KTH SOLID MECHANICS

Exam: Continuum Mechanics (F4C5008), December 21, 2011, 8.00 - 18.00

Each one of the 10 problems can give up to 5 points, provided the answer is correct and the
solution can be followed. To pass the exam about 25 points are required.
Aids:
Nonlinear Solid Mechanics: A Continuum Approach for Engineering by G.A. Holzapfel
Curvilinear Analysis in a Euclidean Space, Book draft by R.M. Brannon
Handbok och Formelsamling i Hllfasthetslra
Notes from lectures in the course and material handed out during lectures
Mathematical handbooks and pocket calculator
Examiner: Jonas Faleskog, tel. 790 8977

1. Show that if W is a skew 2nd order tensor and I is the 2nd order identity tensor, then
1
2
det ( I + W ) = 1 + --- W , where
2

W =

W ij W ij .

Note that I + W is invertible whereas W is not.

2. A sphere with initial radius R attains the shape of an ellipsoid if subjected to a homogeneous
state of deformation. Find the magnitude and the corresponding direction of the respective
principle axis of the ellipsoid if the deformation (motion of the body) is defined by the mapping
x = X1 ( e1 + e3 ) + X2 e2 + X3 ( e3 e1 ) 2 ,
where ei are the Cartesian basis vectors. Also, sketch the contours of the ellipsoid in the x1
x3 plane.
3. The average rate of deformation in a continuum body, , can be calculated in the current
configuration by the integral
1 1
D = --- --- ( v n + n v ) ds ,
V 2

where v is the velocity vector, n is outward normal to the boundary surface and V the
volume of . Show that D will vanish if the mapping between current and material coordiT
T
nates are given by x = QX , where Q has the properties QQ = Q Q = I with I being
the second order identity tensor.

1(3)

k = tan

X2, x2

rme
d

defo

undef.

4. Consider a solid subjected to a homogeneous state of deformation as illustrated by the unit cube subjected to plane
deformation as shown in the figure to right. The problem is to
be analysed by use of a convected coordinate system that
coincides with the Cartesian coordinate system in the reference configuration. Determine the covariant basis vectors in
the current (deformed) configuration, gi, and the contravariant components of vector u = uigi, defined in the x1-x2 plane,
as depicted in the figure.

X1, x1

KTH SOLID MECHANICS

5. A continuum body is loaded by prescribed tractions and subjected to a rigid body rotation.
The material of the body is well described by an incompressible Neo-Hookean model with
shear modulus . At a certain stage in the loading the body obtains a cubic shape
( a a a ) in the current configuration, as shown in the figure below. The resultants of the
Cauchy traction vectors acting on each surface (surfaces with normal in the x3-direction are
traction free), the right stretch tensor, U, and the rotation tensor, R, associated with the
deformation at this stage are also included in the figure. Calculate: (a) the components of
the corotated Cauchy stress tensor, the 2nd and the 1st Piola Kirchhoff stress tensors,
respectively; (b) the shape and the position of body in the reference configuration; (c) the
1st Piola-Kirchhoff traction vectors acting on the body in the reference configuration.
X2, x2
0

U =
a
0

1----- 1 = 1.2500
2

=
0.7705
R = 1
0 2 0 , 2
------
2
0 0 3 3 = 1.0383
0

1 0 0

0 X , x
1 1

1-----0
2
1-----0
2
0 1

0 = 0.4844
6. Consider a homogeneous cube bounded by X i L (i = 1, 2, 3) in the reference configuration, with a reference mass density 0. The deformation of the cube is described by the mapping (inhomogeneous) x i = X i [ 1 + X i ( 2L ) ] (no summation) in a Cartesian coordinate
system, where ( t ) 0 is a function of time t with ( t = 0 ) = 0 . Calculate the material
time derivative of the spatial mass density as a function of and the spatial coordinates, xi,
for x i 0 .
7. Various stress measures may be inter-related by the expression for work (per unit volume of
reference state) associated with a change F in the deformation gradient, i.e.
1

: ( FF ) = P:F = S:E = S G :E G ,
where is the Kirchhoff stress tensor, P and S are the 1st and 2nd P-K stress tensors respecT
tively, and S G = S G is the stress conjugate to the generalized strain measure
3

EG =

g ( i )ui ui

with g ( 1 ) = 0 and g ( 1 ) = 1 ,

i=1

where ui are the Lagrangean triads (orthogonal unit vectors) of the right stretch tensor. E.g.
2
g ( ) = ( 1 ) 2 when EG represents the Green-Lagrange strain tensor. Determine the
stress measure that is conjugate to the choice g ( ) = .

2(3)

KTH SOLID MECHANICS

8. A cylindrical bar, with an initial length L and cross section

u ( t ) = u 0 t
area A, is subjected to a prescribed displacement, u ( t ) , and
X2, x2
rigid body rotation, ( t ) , according to the figure. Here, u 0

and 0 are small enough to ensure quasi-static conditions.

( t ) = 0 t
The material can be described by the rate-constitutive equa
tion: u = L:D R , where u is the corotated Cauchy stress
u=0
X1, x1
tensor, D R is the rotated rate of deformation tensor and L is
the isotropic Hookes law (hypo-elastic) with components on
a reference Cartesian system given as L ijkl = G ( ik jl + il jk ) + ij kl with
G = E ( 2 ( 1 + ) ) and = E ( ( 1 + ) ( 1 2 ) ) (Lam constants). Here E and are
the elastic modulus and Poissons ratio, respectively. Determine the relation between the
prescribed displacement and the resulting axial force in the bar, P, and the displacement at
the maximal P the bar can sustain, i.e. where dP = 0.
9. A block of rubber material in the shape of a rectangular parallelepiped is reinforced by unidirectional fibers. The fibers makes an angle with X1-axis and are perpendicular to the X3axis in the reference configuration, see the figure below. Under plane deformation conditions in the X3-direction, a homogeneous state of deformation with the deformation gradient
1
given by F = ( e 1 + ke 2 ) e 1 + e 2 e 2 + e 3 e 3 can be accomplished with the 2nd
P-K stress equal to S = S 0 e 1 e 1 , where ei are the Cartesian basis vectors. Here, it will be
assumed that an incompressible Neo-Hookean material model with inextensible fibers can
1
be employed according to S = pC + I qa 0 a 0 , where I is the 2nd order identity
tensor, a0 is a unit vector defining the fiber direction, p and q are Lagrange multipliers. (a)
Determine the kinematic relation between k and imposed by the constraint associated with
the inextensible fibers what is the upper limit for ?; (b) calculate S0 for the special case
= 4 ; For two bonus points: determine the Cauchy traction vectors, th and tv (see the
figure below), associated with the deformation and stress state.
tv
x2
fibers
X2
th
th

X1

tv

k = tan
x1

0
10. A thin walled cylinder is subjected to an internal pressure p0. The cylinder has initially a
mean radius R, a wall thickness, H, and an axial length B. In the deformed state, the radius is
r and the wall thickness is h, while the length is constrained to remain the same. The cylinder can be modelled by an incompressible Neo-Hookean material with the strain energy
function = ( I 1 3 ) 2 , where represents the shear modulus and I1 is the first invariant of the right (or left) Cauchy-Green tensor. Show that the internal and external virtual
work can be written as
W int = 2HB f ( r R )r and W ext = p 0 2B rr ,
respectively, and find the expression for the function f(r/R). Furthermore, determine the
relation between p0 and r.

3(3)