WY) ay Advanced Strength and Applied Elasticity Fourth Edition ANsEL C. UGURAL New Jersey Institute of Technology ‘SauL K. FENSTER New Jersey institute of Technology o wi I l PRENTICE HALL, Professional Technical Reference Upper Saddle River, New Jersey 07458, sworwpt.comteary of Congres: Cot puna. "Rit wrngh and ap eassiyAnel C Ugh St entered Toca biographical efeenes and ide, ‘gun oss see eebetamtersk 2 Bsakdgy Fenty Saul ML Ti "raatsu 205 enransect ingin-Peeaton Dots amass iris codetion soperiion Paty Denon (Fae Tiss Compostion (=) {Cover dg dst ty Voi (Rrciesor Gn Cece Bonus ‘aoaactring buyec Nara alae Patlener Berard Good Marke anager Don DsPusua Port sane Mele View [Pulsenios production ager Aone R Geta 92003 1985 Peatsoa Eatin a= AQ). Pittstingas Tene a Proteaina Tec! 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Peston Edenton North Asa Lt HongKong Penton incon Cara, id Toto Deans Etro Menino SAG C¥. ‘eaten Bdeuon pan Tg Paason Edson Malone LAContents 1 Chapter] Analysis of Stress Introduction Scope of Treatment Definition of Stress ‘Components of Stress: Stress Tensor Some Special Cases of Sess Internal Force-Resultant and Stress Relations Stresses on Inclined Planes in an Axially Loaded Member ‘Variation of Stress within a Body ‘Two-Dimensional Stress ata Point Principal Stesces and Maximum Shear Stress in Two Dimonsicns ‘Motu’s Cirele for Fwo-Dimensional Stress ‘Taree Dimensional Suess ata Point Principal Streses in Three Dimensions Normal and Shear Stresses on an Oblique Plane Mohr’s Circle for Three-Dimensional Stress ‘Boundary Condition in Terms of Surface Forces Problems EREGEEESRERREDEE BYEBBRBSS EB omuane Chapter? Strain and Steess-Strain Relations a 24 Introduction 22 Deformation 23° Susu Defined 2A Equations of Compatibility 25 State of Strain ata Point 26 Engineering Materials 27 Surese-Strain Diagrams 28 Hook's Law and Poisson's Ratio araugges29 Generalized Hooke’s Law 240. Measurement of Suain: Bonded Strain Gages 2M Strain Energy 2A2 Strain Energy in Common Structural Members 243 Components of Strain Enorgy 244. Saint-Venant’s Principle Problems Chapter 3 Two-Dimensional Problems in Elasticity 31 Introduction 32 Fundamental Principles of Analysis Part A— Formulation and Methods of Solution 33. Plane Strain Problems 34 Plane Stress Problems 35. Airy’ Stress Function 36 Solution of Elasticity Problems 37 Thermal Stresses 38 Basic Relations in Polar Coordinates Part B— Stress Concentrations 39 Stresses Due to Concentrated Loads 3410. Stress Distribution near Concentrated Load Acting on a Beam BLL Stes Concentration Factors 312 Neuber's Diagram BIS Contact Stresses Problems Chapter 4 Failure Criteria 44 Introduction Failure Failure by Yielding Failure by Fracture Yield and Fracture Criteria ‘Maximum Shearing Stress Theory ‘Maximum Distortion Energy Theory (ctahodral Shearing Stress Theory 49° Comparison ofthe Yielding Theories 410 Maximum Principal Stress Theory 411 Mohr's Theory 432 Coulomb-MoheTacory WARS Introductory Fracture Mechanics 414 Faluce Criteria for Metal Fatigue 445 Fatigue Life under Combined Loading 416 Impact or Dynamic Loads 417 Dyzamic and Thermal Effects Problems BeRRECE as us us 14s 1st 132 153 154 as7 158 159 10 18 17 370 ya, vsChapter $ Bending of Beams Sa Introduction Part A—Exact Solutions 52. Pure Bending of Beams of Symmetrical Cross Section 53. Pure Bending of Beams of Asymmetrical Cross Section 54 Bending ofa Cantilever of Narrow Section SS Bending ofa Simply Supported, Narrow Beam Part B— Approximate Solutions 36 Elementary Tasory of Bending 57 Bending and Shearing Stresses 58 Effect of Transverse Normal Sress 39 Composite Beams S40 Shear Center SAL Statically Indetorminate Systems S42 Energy Method for Deflection: Part C-Corved Beams S43. Exact Solution S44 Tangential Suess Winkler's Theory SAS Combined Tangential and Normal Stresses Problems Chapter 6 Torsion of Prismatic Bars Introduction Elementary Theory of Torsion of Ciccular Bars ‘General Solution ofthe Torsion Problem Prandtl’s Stress Function Prandt's Membrane Analogy ‘Torsion of Thin-Walled Members of Open Cross Section ‘Torsion of Multiply Conneered Thin-Walled Sections Fluid Flow Analogy and Stress Concentration ‘Torsion of Restrained Tain Walled Members of Open Cross Section Curved Circular Bars: Helical Springs Problems gceaarhere Chapter? Namereal Methods 7A Totroduetion 72 Finite Differences 73. Finite Difference Equations 7A Curved Boundaries 7S Boundary Conditions 76 Finite Element Method 79 Properties of a Fiaite Elemeat 78 Formulation ofthe Finite Blement Method 79 Triangular Fite Element 14 184 14 188 192 195, 197 201 212 216 a9740 ‘Use of Digital Computers Problems Chapter 8 Axisymmetically Loaded Members an a2 a3 xa 85 86 87 Bs 39 10 an an Introduction ‘Thick Walled Cylinders ‘Maximum Tangential Stress Application of Failure Theories Compound Cylinders Rotating Disks of Constant Thickness Rotating Disks of Variable Thickness Rotating Disks of Uniform Stress ‘Thermal Stresses in Thin Disks ‘Thermal Stress in Long Circular Cylinders Finite Element Solution Formulation of Axisymmettic Element Problems Chapter Beams on Elastic Foundations ot 02 3 ey 3 u 2 Introduction General Theory Infinite Beams Semi-lafinite Beams Finite Boams:Clasification of Beams Beams Supported by Equally Spaced Elastic Elements ‘Simplified Sotutions for Relatively Su Beams Soliton by Finite Differences Applications Problems| Chapter 10. Energy Methods 101 02 303 Introduction ‘Work Done in Deformation Reciprocity Theorem Castigliano's Theorem Unit or Dummy Load Method Crotti-Engesser Theorem Statically netermanate Systems Principe of Vial Work Principle of Minimum Potential Energy ‘Application of Trigonometrc Series Rayleigh-Ritz Method Problems S38 au 314 ais 325 333 336 3a 309 9 350 355 359 361 30 364 369 309 30 378 contenChapter 11 Elastic Stabiity LL Introduction 312 Critical Load 13 Buckling of a Column, UL4 End Conditions LS Critical Suess in @ Column 116 Allowable Stress IL Initially Curved Members LS Eccentrially Loaded Columns: Secant Formula 119 Energy Methiods Applied to Buekling LI0 Solution by Finite Dierences IL11 Finite Difference Solution for Unevenly Spaced Nodes Problems Chapter 12 Plastic Behavior of Materials 321 Introduction 122 Plastic Deformation 123 True Stress-True Strain Curve in Simple Tension 124 Instability in Simple Tension WS Plastic Deflection of Beams 126 Analysis of Perfectly Plastic Beams 127 Collapse Load of Structures 128 Elastic Plast Torsion 129 Flastc-Plastc Stresses in Rotating Disks 120 Plastic Stross-Strain Relations WML Plastic Stres-Straia Increment Relations BAZ Siresses in Perfectly Plastic Thick-Walled Cylinders Problems ‘Chapter 13 Plates and Shells Part A—Bending of Thin Plates Basie Assumptions Strain-Curvature Relations ‘Stress, Curvature, and Moment Relations Governing Equations of Plate Deflection Boundary Conditions ‘Simply Supported Rectangular Piatos “Axisymmetticaly Voaded Cirear Plates Delleetions of Rectangular Plates by the Strain Energy Method Finite Flement Solution Part E—Membrane Stresses in Thin Shells 3310 Basic Assumptions TAL Simple Membrane Action B42 Symmetricaly Loaded Shells of Revolution BESEREEEE concn ao ot 405 410 aut 43 420 25 25 43 34 6 88 ar 451 45 461 an nm a3 45 46 a1 o1 a 91 3“i 1343. Some Comaton Cases of Shells of Revolution 4314 Cylindrical Shells of General Shape Problems AnpendicA Indical Notation Appendix B. Solution of the Stress Cubie Equation Bal Principal stresses B2 Direction Cosines Appendix € Moments of Composite Areas CA Controid €2 Moments of Inertia €3 Paralic-AxisTheotem CA. Principal Moments of Inertia Appendix D Tables Dai _ Average Propertcs of Common Engineering Materials D2 Conversion Factors SI Units to US. Customary Units D3 Si Unit Prefixes DA _Deflections and Slopes of Beams References Answers to Selected Problems Index 495 ar 503 50s 506 s10 S19 33 sue 3 524 36 526 527 sa sa conesPreface to the Fourth Edition INTRODUCTION ‘This text is a development of classtoom notes prepared in connection with ad vanced undergraduate and fistyear graduate courses in elasticity aad the mechan ics of solids Its designed to satisfy the requirements of courses subsequent t0 an elementary eatment of the strength of materials In addition to its applicability to aeronautical, civil, and mechanical engincering and to engineering mechanics cu rlcula the authors have endeavored to make the text useful to practicing engineers, Emphasis is given to numerical techniques (which lend themselves to computerize tion) in the solution of problems resisting analyical treatment, The sress placed on numerical solutions is rt intended to deny the value of classical analysis, which 's. given a rather full treatment. It instead attempts to fill what the authors believe to bea void inthe world of textbooks, ‘An effort has been made to prescat a balance between the theory necessary to gain insight into the mechanics, but which can often offer no more thaa crude ap /roximations to real problems because of simplifications related to geometry and Conditions of loading, and numerical solutions, which are s0 useful in presonting stress analysis in a more realistic setting, The authors have thus attsmpted to em- pphasize those aspects of theory and application that propare astudeat for more ad ‘vanced study or for professional practioe in design and analysis. “The theory of elasticity plays three important roles in the text: Itprovides exact solutions where the configurations of loading and boundary are relavely simples it provides a check on the limitations ofthe mechanics of materials approach and it Serves asthe bass of approximate solutions employing numerical analysis. ‘To make the text as clear as possible, atention is given to the presentation of the fundamentals of the mechanies of materiale The physical significance of the so lutions and practical applications are given emphasie The authors have made. spe- ial effort to illustrate important principles and applications with numerical ‘cxamples. Consistent with announced national policy, probleme are included in the text in which the physical quantities aro expressed in the International Syetem of Units (SP). All important quantities are defined in both SI and US. Customary Sys- tem of units A sign convention, consistent with vector mechanics, is employedthroughoat for loads internal foros and streses This convention conforms to that ‘used in most classical strength of materials and elasticity texts, as well as to that ‘most often employed in the numerical analysis of complex structures. ‘TEXT ARRANGEMENT Becaust of the extensive subdivision into a variety of topics and the employment of alternative methods of analysis, the text should provide flexibility in the choice of assignments to cover courses of varying length and content. Most chapters are sub- ‘Stantaly seltcontained, Hence the order of presentation can be smoothly altered to meet an instructors preference Its suggested, however, that Chapters 1 and 2, ‘hich address the analysis of basic concepts, should be studied first. The emphasis placed on the treatment of two-dimensional problems in elasticity (Chapter 3) may Sitter sccording tothe scope ofthe cours. “This fourth edition of Advanced Strength and Applied Blastcty seeks to pre- serve the objectives and emphases of the previous editions. Every effort has been tmade to provide a more complete and current text through the inclusion of new material dealing with the fundamental principles of stress analysis failure criteria; fracture mechanies, compound cylinders, numerical methods, energy and vari- tional methods; buckling of stepped columns; and common shell types. The entire text has been reexamined and maay improvements have been made throughout by 1 process of elimination and rearrangement. Some sections have been expanded 19 improve on previous expositions. "The references, provided as en aid tothe student who wishes to purse further certain expects ofa subject, have been updated and identified at the end of the text. Thave resisted the tomptation to increase the material covered except where ab- solutely necessary. However, it was considered desirable to add a number of illus- “trative examples and a lage number of problems important in engineering practice and design, Most changes in subject-matter coverage were prompted by the sugges- ions of faculty familiar with earlier editions. 'As before its hoped that I ave maintained larity of presentation, simplicity asthe subject permits, unpretentious depth an effort to encourage intuitive under- Standing, and 4 shunning ofthe irrelevant. In this context, as throughout, emphasis is placed on the we of fundamental in order to build student understanding and an ability to solve the more complex problems. SUPPLEMENT ‘The books accompanied by a Solutions Manual available to instructors It features complete solutions to all problems in the text. Answers to selected problems are given atthe end af the book, Preface he Fourth EatonACKNOWLEDGMENTS It is a particular pleasure to acknowledge the contributions of these who assisted the authors in the evaluation of the t=x. Thanks, of course, aze due to the many readers who have contributed goneral ideas and to reviewers who have made de~ tailed comments on previous editions, These particularly include the following: F Freudenstein, Columbia University; R. A. Scott, University of Nichigan: M. W. Wileox and ¥. Chan Jian, Souther Methodist University, CT. Sun, University of Florids;B, Koplik, H. Kountouras,K.A. Narh, R. Sodhi, and C. E, Wilson, New fer sey Institte of Technology; H. Smith, Jr, South Dakots School of Mines and Tech nology: B. P. Gupta, Gannon University;S Bang, University of Notre Dame; B. Koo, University of Toledo: T. Easley, University of Kansas: A. Bailey, North Caroling State University, W. F Wright, Vanderbilt University: R. Burks SUNY Maritime College; G.E. O. Widera, University of Hinois; R. H. Kocbke, University of South Carolina; B. M. Kwak, University of Iowa; G. Nadig, Widener University; R. L. Brown, Montana State University; SH, Advani, West Virginia University; E. Nas sat Illinois Institute of Technology; R. I. Sann, Stevens Institute of Technology; C. (©.Smith, Univesity of Nebraska; } Kempner, Polytechnic Universi of New York: and P.C.Prister, North Dakota State University ‘Accuracy eiecking ofthe problems and typing of Solutions Manual were done ‘expertly and with considerable care by Dr. Youngiin Chung. I am grateful to bim {or his hard work. lam deeply indebted to my colleagues who have found the toxt useful through the years and to Bernard Goodwin, publisher of Prentice Hall PTR, who has encoursged the preparation ofthis edition. Copy editing and production were handled skillfully by the staff of Pine Tree Composition, Inz and Prentice Hall Their professional help is appreciated, AC Upural Holmdel, NI Pret the Poth ton‘About Prentice Hall Professional Technical Reference ith oii reaching backto the industry's fist computer scence publishing progam Inthe 3960s, and formally aunched a sown impntn 986, Prentice Hal Professional “Technical Reference (PH PTR) has developed inte the leading prvider of tectnical books inthe word toca. Our eltor now publish aver 200 books annual authored by leaders nthe es of computing, engineerin, and business. (ur res are fly planted inthe soll that gave ise 1 the technical revolution ‘urbookshat contain many of theindustys computing acengineeting asses: Kemighan and tcie’ C Programming Language, Nemath’s UND Systm ‘Adminstration Handbook, Mosiman" Core ove, 38 Johnsons High Spee Digital Desi, PH PTR seknowadges its auspeous beginnings whileitloks tothe future for inspiration. Ve continu to avbve and break ner grourdin. publishing by proving ody professionals ith tomorrows Soltons.mmmagoeas> aStFRagTe 3EECE TE yt List of Symbols width carry-over factor, torsional rigidity distance from neutral axis to outer fiber distribution fector, flexural rigidity of plate elasticity matrix diameter, distance modulus of elasticity in tension or compression ‘modulus of plasticity or secant modulus tangent modulus dilatation, distance, eccentricity ody foree per unit volume, concentrated foree sisplacement fonction of finite clement ‘modulus of elasticity in shear acccleration of gravity (49.81 mis?) depth of beam, height, membrane deflection, mesh with ‘moment of inertia of area, stress invariant polar moment of inertia of area, strain invariant balk modulus spring constant ofan elastic support, stifnes factor, ther- ‘al conductivity, fatigue factor, strength coeficent stilfnoss matric of whole structure constant, modulus of clastic foundation, spring constant, sess eoncentra- tion factor stiffness matrix of finite element length, span moment ‘sisting moment in plates ‘moment caused by unit load fatigue life eyees), ores factor of safety, number stain hardening index dircotion cosines ‘concentrated forceo> geet at gto NEES & ee gesae Ret anager ue listibuted load per unit Jength or area, pressure, stress resultant first moment of ara, hat flow per unit length, shearing force ‘nodal force matrix of finite element radius reaction clastic section modulus, shear center radius radius of gyration polar coordinates Gistance along a line or 8 curve temperature, twisting couple or torque thickness strain energy strain energy per unit volume complementary energy shearing force, volume velocity ‘weight, work ‘components of displacement plasti section modulus, curved beam factor ectangular coordinates angle, coeficient of thermal expansion form factor for shear ‘nomerical factor, angle ‘Shear strain, weight pe unit volume or specific weight, angle ‘eftection ite difference operatr, variational symbol displacement nda) displacement matrix of finite cleatent ‘change of a fasction normal sin angle angle of twist per unit length slope Poisson's ratio aval lad factor, Lamé constant potential energy Sensity (mess per unit volume), radius formal stress shear stress total angle of twist stress fonction angular velocity stream function Lief SymbolsCHAPTER 1 Analysis of Stress 14 INTRODUCTION ‘The basic structure of matter is characterized by nonuniformity ard discontinuity attributable to its various subdivisions: molecules, atoms, and subatomic particles, (Our concern in this text is not with the particulate structure, however, and it will be assumed that the matler with which we are concerned is hortogencous and ‘continuously distributed over its volume. There isthe clear implication in uch an ‘approach that the smallest element cut from the body possesses the same proper- ties as the body. Random fluctuations in the properties of the mateial are thus of ‘no consequence, This approach is that of continuum mechanics, in which soidelas- tic materials are treated as though they are continuous media, raher than com- posed of ciscrete molecules. Of the states of matter, we are here eoncemed only with the solid, with its ability to maintain its shape without the need ofa container and to resist continuous shear, tension, and compression. Jn coatrast with vigic-body statics and dynamics, which treat the external be- havior of bodies (tha i, the equilibrium and mation of bodies without regard to small deformations associated with the application of load), the mechanics of eolids is concerned with the relationships of external effect (forees and momeats) to i ternal stresses and strains Two different approactes used in solid mechanics are the ‘mechanics of materials ot elementary theory (aso called the technical theory) and the theory of elaseity. The mechanics of materials focuses mainly on the more or less approximate solutions of practical problems. On the other hané, the theory of clastletty concerns hse argely with more mathematical analysis te determine the “exact” suess and strain distributions in a loaded body. The difference between these approzehes is primarily in the nature of the simplifying assumptions Used, de- scribed in Sec.3..‘External forces acting on a body may be classified as surface forees and body Jorces.A surface fore is ofthe conconiated type when it acts at point; a surface force tigy aso be distributed uniformly oF nonuniformly over a finite ares. Body forces are associated with the mass of a body, rather than its surfaces, and are dis- tributed throughout the volume of a body. Gravitational, magnetic, and inertia forees are all body forces, They are specified in terms of force per unit volume. All forces acting on a body, inchuding the reactive forces caused by supports and body forees, ae considered to be exemal forces. Imernal forces ate the forces that bold together the particles forming the body, Unless otherwise stated, we assume inthis text that body forces can be neglected and that forces are applied steadily and slowly. The later is referred to as static loading. Im the International System of Units ($1, force is measured in nowtons (N). [Because the newton isa small quantity; the kilonewton (KN) is often used in prac- tice in the US. Customary System, foree is expressed in pounds (Ib) or ilopounds {(kips) We shall define all important quantities in both systems of units. However, in numerical examples aad problems, SI units will be wsed throughout the text consis- tent with international convention, (Table D2. compares the two systems) “The study of the behavior of members in tension, compression, and bending began with Galileo Galilei (1564-1642), although Robert Hooke (1635-1703) was the fist to point out that a body is deformed subject to the action of force. Since thea many engineers, physicists and mathematicians in the field of stress analysis have contributed to the basie knowledge on which modern methods are based.” “The literature dealing with various aspects of solid mechanics is voluminous For those seeking more thorough treatment, selected references ar identified in brack- ets and compiled atthe end ofthe tex. 412 SCOPE OF TREATMENT “The usual objective of mechanics of materials and theory of elasticity isthe exami nation of the load-carrying capacity of 2 body from three standpoints, strength, stifness (deformation characteristics), and stability by using the fundamental prine Giples outlined in See.32 and employed throughout the text. These are the laws of {orees the laws of material deformation, andthe conditions of geometric compati- bility. The principal topies under the general heading of mechanics of solids may be summarized as follows: 1 Analysis ofthe stresses and deformations within 2 body subject to a preseibed system of forces Tis is accomplished by solving the governing equations that describe the sires and strain fields (theoretical stress analysis) Its often advan: tageous, where the shape of the structure or conditions of loading preclude a theoretical solution or where verification is required, to apply the laboratory ‘techniques of expertmental stress analysis. Histol reviews of machonie of materia nd the theory of elasticity are gen in Refs Li rough 14 Chapin) Anais of Se2 Determination by theoretical analysis or by experiment ofthe limiting values of oad that a structural element ean sustain without suffering damage, failure, oF ‘compromise offencton, 3. Determination ofthe body shape and solection ofthe materials that are most ef- ficient (or resisting a prescribed system of forees under specificd conditions of ‘operation such as temperature humidity vibration and ambient pressure. This the design function and, more particulary, that of optimum design. Etliciency ‘may be gauged by such citria 35 minimum weight or volume, minimum cost oF any criterion deemed appropriate. ‘The design function, item 3, clearly relies on the performance of ‘he theoretical analyses under items 1 and 2, and iis to these that thie text is directed. The role of analysis in design is observed in examining the folowing rational procedire in the design ofa load-carrying member: 1, Evaluate the most likely modes of failure of the member, Failure rteia that pre dic the various modes of failure under anticipated conditions of service are dis- ‘essed in Chapter 4, 2, Determine the expressions relating applied loading ta such effects as stress, strain, land deformation. Often, the member under consideration and conditions of loading are so significant or so amenable to solution as to have been the subject (of prior analysis For these sitwations textbooks, handbooks, journal articles, and technical papers are good sources of information, Where the situation is unique, a mathematical derivation specifi to the ease at hand is roquied. 3. Determine the maximus usable value ofsvess, sain, or energy. ‘This value is ob- tained ether by reference to compilations of material properties or by experi- ‘meatal means such as simple tension tost and is used in connection with the relationship derived in step 2. A. Select a design factor of safety. This sto account for uncertainties fn a nurnber ‘of aspects ofthe design, including those related ta the actual service loads ate al properties, or environmental faciors. An important area of uncertainty is ‘connected withthe assumptions made in the analysis of strese and deformation. ‘Also, we are not likely to Bave a secure knowledge of the stresses that may be ins ‘woduced during machining, assembly, and shipment of the elemest. The design factor of safcty also reflects the consequences of failure: for example, the pos. itty that failure will result in less of human life or injury or in coal repairs oF ‘danger to other components ofthe overall system. For the aforementioned tea~ sons. the design factor of safety is also sometimes called the factor of ignorance ‘The uncertainties encountered during the design phase may be of such magni- tude as to lead to a design carrying exteeme weight, volume, or cost penalties Tt ‘may then be advantageous to perform thorough tests or more exacting analysis, ‘atlise to rely on overy large design factors of sate. ‘The tue factor of safety, usually referred to simply 28 the faetorof safety can only be determined after the member is constructed and tested. This factor i the ratio ofthe maximum load the member can sustain under severe testing without failure to the maximum load acauaily carried under norecal service conditions, 12. Scape of Trimet *