We analyze 40 cosmological re-simulations of individual massive galaxies with present-day stellar masses of $M_{*} > 6.3 times 10^{10} M_{odot}$ in order to investigate the physical origin of the observed strong increase in galaxy sizes and the decrease of the stellar velocity dispersions since redshift $z approx 2$. At present 25 out of 40 galaxies are quiescent with structural parameters (sizes and velocity dispersions) in agreement with local early type galaxies. At z=2 all simulated galaxies with $M_* gtrsim 10^{11}M_{odot}$ (11 out of 40) at z=2 are compact with projected half-mass radii of $approx$ 0.77 ($pm$0.24) kpc and line-of-sight velocity dispersions within the projected half-mass radius of $approx$ 262 ($pm$28) kms$^{-1}$ (3 out of 11 are already quiescent). Similar to observed compact early-type galaxies at high redshift the simulated galaxies are clearly offset from the local mass-size and mass-velocity dispersion relations. Towards redshift zero the sizes increase by a factor of $sim 5-6$, following $R_{1/2} propto (1+z)^{alpha}$ with $alpha = -1.44$ for quiescent galaxies ($alpha = -1.12$ for all galaxies). The velocity dispersions drop by about one-third since $z approx 2$, following $sigma_{1/2} propto (1+z)^{beta}$ with $beta = 0.44$ for the quiescent galaxies ($beta = 0.37$ for all galaxies). The simulated size and dispersion evolution is in good agreement with observations and results from the subsequent accretion and merging of stellar systems at $zlesssim 2$ which is a natural consequence of the hierarchical structure formation. A significant number of the simulated massive galaxies (7 out of 40) experience no merger more massive than 1:4 (usually considered as major mergers). On average, the dominant accretion mode is stellar minor mergers with a mass-weighted mass-ratio of 1:5. (abridged)
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