First-Order Shape Sensitivity of Displacements by the Scaled Boundary Finite

Element Method: Derivations

Morsaleen Shehzad Chowdhury

1. Fundamental Concept
As a reminder, before any primary derivations are accomplished, it should be clarified that all the governing
equations of the scaled boundary finite element method (SBFEM) used in a preceding analysis still hold for a second
analysis carried out due to a finite perturbation of the scaling centre.
1.1. Introducing the Perturbation
The initial scaling centre O, say the crack tip, is perturbed by a magnitude and angle (measured anticlockwise
in Figure 1. This corresponds to the crack length a and
relative to the positive x-axis)

to the new scaling center O

the height h being perturbed by x and y, respectively. According to the scaled boundary coordinate system, the
scaling centre corresponds the origin coordinates (0, 0)(Figure 2). In other words the boundary elemental coordinates
are measured as positive and negative along the positive and negative axises (x,
y),
respectively. The sign of x and
is located. Table 1 summarizes the effect of the
y are thus dependant on the quadrant that the new scaling centre O
location of the scaling centre on the sign of x and y. To account for this, the following simplification is made:
x = cos( ) = c and y = sin( ) = s .
1.2. Taylor Series Representation
Given any function f (x), the Taylor series expansion of the function about an initial point x0 is as follows

f (x) =

n=0

f (n) (x0 )
(x x0 )n
n!

= f (x0 ) +

(1a)

f 0 (x0 )
f 00 (x0 )
f 3 (x0 )
f (n) (x0 )
(x x0 ) +
(x x0 )2 +
(x x0 )3 + ... +
(x x0 )n + ....
1!
2!
3!
n!

(1b)

On that basis, say x0 = a is taken as the initial crack orientation (Figure 1) and the perturbation = x x0 = x a is
due to the shift in scaling centre. A linear approximation to the Taylor series, first-order sensitivity, would then be
f (x) ' f (a) + f 0 (a) = f (a) + d f

(2)

where f (a) and d f are the function and derivative function values at the initial crack orientation a, respectively.
Hence, once the derivative function d f is obtained it is possible to determine the value of the function f (x) at any
Preprint submitted to Elsevier

July 2, 2011

point without the need for physically shifting the scaling centre. Applying this concept into perspective, consider
the scaled boundary finite element equation in displacement amplitude for statics and zero body load case (Song and
Wolf, 2000), which will be explained further in detail in the upcoming sections,
     T 
 
 0 2
{u ( )} , E 2 {u ( )} = 0
E {u ( )} , + E 0 E 1 + E 1

(3)

   
 
where E 0 , E 1 and E 2 are the coefficient matrices and {u ( )} is the displacement function. Its now apparent how
f (x) in Eq. 2, with respect to the SBFEM, can be representative of the coefficient matrices, displacement functions
or to a greater extent the stress intensity factors. Solving this second-order differential equation based on the initial
scaling centre requires an eigenvalue analysis which will yield the initial solution. After the perturbation of the scaling
centre is introduced, the two alternatives to obtain the new solution are: a) resolve Eq. 3 based on the new scaling
centre or; b) re-derive the governing differential equation for the perturbed coordinate system and solve it without
the need for a second eigenvalue analysis which may be a timely matter and so efficiency is called into question. The
focus of the current paper is the latter of the two alternatives.
Prior to achieving this goal however, the effect of the perturbation on the elementary equations of the SBFEM,
such as the Jacobian [J] and [B] matrices (Song and Wolf, 2000), must be investigated. Section 2 is thus devoted to
this task. These elementary equations are basically reformulated as linear Taylor series expansions (Eq 2). Ultimately,
this will lead to the general Taylor series formulation for the coefficient matrices as such
 
E ' [E] + [dE]

(4)

 
where is the perturbation in scaling centre, E is the coefficient matrix in the perturbed coordinate system, [E]
is coefficient matrix in the initial coordinate system and [dE] is the first-order derivative. Similarly, in section 3 the
general Taylor series formulation for the displacement is
{u}
' {u} + {du}

(5)

where is the perturbation in scaling centre, {u}

is the displacement in the perturbed coordinate system, {u} is
displacement in the initial coordinate system and {du} is the first-order derivative. Section 4 is then used to verify
these formulations.
In section 2, the elementary governing equations of the scaled boundary finite element method (SBFEM), such
as the Jacobian [J] and [B] matrices (Song and Wolf, 2000), are revisited and reformulated as linear Taylor series
expansions (Eq 2) to represent the perturbed coordinate system. where E is the perturbed coefficient matrix,
2. Perturbed Coefficient Matrices
2.1. Coordinates
All of the following derivations are based on in-plane loading and equilibrium. The effect of the perturbation
on all the original equations will denoted by accent . The perturbed boundary coordinate (e
x, ye) translation is given
2

^
y

^
y

crack A
opening B

^
x

y ^
h x

Figure 1: Perturbation in scaled boundary coordinates.

+^
y

O2

O1
O

-^
x

crack A
opening B

+^
x

(0,0)

O3

O4
-^
y

Figure 2: Quadrants of the new scalingcentre O.

Table 1: Reverse sign convention of c and s.

Scaling Centre
1
O
2
O
3
O
4
O

+
+

+
+

by
xe() = [N ()] {x + x} = [N ()] {x} [N ()] c = x c ;

(6a)

ye() = [N ()] {y + y} = [N ()] {y} [N ()] s = y s .

(6b)

Note that the unified property of the shape functions [N] result in [N ()] x = x = c and [N ()] y = y = s
 
in Eq. 6aa and 6ab. Similarly the domain coordinate e
x,
e
y translation is given by
e
x ( , ) = xe() = (x c ) ;

(7a)

e
y ( , ) = ye() = (y s ) .

(7b)

2.2. Jacobian
 
 
The spatial differential operator L in the e
x,
e
y system is given by

0
e
x

.
L = 0

e
x

e
y

(8)

e
y

h i
 
The perturbed Jacobian J , required to transform the differential operator L , can be given by

h
i
, yb
,
b
x
.
J( , ) =
,
, yb
xb
h i
The partial derivatives in the Jacobian J in Eq. 9 can be expressed as

(9)

, = xe = x c ;
xb

(10a)

, = ye = y s ;
yb

(10b)

, = xe, = ([N ()] , {x} + 0) = x, ;

xb

(10c)

, = ye, = ([N ()] , {y} + 0) = y, .

yb

(10d)

 
Substituting Eq. 10aa-d into Eq. 9 and formulating the Jacobian J at the boundary ( = 1) gives



xe
ye
x c y s
=
.
J() =
(11)
xe, ye,
x,
y,
 
After splitting the expanding Eq. 11, the Jacobian J can be expressed explicitly in the form of a Taylor expansion



x
y
c s
+

J() =
(12a)
x, y,
0
0
= [J ()] + [dJ] .
.
4

(12b)

2.3. Inverse Jacobian

h
i1
The inverse of the 2 2 Jacobian matrix J( , )
in Eq. 9 can be represented by

h
i1
e
y
,
e
y
1
0
1

.
J( , )
=  
J
e
x, xe
0 1

(13)

1

and using Eq. 12a, J() is formed at the boundary ( = 1)


1
y,
y
0
1
+
J()
=  

J
x, x
0
 
where the determinant J is
 
J = xy, yx, + xy, yx,

s
c

(14)

(15a)

= xy, yx, c y, +s x,

(15b)

= |J| + (cy, +sx, ) .

(15c)

A linear power series approximation defined by

1
= xn ' 1 + x;
1 x n=0

|x| < 1
is employed for the inverse of the determinant

(16a)
(16b)

in Eq. 14 such that

1
1
1

 =
J |J|
(cy, +sx, )
1+
|J|


(cy, sx, )
1
+ O( 2 )
=
1+
|J|
|J|


(cy, sx, )
1
'
1+
;
|J|
|J|


|J| >  (cy, sx, ) .
|J|

(17a)

(17b)
(17c)
(17d)

Substituting Eq. 17ac into Eq. 14 and expanding leads to the following linear Taylor expansion of the inverse Jacobian

1
J()




1
y,
y
0 s

(cy,
sx,
)
1

J()
'
1+
(18a)
|J|
|J|
x, x
0 c

y
y,
y + sr
1 y,
1
+

+ O( 2 )
=
(18b)
|J| x, x
r |J| x, x cr
' [J ()]1 + [dJ]1

(18c)

where the characteristic determinant r =

|J|
cy, sx, .

2.4. Transformation of Differential Operator

The transformation of the differential operators in the perturbed system, required for Eq. 8, can be given by

h
i1

e
x
= J( , )
.
(19)


e
y

Substituting Eq. 13 and Eq. 14 into Eq. 19, and then Eq. 19 into Eq. 8 leads to the following expression for the
 
differential operator L

 
1

L =  

y,

1 1

+   0
x,
J
x
x,
y,
h i
h
i
1 2
= b1
+
b
.

h i
1

b1 =  
J

y,
0
x,

1
|J|

|J|

c

s

x,

y,

(20a)

(20b)

(21a)

y,
0
x,

x,

y,
y,

1 1

0
x, +

r |J|
x,
y,
x,
 1
 1
= b + db .
=



(cy, sx, )
1

1+
'

|J|
|J|

y,

h i
given by Eq. 17ac, the matrix b1 in Eq. 20a is given by

x + 0

y
c

Then applying the power series approximation for

(21b)

x,

y,

(21c)

(21d)

h i
h i
The matrix b1 is then transformed to B1 by
h i h i
B1 = b1 [N]
 
 

' b1 + db1 [N]
 
 

= b1 [N] + db1 [N]

 

= B1 + dB1 .

(22a)
(22b)
(22c)
(22d)

h i
Similarly, the matrix b2 is given by

h i
1

b2 =   0
J
x

0 c
x

c s
y

s
0

 y 0

(cy, sx, )
1

'
1+
0
x + 0 c
|J|
|J|

c s
x y

y 0
y + sr
0
1 1

2
=
0

x +
0
x cr +O( )
|J|
r |J|

x y
x cr y + sr
 2
 2
' b + db

(23a)

(23b)

(23c)

(23d)

h i
h i
and likewise, b2 is then transformed to B2 by
h i h i
B2 = b2 [N]
 
 

' b2 + db2 [N]
 
 

= b2 [N] + db2 [N]
 


= B2 + dB2 .

(24a)
(24b)
(24c)
(24d)

h i
h i h i h i
Noticeably, the matrices b1 , b2 , B1 and B2 are expressed as Taylor expansions. Also, note that for the
out-of-plane equilibrium case the following alteration must be made

y,
y,
1
1
1

{b1 } =
; {db1 } =
|J| x,
r |J| x,

y
y + sr
1
1
1
{b2 } =
; {db1 } =
|J| x
r |J| x cr

(25a)

(25b)

2.5. Coefficient and Mass Matrices

As mentioned earlier, the scaled boundary finite element equations for the coefficient and mass matrices still hold
for the perturbed system, such that
+1 h

iT

(26a)

1
Z +1 h

h i 
[D] B1 J d;

iT

h i 
[D] B1 J d;

(26b)

iT

h i 
[D] B2 J d;

(26c)

h i Z
E0 =
h i
E1 =
h i
E2 =
h i
M 0 =

B1
B2

Z +1 h

B2

1
Z +1
1

 
[N ()]T [N ()] J d

(26d)

where [D] and are the elasticity matrix and mass density, respectively. The Taylor expansions (approximations) for
these matrices will be derived by substituting Eq. 15a, Eq. 22ad and Eq. 24ad into Eq. 26aa-d and expanding. The full
extent of the derivations have been kept short herein for the sake of brevity. Beginning with the perturbed coefficient
h i
matrix E0
h i Z
E0 =

+1 h

B1

iT

h i 
[D] B1 J d

(27a)

Z +1  


T
 



'
B1 + dB1
[D] B1 + dB1 (|J| + (cy, +sx, )) d

1
Z +1 

B1

T

Z
 
[D] B1 |J| d +

+1

 
1  1 T
B
[D] B1 |J| d+O( 2 )
r

 


' E 0 + dE 0 .

(27b)
(27c)
(27d)

h i
Similarly, the perturbed coefficient matrix E1
h i Z
E1 =
'
=

+1 h

B2

1
Z +1
1
Z +1 

h i 
[D] B1 J d

(28a)

 2


T
 



B + dB2
[D] B1 + dB1 (|J| + (cy, +sx, )) d

B2

iT

T

Z
 
[D] B1 |J| d +

+1 

dB2

 


' E 1 + dE 1 .

T

 
[D] B1 |J| d+O( 2 )

(28b)
(28c)
(28d)

h i
Finally, the perturbed coefficient matrix E2
h i Z
E2 =

+1 h

B2

iT

h i 
[D] B2 J d

(29a)

Z +1  



T


 
[D] B1 + dB1 (|J| + (cy, +sx, )) d
'
B2 + dB2
Z

1
+1 

B2

T

Z
 
[D] B1 |J| d +

+1 

B2

T

[D]

(29b)




Z +1 
 2 1  2
T
 
|J| d +
dB B
dB2 [D] B2 |J| d +O( 2 )
r
1
(29c)

 


' E 2 + dE 2 .

(29d)

h i
The perturbed mass matrix M 0 is simply
h i Z
M 0 =
=
=

+1

1
Z +1
1
Z +1
1

 
[N ()]T [N ()] J d

(30a)

[N ()]T [N ()] (|J| + (cy, +sx, )) d

(30b)

[N ()]T [N ()] |J| d +

Z +1
1

1
[N ()]T [N ()] |J| d
r

 


= M 0 + dM 0 .

(30c)
(30d)

h i
h i h i
It is important to note that the expressions for the perturbed coefficient matrices E0 , E1 and E2 are based
h i
on linear approximations of the Taylor series expansion, while the perturbed mass matrix M 0 is explicitly formed
since no Taylor approximation is required. Also, note that for the out-of-plane equilibrium case the elasticity matrix
[D] in the above Eqs 26a-30a is replaced with the shear modulus G (Song and Wolf, 2000).
3. Perturbed Displacements
The scaled boundary finite element equation in displacement mode for 2D statics ( = 0) is given by
     T 
 0 2
 
E {u ( )} , + E 0 E 1 + E 1
{u ( )} , E 2 {u ( )} = 0.

(31)

Although this system of equations (matrix) is present for several degrees of freedom, the simplest case to solve
the equation is for the model problem with one degree of freedom which reduces Eq. 31 to the following scalar
homogeneous second-order differential equation (Euler-Cauchy)
E 0 2 u ( ) , +E 0 u ( ) , E 2 u ( ) = 0.

(32)

As such, this section is will be divided into firstly deriving and solving for the perturbed displacement in scalar form
followed by the matrix form.

3.1. Scalar Form

3.1.1. Initial Solution
The postulated solution to the scalar Euler-Cauchy equation is the following power function
u ( ) =

(33)

E 0 2 E 2 = 0.

(34)

which when substituted into Eq. 32 yields

The solution to this equation is

r
=

E2
E0

(35)

and thus the general solution to Eq. 32 is the linear sum

u ( ) = c1 + c2

(36)

where c1 and c2 are integration constants. However since for the bounded domain case the displacement u must
remain finite at = 0, it follows that c2 = 0 (Re() > 0), leaving the solution
u ( ) = c

(37)

where the subscript 1 is dropped from c1 to c for the sake of redundancy.

3.1.2. Stiffness and Constant c
The SBFEM states that the internal nodal force-displacement relationship is given by
q ( ) = E 0 u ( ) , +E 1 u ( )

(38)

where q ( ) is the internal nodal force function. Substituting Eq. 37 into Eq. 38 leads
q ( ) = K b u ( )

(39)

where the static stiffness for the bounded domain K b = E 1 + E 0 E 2 . Hence, the constant c can be determined by
formulating Eq. 39 at the boundary = 1 such that
c=

q ( = 1)
.
Kb

10

(40)

3.1.3. Perturbed Equation and Solution

As a result of the perturbation (Figure 1), the initial scaled boundary finite element equation in scalar form
(Eq. 32) will be altered into the following perturbed equation
E0 2 u ( ) , +E0 u ( ) , E2 u ( ) = 0

(41)

where the perturbed coefficients are taken as predefined first-order Taylor series approximations (see section 1)
E0 ' E 0 + dE 0

(42a)

E1 ' E 1 + dE 1

(42b)

E2 ' E 2 + dE 2 .

(42c)

Similarly the first-order Taylor series approximation to the perturbed displacements u ( ) can be given by
u ( ) ' u ( ) + du ( ) .

(43)

where u ( ) is the initial displacement solution solved for in the previous section and du ( ) is the first derivative of
u ( ) with respect to the crack orientation. Substituting Eq. 42a and Eq. 43 into Eq. 41 leads to








E 0 + dE 0 2 u ( ) , + du ( ) , + E 1 + dE 1 u ( ) , + du ( ) ,


E 2 + dE 2 2 (u ( ) + du ( )) = 0

(44)

which upon expanding and making use of the homogeneity of Eq. 41, substituting Eq. 37 and ignoring higher-order
terms leads to the following non-homogeneous Euler-Cauchy equation in terms of the unknown first derivative of the
displacement du ( )


E 0 2 du ( ) , +E 0 du ( ) , E 2 du ( ) = dE 2 2 dE 0 c .

(45)

From the principal of superposition, the solution to this second order differential equation is composed of
du ( ) = du ( )c + du ( ) p

(46)

where du ( )c is the complementary solution and du ( ) p is the particular solution. The complementary solution
du ( )c can be obtained by solving the equivalent homogeneous system of Eq. 45 and is similar to that of Eq. 36
du ( )c = C1 f1 ( ) +C2 f2 ( )

(47)

where f1 ( ) = , f2 ( ) = and C1 and C2 are integration constants. The particular solution du ( ) p can be
solved for using the method of variation of parameters. However for that to apply Eq. 45 needs to be transformed
into the form
1 E2
1
du ( ) , + du ( ) , 2 0 du ( ) = ( )

E
11

(48)

where ( ) = m 2 and m =

(dE 2 2 dE 0 )c
E0

. The method of variation of parameters then gives

du ( ) p = f1 ( )

Z
f2 () ()
0

d + f2 ( )

Z
f1 () ()
0

(49)

where the Wronskian W = f1 f2 , f2 f1 , = 2

. Computing the integrals and recalling that Re() > 0 the solution
yields to be
m
du ( ) p =
2




ln ( )
.
2

(50)

Thus, substituting Eq. 47 and Eq. 50 into Eq. 46 leads to the solution to the first derivative of the displacement du ( )


m

ln ( )
.
(51)
du ( ) = C1 +C2 +
2
2
Again, to achieve a finite displacement derivative du ( ) at = 0 for a bounded domain, C2 = 0 must be satisfied,
which reduces Eq. 51 to
du ( ) = C +

m
2




ln ( )
.
2

(52)

where the subscript 1 is dropped from C1 to C for the sake of redundancy. Finally, substituting Eq. 37 and Eq. 52 into
Eq. 43 the perturbed displacement function is obtained



m

u ( ) ' c + C +
ln ( )
.
2
2

(53)

3.1.4. Determining the Constant C

Similar to Eq. 38, the perturbed internal nodal force-displacement relationship is given by
q ( ) = E0 u ( ) , +E1 u ( )

(54)

where q ( ) is the perturbed internal nodal force function. To determine an expression, Eq. 42a and Eq. 43 is substituted into Eq. 54 and expanded to form


q ( ) = E 0 u ( ) , +E 1 u ( ) + E 0 du ( ) , +E 1 u ( ) + dE 0 u ( ) , +dE 1 u ( )


+ 2 dE 0 u ( ) , +dE 1 u ( )
= q ( ) + dq ( ) + 2 dq2 ( ) .

(55a)
(55b)
(55c)

The constant C can thus be determined by formulating Eq. 55a at the boundary = 1
q ( = 1) = q ( = 1) + dq ( = 1) + 2 dq2 ( = 1) .

(56)

Ignoring higher order terms (first-order approximation) and noting that q ( = 1) = q ( = 1) reduces Eq. 56 to
0 = dq ( = 1)

(57a)

0 = E 0 du ( = 1) , +E 1 u ( = 1) + dE 0 u ( = 1) , +dE 1 u ( = 1) .

(57b)

12

Hence, substituting Eq. 37 and Eq. 51 into Eq. 57a and rearranging leads to




m
0
11
0
1
4 E E + c dE + dE
C=
.
E 0 + E 1

(58)

If higher order terms are to be included, then Eq. 56 is reduced to

dq ( = 1) + dq2 ( = 1) = 0.

(59)

and it follows that

C=

m
4





E0 E1 1 + c dE 0 + dE 1
E0 + E1

(60)

where the perturbed coefficients E0 and E1 are given by Eq. 42a.

3.2. Matrix Form
3.2.1. Initial Solution
Eq. 31 represents a system of second-order differential equations (Euler-Cauchy) as compared to the singular
scalar Eq. 32. This system can be solved analytically by firstly transforming it into an equivalent system of first-order
differential equations by introducing the dependent variables

{u ( )}
{X ( )} =
{Q ( )}

(61)

where {X ( )} is sized as 2n fountains (n being the number of d.o.f), {u ( )} is the nodal displacements and {Q ( )}
is the internal nodal forces given by
 
 T
{Q ( )} = E 0 {u ( )} , + E 1 {u ( )} .

(62)

Note that the fundamental force-displacement relationship for any medium is also given by
{Q ( )} = [K] {u ( )}

(63)

where [K] is the static stiffness matrix. Manipulating Eq. 31 and Eq. 62 results in the corresponding first-order system
of equations
1
{X ( )} , = [Z] {X ( )}

(64)

where the Hamiltonian matrix

 0 1  1 T
E
E

[Z] =
 2   1   0 1  1 T
E + E E
E

13

 1
E0
   1 .
E1 E0

(65)

The postulated solution to Eq. 64 is given by the power function

{X ( )} = i {i }

(66)

which when differentiated and substituted into Eq. 64 leads to the following eigenvalue problem
{X ( )} = ([Z] dc) {i } .

(67)

As the eigenvalues of a Hamiltonian matrix exist in positive and negative pairs (i , i ), they can be partitioned
conformably along with their corresponding eigenvectors {i } as such

[11 ] [12 ]
di c

[Z] [] = [] dc =
di c
[21 ] [22 ]

(68)

where [] is the eigenmatrix composed of all the eigenvectors {i }. Note that the real parts of all eigenvalues i
are negative, i.e. Re (i ) < 0 (Laub, 1979). Then, recalling from section 3.1.1, the general solution to the firstorder differential equation (Eq. 64) is the linear sum of each set of individual postulation solutions, power functions,
(Eq. 66)
2n

{X ( )} = ci i {i } = [] dc {c}

(69)

i=1

or, applying the partition of eigenvalues and eigenvectors




i
{c1 }

[11 ] [12 ]

{X ( )} =
.
 
{c2 }
i
[21 ] [22 ]

(70)

where {c1 } and {c2 } are integration constant vectors. Thus, equating Eq. 61 and Eq. 70 leads to the following
solutions
l
k
l k
{u ( )} = [11 ] i {c1 } + [12 ] i {c2 }
l
k
l k
{Q ( )} = [21 ] i {c1 } + [22 ] i {c2 } .

(71a)
(71b)

For the bounded domain the displacement at = 0 must remain finite (i.e. {u ( = 0)} = 0),and since Re (i ) < 0
this condition leads to {c2 } = 0. Eq. 71a is therefore reduced to
k
l
2n
{u ( )} = [11 ] i {c} = ci i {11i }

(72a)

l
k
{Q ( )} = [21 ] i {c} = ci i {21i } .

(72b)

i=1
2n

i=1

where the subscript 1 is dropped from {c1 } to {c} for the sake of redundancy.

14

3.2.2. Stiffness and Constant {c}

Eliminating the integration constant {c} from Eq. 72aa and 72ab gives
l
k
{Q ( )} = [21 ] [11 ]1 [11 ] i {c}

(73a)

= [21 ] [11 ]1 {u ( )}

(73b)

which when compared to Eq. 63 yields the static stiffness matrix for a bounded medium
h i
K b = [21 ] [11 ]1 .

(74)

Incidentally, the integration constant {c} can be determined by formulating Eq. 73a at the boundary = 1 such that
{c} = [21 ]1 {Q ( = 1)} .

(75)

3.2.3. Perturbed Equation and Solution

Similar to that of Eq. 41, the perturbed scaled boundary finite element equation in matrix form is
h i h i h i 
h i
h i
T
2

0
{u ( )} , E2 {u ( )} = 0.
E {u ( )} , + E0 E1 + E1

(76)

where the perturbed coefficient matrices are taken as predefined first-order Taylor series approximations (see section 1)
h i  


E0 ' E 0 + dE 0
h i  


E1 ' E 1 + dE 1
h i  


E2 ' E 2 + dE 2 .

(77a)
(77b)
(77c)

Similarly the first-order Taylor series approximation to the perturbed displacements {u ( )} can be given by
{u ( )} ' {u ( )} + {du ( )}

(78)

where {u ( )} is the initial displacement solution solved for in the previous section and {du ( )} is the first derivative
of {u ( )} with respect to the crack orientation. Substituting Eq. 77a and Eq. 78 into Eq. 76 leads to
 0



E + dE 0 2 ({u ( )} + {du ( )}) ,
 

T 
  

  T

({u ( )} + {du ( )}) ,
+ E 0 + dE 0 E 1 dE 1 + E 1 + dE 1
 



E 2 + dE 2 ({u ( )} + {du ( )}) = 0

(79)

which upon expanding and making use of the homogeneity of Eq. 76, substituting Eq. 72aa and ignoring higherorder terms leads to the following non-homogeneous system of Euler-Cauchy equations in terms of the unknown first
15

derivative of the displacement {du ( )}

     T 
 0 2
 
E {du ( )} , + E 0 E 1 + E 1
{du ( )} , E 2 {du ( )} = {H ( )}

(80)

where the RHS function

k
l


  
  T 


dE 0 [11 ] i2 + dE 1 E 1
[11 ] di c dE 2 [11 ] i {c}
l
k
= [] i {c} .

{H ( )} =

(81a)
(81b)

Therefore, because {H ( )} is known only {du ( )} remains to be solved for in Eq. 80. This implies that the only
eigenvalue problem that needs be solved is that required for the initial solution {u ( )}, as shown in the previous
section, and hence no further eigenvalue problems need to be set up highlighting the efficiency of the first-order
sensitivity analysis. Moving on and similar to the previous section, Eq. 80 is transformed into a system of first-order
equations by introducing the dependent variables

{du ( )}
{T ( )} =
{r ( )}

(82)

where {T ( )} is sized as 2n fountains (n being the number of d.o.f) and {r ( )} is an arbitrarily assigned dependant
function taken as
 
 T
{r ( )} = E 0 {du ( )} , + E 1 {du ( )} .

(83)

Hence the first-order equations becomes

0
1
1
{T ( )} , = [Z] {T ( )}

{H ( )}

(84a)

1
= [Z] {T ( )} + {g ( )}

(84b)

where {g ( )} is the non-homogeneous term. From the principal of superposition, the solution to Eq 84a is composed
of
{T ( )} = {T ( )}c + {T ( )} p

(85)

where {T ( )}c is the complementary solution, i.e. the solution of the equivalent homogeneous system of Eq. 80({H ( )} =
0), and {T ( )} p is the particular solution. The convenience of {T ( )} being defined in such manner of Eq 82 allows,
from inspection of the previous section, the complementary solution {T ( )}c to be obtained which is simply
2n

{T ( )}c = Ci i {i }

(86a)

i=1

= [] dc {C}


{C }
[11 ] [12 ]
i
1

=
 
i
{C2 }
[21 ] [22 ]

16

(86b)
(86c)

where {C1 } and {C2 } are the integration constant vectors. Thus, again employing the method of variation of parameters, the complete solution {T ( )} (Eq. 85) is given by
Z 

1
{T ( )} = [] dc
{g ()} d + {C}
[] dc

(87a)

= [] dc {C ( )}


{C ( )}
[11 ] [12 ]
i
1

=
 
{C2 ( )}
[21 ] [22 ]
i

(87b)
(87c)

where the integration constants of the homogeneous solution (Eq. 86a) are replaced by functions of , {C1 ( )} and
{C2 ( )}. Deducing from Eq. 87a, these functions are formulated as
Z l k
1 i
{C1 ( )} = {C1 }
[A12 ] {H ()} d

1
Z l
1 i k
{C2 ( )} = {C2 }
[A22 ] {H ()} d

1
where the inverse of the eigenmatrix [] partitioned conformably is denoted as

[A11 ] [A12 ]
= []1 .
[A] =
[A21 ] [A22 ]

(88a)
(88b)

(88c)

Substituting Eq. 81a into Eq. 88a and letting

[1 ] = [A12 ] []

(89a)

[2 ] = [A22 ] []

(89b)

the functions {C1 ( )} and {C2 ( )} are simplified to

{C1 ( )} = {C1 }
{C2 ( )} = {C2 }

Z l k
l
k
1 i
[ ] i d {c}
1

Z
1

l
k
1 l i k

[2 ] i d {c} .

(90a)
(90b)

Thus, Eqs. 82 and 83 yield

l
k
l k
{du ( )} = [11 ] i {C1 ( )} + [12 ] i {C2 ( )}
l
k
l k
{r ( )} = [21 ] i {C1 ( )} + [22 ] i {C2 ( )} .

(91a)
(91b)

The integration constants {C1 } and {C2 } are determined using the boundary conditions. On that note, for a bounded
medium the displacement derivative at = 0 must remain finite, i.e. {du ( = 0)} = 0, the condition which leads to
{C2 ( = 0)} = 0 in Eq. 91aa, as Re (i ) < 0. Hence, Eq. 90ab formulated at = 0 is
Z 0 l
l
k
1 i k
{C2 ( = 0)} = 0 = {C2 }
[2 ] i d {c}

1
17

(92)

or
{C2 } =

Z 0 l
l
k
1 i k

[ ] i d {c}
1

(93)

which when substituted back into Eq. 90ab leads to

{C2 ( )} =

Z l
l
k
1 i k
[ ] i d {c} .

Finally, substituting Eqs. 90aa and 94 in Eq. 91a results in

Z
l
k
i
{du ( )} = [11 ]
{C} +

(94)


k
l
1 l i k
i
d {c}
[1 ]

l kZ 1 l
k
k
l
i [2 ] i d {c}
[12 ] i
0

Z 1 l k
k
l
k
l
1 i
i
i
{C} +
{r ( )} = [21 ]
d {c}
[1 ]

l kZ 1 l
k
l
k
[22 ] i
i [2 ] i d {c}
0

(95a)

(95b)

where the subscript 1 is dropped from the constant {C1 } to {C} for the sake of redundancy. To further simply Eq. 95a,
and for convenience of calculations of the integrals, let
1

l
k
1 l i k
[1 ] i d

l
kZ 1 l
k
l
k
[I2 ] = i
i [2 ] i d.
0
l
kZ
[I1 ] = i

(96a)
(96b)

such that
l
k

i {C} + [I1 ] {c} [12 ] [I2 ] {c}
l
k

{r ( )} = [21 ] i {C} + [I1 ] {c} [22 ] [I2 ] {c} .

{du ( )} = [11 ]

(97a)
(97b)

As for the matrix integrals [I1 ] and [I2 ], each of its elements (row i, column j) can be evaluated analytically by

Z 1
i j 1i j
1 i
i j
j
i
1i j d =
I1i j =

I2i j = i

ln ( ) 1i j for i j = 0

Z 1
1 i
j
2i j j d =
2i j .

i + j

for i j 6= 0

(98a)

(98b)

Note that because Re (i ) < 0, it implies that i j > 0 and therefore the integral I2i j in Eq. 98ab is explicit.
Interestingly, Eq. 98a also enforces a power-logarithmic function solution for the perturbed displacement in contrast
to the power function solution for the initial displacement (Eq. 72aa).
18

3.2.4. Determining the Constant {C}

Recall from Eq. 54 that the perturbed internal nodal force-displacement relationship, in matrix form, is given by
h i
h i
{q ( )} = E0 {u ( )} , + E1 {u ( )}

(99)

where {q ( )} is the perturbed internal nodal force function, and further recalling from Eq. 55a the Taylor expression
is of the form
 
 
{q ( )} = E 0 {u ( )} , + E 1 {u ( )}






 
 
+ E 0 {du ( )} , + E 1 {u ( )} + dE 0 u ( ) , + dE 1 {u ( )}






+ 2 dE 0 {u ( )} , + dE 1 {u ( )}


= {q ( )} + {dq ( )} + 2 dq2 ( ) .

(100a)
(100b)
(100c)
(100d)

The constant {C}can thus be determined by formulating Eq. 100a at the boundary = 1


{q ( = 1)} = {q ( = 1)} + {dq ( = 1)} + 2 dq2 ( = 1) .

(101)

Ignoring higher order terms (first-order approximation) and noting that {q ( = 1)} = {q ( = 1)} reduces Eq. 101 to
0 = {dq ( = 1)}
 
 
0 = E 0 {du ( = 1)} , + E 1 {du ( = 1)}




+ dE 0 {u ( = 1)} , + dE 1 {u ( = 1)} .

(102a)

(102b)

Then substituting Eq. 72aa and Eq. 97aa into Eq. 102a, making use of the following
[I1 ] , =

l
k

1
[1 ] i + di c [I1 ]


[I1 ] ,  =1 = [1 ]
l
k

1
[2 ] i + di c [I2 ]
[I2 ] , =


[I2 ] ,  =1 = [2 ] + di c [I2 ]| =1

(103a)
(103b)
(103c)
(103d)

and rearranging leads to

   2   3   4  h 5 i
{c}
{C} = C1
C + C + C C

19

(104)

where
1
 1   1 T
 
C = E
[11 ] E 0 [11 ] di c

 2  0 
[11 ] [1 ] + [12 ] [2 ] + [12 ] di c [I2 ]| =1
C = E
 3   1 T
C = E
[12 ] [I2 ]| =1
 4  0
C = dE [11 ] di c
h i 
T
C5 = dE 1 [11 ] .

(105a)
(105b)
(105c)
(105d)
(105e)

If higher order terms are to be included, then Eq. 101 is reduced to



{dq ( = 1)} + dq2 ( = 1) = 0.

(106)

h i h i h i   h i
{C} = C1
C2 + C3 + C4 C5 {c}

(107)

and it follows that

where
1
h i
h i h iT
C1 = E1 [11 ] E0 [11 ] di c

(108a)


h i h i
C2 = E0 [11 ] [1 ] + [12 ] [2 ] + [12 ] di c [I2 ]| =1
h i h iT
C3 = E1 [12 ] [I2 ]| =1

(108b)
(108c)

h i
h i
and the perturbed coefficients E0 and E1 are given by Eqs. 27ad and 28ad, respectively.
4. Numerical Examples
The numerical examples presented herein is solely to demonstrate the accuracy and validity of the analytical
Taylor series based derivations derived above in sections 2 and 3. The examples follow in the order of verifying the
perturbed coefficient matrices, perturbed scalar displacement solutions and perturbed matrix displacement solutions,
respectively. For simplicity, and sake of verification, 2-node linear Gaussian boundary elements are used for the
scaled boundary finite element analysis. The Lagrangian shape functions [N ()] in Eq. 6a take the form of
[N] =

N1

N2

1
2

(1 )

1
2

(1 + )

(109)

In the mesh figures, the element numbers are circled while node numbers are highlighted in red. For each example,
   
 
 
initial calculations will be carried out for the coefficient matrices E 0 , E 1 , and E 2 and mass matrix M 0 or
displacements {u ( )} based on the initial scaling centre configuration. Then, to investigate sensitivity the effects of
20

E,

crack
tip

1
2

a
L

C1

(a)

(b)

Figure 3: Edge-cracked plate: (a) Geometry; (b) 1 sub-domain mesh.

h i h i
a scaling centre perturbation by and is considered (Figure 1). The perturbed coefficient matrices E0 , E1
h i
h i
and E2 and mass matrix M 0 or perturbed displacements {u ( )} are thus calculated analytically using the linear
Taylor series expressions in sections 2.5, 3.1.3 and 3.2.3, respectively. Again, note that this does not require physical
shifting of the scaling centre to perform a second calculation of the matrices or obtaining a second eigenvalue solution
of the displacements, rather it is an analysis of the first-order sensitivity. However, to verify and demonstrate the
accuracy of the Taylor expressions, the scaling centre will be physically shifted following which the coefficient
   
 
 
matrices E 0 , E 1 , and E 2 and mass matrix M 0 or displacements {u ( )} are calculated again using the new
elemental coordinates due to the perturbation and and compared with the former results.
4.1. Coefficient Matrices
The edge-cracked rectangular plate in Figure 3a has dimensions L = W = 10 units (i.e. L/W = 1). The upper
and lower ends of the plate are subjected to tensile stress = 1 unit. The crack is horizontal and its length is a = 4
units (height h = 0 in Figure 1). The elastic material properties are Youngs Modulus E = 100 units and Poissons
ratio = 0.3. Plane stress conditions are assumed. On that note, the boundary is divided into 6 elements and 7 nodes
as shown in Figure 3b. The crack opening (Figure 3a) is modelled as a finite order of magnitude distance between
nodes 1 and 2 (Figure 3b) at the boundary while the crack faces are generated by scaling these nodes to the scaling
center but require no discretization as evident in the mesh figure. The scaling centre is located at the crack tip and
represented by C1. For the first-order sensitivity analysis, the following crack tip, or scaling centre, perturbation is

21

considered (Figure 1)
1
1
= a = (45 ) .
4
5 2

(110)

4.1.1. Initial Calculation

Considering element 2 (Figure 3b) with nodes 3 and 4 and making use of Eq. 109 the scaled boundary nodal
coordinates, {x} and {y}, of element 2 is given by (Eq. 6a)

x 4
y 10
1
1
{x} =
=
; {y} =
=
;
x 6
y 10
2
2

(111a)

x = [N] {x} = 1 + 5; y = [N] {y} = 10.

Using Eq. 7, the Jacobian [J ()] and its determinant |J| is then

x
y
1 + 5
=
[J ()] =
x, y,
5

(111b)

10
0

(112)

|J| = 50.

(113)

The inverse of the Jacobian [J ()]1 is thus given by Eq. 18a

y,
y
0
1

= 1
[J ()]1 =
|J| x, x
50 5

10

.
1 + 5
 
 
Then Eq. 21a and Eq. 23a give the composition of the differential operators b1 and b2

y,
0
0
0

 1
1
1

b =
0
0 5 ;
x, =
|J|
50

x,
y,
5 0

y 0
10
0

 2
1
1

b =
0

x =
0
1 + 5
|J|
50

x y
1 + 5
10
 
 
which are then transformed into B1 and B2 using Eq. 22a and Eq. 24a

0
0
0
0

 1  1
1

B = b [N] =

0
52 (1 )
0
52 (1 + ) ;
50

52 (1 )
0
52 (1 + )
0

5
0
5
0
 2  1
1

1
1
B = b [N] , =

0
2 (1 5)
0
2 (1 + 5)
50
12 (1 + 5)
5
12 (1 5)
5
22

(114)

(115a)

(115b)

(116a)

(116b)

   
 
 
Finally, the coefficient matrices E20 , E21 , and E22 and mass matrix M20 (subscript denotes element number) are
calculated (to 4 decimal places) using Eq. 27a-30a. Prior to that, the elasticity matrix [D] for the plane stress condition
is

[D] = 109.8901 0.3

0.3

0.35

(117)

Thus,

12.8205 0.0000 6.4103 0.0000

 0



0.0000
36.6300
0.0000
18.3150
T
1
1
;

E2 =
B
[D] B |J| d =

1
6.4103 0.0000 12.8205 0.0000

0.0000 18.3150 0.0000 36.6300

1.2821
16.4835
5.1282
16.4835

19.2308
 1
 1  Z +1  2 T
3.6630
19.2308
14.6520
;

B
[D] B |J| d =
E2 =

1
1.2821
16.4835 5.1282 16.4835

19.2308
3.6630
19.2308 14.6520

113.4799
7.1429
113.4799 7.1429

7.1429
 2
 2  Z +1  2 T
48.7179
7.1429 48.7179
;

B
[D] B |J| d =
E2 =

1
113.4799 7.1429
113.4799
7.1429

7.1429
48.7179
7.1429
48.7179

53.3333 0.0000 26.8267 0.0000

 0  Z +1
0.0000
53.3333
0.0000
26.8267
T
.

[N ()] [N ()] |J| d =

M2 =

1
26.8267 0.0000 53.3333 0.0000

0.0000 26.8267 0.0000 53.3333

Z +1 

(118a)

(118b)

(118c)

(118d)

The coefficient and mass matrices for the remaining elements are calculated in the same manner and are presented in
the Appendix 6.1.
4.1.2. Perturbed Calculation
Continuing onwards from the previous calculations for element 2 (Figure 3b), the perturbed coefficient matrices
h i h i
h i
h i

0
E2 , E21 and E22 and mass matrix M20 is now determined using the analytical linear Taylor series expressions


(Eq 27a-30a) in section 2.5. Beginning with the perturbed Jacobian J() and using Equation 12a



0.96 + 5 10.04
.
J() =
(119a)
5
0

23

1

Eq. 18a then gives the inverse of the Jacobian J()

1

0
J()
'
0.0996

0.2000
0.0111 + 0.0996

(120a)

For the Taylor approximation of the inverse of the Jacobian to be valid, the convergence must be checked using
Eq 17ad


 (cy, sx, ) = 0.2

(121a)

< |J| = 50.

(121b)


1
Therefore, the Taylor approximation to the inverse of the Jacobian J() and the remaining calculations may be
 
 
deemed valid. Following this, Eq. 21a and Eq. 23a give the perturbed b 1 and b 2 matrices

0
0

h i

b1 '
(122a)
0
0.0996 ;

0.0996
0

0.2000
0

h i

(122b)
b2 '
0
0.0191 + 0.0996

0.0191 + 0.0996
0.2000
 
 
which are then transformed into B1 and B2 using Eq. 22a and Eq. 24a

0
0
0
0

h i

B1 '
0
0.0501 (1 )
0
0.0501 (1 + ) ;

0.0501 (1 )
0
0.0501 (1 + )
0

0.1000
0
0.1000
0
h i

B2 '
0
0.0096 0.0498
0
0.0096 + 0.0498

0.0096 0.0498
0.1000
0.0096 + 0.0498
0.1000

24

(123a)

(123b)

h i
h i
h i h i
As aforementioned, the perturbed coefficient matrices E20 , E21 and E22 and mass matrix M20 are calculated (to
4 decimal places) using Eq. 27a-30a.

12.7692 0.0000 6.3846 0.0000

h i

0.0000
36.4835
0.0000
18.2418

0
;

E2 '

6.4103 0.0000 12.7692 0.0000

0.0000 18.2418 0.0000 36.4835

1.3538
16.4835
5.0308
16.4835

h i

19.2308
3.8681
19.2308
14.3736

1
;

E2 '

1.3538
16.4835 5.0308 16.4835

19.2308
3.8681
19.2308 14.3736

113.8743
6.8571
113.8743 6.8571

h i

6.8571
48.7429
6.8571
48.7429

2
;

E2 '

113.8743 6.8571
113.8743
6.8571

6.8571
48.7429
6.8571
48.7429

53.5467 0.0000 26.7733 0.0000

h i

0.0000
53.5467
0.0000
26.7733

0
.

M2 '

26.7733 0.0000 53.5467 0.0000

0.0000 26.7733 0.0000 53.5467

(124a)

(124b)

(124c)

(124d)

The perturbed coefficient and mass matrices for the remaining elements are calculated in the same manner and are
presented in the Appendix 6.2.
4.1.3. Verification
To verify that the linear Taylor series approximations are accurate in section 4.1.2, the crack tip in the problem
is now physically perturbed by Eq 110 such that the new scaled boundary nodal coordinates {x} and {y} given by
Eq. 6a for element 2 are

x 4.04
y 10.04
1
1
{x} =
=
; {y} =
=
.
x 5.96
y 10.04
2
2

25

(125)

   
 
All the calculations in section 4.1.1 are then repeated to determine the coefficient matrices E20 , E21 , and E22 and
 
mass matrix M20 corresponding to this change in crack tip

12.7694 0.0000 6.3847 0.0000

0.0000 36.4841 0.0000 18.2421

 1
 0  Z +1  1 T
;

(126a)
B
[D] B |J| d =
E2 =

1
6.3847 0.0000 12.7694 0.0000

0.0000 18.2421 0.0000 36.4841

1.3536
16.4835
5.0312
16.4835

19.2308
 1  Z +1  2 T
 1
3.8673
19.2308
14.3747
;

(126b)
E2 =
B
[D] B |J| d =

1
1.3536
16.4835 5.0312 16.4835

19.2308
3.8673
19.2308 14.3747

113.8751
6.8571
113.8751 6.8571

6.8571
 2  Z +1  2 T
 2
48.7451
6.8571 48.7451
;

(126c)
E2 =
B
[D] B |J| d =

1
113.8751 6.8571
113.8751
6.8571

6.8571
48.7451
6.8571
48.7451

53.5467 0.0000 26.7733 0.0000

 0  Z +1
0.0000
53.5467
0.0000
26.7733
T
.

(126d)
[N ()] [N ()] |J| d =
M2 =

1
26.7733 0.0000 53.5467 0.0000

0.0000 26.7733 0.0000 53.5467

The coefficient matrices corresponding to this change in crack tip for the remaining elements are presented in the
Appendix 6.3.
When compared, it can be seen that the former two results show excellent agreement. The maximum absolute %
 
 
error is observed to be 0.021 % (to 3 decimal places) in the coefficient matrix E21 (row 2 and column 2) and E21
h i
(row 4, column 2). Recall that the linear Taylor series expression for the mass matrix M 0 is explicit, no higher-order
2

involved, and therefore has there is zero % error. Similarly with the remaining elements, the maximum absolute %
error of the coefficient matrices is calculated and tabulated in Table 2.
4.2. Displacement - Scalar Form
The following Model Problem addresses the two-dimensional out-of-plane (anti-plane) motion with the displacement u and body load p perpendicular to the Cartesian plane. A classic representation of this problem is the case of
the wedge, which is a bounded medium, in Figure 4a. The scaling centre is selected at the origin O ( = 0). The side
O-1 is fixed while the side O-2 is free (surface traction n = 0), and because they pass through the scaling centre no
discretization of these side faces is required. The side 1-2 ( = 1), length L, is discretized with a single line element

26

Table 2: Accuracy of analytical Taylor expressions.

Element No.
1
2
3
4
5
6
r = row number
c = column number

Max. % Error
0.010
0.021
0.013
0.005
0.026
0.023

 0  Location
E11  [(r2,c4) and (r4,c2)]
E21  [(r2,c4) and (r4,c2)]
E30  [(r1,c3) and (r3,c3)]
E41  [(r2,c4) and (r4,c2)]
E5 [(r2,c4) and (r4,c4)]
 2
E6 [(r1,c1) , (r3,c1) , (r1,c3) and (r3,c3)]

1) 2 (x2 ,y2 )
(=
u2

0
n=

()

u2

y^
O
=0

q(=1)=1

x^
u1 ()=0

1 (x1 ,y1 )

(a)

(b)

Figure 4: Model problem of wedge: (a) Geometry; (b) 1 element Mesh.

27

with two nodes (Figure 4b) with scaled boundary coordinates, in units,

x 4
y 0

1
1
{x} =
=
; {y} =
=
L = 2 26,
x 6
y 10
2
2

(127)

After enforcing the boundary conditions by setting u1 ( ) = 0, the scaled boundary finite element equation in displacement amplitude u2 ( ), for static ( = 0), equals
E 0 2 u2 ( ) , +E 0 u2 ( ) , E 2 u2 ( ) = 0.

(128)

As only one degree of freedom on the boundary remains, Eq 128 is in scalar form rather than matrix form as was
discussed in section 3.1. The coefficients for the out-of-plane equilibrium of the wedge is derived in Song and Wolf
(2000)
E0 = G

2x + 2y
3 (x1 y2 x2 y1 )

2x + 2y + 6 (xx + yy )
12 (x1 y2 x2 y1 )


2
x + 2y + 12 x2 + y2
2
E =G
12 (x1 y2 x2 y1 )
E 1 = G

(129a)
(129b)
(129c)

y1 +y2
2
where G is the shear modulus and is taken to be 10 units, x = x2 x1 , y = y2 y1 , x = x1 +x
2 and y = 2 . Assuming

zero body load (p = 0), a uniform unit pressure load applied perpendicularly to the boundary 1-2 is considered,
q ( = 1) = 1, such that the nodal force acting on node 2, in units, is
q2 ( = 1) =

1
1
= .
L 2 26

(130)

For the first-order sensitivity analysisthe following scaling centre perturbation, in units, is considered (Figure 1)
= 0.04 = 0.

(131)

4.2.1. Initial Displacement

The following calculations are kept to four decimal places (except the displacements). Substituting Eq 127 into
Eq 129a gives the initial coefficients, in units,
E 0 = 8.6667; E 1 = 9.6667; E 2 = 14.6667.

(132)

The initial displacement solution u02 ( ) can be obtained from section 3.1.1. Hence from Eq 37
u02 ( ) = c

(133)

where, using (Eq 35) ,

r
=

E2
= 1.3009.
E0
28

(134)

The constant c can be determined by firstly obtaining the static stiffness K b , in units, using Eq 39

K b = E 1 + E 0 E 2 = 1.6077

(135)

and so using Eq 40
c=

q2 ( = 1)
= 0.0610.
Kb

(136)

Thus, the displacement at the boundary = 1, in units, is equal to (six decimal places)
u02 ( = 1) = 0.060993.

(137)

4.2.2. Perturbed Displacement

Based on the perturbation, Eq 131, the perturbed displacement u2 ( ) is now calculated. According to Eq 43, this
can be approximated using the Taylor series
u2 ( ) ' u2 ( ) + du2 ( ) .

(138)

where u02 ( ) is the initial displacement solution solved for in the previous section and du2 ( ) is given by Eq. 52


m

du2 ( ) = C +
ln ( )
(139)
2
2
and the constant m =

(dE 2 2 dE 0 )c
E0

. Incidentally, the perturbed coefficients first need to be determined, in units, using

Eqs 27a-29a
dE 0 = 2.1667; dE 1 = 2.1667; dE 2 = 1.6667

(140)

followed by the constant C , in units, using Eq. 58

C = 0.0091.

(141)

Thus, the perturbed displacement at the boundary = 1, in units, is equal to (six decimal places)
u2 ( = 1) = 0.061462.

(142)

4.2.3. Verification
To verify the displacement Taylor series the scaling center O in Figure 4 is now physically perturbed by Eq 131
such that the new scaled boundary nodal coordinates {x} and {y} is given by

x 3.96
y 0

1
1
{x} =
=
; {y} =
=
L = 2 26.
x 5.96
y 10
2

29

(143)

0.07

Scalar displacement, units

0.06
0.05
0.04
0.03
0.02

u2 ()
u
2 ()

0.01
0
0

0.1

0.2

0.3

0.4 0.5 0.6 0.7

Radial coordinate

0.8

0.9

Figure 5: Accuracy of scalar perturbed displacement function.

The calculations in section 4.2.1 are then repeated to determine displacement at the boundary uv2 ( = 1), in units,
corresponding to this change in scaling centre (six decimal places)
u2 ( = 1) = 0.061467.

(144)

Upon comparing this to the perturbed displacement result in Eq. 142 excellent agreement is observed with the absolute
% error (relative error) being 0.0081. To further investigate the accuracy of the Taylor series approximation (Eq 138),
Figure 5 plots the former two displacement functions, u2 ( ) and uv2 ( ), while Figure 6 plots the absolute % error of
the displacement Taylor series approximation given by
% Error = 100

uv2 u2
.
uv2

(145)

Judging by Figures 5 and 6, it is clear that the linear Taylor series approximation derived for the scalar perturbed
displacement function (section 3.1) produces very accurate results.
On that note, just as with the scalar displacements, the derivations for the perturbed displacement solution in
matrix form (section 3.2) need also be verified. The following example is aimed at doing just that.
4.3. Displacement - Matrix Form
This example, in contrast to the previous, deals with the in-plane static ( = 0) equilibrium so that more than
one degree of freedom is present. The swept panel (cantilever) in Figure 7a was originally proposed by Cook in
Cook (1974). The dimensions, in units, are given in Figure 7a. The elastic material properties are Youngs Modulus
E = 100 units and Poissons ratio = 0.3. Plane stress conditions are assumed. The side O-1 is fixed while the sides
1-2, 2-3 and O-3 are free. A uniform distributed load is applied to the boundary 1-2 (Figure 7a) P = 1 unit. The

30

% Error

0.8

0.6

0.4

0.2

0
0.1

0.2

0.3

0.4
0.5
0.6
0.7
Radial coordinate

0.8

0.9

Figure 6: Absolute % error of scalar perturbed displacement function.

u6
u5 3

16

y^

P
u4

u3

x^

E,

44

u2
1

u1

W=48

(a)

(b)

Figure 7: Cooks swept panel: (a) Geometry; (b) 2 element mesh.

31

scaling centre is selected at O ( = 0). The sides 1-2 and 2-3 ( = 1) are discretized with 2 node line elements as
shown in Figure 7b. Note that the sides O-1 and O-3 pass through the scaling centre and therefore no discretization
of these side faces is required. After enforcing the boundary conditions, the displacement vector {U ( )} operating
on the remaining d.o.fs is

u3 ( )

u ( )
4
{U ( )} =

u5 ( )

u ( )
6

(146)

For the first-order sensitivity analysis the following scaling centre perturbation, in units, is considered (Figure 1)
7
= 0.01W = (315 ) .
4

(147)

For the sake of brevity only the displacement results, to six decimal places, are discussed herein and are in units. The




preceding calculations can be found in Appendices 2.1, 2.2 and 2.3 for the initial U 0 ( ) , perturbed U ( ) and
verification {U v ( )} displacement vectors, respectively. For the sake of interest, consider the displacements at the
boundary ( = 1).


The first step is to determine the initial displacement U 0 ( = 1) , as outlined in section 3.2.1,

0.210718

 0
0.277552
.
U ( = 1) =

0.710984

0.455471

(148)



Then on account of the perturbation (Eq 147) the perturbed displacement U ( = 1) is approximated, as outlined
in section 3.2.3, by



U ( = 1) ' U 0 ( = 1) + {dU ( = 1)}
where {dU ( = 1)} is evaluated using Eq 97aa and is equal to

0.001202

0.000965
{dU ( = 1)} =

0.015052

0.005109

32

(149)

(150)

Hence substituting Eq 148 and Eq 150 into Eq 149 gives


U ( = 1) =

0.211295

0.278015

(151)

0.718208

0.457923

To confirm this result a second calculation is performed, repeating section 3.2.1, to obtain the displacement {U v ( = 1)}
corresponding to the new scaling centre due to the perturbation as

0.211300

0.277943
{U v ( = 1)} =

0.718246

0.457855

(152)

Very close agreement is observed upon comparing the former two results in Eq. 148 with the absolute % error (relative
error) calculated to be

0.0024

0.0261
{% Error} =
.

0.0052

0.0148

(153)

Furthermore, just as in the previous example, Figure 8 plots the former two displacement functions for = 0 1,


U ( ) and {U v ( )}, while Figure 9 plots their absolute % error of the displacement Taylor series approximation
given by
% Error = 100

U v U
.
Uv

(154)

Again its evident from Figures 8 and 9 that the linear Taylor series representation of the perturbed displacement
function in matrix form (section 3.2) is more than sufficient to produce accurate results.
5. References
Cook, R., 1974. Improved two-dimensional finite element. Journal of the Structural Division 100(9), 18511863.
Laub, A., 1979. A schur method for solving algebraic riccati equations. IEEE Transactions Automatic Control AC-24,
913921.
Song, C., Wolf, J., 2000. Scaled boundary finite-element method - a primer: solution procedures. Computers and
Structures 78 (1), 211225.

33

uv3 ()
uv4 ()
uv5 ()
uv6 ()

Scalar displacement, units

0.8
0.6

u
3 ()
u
4 ()
u
5 ()
u
6 ()

0.4
0.2
0
0.2
0.4
0.6
0

0.1

0.2

0.3

0.4 0.5 0.6 0.7

Radial coordinate

0.8

0.9

Figure 8: Accuracy of scalar perturbed displacement function.

u
3 ()
u
4 ()
u
5 ()
u
6 ()

0.8
0.7

% Error

0.6
0.5
0.4
0.3
0.2
0.1
0
0.1

0.2

0.3

0.4
0.5
0.6
0.7
Radial coordinate

0.8

0.9

Figure 9: Absolute % error of scalar perturbed displacement function.

34

6. Appendix 1 - Coefficient Matrices

The calculations of Numerical Example 4.1 are detailed in this Appendix. Appendices 6.1, 6.2 and 6.3 list each
of the coefficient matrices for the six elements corresponding to the initial, perturbed and verification calculations,
respectively.
6.1. Appendix 1.1 - Initial Calculations
Element 1

91.5751

0.0000

45.7875

0.0000

 0  0.0000 32.0513 0.0000 16.0256

;

E1 =

45.7875 0.0000 91.5751 0.0000

0.0000 16.0256 0.0000 32.0513

45.7875 19.2308 91.5751 19.2308

 1  16.4835 16.0256 16.4835 32.0513

;
E1 =

45.7875 19.2308 91.5751 19.2308

16.4835 16.0256 16.4835 32.0513

106.9597 35.7143 106.9597 35.7143

 2  35.7143
76.0073
35.7143
76.0073
;
E1 =

106.9597 35.7143
106.9597 35.7143

35.7143
76.0073 35.7143
76.0073

21.3333 0.0000 10.6667 0.0000

 0  0.0000 21.3333 0.0000 10.6667

.
M1 =

10.6667 0.0000 21.3333 0.0000

0.0000 10.6667 0.0000 21.3333

35

(155a)

(155b)

(155c)

(155d)

Element 2

12.8205

0.0000

6.4103

0.0000

 0  0.0000 36.6300 0.0000 18.3150

;

E2 =

6.4103 0.0000 12.8205 0.0000

0.0000 18.3150 0.0000 36.6300

1.2821
16.4835
5.1282
16.4835

 1
19.2308
3.6630
19.2308
14.6520
;

E2 =

1.2821
16.4835 5.1282 16.4835

19.2308
3.6630
19.2308 14.6520

113.4799
7.1429
113.4799 7.1429

 2  7.1429
48.7179
7.1429 48.7179
;
E2 =

113.4799 7.1429
113.4799
7.1429

7.1429
48.7179
7.1429
48.7179

53.3333 0.0000 26.8267 0.0000

 0  0.0000 53.3333 0.0000 26.8267

.
M2 =

26.8267 0.0000 53.3333 0.0000

0.0000 26.8267 0.0000 53.3333

36

(156a)

(156b)

(156c)

(156d)

Element 3

61.0501

0.0000

30.5250

0.0000

 0  0.0000 21.3675 0.0000 10.6838

;

E3 =

30.5250 0.0000 61.0501 0.0000

0.0000 10.6838 0.0000 21.3675

61.0501 19.2308 30.5250 19.2308

 1  16.4835 21.3675 16.4835 10.6838

E3 =

61.0501
19.2308
30.5250
19.2308

16.4835
21.3675
16.4835
10.6838

84.1270
35.7143 84.1270 35.7143

 2  35.7143
87.3016 35.7143 87.3016
E3 =

84.1270 35.7143 84.1270

35.7143

35.7143 87.3016 35.7143

87.3016

32.0000 0.0000 16.0000 0.0000

 0  0.0000 32.0000 0.0000 16.0000

.
M3 =

16.0000 0.0000 32.0000 0.0000

0.0000 16.0000 0.0000 32.0000

37

(157a)

(157b)

(157c)

(157d)

Element 4

61.0501

0.0000

30.5250

0.0000

 0  0.0000 21.3675 0.0000 10.6838

;

E4 =

30.5250 0.0000 61.0501 0.0000

0.0000 10.6838 0.0000 21.3675

30.5250 19.2308 61.0501 19.2308

 1  16.4835 10.6838 16.4835 21.3675

E4 =

30.5250 19.2308 61.0501 19.2308

16.4835 10.6838 16.4835 21.3675

84.1270 35.7143 84.1270 35.7143

 2  35.7143 87.3016
35.7143 87.3016
E4 =

84.1270 35.7143
84.1270 35.7143

35.7143 87.3016 35.7143 87.3016

32.0000 0.0000 16.0000 0.0000

 0  0.0000 32.0000 0.0000 16.0000

.
M4 =

16.0000 0.0000 32.0000 0.0000

0.0000 16.0000 0.0000 32.0000

38

(158a)

(158b)

(158c)

(158d)

Element 5

12.8205

0.0000

6.4103

0.0000

 0  0.0000 36.6300 0.0000 18.3150

;

E5 =

6.4103 0.0000 12.8205 0.0000

0.0000 18.3150 0.0000 36.6300

5.1282
16.4835
1.2821
16.4835

 1
19.2308 14.6520 19.2308
3.6630
;

E5 =

5.1282
16.4835 1.2821 16.4835

19.2308 14.6520 19.2308 3.6630

113.4799
7.1429 113.4799
7.1429

 2  7.1429
48.7179
7.1429
48.7179
;
E5 =

113.4799
7.1429
113.4799
7.1429

7.1429
48.7179 7.1429 48.7179

53.3333 0.0000 26.6667 0.0000

 0  0.0000 53.3333 0.0000 26.6667

.
M5 =

26.6667 0.0000 53.3333 0.0000

0.0000 26.6667 0.0000 53.3333

39

(159a)

(159b)

(159c)

(159d)

Element 6

91.5751

0.0000

45.7875

0.0000

 0  0.0000 32.0513 0.0000 16.0256

;

E6 =

45.7875 0.0000 91.5751 0.0000

0.0000 16.0256 0.0000 32.0513

91.5751 19.2308 45.7875 19.2308

 1
16.4835 32.0513 16.4835 16.0256
;

E6 =

91.5751
19.2308
45.7875
19.2308

16.4835
32.0513
16.4835
16.0256

106.9597
35.7143 106.9597 35.7143

 2  35.7143
76.0073
35.7143 76.0073
;
E6 =

106.9597 35.7143 106.9597

35.7143

35.7143 76.0073
35.7143
76.0073

21.3333 0.0000 10.6667 0.0000

 0  0.0000 21.3333 0.0000 10.6667

.
M6 =

10.6667 0.0000 21.3333 0.0000

0.0000 10.6667 0.0000 21.3333

40

(160a)

(160b)

(160c)

(160d)

6.2. Appendix 1.2 - Perturbed Calculations

Element 1

90.6593

0.0000

45.3297

0.0000

h i

0.0000
31.7308
0.0000
15.8654

0
;

E1 =

45.3297 0.0000 90.6593 0.0000

0.0000 15.8654 0.0000 31.7308

45.8791 19.2308 91.2088 19.2308

h i

16.4835
16.0577
16.4835
31.9231

1
;

E1 =

45.8791 19.2308 91.2088 19.2308

16.4835 16.0577 16.4835 31.9231

107.2967 36.0000 107.2967 36.0000

h i

36.0000
76.5110
36.0000
76.5110

2
;

E1 =

107.2967 36.0000
107.2967 36.0000

36.0000
76.5110 36.0000
76.5110

21.5467 0.0000 10.7733 0.0000

h i

0.0000
21.5467
0.0000
10.7733

.
M1 =

10.7733 0.0000 21.5467 0.0000

0.0000 10.7733 0.0000 21.5467

41

(161a)

(161b)

(161c)

(161d)

Element 2

12.7692

0.0000

6.3846

0.0000

h i

0.0000
36.4835
0.0000
18.2418

0
;

E2 =

6.4103 0.0000 12.7692 0.0000

0.0000 18.2418 0.0000 36.4835

1.3538
16.4835
5.0308
16.4835

h i

19.2308
3.8681
19.2308
14.3736

1
;

E2 =

1.3538
16.4835 5.0308 16.4835

19.2308
3.8681
19.2308 14.3736

113.8743
6.8571
113.8743 6.8571

h i

6.8571
48.7429
6.8571
48.7429
;
E22 =

113.8743 6.8571
113.8743
6.8571

6.8571
48.7429
6.8571
48.7429

53.5467 0.0000 26.7733 0.0000

h i

0.0000
53.5467
0.0000
26.7733
.
M20 =

26.7733 0.0000 53.5467 0.0000

0.0000 26.7733 0.0000 53.5467

42

(162a)

(162b)

(162c)

(162d)

Element 3

61.4571

0.0000

30.7285

0.0000

h i

0.0000
21.5100
0.0000
10.7550

0
;

E3 =

30.7285 0.0000 61.4571 0.0000

0.0000 10.7550 0.0000 21.5100

61.8234 19.2308 31.0948 19.2308

h i 16.4835 21.6382 16.4835 10.8832

E31 =

61.8234
19.2308
31.0948
19.2308

16.4835
21.6382
16.4835
10.8832

85.1127
36.0000 85.1127 36.0000

h i 36.0000
87.2609 36.0000 87.2609
E32 =

85.1127 36.0000 85.1127

36.0000

36.0000 87.2609 36.0000

87.2609

31.7867 0.0000 15.8933 0.0000

h i

0.0000
31.7867
0.0000
15.8933
.
M30 =

15.8933 0.0000 31.7867 0.0000

0.0000 15.8933 0.0000 31.7867

43

(163a)

(163b)

(163c)

(163d)

Element 4

61.4571

0.0000

30.7285

0.0000

h i

0.0000
21.5100
0.0000
10.7550

0
;

E4 =

30.7285 0.0000 61.4571 0.0000

0.0000 10.7550 0.0000 21.5100

30.3622 19.2308 61.0908 19.2308

h i 16.4835 10.6268 16.4835 21.3818

E41 =

30.3622 19.2308 61.0908 19.2308

16.4835 10.6268 16.4835 21.3818

83.6475 35.4286 83.6475 35.4286

h i 35.4286 86.7481
35.4286 86.7481
E42 =

83.6475 35.4286
83.6475 35.4286

35.4286 86.7481 35.4286 86.7481

31.7867 0.0000 15.8933 0.0000

h i

0.0000
31.7867
0.0000
15.8933
.
M40 =

15.8933 0.0000 31.7867 0.0000

0.0000 15.8933 0.0000 31.7867

44

(164a)

(164b)

(164c)

(164d)

Element 5

12.8718

0.0000

6.4359

0.0000

h i

0.0000
36.7766
0.0000
18.3883

0
;

E5 =

6.4359 0.0000 12.8718 0.0000

0.0000 18.3883 0.0000 36.7766

5.0718
16.4835
1.3641
16.4835

h i

19.2308 14.4908 19.2308

3.8974

1
;

E5 =

5.0718
16.4835 1.3641 16.4835

19.2308 14.4908 19.2308 3.8974

113.0239
6.8571 113.0239
6.8571

h i

6.8571
48.5172
6.8571
48.5172
;
E52 =

113.0239
6.8571
113.0239
6.8571

6.8571
48.5172 6.8571
48.5172

53.1200 0.0000 26.5600 0.0000

h i

0.0000
53.1200
0.0000
26.5600
.
M50 =

26.5600 0.0000 53.1200 0.0000

0.0000 26.5600 0.0000 53.1200

45

(165a)

(165b)

(165c)

(165d)

Element 6

90.6593

0.0000

45.3297

0.0000

h i

0.0000
31.7308
0.0000
15.8654

0
;

E6 =

45.3297 0.0000 90.6593 0.0000

0.0000 15.8654 0.0000 31.7308

90.1099 19.2308 44.7802 19.2308

h i

16.4835 31.5385 16.4835 15.6731

1
;

E6 =

90.1099
19.2308
44.7802
19.2308

16.4835
31.5385
16.4835
15.6731

105.0989
35.4286 105.0989 35.4286

h i

35.4286
75.7418
35.4286
75.7418
;
E62 =

105.0989 35.4286 105.0989

35.4286

35.4286 75.7418
35.4286
75.7418

21.5467 0.0000 10.7733 0.0000

h i

0.0000
21.5467
0.0000
10.7733
.
M60 =

10.7733 0.0000 21.5467 0.0000

0.0000 10.7733 0.0000 21.5467

46

(166a)

(166b)

(166c)

(166d)

6.3. Appendix 1.3 - Verification

Element 1

90.6684

0.0000

45.3342

0.0000

 0  0.0000 31.7339 0.0000 15.8670

;

E1 =

45.3342 0.0000 90.6684 0.0000

0.0000 15.8670 0.0000 31.7339

45.8782 19.2308 91.2124 19.2308

 1  16.4835 16.0574 16.4835 31.9243

;

E1 =

45.8782 19.2308 91.2124 19.2308

16.4835 16.0574 16.4835 31.9243

107.2992 36.0000 107.2992 36.0000

 2  36.0000
76.5119
36.0000
76.5119
;

E1 =

107.2992 36.0000
107.2992 36.0000

36.0000
76.5119 36.0000
76.5119

21.5467 0.0000 10.7733 0.0000

 0  0.0000 21.5467 0.0000 10.7733

.
M1 =

10.7733 0.0000 21.5467 0.0000

0.0000 10.7733 0.0000 21.5467

47

(167a)

(167b)

(167c)

(167d)

Element 2

12.7694

0.0000

6.3847

0.0000

 0  0.0000 36.4841 0.0000 18.2421

;

E2 =

6.3847 0.0000 12.7694 0.0000

0.0000 18.2421 0.0000 36.4841

1.3536
16.4835
5.0312
16.4835

 1
19.2308
3.8673
19.2308
14.3747
;

E2 =

1.3536
16.4835 5.0312 16.4835

19.2308
3.8673
19.2308 14.3747

113.8751
6.8571
113.8751 6.8571

 2  6.8571
48.7451
6.8571 48.7451
;
E2 =

113.8751 6.8571
113.8751
6.8571

6.8571
48.7451
6.8571
48.7451

53.5467 0.0000 26.7733 0.0000

 0  0.0000 53.5467 0.0000 26.7733

.
M2 =

26.7733 0.0000 53.5467 0.0000

0.0000 26.7733 0.0000 53.5467

48

(168a)

(168b)

(168c)

(168d)

Element 3

61.4598

0.0000

30.7299

0.0000

 0  0.0000 21.5109 0.0000 10.7555

;

E3 =

30.7299 0.0000 61.4598 0.0000

0.0000 10.7555 0.0000 21.5109

61.8286 19.2308 31.0987 19.2308

 1  16.4835 21.6400 16.4835 10.8845

E3 =

61.8286
19.2308
31.0987
19.2308

16.4835
21.6400
16.4835
10.8845

85.1233
36.0000 85.1233 36.0000

 2  36.0000
87.2646 36.0000 87.2646
E3 =

85.1233 36.0000 85.1233

36.0000

36.0000 87.2646 36.0000

87.2646

31.7867 0.0000 15.8933 0.0000

 0  0.0000 31.7867 0.0000 15.8933

.
M3 =

15.8933 0.0000 31.7867 0.0000

0.0000 15.8933 0.0000 31.7867

49

(169a)

(169b)

(169c)

(169d)

Element 4

61.4598

0.0000

30.7299

0.0000

 0  0.0000 21.5109 0.0000 10.7555

;

E4 =

30.7299 0.0000 61.4598 0.0000

0.0000 10.7555 0.0000 21.5109

30.3611 19.2308 61.0910 19.2308

 1  16.4835 10.6264 16.4835 21.3819

E4 =

30.3611 19.2308 61.0910 19.2308

16.4835 10.6264 16.4835 21.3819

83.6483 35.4286 83.6483 35.4286

 2  35.4286 86.7483
35.4286 86.7483
E4 =

83.6483 35.4286
83.6483 35.4286

35.4286 86.7483 35.4286 86.7483

31.7867 0.0000 15.8933 0.0000

 0  0.0000 31.7867 0.0000 15.8933

.
M4 =

15.8933 0.0000 31.7867 0.0000

0.0000 15.8933 0.0000 31.7867

50

(170a)

(170b)

(170c)

(170d)

Element 5

12.8720

0.0000

6.4360

0.0000

 0  0.0000 36.7771 0.0000 18.3886

;

E5 =

6.4360 0.0000 12.8720 0.0000

0.0000 18.3886 0.0000 36.7771

5.0716
16.4835
1.3644
16.4835

 1
19.2308 14.4902 19.2308
3.8984
;

E5 =

5.0716
16.4835 1.3644 16.4835

19.2308 14.4902 19.2308 3.8984

113.0244
6.8571 113.0244
6.8571

 2  6.8571
48.5188
6.8571
48.5188
;
E5 =

113.0244
6.8571
113.0244
6.8571

6.8571
48.5188 6.8571
48.5188

53.1200 0.0000 26.5600 0.0000

 0  0.0000 53.1200 0.0000 26.5600

.
M5 =

26.5600 0.0000 53.1200 0.0000

0.0000 26.5600 0.0000 53.1200

51

(171a)

(171b)

(171c)

(171d)

Element 6

90.6684

0.0000

45.3342

0.0000

 0  0.0000 31.7339 0.0000 15.8670

;

E6 =

45.3342 0.0000 90.6684 0.0000

0.0000 15.8670 0.0000 31.7339

90.1244 19.2308 44.7902 19.2308

 1
16.4835 31.5435 16.4835 15.6766
;

E6 =

90.1244
19.2308
44.7902
19.2308

16.4835
31.5435
16.4835
15.6766

105.1232
35.4286 105.1232 35.4286

 2  35.4286
75.7503
35.4286 75.7503
;
E6 =

105.1232 35.4286 105.1232

35.4286

35.4286 75.7503
35.4286
75.7503

21.5467 0.0000 10.7733 0.0000

 0  0.0000 21.5467 0.0000 10.7733

.
M6 =

10.7733 0.0000 21.5467 0.0000

0.0000 10.7733 0.0000 21.5467

(172a)

(172b)

(172c)

(172d)

7. Appendix 2 - Displacement in Matrix Form

The calculations of Numerical Example 4.3 are detailed in this Appendix. Appendices 6.1, 6.2 and 6.3 list the
steps to obtain the initial, perturbed and verification displacements, respectively. All dimensions are in units.
7.1. Appendix 2.1 - Initial Calculations
1. Using Eqs 27a-29a the global coefficient matrices acting on d.o.fs u3 ( ), u4 ( ), u5 ( ) and u6 ( ), respectively,
are

52

59.7736

 0  23.8095
E =

6.1050

0.0000

8.9078

 1  11.9048
E =

6.1050

16.4835

175.1582

 2  23.8095
E =

127.5946

35.7143

23.8095

6.1050

55.9857

0.0000

0.0000

12.2100

2.1368

0.0000

11.9048

0.0000

2.1368
;

0.0000

4.2735

12.2100

31.9472

16.4835

19.2308

12.2100

2.1368

16.4835

19.2308

(173a)

4.2735
;

19.2308

4.2735

23.8095

127.5946

385.6560

35.7143

35.7143

127.5946

333.9438

35.7143

35.7143

(173b)

333.9438
.

35.7143

333.9438

2. The [Z] matrix is formulated for the eigenvalue problem, Eq 65, with [Z] being partitioned as follows

[Z11 ] [Z12 ]

[Z] =
[Z21 ] [Z22 ]

53

(173c)

(174)

and

0.0390

0.0248
[Z11 ] =

0.9805

4.4876

0.0216

0.0093
[Z12 ] =

0.0108

0.0047

76.2436

11.2033
[Z21 ] =

28.6080

0.3215

0.0390

0.3974
[Z22 ] =

0.0898

0.1776

0.3974
0.7929
1.1513
1.3965
0.0093
0.0223
0.0047
0.0111

0.0898

0.1776

0.2140
0.0770
;

1.0449 1.2612

4.3930 1.0385

0.0108
0.0047

0.0047
0.0111
;

0.0873 0.0023

0.0023 0.2396

11.2033

28.6080

0.3215

(175a)

(175b)

304.1420
;

7.6245 26.7881
0.7405

304.1420
0.7405
305.9536

0.0248 0.9805 4.4876

0.7929
1.1513 1.3965
.

0.2140 1.0449 4.3930

0.0770 1.2612 1.0385

330.6471

7.6245

(175c)

(175d)

3. The eigenvalues i of the [Z] matrix are calculated and organized into the diagonal matrix (recall Re(i) < 0)

9.4107

3.7451
.
di c =
(176)

1.1623

0.6553
4. The corresponding eigenmatrix [] is partitioned as follows

[11 ] [12 ]

[] =
[21 ] [22 ]

54

(177)

where

0.0025

0.0031
[11 ] =

0.0008

0.0192

0.0004

0.0016
[12 ] =

0.0006

0.0136

0.3208

0.6023
[21 ] =

0.2745

0.6772

0.3187

0.6651
[22 ] =

0.3081

0.6009

0.0079
0.0083
0.0206
0.0034
0.0042
0.0009
0.0113
0.0006
0.7055
0.2999
0.4963
0.4068
0.6591
0.3306
0.6137
0.2820

0.0178

0.0191

0.0238 0.0108
;

0.0153 0.0242

0.0226 0.0117

0.0043 0.0107

0.0121 0.0085
;

0.0097 0.0087

0.0131 0.0079

0.8422 0.9736

0.3839 0.1032
;

0.3541 0.1935

0.1274 0.0537

0.0156 0.5730

0.9760
0.8154
.

0.2164 0.0801

0.0034 0.0055

(178a)

(178b)

(178c)

(178d)

Note that each column j of the sub-eigenmatrix [i j ] is the corresponding eigenvector for i .
5. The nodal force vector, operating on nodes 2 and 3 (Figure 7b) is formulated at the boundary ( = 1)

0
{Q ( = 1)} =

0
following which the integration constant vector {c} is determined using Eq 75

10.7832

15.8480

{c} =
.

0.1594

16.2855

55

(179)

(180)

6. Thus the initial displacement function vector is given by Eq 72aa

0.0267 9.4107 0.1248 3.7451 0.0028 1.1623 + 0.3117 0.6553

 0
0.0337 9.4107 0.1313 3.7451 0.0038 1.1623 0.1761 0.6553
U ( ) =

0.0082 9.4107 + 0.3272 3.7451 0.0024 1.1623 + 0.3945 0.6553

0.2073 9.4107 0.0538 3.7451 0.0036 1.1623 0.1907 0.6553

(181)

which evaluated at the boundary ( = 1) is

0.210718

 0

0.277552
U ( = 1) =
.

0.710984

0.455471

(182)

7.2. Appendix 2.2 - Perturbed Calculations

1. Using Eqs 27a-29a the global first-derivative coefficient matrices acting on d.o.fs u3 ( ), u4 ( ), u5 ( ) and
u6 ( ), respectively, are

1.6449

 0  0.7334
dE =

0.0899

0.0000

0.4853

 1  0.2073
dE =

0.8994

0.0000

0.6730

 2  3.8901
dE =

0.0989

3.1567

0.7334

0.0899

1.6558

0.0000

0.0000

0.1799

0.0315

0.0000

0.2073

0.9893

0.1354

0.0000

0.0000

0.9893

0.3148

0.0000

3.8901

0.0989

4.9667

3.1567

3.1567

0.0989

4.2270

3.1567

0.0000

0.0315
;

0.0000

0.0630
0.0000

(183a)

0.3463
;

0.0000

0.3463

3.1567

4.2270
.

3.1567

4.2270

2. The non-homogeneous RHS of of the Euler-Cauchy equation (Eq 80) is

9.4107

3.7451

{H ( )} = []

1.1623

0.6553

56

0.0024

0.0261

0.0052

0.0148

(183b)

(183c)

(184)

where, using Eq 81a,

0.2396

0.4723
[] =

0.0187

0.1837

0.2412

0.0191

0.2272

0.0629

0.0009

0.0414

0.0835

0.0080

0.0019

0.0150
.

0.0230

0.0071

(185)

3. The inverse of the eigenmatrix [] is defined by Eq 88c

[A11 ] [A12 ]
= []1
[A] =
[A21 ] [A22 ]

(186)

where

14.1813

26.7339
[A11 ] =

0.3939

16.7601

0.0197

0.1711
[A12 ] =

0.1098

0.3122

14.2773

28.6131
[A21 ] =

21.2923

28.4775

0.1102

0.3194
[A22 ] =

0.4503

0.5598

29.5975

13.7095

26.7409

11.4383
;

24.6729
5.4706
0.0847

23.8520
2.3437
0.1622

0.0705
0.0272 0.6059

0.0361 0.4582 0.0261

;

0.3050
0.2456
0.3324

0.2472 0.2555 0.2316

26.8041 12.2171 30.1363

12.1636 20.1299 16.5014

;

9.7059 8.9521 3.2209

3.0189
5.6601
1.5712

0.1391 0.0340 0.8556

0.3362 0.8373 0.1378

.

0.6009 0.3861
0.5702

0.3163 0.7086 0.3426

13.4091

24.8902

4. The integrands [1 ] and [2 ] are determined using Eq 89a

57

(187a)

(187b)

(187c)

(187d)

0.1394

0.0619

0.0003

0.0047

0.0373 0.0348 0.0182 0.0105

;

[1 ] =

0.1047 0.0682 0.0341

0.0032

0.0042 0.0387 0.0009 0.0073

0.2499
0.1296
0.0026 0.0092

0.2256
0.1411 0.0063 0.0239

[2 ] =

0.2797
0.1978
0.0670
0.0030

0.0344 0.0924 0.0174 0.0175

(188a)

(188b)

which are substituted into Eq 96a to determine the integrals [I1 ] and [I2 ]
0.1394 9.4107 ln ( )

0.0066 3.7451 9.4107


[I1 ] =
0.0127 1.1623 9.4107


0.0005 0.6553 9.4107

0.0109 9.4107 3.7451
0.0348 3.7451 ln ( )

0.0264 1.1623 3.7451

0.0125 0.6553 3.7451

0.0133 9.4107

0.0172 9.4107
[I2 ] =

0.0265 9.4107

0.0034 9.4107

0.0000 9.4107 1.1623

0.0070 3.7451 1.1623
0.0341 1.1623 ln ( )

0.0017 0.6553 1.1623

0.0099 3.7451

0.0002 1.1623

0.0188 3.7451

0.0013 1.1623

0.0403 3.7451

0.0288 1.1623

0.0210 3.7451

0.0096 1.1623

These integrals are evaluated at the boundary ( = 1)

0 0 0 0

0 0 0 0

;
[I1 ]| =1 =

0 0 0 0

0 0 0 0

0.0133
0.0099

0.0172
0.0188
[I2 ]| =1 =

0.0265
0.0403

0.0034 0.0210

0.0009 0.6553

; (189a)

0.0054 0.6553

0.6553

0.0017

0.0134 0.6553

(189b)

(190a)

0.0002
0.0013
0.0288
0.0096

The constant integration constant vector {C} then follows from Eq 104

0.2660

0.4663

{C} =
.

0.2780

0.1254

58

0.0005 9.4107 0.6553

0.0034 3.7451 0.6553

0.0063 1.1623 0.6553
0.0073 0.6553 ln ( )

0.0009

0.0054
.

0.0017

0.0134

(190b)

(191)

5. Given the above input parameters, the first-order derivative displacement function vector {dU ( )} can now be
obtained using Eq 97aa
0.0006 0.0032 ln ( )
0.0007 0.0047 ln ( )
{dU ( )} =
0.0002 + 0.0011 ln ( )
0.0106 + 0.0289 ln ( )

0.0006 + 0.0043 ln ( )
0.0004 + 0.0046 ln ( )
0.0125 0.0114 ln ( )
0.0058 + 0.0019 ln ( )

0.0019 + 0.0001 ln ( )
0.0026 + 0.0001 ln ( )
0.0017 + 0.0001 ln ( )
0.0025 + 0.0001 ln ( )

9.4107

0.0020 0.0023 ln ( )
3.7451

0.0014 + 0.0013 ln ( )
0.0040 0.0029 ln ( )
1.1623

0.0021 + 0.0014 ln ( )
0.6553

(192)

At the boundary, its value is equal to

0.001202

0.000965

{dU ( = 1)} =
.

0.015052

0.005109

(193)



6. Finally, using Eq 149 the perturbed displacement function vector U ( ) is



U ( ) =

0.0270 0.0018 ln ( )
0.0340 0.0023 ln ( )
0.0081 + 0.0006 ln ( )
0.2124 + 0.0139 ln ( )

0.1245 + 0.0021 ln ( )
0.1316 + 0.0022 ln ( )
0.3332 0.0055 ln ( )
0.0510 + 0.0009 ln ( )

0.0038 + 0.0000 ln ( )
0.0050 + 0.0001 ln ( )
0.0033 + 0.0000 ln ( )
0.0048 + 0.0001 ln ( )

9.4107

0.3126 0.0011 ln ( )

3.7451

0.1755 + 0.0006 ln ( )
0.3964 0.0014 ln ( )
1.1623
0.1897 + 0.0007 ln ( ) 0.6553

(194)

At the boundary, its value is equal to

0.211295



0.278015
.
U ( = 1) =

0.718208

0.457923

(195)

7.3. Appendix 2.3 - Verification Calculations

The steps 1-6 in Appendix 7.1 is repeated to determine the displacement vector {U v ( )} corresponding to the
new scaling centre due to the perturbation as

0.0270 9.3439 0.1245 3.7284 0.0037 1.1460 + 0.3126 0.6518

0.0340 9.3439 0.1315 3.7284 0.0050 1.1460 0.1754 0.6518

v
{U ( )} =

0.0081 9.3439 + 0.3332 3.7284 0.0033 1.1460 + 0.3964 0.6518

0.2125 9.3439 0.0510 3.7284 0.0047 1.1460 0.1897 0.6518

(196)

which evaluated at the boundary ( = 1) is

0.211300

0.277943

v
{U ( = 1)} =
.

0.718246

0.457855

59

(197)