Continuum approach for Elasticity:

Complex stress and strain states, Tensors

(Lecture 3-4)
(MSE 303 3-: Mechanical Behavior of Materials)

Pradipta Ghosh
Materials Science and Engineering
Indian Institute of Technology
Gandhinagar

Reference Text: Mechanical Behavior of Materials, Meyers and Chawla

Mechanical Behavior of Materials, Courtney
Mechanical metallurgy, GE Dieter
Fundamental of metal forming processes, BL Juneja
Mohr’s stress circle

1 1 1
n12  n22  n32  1 1
n12  2 3 n
 n  n  n  n  2
 
2 2 2
1 1 2 2 3 3  2  32 2
n   s2
 n  n  n  
2 2
1 1
2
2
2
2
2 2
3 3
2
n
2
s
1 1 1
1
n22   3 n n
1 1  n   2
2


1
 2 
1
3  2
n   s2  2
 1  2  3  n2   1
1

 2  2  2  n 2 
1 1 1
 1 1 1  3  n32 
1
n 1 2

 2
n   s2   12  22
Δ
 n  1 / 2 2   3 2   s2  n12  1   2  1   3   1/ 4 2   3 2
 n  1 / 2 1   3 2   s2  n22  2   3  2   1   1/ 4 3   1 2
 n  1 / 2 1   2 2   s2  n32  3   1  3   2   1/ 4 1   2 2
The above equations are equation of circles (x-a)2+(y-b)2=r2 with σn and σs as variables.

Two Dimensional Mohr’s circle

For n3= 0

 n  1/ 21   2 2   s2  1/ 41   2 2

n1= cosθ, n2=sinθ, n3=0  n  1/ 21   2 2   s2  1/ 41   2 2
 n   1n12   2 n22   1 cos 2    2 sin 2 
 n  1 / 2 1   2   1 / 2 1   2 cos 2
 s  1 / 2 1   2 sin 2
Three dimensional Mohr’s Circle

 n  1 / 2 2   3 2   s2  n12  1   2  1   3   1/ 4 2   3 2 1

 n  1 / 2 1   3 2   s2  n22  2   3  2   1   1/ 4 3   1 2 2

 n  1 / 2 1   2 2   s2  n32  3   1  3   2   1/ 4 1   2 2 3

1 3
Points A’ and B’ are connected by an arc of circle
with centre at O3. This curve has a constant n3≠0.
2
Points F’ and E’ are connected by an arc of circle
with centre at O1. This curve has a constant n1≠0.

The intersection of A’B’ and F’E’ gives the point P’,

whose ordinate is the shear stress and abscissa is the normal stress.
Steps for determining the normal and shear stress on a plane with normal n (n1, n2, n3)
• To determine the normal and shear stress on any plane with
normal OP having direction cosines n1, n2, n3 we have first realize
that P lies on the intersection of arc APB (parallel to X1-X2) and
arc EPF (parallel to X2-X3)
• The arc APB can be generated by rotating the vector OP about
X3 leading to a conical region. The generator of the cone is repre
-sented by OB and OA on the X2-X3 and X1-X3 planes, respectively.
• The stress state at point A is represented by point A’ on the
circle with centre O2. The line O2A’ makes an angle 2ψ with the
horizontal axis (note the angle is measured from σ3 point).
Similarly stress state at point B can be represented by point B’ on
circle with center O1.
• The two points A’ and B’ are connected by an arc of the circle
with center O3.The arc A’B’ represent normal and shear stresses
of all the planes with n3=constant. The radius of the arc is obtain
-ed from RHS of the third equation in previous slide.
• Similarly the possible stress components for all the planes
with n1=constant (n vector lying along EPF) can be represented
by arc E’F’ with center O1 with radius given by square root of the
right hand side term in the first equation in previous slide.
• The intersection of A’B’ and E’F’ gives the stress components
at point P, represented as P’.

Step 1. Draw the three Mohr’s circles for the given set of principal
stresses.
Step 2. Identify points A’, B’, E’ and F’ on the Mohr’s circle.
Step 3. Draw arcs A’B’ and E’F’ using the radius from the three
equations listed in previous slide.
Step 4. Identify point P’ and thus σn and σs components.
Examples of Mohr’s circle representation of various stress states

Uniaxial tension Uniaxial Compression

σ2= σ3=0 σ1= σ2=0

σ1 σ3
Biaxial tension Triaxial tension

σ3 σ1 σ1
σ2 σ2= σ3

σ1, σ2> 0, σ3=0 σ1= 2σ2=2 σ3

Wire drawing

σ2= σ3 σ1

σ1=-2σ2=-2σ3
Principal strains
Similar to stress, it is possible to define a system of coordinate axes along which there are no
shear strains. These axes are called the principal strain axes.
For an isotropic body the direction of principal strains coincide with principal stress directions.
The principal strains are roots of the cubic equation,
 3  I1 2  I 2  I 3  0
where I1  11   22   33
1 2
I 2  11 22   22 33   3311 
4

 12   223   312 
1
4
1

I 3  11 22 33   12 23 31  11 223   2 312   3 122
4

The directions of the principal strains are obtained from the three equations
2n1   11   n2 21  n3 31  0
n1 12  2n2    22   n3 32  0
n1 13  n2 23  2n3    33   0
Principal shearing strains are given as 1   2  3
 2  1   3
 3  1   2

Use of Mohr’s circle for determination of principal strains in 2-dimension

γ/2
a
b A
α
α β
ε2
ε
β C ε1

c
εc B εa
εb

Dieter
Hydrostatic and Deviator component of stress and strain

   m   'ij
The hydrostatic or mean stress is given as  m 
 kk

 x  y z 

1   2   3 
3 3 3
1
The stress tensor can be written as  ij   'ij   ij kk
3
2 x   y   z
 xy  xz
3
2 y   x   z
Deviatoric stress  'ij   yx  yz
3
2 z   x   y
 zx  zy
3
Since σ’ij is a second rank tensor, it has principal axes. The principal values of the stress deviator are the
roots of the cubic equation σ’3-J1σ’2-J2σ’-J3=0. J1, J2 and J3 are the invariants of deviator stress tensor.

 1 0 0   m 0 0  1  1 / 3 m  0 0 
Example 0  0  0  0   0   1 / 3  0 
 2   m   2 m 
0 0  3  0 0  m   0 0  3  1/ 3 m 
σ1- σm/3 = (2σ1-σ2 - σ3)/3 = 2/3[(σ1-σ2)/2 + (σ1-σ3)/2 ] = 2/3[τ3+τ2]
 
Similar to stress  ij   'ij   ij
3
where Δ=(εx+εy+εz) is the volumetric strain

 x   m  xy  xz  
  m 
 'ij    yx  y   m  yz  3
      
 zx zy z m

Relation between hydrostatic stress and hydrostatic strain

σm = K Δ K = Bulk modulus
Equivalent stress and strain
Equivalent stress and equivalent strain are also called representative stress and representative
strain. For comparing the stress strain relation between any deformation state (eg., uniaxial,
shear, biaxial, etc.) we should re-plot the stress-strain curve in terms of equivalent stress and
strain.

Equivalent stress   (3 / 2 )  oct

where, τoct=Shear stress on octahedral plane
1
 oct 
3
 
 11   22 2   22   33 2   33   11 2  6  122   232   312 
1/ 2

In terms of principal stresses


 oct   1   2 2   2   3 2   3   1 2
1
3

Equivalent strain   2  oct
where, γoct= Shear strain on octahedral plane


2
3
 
11   22 2   22   33 2   33  11 2  6 122   232   312  1/ 2

In terms of principal strains

 
2
3
 
1   2 2   2   3 2   3  1 2 1 / 2
 X3
Stress Tensor X2
 X’3
For a vector S  S1iˆ1  S2iˆ2  S3iˆ3 X’2
X1, X2, X3 X’1, X’2, X’3 X1

S’1 = S1cos(X1X’1)+ S2cos(X2X’1)+ S3cos(X3X’1) X’1

S’1 = a11 S1+ a 12 S2 + a13 S3
S’2 = a21 S1+ a 22 S2 + a23 S3
S’3 = a31 S1+ a 32 S2 + a33 S3
3 3 3
S1   a1 j S j ; S2   a2 j S j ; S3   a3 j S j
j 1 j 1 j 1
3
Si   aij S j i  1,2,3  aij S j i = free suffix
j 1
j = dummy suffix (indicates summation)

 S '1  a11 a12 a13   S1  a11 a12 a13 

 S '   a  S 
 2   21 22 a a23   2  A  a21 a22 a23  Transformation matrix
 S '3  a31 a32 a33   S3  a31 a32 a33 

Scalars are zero order tensor and are represented by only one parameter (3 0=1)
Vectors are first rank tensor and are represented by three components (3 1=3)
Stress, strain are second rank tensor and are described by nine components (3 2=9)
  
Tensor Product A  A1i  A2 j  A3k , B  B1iˆ  B2 ˆj  B3kˆ
ˆ ˆ ˆ
 A1B1 A1B2 A1B3 
 
A  B  Tij   A2 B1 A2 B2 A2 B3   Ai B j
 A3 B1 A3 B2 A3 B3 
Second Rank tensor transformation
Transformation of coordinates (X1,X2,X3) to (X’1,X’2,X’3)

A’i=aijAj , B’k=aklBl
 
A' B'  (aij A j )( akl Bl )
Tik  aij akl Aj Bl   aij aklT jl
 kl  aki alj ij
 11  12  13   x  xy  xz 
   kl  ak1al1 11  ak1al 2 12  ak1al 3 13 
   21  22  23    yx  y  yz 
 31  32  33   zx  zy  z  ak 2 al1 21  ak 2 al 2 22  ak 2 al 3 23 
 
ak 3al1 31  ak 3al 2 32  ak 3al 3 33
a11 a12 a13   11  12  13  a11 a21 a31 
 '  AAT  a21 a22 a23   21  22  23  a12 a22 a32 
a31 a32 a33   31  32  33  a13 a23 a33 
  '  AAT

For a third rank tensor T 'ijk  aip a jq akrTpqr

Example : Piezoelectricity. If a stress is applied to certain crystals they develop an electric moment whose
magnitude is proportional to the applied stress. This is known as the direct piezoelectric effect.

P  d , Pi  dijk jk
P = Polarization charge per unit area, or electric moment per unit volume
d = Piezoelectric moduli
σ = Stress

Kronecker delta

1 0 0 Multiplication of a tensor with δ reduces its rank by two. This is called

 ij  0 1 0
contraction of the tensor.

0 0 1  ij ij   ii   11   22   33

The concept of transformation matrix is often used to define the crystallographic texture of materials.
For example figure below shows the orientation relation between the sample coordinate system
(consisting of rolling direction (RD), transverse direction (TD) and normal direction (ND)) and crystal
coordinate system of a grain (the three cube axis [100], [010] and [001]). The transformation matrix
between these coordinate system can be written as

CC  g . C S One can obtain the strain tensor in crystal coordinate system

when the applied strain tensor on sample coordianate system
cos 1 cos 1 cos  1  is known.
g  cos  2 cos  2 cos  2   '  AA T

cos  3 cos  3 cos  3 