V.

Demenko

Mechanics of Materials

2012

LECTURE 20 Generalized Forces and Generalized Displacements. Strain Energy of the Rod in General Case of Loading Generalized force Fn is a force factor in general (F, q, M,.....). Generalized displacement n is a geometrical parameter on which the generalized force Fn does work. If, for example, Fn is understood to be an external moment M , then n represents an angular displacement at the moment application point in the direction of the moment. 1 Displacements of a Rod under Arbitrary Loading 1.1 The work done by external force (a) The work done by a concentrated force:

Fig. 1 In general case the elementary work dA is equal to F d ,i.e.

dA = F d .
By summing these quantities we obtain
k A = Fd . 0

(1)

(2)

If F = c (within elasticity limitations (Fig. 2)), then

V. Demenko

Mechanics of Materials

2012

Fig. 2

2 A = cd = c 2 0

c2 c F = = = . 2 2 2

(3)

The work done by concentrated force is equal to the area of the triangle OAB.

(b) The work done by a couple of forces:

Fig. 3

The displacements of the points A and A1 produced by the couple of forces are
= h . 2

The work done by a couple of forces is

A=2 But F h = M , then
A= M . 2

F Fh Fh =2 = . 2 4 2

(4)

V. Demenko Mechanics of Materials 2012

1.2 The work done by internal forces. Potential energy of strain (strain energy)

It is evident, that internal forces really describe the stresses acting at any point of elastic solid (see chapter 2 in Lecture 4).
The work done by internal forces is equal to potential energy of strain stored in the element (within elasticity limitations): U = A.

(a) Determine the potential energy of strain in tension (compression)

2 = 3 = 0. Fig. 5 It is known (see Eq. 34 in Lecture 9) that

dU = U 0 dV = dV 2 2 2 1 + 2 +3 2 (1 2 + 1 3 + 2 3 ) . 2E

In this case, As a result,

1 = ,

2 = 3 = 0.

dU = U0 =

2E

dV .

(5)

Strain energy density

2
2E

(6)

(b) Determine the potential energy of strain in pure shear

Fig. 6

V. Demenko Mechanics of Materials 2012

dU = U 0 dV =

1 2 dV + 2 2 ( ) dV = 2 2 (1 + ) = 2E 2E
(7)

E 2 dV = = = G = dV , E 2 2(1 + ) 2G 2(1 + ) In this case,

U0 =

2
2G

(8)

It should be observed here that within the elementary volume of solid its stress
state is homogeneous.

(c) Determine the strain energy of a rod in general case of loading:

Fig.7 dV = dA dx elementary (unit) volume To determine potential energy, lets isolate an elementary portion of length dx from a rod. In general, six internal force factors occur at each cross section: three moments and three forces ( M x , M y , M z and N x , Qz , Q y ) .The potential

energy of the element may be regarded as the sum of work done by each of the six force factors acting separately

dA = dU = dU ( N x ) + dU Q y + + dU (Qz ) + dU (M x ) + dU M y + + dU (M z ) . (9)

( )

( )

V. Demenko Mechanics of Materials 2012

As it is known
U0 = dU dU = U 0 dV = U 0 dA dx . dV A

(10)

Then (1)

2 N dU ( N x ) = U 0 ( N x )dA dx = dA dx = = x = 2E A A A
=

A 2 EA

2 Nx dA 2

dx =

2 Nx dx . 2 EA

(11)

(2)

2 Qz S * y dU (Qz ) = U 0 (Qz )dA dx = dA dx = = = G 2 I b ( z ) y A A (12)

2 *2 2 2 2 Qz Sy S* Qz A Qz y dA dx = dA dx = K z dx . 2GI 2 [b( z )]2 I 2 [b( z )]2 2 2 GA GA y A y A

Kz

(3)

By analogy:

dU (Q y ) = K y

2 Qy

2GA

dx .

(13)

(4)

2 M dU ( M x ) = U 0 ( M x )dAdx = dA dx = = x = 2G I A A
2 2 2 Mx dA dx = dA = I = dx . 2 GI A A

2 M 2 2 Mx = x dA dx = 2 2GI 2 2GI A

Mx dU (M x ) = dx . 2GI

(14)

(5)

2 M yz dU ( M y ) = U 0 ( M y )dA dx = dA dx = = = 2E I y A A

V. Demenko Mechanics of Materials 2012

M 2z2 M y2 y dx . dA dx = = 2 EI 2 2 EI y y A

(15)

(6)

By analogy,

Mz dU (M z ) = dx . 2 EI z

(16)

Now expression (9) becomes

2 2 2 2 2 2 Qy dx Nx dx dx M y dx M z Qz dx M x dx dU = + Ky + Kz + + + . 2 EA 2GA 2GA 2GI p 2 EI y 2 EI z

(17)

In order to obtain the potential energy of the whole rod this expression must be integrated over the length of the rod
2 2 2 2 2 2 My K yQ y Mx Nx Mz K z Qz dx . (18) dx + dx + dx + U = dx + dx + 2 2 2 2 2 2 EI GA GI EI EA GA y z l l l l l l

All the terms in expression (18) are not always equivalent. In the great majority of systems encountered in practice with components acting in bending or torsion, the last three terms in expression (18) are less appreciable than the first three. In other words, the energy due to tension and shear is considerably
less then the energy due to bending and torsion.