Professional Documents
Culture Documents
Marijan Dravinski
September 2000
Applied Elasticity (ME 509)
by
M. Dravinski
1
Chapter 1
x = x1 e1 + x2 e2 + x3 e3 = xi ei (1.1)
x = x01 e01 + x02 e02 + x03 e03 = x0i e0i (1.2)
where
ei · ej = δ ij (1.7)
ei × ei = 0, i = 1, 2, 3 (1.8)
e2 × e3 = −e3 × e2 = e1 (1.9)
e3 × e1 = −e1 × e3 = e2 (1.10)
e1 × e2 = −e2 × e1 = e1 (1.11)
2
X3
X’3
X’2
X2
X1
X’1
or
x01 = 11 x1 + 12 x2 + 13 x3 (1.13)
with
x02 = 2k xk (1.17)
x03 = 3k xk (1.18)
where
ij = e0i · ej = cos ]{x0i , xj } (1.19)
Or in matrix notation
x0i = ij xj ; i, j = 1, 2, 3 (1.21)
3
But since the basis {e0i } are orthonormal, i.e.,
it follows that
e0T
1 £ ¤
LT L = e0T
2
e01 e02 e03 =I (1.24)
e0T
3
• Range convention: Every index takes on values 1,2, and 3 unless stated
differently,
• Summation convention: Repeated (dummy) indices are summed up over
their range, and
• Free index convention: Indices that are not dummy one are called free
indices.
ei × ej = ijk ek (1.27)
(ei × ej ) · ek = ijk (1.28)
u×v = ijk uj vk ei (1.29)
(u × v)i = ijk uj vk (1.30)
Namely,
4
Example 1 Show that ijk ijk = 6.
Solution 1
or that
∇×u= ijk uk,j ei (1.37)
Definition 1 If the components of T in the new vector basis {e0i } become t0ijk... ,
where
5
Tensor Properties
1. Two tensors of the same ordered can be added: A + B = tensor of the
same order as A.
2. Operation of addition of tensors is commutative and associative, i.e.,
A + B = B + A; (A + B) + C = A + (B + C).
3. Two tensors are equal if their difference is the null tensor, i.e., A − B = 0
or aijk... − bijk... = 0.
Tensor Products
Let u and v be two vectors (tensors of order 1) and S and T be two tensors of
order 2. Then we have
aij = ui vj (1.42)
It follows that
a0ij = u0i vj0 = ik jm uk vm = ik jm akm (1.43)
which implies that A is a tensor of order 2.
Similarly, the numbers defined by
which states that B is a tensor of order 3 with 27 components (33 ). Also, the
set of 34 = 81 numbers defined by
Definition 2 The products in Eqns. 1.42, 1.45 and 1.46 are called outer prod-
ucts of the tensors.
6
The following are examples of inner products:
α = ui vi (1.47)
pi = tij uj (1.48)
qik = sij tkj (1.49)
It is easy to show that α, p, and q are tensors of order zero, one , and two,
respectively.
Note: The order of the resulting tensor is always less in the inner products
than in the corresponding outer products.
Apparently
α = aii (1.50)
pi = bijj (1.51)
qik = cijkj (1.52)
where the quantities on the RHS of the last three equations are obtained by
putting two indices equal and then summing over this index. This operation is
called contraction. So, a scalar α is obtained by contracting the second order
tensor A, the vector p is obtained by contracting the third order tensor B, etc.
In general, the contraction of a tensor of order n (>2) results in a tensor of
order n-2.
Symmetry of Tensors
Definition 4 Tensor W with components wij is symmetric if
and it is antisymmetric if
wij = −wji (1.54)
7
The Quotient Rule
Theorem 1 Let W be an entity in {xi }; i = 1, 2, 3 coordinate system repre-
sented by an ordered nine quantities wij . Suppose for all vectors v the scalars
ui = wij vj (1.57)
u0i = wij
0 0 0
vj = wij js vs = ir ur = ir wrs vs (1.58)
Theorem 2 Let the components of a tensor of order m be uijk... and the com-
ponents of a tensor of order n be vrst... . Then if relationship
holds for all uijk... and vrst... , then wijk... re components of a tensor of order
m+n.
Example 3 The set of scalars uijkm is such that for all second order tensors
with components ekm , the scalars σ ij = uijkm ekm are the components of a second
order tensor σ. Then, uijkm are the components of a fourth order tensor.
Solution 3
implies that
(u0ijkm kr ms − il jn uln rs )ers =0 (1.65)
for all ers . Therefore,
u0ijkm kr ms = il jn uln rs (1.66)
8
By multiplying the last result with tr os it follows that
cpqrs = αδ pq δ rs + βδ pr δ qs + γδ ps δ qr (1.69)
The first property is self evident. The second property follows from
δ 0ij = ir js δ rs = δ ij (1.70)
9
The main feature of a tensor field is ease of multiple partial derivatives of
the components wijk... . Usually, they are denoted by
∂wijk...
= wijk...,p (1.71)
∂xp
∂ 2 wijk...
= wijk...,pq (1.72)
∂xp ∂xq
wijk...,p (1.74)
are the components of a tensor field of order n+1 called the tensor gradient of
W.
it follows that 0
∂wrst... ∂wij... ∂xp
= ri sj ... (1.76)
∂x0q ∂xp ∂x0q
Since
0
xp = qp xq (1.77)
we obtain that 0
∂wrst... ∂wij...
= ri sj ... qp (1.78)
∂x0q ∂xp
Special Cases
• For ϕ a scalar field ϕ,i denotes the components of a 1st order tensor.
Thus gradϕ = ∇ϕ = ϕ,i ei . Similarly ϕ,ij are components of a second
order tensor, and ϕ,ii = ∇2 ϕ.
• For a vector filed f , fi,j denotes components of a 2nd order tensor and
fi,i = ∇ · f =divf . Similarly, (Curlf )i = ijk fk,j or ∇ × f = ijk fk,j ei .
Using tensor notation we can verify many vector identities. For example:
10
1. div(u × v) = v·Curlu − u·Curlv
2. Curl(Ωu) =ΩCurlu − u×gradΩ
3. CurlCurlu =grad(divu)−∇2 u
w = u × v = ²ijk ui vj ek (1.79)
Then
divw = (1.80)
= vj jki ui,k − ui ikj vj,k (1.81)
= vj (Curlu)j − ui (Curlv)i ¤ (1.82)
Then
it follows that
11
1.2.1 Generalization to Tensors of Any Order
Theorem 4 Let us consider a tensor filed Ajkl... . Let the region V with bound-
ary surface S be within the region of definition of Ajkl... . Assume that every
component of Ajkl... is continuously differentiable. Then,
Z Z
∂
Ajkl... dV = ni Ajkl... dS (1.90)
V ∂xi S
Exercise 2
Z Z Z Z
ui,i = ui ni dS ⇐⇒ ∇·u= u · ndS (1.92)
V S V S
Exercise 3
Z Z Z Z
ijk uk,j dV = ijk uk nj dS ⇐⇒ ∇×u= n × udS (1.93)
V S V S
1.3 Dyadics
Consider a vector v expressed in terms of the basis {ei } or in terms of the basis
{e0i }
v =vi ei = vi0 e0i (1.94)
This direct representation can be extended to the higher order tensors.
a = aij ei ej (1.95)
where the base vectors are juxtaposed in a specific order and the summation
convention applies. Then the last equation defines a dyadic.
12
Since
e0i = ij ej & ei = 0
ji ej (1.96)
Eq. 1.95 implies that
0 0 0 0
a = aij ki ek mj em = (aij ki mj )ek em (1.97)
These expressions are similar to those for v in Eq. 1.94, except that the base
vectors ei and e0i have been replaced by the juxtaposed pairs ei ej and e0i e0j .
Consequently Eq. 1.98 can be interpreted as a direct representation of the
second-order tensor A.
Algebraic operations can be carried out directly with a provided certain rules
of operations on the pair ei ej are followed.
Note that
(em · a) · ek = amk (1.100)
Therefore, the ordering of ei ej in Eq. 1.98 is critical in carrying out
algebraic operations on a and in general it cannot be changed arbitrarily.
• All the notions associated with the second-order tensor A (symmetry,
transpose, orthogonality, eigenvalues, and principal axes) may be used for
dyadics.
• Special dyadics
i = δ ij ei ej = e1 e1 + e2 e2 + e3 e3 (1.102)
13
x3
(r,φ,z)
z
O x2
r
φ
x1
14
where s denotes a parameter along the curve. The position vector x can be
written as
x =x1 e1 + x2 e2 + x3 e3 = r cos ϕe1 + r sin ϕe2 + ze3 (1.113)
then from Eqns. 1.112 and 1.113 it follows that
∂x
er = = cos ϕe1 + sin ϕe2
∂r
∂x
eϕ = = − sin ϕe1 + cos ϕe2 (1.114)
r∂ϕ
∂x
ez = = e3
∂z
Since ei , i = 1, 2, 3 are constant vectors we obtain the following
∂er ∂er ∂er
= 0; = eϕ ; =0
∂r ∂ϕ ∂z
∂eϕ ∂eϕ ∂eϕ
= 0; = −er ; =0 (cy8)
∂r ∂ϕ ∂z
∂ez ∂ez ∂ez
= 0; = eϕ ; =0
∂r ∂ϕ ∂z
Let u be a vector with components (ur , uϕ , uz ) along (er , eϕ , ez ), i.e.
u =ur er + uϕ eϕ + uz ez (1.115)
Then
∂ ∂ ∂
∇u = (er + eϕ + ez )(ur er + uϕ eϕ + uz ez )
∂r r∂ϕ ∂z
∂ur ∂uϕ ∂uz
= er ( er + eϕ + ez )
∂r ∂r ∂r
1 ∂ur ∂uϕ ∂uz
+ eϕ ( er + ur eϕ + eϕ − uϕ er + ez )
r ∂ϕ ∂ϕ ∂ϕ
∂ur ∂uϕ ∂uz
+ez ( er + eϕ + ez ) (1.116)
∂z ∂z ∂z
from which it follows that
∂ur 1 ∂uϕ ∂uz
∇u = er er + (ur + )eϕ eϕ + ez ez
∂r r ∂ϕ ∂z
1 ∂uz ∂uϕ ∂ur ∂uz
+ eϕ ez + ez eϕ + ez er + er ez (1.117)
r ∂ϕ ∂z ∂z ∂r
∂uϕ 1 ∂ur
+ er eϕ + ( − uϕ )eϕ er
∂r r ∂ϕ
Consequently, we have that
∂ur 1 ∂uϕ ∂uz
∇·u= + (ur + )+ (cy10)
∂r r ∂ϕ ∂z
15
x3
(R,φ,θ)
R
θ
O x2
x1
Solution 4 From
∇2 f = ∇ · ∇f (1.120)
and
u =∇f (1.121)
using Eq. 1.111 we obtain
∂2f 1 ∂f 1 ∂2f ∂2f
∇2 f = + + + (1.122)
∂r2 r ∂r r2 ∂ϕ2 ∂z 2
16
Then the element of an arc of a curve is defined by
ds2 = dR2 + (Rdθ)2 + (R sin θdϕ)2 (1.124)
and
∂ ∂ 1 ∂
∇f (R, θ, ϕ) = (eR + eθ + eϕ )f (1.125)
∂R r∂θ R sin θ ∂ϕ
Therefore we have that
x = sin θ cos ϕe1 + R sin θ sin ϕe2 + R cos θe3 (1.126)
and that
∂x
eR = = sin θ cos ϕe1 + sin θ sin ϕe2 + cos θe3
∂R
1 ∂x
eθ = = cos θ cos ϕe1 + cos θ sin ϕe2 − sin θe3 (1.127)
R ∂θ
1 ∂x
eϕ = = − sin ϕe1 + cos ϕe2
R sin θ ∂ϕ
Therefore,
∂eR ∂eR ∂eR
= 0; = eθ ; = − sin θeϕ
∂R ∂θ ∂ϕ
∂eθ ∂eθ ∂eθ
= 0; = −eR ; = cosθeϕ (1.128)
∂R ∂θ ∂ϕ
∂eϕ ∂eϕ ∂eϕ
= 0; = 0; = − sin θeR − cos θeθ
∂R ∂θ ∂ϕ
Based on these results we have that
∂ ∂ 1 ∂
∇u =(eR + eθ + eϕ )(uR eR + uθ eθ + uϕ eϕ ) (1.129)
∂R r∂θ R sin θ ∂ϕ
which leads to
∂uR ∂uθ ∂uϕ
∇u = eR ( eR + eθ + eϕ )
∂R ∂R ∂R
eθ ∂uR ∂uθ ∂uϕ
( eR + uR eθ + eθ − uθ eR + eϕ )
R ∂θ ∂θ ∂θ
eϕ ∂uR ∂uθ
+ ( eR + uR sin θeϕ + eθ + uθ cos θeϕ
R sin θ ∂ϕ ∂ϕ
∂uϕ
+ eϕ − sin θuϕ eR − cos θuϕ eθ )
∂ϕ
which after some algebra becomes
∂uR 1 ∂uθ 1 ∂uϕ
∇u = eR eR + (uR + )eθ eθ + (sin θuR + cos θuθ + )eϕ eϕ
∂R R ∂θ R sin θ ∂ϕ
1 ∂uϕ 1 ∂uθ 1 ∂uR
+ eθ eϕ + ( − cos θuϕ )eϕ eθ + ( − sin θuϕ )eϕ eR
R ∂θ R sin θ ∂ϕ R sin θ ∂ϕ
∂uϕ ∂uθ 1 ∂uR
+ eR eϕ + eR eθ + ( − uθ )eθ eR (1.130)
∂R ∂R R ∂θ
17
From the last result we obtain that
∂uR 2 1 ∂uθ 1 ∂uϕ
∇·u= + uR + ( + cot θuθ ) + (1.131)
∂R R R ∂θ R sin θ ∂ϕ
Similarly, it follows that
1 ∂uϕ 1 ∂uθ
∇ × u = eR ( + cot θuϕ − )
R ∂θ sin θ ∂ϕ
1 ∂uR ∂uϕ uϕ
+eθ ( − − )
R sin θ ∂ϕ ∂R R
∂uθ uθ 1 ∂uR
+eϕ ( + − ) (1.132)
∂R R R ∂θ
or
e Reθ R sin θeϕ
1 ∂R ∂ ∂
∇×u= ∂R ∂θ ∂ϕ (1.133)
R sin θ
uR Ruθ R sin θuϕ
Solution 5 Using the fact that ∇2 f = ∇ · ∇f and Eqns. 1.125 and 1.131 it
follows that
∂2f 2 ∂f 1 ∂2f ∂f 1 ∂2f
∇2 f = + + ( + cot θ + (1.134)
∂R2 R ∂R R2 ∂θ2 ∂θ sin2 θ ∂ϕ2
det(A−λI) =0 (1.137)
or
a11 − λ a12 a13
det a21 a22 − λ a23 = 0 (1.138)
a31 a23 a33 − λ
18
Equation 1.138, called the characteristic equation, is cubic in λ and it may be
written as
D(λ) = λ3 − IA λ2 + IIA λ − IIIA = 0 (1.139)
where the invariants IA , IIA , and IIIA are defined by
IA = aii
1
IIA = (aii ajj − aij aji ) (1.140)
2
IIIA = det A = ijk a1i a2j a3k
The roots of the characteristic equation are called the eigenvalues of A and
the corresponding nontrivial solutions v of Av =λv are called the eigenvec-
tors of A. There are three eigenvalues λk , k = 1, 2, 3 of A and corresponding
eigenvectors are denoted by v(k) , i.e.,
Proof. From
(λ − λ)vi vi = 0 (1.147)
19
Proof. Suppose that the two distinct eigenvalues are denoted by λ1 and λ2 .
Then from
(1) (1)
aij vj = λ1 vi (1.148)
(2) (2)
aij vj = λ2 vi (1.149)
it follows that
(1) (2) (1) (2)
λ1 vi vi = aij vi vj (1.150)
(2) (1) (1) (2)
λ2 vi vi = aij vi vj (1.151)
and thus
(1) (2)
(λ1 − λ2 )vi vi =0 (1.152)
(1) (2)
Since λ1 6= λ2 it follows that vi vi = 0.
20
Chapter 2
Strain Tensor
21
Q’’ Q’
P’ u Q(x1,x2,x3)
P(a1,a2,a3)
X3 P’’
O X2
X1
and consequently
∂xi ∂xi ∂xα ∂xβ
ds2 − ds20 = ( − δ jk )daj dak = (δ αβ − δ jk )daj dak (2.6)
∂aj ∂ak ∂aj ∂ak
we obtain
∂aα ∂aβ
ds2 − ds20 = (δ ij − δ αβ )dxi dxj (2.8)
∂xi ∂xj
Thus we define Green strain tensor
1 ∂xα ∂xβ
Eij = (δ αβ − δ jk ) (2.9)
2 ∂aj ∂ak
22
Remark 1 It should be noted that Green tensor is defined in terms of unde-
formed coordinates ai while Almansi strain tensor is defined in terms of de-
formed coordinates xi .
ui = xi − ai (2.13)
we can obtain different forms of the Green and Alamansi strain tensors which
are more commonly used
1 ∂uα ∂uβ
Eij = [δ αβ ( + δ αi )( + δ βj ) − δ ij ]
2 ∂ai ∂aj
1 ∂uα ∂uβ ∂uα ∂uβ
= [δ αβ ( + δ βj + δ αi + δ αi δ βj ) − δ ij ]
2 ∂ai ∂aj ∂ai ∂aj
1 ∂ui ∂uj ∂uα ∂uα
= ( + + ) (2.14)
2 ∂aj ∂ai ∂ai ∂aj
Similarly,
1 ∂ui ∂uj ∂uα ∂uα
eij = ( + − ) (2.15)
2 ∂xj ∂xi ∂xi ∂xi
In unabridged notation (x, y, z) for (x1 , x2 , x3 ), (a, b, c) for (a1 , a2 , a3 ), and
(u, v, w) for (u1 , u2 , u3 ) we have that components of the Green strain tensor
(Lagrangian strain tensor) is given by
∂u 1 ∂u 2 ∂v ∂w 2
Eaa = + [( ) + ( )2 + ( ) ]
∂a 2 ∂a ∂a ∂a
1 ∂u ∂v ∂2u ∂2v ∂2w
Eab = [ + +( + + )]
2 ∂b ∂a ∂a∂b ∂a∂b ∂a∂b
..
. (2.16)
while the components of the Almansi strain tensor ( Eulerian strain tensor) are
given by
∂u 1 ∂u 2 ∂v ∂w 2
exx = − [( ) + ( )2 + ( ) ]
∂x 2 ∂x ∂x ∂x
1 ∂u ∂v ∂2u ∂2v ∂2w
exy = [ + −( + + )]
2 ∂y ∂x ∂x∂y ∂x∂y ∂x∂y
..
. (2.17)
23
If the components of displacement field ui are such that their first derivatives
are so small that the squares and the product of their partial derivatives of ui
are negligible, then eij reduces to Cauchy’s infinitesimal strain tensor
1 ∂ui ∂uj 1
eij = ( + ) = (ui,j + uj,i) (2.18)
2 ∂xj ∂xi 2
ds0 = dx
∂u ∂u
ds = dx + u + dx − u = (1 + )dx
∂x ∂x
which implies that
24
y
u u+uxdx
x
P dx P’
or
ds − ds0 2exx 2
= ds0 = exx
ds0 ds + ds0 2 + ∂u
∂x
Using the assumption of small strain yields then
ds − ds0
exx =
ds0
or that the component exx measures the change of length per unit length of a
fiber parallel to the x-axis. Consequently, the component exx describes extension
(compression) of a material fiber. Similar conclusions follow for the components
eyy and ezz .
25
y Q’’
α Q’(u+uydy,v+vydy)
P’ P’’
Q(u+uxdx,
dy β
v+vxdx)
O’(u,v)
x
O dx P
which implies that the strain component exy is equal to one half of the amount
(in radians) the right angle between two fibers is diminished due to deformation.
In engineering, the strain components eij ; i 6= j are called the shearing
strains.
where α denotes an angle for which OP rotates about the z-axis and β represents
an angle for which OP 0 rotates about the z-axes. Consequently,
1 ∂v ∂u
ωz = ( − ) ≡ measure of rotation
2 ∂x ∂y
26
y
P’’ Q’’ P’ Q’
dy
x
O dx P
u
Q’(uydy, P’
vydy) dy
β
Q(uxdx,vxdx)
α
x
O P
dx
27
Remark 4 If there is no shear strain then exy = 0 and thus
∂u ∂v
=−
∂y ∂x
28
Theorem 8 When the strain tensor vanishes at point P, the infinitesimal rota-
tion of the RB motion of a neighborhood of P is given in terms of the rotation
vector ω.
by
∂ui
dui = dxj
∂xj
1 1
= (ui,j + uj,i )dxj + (ui,j − uj,i )dxj
2 2
= eij dxj − Ωij dxj = − ijk ω k dxj
or that
du = ω×dx
The last results indicates that the relative displacement of P 0 with respect to P
is equivalent to an infinitesimal rotation ω about an axis through P in direction
of ω.
29
D C
A B
D C
A B
Figure 2.7: Fibers in a body which may result from arbitrarily prescribed strains.
30
Therefore,
1
eij,kl = (ui,jkl + uj,ikl )
2
1
ekl,ij = (uk,lij + ul,kij )
2
1
eik,jl = (ui,kjl + uk,ijl )
2
1
ejl,ik = (uj,lik + ul,jik )
2
and subsequently
These equations known as the compatibility equations were first derived by St.
Venant (1860).
In general, Eq. 2.25 represents 34 = 81 equations. However, due to symme-
try of the strain tensor there are only six independent equations. In unabridged
notation they are listed as
∂ 2 exx ∂ ∂eyz ∂ezx ∂exy
= (− + + )
∂y∂z ∂x ∂x ∂y ∂z
∂ 2 eyy ∂ ∂ezx ∂exy ∂eyz
= (− + + )
∂x∂z ∂y ∂y ∂z ∂x
∂ 2 ezz ∂ ∂exy ∂eyz ∂ezx
= (− + + )
∂x∂y ∂z ∂z ∂x ∂y
∂ 2 exy ∂ 2 exx ∂ 2 eyy
2 = + (2.26)
∂x∂y ∂y 2 ∂x2
∂ 2 eyz 2
∂ eyy ∂ 2 ezz
2 = +
∂y∂z ∂z 2 ∂y 2
∂ 2 exzx 2
∂ ezz ∂ 2 exx
2 = +
∂z∂x ∂x2 ∂z 2
In two-dimensional case we have that u = u(x, y); v = v(x, y); w ≡ 0. There-
fore, ezx = ezy = ezz = 0 and ∂()/∂z ≡ 0. In that case the compatibility
equations reduce to a single equation
∂ 2 exy ∂ 2 exx ∂ 2 eyy
2 = + (2.27)
∂x∂y ∂y 2 ∂x2
Example 6 2D Case. Suppose that the strain filed is specified by exx = 3x +
sin y, eyy = x3 , exy = 12 (x cos y + ax2 y). Determine a suitable value for ”a” and
then calculate displacement filed u and v.
31
and consequently a = 3. Now
∂u
exx = = 3x + sin y
∂x
which implies that
3 2
u= x + x sin y + C1 (y)
2
Similarly, from
∂v
eyy = = x3
∂y
we get
v = x3 y + C2 (x)
Consequently, from
1 ∂u ∂v 1
exy = ( + ) = (x cos y + 3x2 y)
2 ∂y ∂x 2
we have that
1 1
(x cos y + 3x2 y + C10 (y) + C20 (x)) = (x cos y + 3x2 y (2.28)
2 2
from which it follows that
C10 (y) = −C20 (x)
for all x and y. Therefore,
and
C1 = −Ay + C
C2 Ax + B
32
Chapter 3
Stress Tensor
Therefore, for the surface perpendicular to x1 -axis we have stress vector com-
ponents σ 1j , for the surface perpendicular to x2 -axis we have stress vector com-
ponents σ 2j , and for the surface perpendicular to x3 -axis we have stress vector
components σ 3j , j = 1, 2, 3. Graphically, the components of a stress vector can
be depicted as in Fig. 3.3
Thus, σ ii , i = 1, 2, 3 (no summation) are defined as normal stresses, while
σ ij , i 6= j are known as shear stresses.
33
P1
P1 F
1 2
1
S n
x3 Pn
x2
O
x1
the positive direction of xj −axis when the positive direction of the xi −axis point
out of the body.
which leads to
σ23 = σ 32
34
D F
D S
Figure 3.2: The resultant internal force on an infinitesimal area.
35
s 33
s 32
s s 23
31
s 13
s 22
s 21
s 12
s 11
x3
x2
x1
36
x3
s Ds
+
33 3
s 32 Ds
+ 32
s 31 Ds
+ 31
s +Ds 23 23
s 23 s 21 r b3
s+D
s r b2 s Ds
2 2
2
r b1 21+ 21
dx3
s 31 x2
s 32
dx1
dx2
x1 s 33
P P
Similarly, Mx2 = 0 provides σ 13 = σ 31 and Mx3 = 0 results in σ 12 = σ 21 .
Therefore, provided there are no internal moments proportional to a volume we
have that
σ ij = σ ji ; ij = 1, 2, 3 (3.5)
or that the stress tensor is symmetric.
37
x2 n
T
D S n
s 1 s 31
s 21
x1
x3
Figure 3.5: Traction boundary conditions.
P P
Similar equations can be obtained for Fx2 = 0 and Fx2 = 0 which can be
summarized as the equations of equilibrium
or equivalently
divσ + ρb = 0 (3.7)
∆S2 = ∆Sn2
∆S1 = ∆Sn1
38
p0
a S1 x
n S2
y
Figure 3.6: An elastic wedge problem.
P
For equilibrium we must have Fx1 = 0 or
T2n = σ 21 n1 + σ 22 n2 + σ 23 n3
T3n = σ 31 n1 + σ 32 n2 + σ 33 n3
or
Tin = σ ij nj (3.8)
The last result represents the Cauchy stress formula which relates external trac-
tions to internal stresses. Since Tn and n are vectors, σ is a tensor of order
2.
Solution 7
39
3.4 Plane State of Stress
Definition 13 State of stress in which σ33 = σ 31 = σ 32 ≡ 0 is called plane
state of stress in the plane x1 x2 .
2σ xy
tan 2θ0 = (3.11)
σ xx − σ yy
Since
∂σ 0xx
= 2σ 0xy (3.12)
∂θ
thus σ 0xy = 0 implies extremum in normal stresses. By using
40
Case 2 max σ 0xy . Then
∂σ 0xy
=0
∂θ
which implies that
σ xx − σ yy
tan 2θ∗ = − (3.17)
2σ xy
from which it follows that
r
σ xx + σyy 2
σ 0xy (θ∗ ) = σ 0xy max = ( ) + σ2xy (3.18)
2
Since
1
tan 2θ0 = −
tan 2θ∗
we have that
θ∗ = θ0 ± 45o (3.19)
which states that the directions of the principal stresses are bisected by
directions of maximum shear stresses.
Note: ρdV = dm is the particle mass. Also, Eq. 3.20 is based on a La-
grangian description, and V and S move with the particle. Since the particle
mass is constant in time we obtain from 3.20 that
Z Z Z
∂2u
ρ 2 dV = ρf dV + Tn dS (3.21)
V ∂t V ∂V
41
Since V may be an arbitrary part of the body, we get that whenever the inte-
grand in Eq. 3.22 is continuous that
σ ij,j + ρfi = ρüi (3.23)
which is Cauchy’s first law of motion.
Using the Gauss theorem and equation of motion we obtain for the surface
integral
Z Z Z
n
klm xl Tm dS = klm xl σ mr nr dS = klm (xl σ mr ),r dV
∂V
Z∂V V
or that
klm σ ml
42
n
T
n
* n
S*
S
Tn = λn
or that
σ ij nj = λni (3.27)
which is an eigenvalue problem. This can be written in the form
(σ ij − λδ ij )nj = 0 (3.28)
det(σ−λI) =0 (3.29)
which is the characteristic equation of the problem. The last result can be
written in the form
λ3 − Iσ λ2 + IIσ λ − IIIσ = 0 (3.30)
where
λ1 = σ 1 ; λ2 = σ 2 ; λ3 = σ 3
Iσ = σ ii
1
IIσ = (σ ii σjj − σ ij σ ij )
2
IIIσ = det σ (3.31)
43
Thus in the coordinate system {ei } the stress tensor σ is real and symmetric.
Then, in the coordinate system {e0i }, where the basis vectors are along the
principal axes (the eigenvectors of Eq. 3.28) {e0i }, the stress tensor becomes
diagonal, i.e.,
σ1 0 0
σ0 = 0 σ2 0 (3.32)
0 0 σ3
In that case the stress tensor invariants become
Iσ = σ1 + σ2 + σ3
IIσ = σ1 σ2 + σ1 σ3 + σ2 σ3
IIIσ = σ1 σ2 σ3 (3.33)
Determine the principal stresses and the principal directions. Write down the
value of stress invariants.
Iσ = σ ii = 3 + 1 + 2 = 6
1
IIσ = (σ ii σ jj − σ ij σ ij )
2
= σ 11 σ 22 + σ 11 σ 33 + σ 22 σ 33 − σ 212 − σ 213 − σ 223
= 3 · 1 + 3 · 2 + 1 · 2 − 52 − 82 − 02 = −78
IIIσ = det σ = −108
λ3 − Iσ λ2 + IIσ λ − IIIσ = 0
or
λ3 − 6λ2 + −78λ + 108 = 0
which produces
σ1 = 11.8242
σ2 = 1.2848
σ3 = −7.1090
(σ−λ1 I)n(1) = 0
44
Tn
s nt
n
s nn
P
t
which results in
0.7300
n(1) = ± 0.3372
0.5945
Similarly, the last two eigenvectors are calculated to be
−0.480 −0.6818
n(2) = ± −0.8424 ; n(3) = ± 0.4204
0.5368 0.5988
σ nn = Tn · n =σ ij nj ni (3.34)
45
200 psi
a 600
100 psi
100 psi
a
x2
200 psi
O x1
or
Example 9 The skewed plate of unit thickness is loaded uniformly along the
sides of the plate as shown by Fig. 3.9. Determine the elements of the stress
tensor and normal stress on a plane making 45o with the x1 and x2 axes.
which provides
√
σ 11 = 100 3psi
σ 12 = 100psi
46
In addition we have that
√
σ 22 = 200 sin 60 = 100 3psi
For the surface on a 45o plane the unit normal is defined by n =( √12 , √12 , 0).
Then,
√
σ nn = σ ij ni nj = σ 11 n21 + σ 22 n22 + 2σ 12 n1 n2 = 100(1 + 3)psi
Namely,
∂
∇·σ = ei · σ kl ek el = σ kl,i δ ik el = σlk,k el
∂xi
Therefore, equations of motion can be written as
b = (br , bθ , bz )
u = (ur , uθ , uz )
σ rr σ rθ σ rz
σ = σ θr σ θθ σ θz
σ zr σ zθ σ zz
We may write then
σ = σ ij ei ej
= er (σ rr er + σ rθ eθ + σ rz ez )
+eθ (σθr er + σ θθ eθ + σ θz ez )
+ez (σ zr er + σzθ eθ + σ zz ez )
47
or
σ = er tr +eθ tθ +ez tz
where
tr = σ rr er + σ rθ eθ + σ rz ez
tθ = σ θr er + σ θθ eθ + σ θz ez
tz = σ zr er + σ zθ eθ + σ zz ez
Recall that
∂ 1 ∂ ∂
∇ · u = (er + eθ + ez ) · (ur er + uθ eθ + uz ez )
∂r r ∂θ ∂z
∂ur 1 1 ∂uθ ∂uz
= + ur + +
∂r r r ∂θ ∂z
Therefore we can write that
∂ 1 ∂ ∂
∇·σ = (er + eθ + ez ) · (er tr +eθ tθ +ez tz )
∂r r ∂θ ∂z
∂tr 1 1 ∂tθ ∂tz
= + tr + +
∂r r r ∂θ ∂z
which provides
∂σ rr ∂σrθ ∂σrz
∇·σ = er + eθ + ez
∂r ∂r ∂r
1
+ (σ rr er + σrθ eθ + σ rz ez )
r
1 ∂σ rθ ∂σθθ ∂σ θz
+ ( er + σ rθ eθ + eθ − σ θθ er + ez )
r ∂θ ∂θ ∂θ
∂σ zr ∂σ zθ ∂σ zz
+ er + eθ + ez (3.39)
∂z ∂z ∂z
Based on Eqns. 3.38 and 3.39 we obtain the equations of motion in cylindrical
coordinates to be
∂σ rr 1 ∂σrθ ∂σ zr 1
+ + + (σ rr − σ θθ ) + ρbr = ρür
∂r r ∂θ ∂z r
∂σ rθ 1 ∂σ θθ ∂σ θz 2
+ + + σ rθ + ρbθ = ρüθ (3.40)
∂r r ∂θ ∂z r
∂σ rz 1 ∂σ θz ∂σ zz 1
+ + + σ rz + ρbz = ρüz
∂r r ∂θ ∂z r
Similar procedure can be used in the spherical coordinate system.
Example 10 Invariants of the stress tensor. Let σ be a stress tensor in {xi }, i =
1, 2, 3
4 1 2
σ = 1 6 0
2 0 8
Find the invariants Iσ , IIσ , IIIσ .
48
Solution 10 The invariants are given by
Iσ = σ ii = 4 + 6 + 8 = 12
1
IIσ = (σ kk σ ll − σkl σ lk )
2 · ¸ · ¸ · ¸
σ 11 σ 12 σ 11 σ 13 σ 22 σ23
= det + det + det
σ 21 σ 22 σ 31 σ 32 σ 31 σ33
= σ 11 σ 22 + σ 11 σ 33 + σ 22 σ 33 − σ 212 − σ 213 − σ223 = 99
IIIσ = det σ = 160 (3.41)
Now let us rotate x1 x2 axes about x3 − axis for 45o counterclockwise. Then the
transformation matrix L becomes
√ √
2 2
0
2√ √2
L = − 2 2
0
2 2
0 0 1
and thus in the new coordinate system the stress tensor assumes the values
√
6 1 √2
σ 0 = LσLT = √1 4
√ − 2
2 − 2 8
Iσ0 = σ 0ii = 18
1 0 0
IIσ0 = (σ σ − σ 0kl σ 0lk ) = 99
2 kk ll
IIIσ0 = det σ 0 = 160
Thus the invariants remain the same in the two coordinate systems.
σ = σm + σd (3.43)
49
where
σm = diag[σm , σ m , σ m ] = [δ αβ σm ] (3.44)
1
3 (2σ 11 − σ 22 − σ 33 ) σ 12 σ 13
σd = σ 21
1
(2σ 22 − σ 11 − σ 33 ) σ 23 (3.45)
3
1
σ 31 σ 32 3 (2σ 33 − σ 11 − σ 22 )
where σ m is the mean stress tensor while σ d is the deviator stress tensor. The
latter ”measures” deviation from the state of stress from a spherically symmetric
state (i.e., from the state of stress that exist in an ideal, frictionless fluid).
If the coordinate axes {xi }, i = 1, 2, 3, are the principal one, then σ 11 =
σ 1 , σ22 = σ2 , σ 33 = σ3 ,and σ ij = 0, for i 6= j. The invariants of σ m and σ d are
given by
Cijkl = λδ ij δ kl + µδ ik δ jl + νδ il δ jk (3.49)
Therefore,
σ ij = λekk δ ij + µeij + νeji
50
Since stress tensor is symmetric we must have µ = ν and consequently
σ ij = λekk δ ij + 2µeij (3.50)
The inverse relation is easily follows to be
µ ¶
1 λ
eij = σ ij − σkk δ ij (3.51)
2µ 3λ + 2µ
Since E = 2µ(1 + ν) and µ = λ(1 − 2ν)/2ν, we can write
1+ν ν
eij = σ ij − σkk δ ij (3.52)
E E
In unabridged notation the last result becomes
1
exx = [σ xx − ν(σ yy + σ zz )]
E
1
eyy = [σ yy − ν(σ xx + σ zz )]
E
1
exx = [σ zz − ν(σ xx + σ yy )]
E
1 1 1
exy = σ xy ; exz = σ xz ; eyz = σ yz (3.53)
2µ 2µ 2µ
Frequently, Hooke’s law is expressed as
ν
σ ij = 2µ( ekk δ ij + eij ) (3.54)
1 − 2ν
Remark 6 Stresses are not unbounded as ν → 1/2 (an incompressible mater-
ial).
Generalized Hooke’s law σij = Cijkl ekl implies the following symmetry prop-
erties of tensor C due to symmetry of σ and e
Cijkl = Cjikl = Cijlk (3.55)
In general, tensor C has 81 components. However due to symmetry conditions
expressed by Eq. 3.55, only 36 of these components are independent. This is
also clear from the fact that σ ij = Cijkl ekl is a set of six linear homogeneous
equations relating the six independent components of σ to six independent
components of e.
We next assume that there exits a strain energy function W (C) from which
the stress tensor can be derived through
∂W
σ ij = (3.56)
∂eij
For small strains, W may be expressed in the power series
1
W = W0 + bij eij + Cijkl eij ekl + · · · (3.57)
2
51
where W0 , bij , ... are constants. Since the strain energy of the material has been
assumed to be zero in the undeformed state, W0 must be zero. Furthermore,
since e is symmetric we have that
1 1
W = bij eij + Cijkl eij ekl + ... = bji eij + Cijkl eij ekl + ...
2 2
1 1
= bij eij + Cjikl eij ekl + ... = bij eij + Cijlk eij ekl + ...
2 2
1
= bij eij + Cklij eij ekl + .... (3.58)
2
Therefore we conclude that
bij = bji
Cijkl = Cjikl = Cijlk = Cklij (3.59)
Noting that
∂(Cijkl eij ekl )
= 2Cmnkl ekl (3.60)
∂emn
we have that
∂W
σ ij = = bij + Cijkl ekl + ... (3.61)
∂eij
From Eq.(3.61) we conclude that the linear terms in the stress-strain relations
arise from the quadratic terms (in strains) of W. If the material is stress free in
the undeformed state, then bij = 0. It follows then that the linear constitutive
equation or the generalized Hooke’s law for an elastic solid is
52
3.12 Anisotropic Materials
Let’s introduce the notation
σ 11 = σ 1 ; σ 22 = σ 2 ; σ 33 = σ 3 ; σ 23 = σ 4 ; σ 31 = σ 5 ; σ 12 = σ 6
e11 = e1 ; e22 = e2 ; e33 = σe; 2e23 = e4 ; 2e31 = e5 ; 2e12 = e6 (3.65)
Then the generalized Hooke’s law becomes
σ ij = cij ej ; i, j = 1, 2, 3, ..., 6 (3.66)
Obviously, the element cij are related to Cijkl and [cij ] is a 6-by-6 matrix. Since
Cijkl = Cklij, the so called stiffness matrix [cij ] is symmetric, i.e.,
cij = cji (3.67)
Therefore, there are 21 independent material constants.
With this new notation we have that
1 1
W = cij ei ej = σ i ei
2 2
∂W
σi = (3.68)
∂ei
In expanded from the strain energy function becomes
1
W = c11 e21 + c12 e1 e2 + c13 e1 e3 + c14 e1 e4 + c15 e1 e5 + c16 e1 e6
2
1
+ c22 e22 + c23 e2 e3 + c24 e2 e4 + c25 e2 e5 + c26 e2 e6
2
1
+ c33 e23 + c34 e3 e4 + c35 e3 e5 + c36 e3 e6
2
1
+ c44 e24 + c45 e4 e5 + c46 e4 e6
2
1
+ c55 e25 + c56 e5 e6 (3.69)
2
Most solids exhibit symmetry properties with respect to certain rotations
of the body or reflection about one or more planes. These properties further
reduce the number of elastic constants. Obviously, the elastic constants cij , in
general, depend upon the reference frame, since the stress components σ i and the
strain components ei vary with different coordinate systems. For certain solids
the elastic constants cij may remain invariant under a given transformation of
coordinates. It is this invariance property that determines the elastic symmetry
of the solid.
53
which defines the transformation matrix
1 0 0
L = 0 1 0 (3.71)
0 0 −1
and the strain tensor
e11 e12 −e13
e0 = LeLT = • e22 −e23 (3.72)
• • e33
where • denote the symmetric part of the matrix. It follows than from Eq.
(3.72) that
e023 = −e23 ; e031 = −e31
with all the other components unchanged. Thus
The strain energy function W 0 is obtained from the right hand side of Eq.
3.69 by changing the signs of e4 and e5 . Since the material is symmetric about
the x1 x2 −plane, we must have that
W0 = W (3.74)
Wood is an example of such material. Say that the planes of symmetry are
the coordinate planes. Then, the symmetry about the x1 x2 −plane implies that
(see Eq. 3.75)
54
Similarly, the symmetry about the x1 x3 −plane requires that
Comparison of Eqns. 3.75 and 3.77 shows that Eq. 3.77 requires only four addi-
tional constants to vanish. Thus the number of independent constants reduces
to 9 (=13-4). Finally for material with symmetry about the x1 x3 −plane implies
that
e04 = −e4 ; e06 = −e6
and thus
c14 = c16 = c24 = c26 = c34 = c36 = c45 = c56 = 0 (3.78)
which bring no new conditions. Therefore, if x1 x2 − and x2 x3 −planes are planes
of symmetry, then x1 x3 −plane is also a plane of symmetry. The Hooke’s law
for orthotropic material is then
σ1 c11 c12 c13 0 0 0 e1
σ 2 c12 c22 c23 0 0 0
e2
σ 3 c13 c23 c33 0 0 0 e3
σ4 = 0 0 0 c44 0 0 (3.79)
e4
σ5 0 0 0 0 c55 0 e5
σ6 0 0 0 0 0 c66 e6
55
we can calculate that
or
The strain energy function W 0 is obtained by replacing e0i with ei in Eq. 3.69. If
the solid is symmetric about an arbitrary rotation about the x3 −axis we must
have W 0 = W for an arbitrary θ. By equating the coefficient of e21 we get
and therefore
56
which implies that
c13 = c23 (3.84)
c44 = c55 (3.85)
Thus for transversely isotropic material we need only 9-4=5 independent
elastic constants. The Hooke’s law becomes
σ1 c11 c12 c13 0 0 0 e1
σ2 c12 c11 c23 0 0 0 e2
σ3
= c13 c23 c33 0 0 0 e3
σ4 0 0 0 c44 0 0 e4
σ5 0 0 0 0 c44 0 e5
σ6 0 0 0 0 0 c66 e6
1
c66 = (c11 − c12 ) (3.86)
2
57
Based on this result we have
σ1 = λ(e1 + e1 + e1 ) + 2µe1
σ2 = λ(e1 + e1 + e1 ) + 2µe2
σ3 = λ(e1 + e1 + e1 ) + 2µe3
σ4 = µe4
σ5 = µe5
σ6 = µe6
or
σ ij = λekk δ ij + 2µeij (3.91)
This result can be written as
58
3.13.1 Cylindrical Coordinates (r, θ, z)
The displacement vector is then written as
u =ur er + uϕ eϕ + uz ez
By recalling that
∂ ∂ ∂
∇u = (er + eϕ + ez )(ur er + uϕ eϕ + uz ez )
∂r r∂ϕ ∂z
we have
∂ur 1 ∂uϕ ∂uz
∇u = er er + (ur + )eϕ eϕ + ez ez
∂r r ∂ϕ ∂z
1 ∂uz ∂uϕ ∂ur ∂uz
+ eϕ ez + ez eϕ + ez er + er ez (3.99)
r ∂ϕ ∂z ∂z ∂r
∂uϕ 1 ∂ur
+ er eϕ + ( − uϕ )eϕ er
∂r r ∂ϕ
By noting, for example, that eθz = eθ · e · ez , Eqns. 3.97 and 3.99 lead to the
following results
∂ur 1 ∂uθ ∂uz
err = ; eθθ = ( + ur ); ezz =
∂r r ∂θ ∂z
1 ∂uθ 1 ∂uz
eθz = ezθ = ( + )
2 ∂z r ∂θ
1 ∂ur ∂uz
ezr = erz = ( + )
2 ∂z ∂r
1 ∂ur ∂uθ uθ
erθ = eθr = ( + − ) (3.100)
2 r∂θ ∂r r
uR eR + uθ eθ + uϕ eϕ
59
Since
∂uR 1 ∂uθ 1 ∂uϕ
∇u = eR eR + (uR + )eθ eθ + (sin θuR + cos θuθ + )eϕ eϕ
∂R R ∂θ R sin θ ∂ϕ
1 ∂uϕ 1 ∂uθ 1 ∂uR
+ eθ eϕ + ( − cos θuϕ )eϕ eθ + ( − sin θuϕ )eϕ eR
R ∂θ R sin θ ∂ϕ R sin θ ∂ϕ
∂uϕ ∂uθ 1 ∂uR
+ eR eϕ + eR eθ + ( − uθ )eθ eR (3.102)
∂R ∂R R ∂θ
and by using Eq. 3.97 we get
∂uR 1 ∂uθ 1 ∂uϕ
eRR = ; eθθ = ( + uR ); eϕϕ = [ + sin θuR + cos θuθ ]
∂R R ∂θ R sin θ ∂ϕ
1 1 ∂uθ ∂uϕ
eθϕ = eϕθ = ( + − cot θuϕ )
2R sin θ ∂ϕ ∂θ
1 1 ∂uR ∂uϕ uϕ
eϕR = eRϕ = ( + − )
2 R sin θ ∂ϕ ∂R R
1 1 ∂uR ∂uθ uθ
eRθ = eθR = ( + − ) (3.103)
2 R ∂θ ∂R R
This procedure can be extended to other curvilinear coordinate systems.
d = ekk = ∇ · u (3.105)
or
σ ij ei ej = λdδ ij ei ej + 2µeij ei ej (3.107)
60
Then by comparing the coefficients of the like terms ei ej of Eq. 3.107produces
in cylindrical coordinates (r, θ, z)
∂ur
σ rr = λd + 2µerr = λd + 2µ
∂r
2µ ∂uθ
σ θθ = λd + 2µezz = λd + ( + ur )
r ∂θ
∂uz
σ zz = λd + 2µezz = λd +
∂z
∂ur ∂uz
σ zr = σ rz = 2µezr = µ( + )
∂z ∂r
∂uθ 1 ∂uz
σ θz = σ zθ = 2µeθz = µ( + )
∂z r ∂θ
1 ∂ur ∂uθ uθ
σ rθ = σ θr = 2µerθ = µ( + − ) (3.108)
r ∂θ ∂r r
where
∂ur ur 1 ∂uθ ∂uz
d=∇·u= + + + (3.109)
∂r r r ∂θ ∂z
Similar approach in spherical coordinate system results in
∂uR
σRR = λd + 2µeRR = λd + 2µ
∂R
2µ ∂uθ
σ θθ = λd + 2µeθθ = λd + ( + uR )
R ∂θ
2µ ∂uϕ
σ ϕϕ = λd + 2µeϕϕ = λd + ( + sin θuR cos θuθ )
R sin θ ∂ϕ
µ 1 ∂uθ ∂uϕ
σ θϕ = 2µeθϕ = ( + − cot θuϕ )
R sin θ ∂ϕ ∂θ
1 ∂uR ∂uϕ uϕ
σ ϕR = 2µeϕR = µ( + − )
R sin θ ∂ϕ ∂R R
1 ∂uR ∂uθ uθ
σ Rθ = 2µeRθ = µ( + − ) (3.110)
R ∂θ ∂R R
where
∂uR 2uR 1 ∂uθ 1 ∂uϕ
d=∇·u= + ( + cot θuθ ) + (3.111)
∂R R R ∂θ R sin θ ∂ϕ
3.15 Dilatation d
Let us consider the physical interpretation of d = ekk . For that purpose let’s
consider a cube of size 1 × 2 × 3 before deformation. Let e11 , e22 , and e33 be
the principal strains, i.e., eij = 0 for i 6= j. Then, after the deformation we have
that
1 → 1+ 1 e11
2 → 2+ 2 e22
3 → 3+ 3 e33
61
Remark 8 The fibers of the cube will remain perpendicular to each other.
V0 = 1 2 3
V = (1 + e11 )(1 + e22 )(1 + e33 )V0
and by neglecting the higher order terms (infinitesimal strain theory) we obtain
the relative change of volume to be
V − V0
= ekk = d (3.112)
V0
Thus the dilatation represents the relative change of volume of the material
during the deformation.
62
Chapter 4
σ ij,j + fi = 0; x ∈V (4.1)
where f denotes body force per unit volume. Constitutive equations are given
by
σ ij = Cijkl ekl (4.2)
where the tensor of elastic properties satisfies the following symmetry relations
63
T n
Bs
/V=B Bu
Cijkl = λδ ij δ kl + µ(δ ik δ jl + δ il δ jk )
64
or
s = 3κd (4.11)
where
s = σ kk
d = ekk
2
κ = λ+ µ (4.12)
3
with κ being the bulk modulus.
Remark 10 The inverse form of the constitutive equation 4.10 is given by
1+ν ν
eij = σ ij − sδ ij (4.13)
E E
In cylindrical coordinates (r, θ, z) the equations of equilibrium are
∂σ rr 1 ∂σ rθ ∂σ zr 1
+ + + (σ rr − σ θθ ) + ρbr = 0
∂r r ∂θ ∂z r
∂σ rθ 1 ∂σ θθ ∂σ θz 2
+ + + σ rθ + ρbθ = 0 (4.14)
∂r r ∂θ ∂z r
∂σ rz 1 ∂σ θz ∂σ zz 1
+ + + σ rz + ρbz = 0
∂r r ∂θ ∂z r
The stress-strain relationships are
σrr = λd + 2µerr ; σθθ = λd + 2µezz ; σ zz = λd + 2µezz
σzr = σ rz = 2µezr ; σ θz = σ zθ = 2µeθz ; σ rθ = σθr = 2µerθ (4.15)
where d = ∇ · u = err + eθθ + ezz .
The strain displacement equations are given by Eq. 3.100.
In spherical coordinates (R, θ, ϕ) the equations of equilibrium are given by
∂σ RR 1 ∂σθR 1 ∂σ ϕR 1
+ + + (2σ RR − σ θθ − σ ϕϕ + σ θR cot θ) + fR = 0
∂R R ∂θ R sin θ ∂ϕ R
∂σ Rθ 1 ∂σ θθ 1 ∂σ ϕθ 1
+ + + [(σ θθ − σ ϕϕ ) cot θ + 3σ rθ ] + fθ (4.16)
= 0
∂R R ∂θ R sin θ ∂ϕ R
∂σ Rϕ 1 ∂σ θϕ 1 ∂σ ϕϕ 1
+ + + (2σ θϕ cot θ + 3σ Rϕ ) + fϕ = 0
∂R R ∂θ R sin θ ∂ϕ R
The stress-strain and strain-displacement relations are given by Eq. 3.110.
65
or
(λ + µ)∇(∇ · u)+µ∇2 u + f = 0 (4.18)
These equations are known as Navier’s equations. In cylindrical and spherical
coordinates we can utilize the expressions for ∇f, ∇ · u, and ∇2 f in order to
obtain Navier’s equations for these curvilinear coordinates.
Proof. Assume that two solutions u(1) and u(2) are possible. Then we have
that
(1) (2)
σ ij,j + fi = 0; σij,j + fi = 0
where
(1)(2) (1)(2)
σ ij = Cijkl uk,m
The boundary conditions are given by
(1) (2)
ui = ui = ui (B) ; x ∈Bu
(1) (2)
σ ij nj = σ ij nj = ti (B); x ∈Bσ
Let us define
(1) (2)
ui ≡ ui − ui
σ ij = Cijkm uk,m
σ ij,j = 0; x ∈V
ui = 0; x ∈Bu
σij nj = 0; x ∈Bσ
66
R
Since W is nonnegative, the fact that V W dV = 0, implies that W = 0 in
V. Since W is positive definite quadratic form in strain components, it cannot
be zero unless all the strain components are zero. Thus eij = 0 implies that
(1) (2)
ui ≡ ui − ui represents a rigid body motion. Since ui = 0 on Bu we must
(1) (2)
have that ui = 0 everywhere in the body and thus we have that ui = ui .
Remark 11 This proof applies to the linear case only.
Theorem 10 (Clapeyron’s) If a solid is in equilibrium under the action of a
given system of body and surface forces, then the strain energy of deformation
is equal to one-half the static work that would be done by the external forces.
Proof. From the uniqueness proof we have that
Z Z Z
2 W dV = σ ij eij dV = σ ij ui,j dV
V V V
Z Z
= (σ ij ui ),j dV − σij,j ui dV
ZV ZV
= σ ij ui nj dB + fi ui dV
ZB Z V
= Tin ui dB + fi ui dV
B V
Z Z
= Tn · udB + f · udV
B V
the forces f (1) and tractions t(1) if they acted through the displacement u(2) is
Z Z
(1) (2) (1) (2)
Ω = fi ui dV + ti ui dB
V B
Z Z
(1) (2) (1) (2)
= fi ui dV + σij nj ui dB
ZV ZB
(1) (2) (1) (2)
= fi ui dV + (σij ui ),j dV
ZV V
Z
(1) (1) (2) (1) (2)
= (f + σ ij,j )ui dV + σ ij ui,j dV
V V
Z
(1) (2)
= σ ij ui,j dV (4.19)
V
67
Thus Z Z
1 (1) (2) (2) (1) (2)
Ω= σ ij (ui,j + uj,i )dV = Cijkl ekl eij dV (4.20)
2 V V
(1) (2) (1)
Since Cijkl = Cklij , then the integrand Cijkl ekl eij is symmetric in ekl and
(2)
eij . Thus we have that
Z Z
(2) (1) (2) (1)
Ω = Cijkl ekl eij dV = σ ij ui,j dV
V V
Z Z
(2) (1) (2) (1)
= fi ui dV + ti ui dB (4.21)
V B
or equivalently Z Z
(1) (2) (2) (1)
σ ij ui,j dV = σij ui,j dV (4.23)
V V
which completes the proof.
Let ui , eij , fi and ti denote a second possible state of the body. Then by putting
(1)
fi = 0 and using the Betty-Rayleigh reciprocity theorem we obtain
Z Z Z
(1) (2) (2) (1) (2) (1)
σij eij dV = fi ui dV + ti ui dB
V V B
which represents increase in volume of an elastic body due to the body force fi
and the surface traction ti .
68
4.3 Exact Solutions for Some Problems
For some problems in elastostatics, Navier’s equations can be integrated directly.
The integration constants can be found by using the boundary conditions.
Example 12 Consider a cylindrical tube of inner and outer radii a and b, re-
spectively subjected to internal pressure p and the external pressure q. Solve for
the unknown displacement field in the tube.
Solution 12 Assume that there is no displacement in the z − direction, i.e.
uz ≡ 0. Due to symmetry we have
ur = u(r); uθ = uz = 0
The boundary conditions are then given by
σ rr (r = a) = −p; σrr (r = b) = −q
Recall that the equations of equilibrium are given by (no body forces)
(λ + µ)∇(∇ · u) + µ∇2 u = 0
Furthermore, in cylindrical coordinates (r, θ, z) we have that
∂ ∂ ∂
∇f = (er + eθ + ez )f
∂r r∂θ ∂z
∂ur ur 1 ∂uθ ∂uz 1
∇·u = + + = u,r + u
∂r r r ∂θ ∂z r
u
∇(∇ · u) = er (u,r + ),r
r
We still need the term ∇2 u in cylindrical coordinates. In general we have that
∂ ∂ ∂
∇2 u = ∇ · ∇u = (er + eθ + ez ) · (∇u)
∂r r∂θ ∂z
However
∂ur 1 ∂uϕ ∂uz
∇u = er er + (ur + )eϕ eϕ + ez ez
∂r r ∂ϕ ∂z
1 ∂uz ∂uϕ ∂ur ∂uz
+ eϕ ez + ez eϕ + ez er + er ez
r ∂ϕ ∂z ∂z ∂r
∂uϕ 1 ∂ur
+ er eϕ + ( − uϕ )eϕ er
∂r r ∂ϕ
therefore,
∂ 1
∇u = ur,rr er er + [ (ur + uθ,θ )],r eθ eθ + uz,zr ez ez
∂r r
1
+( uz,θ ),r eθ ez + uθ,zr ez eθ + ur,zr ez er + uz,rr er ez
r
1
+uθ,rr er eθ + [ (ur,θ − uθ )],r eθ er
r
69
Consequently
∂
er · (∇u) =ur,rr er + uz,rr ez + uθ eθ
∂r
∂ ∂ ∂
where we have used the fact that ∂r er = ∂r eθ = ∂r ez = 0. Similarly we get
∂
ez · (∇u) = uz,zz ez + uθ,zz eθ + ur,zz er
∂z
1 ∂ 1 ur 2 1
eθ · (∇u) = ( ur,r − 2 − 2 uθθ + 2 ur,θθ )er
r ∂θ r r r r
2 1 1 1
+( 2 ur,θ + uθ,r − 2 uθ + 2 uθ,θθ )eθ
r r r r
1 1
+( 2 uz,θθ + uz,r )ez
r r
By collecting the last three results we obtain
1 ur 2 1
∇2 u = (ur,rr + ur,r − 2 − 2 uθ,θ + 2 ur,θθ + ur,zz )er
r r r r
1 1 1 2
( 2 uθ,θθ + uθ,r − 2 uθ + 2 ur,θ + uθ,rr + uθ,zz )eθ
r r r r
1 1
+(uz,zz + uz,r + 2 uz,θθ + uz,rr )ez
r r
For axisymmetric case u =ur er = u(r)er , and ∂/∂θ = ∂/∂z ≡ 0 and we get
1 ur 1
∇2 u = (ur,rr + ur,r − 2 )er = (u,r + u),r er
r r r
Therefore, the equation of equilibrium for the cylinder problem becomes
d du 1
(λ + 2µ) ( + u) = 0
dr dr r
which can be solved for displacement
B
u = Ar +
r
Corresponding stress field follows from the equation σ rr = λd + 2µerr , where
du u
d = ∇·u= + = 2A
dr r
du B
err = =A− 2
dr r
Thus
B
σ rr = 2(λ + µ)A − 2µ
r2
70
Similarly
B
σ θθ = λd + 2µeθθ = 2(λ + µ)A + 2µ
r2
u B
eθθ = =A+ 2
r r
σ zz = λd = ν(σrr + σ θθ )
σ rr + σ θθ
σ rr + σ θθ = 2(λ + µ)d ⇒ d =
2(λ + µ)
Then the boundary conditions imply
B
σ rr (a) = −p ⇒ 2(λ + µ)A − 2µ = −p
a2
B
σrr (b) = −q ⇒ 2(λ + µ)A − 2µ 2 = −q
b
which can be solved for
pa2 − qb2 a2 b2 (p − q)
A= 2 2
;B =
2(λ + µ)(b − a ) 2µ(b2 − a2 )
Thus the displacement and stress fields are given by
B
u = Ar +
r
pa2 − qb2 a2 b2 (p − q)
σ rr = −
b2 − a2 (b2 − a2 )r2
pa2 − qb2 a2 b2 (p − q)
σθθ = +
b2 − a2 (b2 − a2 )r2
pa2 − qb2
σ zz = 2ν 2
b − a2
If there is no external pressure (q = 0) we have
pa2 b2
σ rr = (1 − ) ⇒ compression
b2 − a2 r2
pa2 b2
σ θθ = (1 + ) ⇒ tension
b2 − a2 r2
The maximum (minimum) stresses are then
a2 + b2
σmax = σ θθ (r = a) = p >p
b2 − a2
2a2 p
σmin = σ θθ (r = b) = 2 < σ min
b − a2
For thin cylinders d = b − a << 1 and a, b and r are nearly equal. Thus we have
pa2 b2 pa2 b2 pa
σθθ = (1 + ) = (1 + )≈
b2 − a2 r2 d(b + a) r2 d
71
1
which implies that σ θθ ∝ d. For thick pipes on the other hand we have that
b >> a which implies that
pa2 − qb2 q
A = 2 2
≈−
2(λ + µ)(b − a ) 2(λ + µ)
a2 b2 (p − q) a2 (p − q)
B = ≈
2µ(b2 − a2 ) 2µ
and thus
q p − q a2
u = − r+
2(λ + µ) 2µ r
2
a
σ rr = −q − (p − q) 2
r
a2
σ θθ = −q + (p − q) 2
r
For p = 0 we get that σ θθ (r = a) = −2q, i.e. twice the stress without the hole.
Finally, for r >> a we have that
qr
u = −
2(λ + µ)
σ rr = σθθ = −q
72
For a bounded solution at r = 0 we choose B = 0. Thus
r3
u = Ar − C
8
du u 1
d = ∇·u= + = 2A − Cr2
dr r 2
du C
σ rr = λd + 2µerr = λd + 2µ = 2(λ + µ)A − (2λ + 3µ)r2
dr 4
u C
σ θθ = λd + 2µeθθ = λd + 2µ = 2(λ + µ)A − (2λ + µ)r2
r 4
C 2
σ zz = λd = 2λA − λr
2
Now the boundary condition at the surface of the shaft is given by
C
σ rr (r = a) = 0 ⇒ 2(λ + µ)A − (2λ + 3µ)a2 = 0 ⇒
4
2λ + 3µ
A = Ca2
8(λ + µ)
Consequently, the displacement and the stress fields are given by
Cr 2λ + 3µ 2
u = ( a − r2 )
8 λ+µ
C
σrr = (2λ + 3µ)(a2 − r2 )
4
C 2λ + 3λ 2
σ θθ = (2λ + µ)( a − r2 )
4 2λ + µ
λC 2λ + 3λ 2
σ zz = ( a − r2 )
2 2λ + µ
The the displacement and stress fields on the surface of the shaft are
Ca3
u(r = a) = (λ + 2µ)
8(λ + µ)
Ca2 µ
σ θθ (r = a) =
2
2 λµ
σ zz (r = a) = a
4(λ + µ)
Maximum stress at r = 0 is then
1 2
σrr (0) = σ θθ (0) = Ca (2λ + 3µ)
4
73
s 0
r
q
s 0 s
l,m 2 2 a 0
l,m 1 1
s 0
74
Solution 14 Due to axisymmetry u =u(r)er and the solution of the Navier’s
equation becomes
Bi
u(i) = Ai r + ; i = 1, 2
r
so that the stress field is given by
(i)
2µi Bi
σ rr = 2(λi + µi )Ai −
r2
(i) 2µi Bi
σ θθ = 2(λi + µi )Ai +
r2
(i) (i) (i)
σ zz = ν i (σ rr + σ θθ ) = 4ν i (λi + µi )Ai
which gives
B1
A1 a + = A2 a
a
2µ1
2(λ1 + µ1 )A1 − B1 = 2(λ2 + µ2 )A2
a2
The last two equations can be solved for the unknowns
σ0 (λ1 + 2µ1 )
A2 =
(λ1 + µ1 )(µ1 + λ2 + µ2 )
λ1 + µ1 − λ2 − µ2
B1 = σ 0 a2
(λ1 + µ1 )(µ1 + λ2 + µ2 )
Therefore, we can evaluate both displacement and stress fields throughout the
medium. In particular, the interface stresses between the plate and the inclusion
are calculated to be
σ (1) (2)
rr (a) = σ rr (a) = 2(λ2 + µ2 )A2
(1) 2µ B1
σ θθ (a) = 2(λ1 + µ1 )A1 + 12
a
(i)
σzz = 4ν i (λi + µi )Ai ; i = 1, 2
75
Example 15 Consider a spherical shell a ≤ R ≤ b subjected to internal pres-
sure p and external pressure q. Thus the boundary conditions are specified by
σ RR (R = a) = −p
σ RR (R = b) = −q
But
u u
∇u =u,R eR eR + eθ eθ + eφ eφ
R R
and thus
∂ d du
eR • (∇u) = eR
∂R dR dR
∂ 1 du u
eθ • (∇u) = ( − )eR
R∂θ R dR R2
1 ∂ 1 du u
eφ • (∇u) = ( − )eR
R sin θ ∂φ R dR R2
Consequently we obtain
d2 u 1 du u
∇2 u = [ 2
+ 2( − 2 )]
dR R dR R
d du u
= ( +2 )
dR dR R
Therefore, the Navier’s equations reduce to
d du u
( +2 )=0
dR dR R
Consequently, it follows that the displacement field is given by
B
u = AR +
R2
76
and the corresponding stress filed is
du
σ RR = λd + 2µeRR = λ∇ • u + 2µ
dR
du u du
= λ( + 2 ) + 2µ
dR R dR
B
= (3λ + 2µ)A − 4µ 3
R
du u u
σθθ = λd + 2µeθθ = λ( + 2 ) + 2µ
dR R R
B
= (3λ + 2µ)A + 2µ 3 (4.24)
R
du u u
σ φφ = λd + 2µeφφ = λ( + 2 ) + 2µ (4.25)
dR R R
B
= (3λ + 2µ)A + 2µ 3 (4.26)
R
Then from the boundary conditions we have that
B
(3λ + 2µ)A − 4µ = −p
a3
B
(3λ + 2µ)A − 4µ 3 = −q
b
from which it follows that
pa3 − qb3
A =
(3λ + 2µ)(b3 − a3 )
(p − q)a3 b3
B =
4µ(b3 − a3 )
Corresponding displacement and stress fields are then
pa3 − qb3 (p − q)a3 b3 1
u = 3 3
R+
(3λ + 2µ)(b − a ) 4µ(b3 − a3 ) R2
pa3 − qb3 (p − q)a3 b3 1
σ RR = −
(b3 − a3 ) (b3 − a3 ) R3
pa3 − qb3 (p − q)a3 b3 1
σθθ = σφφ = 3 +
(b − a3 ) 2(b3 − a3 ) R3
If q = 0 we obtain
pa3 4µ b3
u = 3 3
( R + 2)
4µ(b − a ) 3λ + 2µ R
3 3
pa b
σ RR = − 3 ( − 1) ≤ 0
b − a3 R3
pa3 b3
σθθ = σφφ = 3 (1 + )>0
b − a3 2R3
77
The maximum stresses at R = a are
pa3 b3
σ RR−Max = σ φφ−Max = (1 + )
b3 − a3 2a3
For a thin shell, d = b − a << a it follows that
pa3 b3 pa
σ θθ = σ φφ = 2 2
(1 + 3
)≈
(a + ab + b )d 2R 2d
For a very thick sphere, b >> a, we have that
qR (p − q)a3
u = − +
3λ + 2µ 4µR2
3
a
σRR ≈ −q − (p − q) 3
R
a3
σ θθ = σ φφ ≈ −q + (p − q) 3
2R
Consequently at R = a we have that
1
σRR = −p; σ θθ = σ φφ = (p − 3q)
2
Thus for a thick sphere and no internal pressure (p = 0) we have that
3
σθθ = − q
2
demonstrating that there is a stress concentration taking place at the cavity.
78
Equation of equilibrium is given by
(λ + 2µ)u1,11 + fi = 0 (4.30)
2. Longitudinal Stress
σ 11 = σ 11 (x1 ); σ ij = 0; i, j 6= 1 (4.31)
Thus the stress tensor is defined by
σ 11 0 0
σ= 0 0 0 (4.32)
0 0 0
Since
σ 22 = λekk + 2µe22 = 0
σ 33 = λekk + 2µe33 = 0
it is easy to show that
e22 = e33 (4.33)
The from the condition σ 22 = 0 it follows that
λ
e22 = e33 = − e11 = νe11 (4.34)
2 (λ + µ)
where ν denotes the Poisson’s ratio. Finally, the stress filed is described
by
3λ + 2µ
σ 11 = µ e11 = Ee11 (4.35)
λ+µ
where E denotes Young’s modulus.
3. Shear, defined in terms of displacement field which is in the plane perpen-
dicular to the x1 −axis
u =u2 (x1 )e2 + u3 (x1 )e3 (4.36)
Then the strain and stress tensors are given by
1 1
0 2 u2,1 2 u3,1
e = 2 u2,1
1
0 0
1
u3,1 0 0
2
0 µu2,1 µu3,1
= µu2,1 0 0 (4.37)
µu3,1 0 0
The Navier’s equation reduce to two uncoupled equations
λu2,11 + f2 = 0
λu3,11 + f3 = 0 (4.38)
79
4.4.2 Two-dimensional Problems
Definition 20 The body forces and stresses are independent of one spatial co-
ordinate, say x3 .
∂
Therefore, ∂x3 ≡ 0 and the Navier’s equations reduces to
σ3β,β + f3 = 0 (4.39)
σ αβ,β + fα = 0; α, β = 1, 2 (4.40)
or
It can be seen that Eqn. 4.41 is decoupled from the Eqns. 4.42 and 4.43.
u3 = u3 (x1 , x2 ); ui = 0; i = 1, 2 (4.44)
σ 3α,α + f3 = 0 (4.47)
or
µ∇2 u3 (x1 , x2 ) + f3 = 0 (4.48)
Now the boundary conditions follow from the Cauchy’s law in the following
form
∂u3
T3n = µ(∇u3 ) • n =µ (4.49)
∂n
where n denotes an outward unit normal on the boundary surface S.
Example 16 State the boundary conditions for antiplane strain model depicted
by Fig. ??.
80
s 0
r
q
s 0 s
l,m 2 2 a 0
l,m 1 1
s 0
Solution 15 For different surfaces the boundary conditions are stated as fol-
lows:
∂w
| x |> a; 0 ≤ y ≤ h; ⇒ µ= T0
∂x
∂w
x = −a, − ≤ y ≤ h; ⇒ µ = −T0
∂x
∂w
y = h; | x |≤ a; ⇒ µ = T0
∂y
81
to be
1
exx = (σ xx − νσ yy )
E
1
eyy = (σ yy − νσ xx )
E
ν
ezz = − (σxx + σ yy )
E
exz = eyz = 0 (4.50)
From
ν
σ ij = 2µ[ ekk δ ij + eij ] (4.51)
1 − 2ν
we obtain first that σzz = 0 implies that
ν
ezz = − (exx + eyy ) (4.52)
1−ν
Based on this result the corresponding stress field is calculated to be
2µ E
σ xx = (exx + νeyy ) = (exx + νeyy )
1−ν 1 − ν2
E
σ yy = (eyy + νexx )
1 − ν2
E
σ xy = 2µexy = exy (4.53)
1+ν
where we have used the fact that E = 2µ(1 + ν).
Note:
E
σ xx + σ yy = (exx + eyy )
1−ν
∂u ∂v
exx + eyy = + (4.54)
∂x ∂y
Equation of equilibrium becomes
∂σ xx ∂σ xy
+ + fx = 0
∂x ∂y
∂σ xy ∂σ yy
+ + fy = 0 (4.55)
∂x ∂y
Substitution for stresses in terms of strains and then using eij = (ui,j +uj,i )/2
leads to the equations of equilibrium for PSS to be
∂2u ∂2u 1 + ν ∂ ∂u ∂v
µ( + 2)+µ ( + ) + fx = 0
∂x2 ∂y 1 − ν ∂x ∂x ∂y
∂2v ∂2v 1 + ν ∂ ∂u ∂v
µ( 2 + 2 ) + µ ( + ) + fy = 0 (4.56)
∂x ∂y 1 − ν ∂y ∂x ∂y
82
or
1+ν
µ∇2 u + µ ∇∇ • u + f = 0 (4.57)
1−ν
· ¸
u
u =
v
ν ∂u ∂v ∂u
σ xx = 2µ[ ( + )+ ]
1 − 2ν ∂x ∂y ∂x
ν ∂u ∂v ∂v
σ yy = 2µ[ ( + )+ ]
1 − 2ν ∂x ∂y ∂y
∂u ∂v
σxy = µ( + ) (4.60)
∂y ∂x
The Navier’s equations for plane strain model become
1
µ∇2 u + µ ∇∇ • u + f = 0 (4.61)
1 − 2ν
· ¸
u
u =
v
By comparing Eqns. 4.61 and 4.57 it is evident that the only difference
1+ν 1
between the two is in the factors 1−ν and 1−2ν . Therefore, if ν in Eq. 3.35 is
replaced by ν/ (1 + ν), then Eqns. 4.61 and 4.57 will be identical. This suggests
that any solution of plane strain equation of equilibrium may be solved as a
plane stress problem by replacing the true value of ν by the ”apparent value”
ν/(1 + ν). Conversely, any plane stress problem may be solved as a plane strain
problem by replacing true ν by an apparent ν/(1 − ν).
83
4.4.3 Solution of 2D Elastostatic Problems in Terms of
Stresses
Equations of equilibrium
∂σ xx ∂σ xy
+ + fx = 0 (4.62)
∂x ∂y
∂σ xy ∂σ yy
+ + fy = 0 (4.63)
∂x ∂y
consist of two equations with three unknowns. Thus we need to use the com-
patibility equation
∂ 2 exx ∂ 2 eyy ∂ 2 exy
2
+ 2
=2 (4.64)
∂y ∂x ∂x∂y
By replacing the components of strain tensor in terms of stresses we obtain for
a plane strain model
1
exx = [(1 − ν 2 )σ xx − ν(1 + ν)σ yy ]
E
1
eyy = [(1 − ν 2 )σ yy − ν(1 + ν)σ xx ]
E
1+ν
exy = σ xy (4.65)
E
and consequently the compatibility equation becomes
∂2 ∂2 ∂ 2 σ xy
[(1 − ν)σ xx − νσ yy ] + [(1 − ν)σ yy − νσ xx ] = 2 (4.66)
∂y 2 ∂x2 ∂x∂y
By adding Eqns. 4.62 and 4.63 we obtain
∂ 2 σxx ∂ 2 σ yy ∂fx ∂fy ∂ 2 σ xy
2
+ 2
+ + = −2 (4.67)
∂x ∂y ∂x ∂y ∂x∂y
Finally, by adding Eqns. 4.66 and 4.67 we obtain the compatibility equation for
a plane strain problem to be
1 ∂fx ∂fy
∇2 (σ xx + σ yy ) = − ( + ) (4.68)
1 − ν ∂x ∂y
∂2 ∂2
∇2 = 2
+ 2
∂x ∂y
Therefore a plane strain problem in terms of stresses is defined by partial
differential equations
∂σ xx ∂σ xy
+ + fx = 0
∂x ∂y
∂σ xy ∂σ yy
+ + fy = 0
∂x ∂y
1 ∂fx ∂fy
∇2 (σ xx + σ yy ) = − ( + ) (4.69)
1 − ν ∂x ∂y
x ∈ D
84
where D denote the interior of the body domain. The following boundary
conditions must be satisfied
Tx = σ xx nx + σ xy ny
Ty = σ yx nx + σ yy ny (4.70)
x ∈ ∂D
85
Chapter 5
Plane Elasticity in
Cylindrical Coordinates
86
The strain-stress equations are given by
1 1+ν
err = (σ rr − λd) = [(1 − ν)σ rr − νσ θθ ]
2µ E
1 1+ν
eθθ = (σ θθ − λd) = [(1 − ν)σ θθ − νσrr ] (5.5)
2µ E
1+ν
erθ = σ rθ
E
Remark 12 Recall in Cartesian coordinates we have that
σrr = λd + 2µerr
σ θθ = λd + 2µeθθ
σ rr + σ θθ = 2(λ + µ)(err + eθθ ) = 2(λ + µ)d
Therefore
σ 11 + σ 22 = σ rr + σ θθ (5.6)
σ rz = σθz = σ zz ≡ 0
∂σ rr ∂σ θθ ∂σ rθ
= = ≡0
∂z ∂z ∂z
d = err + eθθ + ezz
σ rr = λd + 2µerr
σ θθ = λd + 2µeθθ (5.8)
σ zz = λd + 2µezz ≡ 0
87
Vanishing of σ zz results in
λ 2µ
ezz = − (err + eθθ ) ⇒ d = (err + eθθ ) (5.9)
λ + 2µ λ + 2µ
Also
σ rr + σ θθ
σ rr + σ θθ = 2λd + 2µ(err + eθθ ) ⇒ d = (5.10)
3λ + 2µ
Thus the strain-stress equations become
1 1
err = (σ rr − λd) = (σrr − νσ θθ )
2µ E
1
eθθ = (σ θθ − νσ rr ) (5.11)
E
1+ν
erθ = σ rθ
E
Recall in Cartesian coordinates the compatibility equation for plane stress model
is given by
∇2 (σ 11 + σ 22 ) + (1 + ν)∇ • f =0
and
σ 11 = λd + 2µe11 ; σ 22 = λd + 2µe22 ;
λ 2µ
e33 = − (e11 + e22 ); d = (e11 + e22 )
λ + 2µ λ + 2µ
so that
σ 11 + σ 22 = 2λd + 2µ(e11 + e22 ) = (3λ + 2µ)d
In polar coordinates σ zz = 0 implies that
λ 2µ
ezz = − (err + eθθ ) ⇒ d = (err + eθθ )
λ + 2µ λ + 2µ
d = err + eθθ + ezz
∂2 1 ∂ 1 ∂2 ∂fr fr 1 ∂fθ
( 2
+ + 2 2 )(σ rr + σ θθ ) + (1 + ν)( + + )=0 (5.13)
∂r r ∂r r ∂θ ∂r r r ∂θ
88
5.3 Stress Function in Cartesian Coordinates
Assume that the body forces can be derived from a potential V so that
(σ xx − V ),x + σ xy,y = 0
σ xy,x + (σ yy − V ),y = 0 (5.15)
σxx − V = φ,yy
σ yy − V = φ,xx (5.16)
σ xy = −φ,xy
φ,xyy − φ,xyy = 0
−φ,xxy + φ,xxy = 0
are trivially satisfied. The function φ is known as the Airy’s stress function.
Since the equilibrium equations are automatically satisfied by the stress func-
tion, we are left to check the compatibility equation (PSS)
By substituting into the last equation for the stress function, the compatibility
equation reduces to
∇4 φ(x, y) = −(1 − ν)∇2 V (5.17)
where
∇4 φ = φ,xxxx + 2φ,xxyy + φ,yyyy (5.18)
For plane strain (PS) model the compatibility equation in terms of the stress
function becomes
1 − 2ν 2
∇4 φ(x, y) = − ∇ V (5.19)
1−ν
In the case of zero body forces, the compatibility equations (for both PSS
and PS) reduce to a single biharmonic equation
∇4 φ(x, y) = 0 (5.20)
89
5.3.1 Solution of a Biharmonic Equation
Let’s consider a biharmonic equation
z = x + iy
z = x − iy (5.22)
it follows that
∂2 ∂2 ∂2
∇2 = + = 4 (5.23)
∂x2 ∂y 2 ∂z∂z
4
∂
∇4 = ∇2 ∇2 = 16 2 2 (5.24)
∂z ∂z
Therefore, the biharmonic equation reduces to
∂ 4 φ(z, z)
=0 (5.25)
∂z 2 ∂z 2
Multiple integration of this equation results in
φ − φ = 2 Im φ = 0
or
z([F (z) − H(z) + z[(H(z) − F (z)] + G(z) − J(z) + J(z) − G(z) = 0 (5.28)
90
Let us express the analytic functions F and G as
1
F (z) = [ψ (x, y) + iψ 2 (x, y)]
2 1
1
G(z) = ψ (x, y) + iψ 4 (x, y) (5.31)
2 3
then the stress function reduces to
where
ψ1 = 2 Re F (z)
ψ2 = 2 Im F (z) (5.33)
ψ3 = 2 Re G(z)
This implies that u and v must be harmonic functions in the region of analyticity
of f (z), i.e.,
∇2 u(x, y) = 0 & ∇2 v(x, y) = 0 (5.35)
Therefore we must have that
∇2 ψ i = 0, i = 1, 2, 3 (5.36)
and Eq. 5.32 represents the most general solution of the biharmonic equation.
The constants a3,..., b3 can be chosen arbitrarily. However, stress function of the
form a polynomial of order four
a4 4 b4 3 c4 d4 e4
φ= x + x y + x2 y 2 + xy 3 + y 4 (5.39)
12 6 2 6 12
91
in order to satisfy the biharmonic equation ∇4 φ = 0 the coefficients must satisfy
the following
a4 + 2c4 + e4 = 0 (5.40)
Since ∇4 φ = 0 is a linear partial differential equation the principle of super-
position can be used in order to solve certain problems exactly.
∇2 φ ≡ ψ ,xy (5.43)
Since ¡ ¢
∇2 ∇2 φ = ∇2 ψ ,xy = 0 (5.44)
we obtain that ψ must be a harmonic function, i.e.,
∇2 ψ = 0 (5.45)
By substituting Eq. 5.46 into Eq. 5.41 and Eq. 5.47 into Eq. 5.42 we obtain
the following equations
Integration of the last two equation provides the following relationships between
the displacements and the stress function
92
L b
x O 2h
where
∇2 φ = ψ ,xy & ∇2 ψ = 0 (5.52)
For plane stress (PSS) model corresponding equations are derived to be
Example 17 Bending of a cantiliver beam loaded at its end section (Fig. ??.
σxx = φ,yy = d4 xy
d4 2
σ xy = −φ,xy = b2 − y
2
σ yy = φ,xx = 0
93
which leads to the result
3P
d4 −
2bh3
Consequently the stress filed can be determined to be
3P xy 3P
σ xx = − ; σyy = 0; σ xy = − (h2 − y 2 )
2bh3 4bh3
Using the moment of inertia I of the cross section I = 2bh3 /3 it follows then
that
P xy P
σ xx = − ; σ yy = 0; σ xy = − (h2 − y 2 ) (5.55)
I 2I
These results denote the exact solution provided the sharing forces at the end are
distributed according to the same parabolic law as the shearing stress σ xy in Eq.
5.55 and if the intensity of the normal forces at the built-in end is proportional
to y. If the forces at the ends are distributed in another way, the solution is not
exact. However, this solution is found to be acceptable for cross sections away
from the ends. As for the displacement field we have that
2µu = −φ,x + αψ ,y
2µv = −φ,y + αψ ,x
∇2 ψ= 0 & ∇2 φ = ψ ,xy
½
1 − ν; P S
α =
(1 + ν)−1 ; P SS
In order to find the function ψ we proceed as follows. Equation
d4 3
∇2 φ = ∇2 (−b2 xy + xy ) = d4 xy = ψ ,xy
6
implies that
d4 2 2
x y + f (x) + g(y)
ψ=
4
Since ∇2 ψ = 0 there follows that
d4 2
f 00 (x) + g 00 (y) + (x + y 2 ) = 0 ⇒
2
d4 d4
f 00 (x) + x2 = −g 00 (y) − y 2 = const = a0
2 2
So
d4 2 2 a0 2 d4
ψ= x y + (x − y 2 ) − (x4 + y 4 ) + a1 x + b1 y + c1
4 2 24
Based on this result we can evaluate
d4 d4
φ,x = −b2 y + y 3 ; φ,y = −b2 x + xy 2
6 2
d4 2 d4 3
ψ ,x = xy + a0 x − x + a1
2 6
d4 2 d4 3
ψ ,y = x y − a0 y − y + b1
2 6
94
so that the displacement filed can be evaluated to be
2µu = −φ,x + αψ ,y
d4 d4 d4
= b2 y + y 3 + α( x2 y − a0 y − y 3 + b1 )
6 2 6
2µv = −φ,y + αψ ,x
d4 d4 d4
= b2 x + xy 2 + α( xy 2 + a0 x − x3 + a1 ) (5.56)
2 2 6
or
αd4 2 (1 + α)d4 3
2µu = x y− y − (a0 α − b2 )y + b1 α
2 6
(1 − α)d4 2 αd4 3
2µv = − xy − x + (a0 α + b2 )x + a1 α
2 6
These solutions cannot satisfy the required boundary conditions at x =
u = v = 0; x = ; −h < y < h
u = v = 0; v,x = 0; x = ; y = 0
Thus
u( , 0) = b1 α = 0 ⇒ b1 = 0
αd4 2 αd4 2
v,x ( , 0) = − + (a0 α + b2 ) = 0 ⇒ a0 α + b2 =
2 2
αd4 3 αd4 3 d4 3
v( , 0) = − + + a1 α = 0 ⇒ a1 = − (5.57)
6 2 3
Therefore the displacement filed is calculated to be (for PSS α = (1 + ν)−1 )
αd4 3
2µv(x, 0) = − x + (a0 α + b2 )x + a1 α
6
or
P
v(x, 0) = (x3 − 3 2 x + 2 l3 )
6EI
The strength of material solution is given by
P 3
v(0, 0) =
3EI
It should be emphasized that our solution is an approximate one since it does not
satisfy all the boundary conditions. The results become more and more accurate
as the distance from the ends increases.
95
5.4 Airy Stress Function in Polar Coordinates
Recall for plane strain model in polar coordinates we have the strain-displacement
equations of the form
err = ur,r
1
eθθ = (uθ,θ + ur )
r
1
erθ = (ur,θ + ruθ,r − uθ )
2r
erz = eθz = ezz = 0 (5.58)
Corresponding equilibrium equations are
1 1
σ rr,r + σ rθ,θ + (σ rr − σ θθ ) + fr = 0
r r
1 2
σ rθ,r + σ θθ,θ + σ rθ + fθ = 0 (5.59)
r r
Stress-strain equations are specified by
1+ν
err = [(1 − ν)σ rr − νσ θθ ]
E
1+ν
eθθ = [(1 − ν)σ θθ − νσ rr ] (5.60)
E
or
2µerr = (1 − ν)σ rr − νσ θθ = −σθθ + (1 − ν)(σrr + σ θθ )
2µeθθ = (1 − ν)σ θθ − νσrr = −σrr + (1 − ν)(σ rr + σ θθ ) (5.61)
Equilibrium equations for zero body force can be written as
(rσ rr ),r + σ rθ,θ − σ θθ = 0
(r2 σ rθ ),r + rσ θθ,θ = 0 (5.62)
In order to introduce the stress function in polar coordinates we define first the
transformation from Cartesian to polar coordinates
x = r cos θ; y = r sin θ
y
r2 = x2 + y 2 ; θ = tan−1
x
sin θ cos θ
r,x = cos θ; r,y = sin θ; θ,x = − ; θ,y = (5.63)
r r
Therefore, we have that
cos θ
φ,y = φ,r r,y + φ,θ θ,y = φ,r sin θ + φ,θ (5.64)
r
1 1 1
φ,yy = ( φ,r + φ ) cos2 θ + φ,rr sin2 θ + ( φ,θ ),r sin 2θ (5.65)
r r2 ,θθ r
1 1 2 2 1
φ,xx = ( φ,r + φ ) sin θ + φ,rr cos θ − ( φ,θ ),r sin 2θ (5.66)
r r2 ,θθ r
96
s s s
s
q yy
q r
xy
s
y s s rq
xy
xx
y
r s
s rr
s rq
rr s q r s q
q q
x
O x
∇2 (σ xx + σ yy ) = ∇2 (σ rr + σ θθ ) = 0
or
∂2 1 ∂ 1 ∂2 ∂2 1 ∂ 1 ∂2
∇4 φ = ( 2
+ + 2 2 )( 2 + + 2 2) = 0 (5.70)
∂r r ∂r r ∂θ ∂r r ∂r r ∂θ
Also,
∇2 φ = φ,xx + φ,yy = σ xx + σ yy = σ rr + σ θθ (5.71)
From strain-stress equations 5.60 it follows that
97
or
2µur,r = −φ,rr + (1 − ν)∇2 φ; (P S) (5.72)
Now let’s introduce an auxiliary function ψ such that
98
or
1 1
(1 − ν)r3 (ψ ,rr + ψ ,r + 2 ψ ,θθ ) = 0
r r
Thus we have that the auxiliary function ψ must satisfy
∇2 ψ = 0 (5.76)
d2 1 d n2 d2 1 d n2
( + − )( + − )gn (r) = 0 (5.82)
dr2 r dr r2 dr2 r dr r2
Case n=0
In this case Eqn. 5.82 becomes
d2 1 d d2 1 d
( + )( + )g0 (r) = 0 (5.83)
dr2 r dr dr2 r dr
Let
d2 1 d
G0 (r) = ( + )g0 (5.84)
dr2 r dr
99
Then Eqn. 5.83 becomes
dG
r2 G000 + rG00 = 0; G0 = (5.85)
dr
Now introduction of new variable t via
dt 1
r = et ⇒ = (5.86)
dr r
results in
dG 1 dG
=
dr r dt
d2 G d dG 1 d 1 dG 1 dG 1 d2 G
= ( )= ( )=− 2 + 2 2
dr2 dr dr r dt r dt r dt r dt
Consequently Eqn. 5.85 becomes
d2 G0
=0 (5.87)
dt2
which can be solved for
G0 (t) = A + Bt (5.88)
Now from Eqn. 5.84 it follows that
d2 1 d 1 d2 d 1 d2 g0
( 2
+ )g0 = 2 (r2 2 + r )g0 = 2 2 = A + Bt (5.89)
dr r dr r dr dr r dt
Integrating the last result twice produces
1 B
g0 (t) = (A − B)e2t + te2t + Ct + D (5.90)
4 4
or
g0 (r) = a0 r2 + b0 r2 ln r + c0 + d0 ln r = φ(r, θ); n = 0 (5.91)
Case n=1
In this case Eqn. 5.82 becomes
d2 1 d 1
( + − )2 g1 = 0 (5.92)
dr2 r dr r2
Let
d2 1 d 1
( + − )g1 (r) = G1 (r) (5.93)
dr2 r dr r2
then Eqn. (5.92) implies
100
which solution is given by
d2 1 d 1 1 2 d2 d
( 2
+ − 2 )g1 = 2
(r 2
+ r − 1)g1
dr r dr r r dr dr
1 d2 g1
= ( − g1 ) = Aet + Be−t
r2 dt2
or
d2 g1
− g1 = Ae3t + Bet (5.96)
dt2
The homogeneous and particular solutions of the last equation are given by
or
g1 (r) = a1 r3 + b1 r + c1 r ln r + d1 r−1 (5.99)
Case n>1
In this case Eqn. 5.82 becomes
d2 1 d n2
( 2
+ − 2 )2 gn (r) = 0 (5.100)
dr r dr r
As before, let
d2 1 d n2
Gn (r) = ( + − )gn (r) (5.101)
dr2 r dr r2
Then Eqn. 5.100 implies
1 n2
G00n + G0n − 2 Gn = 0 (5.102)
r r
Introducing a change of variable according to Eqn. 5.86 the last equation be-
comes
d2 Gn
− n2 Gn = 0 (5.103)
dt2
which can be solved to give
101
Consequently
d2 1 d n2 1 2 d2 d
( + − )gn (r) = (r + r − n2 )gn
dr2 r dr r2 r 2 dr 2 dr
1 d2 2
= ( − n )gn = Gn
r2 dt2
which implies that
d2
( − n2 )gn (t) = Ae(n+2)t + Be(−n+2)t (5.105)
dt2
Homogeneous and particular solutions of the last equation are given by
or
gn (r) = an rn+2 + bn rn + cn r−n+2 + dn r−n ; n > 1 (5.108)
1 1
σ rr = φ + φ
r ,r r2 ,θθ
σ θθ = φ,rr
1
σ rθ = −( φ,θ ),r
r
Case n=0
102
φ = a0 r2 + b0 r2 ln r + c0 + d0 ln r
1 1 d0
σ rr = φ + φ = 2a0 + b0 (1 + 2 ln r) + 2 (5.109)
r ,r r2 ,θθ r
d0
σθθ = φ,rr = 2a0 + b0 (3 + 2 ln r) − 2 (5.110)
r
σ rθ = 0 (5.111)
For displacement field we have
2µur = −φ,r + αrψ ,θ (5.112)
Now since
∇2 φ = (σrr + σ θθ ) = (rψ ,θ ),r ⇒
4a0 + 4b0 (1 + ln r) = (rψ ,θ ),r
we get that
c + 4a0 r + 4b0 r ln r = rψ ,θ (5.113)
Using the last results in Eqn. 5.112 results in
d0
2µur = −(2a0 r + 2b0 r ln r + b0 r + ) + α(4a0 r + 4b0 r ln r + c)
r
or
d0
2µur = 2(2α − 1)a0 r + b0 r + 2(2α − 1)b0 r ln r − + 2µu0r (5.114)
r
Now from Eqn. 5.113 we get that
c c
ψ ,θ = 4a0 + 4b0 ln r + ⇒ ψ = 4a0 θ + 4b0 θ ln r + θ + D
r r
and thus
r2 ψ ,r = 4b0 θr (5.115)
Based on this result we get the tangential component of displacement
1
2µuθ = − σ ,θ + αr2 ψ ,r + 2µu0θ
r
or
2µuθ = 4αb0 rθ + 2µu0θ (5.116)
Case n=1
103
Since
2c1
∇2 φ = σ rr + σ θθ = (8a1 r + ) cos θ = (rψ ,θ ),r ⇒
r
rψ ,θ = (4a1 r2 + 2c1 ln r) cos θ + c
Case n>1
In this case the stress function is given by
Since
∇2 φ = σ rr + σ θθ = (rψ ,θ ),r
we have that
rψ ,θ = (4an rn+1 + 4cn r−n+1 ) cos nθ
104
Therefore, Eqn. 5.74 produces
α = 1−ν
2µur = 2(1 − 2ν)a0 r − b0 r + 2(1 − 2ν)b0 r ln r − d0 r−1
+2µu0r
or
1+ν
ur = [2(1 − 2ν)a0 r − b0 r + 2(1 − 2ν)b0 r ln r − d0 r−1 ] + u0r
E
4(1 − ν 2 )
uθ = b0 rθ + u0θ
E
α = (1 + ν)−1
1
ur = [2(1 − ν)a0 r − (1 − ν)b0 r + 2(1 − ν)b0 r ln r
E
−(1 + ν)d0 r−1 ] + u0r
4b0 rθ
uθ = + u0θ
E
Example 18 Consider a semicircular arch of inner and outer radii being a and
b, respectively loaded as shown by Fig. 5.3
105
2P
r
P q P
Q d Q
M M
Figure 5.3: A semicircular arch problem.
Solution 18 The boundary conditions along the curved surfaces of the arch are
specified by
σ rr = σ rθ = 0; r = a, b; 0 < θ < π (5.129)
while along the end section θ = 0, π we must have
Z b
σ θθ dr = −P ; θ = 0, π
a
Z b
σrθ dr = −Q; θ = 0, π
a
Z b
σ θθ rdr = −M − P d (5.130)
a
f (r) = a0 r2 + b0 r2 ln r + c0 + d0 ln r
g(r) = a1 r3 + b1 r + c1 r ln r + d1 r−1 (5.132)
106
The stress filed follows from Eqns. 5.109 to 5.111 and 5.118 to 5.120 to be
2a0 + b0 (1 + 2 ln a) + d0 a−2 = 0
2a0 + b0 (1 + 2 ln b) + d0 b−2 = 0
2a1 a + c1 a−1 − 2d1 a−3 = 0
2a1 b + c1 b−1 − 2d1 b−3 = 0 (5.134)
107
P
O
y
r
q
108
O e
y
C -s rr
x
Figure 5.5: Local stress field on a small semicircle at the origin.
(1 + ν)
err = ur,r = [(1 − ν)σ rr − νσθθ ]
E
1 (1 + ν)
eθθ = (uθ,θ + ur ) = [(1 − ν)σ θθ − νσrr ]
r E
1 1 uθ σ rθ
erθ = ( ur,θ + uθ,r − ) =
2 r r 2µ
109
we get
2(1 − ν 2 )P
ur,r = − cos θ (5.141)
πEr
1 2ν(1 + ν)P
(uθ,θ + ur ) = cos θ (5.142)
r πEr
1 1 uθ
( ur,θ + uθ,r − ) = 0 (5.143)
2 r r
The from Eqn.(5.141) we have that
2(1 − ν 2 )P
ur = − ln r cos θ + g 0 (θ) (5.144)
πE
and then from Eqn.(5.142) follows
2(1 − ν 2 )P
ur |θ=0,r=d = 0 ⇒ u0r = ln d cos θ
πE
110
which imples
(1 + ν) d
ur = P [2(1 − ν) cos θ ln − (1 − 2ν)θ sin θ] (5.151)
πE r
(1 + ν) d
uθ = P [sin θ22(1 − ν) sin θ ln − (1 − 2ν)θ cos θ] (5.152)
πE r
where we have used for convenience u0θ = −2(1 − ν) ln d sin θ. We should note
that uθ (θ = 0) = 0.
At the half-space surface (θ = ±π/2) we have thus
(1 + ν)(1 − 2ν)P
ur = −
2E
(1 + ν)P d
uθ = ± [1 − 2(1 + ν) ln ] (5.153)
πE r
which imples that the material is displacemed toward the origin.
We should note that the solution is not valid at the point of the load appli-
cation. Also, there is a log-singularity at infinity.
For a PSS model, the stress and displacement fileds can be obtained by
replacing ν with ν/(1+ν), while keeping µ = E/{2(1+ν)} unchanged. Therefore
we have that the displacement field is given by
P d
ur =
[2 cos θ ln − (1 − ν)θ sin θ]
πE r
P d
uθ = [(1 + ν) sin θ − 2 sin θ ln − (1 − ν)θ cos θ] (5.154)
πE r
Problem 2 Stress in a wedge subjected to a line loade at the vertex.
Consider an infinite elastic wedge subjected to a load P per unit length at
the vertex along the axis of the wedge (Fig.(5.6)).
Lets’s try the stress function
φ = crθ sin θ (5.155)
which implies the following stress field (PS)
1 1 2c
σ rr =
φ + φ = cos θ
r ,r r2 ,θθ r
σ θθ = φ,rr = 0
1
σrθ = −( φ,θ ),r = 0
r
2νc
σ zz = ν(σ rr + σ θθ ) = cos θ (5.156)
r
Let’s consider the equilibrium of the OAB portion of the wedge.
Z α
σ rr r cos θdθ + P = 0 (5.157)
−α
Z α
σ rr r sin θdθ = 0 (5.158)
−α
111
y
B
s rr
r
P q x
O C
2a
A
Figure 5.6: The wedge problem.
By substittuting the value of σrr in the last two equations we get from
Eqn.(5.157)
P
c=−
2α + sin 2α
and thus
2P cos θ
σrr = − ; σ θθ = σ rθ = 0 (5.159)
r(2α + sin 2α)
Note that
2P
σ rr (θ = π/2) = − cos θ
πr
which is the same result as for the half-space problem.
Problem 3 Wedge with a line load perpendicular to the x-axis.
Let’s consider the second wedge problem depicted by Fig.(5.141).
In this case we try
φ = drθ cos θ (5.160)
which provides
2d
σ rr = − sin θ (5.161)
r
σθθ = σrθ = 0 (5.162)
Balance of forces on the portion of the wedge can be stated as
Z α
Q
σrr r sin θdθ + Q = 0 ⇒ d =
−α 2α − sin 2α
112
y
s rr
Q r
q x
O C
2a
and thus
2Q
σ rr = − sin θ (5.163)
r(2α − sin 2α)
σ θθ = σ rθ = 0 (5.164)
Let’s try
φ = rβ+1 F (θ) & ψ = rm G(θ) (5.166)
where β and m are unknown constants while F and G are unknown functions.
By substituting Eqn.(5.166) into (5.165) we get
∂2 1 ∂ 1 ∂2
( 2
+ + 2 2 )2 rβ+1 F (θ) = 0
∂r r ∂r r ∂θ
or
d2 2
[(β − 1)2 + ] F (θ) = 0
dθ2
113
y
r
O q x
2q o
G00 + m2 G = 0 (5.168)
β−1=m (5.173)
114
Then from Eqns.(5.170) ,(5.171) and (5.172) it follows that
4b3 4b4
a1 = − ; a2 = (5.174)
β−1 β−1
Based on these results functions φ and ψ become
φ = rβ+1 [b1 sin(β + 1)θ + b2 cos(β + 1)θ + b3 sin(β − 1)θ + b4 cos(β (5.175)
− 1)θ
4
ψ = [−b3 cos(β − 1)θ + b4 sin(β − 1)θ]rβ−1 (5.176)
β−1
Now displacement filed can be evaluates according to
2µur = −φ,r + αrψ ,θ
1
2µuθ = − φ,θ + αr2 ψ ,r
r
which provides
2µur = {−(β + 1)[b1 sin(β + 1)θ + b2 cos(β + 1)θ] (5.177)
+(4α − β − 1)[b3 sin(β − 1)θ + b4 cos(β − 1)θ]}rβ
2µuθ = {−(β + 1)[b1 cos(β + 1)θ − b2 sin(β + 1)θ] (5.178)
−(4α + β − 1)[b3 cos(β − 1)θ − b4 sin(β − 1)θ]}rβ
Now the stress field can be calculated using Eqns.(5.156) and (5.175)
σrr = −{β(β + 1)[b1 sin(β + 1)θ + b2 cos(β + 1)θ]
+β(β − 3)[b3 sin(β − 1)θ + b4 cos(β − 1)θ]}rβ−1 (5.179)
σ θθ = β(β + 1)[b1 sin(β + 1)θ + b2 cos(β + 1)θ]
+b3 sin(β − 1)θ + b4 cos(β − 1)θ]rβ−1 (5.180)
σ rθ = −β{(β + 1)[b1 cos(β + 1)θ − b2 sin(β + 1)θ]
+(β − 1)[b3 cos(β − 1)θ − b4 sin(β − 1)θ]}rβ−1 (5.181)
Since the both wedge faces are stress free we have that
σ θθ = σ rθ = 0; θ = ±θ0 (5.182)
Using Eqns.(5.180)-(5.182) we obtain
b1 sin(β + 1)θ0 + b2 cos(β + 1)θ0 + b3 sin(β − 1)θ0 + b4 cos(β − 1)θ0 = 0
−b1 sin(β + 1)θ0 + b2 cos(β + 1)θ0 − b3 sin(β − 1)θ0 + b4 cos(β − 1)θ0 = 0
(β + 1)[b1 cos(β + 1)θ0 − b2 sin(β + 1)θ0 ] + (β − 1)[b3 cos(β − 1)θ0 − b4 sin(β − 1)θ0 ] = 0
(β + 1)[b1 cos(β + 1)θ0 + b2 sin(β + 1)θ0 ] + (β − 1)[b3 cos(β − 1)θ0 + b4 sin(β − 1)θ0 ] = 0
or
b1 sin(β + 1)θ0 + b3 sin(β − 1)θ0 = 0 (5.183)
b1 (β + 1) cos(β + 1)θ0 + b3 (β − 1) cos(β − 1)θ0 = 0 (5.184)
b2 cos(β + 1)θ0 + b4 cos(β − 1)θ0 = 0 (5.185)
b2 (β + 1) sin(β + 1)θ0 + b4 (β − 1) sin(β − 1)θ0 = 0 (5.186)
115
uq uq
y ur y ur
O q x q x
O
-q -q
symmetric antisymmetric
ur ur
uq
uq
or
Therefore, for a wedge with both faces free, β must satisfy Eqn.(5.187) and
it produces antisymmetric displacements (see the b1 − and b3 −components of
displacements in Eqns.(5.177) and (5.178)). In order to produce symmetric
displacements (b2 − and b4 −terms) β must satisfy Eqn.(5.188).The symmetric
and antisymmetric diplacements for the wedge are shown by Fig.(5.9).
The solutions for β are in general complex numbers. For the displacement
field to be finite everywhere we need to have (see Eqns.(5.177) and (5.178))
Re β > 0 (5.189)
For the faces of the wedge being clamped, the boundary conditions are
ur = uθ = 0; θ = ±θ0 (5.190)
116
Stress−free Wedge
2.5
symmetric θ =0.9 π
0
1.5
0.5
−0.5
−1
−1.5
antisymmetric
−2
−2.5
−2 −1.5 −1 −0.5 0 0.5 1 1.5 2
β
Thus for a nontrivial solution for the two systems (5.191),(5.192) and (5.193),(5.194)
we have
117
Stress−free Wedge
3
θ =π /3
0
2
antisymmetric
1
−1
−2
symmetric
−3
−2 −1.5 −1 −0.5 0 0.5 1 1.5 2
β
118
y
r
x
O a
Figure 5.12:
It can be shown that for 0 < θ0 < π/2 the stresses are finite at the corner
(e.g., Fig.(5.11)). For π/2 < θ0 < π, the stresses are unbounded at the corner
(e.g., Fig.(5.10)). For the details see Williams[?].
σxx = σ 0 ; σ yy = σ xy = 0 (5.197)
Thef from the equilibrium of the elements depicted by Fig.(??) we have that
119
Then from the general results in polar coordinates we have that
f (r) = A ln r + Br2 ln r + Cr2 + D (5.201)
g(r) = αr2 + βr4 + γr−2 + δ (5.202)
Since the stresses must be finite when r → ∞, we get B = β = 0.
From general results for stresses in polar corrdinates (with n = 0 and n = 2)
by taking into account that the stresses should remain bounded in the far filed,
we have that
A 6γ 4δ
σ rr = + 2C − (2α + 4 + 2 ) cos 2θ
r2 r r
A 6γ
σ rr = − 2 + 2C + (2α + 4 ) cos 2θ (5.203)
r r
6γ 2δ
σ rθ = (2α − 4 − 2 ) sin 2θ
r r
Now the boundary conditions at the hole are given by
σ rr = 0; σrθ = 0; r=a (5.204)
which become
A 6γ 4δ
+ 2C − (2α + 4 + 2 ) cos 2θ = 0
a2 a a
6γ 2δ
(2α − 4 − 2 ) sin 2θ = 0
a a
Since at infinity the fields repesented by Eqns.(5.199) and (5.203) must be
the same we have that
σ0
2C − 2α cos 2θ = (1 + cos 2θ)
2
σ0
2C + 2α cos 2θ = (1 − cos 2θ)
2
σ0
2α sin 2θ = − sin 2θ
2
and thus
σ0 σ0
C= ; α=−
4 4
so that the boundary conditions at the hole imply
σ0 2
A = −2Ca2 = − a
2
6γ 4δ
2α + 4
+ 2 = 0
a a
6γ 2δ
2α − 4 − 2 = 0
a a
Consequently, we obtain
σ0 σ0 2 σ0 4
A = − a2 ; δ= a ; γ=− a
2 2 4
120
and the stress filed becomes
σ0 a2 3a4 4a2
σ rr = [(1 − 2 ) + (1 + 4 − 2 ) cos 2θ]
2 r r r
σ0 a2 3a4
σ θθ = [(1 + 2 ) − (1 + 4 ) cos 2θ] (5.205)
2 r r
σ0 3a4 2a2
σ rθ = − (1 − 4 + 2 ) sin 2θ]
2 r r
The maximum stress is then given by
121
Chapter 6
Torsion
122
y
x
T
zy
r zx
R x
O
/R=C
n
Figure 6.2: Cross-section of the cylinder subjected to torsional loading.
123
Then from Eqns.(6.2)-(6.4) we have
u = −αyz
v = αxz (6.5)
w = αφ(x, y)
σ xx nx + σ xy ny = 0
σ yx nx + σyy ny = 0 (6.7)
σ zx nx + σ zy ny = 0
σzz = 0 (6.8)
Z
σ zx dxdy = 0 (6.9)
ZR
σ zy dxdy = 0 (6.10)
R
Z
(xσzy − yσ zx )dxdy = T (6.11)
R
where T is the torque applied at the ends. Equations (6.9)-(6.11) state that the
stress field σ zx and σ zy are equipollent to a torque T.
Now Eqns.(6.2) imply that the following stresses are zero
σ xy = σ xx = σ yy = σ zz = 0 (6.12)
∂2φ ∂2φ
+ 2 = 0; (x, y) ∈ R (6.15)
∂x2 ∂y
124
Boundary conditions (6.7) become
∂φ
= ynx − xny ; on C (6.16)
∂n
The boundary conditions (6.9)-(6.11) now imply
Z Z
σ zx dxdy = αµ(φ,x − y)dxdy
R R
Z n
£ ¤ £ ¤ o
= αµ x(φ,x − y) ,x + x(φ,y + x) ,y dxdy
ZR
© ª
= αµ x(φ,x − y)nx + x(φ,y + x)ny dx
Zc · ¸
∂φ
= αµ x − ynx + xny ds = 0
C ∂n
due to Eqn.(6.16). Similarly, it follows that
Z
σ zy dxdy = 0
R
so it follows that the end conditions (6.9) and (6.10) are automatically staified.
The end condition (6.11) becomes
T = αµJ (6.17)
where Z
J= (x2 + y 2 + xφ,y − yφ,x )dxdy
R
the polar moment of inertia when the cross-section is circular. The same symbol
is retained for noncircular cross-section.
Therefore, the problem of torsion reduces to solving the following boundary
value problem
∇2 φ(x, y) = 0; (x, y) ∈ R (6.18)
∂φ
= ynx − xny ; (x, y) ∈ C (6.19)
∂n
The ends sections of the shaft are free to warp, and if stresses prescribed on
the end sections are exactly the same as those given by the solution, then the
exact solution is obtained, and the solution is unique. If the strerss distribution
acting on the end sections, while equipollent to the tprque T, does not agree
exactly with those given by Eqns.(6.13) and (6.14), then only an approximate
solution is obtained.
According to the principle proposed by Saint-Venant, the rror in the approx-
imation is signifficant only in the neighborhood of the end sections.
According to the Divergence Theorem, we have that
Z Z
∂φ
∇2 φdxdy = ds = 0 (6.20)
R C ∂n
Therefore, condition for existence of the a solution φ is that the integral of
∂φ/∂n calculated over the entire boundary C must vanish.
125
6.2 Prandtl Theory
In this approach we take the stress components as the principal unknowns. If
we assume that σ xz and σ yz are nonzero, then the only equilibroum equation
to be cosidered is
σ zx,x + σ zy,y = 0 (6.21)
Prandtl proposed to use a stress function ψ(x, y) so that
σ xz = ψ ,y ; σ yz = −ψ ,x (6.22)
∇2 σ xz = 0
∇2 σ yz = 0
σ zx nx + σ zy ny = 0
126
become
∂ψ dy ∂ψ dx dψ
+ = =0
∂y ds ∂x ds ds
or
ψ(x, y) = const on C
For a simply connected regions without loss of generality we can set
ψ(x, y) = 0 on C (6.26)
and
Z
T = (xσ zy − yσzx )dxdy
R
Z Z
= − (xψ ,x + yψ y )dxdy = − [(xψ),x + (yψ),y − 2ψ]dxdy
ZR Z R
= − (xψnx + yψny )ds + 2 ψdxdy
C R
which implies Z
T =2 ψdxdy
R
Therefore, in Prandtl’s formulation the torsion of a shaft can be posed as
following boundary-value problem
we have that
σ xz,y − σ yz,x = −2αµ
127
or
∇2 ψ(x, y) = −2αµ (6.30)
where we have used Eqns.(6.22). By comparing Eqns.(6.30) and (6.27) we see
that the unknwn constant is equal to -2αµ.
Therefore, Prandtl’s torsion problem becomes
x2 y 2
C: + 2 =1 (6.35)
a2 b
Let’s try the Prandtl’s stress function of the form
x2 y 2
ψ = A( + 2 − 1) (6.36)
a2 b
Then, using Eqn.(6.31) we obtain
a2 b2
A=− αµ
a2 + b2
and therefore
a2 b2 x2 y 2
ψ=− αµ( + 2 − 1) (6.37)
a2 + b2 a2 b
Now Eqn.(6.33) becomes
Z
2a2 b2 x2 y 2
T =− αµ ( + 2 − 1)dxdy (6.38)
a2 + b2 R a2 b
128
Based on the last result qn.(6.38) states that
πa3 b3
T = αµ (6.39)
a2 + b2
The stress field is calculated to be
2T y
σ zx = ψ ,y = − (6.40)
πab3
2T x
σ zy = −ψ ,x = (6.41)
πa3 b
The resultant stress can be calculated according to
1 b2 − a2
φ,x = y + ψ ,y = 2 y
αµ a + b2
and thus
b2 − a2
φ= xy + f (y) (6.44)
a2 + b2
Using Eqns.(6.43) we have that
1 b2 − a2
φ,y = −x − ψ ,x = 2 x
αµ a + b2
f 0 (y) = const = 0
a2 − b2
φ=− xy (6.45)
a2 + b2
129
y
+ -
x
- +
Figure 6.3: w=const lines for an elliptical shaft under torsional loading.
a2 − b2
w = αφ = − αxy (6.46)
a2 + b2
Therefore, the curves w = const are represented by a family of hyperbolas as
shown by Fig.(6.3).
It is evident from Eqn.(6.46) that for a corcular shaft (a = b) there is no
worping of the cross-sections z = const, i.e., w = 0.
130