MECHANICS OF

9
CHAPTER

MATERIALS
Energy Methods

Prof. Daniel de la Peña Jiménez

RoME | UE STEAM School | 2022/23
Universidad Europea de Madrid

Courtesy: © 2002 The McGraw-Hill Companies, Inc. All rights reserved.

MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Energy Methods
Strain Energy
Strain Energy Density
Elastic Strain Energy for Normal Stresses
Strain Energy For Shearing Stresses
Sample Problem 11.2
Strain Energy for a General State of Stress

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Strain Energy
• A uniform rod is subjected to a slowly increasing load

• The elementary work done by the load P as the rod

elongates by a small dx is
dU P dx elementary work
which is equal to the area of width dx under the load-
deformation diagram.

• The total work done by the load for a deformation x1,

x1
U P dx total work strain energy
0
which results in an increase of strain energy in the rod.

• In the case of a linear elastic deformation,

x1
U kx dx 1 kx 2 1Px
2 1 2 1 1
0
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MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Strain Energy Density

• To eliminate the effects of size, evaluate the strain-
energy per unit volume,
x1
U P dx
V A L
0
1
u x d strain energy density
0

• The total strain energy density resulting from the

deformation is equal to the area under the curve to 1.

• As the material is unloaded, the stress returns to zero

but there is a permanent deformation. Only the strain
energy represented by the triangular area is recovered.

• Remainder of the energy spent in deforming the material

is dissipated as heat.
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MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Strain-Energy Density
• The strain energy density resulting from
setting 1 R is the modulus of toughness.

• The energy per unit volume required to cause

the material to rupture is related to its ductility
as well as its ultimate strength.

• If the stress remains within the proportional

limit,
1
E 12 2
1
u E x d x
0
2 2E

• The strain energy density resulting from

setting 1 Y is the modulus of resilience.
2
uY Y modulus of resilience
2E

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Elastic Strain Energy for Normal Stresses

Axial Loading • In an element with a nonuniform stress distribution,
U dU
u lim U u dV total strain energy
V 0 V dV

• For values of u < uY , i.e., below the proportional

limit,
2
U x dV elastic strain energy
2E

• Under axial loading, x P A dV A dx

L
P2
U dx
2 AE
0

• For a rod of uniform cross-section,

P2 L
U
2 AE

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Elastic Strain Energy for Normal Stresses

Bending Loading • For a beam subjected to a bending load,
2
x dV M 2 y2
U 2
dV
2E 2 EI

• Setting dV = dx ʃdA,
L L
M 2 y2 M2
My U 2
dA dx 2
y 2dA dx
x
I 0 A
2 EI 0
2 EI A
L
M2
dx
2 EI
0

• For an end-loaded cantilever beam,

M Px
L
P2 x2 P 2 L3
U dx
2 EI 6 EI
0

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Strain Energy For Shearing Stresses

• For a material subjected to plane shearing
stresses,
xy
u xy d xy
0

• For values of xy within the proportional limit,

2
1G 2 1 xy
u 2 xy 2 xy xy 2G

• The total strain energy is found from

U u dV
2
xy
dV
2G

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Strain Energy For Shearing Stresses

• For a shaft subjected to a torsional load,
2
xy T2 2
U dV 2
dV
2G 2GJ

• Setting dV = dx ʃdA,
L L
T2 2 T2 2
U 2
dA dx 2
dA dx
0A
2GJ 0
2GJ A
T L
xy T2
J dx
2GJ
0

• In the case of a uniform shaft,

T 2L
U
2GJ

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Sample Problem 11.2

SOLUTION:
• Determine the reactions at A and B
from a free-body diagram of the
complete beam.

• Develop a diagram of the bending

moment distribution.

a) Taking into account only the normal • Integrate over the volume of the
stresses due to bending, determine the beam to find the strain energy.
strain energy of the beam for the
loading shown. • Apply the particular given
conditions to evaluate the strain
b) Evaluate the strain energy knowing energy.
that the beam is a W10x45, P = 40
kips, L = 12 ft, a = 3 ft, b = 9 ft, and E
= 29x106 psi.

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Sample Problem 11.2

SOLUTION:
• Determine the reactions at A and B
from a free-body diagram of the
complete beam.
Pb Pa
RA RB
L L

• Develop a diagram of the bending

moment distribution.
Pb Pa
M1 x M2 v
L L

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Sample Problem 11.2

• Integrate over the volume of the beam to find
the strain energy.
a b
M12 M 22
U dx dv
2 EI 2 EI
0 0
a 2 b 2
1 Pb 1 Pa
Over the portion AD, x dx x dx
2 EI L 2 EI L
0 0
Pb
M1 x
L 1 P 2 b 2a3 a 2b3 P 2a 2b 2
a b
Over the portion BD, 2 EI L2 3 3 6 EIL 2

Pa
M2 v P 2a 2b 2
L U
6 EIL

P 45 kips L 144 in. 40 kips 2 36 in 2 108 in 2

U
a 36 in. b 108 in. 6 29 103 ksi 248 in 4 144 in
E 29 103 ksi I 248 in 4 U 3.89 in kips

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Strain Energy for a General State of Stress

• Previously found strain energy due to uniaxial stress and plane
shearing stress. For a general state of stress,
u 1
2 x x y y z z xy xy yz yz zx zx

• With respect to the principal axes for an elastic, isotropic body,

1 2 2 2
u a b c 2 a b b c c a
2E
uv ud
1 2v 2
uv a b c due to volume change
6E
1 2 2 2
ud a b b c c a due to distortion
12G

• Basis for the maximum distortion energy failure criteria,

2
ud ud Y Y for a tensile test specimen
6G

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Problem 11.2

Determine the modulus of resilience for each of the following

aluminum alloys:

(a) 1100-H14: E = 70 GPa: σY = 55 MPa

(b) 2014-T6: E = 72 GPa: σY = 220 MPa
(c) 6061-T6: E = 69 GPa: σY = 150 MPa

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Problem 11.9

Using E = 29 x 106 psi, determine (a) the

strain energy of the steel rod ABC when P
= 8 kips, (b) the corresponding strain
energy density in portions AB and BC of
the rod.

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Problem 11.11
A 30-in. length of aluminum pipe of cross-sectional area 1.85 in2
is welded to a fixed support A and to a rigid cap B. The steel rod
EF, of 0.75-in. diameter, is welded to cap B. Knowing that the
modulus of elasticity is 29 x 106 psi for the steel and 10.6 x 106
psi for the aluminum, determine (a) the total strain energy of the
system when P = 8 kips, (b) the corresponding strain-energy
density of the pipe CD and in the rod EF.

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Problem 11.12
A single 6-mm-diameter steel pin B is used to connect the steel
strip DE to two aluminum strips, each of 20-mm width and 5-mm
thickness. The modulus of elasticity is 200 GPa for the steel and
70 GPa for the aluminum. Knowing that for the pin at B the
allowable shearing stress is τall = 85 MPa, determine, for the
loading shown, the maximum strain energy that can be acquired
by the assembled strips.

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Problem 11.33
In the assembly shown, torques TA and TB are exerted on disks A
and B, respectively. Knowing that both shafts are solid and made
of aluminum (G = 73 GPa), determine the total strain energy
acquired by the assembly.

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MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Problem 11.36
The state of stress shown occurs in a machine component made of
a brass for which σY = 160 MPa. Using the maximum-distortion
energy criterion, determine the range of values of σz for which
yield does not occur.

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Edition
Fourth
MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Work and Energy Under a Single Load

• Strain energy may also be found from
the work of the single load P1,
x1
U = ∫ P dx
0

• For an elastic deformation,

x1 x1
• Previously
Previously, we found the strain U = ∫ P dx = ∫ kx dx = 12 k x12 = 12 P1x1
energy by integrating the energy 0 0
density over the volume.
F a uniform
For if rod,
d
• Knowing the relationship between
σ 2
U = ∫ u dV = ∫ dV force and displacement,
2E PL
x1 = 1
=∫
L
(P1 A)2 Adx = P12 L AE
2
2E 2 AE ⎛ P L ⎞ P L
0 U = 12 P1⎜ 1 = 1
⎝ AE ⎠ 2 AE

© 2006 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 20

Edition
Fourth
MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Work and Energy Under a Single Load

• Strain energy may be found from the work of other types
of single concentrated loads.

• Transverse load • Bending couple • Torsional couple

y1 θ1 φ1
U= ∫ P dy = 1Py
2 1 1
U = ∫ M dθ = 12 M1θ1 U = ∫ T dφ = 12 T1φ1
0 0 0
⎛ P1L3 ⎞ P12 L3 ⎛ M L ⎞ M 2
L ⎛ T L ⎞ T 2
L
= 2 P1⎜
1 ⎟= = 12 M1⎜ 1 ⎟ = 1 = 12 T1⎜ 1 ⎟ = 1
⎜ 3EI ⎟ 6 EI ⎝ EI ⎠ 2 EI ⎝ JG ⎠ 2 JG
⎝ ⎠

© 2006 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 21

Edition
Fourth
MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Deflection Under a Single Load

• If the strain energy of a structure due to a
single concentrated load is known, then the
equality between the work of the load and
energy may be used to find the deflection.

• Strain energy of the structure,

2 2
FBC LBC FBD LBD
U= +
2 AE 2 AE

=
[ ]
P 2l (0.6)3 + (0.8)3
= 0.364
P 2l
From the given geometry, 2 AE AE
LBC = 0.6 l LBD = 0.8 l
• Equating work and strain energy,
From statics,
statics P2L 1
U = 0.364 = 2 P yB
FBC = +0.6 P FBD = −0.8 P AE
Pl
yB = 0.728
AE

© 2006 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 22

Edition
Fourth
MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Sample Problem 11.4

SOLUTION:
• Find the reactions at A and B from a
free-body diagram of the entire truss.

• Apply the method of joints to

determine the axial force in each
member.

• Evaluate the strain energy of the

Members of the truss shown consist of truss due to the load P.
sections of aluminum pipe with the
cross-sectional areas indicated. Using • Equate the strain energy to the work
E = 73 GPa, determine the vertical of P and solve for the displacement.
d fl ti off the
deflection th point
i t E caused
d bby the
th
load P.

© 2006 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 23

Edition
Fourth
MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Sample Problem 11.4

SOLUTION:
• Find the reactions at A and B from a free-body
diagram of the entire truss.
Ax = −21 P 8 Ay = P B = 21 P 8

• Apply the method of joints to determine the

axial force in each member.

FDE = − 17 P FAC = + 15 P FDE = 54 P FAB = 0

8 8

FCE = + 15 P FCD = 0 FCE = − 21 P

8 8

© 2006 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 24

Edition
Fourth
MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Sample Problem 11.4

• E
Evaluate
l the
h strain
i energy off the
h • E
Equate the
h strain
i energy to the
h workk by
b P
truss due to the load P. and solve for the displacement.

Fi2 Li Fi2 Li 1 Py =U
U =∑ ∑ Ai
1 E
= 2
2 Ai E 2 E
2U 2 ⎛⎜ 29700 P 2 ⎞⎟
=
1
2E
(
29700 P 2 ) yE = =
P P ⎜⎝ 2 E ⎠

yE =
(29.7 × 103 )(40 × 103 )
yE = 16.27 mm ↓
9
73 10
73×

© 2006 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 25

Edition
Fourth
MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Work and Energy Under Several Loads

• Deflections of an elastic beam subjected to two
concentrated loads,
x1 = x11 + x12 = α11P1 + α12 P2
x2 = x21 + x22 = α 21P1 + α 22 P2

• Compute the strain energy in the beam by

evaluating the work done by slowly applying
P1 followed by P2,
(
U = 12 α11P12 + 2α12 P1P2 + α 22 P22 )
• Reversing the application sequence yields
(
U = 12 α 22 P22 + 2α 21P2 P1 + α11P12 )
• Strain energy expressions must be equivalent.
It follows that α12=α21 (Maxwell
(Maxwell’ss reciprocal
theorem).
© 2006 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 26
Edition
Fourth
MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Castigliano’s Theorem
• Strain energy for any elastic structure
subjected to two concentrated loads,
(
U = 12 α11P12 + 2α12 P1P2 + α 22 P22 )
• Differentiating with respect to the loads,
∂U
= α11P1 + α12 P2 = x1
∂P1
∂U
= α12 P1 + α 22 P2 = x2
∂P2

• Castigliano’s theorem: For an elastic structure

subjected
bj t d to
t n loads,
l d theth deflection
d fl ti xj off the
th
point of application of Pj can be expressed as
∂U ∂U ∂U
xj = and θ j = φj =
∂Pj ∂M j ∂T j

© 2006 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 27

Edition
Fourth
MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Deflections by Castigliano’s Theorem

• Application of Castigliano’s theorem is
simplified if the differentiation with respect to
the load Pj is performed before the integration
or summation to obtain the strain energy U.
• In the case of a beam,
L L
M2 ∂U M ∂M
U=∫ dx xj = =∫ dx
2 EI ∂Pj EI ∂Pj
0 0

• For a truss,
n n
Fi2 Li ∂U F L ∂F
U =∑ xj = =∑ i i i
2A E
i =1 i
∂Pj i =1 Ai E ∂Pj

© 2006 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 28

Edition
Fourth
MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Sample Problem 11.5

SOLUTION:
• For application of Castigliano
Castigliano’ss theorem,
introduce a dummy vertical load Q at C.
Find the reactions at A and B due to the
dummy load from a free
free-body
body diagram of
the entire truss.
• Apply
pp y the method of jjoints to determine
the axial force in each member due to Q.
Members of the truss shown
consist of sections of aluminum • Combine with the results of Sample
pipe
i withi h the
h cross-sectional
i l areas Problem 11.4 to evaluate the derivative
indicated. Using E = 73 GPa, with respect to Q of the strain energy of
determine the vertical deflection of the truss due to the loads P and Q.
the joint C caused by the load P.
• Setting Q = 0, evaluate the derivative
which is equivalent to the desired
displacement at C.

© 2006 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 29

Edition
Fourth
MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Sample Problem 11.5

SOLUTION:
• Find the reactions at A and B due to a dummy y load Q
at C from a free-body diagram of the entire truss.
Ax = − 34 Q Ay = Q B = 34 Q

• Apply the method of joints to determine the axial

force in each member due to Q.
Q

FCE = FDE = 0
FAC = 0; FCD = −Q

FAB = 0; FBD = − 34 Q

© 2006 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 30

Edition
Fourth
MECHANICS OF MATERIALS Beer • Johnston • DeWolf

Sample Problem 11.5

• Combine with the results of Samplep Problem 11.4 to evaluate the derivative
with respect to Q of the strain energy of the truss due to the loads P and Q.
⎛ F L ⎞ ∂Fi 1
yC = ∑ ⎜⎜ i i = (4306 P + 4263Q )
⎝ Ai E ⎠ ∂Q E

• Setting Q = 0, evaluate the derivative which is equivalent to the desired

displacement at C.

yC =
(
4306 40 × 103 N ) yC = 2.36 mm ↓
9
73 × 10 Pa

© 2006 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 31