Axisymmetric Problem

Axisymmetric Element Problem

Fig. (a) Fig. (b)

While analyzing 3D problems, if the

continuum (geometry) of the problem is an
axisymmetric solid (or solid of revolution)
subjected to axisymmetric loading, the problem
can be reduced to two dimensional axisymmetric
form.
Because of the total symmetry about the z-
axis (as shown in Fig. (a)) all the deformations
and stresses are independent of the rotation angle
. (That is, in whatever orientation a section plane
containing the axis of the solid is taken, the same
2D section and loading is observed. We need to Fig. (c) Elemental volume
analyze only one half of the section in the r-z plane).
Considering the elemental volume shown in Fig. (c), the potential energy for the
elemental volume can be written in the form:

2 A 2 A 2 L
 1   {} {}r dAdq    {u} {b}r dAdθ    {u} {T}r dl dθ  {u} {P}        (1)
(e) T T T T
i i
2 0 0 0 0 0 0 i

where (rd)dl is the elemental surface area over which traction force is acting.
{P}i represents a line load distributed around a circle as shown in Fig. (a).

All the variables in the integral equation above are independent of . Thus equation (1) can
be written as:

Prepared by Vijay G. S., Asst. Prof., 1 Dept. of Mech. & Mfg. Engg., MIT, Manipal
 Axisymmetric Problem

1 A A L

(e)  2   {}T {}r dAdθ   {u}T {b}r dAdθ   {u}T {T}r dl dθ   {u}iT {P}i        (2)
2 0 0 0  i
u 
where, {u}    is the displacement components vector.
w
b 
{b}   r  is the body force vector.
bz 
T 
{T}   r  is the traction force vector.
Tz 
r 
 
    z  is the strain vector.
 rz 
   
 r 
 
    z  is the stress vector.
 rz 
  
Fig. (d) Strain-displacement relationship in Axisymmetric problem

 r is the radial strain component
 z is the longitudinal strain component
 rz is the shear strain component in the r-z plane
  is the circumferential strain component.
Similarly,
 r is the radial stress component
 z is the longitudinal stress component
 rz is the shear stress component in the r-z plane
  is the circumferential stress component.

From Fig. (d), the strain displacement relationship are:

u   u  
r    r  
r  
w   r    w  
z       
z
Writing in matrix form     z     z  
 rz 
u w
  rz   u  w 
z r      z r 
u  u 
     
r  r 

Note:
change in circumfere ntial length
 
original circumfere ntial length
(r  u )d  rd ud u
  
rd rd r

Prepared by Vijay G. S., Asst. Prof., 2 Dept. of Mech. & Mfg. Engg., MIT, Manipal
 Axisymmetric Problem

Relationship between the stress and strain vectors is:

1    0  
 r     r 
   1  0    
 z E  z 
    1  2  
rz  (1  )(1  2)  0 0
2
0    rz 
 
      
   0 1      

{}(41) = [D](44){} (41) --------------- (3)

Where, [D] is called the “Elasticity Matrix” or “Material Property Matrix” for Axisymmetric
problems.
(Note: Compare this matrix [D] with those for Plane Stress and Plane Stress problems)

Finite Element Formulation for Axisymmetric Triangular Element:

z 14 15
The 2D region defined by the revolving area is 13 16
divided into triangular elements as shown in figure 15
13 14 12
(e). Though each element is completely represented 12
by area in the r-z plane, in reality, it is a ring shaped 10 11
9 10
solid of revolution obtained by revolving the 9
7 8 8
triangle about the z-axis. 7
5 6
6
Consider one of the triangular elements whose 4 5 4
3
nodes are 1, 2 & 3. (r1, z1), (r2, z2) & (r3, z3) are their
r-z coordinates. q1, q3 & q5 are their nodal 1 2 r
displacements respectively in the ‘r’ direction; 1 2 3
similarly, q2, q4 & q6 are their nodal displacements
respectively in the ‘z’ direction. q6
The shape functions for the triangular element in q5
terms of  and  are: (r3, z3)3
q4
v
N1 =  u q3
(r, z) 2 (r2, z2)
N2 = 
q2
N3 = 1-- (r1, z1)
1 q1
Fig (e)
(r, z) is any arbitrary point inside the triangular
element whose displacement components are ‘u’ &
‘v’ respectively in the ‘r’ & ‘z’ directions.

Then, u = N1q1 + N2q3 + N3q5

& w = N1q2 + N2q4 + N3q6

Prepared by Vijay G. S., Asst. Prof., 3 Dept. of Mech. & Mfg. Engg., MIT, Manipal
 Axisymmetric Problem

Writing in matrix form,

 q1 
q 
 2
 u   N1 0 N2 0 N3 0  q3 
   
 w  0 N1 0 N2 0 N 3  q4 
q5 
 
q6 

{u} = [N]{q} ---------------- (4)

u = q1 + q3 + (1 –  – )q5 = (q1 – q5) + (q3 – q5) + q5
w = q2 + q4 + (1 –  – )q6 = (q2 – q6) + (q4 – q6) + q6 ---------- (5)

Using Iso parametric formulation,

r = N1r1+ N2r2 + N3r3 = r1 + r2 + (1 –  – )r3 = (r1 – r3) + (r2 – r3) + r3
---------- (6)
z = N1z1+ N2z2 + N3z3 = z1 + z2 + (1 –  – )z3 = (z1 – z3) + (z2 – z3) + z3

Using chain rule of differentiation,

u u r u z w w r w z
   
 r  z   r  z 
u u r u z w w r w z
   
 r  z   r  z 

Writing in matrix form,

 u   r z   u   w   r z   w 
 
  
      r 
  
      r 
 u    r       (7 )  w    r 
z   w 
     (8)
z   u      
    
 
  
      z 
  
      z 

 r z 
   
where [J ]    is called the “Jacobian Matrix” or simply “Jacobian”.
 r z 
   

r z
From eqn(6), = r1 – r3 = r13 = z1 – z3 = z13
  rij = ri – rj
Assuming,
r z zij = zi – zj
& = r2 – r3 = r23 = z2 – z3 = z23
 
 r13 z13 
 [J ]  
r23 z23 

Prepared by Vijay G. S., Asst. Prof., 4 Dept. of Mech. & Mfg. Engg., MIT, Manipal
 Axisymmetric Problem

Det [J] = r13z23 – r23z13 = 2Ae, where, Ae = Area of the triangular element.

1  z23  z13  1  z23 z31 

[ J ]1  
Det[ J ]  r23 r13  Det[ J ]  r32
 r13 
, because, z31 = –z13 & r32 = –r23

Inverting equation (7),

 u   u 
 r   
1    1  z23 z31  q1  q5 
 u   J   u           (10) [from equn. (5)]
    Det[ J ]  r32 r13  q3  q5 
 z  
  


Inverting equation (8),

 w   w 
 r   
1    1  z23 z31 q2  q6 
 w      w           (11) [from equn. (5)]
r13  q4  q6 
J
    Det[ J ]  r32
 z  
  


 z23 (q1  q5 )  z31(q3  q5 ) 

  r   u   
   r   
   w   r32 (q2  q6 )  r13 (q 4 q6 ) 
  z     
z  1 
    u w   r ( q  q )  r ( q  q )  z ( q  q )  z ( q  q ) 
 rz     Det[ J ]  32 1 5 13 3 5 23 2 6 31 4 6

   z r   
   u    N 1 q1  N 2 q3  N 3q5  
     r   Det[ J ]   
  r  

 q1 
 r   z23 0 z31 0 z12 0  q  where,
  2
  0 r32 0 r13 0 r21  q 
 z 1   3
   r32 z23 r13 z31 r21 z12  q  z12 = z13 – z23
 rz  Det[ J ]  N N2 N3  4  &
     Det[ J ] 1 0 Det[ J ] 0 Det[ J ] 0  q5  r21 = r23 – r13
 r r r  
q6 

{} = [B]{q} ---------------(12)

[B] is called the strain - displacement matrix

Prepared by Vijay G. S., Asst. Prof., 5 Dept. of Mech. & Mfg. Engg., MIT, Manipal
 Axisymmetric Problem

Element Stiffness Matrix:

Consider the strain energy term (SET) from the potential energy expression,
1
SET  2  { }T { }rdA, But ,{ }  [ D]{ }, { }T  { }T [ D]T
2A
1
 2  ({ }T [ D]){ }rdA, But ,{ }  [ B]{q}, { }T  {q}T [ B]T
2 A
1
 2  {q}T [ B]T [ D][ B]{q}rdA
2 A
1  
 {q}T  2  [ B]T [ D][ B]rdA {q}
2  A 
1
 {q}T [k ]e {q}     (a) where, [k ]e  2  [ B]T [ D][ B]rdA is the element stiffness matrix
2 A

But 4th row of [B] has Ni and ‘r’.

As a sample approximation, Ni & r may be evaluated at the centroid of the triangle.
r r r
N1 = N2 = N3 = ⅓ & r  1 2 3
3
where r1 is the radius of the centroid.
Let [B1] be [B] evaluated at the centroid
[k ]e  2 r [ B]T [ D][ B] dA
A

1
 2 r [ B]T [ D][ B] Ae where, Ae  Det[ J ]
2
The element stiffness matrix is:

[k ]e  2 rAe [ B]T [ D][ B] where, 2 rAe Volume of the ring shaped element

Care must be taken for elements close to the axis of symmetry. For better results, smaller
elements must be chosen close to the axis of symmetry.

Instead of the centroid concept, r = N1r1 + N2r2 + N3r3 in the equation for [k]e may be taken
for better results.

Element Body Force Vector:

Consider the body force term (BFT) from the potential energy expression,
BFT  2  {u}T {b} rdA
A

b 
 2  {u w}  r  rdA
A bz 
 2  (ubr  wbz ) rdA
A

 2  [( N1q1  N 2 q3  N 3q5 )br  ( N1q2  N 2 q4  N 3q6 )bz ] rdA

A

Prepared by Vijay G. S., Asst. Prof., 6 Dept. of Mech. & Mfg. Engg., MIT, Manipal
 Axisymmetric Problem

Again approximating variable quantities at triangle centroid,

r r r
N1 = N2 = N3 = ⅓ & r  1 2 3
3
b b
BFT  2  [(q1  q3  q5 ) r  (q2  q4  q6 ) z ] r dA
A
3 3
2 r 
 q1  q3  q5 br  (q2  q4  q6 )bz  dA br 
3 A b 
 z
2 r  br 
i.e., BFT  q1 q2 q3 q4 q5 q6   
3 br 
bz 
 
br 

BFT = {q}T{b}e -----------(b)

where,
br   q1 
b  q 
 z  2
b  is the element q  is the element
{b}e   r  and {q}   3 
bz  body force vector q4  displaceme nt vector
br  q5 
   
bz  q6 

Here, br and bz respectively are br and bz evaluated at the centroid.

br   r 2 & where,  is the density (kg/m3),

For rotating flywheels,
bz    g  is the angular velocity (rad/s)
r is the radius (m)
g is the acceleration due to gravity (m/s2)

br   r  2 &
Again evaluating br and bz at the centroid,
bz    g

Element Traction Force Vector:

z q6 T
Let us consider that a uniformly distributed load q5
(traction force) T is acting normal to the edge 2-3 of 3
the triangular element.
r q4 q3
T 
Then, {T}   r  2
Tz 
Where, Tr & Tz are the components of the traction
force T along ‘r’ and ‘z’ directions respectively.
1 r

Prepared by Vijay G. S., Asst. Prof., 7 Dept. of Mech. & Mfg. Engg., MIT, Manipal
 Axisymmetric Problem

The traction force term (TFT) in the potential energy expression for edge 2-3 can be written
as:

TFT  2  {u}T {T }r dl
l 23

 2  (uTr  wTz ) r dl Note that N1 = 0 for edge 2-3

l 23

 2  [( N 2 q3  N 3q5 )Tr  ( N 2 q4  N 3q6 )Tz ] r dl

l 23

aTr 
aT  2r2  r3
  where, a  and
 TFT  q3 q4 q5 q6 (2 l23 )  z  6
bTr  r  2r3
bTz  b 2
6
l23  (r3  r2 )2  ( z3  z2 )2

TFT  {q}T {T }e       (c)

aTr 
aT 
  is the element
{T }  (2 l23 )  z 
e

bTr  Traction Force Vector

bTz 

When line 2-3 is parallel to the z-axis,

r2 = r3 and a = b = 0.5r2 = 0.5r3

Prepared by Vijay G. S., Asst. Prof., 8 Dept. of Mech. & Mfg. Engg., MIT, Manipal
 Axisymmetric Problem

Consideration of Point Load:

Using eqns. (a), (b) and (c) the Potential Energy for a single element can be written as:
1
 e  {q}T [k ]e{q}  {q}T {b}e  {q}T {T }e  {u}Ti {P}i
2 i
The Point Load Term (PLT) can be easily considered by having a node at point of application
of the point load.

If ‘i’ is the node at which the point load {P}i is applied,

{u}Ti {P}i  Q2i 1Pir  Q2i Piz Q2i, Piz
where, Q2i-1 is the global nodal displacement of node i in the ‘r’ direction,
Q2i is the global nodal displacement of node i in the ‘z’ direction,
Pir is the component of Pi in ‘r’ direction, Q2i-1, Pir
Piz is the component of Pi in ‘z’ direction i
th th
i.e., Pir gets added to the (2i-1) component and Piz gets added to the (2i) component of the
Global Force Vector {F}

Then the contributions of the body forces, traction forces and point loads to the global force
vector can be represented as:

{F}   ({b}e  {T }e )  {P}

e

Thus the potential energy for the whole rotational area of cross section is:

1
   e  {Q}T [ K ]{Q}  {Q}T {F}
e 2

Applying “Principle of Minimum Potential Energy”,


 [ K ]{Q}  {F }  0 where,
{Q} {F} is the Global Force Vector
 {F }  [ K ]{Q} [K] is the Global Stiffness Matrix
{Q} is the Global Displacement Vector

Boundary conditions are applied into the {F} = [K]{Q} relationship due to which the
{F} = [K]{Q} relationship gets modified. These set of simultaneous equations in Q are solved
by Gaussian Elimination or other techniques, to yield the displacement vector {Q}.

Prepared by Vijay G. S., Asst. Prof., 9 Dept. of Mech. & Mfg. Engg., MIT, Manipal
 Axisymmetric Problem

Example Problem:
A long cylinder of inside diameter 80 mm and outside diameter 120 mm snugly fits in a hole
over its full length. The cylinder is then subjected to an internal pressure of 2 MPa. Using two
elements on the 10 mm length shown, find the displacements at the inner radius.

4
1
1
2 MPa 10 mm
2
2
3
40 mm
60 mm
Ø80mm
E = 200 GPa
Ø120mm
 = 0.3
Solution:

The material property (elasticity) matrix [D] for axisymmetric problem is given as:

1    0  
  1  0  
E 
[D]   1  2 
(1  )(1  2)  0 0 0 
 2 
   0 1   
1  0.3 0.3 0 0.3 
 0.3 1  0.3 0 0.3 
200 103 
  1  2  0.3 
(1  0.3)(1  2  0.3)  0 0 0 
 2 
 0.3 0.3 0 1  0.3
 269.2 115.4 0 115.4 
 0.3 269.2 0 115.4 
 [D]  103 
 0 0 76.9 0 
Consider element (1):  
115.4 115.4 0 269.2 
1 3
Local Node # Actual Node # r z
1
1 1 40 10
2 2 40 0
3 4 60 10 2
Element (1) in
Jacobian for element (1) in terms of local node nos. is terms of local
node nos.
 r13 z13  40  60 10  0  20 10
[J ]  
(1)
  
r23 z23  40  60 0  0   20 0 
1
Det[ J ](1)  200 A(1)  Det[ J ](1)  100 mm2
2
Prepared by Vijay G. S., Asst. Prof., 10 Dept. of Mech. & Mfg. Engg., MIT, Manipal
 Axisymmetric Problem

The Strain-Displacement Matrix for element (1):

 z23 0 z31 0 z12 0 where,

 0 r32 0 r13 0 r21 
1  z12 = z13 – z23
[ B](1) 
Det[ J ]  r32 z23 r13 z31 r21 z12 
 &
N N2 N3
 Det[ J ] 1 0 Det[ J ] 0 Det[ J ] 0 r21 = r23 – r13
 r r r 
z23 = z2  z3 = 0  10 = 10 r32 = r3  r2 = 60  40 = 20
z31 = z3  z1= 10  10 = 0 r13 = r1  r3= 40  60 = 20
z12 = z13  z23 = 0  ( 10) = 10 r21 = r23  r13 = 20  ( 20) = 0

Evaluating the last row of [B](1) at element centroid,

r1  r2  r3 40  40  60 1
r(11)    46.67 mm & N1  N 2  N3 
3 3 3
  0.05 0 0 0 0.05 0 
 0 0.10 0  0.10 0 0 
 [ B] 
(1) 
 0.10  0.05  0.10 0 0 0.05
 
0.0071 0 0.0071 0 0.0071 0 

-1.2641 1.1540 0.0819 -1.1540 1.4279 0

[D][B](1) = 103 -0.4951 2.6920 0.0819 -2.6920 0.6589 0
0.7690 -0.3845 -0.7690 0 0 0.3845
-0.3859 1.1540 0.1911 -1.1540 0.7681 0

137.36 -87.96 -79.64 49.51 -65.94 38.45

-87.96 288.43 46.64 -269.20 65.89 -19.23
-79.64 46.641 78.26 -8.19 5.45 -38.45
[B(1)]T([D][B](1)) =
49.51 -269.20 -8.19 269.20 -65.89 0
103
-65.94 65.89 5.45 -65.89 76.85 0
38.45 -19.23 -38.45 0 0 19.23
Element stiffness matrix for element (1) is

[k ](1)  2 r(11) A(1) ([ B]T [ D][ B])(1)  2 (46.67)(100)([B]T [ D][ B])(1)

1 2 3 4 7 8 Global DOF
4.03 -2.58 -2.34 1.45 -1.93 1.13 1
-2.58 8.46 1.37 -7.89 1.93 -0.56 2
-2.34 1.37 2.29 -0.24 0.16 -1.13 3
[k](1) = 106
1.45 -7.89 -0.24 7.89 -1.93 0 4
-1.93 1.93 0.16 -1.93 2.25 0 7
1.13 -0.56 -1.13 0 0 0.56 8

Prepared by Vijay G. S., Asst. Prof., 11 Dept. of Mech. & Mfg. Engg., MIT, Manipal
 Axisymmetric Problem

Now Consider element (2):

3
Local Node # Actual Node # r z
1 2 40 0
2 3 60 0 2
3 4 60 10 1 2
Element (2) in
Jacobian for element (2) is terms of local
node nos.
r z13  40  60 0  10  20  10
[ J ](1)   13  
r23 z23  60  60 0  10  0  10
1
Det[ J ]( 2)  200 A( 2)  Det[ J ]( 2)  100 mm2
2
The Strain-Displacement Matrix for element (2):

 z23 0 z31 0 z12 0 where,

 0 r32 0 r13 0 r21 
1  z12 = z13 – z23
[ B]( 2) 
Det[ J ]  r32 z23 r13 z31 r21 z12 
 &
N N2 N3
 Det[ J ] 1 0 Det[ J ] 0 Det[ J ] 0 r21 = r23 – r13
 r r r 
z23 = z2  z3 = 0  0 = 0 r32 = r3  r2 = 60  60 = 0
z31 = z3  z1= 10  0 = 10 r13 = r1  r3= 40  60 = 20
z12 = z13  z23 = 10  (10) = 0 r21 = r23  r13 = 0  ( 20) = 20

Evaluating the last row of [B](2) at element centroid,

r1  r2  r3 40  60  60 1
r(12)    53.33 mm & N1  N 2  N3 
3 3 3
  0.05 0 0.05 0 0 0 
 0 0 0  0.10 0 0.10
 [ B] 
( 2) 
 0  0.05  0.10 0.05 0.10 0 
 
0.00625 0 0.00625 0 0.00625 0 

-1.27 0 1.42 -1.15 0.07 1.15

[D][B](2) = 103 -0.50 0 0.65 -2.69 0.07 2.69
0 -0.38 -0.77 0.38 0.77 0
-0.41 0 0.75 -1.15 0.17 1.15

61.14 0 -66.25 50.49 -2.55 -50.49

0 19.23 38.45 -19.23 -38.45 0
-66.25 38.45 152.46 -103.36 -72.24 64.91
[B(2)]T([D][B](2)) =
50.49 -19.23 -103.36 288.43 31.24 -269.20
103
-2.55 -38.45 -72.24 31.24 77.95 7.21
-50.49 0 64.91 -269.20 7.21 269.20

Prepared by Vijay G. S., Asst. Prof., 12 Dept. of Mech. & Mfg. Engg., MIT, Manipal
 Axisymmetric Problem

Element stiffness matrix for element (2) is

[k ]( 2)  2 r(12) A( 2) ([ B]T [ D][ B])( 2)  2 (53.33)(100)([B]T [ D][ B])( 2)

3 4 5 6 7 8 Global DOF
2.05 0 -2.22 1.69 -0.09 -1.69 3
0 0.64 1.29 -0.64 -1.29 0 4
-2.22 1.29 5.11 -3.46 -2.42 2.18 5
[k](2) = 106
1.69 -0.64 -3.46 9.66 1.05 -9.02 6
-0.09 -1.29 -2.42 1.05 2.61 0.24 7
-1.69 0 2.18 -9.02 0.24 9.02 8

The Global Stiffness Matrix [K] is obtained by assembling the stiffness matrices for elements
(1) & (2).
i.e., [K]  [k](1) +[k](2)
1 2 3 4 5 6 7 8
4.03 -2.58 -2.34 1.45 0 0 -1.93 1.13 1
-2.58 8.46 1.37 -7.89 0 0 1.93 -0.56 2
-2.34 1.37 4.34 -0.24 -2.22 1.69 0.07 -2.82 3
1.45 -7.89 -0.24 8.54 1.29 -0.64 -3.22 0 4
[K] = 106
-1.93 1.93 -2.06 -0.64 5.11 -3.46 -0.17 2.18 5
1.13 -0.56 0.56 -0.64 -3.46 9.66 1.04 -8.46 6
0 0 -0.09 -1.29 -2.42 1.05 2.61 0.24 7
0 0 -1.69 0 2.18 -9.02 0.24 9.02 8

Writing the {F} = [K]{Q} relationship,

 F1  4.03  2.58  2.34 1.45 0 0  1.93 1.13  Q1 

F   8.46 1.37  7.89 0 0 1.93  0.56 Q2 
 2 
 F3   4.34  0.24  2.22 1.69 0.07  2.82 Q3 
    
 F4   8.54 1.29  0.64  3.22 0  Q4 
   
 F5   5.11  3.46  0.17 2.18  Q5 

 F6   Symmetric 9.66 1.04  8.46  Q6 
    
 F7   2.61 0.24  Q7 

F   9.02  Q8 
 8 

Nodes 3 & 4 are completely constrained. So, Q5 = Q6 = Q7 = Q8 = 0. Nodes 1 & 2 are

constrained (restricted) only in the ‘z’ direction but free to move in ‘r’ direction.
So, Q2 = Q4 = 0.
Applying Elimination Approach of handling Boundary Conditions, we delete the rows
and columns in the {F} = [K]{Q} relationship corresponding to the Q’s which are zeroes.
The (88) relationship reduces to a (22) relationship as follows:
1 3
 F1  6  4.03  2.34 Q1 
   10   
F3   2.34 4.34  Q3 

Prepared by Vijay G. S., Asst. Prof., 13 Dept. of Mech. & Mfg. Engg., MIT, Manipal
 Axisymmetric Problem

To find F1 & F3:

Traction force of 2 MPa is acting over the edge 1-2 of element (1).

T1(1)  aTr  2r1  r2 2(40)  40

a   20mm
 (1)  aT  6 6
T2   z
 (1)   2 l1 2   r  2r2 40  2(40)
T3  bTr  b 1   20mm
T4(1)  bTz  6 6
l12  10mm

T1(1)  (20)(2) 2513 1

 (1)   0   0 2
T2     
  (1)   2 (10)   
T3  (20)(2) 2513 3
T4(1)   0   0  4

No other loads are acting on the elements (1) & (2). Hence, the Global Force Vector {F} is:

 F1  T1(1)  2513
 F   (1)   0 
 2  T2   
 F3  T3(1)  2513
   (1)   
 F4  T4   0 
   
 F5   0   0 
 F6   0   0 
     
 F7   0   0 
F   0   0 
 8    

Solving the modified {F} = [K]{Q} relationship,

2513 6  4.03  2.34 Q1 
   10   
2513  2.34 4.34  Q3 

Q1 = 0.001397 mm & Q3 = 0.001332 mm

Prepared by Vijay G. S., Asst. Prof., 14 Dept. of Mech. & Mfg. Engg., MIT, Manipal