Theory of Elasticity

9th lecture, November 27, 2024

 Theory of Elasticity

9th lecture, November 27, 2024

1) 3D stress state
a. Stress
b. Strain
c. Generalized Hooke’s law
d. Lamé’s equations
e. Principal stress/strain
f. Volumetric-deviatoric split
Review – lecture No. 5
1. Stress
 Stress components

z y
z
x  zy  yz
y

 zx
 yx
 xz  xy

x
shear stress normal stress
 Equilibrium of differential element

Limit case: x,y:,z → 0

 x  yx  zx
+ + +X =0
x y z
Equilibrium
Force equilibrium in equations
y and z-direction:
Cauchy's first
 y  zy  xy law of motion
+ + +Y = 0
y z x
 z  xz  yz
+ + +Z =0
z x y
 Symmetry of stress tensor

z y
z
If the moment equilibrium x  zy  yz
y
conditions of differential element
are considered then  zx
 yx
 xy =  yx  xz  xy
 xz =  zx
 yz =  zy x

Cauchy's second law of motion

 Summary – equilibrium equations

Three force equilibrium Three moment

equations: equilibrium equations:
 x  yx  zx
+ + +X =0  xy =  yx
x y z
 xy  y  zy
+ + +Y = 0
 yz =  zy
x y z
 xz  yz  z  zx =  xz
+ + +Z =0
x y z
 Special stress states

uniaxial stress plane stress/strain

y x
y x z
z
 Special stress states

uniaxial stress

y x
z

 x 0 0

σ= 0 0 0 
 
 0 0 0
 Special stress states

plane stress (xz-plane)   y =  xy =  yz = 0

y x
z

 x 0  xz 

σ=0 0 0 
 zx 0  z 
y  0
 Special stress states

plane strain (xz-plane)   y =  xy =  yz = 0

y x
z

 x 0 1
2  xz 

ε= 0 0 0  
 12  zx 0  z 
y  0
Special stress states
xy-plane
Lecture No. 9
2. Strain
 Basic hypothesis

Solid continuum is considered to be structureless.

The solid body is assumed to be perfectly
continuous.

Continuum elasticity considers the consequence

of atomic interactions in solids, but disregards
their nature.

Homogenous material has the same properties at

every point; it is uniform without irregularities.
Displacement

z
 Displacement

There are three components u(x, y, z ) x

of the displacement in 3D

u, v, w, w(x, y, z )
which are functions of 3D
coordinates
x, y , z ,
describing initial position.

z
Deformation

z
 Deformation

x x

dz

dx

z z
 Strain components

dz dz

dx dx' = dx +  x dx

dx  − dx Deformation along the x-axis

x = described by means of the
dx relative displacement
z (normal strain)
 Strain components

dz
dz ' = dz +  z dz

dx
dx
dz − dz Deformation along the z-axis
z = described by means of the
dz relative displacement
z (normal strain)
 Strain components

x dx

dz dz

 xz
dx

 xz =  zx change of angle (shape)

in xz-plane
z (shear strain)
 Strain components

In 3D the deformation of the element is characterized

by:

normal components shear components

x,  y, z  yz ,  zx ,  xy
describing the relative describing the change of
elongations in the the right angles
direction of individual
axes
 Volumetric strain

Initial volume of the element (block):

dV = dx dy dz

Volume of the element after deformation:

dV ' = dxdy dz = (1 +  x ) dx (1 +  y ) dy (1 +  z ) dz

Relative volume change:

dV '−dV
V = = (1 +  x ) (1 +  y )(1 +  z ) − 1   x +  y +  z
dV
 Strain-displacement equations

displacement If the displacement of all points is

known, the strain can be
calculated:

Strain-displacement
equations
z

strain x
 Strain-displacement equations
(elongation)
x0 x
u ( x0 + x / 2, y0 , z0 )

z0

z x

u ( x0 − x / 2, y0 , z0 ) x + u

Δ𝑢 𝑢 𝑥0 + Δ𝑥/2, 𝑦0 , 𝑧0 − 𝑢(𝑥0 − Δ𝑥/2, 𝑦0 , 𝑧0 )

𝜀𝑥 = lim = lim
Δ𝑥→0 Δ𝑥 Δ𝑥→0 Δ𝑥
 Strain-displacement equations
(elongation)
x0 x
u ( x0 + x / 2, y0 , z0 )

z0

z x

u ( x0 − x / 2, y0 , z0 ) x + u
u v w
x = and similarly  y = , z =
x y z
 Strain-displacement equations
(change of angle/shape)
x0 x

z0

z
 
 xz
u w
 xz = +  = +
z x
 Strain-displacement equations
(summary)

normal components shear components

u v w
x =  yz = +
x z y
v w u
y =  zx = +
y x z
w u v
z =  xy = +
z y x
3. Generalized Hooke’s
law
 Poisson’s ratio
The ratio of the proportional decrease in a lateral
measurement to the proportional increase in length
in a sample of material that is elastically stretched.

Uniaxial loading:
x  = Poisson’s ratio
x =
E Isotropic material
x − 1    0.5
 y = −
E
x Steel:   0.3
 z = − Concrete:   0.2
E
 Linear elastic isotropic material

Uniaxial loading:
direction of x-axis direction of y-axis direction of z-axis
1 1 1
x = x y = y z = z
E E E
  
 y = − x = − x x = − y x = − z
E E E
  
 z = − x = − x z = − y y = − z
E E E
 Linear elastic isotropic material

General 3D stress state:

 
 x =  x −  y −  z = ( x − y − z )
1 1
E E E E

 y = ( y −  z −  x )
1
E
 z = ( z −  x −  y )
1
E
 Linear elastic isotropic material

Strain-to-stress relations:

2 (1 +  )
 x = ( x − y − z )
1
 xy =  xy
E E
2 (1 +  )
 y = ( y − z − x )
1
 xz =  xz
E E
 z = ( z − x − y )
1 2 (1 +  )
 yz =  yz
E E
 Linear elastic isotropic material

Strain-to-stress relations:
x  1 − − 0 0 0   x 
   − 1 − 0 0 0   
 y    y
  z  1  − − 1 0 0 0   z 
 =    
 xy  E  0 0 0 2 (1 +  ) 0 0   xy 
 xz  0 0 0 0 2 (1 +  ) 0   xz 
     
 yz  0 0 0 0 0 2 (1 +  )  yz 
ε = Ce σ
Compliance matrix
of elastic material
 Linear elastic isotropic material

Stress-to-strain relations:
 x  1 −    0 0 0  x 
    1 −    
 y 0 0 0  y
 
 z  E    1 − 0 0 0    z 
 =    

 xy  (1 +  )(1 − 2 )  0 0 0 0,5
0.5 −  0 0   xy 
 xz   0 0 0 0 0.5 − 
0,5 0   xz 
     
 yz   0 0 0 0 0 .5 −  
0,5
0  yz 

σ = De ε De = C −1
e
Stiffness matrix
of elastic material
 Linear elastic isotropic material

Stress-to-strain relation:

x =
E
(1 +  )(1 − 2 )
(1 −  ) x +  y +  z   xy =
E
2 (1 +  )
 xy

y =
E
(1 +  )(1 − 2 )
(1 −  ) y +  z +  x   xz =
E
2 (1 +  )
 xz

z =
E
(1 +  )(1 − 2 )
(1 −  ) z +  x +  y   yz =
E
 yz
2 (1 +  )

Generalized Hooke’s law

4. Lamé’s equations
 Basic quantities and equations

displacement external forces

strain-displacement static
equations equations

constitutive
strain stress
equations
 Basic quantities and equations

u, v , w X ,Y , Z

strain-displacement static
equations equations

 x , y , z  x , y , z
constitutive
 xy ,  xz ,  yz equations  xy , xz , yz
 Basic quantities and equations

u, v , w X ,Y , Z
u  x  yx  zx
x = + + +X =0
x x y z
...
strain-displacement  xy  y static
 zy
uequations
v + + +Y = 0
 xy = + E xy x y equations
z
y x  xy =
2 (1 +  )  xz  yz  z
... + + +Z =0
x y z
...
 x , y , z E (1 −  )  x +  y +  z   x , y , z
x = constitutive
(1 +  )(1 − 2 )
 xy ,  xz ,  yz
...
equations  xy , xz , yz
 Basic quantities and equations

u, v , w Lamé’s X ,Y , Z
equations
System of three second-order differential equations for three
unknown functions u(x,y,z), v(x,y,z), w(x,y,z)

Example: [nu] ... Poisson’s ratio

[vi] ... displacement
  E  u v w  
  (1 − ) +  +  +
x  (1 +  )(1 − 2 )  x y z  

  E  u v     E  u w  
+   +  +   +  + X = 0
y  2 (1 +  )  y x   z  2 (1 +  )  z x  
 Basic quantities and equations

u, v , w Lamé’s X ,Y , Z
equations
System of three second-order differential equations for three
unknown functions u(x,y,z), v(x,y,z), w(x,y,z)

Boundary conditions: 3 at every point on the boundary

• kinematic … prescribed displacements
• static … prescribed stress components
(e.g., assuming the boundary perpendicular to the y-axis,
the normal stress y corresponds to the normal forces
acting perpendicular to the surface)
5. Principal stress
 Stress transformation

x
x

 xz
z

z
z  zx
 Stress transformation
x

x
z
z  z  t  dx
z  xz dx  zx  t  dx
 xz  t  dz
x  x  t  dz
 x dz  dz
 x  t  dz    t  dz
xz

 xz
 Stress transformation
equilibrium condition:
x
 x  dz − ( x  dz +  zx  dx )  cos − ( z  dx +  xz  dz )  sin  = 0

dz cos  dz sin  dz cos 

 x =  x cos2  +  zx sin  cos  +  z sin 2  +  xz cos  sin 

 x =  x cos2  +  z sin 2  +  xz sin 2

 Stress transformation


z' ,
x'  x

 ,
x +z x −z
xz
,
x = + cos 2 +  xz sin 2
2 2
, x −z
 xz = − sin 2 +  xz cos 2
2
 Principal stress
The principal stresses are the components of the
stress tensor when the basis is changed in such a
way that the shear stress components become zero.
Principal stresses are eigenvalues of the stress
tensor.
 2 =  min
 x  xz 
σ=  1
 zx z 
 1 =  max
2
 Principal stress
Eigenvalues:
 x −   xz 
det   =0
  zx  z −  
( x −  )( z −  ) −  xz = 0
2

 − ( x +  z )  +  x z −  = 0
2 2
xz

quadratic equation – unknown = 

x +z x −z 
2
two roots:  1,2 =    +  xz
2

2  2 
 Principal stress
This approach can be extended for 3D stress state for
which we obtain three principal stresses (eigenvalues).
 x  xy  xz 
 
σ =  yx y  yz 
 zx  zy  z 

The eigenvalues represent the minimum and the

maximum normal stresses. Third eigenvalue lies
between these limits.
 Principal stress
Eigenvalues:

 x −   xy  xz 
 
det   yx  y −   yz  = 0
  zx  zy  z −  

cubic equation – unknown = 

Three real roots  1,2,3
 Principal strain
Principal strains are the eigenvalues of the tensor

 x  xy  xz 
1 1

1 
2 2
ε =  2  yx  y  yz 
1
2
 1  zx 1  zy  z 
2 2 

Tensor shear strain is, by definition, half of the engineering

shear strain
 Principal strain
Example: Plane stress (xz-plane)  shear
components  xy and  yz are equal to zero.

 x −  0 1
 

2 xz
  x −  12  xz 
det  0  y −  0  = 0 ( y −  ) det  1   −   = 0
 12  zx 0  −    2 zx z 
 z 
2
x + z   x −  z    xz 
2

1,2 =    + 
2  2   2 
3 =  y
 6. Split
(volume and shape changes)
 Volumetric strain and hydrostatic stress

 x = ( x −  y −  z )
1
normal strain:
E
 y = ( y −  z −  x )
1
E
 z = ( z −  x −  y )
1
E

volumetric strain:
1 − 2 3(1 − 2 )  x +  y +  z
V =  x +  y +  z = ( x +  y +  z ) = 
E E 3
Volumetric strain and hydrostatic stress

3 (1 − 2 )  x +  y +  z
volumetric
V = 
strain E 3

hydrostatic m
E stress
m = V
3 (1 − 2 )

 m = K V
bulk K
modulus
 Deviatoric stress and strain

normal components normal components of

of deviatoric stress deviatoric strain

sx =  x −  m ex =  x − V / 3
sy =  y −  m e y =  y − V / 3
sz =  z −  m ez =  z −  V / 3

s x + s y + sz = 0 e x + e y + ez = 0
zero hydrostatic stress zero volumetric strain
 Volumetric-deviatoric split

strain volumetric part deviatoric part

components (volume change) (change of shape)

x V / 3 ex =  x − V / 3
y V / 3 e y =  y − V / 3
z V / 3 ez =  z −  V / 3
 xy 0  xy
 xz 0  xz
 yz 0  yz
 Volumetric-deviatoric split

stress volumetric part deviatoric part

components (volume change) (change of shape)

x m sx =  x −  m
y m sy =  y −  m
z m sz =  z −  m
 xy 0  xy
 xz 0  xz
 yz 0  yz
Hooke’s law in volumetric-deviatoric
form

relation between hydrostatic stress

and volumetric strain:  m = K V
E
bulk modulus K=
3 (1 − 2 )

relation between deviatoric stress

s x = 2Gex
and strain:
...
 xy = G xy
E
shear modulus G =
2 (1 +  ) ...
The End
 Exam information

Written test:
• Theoretical part – questions, short calculations,
max. 30 pts., 75 min.
• Practical part – complicated calculations (see
homework), max. 36 pts., 90 min.

Allowed aids: calculator, formula list (web pages)