SOME BASIC PROBLEMS OF THE MATHEMATICAL THEORY OF ELASTICITY

* ! FUNDAMENTAL EQUATIONS PLANE THEOEY OF ELASTICITY TOESION AND BENDING

BY

N. I. MUSKHELISHVILI
FOURTH, CORRECTED AND AUGMENTED EDITION

TRANSLATED FR'dM THE RUSSIAN

J. R. M. RAD OK

NOORDHOFF INTERNATIONAL PUBLISHING LEYDEN

CONTENTS
PART I - Fundamental equations of the mechanics of an elastic body. 1

CHAPTER 1. ANALYSIS OF STRESS.

1. Body forces 2. Stress 3. Components of stress. Dependence of stress on the orientation of the plane 4. Equations, relating components of stress 5. Transformation of coordinates. Invariant quadratic form. Stress tensor 6. Stress surface. Principal stresses 7. Determination of principal stresses and axes . . . . 8. Plane stress

5 6 7 10 14 17 22 23

CHAPTER 2. ANALYSIS OF STRAIN.

9. General remarks 10. Affine transformation 11. Infinitesimal affine transformation 12. Decomposition of infinitesimal transformations into pure deformation and rigid body motion 13. The invariant quadratic form, connected with deformation. The strain surface, principal axes. Transformation of coordinates 14. General deformation 15. Determination of displacements from components of strain. Saint-Venant's condition of compatibility . .
CHAPTER 3. THE FUNDAMENTAL LAW OF THE THEORY OF ELASTICI-

28 29 31 32

38 41 44

TY; THE BASIC EQUATIONS. 16. The fundamental law of the theory of elasticity (generalized Hooke's Law) 17. Isotropic bodies 52 56

XXII

CONTENTS

18. The basic equations for the statics of an elastic isotropic body 19. The simplest cases of elastic equilibrium. The basic elastic constants 20. The fundamental boundary value problems of static elasticity. Uniqueness of solution 21. Basic equations in terms of displacement components 22. Equations in terms of stresses 23. Remarks on the effective solution of the fundamental problems. Saint-Venant's principle 24. Dynamic equations. The fundamental problems of the dynamics of an elastic body
P A R T I I - G e n e r a l f o r m u l a e of t h e p l a n e t h e o r y of e l a s t i c i t y . . . .

60 62 66 73 74 77 78
8 5

CHAPTER 4. BASIC EQUATIONS OF THE PLANE THEORY OF ELASTICITY.

25. Plane strain 26. Deformation of a thin plate under forces acting in its plane 27. Basic equations of the plane theory of elasticity . . . 28. Reduction to the case of absence of body forces . . .
CHAPTER 5. STRESS THE FUNCTION. COMPLEX REPRESENTATION OF GENERAL SOLUTION OF THE EQUATIONS OF THE PLANE

89 92 96 101

THEORY OF ELASTICITY.

29. 30. 31. 32. 33.

34. 35. 36. 37.

38.

Stress function 105 Determination of displacements from the stress function 107 Complex representation of biharmonic functions . . 110 Complex representation of displacements and stresses 113 The physical meaning of the function /. Expressions for the resultant force and moment 116 Arbitrariness in the definition of the introduced functions 118 General formulae for finite multiply connected regions 121 Case of infinite regions 126 Some properties following from the analytic character of the solution. On analytic continuation across a given contour 131 Transformation of rectilinear coordinates 137

CONTENTS

XXIII

39. Polar coordinates 140 40. The fundamental boundary value problems. Uniqueness of Solution 141 41. Reduction of the fundamental problems to problems of complex function theory 147 41a Supplementary remarks 156 42. Concept of the regular solution. Uniqueness of a regular solution 158 43. On concentrated forces, applied to the boundary . . . 162 44. Dependence of the state of stress on the elastic constants 164
CHAPTER 6. MULTI-VALUED DISPLACEMENTS. THERMAL STRESSES.

45. Multi-valued displacements. Dislocations 46. Thermal stresses

CHAPTER 7. TRANSFORMATION OF THE BASIC FORMULAE FOR CONFORMAL MAPPING.

167 170

47. Conformal transformation 48. Simple examples of conformal mapping. 1. Bilinear function 2. Pascal's limacon 3. Epitrochoids 4. Hypotrochoids 5. Elliptic rings 49. Curvilinear coordinates, connected with conformal transformations into circular regions 50. Transformation of the formulae of the plane theory of elasticity 51. Boundary conditions in the image regions
PART

176 180 185 186 187 188 190 192 194

III - Solution of several problems of the plane theory of elasticity by means of power series 197
CHAPTER 8. ON FOURIER SERIES.

52. On Fourier series in complex form 53. On the convergence of Fourier series
CHAPTER 9. SOLUTION FOR REGIONS, BOUNDED BY A CIRCLE.

199 202

54. Solution of the first fundamental problem for the circle 204

XXIV

CONTENTS

55. Solution of the second fundamental problem for the circle 207 56. Solution of the first fundamental problem for the infinite plane with a circular hole 208 56a. Examples. 1. Uni-directional tension of a plate, weakened by a circular hole 2. Bi-axial tension 3. Uniform normal pressure applied to the edge of a circular hole 4. A concentrated force, applied at a point of the infinite plane 5. Concentrated couple 57. On the general problem of concentrated forces . . . 58. Some cases of equilibrium of infinite plates, containing circular discs of different material 1. Infinite plate with a circular hole into which an elastic circular disc with an originally larger radius has been inserted 2. Stretching of plates with inserted or attached rigid discs 3. Stretching of plates with inserted or attached elastic discs

211 214 214 215 216 217 221

222 224 226

CHAPTER 10. THE CIRCULAR RING.

59. Solution of the first fundamental problem for the circular ring 59a. Examples. 1. Tube subject to uniform external and internal pressures 2. Stress distribution in a ring, rotating about its centre 60. Multi-valued displacements in the case of a circular ring 61. Supplement. Bending of a curved beam 62. Thermal stresses in a hollow circular cylinder . . . .

230

235 236 237 242 246

CONTENTS CHAPTER 11. APPLICATION OF CONFORMAL MAPPING.

XXV

63. Case of simply connected regions 64. Example of application of mapping on to a circular ring. Solution of the fundamental problems for a continuous ellipse PART IV - On Cauchy integrals
CHAPTER 12. FUNDAMENTAL PROPERTIES OF CAUCHY INTEGRALS.

250

257 265

65. Notation and terminology 267 66. Cauchy integrals 270 67. Values of Cauchy integrals on the path of integration. Principal value 271 68. Boundary values of Cauchy integrals. The Plemelj formulae 276 69. The derivatives of Cauchy integrals 279 70. Some elementary formulae, facilitating the calculation of Cauchy integrals 281 71. On Cauchy integrals, taken along infinite straight lines 286 72. On Cauchy integrals, taken along infinite straight lines (continued) 296
CHAPTER 13. BOUNDARY VALUES OF HOLOMORPHIC FUNCTIONS.

73. 74. 75. 76. 77.

Some general propositions 298 Generalization 301 Harnack's theorem 301 Some special formulae for the circle and the half-plane 303 Simple applications: solutions of the fundamental problems of potential theory for a circle and half-plane 308 315

PART V - Application of Cauchy integrals to the solution of boundary problems of plane elasticity
CHAPTER 14. GENERAL SOLUTION OF THE FUNDAMENTAL PRO-

BLEMS FOR REGIONS BOUNDED BY ONE CONTOUR. 78. Reduction of the fundamental problems to functional equations 79. Reduction to Fredholm equations. Existence theorems 79a. On some other applications of the preceding integral equations 317 323 333

XXVI

CONTENTS

CHAPTER 15. SOLUTION OF THE FUNDAMENTAL PROBLEMS FOR REGIONS MAPPED ON TO A CIRCLE BY RATIONAL FUNCTIONS. EXTENSION TO APPROXIMATE SOLUTION FOR REGIONS OF GENERAL SHAPE.

80. Solution of the first fundamental problem for the circle 80a. Examples. 1. Circular disc under concentrated forces, applied to its boundary 2. Disc under concentrated forces and couples acting at internal points 3. Rotating disc with attached discrete masses . . . 81. Solution of the second fundamental problem for the circle 82. Solution of the first fundamental problem for the infinite plane with an elliptic hole 82a. Examples. 1. Stretching of a plate with an elliptic hole . . . 2. Elliptic hole the edge of which is subject to uniform pressure 3. Elliptic hole the edge of which is subject to uniform tangential stress T 4. Elliptic hole (or straight cut) part of the edge of which is subject to uniform pressure 5. Approximate solution of the problem of bending of a strip (beam) with an elliptic hole 83. Solution of the second fundamental problem for the infinite plane with an elliptic hole 83a. Examples. 1. Uni-directional tension of an infinite plate with a rigid elliptic centre 2. Case when the elliptic centre is not allowed to rotate 3. Case when a couple with given moment acts on the elliptic kernel 4. Case when a force acts on the centre of the elliptic kernel 84. General solution of the fundamental problems for regions, mapped on to the circle by the help of polynomials

334

338 342 345 346 347 351 353 354 354 358 361

363 365 366 366

366

CONTENTS

XXVII

85. Generalization to the case of transformations by means of rational functions 85. Solution of the second fundamental problem. On the solution of the mixed fundamental problem . . . . 87. Other methods of solution of the fundamental problems 87a. Example. Solution of the first fundamental problem for an infinite plane with a circular hole 88. Further examples. Application to some other boundary problems 89. Application to the approximate solution of the general case
CHAPTER 16. SOLUTION OF THE FUNDAMENTAL PROBLEMS EOR THE

374 379 379 380 384 385

HALF-PLANE AND FOR SEMI-INFINITE REGIONS.

90. General formulae and propositions for the half-plane 91. The general formulae for semi-infinite regions . . . . 92. Basic formulae, connected with conformal transformation on to the half-plane 93. Solution of the first fundamental problem for the half-plane 93a. Example 94. Solution of the second fundamental problem . . . . 95. Solution of the fundamental problems for regions, mapped on to the half-plane by means of rational functions. Case of a parabolic contour
CHAPTER 17. SOME GENERAL METHODS OF SOLUTION OF BOUNDARY VALUE PROBLEMS. GENERALIZATIONS.

391 397 399 402 406 409

411

96. On the integral equations of S. G. Mikhlin 97. On a general method of solution of problems for multiply connected regions 98. The integral equations, proposed by the Author . . . 99. Application to contours with corners 100. On the numerical solution of the integral equations of the plane theory of elasticity 101. The integral equations of D. I. Sherman-G. Lauricella 102. Solution of the first and second fundamental problems by the method of D. I. Sherman

414 416 417 427 427 427 431

XXVIII

CONTENTS

103. On the solution of the mixed fundamental problem and of certain other boundary problems by means of D. I. Sherman's method 104. Generalization to anisotropic bodies 105. On other applications of the general representation of solutions PART VI - Solution of the boundary of the plane theory of elasticity by reduction to the problem of linear relationship
CHAPTER 18. THE PROBLEM OF LINEAR RELATIONSHIP.

440 441 441 445

106. Sectionally holomorphic functions 107. The problem of linear relationship (the Hilbert problem) 108. Determination of a sectionally holomorphic function for a given discontinuity 109. Application 109a. Example 110. Solution of the problem: F+ = gF~ + f 111. Case of discontinuous coefficients
CHAPTER 19. SOLUTION OF THE FUNDAMENTAL PROBLEMS FOR THE HALF-PLANE AND FOR THE PLANE WITH STRAIGHT CUTS.

447 448 449 452 455 456 468

112. Transformation of the general formulae for the halfplane 113. Solution of the first and second fundamental problems for the half-plane 114. Solution of the mixed fundamental problem . . . . 114a. Examples. 1. Stamp with straight horizontal base 2. Stamp with straight inclined base 3. Effect of asymmetrically distributed forces . . . 115. The problem of pressure of rigid stamps in the absence of friction 116. Application 116a. Examples. 1. Stamp with straight horizontal base 2. Stamp with straight inclined base 3. Stamp with curved base

471 476 478 486 488 492 492 496 501 501 502

CONTENTS

XXIX

117. Equilibrium of a rigid stamp on the boundary of an elastic half-plane in the presence of friction 117a. Examples. 1. Stamp with straight horizontal base 2. Stamp with straight inclined base 118. An alternative method for the solution of the boundary problems for the half-plane 119. Problem of contact of two elastic bodies (generalized plane problem of Hertz) 120. Boundary problems for the plane with straight cuts
CHAPTER 20. SOLUTION OF BOUNDARY PROBLEMS FOR REGIONS, BOUNDED BY CIRCLES, AND FOR THE INFINITE PLANE, CUT ALONG CIRCULAR ARCS.

504 508 509 510 510 515

121. Transformation of the general formulae for regions, bounded by a circle 122. Solution of the first and second fundamental problems for the region, bounded by a circle 123. The mixed fundamental problem for a region, bounded by a circle 123a. Example 124. Boundary problems for the plane, cut along circular arcs 124a. Example. Extension of the plane, cut along a circular arc
CHAPTER 21. SOLUTION OF THE BOUNDARY PROBLEMS FOR REGIONS, MAPPED ON TO THE CIRCLE BY RATIONAL FUNCTIONS.

525 529 531 536 538 542

125. Transformation of the general formulae 126. Solution of the first and second fundamental problems 127. Solution of the mixed fundamental problem . . . . 127a. Example. Solution of the mixed fundamental problem for the plane with an elliptic hole 128. The problem of contact with a rigid stamp 128a. Examples. 1. Circular disc 2. Infinite plane with a circular hole 3. Infinite plane with an elliptic hole

546 552 554 558 560 568 571 574 579

PART

VII - Extension, torsion and bending of homogeneous and compound bars

XXX

CONTENTS

CHAPTER 22. TORSION AND BENDING OF HOMOGENEOUS BARS (PROBLEM OF SAINT-VENANT).

Statement of the problem Certain formulae General solution of the torsion problem Complex torsion function. Stress functions On the solution of the torsion problem for certain particular cases 134. Application of conformal mapping 134a. Examples. 1. Epitrochoidal section 2. Booth's lemniscate 3. The loop of Bernoulli's lemniscate 4. Confocal ellipses. Eccentric circles 135. Extension by longitudinal forces 136. Bending by couples, applied to the ends 137. Bending by transverse forces 138. On the solution of problems of bending for different cross-sections 138a. Example. Bending of a circular cylinder or tube . .
CHAPTER 23. TORSION MATERIALS. OF BARS CONSISTING OF DIFFERENT

129. 130. 131. 132. 133.

583 586 587 594 597 599 602 604 605 607 607 608 612 618 619

139. General formulae 140. Solution by means of integral equations 140a. Applications.. 1. Torsion of a circular cylinder, reinforced by a longitudinal round bar of a different material . . . 2. Torsion of a rectangular bar, consisting of two different rectangular parts
CHAPTER 24. EXTENSION AND BENDING OF BARS, CONSISTING OF DIFFERENT MATERIALS WITH UNIFORM POISSON'S RATIO.

621 626

630 635

141. 142. 143. 144.

Notation Extension Bending by a couple Bending by a transverse force

640 642 642 643

CONTENTS

XXXI

144a. Example. Bending of a compound circular tube by a transverse force, applied to one of its ends 647
CHAPTER 25. EXTENSION AND BENDING FOR DIFFERENT POISSON'S RATIOS.

145. An auxiliary problem of plane deformation . . . . 146. The problem of extension and of bending by a couple 147. Particular cases. 1. Extension of a bar, having an axis of symmetry 2. Bar with plane of symmetry, bent by a couple . . 148. Principal axis of extension and principal planes of bending 149. Application of complex representation. Examples . . 150. Problem of bending by a transverse force
APPENDIX APPENDIX APPENDIX

650 652 662 663 664 670 675 682

1. On the concept of a tensor

2. On the determination of functions from their perfect differentials in multiply connected regions 697 3. Determination of a function of a complex variable from its real part. Indefinite integrals of holomorphic functions 708
713 727 729

AUTHORS INDEX AND REFERENCES SUPPLEMENTARY REFERENCES SUBJECT INDEX