Stress at a Point

Lecture 3

Engineering 473
Machine Design
 Purpose
The stress state at critical locations in a machine
component is required to evaluate whether the
component will satisfy strength design
requirements.

The purpose of this class is to review the concepts

and equations used to evaluate the state of stress at
a point.
 2D Cartesian Stress
σ Components
yy
τ yx
Notation
τ xy
σ Normal Stress
σ xx σ xx
τ Shear Stress
τ xy
τ xy
τ yx
Y σ yy Direction
Face

ĵ Moment equilibrium requires that

î X τ xy = τ yx
 Tensor Sign Convention
This sign convention must be
used to satisfy the differential
τ yx equilibrium equations and
Positive
Face τ xy tensor transformation
relationships.
Negative

Positive
σ xx σ xx
Face
Face

τ xy Negative
Face
Stresses acting in a positive
τ yx coordinate direction on a positive
Y σ yy face are positive.

Shear stresses acting in the

negative coordinate direction on a
ĵ negative face are positive.
î X
 2D Mohr’s Circle
Sign Convention
τ yx
τ xy The sign convention used
with the 2D Mohr’s circle
σ xx σ xx equations is slightly
different.
τ xy
τ A positive shear stress is
yx
Y σ yy one that tends to create
clockwise (CW) rotation.

ĵ
î X
 2D Mohr’s Circle
(Transformation of Axis)
y σ
τ φ
All equations for a 2-D
τ xy Mohr’s Circle are
φ derived from this figure.
ds
σ xx dy
dx ΣF in the x- and y-
x directions yields the
τ yx transformation-of-axis
σ yy equations

σ xx + σ yy σ xx − σ yy
σ= + cos(2φ ) + τ xysin (2φ )
2 2
σ xx − σ yy
τ=− sin (2φ ) + τ xycos(2φ )
2
 2D Mohr’s Circle
(Principal Stress Equations)

The transformation-of-axis equations can be used to

find planes for which the normal and shear stress are
the largest.

2
σ xx + σ yy æ σ xx − σ yy ö
σ1 , σ 2 = ± çç ÷÷ + τ 2xy
2 è 2 ø
2
æ σ xx − σ yy ö
τ1 , τ 2 = ± çç ÷÷ + τ 2xy
è 2 ø

We will use these equations extensively during this class.

2D Mohr’s Circle
(Graphical Representation)

2
σ xx + σ yy æ σ − σ yy ö
σ1 , σ 2 = ± çç xx ÷÷ + τ 2xy
2 è 2 ø
2
æ σ − σ yy ö
τ1 , τ 2 = ± çç xx ÷÷ + τ 2xy
è 2 ø

Note that the shear

stress acting on the
plane associated with
a principal stress is
always zero.

Shigley, Fig. 3.3

 Comments on Shear Stress
Sign Convention
2
τ σ xx + σ yy æ σ − σ yy ö
yx σ1 , σ 2 = ± çç xx ÷÷ + τ 2xy
2 è 2 ø
τ xy 2

σ xx σ xx æ σ − σ yy ö
τ1 , τ 2 = ± çç xx ÷÷ + τ 2xy
è 2 ø
τ xy
Tensor
τ yx
σ yy The sign convention is
important when the
τ yx
transformation-of-axis
τ xy equations are used.
σ xx σ xx
The same answer is obtained
τ xy
when computing the principal
τ 2D Mohr’s
yx stress components.
σ yy Circle
 3D Stress Components
σ yy Note that the tensor
τ yx sign convention is
used.
τ xy
τ zy σ xx There are nine
τ zx τ xz components of stress.
Moment equilibrium
σ zz can be used to reduce
the number of stress
y components to six.
τ xy = τ yx
ĵ î
x τ xz = τ zx
k̂ τ yz = τ zy
z
 Cauchy Stress Tensor

Tensor Transformation σ is known as the Cauchy stress

Equation ≈
tensor. Its Cartesian components
éσ xx τ xy τ xz ù are shown written in matrix form.
ê ú
σ = ê τ yx σ yy τ yz ú Tensors are quantities that are
≈
ê τ zx τ zy σ zz úû invariant to a coordinate
ë
transformation.

Tensor Transformation A vector is an example of a first

Equation
order tensor. It can be written with
σ mn = β mi σ ij β jn respect to many different
coordinate systems.
 y Cauchy Formula
B H
T
τ xy σzz ΣF in the x,y,and z directions
τzx n̂ yields the Cauchy Stress
σxx
τ xz P τzy Formula.
τ yz C x
τ yx
A σ yy n̂ = lî + mĵ + nk̂ éσ xx τ xy τ xz ù ì l ü ìTx ü
ê úï ï ï ï
y ê τ yx σ yy τ yz ú ím ý = íTy ý
z
B
H ê τ zx
ë τ zy σ zz úû ïî n ïþ ïîTz ïþ
T
τu
σn n̂ This equation is similar to the
τv Mohr’s circle transformation-
P C x
of-axis equation
A
z
 3D Principal Stresses
éσ xx τ xy τ xz ù ì l ü ìTx ü The shear stress on planes
ê úï ï ï ï normal to the principal
ê τ yx σ yy τ yz ú ím ý = íTy ý
stress directions are zero.
ê τ zx
ë τ zy σ zz úû ïî n ïþ ïîTz ïþ
We need to find the plane in
éσ xx τ xy τ xz ù ì l ü ìlü which the stress is in the
ê úï ï ï ï
ê τ yx σ yy τ yz ú ím ý = σ ím ý direction of the outward unit
ê τ zx
ë τ zy σ zz úû ïî n ïþ ïn ï
î þ
normal.

é(σ xx − σ ) τ xy τ xz ù ì l ü ì0ü This is a

ê
ê τ yx (σ yy − σ) τ yz
úï ï ï ï
ú ím ý = í0ý
homogeneous
linear equation.
ê τ zx
ë τ zy (σ zz − σ )úû ïî n ïþ ïî0ïþ
 3D Principal Stresses
(Eigenvalue Problem)

é(σ xx − σ ) τ xy τ xz ù ì l ü ì0ü A homogeneous linear

equation has a solution
ê
ê τ yx (σ yy − σ)
úï ï ï ï
τ yz ú ím ý = í0ý
only if the determinant of
ê τ zx
ë τ zy (σ zz − σ )úû ïî n ïþ ïî0ïþ the coefficient matrix is
equal to zero.

(σ xx − σ ) τ xy τ xz
τ yx (σ yy − σ) τ yz = 0 This is an eigenvalue
τ zx τ zy (σ zz − σ ) problem.
 3D Principal Stresses
(Characteristic Equation)

(σ xx − σ ) τ xy τ xz The determinant can be

τ yx (σ yy − σ) τ yz = 0 expanded to yield the
τ zx τ zy (σ zz − σ ) equation

I1, I2, and I3 are known as

the first, second, and third
σ3 − I1σ 2 + I 2σ − I3 = 0 invariants of the Cauchy
stress tensor.
I1 = σ xx + σ yy + σ zz
I 2 = σ xx σ yy + σ yyσ zz + σ zzσ xx − τ 2xy − τ 2yz − τ 2zx
I3 = σ xx σ yyσ zz + 2τ xy τ yz τ zx − σ xx τ 2yz − σ yy τ 2zx − σ zz τ 2xy
 3D Principal Stresses
There are three roots to the
Characteristic Equation
characteristic equation, σ1,
σ3 − I1σ 2 + I 2σ − I3 = 0 σ2, and σ3.

Each root is one of the

principal stresses.

The direction cosines can be

The direction cosines
found by substituting the
define the principal
principal stresses into the
directions or planes.
homogeneous equation and
solving.
 3D Mohr’s Circles

τ τ1,3
Note that the principal
τ1,2 stresses have been ordered
such that σ1 ≥ σ 2 ≥ σ3 .
τ2,3

σ3 σ2 σ1
σ
Maximum shear stresses

σ1 − σ 2
τ1,2 =
2
σ 2 − σ3
τ 2,3 =
2
σ1 − σ 3
τ1,3 =
2
 Octahedral Stresses

σ oct = I1 = (σ1 +σ 2 +σ3 ) = (σ xx +σ yy +σ zz )

1 1 1
3 3 3
(
2 2
) 1
τ oct = τ 1,2 + τ 2,3 + τ1,3 2
3
2 2

1
[
= (σ1 − σ 2 ) + (σ 2 − σ3 ) + (σ3 − σ1 )
3
2 2
1
2 2
]
1 é(σ xx − σ yy ) + (σ yy − σ zz ) + (σ zz − σ xx )
1
2 2 2
ù 2

= ê ú
( )
3 ê+ 6 τ 2xy + τ 2yz + τ 2xz
ë úû

Note that there eight corner planes in a cube.

Hence the name octahedral stress.
 Assignment
Read chapter 4 – Covers Mohr’s Circle in detail.
Draw a Mohr’s circle diagram properly labeled, find the principal normal and
maximum shear stresses, and determine the angle from from the x axis to σ1.
σxx=12 ksi, σyy=6 ksi, τxy=4 ksi cw.

Use the Mohr’s circle formulas to compute the principal stresses and compare
to those found using the Mohr’s circle graph.

Write the stress components given above as a Cauchy stress matrix. Use
MATLAB to compute the principal stresses. Compare the answers to those
found using Mohr’s circle. Note that tensor notation is required.

Derive the Cauchy stress formula. Hint: Ax=A l, Ay=A m, Az=A n

Verify the that the terms in the 3D characteristic equation used to compute
the principal stresses are correct.