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Stress in 3D
11
Lecture 1: STRESS IN 3D
TABLE OF CONTENTS
Page
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . 13
1.2 Mechanical Stress: Concept . . . . . . . . . . . . . . . 13
1.3 Mechanical Stress: Denition . . . . . . . . . . . . . . . 13
1.3.1 What Does Stress Measure? . . . . . . . . . . . . 13
1.3.2 Cutting a Body . . . . . . . . . . . . . . . . . 13
1.3.3 Orienting the Cut Plane . . . . . . . . . . . . . 14
1.3.4 Internal Forces on Elemental Area . . . . . . . . . . 15
1.3.5 Projecting the Internal Force Resultant . . . . . . . . 15
1.3.6 Defining Three Stress Components . . . . . . . . . . 15
1.3.7 Six More Components . . . . . . . . . . . . . . 16
1.3.8 Visualization on Stress Cube . . . . . . . . . . . . 17
1.3.9 What Happens on the Negative Faces? . . . . . . . . 17
1.4 Notational Conventions . . . . . . . . . . . . . . . . . 18
1.4.1 Sign and Subscripting Conventions . . . . . . . . . . 18
1.4.2 Matrix Representation of Stress . . . . . . . . . . . 19
1.4.3 Shear Stress Reciprocity . . . . . . . . . . . . . 19
1.5 Simplications: 2D and 1D Stress States . . . . . . . . . . . 110
1.6 Advanced Topics . . . . . . . . . . . . . . . . . . . 110
1.6.1 Changing Coordinate Axes . . . . . . . . . . . . . 110
1.6.2 A Word on Tensors . . . . . . . . . . . . . . . 111
1.7 Addendum: Action vs. Reaction Reminder . . . . . . . . . . 112
12
1.3 MECHANICAL STRESS: DEFINITION
1.1. Introduction
This lecture introduces mechanical stresses in a 3D solid body. It covers definitions, notational and
sign conventions, stress visualization, and reduction to two- and one-dimensional cases. Effect of
coordinate axes transformation and the notion of tensors are briefly mentioned as advanced topics.
Mechanical stress in a solid body is a gross abstraction of the intensity of interatomic or inter-
molecular forces. If we look at a solid under increasing magnification, say through an electron
microscope, we will see complicated features such as crystals, molecules and atoms appearing (and
fading) at different scales. The detailed description of particle-interaction forces acting at such tiny
scales is not only impractical but unnecessary for structural design and analysis. To make the idea
tractable the body is viewed as a continuum of points in the mathematical sense, and a stress state
is defined at each point by a force-over-area limit process.
Mechanical stress in a solid generalizes the simpler concept of pressure in a fluid. A fluid in
static equilibrium (the so-called hydrostatic equilibrium in the case of a liquid) can support only
a pressure state. (In a gas pressure may be tensile or compressive whereas in a liquid it must be
compressive.) A solid body in static equilibrium can support a more general state of stress, which
includes both normal and shear components. This generalization is of major interest to structural
engineers because structures, for obvious reasons, are fabricated with solid materials.
This section goes over the process by which the stress state at an arbitrary point of a solid body is
defined. The key ideas are based on Newtons third law of motion. Once the physical scenario is
properly set up, mathematics takes over.
Mechanical stress measures the average intensity level of internal forces in a material (solid or fluid
body) idealized as a mathematical continuum. The physical dimension of stress is
Force per unit area, e.g. N/mm2 (MPa) or lbs/sq-in (psi) (1.1)
This measure is convenient to assess the resistance of a material to permanent deformation (yield,
creep, slip) as well as rupture (fracture, cracking). Comparing working and failure stress levels
allows engineers to establish strength safety factors for structures. This topic (safety factor) is
further covered in Lecture 2.
Stresses may vary from point to point in a body. In the following we consider a arbitrary solid
body (which may be a structure) in a three dimensional (3D) setting. As previouly noted, this is
actually its idealization as a mathematical continuum. Thus the term body actually refers to that
idealization.
13
Lecture 1: STRESS IN 3D
cut by plane
;;
ABCD and B
discard blue
portion A
;;
Applied Applied
loads Discard
loads
Q Q
;;
Applied
loads
e
Keep plan C
Cut
D
;;
A outward from the kept body.
;;
loads chosen to be parallel to x
Kept Q
body n //x
y
Reference frame
is a RCC system
C
of axes
plane
z x Cut
D
.
Figure 1.2. Orienting the cut plane ABCD by its exterior unit normal vector n
14
1.3 MECHANICAL STRESS: DEFINITION
At this point we refer the body to a Rectangular Cartesian Coordinate (RCC) system of axes {x, y, z}.
This reference frame obeys the right-hand orientation rule. The coordinates of point Q, denoted by
{x Q , y Q , z Q }, are called its position coordinates or position components. The position vector of Q
is denoted by
xQ
x Q = y Q (1.2)
zQ
but we will not need to use this vector here.
With respect to {x, y, z} the normal vector has components
nx
= ny
n (1.3)
nz
with respect to {x, y, z}, respectively. Since n
in which {n x , n y , n z } are the direction cosines of n
is a unit vector, those components must verify the unit length condition
n 2x + n 2y + n 2z = 1. (1.4)
In Figure 1.2, the cut plane ABCD has been chosen with its exterior normal parallel to the +x axis.
Consequently (1.3) reduces to
1
= 0 .
n (1.5)
0
1.3.4. Internal Forces on Elemental Area
Recall that the action of the discarded (blue) portion of the body on the kept (red) portion is replaced
by a system of internal forces that restores static equilibrium. This replacement is illustrated on
the right of Figure 1.3. Those internal forces generally will form a system of distributed forces per
unit of area, which, being vectors, generally will vary in magnitude and direction as we move from
point to point of the cut plane, as pictured over there.
Next we focus our attention on point Q. Pick an elemental area A around Q that lies on the cut
plane. Call F the resultant of the internal forces that act on A. Draw that vector with origin at
.
Q, as pictured on the right of Figure 1.3. Do not forget to draw also the unit normal vector n
The use of the increment symbol suggests a pass to the limit. And indeed this will be done in
equations (1.6) below, to define three stress components at Q.
1.3.5. Projecting the Internal Force Resultant
Zoom now on the elemental area about Q, omitting both the kept-body and applied loads for clarity,
as pictured on the left of Figure 1.4.
Project the internal force resultant F on the reference axes {x, y, z}. This produces three compo-
nents: Fx , Fy and Fz , as shown on the right of Figure 1.4.
Component Fx is aligned with the cut-plane normal, because n has been taken to be parallel
to x. This is called the normal internal force component or simply normal force. On the other
hand, components Fy and Fz lie on the cut plane. These are called tangential internal force
components or simply tangential forces.
15
;; ;;
Lecture 1: STRESS IN 3D
Internal
;; ;;
Applied forces Applied
loads loads F
Q Q n
;; ;;
y y
A
z x x
z
Arrows are placed over F and n
to remind you that they are vectors
def Fx
x x = lim normal stress component
A0 A
def Fy
x y = lim shear stress component (1.6)
A0 A
def Fz
x z = lim shear stress component
A0 A
x x is called a normal stress, whereas x y and x z are shear stresses. See Figure 1.5.
Remark 1.1. We tacitly assumed that the limits (1.6) exist and are finite. This assumption is part of the axioms
of continuum mechanics.
Remark 1.2. The use of two different letters: and for normal and shear stresses, respectively, is traditional
in American undergraduate education. It follows the influential textbooks by Timoshenko (a key contributor
to the development of Enginering Mechanics education in the US) that appeared in the 1930-40s. The main
reason for carrying along two symbols instead of one was to emphasize their distinct physical effects on
structural materials. It has the disadvantage, however, of poor fit with the tensorial formulation used in more
advanced (graduate level) courses in continuum mechanics. In those courses a more unified notation, such as
i j or i j for all stress components, is used.
16
1.3 MECHANICAL STRESS: DEFINITION
y Fy
F
x (reproduced from
z Q n //x previous figure for
Fx convenience)
Fz A
Fx Fy Fz
=
xx def lim
A 0 A
xy =
def
lim
A 0 A
xz =
def
lim
A 0 A
zz , zx , zy . (1.8)
These are called the z-stress components. On grouping (1.6) , (1.7) and (1.8) we arrive at a total of
nine components, as required for full characterization of the stress at a point. Now we are done.
1.3.8. Visualization on Stress Cube
The foregoing nine stress components may be conveniently visualized on a stress cube as follows.
Cut an infinitesimal cube about Q with sides parallel to the RCC axes {x, y, z}, and dimensioned
d x, dy and dz, respectively. Draw the components on the positive cube faces (positive face is
defined below) as depicted in Figure 1.6
The three positive cube faces are those with exterior (outward) normals aligned with +x, +y and +z,
respectively. Positive (+) values for stress components on those faces are as drawn in Figure 1.6.
More on sign conventions later.
1.3.9. What Happens on the Negative Faces?
The stress cube has three positive (+) faces. The three opposite ones are negative () faces.
Outward normals at faces point along x, y and z, respectively. What do stresses on those
faces look like? To maintain static equilibrium, stress components must be reversed.
17
Lecture 1: STRESS IN 3D
Figure 1.6. Visualizing stresses on faces of stress cube aligned with reference frame axes.
Stress components are positive as drawn.
For example, a positive x x points along the +x direction on the +x face, but along x on the
opposite x face. A positive x y points along +y on the +x face but along y on the x face.
To better visualize stress reversal, it is convenient to project the stress cube onto the {x, y} plane by
looking at it from the +z direction. The resulting 2D diagram, shown in Figure 1.7, clearly displays
the rule given above.
yy
yy
project onto {x,y} +y face yx
y yx looking along -z
x face xy
yz xy
zy xx xx
z x zx xz
xx xy +x face
zz y yx
z
yy y face
x
Figure 1.7. Projecting onto {x, y} to display component stress reversals on going from + to faces.
18
1.4 NOTATIONAL CONVENTIONS
y xy xy
+x face
stress acts on cut
stress points in
x xx plane with n along
the y direction
z +x (the +x face)
Shear stress components have two different subscript indices. The first one identifies the cut plane
on which it acts as defined by the unit exterior normal to that plane. The second index identifies
component direction. That convention is illustrated for the shear stress component x y on the right
of Figure 1.8.
Remark 1.3. The foregoing subscripting convention plainly applies also to normal stresses, in which case the
direction of the cut plane and the direction of the component merge. Because of this coalescence some authors
(for instance, Beer, Johnston and DeWolf in their Mechanics of Materials book) drop one of the subscripts
and denote x x , say, simply by x .
Remark 1.4. The sign of a normal component is physically meaningful since some structural materials, for
example concrete, respond differently to tension and compression. On the other hand, the sign of a shear stress
has no physical meaning; it is entirely conventional.
The nine components of stress referred to the x,y,z axes may be arranged as a 3 x 3 matrix, which
is configured as
x x x y x z
yx yy yz (1.9)
zx zy zz
Note that normal stresses are placed in the diagonal of this square matrix.
We will call this a 3D stress matrix, although in more advanced courses this is the representation
of a second-order tensor called as may be expected the stress tensor.
1.4.3. Shear Stress Reciprocity
From moment equilibrium conditions on the infinitesimal stress cube it may be shown that
x y = yx , x z = zx , x y = zy , (1.10)
in magnitude. In other words: switching shear stress indices does not change its value. Note,
however, that index-switched shear stresses point in different directions: x y , say, points along y
whereas yx points along x.
For a proof of (1.10) see, for example, pp. 2627 of Beer-Johnston-DeWolf 5th ed.
19
Lecture 1: STRESS IN 3D
Property (1.10) is known as shear stress reciprocity. It follows that the stress matrix is symmetric:
x x x y x z x x x y x z
yx = x y yy yz yy yz (1.11)
zx = x z zy = yz zz symm zz
Consequently the 3D stress state depends on only six (6) independent components: three normal
stresses and three shear stresses.
For certain structural configurations such as thin plates, all stress components with a z subscript
may be considered negligible, and set to zero. The stress matrix of (1.9) becomes
x x x y 0
yx yy 0 (1.12)
0 0 0
This two-dimensional simplification is called a plane stress state. Since x y = yx , plane stress is
fully characterized by just three independent stress components: the two normal stresses x x and
yy , and the shear stress x y .
A further simplification occurs in structures such as bars or beams, in which all stress components
except x x may be considered negligible and set to zero, whence the stress matrix reduces to
x x 0 0
0 0 0 (1.13)
0 0 0
This is called a one-dimensional stress state. There is only one independent stress component left:
the normal stress x x .
We mention a couple of advanced topics that either fall outside the scope of the course, or will be
later covered for special cases.
1.6.1. Changing Coordinate Axes
Suppose we change axes {x, y, z} to another set {x , y , z } that also forms a RCC system. The
stress cube centered at Q is rotated to realign with {x , y , z } as illustrated in Figure 1.9. The stress
components change accordingly, as compactly shown in matrix form:
x x x y x z x x x y x z
yx yy yz becomes yx yy yz (1.14)
zx zy zz zx zy zz
Can the primed components be expressed in terms of the original ones? The answer is yes. All
primed stress components can be expressed in terms of the unprimed ones and of the direction
cosines of {x , y , z } with respect to {x, y, z}. This operation is called a stress transformation.
110
1.6 ADVANCED TOPICS
y
y'
x'
z x
yy z'
'yy
y 'yx 'xy
y' yz yx 'xx
xy 'yz
x' dy zy 'xz dz'
xz 'zy
z x zx 'zx
zz dz xx dy'
z' dx dx'
Note that Q is inside both cubes; they
are drawn offset for clarity 'zz
For a general 3D state this operation is complicated because there are three direction cosines. In
this introductory course we will cover only transformations for the 2D plane stress state. The
transformations are simpler (and more explicit) since changing axes in 2D depends on only one
direction cosine or, equivalently, the rotation angle about the z axis.
Why bother to look at stress transformations? One important reason: material failure may depend on
the maximum normal tensile stress (for brittle materials) or the maximum absolute shear stress (for
ductile materials). To find those we generally have to look at parametric rotations of the coordinate
system, as in the skew-cut bar example studied in the first Recitation. Once such dangerous stress
maxima are found for critical points of a given structure, the engineer can determine strength safety
factors.
1.6.2. A Word on Tensors
The state of stress at a point is not a scalar or a vector. It is a more complicated mathematical object,
called a tensor (more precisely, a second-order tensor). Tensors are not covered in undergraduate
engineering courses as mathematical entities. Accordingly we will deal with stresses (and strains,
which are also tensors) using a physical approach complemented with recipes. Nonetheless for
those of you interested in the deeper mathematical aspect before reaching graduate school, here is
a short list that extrapolates tensors from two entities you already (should have) encountered in
Calculus and Physics courses.
Scalars are defined by magnitude. Examples: temperature, pressure, density, charge.
Vectors are defined by magnitude and direction. Examples: force, displacement, velocity,
acceleration, electric current.
Second-order tensors are defined by magnitude and two directions. Examples: stress, strain,
electromagnetic field strength, space curvature in GRT.
For mechanical stress, the two directions are: the orientation of the cut plane (as defined by its
outward normal) and the orientation of the internal force resultant.
All three kinds of objects (scalars, vectors, and second-order tensors) may vary from point to point.
This means that they are expressed as functions of the position coordinates. In mathematical physics
such functions are called fields.
111
Lecture 1: STRESS IN 3D
;;;;;;
reaction forces on the legs. The elephant
stays happy: nothing happens.
;;;;;;
;;;;;; Strictly speaking, reaction forces are
distributed over the elephant leg
contact areas. They are replaced
above by equivalent point forces,
a.k.a. resultants, for visualization convenience
This is a digression about Newtons Third Law of motion, which you should have encountered in
Physics 1. See cartoon in Figure 1.10 for a reminder of how to replace the effect of a removed
physical body by that of the reaction forces acting on the kept body.
112
2
Average Stresses &
Component Design
21
Lecture 2: AVERAGE STRESSES & COMPONENT DESIGN
TABLE OF CONTENTS
Page
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . 23
2.2 Average Stress And Its Uses . . . . . . . . . . . . . . . 23
2.3 Safety Factor . . . . . . . . . . . . . . . . . . . . . 23
2.3.1 Design Related Definitions . . . . . . . . . . . . 23
2.3.2 Critical Safety Factor . . . . . . . . . . . . . . . 23
2.3.3 Why is Component Design Important? . . . . . . . . 25
2.3.4 Simplified Strength Design . . . . . . . . . . . . . 25
2.4 Ex.1: Axially Loaded Brittle Bar . . . . . . . . . . . . . 25
2.5 Ex.2: Axially Loaded Ductile Bar . . . . . . . . . . . . . 26
2.6 Ex. 3: Bar with Pin Connectors, Failure by Tension Break at Pin . 27
2.7 Ex. 4: Bar with Pin Connectors, Failure by Pin Shear O . . . . 28
2.8 Ex. 5: Truss Bolt Connection With Single Shear Area . . . . . 28
2.9 Ex. 6: Truss Bolt Connection With Double Shear Area . . . . . 210
22
2.3 SAFETY FACTOR
2.1. Introduction
This lecture describes a highly simplified form of the 3D stress concept, in which the objective is
to get average stresses over a finite area instead of point stresses. This is applied to some simple
problems in component design. The concept of strength safety factor is discussed in some detail,
first in general terms and then in conjunction with examples.
The previous lecture emphasized that stresses vary from point to point inside a body (structure).
Thus x x = x x (x, y, z), and likewise for all other components. Mathematically, stresses form a
tensor field within the body.
Although the field viewpoint is rigorous, it may be too elaborate for practical use if its determination
requires expensive and time-consuming computations, even with the help of the computer. Often the
time-pressed engineer compromises by using a simplified stress analysis process based on average
stresses. The key idea is not to pass to the limit as done in Lecture 1 to define stresses at a point.
After appropriately cutting the body to manifest internal force(s) of interest, divide those resultants
by the finite area on which they act.
This shortcut is especially useful in preliminary design of 1D structural components when internal
force resultants can be quickly determined from statics by a Free Body Diagram (FBD). Several
illustrative examples are given in Section 2.4 and following ones.
A safety factor characterizes the margin for bad things to happen to the structure. Some actual
instances of such events are shown in Figure 2.1.
2.3.1. Design Related Definitions
To quantity the foregoing statement, two definitions are introduced.
Failure mode. The structure experiences something that renders it disfunctional. Mode
identifies what. Failure may be catastrophic: a bridge or dam collapses, an airplane wing
breaks in flight, a submarine hull buckles under pressure. Or something less drastic: a building
foundation settles and cracks appear.
Design Load. A load system used for designing the structure and its components. For real
structures there may be many such systems, identified as design load cases. For example, the
design of a commercial jet aircraft may involve hundreds of load cases. Design scenarios may
include normal events while in service, as well as abnormal ones that the structure is supposed
to survive without catastrophe (e.g., total collapse) when there are lives at stake. Examples:
earthquakes, hurricanes, emergency landings, ...
2.3.2. Critical Safety Factor
Assume we have a design load case with forces P1 , P2 , . . ., and that under the given load values the
structure is fine. (Load cases may include applied moments, distributed loads, temperature changes,
etc., but for simplicity think for now of point forces.) Suppose that the loads are proportionally
23
Lecture 2: AVERAGE STRESSES & COMPONENT DESIGN
increased to s P1 , s P2 . . . , where s > 1 is a magnification factor, and that the first failure mode
triggered by this increase happens at s F . This s F is called the safety factor for that load case with
respect to that failure mode. If, as generally happens, there are several load cases, the process is
repeated for each one. The smallest s F encountered in this sweep is the critical safety factor, which
should meet design specifications. Obviously it should not be less than a certain target.
The foregoing description oversimplifies actual practice. For example, some loads, such as own
weight, should be kept fixed. Furthermore, statistical and cost considerations come into the picture.
Not all load cases may be equally probable (how often is an aircraft hit by a meteorite?), while the
cost of achieving adequate safety against all possible events may be prohibitive.
24
2.4 EX.1: AXIALLY LOADED BRITTLE BAR
A detailed safety analysis that includes statistical and cost data generally requires the use of so-
phisticated computer programs. For preliminary component sizing, however, a shortcut based on
back-of-the-envelope stress analysis may be sufficient.
2.3.3. Why is Component Design Important?
The failure of a component may trigger that of the whole structure (For want of a nail the shoe was
lost ...) For instance, the well known 1986 disaster of the Challenger space shuttle, which cost $6.7
billions in 1971 dollars to build, was triggered by a malfunctioning $25 O-ring. See Figure 2.2.
2.3.4. Simplified Strength Design
A simplified strength design based on average stresses and given safety factor proceeds as follows.
A structural component such as a bar or beam is subject to known loads that come from an analysis
of the whole structure. A failure mode of the isolated component is assumed. In the ensuing
examples, that mode will represent a failure of the material when a stress level is reached.
But which stress? Here a distinction should be made between brittle and ductile materials. Brittle
materials such as fiberglass or cast iron fail by the maximum tensile normal stress reaching a f ail
level. Ductile materials such as metals or alloys fail by the maximum absolute shear stress reaching
a f ail level. Using FBD statics compute the average normal stresses avg or the average shear
stress avg over the area of an appropriate cut affected by the failure mode. The strength safety
factor is the ratio
f ail f ail
sF = or s F = (2.1)
avg avg
as appropriate to the material type and failure mode. More complicated failure criteria do exist,
but will not be covered in this course; they are studied in ASEN 4012. For strength design s F is
picked by practice, design codes, or experience, and inserted into (2.1), in which either avg or
avg is expressed in terms of the data. Design variables are solved for, and the component sized
accordingly.
Several examples of this procedure follow.
;;
;
;;
P = 30 kips P P F n
x x
;;
;
;;
cut normal
Circular cross section d=? to bar axis
of diameter d & area A
Figure 2.3. Axially loaded brittle bar. Failure by tension: normal cross section breaks..
The first design example is pictured in Figure 2.3. A bar of solid circular cross section, fabricated
with brittle material, is subject to axial load P. Recall that a brittle material such as cast iron or
25
Lecture 2: AVERAGE STRESSES & COMPONENT DESIGN
fiberglass fails (breaks apart) when the maximum normal stress (here the axial stress) reaches a
limit value.
Material data: cast iron, which fails by normal stress reaching f ail = 40 ksi (kilopounds/sqin).
Failure mode: cross section breaks when f ail is reached
Safety Factor: s F = 8 against failure.
Load case data: axial load P = 30 kips (kilopounds)
Find: design variable is bar diameter d in inches.
Solution. Make the normal cut shown on the right of Figure 2.3. From FBD statics, the resultant
internal force is F = P, aligned with +x. The area of the cut, a.k.a. resisting normal-stress area
or simply resisting area, is the bar cross section A = 14 d 2 . The average normal stress is
F P 4P
avg = = 1 = . (2.2)
A 4
d 2 d 2
The design condition is avg f ail /s F . Substituting for avg and solving for d yields
4P s F 4 30 kips 8
d+ = = 2.76 in (2.3)
f ail 40 kips/in2
;;;
P = 30 kips P P o
45
x x 45o
F
;;;
skew cut at
Circular section of d=? 45o from x
diameter d & area A t
Figure 2.4. Axially loaded ductile bar: failure by yield due to crystal slip at 45 .
The next example is pictured in Figure 2.4. The configuration is identical to the previous example:
a bar of solid circular cross section under axial loads, but the material is now ductile. Failure occurs
by yield when the maximum shear stress reaches a limit value f ail .
Material data: ductile Al alloy, which fails by maximum shear at f ail = 20 ksi (kilopounds/sqin).
Failure mode: crystal slip at 45 from longitudinal bar x axis. Why 45 ? This will be the subject
of one problem in Recitation 1.
Safety Factor: s F = 5 against shear failure.
Load case data: axial load P = 30 kips = 30, 000 lbs as in last example.
Find: design variable is again diameter d in inches.
26
2.6 EX. 3: BAR WITH PIN CONNECTORS, FAILURE BY TENSION BREAK AT PIN
Solution. Make the skew cut shown on the right of Figure 2.4. From FBD statics,the resultant
internal force is F = P, aligned with +x. Project on cut plane: Ft = F cos 45
= F/ 2 = P/ 2.
The area of the skew cut, a.k.a. shear area, is As = A/ cos 45 = A 2 = 14 2 d 2 . The average
shear stress is
Ft P/ 2 P/ 2 P
avg = = = 1 = 1 . (2.4)
As As 4
2d 2
2
d2
The design condition is avg f ail /s F . Solving for d:
2P s F 2 30 kips 5
d+ = = 2.19 in (2.5)
f ail 20 kips/in2
2.6. Ex. 3: Bar with Pin Connectors, Failure by Tension Break at Pin
pin
zoom diameter
; ; ;; ;
P/2 P/2 is dpin
P P P P
t P/2 P/2
Figure 2.5. Axially loaded ductile bar with pin connectors: failure by tension break at pin
This example is pictured in Figure 2.5. A ductile bar member (Al alloy) of rectangular cross section
h t is linked to other bar members though pin connectors. The bar transmits a tensile axial force
P. Two failure modes at the pin are possible: tension break at minimal cross section area weakened
by hole, or pin shear-off. This example considers the first possibility.
Material data: Al alloy, may fail by either maximum tensile normal stress at f ail = 268 MPa
(megaPascal) or by shear at f ail = 165 MPa.
Failure mode: tension break at minimal cross section weakened by pin hole; see Figure 2.5.
Safety Factor: s F = 6 against tension break at minimum cross section.
Load case data: axial load P = 5 kN = 5, 000 N applied to pins
Geometric data: cross section thickness t = 5 mm; pin diameter d pin = 12 mm.
Find: design variable is cross section height h in mm.
Solution. Make a transverse plane cut at the pin center as shown. The bar cross section at the
cut (obviously the minimum one) is called the corrected area Acorr = A A pin = h t d pin t.
27
Lecture 2: AVERAGE STRESSES & COMPONENT DESIGN
Average normal stress over corrected area is avg = P/Acorr = P/((h d pin ) t). Design condition:
avg f ail /s F . Solving for h:
P sF 5000 N 6
h + d pin = + 12 mm = 34.4 mm (2.6)
f ail t 268 N/mm2 5 mm
2.7. Ex. 4: Bar with Pin Connectors, Failure by Pin Shear Off
;; ;; ;;
zoom ds ds =?
;;
P/2 P
P
P P t P/2
cut planes pin shears off
h cross
section
Figure 2.6. Axially loaded ductile bar with pinhole connectors: failure by pin shearing off.
The structural configuration for this example is the same as in previous one. We now consider the
other possible failure mode, in which a pin shears off as depicted in Figure 2.6.
Material data: same as in previous example: fails by maximum tension stress at f ail = 268 MPa
or by shear at f ail = 165 MPa.
Failure mode: shear failure with a pin shearing off, see right of Figure 2.6.
Safety Factor: s F = 6 against shear failure.
Load case data: axial load P = 5 k-N = 5,000 N applied to pins, as before
Geometric data: cross section thickness t = 5 mm, pin diameter not needed.
Find: design variable is distance ds defined in the figure, expressed in mm. (Actually h and d pin
are not needed in this case.)
Solution. Make two cuts because the force P is transmitted through the two interfaces shown
in the figure. Total shear area is As = 2ds t. Resultant shear force over shear area, from FBD:
Fs = 12 P + 12 P = P. Average shear stress avg = Fs /As = P/As = P/(2ds t). Design condition:
avg f ail /s F . Solving for ds :
P sF 5,000 N 6
ds = = 18.2 mm (2.7)
2 f ail t 2 165 N/mm2 5 mm
28
2.8 EX. 5: TRUSS BOLT CONNECTION WITH SINGLE SHEAR AREA
P
P
Figure 2.7. Bolt connection with single shear area: overall sketch.
Figure 2.8. Bolt connection with single shear area: FBD procedural details.
29
Lecture 2: AVERAGE STRESSES & COMPONENT DESIGN
One flaw of the bolt connector studied in the foregoing example is load eccentricity caused by
member centerline offset. The resulting moment may cause additional bending stresses as well as
alignment problems. A better design that avoids that problem is shown in Figure 2.9, in which
configurational symmetry aligns inter member load transmission whence bending is eliminated.
To get the effective shear area, make two cuts as pictured in Figure 2.9(c). The effective shear
area doubles to As = 2Abolt = dbolt2
/2 and the average shear becomes avg = P/(2Abolt ) =
2P/( dbolt ). With the same design criteria of the previous example, the bolt diameter is now given
2
by
2P s F
dbolt + . (2.9)
f ail
If P, s F and f ail stay the same, this dbolt is about 30% smaller than that given by (2.8) Furthermore
s F could be cut since the lack of bending reduces stress distribution uncertainties. On the other hand,
this kind of connection is likely to be costlier to fabricate. Figure 2.10 shows a well fabricated
instance of a double shear area connector. This would be typical, for example, of a quality car
suspection device.
210
3
Thin Walled
Pressure Vessels
31
Lecture 3: THIN WALLED PRESSURE VESSELS
TABLE OF CONTENTS
Page
3.1. Introduction 33
3.2. Pressure Vessels 33
3.3. Assumptions 34
3.4. Cylindrical Vessels 34
3.4.1. Stress Assumptions . . . . . . . . . . . . . . . 34
3.4.2. Free Body Diagrams . . . . . . . . . . . . . . 35
3.5. Spherical Pressure Vessel 36
3.5.1. Stress Assumptions . . . . . . . . . . . . . . . 36
3.5.2. Free Body Diagram . . . . . . . . . . . . . . . 37
3.6. Remarks on Pressure Vessel Design 37
3.7. Numerical Example 38
3.7.1. CExample: Cylindrical Tank With Bolted Lids . . . . . . 38
32
3.2 PRESSURE VESSELS
3.1. Introduction
This Lecture continues with the theme of the last one: using average stresses instead of point
stresses to quickly get results useful in preliminary design or in component design. We look at more
complicated structural configurations: thin wall pressure vessels, which despite their apparently
higher complexity can be treated directly by statics if both geometry and loading are sufficiently
simple.
The main difference with respect to the component configurations treated in the previous lecture is
that the state of stress in the vessel wall is two dimensional. More specifically: plane stress. As
such they will provide examples for 2D stress-displacement analysis once 2D strains and multidi-
mensional material laws are introduced in Lectures 45.
(a) (b)
Figure 3.1. Pressure vessels used for fluid storage: (a) spherical tanks, (b) cylindrical tank.
Thin wall pressure vessels (TWPV) are widely used in industry for storage and transportation of
liquids and gases when configured as tanks. See Figure 3.1. They also appear as components of
aerospace and marine vehicles such as rocket and balloon skins and submarine hulls (although in
the latter case the vessel is externally pressurized, violating one of the assumptions listed below).
Two geometries will be examined in this lecture:
Cylindrical pressure vessels.
Spherical pressure vessels.
The walls of an ideal thin-wall pressure vessel act as a membrane (that is, they are unaffected by
bending stresses over most of their extent). A sphere is the optimal geometry for a closed pressure
vessel in the sense of being the most structurally efficient shape. A cylindrical vessel is somewhat
less efficient for two reasons: (1) the wall stresses vary with direction, (2) closure by end caps can
alter significantly the ideal membrane state, requiring additional local reinforcements. However
the cylindrical shape may be more convenient to fabricate and transport.
33
Lecture 3: THIN WALLED PRESSURE VESSELS
3.3. Assumptions
The key assumptions used here are: wall thinness and geometric symmetries. These make possible
to obtain average wall stresses analysis with simple free-body diagrams (FBD). Here is a more
detailed list of assumptions:
1. Wall Thinness. The wall is assumed to be very thin compared to the other dimensions of the
vessel. If the thickness is t and a characteristic dimension is R (for example, the radius of the
cylinder or sphere) we assume that
Usually R/t > 10. As a result, we may assume that the stresses are uniform across the wall.
2. Symmetries. In cylindrical vessels, the geometry and the loading are cylindrically symmetric.
Consequently the stresses may be assumed to be independent of the angular coordinate of
the cylindrically coordinate system. In spherical vessels, the geometry and the loading are
spherically symmetric. Therefore the stresses may be assumed to be independent of the two
angular coordinates of the spherical coordinate system and in fact are the same in all directions.
3. Uniform Internal Pressure. The internal pressure, denoted by p, is uniform and everywhere
positive. If the vessel is also externally pressurized, for example subject to athmospheric
pressure, p is defined by subtracting the external pressure from the internal one, a difference
called gage pressure. If the external pressure is higher, as in the case of a submarine hull,
the stress formulas should be applied with extreme caution because another failure mode:
instability due to wall buckling, may come into play. See Section 3.5.
4. Ignoring End Effects. Features that may affect the symmetry assumptions are ignored. This
includes supports and cylinder end caps. The assumption is that disturbances of the basic
stress state are confined to local regions and may be ignored in basic design decision such as
picking up the thickness away from such regions.
We study the two simplest geometries next.
We consider a cylindrical vessel of radius R, thickness t loaded by internal pressure p. We use the
cylindrical coordinate system (x, r , ) depeicted in Figure 3.2(a), in which
x axial coordinate
angular coordinate, positive as shown
r radial coordinate
rr = r x = r = 0 at r = R (3.2)
34
3.4 CYLINDRICAL VESSELS
Wall thickness t
Free surface: rr = 0, rx = 0, r = 0
rr inside body neglected since
it varies from p to 0 over wall,
r 2R which is << & << xx
x Zero because of thin
body and xr = rx
xr
D xx : axial stress
r x Zero because of
C axisymmetry and
x no torque
Zero because
r = r : hoop (a.k.a. Zero No tangential forces
because because r = 0 & rx =0
circumferential) =
x x
stress
On the inner surface r = R t there is a compressive normal stress that balances the applied
pressure but no tangential stresses. Thus
rr = p, r x = r = 0 at r = R t (3.3)
whereas rr varies from p to zero. Later on we will find that rr is much smaller than the other
two normal stresses, and in fact may be neglected (set to zero). Because r x = zr and r = r
on account of shear stress reciprocity, we conclude that
The normal stresses x x and zz are called axial stress and circumferential or hoop stress, respec-
tively. The last wall stress component is x = x , which is the wall shear stress. Because of
symmetry assumptions on the geometry and loading (no torque), this stress is zero. These stress
assumptions are graphically displayed, with annotations, in Figure 3.2.
Displaying the wall stress state using the stress matrix and taking the axes in order {x, , r } for
convenience, we have
x x x xr x x 0 0
x r = 0 0 . (3.6)
r x r rr 0 0 0
Comparing this to the 2D stress state introduced in Lecture 1, we observe that the cylinder vessel
wall is in plane stress.
35
Lecture 3: THIN WALLED PRESSURE VESSELS
dx
xx t xx (2R t)
xx
t dx
r ~2R
x
p 2R dx
p(R 2 )
t dx Both interior and exterior
vessel radii can be taken
as R, since t << R
Figure 3.3. Free body diagrams (FBD) to get the averaged hoop and longitinal wall
stresses in a pressurized thin-wall cylindrical vessel
pR pR
= , x x = = 1
2
. (3.7)
t 2t
Neither stress depends on position. Because the hoop stress is twice the axial stress, it will be the
controlling one in a strength design. For example if R/t = 100, which is a typical vessel thickness
in aerospace applications, then = 100 p and x x = 50 p. Since rr is of the order of p as
previously discussed, it follows that neglecting it is justified.
We can summarize our findings by showing the stress matrix now expressed in terms of the data:
x x 0 0 pR 1 0 0
0 0 = 0 2 0 . (3.8)
0 0 0 2t 0 0 0
36
3.6 REMARKS ON PRESSURE VESSEL DESIGN
(a) z (b)
(2R t)
t
r y ~2R
p (R 2 )
x
Figure 3.4. Stress analysis of a spherical pressure vessel in spherical coordinates. Once
again thickness is grossly exaggerated for visibility.
3. The normal stresses and are equal and constant over the entire vessel. For simplicity
we will use the abbreviation = = .
For convenience in writing out the stress matrix we will order the axes as {, , r }. As per the
preceding discussion, the stresses at any wall point have the configuration
r 0 0
r = 0 0 (3.9)
r r rr 0 0 0
This shows again that the vessel wall is in a plane stress state.
To find we cut the sphere into two hemispheres as shown in Figure 3.4(b). The FBD gives the
equilibrium condition 2 Rt = p R 2 , whence
pR
= (3.10)
2t
Any section that passes through the center of the sphere yields the same result.
We can summarize our findings by showing the stress matrix expressed in terms of the original
data:
0 0 pR 1 0 0
0 0 = 0 1 0 (3.11)
0 0 0 2t 0 0 0
Comparing to (3.9) shows that for the same p, R and t the spherical geometry is twice as efficient
in terms of wall stress. Why? This is explained in the next section.
37
Lecture 3: THIN WALLED PRESSURE VESSELS
pR 12,000
= 1
24 ksi = 24,000 psi, whence p psi (3.12)
2
in R
38
3.7 NUMERICAL EXAMPLE
(hoop, a.k.a
circumferential)
xx
p
p xx (axial)
t
0.20 mm
0.35 mm
A 0.15 mm (b) Detail A
0.35 mm
R = 1000 mm
(a) (b)
t 45
Gap
39
Lecture 3: THIN WALLED PRESSURE VESSELS
Nlid = p R 2
Figure 3.8. Cylindrical tank with bolted lids for Example 3.2.
The FBD of the lid is shown in Figure 3.8(b). Force equilibrium in the x direction gives
4 p R2
n Nbolt = Nlid , bolt = 60,000. (3.13)
n
Substituting for p gives
4 12,000 R
60,000, or n 0.8 R. (3.14)
n
Rewriting these inequalities in terms of the diameter D = 2R of the tank we get
24,000
p , and n 0.4D, D in inches. (3.15)
D
We now tabulate the maximum pressure p and the number of bolts n in terms of D as we step from
D = 2 ft = 24 in through D = 8 ft = 96 in. The values of p are rounded up to the nearest integer
multiple of 5 whereas values of n are reported by rounding up to the nearest integer.
310
4
Strains
41
Lecture 4: STRAINS
TABLE OF CONTENTS
Page
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . 43
4.2 Strain: Classication . . . . . . . . . . . . . . . . . . 43
4.3 Axial (a.k.a. Normal or Extensional) Strains . . . . . . . . . 44
4.3.1 Average Strain in 1D . . . . . . . . . . . . . . 44
4.3.2 Point Strain in 1D . . . . . . . . . . . . . . . . 45
4.3.3 Strain Units . . . . . . . . . . . . . . . . . 45
4.3.4 Point Normal Strains in 3D . . . . . . . . . . . . . 46
4.3.5 Volumetric Strain . . . . . . . . . . . . . . . 46
4.4 Shear Strains . . . . . . . . . . . . . . . . . . . . . 47
4.4.1 Average Shear Strains . . . . . . . . . . . . . . 47
4.4.2 Connecting Average Shear Strain To Displacements . . . . . 47
4.4.3 Point Shear Strains in 3D . . . . . . . . . . . . . 49
4.5 Strain-Displacement Equations . . . . . . . . . . . . . . 49
4.6 Displacement Vector Composition . . . . . . . . . . . . . 411
4.6.1 Deflection of a Truss Structure . . . . . . . . . . . . 411
4.6.2 Forces And Displacements Obey Different Composition Rules 412
42
4.2 STRAIN: CLASSIFICATION
4.1. Introduction
All of the material covered in the first 3 lectures pertains to statics: applied forces induce internal
forces, which induce stresses:
We now go beyond statics into kinematics. Stresses produce deformations because real materials
are not infinitely rigid. Deformations are measured by strains. Integration of strains through space
gives displacements, which measure motions of the particles of the body (structure). As a result
the body changes size and shape:
Conversely, if the displacements are given as data (as will happen with the Finite Element Method
covered in Part IV of this course), one can pass to strains by differentiation, from strains to stresses
using material laws such as Hookes law for elastic materials, and from stresses to internal forces:
This lecture focuses on the definition of strains and their connection to displacements. The relation
between strains and stresses, which is given by material properties codified into the so-called
constitutive equations, is studied in the next lecture.
In general terms, strain is a macroscopic measure of deformation. Truesdell and Toupin, in their
famous Classical Field Theories review article in Handbuch der Physik, introduce the concept as
The change in length and relative direction occasioned by deformation is called, loosely, strain.
[The term strain was introduced by W. J. M. Rankine in 1851.]
The concept is indeed loose until some additional qualifiers are called upon to render the matter
more specific.
1. Average vs. Point. Average strain is that taken over a finite portion of the body; for example
using a strain gage or rosette. Point strain is obtained by a limit process in which the
dimension(s) of the gaged portion is made to approach zero.
2. Normal vs. Shear. Normal strain measures changes in length along a specific direction. It is
also called extensional strain as well as dimensional strain. Shear strain measures changes
in angles with respect to two specific directions.
3. Mechanical vs. Thermal. Mechanical strain is produced by stresses. Thermal strains are
produced by temperature changes. (The latter are described in the next lecture.)
4. Finite vs. Infinitesimal. Finite strains are obtained using exact measures of the change in di-
mensions or angles. Infinitesimal strains are obtained by linearizing the finite strain measures
with respect to displacement gradients. On account of the nature of this process, infinitesimal
43
Lecture 4: STRAINS
undeformed length L0
(b) Deformed Bar
deformed length L = L0 +
Figure 4.1. Undeformed and deformed bar configurations to illustrate average axial
(a.k.a. normal, extensional) strain.
strains are also called linearized strains. The looser term small strains is also found in the
literature.
5. Strain Measures. For finite strains several mathematical measures are in use, often identified
with a person name in front. For example, Lagrangian strains, Eulerian strains, Hencky strains,
Almansi strains, Murnaghan strains, Biot strains, etc. They have one common feature: as
strains get small in the sense that their magnitude is << 1, they coalesce into the infinitesimal
(linearized) version. A brief discussion of Lagrangian versus Eulerian strains is provided in
4.3.1 below.
av
bar,L
= 0.01/10 = 0.10000%, av
bar,E
= 0.01/10.01 = 0.09990%. (4.5)
44
4.3 AXIAL (A.K.A. NORMAL OR EXTENSIONAL) STRAINS
x
(a) Undeformed Bar
P Q x
These agree to 3 places. In what follows we will consistently adopt the Lagrangian choice, which
as noted above is the most common one in solid and structural mechanics.
As in the case of stresses covered in Lecture 1, the strain at a point is obtained by a limit process.
Consider again the bar of Figure 4.1. In the undeformed configuration mark two coaxial points:
P and Q, separated by a small but finite distance x, as shown in Figure 4.2(a). (In experimental
determination of strains, this is called the gage length.) The bar is pulled and moves to the
deformed configuration illustrated in Figure 4.2(b). (Undeformed and deformed configurations are
again shown offset for visualization convenience.)
Points P and Q move to positions P and Q , respectively. The axial displacements are u P = u
and u Q = u P + (u Q u P ) = u + u, respectively. The strain at P is obtained by taking the limit
of the average strain over x as this distance tends to zero:
def (u + u) u u du
P = lim = lim = . (4.6)
x0 x x0 x dx
u
x x = . (4.7)
x
45
Lecture 4: STRAINS
P'
y z+w
y x+u
Here is the symbol for micros; by definition 1 = 106 . Sometimes this is written mm/mm or
in/in, but the unit of length is usually unnecessary.
4.3.4. Point Normal Strains in 3D
Instead of the bar of Figure 4.1, consider now a small but finite cube of material aligned with
the {x, y, z} axes, as pictured in Figure 4.3(a). The cube has side dimensions x, y and z,
respectively, in the undeformed configuration.
The cube moves to a deformed configuration pictured in Figure 4.3(b). The displacement com-
ponents are denoted by u, v, and w, respectively. The deformed cube still remains a cube (more
precisely, shear strains are assumed to be zero everywhere so angles are preserved) but side lengths
change to x +u, y +v and z +w, respectively. Here u, v and w denote appropriate
displacement increments.
The averaged normal strain components are defined as
46
4.4 SHEAR STRAINS
y dy (1+zz ) dz
(1+xx) dx
x dx dz
z
Figure 4.4. Slight modification of previous figure to illustrate the concept of volumetric strain.
47
Lecture 4: STRAINS
2
D'
C' Shear-Deformed
vD = 1+ 2
90
vC B'
1
C x D A'
vB
Undeformed vA y
90 = 2
y
B
A uA
uC
uB
x uD
Figure 4.6. Computing average shear strain over rectangle ABCD from corner displacement data.
48
4.5 STRAIN-DISPLACEMENT EQUATIONS
To define the shear strain x y at point P we pass to the limit in the average strain expression (4.15)
by shrinking both dimensions x and y to zero:
def v u
x y = lim x y,av = lim + . (4.16)
x0
y0
x0
y0
x y
u v
x y = + = yx (4.17)
y x
This expression plainly does not change if x and y are reversed, whence x y = yx as shown above.
The foregoing limit process can be repeated by taking the angles formed by planes {y, z} and {z, x}
to define yz,av and zx,av respectively, followed by passing to the limit as in (4.17). Anticipating
the more complete analysis of 4.5, the results are
u w v w
x z = + = zx , yz = + = zy . (4.18)
z x z y
This section summarizes the connections between displacements and point strains, which have
appeared in piecewise manner so far. Consider an arbitrary body in 3D in its undeformed and
deformed configurations. A generic point P(x, y, z) moves to P (x + u, y + v, z + w), in which
the displacement components are functions of position:
The components (4.20) define a displacement field. For visualization convenience we restrict the
foregoing picture to 2D as done in Figure 4.7. At P draw an infinitesimal rectangle PQRS of side
lengths {d x, dy} aligned with the RCC axes {x, y}. The square maps to a quadrilateral PQRS
in the deformed body as illustrated in Figure 4.7(b). To first order in {d x, dy} the mapped corner
49
Lecture 4: STRAINS
z x uP = u
Figure 4.7. Connecting strains to displacements: 2D view used for visualization convenience.
P maps tp P at x + u,v
u v
Q maps to Q at x +u+ d x, y+v+ d x,
x x
u v (4.21)
R maps to R at x +u+ dy, y+v+ dy,
y y
u u v v
S maps to S at x +u+ dx + dy, y + v + dx + dy,
x y x y
as pictured in Figure 4.7(b).
To express x x in terms of displacements, take the ratio
u Q u P x + u + ux d x (x + u) u
x x = = = . (4.22)
dx dx x
This was derived earlier in 4.3.2 in a 1D context. Notice that no passing to the limit is necessary
here because we started with infinitesimal material elements. Likewise
u R u P y + v + v
y dy (y + v) v
yy = = = . (4.23)
dy dy y
For the 3D case we get one more normal strain,
w
zz = . (4.24)
z
410
4.6 DISPLACEMENT VECTOR COMPOSITION
The connection of shear strains to displacement derivatives is more involved. The derivation for
x y was done in 4.4.2 and 4.4.3, which yields (4.17). The complete result for 3D is
u v v w w u
x y = + , yz = + , zx = + . (4.25)
y x z y x z
v u w v u w
yx = + , zy = + , x z = + . (4.26)
x y y z z x
Comparing these to (4.25) shows that x y = yx , etc, which proves the reciprocity property stated
in 4.4.3.
411
;
Lecture 4: STRAINS
;
LAB
(a) (b)
;
B A B
q E, Ab q LBC
q LBC FAB =
2sin
E, Ab
L BC sin
;;
LBC LBC /2
C
C
RCx
;
RCy
FBC LBC
BC =
;
(d) E Ab
A
FAB LAB B
AB =
E Ab
(c)
q LBC /2 q LBC
FAB =
B 2sin
B' (e)
B
;;
BC
q LBC AB
FBC = C
2tan B
positive. Then draw two perpendicular lines from the vector tips. The intersection of those lines
gives the deformed position B of B, and the distance B B is B . Using trigonometric relations this
value can be expressed in terms of the data as
q L BC (L BC + L AB ) cos
B = L AB . (4.27)
2E Ab sin sin
The numbers used in Exercise 1.3 were: L AB = 60 in, L BC = 66 in, = 60 and q = 80 lbs/in.
In addition to these we take Ab = 2.5 in2 and E = 30 106 psi (steel). Replacing gives
Since these displacements are very small compared to member lengths, the assumption of infinites-
imal strains is verified a posteriori.
4.6.2. Forces And Displacements Obey Different Composition Rules
The main point of the foregoing example is to emphasize that displacements do not compose by
the same rules as forces. The rules are graphically summarized in Figure 4.9 for two point forces
and two displacements in the plane of the figure.
Forces are combined by the well known vector-addition parallelogram rule: the tip of the resultant
is at the opposite corner of the parallelogram formed by the two vectors as sides. Displacements
412
4.6 DISPLACEMENT VECTOR COMPOSITION
are combined by a cyclic quadrilateral rule as illustrated. (A cyclic quadrilateral is one that has
two opposite right angles.) If the vectors are orthogonal, the composition rules coalesce since in
that case both the parallelogram and the cyclic quadrilateral reduce to a rectangle.
If we had 3 or more 2D vectors the rules diverge. Forces can be combined by chaining by
placing them tail-to-tip. But in general 3 or more displacement vectors with common origin will
be incompatible since the perpendicular lines traced from their tips will not usually cross.
The distinction is also important in three-dimensional space. Any number of 3D force vectors can
be added by tail-to-tip chaining. Three displacement vectors with common origin can be combined
by constructing the normal plane at their tips and finding the point at which the planes intersect.
Composing more than three 3D displacement vectors is generally impossible.
An important restriction should be noted. The composition rules illustrated in Figures 4.8(e)
and 4.9(b) apply only to the case of infinitesimal deformations. This allows displacements to be
linearized by Taylor series expansion about the undeformed geometry. For finite displacements see
Section 2.4 of Vables textbook.
Remark 4.1. In advanced courses that cover tensors in arbitrary coordinate systems, it is shown that the
displacement field (or, in general, a gradient-generated vector field) transforms as a covariant field of order
one. On the other hand, a force field (or, in general, a differential-generated vector field) transforms as a
contravariant field of order one. For the pertinent math see the Wikipedia article
http://en.wikipedia.org/wiki/Covariance and contravariance of tensors
413
5
Stress-Strain
Material Laws
51
Lecture 5: STRESS-STRAIN MATERIAL LAWS
TABLE OF CONTENTS
Page
5.1 Introduction . . . . . . . . . . . . . . . . . . . . . 53
5.2 Constitutive Equations . . . . . . . . . . . . . . . . . 53
5.2.1 Material Behavior Assumptions . . . . . . . . . . . 53
5.2.2 The Tension Test Revisited . . . . . . . . . . . . 53
5.3 Characterizing a Linearly Elastic Isotropic Material . . . . . . . 55
5.3.1 Determination Of Elastic Modulus and Poissons Ratio . . . 55
5.3.2 Determination Of Shear Modulus . . . . . . . . . . . 55
5.3.3 Determination Of Thermal Expansion Coefficient . . . . . 55
5.4 Hookes Law in 1D . . . . . . . . . . . . . . . . . . . 56
5.4.1 Elastic Modulus And Poissons Ratio In 1D Stress State . . . 56
5.4.2 Shear Modulus In 1D Stress State . . . . . . . . . . . 56
5.4.3 Thermal Strains In 1D Stress State . . . . . . . . . . 58
5.5 Generalized Hookes Law in 3D . . . . . . . . . . . . . . 59
5.5.1 Strain-To-Stress Relations . . . . . . . . . . . . . 59
5.5.2 Stress-To-Strain Relations . . . . . . . . . . . . . 510
5.5.3 Thermal Effects in 3D . . . . . . . . . . . . . . 511
5.6 Generalized Hookes Law in 2D . . . . . . . . . . . . . . 512
5.6.1 Plane Stress . . . . . . . . . . . . . . . . . 512
5.6.2 Plane Strain . . . . . . . . . . . . . . . . . . 513
5.7 Example: An Inating Balloon . . . . . . . . . . . . . . 514
5.7.1 Strains and Stresses in Balloon Wall . . . . . . . . . . 514
5.7.2 When Will the Balloon Burst? . . . . . . . . . . . 515
52
5.2 CONSTITUTIVE EQUATIONS
5.1. Introduction
Recall from the previous Lecture the following connections between various quantities that appear
in continuum structural mechanics:
MP
internal forces stresses strains displacements size & shape changes (5.1)
MP
displacements strains stresses internal forces (5.2)
Of these, we have studied mechanical stresses in Lecture 1 and strains in Lecture 4. How are they
linked? Through the material properties of the structural body. This is pictured by the MP symbol
above the appropriate arrow connectors. Material behavior is mathematically characterized by the
so-called constitutive equations, also called material laws.
In this Lecture we will restrict detailed examination of constitutive behavior to elastic isotropic
materials. More complex behavior (for example: orthotropy, plasticity, viscoelasticity, and fracture)
are studied in senior and graduate level courses in Structural and Solid mechanics.
5.2.1. Material Behavior Assumptions
There is a very wide range of materials used for structures, with drastically different behavior. In
addition the same material can go through different response regimes: elastic, plastic, viscoelastic,
cracking and localization, fracture. As noted above, we will restrict our attention to a very specific
material class and response regime by making the following behavioral assumptions.
1. Macroscopic Model. The material is mathematically modeled as a continuum body. Features
at the meso, micro and nano levels: crystal grains, molecules, and atoms, are ignored.
2. Elasticity. This means the stress-strain response is reversible and consequently the material
has a preferred natural state. This state is assumed to be taken in the absence of loads at a
reference temperature. By convention we will say that the material is then unstressed and
undeformed. On applying loads, and possibly temperature changes, the material develops
nonzero stresses and strains, and moves to occupy a deformed configuration.
3. Linearity. The relationship between strains and stresses is linear. Doubling stresses doubles
strains, and viceversa.
4. Isotropy. The properties of the material are independent of direction. This is a good assumption
for materials such as metals, concrete, plastics, etc. It is not adequate for heterogenous mixtures
such as composites or reinforced concrete, which are anisotropic by nature. The substantial
complications introduced by anisotropic behavior justifies its exclusion from an introductory
treatment.
5. Small Strains. Deformations are considered so small that changes of geometry are neglected
as the loads are applied. Violation of this assumption requires the introduction of nonlinear
relations between displacements and strains. This is necessary for highly deformable materials
such as rubber (more generally, polymers). Inclusion of nonlinear behavior significantly
complicates the constitutive equations and is therefore left for advanced courses.
53
Lecture 5: STRESS-STRAIN MATERIAL LAWS
Nominal stress
= P/A 0 Max
nominal
Strain stress
hardening Localization
Yield
Nominal
failure
Elastic Mild Steel stress
limit Tension Test
Linear elastic gage length
behavior L0
(Hooke's law is
P P
valid over this
response region)
Figure 5.1. Typical tension test behavior of mild steel, which displays a well defined yield
point and extensive yield region.
Nonlinear
Moderately from start
ductile (rubber,
Brittle (Al alloy) polymers)
(glass, ceramics,
concrete in tension)
Nominal stress
= P/A0
Tool steel
Note similar
elastic modulus High strength steel
Mild steel
(highly ductile)
Conspicuous yield
Nominal strain = L /L 0
Figure 5.3. Different steel grades have approximately the same elastic modulus, but very
different post-elastic behavior.
54
5.3 CHARACTERIZING A LINEARLY ELASTIC ISOTROPIC MATERIAL
The first acquaintance of an engineering student with lab-controlled material behavior is usually
through tension tests carried out during the first Mechanics, Statics and Structures sophomore
course. Test results are usually displayed as axial nominal strain versus axial nominal strain, as
illustrated in Figure 5.1 for a mild steel specimen taken up to failure. Several response regions
are indicated there: linearly elastic, yield, strain hardening, localization and failure. These are
discussed in the aforementioned course, and studied further in courses on Aerospace Materials.
It is sufficient to note here that we shall be mostly concerned with the linearly elastic region that
occurs before yield. In that region the one-dimensional (1D) Hookes law is assumed to hold.
Material behavior may depart significantly from that shown in Figure 5.1. Three distinct flavors:
brittle, moderately ductile and nonlinear-from-start, are shown schematically in Figure 5.2 . Brittle
materials such as glass, rock, ceramics, concrete-under-tension, etc., exhibit primarily linear be-
havior up to near failure by fracture. Metallic alloys used in aerospace, such as Aluminum and
Titanium alloys, display moderately ductile behavior, without a well defined yield point and yield
region: the stress-strain curve gradually turns down finally dropping to failure. Some materials,
such as rubbers and polymers, exhibit strong nonlinear behavior from the start. Although such
materials may be elastic there is no easily identifiable linearly elastic region.
Even for a well known material such as steel, the tension test behavior can vary significantly
depending on combination with other components. Figure 5.3 sketches the response of mild steel
with high-strength steel used in critical structural components, and with tool steel. Mild steel is
highly ductile and clearly exhibits an extensive yield region. Hi-strength steel is less ductile and
does not show a well defined yield point. Tool steel has little ductility, and its behavior displays
features associated with brittle materials. The trade off between ductility and strength is typical.
Note, however, that all three grades of steel have approximately the same elastic modulus, which is
the slope of the stress-strain line in the linear region of the tension test.
For an isotropic material in the linearly elastic region of its response, four numerical properties are
sufficient to establish constitutive equations. Those equations are associated with the well known
Hookes law, originally enunciated by Robert Hooke by 1660 for a spring, and later expressed
in terms of stresses and strains once those concepts appeared in the XIX Century. These four
properties: E, , G and , are tabulated in Figure 5.4.
The experimental determination of the elastic modulus E and Poissons ratio makes use of a
uniaxial tension test specimen such as the one pictured in Figure 5.5. See slides for operational
details.
The experimental determination of the shear modulus G makes use of a torsion test specimen such
as the one pictured in Figure 5.6. See slides for operational details.
55
Lecture 5: STRESS-STRAIN MATERIAL LAWS
Poisson's ratio
Physical dimension: dimensionless (just a number)
Figure 5.4. Four properties that fully characterize the thermomechanical response
of an isotropic material in the linearly elastic range.
= E , E= , = . (5.3)
E
Poissons ratio is defined as ratio of lateral strain to axial strain:
lateral strain
= = lateral strain . (5.4)
axial strain axial strain
The sign is introduced for convenience so that comes out positive. For structural materials
lies in the range 0.0 < 0.5. For most metals 0.250.35. For concrete and ceramics,
0.10. For cork 0. For rubber, 0.5 to 3 places. A material for which = 0.5 is called
incompressible.
56
5.4 HOOKES LAW IN 1D
gaged length
xx 0 0 xx 0 0
Stress
state
0 0 0 Strain
state 0 yy 0
0 0 0 0 0 zz
at all points in the gaged region
Figure 5.5. Speciment for determination of elastic modulus E and Poissons ratio in the linearly elastic
response region of an isotropic material, using an uniaxial tension test.
0 xy 0 0 xy 0
Stress
state
yx 0 0 Strain
0yx 0
state
0 0 0 0 0 0
at all points in the gaged region. Both the shear stress yx = xy as well
as the shear strain xy = yx vary linearly as per distance from the
cross section center (Lecture 7). They attain maximum values on the
specimen surface.
Figure 5.6. Speciment for determination of shear modulus G in the linearly elastic response region of an
isotropic material, using a torsion test.
57
Lecture 5: STRESS-STRAIN MATERIAL LAWS
x
gaged length
3 material properties E, and G for an elastic isotropic material are not independent, but are
connected by the relations
E E
G= , E = 2(1 + ) G, = 1. (5.6)
2(1 + ) 2G
which means that if two of them are known by measurement, the third one can be obtained from
the relations (5.6). In practice the three properties are often measured independently, and the
(approximate) verification of (5.6) gives an idea of how isotropic the material is.
5.4.3. Thermal Strains In 1D Stress State
A temperature change of
T with respect to a base or reference level produces a thermal strain
T = T, (5.7)
xx = 0 and xx = 0 at
; ;;
E, , constant undeformed reference state,
over bar then bar is heated by T
;
;
A
x
L
;;
;;
B
Figure 5.8. Heated bar precluded from axial expansion. This bar will develop
a compressive axial stress called a thermal stress.
Example 5.1. The bar AB shown in Figure 5.8 is precluded from extending axially. It has elastic modulus
E and coefficient of dilatation > 0. The stress is zero when the bar is at the reference temperature Tr e f .
Find which axial stress develops if the temperature changes to T = Tr e f +
T .
Since the bar length cannot change, the combined axial strain must be zero:
x x = = +
T = 0, (5.9)
E
58
5.5 GENERALIZED HOOKES LAW IN 3D
y yy
(a) (c)
a b a b
c
c x
z
Initial shape Final shape yy
after test (2)
(b) (d)
xx zz
a b a b
xx
c c
Final shape zz Final shape
after test (1) after test (3)
Figure 5.9. Derivation of three-dimensional Generalized Hookes Law for normal stresses and strains.
Three tension tests are assumed to be carried out along {x, y, z}, respectively, and strains superposed.
We now generalize the foregoing equations to the three-dimensional case, still assuming that the
material is elastic and isotropic. Condider a cube of material aligned with the axes {x, y, z}, as
shown in Figure 5.9. Imagine that threetension tests, labeled (1), (2) and (3) respectively, are
conducted along x, y and z, respectively. Pulling the material by applying x x along x will produce
normal strains
x x x x x x
x(1)
x = , (1)
yy = , (1)
zz = . (5.11)
E E E
Next, pull the material by yy along y to get the strains
(2) yy yy yy
yy = , x(2)
x = , (2)
zz = . (5.12)
E E E
Finally pull the material by zz along z to get
(3) zz zz zz
zz = , x(3)
x = , (3)
yy = . (5.13)
E E E
59
Lecture 5: STRESS-STRAIN MATERIAL LAWS
In the general case the cube is subjected to combined normal stresses x x , yy and zz . Since we
assumed that the material is linearly elastic, the combined strains can be obtained by superposition
of the foregoing results:
x x yy zz 1
x x = x(1) (2) (3)
x + x x + x x = = x x yy zz .
E E E E
(1) (2) (3) 1
yy = yy + yy + yy =
xx
+
yy
zz
= x x + yy zz . (5.14)
E E E E
(1) (2) (3) x x yy zz 1
zz = zz + zz + zz = + = x x yy + zz .
E E E E
The shear strains and stresses are connected by the shear modulus as
x y yx yz zy zx x z
x y = yx = = , yz = zy = = , zx = x z = = . (5.15)
G G G G G G
The three equations in (5.14), plus the three in (5.15), may be collectively expressed in matrix form
as 1
0 0 0
x x E 1
E E
x x
yy E E 0 0 0 yy
E
zz
zz 1
0 0 0
= E E E
. (5.16)
x y 0 0 0 1 0 0 x y
G
yz 0 0 0 0 G 1 0 yz
zx 1 zx
0 0 0 0 0 G
5.5.2. Stress-To-Strain Relations
To get stresses if the strains are given, the most expedient method is to invert the matrix equation
(5.16). This gives
x x E (1 ) E E 0 0 0 x x
yy E E (1 ) E 0 0 0 yy
zz E E E (1 ) 0 0 0 zz
= . (5.17)
x y 0 0 0 G 0 0 x y
yz 0 0 0 0 G 0 yz
zx 0 0 0 0 0 G zx
Here E is an effective modulus modified by Poissons ratio:
E
E = (5.18)
(1 2)(1 + )
The six relations in (5.17) written out in long form are
E
x x = (1 ) x x + yy + zz ,
(1 2)(1 + )
E
yy = x x + (1 ) yy + zz ,
(1 2)(1 + ) (5.19)
E
zz = x x + yy + (1 ) zz ,
(1 2)(1 + )
x y = G x y , yz = G yz , zx = G zx .
510
5.5 GENERALIZED HOOKES LAW IN 3D
The combination
av = 13 (x x + yy + zz ) (5.20)
is called the mean stress, or average stress. The negative of av is the pressure: p = av .
The combination v = x x + yy + zz is called the volumetric strain, or dilatation. The negative
of v is known as the condensation. Both pressure and volumetric strain are invariants, that is,
their value does not change if axes {x, y, z} are rotated. An important relation between pressure
and volumetric strain can be obtained by adding the first three equations in (5.19), which upon
simplification and accounting for (5.20) and p = av relates pressure and volumetric strain as
E
p= v = K v . (5.21)
3(1 2)
This coefficient K is called the bulk modulus. If Poissons ratio approaches 12 , which happens for
near incompressible materials, K .
Remark 5.1. In the solid mechanics literature p is also defined (depending on authors preferences) as
p = av = 13 (x x + yy + zz ), which is the negative of the above one. If so, p = +K v . The definition
p = av is the most common one in fluid mechanics.
To incorporate the effect of a temperature change
T with respect to a base or reference temperature,
add
T to the three normal strains in (5.14)
1
x x = x x yy zz +
T,
E
1
yy = x x + yy zz +
T, (5.22)
E
1
zz = x x yy + zz +
T.
E
No change in the shear strain-stress relation is needed because if the material is linearly elastic and
isotropic, a temperature change only produces normal strains. The stress-to-strain matrix relation
(5.16) expands to
1
E E 0 0 0
E
x x 1 x x 1
E 0 0 0
yy E E yy 1
E 1 0
zz E E 0 0 zz 1
= +
T . (5.23)
x y 0 0 0 1 0 0 0
G xy
yz 1 yz 0
0 0 0 0 0
zx G zx 0
0 0 0 0 0 1
G
511
Lecture 5: STRESS-STRAIN MATERIAL LAWS
Inverting this relation provides the stress-strain relations that account for a temperature change:
x x E (1 ) E E 0 0 0 x x 1
yy E E (1 ) E 0 0 0 yy 1
E
T
zz E E E (1 ) 0 0 0
zz 1
= ,
x y 0 0 0 G 0 0 x y 1 2 0
yz 0 0 0 0 G 0 yz 0
zx 0 0 0 0 0 G zx 0
(5.24)
in which E is defined in (5.18). Note that if all mechanical normal strains x x , yy , and zz vanish,
but
T = 0, the normal stresses given by (5.24) are nonzero. Those are called initial thermal
stresses, and are important in engineering systems exposed to large temperature variations, such as
rails, turbine engines, satellites or reentry vehicles.
5.6. Generalized Hookes Law in 2D
Two specializations of the foregoing 3D equations to two dimensions are of interest in the appli-
cations: plane stress and plane strain. Plane stress is more important in Aerospace structures,
which tend to be thin, so in this course more attention is given to that case. Both specializations
are reviewed next.
5.6.1. Plane Stress
In this case all stress components with a z component are assumed to vanish. For a linearly elastic
isotropic material, the strain and stress matrices take on the form
x x x y 0 x x x y 0
yx yy 0 , yx yy 0 (5.25)
0 0 zz 0 0 0
Note that the zz strain, often called the transverse strain or thickness strain in applications, in
general will be nonzero because of Poissons ratio effect. The strain-stress equations are easily
obtained by going to (5.14) and (5.15) and setting zz = yz = zx = 0. This gives
1 1
x x = x x yy , yy = x x + yy , zz = x x + yy ,
E E E (5.26)
x y
x y = , yz = zx = 0.
G
The matrix form, omitting known zero components, is
1
E 0
x x E
1 x x
yy E 0
= E
yy . (5.27)
zz
E E 0 x y
x y 1
0 0 G
Inverting the matrix composed by the first, second and fourth rows of the above relation gives the
stress-strain equations
x x E E 0 x x
yy = E E 0 yy . (5.28)
x y 0 0 G x y
512
5.6 GENERALIZED HOOKES LAW IN 2D
513
Lecture 5: STRESS-STRAIN MATERIAL LAWS
Initial (reference)
diameter D0 , under inflation
inflation pressure p0 pressure
pf = p0 + p
Final (deformed)
diameter Df = D0
D0
This is a generalization of Problem 3 of Recitation #2. The main change is that all data is expressed
and kept in variable form until the problem is solved. Specific numbers are plugged in at the end.
This will be the only problem in the course where some features of nonlinear mechanics appear.
These come in by writing the governing equations in both the initial and final geometries, without
linearization.
5.7.1. Strains and Stresses in Balloon Wall
The problem is depicted in Figure 5.10. A spherical rubber balloon has initial diameter D0 under
inflation pressure p0 . This is called the initial configuration. The pressure is increased by p so
that the final pressure is p f = p0 + p. The balloon assumes a spherical shape with final diameter
D f = D0 , in which > 1. This will be called the final configuration. The initial wall thickness is
t0 << D0 and the final thickness is t f . Since the balloon geometry is assumed to remain spherical
for simplicity, we can apply to both configurations the stress formulas for the thin-wall spherical
vessel derived in Lecture 3.
The strains (but not stresses) are assumed to be zero in the initial configuration. The average
circumferential extensional strain assumed in the final configuration depends on whether we take
the Lagrangian or the Eulerian strain measure, which are designated by avL
and av
E
, respectively.
Obviously
(D f D0 ) (D f D0 ) 1
Lf = = 1, Ef = = , (5.35)
D0 Df
514
5.7 EXAMPLE: AN INFLATING BALLOON
Since the balloon is assumed to remain spherical and its thickness is very small compared to its
diameter, the above strains hold at all points of the balloon wall, and are the same in any direction
tangent to the sphere. If we choose the sphere normal as local z axis, the wall is in a plane stress
state.
Next we introduce material laws. We will assume that rubber obeys the two-dimensional, plane
stress generalized Hookes law (5.31) with respect to the Eulerian strain measure, with effective
modulus of elasticity E and Poissons ratio .1 Setting x x = yy = Ef and x y = 0 therein and
accounting for the initial stress 0 , we obtain the inplane normal stress in the final configuration:
E E E 1
x x = yy = f = 0 + ( Ef + Ef ) = 0 + Ef = 0 + . (5.36)
1 2 1 1
The normal inplane wall stress is the same in all directions, so it is called simply 0 and f , for
initial and final configurations, respectively. The inplane shear stress vanishes in all directions.
Assume D0 , t0 , E and are given as data. An interesting question: what is the relation between p
(the excess or gage pressure) and the diameter D f = D0 ? And, is there a maximum pressure that
will cause the balloon to burst?
5.7.2. When Will the Balloon Burst?
To relate p and it is necessary to express the wall stresses 0 and f in terms of geometry and
internal pressure. This is provided by equation (3.10) in Lecture 3, derived for a thin-wall spherical
vessel. In that equation replace p, R and t by quantities in the initial and final configurations:
p0 R 0 p0 D 0 pf Rf ( p0 + p) D f ( p0 + p) D0
0 = = , f = = = . (5.37)
2t0 4t0 2tf 4tf 4tf
All quantities in the above expressions are known in terms of the data, except t f . A kinematic
analysis beyond the scope of this course shows that
1
t f = 1 + 2 1 t0 . (5.38)
2
We can check (5.38) by inserting two limit values of Poissons ratio:
= 0: t f = t0 . This is correct since the thickness does not change.
= 1/2: t f = t0 / 2 . Is this correct? If = 1/2 the material is incompressible and does not
change volume. The initial and final volume of the thin-wall spherical balloon are
V0 = D02 t0 and V f = D 2f t f = 2 D02 t f , respectively. On setting V0 = V f and
solving for t f we get t f = t0 / 2 .
To obtain p in terms of , replace (5.38) into (5.37), equate this to (5.36) and solve for p. The
result provided by Mathematica is
4Et0 (1 )(2 + 2 (1 2)) + D0 p0 (1 )(4 + 2 (2 4))
p= (5.39)
D0 4 (1 )
1 This is a very rough approximation since constitutive equations for rubber (and polymers in general) are highly nonlinear.
But getting closer to reality would take us into the realm of nonlinear elasticity, which is a graduate-level topic.
515
Lecture 5: STRESS-STRAIN MATERIAL LAWS
p (MPa)
7 =0
6
5
4
3
2 =1/2
1
0 = D f /D0
1 1.5 2 2.5 3 3.5 4
Figure 5.11. Inflating pressure (in MPa) versus diameter expansion ratio
= D f /D0 for a balloon with E = 1900 MPa, D0 = 50 mm, p0 = 0 MPa,
t0 = 0.18 mm, 1 4 and Poissons ratios = 0 and = 12 .
4E t0 ( 1) + D0 p0 (2 )
p|=0 = (5.40)
D0 2
8E t0 ( 1) + D0 p0 (2 3 )
p|=1/2 = (5.41)
D0 4
Pressure versus diameter ratio curves given by (5.40) and (5.41) are plotted in Figure 5.11 for
the numerical values indicated there. Those values correspond to the data used in Problem 3 of
Recitation 2, in which = 1/2 was specified from the start.
Rubber (and, in general, polymer materials) are nearly incompressible; for example 0.4995 for
rubber. Consequently, the response depicted in Figure 5.11 for = 1/2 is more physically relevant
than the other one.
Do the response plots in Figure 5.11 tell you when an inflating balloon is about to collapse? Yes.
This is the matter of a (optional) Homework Exercise.
516
6
Plane Stress
Transformations
61
Lecture 6: PLANE STRESS TRANSFORMATIONS
TABLE OF CONTENTS
Page
6.1 Introduction . . . . . . . . . . . . . . . . . . . . . 63
6.2 Thin Plate in Plate Stress . . . . . . . . . . . . . . . . 63
6.3 2D Stress Transformations . . . . . . . . . . . . . . . . 65
6.3.1 Why Are Stress Transformations Important? . . . . . . 65
6.3.2 Method of Equations . . . . . . . . . . . . . . . 65
6.3.3 Double Angle Version . . . . . . . . . . . . . . 66
6.3.4 Principal Stresses, Planes, Directions, Angles . . . . . . . 66
6.3.5 Maximum Shear Stresses . . . . . . . . . . . . . 67
6.3.6 Principal Stress Element . . . . . . . . . . . . . . 68
6.3.7 Mohrs Circle . . . . . . . . . . . . . . . . . 68
6.4 What Happens in 3D? . . . . . . . . . . . . . . . . . . 610
6.4.1 Including the Plane Stress Thickness Dimension . . . . . 610
6.4.2 3D Mohr Circles . . . . . . . . . . . . . . . . 610
6.4.3 Overall Maximum Shear . . . . . . . . . . . . . 611
6.4.4 Plane Stress Revisited . . . . . . . . . . . . . . 612
6.4.5 The Sphere Paradox . . . . . . . . . . . . . . . 613
62
6.2 THIN PLATE IN PLATE STRESS
6.1. Introduction
This Lecture deals with the plate stress problem. This is a two-dimensional stress state, briefly
introduced in ? of Lecture 1. It occurs frequently in two kinds of aerospace structural components:
1. Thin wall plates and shells; e.g., aircraft and rocket skins, and the pressure vessels of Lecture 3.
2. Shaft members that transmit torque. These will be studied in Lectures 79.
The material below focuses on thin flat plates, and works out the associated problem of plane stress
transformations.
In structural mechanics, a flat thin sheet of material is called a plate. The distance between the plate
faces is the thickness, which is denoted by h. The midplane lies halfway between the two faces.
The direction normal to the midplane is the transverse z
direction. Directions parallel to the midplane are called Top surface
in-plane directions. The global axis z is oriented along
the transverse direction. Axes x and y are placed in the
midplane, forming a right-handed Rectangular Carte-
sian Coordinate (RCC) system. Thus the equation of y
the midplane is z = 0. The +z axis conventionally
defines the top surface of the plate as the one that it x
intersects, whereas the opposite surface is called the Figure 6.1. A plate structure in plane stress.
bottom surface. See Figure 6.1.
A plate loaded in its midplane is said to be in a state of plane stress, or a membrane state, if the
following assumptions hold:
1. All loads applied to the plate act in the midplane direction, as pictured in Figure 6.1, and are
symmetric with respect to the midplane.
2. All support conditions are symmetric about the midplane.
3. In-plane displacements, strains and stresses are taken to be uniform through the thickness.
4. The normal and shear stress components in the z direction are zero or negligible.
The last two assumptions are not necessarily consequences of the first two. For those to hold, the
thickness h should be small, typically 10% or less, than the shortest in-plane dimension. If the plate
thickness varies it should do so gradually. Finally, the plate fabrication must exhibit symmetry with
respect to the midplane.
To these four assumptions we add an adscititious restriction:
5. The plate is fabricated of the same material through the thickness. Such plates are called
transversely homogeneous or (in aerospace) monocoque plates.
The last assumption excludes wall constructions of importance in aerospace, in particular composite
and honeycomb sandwich plates. The development of mathematical models for such configurations
requires a more complicated integration over the thickness as well as the ability to handle coupled
bending and stretching effects. Those topics fall outside the scope of the course.
63
Lecture 6: PLANE STRESS TRANSFORMATIONS
y
Midplane
Mathematical
idealization
Plate
x
Figure 6.2. Mathematical model of plate in plane stress. (Symbols and , used to
denote the plate interior and the boundary, respectively, are used in advanced courses.)
Figure 6.3. Notational conventions for in-plane stresses, strains, displacements and
internal forces of a thin plate in plane stress.
Remark 6.1. Selective relaxation from assumption 4 leads to the so-called generalized plane stress state, in
which nonzero zz stresses are accepted; but these stresses do not vary with z. The plane strain state described
in ? of Lecture 5 is obtained if strains in the z direction are precluded: zz = x z = yz = 0.
Remark 6.2. Transverse loading on a plate produces plate bending, which is associated with a more complex
configuration of internal forces and deformations. This topic is studied in graduate-level courses.
Remark 6.3. The requirement of flatness can be relaxed to allow for a curved configuration, as long as
the structure, or structure component, resists primarily in-plane loads. In that case the midplane becomes a
midsurface. Examples are rocket and aircraft skins, ship and submarine hulls, open parachutes, boat sails
and balloon walls. Such configurations are said to be in a membrane state. Another example are thin-wall
members under torsion, which are covered in Lectures 89.
The plate in plane stress idealized as a two-dimensional problem is illustrated in Figure 6.2.
In this idealization the third dimension is represented as functions of x and y that are integrated
64
6.3 2D STRESS TRANSFORMATIONS
yy tt
(a) (b) tn
yx nt nn
xy
P xx P
y t y
n
Global axes Local axes
x,y stay fixed x x n,t rotate by
z z
Figure 6.4. Plane stress system referred to global axes x, y (data) and to local rotated axes n, t.
(Locations of point P in (a,b) coincide; they are drawn offset for visualization convenience.)
through the plate thickness. Engineers often work with internal plate forces, which result from
integrating the in-plane stresses through the thickness. See Figure 6.3.
In this Lecture we focus on the in-plane stresses x x , yy and x y and their expressions with respect
to an arbitrary system of axes
The stress transformation problem studied in this Lecture is illustrated in Figure 6.4. Stress com-
ponents x x , yy and x y at a midplane point P are given with respect to the global axes x and y,
as shown in Figure 6.4(a). The material element about P is rotated by an angle that aligns it with
axes n, t, as shown in Figure 6.4(b). (Note that location of point P in (a,b) coincide they are
drawn offset for visualization convenience.)
The transformation problem consists of expressing nn , tt , and nt = tn in terms of the stress
data x x , yy and x y , and of the angle . Two methods, one analytical and one graphical, will
be described here. Before that is done, it is useful to motivate what are the main uses of these
transformations.
6.3.1. Why Are Stress Transformations Important?
The transformation problem has two major uses in structural analysis and design.
Find stresses along a given skew direction. Here is given as data. This has several
applications. Two examples:
1. Analysis of fiber reinforced composites if the direction of the fibers is not aligned with the
{x, y} axes. A tensile normal stress perpendicular to the fibers may cause delamination,
and a compressive one may trigger local buckling.
2. Oblique joints that may fail by shear parallel to the joint. For example, welded joints.
Find max/min normal stresses, max in-plane shear and overall max shear. This may be
important for strength and safety assessment. Here finding the angle is part of the problem.
Both cases are covered in the following subsections.
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Lecture 6: PLANE STRESS TRANSFORMATIONS
nn = x x , tt = yy , nt = x y , (6.2)
as expected. If = 90 ,
nn = yy , tt = x x , nt = x y . (6.3)
which is also OK (can you guess why nt at = 90 is x y ?). Note that
x x + yy = nn + tt . (6.4)
This sum is independent of , and is called a stress invariant. (Mathematically, it is the trace of the
stress tensor.) Consequently, if nn is computed, the fastest way to get tt is as x x + yy nn ,
which does not require trig functions.
6.3.3. Double Angle Version
For many developments it is convenient to express the transformation equations (6.1) in terms of
the double angle 2 by using the well known trigonometric relations cos 2 = cos2 sin2
and sin 2 = 2 sin cos , in addition to sin2 + cos2 = 1. The result is
x x + yy x x yy
nn = + cos 2 + x y sin 2,
2 2 (6.5)
x x yy
nt = sin 2 + x y cos 2.
2
dnn
= 2( yy x x ) sin cos + 2x y (cos2 sin2 )
d (6.6)
= ( yy x x ) sin 2 + 2x y cos 2 = 0.
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6.3 2D STRESS TRANSFORMATIONS
There are two double-angle solutions 21 and 22 given by (6.7) in the range [0 360 ] or
[180 180 ] that are 180 apart. (Which range is used depends on the textbook; here
we use the first one.) Upon dividing those values by 2, the principal angles 1 and 2 define the
principal planes, which are 90 apart. The normals to the principal planes define the principal
stress directions. Since they differ by a 90 angle of rotation about z, it follows that the principal
stress directions are orthogonal.
As previously noted, the normal stresses that act on the principal planes are called the in-plane
principal normal stresses, or simply principal stresses. They are denoted by 1 and 2 , respectively.
Using (6.7) and trigonometric relations it can be shown that their values are given by
2
x x + yy x x yy
1,2 = + x2y . (6.8)
2 2
1 = av + R, 2 = av R. (6.10)
3. Note that the a priori computation of the principal angles is not needed to get the principal
stresses if one follows the foregoing steps. If finding those angles is of interest, use (6.7).
Comparing (6.6) with the second of (6.5) shows that dnn /d = 2nt . Since dnn /d vanishes for
a principal angle, so does nt . Hence the principal planes are shear stress free.
6.3.5. Maximum Shear Stresses
Planes on which the maximum shear stresses act can be found by setting dnt /d = 0. A study
of this equation shows that the maximum shear planes are located at 45 from the principal
planes, and that the maximum and minimum values of nt are R. See for example, 7.3 of the
Beer-Johnston-DeWolf textbook.
This result can be obtained graphically on inspection of Mohrs circle, covered later.
67
Lecture 6: PLANE STRESS TRANSFORMATIONS
principal
directions
2 =10 psi |max |= R=50 psi
yy = 20 psi 2= 108.44
(a) (b)
xy = yx =30 psi 1 =110 psi
(c) 18.44 +45
= 63.44
P xx =100 psi P 1=18.44 P
x x
principal principal
planes planes
y t y
principal
n planes
x (d) 45 principal
stress
x element
plane of max 45
inplane shear P
Figure 6.5. Plane stress example: (a) given data: stress components x x , yy and x y ; (b) principal stresses and
angles; (c) maximum shear planes; (d) a principal stress element (actually four PSE can be drawn, that shown is one
of them). Note: locations of point P in (a) through (d) coincide; they are drawn offset for visualization convenience.
Example 6.1. This example is pictured in Figure 6.5. Given: x x = 100 psi, yy = 20 psi and x y = 30 psi, as
shown in Figure 6.5(a), find the principal stresses and their directions. Following the recommended sequence
(6.9)(6.10), we compute first
2
100 + 20 100 20
av = = 60 psi, R=+ + 302 = 50 psi, (6.11)
2 2
from which the principal stresses are obtained as
1 = 60 + 50 = 110 psi , 2 = 60 50 = 10 psi. (6.12)
To find the angles formed by the principal directions, use (6.7):
2 30 3
tan 2 p = = = 0.75, with solutions 21 = 36.87 , 22 = 21 + 180 = 216.87 ,
100 20 4 (6.13)
whence 1 = 18.44 , 2 = 1 + 90 = 108.44 .
These values are shown in Figure 6.5(b). As regards maximum shear stresses, we have |max | = R = 50 psi.
The planes on which these act are located at 45 from the principal planes, as illustrated in Figure 6.5(c).
6.3.6. Principal Stress Element
Some authors, such as Vable, introduce here the so-called principal stress element or PSE. This is
a wedge formed by the two principal planes and the plane of maximum in-plane shear stress. Its
projection on the {x, y} plane is an isosceles triangle with one right angle and two 45 angles. For
the foregoing example, Figure 6.5(d) shows a PSE.
There are actually 4 ways to draw a PSE, since one can join point P to the opposite corners of
the square aligned with the principal planes in two ways along diagonals, and each diagonal splits
the square into two triangles. The 4 images may be sequentially produced by applying sucessive
rotations of 90 . Figure 6.5(d) shows one of the 4 possible PSEs for the example displayed in that
Figure. The PSE is primarily used for the visualization of material failure surfaces in fracture and
yield, a topic only covered superficially here.
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6.3 2D STRESS TRANSFORMATIONS
x min = 50
(b) Mohr's circle
coordinates of blue points are
H: (20,30), V:(100,-30), C:(60,0)
Figure 6.6. Mohrs circle for plane stress example of Figure 6.5.
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Lecture 6: PLANE STRESS TRANSFORMATIONS
Other features, such as the correlation between the angle on the physical plane and the rotation
angle 2 traversed around the circle will be explained in class if there is time. If not, one can find
those details in Chapter 7 of Beer-Johnston-DeWolf textbook, which covers Mohrs circle well.
Despite the common use of simplified 1D and 2D structural models, the world is three-dimensional.
Stresses and strains actually live in 3D. When the extra(s) space dimension(s) are accounted for,
some paradoxes are resolved. In this final section we take a quick look at principal stresses in 3D,
stating the major properties as recipes.
6.4.1. Including the Plane Stress Thickness Dimension
To fix the ideas, 3D stress results will be linked to the plane stress case studied in Example 6.1. and
pictured in Figure 6.5. Its 3D state of stress in {x, y, z} coordinates is defined by the 3 3 stress
matrix
100 30 0
S = 30 20 0 (6.14)
0 0 0
It may be verified that the eigenvalues of this matrix, arranged in descending order, are
Now in 3D there are three principal stresses, which act on three mutually orthogonal principal
planes that are shear stress free. For the stress matrix (6.14) the principal stress values are 110, 10
and 0. But those are precisely the eigenvalues in (6.15). This result is general:
The stress matrix is symmetric. A linear algebra theorem says that a real symmetric matrix has a
full set of eigenvalues and eigenvectors, and that both eigenvalues and eigenvectors are guaranteed
to be real. The normals to the principal planes (the so-called principal directions) are defined by
the three orthonormalized eigenvectors, but this topic will not be pursued further.
In plane stress, one of the eigenvalues is always zero because the last row and column of S are null;
thus one principal stress is zero. The associated principal plane is normal to the transverse axis z,
as can be physically expected. Consequently zz = 0 is a principal stress. The other two principal
stresses are the in-plane principal stresses, which were those studied in 6.3.4. It may be verified
that their values are given by (6.8), and that their principal directions lie in the {x, y} plane.
Some terminology is needed. Suppose that the three principal stresses are ordered, as usually done,
by decreasing algebraic value:
1 2 3 (6.16)
Then 1 is called the maximum principal stress, 3 the minimum principal stress, and 2 the inter-
mediate principal stress. (Note that this ordering is by algebraic, rather than by absolute, value.)
In the plane stress example (6.14) the maximum, intermediate and minimum normal stresses are
110, 10 and 0, respectively. The first two are the in-plane principal stresses.
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6.4 WHAT HAPPENS IN 3D?
Figure 6.7. Mohrs circles for a 3D stress state: (a) general case; (b) plane stress example of Figure 6.5. In (b)
the Mohr circle of Figure 6.6 is the rightmost inner circle. Actual stress states lie on the grey shaded areas.
611
Lecture 6: PLANE STRESS TRANSFORMATIONS
If the principal stresses are not ordered, it is necessary to use the max function in a more complicated
formula that selects the largest of the 3 radii:
1 2 2 3 3 1
max = max
overall , , (6.18)
2 2 2
Taking absolute values in (6.18) is important because the max function picks up the largest algebraic
value. For example, writing max
overall
= max(30, 50, 20) = 30 picks up the wrong value. On the
other hand max max(|30|, | 50|, |20|) = 50 is correct.
overall
(B) The zero stress is either the largest one or the smallest one. Two subcases:
1
(B1) If 1 2 0 and 3 = 0 : max
overall
= ,
2 (6.20)
3
(B2) If 3 2 0 and 1 = 0 : max
overall
= .
2
In the plane stress example of Figure 6.5, the principal stresses are given by (6.12). Since both
in-plane principal stresses (110 psi and 10 psi) are positive, the zero principal stress is the smallest
inplane
one. We are in case (B), subcase (B1). Consequently max overall
= 12 1 = 55 psi, whereas max =
1
( 2 ) = 50 psi.
2 1
612
6.4 WHAT HAPPENS IN 3D?
= shear = shear
stress stress
(a) (b) max
overall
= 40
50 50
40 40
30 inplane
max = 0
30 inplane
max = 0
20 3 = 0 20
10 = normal 10 = normal
0 20 40 60 80 100 stress 0 20 40 60 80 100 stress
0 0
10 10
20 1 = 2=80 20 1 = 2=80
30 30
40 40
50 50
inplane
Figure 6.8. The sphere paradox: (a) Mohrs in-plane circle reduced to a point, whence max = 0;
overall = 40.
(b) drawing the 3D circles shows that max
613