49
  l 2 1   29
vA    1.55 102 mm
E 1875

l
 x   y  0  xy   0.05 N
2 mm 2

b) Rayleigh-Ritz method

Structural scheme:

being:

th3
J
12
p   t  h

The boundary conditions are given by:

v(0)  0

v '(0)  0
v '(l )  0


In the presence of 3 boundary conditions, at least a third order polynomial has to be considered,
so:

x x2 x3
v( x)  a0  a1  a2 2  a3 3
l l l

By imposing the fulfillment of the boundary conditions, the three unknown coefficients can be
computed as:

v(0)  v '(0)  0  a0  a1  0
3
v '(l )  0  a2   a3
2

50
 3 x2 x3 a3  3x 2 2 x 3 
v3 ( x)   a3 2  a3 3    2  3 
2 l l 2 l l 

Applying the Ritz method, one gets:

 (v)  12  EJ v
l l
( x)  dx   p  v3 ( x)dx
" 2
3
0 0

  (a3 ) 
l l
1
 EJ v3" ( x )  dx   p  v3 ( x )dx
2

20 0

d
l l
dv3" ( x) dv ( x)
  EJ v3 ( x) 
 "
 dx   p  3 dx  0
da3 0 da3 0
da3
 1  3x 2 2 x3  
2
 1  6 12 x  
l l
a3  EJ     2  3   dx  p     2  3   dx
0  
2 l l  0  
2 l l 
l
EJ  36 144 x 2 144 x  p  x3 2 x 4 
l

4 0  l 4
a3        
2  l 2 4 l 3  0
dx
l6 l5 
l
EJ 36 48 72  p 1 
a3    4 x  6 x 3  5 x 2    l  l 
4l l l 0 2  2 
l

2p 2 pl 4 1 pl 4
a3   
EJ 36  48  72 EJ 12 12 EJ
3 3 3
l l l

pl 4  3 x 2 2 x 3 
v( x)    3 
24 EJ  l 2 l 

pl 4
v A  v (l ) 
24 EJ

c) Finite element method with one Eulero-Bernoulli beam element

51
 th3
E, J 
12

 Generalized displacements model

u  N1u1  N 4u2  0
v  N 2 v1  N31  N5v2  N 62  v  N 5v2

 Virtual work principle

l l

  M ( x)   v  dx    p   v  dx  v
"

0 0
l l

  EJ  v ( x)   v ( x)  dx    p   v( x) dx  v
" "

0 0
l l
v2   EJ  N 5" ( x)  N 5" ( x)  dx    p  N 5 ( x )  dx
0 0
K 55 Q5

Q5
v2 
K 55

with:

x x2 x3 3x 2 2 x3
N 5 ( x)  a0  a1  a2 2  a3 3  N 5 ( x)  2  3
l l l l l

𝑁5 is the third order polynomial satisfying the boundary conditions:


 N 5 (0)  N 5 (0)  N 5 (l )  0
' '


 N 5 (l )  1


Note that the expression of the approximating function is the same of that written for the Ritz
method, therefore the obtained solution will be the same.

 36 x
2
6 x
l l
x2
K 55  EJ   2  12 3  dx EJ   4  144 6  144 5  dx 
0
l l  0
l l l 
 36 48 72  12 EJ
 EJ  3  3  3   3
l l l  l

l
l
 3x 2 2 x3 
l
 x3 2 x 4   l l
Q5   p  N 5 ( x)dx  p   2  3  dx  p  2  3 
 p l    p
0 0
l l  l 4 l 0  2 2

pl 4
 v2  2  pl
12 EJ 3 24 EJ
l

v( x)  v2  N5 ( x)
52
If the flexural stiffness EJ is constant, the nodal values obtained with the finite element method,
considering a Eulero-Bernoulli beam element discretization, coincide with those calculated
analytically (neglecting the shear deformability), for instance by means the elastic curve equation.
For the Betti’s theorem, indeed:
l
K 55  w   p  N 5 ( x)dx  Q5
0

Q5
 wexact   v2
K 55

d) Finite element method with one Timoshenko beam element

 Generalized displacements model

u ( x)  N1 ( x)  u1  N 4 ( x)  u2
v( x)  N 2 ( x)  v1  N 5 ( x)  v2
 ( x)  N 3 ( x)  1  N 6 ( x)  2

 Generalized strain vector

 du   d 
   0 0 
    dx   dx  u 
      d    0 0 
d  
v
   dx   dx   
 t       
 dv     0 d
1 
 dx   dx 
C

 u1 
v 
    N1
'
0 0 N 2' 0 0  1

   
ε       0 0 N '
1 0 0  N 2'   1 
u
 t   0 N '
 N1 0 N 2'  N 2   2 
1
 v2 
B  
 2 
u

53
  Generalized stress vector

 N   EA 0 0   
 M    0 EJ 0    
  
 T   0 0 GA*   t 
D

 Virtual work principle

l l

  N u  M   T  t  dx    p v  dx   u ,  v, 
0 0 u
l l

ε
T
D εdx    p v  dx  u
0 0
T
 T l
  l l

  B DBdx  u   0 0 pN1 ( x ) dx 0 0 0 pN 2 ( x ) dx 0 
0   
 Ku  Q

Thus,

K55  v2  Q5

l l
1 GA*
K55   Br 5 Drs Br 5 dx   N ( x)  GA N ( x)dx  2 GA  l 
'
2
* * '
2
0 0
l l
 x  l
l l
l
Q5   p  N 2 ( x)dx  p  1   dx  pl    p
0
0
l  2 2

pl 2
v2  2  pl
GA* 2GA*
l

pl 2  x 
v2 ( x)  1  
2GA*  l

pl 2 A
vA  with A*  being 𝜇 = 1.2
2GA* 

54
 Comparison

The four obtained solutions can be compared with the analytical solution, deriving from the beam
theory and assumed here as exact.

 l 2 1   pl 2 2.5 10  4000  1  0.16 

5 2
 l2  th  l 2
EF: vA       1.55 102 mm
E 2G 2thG 2GA 30000
2.5 105  4000 
2
pl 4
 th  l 4  l4
EB/Ritz: vA      2.67 mm
24 EJ 2 E th3 2 Eh 2 2  30000  200 2
12
pl 2
 th  l 2
 l 2 1  
Timoshenko: vA  *
   1.2 1.55 102 =1.86 102 mm
2GA 2GA E
2 4
pl pl
De Saint Venant: vA  *
  2.69 mm = EB + Timoshenko
2GA 24 EJ

55