COURSE TITLE

CE 6109: Finite Element Methods I

Dr Md Jahidul Islam
Lt Col & Associate Professor

INTRODUCTION TO THE
STIFFNESS METHOD
Chapter 2
CE 6109: Finite Element Methods I Chapter 2

Contents
2 STIFFNESS METHOD .................................................................................................................. 2
2.1 Introduction ............................................................................................................................. 2
2.2 Displacement-Based Approach ............................................................................................... 2
2.2.1 Example Problem 1 - Structure with Spring or Rod or Truss Elements ......................... 2
2.3 SPRING SYSTEM.................................................................................................................. 7
2.3.1 Example 2.3 .................................................................................................................... 9
2.3.2 Example 2.4 .................................................................................................................. 11
2.3.3 Exercise 2.1 ................................................................................................................... 12
2.3.4 Exercise 2.2 ................................................................................................................... 12
2.3.5 Exercise 2.3 ................................................................................................................... 13
2.4 Review of Matrix Algebra .................................................................................................... 13
2.4.1 Row and Column Vectors ............................................................................................. 14
2.4.2 Matrix Addition and Subtraction .................................................................................. 14
2.4.3 Scalar Multiplication ..................................................................................................... 14
2.4.4 Matrix Multiplication .................................................................................................... 14
2.4.5 Transpose of a Matrix ................................................................................................... 14
2.4.6 Symmetric Matrix ......................................................................................................... 14
2.4.7 Unity (Identity) Matrix.................................................................................................. 15
2.4.8 Determination of a Matrix............................................................................................. 15
2.4.9 Singular Matrix ............................................................................................................. 15
2.4.10 Matrix Inversion............................................................................................................ 15

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CE 6109: Finite Element Methods I Chapter 2

Chapter 2 INTRODUCTION TO THE STIFFNESS METHOD

2 STIFFNESS METHODIntroduction
In engineering, there are three approaches to solve problems:

− displacement-based (displacements are unknowns)

− force-based (stresses are the primary unknowns)
− mixed formulation (some displacement and stresses are unknowns)

2.2 Displacement-Based Approach

There three different ways a displacement-based approach can be performed, such as solution by
direct equilibrium approach, solution by direct stiffness approach and solution by energy approach. In
this section, illustration of the displacement-based approach will be provided with a simple problem
formulated in first two ways.

2.2.1 Example Problem 1 - Structure with Spring or Rod or Truss Elements

How to find the displacement of the central rigid element and the forces in the springs or rod elements?

2.2.1.1 Spring (or Truss or Axial) Element

f1x = k ( d1x − d 2 x )

f 2 x = k ( d 2 x − d1x )

In matrix form

 f1x   k −k   d1x 
 =  
 f 2 x   −k k   d 2 x 

For truss element, k = EA/L.

where, E = Young's modulus, A = cross-sectional area, and L = length of the element.

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 CE 6109: Finite Element Methods I Chapter 2

This is the force-displacement relationship of element.

2.2.1.2 Solution by Direct Equilibrium Approach

Use all of the following steps:

i. Nodal equilibrium conditions

ii. Compatibility or continuity conditions
iii. Material property (or Force-displacement relationship)
iv. Boundary conditions
v. Solve for unknown displacements
vi. Use the displacement solution to find the forces in the elements using step 3.

Free body diagram:

i. Nodal equilibrium conditions

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 CE 6109: Finite Element Methods I Chapter 2

At node 1: F1x = f1x

At node 2: P = f 2 x ( e 1) + f 2 x ( e 2 ) + f 2 x ( e 3)

At node 3: F3 x = f 3 x

At node 4: F4 x = f 4 x

ii. Compatibility or continuity conditions

Displacements at node 2, d2x, for all 3 springs are the same.

iii. Material property (or Force-displacement relationship)

Using the relationship in Section 2.2.1.1 and substitute into the nodal equilibrium equations, we have,

F1x = k1d1x − k1d 2 x

P = −k1d1x + k1d 2 x + k2 d 2 x − k2 d 3 x + k3d 2 x − k3d 4 x

F3 x = −k2 d 2 x + k2 d3 x

F4 x = −k3d 2 x + k3d 4 x

In matrix form,

 F1x   k1 − k1 0 0   d1x 
    
 P  =  −k1 k1 + k2 + k3 −k2 −k3   d 2 x 
 F3 x   0 −k2 k2 0   d3 x 
    
 F4 x   0 − k3 0 k3   d 4 x 

iv. Boundary conditions

We must specify boundary (or support) conditions for structure models such as the spring assemblage
shown above, or K will be singular; that is, the determinant of K will be zero, and its inverse will not
exist. This means the structural system is unstable.

Without our specifying adequate kinematic constraints or support conditions, the structure will be free
to move as a rigid body and not resist any applied loads. In general, the number of boundary
conditions necessary to make [K] nonsingular is equal to the number of possible rigid body modes.

Boundary conditions are of two general types. Homogeneous boundary conditions — the more
common — occur at locations that are completely prevented from movement; nonhomogeneous
boundary conditions occur where finite nonzero values of displacement are specified, such as the
settlement of a support.

For this case,

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 CE 6109: Finite Element Methods I Chapter 2

d1x = d3 x = d 4 x = 0

v. Solve for unknown displacements

By imposing the boundary condition, we can solve unknown displacement,

P = −k1 0 + k1d 2 x + k2 d 2 x − k2 0 + k3d 2 x − k3 0

P
 d2 x =
k1 + k2 + k3

vi. Use the displacement solution to find the forces in the elements using 3

 F1x   k1 − k1 0 0  0 
  
 P  =  −k1 k1 + k2 + k3 −k2 −k3   d 2 x 
 F3 x   0 −k2 k2 0  0 
    
 F4 x   0 − k3 0 k3   0 

k1
F1x = −k1d 2 x = − P
k1 + k2 + k3

k2
F3 x = −k2 d 2 x = − P
k1 + k2 + k3

k3
F4 x = −k3d 2 x = − P
k1 + k2 + k3

2.2.1.3 Solution by Direct Stiffness Approach

Direct stiffness approach is based on proper superposition of individual element stiffness matrices
making up a structure. Steps for this method are:

1. Write element matrix for each element in the structure.

2. Expand the matrix to accommodate all the degrees of freedom (e.g. displacements at the
nodes) of the structure.
3. Assemble to matrices in (2) to form a global stiffness matrix (actually result of considering
force equilibrium at each node).
4. Put in the boundary conditions (at each node, either the displacement or the force is unknown
but not both)
5. Solve for the unknowns, giving the displacements and the forces.

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CE 6109: Finite Element Methods I Chapter 2

i. Write element matrix for each element in the structure.

 f1x   k1 −k1   d1x   f 2 x   k2 −k2   d 2 x   f 2 x   k3 −k3   d 2 x 

 =  ;   =   ;  =
k2   d3 x   f 4 x   −k3
 .
k3   d 4 x 
 f 2 x   −k1 k1   d 2 x   f3 x   −k2

ii. Expand the matrix to accommodate all the degrees of freedom (e.g. displacements at the
nodes) of the structure.

 f1x   k1 −k1 0 0   d1x   0  0 0 0 0   d1x 

       
 f 2 x   − k1 k1 0 0   d 2 x   f 2 x  0 k2 −k2 0   d 2 x 
= ; = ;
 0   0 0 0 0   d3 x   f3 x  0 −k2 k2 0   d3 x 
         
 0   0 0 0 0  d4 x   0  0 0 0 0  d4 x 
 0  0 0 0 0   d1x 
   
 f 2 x  0 k3 0 −k3   d 2 x 
=
 0  0 0 0 0   d3 x 
    
 f 4 x   0 − k3 0 k3   d 4 x 

iii. Assemble to matrices in (2) to form a global stiffness matrix

 F1x   k1 − k1 0 0   d1x 
    
 F2 x  =  −k1 k1 + k2 + k3 −k2 −k3   d 2 x 
 F3 x   0 −k2 k2 0   d3 x 
    
 F4 x   0 − k3 0 k3   d 4 x 

The square matrix is known as the global stiffness matrix. It is the total stiffness matrix of the
whole structure with respect to the degrees of freedom d1x , d2x, d3x and d4x.

iv. Put in the boundary conditions (at each node, either the displacement or the force is
unknown but not both)

 F1x   k1 − k1 0 0  0 
  
 P  =  −k1 k1 + k2 + k3 −k2 −k3   d 2 x 
 F3 x   0 −k2 k2 0  0 
    
 F4 x   0 − k3 0 k3   0 

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CE 6109: Finite Element Methods I Chapter 2

v. Solve for the unknowns, giving the displacements and the forces.

See Section 2.2.1.2 for solution.

2.3 SPRING SYSTEM

For element 1,

 f11   k1 −k1   u1 
 1 =   
 f 2   −k1 k1   u2 

For element 2,

 f12   k2 − k 2   u2 
 2=  
 f 2   − k2 k2   u3 

Where, fim is the (internal force acting on local node i of element m (i = 1,2).

Assemble the stiffness matrix for the whole system:

Consider the equilibrium of forces at node 1,

F1 = f11

at node 2,

F2 = f 21 + f12

at node 3,

F3 = f 22

That is,

F1 = k1u1 − k1u2
F2 = −k1u1 + ( k1 + k2 ) u2 − k2u3
F3 = −k2u2 + k2u3

In matrix form,

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CE 6109: Finite Element Methods I Chapter 2

 k1 −k1 0   u1   F1 
 −k    
 1 k1 + k2 −k2  u2  =  F2 
 0 −k2 k2  u3   F3 

Or, KU = F

K is the stiffness matrix (structure matrix) for the spring system.

An alternative way of assembling the whole stiffness matrix:

Enlarging the stiffness matrices for elements 1 and 2, we have

 k1 −k1 0   u1   f11  0 0 0   u1   0 
    0 k    
 −k k1 0  u2  =  f 21  ;  −k2  u2  =  f12 
 1 2

 0 0 0  u3   0  0 −k2 k2  u3   f 22 

Adding the two matrix equations (superposition), we have

 k1 −k1 0   u1   f11 
 −k    
 1 k1 + k2 −k2  u2  =  f 21 + f12 
 0 −k2 k2  u3  
 f2 
2 

This is the same equation we delivered by using the force equilibrium concept.

Boundary and load conditions:

Assuming, u1 = 0 and F2 = F3 = P.

We have,

 k1 −k1 0   0   F1 
 −k k + k    
 1 1 2 −k2  u2  =  P 
 0 − k2 k2  u3   P 

Which reduces to,

 k1 + k2 −k2  u2   P 
 −k  = 
 2 k2  u3   P 

And F1 = −k1u2

Solving the equations, we obtain the displacements,

u2   2 P k1 
 = 
u3  2 P k1 + P k2 

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CE 6109: Finite Element Methods I Chapter 2

And the reaction force, F1 = −2 P

Checking the results:

• Deformed shape of the structure

• Balance of the external forces
• Order of magnitudes of the numbers

Notes about the spring elements:

• Suitable for stiffness analysis

• Not suitable for stress analysis of the spring itself
• Can have spring elements with stiffness in the lateral direction, spring elements for torsion,
etc.

2.3.1 Example 2.3

Solution:

The element stiffness matrices are:

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CE 6109: Finite Element Methods I Chapter 2

Applying the superposition concept, we obtain the global stiffness matrix for the spring system as,

Or,

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CE 6109: Finite Element Methods I Chapter 2

2.3.2 Example 2.4

For the spring system with arbitrary number nodes and elements, as shown above, find the global
stiffness matrix.

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CE 6109: Finite Element Methods I Chapter 2

Then we can write the element stiffness matrices as follows:

; ; ;

Finally, applying the superposition method, we obtain the global stiffness matrix as follows:

2.3.3 Exercise 2.1

 For the spring system shown below, find the following:

 Element connectivity table.

 Element stiffness matrices.

 Global stiffness matrix.

 Equilibrium equation for the whole system.

 Given: K1 = 100, K2 = 100, K3 = 200, K4 = 200.

2.3.4 Exercise 2.2

 For the spring system shown below, find the following:

 Element connectivity table.

 Element stiffness matrices.

 Global stiffness matrix.

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CE 6109: Finite Element Methods I Chapter 2

 Equilibrium equation for the whole system.

 Boundary conditions .

 Given: K1 = 100, K2 = 150 and K3 = 200.

2.3.5 Exercise 2.3

 For the spring system shown below,

K1 = 300 N/mm, K 2 = 200 N/mm, K3 = 200 N/mm, P = 2000 N.

 Find out:

 the global stiffness matrix

 displacement of node 2

 the reaction force at node 1, 3 & 4.

2.4 Review of Matrix Algebra

Linear system of algebraic equations:

a11 x1 + a12 x2 + + a1n xn = b1
a21 x1 + a22 x2 + + a2 n xn = b2

an1 x1 + an 2 x2 + + ann xn = bn

In matrix form, Ax = b

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CE 6109: Finite Element Methods I Chapter 2

where,

 a11 a12 a1n 

a a22 a2 n 
A =  aij  =  21
 
 
 an1 an 2 ann 

 x1   b1 
x  b 
 2  
x =  xi  =   & b = bi  =  2 
   
 xn  bn 

A is called a nxn (square) matrix, and x and b are (column) vectors of dimension n.

2.4.1 Row and Column Vectors

 w1 
 
v =  v1 v2 v3  w =  w2 
w 
 3

2.4.2 Matrix Addition and Subtraction

For two matrices A and B, both of the same size (m x n), the addition and subtraction are defined by:

C= A+B with cij = aij + bij

D = A−B with dij = aij − bij

2.4.3 Scalar Multiplication

 A =  aij 

2.4.4 Matrix Multiplication

For two matrices A of size l x m and B of size m x n, the product of AB is defined by,
m
C = AB with cij =  aik bkj
k =1

where, i = 1, 2, …, l; j = 1, 2, …, n.

Note that, in general, AB  BA

2.4.5 Transpose of a Matrix

If A =  aij  , then the transpose of A is AT =  a ji 

Notice that, ( AB ) = BT AT
T

2.4.6 Symmetric Matrix

A square (n x n) matrix A is called symmetric, if

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CE 6109: Finite Element Methods I Chapter 2

A = AT or aij = a ji

2.4.7 Unity (Identity) Matrix

1 0 0
0 1 0 
I=
 
 
0 0 1

Note that, AI = A, Ix = x.

2.4.8 Determination of a Matrix

The determinant of a square matrix A is a scalar number denoted by det A or |A|. For 2x2 matrix,
determinant is given by,

a a 
det  11 12  = a11a22 − a21a12
 a21 a22 

For a 3x3 matrix, determinant is,

 a11 a12 a13 

det  a21 a22 a23  = a11a22 a33 + a12 a23a31 + a21a32a13 − a13a22a31 − a12a21a33 − a 23a32a11
 a31 a32 a33 

2.4.9 Singular Matrix

A square matrix A is singular if det A = 0, which indicates problems in the systems (nonunique
solutions, degeneracy, etc.).

2.4.10 Matrix Inversion

For a square and non-singular matrix A (det A ≠ 0), its inverse A-1 is constructed in such a way that,

AA −1 = A −1A = I

The cofactor matrix C of matrix A can be determined by

Cij = ( −1)
i+ j
M ij

Where Mij is the determinant of the smaller matrix obtained by eliminating the ith row and jth column
of A.

Thus, the inverse of A can be determined by

1
A −1 = CT
det A

Note that, ( AB ) = B −1A −1.

−1

Example 2.1:

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CE 6109: Finite Element Methods I Chapter 2

−1
a b  1  d −b 
 c d  = ad − bc  −c a 
  ( ) 

Checking, A −1A = I

−1
a b  a b  1  d −b   a b  1 0
 c d   c d  = ad − bc  −c a   c d  =  0 1
    ( )    

Example 2.2:
−1
 1 −1 0 
T
 3 2 1  3 2 1
 −1 2 −1 = 1  2 2 1 =  2 2 1
  ( 4 − 2 − 1)    
 0 −1 2  1 1 1 1 1 1

Checking, A −1A = I

 1 −1 0   3 2 1 1 0 0 
 −1 2 −1  2 2 1 = 0 1 0 
    
 0 −1 2  1 1 1 0 0 1 

If det A = 0 (i.e., A is singular), then A-1 doesn’t exist.

The solution of the linear system of equations (Eq.2.1) can be expressed as (assuming the coefficient
matrix A is non-singular.

i.e., x = A −1b

Thus, the main task in solving a linear system of equations is to found the inverse of the coefficient
matrix.

Solution Techniques for Linear Systems of Equations

 Gauss elimination methods

 Iterative methods

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