MCEN 5023/ASEN 5012
Chapter 4
Stress and Strain Tensors Deformation and Strain
Fall, 2006
Deformation and Strain
Displacement & Deformation
Displacement: A vector or the magnitude of a vector from the initial
position to a subsequent position assumed by a body.
Deformation: An alteration of shape, as by pressure or stress.
Example:
Case 1
Case 2
Time 0
Case 3
Time t
Deformation and Strain
Deformation and Strain
Strain characterizes a deformation
Example: 1D strain
L0
L
L L0
I =
L0
Deformation and Strain
Kinematics of Continuous Body
Time t
Time 0
xi
ai
a 2 x2
x3
a3
x1
a1
Time 0:
Undeformed configuration
Reference (initial) configuration
Material configuration
Time t:
Deformed configuration
Current configuration
Spatial configuration
Deformation and Strain
Kinematics of Continuous Body
xi = xi (a1 , a2 , a3 , t )
OR, due to continuous body
ai = ai ( x1 , x2 , x3 , t )
Lagrangian Description:
The motion is described by the material
coordinate and time t.
Eulerian Description:
The motion is described by the spatial
coordinate and time t.
Deformation and Strain
Lagrangian vs. Eulerian
Lagrangian
Eulerian
xi = xi (a1 , a2 , a3 , t )
ai = ai ( x1 , x2 , x3 , t )
(Tacking a material point)
(Monitoring a spatial point)
a 2 x2
The spatial
coordinates of
this material
point change
with time.
t=0
t=t1
t=t2
Different material
points pass this
spatial point
x1
a1
Deformation and Strain
Lagrangian vs. Eulerian
Lagrangian
Tracking a material point.
Material point is fixed but the spatial
coordinates have to be updated.
Good for constitutive model
Solid Mechanics
Eulerian
Tracking a spatial point.
Spatial coordinates are fixed but
Material points keep changing.
Not good for constitutive model.
Fluid Mechanics
Solid Mechanics
Deformation and Strain
Kinematics of Continuous Body
Time t
Time 0
ai
ui
xi
a 2 x2
x3
a3
x1
a1
Using undeformed configuration as reference:
ui (a1 , a2 , a3 ) = xi (a1 , a2 , a3 ) ai
Using deformed configuration as reference:
ui ( x1 , x2 , x3 ) = xi ai ( x1 , x2 , x3 )
Deformation and Strain
Measure the deformation
Time t
Time 0
ai
ui
P xi
P0
Q
Q0
a 2 x2
P0 = {a1, a2 , a3 }
x3
a3
x1
a1
Q0 = {a1 + da1, a2 + da2 , a3 + d a3 }
P = {x1, x2 , x3 }
Q = {x1 + dx1, x2 + dx2 , x3 + dx3 }
Deformation and Strain
Measure the deformation
Deformation and Strain
Measure the deformation
Deformation and Strain
Strain Tensor:
1 xk xk
Eij =
ij
2 ai a j
Green Strain
ak ak
1
eij = ij
2
xi x j
Almansi Strain
Deformation and Strain
Strain Tensor:
1 ui u j uk uk Green Strain
Eij =
+
+
2 a j ai ai a j
1 ui u j uk uk
eij =
+
2 x j xi xi x j
Almansi Strain
Applicable to both small and finite (large) deformation.
Deformation and Strain
Physical Explanations of Strain Tensor
Time t
Time 0
P0
da
a 2 x2
x3
a3
x1
a1
Q0
ui
dx
Deformation and Strain
Physical Explanations of Strain Tensor
Time t
Time 0
P0
da
a2 x2
x3
a3
x1
a1
Q0
ui
dx Q
Deformation and Strain
Physical Explanations of Strain Tensor
Time t
Time 0
n
v
a2 x2
x3
a3
x1
a1
ui
Deformation and Strain
ui
ui
If
<< 1
<< 1
a j
x j
small deformation
The quadratic term in Green strain and Almansi strain can be neglected.
1 ui u j
Eij =
+
2 a j ai
1 ui u j
eij =
+
2 x j xi
Also, in small deformation, the distinction between Lagrangian and
Eulerian disappears.
1 ui u j
Eij = eij =
+
2 x j xi
Cauchys infinitesimal strain tensor
Deformation and Strain
Cauchys infinitesimal strain tensor
1 ui u j
Eij = eij =
+
2 x j xi
u1
e11 = E11 =
x1
1 u2 u1
+
e12 = E12 =
2 x1 x2
u2
e22 = E22 =
x2
1 u3 u1
e13 = E13 =
+
2 x1 x3
u3
e33 = E33 =
x3
1 u3 u2
e23 = E23 =
+
2 x2 x3
Deformation and Strain
ui
ui
If
<< 1
<< 1
a j
x j
small deformation
Note:
In most of the cases,
ui
<< 1
a j
But,
ui
<< 1
x j
small deformation
Deformation and Strain
Engineering Strains
Coordinates: x, y, z
Displacements: u, v, w
Normal strains:
u
x =
= e11
x
v
y = = e22
y
w
z =
= e33
z
Deformation and Strain
Engineering Strains
Shear Strains:
xy
u v
=
+
= 2e12
y x
yz
v w
= +
= 2e23
z y
xz
u w
=
+
= 2e13
z x
Deformation and Strain
Stretches at small deformation
Deformation and Strain
Cauchys Shear Strain and Engineering Shear Strains
A
x2
A
C
B
dx2
dx1
C
x1
Deformation and Strain
Cauchys Shear Strain and Engineering Shear Strains
u1 u
1 =
=
x2 y
A
x2
xy = 1 + 2
dx2
2 C
B
dx1
u2 v
2 =
=
x1 x
C
x1
1
e12 = (1 + 2 )
2
Deformation and Strain
Cauchys Shear Strain and Engineering Shear Strains
e11
[e] = e12
e13
e12
e22
e23
e13
1
e23 = xy
2
e33 1
2 xz
Engineering Strain xy
xz
1
xy
2
y
1
yz
2
xy xz
y yz
yz z
1
xz
2
1
yz
2
z
Tensor
Not a tensor!!!
Deformation and Strain
Transformation of Coordinate System
In general
eij = ik jk eij
Deformation and Strain
Transformation of Coordinate System 2D
X
e2
X 2
e 2
X 1
e 1
e1
= cos 2 e11 + 2 sin cos e12 + sin 2 e22
e11
= sin 2 e11 2 sin cos e12 + cos 2 e22
e22
= sin cos(e22 e11 ) + cos 2 sin 2 e12
e12
Deformation and Strain
Transformation of Coordinate System 2D Mohr Circle
Deformation and Strain
Strain Invariants
Deformation and Strain
Strain Deviations
Mean Strain
e11 + e22 + e33 1
e0 =
=
3
3
Strain deviation tensor
e = e e0 I
eij = eij e0 ij
Octahedral Shear Strain
0 =
2
3
(e11 e22 )2 + (e22 e33 )2 + (e33 e11 )2 + 6(e122 + e232 + e312 )
Deformation and Strain
Determine Displacement Fields from Strains
1 ui u j
Eij = eij =
+
2 x j xi
Questions: Can the displacements be determined uniquely?
Deformation and Strain
Determine Displacement Fields from Strains
u1
= x1 + 3x2
x1
u1
= x12
x2
The strain fields are inconsistent because
u1 2u1
=
=3
x2 x1 x2 x1
u1 2u1
=
= 2x1
x1 x2 x1x2
2u1
2u1
x2 x1 x1x2
Deformation and Strain
Compatibility of Strain Fields
B
A
B
C
Compatible strain fields
D
B
B
C
Undeformed
A
Incompatible strain fields
C
C
Deformation and Strain
Integrability Condition
In general
u1
= f ( x1 , x2 )
x1
u1
= g ( x1 , x2 )
x2
Integrability condition ( Compatibility of strain fields )
2u1
2u1
=
x2 x1 x1x2
f
g
=
x2 x1
Integration of strain fields yields unique displacement components.
Deformation and Strain
Compatibility of Strain Fields
u1
e11 =
x1
u2
e22 =
x2
1 u2 u1
e12 =
+
2 x1 x2
Deformation and Strain
Compatibility of Strain Fields
eij ,kl + ekl ,ij eik , jl e jl ,ik = 0
St. Venant Equations of Compatibility
Totally 81 equations, but only 6 are essential.
e11, 22 + e22,11 = 2e12,12
e11, 23 = e23,11 + e12,13 + e13,12
e22,33 + e33, 22 = 2e23, 23
e22,13 = e13, 22 + e21, 23 + e23, 21
e11,33 + e33,11 = 2e13,13
e33,12 = e12,33 + e31,32 + e32,31
