Continuum Mechanics And Transport Phenomena

Prof. T. Renganathan
Department of Chemical Engineering
Indian Institute of Technology, Madras

Lecture – 74
Hooke’s Law – Stress-strain Relation

(Refer Slide Time: 00:15)

We have discussed so far are the assumptions behind Hooke’s law namely homogeneous,
isotropic, linear, elastic solid. So, under these assumptions Hooke’s laws valid. We
introduced material properties namely Young’s modulus, shear modulus, Poisson’s ratio and
then we expressed the Hooke’s law in the form of a strain as a function of stress. And we also
saw that there are three material properties they are dependent on each other and we proved
that only two independent material properties are there. Now what is that we are going to do
now? Express Hooke’s law in the form of stress as a function of strain.

So, conceptually nothing new it just involves some mathematical rearrangement. So, let us
start doing that. So, let us list down the equations for Hooke’s law expressing strain in terms
of stress all the six equations

τ xy
εxx = 1
E [τ xx − ν (τ yy + τ zz )] εxy = 2G

τ yz
εyy = 1
E [τ yy − ν (τ xx + τ zz )] εyz = 2G

τ zx
εzz = 1
E [τ zz − ν (τ yy + τ xx )] εzx = 2G
Then for starting the mathematical rearrangement we will sum all the normal strain
εxx + εyy + εzz which means summing all the equations listed here. So,

εxx + εyy + εzz = E1 [τ xx + τ yy + τ zz − ν (τ yy + τ zz ) − ν (τ xx + τ zz ) − ν (τ yy + τ xx )]

Now let us simplify this

εxx + εyy + εzz = E1 [τ xx + τ yy + τ zz − 2ντ xx − 2ντ yy − 2ντ zz ]

Now if you look at the sum of normal stresses which is common so, let us take that out

1
εxx + εyy + εzz = E (τ xx + τ yy + τ zz ) (1 − 2ν)

And we will write this for sum of normal stresses the previous equation is for sum of normal
strain we will right this as an expression for some of normal stresses just simple
rearrangement we will give,

E
τ xx + τ yy + τ zz = (1−2ν)
(εxx + εyy + εzz )

These two equations either of them or both of them nice relationship why because they relate
sum of normal stresses to the sum of normal strains in terms of property E and Poisson ratio,
ν . So, that way a good relationship under these assumptions whatever we have done these
equations both the equations relate sum of normal stresses to sum of normal strain that is a
physical viewpoint of this equation, let us proceed further.

(Refer Slide Time: 04:25)

So, now let us write down the equation for the normal strain along x direction

εxx = 1
E [τ xx − ν (τ yy + τ zz )]
Let us expand the equation

τ xx τ yy
εxx = E −ν E − ν τEzz

τ xx τ xx
And then, I will subtract ν E and add E ,

τ xx τ yy τ zz τ xx τ xx
εxx = E −ν E −ν E −ν E +ν E

So, let us simplify this,

1+ν
εxx = E τ xx − Eν (τ xx + τ yy + τ zz )

So, we have already seen the relationship between sum of normal stresses and sum of normal
strain in the previous slide which is written down here,

E
τ xx + τ yy + τ zz = (1−2ν)
(εxx + εyy + εzz )

So, that I will use this relationship here,

1+ν ν
εxx = E τ xx − (ε
(1−2ν) xx
+ εyy + εzz )

What we have done essentially is that in this expression, we had a normal strain on the left
hand side and then three normal stresses were present on the right hand side. We want one
equation in one unknown we want only one of the normal stresses by doing these steps in this
equation there is only one normal stress present.

So, that we can rearrange and get an expression for normal stress that is was that was the idea
behind all these steps, well. Let us do a simple rearrangement

τ xx = E
1+ν [ε xx + ν
(1−2ν)
(εxx + εyy + εzz ) ]
Now the sum of normal strains, we can express that in terms of the gradients of displacement
field we can express as

∂ux ∂uy ∂uz

εxx + εyy + εzz = ∂x
+ ∂y
+ ∂z
= ∇.u

So, let us in a more little more simpler way,

 τ xx = E
1+ν [ε xx + ν
(1−2ν)
∇.u]
Whenever you come across this divergence of displacement field in the future slides it is
nothing, but either in terms of gradients the sum of these gradients or sum of these normal
strains. So, we said we are going to express normal stress in terms of strains and that is what
we have done here and of course, another way of representing that.

(Refer Slide Time: 08:17)

Now, we will do some more rearrangement,

τ xx = E
1+ν [ε xx + ν
(1−2ν)
∇.u]
E E ν
τ xx = ε
1+ν xx
+ 1+ν (1−2ν)
∇.u

Then we have seen the relationship between G, E and ν which we have derived already

E
G= 2(1+ν)

So,

τ xx = 2Gεxx + λ∇.u

E ν
We put all terms λ = 1+ν (1−2ν) as one other property , why is it a property because E, ν are

properties. So, λ is a combination of those properties so, λ is another property. So, of

course, this looks much simpler and we are going to use this form of the stress strain
relationship for further discussion even when you later on go to Newton’s law of viscosity it
looks similar to this only.

The G and λ are call lame’s constants and what we have done is, normal stress in terms of
normal strains. On the right hand side you have εxx and ∇.u has the sum of all the normal
strains. So, on the right hand side you have all the normal strains and for the case of a shear
strain shear stress relationship we have seen

τ xy
εxy = 2G

Now, it becomes very simple just rearrange and write

τ xy = 2Gεxy

In the case of normal strain and normal stress it involved some steps the reason is the
expression for normal strain εxx involved all the three normal stresses. That is why we have
to do some rearrangement and express τ xx in terms of the normal strain. But in this case
epsilon for the case of shear strain shear strain depends on the shear stress in that plane only.
So, simple rearrangement is sufficient to express the shear stress in terms of shear strain.

(Refer Slide Time: 11:33)

So, now let us extent these two other directions that is what we have seen now. So, let us
write this analogously for other directions.
 τ xx = 2Gεxx + λ∇.u τ xy = 2Gεxy

τ yy = 2Gεyy + λ∇.u τ yz = 2Gεyz

τ zz = 2Gεzz + λ∇.u τ zx = 2Gεzx

And we should know that εxx is the normal strain, but if you say as normal strain the purpose
is not solved because we will have to express in terms of displacement gradient then only it is
complete. So,

∂ux ∂uy ∂uz

εxx = ∂x
; εyy = ∂y
; εzz = ∂z

And what about, εxy , remember it is

εxy = 1
2 ( ∂uy
∂x
+
∂ux
∂y ); εyz = 1
2 ( ∂uz
∂y
+
∂uy
∂z ); εzx = 1
2 ( ∂ux
∂z
+
∂uz
∂x )
Why do we express this, we do not express τ xy in terms of γ xy we express τ xy in terms of
εxy what is the reason? Our objective is to relate components in this stress tensor to the
components in the strain tensor. What is appearing in the strain tensor is εxy not γ xy that is
why in this relationship relate τ xy and then εxy . Though the actual in terms of measurement
is γ xy .

Now to connect to what we have done earlier, we can identify that the terms written here in
the right handed expressions in terms of gradients all these six terms are nothing, but the
components of the strain tensor which you have discussed earlier.

Now, to just to connect and then to have a recall as some few recall slides here this was a
strain tensor this was the rotation tensor, what we will do now is we will connect this and
recall also what we have discussed earlier.
(Refer Slide Time: 15:29)

This was discussed when we discussed strain under solid mechanics, what did we do we
derived a relationship between dux , duy , duz and dx , dy , dz in two ways. First way is this
in more mathematically which resulted in the displacement gradient tensor, the second one
was more analytically more geometrically where we considered displacement due to a
difference in displacement due do normal strain, shear strain, rotation only and wrote these
two equation.

These two expressions are also relationship between dux , duy , duz and dx , dy , dz these
were written in a more analytical way geometrical way. Now, based on the first equation and
the second or third equation we said that this displacement gradient tensor is equal to sum of
these two tensors that is what we discussed.
(Refer Slide Time: 16:45)

The displacement gradient tensor is sum of the strain tensor and the rotation tensor, what is
the significance of the first tensor that includes the normal strain and shear strain, the second
tensor includes the rotation contribution. And we said strain tensor is symmetric, rotation
tensor is anti-symmetric and the names given where strain or deformation tensor, because it
involves contribution from normal strain, shear strain. Second tensor was called as rotation
tensor because it involves contribution from rotation. And we concluded that translation and
rotation which are rigid body motion and normal strain, shear strain which are deformation
all contribute to displacement.
(Refer Slide Time: 17:39)

Next what we discussed was more importantly this particular slide. In fact, this was a
concluding slide then what we said was rigid body motion which is translation and rotation it
is not related to stress. Deformation which is normal and shear strain is only related to stress.
Strain tensor are not displacement gradient tensor related to stress tensor, what did we say
stress has to be related to the strain tensor not to the displacement gradient tensor this also is
not connected to the stress.

Look at the last line, relate stress tensor to displacement not displacement gradient, but strain
tensor and that is what exactly we are done now. After several classes we put forth the
question then saying that we have to relate stress to the components of strain tensor that is
what exactly we have done in today’s lecture, related the stress left hand sides are all stress
right hand sides are all components of the strain tensors.
(Refer Slide Time: 18:51)

So, let us look at it again now it becomes very clear this slide the, what we have on the left
hand side are all the components of stress tensor and as we have seeing here the normal
stresses and the shear stresses. In the right hand side what you have are all components of the
strain tensor components of the strain tensor alone, not the displacement gradient tensor, not
the rotation tensor, only the strain tensor.

τ xx = 2Gεxx + λ∇.u τ xy = 2Gεxy

τ yy = 2Gεyy + λ∇.u τ yz = 2Gεyz

τ zz = 2Gεzz + λ∇.u τ zx = 2Gεzx

So, whatever appears on the right hand side, we know ∇.u is nothing, but sum of all the
normal strains. So, whatever you have on the right hand side are all components of the strain
tensor.

So whatever was our objective we have achieved here relating stress to strain more precisely
components of stress tensor to the components of strain tensor or deformation tensor, only the
normal strain, shear strain result in stresses that is why we have done this.
(Refer Slide Time: 20:25)

So, let us put them more compactly in the form of a tensor this is the stress tensor,

[τ xx τ xy τ zx τ xy τ yy τ yz τ zx τ yz τ zz ]
At this point when we introduced stress tensor it was a very much physically meaningful
quantity. We said if you give me the stress tensor I can find out stress vector acting on any
plane, just take do matrix multiplication of this n vector with the stress tensor you get stress
vector acting on any plane so, very physically meaningful quantity and useful quantity as
well.

But it is not measurable, it is a variable of physical interest physical meaning, but moment we
write this as where in the previous slide it becomes expressed in terms of measurable.

[τ xx τ xy τ zx τ xy τ yy τ yz τ zx τ yz τ zz ] = [2Gεxx + λ∇.u 2Gεxy 2Gεzx 2Gεxy 2Gεyy + λ∇.u 2Gεyz 2Gεzx 2Gεyz 2G
All the terms εxx , εxy where all in terms of at the components of the strain tensor they are all
expressible in terms of displacement gradient and hence stress tensor has been expressed in
terms of measurable. Remember that was one of the main point we started off saying that we
are going to express an immeasurable in terms of a measurable and that is what we have done
here.

That is a key point here as long as this is written it is a nice physical quantity where which
physical meaning as well, but it is immeasurable, moment you express in this way it becomes
a measurable and of course, you have the property G and then λ they have to come from
experiments. That is why we said stress strain relationship is empirical we cannot
theoretically get G and λ , we are only going to make some measurements and find out, what
is G and λ ?

(Refer Slide Time: 22:31)

Just like to mention what is the advantage of the isotropic assumption we said we have
derived the Hooke’s law for homogeneous, isotropic, linear elastic solid. We will keep all the
assumptions suppose we say it is non - isotropic, what would I be in the situation we are not
going to derive just discuss that. So, that we will appreciate the really significant advantage
of assuming isotropic condition.

τ xx = 2Gεxx + λ∇.u τ xy = 2Gεxy

τ yy = 2Gεyy + λ∇.u τ yz = 2Gεyz

τ zz = 2Gεzz + λ∇.u τ zx = 2Gεzx

Now this is the equation of course, relating normal stress to the normal strain and shear stress
to the shear strain. Now if you look at τ xx , the way in which you have derived depends only
on εxx , εyy , εzz . Similarly if you take τ yy , τ zz it depend only on εxx , εyy , εzz , if you take
τ xy depends only on εxy , τ yz depends only on εyz .
Now, what would be the more general scenario, what can be the general scenario? Right now
this τ xx depends only on εxx , εyy , εzz but in general it can depend on all these components
when I say all these components, 6 components there are 9, but 6 are independent. So, τ xx
can dependent all these 6 components similarly τ xy can also depend on all these 6
components, that is what we are going to write here. So, stress tensor as 6 independent
components, strain tensor as 6 independent components. So, every independent component in
the stress tensor can depend on all the 6 independent components in the strain tensor.

Let us write one equation for a sample. So,

τ xx = C 11 εxx + C 12 εyy + C 13 εzz + C 14 εxy + C 15 εyz + C 16 εzx

Now look at the constants, you have, 6 constants here, now likewise I can write for all the 6
independent stress tensor components which means I will have totally 36 constant or 36
properties will be there. When I say constants remember these constants are nothing but
properties, but you can prove that 15 are dependent and only 21 are independent constants,
out of 36 you can prove that 21 independent constants are there.

So, if you are saying you are going to derive a stress strain relationship for a homogeneous
anisotropic linear elastic material then we would end up in 21 material properties, because in
all our relationship been into write the properties depending on direction, but moment you
take isotropic condition as we have done here we will result only in 2 constants or 2 material
properties that is the luxury I would say by assuming isotropic condition. That is why we
discussed assumptions to begin with itself the whole scope of our stress strain relationship is
limited to those assumptions homogeneous, isotropic, linear elastic solid.