M.

Vable Intermediate Mechanics of Materials: Chapter 7

7-1
Energy Methods
Minimum-energy principles are an alternative to statement of equilib-
rium equations.
The learning objectives in this chapter is:
Understand the perspective and concepts in energy methods.
Displacements
E
q
u
i
l
i
b
r
i
u
m
M
a
t
e
r
i
a
l

M
o
d
e
l
s
Static Equivalency
2
1
3
4
K
i
n
e
m
a
t
i
c
s
Strains
Stresses
Internal
Forces
and
Moments
External
Forces
and
Moments
E
n
e
r
g
y

M
e
t
h
o
d
s
M. Vable Intermediate Mechanics of Materials: Chapter 7
7-2
Strain Energy
The energy stored in a body due to deformation is called the strain
energy.
The strain energy per unit volume is called the strain energy density
and is the area underneath the stress-strain curve up to the point of
deformation.
Strain Energy: [
Strain Energy Density:
Units: N-m / m
3
, Joules / m
3
, in-lbs / in
3
, or ft-lb/ft.
3
Complimentary Strain Energy Density:

O
U
o
= Strain energy density
U
o
= Complimentary strain energy den
d
d
dU
o
= d
A
dU
o
= d
U U
o
V d
V

=
U
o
d
0

=
U
o
d
0

=
M. Vable Intermediate Mechanics of Materials: Chapter 7
7-3
Linear Strain Energy Density
Uniaxial tension test:

Strain energy and strain energy density is a scaler quantity.
1-D Structural Elements
Axial strain energy
All stress components except
xx
are zero.
U
a
is the strain energy per unit length.
U
o
d
0

E ( ) d
0

E
2
2
---------
1
2
--- = = = =
U
o
1
2
--- =
U
o
1
2
---
xx

xx

yy

yy

zz

zz

xy

xy

yz

yz

zx

zx
+ + + + + [ ] =
x
A
y
z
dx
dV=Adx

xx
E
xx
=
xx
x d
du
x ( ) =
U
A
1
2
--- E
xx
2
V d
V

1
2
--- E
x d
du


2
A d
A

x d
L

1
2
---
x d
du


2
E A d
A

x d
L

= = =
U
A
U
a
x d
L

= U
a
1
2
--- EA
x d
du


2
=
U
A
U
a
x d
L

= U
a
1
2
---
N
2
EA
------- =
M. Vable Intermediate Mechanics of Materials: Chapter 7
7-4
Torsional strain energy
All stress components except
x
in polar coordinate are zero
U
t
is the strain energy per unit length.
Strain energy in symmetric bending about z-axis
There are two non-zero stress components,
xx
and
xy.
where U
b
is the bending strain energy per unit length.
The strain energy due to shear in bending is:
As

x
G
x
=
x

x d
d
x ( ) =
U
T
1
2
---G
x
2
V d
V

1
2
---G
x d
d


2
A d
A

x d
L

1
2
---
x d
d


2
G
2
A d
A

x d
L

= = =
U
T
U
t
x d
L

= U
t
1
2
---GJ
x d
d


2
=
U
T
U
t
x d
L

= U
t
1
2
---
T
2
GJ
------- =

xx
E
xx
=
xx
y
x
2
2
d
d v
=
U
B
1
2
--- E
xx
2
V d
V

1
2
--- E y
x
2
2
d
d v



2
A d
A

x d
L

1
2
---
x
2
2
d
d v



2
Ey
2
A d
A

x d
L

= = =
U
B
U
b
x d
L

= U
b
1
2
--- EI
zz
x
2
2
d
d v



2
=
U
B
U
b
x d
L

= U
b
1
2
---
M
z
2
EI
zz
----------- =
U
S
1
2
---
xy

xy
V d
V

1
2
---

xy
2
E
------- V d
V

= =

max

max
U
s
U
B

M. Vable Intermediate Mechanics of Materials: Chapter 7

7-5
Table 7.1 Energy densities
Strain energy density per
unit length
Complimentary strain
energy density per unit
length
Axial
Torsion of circu-
lar shafts

Symmetric
bending of
beams
U
a
1
2
--- EA
x d
du


2
=
U
a
1
2
---
N
2
EA
------- =
U
t
1
2
---GJ
x d
d


2
=
U
t
1
2
---
T
2
GJ
------- =
U
b
1
2
--- EI
zz
x
2
2
d
d v



2
= U
b
1
2
---
M
z
2
EI
zz
----------- =
M. Vable Intermediate Mechanics of Materials: Chapter 7
7-6
Work
If a force moves through a distance, then work has been done by the
force.
Work done by a force is conservative if it is path independent.
Non-linear systems and non-conservative systems are two independent
description of a system.
Any variable that can be used for describing deformation is called the
generalized displacement.
Any variable that can be used for describing the cause that produces
deformation is called the generalized force.
dW Fdu =
u
L
P
T
v
L

x d
dv
=
M
P
W Pu
L
=
Work
Loading Mode
W T
L
=
W Pv
L
=
W M
L
=
u(x)
W p x ( )u x ( ) x d
0
L

=
p(x)
t (x)
x ( )

L
v(x)
p(x)
W t x ( ) x ( ) x d
0
L

=
W p x ( )v x ( ) x d
0
L

=
M. Vable Intermediate Mechanics of Materials: Chapter 7
7-7
Virtual Work
Virtual work methods are applicable to linear and non-linear systems,
to conservative as well as non-conservative systems.
The principle of virtual work:
The total virtual work done on a body at equilibrium is zero.
Symbol will be used to designate a virtual quantity
Types of boundary conditions
Geometric boundary conditions (Kinematic boundary conditions)
(Essential boundary conditions):
Condition specied on kinematic (primary) variable at the boundary.
Statical boundary conditions
(Natural boundary conditions)
Condition specied on statical (secondary)variable at the boundary.
W 0 =
W
ext
W
int
=
x
z
y

T
P
x
M
P
y

T
P
x
M
Kinematic variable
Statical variable
u
or
N
v
M
z
V
y
N
T
Displacement and rotation specied
Internal forces and moment specied
at this end
at this end to meet equilibrium

V
y

x d
dv
=
M
z
or
or
or
T
P
y
(Primary variable)
(Secondary variable)
M. Vable Intermediate Mechanics of Materials: Chapter 7
7-8
Kinematically admissible functions
Functions that are continuous and satises all the kinematic boundary
conditions are called kinematically admissible functions.
actual displacement solution is always a kinematically admissible
function
Kinematically admissible functions are not required to correspond to
solutions that satisfy equilibrium equations.
Statically admissible functions
Functions that satisfy satises all the static boundary conditions, sat-
isfy equilibrium equations at all points, and are continuous at all points
except where a concentrated force or moment is applied are called
statically admissible functions.
Actual internal forces and moments are always statically admissible.
Statically admissible functions are not required to correspond to solu-
tions that satisfy compatibility equations.
7.3 Determine a class of kinematically admissible displacement
functions for the beam shown in Fig. P7.3.
Fig. P7.3
7.4 For the beam and loading shown in Fig. P7.3 determine a stat-
ically admissible bending moment.
L
x
A
B
L
C
wL
2
w
M. Vable Intermediate Mechanics of Materials: Chapter 7
7-9
Virtual displacement method
The virtual displacement is an innitesimal imaginary kinematically
admissible displacement eld imposed on a body.
Of all the virtual displacements the one that satises the virtual work
principle is the actual displacement eld.
Virtual Force Method
The virtual force is an innitesimal imaginary statically admissible
force eld imposed on a body.
Of all the virtual force elds the one that satises the virtual work
principle is the actual force eld.
x
actual displacement
kinematically admissible displacement
v = virtual displacement
M. Vable Intermediate Mechanics of Materials: Chapter 7
7-10
7.7 The roller at P shown in Fig. P7.7 slides in the slot due to the
force F = 20kN. Both bars have a cross-sectional area of A = 100 mm
2

and a modulus of elasticity E = 200 GPa. Bar AP and BP have lengths of
L
AP
= 200 mm and L
BP
= 250 mm respectively. Determine the axial stress
in the member AP by virtual displacement method.
Fig. P7.7
7.8 A force F = 20kN is appled to pin shown in Fig. P7.8. Both
bars have a cross-sectional area of A = 100 mm
2
and a modulus of elas-
ticity E = 200 GPa. Bar AP and BP have lengths of L
AP
= 200 mm and
L
BP
= 250 mm respectively. Using virtual force method determine the
movement of pin in the direction of force F.
Fig. P7.8
P
110
o
F
B
A
P
110
o
F
B
A
40
o