Lecture 3
Lecture 3
Lecture 3
Again considering an oblique plane x ¢ , the normal stress acting on this plane is given by the
Equation (2.25).
s x¢ = sx l2 + sy m2 + sz n2 + 2 (txy lm + tyz mn + txz ln) (2.27)
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T x T y Tz
= = (2.27c)
l m n
These proportionalities indicate that the stress resultant must be parallel to the unit normal
and therefore contains no shear component. Therefore from Equations (2.22a), (2.22b),
(2.22c) we can write as below denoting the principal stress by s P
Tx = s P l Ty = s P m T z = sP n (2.27d)
These expressions together with Equations (2.22a), (2.22b), (2.22c) lead to
(sx - sP)l + txy m + txz n = 0
txy l+(sy - sP) m + tyz n = 0 (2.28)
txz l + tyz m + (sz - sP) n = 0
A non-trivial solution for the direction cosines requires that the characteristic determinant
should vanish.
(s x - s P ) t xy t xz
t xy (s y - s P ) t yz =0 (2.29)
t xz t yz (s z - s P )
where I1 = sx + sy + sz (2.30a)
I2 = sx sy + sy sz + szsx - t 2xy - t 2yz -t 2xz (2.30b)
s x t xy t xz
I3 = t xy s y t yz (2.30c)
t xz t yz s z
The three roots of Equation (2.30) are the principal stresses, corresponding to which are
three sets of direction cosines that establish the relationship of the principal planes to the
origin of the non-principal axes.
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to another. Therefore, the combination of stresses at a point that do not change with the
orientation of co-ordinate axes is called stress-invariants. Hence, from Equation (2.30)
sxsysz - sxt 2yz - syt 2xz - szt 2xy + 2txy tyz txz = I3 = Third invariant of stress
When a body is in equilibrium, any isolated part of the body is acted upon by an equilibrium
set of forces. The small element with unit thickness shown in Figure 2.11(a) represents part
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Dy 1 æ ¶s y ö Dx æ ¶t ö
- (s x Dy ) + (t xy Dy ) - çç s y + Dy ÷÷Dx + ççt yx + yx Dy ÷÷DxDy
2 2 è ¶y ø 2 è ¶y ø
æ ¶t ö æ ¶s x ö Dy Dx 1
- ççt xy + xy Dx ÷÷DxDy + ç s x + Dx ÷ Dy + s y Dx - t yx Dx +
è ¶x ø è ¶x ø 2 2 2
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A similar expression is written to describe the equilibrium of y forces. The x and y equations
yield the following differential equations of equilibrium.
¶s x ¶t xy
+ + Fx = 0
¶x ¶y
¶s y ¶t xy
or + + Fy = 0 (2.31)
¶y ¶x
The differential equations of equilibrium for the case of three-dimensional stress may be
generalized from the above expressions as follows [Figure 2.11(b)].
¶s x ¶t xy ¶t xz
+ + + Fx = 0
¶x ¶y ¶z
¶s y ¶t xy ¶t yz
+ + + Fy = 0 (2.32)
¶y ¶x ¶z
¶s z ¶t xz ¶t yz
+ + + Fz = 0
¶z ¶x ¶y
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(a) (b)
Figure 2.12 Octahedral plane and Octahedral stresses
Now, denoting the direction cosines of the plane ABC by l, m, and n, the equations (2.22a),
(2.22b) and (2.22c) with s x = s 1 , t xy = t xz = 0 etc. reduce to
Tx = s 1 l, Ty = s2 m and Tz = s3 n (2.33)
The resultant stress on the oblique plane is thus
T 2 = s 12 l 2 + s 22 m 2 + s 32 n 2 = s 2 + t 2
\T2=s2+t2 (2.34)
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[ ]
1
t = (s 1 - s 2 ) l 2 m 2 + (s 2 - s 3 ) m 2 n 2 + (s 3 - s 1 ) n 2 l 2
2 2 2 2 (2.36)
1 2
Resultant stress T = (s 1 + s 22 + s 32 ) (2.37)
3
1
Normal stress = s = (s1+s2+s3) (2.38)
3
Shear stress = t = 1 (s 1 - s 2 )2 + (s 2 - s 3 ) 2 + (s 3-s 1 ) 2 (2.39)
3
1
Also, t = 2(s 1 + s 2 + s 3 ) 2 - 6(s 1s 2 + s 2s 3 + s 1s 3 ) (2.40)
3
1
t= 2 I 12 - 6 I 2 (2.41)
3
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s1
t
+
s2 s2 -
s2
. s1
+
s
-
s1
(a)
s1
t
+
2q
s2 s2 -
s2
. s1
+
s
-
s1 (b)
t
tzy +
. tzy
tzy -
s2
. s1 tyz
+
s
(c) -
Figure 2.13 Simple Biaxial stress systems: (a) compression,
(b) tension/compression, (c) pure shear
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1) Establish a rectangular co-ordinate system, indicating +t and +s. Both stress scales
must be identical.
2) Locate the centre C of the circle on the horizontal axis a distance
1
(s X + s Y ) from the
2
origin as shown in the figure above.
3) Locate point A by co-ordinates s x , - t xy
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sy
B
txy T
txy y¢ y
sx¢ x¢
sx Tx
sx sx
q
q
A txy C
sy sy
t
s¢= 1 (sx + sy)
2
B(sy, txy) y
. . D
s2 tmax
O
y¢
.. B¢
B1 C .. A1
s
2q
-tmax
. . A¢ x¢
A(sx, - txy)
E
x
s1
An angle of 2q on the circle corresponds to an angle of q on the element. The state of stress
associated with the original x and y planes corresponds to points A and B on the circle
respectively. Points lying on the diameter other than AB, such as A¢ and B ¢ , define state of
stress with respect to any other set of x ¢ and y ¢ planes rotated relative to the original set
through an angle q.
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It is clear from the figure that the points A1 and B1 on the circle locate the principal stresses
and provide their magnitudes as defined by Equations (2.14) and (2.15), while D and E
represent the maximum shearing stresses. The maximum value of shear stress (regardless of
algebraic sign) will be denoted by tmax and are given by
æs x -s y
2
ö
tmax = ± (s 1 - s 2 ) = ±
1
çç ÷÷ + t xy2 (2.42)
2 è 2 ø
Mohr’s circle shows that the planes of maximum shear are always located at 45o from planes
of principal stress.
(a)
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(b)
Figure 2.15 Mohr's circle for Three Dimensional State of Stress
The element is subjected to principal stresses s1, s2 and s3 represented as coordinate axes
with the origin at P. It is required to determine the normal and shear stresses acting at point
Q on the slant face (plane abcd). This plane is oriented so as to be tangent at Q to a quadrant
of a spherical surface inscribed within a cubic element as shown. It is to be noted that PQ,
running from the origin of the principal axis system to point Q, is the line of intersection of
the shaded planes (Figure 2.15 (a)). The inclination of plane PA2QB3 relative to the s1 axis
is given by the angle q (measured in the s1, s3 plane), and that of plane PA3QB1, by the
angle F (measured in the s1 and s2 plane). Circular arcs A1B1A2 and A1B3A3 are located on
the cube faces. It is clear that angles q and F unambiguously define the orientation of PQ
with respect to the principal axes.
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1) Establish a Cartesian co-ordinate system, indicating +s and +t as shown. Lay off the
principal stresses along the s-axis, with s1 > s2 > s3 (algebraically).
2) Draw three Mohr semicircles centered at C1, C2 and C3 with diameters A1A2, A2A3
and A1A3.
3) At point C1, draw line C1 B1 at angle 2f; at C3, draw C3 B3 at angle 2q. These lines cut
circles C1 and C3 at B1 and B3 respectively.
4) By trial and error, draw arcs through points A3 and B1 and through A2 and B3, with their
centres on the s-axis. The intersection of these arcs locates point Q on the s, t plane.
In connection with the construction of Mohr’s circle the following points are of
particular interest:
a) Point Q will be located within the shaded area or along the circumference of circles C1,
C2 or C3, for all combinations of q and f.
c) When q = 450, f = 0, the shearing stress is maximum, located as the highest point
on circle C3 (2q = 900). The value of the maximum shearing stress is therefore
t max =
1
(s 1 - s 3 ) acting on the planes bisecting the planes of maximum and minimum
2
principal stresses.
d) When q = f = 45 , line PQ makes equal angles with the principal axes. The oblique
0
plane is, in this case, an octahedral plane, and the stresses along on the plane, the
octahedral stresses.
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The polar coordinate system (r, q) and the cartesian system (x, y) are related by the following
expressions:
x = rcosq, r2 = x2+y2
æ yö
y = rsinq, q = tan -1 ç ÷ (2.43)
èxø
Consider the state of stress on an infinitesimal element abcd of unit thickness described by
the polar coordinates as shown in the Figure 2.16. The body forces denoted by Fr and Fq are
directed along r and q directions respectively.
Resolving the forces in the r-direction, we have for equilibrium, SFr = 0,
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æ ¶s r ö dq æ ¶s q ö
- s r ´ rdq + ç s r + dr ÷(r + dr )dq - s q dr sin + Fr - ç s q + dq ÷dr
è ¶r ø 2 è ¶q ø
dq dq æ ¶t ö dq
sin - t rq dr cos + çt rq + rq dq ÷dr cos =0
2 2 è ¶q ø 2
Since dq is very small,
dq dq dq
sin = and cos =1
2 2 2
Neglecting higher order terms and simplifying, we get
¶s r ¶ t rq
r dr d q + s r dr d q - s q dr d q + dr d q = 0
¶r ¶q
on dividing throughout by rdq dr, we have
¶s r 1 ¶t rq s r - s q
+ + + Fr = 0 (2.44)
¶r r ¶q r
Similarly resolving all the forces in the q - direction at right angles to r - direction, we have
dq æ ¶s q ö dq dq æ ¶t ö
- s q dr cos + çs q + d q ÷ dr cos + t rq dr sin + ç t rq + rq d q ÷ dr
2 è ¶q ø 2 2 è ¶q ø
dq æ ¶t ö
sin - t rq rd q + (r + dr ) d q ç t rq + rq dr ÷ + Fq = 0
2 è ¶ r ø
On simplification, we get
æ ¶s q ¶t ö
ç + t rq + t rq + r rq ÷dq dr = 0
è ¶q ¶r ø
Dividing throughout by rdq dr, we get
1 ¶s q ¶t rq 2t rq
. + + + Fq = 0 (2.45)
r ¶q dr r
In the absence of body forces, the equilibrium equations can be represented as:
¶s r 1 ¶t rq s r - s q
+ + =0 (2.46)
¶r r ¶q r
1 ¶s q ¶t rq 2t rq
+ + =0
r ¶q ¶r r
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