Chapter III

Kinematics of deformable solid

Lecture #6
III-2
III-3
III-4



L

1 = c
) 1 (
2
1
2
=
G
E
) ln( c =
Cauchy (or Biot) strain
Green strain
Natural strain
L

=
Kinematics of deformable solid
1D case
III-5
E
n
n
* ( ) =
1
1
Formula n Name Symbol
2
1
0
-1
-2
Green
Biot
Natural
Hill
Karni
E
G
E
B
(or )
c
E
N
(or
c
)
E
H
E
K
E
G
=
1
2
2
1 ( )
E
B
=
1
E
N
= ln
E
H
= 1
1

E
K
=
1
2
1
1
2
( )

Formula
Kinematics of deformable solid
1D case
III-6
lambda
0.6 0.8
1 1.2 1.4 1.6 1.8
0.4
2
1.50000
1.00000
0.50000
0.00000
-0.50000
-1.00000
-1.50000
-2.00000
-2.50000
-3.00000
Green
Biot
natural
Hill
Karni
Kinematics of deformable solid
1D case
III-7
) (X u u =
) (X x x =
u X x + =
X
I
u

x


3
e
2
e
1
e
P

p
Kinematics of deformable solid
3D case
III-8
Kinematics of deformable solid
3D case
j
j
i
i
dX
X
x
dx
dX
dX
dX
X
x
X
x
X
x
X
x
X
x
X
x
X
x
X
x
X
x
dx
dx
dx
c
c
=

(
(
(
(
(
(
(

c
c
c
c
c
c
c
c
c
c
c
c
c
c
c
c
c
c
=

3
2
1
3
3
2
3
1
3
3
2
2
2
1
2
3
1
2
1
1
1
3
2
1
j ij i
dX F dx X d F x d = =
III-9
X
x
F
c
c
=
(
(
(
(
(
(
(

c
c
c
c
c
c
c
c
c
c
c
c
c
c
c
c
c
c
=
3
3
2
3
1
3
3
2
2
2
1
2
3
1
2
1
1
1
X
x
X
x
X
x
X
x
X
x
X
x
X
x
X
x
X
x
F
i j
j
i
ij
x D
X
x
F =
c
c
=
Kinematics of deformable solid
3D case
III-10
F F C
T
=
(
(
(

=
33 32 31
23 22 21
13 12 11
C C C
C C C
C C C
C
symmetric C
ji ij
C C =
kj ki ij
F F C =
Kinematics of deformable solid
3D case
III-11
Kinematics of deformable solid
3D case
) (
2
1
I C E
G
=
(
(
(

=
G G G
G G G
G G G
G
E E E
E E E
E E E
E
33 32 31
23 22 21
13 12 11
symmetric E
G
G
ji
G
ij
E E =
) (
2
1
) (
2
1
ij kj ki ij ij
G
ij
F F C E = =
III-12
(
(
(

=
G G G
G G G
G G G
G
E E E
E E E
E E E
E
33 32 31
23 22 21
13 12 11
out of diagonal terms
measure angle changes
diagonal terms measure length changes



3
e
2
e
1
e

Kinematics of deformable solid
3D case
III-13
Kinematics of deformable solid
3D case
III-14
3
e
2
e
1
e
2
t
23
2
I
t
3
L
3

3
3
33
L

=
| | 1 ) (
2
1
2
33 33
=
G
E
Normal strains
Shear strains
G
E
23 23
2 )
2
cos( = I
t
Kinematics of deformable solid
3D case
III-15
Kinematics of deformable solid
3D case
III-16
) (
2
1
j
k
i
k
i
j
j
i G
ij
X
u
X
u
X
u
X
u
E
c
c
c
c
+
c
c
+
c
c
=
) (
2
1
ij kj ik
G
ij
F F E o =
Kinematics of deformable solid
3D case
III-17
In case of small displacements (and consequently small strains)
) (
2
1
i
j
j
i
ij
X
u
X
u
c
c
+
c
c
= c
ij
G
ij
E c ~
with
Kinematics of deformable solid
3D case: small strains
ij ij
B
ij
G
ij
G E E ~ ~ ~
) (
2
1
j
k
i
k
i
j
j
i
ij
X
u
X
u
X
u
X
u

c
c
c
c
+
c
c
+
c
c
=
III-18
Kinematics of deformable solid
3D case: infinitesimal mapping
small displacements
small strains
III-19
Kinematics of deformable solid
3D case: infinitesimal mapping
) 1 (
1

) 2 (
2

) 3 (
3

(
(
(

=
33 32 31
23 22 21
13 12 11

(
(
(

=
3
2
1
0 0
0 0
0 0

d
III-20
Kinematics of deformable solid
3D case: infinitesimal mapping
(
(
(

=
m
m
m

33 32 31
23 22 21
13 12 11

3 2 1 33 22 11

m
+ + = + + =
ii
I = ) (
2
1
ji ij jj ii
II =
k j i ijk
e III
3 2 1
=
III-21
Kinematics of deformable solid
3D case: infinitesimal mapping

t
j i ij
=

j i ij
t

=
2
III-22
Kinematics of deformable solid
3D case: infinitesimal mapping