Chapter Objectives

 Formulate the strain energy stored in a member, when it is subjected to

an axial load, bending moment, transverse shear or torsional moment.
 Apply the principle of conservation of energy to determine the stress and
deflection of a member.
 Use the Castigliano’s theorem to determine the displacement and slope
at points on structural members and mechanical elements.

Copyright © 2011 Pearson Education South Asia Pte Ltd

WORK OF A FORCE AND ENERGY
• Work of a force:
A force does work when it undergoes a displacement
dx that is in the same direction as the force. If the total
displacement is x, the work becomes
x
U e   Fdx
0

• For a linear-elastic material, if the force F increases

gradually from zero to a value P=F, then work done is
represented by the light-color-shaded triangle, i.e.

1
U e  P
2

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WORK OF A FORCE AND ENERGY (cont)
• If an additional force P’ is subsequently added and it
causes a further displacement ∆’, then the work done
by P (not by P’ ) is represented by the dark color-
shaped rectangle, i.e.

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WORK OF A FORCE AND ENERGY (cont)
• Strain Energy:

The internal work that is converted from external work

done on a body, provided no energy is lost in the form of
heat.

dFz   z dA   z dxdy
d z   zdz
Then, dU i  12 dFz d  z  12  z z dxdydz
i.e. dU i  12  z z dV

Ui   dV
v
2

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STRAIN ENERGY DERIVED FROM AXIAL LOAD
• Consider a bar of variable yet slightly tapered cross
section, which is subjected to an axial load coincident
with the bar’s centroidal axis,

2 N2
Ui   dV   2
dV
V
2E V
2 EA

• For a prismatic bar of constant cross-sectional area A,

length L, and constant axial load N,

N 2L
Ui 
2 AE

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EXAMPLE 1
One of the two high-strength steel bolts A and B shown in
Fig. 14–8 is to be chosen to support a sudden tensile loading.
For the choice it is necessary to determine the greatest amount
of elastic strain energy that each bolt can absorb. Bolt A has a
diameter of 20 mm for 50 mm of its length and a root (or
smallest) diameter of 18 mm within the 6 mm threaded region.
Bolt B has “upset” threads, such that the diameter throughout its
56-mm length can be taken as 18 mm. In both cases, neglect
the extra material that makes up the threads. Take
Est = 210 MPa and σY = 310 MPa.

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EXAMPLE 1 (cont)
Solutions
Bolt A
• If the bolt is subjected to its maximum tension, the maximum stress of σY
is 310 MPa will occur within the 6 mm region.

• This tension force is

  18  2 
Pmax   Y A  310     78886 N  78.89 kN
  2  

• Applying Eq. 14–16 to each region of the bolt, we have

Ui  
N 2L

78886 50  2
78886 6 2
 2.708 J (Ans)
 2
2 AE 2  20 / 2 210 10   
3 2
2  18 / 2 210 103
  

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EXAMPLE 1 (cont)
Solutions
Bolt B
• Here the bolt is assumed to have a uniform diameter of 18 mm
throughout its 56-mm length.

• Also, from the calculation above, it can support a maximum tension force
of Pmax = 78 886 N.

N 2L
• Thus, U i   3.26 J (Ans)
2 AE

• By comparison, bolt B can absorb 36% more elastic energy than bolt A,
because it has a smaller cross section along its shank.

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STRAIN ENERGY DERIVED FROM BENDING
MOMENT
• Consider an axisymmetric beam. The normal stress in
the beam is My

I
2
• Then, 2 1  My 
Ui   dV     dAdx
V
2E V
2E  I 
• Or I
L
M2  2 
Ui    y dA dx
2 
2 EI 
0 A 
M 2 dx
L
 U i   2 EI
0

M 2L For constant cross section and

Ui 
2 EI constant applied moment
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EXAMPLE 2
Determine the elastic strain energy due to bending of the
cantilevered beam in Fig. 14–10a. EI is constant.

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EXAMPLE 2 (cont)
Solutions
• From the left segment of the beam, we have

x  x2 
  M NA  0; M  wx   0  M   w 
2  2

• For elastic strain energy, we determine the beam by

L
Ui  
M 2 dx

L
  2
 w x 2 2 dx w2 L5
 (Ans)
0
2 EI 0
2 EI 40 EI

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STRAIN ENERGY DERIVED FROM TRANSVERSE
STRAIN
• We have
Shear force, dF    dxdy 
Deformation, d    dz
1 1
Strain Energy, dU i    dxdy     dz    dy
2 2
• Hence,

 2
Ui   dy or U i   dV
V
2 V
2G

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STRAIN ENERGY DERIVED FROM TRANSVERSE
STRAIN (cont)
• The shear stress is
VQ

It
• Then,

2
2 1  VQ 
Ui   dV     dAdx
V
2G V
2G  It 
L
V 2  Q2 
 Ui   
2  2
dA dx
0
2GI  A t 

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STRAIN ENERGY DERIVED FROM TRANSVERSE
STRAIN (cont)
L
A Q 2
 f sV 2
• Writing f s  2   2 dA leads to U i   dx
I A t 2GA
 0

• Form factor for a rectangular cross section

1 3
t  b, A  bh, I  bh
12
 h 2  y    h  bh
2
2
Q  y A'   y  b  y     y 

 2  2  2 4 

h2 2
2 2
bh b h 2 6
Sub these terms into the equations, we get f s   
2 
 y 
 dy 
 1
12 bh3 
2
h 2
4b  4  5
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STRAIN ENERGY DERIVED FROM TRANSVERSE
STRAIN
• If the average shear stress is considered, where

V

A
• Then,

Ui  
 2
dV  
 A dAdx
V
2

V
2G V
2G


L V A  2

dA dx
0
 
2G  A 
L
V2
Ui   dx
0
2GA
V 2L For constant cross section and
Ui 
2GA constant shear force
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EXAMPLE 3
Determine the strain energy in the cantilevered beam due to
shear if the beam has a square cross section and is subjected
to a uniform distributed load w, Fig. 14–14a. EI and G are
constant.

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EXAMPLE 3 (cont)
Solutions
• From the free-body diagram of an arbitrary section, we have

   Fy  0;  V  wx  0  V   wx

• Since the cross section is square, form factor fs = 6/5, thus

L 6
U i s  5  wx 2 dx 3w2
L
2 w 2 3
L
  x dx  (Ans)
0
2GA 5GA 0 5GA

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STRAIN ENERGY DERIVED FROM TORSIONAL
MOMENT
• Consider a circular shaft or tube. The shear stress is
T

J
• Then
2 2
 1 T 
U i   dV     dAdx
V
2G V
2G  J 
L
T2  2 
Ui   2 
 dA  dx
0
2GJ  A 
L
T2 J
Ui   dx
0
2GJ

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STRAIN ENERGY DERIVED FROM TORSIONAL
MOMENT (cont)
• For the most common case of a prismatic shaft (or
tube) of constant cross sectional and constant applied
torque,

T 2L
Ui 
2GJ

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EXAMPLE 4
The tubular shaft in Fig. 14–17a is fixed at the wall and
subjected to two torques as shown. Determine the strain energy
stored in the shaft due to this loading. G = 75 GPa.

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EXAMPLE 4 (cont)
Solutions
• Using the method of sections, internal torque is determined within the two
regions of the shaft where it is constant.

• The polar moment of inertia for the shaft is


J
2
0.08  0.065   36.310  m
4 4 6 4

• Thus the strain energy is

T 2L
Ui  
2GJ
2 2

40 0.075

15 0.300
         
9
2 75 10 36.3 10 6
2 75 109 36.3 106
 233J (Ans)
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CONSERVATION OF ENERGY
• Physically, the external loads tends to deform the body
so that the loads do external work Ue as they are
displaced.
• The external work caused by the loads is transformed
into internal work or strain energy Ui, which is stored
within the body.
• When the loads are removed, the strain energy
restores the body back to is original un-derformed
position, provided that the material’s elastic limit is not
exceeded.
• The conservation of energy is stated as Ue = Ui

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CONSERVATION OF ENERGY (cont)
• A truss subjected to a load P

1 N 2L
P  
2 2 AE

• A beam subjected to a load P L

1 M2
P   dx
2 0
2 EI

• A beam subjected to a moment Mo

L
1 M2
M 0   dx
2 0
2 EI
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CONSERVATION OF ENERGY (cont)
• A shaft subjected to a torque T

L
1 T2
T   dx
2 0
2GJ

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EXAMPLE 5
The three-bar truss in Fig. 14–21a is subjected to a horizontal
force of 20 kN. If the cross-sectional area of each member is
100 mm2, determine the horizontal displacement at point B. E
200 GPa.

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EXAMPLE 5 (cont)
Solutions
• Using the method of joints,
1 N 2L
P  
2 2 AE
1
 
20 103  B h 

11.547  10 3
1 

 23. 
094  10 3
2  
 20 
 10 3
 
1.732
2 2 AE 2 AE 2 AE
94640.0 Nm
 B h 
AE

• Substituting in the numerical data for A and E and solving,

we get
94640
 B h   4.73  10 3
m  4.73 mm  (Ans)
1001 1000 200 10
2 9
 
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CASTIGLIANO’S THEOREM

• It is based on conservation of energy

• The material must behave in linear-elastic manner

• It applies only to bodies that have constant temperature

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CASTIGLIANO’S THEOREM (cont)
Derivation:
• For linear-elastic material, the principle of
superposition applies and the resultant displacement
does not depend on the sequence in which the forces
are applied to the body.

• So, a small variation of the internal energy caused by

a differential amount of dPj can be expressed as

U i
U i  dU i  U i  dPj
Pj

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CASTIGLIANO’S THEOREM (cont)
Derivation (cont):
• On the other hand, if the dPj is applied first and then
followed by others P1, P2…Pn, then the internal energy
can be written as

U i  dU i  U i  dPj  j

• Since the sequence of applying the forces does not

matter, we have
Ui
j 
 Pj

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CASTIGLIANO’S THEOREM APPLIED TO
TRUSSES
N 2L
• The strain energy for a truss member is U i 
2 AE
• Then  N 2L
 
P 2 AE
or

 N  L
 N 
 P  AE
Procedures:
External Force P
• Place a force P on the truss at the joint where the
desired displacement is to be determined. This force
is assumed to have a variable magnitude ad should
be directed along the line of action of the
displacement.
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CASTIGLIANO’S THEOREM APPLIED TO
TRUSSES (cont)
Procedures (cont):
Internal Forces N
• Determine the force N in each member caused by
both the real (numerical) loads and the variable force
P. Assume that tensile forces are positive and
compressive forces are negative

• Find the respective partial derivative ∂N/∂P for each

member

• After N and ∂N/∂P have been determined, assign P its

numerical value if it has actually replaced a real force
on the truss. Otherwise, set P equal to zero.
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CASTIGLIANO’S THEOREM APPLIED TO
TRUSSES (cont)
Procedures (cont):
Castigliano’s Second Theorem
• Apply Castigliano’s Theorem to determine the desired
displacement ∆. It is important to retain the algebraic
sighs for corresponding values of N and ∂N/∂P when
substituting these terms into the equation.

• If the resultant sum ΣN (∂N/∂P) L/AE is positive, ∆ is in

the same direction as P. If a negative value results, ∆
is opposite to P.

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EXAMPLE 6
Determine the vertical displacement of joint C of the steel truss
shown in Fig. 14–39a. The cross-sectional area of each
member is A = 400 mm2 and Est = 200 GPa.

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EXAMPLE 6 (cont)
Solutions
• A vertical force P is applied to the truss at joint C, since this is where the
vertical displacement is to be determined, Fig. 14–39b

• The reactions at the truss supports A and D are calculated and the
results are shown in Fig. 14–39b

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EXAMPLE 6 (cont)
Solutions
• Applying Eq. 14–46, we have

 N  L 965.7 kN  m
 Cv   N  
 P  AE AE

• Substituting the numerical values for A and E, we get

965.7
Cv   0.01207 m  12.1 mm (Ans)
 400 10 6
 200 10 6


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CASTIGLIANO’S THEOREM APPLIED TO BEAMS
• The strain energy for a beam is
L
M 2 dx
Ui  
0
2 EI
• Then
L
 M 2 dx

P 0 2 EI
L
 M  dx
  M  
0  P  EI
L
 M  dx
  M  
0  M '  EI
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EXAMPLE 7
Determine the displacement of point B on the beam shown in
Fig. 14–40a. EI is constant.

37
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EXAMPLE 7 (cont)
Solutions
• A vertical force P is placed on the beam at B.

• Using the method of sections,

 x
  M NA  0; M  wx   Px   0
2
wx2
M   Px
2
M
 x
P

• Setting P = 0 gives

 wx 2 M
M and  x
2 P
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EXAMPLE 7 (cont)
Solutions
• Using Castigliano’s Second Theorem,

B  
L  M
M
 dx
 

L  wx / 2  x dx
2

wL4
(Ans)
0
 P  EI 0 EI 8EI

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CASTIGLIANO’S THEOREM APPLIED TO SHAFTS
• The strain energy for a shaft is
L
T 2 dx
Ui  
0
2GJ
• Then
L
 T 2 dx

P 0 2GJ
L
 T  dx
  T  
0  P  GJ
L
 T  dx
  T  
0  T '  GJ
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