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International Journal of Mechanical Sciences 45 (2003) 643 – 667

Elastic–plastic deformations of rotating variable thickness

annular disks with free, pressurized and radially constrained
boundary conditions
Ahmet N. Eraslan∗
Department of Engineering Sciences, Middle East Technical University, Ankara 06531, Turkey
Received 22 August 2002; received in revised form 28 April 2003; accepted 9 May 2003

This work is dedicated to Professors Yusuf Orcan in Engineering Sciences at METU and U4gur G6uven in Mechanical
Engineering at YTU for their valuable contributions to elastoplasticity.

Abstract

Analytical solutions for the elastic–plastic stress distribution in rotating variable thickness annular disks are
obtained under plane stress assumption. The analysis is based on Tresca’s yield criterion, its associated 8ow
rule and linear strain hardening material behavior. The thickness of the disk is assumed to vary in parabolic
form in radial direction which leads to hypergeometric di9erential equations for the solution. It is shown that,
depending on the boundary conditions used, the plastic core may contain one, two or three di9erent plastic
regions governed by di9erent mathematical forms of the yield criterion. The expansion of these plastic regions
with increasing angular velocity is obtained together with the distributions of stress, displacement and plastic
strain. It is also shown mathematically that in the limiting case the variable thickness disk solution reduces
to the solution of rotating uniform thickness disk.
? 2003 Elsevier Ltd. All rights reserved.

Keywords: Rotating annular disk; Tresca’s criterion; Strain hardening; Parabolic disk pro=le

1. Introduction

Theoretical investigation of the stresses in solid and annular disks rotating at high speeds has
been receiving widespread attention due to a large number of applications in engineering [1–9].
Among these applications; turbine motors, 8ywheels, gears and shrink =ts can be mentioned. Recent
studies [10–12] indicate that the stresses in variable thickness rotating annular and solid disks are

∗
Tel.: +90-312-210-23-80; fax: +90-312-210-12-69.
E-mail address: [email protected] (A.N. Eraslan).

0020-7403/03/$ - see front matter ? 2003 Elsevier Ltd. All rights reserved.
doi:10.1016/S0020-7403(03)00112-7
644 A.N. Eraslan / International Journal of Mechanical Sciences 45 (2003) 643 – 667

much lower than those in constant thickness disks at the same angular velocity. Hence, for a better
utilization of the material, it is appropriate to allow variation in the thickness of the disk.
The two yield criteria; Tresca and von Mises are the ones that are most commonly used in the
elastic–plastic analysis of rotating solid and annular disks. The application of Tresca’s yield criterion
for linearly hardening or perfectly plastic materials results in linear di9erential equations permitting
the analytical treatment of the problem. However, in the case of a variable thickness disk, the
resulting di9erential equations may not always assume closed form solutions. The application of the
von Mises yield criterion requires a numerical treatment due to the nonlinearities inherent in this
criterion. The numerical solution procedure also depends on the type of the disk and on the boundary
conditions.
In the light of the work of Gamer [13,14], a limited number of analytical solutions on variable
thickness rotating solid and annular disks appeared in the literature. G6uven [15] discussed the ap-
plicability of the Tresca’s yield criterion for the analysis of variable thickness solid disks having
exponentially varying pro=les. The complete solution of convex exponential solid disk whose defor-
mation behavior is similar to that of the uniform thickness disk was obtained in [11]. Closed form
solution of concave exponential thickness pro=les were obtained by Eraslan and Orcan [16]. It was
shown in [16] that the deformation behavior of concave exponential solid disk is di9erent from that
of the constant thickness disk in such a way that three di9erent stages of elastic–plastic deformation
takes place. The numerical von Mises solution of exponential solid disk is compared to analytical
Tresca solution in [17] in the fully plastic state.
The analytical solution of power function thickness pro=le was given in [12] for a rotating convex
solid disk. The numerical solution of the same pro=le was obtained by Eraslan and Argeso [10] for
convex as well as concave pro=les in the purely elastic and in the fully plastic stages of deforma-
tion. The von Mises yield condition was combined with Swift’s hardening law to handle nonlinear
hardening. The rotating hyperbolic annular disk mounted on a rigid shaft was studied analytically by
G6uven [18]. Various thickness pro=les including hyperbolic, exponential and power function form for
annular disks were studied numerically by Eraslan [19] with radially constrained and free boundary
conditions. The von Mises yield criterion, its 8ow rule and Swift’s hardening law were used. You
et al. [20] developed a computational model for the von Mises solution of rotating solid and annular
disks of variable thickness and density assuming nonlinear strain hardening.
The aim of this work is to obtain closed form solutions of rotating annular disks having continu-
ously nonlinear parabolic thickness pro=les subjected to di9erent boundary conditions of engineering
interest. A state of plane stress and small deformations are presumed. In the analysis of elastic-plastic
response of the parabolic disk, Tresca’s yield criterion and its associated 8ow rule are used with
the assumption of linear hardening material behavior. The disk pro=le is assumed to vary radially
according to

 r k 
h(r) = h0 1 − n ; (1.1)
b
where n and k are geometric parameters (0 6 n ¡ 1, k ¿ 0), b is the radius of the disk and h0 is
the thickness at the axis of the disk. The thickness of the disk is assumed to be suLciently small
compared to its diameter so that plane stress assumption is justi=ed [3]. With this form of the disk
pro=le function, a uniform thickness disk is obtained by setting n = 0 and a linearly decreasing
thickness is obtained by setting k = 1. Furthermore, if k ¡ 1 the pro=le is concave and if k ¿ 1
 A.N. Eraslan / International Journal of Mechanical Sciences 45 (2003) 643 – 667 645

0.0 0.2 0.4 0.6 0.8 1.0

radial coordinate

Fig. 1. Parabolic annular disk for n = 0:4 and k = 0:55.

it is convex. The concave annular parabolic disk pro=le shown in Fig. 1 is obtained by n = 0:4 and
k = 0:55.

2. Elastic solution

For plane stress (

z = 0), the stress–displacement relations are given by Timoshenko and
Goodier [3]
E  u



r = + u ; (2.1)
1 − 2 r
E u



 = + u ; (2.2)
1 − 2 r
where u is the radial displacement, E the modulus of elasticity,
r and
 are the components of
the normal stress and the Poisson’s ratio. In these expressions, a prime denotes di9erentiation with
respect to the radial coordinate r. Substitution of these stresses and the disk pro=le (1.1) in the
equation of motion [3]
d
(hr
r ) − h
 = −h!2 r 2 (2.3)
dr
yields the governing equation for the radial displacement.

 r k  d 2 u
 r k  du
 r k 
r2 1 − n + r 1 − n(1 + k) − 1 − n(1 − k ) u
b dr 2 b dr b
  k 
1 − n br (1 − 2 )!2 r 3
=− (2.4)
E
in which ! represents the constant angular velocity and  the mass density. Eq. (2.4) is a hyper-
geometric di9erential equation which can be solved by introducing a new variable z = n(r=b)k and
making use of the transformation u(r) = ry(z). The homogeneous equation is transformed into
d2 y 1 dy 1
z(1 − z) + [2 + k − 2(1 + k)z] − (1 + ) y = 0: (2.5)
dz 2 k dz k
646 A.N. Eraslan / International Journal of Mechanical Sciences 45 (2003) 643 – 667

This is the standard form of the hypergeometric di9erential equation with the solution [21,22]
y(z) = C1 F(; ; ; z) + Ĉ 2 z −2=k F( −  + 1;  −  + 1; 2 − ; z); (2.6)
where F(; ; ; z) is the hypergeometric function de=ned by
 ( + 1)( + 1) 2 ( + 1)( + 2)( + 1)( + 2) 3
F(; ; ; z) = 1 + z+ z + z +···
1! ( + 1)2! ( + 1)( + 2)3!
(2.7)
The series F(; ; ; z) converges slowly for |z| 6 1 provided that  − ( + ) ¿ − 1. Since the
problem under consideration is a realistic physical problem, these conditions are always satis=ed
and the series is always convergent. The arguments ,  and  of the hypergeometric function F in
Eq. (2.6) have the following meanings:

1 1 k 2 + 4(1 − k )
= + − ; (2.8)
2 k 2k

1 1 k 2 + 4(1 − k )
= + + ; (2.9)
2 k 2k
2
=1+ : (2.10)
k
The general solution for the radial displacement can be expressed as
u(r) = C1 P(r) + C2 Q(r) + R(r); (2.11)
where Ci is an arbitrary constant and

 r k 
P(r) = rF ; ; ; n ; (2.12)
b

 r k 
1
Q(r) = F  −  + 1;  −  + 1; 2 − ; n : (2.13)
r b
The particular solution R(r) in Eq. (2.11) is obtained by the method of variation of parameters. It
is assumed to be of the form:
R(r) = Û 1 (r)P(r) + Û 2 (r)Q(r); (2.14)
where
r
Q() f()
Û 1 (r) = − d; (2.15)
W ()
a
r
P() f()
Û 2 (r) = d; (2.16)
W ()
a

W (r) = P(r)Q
(r) − Q(r)P
(r); (2.17)

(1 − 2 )!2 r
f(r) = − : (2.18)
E
 A.N. Eraslan / International Journal of Mechanical Sciences 45 (2003) 643 – 667 647

In the integrals above, a represents the inner radius of the disk. The radial and circumferential
stresses become



 
E P
Q
R


r = C1 + P + C2 +Q + +R ; (2.19)
1 − 2 r r r



 
E P
Q
R


 = C1 + P + C2 + Q + + R : (2.20)
1 − 2 r r r
The derivatives P
and Q
in Eqs. (2.19) and (2.20) are evaluated using the di9erentiation rule [22]
d  d z
F(; ; ; z(r)) = F( + 1;  + 1;  + 1; z(r)) (2.21)
dr  dr
and R
= Û 1 P
+ Û 2 Q
.

Remark. It should be noted that for n = 0, from Eq. (1.1) h(r) = h0 , from Eq. (2.7) F(; ; ; 0) = 1,
from Eq. (2.12) P(r) = r, from Eq. (2.13) Q(r) = 1=r and from Eqs. (2.14)–(2.18) with a = 0
(1 − 2 )!2 r 3
R(r) = − ; (2.22)
8E
hence
C2 (1 − 2 )!2 r 3
u(r) = C1 r + − (2.23)
r 8E
which is the well-known solution of rotating uniform thickness disk [3,9,14].

3. Purely elastic deformations

The elastic solution is completed by the application of the boundary conditions. Three di9erent
boundary conditions are considered for annular disks.
(a) Free boundary conditions: If both surfaces are free of any traction, then the boundary condi-
tions are
r (a) =
r (b) = 0. Application of these free boundary conditions give
2 Q(a)R(b) + a R(b)Q
(a) + bR
(b)[ Q(a) + aQ
(a)]
C1 = ; (3.1)
D

− 2 P(a)R(b) − a R(b)P
(a) − bR
(b)[ P(a) + aP
(a)]

C2 = ; (3.2)
D
where
D = 2 P(a)Q(b) + a Q(b)P
(a) − b Q(a)P
(b) − abP
(b)Q
(a)
− P(b)[ Q(a) + aQ
(a)] + bQ
(b)[ P(a) + aP
(a)]: (3.3)
(b) Pressurized and free boundary conditions: If the inner surface of the annular disk is subjected
to internal pressure, then the boundary conditions read
r (a)=−Pin and
r (b)=0 where Pin represents
648 A.N. Eraslan / International Journal of Mechanical Sciences 45 (2003) 643 – 667

the applied pressure. These two conditions yield

D1 D2
C1 = and C2 = ; (3.4)
ED ED
where
D1 = −a Pin Q(b)(1 − 2 ) + E 2 Q(a)R(b) + aE R(b)Q
(a) − abPin Q
(b)
+ab 2 Pin Q
(b) + bER
(b)[ Q(a) + aQ
(a)]; (3.5)

D2 = a Pin P(b)(1 − 2 ) − E 2 P(a)R(b) − aE R(b)P
(a) + abPin P
(b)

−ab 2 Pin P
(b) − bER
(b)[ P(a) + aP
(a)]; (3.6)

D = −Q(a)[ 2 P(b) + b P
(b)] + Q(b)[ 2 P(a) + a P
(a)]

−Q
(a)[a P(b) + abP
(b)] + Q
(b)[b P(a) + abP
(a)]: (3.7)
(c) Radially constrained and free boundary conditions: If the annular disk is mounted on a rigid
shaft, boundary conditions become u(a) = 0 and
r (b) = 0. In this case, integration constants are
obtained as
− Q(a)R(b) − bQ(a)R
(b)
C1 = ; (3.8)
P(b)Q(a) − P(a)Q(b) + bQ(a)P
(b) − bP(a)Q
(b)

P(a)R(b) + bP(a)R
(b)

C2 = : (3.9)
P(b)Q(a) − P(a)Q(b) + bQ(a)P
(b) − bP(a)Q
(b)
To present the numerical results, it is convenient to use formal dimensionless and normalized vari-
ables; radial coordinate: rQ = r=b, angular velocity: R = !b =
0 , stress:
Q j =
j =
0 , displacement:
uQ = uE=b
0 , pressure: PQ in = Pin =
0 and strain: $Qj = $j E=
0 where
0 represents the yield limit of the
material. It is also convenient to de=ne nondimensional integration constants as CQ 1 = C1 , CQ 2 = C2 =b2 .
In the following calculations n = 0:4, k = 0:55, aQ = a=b = 0:2 and = 0:3.
First, elastic limit angular velocity is calculated for an annular disk having free boundaries.
Using Eqs. (3.1) and (3.2), integration constants corresponding to
Q  (a) Q = 1 are calculated as
CQ 1 = 6:03288 × 10−4 and CQ 2 = 5:07954 × 10−5 . The elastic limit angular velocity reveals R =
R1 = 1:15949. The nondimensional stresses and displacement at R1 are calculated and plotted in
Fig. 2. The circumferential stress
 is the largest stress component which reaches its maximum
value at the inner surface r = a.
Taking PQ in = 0:2 and making use of Eq. (3.4), elastic limit angular velocity is calculated for a
pressurized annular disk. Integration constants corresponding to the condition
Q  (a) Q −
Q r (a)
Q = 1 are
evaluated as CQ 1 = 3:48451 × 10−4 , CQ 2 = 5:05098 × 10−5 and the limit angular velocity is obtained
as R1 = 0:871432. Fig. 3 presents the distributions of stress and displacement at R1 . As seen in
this =gure, the circumferential stress is the largest principal stress component and the radial stress
is compressive in a narrow region near r = a and it is tensile in the remaining portion of the disk.
Fig. 4 shows the stresses and displacement in an annular disk mounted on a rigid shaft at the elastic
limit angular velocity R1 = 1:40859. This limit is obtained by requiring that
Q r (a)
Q = 1. Corresponding
 A.N. Eraslan / International Journal of Mechanical Sciences 45 (2003) 643 – 667 649

1.2

1.0

stresses and displacement 0.8

0.6 σθ

0.4 σr
u
0.2

0.0
0.0 0.2 0.4 0.6 0.8 1.0
radial coordinate

Fig. 2. Elastic deformation of rotating annular disk with free BC at the elastic limit R1 = 1:15949.

1.0

0.8

0.6
stresses and displacement

σθ
0.4

0.2 u

0.0
σr
-0.2

-0.4
0.0 0.2 0.4 0.6 0.8 1.0
radial coordinate

Fig. 3. Elastic deformation of rotating annular disk with pressurized and free BC at the elastic limit R1 = 0:871432.
650 A.N. Eraslan / International Journal of Mechanical Sciences 45 (2003) 643 – 667

1.2

1.0

stresses and displacement 0.8

σr

0.6
σθ

0.4

u
0.2

0.0
0.0 0.2 0.4 0.6 0.8 1.0
radial coordinate

Fig. 4. Elastic deformation of rotating annular disk with radially constrained and free BC at the elastic limit R1 = 1:40859.

integration constants are determined by the use of Eqs. (3.8) and (3.9) as CQ 1 = 8:51915 × 10−4 and
CQ 2 = −3:41264 × 10−5 . The stress distribution in this case is di9erent from those in Figs. 2 and 3.
The radial stress is the largest in the central portion of the disk and the circumferential stress is the
largest in the outer portion.

4. Elastic–plastic solution

Elastic solutions provide information on the elastic–plastic response of annular disks. This response
is found to be dependent on the boundary conditions. For an annular disk with free boundaries,
yielding begins at r = a with the yield condition
y =
 . The plastic region formed at r = a
propagates towards the edge of the disk as the angular velocity is increased. At the limit R = R2 , the
plastic–elastic border reaches the edge, r = b, of the disk and the disk becomes fully plastic. If the
inner surface is subjected to pressure, yielding commences at r = a according to the yield criterion

y =
 −
r . This plastic region propagates in the radial direction with increasing R until
r (r1 ) = 0.
The corresponding critical angular velocity is designated by R2 and at this point
 (r1 ) =
0 . At
R = R2 another plastic region is formed, adjacent to the =rst one, according to the criterion
y =
 .
This second plastic region propagates rapidly towards the edge with increasing angular velocities
and at the limit R = R3 the disk becomes fully plastic. With radially constrained and free boundary
conditions, yielding begins at r = a according to the criterion
y =
r . When the angular velocity
reaches R = R2 ,
r becomes equal to
 inside the disk and two additional plastic regions develop
simultaneously at a radial position where
r =
 . The yield conditions for these new plastic zones
 A.N. Eraslan / International Journal of Mechanical Sciences 45 (2003) 643 – 667 651

are
y =
r =
 and
y =
 . For the elastic–plastic analysis of these systems, four di9erent plastic
regions should be considered. In the next section, the formulation and analytical solutions for these
di9erent plastic regions will be given.

4.1. Plastic Region I

In this region, the principal stress state corresponds to a corner regime of Tresca’s hexagon and
the yield condition is given by

y =
r =
 : (4.1)

For a linear strain hardening material behavior, the yield condition has the form

y =
0 (1 + % $EQ ) (4.2)

and the inverse relation is



y 1
$EQ = −1 : (4.3)

0 %
In the above relations, % represents the hardening parameter and $EQ the equivalent plastic strain.
Using Eqs. (4.1) and (1.1), the equation of motion (2.3) is integrated to yield
  r k  2 2
EC3 2 + k − 2n b
! r

r (r) =
 (r) = −   k  : (4.4)
1 − n( br )k 2(2 + k) 1 − n r b

Consideration of the equivalence of plastic work increment,

 d$p +
r d$rp =
y d$EQ (4.5)

together with the yield condition (4.1) results in $EQ = $p + $rp . The 8ow rule associated with the
yield condition provides $zp = −($p + $rp ). Making use of the strain–displacement relations, $ = u=r
and $r = du=dr, and decomposing the total strains into their elastic and plastic parts, one obtains


du u 1 1 2(1 − )
+ =− + +
r (4.6)
dr r % %
0 E
and therefrom the displacement


 
C4 r 1 2(1 − ) 1
u(r) = − + +
r (r)r dr : (4.7)
r 2% %
0 E r
The closed form of the integral on the right can be obtained upon substitution of
r from (4.4). The
result is


EC3 2 2 2  r k [2 + kF(4=k; 1; 1 + 4=k; n(r=b)k )]!2 r 4

r (r)r dr = r F ; 1; 1 + ; n − (4.8)
2 k k b 8(2 + k)
652 A.N. Eraslan / International Journal of Mechanical Sciences 45 (2003) 643 – 667

in which F(; ; ; z) is again the hypergeometric function given by (2.7). The displacement becomes




C4 r 1 2(1 − ) EC3 r 2 2  r k
u(r) = − + + F ; 1; 1 + ; n
r 2% %
0 E 2 k k b

[2 + kF(4=k; 1; 1 + 4=k; n(r=b)k )]!2 r 3
− : (4.9)
8(2 + k)

The plastic strain components are obtained by subtracting the elastic parts from the total strains
as
u 1−
$p = −
r ; (4.10)
r E


du 1 − 1 1− u 1
$rp = −
r = +
r − − (4.11)
dr E %
0 E r %

and the axial plastic strain follows from $zp = −($p + $rp ).

4.2. Plastic Region II

In this region, stresses lie in a side regime of Tresca’s hexagon with

r ¿
 ¿ 0. The yield
condition has the form

y =
r : (4.12)

The increment of plastic work gives $EQ = $rp , and according to the 8ow rule associated with
the yield condition (4.12), $rp = −$zp and $p = 0. Since the circumferential strain is purely elas-
tic and $rp = $EQ = [(
r =
0 ) − 1]=%, expressing total strain components in terms of stresses, it follows
that
u 1
= [
 −
r ]; (4.13)
r E


du
r 1 1
= −1 + [
r −
 ] (4.14)
dr
0 % E

and hence
r and
 take the form
(1 − w)
0 Ew  u



r = + + u ; (4.15)
1 − w 2 1 − w 2 r

(1 − w)
0 E u 



 = + + w u ; (4.16)
1 − w 2 1 − w 2 r
 A.N. Eraslan / International Journal of Mechanical Sciences 45 (2003) 643 – 667 653

where w = H=(1 + H ) with H being the normalized hardening parameter de=ned by H = %

0 =E. The
di9erential equation for the radial displacement is determined as

 r k  d 2 u
 r k  du
2
wr 1 − n + wr 1 − n(1 + k)
b dr 2 b dr

 r k  
1 − n(r=b)k (1 − w 2 )!2 r 3
− 1 − n(1 − kw ) u=−
b E

(1 − w) n (1 + k − ) (r=b)k + − 1
0 r
+ : (4.17)
E
The general solution of this hypergeometric di9erential equation is obtained by introducing the new
variable z = n(r=b)k and employing the transformation u(r) = ry(z). The homogeneous equation
becomes

d2 y 1 dy 1 − z − w[1 − z(1 + k + k )]
z(1 − z) + [2 + k − 2(1 + k)z] − y = 0: (4.18)
dz 2 k dz k 2 wz
The solution is
√ √
y(z) = Ĉ 5 z −1=k −1=k w
F(; ; ; z) + Ĉ 6 z −1=k+1=k w
F( −  + 1;  −  + 1; 2 − ; z) (4.19)

in which

1 1 k 2 w + 4(1 − kw )
= − √ − √ ; (4.20)
2 k w 2k w

1 1 k 2 w + 4(1 − kw )
= − √ + √ ; (4.21)
2 k w 2k w

2
=1− √ : (4.22)
k w

After some algebraic manipulations, the general solution for the radial displacement can be put into
the form

u(r) = C5 P(r) + C6 Q(r) + R(r); (4.23)

where
√

 r k 
−1= w
P(r) = r F ; ; ; n ; (4.24)
b

√

 r k 
Q(r) = r 1= w
F  −  + 1;  −  + 1; 2 − ; n : (4.25)
b
654 A.N. Eraslan / International Journal of Mechanical Sciences 45 (2003) 643 – 667

The particular solution R(r) is determined by the method of variation of parameters. The stresses
become



 
(1 − w)
0 Ew P
Q
R


r = + C5 + P + C6 +Q + +R ; (4.26)
1 − w 2 1 − w 2 r r r



 
(1 − w)
0 E P
Q
R


 = + C5 + w P + C6 + w Q + + w R : (4.27)
1 − w 2 1 − w 2 r r r
Finally, the plastic strain components for this region are evaluated from



r 1
p p
$r = −$z = − 1 ; and $p = 0: (4.28)

0 %

4.3. Plastic Region III

In this region, stresses lie in another side regime of Tresca’s hexagon with
 ¿
r ¿ 0. The yield
condition reads

y =
 : (4.29)

The increment of plastic work gives $EQ = $p , and according to the 8ow rule associated with the
yield condition (4.29) $p = −$zp and $rp = 0. Since the radial strain is purely elastic and $p = $EQ =
[(
 =
0 ) − 1]=%, the strain–displacement relations lead to
(1 − w)
0 E  w u 



r = + + u ; (4.30)
1 − w 2 1 − w 2 r

(1 − w)
0 Ew  u



 = + + u : (4.31)
1 − w 2 1 − w 2 r
Combining Eqs. (1.1), (2.3), (4.30) and (4.31) one obtains

 r k  d 2 u
 r k  du
2
r 1−n + r 1 − n(1 + k)
b dr 2 b dr

 r k 
[1 − n(r=b)k ](1 − w 2 )!2 r 3
−w 1 − n(1 − k ) u=−
b E
(1 − w)[1 − − n(1 − − k )(r=b)k ]
0 r
+ : (4.32)
E
Eq. (4.32) constitutes the governing di9erential equation for this plastic region in terms of the radial
displacement. The general solution of this hypergeometric di9erential equation is obtained by the
usual transformation. The result is

u(r) = C7 P(r) + C8 Q(r) + R(r); (4.33)

 A.N. Eraslan / International Journal of Mechanical Sciences 45 (2003) 643 – 667 655

where
√

 r k 
− w
P(r) = r F ; ; ; n ; (4.34)
b

√

 r k 
w
Q(r) = r F  −  + 1;  −  + 1; 2 − ; n ; (4.35)
b
√
1 w k 2 + 4w(1 − k )
= − − ; (4.36)
2 k 2k
√
1 w k 2 + 4w(1 − k )
= − + ; (4.37)
2 k 2k
√
2 w
=1− : (4.38)
k
The particular integral solution R(r) is obtained by the method of variation of parameters as before.
The radial and circumferential stresses are



 
(1 − w)
0 E w P
w Q
w R


r = + C7 + P + C8 +Q + +R ; (4.39)
1 − w 2 1 − w 2 r r r



 
(1 − w)
0 Ew P
Q
R


 = + C7 + P + C8 + Q + + R : (4.40)
1 − w 2 1 − w 2 r r r
The plastic strain components are determined from


p p
 1
$ = −$z = −1 and $rp = 0: (4.41)

0 %

4.4. Plastic Region IV

In this plastic region, the stresses lie in another side regime of Tresca’s hexagon satisfying

 ¿ 0 ¿
r . The yield condition takes the form

y =
 −
r : (4.42)
The increment of plastic work and the associated 8ow rule give $EQ = $p , $rp = −$p and $zp = 0.
Hence


u
 −
r 1 1
= −1 + [
 −
r ]; (4.43)
r
0 % E


du
 −
r 1 1
=− −1 + [
r −
 ]: (4.44)
dr
0 % E
656 A.N. Eraslan / International Journal of Mechanical Sciences 45 (2003) 643 – 667

Accordingly, the stress–displacement relations become


(1 − w)
0 E [1 − w(1 − )]u


r = − + +u ; (4.45)
2 − w(1 − ) (1 − )[2 − w(1 − )] r
(1 − w)
0 E u 

 = + + [1 − w(1 − )]u
: (4.46)
2 − w(1 − ) (1 − )[2 − w(1 − )] r
Substitution of the stresses in the equation of equilibrium (2.3) yields the governing equation for
the radial displacement:

 r k  d 2 u
 r k  du   r k 
2
r 1−n + r 1 − n(1 + k) − 1 − n[1 − k(1 − w(1 − ))] u
b dr 2 b dr b

[1 − n(r=b)k ](1 − )[2 − w(1 − )]!2 r 3 (1 − w)(1 − )[2 − n(2 + k)(r=b)k ]

0 r
=− + :
E E
(4.47)
The general solution is
u(r) = C9 P(r) + C10 Q(r) + R(r); (4.48)
where

 r k 
P(r) = rF ; ; ; n ; (4.49)
b

 r k 
1
Q(r) = F  −  + 1;  −  + 1; 2 − ; n ; (4.50)
r b

1 1 k 2 + 4 − 4k[1 − w(1 − )]
= + − ; (4.51)
2 k 2k

1 1 k 2 + 4 − 4k[1 − w(1 − )]
= + + ; (4.52)
2 k 2k
2
=1+ : (4.53)
k
The radial and circumferential stresses take the form



(1 − w)
0 E [1 − w(1 − )]P

r = − + C9 + P

2 − w(1 − ) (1 − )[2 − w(1 − )] r

 
[1 − w(1 − )]Q
[1 − w(1 − )]R

+C10 +Q + +R (4.54)
r r



(1 − w)
0 E P


 = + C9 + [1 − w(1 − )]P
2 − w(1 − ) (1 − )[2 − w(1 − )] r

 
Q
R

+C10 + [1 − w(1 − )]Q + + [1 − w(1 − )]R : (4.55)
r r
 A.N. Eraslan / International Journal of Mechanical Sciences 45 (2003) 643 – 667 657

The plastic strain components are determined from


p p
 −
r 1
$ = −$r = −1 and $zp = 0: (4.56)

0 %

Remarks. The plastic solutions presented above reduce to the solutions of uniform thickness rotating
disk by substitution of n = 0.
(a) Plastic Region I: For n = 0 Eq. (4.4) takes the form

r (r) =
 (r) = EC3 − 12 !2 r 2 ; (4.57)
hence



C4 r 1 1 2(1 − ) 1
u(r) = − + + EC3 r − !2 r 3 : (4.58)
r 2 % 2 %
0 E 4
(b) Plastic Region II: For n = 0 Eq. (4.23) becomes
√ √
u(r) = C5 r −1= w
+ C6 r 1= w
+ R(r): (4.59)
Using Eqs. (2.14)–(2.17) and
(1 − w 2 )!2 r (1 − w)(1 − )
0
f(r) = − − (4.60)
wE Ewr
the particular solution is determined to be
[1 + H (1 − 2 )]!2 r 3 (1 − )
0 r
R(r) = − − : (4.61)
E(1 − 8H ) E
(c) Plastic Region III: For n = 0 from Eqs. (4.33) and (2.14)–(2.17)
√ √ [1 + H (1 − 2 )]!2 r 3 (1 − )
0 r
u(r) = C7 r − w
+ C8 r w
− + : (4.62)
E(9 + 8H ) E
(c) Plastic Region IV: For n = 0 Eq. (4.48) becomes
C10 (1 − )[2 + H (1 + )]!2 r 3 (1 − )(1 − 2ln r)
0 r
u(r) = C9 r + − − : (4.63)
r 8E(1 + H ) 2E(1 + H )
Furthermore, as H → ∞ this last expression simpli=es to
C10 (1 − 2 )!2 r 3
u(r) = C9 r + − (4.64)
r 8E
which is the elastic solution of rotating constant thickness disk, see for example [13,14].

5. Elastic-plastic deformations

In this section, elastic–plastic deformations of annular disks subjected to di9erent boundary con-
ditions will be investigated in detail. For convenience, the following nondimensional integration √
constants are introduced: CQ 3 = C3 , CQ 4 = C4 =b2 , CQ 5 = C5 =b1+1=w , CQ 6 = C6 =b1−1=w , CQ 7 = C7 =b1+ w ,
658 A.N. Eraslan / International Journal of Mechanical Sciences 45 (2003) 643 – 667

1.6

1.4

stresses, displacement and plastic strain

1.2
σθ

1.0

0.8
r1
εθp
0.6 u

0.4
σr
0.2

0.0
0.0 0.2 0.4 0.6 0.8 1.0
radial coordinate

Fig. 5. Stresses, displacement and plastic strain at R = 1:6.

√
CQ 8 = C8 =b1− w , CQ 9 = C9 , CQ 10 = C10 and CQ 11 = C11 =b2 . In the following n = 0:4, k = 0:55, aQ = 0:2,
= 0:3 and PQin = 0:2. In addition, the hardening parameter is taken as H = 0:5. It should be noted
that in the case of annular disks, the elastic–plastic response of concave (k ¡ 1) and convex/linear
(k ¿ 1) pro=les are very similar [10,19], but they are quite di9erent if solid disks are considered
[11,16].
One stage of elastic–plastic deformation occurs in the rotating annular disk having free boundaries.
For the values of angular velocity R ¿ 1:15949 the disk consists of an inner plastic region (region III)
and an outer elastic region. The expressions for the stresses and displacement contain four unknown
integration constants: C7 , C8 (plastic), C1 , C2 (elastic) and an unknown plastic–elastic border radius
r1 . For the evaluation of these =ve unknowns, the three continuity conditions:
rp (r1 ) =
re (r1 ),

p (r1 ) =
e (r1 ) and up (r1 ) = ue (r1 ) are used in addition to the formal boundary conditions. Here,
the superscripts p and e are used to denote the plastic and elastic regions, respectively. Taking
R = 1:60 ¿ R1 unknowns are obtained as CQ 7 = 2:42191 × 10−4 , CQ 8 = 5:42209 × 10−4 , CQ 1 = 8:13766 ×
10−4 , CQ 2 = 2:43612 × 10−4 and rQ1 = 0:623570. The corresponding stresses, displacement and plastic
strain are calculated and plotted in Fig. 5. The plastic region propagates towards the edge of the
disk with increasing angular velocities. At the limit R = R2 the border radius reaches the edge,
i.e. r1 = b, and the disk becomes fully plastic. This plastic limit angular velocity is determined as
R2 = 1:88218. The corresponding distributions of stress, displacement and plastic strain are shown in
Fig. 6. The propagation of plastic–elastic border radius r1 as R increases is calculated in the range
R1 6 R 6 R2 and presented in Fig. 7. In this =gure, dots (denoted by symbol rQep ) represent the
propagation of elastic-plastic interface according to von Mises yield criterion. This curve is obtained
by the use of the computer program VTDisk coded by the author [19]. Both criteria predict the
 A.N. Eraslan / International Journal of Mechanical Sciences 45 (2003) 643 – 667 659

2.4

2.0

stresses, displacement and plastic strain 1.6

σθ

1.2

u
0.8
σr r1

0.4 ε θp / 2

0.0
0.0 0.2 0.4 0.6 0.8 1.0
radial coordinate

Fig. 6. Stresses, displacement and plastic strain in the fully plastic state at the limit R2 = 1:88218.

same elastic limit angular velocity and the fully plastic limit angular velocity predicted by von Mises
criterion is R2 =1:97561, which is approximately 5% higher than the one obtained by Tresca criterion
in this work. As seen in Fig. 7, Tresca criterion advances the elastic–plastic interface further than
von Mises.
Two stages of elastic–plastic deformation can be distinguished for the annular disk with pressurized
inner boundary. In the =rst stage, the disk consists of an inner plastic region (region IV) and an outer
elastic region. The expressions for the stresses and displacement involve four unknown integration
constants: C9 , C10 (plastic), C1 , C2 (elastic) and an unknown plastic–elastic border r1 . The continuity
of the stresses and displacement at the plastic–elastic interface and the formal boundary conditions
provide =ve linearly independent equations for the determination of unknowns. The validity of this
stage ceases as soon as
r (r1 )=0. The corresponding angular velocity is denoted by R2 . Calculations
are performed to determine this limit. The integration constants and border radius are evaluated as
CQ 9 =4:47656×10−4 , CQ 10 =8:69875×10−5 , CQ 1 =5:88848×10−4 , CQ 2 =7:53623×10−5 and rQ1 =0:244343.
The plastic limit angular velocity is obtained as R2 =1:14764. The distributions of stress, displacement
and plastic strain at R2 = 1:14764 are shown in Fig. 8. As seen in this =gure, at the plastic–elastic
border
r = 0 and
 =
0 . For R ¿ R2 , a new plastic region (region III) develops at r = r1 . But since
this plastic region expands outwards into the elastic region as well as inwards into the plastically
predeformed region IV, and since an edge regime at this location is not possible, the formulation
of region III should be modi=ed to account for plastic predeformation. For this purpose, the total
radial strain is expressed in the form [23]
du 1
$r = = [
r −
 ] + $rper ; (5.1)
dr E
660 A.N. Eraslan / International Journal of Mechanical Sciences 45 (2003) 643 – 667

2.0

1.9 Ω 2 = 1.88218

1.8

1.7
angular velocity rep
1.6
r1
1.5

1.4

1.3

1.2 Ω1 = 1.15949

1.1
0.0 0.2 0.4 0.6 0.8 1.0
radial coordinate

Fig. 7. Propagation of interface radius with increasing angular velocity. Dots represent the predictions of von Mises
criterion.

where $rper is the unknown radial permanent strain to be determined during the calculations. The
total cicumferential strain is still
u 1
$ = = $EQ + [
 −
r ]: (5.2)
r E
The permanent strain in circumferential direction is contained in $EQ = [
y =
0 − 1]=%. Eqs. (5.1) and
(5.2) lead to a governing di9erential equation for this special plastic region similar to Eq. (4.32)
with the following additional terms on the nonhomogeneous part:
  r k 
 r k  d$per
per 2 r
+ r 1 − w − n[1 + k − w ] $r + r 1 − n : (5.3)
b b dr
The homogeneous solution is essentially the same but the stresses become



 
(1 − w)
0 E w P
w Q
w R
per

r = + C7 + P + C8 +Q + + R − $r ;
1 − w 2 1 − w 2 r r r
(5.4)



 
(1 − w)
0 Ew P
Q
R
per

 = + C7 + P + C8 + Q + + R − $r : (5.5)
1 − w 2 1 − w 2 r r r
The disk is then composed of an inner plastic region (region IV), an outer plastic region (modi=ed
region III), and an elastic region. The solution of this problem requires the determination of 6
integration constants: C9 , C10 (plastic), C7 , C8 (plastic), C1 , C2 (elastic) and 2 border radii r1 ,
r2 . At the border r1 ; two stress components are continuous and
r = 0, while at the other border
 A.N. Eraslan / International Journal of Mechanical Sciences 45 (2003) 643 – 667 661

1.2

1.0

stresses, displacement and plastic strains

0.8

σθ
0.6

r1
0.4
σr u
0.2
ε θp
0.0

-0.2 ε rp

-0.4
0.0 0.2 0.4 0.6 0.8 1.0
radial coordinate

Fig. 8. Stresses, displacement and plastic strains at the limit R2 = 1:14764.

r2 two stress components and the displacement are continuous. These continuity requirements are
combined with the boundary conditions to evaluate eight unknowns. For the determination of $rper
and its derivative an explicit scheme is used knowing that both vanish for rQ ¿ 0:244343. The angular
velocity R is increased by increments as small as 10−5 and at the kth level the predetermined values
of level k − 1 are used. Assigning R = 1:41 ¿ R2 unknowns are calculated as CQ 9 = 5:00661 ×
10−4 , CQ 10 = 1:45872 × 10−4 , CQ 7 = 2:11265 × 10−4 , CQ 8 = 2:64312 × 10−4 , CQ 1 = 7:82523 × 10−4 ,
CQ 2 = 1:27278 × 10−4 , rQ1 = 0:229691 and rQ2 = 0:409257. The corresponding stresses, displacement and
plastic strain is presented in Fig. 9. The outer plastic region propagates rapidly towards the edge
of the disk with increasing R and at the plastic limit R = R3 the border r2 reaches the edge. At
this point, the disk becomes fully plastic. This plastic limit angular velocity is determined to be
R3 = 1:86542. Fig. 10 presents the stresses, displacement and plastic strain in the fully plastic disk.
Finally, the propagation of border radii with increasing R is shown in Fig. 11. The two stages of
deformation can be depicted in this =gure. Elastic and fully plastic limit angular velocities predicted
by von Mises criterion are 0.934614 and 1.94069, respectively. The propagation of elastic–plastic
interface in this range is shown by dots in Fig. 11. Again, Tresca criterion advances elastic–plastic
border further than von Mises.
Final calculations are performed for rotating annular disk subjected to radially constrained and
free boundary conditions. Two stages of elastic-plastic deformation occurs. In the =rst stage, the
disk is composed of an inner plastic region (region II) and an outer elastic region. The unknowns
to be determined for the solution are C5 , C6 (plastic), C1 , C2 (elastic) and r1 . It is required that
the stresses are continuous and
r =
0 at the plastic-elastic border. These conditions together with
formal boundary conditions are suLcient to determine the =ve unknowns. This stage eventuates at
662 A.N. Eraslan / International Journal of Mechanical Sciences 45 (2003) 643 – 667

1.4

1.2

stresses, displacement and plastic strains

1.0
σθ
0.8

r1 r2
0.6
σr u
0.4

0.2
εθp
0.0

-0.2 ε rp / 2
-0.4
0.0 0.2 0.4 0.6 0.8 1.0
radial coordinate

Fig. 9. Stresses, displacement and plastic strain at R = 1:41.

2.4

2.0
stresses, displacement and plastic strain

1.6 r1
σθ
1.2

0.8
u
σr r2

0.4
ε θp / 2

0.0

-0.4
0.0 0.2 0.4 0.6 0.8 1.0
radial coordinate

Fig. 10. Stresses, displacement and plastic strain in the fully plastic state at the limit R3 = 1:86542.
 A.N. Eraslan / International Journal of Mechanical Sciences 45 (2003) 643 – 667 663

2.0
Ω 3 = 1.86542

1.8

rep
angular velocity 1.6 r1
r2
1.4

1.2 Ω 2 = 1.14764

r1
1.0
Ω1 = 0.871432

0.8
0.0 0.2 0.4 0.6 0.8 1.0
radial coordinate

Fig. 11. Propagation of interface radii with increasing angular velocity. Dots represent the propagation of elastic–plastic
border predicted by von Mises criterion.

the critical angular velocity R=R2 when the radial stress becomes equal to the circumferential stress
at r = r1 . The unknowns at this limit are calculated as CQ 5 = −1:45395 × 10−5 , CQ 6 = 3:83163 × 10−3 ,
CQ 1 =1:16985×10−3 , CQ 2 =1:33025×10−5 , rQ1 =0:470185 corresponding to R2 =1:80504. Fig. 12 shows
the distributions of stress, displacement and plastic strain at R2 . For the values of R ¿ R2 ; stress
image points at r = r1 move to a singular regime of the yield surface in the principal stress space
and hence plastic regions I and III emerge simultaneously at r = r1 and expand with increasing R.
Therefore, the disk consists of three adjacent plastic regions, namely: region II, region I and region
III and an outer elastic region. The unknowns for the solution of this deformation stage are C5 , C6
(plastic), C3 , C4 (plastic), C7 , C8 (plastic), C1 , C2 (elastic), r1 , r2 and r3 . The continuity conditions
are: (1) the stresses and the displacement are continuous at r = r1 , (2) the stresses are continuous
and the radial plastic strain vanishes at r = r2 , (3) the stresses and the displacement are continuous at
the plastic–elastic border r = r3 . The boundary conditions are adjoined to these continuity conditions
to determine unknowns. Taking R = 1:90 ¿ R2 we =nd CQ 5 = −1:65736 × 10−5 , CQ 6 = 4:36770 × 10−3 ,
CQ 3 =2:30043×10−3 , CQ 4 =−9:58984×10−5 , CQ 7 =−9:14061×10−5 , CQ 8 =1:40893×10−3 , rQ1 =0:407993,
rQ2 = 0:503486 and r3 = 0:690112. The corresponding stresses, displacement and plastic strains are
presented in Fig. 13. As the angular velocity is further increased, the plastic–elastic border r3 move
towards the edge and at the plastic limit R = R3 it reaches the edge. This plastic limit is determined
as R3 = 2:22238. The disk is fully plastic and
 (b) =
0 . The corresponding stresses, displacement
and plastic strains are presented in Fig. 14. The propagation of the plastic regions with increasing
angular velocity is plotted in Fig. 15. The two stages of elastic–plastic deformation can be followed
in this =gure. On the other hand, according to von Mises yield criterion, plastic deformation begins
664 A.N. Eraslan / International Journal of Mechanical Sciences 45 (2003) 643 – 667

1.6

1.4

stresses, displacement and plastic strain

1.2 σr

1.0
σθ
0.8

r1
0.6
u
0.4
ε rp

0.2

0.0
0.0 0.2 0.4 0.6 0.8 1.0
radial coordinate

Fig. 12. Stresses, displacement and plastic strain at the limit R2 = 1:80504.

1.6

1.4
σr
stresses, displacement and plastic strains

1.2

1.0
σθ
r1
0.8
r2
0.6 ε r
p

u
0.4
r3
0.2
ε θp
0.0
0.0 0.2 0.4 0.6 0.8 1.0
radial coordinate

Fig. 13. Stresses, displacement and plastic strains at R = 1:9.

 A.N. Eraslan / International Journal of Mechanical Sciences 45 (2003) 643 – 667 665

2.2

2.0
σr

stresses, displacement and plastic strains

1.8
r2
1.6

1.4
σθ
1.2 ε rp / 2
1.0
r1 u r3
0.8
σr
0.6
εθ p

0.4

0.2

0.0
0.0 0.2 0.4 0.6 0.8 1.0
radial coordinate

Fig. 14. Stresses, displacement and plastic strains in the fully plastic state at the limit R3 = 2:22238.

2.4

Ω 3 = 2.22238
2.2

rep
2.0 r1 r2
r3
angular velocity

1.8
rep Ω2 = 1.80504

1.6 r1

Ω1 = 1.40859
1.4

1.2
0.0 0.2 0.4 0.6 0.8 1.0
radial coordinate

Fig. 15. Propagation of interface radii with increasing angular velocity. Dots represent the propagation of elastic-plastic
border predicted by von Mises criterion.
666 A.N. Eraslan / International Journal of Mechanical Sciences 45 (2003) 643 – 667

at R1 = 1:49409 and the disk becomes fully plastic at R3 = 2:26803. The dotted curve in Fig. 15
presents the propagation of elastic–plastic interface predicted by von Mises criterion.

6. Concluding remarks

Analytical solutions are presented for the elastic–plastic rotating annular disks of variable thick-
ness in parabolic form. Three di9erent boundary conditions are used. A transformation technique is
introduced to obtain the closed form solutions of the resulting hypergeometric di9erential equations.
The results of the calculations show that the elastic–plastic deformation behavior of rotating annular
disks depend on the boundary conditions. The plastic core may contain one, two or three plastic
regions with di9erent mathematical forms of the yield criterion.
Only one stage of elastic–plastic deformation occurs in rotating parabolic annular disks subjected
to free boundaries. The plastic region with a side regime develops at the inner surface and prop-
agates towards the edge of the disk as the angular velocity increases (see Fig. 7). Two stages of
elastic–plastic deformation occur in disks subjected to pressurized-free and radially constrained-free
boundaries. In both, yielding commences with a side regime at the inner surface. In the case of
pressurized and free boundaries, the plastic core consists of two adjacent plastic regions governed
by di9erent yield criterion (see Fig. 11). In the second stage of elastic–plastic deformation of the
annular disks with radially constrained and free boundaries, stress image points move to a singular
regime of the yield surface and hence two plastic regions emerge simultaneously, adjacent to the
=rst plastic region. In the fully plastic state, the disk is composed of three plastic regions governed
by di9erent forms of the yield criterion (see Fig. 15).
The propagation of the plastic core into the elastic region predicted by Tresca criterion for each of
the three boundary conditions is compared with the one obtained by von Mises criterion (see Figs.
7, 11, 15). It is shown that the plastic core advances further by Tresca criterion than von Mises.
Accordingly, von Mises criterion predicts higher fully plastic limit angular velocities. However, the
maximum discrepancy between the two commonly used criteria is not more than 6% for the problems
considered in this work.

Acknowledgements

Graduate student Mr. Tunc Apatay (Mechanical Engineering, Gazi University) double checked
every single equation in the paper using Mathematica. His help is greatly appreciated. Many thanks
to Miss Banu Akkas at METU for editing the =rst draft of the manuscript for grammar. As usual,
the =nal manuscript was checked by Ms. FVrat Asya with great care and patience for its language.
The author is deeply indebted to her.

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