Lecture 07: Stress Transformation

and Equilibrium Equations

Jayadeep U. B.
Dept. of Mechanical Engg., NIT Calicut.
 Introduction
There are two major topics in this lecture:
Stress transformation
Equilibrium Equations
Stress being a second order tensor, general transformation
equations can be directly used for finding the components in
rotated coordinate systems.
Finding out the principal stresses and associated directions is of
special interest in many applications like metal forming.
Decomposition of the stress tensor into spherical and deviatoric
components plays a crucial role in plasticity.
Equilibrium equations discussed here ensure the equilibrium
locally at every point within an object, unlike the global
equilibrium equations based on resultant forces and moments.
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 Stress Transformation
Using the general transformation equations, we get: ij = Qip Q jq pq
The stress tensor components in any rotated coordinate system
can be obtained using these relationships.
Using these, the stress components on any arbitrary plane can be
found out by properly choosing the rotated coordinate system.
H.W.1: Derive the 2D stress transformation equations.
H.W.2: In 3D, verify that the traction vector on oblique planes
derived in last lecture is same as that obtained using the
transformed stress components given above.
The equilibrium equations discussed later in this lecture gives
some idea about the changes in stress resulting from coordinate
translation, i.e., changing the spatial location of the point.
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 Principal Stresses
Stress tensor being a symmetric second order tensor, the principal
stresses are given by: det ij ij = 3 + I1 2 I 2 + I 3 = 0
where I1 = ii
I 2 = ( ii jj ij ij ) 2
I 3 = det ij
With respect to a principal coordinate system, only normal
stresses are present:

1 0 0
= ij = 0 2 0
0 0 3
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 Spherical and Deviatoric Stresses
Spherical component, also called as hydrostatic stress tensor as it
is the only possible state of stress in a fluid at rest, is given as:
ij = ( kk 3) ij
Deviatoric component gives how much the given state of stress
deviates from the hydrostatic state of stress: ij = ij ( kk 3) ij
Sum of the two components gives the original stress tensor.
The principal directions of the deviatoric stress tensor is same as
that of the original stress tensor.
We will see in Theory of Plasticity (TOP) that yielding, which is
the change from elastic deformation to plastic deformation, and
the plastic strains are dependent on deviatoric stress tensor.
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 Equilibrium Equations
We consider a body in equilibrium with surface tractions and body
forces acting on it.
If the body is in equilibrium, any part of it must be in equilibrium.
Using conservation of linear momentum, we get:

T dS + F dV = 0
S
i
V
i

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 Equilibrium Equations contd.
This equation can be written as: ji n j dS + Fi dV = 0
S V

Using the divergence theorem, we get: ( ji , j + Fi ) dV = 0

V
Since it is valid for any arbitrary volume, the integrand must be
zero everywhere. Hence, we get: ji , j + Fi = 0
In the conventional notation, we can write the equilibrium
equations as: x yx zx
+ + + Fx = 0
x y z
xy y zy
+ + + Fy = 0
x y z
xz yz
z
+ + + Fz = 0
x y z
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 Alternate Derivation
Equilibrium equations can also
be derived using a small
element, and considering the
force equilibrium equations
(conservation of linear
momentum).
H.W.: Consider a differential
element as shown in figure, and
derive the equilibrium
equations based on it. You may
change the notation for body
force to the one used above.

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 Angular Momentum Conservation
Angular momentum conservation results in the complementarity
property of shear stresses (H.W. in last lecture).
This results in stress tensor becoming a symmetric second order
tensor.
It is incorrect only if distributed couples are present, which are
not commonly encountered in TOE.
Using the symmetry of the stress tensor, the equilibrium equation
may be written as: ij , j + Fi = 0
H.W.: Derive of equilibrium equations in cylindrical coordinates
(You may use the alternative derivation above). Ref.: Advanced
Mechanics of Solids by L.S. Srinath.
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 Equilibrium Equations in Cylindrical
Coordinates
Using conventional notations, we can write the equilibrium
equations in cylindrical coordinates as:
r 1 r rz 1
+ + + ( r ) + Fr = 0
r r z r
r 1 z 2
+ + + r + F = 0
r r z r
rz 1 z z 1
+ + + rz + Fz = 0
r r z r

Since the cylindrical coordinate system is locally similar to a

Cartesian coordinate system, angular momentum conservation
leads to the symmetry of the stress tensor in this case also.
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 References
Sadd, M.H., Elasticity: Theory, Applications and Numerics,
Academic Press.

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