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    Capítulo 3 do livro Elasticity - Theory and Applications

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    © All Rights Reserved
    Download as PDF or read online from Scribd
    Flag for inappropriate content
    58 views23 pages

    Elasticity Reismann Cap 3

    Uploaded by

    José Góes
    Capítulo 3 do livro Elasticity - Theory and Applications

    Copyright:

    © All Rights Reserved
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    of 23
    82 sTeess 2A Use (2.71) to prove (2.72). 242 If V=6,2/0x,, show that the operator Ve, +e-V =3/ar, for Cartesian coordinates. Hence show that (2.7) can be derived from (2.58). 2A3__Shiow how (2.77) is obtained from (2.74), 2.44 Consider the transformation from oblate spheroidal coordinates (40,9) to Cartesian coordinates x= acoshucosvcose y= acoshucosnsing 2=asinhusine where a is a constant, (@) Discuss the coordinate surfaces. stress equations of equilibrium referred to oblate spheroidal 245 Consider the transformation from parabolic coordinates (E,7,4) to Cartesian coordinates x=Encosg, y= Easing, 2= M(q?—2), (@) Discuss the coordinate surfaces. ) the stress equations of equilibrium refeired to parabolic coordi- nates (£.7.9). 246 (a) Use the identity (1.56d) to show that in (¥+0,40-V)Aediva (b) Show that B,-(V-e46/)B, where ¢,, '=1,2,3, are mutually perpendicular unit vectors, 247 What is the average value of the normal stress for all possible orienta- tions of the vector n? That is, show that Hatoatod=sh, (Gee Section 2.8). 3 DEFORMATION 'AND STRAIN A real solid changes its shape when subjected to surface tractions and body forces, or, in other words, it deforms, under loads. One of the main problems of elasticity theory is the determination of the deformation of the solid from rence configuration. The device used to characterize local deforma- formation “at a point” of the solid) is the strain tensor. The strain tensor, and its relation to the deformation field, forms the central topic of the Present chapter 3.1 KINEMATICS OF A DEFORMABLE SOLID The solid continuum is « mathematical model of a real, material solid with a definite shape, This shape can be changed by the application of forces, but it is assumed that a real material solid offers resistance to such induced changes in shape, the nature of which will be discussed. Throughout this book we the microscopic structure of the solid, this being the physics. Thus the continuum model of our solid Sisplays the same properties for volumes of all sizes, whether large or small ‘This is what is meant by the macroscopic approach, The adoption of the point leads us to the study of field quantities such as displace- ss, and 80 on, which are characterized as piecewise continu- space coordinates. the present chapter is to erect the mathematical frame- work which characterizes the deformation of a solid continuum. Toward this end we consider a solid body in some reference configuration B,, as shown in Fig. 3.1. This same body is also shown in a deformed configuration, B. In the process of changing its configuration from B, to B, the material solid may rotation. In addition, the solid experi- fences a change in shape (deformation). As shown in Fig. 3.1, both the reference configuration and the deformed ‘configuration can be nate system. TI undeformed con at the point Q in vector of a typical material point Qy in the is denoted by re,a.. This same particle is located formed configuration, and there its position vector is Fig. 31 Deformed and undeformed configurations. x; The displacement vector associated with this particle is denoted by iu;, and we have the relation Rartu or amg tty G1) set of independent varial This can be accomplished in two ial coordinates. 3) are called the Lagrangian or mat s%ae%q) and x;=¥(ds03.05) are taken to be single points, curves and ‘material requires t G2) | | i | i f »*2%3) in @ unique manner. deform in a physically is, they do not vanish, nor do they assume negative see (3.42) in Section 4, are Cartesian rectangular reference configuration By, they will be curvilinear in the deformed configuration B, in general. Thus straight and planes of material particles in the refere theory because it requires the use of general tensor analysis, a subject that is beyond the scope of this book. 3.2 THE STRAIN TENSOR CONCEPT 3.2.1 Lagrangian Formalation aterial line element before and after deformation as to deformation, the line element is characterized by ting in the direction of the unit vector m. After deformation, the same material line element is denoted by the vector dR Pointing in the direction N, In view of (3.1) we have dR=dr+da, where w is the displacement vector. Consequently |dR/?= (e+ du)-(dh-+ da) and 3) ian Ga) 20 a = ( da, 2 \a=(deV) au 5 (a2) (dea where dr=e,da, and V=e,9/Aq, so that iat (ja 7) MED, g and D, is recognized as the directional derivative of w in the direction of m. ‘Upon substitution of (3.5) and (3.4) into (3.3), we readily obtain: [anf jar? 1 L 5 et manny DeDan MOM +2) (3.6) where is the relative extension of the material line clement referred to its initial ength (Lagrangian description). The quantity Po taken as the measure of extensional strain. ; In order to calculate angle changes, we consider two small material line elements dr and dp in the undeformed configuration emanating from the point Q,, with included angle ,, as shown in Fig. 3.3. After deformation, the point Q, moves to @ and the line elements are now dR and dP, respectively, with included angle ®. From the definition of the dot product, dR-dP=|dR\|dP|cos ® and upon dividing by {dtd But dR= dr+du, and in view of (3.4) 7 baeae (3.9) ‘THE STRAIN TENSOR CONCEPT 87 where D, is the directional derivative of w in the direction of m. Sintilarly, ae Tart (3.90) ‘Where D, is the directional derivative of w in the direction of the unit vector s= & 3.10) Upon substitution of (3.9) into (3.8), we readily obtain : I+Dlb+D,loos®mnstn-D,+6D,4+DyD, 6.11) The relative extensions ofthe two line elements are (see (3.7) M, = @R= ler = Pi In view of (3.12) and (3.), we fave n+p, @.13) Gia) Substitution of (3.13) and (3.14) into (3.11) results in 3[U+M,)(1+ M,) 008 ~cos6, (@-D,+s-D,+D,-D,)=S. @.15) The scalar $ is defined as the shear s inge between the two vectors, as well relative extension of 1 will be instructive to relate the quantities Nand 8 te Gorveian coordinate system with m perpendicular'to s, In this case @. It is related to the angle BRCM S™ ES, ume, —745,=0 Dime Vjemn ge, P,=(6-Pums, p= 1f du, , ay voc Buse Sieh iy au, D,= Ma," Ds mia G16) ity Ott, ‘88! DEFORMATION AND STRAIN Upon substitution of (3.16) into (3.6) and (3.15), we obtain Ne lynn, S= Lyn, where expresses ment for an arbitrarily fon (3.1 the extensional strain compo ewe cial ren prone a compe charactraton it j= 1,2,3) provi ine ee th tmetral pont a2 sl, Since N iba ela aad 9 ¢ quantities Z,, are the components of a Cartesian ‘according to the quotient rule, The quantities Ly are known as the Lagrangian strain tensor. Equations (3.17) and a compared to (2.15) and ¢ i Teeth, Vane oe nding of the stress tensor 7; identi properties Tg te er eaten pray, tw of wanfomatn for rotted ‘sxes is (see (2.12) Lye teil Gm where q00H(%nX) are the direction cosines between primed and un- rimmed ies, Theve exists at least one set of mutually perpendicul hich S220, and for which the matrix of strain tensor components diagonal, that is, 21) mlO L, 0 |. iif “The scalars L, > £2, are the principal normal strain components. They are the roots of the cubic equation (see (2.21b)) D224 %,b-820° 8.22) ‘THE STRAIN TENSOR CONCERT 89 where fy Lut Lat Ly = 1+ Lyt Ly (3.23a) ealfu 4 Ex Lal | L53 Lo ele able eke | HLyLat LyLy+ Lyk, (3.23b) (3.23e) are the invariants of the strain tensor associated with a specific material point of the solid. We also note that the results of Sections 2.6, 27, 28, and 2.9 are immediately applicable to the strain tensor concept. Thus we can speak of principal shear strains, maximum shear strain, Mohr’s circles for strain, cetahedral shear strain, strain deviator, and so on. It will not be necessary to develop these concepts separately, because they follow (formally) from Chapter 2. Associated with the strain-tensor Ty is a rotation tensor 9, which is (formally) obtained as follows. Since x,—a,+u, we have ay, dim at $3 ay (84 Ly a, (324) v" 3g, Ba, Ua Be 6.25) ‘The set of quantities Q, is called the Lagrangian rotation tensor. If the soli body moves without deformation, Zy=0, and in this case the quantities Q, +8, characterize rigid body rotation (see Section 3.6). 3.2.2 Eulerian Formulation In this case the analysis proceéds as in (3.3) through (3.23), except that we the deformed configuration. It can’ be shown (see Exercise 3.1) that the normal strain is given by Nim fae 4iym tl =N-Dy~{DyDy=E,N,N, (8.26) 90 DEFORMATION AND STRAIN where aR. No iaR| = oN (2m aR la Dem jam Mt aR (27) a veg and aren Oe Dim Dim Fe + Se ey 3.28) {s the Eulerian strain tensor referred to Cartesian coordinates. For the present ‘case the shea i [cos —(1~ Mf?)(1- M$? cosy} (N-Ds +S-Dy—Dy'Ds) = EyN,S,- (329) ‘We note that the Eulerian strain tensor (3.28) is symmetric and completely © and angle change S®, referred to the tensor of order two, and, the relations and ‘through (3.23) will apply with appropriate changes in nota- tion, The Lagrangian and Eulerian representations are alternate ways of describing the strain at a material point of a solid. 33 GEOMETRY OF DEFORMATION In the present section we shall study the changes in length, areas, and volumes as a result of deformation. Toward this end, it will be convenient to consider a small, rectangular parallelopiped with edges Qy4)= dr,~e,da,, DoBy= dr =e,da,, and QoCy= dr,=e,da, in the reference configuration, as shown in Fig. 34. (for clarity and convenience, only two edges of the ere (see (3.5) and Exercise 3.5) au. Oe Gre tDimet 5n “ea 3.30) ‘The relative clongations M,, Mz, and M; of the line elements Qody, QpBo ‘and 0,C,, respectively, can now be calculated withethe aid of (3.6) and They are = VIF2Ly -1 @3Ia) |dR,|— at, ue! a al ViF2Ey -1 (331) —lARsl—lars) ana My lars] = VIF2 Ls —1. G3ie) In the reference configuration, the edges of the parallelopiped have lengths i, dy tnd day, As a result Of deformation, these lane cee respec- tively : (QA |=14R|=[G,kda, =(14 Mr), (332) 1.OB|=|dR,|=|G,\da,=(1+ M;)da, (332b) = (1+ Ms) day, (3.32e) The initially it anh nal ah antes $ 4s Qed= 98 Sim $BOC= 9% Fig. 34. We can 0/2, ¥ BoQCy= OE” = ow /2, use '=("/2)—$;, a8 shown in (3.18) to calculate the angle changes, In the BE EES ee ee eee eee eee e ete ee ner tn tee aaa aaa eee enna eee een 92 DEFORMATION AND STRAIN present case, these formulae yield (see Exercise 3.14) 2k cor mcor(F—tu)=tngum Te aieMy 23) = : 21, 039 = cos F tn) sins” TT AD (3.336) = 2L, emcee du) —sint i 5) With reference to (3.32) and (3.31), we conclude that length changes of ‘material line elements which are parallel to’ the coordinate axes in the reference configuration are related to the strain tensor components Ly, Loa, and £33. These are called the extensional components of strain. With refer- ence to (3.33) and (3.31), we note that the angle changes 4. between intersecting edges of an originally rectangular paral related to the strain tensor components Ly, Lay, and Loy, relative elongations. The quantities Lyz, Lay, and Loy are cal ext investigate differential area changes as a tion. The veotor areas of the sides of the (rectangular) parallelopiped prior to deformation are given by AAP = dr, x de, = daydaye, (34) AQ = dy de, = dase, ey G30) GAD = dX dey da dey (346) In the deformed configuration,, the transformed parallelopiped is not, in ‘general, rectangular, and the transformed vector areas corresponding to (3.34) are now given by (see Fig. 3.4 and (3.30) dR, x dRy=(G,xG;)dayda, (3.354) dA@ m= dR,X dR, =(G,xG,)dajda, (3.35) dA m= dR, XdR,=(G, xG,)da,day. (3.350) If we use (3.30), (3.34), and the vector ic ty JAC AWD) 336) (AxB)(CXD)=|8'6 BD then it can be shown that (see Exercise 3.26) [dA|=YOnGs— GB |dap)| G37) ‘SEOMETRY OF DEFORMATION 93 With similar expressions for |dA®Y and [dA where OR aR _ x ax, G26 p= ERB (39 is Green's deformation tensor. If we loy (3.38) and (3.19), the radicand is (3.37) assumes the form oer : iad = GaxGyy~ Gy 14 Wbegt Los) + Laaly~ LB). G39) et dilatation is defined as the change in area per unit of original area, = [1422+ Lys)+4(Leakyy—-LB)]'7—1 (3.402) [14 2st La) +4(EyLy 23) ]"7—1 (240b) [1421+ Lag) +4(Lypban~ LR) ]7-1. (3.400) We now turn our attention to volume changes. In the unstrained state By, the volume of the material parallelopiped is given by dVy= dryydA¥? = da,da,da, (a0 sum on i), G41) In the deformed state, this same material volume clement occupies the volume dV = diy = (GG, XG) da, da,da;=JdVy= VG dV, (3.42) where G=det(G,) G43) and where J is the Jacobian of the transformation x, x(ay,aqa,) as given by G2), To caleulate (3.42), we used (3.30) and the vector identity. A; Ay Ay By B, By a GG ABxC= (3.44) It can be shown that G= J“ by direct multiplication of (@.2) and-eubsequent jdentification of the elements cr the ecchiay denon oe end mubsequent 94 DEFORMATION AND STRAIN of (3.43), (3.31), and (3.32), we readily obtain V2 2p Las G=|2Ly, V4+2Ly 2Lay Qty. 2 =: I+2Lyy = 1428, $42,482, =J? where £,, i=1,2,3 are'the strain invariants (3.23). In view of (3.45), (3.41), and (3.42) it can be readily shown that adv, w 1¥28, +42, +86, —1. (3.46) Equation (3.46) gives the change of volume per unit of original volume, usually called the volume dilatation. Equations (3.42) and (3.45) can be used to find density changes in the solid due to deformation. Conservation of. mass requires af e(a,t)dV = Sptenve fic mass (mass per the configurat it of volume), and Bo (at *=0) and B f the same solid before and after 3.42) we have Svlanravon foladav, and this equation is valid for an arbitrary region By. Consequently ‘Thus, using (3.42) and (3.45), we obtain 0 WL paVG = VI1420, $40, 48, . (347) oa, 34 SMALL STRAIN Many applications of elasticity theory involve small relative elongations and small local angle changes. This limitation, referred to as small strain, also results in a more direct physical interpretation of the strain tensor compo- nents as discussed in Sections 3.2 and 33. To obtain the case of small strain, assume that |M,|<1, then M,=L,,. Similarly, using (3.310) and be readily shown that Mey and M, <1" also sufficiently similar relations can be obtained for 2; and (G.A8a) Ly=My Ly LyMy 3.480) La™} Las™ ion Ly G.48c) sin tensor components Ly are dimensionless quantities and they are lute value) compared to unity in the case of small strain. the above and with reference to (3.40a), we have IeLntly (349) ions which correspond to (3.40b) and (3.40c). Also, since (3.46) reduces to = (1428,)?— Le By Ly + Dag t Lag Ly + Ly + Ly. (3.50) awW-dvy av, In view of (3.47), the density ratio becomes Pom (1428,)or1 +2 a1. @s1) Equations (3.49) through ( that density changes are ne To illustrate some of the above concepts, we consider two cases. of deformation, pertain to the case of small strain, We note 96 DEFORMATION AND STRAIN Example 3.4.4. Circular Bending (Plane Strain) ‘As shown in Fig. 3.5, an originally straight beam is deformed such that each longitudinal fiber becomes a circular are. Note that the beam axis does not stretch, and lines in @ plane a,=constant experience no strain. The planes 9, =constant behave rigidly and remain normal to the beam axis. The particle at rae, moves to the position Re[(o-adsin$ ]e.+[p—to-adcorS Jot ae Using (3.1), we obtain the displacement field = @-a)sin 2 ~a, 4,=0 (plane strain), % Mig. 35 Circular bending (plane strain). BEE EEE EEE EEE EEE EEE EERE EEE EEE EEE EEE EEE EEE ete ee eee eee ee eee ee SMALLSTRAIN 97 With the aid of (3.19) we obtain the strain field Lag Lyy* Lig Las Loy" 0 and using (3.25), we obtain the rotation tensor B)-2(3) ep)” 2\p a ai =~ sin St Qy=Oy— MyM) —0,,—0. F<. Then Lye — 4, that Example 3.4.8, Torsion of a Circular Cylinder ————_______. As shown in Fig, 3.6 a right ci through an angle Ba, which ,=0. Each particle moves der is twisted about its axis (X,) jonal to the distance f lane a,=constant, that 98 DEFORMATION AND STRAIN circular cross section rotates rigidly about the X, axis. A particle initially at displaced to the R= a,e1+ (a,008 Ba, — assinBa)ey+ (as008 Ba, + aysin Jey =constant. The displacement ficld, ob- ‘4, = 4,008 Ra, ~ a,8in Ba, — a, y= a 005 fa, + a, in Ba, — a5 and with the aid of @.19) we ealulate the strain tensor Lys Pata) Lys $Pay Lys hay Lym Lay Ly 0. The rotation tensor (3.25) is Qy=—FB%Xai+ a3), My =Ms)=c0sBa,—1 Qy=}Bay Oy —Paysin ay Baycosfa,+ 3 Ba, Ng=-Qy=sinfa, Oy" —Hhey = ~ Bassin hay + Ba cos a, —¥ For’small strain we set | Bay|<1 and | Bay|<1. This assumption in no way limits the magnitude of the angle of twist le, if Bay~=/2, j= ~Ghye ls Hence, large rotation can coexist with small stains 18 noted that Ly, is proportional to 2, whereas Ly. and Zy3 are proportional to {B. This phenomenon is known as the Poynting effect. 3.5 LINEAR STRAIN In Sections 3.2 through 3.4, we have considered local deformations only, that is, we looked at the relative position of vertices and angle changes of = sufficiently small parallelopiped before and after deformation. In a manner of speaking, we have moved with the volume element and noted only relative changes occurring in a sufficiently small neighborhood. In Section 3.4, we limited the magnitude of these changes We shall now consider the rotation of mat absolute space. With reference to Fig, 3.7, we result “smalt strain.” 2 the line element G4, LINEAR STRAIN 99 line element translates, parallel to G,. The ori and in view of (3.328) we have |G,|=1+M,. Consequently (3.52) can be written as a Fant Mindy (3.53a) (3.536) Fig. 3.7 Rotation of line elemeat in absolute space. 100 DEFORMATION AND STRAIN the sense that sinJyy 8), [@ial€1y and sind,,@0yy, [Os1<1. Under these conditions, equations (3.53) become au Man, Baty dy small relative elongations M, and small rotations, Ly)%M,=8u,/0a,. Similar rel displacement gradients in the case of linear strain (see Exercises 3.23, ‘and 3.25). Thus for small rotations in space and in the presence of sm: strains, we have <1, af 1,2,3. (3.54) be vw of (he singin one G19) 8 Ba pcm by Beye ity eng, she we hav ad yy te aco vy! in ort aaphave tat sal dapconest gant a arate Sata Bi eon n Oe panda saat apr pated no sen uy, Buy : nm Fa, * aa, 28 558) aug Oy tun Fat ig 8.556) ye 8 + Bt 26, (3.580) (G.56a) beet ne pene (ne 0.26) dda Beds 40 : “The “infinitesimal” rotation tensor wy is antisymmetric and of order two. As shown in Section 1.7, it can be characterized by its dual vector w= 3 ¢j40y ‘and therefore (3.56a) can be cast in the invariant form om feurlu. (3.56) LINEAR STRAIN 101 In the present linear case, we also have (=). () (+) and similar relations for |G,l and |G,| (see Brercise 320) so that au, ey Glar4 SH IGden4+ si au [eR da, Fe de, (ste) iu, ldRiladey+ 3 do (37) Buy aR mday + 55s (3576) and in view of (3.57) and (3.55) it is now possible to const i Simple picture (Fig. 8) ofthe deformation of two mera ine Semens QoAo and QyBo which are parallel to OX, and OX,, respectively, in the reference state. Figure 38 shows the deformation projected onto the XX, plane, Similar figures can be drawn for the corresponding projections onto am » eo. ao a. Fig. 38° Linear strain, ey 102 DEFORMATION AND STRAIN the Xj-X and X4-X; planes (see Exercise 3.21). We note that small displace- ment gradients a|<1 are implied’ in Fig. 38, but they have been exaggerated for ease of visualization. In summary, for small displacement szadients in the sense of (3.54), we obtain the strain-displacement relations 1/ am , 4 3.58) ose 3(HoZ 6.58) The six relations (3.58) are linear in the displacement gradients. For this reason we speak of linear strain, We also note that the concept is concept which can ¢ theory, resulting in introduce nonlinearities into the basic solutions which are no longer unique (see Chapter 9). The form of the strain-displacement relation is different in the material and spatial formulation, as is evident from an inspection of (3.19) and (3.28). Tt will be shown that these two different formulations assume similar forms in the case of linear strain. As a point of departure, let us consider the same displacement field characterized by = 4X. p.x3) =H (2) (3.59a) 2 9(ay4y.0;) 0,0). (0.596) is the displacement field referred to the final position of the mata parle, Equation (096) carats the see dpacomen ld ‘but expresses it in terms of the initial position of the material points. We ‘emphasize that even though (3.594) and (3.59) characterize the same dis- placement field, the functional forms of u(x) and o,(a) are entirely different. We have ax, by, 8s, 8, d0(a) Bux) "a [an 3x EE OMENORIG) oe aq, Oa, 8x, where 0(a)=u{ x(a)]=u4[ 4+ 4(x)] ay - Ou, @61) oral) RIGID BODY MoniON 103 for some 00. Bay a, grdet{g,] de $2 34) “4 ag Exercise 331 Ge=[der(6,)}[det(,)]=1 (@) Find the relative elongation of the lines AC and DB. so that g=G-'=J-? and VE

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