Basic features of the time finite element approach for dynamics

Very general weak forms may be developed for dynamic systems, the most general being analogous to a Hu-Washizu three-field formulation, thus paralleling well-established weak methods of solid mechanics. In this work two different formulations are developed: a pure displacement formulation and a two-field mixed formulation. With the objective of developing a thorough understanding of the peculiar features of finite elements in time, the relevant methodologies associated with this approach for dynamics are extensively discussed. After having laid the theoretical bases, the finite element approximation and the linearization of the resulting forms are developed, together with a method for the treatment of holonomic and nonholonomic constraints, thus widening the horizons of applicability over the vast world of multibody system dynamics. With the purpose of enlightening on the peculiar numerical behavior of the different approaches, simple but meaningful examples are illustrated. To this aim, significant parallels with elastostatics are emphasized.