Stress Analysis

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Ramadas Chennamsetti
Stress Analysis
Introduction
Body subjected to loading internal
resistance offered by body
Internal forces distributed continuously
over the body
Deformation deformable body finite
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Deformation deformable body finite
elastic modulus
Deformation continuous single valued
Stress analysis equilibrium of the body
every point is in equilibrium
Introduction
Equilibrium

G
r
y

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~ ~
a m F =

~ ~ ~ ~

G
I a m r M + =

= = 0 0
~
i
M M
Dynamic equilibrium Static equilibrium
0 0
~
= =

i
F F

x
z

Forces
Surface forces/tractions
Force per unit area
Acts on surfaces
Need not be perpendicular to
T
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surface area reactions of other parts
dS T F d
s
~
~
=
ds = infinitesimal area

=
S
s
dS T F
~
~
F
s
= Force corresponds to
traction acting over S
dS T dF
i si
=
Traction Surface Normal
Direction of traction and normal to area -
different
dA differential element
T
n

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x
y
z
dA
~
n
- normal to area
T traction on area A
i i
e T T =
~
dA n dA
~ ~
=
Angle between traction and area vector =>
Forces
Body load
Per unit volume or mass
Distributed over the body
Not a surface force
y

B
x
B
y
B
z
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Acts at center of mass
Gravity force, centrifugal force
x
z
~
~ ~
~
~ ~

i i z y x
e B B k B j B i B B = + + =
Body force vector
Indices notation
V d B F d
B
~ ~
=

=
V
B
V d B F
~ ~
Total force due to body load
Internal Forces
Body under equilibrium every particle
under equilibrium
A F
y
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Section A-A
Perpendicular to X - axis
A
P
I
II
A
P
x
z
I
Internal Forces
Second part of the body
F
A
1
P
I
~
n
II
~
n
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A
1
~
n
-F
~
~
3 3
~
2 2
~
1 1
~
~
e F e F e F e F F
i i
+ + = =
1, x
2, y
3, z
A
P
F
x
F
y
F
z
F
Decomposing forces
Internal Forces
Normal stress
Force perpendicular to area
Shear stress
Force parallel to area
1
1
1
1
0
11 11
lim
dA
dF
A
F
A
=

= =


1
lim
dA
dF
A
F
s s
s
=

=
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Force parallel to area
F
s
acts in the plane resolve into
components
1 1
0
1
lim
dA A
A
s
=

1
2
1
2
0
21
lim
dA
dF
A
F
A
=

1
3
1
3
0
31
lim
dA
dF
A
F
A
=

Internal Forces
Stress components depend on forces,
orientation of the plane
Notation Two indices

First index plane & second index - direction

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yx

First index plane & second index - direction

xx

ij

Indices notation
Internal Forces
Stresses
A
P
P
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A
x
y
z Neighboring material exerts forces on the faces
of infinitesimal element
Decompose these forces parallel &
perpendicular to co-ordinate axes
Divide by area, dA => 0
Stresses at a Point
Stresses
zz

yx

yz

yy

xy

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y
x
z
dx
dz
dy
xx

xz

xy

zx

zz

zy

Stresses at a Point
Shear stresses - Complementary

xy

yy

yx

dy
Static equilibrium of the element
0 M , 0
~ ~
= =


F
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xx

yx

xy

xx

yy
dx
dy
x
y
0 M
0 , 0
z
~ ~
=
= =

y x
F F
This gives =>
yx xy
=
Apply same method in other directions also,
xz zx zy yz
= = ,
Shear stresses are complementary in nature
Stresses at a Point
Stresses at a point 3D stress state
Nine stress components
Three normal stresses -
xx
,
yy
,
zz
Six shear stresses -
yz
,
zy
,
xz
,
zx
,
xy
,
yx
Complementary => = ; = ; =
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Complementary =>
yz
=
zy
;
xz
=
zx
;
xy
=
yx
Three shear stress components
Total number of stress components at a point
=> three normal + three shear = six
components
Stresses at a Point
Nine (six) stress arrange in an array
[ ]
(
(
(

=
yz yy yx
xz xy xx

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Rows represent
First row stresses on x plane
Second row stresses on y plane
Third row stresses on z plane
[ ]
(
(

=
zz zy zx
yz yy yx


Sign Convention
Positive or negative stress depends on
Direction of area normal and
Force direction
y
+ n

xx
Force in +ve x-direction
Area normal => +ve area
=> Stress is +ve - Tensile Stress
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+ n
x
z
+ n
xx

xy

xz

=> Stress is +ve - Tensile Stress

xy
Force in +ve y direction
Area => +ve area normal +ve
=> Stress is +ve

xz
Force in +ve z direction
Area => +ve area normal +ve
=> Stress is +ve
Sign Convention
Positive/negative stresses
y

xz

xx
Force in -ve x-direction
Area normal => -ve area
=> Stress is +ve - Tensile Stress

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x
z
-n

xx

xz

xy

xy
Force in -ve y direction
Area => -ve area normal
=> Stress is +ve

xz
Force in -ve z direction
Area => -ve area normal
=> Stress is +ve
Sign Convention
Positive/negative stresses
y
+ n

xx
Force in -ve x-direction
Area normal => +ve area
=> Stress is -ve => Compressive
Stress
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x
z
+ n
xx

xy

xz
+ n
Stress

xy
Force in -ve y direction
Area => +ve area normal
=> Stress is -ve

xz
Force in -ve z direction
Area => +ve area normal
=> Stress is -ve
Sign Convention
Positive/negative stresses
y

xz

xx
Force in +ve x-direction
Area normal => -ve area
=> Stress is -ve => Compressive
Stress
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x
z
-n

xx

xz

xy
Stress

xy
Force in -ve y direction
Area => -ve area normal
=> Stress is +ve

xz
Force in +ve z direction
Area => -ve area normal
=> Stress is -ve
Cauchys formula
Stress components acting on an element
On each face three stress
components are acting
zz

yx

yz

yy

B
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Consider a plane ABC
intersecting x, y and z
axes
Normal has direction
cosines (l, m, n)
y
x
z
dx
dz
dy
xx

xz

xy

zx

zz

zy

A
C
Cauchys Formula
Six stress components are given at point
Tractions on an inclined plane
y

B
y
B
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xx

xy
x
z

xz

zz

zy

zx

yy

yx

yz
o
A
C
x
z
A
C
T
x
T
y
T
z
T
Cauchys Formula
Direction cosines of ABC plane
~ ~
3
~
2
~
1
~
i i
e l e n e m e l n = + + =
y
B
n
m
Equilibrium of tetrahedron
A A A A T
z zx y yx x xx x
+ + =
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x
z
o
A
C
l
n
n m l T
A
A
A
A
A
A
T
A A A A T
zx yx xx x
z
zx
y
yx
x
xx x
z zx y yx x xx x



+ + =
+ + =
+ + =
n m l T
A A A A T
zy yy xy y
z zy y yy x xy y


+ + =
+ + =
n m l T
A A A A T
zz yz xz z
z zz y yz x xz z


+ + =
+ + =
Cauchys Formula
Stress state at a point and direction cosines of a
plane => Tractions on that plane
n m l T
n m l T
zx yx xx x


+ + =
+ + =
1
2 2 2
= + + n m l
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n m l T
n m l T
zz yz xz z
zy yy xy y


+ + =
+ + =
{ } [ ]{ }



= =>

(
(
(

T
n
m
l
T
T
T
zz yz xz
zy yy xy
zx yx xx
z
y
x
Indices notation
j ji i
l T =
Normal Stress
Resultant traction
Direction cosines of T
R
y
B
T
y
n (l, m, n),
n
2 2 2 2
z y x R
T T T T + + =
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Projections of T
i
on n
x
z
A
C
T
x
T
z
T
r
R
z
R
y
R
x
T
T
n
T
T
m
T
T
l = = =
' ' '
, ,
Normal stress on plane ABC
z y x n
nT mT lT + + =
Normal Stress
Normal stress is given by,
z y x n
nT mT lT + + =
( )
( )
zx yx xx n
n m l l + + + =
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( )
( )
( )
zz yz xz
zy yy xy
zx yx xx n
n m l n
n m l m


+ +
+ + +


( )
zx yz xy
zz yy xx n
nl mn lm
n m l


+ +
+ + + =
2
2 2 2
Shear Stress
Calculate shear stress from tractions and
normal stress
T
n,
n
2 2 2
2 2 2
n
T
T


=
+ =
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T

Plane
P
2 2 2
n
T =
( )
2 2 2 2 2
n z y x
T T T + + =
( )
zx yz xy
zz yy xx n
nl mn lm
n m l


+ +
+ + + =
2
2 2 2
Stresses in 2D
2D stress state -
xx
,
yy
and
xy
T
x
T
y

xx
dy
dl
T
~
n
y
yx xx x
m l T + =
yy xy y
m l T + =
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T
x

yy

yx

xx

xy
dx
dl
x

j
i
m l n
m
dl
dx
l
dl
dy
~
~
~
sin ) 90 cos(
cos
+ =
= = =
= =

yy xy y
m l T + =
xy yy xx n
y x n
lm m l
mT lT

2
2 2
+ + =
+ =

2 sin 2 cos
2 2
2 sin sin cos
2 2
xy
yy xx yy xx
n
xy yy xx n
+
|
|

\
|

+
|
|

\
|
+
=
+ + =
Stresses in 2D
Normal stress in t direction
~
T
~
n
t
Angle => 90+


2 sin 2 cos
2 2
xy
yy xx yy xx
n
+
|
|

\
|

+
|
|

\
|
+
=
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Shear stress
~
~
t
2 2
\ \


2 sin 2 cos
2 2
xy
yy xx yy xx
t

|
|

\
|

|
|

\
|
+
=
2 2 2
n
T =
( ) 2 cos 2 sin
2
1
xy yy xx
+ =
Principal Stresses
Maximum normal stresses which act on the
planes, where there is no shear stress
Tractions on ABC in x, y & z directions
y
B
n (l, m, n),
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l n m l T
xz xy xx x
= + + =
m n m l T
yz yy xy y
= + + =
n n m l T
zz yz xz z
= + + =
A
B
C
T
x
T
y
T
z
T
n (l, m, n),
x
z
Principal Stresses
Writing in matrix form

(
(
(
(

(
(
(
(

m
l
m
l
yz y xy
xz xy x
0 1 0
0 0 1

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(
(

(
(

n n
z yz xz
1 0 0
[ ]{ } [ ]{ }
[ ] [ ] [ ]{ } 0 =
=


I
I
Homogeneous algebraic
equations Eigenvalue
problem
- Eigenvector, {} - Eigenvector
Expanding cubic equation three roots
Principal Stresses
For non-trivial solution {} 0
Determinant = 0
[ ] [ ] 0 = I
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0 =

z yz xz
yz y xy
xz xy x
Principal Stresses
Eigenvalue problem
Homogeneous algebraic equations
Eigenvalues => Three principal stresses
Eigenvalues => Real values definite matrix
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Eigenvectors => Orientation of principal planes
Number of Eigenvalues => order of matrix
Principal Stresses
Expanding the determinant
0
3 2
2
1
3
= + I I I
z y x
I + + =
1
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z
yz y
xz xy x
z yz
yz y
z xz
xz x
y xy
xy x
symm
I
I

=
+ + =
3
2
Principal Stresses
Principal stresses can be obtained from the
following
|

\
|
+ =
3
cos
3
2
3
1
1

a I
|
|

\
|
+ =
3
2
1
2
I
I a
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|

\
|
+ + =
|

\
|
+ + =
|

\
3
240 cos
3
2
3
3
120 cos
3
2
3
3 3 3
1
3
1
2
1

a I
a I
|

\
3
|

\
|
+ + =
3 27
2
2 1
3
1 3
I I
I I b
|
|

\
|

=

27 / 2
cos
3
1
a
b

Principal Stresses
Stress invariants I
1
, I
2
& I
3
Invariant value doesnt change when the coordinate
system is rotated referring stresses wrt a different
coordinate system
Same coefficients of the characteristic equation for any
orientation
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orientation
Independent of orientation of the planes
The principal stresses depend only on loading
For a given stress state three mutually perpendicular
planes - maximum stresses
Calculation of principal plane orientations use
direction cosines relation also
Principal Stresses
Distinct values of
1
,
2
and
3
principal
planes unique mutually perpendicular
n
1
.n
2
= n
2
.n
3
= n
3
.n
1
= 0
If
1
=
2
&
3
different any direction
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If
1
=
2
&
3
different any direction
perpendicular to n
3
=> perpendicular
direction
n
3
,
3
Any direction on this plane
P
Principal Stresses
If
1
=
2
=
3
= p
every direction is principal direction
hydrostatic state of stress any three
orthogonal directions
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orthogonal directions
p
p
p
Maximum Shear Stress
Given a stress state at a point
{T}

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xyz csys coincides with principal stress directions
shear forces on A
x
, A
y
and A
z
= 0

3
Maximum Shear Stress
Tractions on plane A => T
i
=
ij
l
j
Here,

ij
= 0 for i j
3 3 2 2 1 1
, ,
e T T
n T m T l T
i i
=
= = =
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Normal Stress on plane A
( ) ( ) ( )
2
3
2
2
2
1
2
3
2
2
2
1
2
~
~
n m l T T T T
e T T
i i
+ + = + + =
=
i i ii
j i ij
T l
T l
=
=> = =

stress Normal j i for

Maximum Shear Stress
Normal stress
( ) ( ) ( )
3
2
2
2
1
2
3 2 1 3 2 1


n m l
n n m m l l nT mT lT
n
n
+ + =
+ + = + + =
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=> Shear stress Normal and shear stresses
are orthogonal
For maximum shear stress
( ) ( ) ( ) [ ] ( ) [ ]
2 2 2 2 2 2
2
3
2
2
2
1
2
2
3
2
2
2
1
2 2 2
2 2 2
1 1 m l n n m l
n m l n m l T
T
n
n
= => = + +
+ + + + = =
+ =


0 , 0 =

m l

Maximum Shear Stress
Differentiation gives the following expressions
( ) ( )
( ) ( ) 0
2
0
2
3 2
3 2
2
3 1
2
3 1
3 2
2
3 1
2
=
(

+
=
(

+




m l m
m l l
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Solving & use l
2
+m
2
+n
2
= 1 three sets of
solutions
( ) ( ) 0
2
3 2 3 1
=
(

+ m l m
2
1
, 0 ,
2
1
2
1
,
2
1
, 0
1 , 0 , 0
= = =
= = =
= = =
n m l
n m l
n m l
Maximum Shear Stress
Solutions planes on which shear stresses are
minimum and maximum
1 2 3 4 5 6
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l
1 0 0 0 (1/2)
0.5
(1/2)
0.5
m 0 1 0 (1/2)
0.5
0 (1/2)
0.5
n 0 0 1 (1/2)
0.5
(1/2)
0.5
0
Maximum shear planes
Min. shear planes
Maximum Shear Stress
Values of shear stresses and planes
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2
1
,
2
1
, 0 = = = n m l
3 2 max
2
1
=
Maximum Shear Stress
Values of shear stresses and planes
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2
1
, 0 ,
2
1
= = = n m l
1 3 max
2
1
=
Maximum Shear Stress
Values of shear stresses and planes
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0 ,
2
1
,
2
1
= = = n m l
3 1 max
2
1
=
Maximum Shear Stress
Maximum shear stress act at 45
0
planes with
reference to principal planes

2
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1 3 max
2
1
=

1

3

max

( )
1 3
2
1
+ =
Minimum Shear Stress
Plane of minimum shear stress
2
B

3
Plane OBC
Direction cosines
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A
C
1
3

3
o
l = 1, m = 0, n = 0
Maximum principal
stress plane
Shear stress = 0
Minimum Shear Stress
Plane of minimum shear stress
2
B

3
Plane OAC
Direction cosines
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A
C
1
3

1 o
l = 0, m = 1, n = 0
Principal stress
plane -
2
Shear stress = 0
Minimum Shear Stress
Plane of minimum shear stress
2
B

3
Plane OBC
Direction cosines
l = 0, m = 0, n = 1
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A
C
1
3

1 o
l = 0, m = 0, n = 1
Principal stress
plane -
3
Shear stress = 0
Maximum shear stresses are constant for a given stress
state at a point
State of Pure Shear
Only shear stress exist
The stress state at a point
six stress components,
ij
Infinite sets of planes through this point

xy

xy
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Infinite sets of planes through this point
For pure shear - Sum of main diagonal
terms in stress tensor vanish
=> Tr() = 0
State of Pure Shear
Necessary and sufficient condition for
existence of a state of pure shear
=> First invariant of stress tensor = 0
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0
1
= + + =
zz yy xx
I [ ]
(
(
(

=
zz zy zx
yz yy yx
xz xy xx

Individual normal stress components need not be zero

Decomposition of Stress
The stress tensor
In indices notation,
ij
Decompose []
[ ]
(
(
(

=
zz zy zx
yz yy yx
xz xy xx

Stress state = Hydrostatic state + Deviatoric state (shear)

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Stress state = Hydrostatic state + Deviatoric state (shear)
(
(
(

+
(
(
(

=
(
(
(

p
p
p
p
p
p
zz zy zx
yz yy yx
xz xy xx
zz zy zx
yz yy yx
xz xy xx






0 0
0 0
0 0
In indices notation
( )
ij ij ij ij ij ij
S p p p + = + =
Decomposition of Stress
For pure shear => Tr(S
ij
)
( ) ( ) ( )
( ) stress mean
3
1
0
= = + + =
= + +
mm zz yy xx
zz yy xx
p
p p p


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Deviatoric stress tensor
3
[ ]
(
(
(

=
(
(
(
(
(
(

=
'
'
'
3
2
3
2
3
2
zz yz xz
yz yy xy
xz xy
zz yz xz
yz yy xy
xz xy xx
xx
S






Decomposition of Stress
Deviatoric stress the first invariant is
given by, => J
1
= Tr(S
ij
)
( ) ( ) ( )
( )
p p p J
zz yy xx 1
+ + = =>
+ + =


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( ) p J
zz yy xx
3
1
+ + = =>
But,
( )
0
3
1
1
= =>
+ + =
J
p
zz yy xx

Use this relation
The first invariant of Deviatoric stress = 0
Decomposition of Stress
Hydrostatic stress tensor volumetric part
of stress tensor spherical stress tensor
Hydrostatic part responsible for volume
change size change
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change size change
p
p
p
p
p
p
=>>>
Decomposition of Stress
Deviatoric part responsible for
deformation or shape change
Change in angle between two adjacent
sides => shape change distortion - shear
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sides => shape change distortion - shear
stress
Change in shape due to applied shear

Decomposition of Stress
Invariants of deviatoric stress tensor
[ ]
(
(
(

=
'
'
'
zz yz xz
yz yy xy
xz xy
xx
S



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zz yz xz
'
'
'
3
'
'
'
'
'
'
2
' ' '
1
0
zz
yz yy
xz xy xx
zz yz
yz yy
zz xz
xz xx
yy xy
xy xx
zz yy xx
symm
J
J
J

=
+ + =
= + + =