Chapter VII

3-D problems with axial symmetry

VII-2
3-D problems with axial symmetry
Pressurized thick-walled cylinder
( )
r r
u u r e =
( )
1
0
r
d d
r u
dr r dr
(
=
(

Balance equation in terms of displacements:
( )
2 1
graddiv curl curl 0
1 2
G
u G u F
v
v

+ =

graddiv 0 u =
VII-3
3-D problems with axial symmetry
Pressurized thick-walled cylinder
Gradient and divergence in cylindrical coordinates





Displacements
( )
1
grad
1 1
div
r z
z
r
e e e
r r z
v v
v r v
r r r z
u
u
u
u
cu cu cu
u = + +
c c c
c c c
= + +
c c c
2
1
plane strain state
in direction z
; 0 ; 0
r z
c
u c r u u
r
u
= + = =
VII-4
3-D problems with axial symmetry
Pressurized thick-walled cylinder
Strains
r
1 1 1
2 2
u 1 1 1
r 2
sym.
r r z r
z
z
u u u u u u
r r r r r z
u u u
r z r
u
z
u u
u u
u
c
u u
( c c c c c | | | |
+ +
| |
(
c c c c c \ . \ .
(
c c c ( | |
= + +
|
(
c c c \ .
(
c
(
(
c
2 2
1 1
2 2
; ; 0
r z r rz z
c c
c c
r r
u u u
c c c = = + = = = =
VII-5
3-D problems with axial symmetry
Pressurized thick-walled cylinder
Stresses (Hookes law in plane strain state)
( )( )
( )
1 0
1 0
1 1 2
1 2
0 0
2
r r
r r
z r
E
u u
u u
u
o v v c
o v v c
v v
t v
o v o o

(

(
=
` `
(
+

(
) )
(

= +
( )( )
1 2 1 2
2 2
1
;
1 1 2 1 1 2
; 0
1 1 2
r
z r rz z
c c c c E E
r r
Ec
u
u u
o o
v v v v
v
o t t t
v v
| | | |
= = +
| |
+ + \ . \ .
= = = =
+
VII-6
3-D problems with axial symmetry
Pressurized thick-walled cylinder
Boundary conditions
o =
j ji i
n T
( )
o
=

= =
`
=
)
r
r i
r i
n e
r a p
T p e
r = a (inner wall)



r = b (outer wall)
( )
o
= +

= =
`
=
)
r
r e
r e
n e
r b p
T p e
p
i

p
e

a
b
n=e
r

n=-e
r

VII-7
3-D problems with axial symmetry
Pressurized thick-walled cylinder
Constants:
( )( )
v v +

=

2 2
1
2 2
1 2 1
i e
a p b p
C
E b a
v +
=

2
2 2
1
1 1
i e
p p
C
E
a b
VII-8
3-D problems with axial symmetry
Pressurized thick-walled cylinder
Complete results in plane strain state:
( )
( )
( )
( )
u
o
o
o v
v

=

= +

(
= +
(

2 2
2 2 2 2
2 2
2 2
2 2 2 2
2 2
2 2
2 2
2 2 2 2
2 2
2
1 1
1 2
2
i e i e
r
i e i e
i e
z
r i e i e
a p b p p p
r r b a
a b
a p b p p p
r r b a
a b
a p b p
b a
u a p b p r a b p p
r
G b a
VII-9
3-D problems with axial symmetry
Pressurized thick-walled cylinder
Plane strain state Plane stress state
( )
( )
( )
( )
( )
u
v
v
o o o
v
v
v
v
v

+
=
`

+ )

(
= +
(
+

2
2 2 2 2
2 2
' 1 2 '
1 '
and unchanged; 0
'
1 '
1 1 1
1
2
r z
r i e i e
E
E
u a p b p r a b p p
r
G b a
VII-10
3-D problems with axial symmetry
Pressurized thick-walled cylinder
p
e
=30N/mm
2

p
i
=100N/mm
2

a=20 mm
b=30 mm

r


r
r = a
r = b
-30
+82
-100
+152

r

VII-11
3-D problems with axial symmetry
Particular case: thin-walled cylinder
=
= +
=
2
2
i e
e
a R
e
b R
p p p
p
e

p
i

a
b
R
e
p



u
o


u
o

R e if <<
( ) ( )
u
o o
o o v
v v
=
= =
= = +
z
plane stress
plane strain
2 2
plane stress plane strain
0 ;
0 or
or 1 1
r
z
r r
pR
e
pR
e
pR pR
u u
Ee Ee
0 ~
r
o
VII-12
3-D problems with axial symmetry
Spherical coordinates
sin sin
sin cos
cos
x r
y r
z r
u
u
u
=
=
=
VII-13
3-D problems with axial symmetry
Pressurized thick-walled sphere
spherical coordinates: r u
( )
( )
2
2
graddiv 0
d 1 d
0
d d
r r
r
u u r e
u
r u
r r r
=
=
(
=
(

u
o
o o

=

= = +

3 3
3 3 3 3
3 3
3 3
3 3 3 3
3 3
1
2
i e i e
r
i e i e
a p b p p p
r r b a
a b
a p b p p p
r r b a
a b
p
i

p
e

a
b
VII-14
3-D problems with axial symmetry
Particular case: thin-walled sphere
Thin-wall: = = + = ; ;
2 2
i e
e e
a R b R p p p
( )
( )
1
A
0
1
B
1
2
0
r
r
u
r
u
pR
r
e
u
u
u

u
o
u
o o

=
`
= =

)
=

( )
( )
u
v
u
v
v
u u
v u
(
= +
(

= + +
(

2 1
1
cos
1 2
3 4 1
sin cotg
2 1 2 sin
r
u a b
r
c
u a b
r
a, b, c are constant
sin
if 0 : except if cotg
sin 1 cos
b b
u c b b
u
u
u u
u u

= = =
+
VII-15
3-D problems with axial symmetry
Spherical coordinates with symmetry of revolution

u u
u
u u
u u

c c c u
u

u
c
= =
c
c c
= = + = +
c c
c c
= + = =
c c
...
Symmetry of revolution 0 and 0
1
; ; cotg
1
; 0
r r r
r
r
r r
u
u u u u u
r r r r r
u u u
r r r
( ) ( )
( )
u u
u u u u
v v v
o c o c o c
o v c v
v v v
c c c t
c o
v v
t t
| | | | | |
= + = + = +
| | |

\ . \ . \ .
= + +
( = +

+
= = =
1 2
1 1 2
Hooke's law:
2 2 2
1 2 1 2 1 2
0
r r
r r r
ij ij ll ij
r
E
G e G e G e
e G
VII-16
3-D problems with axial symmetry
Solution to Kelvins and Boussinesqs problems
KELVIN BOUSSINESQ
Balance equation in terms of displacements:


Homothety form of the solution is

Equilibrium
( )
v
v

+ =

2 1
graddiv curl curl 0
1 2
G
u G u F
( ) ( )
u f r g
( ) ( ) ( )
o u c u u ~ ~ ~
2 2
1 1 1
; ; g g u g
r r r
VII-17
3-D problems with axial symmetry
Solution to Kelvins and Boussinesqs problems
( )
u
u
u
c o
v
o u
v
u
o u
u
o u
u
u
t u
u

(
=
(

(
= +
(
+

(
= +
(
+

(
= +
(
+

2
2
2
2
2 2
1
cos 2
1 2
cos 1
cos 2
1 cos
1 1
cos 2
1 cos
sin 1
sin 2
1 cos
and = constant
r
r
u
G
a Gb
r
Ga Gb
r
Ga Gb
r
Ga Gb
r
a b
VII-18
3-D problems with axial symmetry
Solution to Kelvins problem
KELVIN
( )
( )
( )
3 4 sin 1
sin
2 1 2 1 cos
2 1
1
cos
1 2
3 4 1
sin
2 1
if he 0
2
nce
r
b
u a
r
u a
r
u a
b
r
u
u
v u
u
v u
v
u
v
v
u
v
u t
(

=
(
+
(

(
=

=
(

a ? balance of vertical forces

VII-19
3-D problems with axial symmetry
Solution to Kelvins problem
Vertical balance
( )
t
u
o u t u t u u
v
t v
+ =

}
0
cos sin 2 sin d 0
1 2
8 1
r r
P r r
P
a
G
VII-20
3-D problems with axial symmetry
Solution to Boussinesqs problem
BOUSSINESQ
u
u
u
u
t u
u
t
t
u
o
(
= +
(
+
= + =

=


=

2
sin 1
sin 2
0 2 0
i
1 co

0 O
s
f
K 2
r
r
Ga Gb
r
a b
( )
( ) ( )
t
u
o u t u t u u
v v
t t
+ =

= =
}
2
0
cos sin 2 sin d 0
1 2 1 2
;
2 4
r r
P r r
P P
a b
G G
Vertical balance
VII-21
3-D problems with axial symmetry
Boussinesqs problem applied to a distributed load
Principle:
Substitute P with q dA
then integrate (generally
numerical integration)
one gets the general solution to the problem
of stress determination under a foundation
Assumptions:
1. the ground is a linear elastic material and follows Hookes law
2. the vertical load distribution q is known
VII-22
3-D problems with axial symmetry
Boussinesqs problem applied to a distributed load
Practically, it can be hard
to determine the load
distribution:
only M and P are known
Flexible foundation slab: linear distribution of pressure

Rigid foundation slab:
VII-23
3-D problems with axial symmetry
Particular case: load distributed over a circle
In plane view
OM = r
= +
= = +
d d d
load d d d
A s s
p A ps s
Vertical displacement in M (surface):
( )
( ) ( )
u
t
u
t u v
u v
t u
v v
v v
t t t t
=
| | (
= = = = =
|
(
+
\ .


= + = + = + = +
}} }}
2
2
sin 1 2
3 4 with d and
2 4 1 cos
1 1
1 1
d d d d d d d d
2 2 2
P
w u P p A r s
Gr
p p
w s s s w p s p s
Gs G G E
VII-24
3-D problems with axial symmetry
Hertzs problem
( ) ( ) ( )
( )
|
|
+ + =
= =
+
= + = =
+
=
2 2 2
2
2 2 2 2 2
2 2
2 1
2 1
2
1 2 2
1 2
1 2
1 2
1 2
2
idem
2 2
MN
2
with
2
R R z z r R
r r
z z
R R
r R R
z z r
RR
R R
RR
( )
( )
( )
v
t
v
t

= +

+ = + +
`

= +

)
}}
}}
}}
2
2
2
2
1 2 1 2
2
1
1
1
1
d d
d d
1
d d
w p s
E
w w k k p s
w p s
E
( ) ( )
v v
t t

= =
2 2
1 2
1 2
1 2
1 1
with and k k
E E
VII-25
3-D problems with axial symmetry
Hertzs problem
( )
o
o |
+ = +
= + + + = + +
1 2 1 2
2
1 2 1 2 1 2
w w z z
z z w w r w w r
Centers of both spheres are getting closer by o :
( )
o | + + =
}}
2
1 2
d d k k p s r
Integral equation for p = p(r)
VII-26
3-D problems with axial symmetry
Hertzs problem
( )
t
(
+ = +
(

=
(
= +
(

}} } }
}
2 2 2
d d d d
d area of the diagram .
sin
2
p s p s
p s k
a r k
Solution: diagram of p hemisphere the radius of which is a
( ) ( )
t
t
t t

+ = + + = =
}} }
2
2
2 2 2 2 2 0
2
d d sin d 2 where
2 4
p
p s k a r k a r k
a
VII-27
3-D problems with axial symmetry
Hertzs problem
hence:
( )
( )
( )
|
v
t
| t
v
t

+
=

= + =

1 2
1 2
2
2
1
0
1 2 1
1
2
2
2
2
2
1
with
4
1
R R
RR
p
a k k k
E
k
E
( ) ( )
( )
( )
t
o
t
o |
t
|

= +

+ =

= +

2
2 1 2 0
2 2 2
0
1 2
2
0
1 2
2
2
4
4
a
k k p
p
k k a r r r
a
p
k k
a
VII-28
3-D problems with axial symmetry
Hertzs problem
One can express p
0
as a function of the compression force P




and the solution is:
( )
3
0
Contact area
0
2
2
d volume of hemisphere
3
3
2
p
P p A k a
a
P
p
a
t
t
= = =
=
}
( )
( )
1 2
3
2
2
2
3
1 2
3
is the radius of the contact surface
4
is the reduction of the distance
9
between both spheres 16
P k k
a
P k k
t
|
t
o |
+
=
= +
diagram of p is known
everything is determined (BOUSSINESQ)
VII-29
3-D problems with axial symmetry
Hertzs problem
1
st
case: 2 identical balls (same E,v,R) v = 0.3



2
nd
case: Ball on a planar surface
o = = =
2 2
3 3 3
0
2 2
2 4
1.109 1.23 0.388
2
P R P PE
a p
E E R R
o

=
=
=
1
3
2
3
2
2
3
0
2
1.109
1.23
0.388
R
PR
a
E
P
E R
PE
p
R
VII-30
3-D problems with axial symmetry
Hertzs problem
2
nd
case: evolution of the stresses along axis z
( )
t o o =
max
1
2
r z
the largest t
max
is located at z = a / 2