8-Axisymmetric Element

CHAPTER 9
AXISYMMETRIC ELEMENTS d
CHAPTER OBJECTIVES
. To review the basic concepts and theory of elasticity equations for axisymmetric
behavior.
. To drive the axisymmetric element stiffness matrix, body force, and
surface traction equations.
. To demonstrate the solution of an axisymmetric pressure vessel using the stiff-
ness method.
. To compare the finite element solution to an exact solution for a
cylindrical pres-sure vessel.
. To illustrate some practical applications of axisymmetric elements.
Introduction
In previous chapters, we have been concerned with line or one-dimensional elements
(Chapters 2 through 5) and two-dimensional elements (Chapters 6 through 8). In this
chapter, we consider a special two-dimensional element called the axisymmetric ele-
ment. This element is quite useful when symmetry with respect to geometry and load-ing
exists about an axis of the body being analyzed. Problems that involve soil masses
subjected to circular footing loads or thick-walled pressure vessels can often be ana-
lyzed using the element developed in this chapter.
We begin with the development of the stiffness matrix for the simplest axisym-
metric element, the triangular torus, whose vertical cross section is a plane triangle.
We then present the longhand solution of a thick-walled pressure vessel to illustrate the
use of the axisymmetric element equations. This is followed by a description of some typical
large-scale problems that have been modeled using the axisymmetric element.
d 9.1 Derivation of the Stiffness Matrix d

In this section, we will derive the stiffness matrix and the body and surface force ma-
trices for the axisymmetric element. However, before the development, we will first
present some fundamental concepts prerequisite to the understanding of the deriva-tion.
Axisymmetric elements are triangular tori such that each element is symmetric
452
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9.1 Derivation of the Stiffness Matrix d 453
Figure 9–1 Typical axisymmetric element ijm
with respect to geometry and loading about an axis such as the z axis in Figure 9–1.
Hence, the z axis is called the axis of symmetry or the axis of revolution. Each vertical
cross section of the element is a plane triangle. The nodal points of an axisymmetric
triangular element describe circumferential lines, as indicated in Figure 9–1.
In plane stress problems, stresses exist only in the x-y plane. In axisymmetric
problems, the radial displacements develop circumferential strains that induce stresses sr,
sy, sz, and trz, where r, y, and z indicate the radial, circumferential, and longitudinal
directions, respectively. Triangular torus elements are often used to idealize the axisym-
metric system because they can be used to simulate complex surfaces and are simple to
work with. For instance, the axisymmetric problem of a semi-infinite half-space loaded
by a circular area (circular footing) shown in Figure 9–2(a), the domed pressure vessel
shown in Figure 9–2(b), and the engine valve stem shown in Figure 9–2(c) can be solved
using the axisymmetric element developed in this chapter.
Because of symmetry about the z axis, the stresses are independent of the y
coordinate. Therefore, all derivatives with respect to y vanish, and the displacement
component v (tangent to the y direction), the shear strains gry and gyz, and the shear
stresses try and tyz are all zero.
Figure 9–3 shows an axisymmetric ring element and its cross section to represent
the general state of strain for an axisymmetric problem. It is most convenient to express
the displacements of an element ABCD in the plane of a cross section in cylindrical
coordinates. We then let u and w denote the displacements in the radial and longitudinal
directions, respectively. The side AB of the element is displaced an amount u, and side
CD is then displaced an amount u þ ðqu=qrÞ dr in the radial direc-
tion. The normal strain in the radial direction is then given by
qu
er ¼ qr ð9:1:1aÞ
In general, the strain in the tangential direction depends on the tangential displace-ment v
and on the radial displacement u. However, for axisymmetric deformation be-havior,
recall that the tangential displacement v is equal to zero. Hence, the tangential strain is
due only to the radial displacement. Having only radial displacement u, the
_
new length of the arc AB is ðr þ uÞ dy, and the tangential strain is then given by
e ðr þ uÞ dy r dy u 9:1:1b
y¼ r dy ¼r ð Þ
454 d 9 Axisymmetric Elements
(a) soil mass
(b) enclosed pressure vessel (c) engine valve stem
Figure 9–2 Examples of axisymmetric problems: (a) semi-infinite half-space (soil mass)
modeled by axisymmetric elements, (b) enclosed pressure vessel (Courtesy of Algor, Inc.)
(See the full-color insert for a color version of this figure.), and (c) an engine valve stem
Figure 9–3 (a) Plane cross section of (b) axisymmetric element
Figure 9–4 Displacement and rotations

of lines of element in the r-z plane
Next, we consider the longitudinal element BDEF to obtain the longitudinal strain
and the shear strain. In Figure 9–4, the element is shown to displace by amounts u and w
in the radial and longitudinal directions at point E, and to displace additional amounts
ðqw=qzÞ dz along line BE and ðqu=qrÞ dr along line EF. Furthermore, observ-ing lines
EF and BE, we see that point F moves upward an amount ðqw=qrÞ dr with re-spect to
point E and point B moves to the right an amount ðqu=qzÞ dz with respect to point E.
Again, from the basic definitions of normal and shear strain, we have the lon-gitudinal
normal strain given by
qw
ez ¼ qz ð9:1:1cÞ
and the shear strain in the r-z plane given by
qu qw
grz ¼ qz þ qr ð9:1:1dÞ
Summarizing the strain–displacement relationships of Eqs. (9.1.1a–d) in one equation for
easier reference, we have
qu u qw qu qw
er ¼ qr ey ¼ r ez ¼ qz grz ¼ qz þ qr ð9:1:1eÞ
The isotropic stress–strain relationship, obtained by simplifying the general stress–
strain relationships given in Appendix C, is
1 n n n 0
sr 2 n 1 n n 0 3 er
8s 9 E ez
z
>s > 1 n 1 2n 6 n n 1 n 0 78 ey
9 9:1:2
> y > ¼ 6 7> > ð Þ
> > > >
< = ð þ Þð Þ 6 7< =
trz
6
6
1 2n
7
7
g rz
> > 6 0 0 0 7
> >
>
>
>
> 6 2
7:
> >
;
: ; 4 5
The theoretical development follows that of the plane stress–strain problem given
in Chapter 6.
Figure 9–5 Discretized axisymmetric solid
Step 1 Select Element Type

An axisymmetric solid is shown discretized in Figure 9–5(a), along with a typical tri-
angular element. The element has three nodes with two degrees of freedom per node
(that is, ui, wi at node i). The stresses in the axisymmetric problem are shown in Figure
9–5(b).
Step 2 Select Displacement Functions

The element displacement functions are taken to be
uðr; zÞ ¼ a1 þ a2r þ a3z

ð9:1:3Þ
wðr; zÞ ¼ a4 þ a5r þ a6z
so that we have the same linear displacement functions as used in the plane stress,
constant-strain triangle. Again, the total number of ai’s (six) introduced in the dis-
placement functions is the same as the total number of degrees of freedom for the
element. The nodal displacements are
u
8
f
d
ig >
uj
wii 9>
d 8
dj 9
>
>
>
>
9:1:4
fg¼ f g ¼>
> >
ð Þ
> > >
wj >
>
<
dm = < =
> >
f g> >
um >
: ; wm >
> >
>
>
>
>
> >
> >
and u evaluated at node i is : ;
uðri; ziÞ ¼ ui ¼ a1 þ a2ri þ a3zi ð9:1:5Þ

Using Eq. (9.1.3), the general displacement function is then expressed in matrix form as
a
1
8
a2 9
u a1 a2r a3z 1 r z 0 0 0 >
a3 >
> >
c þ þ > >
>
>
9:1:6
> >
fg¼ w
¼
a4 a5r a6z ¼ 0 0 0 1 r z > a4 > ð Þ
> >
þ þ < =
>
a5 >
>
a6 >
> >
> >
>
>
> >
> >
: ;
Substituting the coordinates of the nodal points shown in Figure 9–5(a) into Eq.
(9.1.6), we can solve for the a i’s in a manner similar to that in Section 6.2. The resulting
expressions are
a 1
1 1 ri zi ui
8 z 8
a2 921 rj j 3 uj 9 9:1:7
< = <
a3 ¼6 1 rm zm 7 um = ð Þ
: 4 5 1 :
a4 ; 1 ri zi wi ;
8 r z 8
and <
a5 9 21 =
j
z
j 3 <
wj 9 ð 9:1:8 Þ
a6 ¼6 1 rm m 7 wm =
: ; 4 5 : ;
Performing the inversion operations in Eqs. (9.1.7) and (9.1.8), we have
a
1 ai aj am ui
8
9 1 2 bi bj
3
bm 8 uj 9
<
a3
a2 =
¼ 2A
6
g
i
g
j
g
m
7
<
um
= ð 9:1:9 Þ
4 5
: ; : ;
2 3
w
a4 ai aj am i
8 1 8
and <
a6
a5 9 =
¼ 2A
6
gi
bi bj bm
g
j
g
m
<
7 wm
=
wj 9 9:1:10 Þ
ð
: ; 4 5: ;
where
ai ¼ rj zm zj r m aj ¼ rmzi zmri a m ¼ r izj zir j

bi ¼ zj zm bj ¼ zm zi b m ¼ zi zj ð9:1:11Þ
gi ¼ rm rj gj ¼ ri rm g m ¼ rj ri
We define the shape functions, similar to Eqs. (6.2.18), as
1
Ni ¼ 2A ðai þ bir þ gizÞ
1
Nj ¼ 2A ðaj þ bj r þ gj zÞ ð9:1:12Þ
1
Nm ¼ 2A ðam þ bmr þ gmzÞ
Substituting Eqs. (9.1.7) and (9.1.8) into Eq. (9.1.6), along with the shape func-tion
Eqs. (9.1.12), we find that the general displacement function is
u
i
u r; z Ni 0 Nj 0 Nm 0 8 wi 9
u
> j >
> >
c ð Þ > >
> >
ð9:1:13Þ
0 N 0 N 0 N > >
fg¼ w r; z ¼ i j m > wj >
ð Þ
><
> =
> um > ð9:1:14Þ

> wm >
> >
>
>
>
>
> >
> >
: ;
or fcg ¼ ½N fdg
Step 3 Define the Strain=Displacement and Stress=Strain

Relationships
ð9:1:15Þ
When we use Eqs. (9.1.3) in (9.1.1e), the strains
>
r> >
>
become
;
a
8 2 9
> a 6
>
> >
> >
> >
< =
feg ¼ a az
> 1 þ a2 þ 3
>r
>
>
: ð9:1:16Þ
a3 þ a5
Rewriting Eq. (9.1.15) with the ai’s as a separate column matrix, we have
20 1 0 0 0 03 a1
8
er 0 0 0 0 0 1 a2 9
8 ez 9 >a
3 >
> e >
6
6
1 z 7> a
7> >
>
>
>
y
>
> ¼
6 1 0 0 0 >
7>
4 >
>
<
< = 6r r 7 =
grz 6
6
7
7
a5
>
> >
>
> > 6 7> >
>
:
>
; 6 >
7>
>
>
>
>
>
>
4 5
> >
:
0 0 1 0 1 0 a6 ;
Substituting Eqs. (9.1.9) and (9.1.10) into Eq. (9.1.16) and simplifying, we obtain
1 6rþ þr
i j 6
2 0 gi 0 gj 0
b 6 g
b 0 b 0 m
6 i
e 2A 6 ai giz aj gj z am g mz
f
g¼ 6
bi
0
bj 0 bm 4
: ;
38 9 bm wm
0 ui ð9:1:17Þ
>
>
>
>
gm >w
7>
u ji
> >
> >
7> >
7
7 < =
0 7> wj > 7>
>
>
> u > 5>
>
>
m>
>
or, rewriting Eq. (9.1.17) in simplified matrix form,

u
i
8 wi 9
> uj >
> >
eB B B > > 9:1:18

i j m > >
> >
f g ¼ ½½ ½ ½ > wj > ðÞ
> >
< =
> um >
> wm >
> >
>
>
>
>
> >
> >
: ;
2 3
bi 0
6 7
1 0 gi
where
½Bi ¼2A 6 ai b
i
giz
0 7 ð9:1:19Þ
6r þ þ r
7
6
6
7 7
6 7
g b
4 i i 5
Similarly, we obtain submatrices ½Bj and ½Bm by replacing the subscript i with j and
then with m in Eq. (9.1.19). Rewriting Eq. (9.1.18) in compact matrix form, we have
feg ¼ ½B fdg ð9:1:20Þ
where ½B ¼ ½½Bi ½Bj ½Bm

ð9:1:21Þ
is called the gradient matrix.

Note that ½B is a function of the r and z coordinates. Therefore, in general, the
strain ey will not be constant.
The stresses are given by
fsg ¼ ½D ½B fdg ð9:1:22Þ
where ½D is given by the first matrix on the right side of Eq. (9.1.2). (As mentioned in
Chapter 6, for n ¼ 0:5, a special formula must be used; see Reference [9].)
Step 4 Derive the Element Stiffness Matrix and Equations

The stiffness matrix is
ððð T
½k ¼ V ½B ½D ½B dV ð9:1:23Þ
ðð
or ½k ¼ 2p A ½B T ½D ½B r dr dz ð9:1:24Þ
after integrating along the circumferential boundary. The ½B matrix, Eq. (9.1.21), is a
function of r and z. Therefore, ½k is a function of r and z and is of order 6 6.
We can evaluate Eq. (9.1.24) for ½k by one of three methods:

1. Numerical integration (Gaussian quadrature) as discussed in
Chapter 10.
2. Explicit multiplication and term-by-term integration [1].
3. Evaluate ½B for a centroidal point ðr; zÞ of the element
r r ri þ rj þ r m z z zi þ zj þ zm 9:1:25
¼ ¼ 3 ¼ ¼ 3 ð Þ
and define ½Bðr; zÞ ¼ ½B . Therefore, as a first approximation,
½k ¼ 2prA½B T ½D ½B ð9:1:26Þ
If the triangular subdivisions are consistent with the final stress distribution (that is,
small elements in regions of high stress gradients), then acceptable results can be
obtained by method 3.
Distributed Body Forces

Loads such as gravity (in the direction of the z axis) or centrifugal forces in rotating
machine parts (in the direction of the r axis) are considered to be body forces (as shown
in Figure 9–6). The body forces can be found by
Rb
ðð T
f fbg ¼ 2p A ½N Zb r dr dz ð9:1:27Þ
2
where Rb ¼ o rr for a machine part moving with a constant angular velocity o about the
z axis, with material mass density r and radial coordinate r, and where Zb is the body
force per unit volume due to the force of gravity.
Considering the body force at node i, we have
Rb
ðð
f fbig ¼ 2p A ½Ni T Zb r dr dz ð9:1:28Þ
where ½Ni T ¼ 0i Ni ð9:1:29Þ
N 0
Figure 9–6 Axisymmetric element with body

forces per unit volume
Multiplying and integrating in Eq. (9.1.28), we obtain
2p Rb
f fbig ¼ 3 Zb Ar ð9:1:30Þ
where the origin of the coordinates has been taken as the centroid of the element, and Rb
is the radially directed body force per unit volume evaluated at the centroid of the
element. The body forces at nodes j and m are identical to those given by Eq. (9.1.30) for
node i. Hence, for an element, we have
8 9 b
Z
2prA
> RR b > > b >
> >
fb > > 9:1:31

3 >
> >
>
f g¼ > Zb > ð Þ
> <
>
=
> Rb >
>Z b >
> >
> >
> >
> >
>
where Rb
2
> r
>
> 9:1:32
:
o r ;
¼ ð Þ
Equation (9.1.31) is a first approximation to the radially directed body force distribution.
Surface Forces
Surface forces can be found by
ðð
f fsg ¼ ½Ns T fTg dS ð9:1:33Þ
S
where again ½Ns denotes the shape function matrix evaluated along the surface where
the surface traction acts.
For radial and axial pressures pr and pz, respectively, we have
pr
ðð T
f fsg ¼ S ½Ns pz dS ð9:1:34Þ
For example, along the vertical face jm of an element, let uniform loads pr and pz be
applied, as shown in Figure 9–7 along surface r ¼ rj . We can use Eq. (9.1.34)
Figure 9–7 Axisymmetric element with surface forces

written for each node separately. For instance, for node j, substituting Nj from Eqs.
(9.1.12) into Eq. (9.1.34), we have
f fsj g ¼ ðz 2A " þ
j 0þ aj þ bj r þ gj z # ( p z ) 2prj dz ð9:1:35Þ
zm 1 aj bj r gj z 0 pr
evaluated at r ¼ rj ; z ¼ z
Performing the integration of Eq. (9.1.35) explicitly, along with similar evaluations for
fsi and fsm, we obtain the total distribution of surface force to nodes i, j, and m as
8 0 9
2prj zm zj
> p0 >
> r >
> >
fs ð Þ > > 9:1:36

2 >
>
>
>
f g¼ > pz > ðÞ
><
>=
> pr >
> pz >
> >
>>
>
>
> >
> >
> >
: ;
Steps 5 through 7
Steps 5 through 7, which involve assembling the total stiffness matrix, total force ma-
trix, and total set of equations; solving for the nodal degrees of freedom; and calculat-ing
the element stresses, are analogous to those of Chapter 6 for the CST element, ex-cept
the stresses are not constant in each element. They are usually determined by one of two
methods that we use to determine the LST element stresses. Either we deter-mine the
centroidal element stresses, or we determine the nodal stresses for the ele-ment and then
average them. The latter method has been shown to be more accurate in some cases [2].
Example 9.1
For the element of an axisymmetric body rotating with a constant angular velocity o ¼
100 rev/min as shown in Figure 9–8, evaluate the approximate body force matrix.
Include the weight of the material, where the weight density rw is 0.283 lb/in3. The
coordinates of the element (in inches) are shown in the figure.
We need to evaluate Eq. (9.1.31) to obtain the approximate body force matrix.
Therefore, the body forces per unit volume evaluated at the centroid of the element are
Zb ¼ 0:283 lb=in3
Figure 9–8 Axisymmetric element subjected to

angular velocity
9.2 Solution of an Axisymmetric Pressure Vessel d 463
and by Eq. (9.1.32), we have
ð0:283 lb=in3Þ ð2:333 in:

2
R b¼ o2rr ¼ 100 rev min
2p radrev
1 min
60 s 32:2 12 in:=s 2
Þ
ð Þ
3
R b ¼ 0:187 lb=in
2prA 2pð2:333Þð0:5Þ 2:44 in3
3 ¼ 3 ¼
fb1r ¼ ð2:44Þð0:187Þ ¼ 0:457 lb
fb1z ¼ ð2:44Þð0:283Þ ¼ 0:691 lb ðdownwardÞ

Because we are using the first approximation Eq. (9.1.31), all r-directed nodal body
forces are equal, and all z-directed body forces are equal. Therefore,
fb2r ¼ 0:457 lb fb2z ¼ 0:691 lb

fb3r ¼ 0:457 lb fb3z ¼ 0:691 lb 9
d 9.2 Solution of an Axisymmetric Pressure Vessel d

To illustrate the use of the equations developed in Section 9.1, we will now solve an
axisymmetric stress problem.
Example 9.2
For the long, thick-walled cylinder under internal pressure p equal to 1 psi shown in
Figure 9–9, determine the displacements and stresses.
Discretization
To illustrate the finite element solution for the cylinder, we first discretize the cylinder
into four triangular elements, as shown in Figure 9–10. A horizontal slice of the cylin-der
represents the total cylinder behavior. Because we are performing a longhand
Figure 9–9 Thick-walled cylinder subjected to internal

pressure
Figure 9–10 Discretized cylinder slice
solution, a coarse mesh of elements is used for simplicity’s sake (but without loss of
generality of the method). The governing global matrix equation is
8 F1z 9 8 w1 9
F u
> >
F2r
1r >>
>
>
u2
1 >
>
> > > >
> > > >
> F > > >
> 2z > > w2 >
> > > >
> > > >
> > > >
> F > > >
> 3r > > u3 >
> >
> > K >
>
>
> 9:2:1
> > > >
F
>
> 3z >
> ¼½ >
> w3 >
> ð Þ
> > > >
< = < =
F
> 4r > > u4 >
> F4z > > w4 >
> > > >
>>
>>
>
>
>
>
>
F > > >
> 5r > > u5 >

> > > >
> > > >
> > > >
> F > > >
> 5z > > 5w >
> > > >
> > > >
> > > >
> > > >
> > > >
: ; : ;
where the ½K matrix is of order 10 10.
Assemblage of the Stiffness Matrix

We assemble the ½K matrix in the usual manner by superposition of the individual
element stiffness matrices. For simplicity’s sake, we will use the first approximation
method given by Eq. (9.1.26) to evaluate the element matrices. Therefore,
½k ¼ 2prA½B T ½D ½B ð9:2:2Þ
For element 1 (Figure 9–11), the coordinates are ri ¼ 0:5, zi ¼ 0, rj ¼ 1:0, zj ¼ 0,

rm ¼ 0:75, and zm ¼ 0:25 (i ¼ 1; j ¼ 2, and m ¼ 5 for element 1) for the global-
coordinate axes as set up in Figure 9–10.
Figure 9–11 Element 1 of the discretized cylinder
We now evaluate ½B , where ½B is given by Eq. (9.1.19) evaluated at the centroid

of the element r ¼ r, z ¼ z, and expanded here as
b 0 b 0 bm 0
2 0i gi 0j gj 0 gm 3
a a
½ B ¼ 2A 6 i bi
g iz aj bj
gj z m bm
gmz 7 ð 9:2:3 Þ
1 6 rþ
6
þr r
þ
þr r
þ
þ r 7
7
6 g b g b g b 7
6 i i j j m m 7
4 5
where, using element coordinates in Eqs. (9.1.11), we have
ai ¼ rj zm zj rm ¼ ð1:0Þð0:25Þ ð0:0Þð0:75Þ ¼ 0:25 in2
aj ¼ rmzi zmri ¼ ð0:75Þð0Þ ð0:25Þð0:5Þ ¼ 0:125 in2
a m ¼ r izj zirj ¼ ð0:5Þð0:0Þ ð0Þð1:0Þ ¼ 0:0 in2

bi ¼ zj zm ¼ 0:0 0:25 ¼ 0:25 in:
bj ¼ zm zi ¼ 0:25 0 ¼ 0:25 in: ð9:2:4Þ
b m ¼ zi zj ¼ 0:0 0:0 ¼ 0:0 in:
gi ¼ rm rj ¼ 0:75 1:0 ¼ 0:25 in:

gj ¼ ri rm ¼ 0:5 0:75 ¼ 0:25 in:
g m ¼ rj ri ¼ 1:0 0:5 ¼ 0:5 in:
1 1
and
r ¼ 0:5 þ 2 ð0:5Þ ¼ 0:75 in: z ¼ 3 ð0:25Þ ¼ 0:0833 in:
1
A ¼ 2 ð0:5Þð0:25Þ ¼ 0:0625 in2
Substituting the results from Eqs. (9.2.4) into Eq. (9.2.3), we obtain
1 2 0 0:25 0 0:25 0 0:5
3 1
0:25 0 0:25 0 0 0
½B ¼ 0:125 6 6
0:0556 0:25
0
0:25
0:0556
0:25
0
0:25 0:5
0:0556 0 7in:
0 7
ð9:2:5Þ
6 7
4 5
For the axisymmetric stress case, the matrix ½D is given in Eq. (9.1.2) as
E 2 n1 n n 0 3
1 n n n 0
½D ¼ 1 n 1 2n 6 n n 1 n 0 7 ð9:2:6Þ
ð þ Þð Þ 6 1 2n 7
6 7
6 0 0 0 7
6 2
7
4 5
With n ¼ 0:3 and E ¼ 30 106 psi, we obtain

30 106 2 0:3 1 0:3 0:3 0 3
1 0:3 0:3 0:3 0
ð Þ
½D ¼ 1 0:3 1 2 0:3 6 0:3 0:3 1 0:3 0 7 ð9:2:7Þ
ð þ Þ½ ð Þ6 1 2 0:3 7
6 7
6 0 0 0 ð Þ 7
6 2
7
4 5
or, simplifying Eq. (9.2.7),
2
6 0:3 0:7 0:3 0 3
0:7 0:3 0:3 0
7
½D ¼ 57:7ð10 Þ 6 0:3 0:3 0:7 0 psi ð9:2:8Þ
60
6
0 0 0:2 7
7
4 5
Using Eqs. (9.2.5) and (9.2.8), we obtain
2
0:075 0:175 0:075 0:05 3
0:158 0:0583 0:0361 0:05
B T D 57:7ð106Þ 6 0:192 0:0917 0:114 0:05 7 9:2:9

½ ½ ¼ 0:125 6
6
6
0:075 0:175 0:075 0:05 7 7
7
ð Þ
6 0:0167 0:0166 0:0388 0:1 7
6 7
6 0:15 0:35 0:15 0 7

6 7
4 5
Substituting Eqs. (9.2.5) and (9.2.9) into Eq. (9.2.2), we obtain the stiffness matrix for
element 1 as
i¼1 j¼2 m¼5

54:46 29:45 31:63 2:26 29:37 31:71
kð1Þ 106 2 6
29:4531:63
61:17 11:33
11:33 72:59
33:98
38:52
31:7220:31
95:15 3 in:
49:84 7
6 7 lb
½
¼ð Þ 6 2:26 33:98 38:52 61:17 22:66 95:15 7
6 7
66 29:37 31:72 20:31 22:66 56:72 9:06 7 7
6 7
4 5
6 31:71 95:15 49:84 95:15 9:06 190:31 7
ð9:2:10Þ
where the numbers above the columns indicate the nodal orders of degrees of freedom in
the element 1 stiffness matrix.
Figure 9–12 Element 2 of the discretized cylinder
For element 2 (Figure 9–12), the coordinates are ri ¼ 1:0, zi ¼ 0:0, rj ¼ 1:0,
zj ¼ 0:5, rm ¼ 0:75, and zm ¼ 0:25 (i ¼ 2, j ¼ 3, and m ¼ 5 for element 2). Therefore,
ai ¼ ð1:0Þð0:25Þ ð0:5Þð0:75Þ ¼ 0:125 in2
aj ¼ ð0:75Þð0:0Þ ð0:25Þð1:0Þ ¼ 0:25 in2 ð9:2:11Þ
am ¼ ð1:0Þð0:5Þ ð0:0Þð1:0Þ ¼ 0:5 in2
bi ¼ 0:5 0:25 ¼ 0:25 in: bj ¼ 0:25 0:0 ¼ 0:25 in:

bm ¼ 0:0 0:5 ¼ 0:5 in: gi ¼ 0:75 1:0 ¼ 0:25 in:
gj ¼ 1:0 0:75 ¼ 0:25 in: gm ¼ 1:0 1:0 ¼ 0:0 in:
and r ¼ 0:9167 in:z ¼ 0:25 in:A ¼ 0:0625 in2

Using Eqs. (9.2.11) in Eq. (9.2.2) and proceeding as for element 1, we obtain the stiff-
ness matrix for element 2 as
i¼2 j¼3 m¼5

85:75 46:07 52:52 12:84 118:92 33:23
kð2Þ 106 2 6
46:07 52:52
74:77
12:84
12:8485:74
41:54 46:07
45:32 118:92
33:23 3in:
33:23 7
6 7 lb
½ ¼ð Þ6 12:84 41:54 46:07 74:77 45:32 33:23 7
6 7
6
6 118:92
45:32 118:92
45:32 216:41 0 7 7
6 7
4 5
6 33:23 33:23 33:23 33:23 0 66:46 7
ð9:2:12Þ
We obtain the stiffness matrices for elements 3 and 4 in a manner similar to that
used to obtain the stiffness matrices for elements 1 and 2. Thus,
2 38:52
i¼3 61:17
j¼4 2:26 33:98
m¼5 3
22:66 95:15
72:58 38:52 31:63 11:33 20:31 49:84

lb
6
kð3Þ
½
¼ ð 10 Þ 6 6
31:63 2:26 54:46 29:45 29:37 7
31:72 in: 7
11:33 33:98 29:45 61:17 31:72 95:15 7

6 7
6
66
20:31 22:66
29:37 31:72 56:72 9:06 7 7
6 7
4 5
6 49:84 95:15 31:72 95:15 9:06 190:31 7
ð9:2:13Þ
and
i¼4 j¼1 m¼5
3
4 6 2 21:90 47:57 0:75 26:43
lb 36:24 21:14
41:53 21:90 20:39 0:75 66:45 21:14 7

½kð Þ ¼ ð10 Þ 6 20:39 0:75 41:53 21:90 66:45 21:14 in:
6 7
6 7
6 0:75 26:43 21:90 47:57 36:24 21:14 7
6 6
66:45 36:24 66:45 36:24 169:14 0 7
7
6 7
4 5
6 21:14 21:14 21:14 21:14 0 42:28 7
ð9:2:14Þ
Using superposition of the element stiffness matrices [Eqs. (9.2.10) and (9.2.12) through
(9.2.14)], where we rearrange the elements of each stiffness matrix in order of increasing
nodal degrees of freedom, we obtain the global stiffness matrix as
95:99 51:35 31:63 2:26 0 0 20:39 0:75 95:82 52:86

2 6
51:35 31:63
108:74 11:33
11:33 158:34
33:98 84:59
0 52:52
0 12:84 0
0:75 26:43
0
67:96 139:2
116:3 3 83:077
6 7
6 7
6 2:26 33:98 84:59 135:94 12:84 41:54 0 0 67:98 128:4 7
½
K ¼ ð 10 6 0 0 12:84 84:59 135:94 2:26 33:98 67:98
7 in:
6 6 0 0 52:52 12:84 158:33 84:59 31:63 11:33 139:2 83:077 lb

6 7
6 20:39 0:75 0 0 31:63 2:26 95:99 51:35 95:82 52:86 7
6 7
6 7
6 7
6 0:75 26:43 0 0 11:33 33:98 51:35 108:74 67:96 116:3 7
6 6
7
7
6 95:82 67:96 139:2 67:98 139:2 67:98 95:82 67:96 498:99 0 7

4 5
6 52:86 116:3 83:07 128:4 83:07 128:4 52:86 116:3 0 489:36 7
The applied nodal forces are given by Eq. (9.1.36) as ð9:2:15Þ
2pð0:5Þð0:5Þ 1 0:785 lb F
9:2:16 F
4r ¼ 2 ð Þ ¼ ð Þ
1r ¼
All other nodal forces are zero. Using Eq. (9.2.15) for ½K and Eq. (9.2.16) for the nodal
forces in Eq. (9.2.1), and solving for the nodal displacements, we obtain
u1 ¼ 0:0322 10 6 in: w1 ¼ 0:00115 10 6 in:

u2 ¼ 0:0219 10 6 in: w2 ¼ 0:00206 10 6 in:
6
u3 ¼ 0:0219 10 6 in: w3 ¼ 0:00206 10 in: ð9:2:17Þ
u 6 6
4 ¼ 0:0322 10 in: w4 ¼ 0:00115 10 in:
u
5 ¼ 0:0244 10 6 in: w5 ¼ 0
The results for nodal displacements are as expected because radial displacements at the
inner edge are equal ðu1 ¼ u4Þ and those at the outer edge are equal ðu2 ¼ u3Þ. In
addition, the axial displacements at the outer nodes and inner nodes are equal but
opposite in sign (w1 ¼ w4 and w2 ¼ w3) as a result of the Poisson effect and symmetry.
Finally, the axial displacement at the center node is zero ðw5 ¼ 0Þ, as it should be
because of symmetry.
9.3 Applications of Axisymmetric Elements d 469
By using Eq. (9.1.22), we now determine the stresses in each element as

fsg ¼ ½D ½B fdg 9:2:18
ð Þ
For element 1, we use Eq. (9.2.5) for ½B , Eq. (9.2.8) for ½D , and Eq. (9.2.17) for fdg
in Eq. (9.2.18) to obtain
sr ¼ 0:338 psi sz ¼ 0:0126 psi

sy ¼ 0:942 psi trz ¼ 0:1037 psi
Similarly, for element 2, we obtain
sr ¼ 0:105 psi sz ¼ 0:0747 psi

sy ¼ 0:690 psi trz ¼ 0:000 psi
For element 3, the stresses are
sr ¼ 0:337 psi sz ¼ 0:0125 psi

sy ¼ 0:942 psi trz ¼ 0:1037 psi
For element 4, the stresses are
sr ¼ 0:470 psi sz ¼ 0:1493 psi

sy ¼ 1:426 psi trz ¼ 0:000 psi
Figure 9–13 shows the exact solution [10] along with the results determined here and the
results from Reference [5]. Observe that agreement with the exact solution is quite good
except for the limited results due to the very coarse mesh used in the longhand example,
and in case 1 of Reference [5]. In Reference [5], stresses have been plotted at the center
of the quadrilaterals and were obtained by averaging the
stresses in the four connecting triangles. 9
d 9.3 Applications of Axisymmetric Elements d

Numerous structural (and nonstructural) systems can be classified as axisymmetric.
Some typical structural systems whose behavior is modeled accurately using the
axisymmetric element developed in this chapter are represented in Figures 9–14, 9–15,
and 9–17.
Figure 9–14 illustrates the finite element model of a steel-reinforced concrete
pressure vessel. The vessel is a thick-walled cylinder with flat heads. An axis of sym-
metry (the z axis) exists such that only one-half of the r-z plane passing through the
middle of the structure need be modeled. The concrete was modeled by using the
axisymmetric triangular element developed in this chapter. The steel elements were laid
out along the boundaries of the concrete elements so as to maintain continuity (or perfect
bond assumption) between the concrete and the steel. The vessel was then
(psi)
(in.)
Figure 9–13 Finite element analysis of a thick-walled cylinder under internal

pressure
subjected to an internal pressure as shown in the figure. Note that the nodes along the
axis of symmetry should be supported by rollers preventing motion perpendicular to the
axis of symmetry.
Figure 9–15 shows a finite element model of a high-strength steel die used in a
thin-plastic-film-making process [7]. The die is an irregularly shaped disk. An axis of
symmetry with respect to geometry and loading exists as shown. The die was modeled
by using simple quadrilateral axisymmetric elements. The locations of high stress were
of primary concern. Figure 9–16 shows a plot of the von Mises stress contours for the
Figure 9–14 Model of steel-reinforced concrete pressure vessel (Reprinted from Nuclear
Engineering and Design Volume 3, Issue 1, Rashid, Yosef R., Analysis of Axisymmetric
Composite Structures by the Finite Element Method, Pages No. 163–182, Copyright
1966, with permission from Elsevier.)
die of Figure 9–15. The von Mises (or equivalent, or effective) stress [8] is often used as
a failure criterion in design. Notice the artificially high stresses at the location of load F
as explained in Section 7.1.
(Recall that the failure criterion based on the maximum distortion energy theory for
ductile materials subjected to static loading predicts that a material will fail if the von
Mises stress reaches the yield strength of the material.) Also recall from Eqs. (6.5.37) and
(6.5.38), the von Mises stress svm is related to the principal stresses by the expression
1
q
svm ¼ p2 ðs1 s2Þ2 þ ðs2
s3Þ2 þ ðs3 s1Þ2 ð9:3:1Þ
where the principal stresses are given by s1, s2, and s3. These results were obtained from
the commercial computer code ANSYS [12].
Figure 9–15 Model of a high-strength steel die (924 nodes and 830 elements)
Figure 9–16 von Mises stress contour plot of axisymmetric model of Figure 9–15
(also producing a radial inward deflection of about 0.015 in.)
2 0.375 rad
700 N/cm
700 N/cm 2
5.0 dia. 3.75 dia.
5 (1.875, 5)
(1.875, 2.875)
R = 0.375
(2.5, 2.5)
(2.5, 1.875)
2.5 cm
(a) (b)
Figure 9–17 (a) Stepped shaft subjected to axial load and (b) the discretized model
Other dies with modifications in geometry were also studied to evaluate the most
suitable die before the construction of an expensive prototype. Confidence in the ac-
ceptability of the prototype was enhanced by doing these comparison studies. Finally,
Figure 9–17 shows a stepped 4130 steel shaft with a fillet radius subjected to an axial
pressure of 1000 psi in tension. Fatigue analysis for reversed axial loading required an
accurate stress concentration factor to be applied to the average axial stress of 1000 psi.
The stress concentration factor for the geometry shown was to be deter-mined. Therefore,
locations of highest stress were necessary. Figure 9–18 shows the resulting maximum
principal stress plot using a computer program [11]. The largest principal stress was
1507.4 N/cm2 at the fillet. Other examples of the use of the axi-symmetric element can
be found in References [2–6].
In this chapter, we have shown the finite element analysis of axisymmetric sys-
tems using a simple three-noded triangular element to be analogous to that of the two-
dimensional plane stress problem using three-noded triangular elements as devel-oped in
Chapter 6. Therefore, the two-dimensional element in commercial computer programs
with the axisymmetric element selected will allow for the analysis of axisym-metric
structures.
Figure 9–18 Three-dimensional visual of shaft of Figure 9–17 showing principal

stress plot (See the full-color insert for a color version of this figure.)
Finally, note that other axisymmetric elements, such as a simple quadrilateral (one
with four corner nodes and two degrees of freedom per node, as used in the steel die
analysis of Figure 9–15) or higher-order triangular elements, such as in Reference [6], in
which a cubic polynomial involving ten terms (ten a’s) for both u and w, could be used
for axisymmetric analysis. The three-noded triangular element was described here
because of its simplicity and ability to describe geometric boundaries rather easily.
d Summary Equations
(All pertain to axisymmetric element).
Strain-displacement relationships for axisymmetric behavior:
qu u qw qu qw
ð9:1:1eÞ
er ¼ qr ey ¼ r ez ¼ qz grz ¼ qz þ qr
Stress–strain relationships for isotropic material:
8 9
21 n n n 0 3
sr er
8
sz E n 1 n n 0 ez 9
>
s > 1 n 1 2n 6 n n 1 n 0 7 ey ð9:1:2Þ
> y > ¼ 6 7> >
> > > >
< = ð þ Þð Þ 6 7< =
trz
66
1 2n
7
7
g rz
> > 6 0 0 0 7
> >
>
>
>
> 6 2
7:
> >
;
: ; 4 5
Summary Equations d 475
Displacement functions for axisymmetric triangle element:

uðr; zÞ ¼ a1 þ a2r þ a3z
wðr; zÞ ¼ a4 þ a5r þ a6z ð9:1:3Þ
Shape functions for axisymmetric triangle element:
1
N¼ ða þ b r þ g zÞ
i 2A i i i
1
N¼ ð þ r þ zÞ ð9:1:12Þ
j 2A aj bj gj
1
N ¼ ðam þ bmr þ gmzÞ
m 2A
Gradient matrix:
2 0i gi 3
b 0
B ð9:1:19Þ
½ i
¼2A 6ai bi
gi z 7
1 6rþ
0
6
þr 7
7
6 gi bi 7
6 7
4 5
and ð9:1:21Þ
½B ¼ ½½Bi ½Bj ½Bm

Strain–displacement equations in matrix form: ð9:1:20Þ
feg ¼ ½B fdg
Stress–displacement equations in matrix form: ð9:1:22Þ
fsg ¼ ½D ½B fdg
Element stiffness matrix:
ðð ð9:1:24Þ
½k ¼ 2p ½B T ½D ½B r dr dz
A
First approximation stiffness matrix: ð9:1:26Þ

T
½k ¼ 2prA½B ½D ½B
Body force matrix (first approximation):
8 9
> Rb >
> >
> >
> Zb >
> >
>
>
>
>
> >
ð9:1:31Þ
< =
f g ¼ 2prA Rb
fb
3 >> Zb >>
> >
>R>
> >
>b>
> >
> >
: ; ð9:1:32Þ
Zb
Rb ¼ o2rr
Surface force matrix on side j–m of element subjected to uniform radial and axial
pressure:
8 0 9
2prj zm z
j
> p0 >
> r >
> >
fs ð Þ > > 9:1:36

2 >
>
>
>
f g¼ > pz > ðÞ
><
>
=
> pr >
> pz >
> >
>>
>
>
> >
> >
> >
: ;
d References
[1] Utku, S., Explicit Expressions for Triangular Torus Element Stiffness Matrix,’’ Journal of
the American Institute of Aeronautics and Astronautics, Vol. 6, No. 6, pp. 1174–1176,
June 1968.
[2] Zienkiewicz, O. C., The Finite Element Method, 3rd ed., McGraw-Hill, London, 1977.
[3] Clough, R., and Rashid, Y., Finite Element Analysis of Axisymmetric Solids,’’ Journal of
the Engineering Mechanics Division, American Society of Civil Engineers, Vol. 91, pp. 71–85,
Feb. 1965.
[4] Rashid, Y., Analysis of Axisymmetric Composite Structures by the Finite Element Method,’’
Nuclear Engineering and Design, Vol. 3, pp. 163–182, 1966.
[5] Wilson, E., Structural Analysis of Axisymmetric Solids,’’ Journal of the American Institute
of Aeronautics and Astronautics, Vol. 3, No. 12, pp. 2269–2274, Dec. 1965.
[6] Chacour, S., A High Precision Axisymmetric Triangular Element Used in the Analysis of
Hydraulic Turbine Components,’’ Transactions of the American Society of Mechanical
Engineers, Journal of Basic Engineering, Vol. 92, pp. 819–826, 1973.
[7] Greer, R. D., The Analysis of a Film Tower Die Utilizing the ANSYS Finite Element Pack-
age, M.S. Thesis, Rose-Hulman Institute of Technology, Terre Haute, IN, May 1989.
[8] Gere, J. M., and Goodno, B. J., Mechanics of Materials, 7th ed., Cengage Learning, Mason,
OH, 2009.
[9] Cook, R. D., Malkus, D. S., Plesha, M. E., and Witt, R. J., Concepts and Applications of
Finite Element Analysis, 4th ed., Wiley, New York, 2002.
[10] Cook, R. D., and Young, W. C., Advanced Mechanics of Materials, Macmillan, New York,
1985.
[11] Algor Interactive Systems, 150 Beta Drive, Pittsburgh, PA 15238.
[12] Swanson, J. A. ANSYS-Engineering Analysis System’s User’s Manual, Swanson Analysis
Systems, Inc., Johnson Rd., P.O. Box 65, Houston, PA 15342.
d Problems
9.1 For the elements shown in Figure P9–1, evaluate the stiffness matrices using Eq. (9.2.2).
The coordinates are shown in the figures. Let E ¼ 30 106 psi and n ¼ 0:25 for each
element.
9.2 Evaluate the nodal forces used to replace the linearly varying surface traction shown in
Figure P9–2. Hint: Use Eq. (9.1.34).

8-Axisymmetric Element

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CHAPTER 9

d 9.1 Derivation of the Stiffness Matrix d

Figure 9–1 Typical axisymmetric element ijm

(a) soil mass

(b) enclosed pressure vessel (c) engine valve stem

Figure 9–3 (a) Plane cross section of (b) axisymmetric element

Figure 9–4 Displacement and rotations

Figure 9–5 Discretized axisymmetric solid

Step 1 Select Element Type

Step 2 Select Displacement Functions

uðr; zÞ ¼ a1 þ a2r þ a3z

and u evaluated at node i is : ;

uðri; ziÞ ¼ ui ¼ a1 þ a2ri þ a3zi ð9:1:5Þ

ai ¼ rj zm zj r m aj ¼ rmzi zmri a m ¼ r izj zir j

> um > ð9:1:14Þ

Step 3 Define the Strain=Displacement and Stress=Strain

or, rewriting Eq. (9.1.17) in simplified matrix form,

eB B B > > 9:1:18

feg ¼ ½B fdg ð9:1:20Þ

where ½B ¼ ½½Bi ½Bj ½Bm

is called the gradient matrix.

fsg ¼ ½D ½B fdg ð9:1:22Þ

Step 4 Derive the Element Stiffness Matrix and Equations

We can evaluate Eq. (9.1.24) for ½k by one of three methods:

Distributed Body Forces

Figure 9–6 Axisymmetric element with body

Multiplying and integrating in Eq. (9.1.28), we obtain

fb > > 9:1:31

Figure 9–7 Axisymmetric element with surface forces

fs ð Þ > > 9:1:36

Figure 9–8 Axisymmetric element subjected to

and by Eq. (9.1.32), we have

ð0:283 lb=in3Þ ð2:333 in:

fb1r ¼ ð2:44Þð0:187Þ ¼ 0:457 lb

fb1z ¼ ð2:44Þð0:283Þ ¼ 0:691 lb ðdownwardÞ

fb2r ¼ 0:457 lb fb2z ¼ 0:691 lb

d 9.2 Solution of an Axisymmetric Pressure Vessel d

Figure 9–9 Thick-walled cylinder subjected to internal

Figure 9–10 Discretized cylinder slice

> 5r > > u5 >

Assemblage of the Stiffness Matrix

For element 1 (Figure 9–11), the coordinates are ri ¼ 0:5, zi ¼ 0, rj ¼ 1:0, zj ¼ 0,

Figure 9–11 Element 1 of the discretized cylinder

We now evaluate ½B , where ½B is given by Eq. (9.1.19) evaluated at the centroid

ai ¼ rj zm zj rm ¼ ð1:0Þð0:25Þ ð0:0Þð0:75Þ ¼ 0:25 in2

aj ¼ rmzi zmri ¼ ð0:75Þð0Þ ð0:25Þð0:5Þ ¼ 0:125 in2

a m ¼ r izj zirj ¼ ð0:5Þð0:0Þ ð0Þð1:0Þ ¼ 0:0 in2

bj ¼ zm zi ¼ 0:25 0 ¼ 0:25 in: ð9:2:4Þ

b m ¼ zi zj ¼ 0:0 0:0 ¼ 0:0 in:

gi ¼ rm rj ¼ 0:75 1:0 ¼ 0:25 in:

g m ¼ rj ri ¼ 1:0 0:5 ¼ 0:5 in:

With n ¼ 0:3 and E ¼ 30 106 psi, we obtain

B T D 57:7ð106Þ 6 0:192 0:0917 0:114 0:05 7 9:2:9

6 0:15 0:35 0:15 0 7

i¼1 j¼2 m¼5

Figure 9–12 Element 2 of the discretized cylinder

bi ¼ 0:5 0:25 ¼ 0:25 in: bj ¼ 0:25 0:0 ¼ 0:25 in:

and r ¼ 0:9167 in:z ¼ 0:25 in:A ¼ 0:0625 in2

i¼2 j¼3 m¼5

72:58 38:52 31:63 11:33 20:31 49:84

11:33 33:98 29:45 61:17 31:72 95:15 7

41:53 21:90 20:39 0:75 66:45 21:14 7

95:99 51:35 31:63 2:26 0 0 20:39 0:75 95:82 52:86