Module 5: FEM for Two and Three Dimensional Solids 37

Lecture 6: Axisymmetric Element

5.6.1 Introduction
Many three-dimensional problems show symmetry about an axis of rotation. If the problem
geometry is symmetric about an axis and the loading and boundary conditions are symmetric about
the same axis, the problem is said to be axisymmetric. Such three-dimensional problems can be
solved using two-dimensional finite elements. The axisymmetric problem are most conveniently
defined by polar coordinate system with coordinates (r, θ, z) as shown in Fig. 5.6.1. Thus, for
axisymmetric analysis, following conditions are to be satisfied.
1. The domain should have an axis of symmetry and is considered as z axis.
2. The loadings on the domain has to be symmetric about the axis of revolution, thus they are
independent of circumferential coordinate θ.
3. The boundary condition and material properties are symmetric about the same axis and will
be independent of circumferential coordinate.

Fig. 5.6.1 Cylindrical coordinates

Axisymmetric solids are of total symmetry about the axis of revolution (i.e., z-axis), the field
variables, such as the stress and deformation is independent of rotational angle θ. Therefore, the field
variables can be defined as a function of (r,z) and hence the problem becomes a two dimensional
problem similar to those of plane stress/strain problems. Axisymmetric problems includes, circular
cylinder loaded with uniform external or internal pressure, circular water tank, pressure vessels,
chimney, boiler, circular footing resting on soil mass, etc.

5.6.2 Relation between Strain and Displacement

An axisymmetric problem is readily described in cylindrical polar coordinate system: r, z and θ.
Here, θ measures the angle between the plane containing the point and the axis of the coordinate
 38

system. At θ = 0, the radial and axial coordinates coincide with the global Cartesian X and Y
coordinates. Fig. 5.6.2 shows a cylindrical coordinate system and the definition of the position
ˆ zˆ and qˆ be unit vectors in the radial, axial, and circumferential directions at a point in
vectors. Let r,
the cylindrical coordinate system.

Fig. 5.6.2 Cylindrical Coordinate System

If the loading consists of radial and axial components that are independent of θ and the material is
either isotropic or orthotropic and the material properties are independent of θ, the displacement at
any point will only have radial ( ) and axial ( ) components. The only stress components that will
be nonzero are , , .

(a) Element in r-z plane (b) Element in r-θ plane

 39

Fig. 5.6.3 Deformation of the axisymmetric element

A differential element of the body in the r-z plane is shown in Fig. 5.6.3(a). The element undergoes
deformation in the radial direction. Therefore, it initiates increase in circumference and associated
circumferential strain. Let denote the radial displacement as u, the circumferential displacement as v,
and the axial displacement as w. Dashed line represents the deformed positions of the body in Fig.
5.6.3(b). The radial strain can be calculated from the above diagram as
1 æ ¶u ö ¶u
εr = ççu + × dr - u ÷÷÷ = (5.6.1)
dr çè ¶r ø ¶r
Since the rz plane is effectively the same as a rectangular coordinate system, the axial strain will
become
1æ ¶w ö ¶w
ε z = çç w+ × dz - w÷÷÷ = (5.6.2)
ç
dz è ¶z ø ¶z

Considering the original arc length versus the deformed arc length, the differential element
undergoes an expansion in the circumferential direction. Before deformation, let the arc length is
assumed as ds = rdθ. After deformation, the arc length will become ds = (r+u) dθ. Thus, the
tangential strain will be
(r +u ) d q - rd q u
εq = = (5.6.3)
rd q r
Similarly, the shear strain will be

¶u ¶w
g rz = +
¶z ¶r (5.6.4)
g rq = 0 and g zq = 0

Thus, there are four strain components present in this case and is given by
 u    
 r   r 0
  r   w   

    0
  z   z   z   u 
          (5.6.5)
    u   1 0  
 w
 rz   r  r 
 u w    
    
 z r   z r 

5.6.3 Relation between Stress and Strain

 40

The stress strain relation for axisymmetric case can be derived from the three dimensional
constitutive relations. We know the stress-strain relation for a three-dimensional solid is

1 0 0 0

1 0 0 0 ϵ
ϵ
1 0 0 0 ϵ
0 0 0 0 0

0 0 0 0 0

0 0 0 0 0
(5.6.6)

The stresses acting on a differential volume of an axisymmetric solid under axisymmetric loading is
shown in Fig. 5.6.4.

Fig. 5.6.4 Stresses acting on a differential volume

Now, comparing the stress-strain components present in the axisymmetric case, the stress-strain
relation can be expressed from the above expression as follows
1 0

1 0
(5.6.7)
1 0

0 0 0
 41

Thus, the constitutive matrix [D] for the axisymmetric elastic solid will be
1 0

1 0
D (5.6.8)
1 0

0 0 0

5.6.4 Axisymmetric Shell Element

A cylindrical liquid storage container like structures (Fig. 5.6.5) may be idealized using
axisymmetric shell element for the finite element analysis. It may be noted that the liquid in the
container may be idealized with two dimensional axisymmetric elements. Let us consider the radius,
height and, thickness of the circular tank are R, H and h respectively.

Fig. 5.6.5 Thin wall cylindrical container

The strain energy of the axisymmetric shell element (Fig. 5.6.6) including the effect of both
stretching and bending are expressed as
H
1
U =   N y ε y + N θ εθ + M y χ y 2πRdy (5.6.9)
20
 42

Here, Ny and N are the membrane force resultants and My is the bending moment resultant. The
shell is assumed to be linearly elastic, homogeneous and isotropic. Thus the force and moment
resultants can be expressed in terms of the mid-surface change in curvature χy as follows.

Fig 5.6.6 Axisymmetric plate element

Here, the strain-displacement relation is given by

σ   Dε (5.6.10)

In which,
 
N y   y  1  0 
 
    N  ,      and  D  
  Eh
 1 0  (5.6.11)
M    1  2
 2
 y  y 0 0 h 
 12 
The generalized strain vector can be expressed in terms of the displacement vectors as follows.
    Bd (5.6.12)
Where,
 43

 
 0 y 
 
u   1 
d     and  B    0 (5.6.13)
v  
R

 
2

  y 2 0 
 
Here, u and v are the displacement components in two perpendicular directions. With the use of
stress and strain vectors, the potential energy expression are written in terms of displacement vectors
as

 
H
1
U =  2πR  d   B   D  B d  dy
T T
(5.6.14)
2 0

Thus, the element stiffness are derived as

H

 k   2πR   B   D  B  dy
T
(5.6.15)
0

Similarly, neglecting the rotary inertia, the kinetic energy can be expressed as

   N  m  N ddy
H
1 T
T =  2πR  d
T
(5.6.16)
2 0


Where, m denotes the mass of the shell element per unit area and d represents the velocity vector.
Thus, the element mass matrix is given by
Le

 M   2πRm   N   N  dy
T
(5.6.17)
0

Lecture 7: Finite Element Formulation of Axisymmetric Element

Finite element formulation for the axisymmetric problem will be similar to that of the two
dimensional solid elements. As the field variables, such as the stress and strain is independent of
rotational angle θ, circumferential displacement will not appear. Thus, the displacement field
variables are expressed as
n
u (r,z ) = å Ni (r,z )ui
i=1
n
(5.7.1)
w(r,z ) = å Ni (r,z ) wi
i=1
Here, ui and wi represent radial and axial displacements respectively at nodes. Ni (r, z) are the shape
functions. As the geometry and field variables are independent of rotational angle θ, the interpolation
function Ni (r, z) can be expressed similar to 2-dimensional problems by replacing the x and y terms
with r and z terms respectively.
 44

5.7.1 Stiffness Matrix of a Triangular Element

Fig. 5.7.1 shows the cylindrical coordinates of a three node triangular element. Hence the analysis of
the axisymmetric element can be approached in a similar way as the CST element. Thus the field
variables of such an element can be expressed as
u   0  1r   2 z
(5.7.2)
w  3   4r  5 z
Or,
d    (5.7.3)
Where,
u  1 r z 0 0 0 
  0 1  2 3  4 5 
T
d     ,      and
w 0 0 0 1 r z 
Using end conditions,
 u1  1 ri zi 0 0 0   0 
 u  1 r zj 0 0 0  1 
 2  j

 u3  1 rk zj 0 0 0   2 
    (5.7.4)
 w1  0 0 0 1 ri zi   3 
 w2  0 0 0 1 rj z j   4 
    
 w3  0 0 0 1 rk zk   5 
Or,
d    A 
(5.7.5)
     A
1
d 
Here d  are the nodal displacement vectors.
 45

Fig. 5.7.1 Axisymmetric three node triangle in cylindrical coordinates

Putting above values in eq.(5.7.3), the following relations will be obtained.

d    A
1
d   [ N ]d  (5.7.6)
Or,
 r1 
r 
 2
 u   Ni Nj Nk 0 0 0   r3 
d      
N k   z1 
(5.7.7)
 w  0 0 0 Ni Nj
 z2 
 
 z3 
Using a similar approach as in case of CST elements, the three shape functions  N1 , N 2 , N3  can be
assumed as,

1
N1  r , z    r2 z3  r3 z2    z2  z3  r   r3  r2  z 
2A 
1
N2  r, z    r3 z1  r1 z3    z3  z1  r   r1  r3  z 
2A 
1
N3  r , z    r1 z2  r2 z1    z1  z2  r   r2  r1  z 
2A 
 46

Or,
1
Ni  r , z    i  r i  z i 
2A
1
N j  r, z  
2A
 j  r  j  z j  (5.7.8)

1
Nk  r, z    k  r  k  z k 
2A

Where,
 i  rj zk  rk z j  j  rk zi  ri zk  k  ri z j  rj zi
 i  z j  zk  j  z k  zi  k  zi  z j
 i  rk  rj  i  ri  rk  i  rj  ri (5.7.9)
1
2A 
2
 ri z j  rj zk  rk zi  ri zk  rj zi  rk z j 
Putting the value of {u,w} in eq. (5.7.7) from eq. (5.6.5),
 N i N j N k 
 0 0 0 r 
 r r r 1
 
 Ni Nj Nk   r2 
 0 0 0   r3 
    r      B  d 
r r
(5.7.10)
 N i N j N k   z1 
 0 0 0
z z z   z2 
  
 N i N j N k N i N j N k   z3 
 z z z r r r 
Thus, the strain displacement matrix can be expressed as,
 i  j  k 0 0 0 
 
 Ni N j N k 
1 0 0 0
 B   r r r  (5.7.11)
2A 
0 0 0 i  j k 
 
  i  j  k i  j  k 

ri  rj  rk
Where, r  . Thus the stiffness matrix will become
3
 k     B   D  B  d 
T

2

 k       B   D  B  r d dA  2    B   D  B  r dr dz
T T
Or, (5.7.12)
0
 47

 B   D  B  cannot
T
Since, the term [B] is dependent of ‘r’ terms; the term be taken out of
integration. Yet, a reasonably accurate solution can be obtained by evaluating the [B] (denoted as
[B]) matrix at the centroid.
Hence,  k   2 r  B   D  B    dr dz
T

Or,
 k    B   D  B  2 rA
T
(5.7.13)

5.7.2 Stiffness Matrix of a Quadrilateral Element

The strain-displacement relation for axisymmetric problem derived earlier (eq.(5.6.5)) can be
rewritten as
 u 
 u   r 
 r   
1 0 0 0 0   u 
  r   w  
    0 0 0 1 0   z 
 z   z    
        1   w  (5.7.14)
     u  0 0 0 0
r   r 
 rz   r    
 u w  0 1 1 0 0   w 
    z 
 z r   
u 

Applying chain rule of differentiation equation we get,

 u   u 
 r   ξ 
   J*  
*
J12 0 0 0   u 
 u   11 
 z   J*21 J *
0 0 0   η 
 
22
  
 w   0 0 J *
11
*
J12 0   w  (5.7.15)
 r   0 0 J *
J * 
0   ξ 
   21 22  
 w   0 0 0 0 1   w 
 z   η 
 u   
   u 
Hence, the strain components are calculated as
 48

 u 
 ξ 
 
0 0 0 0   J11 0   u 
* *
1 J12 0 0
ε r    * 
  0 0 0 1 0   J 21 J *
0 0 0   η 
ε z    
22

  1  0 0   w 
* *
0 J 11 J12
ε θ   0 0 0 0  *
J*22

0   ξ 
r 0 0 J
 rz   21  
 0 1 1 0 0   0 0 0 0 1   w 
 η 
 
 u 
Or,
ì ¶u ï
ï ü
ï
ï ï
ï
ï ¶x ï
ï
ï
ï ï
ìï e r üï ê J11
é * *
J12 0 0 0 ú ï ¶u ïï
ù ï
ïï ïï
ïï ïï ê 0 0 úú ï
ï ez ï ê 0 J*21 J*22 ï ¶h ïï
ïí ï = ê ú ïí ¶w ï (5.7.16)
ïï e q ïï ê 0 1ú ï ï
0 0 0 ï ¶x ïï
ïï ïï êê r úú ï ï
ïîg rz ï ê * ï ïï ï
ë J 21 J*22 *
J11 *
J12 0 úû ï ï ¶w ï
ï
ï ï
ï ¶h ïï
ï
ï ï
ï
ï
ï ï
î u ï
æ ¶u ¶u ¶w ¶w ÷ö
With the use of interpolation function and nodal displacements, çç , , , ÷ can be expressed
çè ¶x ¶h ¶x ¶h ÷÷ø
for a four node quadrilateral element as

ì ¶u ï
ï ü é ¶N1 ¶N 2 ¶N 3 ¶N 4 ùìï u1 ü
ï
ï
ï ï
ï ê 0 0 0 0 úï ï ï
ï
ï
ï ¶ x ï
ï ê ¶x ¶x ¶x ¶x úïï u ï
2ï
ï ï ê úï ï
ïï ¶u ïï ê ¶N1 ¶N 2 ¶N 3 ¶N 4 ú ï u3 ï
ï ï
ï
ïï ¶h ï ïï êê ¶h 0 0 0 0 úï ï
¶h ¶h ¶h ú ï u4 ï
ï ï
ï
í ï = ê úïí ï
 (5.7.17)
ïï ¶w ïï ê ¶N1 ¶N 2 ¶N 3 ú
¶N 4 ú ï 1 ï
ï w
ï
ï ï êê 0 0 0 0 ï ï ï
ï ¶x ïï ê ¶x ¶x ¶x ¶x úú ï
ï w2 ï
ï
ï
ïï ¶w ïïï ê ï
ï ï
ï
¶N1 ¶N 2 ¶N 3 ú
¶N 4 ú ï w3 ï
ï
ï ï
ï ê 0 0 0 0 ï
ï ï ï
ï ¶ h ï ê ¶h ¶h ¶h ¶h ûú ï ï
ï ï ë
î ïw4 ï
ï
î ï


Putting eq. (5.7.17) in eq. (5.7.16) we get,

 49

é ¶N1 ¶N 2 ¶N 3 ¶N 4 ù
ê 0 0 0 0 ú ïìï u1 ïüï
ê ¶x ¶x ¶x ¶x úï ï
ê ú ïï u 2 ïï
é *
ì e r ïü ê J11
*
J12 0 0 0 ùú êê ¶N1 ¶N 2 ¶N 3 ¶N 4 úï ï
ï 0 0 0 0 ú ïï u 3 ïï
ïï ïï ê 0 0 J*21 J*22 0 úú êê ¶h ¶h ¶h ¶h ú ïï ïï
ï ez ï ê úïu ï
íï ï = êê 1 úú êê 0 ¶N1 ¶N 2 ¶N 3 ¶N 4 úú ïí 4 ï
ï
ï e q ïïï ê0 0 0 0 0 0 0 ïw ï
ï r úú êê ¶x ¶x ¶x ¶x úú ïï 1 ïï
ï ï ê ïïw ïï
îg rz ï ê J*
ï
J*22 *
J11 *
J12 0 úû êê ¶N1 ¶N 2 ¶N 3 ¶N 4 úú ïï 2 ïï
ë 21
ê 0 0 0 0
¶h ¶h ¶h
ïw ï
¶h úú ïï 3 ïï
ê ïw ï
ê
ë N1 N2 N3 N4 N1 N2 N3 N 4 úû ïîï 4 ïï
(5.7.18)
Thus, the strain displacement relationship matrix [B] becomes
é ¶N1 ¶N 2 ¶N 3 ¶N 4 ù
ê 0 0 0 0 ú
ê ¶x ¶x ¶x ¶x ú
ê ú
é J11
*
J *
0 0 0 ù ê ¶N1 ¶N 2 ¶N 3 ¶N 4 ú
ê 12 úê 0 0 0 0 ú
ê0 0 J *
J *
0 ú ê ¶h ¶h ¶h ¶h ú
ê 21 22 úê ú
[ B] = êê 1 úú êê 0 ¶N1 ¶N 2 ¶N 3 ¶N 4 úú (5.7.19)
0 0 0
ê0 0 0 0 ú
rú ê ê ¶x ¶x ¶x ¶x úú
ê *
ê J 21 J*22 J11
* * ú
J12 0 û ê ê ¶N1 ¶N 2 ¶N 3 ¶N 4 úú
ë
ê 0 0 0 0
¶h ¶h ¶h ¶h úú
ê
ê N N2 N3 N4 N1 N2 N3 N 4 úû
ë 1
For a four node quadrilateral element,

N1 
1  ξ  ( 1  η ) 
N1

(1  η )
and
N1

(1  ξ )
4 ξ 4 η 4

N2 
1  ξ  ( 1  η ) 
N 2 ( 1  η )
 and
N1

(1 ξ )
(5.7.20)
4 ξ 4 η 4

N3 
1  ξ  ( 1  η ) 
N 2 ( 1  η )
 and
N1 ( 1  ξ )

4 ξ 4 η 4

N4 
1  ξ  ( 1  η ) 
N 2

(1 η )
and
N1 ( 1  ξ )

4 ξ 4 η 4
Thus, the [B] matrix will become
 50

é J11
* *
J12 0 0 0ùú
ê
ê0 0 J 21 J*22 0úú
*
ê
[ B] = êê 1 úú ´
ê0 0 0 0
r úú
ê *
ê J 21 J 22 J11 J12 0ú
* * *
ë û
é ù
ê -(
1- h) (1- h) (1 + h) (1 + h)
- 0 0 0 0 ú
ê 4 4 4 4 ú
ê ú
ê (1- x) (1 + x) (1 + x) (1-x) ú
ê - - 0 0 0 0 ú
ê 4 4 4 4 ú
ê ú
ê (1 - h ) (1 - h ) (1 + h ) (1 + h ) ú
ê 0 0 0 0 - - ú
ê 4 4 4 4 ú
ê ú
ê (1-x) (1 + x) (1 + x) (1-x) ú
ê 0 0 0 0 - - ú
ê 4 4 4 4 ú
ê ú
ê (1- x)(1- h) (1 + x)(1- h) (1 + x)(1 + h) (1- x)(1 + h) (1- x)(1- h) (1 + x)(1- h) (1 + x)(1 + h) (1- x)(1 + h)ú
ê ú
êë 4 4 4 4 4 4 4 4 úû

(5.7.21)
The stiffness matrix for the axisymmetric element finally can be found from the following
expression after numerical integration.
11

 k     B  D B d      B  D B.2πr. J .dξdη

T T
(5.7.22)
 11