Fundamentals of Elasticity Theory

Professor M. H. Sadd

Reference: Elasticity Theory Applications and Numerics,

M.H. Sadd, Elsevier/Academic Press, 2009
 Theory of Elasticity
Based Upon Principles of Continuum Mechanics, Elasticity Theory Formulates
Stress Analysis Problem As Mathematical Boundary-Value Problem for
Solution of Stress, Strain and Displacement Distribution in an Elastic Body.

St
Su

Boundary Conditions Describe R Governing Field Equations

Physics on Boundary Model Physics Inside Region
(Different For Each Problem) (Same For All Problems)

Value of Elasticity Theory

- Develops “Exact” Analytical Solutions For Problems of Limited Complexity
- Provides Framework for Understanding Limitations of Strength of Materials Models
- Establishes Framework for Developing Linear Finite Element Modeling
- Generates Solutions for Benchmark Comparisons with FEA Solutions
 Deformation and Strain
Two-Dimensional Theory
u
dy
y D'
C' Strain Displacement Relations

v(x,y+dy) u
ex 
x
y C D B' v

ey 
A' y
dy v
v(x,y) x
dx 1  u v  1
exy       xy
A dx B 2  y x  2
u(x+dx,y)
u(x,y)

 ex exy exz 
 
Three-Dimensional Theory e  [e]  e yx ey e yz 
 ezx ezy ez 

Deformation and Strain Example
Determine the components of strain for the following displacement field
u  Axz , v  B ( x 2  y 2 ) , w  Cxy , where A, B, C are constants
_________________________________________
u
ex   Az
x
v
ey   2 By
y
w
ez  0
z
1  u v  1
exy       0  2 Bx   Bx
2  y x  2
1  v w  1 1
e yz       0  Cx   Cx
2  z y  2 2
1  w u  1
ezx       Cy  Ax 
2  x z  2
 Rigid Body Motion
Two-Dimensional Example

u
z  
y

y C D

dy v
vo z 
x
A dx B

uo

General Form of Displacement Field

u*  uo   z y
v*  vo   z x
Zero Strains!
 Strain Compatibility

1 2

y
Compatibility Equation
3 4
 2 ex  e y  2 exy
2

 2 2
x y 2 x xy
Discretized Elastic Solid Undeformed Configuration

1 2 2
1

3 4 3
4

Deformed Configuration Deformed Configuration

Continuous Displacements Discontinuous Displacements
Strain Compatibility Example
Check to see if the following strain field
ex  Ay 3 , e y  Ax 3 , exy  Bxy( x  y )
satisfies the two - dimensional compatibility equation
__________________________________________
 2 ex  e y  2 exy
2

 2 2  6 Ay  6 Ax  2 B (2 x  2 y )
y 2
x xy
2
 6 A  4B  A  B
3
2
 only satisfies equation with A  B
3
 Body and Surface Forces

Body Forces: F(x)

Surface Forces: T(x)

Cantilever Beam Under Self-Weight Loading S

Sectioned Axially Loaded Beam
 Traction and Stress
P3
P2

F

n
A
p

P1
(Externally Loaded Body) (Sectioned Body)

Traction Vector
F
T n ( x, n)  lim
A0 A

Note that ordinary elasticity theory does not include nor allow
concentrated moments to exist at a continuum point
 Stress Components
y
T n ( x, n  e1 )   x e1   xy e 2   xz e 3
yx
yz T n ( x, n  e 2 )   yx e1   y e 2   yz e 3
xy
zy
y x T n ( x, n  e 3 )   zx e1   zy e 2   z e 3
zx
xz
z  x  xy  xz 
 
x   [ ]   yx y  yz 
  zx  zy  z 
z

T n  (σ x nx  τ yx n y  τ zx nz )e1
 ( τ xy nx  σ y n y  τ zy nz )e 2
 ( τ xz nx  τ yz n y  σ z nz )e 3
 Stress Transformation
x3
x3 Three-Dimensional Transformation
x   x l12   y m12   z n12  2(  xy l1m1   yz m1n1   zx n1l1 )
y   x l22   y m22   z n22  2(  xy l2 m2   yz m2 n2   zx n2 l2 )
x2 z   x l32   y m32   z n32  2(  xy l3m3   yz m3n3   zx n3l3 )
e3 e3
e2 xy   x l1l2   y m1m2   z n1n2   xy (l1m2  m1l2 )   yz ( m1n2  n1m2 )   zx ( n1l2  l1n2 )
yz   x l2 l3   y m2 m3   z n2 n3   xy (l 2 m3  m2 l3 )   yz (m2 n3  n2 m3 )   zx ( n2 l3  l2 n3 )
e1 e2 x2
zx   x l3l1   y m3m1   z n3 n1   xy (l3m1  m3l1 )   yz ( m3n1  n3m1 )   zx (n3l1  l3n1 )
e1

x1
x1  l1 m1 n1 
cos( xi, x j )  l2 m2 n2 
l3 m3 n3 

y Two-Dimensional Transformation
y'
x   x cos2    y sin 2   2 xy sin  cos 
 x'
y   x sin 2    y cos2   2 xy sin  cos 
xy    x sin  cos    y sin  cos    xy (cos2   sin 2 )

x
 Stress Transformation Example
 

x x
   x cos 2 
   x sin  cos 
1

 /  x  cos 2 
Dimensionless Stress

0.5

 /  x   sin  cos 

-0.5
0 10 20 30 40 50 60 70 80 90
 (degrees)
 Principal Stresses and Directions
( x  )n1   xy n2   xz n2  0 (  x   )  xy  xz   n1 
 
 xy n1  ( y  )n2   yz n3  0    xy ( y   )  yz  n2   0
 xz n1   yz n2  ( z  )n3  0   xz  yz ( z  )  n3 

Homogeneous System of Algebraic Equations, Non - Trival Solution
( x   )  xy  xz
 xy ( y   )  yz  0   3  I12  I 2   I 3  0 Ii = Fundamental
 xz  yz ( z   ) Invariants

Roots of the characteristic equation are the principal stresses 

Corresponding to each principal stress is a principal direction nnn
that can be used to construct a principal coordinate system
y
2
2
yx 1
yz n
xy 1
zy n
y x
zx
xz
3
z

x n
3
z (General Coordinate System) (Principal Coordinate System)
 Equilibrium Equations
 y
y  dy
y  yx
 yx  dy
y
 xy
Fy  xy  dx
x
x  x
Fx x  dx
 xy x

 yx
Body Forces
y

 x  yx
 Fx  0  x

y
 Fx  0

 xy  y
 y
F  0 
x

y
 Fy  0

M  0   xy   yx
Equilibrium Equation Example
Assuming no body forces, show that the following
stresses satisfy the equilibrium equations
3Pxy N 3P y2
x   3
 ,  y  0 ,  xy   (1  2 )
2c 2c 4c c
_______________________________________
 x  yx 3Py 3Py
 0  3  3 0 
x y 2c 2c
 xy  y
  0  00  0 
x y
 Hooke’s Law
 x  C11 e x  C12 e y  C13 e z  2C14 e xy  2C15 e yz  2C16 e zx
 y  C 21e x  C 22 e y  C 23ez  2C 24 e xy  2C 25 e yz  2C 26 ezx
 z  C31e x  C32 e y  C33 ez  2C34 e xy  2C35 e yz  2C36 e zx
 xy  C 41e x  C 42 e y  C 43 ez  2C 44 e xy  2C 45 e yz  2C 46 e zx
 yz  C51e x  C52 e y  C53e z  2C54 e xy  2C55 e yz  2C56 e zx
 zx  C61e x  C62 e y  C63e z  2C64 e xy  2C65 e yz  2C66 e zx

Isotropic Homogeneous Materials

 x   ( e x  e y  e z )  2e x ex 
1
E
 x   ( y   z ) 
 y  ( e x  e y  e z )  2e y
 z   ( e x  e y  e z )  2e z
1

e y   y   ( z   x )
E

 xy  2e xy 1

e z   z   ( x   y )
E

 yz  2e yz
1  1
 zx  2e zx e xy   xy   xy
E 2
 = Lamé’s constant 1  1
e yz   yz   yz
 = shear modulus or modulus of rigidity E 2
E = modulus of elasticity or Young’s modulus 1  1
v = Poisson’s ratio e zx   zx   zx
E 2
 Orthotropic Materials
(Three Planes of Material Symmetry)
 1  21  31 
 E   0 0 0 
E2 E3
 1 
  12 1 
 x   32 0 0 0   ex 
 E1 E2 E3 
      ey 
 y  1  
  13  23 0 0 0 
 z   ez 

E1 E2 E3
    2e yz 
 yz     
1
0 0  
  zx    23   2e zx 
    1   
 xy      2e
0   xy 
 31
 
  1 
   
 12 

Nine Independent Elastic Constants for 3-D

Four Independent Elastic Constants for 2-D
 Physical Meaning of Elastic Constants



 p

 p

(Hydrostatic Compression)

 p 0 0 
 ij  0  p 0    p ij

 
 0 0  p 

(Pure Shear)  1  2 
(Simple Tension)  E p 0 0 
0  0   1  2 
eij   0  p 0 
  ij    0 0   E 
0 0   1  2
 0 0  E 0 0 0 0 0  p
    E 
 ij   0 0 0  eij   0   0 
 E   0  / 2 0 3(1  2)
 0 0 0      ekk   p  p   k
0 0   eij   / 2 0 0 E
 E   
 0 0 0 E p
k    Bulk Modulus
E   / ex 3(1  2) 
   / 2e xy   /  xy
Relations Among Elastic Constants
Typical Values of Elastic Constants
 Basic Formulation
Fundamental Equations (15) Fundamental Unknowns (15)
- Strain-Displacement (6) - Displacements (3)
- Compatibility (3) - Strains (6)
- Equilibrium (3) - Stresses (6)
- Hooke’s Law (6)

Typical Boundary Condtions

T(n)

S S
St
Su
R
R R

Traction Conditions Displacement Conditions Mixed Conditions

 Basic Problem Formulations
Problem 1 (Traction Problem) Determine the distribution of displacements, strains and stresses in
the interior of an elastic body in equilibrium when body forces are given and the distribution of the
tractions are prescribed over the surface of the body.
Problem 2 (Displacement Problem) Determine the distribution of displacements, strains and stresses
in the interior of an elastic body in equilibrium when body forces are given and the distribution of the
displacements are prescribed over the surface of the body.
Problem 3 (Mixed Problem) Determine the distribution of displacements, strains and stresses in the
interior of an elastic body in equilibrium when body forces are given and the distribution of the
tractions are prescribed over the surface S t and the distribution of the displacements are prescribed
over the surface Su of the body.
T(n)

S S
St
Su
R
R R

Traction Conditions Displacement Conditions Mixed Conditions

 Basic Boundary Conditions
Coordinate Boundary Examples
y=Ty r
xy=Tx r
 r
x 

y r

xy=Ty
r
y x=Tx

x

(Cartesian Coordinate Boundaries) (Polar Coordinate Boundaries)

Non-Coordinate Boundary Example

Ty( n )   xy nx   y n y  Fy ( x, y )
n = unit normal vector

Tx( n )   x nx   xy n y  Fx ( x, y )

x
 Boundary Condition Examples
y Fixed Condition Traction Condition
Tx( n )   x  S , T y( n )   xy  0 Traction Condition
u=v=0
T x
(n)
  xy  0, T y( n )   y  S

x l
b S
Tx( n )  0

Ty( n )  0 y
a
x
Fixed Condition
Traction Free Condition u=v=0 Traction Free Condition
Tx( n )   xy  0, T y( n )   y  0
(Coordinate Surface Boundaries) (Non-Coordinate Surface Boundary)
 Symmetry Boundary Conditions
Rigid-Smooth
Symmetry Line
Boundary Condition
u0
Ty( n )  0
y

x
Example Solution – Beam Problem

x - Contours
 Saint-Venant’s Principle
The Stress, Strain and Displacement Fields Due to Two Different Statically
Equivalent Force Distributions on Parts of the Body Far Away From the Loading
Points Are Approximately the Same.

P/2 P/2
P

x x

y y
xy xy
x x

y y

Stresses Approximately Equal

 Strain Energy
Strain Energy = Energy Stored Inside an
Elastic Solid Due to the Applied Loadings

One-Dimensional Case

u x u x
u dx dU   d (u  dx)dydz   dudydz
x 0 x 0

x u x d
y 

  d ( )dxdydz    dxdydz
dy
0 x 0 E
 2x
dz  dxdydz
dx 2E
u
Strain Energy dU  2x Eex2 1
x U      x ex
Volume dxdydz 2 E 2 2
z
Three-Dimensional Case
1 1
U ( x ex   y e y   z ez   xy  xy   yz  yz   zx  zx )  ij eij
2 2
1 1 1 1
  (ex  e y  ez ) 2  (ex2  e 2y  ez2   2xy   2yz   2zx )  0
2 2 2 2
 Principle of Virtual Work
The virtual displacement ui = {u, v, w} of a material point is a fictitious
displacement such that the forces acting on the point remain unchanged. The work
done by these forces during the virtual displacement is called the virtual work.
U T  Virtual Strain Energy   ij eij dV
V

  ( x ex   y e y   z ez   xy  xy   yz  yz   zx  zx )dV

V

W  Virtual Work Done by Surface and Body Forces

  Ti n ui dS   Fi ui dV
St V

Virtual Strain Energy = Virtual Work Done by Surface and Body Forces

V
 ij eij dV   Ti n ui dS   Fi ui dV
St V

Change in Potential Energy (UT-W) During a

Virtual Displacement from Equilibrium is Zero.
  U dV   Ti n ui dS   Fi ui dV   U T  W   0
 V St V 