127

CHAP 6. TWO-DIMENSIONAL ELASTICITY

- A system of coupled second-order partial differential equations

- The main variables are the displacements along the coordinate directions

- Stress and strain can be calculated from displacements

- Principle of minimum total potential energy to create finite element matrix equation

- Triangular, rectangular and quadrilateral finite elements
6.1. Types of Two-Dimensional Problems
Governing Differential Equations
- Governing differential equations:

0
0
xy
xx
x
xy yy
y
b
x y
b
x y

+ + =

+ + =

(6.1)
where b = [b
x
, b
y
]
T
is the body force.

- Definition of strain (displacement-strain relation)

1
, ,
2
xx yy xy
u v u v
x y y x

| |
= = = +
|

\ .
(6.2)

- Stress-strain relation: different from problem types.

11 12 13
21 22 23
31 32 33
{ } [ ]{ }
2
xx xx
yy yy
xy xy
C C C
C C C
C C C




(

(
= =
` `
(

(

) )
C (6.3)
128 Finite Element Analysis and Design

- If Eq. (6.2) is substituted into Eq. (6.3), then stress is expressed in terms of the first-
order derivative of displacements. Thus, from Eq. (6.1) the governing differential
equation is the second-order differential equation.
Plane Stress
-
zz
=
xz
=
yz
= 0.

- Thin plates with in-plane applied force. Cannot use for bending-type, out-of-plane
forces.

- Non-zero stress components are
xx
,
yy
, and
xy
.

- Non-zero strain components are
xx
,
yy
,
xy
, and
zz
.



Figure 6.1 Thin plate with in-plane applied forces. Beam can be used for similar purpose

- Stress-strain relation

2
1 0
1 0 { } [ ]{ }
1
0 0 (1 ) / 2 2
xx xx
yy yy
xy xy
E

(

(
= =
` `
(

(

) )
C
[C

]: stress-strain matrix for plane stress problem

Plane Strain
-
zz
=
xz
=
yz
= 0

- One dimension is much longer than the others, such as dams.

- The end effects may be neglected and a unit slice can be modeled as a plane strain
problem

Chap. 6 Two-Dimensional Elasticity 129

- Non-zero stress components are
xx
,
yy
,
xy
, and
zz
.

- Non-zero strain components are
xx
,
yy
, and
xy
.


Plane strain model

Figure 6.2 Dam structure with plane strain assumption

- Stress-strain relation

1 0
1
(1 )
{ } 1 0 { } [ ]{ }
(1 )(1 2 ) 1
2
1 2
0 0
2(1 )
xx xx
yy yy
xy xy
E

(
(

(

(
= = =
` `
(
+

(
) )

(
(

C
[C

]: stress-strain matrix for plane strain problem

Equivalence between Plane Stress and Plane Strain Problems
- Solving plane stress problem when plane strain formulation is known
Replace E by
2
1
1
E

(
| |

(
|
+
\ .
(

and by
1

+


- Solving plane strain problem when plane stress formulation is known
Replace E by
2
1
1
E

| |

\ .
and by
1

130 Finite Element Analysis and Design

6.2. Principle of Minimum Total Potential Energy
Similar to the beam bending problem in Chapter 4, the principle of minimum total
potential energy can be used to derive the finite element equation for the two-dimensional
elasticity problems.
Potential Energy
Definition:
U W =
where U = strain energy and W = work done by external forces.
Strain Energy
Definition:

volume area area
1
{ } { } { } { } { } [ ]{ }
2 2 2
T T T
h h
U dV dA dA = = =

C (6.4)
where h = thickness and [C] = [C

] for plane stress and [C] = [C

] for plane strain.

Work Done by Applied Forces
The product of the applied force and the corresponding displacements at the point of
application of the load. The work done by distributed surface forces can be expressed by
( ) [ ] { } { }
x
T
x y
y
S S S
T
W h T u T v dS h u v dS h dS
T

= + =
`
)

u T (6.5)
where T
x
and T
y
are the components of applied forces in the x- and y-direction,
respectively. If body forces (forces distributed over the volume) are present, work done
by these forces can be computed in a similar manner.

- The principle of minimum total potential energy says that the structure is in
equilibrium status when the potential energy has a minimum value.
0
{ }

=
u

- An important concept of finite element analysis is how to approximate the strain and
displacement in Eqs. (6.4) and (6.5). Most finite element methods approximate the
strain and displacement using the nodal displacements of the element.
Chap. 6 Two-Dimensional Elasticity 131

6.3. Constant Strain Triangular (CST) Element
- A linear solution for displacement in each coordinates direction

- Since displacement is a linear function, strain and stress are constant within an
element


u
1

v
1

u
2

v
2

u
3

v
3

3
1
2
x
y

Figure 6.3 CST element

Displacement and Strain Interpolation
- Linear trial solutions: (because three nodes are available)

1 2 3
1 2 3
( , )
( , )
u x y x y
v x y x y


= + +

= + +

(6.6)
- Calculate unknown coefficients
i
and
i
, i = 1, 2, 3, using nodal values. Let us
consider x-directional displacements, which are u
1
, u
2
, and u
3
.

1 1 2 1 3 1
2 1 2 2 3 2
3 1 2 3 3 3
u x y
u x y
u x y



= + +

= + +

= + +

In matrix notation, the above equation can be written as

1 1 1 1
2 2 2 2
3 3 3 3
1
1
1
u x y
u x y
u x y

(

(
=
` `
(

(
) )

If three points (x
1
, y
1
), (x
2
, y
2
), and (x
3
, y
3
) are not on the straight line, then the inverse of
the above matrix exist. Thus,
132 Finite Element Analysis and Design


1
1 1 1 1 1 2 3 1
2 2 2 2 1 2 3 2
3 3 3 3 1 2 3 3
1
1
1
2
1
x y u f f f u
x y u b b b u
A
x y u c c c u

( (

( (
= =
` ` `
( (

( (
) ) )

where A = area of the triangle and

1 2 3 3 2 1 2 3 1 3 2
2 3 1 1 3 2 3 1 2 1 3
3 1 2 2 1 3 1 2 3 2 1
, ,
, ,
, ,
f x y x y b y y c x x
f x y x y b y y c x x
f x y x y b y y c x x
= = =

= = =

= = =

- Similar procedure can be applied for y-directional displacement v(x, y). After
calculating
i
and
i
, the displacement interpolation can be written as

1 1
1 2 3 2 1 2 3 2
3 3
( , ) [ ] and ( , ) [ ]
u v
u x y N N N u v x y N N N v
u v


= =
` `

) )
(6.7)
where shape functions are defined by

1 1 1 1
2 2 2 2
3 3 3 3
1
( )
2
1
( )
2
1
( )
2
N f b x c y
A
N f b x c y
A
N f b x c y
A

= + +

= + +

= + +

Note that N
1
, N
2
, and N
3
are linear functions of x- and y-coordinates. Thus, interpolated
displacement changes linearly along the each coordinates direction.

- Equation (6.7) can be represented systematically by

1
1
1 2 3 2
1 2 3 2
3
3
0 0 0
{ } or { } [ ] { }
0 0 0
T
u
v
N N N u u
N N N v v
u
v




(
= =
` `
(
)




)
u u N d (6.8)
- Interpolation of strain: from the definition of strain, we have
Chap. 6 Two-Dimensional Elasticity 133


3 3 3
1 1 1
2
I I
xx I I I I
I I I
u N b
N u u u
x x x A

= = =
| |
= = =
|

\ .


Note that u
1
, u
2
, and u
3
are nodal displacements and they are independent of coordinate x.
Thus, only the shape function is differentiated with respect to x. Similar calculation can
be carried out for
yy
and
xy
. Using the matrix notation, we have

1
1
1 2 3
2
1 2 3
2
1 1 2 2 3 3
3
3
/ 0 0 0
1
{ } / 0 0 0 [ ] { }
2
2 / /
xx
T
yy
xy
u
v
u x b b b
u
v y c c c
v A
u y v x c b c b c b
u
v

(


(
= = =
` ` `
(

( +
)
)



)
B d (6.9)
Note that strain is a constant function that depends on nodal displacements. The
interpolation of displacement in Eq. (6.8) and the interpolation of strain in Eq. (6.9) are
used for the approximation of the strain energy and work done by applied forces, as
follows.
Strain Energy
- Approximation of strain energy

6 3 3 3 3 6
6 6
{ } [ ]{ }
2
{ } [ ] [ ] [ ] { }
2
1
{ } [ ] { }
2
T
A
T T
A
T
h
U dA
h
dA

=
=

C
d B C B d
d k d
(6.10)
where [k] = element stiffness matrix. The dimension of [k] is 66.

- Since all entries in matrices [B] and [C] are constant, the integration is trivial and the
element stiffness matrix becomes
[ ] [ ][ ][ ]
T
hA = k B C B (6.11)

- Unlike truss and beam element, transformation matrix [T] is not required in the two-
dimensional element because [k] is constructed in the global coordinates.
134 Finite Element Analysis and Design

Work Done by Concentrated Forces at Nodes:

1 1 1 1 2 2 2 2 3 3 3 3
{ } { }
T
NF x y x y x y NF
W F u F v F u F v F u F v = + + + + + d Q
where
1 1 2 2 3 3
{ } [ ]
T
NF x y x y x y
F F F F F F = Q is the vector of applied nodal forces.
Work Done by Distributed Forces along Element Edges
{ } { } { } [ ]{ } { } { }
T T T
T T
S S
W h dS h dS = =

u T d N T d Q
The vector {Q
T
} is the equivalent nodal load vector.

- The integration can be performed in closed form if the specified surface tractions (T
x

and T
y
) are simple function of x and y. The unit of T
x
and T
y
are N/m
2
.

- The simplest case is when a uniform pressure is applied along side 1-2, as shown in
Figure 6.4.

- Integration can be performed by defining a local coordinate system along side 1-2


T
x

T
y

3
1
2
x
y
S

Figure 6.4 Applied surface traction along side 1-2

- Along side 1-2, the shape functions N
1
and N
2
are linear functions of s and N
3
= 0.
Therefore

1 2
( ) and ( )
l s s
N s N s
l l

= =
where l is the length of side 1-2.

- Complete shape function matrix:
Chap. 6 Two-Dimensional Elasticity 135


0 0 0 0
[ ]
0 0 0 0
T
l s s
l l
l s s
l l

(
(
= (

(
(

N

- Equivalent nodal load vector:

( ) / 0
0 ( ) /
/ 0
{ } [ ]{ }
0 / 2
0 0 0
0 0 0
x
y
x x
T
y y S S
l s l T
l s l T
T s l T
hl
h dS h dS
T s l T

(
(

(
(

= = =
` ` (
) (
(
(
(
)

Q N T

- For uniform pressure, the equivalent load vector is obtained by simply dividing the
total force equally among the two nodes on the side.
Work Done by Body Forces
- The body forces are distributed over the entire element (e.g. gravity or inertia forces).

- Assume a constant body force b = [b
x
b
y
]
T
.
[ ] { } [ ] { } { }
x x
T T
BF B
y y
A A
b b
W h u v dA h dA
b b

= =
` `
) )

d N d Q
where

1 0
0 1
1 0
{ }
0 1 3 3
1 0
0 1
x
y
x x
B
y y
x
y
b
b
b b
hA hA
b b
b
b
(
(
(
(

= =
` ` (
) (
(
(
(
)
Q (6.12)
Since the unit of the body force is N/m
3
, the total amount of the applied force is hAb
x
in
the x-direction and hAb
y
in the y-direction. Equation (6.12) equally distributes this force
to three nodes.
136 Finite Element Analysis and Design

Finite Element Equations
- Total potential energy:

1
{ } [ ]{ } { } { }
2
T T
NF T B
U W = = + + d k d d Q Q Q

- The total potential energy is stationary at minimum value:
0 [ ]{ } { }
{ }
NF T B

= = + +

k d Q Q Q
d
(6.13)
which is the finite element matrix equation for the triangular element.
Calculation of Strains and Stresses
- Strains and stresses must be calculated from the calculated nodal displacements.
{ } [ ] { }
T
= B d
{ } [ ]{ } = C
where [C] = [C

] for plane stress problem and [C] = [C

] for plane strain problem.

- Again, stress and strain are constant within an element.

- Stresses and strains between adjacent two elements are discontinuous. Not physics
but approximation.
Example
- Find displacements and stresses in a cantilever plate using two triangular elements.

- Thickness h = 0.1 in, E = 30106 psi and = 0.3.

Chap. 6 Two-Dimensional Elasticity 137


50,000 lbs
50,000 lbs
20
15
10
5
E
2

E
1

N
1

N
2
N
3
N
4
10

Figure 6.5 Cantilever Plate

(1) Element 1: Nodes 1-2-3

1 1 2 2 3 3
1 2 3 2 3 1 3 1 2
1 3 2 2 1 3 3 2 1
0, 0 10, 5 10, 15
10 15 5
0 10 10
x y x y x y
b y y b y y b y y
c x x c x x c x x
= = = = = =
= = = = = =
= = = = = =

Area of Triangle = 0.51010 = 50.

1 2 3
1 2 3
1 1 2 2 3 3
0 0 0 10 0 15 0 5 0
1 1
[ ] 0 0 0 0 0 0 10 0 10
2 100
0 10 10 15 10 5
T
b b b
c c c
A
c b c b c b
( (
( (
= =
( (
( (

B

7
2
1 0 1 .3 0
[ ] 1 0 3.2967 10 .3 1 0
1
0 0 (1 ) / 2 0 0 .35
E

( (
( (
= =
( (

( (

C
Element stiffness matrix:

6
1
.5 0. .75 .15 .25 .15
.175 .175 .2625 .175 .0875
1.3 .4875 .55 .3125
[ ] [ ][ ][ ] 3.2967 10
.8938 .3375 .6313
.3 .1625
. .5438
T
hA
s y m m

(
(

(
(
= =
(

(
(

(
(

k B C B

138 Finite Element Analysis and Design

(2) Element 2: Nodes 1-3-4

1 1 2 2 3 3
1 2 3 2 3 1 3 1 2
1 3 2 2 1 3 3 2 1
0, 0 10, 5 0, 20
15 20 5
10 0 10
x y x y x y
b y y b y y b y y
c x x c x x c x x
= = = = = =
= = = = = =
= = = = = =

Area of Triangle = 0.52010 = 100.

5 0 20 0 15 0
1
[ ] 0 10 0 0 0 10
200
10 5 0 20 10 15
T
(
(
=
(
(

B
Element stiffness matrix:

6
2
.15 .0813 .25 .175 .1 .0938
.2719 .15 .0875 .0688 .1844
1. 0. .75 .15
[ ] 3.2967 10
.35 .175 .2625
.65 .2438
. .4469 s y m m

(
(

(
(
=
(

(
(

(
(

k

(3) Global finite element matrix equation

1
1
2
2 6
3
.65 .0813 .75 .15 0. .325 .1 .0938
.4469 .175 .2625 .325 0. .0688 .1844
1.3 .4875 .55 .3125 0. 0.
.8938 .3375 .6313 0. 0.
3.2967 10
1.3 .1625 .75 .15
.8938 .175 .2625
.65 .2438
. .4469
u
v
u
v
u
s y m m
(
(

(
(
(

(

(

(
(

(
(

1
1
3
4 4
4 4
0
50,000
50,000
0
x
y
x
y
R
R
v
R u
R v







=
` `





) )

where R
x1
, R
y1
, R
x4
, and R
y4
are unknown reactions at nodes 1 and 4.

(4) The displacement boundary condition u
1
= v
1
= u
4
= v
4
= 0.
Chap. 6 Two-Dimensional Elasticity 139


2
2 6
3
3
1.3 .488 .55 .3125 0
.8938 .3375 .6313 50,000
3.2967 10
1.3 .1625 50,000
.8938 0
u
v
u
v symm
(
(


(
=
` `
(

(

) )

The solution is

3
2
2
2
2
3
2
3
2.147 10
4.455 10
1.891 10
2.727 10
u
v
u
v

=
=
=
=


(5) Strain and stress of Element 1:

3
3
3
2
3
2
2
0
0
10 0 15 0 5 0 1.26768 10
2.147 10
1
0 0 0 10 0 10 1.72727 10
4.455 10 100
2 0 10 10 15 10 5 3.21212 10
1.891 10
2.727 10
xx
yy
xy

(


(
= =
` ` `
(


(

) )

)


3
7 3
3
1 .3 0 1.26768 10 24,709
3.2967 10 .3 1 0 1.72727 10 44, 406 psi
0 0 .35 3.21212 10 37,063
xx
yy
xy

(

(
= =
` ` `
(

(
)
) )


(6) Strain and stress of Element 2:

3
2
2
3
0
0
10 0 15 0 5 0 1.89141 10
1.891 10
1
0 0 0 10 0 10 0
2.727 10 100
2 0 10 10 15 10 5 2.72727 10
0
0
xx
yy
xy

(


(
= =
` ` `
(


(

) )



)

140 Finite Element Analysis and Design


3
7
3
1 .3 0 1.89141 10 62,354
3.2967 10 .3 1 0 0 18,706 psi
0 0 .35 2.72727 10 31, 469
xx
yy
xy

(

(
= =
` ` `
(

(
)
) )

- These stresses are constant over respective elements.

- Note that the solution is not very good because there is a large discontinuity in
stresses across element boundaries.

- With only two elements the mesh is very coarse and we obviously cannot expect very
good results.

- The finite element model has eight degrees-of-freedom before imposing boundary
conditions and has four degrees-of-freedom after imposing boundary conditions.

- The two-dimensional, triangular finite element has six degrees-of-freedom in general.
6.4. Four Node Rectangular Element
- Not practical but useful for the basis of quadrilateral element

- Shape functions are products of the Lagrange interpolation in x- and y-direction

- The rectangular element in Figure 6.6: x
3
= x
2
, y
4
= y
3
, x
4
= x
1
, y
2
= y
1
.


x
y
1
2
3 4

Figure 6.6 Four-node rectangular element

- As with Section 6.3, the polynomial interpolation can be employed for displacement
u and v, as

1 2 3 4
1 2 3 4
u x y xy
v x y xy


= + + +
= + + +

Chap. 6 Two-Dimensional Elasticity 141

For example, let us calculate unknown coefficients
i
using the x-directional
displacement u, as

1 1 2 1 3 1 4 1 1
2 1 2 2 3 2 4 2 2
3 1 2 3 3 3 4 3 3
4 1 2 4 3 4 4 4 4
u x y x y
u x y x y
u x y x y
u x y x y




= + + +

= + + +

= + + +

= + + +

which yields 44 matrix inversion.

- Instead of matrix inversion method, use the Lagrange interpolation method to
interpolate u and v. For example,

1
2
1 2 3 4
3
4
( , ) [ ]
u
u
u x y N N N N
u
u



=
`


)

Along edge 1-2, y = y
1
(constant); therefore shape functions must be functions of x only.

1
1 1 2
2
( , ) [ ( ) ( )]
I
u
u x y n x n x
u

=
`
)

Using one-dimensional Lagrange interpolation formula

2 1
1 2
1 2 2 1
( ) , ( )
x x x x
n x n x
x x x x

= =


Along edge 4-3, y = y
3
= y
4
.

4
3 4 3
3
( , ) [ ( ) ( )]
II
u
u x y n x n x
u

=
`
)

Again from one-dimensional Lagrange interpolation formula

3 4
4 2
4 3 3 4
( ) , ( )
x x x x
n x n x
x x x x

= =


- In y-direction:
142 Finite Element Analysis and Design


1
1 4
3
( , )
( , ) [ ( ) ( )]
( , )
I
II
u x y
u x y n y n y
u x y

=
`
)

where

4 1
1 4
1 4 4 1
( ) , ( )
y y y y
n y n y
y y y y

= =


or

1
1 2
2
1 4
4
4 3
3
[ ( ) ( )]
( , ) [ ( ) ( )]
[ ( ) ( )]
u
n x n x
u
u x y n y n y
u
n x n x
u

`
)
=
`


`

) )

Thus,

1
2
1 1 2 1 3 4 4 4
3
4
( , ) [ ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( )]
u
u
u x y n x n y n x n y n x n y n x n y
u
u



=
`


)
(6.14)
Therefore,

2 4
1 1 1
1 2 1 4
1 3
2 2 1 2 2
2 1 2 3
4 2
3 3 4 3 3
3 4 3 2
3 1
4 4 4
4 3 4 1
( ) ( )
( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
( ) ( )
x x y y
N n x n y
x x y y
x x y y
N n x n y n x n y
x x y y
x x y y
N n x n y n x n y
x x y y
x x y y
N n x n y
x x y y

= =

= =

- Thus shape functions for rectangular elements are product of Lagrange interpolations
in the two coordinate directions.

- Note that N
1
(x, y) is:
- 1 at node 1 and 0 at other nodes
- Linear function of x along edge 1-2 and linear function of y along edge 1-4
Chap. 6 Two-Dimensional Elasticity 143

- Zero along edge 2-3 and 3-4

- Other shape functions have similar behavior. Because of these characteristics the i-th
shape function is considered associated with node i of the element.
Example
A rectangular element is shown in Figure 6.7. Substituting the numerical values of
nodal coordinates into the above shape function formulas, the explicit expressions for
shape functions for this rectangular element are as follows.

1 2
3 4
( 3)( 2) ( 2)
6 6
( 3)
6 6
x y x y
N N
xy y x
N N

= =

= =


x
y
1 (0,0)
2 (3,0)
3 (3,2)
4 (0,2)

Figure 6.7 Four-node rectangular element
Three dimensional plots of N
1
and N
2
are shown in Figure 6.8(a) and Figure 6.8(b).

(a) N
1
(b) N
2

Figure 6.8 Three-dimensional surface plots pf shape functions for a rectangle
144 Finite Element Analysis and Design


6.5. Four Node Iso-parametric Quadrilateral Element
- Four-node iso-parametric finite element is one of the most commonly used elements.

- Eight unknowns: two displacements per each node.

- Iso-parametric: the same interpolation method is used for displacement and geometry.

- Mapping relation from physical element to reference element.

- Numerical integration
Iso-parametric Mapping
- The actual quadrilateral element in Figure 6.9(a) is mapped into the parent element in
Figure 6.9(b).

- The mapping from (x, y) coordinate system to (s, t) coordinate is given by the shape
functions written in terms of parent element.


u
1

v
1

u
2

v
2

u
4

v
4

4
1
2
x
y
u
3

v
3
3
4 (-1,1)
1 (-1,-1) 2 (1,-1)
3 (1,1)
s
t

(a) Actual element (b) Parent element
Figure 6.9 Four-node quadrilateral element for plane stress/strain

- Shape function for parent element using Lagrange interpolation formula

1
1 1 1 1
( 1)( 1) (1 )(1 )
1 1 1 1 4 4
s t
N s t s t

= = =


Similarly,
Chap. 6 Two-Dimensional Elasticity 145


2 3 4
1 1 1
(1 )(1 ), (1 )(1 ), (1 )(1 )
4 4 4
N s t N s t N s t = + = + + = +
- Iso-parametric mapping: interpolate the geometry using shape functions

1 1
2 2
1 2 3 4 1 2 3 4
3 3
4 4
[ ] , [ ]
x y
x y
x N N N N y N N N N
x y
x y



= =
` `


) )

- In order to approximate strain and stress, the derivatives of shape functions with
respect to coordinate directions are required. Since shape functions depend on s and t
coordinates, chain rule of differentiation must be used.
,
i i i i i i
N N x N y N N x N y
s x s y s t x t y t

= + = +


In the matrix form:
[ ]
i i
i
i i
i
N N
N x y
x x
s s s
N N
N x y
y y
t t t
(

(

= ( ` ` `


(
( )
) )
J
where [J] is the Jacobian matrix and its determinant is called the Jacobian. By inverting
the Jacobian matrix, the desired derivatives with respect to x and y can be obtained:

1
1
[ ]
i
i i
i
i i
N
N y y N
x
s t s s
N
N x x N
y
t t s t

(

= = ( ` ` `

( ) )
)
J
J

where |J| is the Jacobian and is defined by

x y x y
s t t s

=

J
- Since the Jacobian appears in the denominator in the above equation, it must not be
zero anywhere over the domain (1 s, t 1).

- The mapping is not valid if |J| is zero anywhere over the element.
146 Finite Element Analysis and Design

Examples
(1) Check the validity of iso-parametric mapping for the element shown in Figure 6.10


1(0, 0) 2(1, 0)
3(2, 2)
4(0, 1)
x
y

Figure 6.10 Four-node quadrilateral element

- Nodal coordinates:

1 2 3 4
1 2 3 4
0, 1, 2, 0
0, 1, 2, 1
x x x x
y y y y
= = = =
= = = =

- Iso-parametric mapping:

1 1 2 2 3 3 4 4 2 3
1 1 2 2 3 3 4 4 3 4
1
2 (3 3 )
4
1
2 (3 3 )
4
x N x N x N x N x N N s t st
y N y N y N y N y N N s t st
= + + + = + = + + +
= + + + = + = + + +

- Jacobian:

3 1
1
[ ]
1 3 4
x y
t t
s s
x y s s
t t

(
(
+ + (

= = (
(
+ +
(
(

J

1 1 1 1
[(3 )(3 ) (1 )(1 )]
4 2 8 8
t s t s s t = + + + + = + + J
Thus, it is clear that |J| > 0 for 1 > s > 1 and 1 > t > 1.

Chap. 6 Two-Dimensional Elasticity 147


Figure 6.11 Element shape obtained from the iso-parametric mapping

(2) Check the validity of iso-parametric mapping for the element shown in Figure 6.12.


1(0, 0)
2(1, 5)
3(6, 6) 4(0, 6)
x
y

Figure 6.12 Four-node quadrilateral element
- Nodal coordinates:

1 2 3 4
1 2 3 4
0, 1, 6, 0
0, 5, 6, 6
x x x x
y y y y
= = = =
= = = =

- Iso-parametric mapping:

1 1 2 2 3 3 4 4
1 1 2 2 3 3 4 4
1
(1 )(7 5 )
4
1
(17 5 7 5 )
4
x N x N x N x N x s t
y N y N y N y N y s t st
= + + + = + +
= + + + = + +

- Jacobian:
148 Finite Element Analysis and Design


3 15 15
2 4 4
s t
= + J
Note that |J| = 0 at 3/2 15s/4 + 15t/4, or s t = 2/5. The mapping illustrated in Figure
6.13 clearly shows that the mapping is invalid.


Figure 6.13 Element shape obtained from the iso-parametric mapping

- In general the element geometry is invalid if the Jacobian is either zero or negative
anywhere in the element.

- Problem also arises when the Jacobian matrix is nearly singular either due to round-
off errors or due to badly shaped elements.

- To avoid problems due to badly shaped elements, it is recommended that the inside
angles in quadrilateral elements be > 15 and < 165 as illustrated in Figure 6.14.


> 15
o

< 165
o

Figure 6.14 Recommended ranges of internal angles in a quadrilateral element

Chap. 6 Two-Dimensional Elasticity 149

Interpolation of Displacement
- Iso-parametric mapping method in Section 6.5.1 can be used for displacement
interpolation.

- A total of eight degrees-of-freedom is used.

1
1
2
1 2 3 4 2
1 2 3 4 3
3
4
4
0 0 0 0
[ ] { }
0 0 0 0
T
u
v
u
N N N N v u
N N N N u v
v
u
v





(
= =
` `
(
)





)
N d
where the same shape functions in Section 6.5.1 can be used for displacement
interpolation:

1
2
3
4
1
(1 )(1 )
4
1
(1 )(1 )
4
1
(1 )(1 )
4
1
(1 )(1 )
4
N s t
N s t
N s t
N s t

= +

= + +

= +

- Jacobian Matrix
[ ] ,
x y
x y x y
s s
x y s t t s
t t

(
(


= = (

(
(

J J
where
150 Finite Element Analysis and Design


1 1
2 2
1 2 3 4
3 3
4 4
1
[ ] [ 1 1 1 1 ]
4
x x
x x
x N N N N
t t t t
x x s s s s s
x x



= = + +
` `



) )


1
2
3
4
1
[ 1 1 1 1 ]
4
x
x
x
s s s s
x t
x



= + +
`

)

Similar expressions can be written for derivatives of y with respect to s and t. In general,
the determinant of the Jacobian matrix can be expressed as

1
2
1 2 3 4
3
4
0 1 1
1 0 1
1
[ ]
1 0 1 8
1 1 0
T
y t s t s
y t s s t
x x x x
y s t s t
y s s t t
+ + (
(
+ +

(
=
`
( +

(

+
)
J

- Displacement-strain relationship

/
/ 1 0 0 0
/
{ } / 0 0 0 1
/
2 / / 0 1 1 0
/
xx
yy
xy
u x
u x
u y
v y
v x
u y v x
v y

(



(
= = =
` ` `
(


( +
)
)


)


1
u
y y u
x
t s s
u
x x u
y
t s t
(

(

= ( ` `

( )
)
J


1
v
y y v
x
t s s
v
x x v
y
t s t
(

(

= ( ` `

( )
)
J

Writing the two equations together:
Chap. 6 Two-Dimensional Elasticity 151


/ / / 0 0 /
/ / / 0 0 /
1
/ 0 0 / / /
/ 0 0 / / /
u x y t y s u s
u y x t x s u t
v x y t y s v s
v y x t x s v t
(
(


(
=
` `
(

(


) )
J

The strain can now be expressed as
/ / 0 0 / /
1 0 0 0
/ / 0 0 / /
1
0 0 0 1 [ ]
0 0 / / / /
2 0 1 1 0
0 0 / / / /
xx
yy
xy
y t y s u s u s
x t x s u t u t
y t y s v s v s
x t x s v t v t

(

(
(


(
(
=
` ` `
(
(

(
(
)


) )
A
J

The derivative of the trial solution with respect to s and t are easy to compute:

1
1
2
2
3
3
4
4
/ 1 0 1 0 1 0 1 0
/ 1 0 1 0 1 0 1 0
1
[ ] { }
/ 0 1 0 1 0 1 0 1 4
/ 0 1 0 1 0 1 0 1
T
u
v
u u s t t t t
v u t s s s s
u v s t t t t
v v t s s s s
u
v



+ + (

(
+ +

(
=
` `
( + +

(

+ +
)



)
G d

The displacement-strain matrix [B] can now be written as follows:

/
/
[ ] [ ][ ] { } [ ] { }
/
2
/
xx
T T
yy
xy
u s
u t
v s
v t

= =
` `


)


)
A A G d B d
- The displacement-strain matrix [B] is not constant. Thus, the value of strain and
stress within an element changes as a function of position.

Finite Element Matrix Equation
- The element stiffness matrix is:
152 Finite Element Analysis and Design


1 1
1 1
[ ] [ ][ ][ ] [ ][ ][ ]
T T
A
h dA h dsdt

=

k B C B B C B J (6.15)
- Different from the triangular element, the element stiffness matrix is not constant
within an element. Thus, analytical integration of Eq. (6.15) is not trivial. Numerical
integration method using Gaussian quadrature will be discussed in Section 6.5.5.

- Work done by concentrated forces:

1 1 1 1 2 2 2 2 3 3 3 3 4 4 4 4
{ } { }
T
NF x y x y x y x y NF
W F u F v F u F v F u F v F u F v = + + + + + + + d Q
where
1 1 2 2 3 3 4 4
{ } [ ]
T
NF x y x y x y x y
F F F F F F F F = Q is the vector of applied
nodal forces.

- Work done by distributed load:
{ } [ ]{ } { } { }
T T
T T
S
W h dS = =

d N T d Q


4
1
2
3
4
1 2
3
s
s
s
s
S
S
S
S
T
x

T
y


Figure 6.15 Coordinates for evaluation of boundary integrals

Side 1-2:
(1 ) / 2 0 (1 ) / 2 0 0 0 0 0
[ ] , 1 1
0 (1 ) / 2 0 (1 ) / 2 0 0 0 0
T
s s
s
s s
+ (
=
(
+

N
Side 2-3:
0 0 (1 ) / 2 0 (1 ) / 2 0 0 0
[ ] , 1 1
0 0 0 (1 ) / 2 0 (1 ) / 2 0 0
T
s s
s
s s
+ (
=
(
+

N
Chap. 6 Two-Dimensional Elasticity 153

Side 3-4:
0 0 0 0 (1 ) / 2 0 (1 ) / 2 0
[ ] , 1 1
0 0 0 0 0 (1 ) / 2 0 (1 ) / 2
T
s s
s
s s
+ (
=
(
+

N
Side 4-1:
(1 ) / 2 0 0 0 0 0 (1 ) / 2 0
[ ] , 1 1
0 (1 ) / 2 0 0 0 0 0 (1 ) / 2
T
s s
s
s s
+ (
=
(
+

N
- As an example, consider side 2-3, as shown in Figure 6.15. The iso-parametric
mapping for side 2-3 is

2 3 2 3
1 1 1 1
,
2 2 2 2
s s s s
x x x y y y
+ +
= + = +

3 2 3 2
2 3
3 2 3 2
1 1
or
2 2 2 2
or
2 2
dx x x x x
x x dx ds
ds
dy y y y y
dy ds
ds

= + = =

= =

The Jacobian of the transformation from S to s is defined as

side2-3
dS
J
ds
=
with reference to Figure 6.16 it can be developed as follows. From geometry


-1
(x
2
, y
2
)
1
s
dy
S
dS
(x
3
, y
3
)
dx
Side 2-3 of parent element

Figure 6.16 Evaluation of work done by applied pressure along side 2-3


2 2 2 2
3 2 3 2 23
1 1
( ) ( )
2 2
dS dx dy x x y y ds L ds = + = + =
Thus, the Jacobian for each side is equal to half the length of that side. Thus,
154 Finite Element Analysis and Design


1 1
,side2-3 23 23
side2 3 1 1
0 0
0 0
(1 ) / 2 0
0 (1 ) / 2
1 1
{ } [ ]{ } [ ]{ }
(1 ) / 2 0 2 2
0 (1 ) / 2
0 0
0 0
x
T
y
s
T s
h dS h L ds h L ds
T s
s

(
(
(
(
(

(
= = =
`
(
+
)
(
+
(
(
(
(


Q N T N T
Carrying out the integration gives

23
,side2-3
{ } [0 0 0 0]
2
T
T x y x y
hL
T T T T = Q
- Similar to the linear triangular element, this equation says that total pressure along a
side is divided equally among the two nodes along the side.

- All quantities needed for the potential energy have now been expressed in terms of
nodal unknowns. From the principle of minimum total potential energy,
[ ]{ } { }
NT T
= + k d Q Q
where [k] is 88 element stiffness matrix, {d} is 81 nodal displacement vector, and
{Q
NT
+Q
T
} is 81 applied nodal force vector.

Numerical Integration
- Numerical integration evaluates the integrals involved in the element stiffness matrix
and distributed force.

- In the finite element literature, the Gauss quadrature is usually preferred because it
requires fewer function evaluations as compared to other methods.

- In the Gauss quadrature, the integrand is evaluated at predefined points (called Gauss
points). The sum of this integrand values, multiplied by appropriate weights (called
Gauss weight) gives an approximation to the integral:

1
1
1
( ) ( )
n
i i
i
I f s ds w f s
=

Chap. 6 Two-Dimensional Elasticity 155

where n = number of Gauss points, s
i
= Gauss points, w
i
= Gauss weights, and f(s
i
) =
function value at the Gauss point s
i
.

- The locations of Gauss points and weights are derived in such a way that with n
points, a polynomial of degree 2n1 is integrated exactly.

- Table 6.1 shows the locations of the Gauss points and corresponding weights.

Table 6.1 Gauss quadrature
NG Integration Points (si) Weights (wi)
Exact for polynomial
of degree
1 0.0 2.0 1
2 .5773502692 1.0 3
3
.7745966692
0.0
.5555555556
.8888888889
5
4
.8611363116
.3399810436
.3478546451
.6521451549
7
5
.9061798459
.5384693101
0.0
.2369268851
.4786286705
.5688888889
9

- Example: evaluate
1
7 6
1
(8 7 ) 2 I x x dx

= + =

using Gauss quadrature.

(i) 1 point formula:

1 1 1
1 1
0, ( ) 0, 2
( ) 2 0 0
x f x w
I w f x
= = =
= = =

(ii) 2 points formula:

7 6
1 1 1
7 6
2 2 2
1 1 2 2
.57735, ( ) 8( .57735) 7( .57735) .0881925, 1
.57735, ( ) 8(.57735) 7(.57735) .430326, 1
( ) ( ) .0881925 .430326 .5185185
x f x w
x f x w
I w f x w f x
= = + = =
= = + = =
= + = + =

(iii) 3 points formula:

1 1 1
2 2 2
3 3 3
1 1 2 2 3 3
.774596669, ( ) .173497, .5556
0.0, ( ) 0.0 .8889
.774596669, ( ) 2.8505, .5556
( ) ( ) ( ) .5556(.173497 2.8505) 1.68001
x f x w
x f x w
x f x w
I w f x w f x w f x
= = =
= = =
= = =
= + + = + =

156 Finite Element Analysis and Design

(iv) 4 points formula:

1 1 1
2 2 2
3 3 3
3 3 3
1 1 2 2 3 3 4 4
.86113631, ( ) .0452273, .347855
.33998104, ( ) .00660979, .652145
.33998104, ( ) .0150102, .652145
.86113631, ( ) 5.66376, .347855
( ) ( ) ( ) ( ) 2.0
x f x w
x f x w
x f x w
x f x w
I w f x w f x w f x w f x
= = =
= = =
= = =
= = =
= + + + =

It can be easily verified that this is the exact value of the integral.

- Two-dimensional Gauss integration formulas can be obtained by multiplying two
one-dimensional Gauss integration formulas.

1 1
1 1
1 1
( , ) ( , )
m n
i j i j
i j
I f s t dsdt w w f s t
= =

=

where s
i
and t
j
= Gauss points, m = number of Gauss points in s direction, n = number of
Gauss points in t direction, w
i
and w
j
= Gauss weights.

- Total number of Gauss points = mn.

- Figure 6.17 shows few commonly used integration formulas.


s
t
s
t
s
t
(a) 11 (b) 22 (c) 33

Figure 6.17 Gauss integration points in two-dimensional parent elements

- The element stiffness matrix in Eq. (6.15) can be evaluated using 22 Gauss
integration formulas:

1 1
2 2
1 1
1 1
[ ] [ ][ ][ ] [ ( , )][ ][ ( , )] ( , )
T T
i j i j i j i j
i j
h dsdt h w w s t s t s t
= =

=


k B C B J B C B J
Chap. 6 Two-Dimensional Elasticity 157

Example: Interpolation using Quadrilateral Element
For a rectangular element shown in the figure, displacements at four nodes are given
by {u
1
, v
1
, u
2
, v
2
, u
3
, v
3
, u
4
, v
4
} = {0.0, 0.0, 1.0, 0.0, 2.0, 1.0, 0.0, 2.0}. Calculate
displacement and strain at point (s, t) = (1/3, 0).


x
y
1 (0,0) 2 (3,0)
3 (3,2) 4 (0,2)
s
t
1 (-1,-1) 2 (1,-1)
3 (1,1)
4 (-1,1)


First, the shape functions are given in the parent element as

1 2
3 4
1 1
(1 )(1 ), (1 )(1 )
4 4
1 1
(1 )(1 ), (1 )(1 )
4 4
N s t N s t
N s t N s t

= = +

= + + = +

Especially when (s, t) = (1/3, 0),

1 2 3 4
1 1 1 1
, , ,
6 3 3 6
N N N N = = = =
Interpolation of geometry [find physical coordinates corresponding to (s, t) = (1/3, 0)]:

4
1
4
1
1 1 1 1
0 3 3 0 2
6 3 3 6
1 1 1 1
0 0 2 2 1
6 3 3 6
I I
I
I I
I
x N x
y N y
=
=

= = + + + =

= = + + + =

Displacement interpolation (Same shape function for geometry interpolation: Iso-
parametric)

4
1
4
1
1 1 1 1
0 1 2 0 1
6 3 3 6
1 1 1 1 2
0 0 1 2
6 3 3 6 3
I I
I
I I
I
u N u
v N v
=
=

= = + + + =

= = + + + =

158 Finite Element Analysis and Design

Derivatives of shape functions (Note shape functions depend on s and t):

1 1
2 2
3 3
4 4
1 1 1 1
(1 ) (1 )
4 4 4 6
1 1 1 1
(1 ) (1 )
4 4 4 3
1 1 1 1
(1 ) (1 )
4 4 4 3
1 1 1 1
(1 ) (1 )
4 4 4 6
N N
t s
s t
N N
t s
s t
N N
t s
s t
N N
t s
s t

= = = =





= = = + =




= + = = + =



= + = = =



Jacobian matrix:

1 1 1 1 3
0 3 3 0
4 4 4 4 2
1 1 1 1
0 0 2 2 0
4 4 4 4
1 1 1 1
0 3 3 0 0
6 3 3 6
1 1 1 1
0 0 2 2 1
6 3 3 6
x
s
y
s
x
t
y
t

= + + =

= + + =

= + + =

= + + =

1
2 3
0 0
[ ] , [ ] 3 2
0 1 0 1
x y
s s
x y
t t

(
( (
(

( (
= = = (
( (
(

(

J J
Derivative of shape functions:
[ ]
I I I
I
I
I
I I I I
N N x N y
N
N
s x s y s
x
s
N
N N x N y N
y
t x t y t t

= +

=
` `

= +
)
)

J

1
2
2
0
3
[ ] 3
0 1
I
I I I
I
I I I
N
N N N
x
s s s
N
N N N
y
t t t

(



(
= = =
` ` ` `
(


) ) )
)
J
Strain:
Chap. 6 Two-Dimensional Elasticity 159


4 4
1 1
4 4
1 1
2
3
2 1 1 1 1 1
( 0 1 2 0)
3 4 4 4 4 2
1 1 1 1 2
0 0 1 2
6 3 3 6 3
2 ?
I I
xx I I
I I
I I
yy I I
I I
xy
u N N
u u
x x s
v N N
v v
y y t

= =
= =

= = =

= + + =

= = =

= + + =
=




6.6. Exercise
6.1 Using a symmetric property, draw an equivalent, simplified geometry of the
structure shown in the figure with appropriate boundary conditions.


P P
x
y


6.2 A structure shown in the figure is approximated with one triangular element.
Plane strain assumption is used.
(a) Calculate the strain-displacement matrix [B]
T
.
(b) When nodal displacements are given by {u
1
, v
1
, u
2
, v
2
, u
3
, v
3
} =
{0, 0, 2, 0, 0, 1}, calculate element strain vector.


1 (0,0)
2 (10,10)
3 (0,20)

160 Finite Element Analysis and Design


6.3 For a rectangular element shown in the figure, displacements at four nodes are
given by {u
1
, v
1
, u
2
, v
2
, u
3
, v
3
, u
4
, v
4
} = {0.0, 0.0, 1.0, 0.0, 2.0, 1.0, 0.0, 2.0}.
(a) Calculate displacement at point (x, y) = (2, 1).
(b) Calculate strain
xx
at the same point.


x
y
1 (0,0)
2 (3,0)
3 (3,2) 4 (0,2)


6.4 The quadrilateral element shown in the figure has the nodal displacement of
{u
1
, v
1
, u
2
, v
2
, u
3
, v
3
, u
4
, v
4
} = {-1, 0, -1, 0, 0, 1, 0, 1}.
(a) Find the (s, t) parent coordinates of point A (0.5, 0) using iso-parametric
mapping method.
(b) Calculate the displacement at point B whose parent coordinate is (s,t)=(0,-0.5)
(c) Calculate the Jacobian matrix [J] at point B.

-1
-1
1
1
-1
-1 1
1
y
x s
t
A
B
1
2
3
4
1 2
3 4
Physical Element Parent Element