1

Formula Sheet
This formula sheet is issued as a memory aid to MSY310 students. Students should take
responsibility to check the accuracy of the formulae.

Issued: 23 March 2021

Revised:

M V M
N + N
V

σxy = τxy σyz = τyz σxz = τxz

γxy = 2εxy γyz = 2εyz γxz = 2εxz

Strain-displacement equations

∂u ∂v ∂w
εxx = εyy = εzz =
∂x ∂y ∂z
     
1 ∂u ∂v 1 ∂v ∂w 1 ∂w ∂u
εxy = + εyz = + εxz = +
2 ∂y ∂x 2 ∂z ∂y 2 ∂x ∂z

Constitutive Relationships in 3D

Strain in terms of stress Stress in terms of strain

σxx ν E
εxx = − (σyy + σzz ) σxx = [(1 − ν)εxx + ν(εyy + εzz )]
E E (1 + ν)(1 − 2ν)
σyy ν E
εyy = − (σxx + σzz ) σyy = [(1 − ν)εyy + ν(εxx + εzz )]
E E (1 + ν)(1 − 2ν)
σzz ν E
εzz = − (σxx + σyy ) σzz = [(1 − ν)εzz + ν(εxx + εyy )]
E E (1 + ν)(1 − 2ν)
σxy 1+ν E
εxy = = σxy σxy = 2Gεxy = εxy
2G E 1+ν
σyz 1+ν E
εyz = = σyz σyz = 2Gεyz = εyz
2G E 1+ν
σxz 1+ν E
εxz = = σxz σxz = 2Gεxz = εxz
2G E 1+ν
 2

∆V
Volumetric strain e= = εxx + εyy + εzz
V
Thermal strain εT = α∆T ε = εE + εT

Relationship between elastic constants

E E
K= , G=
3(1 − 2ν) 2(1 + ν)

Constitutive Relationships in plane stress

σxx ν E
εxx = − σyy σxx = [εxx + νεyy ]
E E 1 − ν2
σyy ν E
εyy = − σxx σyy = [εyy + νεxx ]
E E 1 − ν2
1+ν E
εxy = σxy σxy = εxy
E 1+ν
ν −ν
εzz = − (σxx + σyy ) εzz = (εxx + εyy )
E 1−ν

Constitutive Relationships in plane strain

1 − ν2 ν(1 + ν) E
εxx = σxx − σyy σxx = [(1 − ν)εxx + νεyy ]
E E (1 + ν)(1 − 2ν)
1 − ν2 ν(1 + ν) E
εyy = σyy − σxx σyy = [(1 − ν)εyy + νεxx ]
E E (1 + ν)(1 − 2ν)
1+ν E
εxy = σxy σxy = εxy
E 1+ν
νE
σzz = ν (σxx + σyy ) σzz = [εxx + εyy ]
(1 + ν)(1 − 2ν)

Stress transformation

Stress transformation in 3D
σ = QT σ Q
e new e e e

Stress transformation in 2D
σxx + σyy σxx − σyy
σx0 x0 = + cos 2θ + σxy sin 2θ
2 2
σxx − σyy
σx0 y0 =− sin 2θ + σxy cos 2θ
2
σy0 y0 = σx0 x0 |θ+90◦
 3

Mohr’s circle in 2D
s 2
σxx + σyy σxx − σyy 2
C= R= + σxy
2 2

Thin-walled pressure vessel

Spherical Cylindrical with end caps

pr pr pr
σ= σhoop = σlong =
2t t 2t

Torsion of a uniform circular shaft

rφ Grφ Tr
γmax = τmax = τmax =
L L Ip
ρφ ρ Gρφ ρ TL
γ= = γmax τ= = τmax φ=
L r L r GIp

πr4
R
Polar moment of inertia Ip = A
ρ2 dA IPcircle = 2

Power P = T ω

Torsion of a uniform rectangular shaft, b × t, b/t ≥ 1

T TL
τmax = φ= Jr = k2 bt3
k1 bt2 GJr

b/t 1.0 1.5 1.75 2.0 2.5 3.0 4 6 8 10 ∞

k1 0.208 0.231 0.239 0.246 0.258 0.267 0.282 0.298 0.307 0.312 0.333
k2 0.141 0.196 0.214 0.229 0.249 0.263 0.281 0.298 0.307 0.312 0.333

Torsion of a thin-walled tube

T
f = τ t = constant f= Am : Area enclosed by the median line
2Am
 4

Bending of beams

y My
εxx = − = −κy σxx = Eεxx = −
ρ I

Second moments of inertia

Z Z Z
Izz = y 2 dA Iyy = 2
z dA Iyz = yzdA
A A A

circle πd4 rectangle bh3

Izz = Izz =
64 12

Section modulus
I πd3 bh2
S= S circle = S rectangle =
c 32 6

Deflection equations
d2 v
 
dv d dM
=θ EI 2 = V =
dx dx dx dx
d2 v 2 2
 
d dv dV
EI 2 = M 2
EI 2 = −q =
dx dx dx dx

Macaulay brackets (
0 if x < a
hx − ain =
(x − a)n if x ≥ a
 5

Shear stresses in bending

Z Z
V VQ VQ
τxy = ydA = Q= ydA = ȳ ∗ A∗ Shear flow f =
Ib A∗ Ib A∗ I

Composite beams
M yE1 M yE2
σxx1 = − σxx2 = −
E1 I1 + E2 I2 E1 I1 + E2 I2

Composite beams: Transformed sections - converting all to material 1

E2 My My
n= IT = I1 + nI2 σxx1 = − σxx2 = − n
E1 IT IT

Doubly symmetric beam with inclined loading

My z Mz y My Izz
Stress: σxx = − Neutral axis: tan β =
Iyy Izz Mz Iyy

Unsymmetric beam
(My Izz + Mz Iyz ) z − (Mz Iyy + My Iyz ) y
Stress: σxx = 2
Iyy Izz − Iyz
My Izz + Mz Iyz
Neutral axis: tan β =
Mz Iyy + My Iyz

Shear Center of a channel section

b2 h2 tf 3b2 tf
e= e=
4Izz htw + 6btf

Strain energy

Strain energy density

U 1
u= = (σxx εxx + σyy εyy + σzz εzz + 2σxy εxy + 2σyz εyz + 2σxz εxz )
V 2

Stored strain energy due to different loadings

L
N2
Z
Axial force N: U= dx
0 2EA
L
M2
Z
Bending Moment M: U= dx
0 2EI
L
T2
Z
Torsion T: U= dx
0 2GJ
 6

Castigliano’s theorem
Z   
∂U M ∂M
δi = Modified: δi = dx
∂Pi EI ∂Pi

Buckling

Radius of gyration
p
r= I/A

Critical buckling
π 2 EI π2E
Pcr = σcr =
(KL)2 (KL/r)2

Support K
Pinned-pinned 1
Fixed-free 2
Fixed-fixed 0.5
Fixed-pinned 0.699

Column with eccentric axial load

" r ! # " r !#
π P P ec L P
δ = e sec −1 σmax = 1 + 2 sec
2 Pcr A r 2r EA

Elastoplastic bending of beams

Yield moment
σY I σY bh2
MY = = σY S For a rectangular cross-section: MY =
c 6

Fully plastic moment

σY A(ȳ1 + ȳ2 ) σY bh2
MP = = σY Z For a rectangular cross-section: MP =
2 4

Shape factor
MP Z
f= =
MY S
 7

Elastic core in a rectangular beam

σY bh2 3 2e2
 
h
M= − 2 , where 0 ≤ e ≤ is distance of plastic region from neutral axis
6 2 h 2

Yield criteria

Decomposition of stress into hydrostatic and distortional stress

σxx + σyy + σzz

σ = σ h + σ dis = σav I + σ dis σav =
e e e e e 3

Tresca criterion (Maximum shear stress theory)

σmax − σmin σY
= ⇒ σmax − σmin = σY
2 2

Von Mises criterion (Distortion energy theory)

1/2
(σ1 − σ2 )2 + (σ2 − σ3 )2 + (σ3 − σ1 )2

= σY
2

1/2
(σxx − σyy )2 + (σyy − σzz )2 + (σzz − σxx )2 + 6(σxy
2 2
+ σyz 2
+ σxz )

= σY
2

Von Mises criterion for plane stress

 2 1/2 2 1/2
σ1 − σ1 σ2 + σ22
 2 2

= σY ; σxx − σxx σyy + σyy + 3σxy = σY

Coulomb-Mohr theory
σmax σmin
− =1
Syt Suc
 8

Fracture mechanics

√
K = βσ πa

The stress fields ahead of a crack tip in Mode I

     
KI θ θ 3θ
σxx = √ cos 1 − sin sin
2πr 2 2 2
     
KI θ θ 3θ
σyy = √ cos 1 + sin sin
2πr 2 2 2
     
KI θ θ 3θ
σxy = √ cos sin cos
2πr 2 2 2
σxz = 0
σyz = 0
(
0 plane stress
σzz =
ν(σxx + σyy ) plane strain

Fatigue crack propagation

Paris Law
da
= C(∆K)m
dN

Remaining life
Z Nf Z af
1 da
dN = Nf = √
0 C ai (β∆σ πa)m

Remaining life (for constant ∆σ and β)

 
1−m/2 1−m/2
Z Nf
1 af − ai
dN = Nf = √ , for m 6= 2
0 (1 − m/2) C(β∆σ π)m
 9

Fatigue

Strain-life method
σf0
εa = εea + εpa = (2Nf )b + ε0f (2Nf )c
E

σmin σmax − σmin σmax + σmin

R= σa = σm =
σmax 2 2

Modified Goodman line

Sa Sm 1
+ =
Se Sut n

Soderberg line
Sa Sm 1
+ =
Se Sy n

Gerber line
 2
nSa nSm
+ =1
Se Sut

ASME-elliptic line
 2  2
nSa nSm
+ =1
Se Sy

Palmgren-Miner rule
X ni
=1
i
Ni
 10

ECSA problem solving rubric

The problem solving questions will be assessed according to a rubric, which looks at
dimensions of problem solving. For each category, examples of the types of activities are
given, but obviously the speciific activity will depend on the nature of the problem being
solved.

Try to organise your solution according to these categories.

Category Examples of activities

Conceptualise • Sketch the problem, showing relevant geometry,

dimensions, support and loadings

• Sketch e.g.: FBD or stress element as applicable

Categorise • Identify unknowns

• Make necessary assumptions

• Identify problem type, solution strategy, rele-

vant criteria and analyses

• Identify material properties

Analyse • Write the governing equations

• Solve for unknowns or formulate problem to al-

low solution

• Clearly outline steps so that it is easy to review

or check

Reflect • Evaluate possible solutions and select best so-

lution (if necessary). Justify and explain choice

• Examine answer – does it make sense? Are units

correct?