Advanced Stress Analysis
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Amodu Usman AdeyinkaAdvanced Stress Analysis
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2018
Advanced Stress Analysis
Benjamin Liaw
CUNY City College
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FALL 2018 SYLLABUS Page 1/1
ME 54100: ADVANCED STRESS ANALYSIS
Courses:
ME I4200: APPLIED STRESS ANALYSIS
Time & Tuesday & Thursday, 11:00 a.m. – 12:15 p.m.
Place: Steinman Hall, Basement ST-B64 (Materials Science Lab)
Course Stress and strain. Principal stresses & directions. Generalized Hooke's Law (constitutive relations)
Description: for elastic materials. Plane-stress/plane strain formulations in Cartesian/polar coordinates. Failure
criteria. Bending of straight & curved beams. Torsion of shafts. Thick tubes, rotating disks, shrink fits.
Thermal stresses in rings, tubes, and disks. Energy methods in structural mechanics. Applications of
finite element methods in stress analysis.
Prerequisites: ME 24700: Engineering Mechanics II (Kinematics and Dynamics of Rigid Bodies)
ME 33000: Mechanics of Materials
ME 37100: Computer-Aided Design
Instructor: Prof. Benjamin Liaw E-mail: [email protected]
Office: Steinman Hall, Room ST-247 Tel: (212) 650-5204
Hours: Monday: 4:00 p.m. – 5:00 p.m. Fax: (212) 650-8013
Wednesday: 1:00 p.m. – 2:00 p.m.
Textbook: B.M. Liaw, Advanced Stress Analysis, CUNY City College of New York, Open Educational
Resources.
th
References: 1. F.P. Beer, E.R. Johnston, Jr., J.T. DeWolf, D.E. Mazurek, Mechanics of Materials, 7 ed.,
McGraw-Hill, New York, NY, 2015.
th
2. A.C. Ugural, S.K. Fenster, Advanced Mechanics of Materials and Applied Elasticity, 5 ed.,
Pearson/Prentice Hall, NJ, 2012.
rd
3. M.H. Sadd, Elasticity: Theory, Applications, and Numerics, 3 ed., Academic Press
(Elsevier), Waltham, MA, 2014.
th
4. A.P. Boresi and R.D. Schmidt, Advanced Mechanics of Materials, 6 ed., Wiley, New York,
NY, 2003.
nd
5. R.D. Cook and W.C. Young, Advanced Mechanics of Materials, 2 ed., Prentice Hall, Upper
Saddle River, NJ, 1999.
nd
6. R.G. Budynas, Advanced Strength and Applied Stress Analysis, 2 ed., McGraw-Hill, New
York, NY, 1999.
7. A.E. Armenàkas, Advanced Mechanics of Materials and Applied Elasticity, CRC Press,
Taylor & Francis, Boca Raton, FL, 2006.
8. R. Solecki and R.J. Conant, Advanced Mechanics of Materials, Oxford University Press, New
York, NY, 2003.
nd
9. J.T. Oden and E.A. Ripperger, Mechanics of Elastic Structures, 2 ed., Hemisphere
Publishing, Washington, DC, 1981.
10. S.P. Timoshenko, Strength of Materials, Part I: Elementary Theory and Problems, Part II:
rd
Advanced Theory and Problems, 3 ed., Van Nostrand, Princeton, NJ, 1956.
rd
11. S.P. Timoshenko, J.N. Goodier, Theory of Elasticity, 3 ed., McGraw-Hill, New York, 1970.
rd
12. J.R. Barber, Elasticity (Solid Mechanics and Its Applications), 3 ed., Springer, 2009.
nd
13. A.S. Saada, Elasticity: Theory and Applications, 2 ed., Revised & Updated, J. Ross
Publishing, Fort Lauderdale, FL, 2009.
nd
14. W.D. Pilkey, Formulas for Stress, Strain and Structural Matrices, 2 ed., Wiley, Hoboken,
NJ, 2005.
rd
15. W.D. Pilkey and D.F. Pilkey, Peterson's Stress Concentration Factors, 3 ed., Wiley,
Hoboken, NJ, 2008.
th
16. W.C. Young, R.G. Budynas, A. Sadegh, Roark’s Formulas for Stress and Strain, 8 ed.,
McGraw-Hill, New York, NY, 2011.
17. P. Kurowski, Engineering Analysis with SOLIDWORKS Simulation 2016, SDC Publications,
2016.
Grading: 40% Homework (13 Assignments, 40%) 60% Term Project (3 Parts, 60%)
Note: Grade may also be affected by your attendance record and participation in class discussion.
ME 54100: ADVANCED STRESS ANALYSIS
06-05-2018
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.1 INTRODUCTION PAGE 1/11
CHAPTER 1: ANALYSIS OF STRESS
1.1 INTRODUCTION (Lecture)
Mechanics of Materials vs Theory of Elasticity
elementary
Mechanics of Materials MoM ~ theory for approximate yet practical solutions
Solid Mechanics technical
Theory of Elasticity ~ exact and rigorous solutions
external force ~ body & surface forces
internal force ~ normal & shear stresses
loading quasi - static loading
dynamic impact loading ~ vibration & wave propagation
hygrothermal loading ~ humidity & temperature effects
Def: body force: an external force acts throughout the entire body V of a solid. It has a unit of force per unit
volume. Examples of body forces include gravitational-weight force, inertial force, magnetic force, etc.
Def: surface force: an external force, acts over the entire or part of the surface S of a solid. It has a unit of
force per unit area. Examples of surface forces include pressure and aerodynamic lift/drag, etc.
(a) body force: (b) surface force:
cantilever beam under its own weight aerodynamic lift and drag over an airfoil
FIGURE 1.1-A1 Examples of body and surface forces.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.1 INTRODUCTION PAGE 2/11
Classification of Structures: Geometry & Loading (Self-Study)
Def: structure: A collection of bodies arranged and supported so that it can resist and transmit loads. They
can be classified into following groups, based upon a combination of geometric configurations and
loading characteristics.
A. 1-D Structures (or Bars): 1-D straight or curved structural member possessing one dimension
significantly greater than the other two.
rod (or tie member or tensile bar): a straight bar loaded in tension along the longitudinal axis.
cable (or string): a flexible tie with zero or negligible flexural rigidity and can sustain only axial tensile
forces.
column (or compressive bar): a straight bar loaded in compression along the longitudinal axis. (Note: Slender
columns are susceptible to failure in buckling.)
torsional bar (or shaft): a straight bar loaded by twisting torques about the longitudinal axis.
beam: a straight bar possessing one dimension significantly greater than the other two, bent flexurally in
directions normal to the longitudinal axis.
beam on elastic foundation: a loaded beam resting on an elastic foundation.
beam-column: a beam loaded simultaneously by bending and compression. (Note: Slender beam-columns
are susceptible to failure in buckling.)
beam-tie (or tension-beam): a beam loaded simultaneously by bending and tension.
curved beam: a curved beam subject to bending, twisting, shear and axial loads.
arch: a curved beam supported at its ends and loaded primarily in direct compression.
ring: a closed curved beam.
truss: a structure consisting of two or more axial bars joined by frictional hinges and with each member
loaded by an axial force only.
frame: a structure made of two or more bars, which are rigidly attached and under bending, shear and axial
loads.
B. 2-D Structures: a 2-D flat or curved structural member possessing two dimensions significantly large in
comparison with the third.
panel: a 2-D flat structural member subject to in-plane loads, which act in directions tangent to the mid-
surface.
shear panel: a panel loaded only by in-plane shears.
membrane: a flexible panel with zero or negligible flexural rigidity and can resist only in-plane tensions.
balloon: a curved membrane.
plate: a 2-D flat structural member subject to out-of-plane loads, which act in directions perpendicular to
the mid-surface.
shell: a curved plate, which can be loaded simultaneously by the in-plane stretching, compression and shear
as well as out-of-plane bending and twisting.
stiffened panel, plate or shell: a panel, plate or shell reinforced with bars.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.1 INTRODUCTION PAGE 3/11
Rod (or Tie Member or Axially-Tensile Bar)
Column (or Compressive Bar)
Torsional Bar (or Shaft)
Frame
Beam
Beam on Elastic Foundation
Truss
Beam-Column
Curved Beam
Beam-Tie (or Tension Beam)
Ring
Plate (Out-of-Plane) Panel (In-Plane)
Shell (or Curved Plate) Arch
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.1 INTRODUCTION PAGE 4/11
(Axial-)Bar Tension ( C0 member) Closed-Section Torsion ( C0 member)
EA P0 GKt T0
x,u x,
L L
y,v y,v
T0 L T0 SL
end angle of twist: L
P0 L
end elongation: u L or
EA GKt 4G2t
normal stress distribution shear stress distributions:
P x T x r T x
x x x x, r & x, s
A J 2t s
normal force vs axial-load intensity relation: twisting torque vs torque intensity relation:
dPx x dT x
s x mt x
dx dx
normal force vs axial displacement relation: twisting torque vs angle of twist relation:
du x d x
Px x EA T x GKt
dx dx
axial rigidity: EA torsional rigidity: GKt
mt(x) GKt
s(x) EA
Px Px+dPx T T+dT
x,u
x,u
ds d R
dx
dx
y,v y,v
d 2u x d 2 x
D.E.: EA s x D.E.: GKt mt x
dx 2 dx 2
x 0 : u 0 0
x 0 : 0 0
B.C.: @ B.C.: @
x L : Px L P0
x L : T L T0
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.1 INTRODUCTION PAGE 5/11
Beam Bending ( C1 member) (Thin-Walled) Open-Section Torsion ( C1 member)
B0
V0
EIz EI& GKt
x,u x,
T0
L
L
y,v y,v
V0 L3 T0 L T0 SL
end deflection: v L end angle of twist: L or
3EI z GKt 4G2t
bending normal/shear stress distributions: warping normal/shear stress distributions:
M x y V x Qz y B x s T x Q s
x x, y z ; xy x, y y x, s ; x, s
Iz I zb y I I t s
bending moment/shear force vs load intensity bimoment/twisting torque vs torque intensity
d 2M z x dV x d 2 B x dT x
relations: 2
y p x relations: mt x
dx dx dx 2 dx
bending moment/shear force vs deflection Bimoment/twisting torque vs angle of twist:
d 2v x d 3v x d 2 x d x d 3 x
M z x EI z ; V y x EI z B x EI ; T x GK t EI
dx 2 dx3 dx 2 dx dx3
bending (or flexural) rigidity: EI z warping rigidity: EI & torsional rigidity: GKt
p(x)
Vy Vy dVy EIz
x,u
Mz Mz dMz
dx
y,v
d 4v x d 4 x d 2 x
D.E.: EI z p x D.E.: EI GKt mt x
dx 4 dx 4 dx 2
x 0 : v 0 0
& 0 0 x 0 : 0 0
B.C.: @ B.C.: @
x L : M z L 0 & Vy L V0
x L : T L T0
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.1 INTRODUCTION PAGE 6/11
Questions: 1. How many types of structural members used in this modern high-speed railway station?
2. In addition to Structural Engineering (or Stress Analysis), what other disciplines are needed for
the design, manufacture, test and operation of this modern technological product?
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.1 INTRODUCTION PAGE 7/11
Case Histories of Error & Judgment in Stress Analysis (Option)
Reference: H. Petroski, Design Paradigms: Case Histories of Error and Judgment in Engineering, Cambridge
University Press, NY, 1994.
Ancient Italian marble column in storage: top, with Galileo’s illustration of two failure modes.
modified support; bottom, as originally supported.
Mid-air explosion of space shuttle Challenger during O-ring designs for Titan III and space shuttle
launching in a chilly winter morning (January 28, 1986). It booster rockets.
was caused by failure of an O-ring, which was designed to seal
the shuttle booster rocket (SBR’s).
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.1 INTRODUCTION PAGE 8/11
New joint design and other changes due to the Challenger accident.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.1 INTRODUCTION PAGE 9/11
(a) Sagging
(b) Hogging
William Fairbairn’s illustration of ship loadings caused by wave motion; top, sagging as supported on two wave
crests; bottom, hogging as supported on a single wave crest, 1865.
A failed Liberty ship, circa 1940.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.1 INTRODUCTION PAGE 10/11
The Tacoma Narrows Bridge (Tacoma, Washington, USA) in its fatal torsional oscillation mode and collapsing,
1940. The resonant twisting motion was caused by fluid-induced vibration due to aerodynamic Kármán
vortices.
The Bronx-Whitestone Bridge, as built in 1939 (left) and as modified in 1946, employing the original stiffening
girders as the bottom chord of an unattractive stiffening truss (right).
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.1 INTRODUCTION PAGE 11/11
Architectural rendition of suspended walkways in the Kansas City Hyatt Regency Hotel.
Connection detail of upper suspended walkway in the Kansas City Failed walkway connection.
Hyatt Regency Hotel, which failed in 1981; left, as built; right, as
originally designed.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.2 SCOPE OF TREATMENT PAGE 1/1
1.2 SCOPE OF TREATMENT (Self-Study)
Principal Topics of Mechanics of Solids (Mom)
1. Analysis of the stresses and deformations within a body subject to a prescribed system of forces. This is
accomplished by solving the governing equations that describe the stress and strain fields (theoretical stress
analysis). It is often advantageous, where the shape of the structure or conditions of loading preclude a
theoretical solution or where verification is required, to apply the laboratory techniques of experimental
stress analysis.
2. Determination by theoretical analysis or by experiment of the limiting values of load that a structural
element can sustain without suffering damage, failure, or compromise of function.
3. Determination of the body shape and selection of the materials that are most efficient for resisting a
prescribed system of forces under specified conditions of operation, such as temperature, humidity,
vibration, ambient pressure, etc. This is the design function.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.3 ANALYSIS & DESIGN PAGE 1/1
1.3 ANALYSIS & DESIGN (Self-Study)
force moment equilibrium method
solution methods energy method
numerical finite element method
Basic Principles of Mechanics/Materials-Based Engineering Analysis
1. Equilibrium Conditions. The equations of equilibrium of forces/moments must be satisfied throughout
the member.
2. Material Behaviors/Constitutive Relations. The stress-strain or force-deformation relations (for
example, Hooke’s law) must apply to the material behavior of which the member is constructed.
3. Geometry of Deformation/Compatibility Conditions. The compatibility conditions of deformations must
be satisfied: that is, each deformed portion of the member must fit together with adjacent portions. (Note:
For mathematical strictness, the matter of compatibility should always be complied in Theory of Elasticity;
however, it may not always be broached in Mechanics of Materials analysis.)
4. Boundary and Initial Conditions. The stress and deformation obtained through the use of the above three
principles must conform to the initial conditions: the initial values of displacements (and velocities for
dynamic problems) of the member as well as satisfy the boundary conditions: conditions of loading
imposed at the boundaries of the member.
Rational Procedure in Mechanics/Materials-Based Engineering Design
1. Evaluate the most likely modes of failure of the member. Failure criteria that predict the various modes of
failure under anticipated conditions of service are discussed in Ch. 4.
2. Determine the expressions relating applied loading to such effects as stress, strain, and deformation.
Often, the member under consideration and conditions of loading are so significant or so amenable to
solution as to have been the subject of prior analysis. For these situations, textbooks, handbooks, journal
articles, and technical papers are good sources of information. Where the situation is unique, a
mathematical derivation specific to the case at hand is required.
3. Determine the maximum usable value of stress, strain, or energy. This value is obtained either by reference
to compilations of material properties or by experimental means such as simple tension test and is used in
connection with the relationship derived in Step 2.
4. Select a design factor of safety. This is to account for uncertainties in a number of aspects of the design,
including those related to the actual service loads, material properties, or environmental factors. An
important area of uncertainty is connected with the assumptions made in the analysis of stress and
deformation. Also, we are not likely to have a secure knowledge of the stresses that that may be introduced
during machining, assembly, and shipment of the element.
maximum usable stress
(design) factor of safety: n (1.1)
allowable or working stress
ultimate tensile stregth stress , σu ~ brittle materials
maximum usable stress
yield strength stress , σyd ~ ductile materials
ME 44100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.4 CONDITIONS OF EQUILIBRIUM PAGE 1/1
1.4 CONDITIONS OF EQUILIBRIUM (Self-Study)
Equilibrium Equations of Statics
Fx 0
F 0 y F 0 z
for 3D problems: ~ 6 eqs (1.2)
M x 0
M 0 y M 0 z
for planar problems: F x 0 F y 0 M z 0 ~ 3 eqs (1.3)
alternatively,
F x 0 A
MZ 0 B
M Z 0 provided that line AB is not to x-axis; (1.4a)
or A
MZ 0 B
MZ 0 C
M Z 0 where points A, B, and C are not collinear. (1.4b)
Static Determinate vs Indeterminate Systems
A structure is statically determinate when all forces on its members can be found by using only the conditions
of equilibrium. If there are more unknowns than available equilibrium equations of statics, the problem is
called statically indeterminate. The degree of static indeterminacy is equal to the difference between the
number of unknown forces and the number of relevant equilibrium conditions. Any reaction that is in excess
of those that can be obtained by statics alone is termed redundant. The number of redundants is therefore the
same as the degree of indeterminacy.
ME 44100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.5 STRESS TENSOR: DEFINITION & STRESS COMPONENTS PAGE 1/3
1.5 STRESS TENSOR: DEFINITION & STRESS COMPONENTS (Lecture)
FIGURE 1.5 (a) Prismatic bar in uniaxial tension; (b) stress distribution across the cross-section.
P
1-D normal stress: x (1.10)
A
FIGURE 1.1 Method of sections & free-body diagram: (a) sectioning of a loaded body;
(b) free body with external and internal forces; (c) enlarged area A with components of the force F .
F dF F dF F dF
x lim x x xy lim y y xz lim z z (1.5)
A0 A dA A0 A dA A0 A dA
FIGURE 1.2 Element subjected to three-dimensional stress. All stresses have positive sense.
xx xy xz x xy xz
stress tensor: ij τ yx yy yz yx y yz ~ 2nd-rank tensor (1.6)
zx zy zz zx zy z
Note: The notations: ij vs ij (or similarly, τ vs σ ) are used interchangeably in this course.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.5 STRESS TENSOR: DEFINITION & STRESS COMPONENTS PAGE 2/3
Sign convention of stress component: For a stress component ij , the subscript i represents the positive
surface normal whereas subscript j points to the positive force direction.
Tensorial-Indicial Notation (see Sec 1.17)
Range convention: When a lowercase alphabetic subscript is unrepeated, it takes on all values indicated.
(Einstein) summation convention: Unless stated otherwise, when a lowercase alphabetic/Greek subscript
appears twice in the same term, then summation over the range (e.g., from 1 to 3 for a 3-D problem) of that
subscript is implied, making the use of the summation symbol unnecessary.
Note: It should be apparent that ii jj kk , and therefore the repeated subscripts or indices are
sometimes called dummy subscripts. Unspecified indices that are not repeated are called free or distinct
subscripts.
Special Stress States
a. Triaxial Stress. An element subjected to only stresses and acting in mutually perpendicular directions is
said to be in a state of triaxial stress. Such a state of stress can be written as:
x xy xz 1 0 0
ij τ yx y yz 0 2 0 (a)
zx zy z 0 0 3
Note: The absence of shear stresses indicates that the preceding stresses are the principal stresses for the
element.
a1. Spherical or Dilatational or Hydrostatic Stress. A special triaxial-stress case occurring if all principal
stresses are equal: 1 2 3 . Equal triaxial tension/compression is also called hydrostatic
tension/compression. An example of hydrostatic compression is found in liquid under hydrostatic
pressure:
x xy xz p 0 0
ij τ yx y yz 0 p 0 where p h gh (b)
zx zy z 0 0 p
FIGURE 1.3 Examples of special stress states: (a) Element in plane stress;
(b) two-dimensional presentation of plane stress; (c) element in pure shear.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.5 STRESS TENSOR: DEFINITION & STRESS COMPONENTS PAGE 3/3
b. Two-Dimensional or Plane Stress. Only the x and y faces of the element are subjected to stress, and all
the stresses act parallel to the x and y axes, as shown in Fig 1.3a & b.
x xy xz x xy 0
x xy
ij τ yx y yz xy y 0 or simply, ij τ (1.8)
zx zy z 0 0 0 xy y
xy yx
Note: The relation: ij ji or yz zy , i.e., the stress tensor is symmetric will be proven in Sec 1.8.
zx xz
b1. Biaxial Stress. A special plane-stress case occurs if only two normal stresses are present:
x xy 1 0
ij τ (c)
xy y 0 2
Note: The absence of shear stresses implies the principal stresses of a biaxial-stress state are:
1 2 0 .
c. 3-D Pure Shear. The element is subjected to shear stresses only:
x xy xz 0 1 2
ij τ yx y yz 1 0 3 (d)
zx zy z 2 3 0
c1. (2-D) Pure Shear. The element is subjected to plane shear stresses only (Fig. 1.3c):
x xy xz 0 0 0
0 0
ij τ yx y yz 0 0 0 or simply, ij τ
0 0
(e)
zx zy z 0 0 0
Note: A typical 2-D pure shear occurs over the cross
sections and on longitudinal planes of a circular
shaft subjected to torsion.
d. Uniaxial Stress. When normal stresses act along one
direction only, the one-dimensional state of stress is
referred to as a uniaxial (or simple) tension/compression:
x xy xz 0 0 0
ij τ yx y yz 0 0 0 (f)
zx zy z 0 0 0
FIGURE 1.5-A1 Sample special stress states.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.6 INTERNAL FORCE/MOMENT-RESULTANTS PAGE 1/2
1.6 INTERNAL FORCE/MOMENT-RESULTANTS (Lecture)
FIGURE 1.4 Positive forces and moments on a cut section of a body
and components of the force dF on an infinitesimal area dA .
P x dA
internal force & moment resultants:
Vy xy dA Vz xz dA
(1.9)
T xz y xy z dA M y x zdA M z x ydA
1. The axial force P or N tends to lengthen or shorten the member.
2. The shear forces Vy and Vz tend to shear one part of the member relative to the adjacent part and are often
designated by the letter V.
3. The torque or twisting moment T is responsible for twisting the member.
4. The bending moments M y and M z cause the member to bend and are often identified by the letter M.
ME 54100: ADVANCED STRESS ANALYSIS
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SECTION 1.6 INTERNAL FORCE/MOMENT-RESULTANTS PAGE 2/2
Table 1.1 Commonly used elementary (MoM) formulae for stressa
a
Detailed derivations and limitations of the use of these formulae are described in Secs 1.6, 5.7, 6.2 & 13.13.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.7 STRESSES ON INCLINED SECTIONS PAGE 1/2
1.7 STRESSES ON INCLINED SECTIONS (Self-Study)
Axially Loaded Members
FIGURE 1.6 (a) Prismatic bar in tension; (b, c) side views of a part cut from the bar.
P cos
x A x cos 2
x
axially loaded member: (1.11)
P sin sin cos
x y Ax
x
P
max x when 0 or 180
A
(1.12)
1 P when 45 or 135
max 2
x
2A
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.7 STRESSES ON INCLINED SECTIONS PAGE 2/2
Example 1.1 State of Stress in a Tensile Bar (Self-Study)
Compute the stresses on the inclined plane with 35 for a prismatic bar of a cross-sectional area 800 mm2,
subjected to a tensile load of 60 kN (Fig 1.6a). Then determine the state of stress for 35 by calculating the
stresses on an adjoining face of a stress element. Sketch the stress configuration.
Solution The normal stress on a cross section is:
P 60 103
x 75 MPa
A 800 106
Introducing this value in Eqs (1.11) and using θ = 35°, we have:
x x cos 75 cos 35 50.33 MPa
2 2
xy x sin cos 75 sin 35 cos 35 35.24 MPa
The normal and shearing stresses acting on the adjoining y′ face are 24.67 MPa and 35.24 MPa, respectively, as
calculated from Eq (1.11) by substituting the angle 90 125 . The values of x , xy are the same on
opposite sides of the element. On the basis of the established sign convention for stress, the required sketch is
shown in Fig 1.8.
FIGURE 1.7 Variation of stress at a point with the inclined section in the bar shown in Fig 1.6a.
FIGURE 1.8 Stress element for 35 .
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.8 EQUILIBRIUM EQUATIONS PAGE 1/6
1.8 EQUILIBRIUM EQUATIONS ~ VARIATION OF STRESS WITHIN A BODY (Lecture)
(a) 3-D stress components at a material point (b) X-Y planar view with body force components
within a differential element
FIGURE 1.9 Differential element with stresses and body forces in Cartesian coordinates.
Differential Scheme
With respect to the center of the differential element, taking moment balance about the z-direction:
M z,center 0 xy d xy dydz 2 xy dydz 2 yx d yx dxdz 2 yx dxdz 2 0
dx dx dy dy
xy
d xy dx xy dy xy dz
x y z
Apply the chair rule for partial differentiation, we get:
d yx dx yx dy yx dz
yx x y z
xy dx dx dy dy
xy dx dydz xy dydz yx yx dy dxdz yx dxdz 0
x 2 2 y 2 2
1 1 xy 1 1 1 yx 1
or xy dxdydz dx dydz xy dxdydz yx dxdydz dx dy dz yx dxdydz 0
2 2
2 2 x 2 2 2 y 2
Ignoring the higher-order terms, we obtain: xy yx
Similarly, taking moment balance about y-direction zx xz (1.7)
and taking moment balance about x-direction yz zy
Thus, equality of shear stresses ij ji 2nd -rank symmetric tensor
Paradox: Breakdown of symmetry in stress tensor: Pure Shear vs Simple Shear (to be explained in lecture).
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.8 EQUILIBRIUM EQUATIONS PAGE 2/6
Now taking force balance in x-direction:
F x 0 x d x dydz x dydz yx d yx dxdz yx dxdz zx d xz dxdy zx dxdy Fx dxdydz 0
Similarly, apply the chair rule for partial differentiation, we get:
x
x dx dydz x dydz yx yx dy dxdz yx dxdz zx zx dz dxdy zx dxdy Fx dxdydz 0
x y z
yx zx
x Fx dxdydz 0 , or
x y z
x yx zx x xy xz
Fx 0 Fx 0
x y z x y z
xy y zy xy y yz
Similarly, force balance in y-direction: Fy 0 Fy 0 (1.14)
x y z x y z
xz yz z
and force balance in z-direction: Fz 0
x y z
ij
In tensor-index notation: Fi ij , j Fi 0 where i, j x, y, z (1.15)
x j
In vector-matrix notation: τ F 0 (1.8-A1)
x xy
Fx 0
x y
For 2-D case: F , F 0 where , x, y or (1.13)
x xy y F 0
x y
y
Notes: a. In Eq (1.15), i is a free index whereas j is a dummy index; similarly, is free while is dummy in
Eq (1.13).
b. In Eq (1.14), there are 6 unknown stress components: x , y , z , xy , xz , yz , but only 3 equations;
similarly, 3 unknown stresses: x , y , xy with 2 equations only. Hence, stress analysis problems are
in general internally statically indeterminate.
c. zero body force: Fx Fy Fz 0 , then:
x xy xz
0
x y z
xy y yz ij
0 or ij , j 0 where i, j x, y, z (1.8-A2)
x y z x j
yz z
xz 0
x y z
indicating that the sum of the three stress derivatives is zero.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.8 EQUILIBRIUM EQUATIONS PAGE 3/6
Example 1.2 The Body Forces in a Structure (Self-Study)
The stress field within an elastic structural member is expressed as follows:
1
x x3 y 2 y 2 x3 y 2 z 4 y2 z3
2 (d)
xy 5 z 2 y 2
xz xz x 2 y
3
yz 0
Determine the body force distribution required for equilibrium.
Solution Substitution of the given stresses into Eq (1.14) yields:
x xy xz
Fx 3x 2 4 y 3xz 2 Fx 0
x y z
xy y yz
Fy 0 y 0 Fy 0
x y z
yz z
xz Fz z 3 2 xy 0 3 z 2 Fz 0
x y z
The body force distribution, as obtained from these expressions, is therefore
Fx 3x 2 4 y 3xz 2
Fy y (e)
F 2 xy 3z 2 z 3
z
The state of stress and body force at any specific point within the member may be obtained by substituting the
specific values of x, y, and z into Eqs (d) and (e), respectively.
Integral Scheme (Option)
Figure 1.8-B1 Body and surface forces acting on an arbitrary portion of a continuum.
conservation of linear momentum (force balance principle): S
Ti n dS Fi dV 0
V
(1.8-B1)
Ti n ji n j
S ji n j dS Fi dV 0
V
(1.8-B2)
divergence theorem: S
ji n j dS ji , j dV
V
V ji , j Fi dV 0 (1.8-B3)
zero-value theorem equilibrium eqs in tensor-index notation: ji , j Fi 0 V (1.8-B4)
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.8 EQUILIBRIUM EQUATIONS PAGE 4/6
vector-matrix notation: τ F 0 (1.8-B5)
x yx zx
Fx 0
x y z
xy y zy
scalar-component notation: Fy 0 (1.8-B6)
x y z
yz z
xz Fz 0
x y z
conservation of angular momentum (moment balance principle): S
ijk x jTkn dS ijk x j Fk dV 0
V
(1.8-B7)
Tkn lk nl S
ijk x j lk nl dS ijk x j Fk dV 0
V
Gauss divergence theorem: ijk x j lk nl dS ijk x j lk ,l dV x j lk ijk x j Fk dV 0
S V V ijk ,l
expand and simplify the integral
V
jk dV 0
ijk
zero-value theorem ijk jk 0
xy yx
symmetric stress tensor: ij ji yz zy (1.8-B8)
zx xz
equilibrium eqs in tensor-index notation: ij , j Fi 0 (1.8-B9)
x xy xz
Fx 0
x y z
xy y yz
scalar-component notation: Fy 0 (1.8-B10)
x y z
yz z
xz Fz 0
x y z
Note: The stress tensor is symmetric only if there is no body moment or force doublet, which exist in strong
electromagnetic fields. See M.H. Sadd, Elasticity, 3rd ed., Ch 15: Micromechanics Applications for
Mindlin’s micropolar & stress-couple theories.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.8 EQUILIBRIUM EQUATIONS PAGE 5/6
Curvilinear Coordinate Systems (Option)
Figure 1.8-C1 Cylindrical and spherical coordinate systems.
radial coordinate : r
Cylindrical coordinate system: polar coordinate :
axial or longitudinal coordinate : z
x r cos r x2 y 2
y
cylindrical vs Cartesian coordinates: y r sin tan 1 (1.8-C1)
x
z z zz
r r rz
stress components in cylindrical coordinate system: ij τ r z (1.8-C2)
rz z z
r 1 r rz 1
r r z r r Fr 0
1 z 2
equilibrium eqs: r r F 0 (1.8-C3)
r r z r
rz 1 z z 1
r r z r rz Fz 0
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.8 EQUILIBRIUM EQUATIONS PAGE 6/6
Figure 1.8-C2 Stress components in cylindrical and spherical coordinate systems.
radial coordinate : R
Spherical coordinate system: azimuthal angle coordinate :
polar angle coordinate :
x R cos sin R x2 y 2 z 2
y R sin sin cos 1
z
spherical vs Cartesian coordinates: x y2 z2
2 (1.8-C4)
z R cos tan 1
y
x
R R R
stress components in cylindrical coordinate system: ij τ R (1.8-C5)
R
R 1 R 1 R 1
R R R sin 2 R R cot FR 0
R
R 1 1 1
equilibrium eqs: cot 3 R F 0 (1.8-C6)
R R R sin R
1 1 1
R 2 cot 3 R F 0
R R R sin R
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.9 PLANE-STRESS (2-D) TRANSFORMATION PAGE 1/3
1.9 PLANE-STRESS (TWO-DIMENSIONAL) TRANSFORMATION (Lecture)
FIGURE 1.10 Plane-stress example: FIGURE 3.1 Plane- strain example:
a thin plate subject to in-plane loads. a long cylindrical body with closed ends.
FIGURE 1.11 Elements in plane stress.
AO BO
From the wedge element ABO shown in Fig 1.11b, we have: AB
cos sin
Assume unit thickness and by force balance in x- & y-directions, respectively, in the wedge element, we get:
px AB x AO xy BO x AB cos xy AB sin px x cos xy sin
(1.16)
p y AB xy AO y BO xy AB cos y AB sin
p y xy cos y sin
where px and p y , called tractions, are the components of the stress resultant acting on the AB plane in the x-
and y-directions, respectively. The normal and shear stresses in the x-y coordinate system are obtained by
projecting px and p y in the x- and y- directions, then summing the results, respectively:
x px cos p y sin x x cos y sin 2 xy sin cos
2 2
xy xy cos sin y x sin cos
(1.17a,b)
xy p y cos px sin
2 2
Note that the normal stress y acting on the y face of an inclined element (Fig 1.11c) may readily be
obtained by substituting 2 for θ in the expression for x . In so doing, we have:
y x sin 2 y cos2 2 xy sin cos (1.17c)
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.9 PLANE-STRESS (2-D) TRANSFORMATION PAGE 2/3
2 1 cos 2
cos 2
1 cos 2
trigonometric identities: sin 2
2
sin 2
sin cos 2
transformation equations for plane stress:
x y x y
x x cos y sin 2 xy sin cos cos 2 xy sin 2
2 2
2 2
x y
xy xy cos sin y x sin cos sin 2 xy cos 2
2 2
(1.18)
2
x y x y
y x sin y cos 2 xy sin cos cos 2 xy sin 2
2 2
2 2
Note: x y x y constant ~ stress invariant (see Sec 1.13)
By interchanging symbols: x, y, x, y, , we also get:
x y x y
x x cos y sin 2 xy sin cos cos 2 xy sin 2
2 2
2 2
x y
xy xy cos sin x y sin cos sin 2 xy cos 2
2 2
(1.9-A1)
2
x y x y
y x sin y cos 2 xy sin cos cos 2 xy sin 2
2 2
2 2
Figure 1.9-A1 Two-dimensional orthogonal (or rotational) transformation.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.9 PLANE-STRESS (2-D) TRANSFORMATION PAGE 3/3
Stress Trajectory - Polar Representation of State of Plane Stress (Option)
FIGURE 1.12 Stress trajectories: polar representations of x and xy (in MPa) vs .
Cartesian Representation of State of Plane Stress (Option)
FIGURE 1.13 Graph of normal stress x and shear stress xy within angle 0 180 .
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.10 2-D PRINCIPAL STRESSES AND MAXIMUM SHEAR STRESS PAGE 1/2
1.10 TWO-DIMENSIONAL PRINCIPAL STRESSES AND MAXIMUM SHEAR STRESS (Lecture)
From Eq (1.18a), in order to obtain the maximum or minimum x , we have
d x d x y x y
0 cos 2 xy sin 2 x y sin 2 2 xy cos 2 0 (a)
d d 2 2
2 xy sin 2 1 2 xy
tan 2 principal (stress) direction: p tan 1 (1.19)
x y cos 2 2 x y
2 xy
sin 2 p
x y 4 xy2
2
(1.10-A1)
cos 2 x y
x y 4 xy2
p 2
Eq (1.10-A1) Eqs (1.18a,c), we obtain
y
2
y x y y 1 2 xy2
x x cos 2 p xy sin 2 p x
x
p
2 2 2 2
y 4 y 4 xy2
2 2 2
x xy x
y
2
x y x y y 1 2 xy2
y cos 2 p xy sin 2 p x
x
2 2 2 2
x y 4 xy2 y 4 xy2
p 2 2
x
x y y
2
principal stresses: max,min 1,2 x xy
2
(1.20)
2 2
Notes: a. Since tan 2 p tan 2 p , hence there are two principal directions: p , p correspond to
1 max , 2 min , respectively. Furthermore, p p .
b. It is necessary to substitute one of the p values into Eq (1.18a) to determine which of the principal
directions corresponds to the maximum principal stress 1 .
c. Shear stress vanishes on a principal plane: xy xy 0 .
p p
Similarly, use Eq (1.18b) to obtain the maximum shear stress, we have:
d xy d x y
0 sin 2 xy cos 2 x y cos 2 2 xy sin 2 0
d d 2
x y sin 2 1 y x
tan 2 maximum shear direction: s tan 1 (1.21)
2 xy cos 2 2 2 xy
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.10 2-D PRINCIPAL STRESSES AND MAXIMUM SHEAR STRESS PAGE 2/2
x y
sin 2 s
x y 4 xy2
2
(1.10-A2)
cos 2 2 xy
x y 4 xy2
s 2
Eq (1.10-A2) Eq (1.18b), we obtain:
y
2
x y 1 2 xy2
xy sin 2 s xy cos 2 s
x
2 2
y 4 y 4 xy2
p 2 2 2
x xy x
y
2
1 2 max min
maximum shear stresses: max x xy
2
(1.22)
2 2 2
Notes: a. Since tan 2 s tan 2 s , hence there are also two maximum shear directions: s, s
correspond to max , max , respectively, with s s .
b. It is necessary to substitute one of the s values into Eq (1.18b) to determine which of the
maximum shear directions corresponds to the “” maximum shear stress max .
x y x y y
x s cos 2 s xy sin 2 s x
2 2 2
Substituting Eq (1.10-A2) into Eqs (1.18a,c):
x y x y x y
y cos 2 s xy sin 2 s
s 2 2 2
x y 1 2 max min
ave (1.23)
2 2 2
The above results are illustrated in Fig 1.14. Note that the diagonal of a stress element toward which the shear
stresses act is called the shear diagonal. The shear diagonal of the element on which the maximum
'ave
2
'ave max
1
2
1
'ave p
max
'ave 45
45
45 y
xy
p
x
FIGURE 1.14 Planes of principal stresses, maximum shear stresses and shear diagonal.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.11 MOHR’S CIRCLE FOR TWO-DIMENSIONAL STRESS PAGE 1/9
1.11 MOHR’S CIRCLE FOR TWO-DIMENSIONAL STRESSES (Lecture)
Procedure for Drawing Mohr’s Circle
1. Establish a rectangular - coordinate system. Both stress scales must be identical.
2. Locate the center C of the circle on the horizontal -axis a distance
1
2
x y from the origin.
3. Locate point A by coordinates x , xy . These stresses may correspond to any face of an element such as
in Fig 1.15a. Nevertheless, it is usual to specify the stresses on the positive x face.
4. Draw a circle with center at C and of radius equal to CA.
5. Draw line AB through C; thus, point B will have coordinates x , xy .
FIGURE 1.15 (a) Stress element; (b) Mohr’s circle of stress; (c) interpretation of positive shear stresses.
Notes: a. The angles on the circle are measured in the same direction as θ is measured in the stress element
(Fig 1.15a). However, an angle of 2θ on the circle corresponds to an angle of θ on the stress
element.
b. The state of stress associated with the original x and y planes corresponds to points A and B on the
circle, respectively.
c. Points lying on any diameter, such as A′ and B′, define states of stress w.r.t. x′-y′ coordinates rotated
relative to the original x-y coordinates through an angle θ, see Eq (1.18).
x y x y
x x cos y sin 2 xy sin cos cos 2 xy sin 2
2 2
2 2
x y
xy xy cos sin y x sin cos sin 2 xy cos 2
2 2
2
x y x y
y x sin y cos 2 xy sin cos cos 2 xy sin 2
2 2
2 2
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.11 MOHR’S CIRCLE FOR TWO-DIMENSIONAL STRESS PAGE 2/9
d. Points A1 and B1 on the circle locate the principal stresses 1 , 2 . Their magnitudes and
directions are defined by Eqs (1.19) and (1.20):
x y x y
2
1,2 max,min xy
2
2 2
1 2 xy
p 2 tan
1
x y
e. Points D and E represent the maximum shear stresses. Their magnitudes and directions are defined
by Eqs (1.21) and (1.22):
x y
2
max 1 2 min
xy max
2
2 2 2
1 x y
s tan
1
2 2 xy
x y
CF
f. The radius of the circle is: CA CF 2 AF 2 where 2 , thus, the radius equals the
AF xy
magnitude of the maximum shear stress max .
g. Mohr’s circle shows that the planes of maximum shear are always located at 45° from planes of
principal stress, as already indicated in Fig. 1.14 (Sec. 1.10).
0
0 0
0 0
0 0
0
FIGURE 1.11-A1 Two versions of pure shear.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.11 MOHR’S CIRCLE FOR TWO-DIMENSIONAL STRESSES PAGE 3/9
SPECIAL 2-D MOHR’S CIRCLES
Case Schematic Stress state Mohr’s circle
0
1 0
y 0 0
x xy 0 0 center @ 2 , 0 2
Uniaxial
0 0
yx y 0 0 max 2
x
tension 2
radius 0
0 0 2
2 p p 90
0
1 0
y x xy 0 0 center @ 0, 0 2
0
x yx y 0 0 radius 0
max 0
0 0 2 p 0 p 45
0
Pure shear
0
1 0
x xy 0 0
y center @ 0, 0 2
yx y 0 0
0
0 0
x radius 0
max
0
0 0 p 90
2 p
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.11 MOHR’S CIRCLE FOR TWO-DIMENSIONAL STRESSES PAGE 4/9
Case Schematic Stress state Mohr’s circle
0
1 2 0
Biaxial y x xy 0 0 center @ 0 , 0
0 max 0
tension x yx y 0 0
radius 0 ~ undefined
0 p
degenerate circle
3 pr pr
center @ ,0 1 t
pr 4t
0
x xy 2t
pr
Cylindrical t
radius pr pr
y
2
pressure pr
yx y 0 pr 4t pr 2t
x 2t
vessel t 4t pr
max
(surface only) pr pr 4t
2 p
2t t p 90
y pr
x xy 2t
0 1 2 0
pr
Spherical 2t pr
center @ , 0
pressure x yx y 0 pr 2t max 0
pr
vessel 2t radius 0 ~ undefined
2t
pr p
(surface only) t
degenerate circle
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.11 MOHR’S CIRCLE FOR TWO-DIMENSIONAL STRESS PAGE 5/9
Example 1.3 Principal Stresses in a Member (Self-Study)
x 80 MPa
At a point in the structural member, the stresses are y 40 MPa as represented in Fig. 1.16a. Employ Mohr’s
30 MPa
xy
circle to determine:
a. the magnitude and orientation of the principal stresses and
b. the magnitude and orientation of the maximum shear stresses and associated normal stresses.
In each case, show the results on a properly oriented element and represent the stress tensor in matrix form.
FIGURE 1.16 (a) Element in plane stress; (b) Mohr’s circle of stress;
(c) principal stresses; (d) maximum shear stress.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.11 MOHR’S CIRCLE FOR TWO-DIMENSIONAL STRESS PAGE 6/9
EXAMPLE 1.4 Stresses in a Frame (Self-Study)
x 28 MPa
The biaxial stress state acting on an element of a loaded frame is shown in Fig 1.17a y 14 MPa . Apply
0 MPa
xy
Mohr’s circle graphically to determine the normal and shear stresses acting on a plane defined by 30 .
Check the results using Eq (1.18).
FIGURE 1.17. Example 1.4. (a) Element in biaxial stresses; (b) Mohr’s circle of stress;
(c) stress element for 30 .
Solution Mohr’s circle of Fig 1.17b describes the state of stress given in Fig 1.17a. Points A1 and B1 represent
the stress components on the x and y faces, respectively. The center and radius of the circle are,
x y 28 14
center: OC 7 MPa
2 2
, respectively.
radius: CA CB x y 2 28 14 0 21 MPa
2 2
xy
2 2
Corresponding to the 30° plane within the element, it is necessary to rotate through 60° counterclockwise on the
circle to locate point A′. A 240° counterclockwise rotation locates point B′. Referring to the circle, we get
x OC CA cos 2 7 21cos 60 17.5 MPa
xy CA sin 2 21sin 60 18.19 MPa
y OC CB cos 2 7 21cos 60 3.5 MPa
Figure 1.17c indicates the orientation of the stresses. The results can be checked by applying Eq (1.18), using
the initial data as
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.11 MOHR’S CIRCLE FOR TWO-DIMENSIONAL STRESS PAGE 7/9
x y x y 28 14 28 14
x cos 2 xy sin 2 cos 60 17.5 MPa
2 2 2 2
x y 28 14
xy sin 2 xy cos 2 sin 60 18.19 MPa
2 2
x y x y 28 14 28 14
y cos 2 xy sin 2 cos 60 3.5 MPa
2 2 2 2
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.11 MOHR’S CIRCLE FOR TWO-DIMENSIONAL STRESS PAGE 8/9
EXAMPLE 1.5 Cylindrical Vessel Under Combined Loads (Lecture)
A thin-walled cylindrical pressure vessel of 250-mm diameter and 5-mm wall thickness is rigidly attached to a
wall, forming a cantilever with the following loads being applied: internal pressure p 1.2 MPa , torque
T 3 kN-m , and direct force P 20 kN (Fig. 1.18a).
a. Find the principal stresses and directions at point A of the cylindrical wall.
b. Determine the maximum shear stresses and the associated normal stresses at point A. Show the results on a
properly oriented element.
FIGURE 1.18. Example 1.5. Combined stresses in a thin-walled cylindrical pressure vessel:
(a) side view; (b) free body of a segment; (c) and (d) element A (viewed from top).
Solution The internal force resultants on a transverse section through point A are found from the equilibrium
conditions of the free-body diagram of Fig 1.18b. They are V P 20 kN , M P AP 20 0.4 8 kN-m
and T 3 kN-m . In Fig 1.18c, the combined axial, tangential, and shear stresses are shown acting on a small
element at point A. These stresses are (Tables 1.1 and C.1):
250 103
8 103
axial stress (bending): b
Mr Mr
3 2 32.6 MPa
I r t 250 10 3
5 10
3
3
2
250 103
3 103
shear stress (torque): t
Tr
Tr
2 6.112 MPa
J 2 r t 3
250 10 3
5 10
3
2 3
2
250 103
1.2 106
axial stress (internal pressure): a
pr
2 15 MPa
2t 2 5 10 3
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.11 MOHR’S CIRCLE FOR TWO-DIMENSIONAL STRESS PAGE 9/9
6 250 10
3
1.2 10
tangential stress (internal pressure): 2 a
pr
2 30 MPa
t 5 10
3
x b a 32.6 15 47.6 MPa
We thus have: y 30 MPa
6.112 MPa Why " "? Hint: shear-stress sign convention
xy t
Note that for element A, Q 0 (Why? Hint: 1st moment of the shaded area w.r.t. N.A.)
VQ
direct shear stress: xz d 0
Ib
a. The principal stresses are from Eq. (1.20):
x y
2
47.6 30 47.6 30 47.6 30 49.51 MPa
2
max,min 1,2 xy 6.112 28.09 MPa
2 2
2 2 2 2
To find the principal directions, we use Eq (1.19):
1 2 xy 1 2 6.112 17.4
p tan 1 tan 1
2
2 x y 47.6 30 72.6
To differentiate the maximum & minimum principal directions, we choose p 17.4 and use Eq (1.18a):
x y x y
x cos 2 xy sin 2 p 17.4
2 2
47.6 30 47.6 30
cos 2 17.4 xy sin 2 17.4 49.51 MPa p 72.6
2 2
b. The maximum shear stresses are from Eq (1.22):
y
2
47.6 30
2
max x xy 6.112 10..71 MPa
2 2
2 2
To locate the maximum shear planes, we use Eq (1.21):
1 y 1 47.6 30 27.6
s tan 1 x tan
1
2 2 xy 2 2 6.112 117.6
Choosing s 27.6 and applying Eq (1.18b), then
x y 47.6 30
xy sin 2 s xy cos 2 s sin 2 27.6 6.112 cos 2 27.6 10.71 MPa
2 2
s 27.6
Hence,
s 27.6
Equation (1.23) yields the average (or mean) stress, which is also the normal stresses associated with max at
x y 47.6 30
point A: ave 38.8 MPa
2 2
These stresses are shown in their proper directions in Fig 1.18d.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.12 THREE-DIMENSIONAL STRESS TRANSFORMATION PAGE 1/5
1.12 THREE-DIMENSIONAL STRESS TRANSFORMATION (Lecture)
Def: direction cosines: The direction cosines of a vector: V Vx iˆ Vy ˆj Vz kˆ w.r.t. the x-y-z coordinates are:
V
l cos cos V , x x
V
Vy
m cos cos V , y , where V Vx2 Vy2 Vz2 (1.24)
V
n cos cos V , z Vz
V
FIGURE 1.19 Stress components on a tetrahedron.
If V is a unit normal vector n̂ to a plane ABC (Fig 1.19), i.e., nˆ 1 , then
nˆ nx iˆ ny ˆj nz kˆ liˆ mˆj nkˆ (1.12-A1)
and l 2 m2 n2 1 (1.25)
QAB ABC nˆ iˆ ABC
liˆ mˆj nkˆ iˆ l
ABC
QAC ABC nˆ ˆj ABC liˆ mˆj nkˆ ˆj m ABC (a)
QBC ABC nˆ kˆ ABC
liˆ mˆj nkˆ kˆ n ABC
N
Def: stress traction vector (or surface traction): p px iˆ p y ˆj pz kˆ ~ unit: Pa 2 (1.12-A2)
m
Fx 0 : px ABC x QAB xy QAC xz QBC x l xy m xz n ABC
force balance on the plane ABC: Fy 0 : p y ABC xy QAB y QAC yz QBC xy l y m yz n ABC
Fz 0 : pz ABC xz QAB yz QAC z QBC xz l yz m z n ABC
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.12 THREE-DIMENSIONAL STRESS TRANSFORMATION PAGE 2/5
px xl xy m xz n
thus, in scalar-component form: p y xy l y m yz n (1.26)
p l m n
z xz yz z
in tensor-index form: pi ji n j ij n j i, j 1, 2,3 (1.12-A3)
in vector-matrix form: p nˆ τ (1.12-A4)
Special Case: Surface Tractions in Plane Problems
px xl xy m
In 2-D (x-y plane), n 0 , then Eq (1.26) reduces to: (1.12-A5)
p y xy l y m
Consider now a Cartesian x′-y′-z′ coordinate system with the same origin Q as the afore-mentioned x-y-z
coordinates. If the unit normal vector n̂ is placed to coincide with the x′-axis, then a set of direction cosines:
l1 , m1 , n1 cos x, x ,cos x, y ,cos x, z
will be formed. By the same token, one can place n̂ to coincide with the y′- and z′-axes, respectively, to form
another two sets of direction cosines:
l2 , m2 , n2 cos y, x ,cos y, y ,cos y, z & l3 , m3 , n3 cos z , x ,cos z , y ,cos z , z
Mnemonics: The relations among the two Cartesian coordinate systems and the direction cosines are listed in
Table 1.2.
TABLE 1.2 Notation for Direction Cosines.
l1 , l2 , l3 cos x, x , cos x, y , cos x, z
Note that the sets: m1 , m2 , m3 cos y, x , cos y, y , cos y, z are the respective direction cosines of
n1 , n2 , n3 cos z , x , cos z, y , cos z, z
the Cartesian x-, y- and z-axes w.r.t. the Cartesian x′-y′-z′ coordinate system. By placing the unit normal vector
n̂ to coincide with the x′-, y′- and z′-axes, respectively, Eq (1.26) becomes:
px x l1 xy m1 xz n1 px xl2 xy m2 xz n2 px xl3 xy m3 xz n3
p y xy l1 y m1 yz n1 p y xy l2 y m2 yz n2 p y xy l3 y m3 yz n3 (1.12-A6)
p l m n p l m n p l m n
z xz 1 yz 1 z 1 z xz 2 yz 2 z 2 z xz 3 yz 3 z 3
Following the same logic, we can project the components of the above-mentioned stress traction vector
p px iˆ p y ˆj pz kˆ in the x′-, y′- and z′-axes, respectively, then take force balances along the x′-, y′- or z′-
direction to obtain:
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.12 THREE-DIMENSIONAL STRESS TRANSFORMATION PAGE 3/5
x px l1 p y m1 pz n1 xy px l1 p y m1 pz n1 xz px l1 p y m1 pz n1
xy px l2 p y m2 pz n2 y pxl2 p y m2 pz n2 yz px l2 p y m2 pz n2 (1.27)
p l p m p n p l p m p n p l p m p n
xz x 3 y 3 z 3 yz x 3 y 3 z 3 x x 3 y 3 z 3
Substitute Eq (1.12-A6) into Eq (1.27), we get:
x x l12 y m12 z n12 2 xy l1m1 yz m1n1 xz l1n1
xy x l1l2 y m1m2 z n1n2 xy l1m2 l2 m1 yz m2 n1 m1n2 xz l1n2 l2 n1
l l m m n n l m l m m n m n l n l n
xz x 1 3 y 1 3 z 1 3 xy 1 3 3 1 yz 1 3 3 1 xz 1 3 3 1
y x l2 y m2 z n2 2 xy l2 m2 yz m2 n2 xz l2 n2
2 2 2 (1.28)
z x l3 y m3 z n3 2 xy l3m3 yz m3n3 xz l3n3
2 2 2
l l m m n n l m l m m n m n l n l n
yz x 2 3 y 2 3 z 2 3 xy 2 3 3 2 yz 2 3 3 2 xz 2 3 3 2
Note: Owing to the symmetry of the stress tensor: ij ji , only 6 of the 9 stress components thus developed
are unique.
The direction cosine components in Table 1.2 can be collected to form:
l11 l12 l13 l1 m1 n1
direction cosine (or orthogonal rotation) matrix: lij l l21 l22 l23 l2 m2 n2 (1.12-A7)
l31 l32 l33 l3 m3 n3
Note: The direction cosine matrix is NOT symmetric: lij l ji
The scalar-component form of Eq (1.28) can then be expressed in the short-hand forms:
rs lir l js ij
tensor-index notation: (1.29)
rs lri lsj ij
τ l τ l T
or vector-matrix notation: (1.12-A8)
τ l τ l
T
Finally, it can be proven the components of the direction cosine (or orthogonal rotation) matrix have the
following properties:
l12 m12 n12 1 l1l2 m1m2 n1n2 0
2
l2 m2 n2 1 and l2l3 m2 m3 n2 n3 0 l l
2 2 1 T
(1.30)
l 2 m 2 n 2 1 l l m m n n 0
3 3 3 13 1 3 1 3
l12 l22 l32 1 l1m1 l2 m2 l3m3 0
2
Similarly, m1 m2 m3 1 and m1n1 m2 n2 m3n3 0
2 2
(1.12-A9)
n 2 n 2 n 2 1 n l n l n l 0
1 2 3 11 2 2 3 3
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.12 THREE-DIMENSIONAL STRESS TRANSFORMATION PAGE 4/5
Special Case: In-plane (or 2-D) stress tensor transformation
cos sin 0 cos sin 0
lij l sin cos 0 and l ji l sin cos 0
T
(1.12-A10)
0 0 1 0 0 1
Figure 1.12-A1 Two-dimensional (orthogonal) rotational transformation.
then in component notation:
x y x y
x x cos y sin 2 xy sin cos cos 2 xy sin 2
2 2
2 2
x y x y
y x
sin 2
y
cos 2
2 xy
sin cos cos 2 xy sin 2
2 2
sin cos sin cos cos 2 sin 2 y x sin 2 cos 2
xy 2 (1.12-A11)
xy x y xy
z z
xz zx cos yz sin
yz yz cos zx sin
x y x y
x
x
cos 2
y
sin 2
2
xy
sin cos cos 2 xy sin 2
2 2
x y x y
y x sin y cos 2 xy sin cos cos 2 xy sin 2
2 2
2 2
y
xy x sin cos y sin cos xy cos 2 sin 2 x
or (1.12-A12)
sin 2 xy cos 2
2
z z
yz yz cos zx sin
zx zx cos yz sin
Mnemonics: The equations in each pair of the relations in the 2-D Special Case are interchangeable by
switching the primed and unprimed and by replacing with .
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.12 THREE-DIMENSIONAL STRESS TRANSFORMATION PAGE 5/5
Example: 2-D Cartesian vs. polar coordinates
If the 2-D primed coordinate system x, y is the polar coordinate system r , , then
x y x y
r x cos y sin 2 xy sin cos cos 2 xy sin 2
2 2
2 2
x y x y
x sin y cos 2 xy sin cos cos 2 xy sin 2
2 2
(1.12-A13)
2 2
y x
r x sin cos y sin cos xy cos sin sin 2 xy cos 2
2 2
2
r r
x r cos sin 2 r sin cos cos 2 r sin 2
2 2
2 2
r
or y r sin 2 cos 2 2 r sin cos r cos 2 r sin 2 (1.12-A14)
2 2
r
xy r sin cos sin cos r cos sin sin 2 r cos 2
2 2
2
which are the same as Eqs (1.18) and (1.9-A1) in Sec 1.9.
Large Deformation/Finite Elasticity Theory (Option)
Following the principles of Small Deformation/Infinitesimal Elasticity Theory, the previous definitions for the
stress tensor and traction vector do not make a distinction between the deformed and undeformed (or
reference) configurations of the body since such a distinction only leads to small modifications that are
considered higher-order effects and are normally neglected. However, for Large Deformation/Finite Elasticity
Theory, sizeable differences exist between these configurations and several stress tensors have been defined.
For instance, both directions of the force and surface normal in the true (Cauchy) stress tensor is defined
based on the deformed configuration. Other examples of stress tensors defined in Finite Elasticity are:
Kirchhoff stress tensor, the 1st & 2nd Piola-Kirchhoff stress tensors and Biot stress tensor. In addition,
there are also several incremental stress updates, also called stress rates: Jaumann, Green-Naghdi, Oldroyd,
Trusdell, convective, etc. It should be noted that since the physical meaning of the integral of stress with
respect to strain is the strain energy, the selection of proper pair of stress and strain tensors should obey the
rule of stress objectivity. That is, the superimposition of rigid-body motion on the deformed configuration
should not alter the stress state and should produce no extra strain energy.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.13 THREE-DIMENSIONAL PRINCIPAL & MAXIMUM SHEARING STRESSES PAGE 1/3
1.13 THREE-DIMENSIONAL PRINCIPAL & MAXIMUM SHEARING STRESSES (Lecture)
x xy xz l l
Let ij n j p n j or τ nˆ p nˆ or yx y yz m p m (1.13-A1)
zx zy z n n
x p xy xz l 0
stress tensor eigenvalue problem: yx y p yz m 0 (1.31)
zx
zy z p n 0
l 0
non-trivial solution, i.e., m 0 , we must have:
n 0
x p xy xz
det ij p ij det τ p I det yx y p yz 3p I1 p2 I 2 p I 3 0 (1.32 & 33)
zx zy z p
eigenvalues: p p principal stresses 1 , 2 , 3 the extreme or stationary values of stresses
th
here
1 2
eigenvector: nˆ pth principal stress directions nˆ , nˆ , nˆ
p 3
In the cubic equation, Eq (1.33), I1 , I 2 , I 3 are the three fundamental stress invariants:
Def : 1st stress invariant: I1 x y z 1 2 3 (1.34a)
x xy y yz z zx 1
I2
yx y zy z xz x 2 ii jj ij ji
Def: 2nd stress invariant: x y y z z x xy yx yz zy zx xz (1.34b)
xy2 yz2 x2z
1 2 2 3 3 1
x xy xz
1 1 1
I 3 det ij det σ yx y yz ij jk ki ij ji kk ii jj kk
3 2 6
zx zy z
Def: 3rd stress invariant: x y z xy yz zx yx zy xz x yz zy y zx xz z xy yx (1.34c)
2 xy yz zx x yz2 y xz2 z xy2
1 2 3
2 2 3 3 1
Def: (3-D) maximum shearing stress: max max 1 0 (1.13-A2)
2 2 2
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.13 THREE-DIMENSIONAL PRINCIPAL & MAXIMUM SHEARING STRESSES PAGE 2/3
Special Case: Plane-Stress Problems
plane-stress condition: z xz zx yz zy 0 3 n33 0 & nˆ 3 n13 iˆ n23 ˆj (1.13-A3)
p xy n1 p 0
Eq (1.31) becomes x
yx y p n p 0
2
p xy
det x p x y p x y xy 0
2 2
(1.13-A4)
xy y
p
I1 x y 1 2
x xy
I2 x y xy2 1 2 Note: Typo in textbook (1.35)
yx y
I 0
3
y x y
2
principal stresses: I1 I12
1,2 x xy
2
I2
2 2 2 4
(1.20 & 22)
2 x y
2
I 2
maximum shearing stress: max 1 xy I2
2 1
2 2 4
1 2 xy
principal stress directions: p tan 1 two values
2 x y
(1.19 & 21)
maximum shearing stress directions: 1 tan 1 y x two values
s
2 2 xy
FIGURE 1.13-A1 The principal directions p and the maximum shear directions s .
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.13 THREE-DIMENSIONAL PRINCIPAL & MAXIMUM SHEARING STRESSES PAGE 3/3
Eigendecomposition & Diagonalization (Self-Study)
Def : eigen matrix: n nˆ 1 nˆ 2 nˆ 3 (1.13-A5)
1
then n n or n
T
(1.13-A6)
1 0 0
& n τ n 0 2 0 (1.13-A7)
0 0 3
Example 1.7 Three-Dimensional Stress in a Machine Component (Self-Study)
The stress tensor at a point in a machine element with respect to a Cartesian coordinate system is given by the
following array:
x xy xz 50 10 0
τ yx y yz 10 20 40 MPa (f)
zx zy z 0 40 30
Determine the state of stress and I1 , I 2 , I 3 for an x′, y′, z′ coordinate system defined by rotating x, y through an
angle of θ 45° counterclockwise about the z-axis (Fig 1.21a).
FIGURE 1.21 Direction cosines for 45 .
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.14 NORMAL AND SHEAR STRESSES ON AN OBLIQUE PLANE PAGE 1/2
1.14 NORMAL AND SHEAR STRESSES ON AN OBLIQUE PLANE (Self-Study)
Normal & Shear Tractions
Figure 1.14-A1 Comparison of general and principal stress states
(a) (b)
FIGURE 1.22 (a) Element in triaxial stress state; (b) traction vector decomposition.
x xy xz
in a general coordinate system (x-y-z or iˆ-ˆj -kˆ ): ij τ xy y yz ~ 6 stress components
zx zy z
1 0 0
in principal coordinate system ( nˆ -nˆ -nˆ ): ij 0 2 0 ~ 3 stress components
1 2 3
0 0 3
Note: For the principal coordinate system, all shearing stresses vanish and thus the state includes only normal
stresses, which are the principal stresses themselves. That is to say, under transformation to principal
axes, the matrix form of the stress tensor will reduce to a diagonal form with the principal stresses as its
diagonal components.
x y z 1 2 3
Consider Fig 1.22, an element in a triaxial stress state: , the traction vector p
xy xz
yz 0 0 0
on a surface with a unit normal vector nˆ liˆ mˆj nkˆ , from Eq (1.26), becomes:
p x
py pz 1l 2 m 3n (a)
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.14 NORMAL AND SHEAR STRESSES ON AN OBLIQUE PLANE PAGE 2/2
With the aid of Fig 1.22b, p can also be decomposed into a normal traction vector σ and a shear traction
vector τ as:
normal traction : σ p n
ˆ
p σ τ with Eq (1.12-A4) (1.14-A1)
2 2
shear traction : τ p σ Pythagorean theorem
Eq (a) into Eq (1.14-A1a) p 2 12l 2 22 m2 32 n2 2 2 (1.36)
Eq (1.28a) = xl 2 y m2 z n2 2 xy lm yz mn xz ln
1l 2 2 m2 3n2 (1.37)
Alternatively, Eqs (1.14-A1a) & (1.12-A3) = pi ni ij n j 1l 2 2 m2 3n2
Substitute Eq (1.37) into Eq (1.36), we get:
2 2 p 2 1l 2 2 m2 3n2 12l 2 22 m2 32 n2
2
(1.38)
12
Since Eq (1.25): l 2 m2 n2 1 1 2 l 2 m2 2 3 m2 n2 3 1 n2l 2
2 2 2
(1.39)
Note: Eq (1.39) indicates that if the principal stresses are all equal: 1 2 3 , the shear stress vanishes,
regardless of the choices of the direction cosines: l , m, n .
Finally, for a general stress state (Fig 1.14-A1a), we have:
= xl 2 y m2 z n 2 2 xy lm yz mn xz ln
(1.40 & 41)
x xz xy y yz xy yz z
12
l m n
2
l m n
2
l m n
2
2
xy
Lamé’s Stress Ellipsoid (Option)
FIGURE 1.23 Stress ellipsoid.
2 2 2
px p y pz
1 (1.39)
1 2 3
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.14a SPHERICAL, DEVIATORIC, OCTAHEDRAL, VON MISES & TRESCA STRESSES PAGE 1/7
1.14a SPHERICAL, DEVIATORIC, OCTAHEDRAL, VON MISES & TRESCA STRESSES (Lecture)
Spherical Stress Tensor
Def: mean (or average or hydrostatic) stress:
1 2 3 x y z I1
m (1.14-S1)
3 3 3
m 0 0
Def: spherical stress tensor:
pij m ij 0 m 0 (1.14-S2)
0 0 m
where Kronecker delta ij is defined as:
1 0 0
1 if i j no sum
Def: ij I 0 1 0 unit or identity matrix (1.14-S3)
0 if i j
0 0 1
fundamental spherical stress invariants
Def: 1st spherical stress invariant:
I1 px p y pz p1 p2 p3 3 m I1 (1.14-S4a)
Def: 2nd spherical stress invariant:
px 0 p 0 p 0
I2 y z
0 py 0 pz 0 px
(1.14-S4b)
2
I
p x p y p y p z p z p x p1 p2 p2 p3 p3 p1 3 m2 1
3
Def: 3rd spherical stress invariant:
px 0 0
I13
I 3 det pij 0 py 0 px p y pz p1 p2 p3 m
3
(1.14-S4c)
27
0 0 pz
Note: As presented in next topic: Chapter 2: Strain & Material Properties, the 2nd spherical stress
I2
invariant I 2 1 3 m2 is directly proportional to the dilatational component of strain energy.
3
Deviatoric Stress Tensor
x m xy xz
Def: deviatoric stress tensor: sij ij pij ij m ij yx y m yz (1.14-S5)
zx zy z m
Notes: a. total stress = spherical stress + deviatoric stress: ij pij sij (1.14-S6)
b. The spherical stress pij m ij is an isotropic stress tensor. That is, its components are the same
and equal to the mean stress m in all coordinate systems and the principal spherical stress
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.14a SPHERICAL, DEVIATORIC, OCTAHEDRAL, VON MISES & TRESCA STRESSES PAGE 2/7
directions are arbitrary.
c. Since the spherical stress pij m ij is an isotropic stress tensor. That is, its components are the
same in all coordinate systems and principal directions are arbitrary. Thus, the principal directions
of the deviatoric stress tensor sij ij pij ij mij are the same as those of the stress tensor ij
itself.
fundamental deviatoric stress invariants
Def: 1st deviatoric stress invariant:
J1 sx s y sz x m y m z m x y z 3 m
From Eq (1.14-S1) J1 0 (1.14-S7a)
Def: 2nd deviatoric stress invariant:
z x 6 xy2 yz2 zx2
1 2 2
J2
2
6 x y y z
(1.14-S7b)
1 1
1 2 2 3 3 1 I12 I 2
2 2 2
6 3
2 3 1
Def: 3rd deviatoric stress invariant: J 3 1 m 2 m 3 m I1 I1 I 2 I3 (1.14-S7c)
27 3
(a) (b)
FIGURE 1.24 (a) An octahedron containing 8 octahedral stress planes;
(b) On an octahedral plane: l m n i.e., cos1 54.74 .
Octahedral Stresses
Def: principal stress space: A 3-D stress space (Note: not a physical space) with the three principal stresses
1 , 2 , 3 (that is, their principal directions: n̂1 , n̂ 2 , n̂3 ) as the coordinate axes.
Def: In the principal stress space, a plane whose normal vector makes equal angles with each of the principal
1
axes (i.e. having direction cosines equal to cos 54.74 ) is called an octahedral stress plane. There
3
are a total of eight octahedral stress planes, as shown in Fig 1.24. The shear and normal components of
the stress tensor on these planes are called octahedral shear stress oct and octahedral normal stress
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.14a SPHERICAL, DEVIATORIC, OCTAHEDRAL, VON MISES & TRESCA STRESSES PAGE 3/7
oct , respectively:
1 2
oct 1 2 2 3 3 1 J 2
2 2 2
3 3
(1.43 & 44)
1 2 3 I1
oct 3 3
m
Von Mises & Tresca Stresses
Def: von Mises (or effective or equivalent) stress:
1
y y z z x 6 xy yx yz zy zx xz
2 2
vM
2
x
2
(1.14-S8)
1 3
1 2 2 3 3 1 oct 3J 2
2 2 2
2 2
Def: Tresca stress: Tr 2 max max 1 2 , 2 3 , 3 1 (1.14-S9)
vM
Notes: a. It can be proven that: Tr (1.14-S10)
max oct
b. vM (or equivalently, oct and J 2 ) and Tr (or equivalently, max ) play significant roles in Failure
by Yielding (Ch 4).
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.14a SPHERICAL, DEVIATORIC, OCTAHEDRAL, VON MISES & TRESCA STRESSES PAGE 4/7
Example 1.6 Three-Dimensional Stress in a Hub (Lecture)
A steel shaft is to be force fitted into a fixed-ended cast-iron hub. The shaft is subjected to a bending moment
M, a torque T, and a vertical force P. Suppose that at a point Q in the hub, the stress field is, as shown below,
represented by the matrix:
x xy xz 19 4.7 6.45
ij yx y yz 4.7 4.6 11.8 MPa
zx zy z 6.45 11.8 8.3
a. Determine the principal stresses 1 , 2 , 3 and their corresponding principal directions nˆ 1 , nˆ 2 , nˆ 3 .
b. Prove eigendecomposition and diagonalization numerically by performing the matrix multiplication:
nˆ 1 nˆ 2 nˆ 3 nˆ 1 nˆ 2 nˆ 3 .
T
c. Obtain the associated spherical and deviatoric stress tensors.
d. Find the invariants of the original, spherical and deviatoric stress tensors, respectively.
e. Find the maximum shear, von Mises, Tresca and octahedral normal and shear stresses.
f. Plot the 3-D Mohr’s circle and indicate the locations of the principal stresses 1 , 2 , 3 and the maximum
shear max .
FIGURE 1.20 (a) Hub-shaft assembly. (b) Element in three-dimensional stress.
Solution
a. Principal stresses and directions.
For the stated stress tensor, the stress tensor eigenvalue problem, Eq (1.13-A1), becomes:
x xy xz l 19 4.7 6.45 l l
yx y yz m 4.7 4.6 11.8 m p m
zx zy z n
n 6.45 11.8 8.3 n
The eigenvalues (i.e., principal stresses) and the corresponding eigenvectors (i.e., principal directions) can be
obtained using the Matlab command: eig. The results are:
1 11.6178 l1 l2 l3 0.0266 0.6209 0.7834
nˆ m1 m2 m3 0.8638 0.3802 0.3306
1 2 3
2 9.0015 MPa & nˆ nˆ (a1)
25.3163 n1 n2 n3 0.5031 0.6855 0.5262
3
Verification. Substituting the above direction-cosine matrix into the stress tensor eigenvalue problem,
Eq (1.31), the following relations should be satisfied.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.14a SPHERICAL, DEVIATORIC, OCTAHEDRAL, VON MISES & TRESCA STRESSES PAGE 5/7
19 11.6178 l1 4.7m1 6.45n1 0
For 1 11.6178 MPa : 4.7l1 4.6 11.6178 m1 11.8n1 0
6.45l 11.8m 8.3 11.6178 n 0
1 1 1
nˆ 1 l1iˆ m1 ˆj n1kˆ 0.0266iˆ 0.8638ˆj 0.5031kˆ Note: l12 m12 n12 0 (a2)
19 9.0015 l2 4.7m2 6.45n2 0
For 2 9.0015 MPa : 4.7l2 4.6 9.0015 m2 11.8n2 0
6.45l 11.8m 8.3 9.0015 n 0
2 2 2
nˆ 2 l2 iˆ m2 ˆj n2 kˆ 0.6209iˆ 0.3802ˆj 0.6855kˆ Note: l22 m22 n22 0 (a3)
19 25.3163 l3 4.7m3 6.45n3 0
For 3 25.3163 MPa : 4.7l3 4.6 25.3163 m3 11.8n3 0
6.45l 11.8m 8.3 25.3163 n 0
3 3 3
nˆ 3 l3iˆ m3 ˆj n3kˆ 0.7834iˆ 0.3306ˆj 0.5262kˆ Note: l32 m32 n32 0 (a4)
b. Eigendecomposition and diagonalization.
0.0266 0.8638 0.5031 19 4.7 6.45 0.0266 0.6209 0.7834
nˆ 1
nˆ 2
nˆ nˆ 1
3 T
nˆ 2
nˆ 0.6209 0.3802 0.6855 4.7 4.6 11.8 0.8638 0.3802 0.3306
3
0.7834 0.3306 0.5262 6.45 11.8 8.3 0.5031 0.6855 0.5262
11.6178 0 0 1 0 0
nˆ 1 2
nˆ nˆ
3 T 1 2 3
nˆ nˆ nˆ 0 9.0015 0 MPa 0 2 0 (b1)
0 0 25.3163 0 0 3
c. Spherical and deviatoric stress tensors.
From Eq (1.14-S2), we have:
19 4.6 8.3 x y z
mean (or average or hydrostatic) stress: m 7.5667 MPa (c1)
3 3
The spherical stress tensor can be obtained using Eq (1.14-S2):
m 0 0 7.5667 0 0
pij 0 m 0 0 7.5667 0 MPa (c2)
0 0 m 0 0 7.5667
The deviatoric stress tensor can be obtained using Eq (1.14-S5):
x m xy xz 11.4333 4.7 6.45
sij yx y m yz 4.7 12.1667 11.8 MPa (c3)
zx zy z m 6.45 11.8 0.7333
d. Invariants.
The invariants of the stress tensor can be obtained from Eqs (1.34a,b,c):
I1 1 2 3 22.7 MPa (d1)
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.14a SPHERICAL, DEVIATORIC, OCTAHEDRAL, VON MISES & TRESCA STRESSES PAGE 6/7
I 2 1 2 2 3 3 1 170.8 MPa
2
(d2)
I3 1 2 3 2, 647.5 MPa
3
(d3)
The invariants of the spherical stress tensor can be obtained from Eqs (1.14-S4a,b,c):
I1 I1 22.7 MPa (d4)
I12
I2 171.7633 MPa
2
(d5)
3
I13
I3 433.2253 MPa
3
(d6)
27
The invariants of the deviatoric stress tensor can be obtained from Eqs (1.14-S7a,b,c):
J1 0 (d7)
1
J2 1 2 2 3 3 1 342.5758 MPa
2 2 2 2
(d8)
6
J 3 1 m 2 m 3 m 488.5897 MPa
3
(d9)
e. Maximum shear, von Mises, Tresca & octahedral stresses.
The maximum shear stress can be obtained from Eq (1.13-A2):
1 2 2 3 3 1
max max , , 18.467 MPa (e1)
2 2 2
The octahedral stresses can be obtained from Eqs (1.43 & 44):
2
octahedral shear stress: oct J 2 15.1124 MPa
3 (e2)
octahedral normal stress: 7.5667 MPa
oct m
The von Mises (or effective or equivalent) stress can be obtained from Eq (1.14-S8):
3
vM oct 32.0582 MPa (e3)
2
The Tresca stress can be obtained from Eq (1.14-S8):
Tr 2 max 36.9341MPa (e4)
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.14a SPHERICAL, DEVIATORIC, OCTAHEDRAL, VON MISES & TRESCA STRESSES PAGE 7/7
f. 3-D Mohr’s circles.
max=1.8.467 MPa
3=23.3163 MPa 2=9.0015 MPa 1=11.6178 MPa
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.15 MOHR’S CIRCLES IN THREE DIMENSIONS PAGE 1/3
1.15 MOHR’S CIRCLES IN THREE DIMENSIONS (Option)
FIGURE 1.25 Triaxial state of stress: (a) wedge; (b) planes of maximum shear stress.
FIGURE 1.26 (a–c) Views of elements in triaxial stresses on different principal axes;
(d) Mohr’s circles for three-dimensional stress.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.15 MOHR’S CIRCLES IN THREE DIMENSIONS PAGE 2/3
Equations of Three Mohr’s Circles for Stress:
direction cosines: l 2 m2 n2 1
normal traction: 1l 2 2 m2 3n2 (a)
shear traction: l m n l m 1 2 m n 2 3 l n 3 1
2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2
1 2 3
2 2 2 3
l 0
1 2 1 3
2 3 1
Solve Eq (a) m 2 0 (Note: typos in textbook) (1.46)
2 3 2 1
2 1 2
n 2 0
3 1 3 2
Without loss in generality, assume 1 2 3 , we have:
2 2 3 0
Mohr’s circles of stresses: 2 3 1 0 (Note: typos in textbook) (b)
2 0
1 2
2 1 2 2 1 2
2 2 3 23 max 4 2 3
2 12 1 3 13 max 14 1 3
2 2 2
(Note: typos in textbook) (1.47)
2
12 1 2 12 max 14 1 2
2 2 2
1 3
absolute maximum shearing stress: max a 13 max (1.45)
2
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 1.15 MOHR’S CIRCLES IN THREE DIMENSIONS PAGE 3/3
EXAMPLE 1.8 Analysis of Three-Dimensional Stresses in a Member
The state of stress on an element of a structure is illustrated in Fig. 1.27a. Using Mohr’s circle, determine
a. the principal stresses,
b. the maximum shearing stresses; Show results on a properly oriented element; Also,
c. apply the equations developed in Sec 1.14 to calculate the octahedral stresses.
FIGURE 1.27 Example 1.8. (a) Element in three-dimensional stress;
(b) Mohr’s circles of stress; (c) stress element for p 26.56 .
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 1 – ANALYSIS OF STRESS
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.2 DEFORMATION PAGE 1/2
CHAPTER 2: STRAIN & MATERIAL PROPERTIES
2.2 Deformation (Lecture)
FIGURE 2.1 Two-dimensional deformation: planar displacement and strain in a body.
Displacement Gradient Tensor (Option)
FIGURE 2.2-A1 General deformation between two neighboring points
As shown in figure above, the displacement vectors representing the movements of points Po and P in the
undeformed state to points Po and P are u o and u , respectively. From vector algebra, we have:
Po P Po Po PoP Po P PP or uo + r r + u
relative position vector: r r r u uo (2.2-A1)
Since P and Po are neighboring points, we can use a Taylor series expansion around point Po to express the
components of u as:
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.2 DEFORMATION PAGE 2/2
u u u
u u x rx y ry z rz
o
v v v
v v rx ry rz
o
(2.2-A2)
x y z
w w w
w w rx ry
o
rz
x y z
where u, v, w and rx , ry , rz are the Cartesian components of the displacement and position vectors, u and
r , respectively. Hence, Eq (2.2-A1) becomes:
u u u
rx rx rx u u x rx y ry z rz
o
v v v
in scalar- component notation: ry ry ry v v o rx ry rz
x y z
(2.2-A3)
w w w
rz rz rz w w rx ry
o
rz
x y z
or in tensor-index notation: ri ui , j rj
or in vector-matrix notation: r u r
u u u
x y z
v v v
u
z
Here, the displacement gradient tensor: ui , j (2.2-A4)
x y
w w w
x y z
Notes: a. The higher-order terms of the Taylor series expansion have been dropped since the components of
u and r are small. This approximation is only good for the so-called Small Displacement (or
Deformation or Strain) Theory (or Infinitesimal Elasticity Theory). On the contrary, if u is large,
Large Displacement (or Deformation) or Finite Strain Theory, which is also called Finite Elasticity
Theory, should be used instead.
b. Principle of Superposition. The small displacement assumption leads to one of the basic
fundamentals of solid mechanics, called the principle of superposition. This principle is valid
whenever the quantity (stress or displacement) to be determined is a linear function of the loads
that produce it. For the foregoing condition to exist, the material must also be linearly elastic (see
Sec 2.9). In such situations, the total quantity owing to the combined loads acting simultaneously
on a member may be obtained by determining separately the quantity attributable to each load and
combining the individual results. Clearly, superposition cannot be applied to (post-yielding) plastic
deformations. The main motivation for superposition is the replacement of a complex load
configuration by two or more simpler loads.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.3 STRAIN DEFINED PAGE 1/3
2.3 STRAIN DEFINED (Lecture)
FIGURE 2.2 Normal strain in a prismatic bar: (a) undeformed state; (b) deformed state.
L L0
(1-D) uniaxial (normal) strain: 0 (2.2)
L0 L0
u du
1-D normal strain: x lim (2.1)
x 0 x dx
Plane (2-D) Strains
FIGURE 2.3 Strain components x , y and xy in the x-y plane.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.3 STRAIN DEFINED PAGE 2/3
FIGURE 2.4 Deformations of an element: (a) normal strain; (b) shearing strain.
u
dx u dx u dx
x AB AB x
AB dx
From Fig 2.4a, normal strains:
v
dy v dy v dy
AD AD y
y
AD dy
v u
dx dy
x y
From Fig 2.4b, (engineering) shearing strain: xy x y
dx dy
u
x x
normal strains:
2-D (in-plane) y v (2.3)
y
u v
engineering shearing strain: xy
y x
Three-Dimensional Strains
x 1
2 xy 1
2 xz
strain tensor: ij 12 yx y 1
2 yz ~2
nd
-rank tensor (2.7)
12 zx 2 zy
1
z
in scalar-component notation:
u v w
x x y
y
z
z
engineering strains: (2.4)
v u yz
w v
u w
zx
xy
x y y z z x
1 u u 1
in tensor-index notation: ij i j ui , j u j ,i ij ji ~ symmetric (2.5)
2 x j xi 2
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.3 STRAIN DEFINED PAGE 3/3
1
u u
T
in vector-matrix notation: (2.3-A1)
2
Notes: a. The strain-displacement relations, e.g., (2.4 & 2.5) are also called the kinematic relations.
b. The strain components defined above are based on the Small Deformation Theory (or Infinitesimal
Elasticity Theory); that is, the displacement vector u is infinitesimally small. When u is large, the
Large Deformation Theory (or Finite Elasticity Theory) should be used. In that case, there are four
strain measures:
L L0 L original or initial length
Def: engineering strain: E where 0
L0 L instantaneous or current length
L dL
Def: true (or natural or logarithmic) strain: L ln L ln L0
L0 L
L2 L20
Def: Green-Lagrangian strain: G based on the Lagrangian (material) description
2 L20
L2 L20
Def: Almansi-Euler strain: A based on the Euler (spatial) description
2 L2
L
For small deformation, i.e., L L L0 L0 or L , we have: E L G A
L0
Example 2.1 Plane Strains in a Plate (Self-Study)
A 0.8m0.6m rectangle ABCD is drawn on a thin plate prior to loading. Subsequent to loading, the deformed
geometry is shown by the dashed lines in Fig 2.5. Determine the components of plane strain at point A.
FIGURE 2.5 Deformation of a thin plate.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.4 SAINT-VENANT STRAIN COMPATIBILITY PAGE 1/3
2.4 SAINT-VENANT STRAIN COMPATIBILITY (Lecture)
6 kinematic (strain-displacement) relations:
u v w
x y z
x y z
(2.4)
v u w v u w
xy yx
x y
yz zy
y z
zx xz
z x
1 ui u j 1
or ij ui , j u j ,i , where i, j x, y, z (2.5)
2 x j xi 2
displacement field : ui 3
differentiation
strain field : ij 6
continuous, single-valued continuous, single-valued
implies strain field : 6
integration
displacement field : ui 3
ij
continuous, single-valued may not be
continuous, single-valued
Def: strain compatibility (or continuity or integrability) equations: The additional relations that the strain
tensor ij , which has 6 components, must satisfy to ensure a continuous, single-valued displacement
field ui , which has only 3 components.
Figure 2.4-A1 Physical interpretation of strain compatibility.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.4 SAINT-VENANT STRAIN COMPATIBILITY PAGE 2/3
1
Integrate Eq (2.5) twice w.r.t. xk , and xl ij ,kl
2
ui, jkl u j ,ikl
kl ,ij 2 u k , lij ul ,kij
1
Through simple interchange of subscripts ik , jl ui ,kjl uk ,ijl
1
2
jl ,ik 2 u j ,lik ul , jik
1
Assume the displacement field ui is continuous; then the order of differentiation on ui is immaterial. That is:
ui , jkl ui ,kjl , u j ,ikl u j ,lik , uk , lij uk ,ijl , ul ,kij ul , jik Saint-Venant strain compatibility equations:
tensor-index notation: ij ,kl kl ,ij ik , jl jl ,ik 0
(2.4-A1)
vector-matrix notation: ε 0
Although (2.4-A1) would lead to 81 individual equations, most are either identities or repetitions, and only 6
are meaningful:
2 x 2 y 2 xy 2 x
2 2 2 yz xz xy
y x xy yz x x y z
2
2 z yz 2 y
2
2
y
2 xz xy yz (2.12)
z y 2 yz zx y y z x
2 2
2z 2x xz 2 z
2
2 xy yz xz
x z zx xy z z x y
Furthermore, these 6 equations are not independent. Only 3 of them are independent:
4 x 3 yz xz xy
2
y 2
z 2
x y z x y z
4 3 xz xy yz
2 y
(2.4-A2)
z 2
x 2
x y z y z x
4 3 xy yz xz
2 z
x 2y 2 xyz z x y
For 2-D cases, the 6 compatibility equations reduce to 1:
2 x y xy
2 2
(2.11)
y 2 x 2 xy
Finally, the compatibility equations (2.12) are necessary and sufficient conditions that the strain components
ij give continuous, single-valued displacements ui for a simply-connected domain. For a multiply-connected
domain, however, these conditions are necessary but generally not sufficient.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.4 SAINT-VENANT STRAIN COMPATIBILITY PAGE 3/3
Figure 2.4-A2 Continuity of displacements.
Figure 2.4-A3 Examples of domain connectivity.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.5 STATE OF STRAIN AT A POINT PAGE 1/9
2.5 STATE OF STRAIN AT A POINT (Lecture)
FIGURE 2.2 Normal strain in a prismatic bar: (a) undeformed state; (b) deformed state.
FIGURE 2.3 Strain components x , y and xy in the x-y plane.
FIGURE 2.4 Deformations of an element: (a) normal strain; (b) shearing strain.
Transformation of 2-D Strain:
x y x y xy
x x cos 2
y sin 2
xy sin cos cos 2 sin 2
2 2 2
xy 2 y x sin cos xy cos sin x y sin 2 xy cos 2
2 2
(2.13 & 14)
sin 2 cos 2 sin cos x y x y cos 2 xy sin 2
y x y xy
2 2 2
Note: x y x y constant ~ strain invariant
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.5 STATE OF STRAIN AT A POINT PAGE 2/9
By interchanging symbols: x, y, x, y, , we also get:
x y x y
x x cos y sin xy sin cos cos 2 x y sin 2
2 2
2 2 2
xy 2 x y sin cos xy cos sin x y sin 2 xy cos 2
2 2
(2.5-A1)
sin 2 cos 2 sin cos x y x y cos 2 xy sin 2
y x y xy
2 2 2
Figure 2.5-A1 Two-dimensional orthogonal (or rotational) transformation.
Transformation of 3-D Strain:
x x l12 y m12 z n12 xy l1m1 yz m1n1 xz l1n1
xy 2 x l1l2 y m1m2 z n1n2 xy l1m2 l2 m1 yz m1n2 m2 n1 xz l2 n1 l1n2
xz 2 x l1l3 y m1m3 z n1n3 xy l1m3 l3m1 yz m1n3 m3n1 xz l3n1 l1n3
(2.18)
y x l2 y m2 z n2 xy l2 m2 yz m2 n2 xz l2 n2
2 2 2
l 2 m 2 n 2 l m m n l n
z x 3 y 3 z 3 xy 3 3 yz 3 3 xz 3 3
yz 2 x l2l3 y m2 m3 z n2 n3 xy l2 m3 l3m2 yz m2 n3 m3n2 xz l2 n3 l3n2
Note: Owing to the symmetry of the strain tensor: ij ji , only 6 of the 9 stress components thus developed
are unique.
As shown in Sec. 1.12, the direction cosine components in Table 1.2 can be collected to form:
l11 l12 l13 l1 m1 n1
direction cosine (or orthogonal rotation) matrix: lij l l21 l22 l23 l2 m2 n2 (1.12-A6)
l31 l32 l33 l3 m3 n3
Note: Again, the direction cosine matrix is NOT symmetric: lij l ji
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.5 STATE OF STRAIN AT A POINT PAGE 3/9
The scalar-component form of Eq (2.18) can then be expressed in the short-hand forms:
rs lir l js ij
tensor-index notation: (2.19)
rs lri lsj ij
l l T
or vector-matrix notation: (2.5-A2)
l l
T
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.5 STATE OF STRAIN AT A POINT PAGE 4/9
Example 2.2 Three-Dimensional Strain in a Block (Lecture)
A 2m1.5m1m parallelepiped is deformed by movement of corner point A (2, 1.5, 1) to A′ (1.9985, 1.4988,
1.0009), as shown by the dashed lines in Fig 2.7. During this deformation, point O remains fixed. Calculate the
following quantities at point A:
a. the strain components w.r.t. the x-y-z coordinates;
b. the normal strain in the direction of line AB ; and
c. the normal strain in the direction of line AC and the shearing strain for perpendicular lines AB and AC .
d. Also find the third line AD so that it is perpendicular to both AB and AC . Calculate the normal and shear
strains associated with this direction.
FIGURE 2.7 Deformation of a parallelepiped.
Solution The components of displacement of point A are given by:
u A 1.9985 2 0.0015 m 1.5 mm
vA 1.4988 1.5 0.0012 m 1.2 mm (d)
w 1.0009 1 0.0009 m 0.9 mm
A
a. Inverse Method (Sec. 3.7): Assume a displacement field:
u x, y, z c1 xyz v x, y, z c2 xyz w x, y, z c3 xyz , where c1 , c2 and c3 are constants. (A.1)
Note: The assumed displacement field satisfies the fixed constraint at the origin, point O.
u 0.0015 1
c1 500μ 2
xyz Pt A 2 1.5 1 m
v 0.0012 1
Eq (d) Eq (A.1), we have: c2 400μ 2 (A.2)
xyz Pt A 2 1.5 1 m
c w
0.0009 1
300μ 2
xyz Pt A 2 1.5 1
3
m
Here μ 106 . Applying Eq (2.4), we have
u v w
x x c1 yz y c2 xz
y
z
z
c3 xy
(f)
v u c yz c xz w v c xz c xy u w c xy c yz
x y y z z x
xy 2 1 yz 3 2 xz 1 3
By introducing Eq (f) into Eq (2.12), we have
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.5 STATE OF STRAIN AT A POINT PAGE 5/9
2 2 y 2 xy 2 x yz xz xy
2x 2 2 x 2 xz 2 xy
yz x x z 2 2c1
y x xy y
2
yz xy xz
2 y 2 z 2 yz 2 y yz xz xy 2 2 yz 2 xy
2 2 2
y
2c2
z y 2 yz xz y x y z xz xy yz
2 2 2 yz 2 xz
z x xz 2 z yz xz xy 2
2 2 2
z
2c3
x 2 z 2
xz xy z x y z
x y x z y z
Saint-Venant’s compatibility conditions are satisfied; thus, the strain field obtained is therefore possible.
The strain components can be calculated as follows
x c1 yz 500μ 1.5 1 750με xy c2 yz c1 xz 400μ 1.5 1 500μ 2 1 1600με
y c2 xz 400μ 2 1 800με yz c3 xz c2 xy 300μ 2 1 400μ 2 1.5 600με
c xy 300μ 2 1.5 900με xz c1 xy c3 yz 500μ 2 1.5 300μ 1.5 1 1050με
z 3
Note: The strain unit “” is dimensionless.
The approach above allows the calculations of the full displacement and strain fields. However, since the
displacement at point A is known, the calculations can be simplified to find its strains alternatively
u u 1.5 mm v u v u 1.2 mm 1.5 mm
x , A A 750με xy , A A A 1600με
x Pt A x 2 m x y Pt A
x y 2 m 1.5 m
v v 1.2 mm w v w v 0.9 mm 1.2 mm
y , A A 800με yz , A A A 600με
y Pt A y 1.5 m y z Pt A y z 1.5 m 1.0 m
w w
A
0.9 mm
900με
u w
xz , A A A
u w 1.5 mm 0.9 mm
1050με
z, A
z z 1 m z x z x 1 m 2 m
Pt A Pt A
which are identical to the results obtained by the full-field approach.
b. Let x′-axis be placed along the line AB a iˆ b ˆj c kˆ 2iˆ 1.5 ˆj 0kˆ
x x x
AB ax2 bx2 cx2 2 1.5 0 2.5 m . From Sec 1.12, the direction cosines of AB are:
2 2 2
l1 cos x, x ax 2 0.8
AB 2.5
bx 1.5
m1 cos x, y 0.6 (B.1)
AB 2.5
n cos x, z cx 0 0
1 AB 2.5
Applying Eq (2.18a), we thus have:
x xl12 y m12 z n12 xy l1m1 yz m1 n1 xz l1 n1
750 0.8 800 0.6 1600 0.8 0.6 1536με
2 2
ME 54100: ADVANCED STRESS ANALYSIS
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ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.5 STATE OF STRAIN AT A POINT PAGE 6/9
c. Let the y′-axis be placed along the line AC ay iˆ by ˆj cy kˆ 0iˆ 0 ˆj 1kˆ
AC a y2 by2 c y2 0 0 1 1 m and the direction cosines of AC are:
2 2 2
a y 0 by 0 c y 1
l2 cos y, x 0 m2 cos y, y 0 n2 cos y, z 1 (C.1)
AC 1 AC 1 AC 1
Applying Eqs (2.18d,b), we have:
y x l22 y m22 z n22 xy l2 m2 yz m2 n2 xz l2 n2 900 0.1 900με
2
xy 2 xl1 l2 y m1 m2 z n1 n2 xy l1 m2 l2 m1 yz m1n2 m2 n1 xz l2 n1 l1n2
600 0.6 1 1050 0.8 1 1200με
Note: Since AB AC ax ay bxby cxcy 2 0 1.5 0 0 1 0 AB AC
Question: Why y z ?
d. Let the z′-axis be placed along the line AD az iˆ bz ˆj cz kˆ . Since AB AD & AC AD , we have
az 1.5
AB AD ax az bxbz cxcz 2az 1.5bz 0
bz 2 choose AD 1.5iˆ 2 ˆj 0kˆ
AC AD a y az bybz c ycz cz 0
c 0
z
AD az2 bz2 cz2 1.5 2 0 2.5 m and the direction cosines of AD are:
2 2 2
l3 cos z , x az 1.5 0.6
AD 2.5
bz 2
m3 cos z , y 0.8 (D.1)
AD 2.5
n cos z , z cz 0 0
3 AD 2.5
Applying Eqs (2.18e,f,c), we have:
z xl32 y m32 z n32 xy l3m3 yz m3 n3 xz l3 n3
750 0.6 800 0.8 1050 0.6 0.8 278με
2 2
yz 2 x l2 l3 y m2 m3 z n2 n3 xy l2 m3 l3 m2 yz m2 n3 m3n2 xz l2 n3 l3n2
600 0.8 1 1050 0.6 1 150με
xz 2 xl1l3 y m1m3 z n1 n3 xy l1m3 l3m1 yz m1 n3 m3 n1 xz l3 n1 l1 n3
2 750 0.8 0.6 800 0.6 0.8 1600 0.8 0.8 0.6 0.6 496με
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.5 STATE OF STRAIN AT A POINT PAGE 7/9
Example 2.3 State of Plane Strain in a Plate (Self-Study)
The state of strain at a point on a thin plate is given by x 510με , y 120με and xy 260με . Using Mohr’s
circle of strain to determine:
a. the state of strain associated with axes x′, y′, which make an angle θ 30° with the axes x, y (Fig 2.8a);
b. the principal strains and directions of the principal axes; and
c. the maximum shear strains and associated normal strains; and
d. display the given data and the results obtained on properly oriented elements of unit dimensions.
FIGURE 2.8 (a) Axes rotated for θ 30°; (b) Mohr’s circle of strain.
FIGURE 2.9 (a) Element with edges of unit lengths in plane strain; (b) element at θ 30°;
(c) principal strains; and (d) maximum shearing strains.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.5 STATE OF STRAIN AT A POINT PAGE 8/9
EXAMPLE: KINEMATIC (u-) RELATIONS
BIAXIAL NORMAL STRAINS
A proposed strain field for a two-dimensional elasticity problem of a rectangular panel stretched by uniform
edge loadings is:
xy A 0
ij x
xy y 0 B
where A and B are constants. Assume the problem depends only on x and y.
a. Verify if the strain field is compatible.
b. Integrate the 2-D strain-displacement relations, Eq (2.3), to determine the displacement components u and v.
c. Identify all rigid-body (RB) motion terms: u0 , v0 , z , which are the RB translations along the x- and
y-directions and the RB rotation about the z-axis, respectively.
d. If the panel is restrained so that there is no RB motion, represent graphically the deformed and undeformed
shapes of the panel.
Sol:
2 x y xy 2 A 2 B 2 0
2 2
a. 2-D compatibility condition, Eq (2.11): satisfied
y 2 x 2 xy y 2 x 2 xy
u
x A
integrate
u x, y Ax u1 y
x
v
b. Eq (2.3): y B
integrate
v x, y By v1 x (b1)
y
u v
xy 0
y x
du y dv1 x
Substitute Eqs (b1-1 & 2) into Eq (b1-3) Ax u1 y By v1 x 0 1 0
y x dy dx
du1 y dv1 x
a constant (b2)
dy dx
u y ay b
Integrate Eq (b2) 1 (b3)
v1 x ax c
u x, y Ax ay b
Combine Eqs (b1-1,2 & b3) 2-D displacement field: (b4)
v x, y By ax c
c. Physically, the integration constants a, b, c represent the rigid-body motion: z , u0 , v0 . Thus,
u x, y Ax z y u0
(c1)
v x, y By z x v0
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.5 STATE OF STRAIN AT A POINT PAGE 9/9
d. Assume a panel of unit size (11), if the panel is restrained at the center so that there is no RB motion, i.e.,
u x, y Ax
u0 v0 z 0 , then and the deformed and undeformed shapes are represented graphically
v x, y By
below, where Poisson’s ratio. These figures illustrate the possibilities of generating the same strain tensor
by uniaxial or biaxial tension.
Vertical Uniaxial Tension Biaxial Tension Horizontal Uniaxial Tension
A B B A
A
B
A B A
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.9 HOOKE’S LAW AND POISSON’S RATIO PAGE 1/3
2.9 HOOKE’S LAW AND POISSON’S RATIO (Lecture)
Hooke’s law: x E x , where E Young’s modulus or modulus of elasticity (2.26)
Hooke’s law in shear: xy G xy , where G shear modulus or modulus of rigidity (2.27)
lateral strain y z
Poisson’s ratio: or (2.28)
axial strain x x
E
Note: G (2.35)
2 1
FIGURE 2.15 Lateral contraction of an element in tension.
Volume Change
original volume: V0 dx dy dz
final volume: V f 1 x dx 1 y dy 1 z dz 1 x dx 1 x dy 1 x dz
V f 1 x 1 x 1 x V0 1 1 2 x 2 x2 2 x3 V0
ignore the higher order terms: x2 and x3 V f 1 1 2 x V0
volume change: V V f V0 1 1 2 x V0 V0 1 2 xV0
dilatation or dilation (unit volume change): e
V
1 2 x
1 2 x
x (2.29)
V0 E 3K
E
where K bulk modulus of elasticity. Note: K (2.39)
3 1 2
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.9 HOOKE’S LAW AND POISSON’S RATIO PAGE 2/3
Example 2.2 Deformation of a Tension Bar (Self-Study)
An aluminum alloy bar of circular cross-sectional area A and length L is subjected to an axial tensile force P
(Fig 2.16). The modulus of elasticity and Poisson’s ratio of the material are E and v, respectively. Determine for
the bar:
a. the axial deformation ;
b. the change in diameter d;
c. the change in volume ΔV;
d. the strain energy stored in the bar after tension U (see Sec 2.14). Also
e. evaluate the numerical values of the quantities obtained in (a) through (d) for the case in which P 60 kN,
d 25 mm, L 3 m, E 70 GPa and 0.3.
FIGURE 2.16 A bar under tensile forces.
P 4P
axial stress: A d 2
Solution Hooke's law: E
axial strain:
L
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.9 HOOKE’S LAW AND POISSON’S RATIO PAGE 3/3
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.10 GENERALIZED HOOKE’S LAW-LINEAR ELASTIC MATERIALS
PAGE 1/10
SECTION 2.11 HOOKE’S LAW FOR ORTHOTROPIC MATERIALS
2.10 GENERALIZED HOOKE’S LAW-LINEAR ELASTIC MATERIALS (Lecture)
2.11 HOOKE’S LAW FOR ORTHOTROPIC MATERIALS (Lecture)
Theorem: Neumann principle: Symmetry in material microgeometry corresponds to identical symmetry in
the constitutive response.
FIGURE 2.10-A1 Material microstructures.
Generalized Hooke’s Law for Linearly-Elastic Materials Under Isothermal Condition
ij cmnij mn
tensor-index notation: (2.33)
ij smnij mn
cmnij 4th - order elasticity tensor
where
smnij 4th - order compliance tensor
Since 9 stress components & 9 strain components 81 elasticity (or compliance) constants
cmnij cnmij cmnji cnmji
Because ij ji & mn mn (i.e., symmetric)
smnij snmij smnji snmji
36 elasticity (or compliance) constants
U 0 ij
strain energy density: ij ij
U 0 ij d ij ij
0
Def: (2.54)
U 0 ij
ij
complementary energy density: U 0 ij d ij
0
ij
ij
linearly elastic U 0 U 0 ij ij x x y y z z xy xy yz yz zx zx
1 1
(2.51)
2 2
cmnij cijmn
21 elasticity (or compliance) constants (2.10-A1)
smnij sijmn
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.10 GENERALIZED HOOKE’S LAW-LINEAR ELASTIC MATERIALS
PAGE 2/10
SECTION 2.11 HOOKE’S LAW FOR ORTHOTROPIC MATERIALS
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.10 GENERALIZED HOOKE’S LAW-LINEAR ELASTIC MATERIALS
PAGE 3/10
SECTION 2.11 HOOKE’S LAW FOR ORTHOTROPIC MATERIALS
x c11 c12 c13 c14 c15 c16 x
c c22 c23 c24 c25 c26 y
y 12
c c23 c33 c34 c35 c36 z
scalar-component notation: z 13 (2.32)
xy c14 c24 c34 c44 c45 c46 xy
yz c15 c25 c35 c45 c55 c56 yz
xz c16 c26 c36 c46 c56 c66 xz
x s11 s12 s13 s14 s15 s16 x
s s22 s23 s24 s25 s26 y
y 12
s s23 s33 s34 s35 s36 z
or z 13
xy s14 s24 s34 s44 s45 s46 xy (2.10-A2)
yz s15 s25 s35 s45 s55 s56 yz
xz s16 s26 s36 s46 s56 s66 xz
i cij j c
in tensor-index/vector-matrix notations: or ~ Voigt contraction (2.10-A3)
i sij j
s
Notes: a. s c
1
cij c ji
b. ~ symmetric (2.56)
sij s ji
c. The material is also called triclinic (or general anisotropic).
Monoclinic Material (Single Plane of Symmetry): 13 elasticity (or compliance) constants
Figure 2.10-A2 Plane of symmetry for a monoclinic material.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.10 GENERALIZED HOOKE’S LAW-LINEAR ELASTIC MATERIALS
PAGE 4/10
SECTION 2.11 HOOKE’S LAW FOR ORTHOTROPIC MATERIALS
x c11 c12 c13 0 0 c16 x
c c22 c23 0 0 c26 y
y 12
z c13 c23 c33 0 0 c36 z
(2.10-A4)
xy 0 0 0 c44 c45 0 xy
yz 0 0 0 c45 c55 0 yz
xz c16 c26 c36 0 0 c66 xz
Orthotropic (or Orthorhomic) Material (3-Perpendicular Planes of Symmetry):
9 elasticity (or compliance) constants
Figure 2.10-A3 Three planes of symmetry for an orthotropic material.
x c11 c12 c13 0 0 0 x
c c22 c23 0 0 0 y
y 12
z c13 c23 c33 0 0 0 z
(2.40 & 41)
xy 0 0 0 c44 0 0 xy
yz 0 0 0 0 c55 0 yz
xz 0 0 0 0 0 c66 xz
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.10 GENERALIZED HOOKE’S LAW-LINEAR ELASTIC MATERIALS
PAGE 5/10
SECTION 2.11 HOOKE’S LAW FOR ORTHOTROPIC MATERIALS
1 yx zx
0 0 0
Ex Ey Ez
xy 1 zy
0 0 0
x s11 s12 s13 0 0 0 x Ex Ey Ez x
s s22 s23 0 0 0 y xz yz
y 12 0
1
y
0 0
s s23 s33 0 0 0 z Ex Ey Ez z
or z 13 (2.42)
xy 0 0 0 s44 0 0 xy 1 xy
0 0 0 0 0
yz 0 0 0 0 s55 0 yz Gxy yz
xz 0 0 0 0 0 s66 xz 1 xz
0 0 0 0 0
G yz
1
0 0 0 0 0
Gxz
ij ji xy yx yz zy xz zx
Due to symmetry of the matrix s or , , (2.43)
Ei Ej Ex Ey Ey Ez Ex Ez
Notes: a. Eq (2.42) in textbook contains typos.
b. In the above,
Ex , Ey , Ez orthotropic moduli of elasticity in the three directions of material symmetry
Gxy , Gyz , Gxz shear moduli in the three orthogonal planes of material symmetry
j
ij where i , j x, y , z , i j Poisson’s ratios between i, j directions (2.10-A5)
i
c. For isotropic materials, Poisson’s ratio is limited to 1 0.5 to ensure Young’s, shear and bulk
moduli E, G, K are all positive. For anisotropic materials, that constraint, however, does not
apply. Instead, in order to preserve the ve-definiteness of strain energy density, the Poisson’s
ratios need to satisfy the following relations:
1 xy yx 0
1 xz zx 0 (2.10-A6)
1 0
yz zy
and 1 xy yx yz zy zx xz 2 yx zy xz 0 (2.10-A7)
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.10 GENERALIZED HOOKE’S LAW-LINEAR ELASTIC MATERIALS
PAGE 6/10
SECTION 2.11 HOOKE’S LAW FOR ORTHOTROPIC MATERIALS
Non-Rectilinear Orthotropic Material:
Circumferentially orthotropic (wood annulus) Spirally orthotropic (filament winding)
Notes: a. Examples of special anisotropic materials: (appear in crystallography, biology, etc.)
b. Extension-shear coupling in triclinc (general anisotropic) and monoclinic material, but not in
orthotropic, transversely isotropic and isotropic materials.
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.10 GENERALIZED HOOKE’S LAW-LINEAR ELASTIC MATERIALS
PAGE 7/10
SECTION 2.11 HOOKE’S LAW FOR ORTHOTROPIC MATERIALS
Mechanical behaviors of various materials under tension or shear
Isotropic Orthotropic Anisotropic
Tension
Shear
Transversely Isotropic (or Hexagonal) Material (Axis of Symmetry)
5 elasticity (or compliance) constants
c c12 c13 0 0 c16
x 11 x
c12 c11 c13 0 0 c26 y
y c c13 c33 0 0 c36
z 13 z
0 0 0 c44 0 0 xy (2.10-A5)
xy
yz 0 0 0 0 c44 0
yz
c11 c12 xz
1
xz 0 0 0 0 0
2
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.10 GENERALIZED HOOKE’S LAW-LINEAR ELASTIC MATERIALS
PAGE 8/10
SECTION 2.11 HOOKE’S LAW FOR ORTHOTROPIC MATERIALS
Figure 2.10-A4 Axis of symmetry for a transversely isotropic material.
Tetragonal, Trigonal & Cubic Materials
Tetragonal Materials
7 elasticity (or compliance) constants 6 elasticity (or compliance) constants
c11 c12 c13 0 0 c16 c11 c12 c13 0 0 0
c c16
12 c11 c13 0 0 c12 c11 c13 0 0 0
c13 c13 c33 0 0 0 c13 c13 c33 0 0 0
cij c 0
cij c 0 0 0 c44 0
0 0 c44 0 0 0
0 0 0 0 c55 0 0 0 0 0 c55 0
c c16 0 0 0
1
c11 c12 0 0 0 0 0
1
c11 c12
16
2 2
Trigonal Material Cubic Material
7 elasticity (or compliance) constants 6 elasticity (or compliance) constants
c11 c12 c13 c14 c25 0
c c11 c12 c12 0 0 0
0
12 c11 c13 c14 c25 0
c12 c11 c12 0 0
c13 c13 c33 0 0 0
c c c 0 0 0
cij c c14 c14 0 c44 0 c cij c 12 12 11
25 0 0 0 c44 0 0
c25 c25
0 0 c55 c14 0 0 0
0 c44 0
0
c11 c12
1
0 0 C25 c14
0 0 0
0 0 c44
2
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.10 GENERALIZED HOOKE’S LAW-LINEAR ELASTIC MATERIALS
PAGE 9/10
SECTION 2.11 HOOKE’S LAW FOR ORTHOTROPIC MATERIALS
Isotropic Material (Complete Symmetry): 2 elasticity (or compliance) constants, E ,
1
E 0 0 0
E E
1
0 x
x E 0 0
x y z xy xy
E E 1
y
y E
x
0
1 G
0 0
z E z 1 yz
or y E y x z yz G
E E
(2.34)
xy 0 0 0
1
0 0 xy
yz
yz
z z x y xz xz
G 1
xz 0 0 0 0
1
0 xz E G
G
1
0 0 0 0 0
G
E
Note: G = shear modulus (2.35)
2 1
x 2G 0 0 0 x
2G 0 0 0 y
y x e 2G x xy G xy
z 2G 0 0 0 z
or y e 2G y yz G yz (2.36)
xy 0 0 0 G 0 0 xy e 2G G
yz 0 0 0 0 G 0 yz z z xz xz
xz 0 0 0 0 0 G xz
change in volume
where dilatation volume strain is defined as
original volume
V 1 2
e
V0
x y z
E
x y z (2.37)
E
1 1 2
and Lamé’s constants: (2.38)
G E
2 1
mean stress p E
Also bulk modulus of elasticity: K m (2.39)
volume strain e e 3 1 2
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.10 GENERALIZED HOOKE’S LAW-LINEAR ELASTIC MATERIALS
PAGE 10/10
SECTION 2.11 HOOKE’S LAW FOR ORTHOTROPIC MATERIALS
Poisson's solid: 0.25 G 0.8E
E
incompressible solid e.g., rubber : 0.5 G K,
Note: 3
E E
solids with zero Poisson's ratio e.g., cork : 0 G K 0
2 3
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.12 MEASUREMENT OF STRAIN: STRAIN ROSETTE PAGE 1/3
2.12 MEASUREMENT OF STRAIN: STRAIN ROSETTE (Lecture)
Figure 2.20 (a) Strain gage (courtesy of Micro-Measurements Division, Vishay Intertechnology, Inc.) and
(b) schematic representation of a strain rosette.
a x cos 2 a y sin 2 a xy sin a cos a
b x cos b y sin b xy sin b cos b
2 2
(2.44)
cos 2 sin 2 sin cos
c x c y c xy c c
Table 2.2 Strain rosette equations
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.12 MEASUREMENT OF STRAIN: STRAIN ROSETTE PAGE 2/3
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.12 MEASUREMENT OF STRAIN: STRAIN ROSETTE PAGE 3/3
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.13 STRAIN ENERGY PAGE 1/2
2.13 STRAIN ENERGY (Lecture)
Strain Energy Density for Normal and Shear Stresses
FIGURE 2.21 (a) Deformation/displacement under uniaxial stress; (b) work done by uniaxial stress or
strain energy stored due to uniaxial deformation.
strain energy stored net work done:
x u x x u x u
dU dW x d u dx dydz x dudydz x d dxdydz x d dV
0
x 0 0
x 0
x
Since x
u
x
x
dU x d x dV
0
dU
Def: strain energy density: strain energy per unit volume: U o
dV
Def: (total) strain energy: U U o dV U o dxdydz
V
(2.58)
dU *
Def: complementary energy density: complementary energy per unit volume: U *
o
dV
Def: (total) complementary energy: U * U o*dV U o*dxdydz
V
U x d
o 0 x x
uniaxial tension: x
Note: U o U o* x x (2.48 & 49)
U o* x d x
0
1 1 1 2
linearly elastic: x E x U o U o* x x E x2 x (2.13-A1)
2 2 2E
U xy d
o 0 xy xy
pure shear: xy
Note: U o U o* xy xy (2.13-A2)
U o* xy d xy
0
1 1 1 2
linearly elastic: xy G xy U o U o* xy xy G xy2 xy (2.13-A3)
2 2 2G
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.13 STRAIN ENERGY PAGE 2/2
FIGURE 2.22 Deformation due to pure shear.
Strain Energy Density for 3-Dimensional Stresses (Linearly-Elastic):
U o U o*
1
2
x x y y z z xy xy yz yz zx zx
1
2E
x2 y2 z2 x y y z x z
E 2G
xy yz2 zx2
1 2
(2.51-53)
e2 2G x2 y2 z2 G xy2 yz2 xz2
1
2
ME 54100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.14 STRAIN ENERGY IN COMMON STRUCTURAL MEMBERS PAGE 1/2
2.14 STRAIN ENERGY IN COMMON STRUCTURAL MEMBERS (Lecture)
Strain Energy for Axially Loaded Bars
P
x constant
A
x2 L P2
linearly-elastic non-prismatic bar: U U o dV dV dx (2.58)
V V 2E 0 2EA
P2 L
prismatic U Note: EA axial rigidity (2.59)
2EA
FIGURE 2.23 Nonprismatic bar with varying axial loading.
Strain Energy of Circular Bars in Torsion
T
constant
J
2 T2
T2
L L
linearly-elastic non-prismatic shaft: U U o dV dV dA dx
2
dx (2.61)
V V 2G 0 2GJ 2 0 2GJ
T 2L
prismatic and constant twisting torque U Note: GJ torsional rigidity (2.62)
2GJ
Strain Energy for Beams in Bending:
Mz y
x constant
Iz
x2 M z2
y dA dx
L
linearly-elastic variable-cross sectional beam U U o dV dV 2
(2.14-A1)
V V 2E 0 2 EI z2
L M z2
constant cross section and constant bending moment U dx (2.63)
0 2 EI z2
Note: EI bending/flexural rigidity
ME 44100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.14 STRAIN ENERGY IN COMMON STRUCTURAL MEMBERS PAGE 2/2
ME 44100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.15 COMPONENTS OF STRAIN ENERGY PAGE 1/2
2.15 COMPONENTS OF STRAIN ENERGY (Lecture)
m 0 0
dilatational (or mean or spherical) stress tensor: pij 0 m 0 (1.14-S2)
0 0 m
x m xy xz
distortional (or deviatoric) stress tensor: sij yx y m yz (1.14-S5)
zx zy z m
total stress = dilatational stress + distortional stress: ij pij sij (1.14-S6)
FIGURE 2.25 Resolution of (a) state of stress into (b) dilatational stresses and (c) distortional stresses.
total strain energy density = dilatational energy density + distortional energy density:
U o U ov U od (2.15-A1)
linearly elastic U o
1
2E
x2 y2 z2
2E
x y y z x z xy yz2 zx2
1 2
2G
(2.52)
then the (elastic) dilatational energy density:
m2 I12 1
1 2 3
1
x y z
2
U ov
2
(2.64)
2 K 18K 18K 18K
and the (elastic) distortional energy density:
3 oct
2
J 1
U od 2 1 2 2 3 3 1
2 2 2
4G 2G 12G
(2.65)
6 xy2 yz2 zx2
1
2 2
2
12G
x y y z z x
Here
m x y z 1
1 I
mean stress: 3 3
octahedral shear stress: 1 2 2 2 6 2 J
oct
3
x y y z z x xy yx yz zy zx xz
3
2
dilatational: change only in volume, not in shape
Note:
distortional: change only in shape, not in volume
ME 44100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
SECTION 2.15 COMPONENTS OF STRAIN ENERGY PAGE 2/2
ME 44100: ADVANCED STRESS ANALYSIS
CHAPTER 2 – STRAIN & MATERIAL PROPERTIES
ME I4200: APPLIED STRESS ANALYSIS
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