Two Dimensional Problems

Lecture 6
- Polar Coordinates
- Bending of Bars and Rotating Discs

Dereje Engida Woldemichael (PhD, CEng MIMechE)

Lesson Outcomes

n At the end of this lesson you should be able to:

q Determine the stress function (Airy’s stress function)

for 2D problems in polar coordinate.

q Analyze the 2D problems (bending of curved bars and
rotating discs) using polar coordinates
Review
Recall:

Stress Function j(x, y)


2
j

2
 j
2
j
  y    xy
x
2

y
x 2 xy

Which satisfies also the compatibility equation:

 j 2  j  j 0
4 4 4

x x y y
4 2 2 4
Review
Bending of a cantilever beam loaded at the end
B 3
j  Axy  xy
C
X
A
C

1 P

Y
l
6

x I 
P
xy y
 0  xy
 
1 P
2 I
c 2
 y 2


Py  Py  Pl P.c
2 2 3 2 3

u   Px  v
y
   y
2EI 6 EI 6 IG
 2EI 2IG 
2

v
 Py x
 Px
3

 Pl
2
x
 Pl
3

2 EI 6 EI 2 EI 3 EI
Two dimensional problems in Polar Coordinates
n The use of polar coordinates is advantageous in problems
involving boundaries formed by circular arcs or radially
straight lines, curved bars of narrow rectangular cross
sections with a circular axis, etc.

n F u rt h e rm o r e, c er t a i n p r o b l em s o f s y m me t ry l e n d
themselves well to polar coordinates.

n In order to solve two dimensional elasticity problems

by employing a polar coordinate reference frame, the
equations of equilibrium, the definition of Airy’s Stress
function, and the stress equations of compatibility must
be established in terms of Polar Coordinates.
 Equilibrium Equations in Polar Coordinates
n Consider an element of volume bounded by the polar
coordinate lines (r, θ)and (r + dr, θ + dθ).

Let the thickness h of the element

[dimension perpendicular to the (x,y)
plane] be a function of (r, θ).
Equilibrium Equations in Polar Coordinates
n Let the element be subjected to stress as shown (R and
Q denote body forces per unit volume in the radial and
tangential directions, respectively).

n Because dθ is an infinitesimal angle, summations of

forces in the radial and tangential directions yield for
equilibrium, assuming that the thickness is sufficiently
small compared to the in-plane dimensions so that
variations of radial and tangential stresses over the
thickness can be neglected.
Equilibrium Equations in Polar Coordinates
n The equilibrium equations for plane elasticity in polar
coordinates is given by:

n For h = constant, h may be cancelled from the above

equation
 r 1   r  r    σr- Normal stress in radial direction.
  R0
r r  r σθ- Normal stress in circumferential
1     r
 2  r  Q  0
direction
 τrθ- Shearing stress.
r  r r
 Relations between (x,y) and (r, θ)

The relations between (x,y) and (r, θ) is

given by:

from differentiation
 Relations between (x,y) and (r, θ)

It follows:

Similarly
 Relations between (x,y) and (r, θ)

Fi n a l l y, w e c a n d e t e r m i n e t h e e x p r e s s i o n s f o r s t r e s s
components, noting for example that

The remaining stress components , σr , rθ can be obtained

by a similar procedure. We find

rθ
 Relations between (x,y) and (r, θ)
If there is a conservative body force p described by a potential V,
the stress components are modified to

rθ

where

Note the Laplacian operator

Hence, the fourth degree, biharmonic, partial differential equation

 Airy’s Stress Function φ(r , θ )
n For constant thickness and in the absence of body
forces) consider stress function φ(r,θ) that satisfies:

1  1   1  1  

2 2 2
   1  
r r   2 2
    2    
r  r r  r  
 2
r
r
r  r r 

n The solution satisfy the compatibility equation

  2 1  1  2   2 1   1  2 
 2   2  2 
2 
 2 0
2 
 r r r r   r r r r  
 Axisymmetric problems
If the stress distribution is symmetrical with respect to the axis,
perpendicular to the “xy” plane , the stress component don’t
depend on θ and are functions of “r” only and then

1  1  
2

 r
  2
r  r r  2


2

 
r
2

1  
2

1  1  
2

  2  r r 
    0
r
2 r
r  r r 
r r
Axisymmetric problems

The biharmonic (compatibility) equation take the form:

 2 1  1 2   2 1   1  2 
 2   2  2   2   0
 r r r r  2
 r r r r  2


  2 1    2 1  
 2   2    0
 r r r  r r r 
Axisymmetric problems
Stress function:   A ln r  Br 2 ln r  Cr 2  D
The corresponding stress components are:

1  1  A ln r  Br 2 ln r  Cr 2  D 
r r   r r
r

1  1  1 1 
r   A  B(2r ) ln r  B.r 2 .  C (2r ) 
r r r  r r 
A
r 2
 B 1  2 ln r   2C
r

2
 A
 B 3  2 ln r   2C
   
 2
r
2
r
Axisymetric problems
  A ln r  Br 2 ln r  Cr 2  D

A
r 2
 B1  2 ln r   2C
r
A
 
 2
 B 3  2 ln r   2C
r
 r
0
Example#1   A ln r  Br 2 ln r  Cr 2  D
r
A
 B 1  2 ln r   2C  

A
2
 B 3  2 ln r   2C  r
0
r
2
r
n Let A = B = 0, then  r     2C
n This represents the case of constant stress throughout
the plane.

Plate without hole at the origin of coordinates

Example #2
A A
n Let B = 0, then r  2C 
 2
 2C
r
2
r
n This may be used to represent the stress in a thick-
walled cylinder with inner radius a and outer radius b and
with internal pressure pi and external pressure po.
n Then the boundary conditions are

n Hence, the constants are

Strain components in polar coordinates
u displacement component in the
cc’ radial direction

dd’
bb’
aa’

cc’
v d i s p l a c e m e nt c o m p o n e n t i n t h e
dd’ tangential direction
bb’
aa’
Strain components in polar coordinates
If u is the radial displacement of the
side ad of the element abcd , the radial
u c’ displacement of the side bc is:
c
r
d’ u
d
b
b’
u dr
a
a’
r
The unit deformation in radial direction is:
u
u dr u 
r 
 dr  dr   dr
l  r  u
r   r 
l dr r
Strain components in polar coordinates
The strain in the tangential direction
c’ depends not only on the displacement v but
c also on the radial displacement u.
d’
b’ Assume that the point a and d of element
d
a’ b abcd have only the radial displacement u.
dθ
a The new length of ad is:

r+u
r  u d
And tangential strain is:
r  u d  rd 
u
rd r
 Strain components in polar coordinates
if v is the tangential displacement of ad, then
r  u d  rd 
u the tangential displacement of bc is:
rd r v
v d

v T hu s , th e t a ng ent i al s t r ai n d u e t o t h e
v d
 displacement v is:

 v 
c’
 r  dr d  d   r  dr d  1 v
c 
 
d’
d b’ r  dr d r. 
a’ b Hence, the total tangential strain is:
a u v
  
r r.
 The shearing strain
Radial displacement u of ad in
c’ tangential direction is:
u
u
r d’ d
ca
b’ 
u
d
da
d a’ ba

tan  1  
rd
a

u
1 
r
 The shearing strain
Tangential direction
c’ The angle between a’b’ and ab is
equal to:

γ2
v
d’
b’
ca
v
da
d a’ ba
v r r
r
a This angle is composed of:
- a part due to shearing strain γ2
- a part due to rigid body rotation v/r.
v v
2  
r r
 The shearing strain
u v v
1  2  
r r r
c’

u v
r d’
b’
r
ca
v The total shearing strain is:
da r
u v v
d a’ ba

 r   
a
r r r

u u v u v v
r      r   
r r r. r r r
 Displacement for Axisymmetric Problems

u u
  
v
 r 
u v v
 
r  r r. r r r
r
Hooke’s law for plane stress:
1 1
1
 r   r          r   r   r
E E G
Then:
u 1 u v 1
r    r            r 
r E r r E
u v v  r
 r    
r r r G
 Displacement for Axisymmetric Problems

A
u 1    B 1  2 ln r   2C
  r   
r 2
r
r E
u v 1 A
 B 3  2 ln r   2C
     r   
 2
r r E r

1  1   A 
u    21   B.r . ln r  B 1   r  2C 1   r   H sin   k cos 
E r 

4 B.r.
v  F .r  H cos( )  k sin( )
E

Where H, G and K are constants of integration to be determined

from conditions of constraint
 Rotating Discs
Consider the disc shown in the figure:
z
• We assume that the thickness of the
ω
?
disc is small in comparison to the
radius
• σz =0 is also assumed

The equations of motion in cylindrical coordinates are given by:

  r 1  r  r   
  R0
r r  r

1     r
  2  r    Θ  0
r  r r
 Rotating Discs
Introducing the assumptions and for symmetric loading and
geometric, only one equation is necessary
 r
 
r
 
  2 r  0
 r
r

Body force = inertia force

d r r  R   2 r
     2 r 2  0
d r ρ - Mass per unit volume
 - Angular velocity.
 Rotating Discs
d r r 
     2 r 2  0
d r

1 d r 
Considering:  r
  r   
   .r 2 . 2
r dr
1 3 
Stress function: r  A.r  B
r

8
 2 3
r

1 1 3 
 r  r  r   A  B r 2  8  r
2 2

1 1  3
 
 A B 2 
r 8
 2 r 2

The constants A and B can be obtained from the boundary

condition
 1 1  3
?

1 3 
r  A  B
r2

8
 2 2
r  
 A B
r 2

8
 2 2
r

* Case 1 “Solid disc”:

For a solid disk we must take B=0 since otherwise the stresses
become infinite at the center. The constant A is determined from the
condition at the periphery (r=b) of the disk. If there are not forces
applied there, we have:
3 
 r r b  A  3 8  2b2  0 A
8
 2b 2

   3   b
r
2 2
 r2 
8

1  3 3  1  3
 
 A
8
 2 r 2     8  b  8  2 r 2
2 2
* Case 1 “Solid disc”:
   3   b
r
2 2
 r2 
Stresses component: 8

   3 8  b

2 2

1  3
8
 2 r 2

These stresses are greatest at the center of the disc, where:

3 
 
 r 
8
 2b 2
* Case 2 “Disc with circular hole”
If there are not forces acting on these boundaries,
a
b we have:

 
r r a 
0  
r r b 
0
1 3 
1 3   r  A B a 2

8
 a 0
2 2

 r  A B r 2

8
 2 2
r
1 3 
r  A  B
b 2

8
 b 0
2 2

3 
From which we find: A
8

 2 b 2  a 2  B
3 
8

 2 b 2 .a 2 
3  2 2 b 2 .a 2 2
r    b  a  2  r 
2
Hence the 8  r 
stresses are:
3   b .a 1  3  2 
2 2
    b  a  2 
2 2 2
r 
8  r 3  
 Maximum radial stress
a
b r  ab
3 
 r max   b  a 
2 2

8
We find the maximum tangential stress at the inner
boundary, where:

  max 
3  2 2
  b 
1   2 
a 
4  3  

(σθ)max is larger than (σr)max .

 Maximum tangential stress at the inner
a
b boundary, where:

  max 
3  2 2
  b 
1   2 
a 
4  3  

3  1  3
    8  b  8  2 r 2
?
2 2

When the radius “a” of the hole approaches zero, the tangential
stress approaches a value twice as great as that for a solid disc,
by making a small circular hole at the center we double the
maximum stress.
 Bending of curved bars
Consider a bar of narrow rectangular cross-section, with a circular
axis which is constrained at the lower and bent by the force P
applied at the upper end in the radial direction
Stress function

1
  f r sin   ( A.r  B  C.r  D.r. ln r ) sin 
3

r
Where A,B,C and D are con s ta nt of
integration, which can be determined from
the boundary conditions
 Bending of curved bars
P
 3 1 
   A.r  B  C.r  D.r. ln r  sin 
o X

m
a
n
 r 
1  1  
b 2

The stresses components are: r  2

r  r r  2
Y

 1  
   A.r 3  B  C .r  D .r . ln r  sin  
1  1   r  

r r r r
1  1 1  
   3 A.r 2  B 2  C  D .r .  D . ln r  sin  
r  r r  

1   1 C 1 D. 
  3 A.r  B 3   D .  ln r  sin 
r r  r r r r 
 Bending of curved bars
 3 1 
P

   A.r  B  C.r  D.r. ln r  sin 

o X

m
a
n
 r 
b
The stresses components are:
1  1  
2
Y
r r   2 2
r r 
 3 1  
  1
2
2   A.r  B  C.r  D.r. ln r  sin  
1  r  
r  r 
2 2 2 2

1  3 1 
 2
A.r  B  C .r  D.r . ln r ( sin  )
r r 


2
1  1 C D 
   A.r  B 3   ln r ( sin  )
r 
2 2
 r r r 
 Bending of curved bars
P
 3 1 
   A.r  B  C.r  D.r. ln r  sin 
o X

m
a
n
 r 
b
The stresses components are:
1  1  
2
Y
r r   2 2
r r 
1   1 C 1 D. 
  3 A.r  B 3   D .  ln r  sin 
r r  r r r r 


2
1  1 C D 
   A.r  B 3   ln r ( sin  )
r 
2 2
 r r r 

 2B D 
 r   2 A.r  r 3  r  sin 
 Bending of curved bars
o
P
X The stresses components are:
1  1   
m 2
2B D 
a
n

b  r
  2
r  r r  2
  2 A.r  3   sin 
 r r


2
  2B D 
 
Y
  6 A.r    sin 
r 
2 3
r r
Boundary condition:
  1    2B D 
For r=a and r=b, the inner  r
   
r  r   
 2 A.r 
r 3
  cos 
r
and outer external forces are
zero ( r   r  0) and: The sum of the shearing forces for θ=0:
b
 2B D 
 2 Aa  3
 0 P   r .dr
 a a
a

 
2 2
 2B D  b a b
0   2 A.b  3   P   A .b 2  a 2  B 2 2  D ln
 b b a b a
  2B D   2B D 
 2 Aa  3
 0 0   2 A.b  3  
 a a  b b


 
2 2
b a b
P   A .b  a  B 2 2  D ln
2 2

a b a

A
P
B
Pa 2 b 2 D
P 2
N

a  b2 
2N 2N

Which: 2

N  a  b  a  b ln
2 b
a
2 2

 Consider now the displacement produced by P

u sin  
P
2B D 
     
o X

r   2 Ar 1  3  1    1  
E  
m
a
n
r r3 r 
b
u v sin   2B D  u
     2 Ar 3     1     1    
Y
r r E  r 3
r  r

u v v
 r   
From integration: r r r
2D sin   B 
u  cos    D 1    ln r  Ar 2
1  3   2
1     K sin   L cos 
E E r 

2D cos  2 B  D1  
v  sin    Ar 5     2
1     D (1   ) ln r   cos  
E E  r  E
 K cos  L sin   H .r

Where H, K and L are arbitrary constants to be determined from the conditions of

constrains. The components of the displacement are then
References:

n Timoshenko, S.P., and Goodier, J.N., (1970),

Theory of Elasticity, New York: McGraw-Hill
n Ugural, A. C., & Fenster, S. K. Advanced Strength
and Applied Elasticity (5th ed): Prentis Hall (2011).