Vibration Chapter12

Mechanical Vibrations
Fifth Edition in SI Units

Singiresu S. Rao
Chapter 12
Finite Element Method
3 © 2011 Mechanical Vibrations Fifth Edition in SI Units

12
Chapter Outline
12.1 Introduction
12.2 Equation of Motion of an Element
12.3 Mass Matrix, Stiffness Matrix and Force Vector
12.4 Transformation of Element Matrices and Vectors
12.5 Equations of Motion of the Complete System of Finite Elements
12.6 Incorporation of Boundary Conditions
12.7 Consistent- and Lumped-Mass Matrices

12.1
Introduction
5
12.1
© 2011 Mechanical Vibrations Fifth Edition in SI Units
12.1 Introduction
• Numerical methods used when equation of motion cannot be

integrated in closed form
• The solution only satisfy the equations at discrete time intervals
• Suitable type of variation for displacement, velocity and
acceleration is assumed within each time interval.
• Explicit integration methods – finite difference method, Runge-
Kutta method
• Implicit integration methods – Houbolt, Wilson, Newmark methods

12.2
Equations of Motion of an Element
7
12.2
© 2011 Mechanical Vibrations Fifth Edition in SI Units
12.2 Equations of Motion of an Element
• Transverse displacement within element e is w(x,y,t)

n
w x, y, t    N i  x, y  wi  t 
i 1
• Ni(x,y) is the shape function
• n is the number of unknown joint displacement
• Distributed load on the element or concentrated forces at the joints
can be converted to equivalent joint forces fi(t)
1  T 
Kinetic energy T  W  mW
2
1 T 
Strain energy V  W  k W
2

• Substitute into Lagrange equation
• Equation of motion of finite element:
  
 mW   k W  f
 w1  t    w 1  t    dw1 / dt 
 w2  t    w 2  t   dw2 / dt 
where W   , W    
        
wn  t   w n  t   dwn / dt 

12.3
Mass Matrix, Stiffness Matrix and Force Vector
12.3
Bar element
End points form the nodes

Axial displacement within element: u(x,t)=a(t)+b(t)x
u(0,t)=u1(t), u(l,t)=u2(t), a(t)=u1(t)

Bar element
a(t)+b(t)l=u2(t) or b(t)=[u2(t)-u1(t)]/l
 x x
u  x, t   1  u1  t   u2  t 
 l l
or u  x, t   N1  x  u1  t   N 2  x  u2  t 
 x x
where N1  x   1  , N 2  x   are the shape functions
 l l

Bar element
The kinetic energy of the bar element can be expressed as
1 l  u  x, t  
2
T  t   0 A  dx
2  t 
1 l  x  du1  t   x  du2  t  
2
 0 A1      dx
2  l  dt  l  dt 
1 Al 2 du  t  du  t 

2 3
 u 1  u 1u 2  u 22  where u 1  1 , u 2  2
dt dt
1  T u 1  t   Al 2 1
T  t   u  t   mu  t  where u  t       m 
 
2 u  t  6 1 2 
 2 
  
Bar element
The strain energy of the element can be written as

1 1  u  x, t  
2
V  t   0 EA  dx
2  x 
2
1 1  1 1 
 0 EA u1  t   u2  t   dx 
2

1 EA 2
u1  2u1u2  u22 
 l l  2 l
1 T 
V  t   u  t   k u  t 
2
u1  t   EA  1  1
 and u  t    u1  t  u 2  t    m 
  T
where u  t     1 1 
u
 2   t  l  

Bar element
The virtual work can be expressed as

W  t   0l f  x, t u  x, t  dx
 x  x 
 0 f  x, t  1  u1  t   u2  t  dx
l
 l  l 
 l  x   l  x 
  0 f  x, t  1  
  1
dx u  t   
 0 f  x , t   dx u2  t 
  l   l 
 x 
f1  t    f  x, t  1  dx
l
 0
 l 
W  t   u  t 
 T
f  t   f1  t u1  t   f 2  t u2  t   
 x
f 2  t   0 f  x, t   dx 
l
l 
Torsion Element
It is rotation within element.
θ(x,t)=a(t)+b(t)x=N1(x)θ1(t)+N2(x)θ2(t) where N1(x) and N2(x) are

the same as that of the bar element
   x, t  
2
1
 
l
T t   I p   dx
0 2  t 
   x, t  
2
1
V  t    GJ 
l
 dx
2 0
 t 
W  t    f  x, t   x, t  dx
l

Torsion Element
We can derive the element mass and stiffness matrices and the
force vector:
I P l 2 1 
 m 
6 1 2
GJ  1  1
k   
l  1 1 
 l  x 
  f1  t   0 f  x, t  1  l dx 
f   l 
f  t
 2     x 
f  x, t   dx 

 0 l 
Beam Element
w(x,t)=a(t)+b(t)x+c(t)x2+d(t)x3
w
w 0, t   w1  t  ,  0, t   w2  t  
x 

w
w l , t   w3  t  ,  l , t   w4  t  
x 

Beam Element
a(t)=w1(t), b(t)=w2(t)
1
c t   2   3w1  t   2 w2  t  l  3w3  t   w4  t  l 
l
1
d  t   3  2 w1  t   w2  t  l  2 w3  t   w4  t  l 
l
 x2 x3  x x 2 x3 
w x, t   1  3 2  2 3  w1  t     2 2  3 lw2  t 
 l l  l l l 
 x2 x3   x 2 x3 
  3 2  2 3  w3  t     2  3 lw4  t 
 l l   l l 

Beam Element
w x, t    N i  x  wi  t  where N i  x  are shape functions

4
i 1
2 3
2 3
 x  x
 x  x
N1  x   1  3   2  N 3  x   3   2 
l l l l
2 3 2 3
 x x  x  x
N 2  x   x  2l    l   N 4  x   l    l  
l l l l

Beam Element
1 l  w x, t  
2
1  T
Kinetic energy T  t   0 A  dx  w t   m w t 

2  t  2
1 l   w x, t   2 2
1 T 
Strain energy V  t   0 EI   dx  w t   k  w t 
 x
2
2  2
1 l  T 
Virtual work W  t   0 f  x, t w x, t  dx  w t  f  t 
2

Beam Element
 w1  t    dw1 / dt 
w  t   dw / dt 
  2     2 
w t    , w t    

 w3 t   dw3 / dt 
w4  t   dw4 / dt 
w1  t    f1  t  
w  t     f t 
  2   2 
w t    , f  t    
w3  t    f3  t  
w4  t    f 4  t  

Beam Element
156 22l 54  13l 
 22l 4l 2  3l 2 
 m  Al 
13l
420  54 13l 156  22l 
 
  13  3l 2
 22l 4l 2 
 12 6l  12 6l 
 4l 2  6l 2l 2 
EI  6l
k  3
l  12  6l 12  6l 
 
 6 l 2 l 2
 6l 4l 2 
f i  t    f  x, t  N i  x  dx, i  1,2,3,4
l

12.4
Transformation of Element Matrices and Vectors
12.4
12.4 Transformation of Element Matrices and
Vectors

Vectors
• 2 sets of joint displacements are related as follows:
u1  t   U 2i 1  t  cos  U 2i  t  sin 
u2  t   U 2 j 1  t  cos  U 2 j  t  sin 
 cos sin  0 0 
i.e. u  t     U  t  where     

 0 0 cos sin  
U 2i 1  t  
 U t 
  u  t     2i 
u  t    1 , U  t    
u2  t   U
 2 j 1   t 
 U 2 j  t  

Vectors
1  T 1  T 
Kinetic energy T  t   u  t   mu  t   U  t   m U  t 

2 2
1 T  1  T 
 
Strain energy V  t   u  t   k u  t   U  t  k U  t 
2 2

u  t     U  t 

1  T T  1  T 
Thus T  t   U  t      m  U  t   U  t   m U  t 
2 2
1  T T
 
 1  T 
V  t   U  t      k   U  t   U  t  k U  t 
2 2

Vectors
• The 2 equations yield

 m     T  m  
k       k   
T
 T   T 
Similarly, W  t   u  t  f  t   U  t  f  t 
 
f t    f t 
T
• Equations of single finite element in global coordinate system:



 

 m U  t   k U  t   f  t 

12.5
Equations of Motion of the Complete System of Finite
Elements
12.5
12.5 Equations of Motion of the Complete System of
Finite Elements
• Joint displacements of complete structure:
 U1  t  
U  t   
 2 
A 
 
U t   , U  e
t   e
U t
  
~ ~
U M  t  
U1  t   1 0 0 0 0 0 0 0 U1  t  
  1 U  t   0
  1 0 0 0 0 0 0 U 2  t  
E.g. U  t    2     
U 3  t   0 0 1 0 0 0 0 0   
U 4  t   0 
0 0 1 0 0 0 0 U 8  t  

Finite Elements
• Kinetic energy of complete structure:
1   e  T
E   e 
T   U  m U
e 1 2
• E is the number of finite elements in the structure
 
  e  
Differentiating, U  t   A U  t 
 e 
•
~
1 E  T  e 
  m  A 

T  U A  e  e
T
U
2 e 1 ~ ~

Finite Elements
• Kinetic energy of complete structure

1   e  T 
T  U  M U
2 ~ ~
• M is mass matrix of complete structure
M     A
~
e 1
E
 e
 m    A  
T e e
• Similarly by considering strain energy,
K     A
~
e 1
E
 e
 k    A  
T e e

Finite Elements
• Considering virtual work,


 
 E  e
F  A f  e
T
~
e 1
• Lagrange’s equation of motion for complete structure:
   
M U   K U  F
~ ~ ~

12.6
Incorporation of Boundary Conditions
12.6
• Usually structure is supported so that displacements are zero at

some joints.
• To incorporate zero displacement conditions, eliminate the
corresponding rows and columns from   

~ ~

M , K and F
~
• Final equations of motion:
  
M  U   K U  F N 1
N  N N 1 NN

Example 12.1
Analysis of a Bar
Consider a uniform bar of length 0.5m, area of cross section 5 x 10-4,

Young’s modulus 200GPa and density 7850kg/m3, which is fixed at the
left end as shown below.
a) Find the stress induced in the bar under an axial static load of
1000N applied at joint 2 along u2.
b) Find the natural frequency of
vibration of the bar. Use a
one-element idealization.

Example 12.1
Analysis of a Bar
Solution
Equilibrium equations: AE  1  1 u1   f1 

    
l  1 1  u2   f 2 
8 1  1 u1   f1 
2 10     
 1 1  u 2  1000
Delete the first row and substitute u1=0. Thus u2=500x10-8m.

Example 12.1
Analysis of a Bar
Solution
l u u 
Stress-strain relationship:   E  E  E 2 1 
l  l 
 500 108  0 
  2  10 
11
  2 106 Pa
 0.5 
Eigenvalue problem: AE  1  1 U1  2  Al  2 1  U1 

     
l  1 1  U 2  6 1 2 U 2 

Example 12.1
Analysis of a Bar
Solution
Delete first row and first column:

AE Al
U2  2 2U 2
l 6
3E 3 2  1011 
   17485.2076rad/s
l 7850 0.5
2 2

Example 12.2
Natural Frequencies of a Simply Supported Beam
Find the natural frequencies of the simply supported beam shown

below using one finite element.

Example 12.2
Solution
 12 6l  12 6l 
  6l 2l 2 
We have K    K
~
 1
 EI  6l
 3
4l 2
l  12  6l 12  6l 
 
 6 l 2 l 2
 6l 4l 2 
156 22l 54  13l 
 13l  3l 2 
M    M
2
~
 1
 
Al  22l 4l
420  54 13l 156  22l 
 2 
  13  3l 2
 22l 4l 

Example 12.2
Solution
W1  w1 1 
 W2  w2 1 
W       1 
W3  w3 
~
W4  w4 1 
Delete rows and columns corresponding to W1 and W3
2 EI 2 1  Al 3  4  3
K  1 2,  M   420  3 4 
l    

Example 12.2
Solution
 2 EI 2 1 Al 3 2  4  3  W2  0

Eigenvalue problem:  1 2  420  3 4   W   0
 l     4   
Multiply throughout by l/(2EI)
2  4 1  3  W2  0 ρAl 4 2

 1  3     where λ 
 2  4  W4  0 840EI

Example 12.2
Solution
Set determinant of coefficient matrix equal to 0:

2  4 1  3
  2  4   1  3   0
2 2
1  3 2  4
1 120 EI
1  or 1 
7 Al 4
2520EI
2  3 or 2 
Al 4
Example 12.3
Stresses in a Two-Bar Truss
Find the stresses developed in the 2 members of the truss shown

below, under a vertical load of 900N at joint 3. The cross sectional
area are 6.5cm2 for member 1 and 13cm2 for member 2 and the
Young’s modulus is 200x10-9Pa.

Example 12.3
Solution
Each element is a bar element.
Coordinates of the joints:

(X1,Y1)=(0,0.25)m
(X2,Y2)=(0,0)m
(X3,Y3)=(0.25,0.125)m

Example 12.3
Solution
Length of elements: l  1   X 3  X 1  2   Y3  Y1  2
  0.25  0 2   0.125  0.25 2
 0.279508 m
l  2   X 3  X 2  2   Y3  Y2  2
  0.25  0 2   0.125  0.25 2
 0.279508 m

Example 12.3
Solution
Element stiffness matrices:  k  1

 
A  1  E  1  
 1  1 6.5  10 4 200  109 1  1
l  1  1 1   0.279508  1 1 
   
 1  1
 4.65853  108  
  1 1 
k   
2




A 2  E  2   1  1 13  10  4 200  109 1  1
 2    1 1 
l  1 1  0.279508  
 1  1
 9.30206  108  
 1 1 

Example 12.3
Solution
Angle between local and global x-coordinates:

X X 0.25  0 
cos1  3  1 1   0.8944 
l 0.279508 
for element 1
Y  Y 0.125  0.25
sin 1  3  1 1   0.4472
l 0.279508 
X 3  X1 0.25  0 
cos 2    0. 8944
l  1 0.279508
for element 2
Y  Y 0.125  0
sin  2  3  1 1   0.4472 
l 0.279508 

Example 12.3
Solution
Stiffness matrices:
k     k     
 1  1 T 1 1
 1 2 5 6 
 0.8  0.4  0.8 0.4 1
 
 4.65853  10  0.4 0.2
8
0.4  0.2 2
 
  0.8 0.4 0.8  0.4 5
 0.4  0.2  0.4 0.2  6
Example 12.3
Solution
Stiffness matrices:
k     k     
 2  2 T 2 2
 3 4 5 6 
 0.8 0.4  0.8  0.4 3
 
 9.30206 108  0.4 0.2  0.4  0.2 4
 
 0.8  0.4 0.8 0. 4 5
 0.4  0.2 0.4 0. 2  6
Example 12.3
Solution
cos 1 sin 1
We have
  1

0 0
0
cos 
0 
sin  
 1 1
0.8944  0.4472 0 0 
 
 0 0 0 .8944  0 .4472 
cos  2 sin  2
  
2

0 0
0
cos  sin
0 
 
 2 2
0.8944 0.4472 0 0 
 
 0 0 0 . 8944 0 . 4472 
Example 12.3
Solution
Assembled stiffness matrix of the system:
 0.8  0.4  0.8 0.4  1  FX 1 

 0.4 0.2 0.4  0 . 2 2 F 
   Y1 
 1.6 0.8  1. 6  0.8  3   FX 2 
 K   4.6585310 
8
 ~ F   
~
 0 .8 0 .4  0 .8  0 . 4  4 F
 Y2 
  0.8 0.4  1.6  0.8 0.8  1.6  0.4  0.8 5  FX 3 
   
 0.4  0.2  0.8  0.4  0.4  0.8 0.2  0.4  6  FY 3 

Example 12.3
Solution
2.4 0.4 5
Final assembled stiffness matrix:  K   4.65853 10 
8

0.4 0.6 6
  0 5
Force vector: F   
  900 6
   U 5 
Equilibrium equations of the system:  K U  F where U   
U 6 
U5=603.731x10-9m, U6=-3.62239x10-6m

Example 12.3
Solution
U1 
 1 U 
Axial displacements:
 1
u
 
u
  
 1  2 
 
 2 U 3 
U 4 
 0 
0.8944  0.8944 0 0   0 

  603.73110 9 

 0 0 0 .8944  0 .8944  
 3.62239 10 
 6
 0 
 6 
m
 2. 15991  10 
Example 12.3
Solution
U 3 
 2 U 
u1 
    2  4 
   
u
 2 U 5 
U 6 
 0 
0.8944 0.4472 0 0   0 

  603.731 10 9 

 0 0 0 . 8944 0 .4472  
 3.62239  10 
 6
 0 
 6 
m
 1.079955  10 
Example 12.3
Solution
Stresses in elements 1 and 2

E  1  u2  u1 
 1  1
 1  1  1  1 l
 E  E  1 
l l  1

 
200 109 2.1599110 6   1.545509MPa
0.279508
E  2   u2  u1 
 2  2
 2  2  2  2  l
 E  E  2 
l l  2

 
200 109  1.079955  10 6   772.754kPa
0.279508
12.7
Consistent- and Lumped-Mass Matrices
12.7
• Place point masses at node points in the directions of the assumed

displacement DOF
• Point masses calculated by assuming material within the mean

locations behave like rigid body
• Excludes dynamic coupling between the element displacements
• Resulting mass matrix is purely diagonal

• Lumped Mass Matrix for a Bar Element
Divide total mass of element equally between 2 nodes.

Al 1 0
Lumped mass matrix of a uniform bar element:  m 
2 0 1

• Lumped Mass Matrix for a Beam Element
Lump one half of total beam mass at each of the 2 nodes
1 0 0 0
 0 0 0
Al 0
Lumped mass matrix for a beam element:  m  2 0 0 1 0
 
0 0 0 0
To include inertia effect of rotational DOF, compute mass moment

1 0 0 0 
of inertial of half the beam:  l2 
Al 0 12 0 0 
1  Al  l  Al
2 3
 m   
I     2 0 0 1 02 
3  2  2  24 0 0 0 l 
 12 
• Lumped Mass Versus Consistent Mass Matrices
Lumped mass matrices are approximate.
Require less storage space during computation.
Consistent mass matrices are also approximate.
Not diagonal hence require more storage space during

computation.

Example 12.4
Consistent- and Lumped-Mass Matrices of a Bar
Find the natural frequencies of the fixed-fixed uniform bar shown

below using consistent and lumped mass matrices. Use 2 bar elements
for modeling.

Example 12.4
Solution
1 1 0 1 1 1 0
We have  k  
AE  1  1
l  1 1 
 
K 
~
AE 
l  1 1 1  1 2 
AE 
l  1 2  1
 0 1 1  3  0  1 1 
 m c  Al  
2 1
2 1 0 1 2 1 0
6 1 2   
M 
~ c
Al 
6  1 2 2 1  2 
Al 
6  1 4 1 
Al 1 0 0 2 3 0 1 2
 m l  1
2 0 1 1 0 0 1 1 0 0
 
M 
~ l
Al 
2  0 1 1 0 2 
Al 
2  0 2 0
0 0 
1 3 0 0 1

Example 12.4
Solution
Eigenvalue problem:
 K     M U    0
2
2
 K  2M   0
AE 2 Al
 2    4  0 with consistent mass matrices
l 6
AE 2 Al
 2    2  0 with lumped mass matrices
l 2
Example 12.4
Solution
3E E
Eigenvalue problem: c   3.4641
l 2
L2
2E E
l   2.8284
l 2
L2
E
Exact value 1  
L2

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Mechanical Vibrations

Fifth Edition in SI Units

3 © 2011 Mechanical Vibrations Fifth Edition in SI Units

4 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Numerical methods used when equation of motion cannot be

6 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Transverse displacement within element e is w(x,y,t)

8 © 2011 Mechanical Vibrations Fifth Edition in SI Units

9 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Substitute into Lagrange equation

• Equation of motion of finite element:

10 © 2011 Mechanical Vibrations Fifth Edition in SI Units

End points form the nodes

12 © 2011 Mechanical Vibrations Fifth Edition in SI Units

13 © 2011 Mechanical Vibrations Fifth Edition in SI Units

The kinetic energy of the bar element can be expressed as

The strain energy of the element can be written as

15 © 2011 Mechanical Vibrations Fifth Edition in SI Units

The virtual work can be expressed as

It is rotation within element.

θ(x,t)=a(t)+b(t)x=N1(x)θ1(t)+N2(x)θ2(t) where N1(x) and N2(x) are

17 © 2011 Mechanical Vibrations Fifth Edition in SI Units

19 © 2011 Mechanical Vibrations Fifth Edition in SI Units

20 © 2011 Mechanical Vibrations Fifth Edition in SI Units

w x, t    N i  x  wi  t  where N i  x  are shape functions

21 © 2011 Mechanical Vibrations Fifth Edition in SI Units

22 © 2011 Mechanical Vibrations Fifth Edition in SI Units

23 © 2011 Mechanical Vibrations Fifth Edition in SI Units

24 © 2011 Mechanical Vibrations Fifth Edition in SI Units

26 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• 2 sets of joint displacements are related as follows:

27 © 2011 Mechanical Vibrations Fifth Edition in SI Units

28 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• The 2 equations yield

• Equations of single finite element in global coordinate system:

29 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Joint displacements of complete structure:

31 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Kinetic energy of complete structure:

32 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Kinetic energy of complete structure

• M is mass matrix of complete structure

• Similarly by considering strain energy,

33 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Considering virtual work,

• Lagrange’s equation of motion for complete structure:

34 © 2011 Mechanical Vibrations Fifth Edition in SI Units

• Usually structure is supported so that displacements are zero at

corresponding rows and columns from   

• Final equations of motion:

36 © 2011 Mechanical Vibrations Fifth Edition in SI Units

Consider a uniform bar of length 0.5m, area of cross section 5 x 10-4,

37 © 2011 Mechanical Vibrations Fifth Edition in SI Units

Equilibrium equations: AE  1  1 u1   f1 

Delete the first row and substitute u1=0. Thus u2=500x10-8m.

38 © 2011 Mechanical Vibrations Fifth Edition in SI Units

Eigenvalue problem: AE  1  1 U1  2  Al  2 1  U1 

39 © 2011 Mechanical Vibrations Fifth Edition in SI Units

Delete first row and first column:

40 © 2011 Mechanical Vibrations Fifth Edition in SI Units

Find the natural frequencies of the simply supported beam shown

41 © 2011 Mechanical Vibrations Fifth Edition in SI Units

42 © 2011 Mechanical Vibrations Fifth Edition in SI Units