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 ð9:1:1aÞ
qr
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
ðr þ uÞ dy r dy u
ey ¼ ¼ ð9:1:1bÞ
r dy r
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 ð9:1:1cÞ
qz
and the shear strain in the r-z plane given by
qu qw
grz ¼ þ ð9:1:1dÞ
qz qr
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 ey ¼ ez ¼ grz ¼ þ ð9:1:1eÞ
qr r qz qz qr
The isotropic stress–strain relationship, obtained by simplifying the general
stress–strain relationships given in Appendix C, is
2 3
8 9 1n n n 0
> sr > > 6 78 9
>
> > 6 n n n 7> er >
<s = 6 1 0 7>< > =
z E 6 7 ez
¼ 6 n n 1n 7
0 7 > ey > ð9:1:2Þ
>
> s > ð1 þ nÞð1 2nÞ 6
> y>
: >
; 6 7>: > ;
trz 4 1 2n 5 grz
0 0 0
2
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 a2 r þ a3 z
ð9:1:3Þ
wðr; zÞ ¼ a4 þ a5 r þ a6 z
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
8 9
> ui >
>
> >
>
8 9 >> wi >
>
> >
< i = < u >
> fd g > > =
j
fdg ¼ fd j g ¼ ð9:1:4Þ
:fd g>
> ; >> wj >
>
>
> >
>
> u >
m
> >
: m>
> ;
wm
and u evaluated at node i is
uðri ; zi Þ ¼ ui ¼ a1 þ a2 ri þ a3 zi ð9:1:5Þ
Using Eq. (9.1.3), the general displacement function is then expressed in matrix form as
8 9
> a1 >
>
> >
>
>
> a >
2>
>
> >
>
u a1 þ a2 r þ a3 z 1 r z 0 0 0 < a3 =
fcg ¼ ¼ ¼ ð9:1:6Þ
w a4 þ a5 r þ a 6 z 0 0 0 1 r z > a >
> 4>
>
> >
>
>
> a >>
: 5>
> ;
a6
Substituting the coordinates of the nodal points shown in Figure 9–5(a) into
Eq. (9.1.6), we can solve for the ai ’s in a manner similar to that in Section 6.2. The
resulting expressions are
8 9 2 31 8 9
< a1 = 1 ri z i < ui =
6 7
a 2 ¼ 4 1 rj z j 5 u ð9:1:7Þ
: ; : j ;
a3 1 rm z m um
8 9 2 31 8 9
< a4 = 1 ri zi < wi =
6 7
and a ¼ 4 1 r j zj 5 w ð9:1:8Þ
: 5; : j ;
a6 1 rm zm wm
Performing the inversion operations in Eqs. (9.1.7) and (9.1.8), we have

8 9 2 38 9
< a1 = ai a j a m < u i =
1 6 7
a ¼ 4 b i b j b m 5 uj ð9:1:9Þ
: 2 ; 2A : ;
a3 gi gj gm um
8 9 2 38 9
< a4 = ai aj am < w i =
1 6
and a5 ¼ b
4 i bj bm 7
5 wj ð9:1:10Þ
: ; 2A : ;
a6 gi gj gm wm
where
a i ¼ rj z m z j r m a j ¼ rm z i z m r i a m ¼ r i z j z i rj
b i ¼ zj zm b j ¼ zm zi b m ¼ zi zj ð9:1:11Þ
g i ¼ rm rj g j ¼ ri rm g m ¼ r j ri
We define the shape functions, similar to Eqs. (6.2.18), as

1
Ni ¼ ðai þ bi r þ gi zÞ
2A
1
Nj ¼ ðaj þ bj r þ gj zÞ ð9:1:12Þ
2A
1
Nm ¼ ðam þ bm r þ gm zÞ
2A
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
8 9
> ui >
>
> >
>
>
>
> wi >
>
>
> >
uðr; zÞ Ni 0 Nj 0 Nm 0 < uj =
fcg ¼ ¼ ð9:1:13Þ
wðr; zÞ 0 Ni 0 Nj 0 Nm >> wj >
> >
>
> >
>
>
> um >
>
>
: ;
wm
or fcg ¼ ½N fdg ð9:1:14Þ
Step 3 Define the Strain=Displacement and Stress=Strain

Relationships
When we use Eqs. (9.1.3) in (9.1.1e), the strains become
8 9
>
> a2 >
>
>
> >
>
< a6 =
feg ¼ a1 a3 z ð9:1:15Þ
> þ a2 þ >
>
>
>
: r r > >
>
;
a 3 þ a5
Rewriting Eq. (9.1.15) with the ai ’s as a separate column matrix, we have

2 38 9
0 > a1 >
8 9 60 1 0 0 0
7>> >
>
> er > >
> >
2>
> > 6 7
1 7>
a >
>
<e >
> = 66
0 0 0 0 0 >
7 < a3 =
¼6 7
z
61 z 7 a4 > ð9:1:16Þ
> ey >
> > 6 1 0 0 0 7>> >
>
: ; 6r> 7>> > >
5> a >
r
grz 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
2 38 9
bi 0 bj 0 bm 0 >
>
ui >
>
6 7>> wi >
>
>
6 0 gi 0 gj 0 gm 7 >
> >
1 6 7 < uj =
feg ¼ 6 ai gi z aj gj z am g z 7
2A 6
6 þ bi þ 0 þ bj þ 0 þ bm þ m 0 7
7>> wj >
>
5> >
4 r r r r r r >
>
> um >
>
>
: ;
gi bi gj bj gm bm wm
ð9:1:17Þ
or, rewriting Eq. (9.1.17) in simplified matrix form,

8 9
> ui >
>
> >
>
>
>
> wi >>
>
< u >
> =
j
feg ¼ ½½Bi ½Bj ½Bm ð9:1:18Þ
>
> wj >>
>
> >
>
>
> u >
m >
>
: >
;
wm
2 3
bi 0
6 7
6 0 gi 7
where 1 6
6 ai
7
7
½Bi ¼ gi z ð9:1:19Þ
2A 6
6 r þ bi þ r 07 7
4 5
gi bi
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
½k ¼ ½B T ½D ½B dV ð9:1:23Þ
V
ðð
or ½k ¼ 2p ½B T ½D ½B r dr dz ð9:1:24Þ
A
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 i þ rj þ rm zi þ zj þ zm
r¼r¼ z¼z¼ ð9:1:25Þ
3 3
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
ðð
Rb
f fb g ¼ 2p ½N T r dr dz ð9:1:27Þ
Zb
A
where Rb ¼ o 2 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
ðð
T Rb
f fbi g ¼ 2p ½Ni r dr dz ð9:1:28Þ
Zb
A

where T Ni 0
½Ni ¼ ð9:1:29Þ
0 Ni
Figure 9–6 Axisymmetric element with body

forces per unit volume
Multiplying and integrating in Eq. (9.1.28), we obtain
2p Rb
f fbi g ¼ Ar ð9:1:30Þ
3 Zb
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
>
> R >
> b>
> >
>
>
> Zb >
>
>
> >
>
2prA < Rb =
f fb g ¼ ð9:1:31Þ
3 >> Zb >
>
>
> > >
>
>
> Rb >
>
> >
: > ;
Zb
where Rb ¼ o 2 rr ð9:1:32Þ
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 fs g 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
ðð
pr
f fs g ¼ ½Ns T dS ð9:1:34Þ
pz
S
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
ð zm " #( )
1 aj þ b j r þ g j z 0 pr
f fsj g ¼ 2prj dz ð9:1:35Þ
zj 2A 0 aj þ b j r þ g j z pz
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 9
>
> 0> >
>
> >
>
>
> 0 >
>
>
> > >
<
2prj ðzm zj Þ pr =
f fs g ¼ ð9:1:36Þ
2 >
> pz >
>
>
> >
>
>
> 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/in 3 .
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=in 3
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

rev rad 1 min 2 ð0:283 lb=in 3 Þ
Rb ¼ o 2 rr ¼ 100 2p ð2:333 in:Þ
min rev 60 s ð32:2 12Þ in:=s 2
Rb ¼ 0:187 lb=in 3
2prA 2pð2:333Þð0:5Þ
¼ ¼ 2:44 in 3
3 3
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 9 8 9
>
> F1r >> >
> u1 >>
> >
> > >
>
>
> F1z > >
>
>
> w1 >>
>
> > > >
> F2r >
>
> >
> > u2 >
>
> >
>
> >
> > >
>
>
> >
> > >
>
> >
>
>
> F 2z >
> >
> w 2 >
>
>
<F = > <u >
> =
3r 3
¼ ½K ð9:2:1Þ
>
> F3z > > >
> w3 >>
>
> >
> >
> >
>
>
> F > > >
> u > >
> 4r >
>
> >
> > 4>
>
> >
>
>
> F4z > > >
> w4 >>
>
> >
> >
> >
>
> >
> > >
>
> F >
5r > >
> u 5 >
>
>
: ; : >
> ;
F5z w5
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
2 3
bi 0 bj 0 bm 0
6 7
6 0 gi 0 gj 0 gm 7
1 66 7
½B ¼ g 7 ð9:2:3Þ
6 a
2A 6 i þ b þ i g z a j j z a m g z 7
0 þ b þ 0 þ b þ m
0 7
4r i
r r j
r r m
r 5
gi bi gj bj gm bm
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 in 2
aj ¼ rm zi zm ri ¼ ð0:75Þð0Þ ð0:25Þð0:5Þ ¼ 0:125 in 2
am ¼ ri zj zi rj ¼ ð0:5Þð0:0Þ ð0Þð1:0Þ ¼ 0:0 in 2
b i 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
bm 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:
gm ¼ rj ri ¼ 1:0 0:5 ¼ 0:5 in:
1 1
and r ¼ 0:5 þ ð0:5Þ ¼ 0:75 in: z ¼ ð0:25Þ ¼ 0:0833 in:
2 3
1
A ¼ ð0:5Þð0:25Þ ¼ 0:0625 in 2
2
Substituting the results from Eqs. (9.2.4) into Eq. (9.2.3), we obtain
2 3
0:25 0 0:25 0 0 0
1 6 6 0 0:25 0 0:25 0 0:5 7
7 1
½B ¼ 6 7 ð9:2:5Þ
0:125 4 0:0556 0 0:0556 0 0:0556 0 5 in:
0:25 0:25 0:25 0:25 0:5 0
For the axisymmetric stress case, the matrix ½D is given in Eq. (9.1.2) as
2 3
1n n n 0
6 7
6 n 1n n 0 7
E 6 7
½D ¼ 6 0 7 ð9:2:6Þ
ð1 þ nÞð1 2nÞ 6 n n 1n 7
4 1 2n 5
0 0 0
2
With n ¼ 0:3 and E ¼ 30 10 6 psi, we obtain
2 3
1 0:3 0:3 0:3 0
6 7
6 0:3 1 0:3 0:3 0 7
30ð10 6 Þ 6 7
½D ¼ 6 1 0:3 7 ð9:2:7Þ
ð1 þ 0:3Þ½1 2ð0:3Þ 6 0:3 0:3 0 7
4 1 2ð0:3Þ 5
0 0 0
2
or, simplifying Eq. (9.2.7),

2 3
0:7 0:3 0:3 0
6 0:3 0 7
6 0:7 0:3 7
½D ¼ 57:7ð10 6 Þ6 7psi ð9:2:8Þ
4 0:3 0:3 0:7 0 5
0 0 0 0:2
Using Eqs. (9.2.5) and (9.2.8), we obtain
2 3
0:158 0:0583 0:0361 0:05
6 7
6 0:075 0:175 0:075 0:05 7
6 7
57:7ð10 6 Þ 6
6 0:192 0:0917 0:114 0:05 7
7
½B T ½D ¼ ð9:2:9Þ
0:125 6 6 0:075 0:175 0:075 0:05 7
7
6 7
4 0:0167 0:0166 0:0388 0:1 5
0:15 0:35 0:15 0
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

2 3
54:46 29:45 31:63 2:26 29:37 31:71
6 7
6 29:45 61:17 11:33 33:98 31:72 95:15 7
6 7 lb
6
6 6 31:63 11:33 72:59 38:52 20:31 49:84 7
7 in:
½kð1Þ ¼ ð10 Þ 6
6 2:26 33:98 38:52 61:17 22:66 95:15 7
7
6 7
4 29:37 31:72 20:31 22:66 56:72 9:06 5
31:71 95:15 49:84 95:15 9:06 190:31
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 in 2
aj ¼ ð0:75Þð0:0Þ ð0:25Þð1:0Þ ¼ 0:25 in 2 ð9:2:11Þ
am ¼ ð1:0Þð0:5Þ ð0:0Þð1:0Þ ¼ 0:5 in 2
b i ¼ 0:5 0:25 ¼ 0:25 in: b j ¼ 0:25 0:0 ¼ 0:25 in:

b m 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 in 2

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
2 3
85:75 46:07 52:52 12:84 118:92 33:23
6 7
6 46:07 74:77 12:84 41:54 45:32 33:23 7
6 7 lb
6 52:52 12:84 85:74 46:07 118:92 33:23 7
½k ð2Þ ¼ ð10 6 Þ 6
6 12:84
7 in:
6 41:54 46:07 74:77 45:32 33:23 77
6 7
4 118:92 45:32 118:92 45:32 216:41 0 5
33:23 33:23 33:23 33:23 0 66:46
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,
i¼3 j¼4 m¼5
2 3
72:58 38:52 31:63 11:33 20:31 49:84
6 7
6 38:52 61:17 2:26 33:98 22:66 95:15 7
6 7 lb
6 31:63 2:26 54:46 29:45 29:37 31:72 7
7 in:
½k ð3Þ ¼ ð10 6 Þ 6
6 11:33
6 33:98 29:45 61:17 31:72 95:15 7
7
6 7
4 20:31 22:66 29:37 31:72 56:72 9:06 5
49:84 95:15 31:72 95:15 9:06 190:31
ð9:2:13Þ
and
i¼4 j¼1 m¼5
2 3
41:53 21:90 20:39 0:75 66:45 21:14
6 7
6 21:90 47:57 0:75 26:43 36:24 21:14 7 lb
6 7
½k ð4Þ ¼ ð10 6 Þ 6 20:39 0:75 41:53 21:90 66:45 21:14 7
6 7 in:
6 0:75 26:43 47:57 36:24 21:14 7
6 21:90 7
6 7
4 66:45 36:24 66:45 36:24 169:14 0 5
21:14 21:14 21:14 21:14 0 42:28
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
2 3
95:99 51:35 31:63 2:26 0 0 20:39 0:75 95:82 52:86
6 7
6 51:35 108:74 11:33 33:98 0 0 0:75 26:43 67:96 116:3 7
6 7
6
6 31:63 11:33 158:34 84:59 52:52 12:84 0 0 139:2 83:07 7
7
6
6 2:26 33:98 84:59 135:94 12:84 41:54 0 0 67:98 128:4 77
6 7
6 6 0 0 52:52 12:84 158:33 84:59 31:63 11:33 139:2 83:07 7 lb
½K ¼ ð10 Þ6 7
6
6 0 0 12:84 41:54 84:59 135:94 2:26 33:98 67:98 128:4 77
in:
6
6 20:39 0:75 0 0 31:63 2:26 95:99 51:35 95:82 52:86 7
7
6 7
6 0:75 26:43 0 0 11:33 33:98 51:35 108:74 67:96 116:3 7
6 7
4 95:82 67:96 139:2 67:98 139:2 67:98 95:82 67:96 498:99 0 5
52:86 116:3 83:07 128:4 83:07 128:4 52:86 116:3 0 489:36
ð9:2:15Þ
The applied nodal forces are given by Eq. (9.1.36) as
2pð0:5Þð0:5Þ
F1r ¼ F4r ¼ ð1Þ ¼ 0:785 lb ð9:2:16Þ
2
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 106 in: w1 ¼ 0:00115 106 in:
u2 ¼ 0:0219 106 in: w2 ¼ 0:00206 106 in:
u3 ¼ 0:0219 106 in: w3 ¼ 0:00206 106 in: ð9:2:17Þ
u4 ¼ 0:0322 106 in: w4 ¼ 0:00115 106 in:
u5 ¼ 0:0244 106 in: w5 ¼ 0
The results for nodal displacements are as expected because radial displacements
at the inner edge are equal ðu1 ¼ u4 Þ and those at the outer edge are equal ðu2 ¼ u3 Þ.
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
ð9:2:18Þ
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
q
1
svm ¼ p ðs1 s2 Þ 2 þ ðs2 s3 Þ 2 þ ðs3 s1 Þ 2 ð9:3:1Þ
2
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.)
0.375 rad
700 N/cm2
700 N/cm2
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
er ¼ ey ¼ ez ¼ grz ¼ þ ð9:1:1eÞ
qr r qz qz qr
Stress–strain relationships for isotropic material:
2 3
8 9 1n n n 0
> sr > 6 78 9
>
> >
> 6 n n n 7> er >
<s = 6 1 0 7>< > =
z E 6 7 e
¼ 6 n n 1n 7
z
0 7 > ey > ð9:1:2Þ
>
> sy >
> ð1 þ nÞð1 2nÞ 6
: >
> ; 6 7>: > ;
trz 4 1 2n 5 grz
0 0 0
2
Summary Equations d 475
Displacement functions for axisymmetric triangle element:

uðr; zÞ ¼ a1 þ a2 r þ a3 z
wðr; zÞ ¼ a4 þ a5 r þ a6 z ð9:1:3Þ
Shape functions for axisymmetric triangle element:
1
Ni ¼ ðai þ bi r þ gi zÞ
2A
1
Nj ¼ ðaj þ bj r þ gj zÞ ð9:1:12Þ
2A
1
Nm ¼ ðam þ bm r þ gm zÞ
2A
Gradient matrix:
2 3
bi 0
6 7
6 0 gi 7
1 6
6 ai
7
7
½Bi ¼ gi z ð9:1:19Þ
2A 6
6 r þ bi þ r 07 7
4 5
gi bi
and
½B ¼ ½½Bi ½Bj ½Bm ð9:1:21Þ
Strain–displacement equations in matrix form:
feg ¼ ½B fdg ð9:1:20Þ
Stress–displacement equations in matrix form:
fsg ¼ ½D ½B fdg ð9:1:22Þ
Element stiffness matrix:
ðð
½k ¼ 2p ½B T ½D ½B r dr dz ð9:1:24Þ
A
First approximation stiffness matrix:

½k ¼ 2prA½B T ½D ½B ð9:1:26Þ
Body force matrix (first approximation):
8 9
>
> Rb >
>
> >
> >
>
> Z >
>
> >
> b
>
2prA Rb =
<
f fb g ¼ ð9:1:31Þ
> Zb >
3 > >
>
> >
>
>
> b>
>
>
>
R >
: > ;
Zb
Rb ¼ o2 rr ð9:1:32Þ
Surface force matrix on side j–m of element subjected to uniform radial and axial
pressure:
8 9
>
> 0> >
>
> >
>
>
>0> >
>
> >
>
2prj ðzm zj Þ < pr =
f fs g ¼ ð9:1:36Þ
2 >
> pz >
>
>
> >
>
>
> >
> 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 10 6 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).

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CHAPTER

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

Figure 9–5 Discretized axisymmetric solid

Step 1 Select Element Type

Step 2 Select Displacement Functions

and u evaluated at node i is

Performing the inversion operations in Eqs. (9.1.7) and (9.1.8), we have

We deﬁne the shape functions, similar to Eqs. (6.2.18), as

or fcg ¼ ½N fdg ð9:1:14Þ

Step 3 Define the Strain=Displacement and Stress=Strain

Rewriting Eq. (9.1.15) with the ai ’s as a separate column matrix, we have

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

feg ¼ ½B fdg ð9:1:20Þ

where ½B ¼ ½½Bi ½Bj ½Bm ð9:1:21Þ

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

Equation (9.1.31) is a ﬁrst approximation to the radially directed body force

Figure 9–7 Axisymmetric element with surface forces

Figure 9–8 Axisymmetric element subjected to

and by Eq. (9.1.32), we have

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

Assemblage of the Stiffness Matrix

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

where, using element coordinates in Eqs. (9.1.11), we have

aj ¼ rm zi zm ri ¼ ð0:75Þð0Þ ð0:25Þð0:5Þ ¼ 0:125 in 2

am ¼ ri zj zi rj ¼ ð0:5Þð0:0Þ ð0Þð1:0Þ ¼ 0:0 in 2

b i ¼ zj zm ¼ 0:0 0:25 ¼ 0:25 in:

bm 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:

gm ¼ rj ri ¼ 1:0 0:5 ¼ 0:5 in:

With n ¼ 0:3 and E ¼ 30 10 6 psi, we obtain

or, simplifying Eq. (9.2.7),

Using Eqs. (9.2.5) and (9.2.8), we obtain

i¼1 j¼2 m¼5

Figure 9–12 Element 2 of the discretized cylinder

b i ¼ 0:5 0:25 ¼ 0:25 in: b j ¼ 0:25 0:0 ¼ 0:25 in:

and r ¼ 0:9167 in: z ¼ 0:25 in: A ¼ 0:0625 in 2

By using Eq. (9.1.22), we now determine the stresses in each element as

Similarly, for element 2, we obtain

sr ¼ 0:105 psi sz ¼ 0:0747 psi

For element 3, the stresses are

sr ¼ 0:337 psi sz ¼ 0:0125 psi

For element 4, the stresses are

d 9.3 Applications of Axisymmetric Elements d

Figure 9–13 Finite element analysis of a thick-walled cylinder under internal

Figure 9–14 Model of steel-reinforced concrete pressure vessel (Reprinted from

Figure 9–18 Three-dimensional visual of shaft of Figure 9–17 showing principal

Finally, note that other axisymmetric elements, such as a simple quadrilateral

Displacement functions for axisymmetric triangle element:

First approximation stiffness matrix: