2/27/2011

Lecture 1 Brief Review of Some Concepts

1.1 Introduction
The finite element method is an extremely powerful and
general tool of analysis used for solving wide-ranging
engineering problems. These include stress analysis, heat and
fluid flow, acoustics and electromagnetism.
Being a computer-based technique, the availability of
the digital computer today has resulted in the finite
element method being particularly relevant to, and
within easy reach of, engineers.

1.2 Matrix Algebra

a) Definitions
Lets consider a set of linear equations
shown below:

We can re-write these

equations in matrix form:

x1 4 x2 x3 1
2 x1 x2 x3 2
4 x1 5x2 3x3 4

1 4 1 x1 1
2 1 1 x 2

2
4 5 3 x3 4

We have the following matrices:

x1
1 4 1
1

A 2 1 1; X x2 ; B 2
x3
4 5 3
4

AX B

Matrix is a group of numbers (variables) which are arranged in a

rectangular form within a bracket.

2/27/2011

A vector is a special matrix:

one row (row matrix) or
one column (column matrix)
An identity (unit) matrix
is a diagonal matrix with 1s
and only 1s on the
diagonal.

b) Calculation Rules
Equality of Matrices
We say matrix A is equal to Matrix B only when every elements in A and B are
equal.
1 3
1 3
A
; B 4 5
4 5

For example, if

A=B

Addition and Subtraction

Only matrices of same order can be added (or subtracted) together.
For example, if

1 3
6 9
A
; B 2 3
4
5

1 3 6 9
AB

4 5 2 3

1 3 6 9
AB

4 5 2 3

Matrix Multiplication
Matrix A can be multiplied by matrix B only if the number of columns
in matrix A is equal to the number of rows in matrix. For example,
if
a
b b b
a
A 11 12 ;
B 11 12 13
a21 a22 2x2
b21 b22 b23 2x3

A can be multiplied by B. Note in this case, B cannot be multiplied by A.

What is the results of AB?

A
B C
(mn)(nq) (mq)
n

And the elements of C are given by

cij aik bkj

k 1

2/27/2011

A simple example is as follow.

1 3
2 8 4
A
;B 1 33;
4
5

1 3 2 8 4
C AB

4 5 1 33
Applying the rule for matrix multiplication to the following matrices:

1 4 1 x1 1
2 1 1x 2

2

4 5 3 x3 4

1x1 4x2 1x3 1

1x2 1x3 2
2x1
4x
5x2 3x3 4
1

we have

For matrix addition and multiplication, the following rules have to be applied:
A(B + C) = AB + AC
A(BC) = (AB)C
IA = A; BI = B

AB BA

Transpose Matrix
If we have a m n matrix A with elements aij , a n m matrix B with elements
bij a ji is called the transpose matrix of A. For example, if
1 3 2
A

4 5 7

the transpose matrix of A is

We use a superscript T to represent the transpose a matrix. In the above case,
the transpose matrix of A is written as

1
AT 3
2

4
5
7

The following rules hold for transpose of matrices:

(A B) T AT BT
( kA) T kAT
( AB) T BT AT

2/27/2011

Inverse of a Matrix
If the result of a square matrix A multiplied by another square matrix B is
a unit matrix I, that is,

AB I

we say matrix B is an inverse of matrix A. We use a symbol

the inverse of matrix A. So in the above case, B A 1 .

A1

to represent

Lets consider the linear equations we introduced at the beginning of the

Lecture.
1 4 1 x1 1
2 1 1x 2

2

4 5 3x3 4
we write it as AX = B
We cannot solve this equation by dividing A in both sides of the equation.
Because there is no rules for matrix division. But we have an alternative
way to solve this equation. If there exists an inverse of matrix A, we
multiply both side of the equation by

A1AX A1B

IX A1B

X A1B

C. The Gauss Method for Solving Simultaneous Equations

We have a set of linear equations shown below

x1 4 x2 x3 1
2 x1 x2 x3 2
4 x1 5x2 3x3 4
The steps for using the Gauss method to solve this set of equations
are as follows.
1) Express x1 in terms of x2 and x3, and substitute it into the other
two equations

2/27/2011

2) express

x 2 in terms of x3 , and substitute it into the other equation:

3) substitute the value of

to obtain the value for

x3 back into
x2

x 2 and x3

4) substitute the values of

to obtain the value for

back into

x1

1.3 Some concepts in engineering mechanics

Before we proceed to derive the finite element formulations, we need to do some
preparations.
a) Concepts of Stress and Strain

Stress: force per unit area

z
zx

zy
yz

x
xz

yx xy

xy yx , xz zx , yz zy
Strain: amount of deformation an object experiences compared to its original
size and shape

2/27/2011

b) Stress strain relationships (constitutive behaviour)

i) General Hooke's Law for Isotropic Material

0 0
x
1

1
0 0
y

z 1 1
0 0
0 0 0
E/G
0
xy E
yz
0
E/G
0 0 0

0 0 0

0
0

zx
where

=
=
=

x

y
z
0 xy

0 yz

E / G zx

0
0
0

Youngs modulus
Poissons ratio
E
, the Shear modulus
21

or we written it as:

C
where [C] is commonly known as the material compliance matrix.

The above equation can also be written as:

D
where

[D] [C]1

1
1

E
0
0
0

1 1 2
0
0
0

0
0
0

0
0
0
1 2
21

0
0
0
0

1 2
21

1 2
21
0
0
0
0

[D] is commonly known as the material stiffness matrix.

These equations are for stresses and strains in an elastic body in three
dimensional state, which are referred as the generalised Hookes law for
elastic isotropic material.

2/27/2011

The above equations can be simplified for some cases as follows.

ii) Plane Stress State
Plane stress is a condition that prevails in a flat plate in the xy plane, loaded
only in its own plane and without z-direction restraint, so that

Then, the stress and strain relationship can be simplified as:

x
E

y
2
1
xy

1
0 x

1
0 y

1
xy
0 0
2

or

iii) Plane Strain State

Plane strain is defined as a deformation state in which w = 0 everywhere
and u and v are functions of x and y but not of z. Thus,

The stress-strain relation is given by:

1
x
0 x

E


1
0 y
y
(
1

)(
1

)
1 2

xy
0
2 xy
or

2/27/2011

iv) One Dimensional Stress State

In one-dimensional beam or truss members, the uniaxial stress x and
uniaxial strain x prevail so that the constitutive behaviour is:

Note that in this case, the material stiffness matrix [D] reduces to a
single scalar E which is the Youngs modulus of the material.

c) Strain-displacement Relationships

The relationships between strain and displacement play an essential

role in finite element method for stress analysis.
One Dimensional Case
Consider a bar element before and after deformation. The normal strain
and the displacement can be expressed as

L0'1' L01
L01

2/27/2011

Two Dimensional Case

Draw two perpendicular lines on an undeformed body. After deform, the two
lines have changed their locations.

Deformation of two perpendicular lines

Referring to Figure 1.3, the strain in x-direction is given by:

In the y-direction, the strain is given by:

And the shear strain in x-y plane (the angle change inbetween the two lines) is:

The strain-displacement relationships can be written in matrix form:

x x

y 0

xy

u

y v

or