MANE 4240 & CIVL 4240

Introduction to Finite Elements

Introduction to 3D
Elasticity
Prof. Suvranu De
Reading assignment:

Appendix C+ 6.1+ 9.1 + Lecture notes
Summary:

3D elasticity problem
Governing differential equation + boundary conditions
Strain-displacement relationship
Stress-strain relationship
Special cases
2D (plane stress, plane strain)
Axisymmetric body with axisymmetric loading
Principle of minimum potential energy
1D Elasticity (axially loaded bar)
x
y
x=0
x=L
A(x) = cross section at x
b(x) = body force distribution
(force per unit length)
E(x) = Youngs modulus
u(x) = displacement of the bar
at x
x
1. Strong formulation: Equilibrium equation + boundary
conditions
L x b
dx
d
< < = + 0 ; 0
o
L x at F
dx
du
EA
x at u
= =
= = 0 0
Boundary conditions
Equilibrium equation
F
3. Stress-strain (constitutive) relation :
(x) E (x) = o
E: Elastic (Youngs) modulus of bar
2. Strain-displacement relationship:
dx
du
(x) =
Problem definition
3D Elasticity
x
y
z
Surface (S)

Volume (V)

u
v
w
x
V: Volume of body
S: Total surface of the body
The deformation at point
x =[x,y,z]
T
is given by the 3
components of its
displacement

=
w
v
u
u
NOTE: u= u(x,y,z), i.e., each
displacement component is a function
of position
3D Elasticity:
EXTERNAL FORCES ACTING ON THE BODY
Two basic types of external forces act on a body
1. Body force (force per unit volume) e.g., weight, inertia, etc
2. Surface traction (force per unit surface area) e.g., friction
BODY FORCE
x
y
z
Surface (S)

Volume (V)

u
v
w
x
X
a
dV
X
b
dV
X
c
dV
Volume
element dV
Body force: distributed
force per unit volume (e.g.,
weight, inertia, etc)

=
c
b
a
X
X
X
X
NOTE: If the body is accelerating,
then the inertia force

may be considered as part of X

=
w

v
u
u
u
~
= X X
x
y
z
S
T
Volume (V)

u
v
w
x
X
a
dV
X
b
dV
X
c
dV
Volume
element dV
p
y
p
z
p
x
Traction: Distributed
force per unit surface
area

=
z
y
x
p
p
p
T
S
SURFACE TRACTION
3D Elasticity:
INTERNAL FORCES
If I take out a chunk of material from the body, I will see that,
due to the external forces applied to it, there are reaction
forces (e.g., due to the loads applied to a truss structure, internal
forces develop in each truss member). For the cube in the figure,
the internal reaction forces per unit area(red arrows) , on each
surface, may be decomposed into three orthogonal components.
x
y
z
Volume (V)

u
v
w
x
Volume
element dV
o
x
o
y
o
z
t
yz
t
yx
t
xy
t
xz
t
zy
t
zx
3D Elasticity

=
zx
yz
xy
z
y
x
t
t
t
o
o
o
o
x
y
z
o
x
o
y
o
z
t
yz
t
yx
t
xy
t
xz
t
zy
t
zx
o
x
, o
y
and o
z
are normal stresses.
The rest 6 are the shear stresses
Convention
t
xy
is the stress on the face
perpendicular to the x-axis and points
in the +ve y direction
Total of 9 stress components of which
only 6 are independent since



xz zx
zy yz
yx xy
t t
t t
t t
=
=
=
The stress vector is therefore
Strains: 6 independent strain components

=
zx
yz
xy
z
y
x

c
c
c
c
Consider the equilibrium of a differential volume element to
obtain the 3 equilibrium equations of elasticity
0
0
0
= +
c
c
+
c
c
+
c
c
= +
c
c
+
c
c
+
c
c
= +
c
c
+
c
c
+
c
c
c
z
yz
xz
b
yz y xy
a
xz
xy
x
X
z y x
X
z y x
X
z y x
o
t
t
t o t
t
t
o
Compactly;
0 = + c X
T
o
(
(
(
(
(
(
(
(
(
(
(
(
(
(

c
c
c
c
c
c
c
c
c
c
c
c
c
c
c
c
c
c
= c
x z
y z
x y
z
y
x
0
0
0
0 0
0 0
0 0
where
EQUILIBRIUM
EQUATIONS
(1)
3D elasticity problem is completely defined once we
understand the following three concepts
Strong formulation (governing differential equation +
boundary conditions)
Strain-displacement relationship
Stress-strain relationship
1. Strong formulation of the 3D elasticity problem: Given the
externally applied loads (on S
T
and in V) and the specified
displacements (on S
u
) we want to solve for the resultant
displacements, strains and stresses required to maintain
equilibrium of the body.
x
y
z
S
u
S
T
Volume (V)

u
v
w
x
X
a
dV
X
b
dV
X
c
dV
Volume
element dV
p
y
p
z
p
x
V in X
T
0 = + c o Equilibrium equations
(1)
Boundary conditions
1. Displacement boundary conditions: Displacements are specified on
portion S
u
of the boundary
u
specified
S on u u =
2. Traction (force) boundary conditions: Tractions are specified on
portion S
T
of the boundary
Now, how do I express this mathematically?
x
y
z
S
u
S
T
Volume (V)

u
v
w
x
X
a
dV
X
b
dV
X
c
dV
Volume
element dV
p
y
p
z
p
x
Traction: Distributed
force per unit area

=
z
y
x
p
p
p
T
S
Traction: Distributed
force per unit area

=
z
y
x
p
p
p
T
S
n
n
x
n
y
n
z
S
T
T
S
p
y
p
x
p
z
If the unit outward normal to S
T
:

=
z
y
x
n
n
n
n
Then
z z y zy x xz
z yz y y x xy
z xz y xy x x
n n n
n n n
n n n
o t t
t o t
t t o
+ + =
+ + =
+ + =
z
y
x
p
p
p
n
x
n
y
S
T
In 2D
dy
dx
ds
x
y
n
u
u
x
y
n
ds
dy
n
ds
dx
= =
= =
u
u
cos
sin
T
S
p
y
p
x
u
dy
dx
ds
o
x
o
y
t
xy
t
xy
Consider the equilibrium of the wedge in
x-direction
y xy x x x
xy x x
xy x x
n n p
ds
dx
ds
dy
p
dx dy ds p
t o
t o
t o
+ =
+ =
+ =
Similarly
y y x xy y
n n p o t + =
3D elasticity problem is completely defined once we
understand the following three concepts
Strong formulation (governing differential equation +
boundary conditions)
Strain-displacement relationship
Stress-strain relationship
2. Strain-displacement relationships:
x
w
z
u
y
w
z
v
x
v
y
u
z
w
y
v
x
u
zx
yz
xy
z
y
x
c
c
+
c
c
=
c
c
+
c
c
=
c
c
+
c
c
=
c
c
=
c
c
=
c
c
=

c
c
c
Compactly; u c = c
(
(
(
(
(
(
(
(
(
(
(
(
(
(

c
c
c
c
c
c
c
c
c
c
c
c
c
c
c
c
c
c
= c
x z
y z
x y
z
y
x
0
0
0
0 0
0 0
0 0

=
w
v
u
u

=
zx
yz
xy
z
y
x

c
c
c
c
(2)
x
y
A
B
C
A
B
C
v
u
dy
dx
dx
x
v
c
c
x d
x
u
u
c
c
+
dy
y
u
c
c
dy
y
v
v
c
c
+
x
u
x
v
tan tan ) B' A' (C' angle
2

y
v
dy
dy v dy
y
v
v dy
AC
AC C' A'
x
u
dx
dx u dx
x
u
u dx
AB
AB B' A'
2 1 2 1
c
c
+
c
c
~
+ ~ + = =
c
c
=

|
|
.
|

\
|

|
|
.
|

\
|
c
c
+ +
=

=
c
c
=

|
|
.
|

\
|

|
.
|

\
|
c
c
+ +
=

=
xy
y
x

c
c
1
|
2
|
In 2D
3D elasticity problem is completely defined once we
understand the following three concepts
Strong formulation (governing differential equation +
boundary conditions)
Strain-displacement relationship
Stress-strain relationship
3. Stress-Strain relationship:
Linear elastic material (Hookes Law)
c o D = (3)
Linear elastic isotropic material
(
(
(
(
(
(
(
(
(
(

+
=
2
2 1
0 0 0 0 0
0
2
2 1
0 0 0 0
0 0
2
2 1
0 0 0
0 0 0 1
0 0 0 1
0 0 0 1
) 2 1 )( 1 (
v
v
v
v v v
v v v
v v v
v v
E
D
Special cases:
1. 1D elastic bar (only 1 component of the stress (stress) is
nonzero. All other stress (strain) components are zero)
Recall the (1) equilibrium, (2) strain-displacement and (3) stress-
strain laws
2. 2D elastic problems: 2 situations
PLANE STRESS
PLANE STRAIN
3. 3D elastic problem: special case-axisymmetric body with
axisymmetric loading (we will skip this)

PLANE STRESS: Only the in-plane stress components are nonzero
x
y
Area
element dA
Nonzero stress components
xy y x
t o o , ,
y
o
x
o
xy
t
xy
t
h
D
Assumptions:
1. h<<D
2. Top and bottom surfaces are free from
traction
3. X
c
=0 and p
z
=0
PLANE STRESS Examples:
1. Thin plate with a hole
2. Thin cantilever plate
y
o
x
o
xy
t
xy
t
Nonzero strains:
xy z y x
c c c , , ,
Isotropic linear elastic stress-strain law

(
(
(
(

xy
y
x
xy
y
x
E

c
c
v
v
v
v
t
o
o
2
1
0 0
0 1
0 1
1
2
Hence, the D matrix for the plane stress case is
(
(
(
(

=
2
1
0 0
0 1
0 1
1
2
v
v
v
v
E
D
c o D =
( )
y x z
c c
v
v
c +

=
1
Nonzero stresses:
xy y x
t o o , ,
PLANE STRESS
PLANE STRAIN: Only the in-plane strain components are nonzero
Area
element dA
Nonzero strain components
y
c
x
c
xy

xy

Assumptions:
1. Displacement components u,v functions
of (x,y) only and w=0
2. Top and bottom surfaces are fixed
3. X
c
=0
4. p
x
and p
y
do not vary with z
xy y x
c c , ,
x
y
z
PLANE STRAIN Examples:
1. Dam
2. Long cylindrical pressure vessel subjected to internal/external
pressure and constrained at the ends
1
Slice of unit
thickness
x
y
z
y
o
x
o
xy
t
xy
t
z
o
Nonzero stress:
Isotropic linear elastic stress-strain law
( )( )

)

(
(
(
(

+
=

xy
y
x
xy
y
x
E

c
c
v
v v
v v
v v
t
o
o
2
2 1
0 0
0 1
0 1
2 1 1
Hence, the D matrix for the plane strain case is
( )( )
(
(
(
(

+
=
2
2 1
0 0
0 1
0 1
2 1 1
v
v v
v v
v v
E
D
c o D =
( )
z x y
o v o o = +
xy z y x
t o o o , , ,
Nonzero strain components:
xy y x
c c , ,
PLANE STRAIN
Example problem
x
y
3
2
1
4
2
2
The square block is in plane strain
and is subjected to the following
strains
2
2 3
2
3
x
y
xy
xy
xy
x y
c
c

=
=
= +
Compute the displacement field (i.e., displacement components
u(x,y) and v(x,y)) within the block
Solution
Recall from definition
) 3 (
) 2 ( 3
) 1 ( 2
3 2
2
y x
x
v
y
u
xy
y
v
xy
x
u
xy
y
x
+ =
c
c
+
c
c
=
=
c
c
=
=
c
c
=

c
c
Integrating (1) and (2)
) 5 ( ) ( ) , (
) 4 ( ) ( ) , (
2
3
1
2
x C xy y x v
y C y x y x u
+ =
+ =
Arbitrary function of x
Arbitrary function of y
Plug expressions in (4) and (5) into equation (3)
| | | |
0
) ( ) (
) ( ) (
) ( ) (
) 3 (
2 1
3 2
2
3
1
2
3 2
2
3
1
2
3 2
=
c
c
+
c
c

+ =
c
c
+ +
c
c
+
+ =
c
+ c
+
c
+ c

+ =
c
c
+
c
c
x
x C
y
y C
y x
x
x C
y
y
y C
x
y x
x
x C xy
y
y C y x
y x
x
v
y
u
Function of y
Function of x
) constant a (
) ( ) (
2 1
C
x
x C
y
y C
=
c
c
=
c
c
Hence
Integrate to obtain
2 2
1 1
) (
) (
D Cx x C
D Cy y C
+
+ =
D
1
and D
2
are two constants of
integration
Plug these back into equations (4) and (5)
2
3
1
2
) , ( ) 5 (
) , ( ) 4 (
D Cx xy y x v
D Cy y x y x u
+ =
+ + =
How to find C, D
1
and D
2
?
Use the 3 boundary conditions
0 ) 0 , 2 (
0 ) 0 , 0 (
0 ) 0 , 0 (
=
=
=
v
v
u
To obtain
0
0
0
2
1
=
=
=
D
D
C
Hence the solution is
3
2
) , (
) , (
xy y x v
y x y x u
=
=
x
y
3
2
1
4
2
2
Principle of Minimum Potential Energy
Definition: For a linear elastic body subjected to body forces
X=[X
a
,X
b
,X
c
]
T
and surface tractions T
S
=[p
x
,p
y
,p
z
]
T
, causing
displacements u=[u,v,w]
T
and strains c and stresses o, the potential
energy H is defined as the strain energy minus the potential energy
of the loads involving X and T
S

H=U-W
x
y
z
S
u
S
T
Volume (V)

u
v
w
x
X
a
dV
X
b
dV
X
c
dV
Volume
element dV
p
y
p
z
p
x
} }
}
+ =
=
T
S
S
T
V
T
V
T
dS T u dV X u
dV
W
2
1
U c o
Strain energy of the elastic body
} }
= =
V
T
V
T
dV D dV c c c o
2
1
2
1
U
c o D =
Using the stress-strain law
In 1D
} } }
=
= = =
L
x V V
Adx E dV E dV
0
2 2
2
1
2
1
2
1
U c c oc
In 2D plane stress and plane strain
( )
}
+ + =
V
xy xy y y x x
dV t c o c o
2
1
U
Why?
Principle of minimum potential energy: Among all admissible
displacement fields the one that satisfies the equilibrium equations
also render the potential energy H a minimum.

admissible displacement field:
1. first derivative of the displacement components exist
2. satisfies the boundary conditions on S
u