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ONE
BASIC CONCEPTS OF FORCE, STRESS, STRAIN, AND DISPLACEMENT
, .0 INTRODUCTION
The concepts of force and force distributions are introduced in a fundamental course in statics, whereas the concepts of stress, strain, and elastic displacements are presented in a first course in mechanics of materials. The importance of the basic ideas developed in these courses cannot be overemphasized. To understand more advanced formulations, experimental methods, and the implementation of design improvements, a comprehensive knowledge of the fundamentals of statics and strength of materials is essential.
This chapter reviews the fundamental properties of state in the traditional ordering; i.e., beginning with external forces, the discussion then leads into the definition of internal force distributions (stress). Once this definition is made, strain is related to stress, and finally displacement is related to strain. When approaching simple structural problems, however, stress or strain formulations are first based on an analysis of deformation or deflections. For example, the linear bendingstress distribution for straight beams is based on the first assumption that plane surfaces initially perpendicular to the bending axis remain plane as the beam undergoes bending. Once this assumption is made, the equations for the equilibrium of forces and moments are utilized, and the bending equation is then derived. Thus in a physical sense applied forces generate elastic deflections which can be analytically related to strains and subsequently to internal stresses. Likewise, in the numerical technique called the finiteelement method (see Chaps. 9 and 10), structural models are formulated through the unknown deflections. The stresses are then evaluated after the deflection solution is obtained. The material in this chapter emphasizes the physical understanding of the important state properties and should be a review for
,
2
CHAP' •• 1
• FORCE, STRESS, STRAIN, AND DISPLACEMENT
readers, who are urged to reexamine their own course notes and textbook on strength of materials upon completion of these sections.
The theoretical relations discussed in this chapter will be restricted to simple linear, homogeneous, and isotropic materials undergoing small deflections.
1.1 FORCE DIAGRAMS
Freebody diagrams are a necessary tool in the solution of any stressanalysis problem, and any reader who is weak on this point should attempt to correct this deficiency early, as drawing freebody diagrams is generally the first and most important step of an analysis.
Generally, an element under analysis is supported or attached to another element. In order to analyze the element, the element is completely isolated from the supports; then all the applied loads on the element are shown on the element. Finally, every type of internal force and moment which possibly can be transmitted through the supports is shown on the isolated element. The values of the support forces and moments are then obtained using the appropriate equations of motion based on the dynamic state of the element within the overall structure. For example, any element within a structure is always in a specific state of dynamic equilibrium. Hence, when the element is isolated from the structure, the applied and support loads acting on the element must be such that the isolated element is in the same state of dynamic equilibrium as that specified within the overall structure. Several examples of element isolation and support analysis are shown in Fig. 1.11, where the structures given are in a state of static equilibrium. Naturally, these examples are not meant to be comprehensive and are only given to illustrate the method of element isolation.
In the method of element isolation, it is necessary to examine each support point and determine exactly the types of forces and moments the support can transmit. Note that if the 500lb force shown in Fig. 1.11(a) were not present, the support force N would be zero and it would obviously be unnecessary to show N on the diagram. However, in many cases it is a safe procedure to show first that the support is capable of providing a possible reaction. Then, by using the equilibrium equations, the value of the reaction is determined. For example, an error might arise in problems like those shown in Fig. 1.11(c) and (d) if all the possible reactions were not shown.
1.2
FORCE DISTRIBUTIONS
One is generally quite confident when dealing with concentrated forces and moments like those shown in Sec. 1.1. However, when forces are distributed over lengths or areas, they seem to become more abstract to the student. This is unfortu
Structure Freebody diagram Analysis
[a) NttA 'iF. = 0 », =0 2.MA = 0
t fib rlli N500 = 0 RIOOO =0 M  (10)(1000) = 0
N = 500lb R = lOOOlb M = 10,000 lbft
10ft 5001b M Rt. 10ft B=~OOI~
b) tr. = 0 2.MA =0 2.MB = 0
3m N500 = 0 10RB  (3)(1000) =0 lORA + (7)(1000) = 0
N = 500N RB =300N RA = 700N
N 
x c) (l lOOmm s», = 0 'i(MJ, =0 'i(MJ. = 0
RlOOO = 0 M,  (0.100)(1000) =0 T + (0.040)(1000) = 0
Mz
x R = lOOON M, = lOON·m T = 4ON·m
:
z rl)
t». = 0
IIU'" 1.11
'iF. = 0 200N. = 0
N. = 200lb
R, = 0
t», = 0 R,500 = 0
Ry = 500lb
'i(MA). = 0 (7)(500)  T. = 0
T. = 3500 Ib·in
'i(MA), = 0 (7)(200)  M, = 0
M, = 1400 Ib·in
'i(MA), = 0 M, (10)(500) = 0
M, = 5000 Ib·in
x
C ~Tx
~
z R
500 Ib 7 in s, z
C 2001b
jz plane
1
4
C HAP' • • I • FORCE, STRESS, STRAIN, AND DISPLACEMENT
nate, since real forces in nature are distributed forces, whereas concentrated forces are merely the abstraction of the analyst to simplify the solution of the problem. As an illustration, a uniform weight is placed at the end of a cantilever beam, as shown in Fig. 1.21(a). The load distributions shown in Fig. 1.21(b) to (d) are all statically equivalent. Figure 1.21 (b) is very idealized, showing concentrated forces and moments which are the net effects of the applied load and wall reactions. Figure 1.21(c) is less idealized, force distributions having replaced the concentrated forces and moments. However, the distributions have been assumed to be uniform. A more realistic model would incorporate the effects of deformations of the weight, beam, and wall, as shown in Fig. 1.21(d). One could take further steps to model the exact structure more accurately, but the point to be made is that the model chosen depends on the results desired. To survey the stresses in the beam, the analyst should be aware that bending, transverse shear, and compressive bearing stresses are present. If the analyst was concerned about the effect of the bearing stresses, the model of Fig. 1.21(b) would not be appropriate; whereas Fig. 1.21(d) would. The bearing stress distribution decreases quickly the further the analysis site is from the support or load locations. Thus, if the analyst was evaluating the stresses at section cc, and if the section is at a sufficient distance from these locations, anyone of the models would essentially provide the same results for the bending and transverse shear stresses. This is an application of Saint Venant's principle, which asserts that the contact stresses due to support or load application become negligible at a distance of the order of the lateral dimensions of the beam or greater. If the beam is long compared to the lateral dimensions, and the length of the contact zone is of the order of the lateral dimensions, it is common engineering practice to ignore the precise shape of the contact stress distribution completely. If this is the case, then it
'1 c lW
~+=....~....+~
~ lR c x
(a) Structure
(b) Idealized model
w
w=
I
UUt
(c) Less idealized model
(d) Realistic model
FI.u ... 1.21
'.2 FORCE DISTRIBUTIONS
•
makes sense to use the simplest model [Fig. 1.21(b)]. However, it is important that the analyst always be aware of the nature of any approximation.
Note also that as a structure deforms or deflects, the net reactions will change.
This means that in order to perform a precise calculation of the reactions, the final deformed geometry must be known before the equilibrium equations are used. When deformations are small, however, the deformed structure is almost identical to the undeformed geometry, and the errors in evaluating forces and moments are negligible. The majority of structural problems fall in this category, but in a small class of problems the coupling between deflections and the corresponding reaction forces is quite large and the deformations affect the force analysis considerably.
These problems include large deflections of flexible structures, structures constructed of nonlinear materials, elastic stability problems (buckling), contact stresses, combined bending and axial loading of beams, and structures with deflectiondependent boundary conditions. Some but not all of these problem types are considered in this text.
If the load distribution is known or assumed, a method which simplifies the analysis is the technique of determining an "equivalent" or equipollent concentrated force. Consider the beam shown in Fig. 1.22(a), which is carrying a distributed load w(x), in units of force per unit length, which varies along the length. The actual wall reaction at point A will look as shown in Fig. 1.22(b), but what is normally wanted first is the net force and moment exerted on the beam by the wall. Thus, the force R and moment M shown in Fig. 1.22(c) are the net result of the force distributions WI and W2. For the beam to be in equilibrium R must be equal and opposite to the total force exerted by w(x), and M must be equal and opposite to the total moment exerted by w( x ). To simplify the determination of the support reactions, an equivalent force Fe is determined, where Fe is the total force exerted by w(x). The equivalent force must be applied at a particular point Xe such that the force exerts the
Y i w(x) force per unit length
I~ II j j IL 1111 1 ,!
~~~I
(c)
w(x)
W'!I 11III11111 *
•
x ff w2
(b)
M0 f. xe "IF'
(d) (a)
w(x)
(,11111111111 M~ fR
Figure 1.22
6
C HAP' • • I • FORCE, STRESS, STRAIN, AND DISPLACEMENT
same net moment as w(x) applies [see Fig. 1.22(d)]. The method of determining Fe and Xe is quite simple and is normally developed in a first course on statics, but because of its importance, it will be repeated here.
Examine a small portion of the load acting at x over an infinitesimal span of dx.
The load distribution can be considered constant over this very small distance equal to w(x), as shown in Fig. 1.23. The force exerted on dx is then w(x) dx. The total force due to the distribution w(x) for every value of x from x = 0 to L is the sum, or integral, of each w(x) dx . Thus
Fe = fW(X) dx
o
[1.21 ]
and the total moment exerted at x = 0 is
Me = fXW(x) dx
o
[1.22]
However, Me = Fexe; thus
ILxw(x) dx
Me 0
X =  = =
e Fe IL
w(x) dx
o
It can be seen from Eq. (1.21) that the equivalent force is simply the "area" of the force distribution over its length of application, and the position of application of the equivalent force is at the centroid of this area [Eq. (1.23)]. For simple load distributions like those shown in Fig. 1.24, the integrations in Eqs. (1.21) and (1.23) are unnecessary, as the areas and centroids are known. When the distribution is discontinuous, like that in Fig. 1.25, equivalent forces for each zone where the loading is continuous can be found, as shown in Fig. 1.25(b).
It should be obvious that the equivalent force of the total load distribution is used only to find the support reactions and cannot be used for analyzing internal forces or deflections throughout the basic element. To analyze the internal forces within the element, it is first necessary to isolate that portion of the element which exposes the surface to be examined. The equivalentforce approach can then be reapplied to whatever load distribution remains on that portion of the element. For example, consider the uniformly loaded cantilever beam shown in Fig. 1.26(a). The reader should be able to prove that the wall supplies a total force on the beam of
[1.23]
111 w(x)
1+1. .z., t.1 L dx
'Igure 1 .23
Load distribution
,
.1
.llure 1 .24
Load distribution
(a)
Fllure 1.25
1.2 FORCE DISTRIBUTIONS
7
Equivalent concentrated force
L
x'=T
(a)
F = w ~
e 0 2
(b)
woL upward and a total moment reaction of O.5woL2 counterclockwise. If one wants to find the net internal force and moment occurring at a surface located at x, the equivalent force employed in solving the wall reactions cannot be used again. First, make a "break" at x and isolate the righthand portion of the beam [see Fig. 1.2 6(b), showing the actual load distribution that exists on that portion). In order to determine the internal reactions R and M it is necessary to determine the equivalent force of the load distribution acting on the portion of the element under consideration. Thus, from Fig. 1.26(b),
Fe = wo(L  x)
and
L+x xe=2
•
CHAP' •• 1
• FORCE, STRESS, STRAIN, AND DISPLACEMENT
Distribution load
I :C J I ~~~ '1
R (b)
(a)
Equivalent concentrated force
• x
(c)
L x
(d)
.1 ..... 1.2·6
From this the reader should be able to obtain R and M: t
R = wo(L  x)
Wo 2
M = (L  x) 2
and
It can be seen that the internal force and moment in the beam depend on the value of x, which is illustrated in Fig. 1.26(d).
In reality an applied force distribution is a force per unit area. When dealing with beams in bending, it is common practice to express the distribution in units of force per unit length, where the force per unit area is multiplied by the thickness in the z direction. It is assumed that the force per unit area is not varying in the z direction. It is often necessary to integrate force distributions over an area in order to obtain the net force and moment acting on that surface.
It The notation used here for internal shear force and bending moments does not necessarily agree with the standard conventions used in strength of materials. This is discussed in Chap. 3.
1.2 FORCE DISTRIBUTIONS
9
Figure 1.27(a) illustrates the cross section of a rectangular beam in bending. From elementary strength of materials, the internal force distribution corresponding to bending about the z axis is given by a = Mzy/Iz, in units of force per unit area in the x direction, where M, is the bending moment about the z axis (force times
length) and Iz is the area moment of inertia about the z axis (given by I, = lz bh3). Using area integration, prove that the net force in the x direction is zero and that the net moment about the z axis from this distribution is M;
Solutlonl
Since the stress does not vary with respect to the z direction, isolate a dA area where dA = b dy, as shown in Fig. 1.27(b). If a were positive in the x direction, as shown, the force on the dA area in the x direction would be a dA . The total force is found by integration across the entire area:
J Jh/2 My Mp [(h)2
Fx= udA= z(bdy)=
h/2 t, 2Iz 2
The net moment about the z axis due to the force on the dA area is  ya dA . Integration across the entire area yields the net moment about the z axis.
J Jh/2 My M bh3
Mz =  yu dA =  yz(bdy) = _z_
h/2 t, t, 12
However, I, = bh3/12, and the moment about the z axis reduces to M, = M;
Y b
T
(a)
.lguN 1.27
x
(J'
(b)
10
C HAP' • R I • FORCE, STRESS, STRAIN, AND DISPLACEMENT
1.3
STRESS
Stress is simply an internally distributed force within a body. To obtain a physical understanding of this idea, consider being submerged in water at a particular depth. The force one feels at this depth is a pressure (or compressive stress) and is not a finite number of "concentrated" forces. Other types of force distributions (stress) can occur in a liquid or solid. Tensile (pulling) and shear (rubbing or sliding) force distributions can also exist. As an example of a compressive force distribution within a solid, a uniform weight is placed on the short block B shown in Fig. 1.31(a). To determine the force distribution acting at section cc, the first step is to make a break at section cc and isolate the top portion of the element as shown in Fig. 1.31(b). The weight can be replaced by its equivalent force Fe' where Fe = W. If the portion left is to be in equilibrium, there must be an internal force F at section cc. If the weight of the block is considered negligible, F = Fe = W. However, the material cannot exert a concentrated force such as F. Like all real forces in nature, the internal force F will actually be distributed across the surface in the form of a pressure p, as shown in Fig. 1.31(c). This pressure is pushing against the surface; hence it is a compressive distributed force, or simply a compressive stress.
The total force F is the equivalent concentrated force of the force distribution p.
Since the pressure is a distributed force, it can be examined at a particular point over an infinitesimal span of area, say dA. Consider the pressure at this point to have a value of p. The force due to the pressure p acting over an area of dA is simply p dA. The total force acting on the cross section then is the sum of p dA across the entire surface, i.e., simply the integral of p dA. Thus
F = IpdA
A
w 

c B c
  r
~ (a) Structure
c
c
(b) Force on section cc F.gure 1 .31
c
p
(c) Pressure distribution at section cc
[1.31 ]
1.3 STRESS
II
If the pressure, p, or stress is uniform or constant across the area, the integral in Eq. (1.31) becomes simply pA, where A is the total crosssectional area. Thus
F
p=
A
[1.32]
This should be very familiar to the reader, but note that the main assumption is that the stress is constant across the area. Compressive stresses are normally designated as negative quantities to differentiate them from tensile stresses which are considered positive. Thus the stress in the above example is
F
()" = 
A
[1.33]
where instead of p to designate pressure a is used to designate normal stress.
An example of a pure tensile stress is shown in Fig. 1.32, where a weight W is welded to bar B. If the stress is desired at section cc, a break is made there and the equivalent applied force and the internal reaction are shown in Fig. 1.32(b). If the weight of bar B is negligible, then for equilibrium, F = Fe = W. If the force distribution of F across section cc (the stress) is uniform, as in the previous example, integration of a over the area yields
F
(}"=
A
[1.34]
c
c
B
(a) Structure
F
CT
c
c
c
c
(b) Force on section cc
(c) Stress distribution at section cc
Fl ...... 1.3·2
12
CHAP' •• 1
• FORCE, STRESS, STRAIN, AND DISPLACEMENT
where (J in this example is positive, or a tensile stress where the internal force is pulling at the surface.
An example of pure shear stress is illustrated in Fig. 1.33, where a tensile force P is transmitted through a yokeandtongue assembly. Isolating the tongue and pin within requires breaks of the pin above and below the tongue. If no friction exists between the yoke and tongue, then for equilibrium, internal tangential forces at the exposed pin surfaces are present, as shown in Fig. 1.33(b). From symmetry, these forces are equal and for equilibrium are F = P /2. These forces are tangential to the surfaces, and, as before, the force manifests itself as a force distribution, or stress. This stress, since it is tangential to the surface, is called a shear stress T • t As before,
F= fTdA
and if the shear stress is assumed constant across the surface, * F
T=
A
[1.3.5]
The sign convention for shear stress will be defined later.
The three examples of uniform stress help clarify the concept of stress.
However, stress should not be thought of as necessarily being constant across a fi
p
(a) Structure
p
(b) Forces on pin sections
._ ..... 1.3·3
t Note, the symbols being used here agree with standard engineering convention, where a is used for normal stresses and 'T for shear stresses.
* If the clearances between the elements are not close, the pin tends to bend. The bending stresses cause the transverse shear stress to become nonuniform. Transverse shear stresses in beams in bending are discussed in Sec. 3.43.
1.3 STRESS
13
nite surface. Stress is a point function. That is, stress is actually a force distribution, and in general it can be considered constant only over an infinitesimal area at a specific point located on a specific surface.
Consider a general solid body loaded as shown in Fig. 1.34(a). Pi are applied forces and R, are possible support forces. To determine the state of stress at point Q in the body, it is necessary to expose a surface containing point Q. This is done by making a planar slice, or break, through the body intersecting Q. The orientation of this slice is arbitrary, but it is generally made in a convenient plane where the state of stress can be determined easily or where certain geometric relations can be utilized. The first slice, illustrated in Fig. 1.34(b), is arbitrarily oriented by the surface normal x. This establishes the yz plane. The external forces on the portion of the remaining body are shown, as well as the internal stress distribution across the exposed surface. In the general case, the stress distribution will not be uniform across
(a) Structural member
(b) Isolated section
Figure 1 .34
'14
C HAP T • • 1 • FORCE, STRESS, STRAIN, AND DISPLACEMENT
the surface, and the stresses will be neither normal nor tangential to the surface at a given point. However, the stress distribution at a point will have components in the normal and tangential directions giving rise to a normal stress (tensile or compressive) and a tangential stress (shear).
The slice establishes the normal direction to the slice, the x direction. It is next left to establish the y direction, which again is arbitrary. Once this is established, the z direction follows directly for a righthanded rectangular coordinate system.
Examine an infinitesimal area !iy!iz surrounding point Q, as shown in Fig. 1.35(a). The equivalent concentrated force due to the force distribution across this area is !iFx' which in general is neither normal nor tangential to the surface (the subscript x is used to designate the normal direction of the first slice). The force !iFx has components in the x, y, and z directions, which are !iF xx' !iF "Y' !iFxz, respectively, as shown in Fig. 1.35(b). Note that the first subscript gives the direction normal to the surface and the second gives the direction of the force component. These forces are actually due to the distributed forces in the respective directions. The average distributed force per unit area (average stress) in the x direction is
!iF xx (T xx = !iA
where !iA = !iy !iz.
Recalling that stress is actually a point function, we obtain the exact stress in the x direction at point Q by allowing M to approach zero. Thus
. !iF xx
(Txx = hm ~ ~ ..... o LolA
or
['1.36]
y
z
z
(a) Force on the .:\A surface
(b) Force components
._.u ... '1.35
I.a STRESS
IS
Equation (1.36) can be written in integral form as r: = f o"xx dA
A
[1.3.7]
where Fxx is the total force on the entire exposed surface of Fig. 1.34(b) in the x direction. F xx can normally be found from the equations of motion for the isolated section. The stress 0" xx on aA as aA approaches zero is illustrated in Fig. 1.36.
Distributed forces or stresses arise from the tangential forces IlF xy and IlF xz as well, and since these stresses are tangential, they are shear stresses. The procedure for establishing the shear stresses is the same as before, and the exact values at point Qare
[1.3.8]
dFxz Txz = dA
[1.3.9]
The corresponding integral relations are
r; = f Txy dA A
[1.3.10]
[1.3.11]
As before, F xy and F xz are the total forces on the entire exposed surface of Fig. 1.3 4(b) (but in the y and z directions, respectively) and can normally be found from the equations of motion. The shear stresses for the isolated section can be illustrated by Fig. 1.37(a) and (b).
The three stresses existing on the exposed surface at point Q can be illustrated together, but to avoid a confusing picture, each stress will be depicted by only one arrow, as shown in Fig. 1.38(a).1t must be kept in mind that each arrow represents a
Figure 1.3·6
16
CHAPT •• 1
• FORCE, STRESS, STRAIN, AND DISPLACEMENT
(a)
(b)
.. s .... 1.37
stress (force per unit area) and not a concentrated force. In addition, since by definition (T is a normal stress pointing in the same direction as the corresponding surface normal, double subscripts are redundant. t Thus it is common practice to replace (T xx by the simpler notation (T x' and this convention will be adopted from now on.
On a given surface only one normal stress and one shear stress exist. The net tangential force on the surface is y'(!1Fxy)2 + (!1Fxz)2; the net shear stress can therefore be shown to bet
[1.312]
[see Fig. 1.38(b)].
To describe the state of stress at point Q completely it would be necessary to examine other surfaces by making different planar slices. Since different planar slices would necessitate different coordinates and different freebody diagrams, the stresses on each slice would be, in general, quite different. Then to understand the complete state of stress at point Q, every possible surface intersecting point Q should be examined. However, this would require an infinite number of slices surrounding point Q. That is, if point Q were completely isolated from the body, it would be described by an infinitesimal sphere. Naturally, this would be impossible to do, and it is also unnecessary since there is a simple method for accomplishing the same result, called coordinate transformation, which is described in Chap. 2.
Returning to the general body of Fig. 1.34(a), a planar slice can be made through point Q perpendicular to the y direction. The procedure for describing the state of stress on the infinitesimal area !1z!1x is identical to the technique used on
t In the mathematical theory of elasticity. it is common practice to use only one symbol for stress. Here the complete subscript notation indicates the stress type and is used for the more advanced tensor mathematical operations (see Appendix I). For example. if the single symbol for stress was a, then the normal and shear stresses u., Txy, and Txy. defined in Fig. 1.3·8(0), would be represented by u"'" Uxy, and Un, respectively. For tensor mathematical operations it is more convenient to use numerical subscripts rather than letters where the numbers 1, 2, and 3 replace x, y, and z coordinates, respectively. Thus, for example, the stress u., Txy, and Txy, would be written as Ull, U12, and U13, respectively.
I It is important to note that vector operations on stresses are restricted to the common area the stresses act over. Since Txy and Tn act over the same surface, they can be added like vectors.
1.3 STRESS
17
the first slice. However, the stresses on the surface whose normal is in the y direction will be designated as Uy, TyZ' and Ty>:" The third orthogonal slice is made perpendicular to the z direction, and the resulting stresses are a z, T zx, and T zy' Thus the state of stress at point Q described by only three mutually perpendicular surfaces is shown in Fig. 1.39(a).1t will be shown later through coordinate transformation that this is sufficient to determine the state of stress on any surface intersecting point Q.
To isolate the point Q from the body completely using the orthogonal surfaces, consider the hidden faces of a rectangular parallelepiped of dimensions ~, ay, az, as shown in Fig. 1.39(b). If ax ay az approaches zero, the stresses on the hidden faces must be equal in magnitude and opposite in direction to the stresses on the visible faces. Thus the state of stress at a point using three mutually orthogonal
..... x
/'
z
(a) Stress components
(b) Net
'IIU'" 1.3·8
(a) Stresses on visible faces
(b) Equilibrant stresses on back faces
'IU'" 1.3·9
18
C HAP' • • 'I • FORCE, STRESS, STRAIN, AND DISPLACEMENT
planes can be described by nine distinct values of stress. This state of stress can be written in matrix form, where the stress matrix [u] is given by
[1.313]
If the element has finite dimensions, however small, the stresses on opposing faces are not necessarily the same since we are no longer dealing with a point. In Fig. 1.310 consider two points in a body, Q\ and Q2' where point Q2is located .!lx, .!ly, and .!lz from point Q\. The state of stress for point Q\ is shown on the hidden faces. When one moves from point Q\ to point Q2' the values of stress change in general, where the change is noted by .!lux, .!luy, etc. In addition, since the element is finite, it has mass and "body" forces Fx. Fy, and Fx (force per unit volume) can also exist. Body forces can arise from force fields such as gravity, magnetic fields, etc. Some materials also exhibit body moments under the influence of magnetic fields, but these cases are extremely rare and will not be discussed here.
Summing moments about the z axis, at the center of mass, yields
FIg .... 1.310
1.3 STRESS
Dividing all tenus by Ax Ay Az results in
ATxy ATyx
Txy + 2 = Tyx + 2
If Ax Ay Az is allowed to approach zero, AT xy and ATyz will approach zero; thus
Summing moments about the other axes will yield similar relationships for the other shear stresses:
Tyz=Tzy
[1.3.14c]
Thus since the cross shears are equal, it is only necessary to specify six quantities to establish the state of stress for a point, and the stress matrix is
[u] = [:; :: ~:]
Tzx TyZ Uz
[1.3.1 S]
There are many practical problems where the stresses in the z direction are zero, that is, Uz = TyZ = T zx = O. This is referred to as the state of plane stress. The stress matrix can then be written
[1.3.16]
yr yt
Uy t Txy
Ux
r ".
Ux
 Ay 
Ux X
Txy
Z Ax
Uy Txy ~ Uy
(a) (b)
Figure 1 .3· 1 1 Plane stress. 19
20
C HAP' • • I • FORCE, STRESS, STRAIN, AND DISPLACEMENT
and the element surrounding point Q is shown in Fig. 1.311(a). The element undergoing plane stress is often shown with a twodimensional diagram, as in Fig. 1.3 11 (b), but it is important to realize that the state of stress is twodimensional whereas the element is still threedimensional; i.e., the depth of the element shown in Fig. 1.311(b) is Az, and the stresses shown are acting over the Ax Az and Ay Az surfaces.
, A STRAIN, STRESSSTRAIN RELATIONS 1.4.1 NORMAL STRAINS
Stresses on a rectangular parallelepiped Ax Ay Az element cause a change of the element both dimensionally and in shape. The normal stresses cause the element to grow and/or shrink in the x, y, and z directions so that the element remains a rectangular parallelepiped. The shear stresses basically do not cause dimensional changes, but shear causes the element to change shape from a rectangular parallelepiped to a rhombohedron.
Initially, consider only one normal stress Ux applied to the element as shown in Fig. 1.41. We see that the element increases in length in the x direction and decreases in length in the y and z directions. The dimensionless rate of increase in length is defined as the normal strain where Bx, By, and Bz represent the normal strains in the x, y, and z directions, respectively. Thus the new length in any direction is equal to its original length plus the rate of increase (normal strain) times its original length. That is,
Ax' = Ax + Bx Ax
Ay' = Ay + By Ay
Az' = Az + Bz Az [1.41]
'IU'" 1.41
Deformations attributed to UX'
'.4 STRAIN, STRESSSTRAIN RELATIONS
There is a direct relationship between strain and stress. Hooke's law for a linear material is simply that the normal strain is directly proportional to the normal stress; i.e., Ux
B=
x E
where E is called the modulus of elasticity (also referred to as Young's modulus). As the element elongates in the direction of the normal stress, contractions in the y and z directions occur. If the material is linear, these contractions are also directly proportional to the normal stress. It is common practice to express the contractions in terms of the primary normal strain, which in this case is Bx' The proportionality constant relating the contraction to the primary strain is called Poisson's ratio, v. If the material is isotropic, i.e., if the material properties are independent of direction, the contractions in the y and z directions are equal and are t
Ux B = B = VB = v
y z x E
The normal strains caused by a y and a z are similar to the strains caused by a X' The normal strains caused by a y are
uy B=
y E
and the normal strains caused by a z are
uy Bx = Bz = VB = v
y E
Uz Uz
Bz = Ii e, = By = VBz = Vii
For an element undergoing a x' a Y' and a z simultaneously, the effect of each stress can be added using the concept of linear superposition. Thus the general strainstress relationship for a linear, homogeneous, isotropic material is
[I.42a]
[I.42c]
21
The stress at a point in a body is
Ilx •• ple 1.41
3 1 o
~] kpsi
Determine the normal strains in the x, y, and z directions if E = 10 Mpsi and v = 0.30.
I t Nonisotropic behavior is discussed in Sec. 2.3.
22
C HAP T • R 1 • FORCE, STRESS, STRAIN, AND DISPLACEMENT
Solutlona From Eqs. 0.4)
1
ex = 10 X 106 [5  0.3( 1 + 4)] X HP = 410 X 106 = 410JL
s = 1 6 [ 1  0.3(5 + 4)] X 103 = 370 X 106 = 370JL
y 10 X 10
e = 1 6 [4  0.3(5  1)] X 103 = 280 X 106 = 280JL
z lOxlO
If the strains are known, Eqs. (1.42) represent three simultaneous equations in ux, Uy, and uz. Solving for the stresses yields
E
a ; = (1 + v)(l _ 2v) [(1  v)ex + v(ey + ez)]
[I.43a]
uy = (1 + v)(l _ 2v) [(1  v)ey + v(ez + ex)]
E
E
Uz = (1 + v)(l _ 2v) [(1  v)ez + v(ex + ey)]
[I.43c]
For plane stress, Uz = 0 and Eqs. (1.42) reduce to
[I.44a]
[I.44c]
It can be seen from Eqs. (1.44) that for plane stress it is only necessary to know two of the strains in order to evaluate the stresses o ; and Uy. Normally the two known strains are ex and ey" Thus solving for the stresses from Eqs. (1.44a) and (1.44b) yields
[I.45a]
IlL
'.4 STRAIN, STRESSSTRAIN RELATIONS
23
l~
) X
'"
'" '"
 ::],,'"
z
(a)
(b)
.11.'" 1 .42 Pure shear.
1.4.2
SHEAR STRAINS
The change in shape of the element caused by shear stresses can be illustrated first by examining the effect of T xy alone, as shown in Fig. 1.42. The shear strain 1'xy is a measure of the deviation of the stressed element from a rectangular parallelepiped. The shear strain l' xy is defined by
1'xy =  aLBAD = LBAD  LB'A'D'
where 1'xy is in dimensionless radians. For a linear, homogeneous, isotropic material, the shear strain is directly related to the shear stress by
[1.46a]
where G is the shear modulus. Similarly, the remaining shear strains are related to the corresponding shear stresses. Thus
[1.46c]
It can be shown that for a linear, homogeneous, and isotropic material the shear modulus is related to the modulus of elasticity and Poisson's ratio by!
E G=
2(1 + v)
[1.47]
t This reloHonship is proved later in Example 2.2·1 (Sec. 2.2).
24
C HAP' • R 1 • FORCE, STRESS, STRAIN, AND DISPLACEMENT
Thus Eqs. (1.46) can be rewritten as
2(1 + v)
'}'xy = E Txy
[1.4.8.]
2(1 + v)
E
2(1 + v)
'}'U = Tu
E
[1.4.8c]
Note that in Fig. 1.42(b) the distances ac and bd remain unchanged when the shear stress T xy is applied to the element since there are no normal strains in the x and y directions due to T xy •
Ix •• ple 1.421 Determine the shear strains in Example 1.41.
Solutlonl
2(1 + 0.3)
'}' = 3000 = 780 X lO6 = 780 u.
xy lO X lO6 r
'}'yz = 0
2(1 + 0.3)
'}' = 2000 = 520 X lO6 = 520 tt.
zr lO X 106 r:
1.4.3
THERMAL STRAINS
When an unconstrained solid experiences a temperature change, normal strains develop. Thermal strains for a homogeneous and isotropic material are given by
[1.4.9]
where
a = coefficient of linear expansion, in/(inWF) or ,nll(mWC)
!:iT = change in temperature, of or °C
, .5 DISPLACEMENTS, STRAINDISPLACEMENT RELATIONS
1 .5.1 RECTANGULAR COORDINATES
The cumulative effect of the strains caused by the varying stresses throughout a structural member causes gross deflections of the points within the member. Thus
I.S DISPLACEMENTS, STRAINDISPLACEMENT RELATIONS
25
y
v+ ~ l1y
B C v+ Ov I1x
ax
v
l1y
Q D
Y I1x
u u+~11x
ax x
x
Figure 1 .51
Rigid body and elastic deflections of an infinitesimal rectangular element.
the deflections are directly related to the strains. Since in most practical situations, deflection analyses are restricted to small deflection theory, where twodimensional analysis in each of the three planes is valid, in this section the discussion is limited to smalldeflection theory. Consider point Q in a member where the position of point Q before loading of the member is located by the coordinates x, y, and z with respect to an arbitrary origin (see Fig. 1.51). An element of infinitesimal dimensions ax, ay, and az originating from point Q can be constructed where the comers of the initially undefonned element are indicated by QBCD. Stresses, which in tum cause strains, cause point Q to deflect and the element to change geometrically. The deflections of point Q in the x and y directions are denoted by u and v, respectively. The corresponding deflections of points B, C, and D would be identical if the element were rigid and did not rotate. However, since we are dealing with an elastic member, the element will rotate and change shape geometrically.
The deflection of point Q can be described by continuous functions of x and y.
Considering deflections in the xy plane
u = u(x, y)
v = v(x, y)
The functions can be expanded about point Q in terms of a Taylor's series expansion. If u, aul ax, a2ul ax2, etc., are evaluated at point Q, the deflection for point Din the x direction will be
au 1 a2u
u = u +  ax +  (aX)2 +
D ax 2! ax2
26
C HAP I' • R I • FORCE, STRESS, STRAIN, AND DISPLACEMENT
since point D is ax from Q. Likewise, if v, av/ax, a2v/ax2, etc., are evaluated for point Q, the deflection for point D in the y direction is t
av la2v 2
VD = V + ax ax + 2! ax2 (ax) + ...
If ax is considered very small, it is permissible to neglect the terms (ax)2 or higher. Thus
au
UD = U + ax ax
av
vD = v + ax ax
Similarly, if the deflections of point B are obtained from a Taylor's series expansion about the point Q, and ay is considered very small, then
au
UB = U + ay ay
av
VB = V + ay ay
For smalldeflection theory, the derivative terms are considered small.' Thus, if (av/ax) ax is considered small compared with ax + (au/ax) ax, then Q'D' "'" ax + (au/ax) ax, the rate of elongation of QD is
Q'D'  QD
e =
x QD
[ax + (au/ax)ax]  ax ax
au ax
[1.51 a]
and the strain in the y direction of point Q is the rate of elongation of QB, or
av
e=
Y ay
The reduction in angle BQD is defined as the shear strain at the point Q and is 1'xy = a + {3. From Fig. 1.51 it can be seen that
(avjax)ax
tan a =ax
av ax
and
(au/ay)ay au
tan{3= =
ay ay
However, if the strains are small, tan a "'" a, and tan {3 "'" {3. Thus the shear strain can be represented by§
av au
l' =+
xy ax ay
[I.sh]
The rigidbody rotation of a line segment E>xy at point Q can be found from the average rotations of the line segments QD and QB. This can be accomplished by de
t The derivatives are still in terms of x since point D is 4x from Q.
* This brings up one of the many misnomers in stress analysis. Smalkleflection theory actually means small. strain theory, since the derivative terms are measures of strain.
§ This definition of shear strain is referred to as the engineering shear strain which is defined differently thon the elasticity shear strain. This is discussed further in Sec. 2.0.
I .5 DISPLACI!'.MENTS, STRAINDISPLACEMENT RELATIONS
27
tennining the rotation of the bisector of QD and QB. The initial angl~ of the bisector of angle BQD relative to the x axis is 7T 14 . The final angle that the bisector of angle
B' Q' D' makes with the x axis is
1 [7T ] 7T 1 )
a + 2 "2  (a +~) = 4" + 2 (a  ~
Subtracting the initial angle of the bisector 177'4 from this yields the rigidbody rotation E>xy = ~ (a  ,B)
But since a = so I iJx and ~ = iJul iJy then
E> =.! (iJV _ iJu)
xy 2 iJx iJy
Considering w to be the deflection of point Q in the z direction and performing a similar analysis in the yz and zx planes results in
[1.51 til
iJw
e =Z iJz
[1.51.]
iJw iJv
Yyz = iJy + iJz
[1.5' f]
E> _.! (iJW _ iJV)
yz  2 iJy iJz
[1.5111]
[1.511]
If a structural member is very thin in the z direction, the stress field will be plane stress, where Uz = T zx = TyZ = O. Furthermore, the deflections u and v in the x and y directions, respectively, can be considered to be functions of x and y only. If the displacement field u(x, y) and v(x, y) is known for such a member, determination of the strain field in the xy plane is quite straightforward using Eqs. (1.51a) to (l.5Ie). Once the strains are known, determination of the stress field is also quite simple using Eqs. (1.45) and (l.48a) for in this case the problem is one of plane stress.
28
C HAP' • • 1 • FORCE, STRESS, STRAIN, AND DIsPLACEMENT
L
.~p

+ x

...... 1 ••• 2
b ... pl. 1.5.1 I The displacement field for the thin beam shown in Fig. 1.52 considering bending only ist
Py
u(x, y) = 6EI (6Lx  3x2  vy2)
P
v(x,y) =  6EI [3Lx2  x3 + 3vy~L  x)]
where
p =
I =
L =
E = applied force
secondarea moment about the bending axis length of beam
Young's modulus
Determine (a) the vertical deflection and slope at the centroidal axis y = 0 and (b) the entire stress field.
Solution a
(a) The vertical deflection at y = 0 is v(x,O)
P Px2
v(x,O) =  6EI (3Lx2  x3) =  6EI (3L  x)
Note that this equation agrees with the deflection of the centroidal axis Vc given in Appendix C (beam C.I).
The rotation at any location of the beam is given by 8xy(x, y) , which is
8 =.! (av _ au)
xy 2 ax ay
1 [P 2 2 P ( 2 2) ]
="2  6EI (6Lx  3x  3vy )  6EI 6Lx  3x  3vy
P .
=  6EI (6Lx  3x2  3vy2)
t This displacement field is obtained from simple beam theory, which, based on SaintVenant's principle (see Sec. 3.1), is incorrect in the vicinities of x = 0 and L. So, for example, do not be disturbed that deflections exist for x = 0 and y * O. However, u = v = EI = 0 at (x, Yl = (0, 0).
1.5 DISPLACEMENTS, STRAINDISPLACEMENT RELATIONS
29
The slope at y = 0 is the rotation (H)xy(x, 0) . Thus,
P Px
(H) (x 0) =  (6Lx  3x2) =  (2L  x)
xy '6EI 2EI
Again, this agrees with the slope equation for the centroidal axis of beam C.I, dvldx, given in Appendix C.
iJv vP
e =  = (L  x)y
Y iJy EI
iJv iJu P P
l' =  +  = (6Lx  3x2  3vy2) + (6Lx  3x2  3vy2) = 0
xy iJx iJy 6EI 6EI
Substituting into Eqs. (1.45) and (l.48a) yields the stress field
E [P VP ] P
o ; = I _ V EI (L  x)y  EI (L  x)y = I (L  x)y
E [vP vP ]
(J' =    (L  x)y +  (L  x)y = 0
Y Iv EI EI
Txy = 0
NOTE: Using standard convention, the bending moment as a function of x is M = P(L  x). Hence the result obtained is tr, = My/I. Thus, considering bending only, the three stress fields obtained agree with basic strength of materials (see Chap. 3).
If the stresses or strains are known as functions of x and y, it is a little more difficult to determine the displacement field using Eqs. (1.5la) to (1.51d). This type of problem is discussed in Chap. 2.
1.5.2
CYLINDRICAL COORDINATES
In many problems the geometry of the component does not lend itself readily to the use of a rectangular coordinate system, and it is more practical to use a different coordinate system. Problems like thin or thickwalled pressure vessels, circular rings, curved beams, and halfplane problems are more suitable to a cylindrical coordinate system. In Fig. 1.53(a), an infinitesimal element is constructed using rlJ coordinates, and the corresponding normal and shear stresses are shown. The depth of the element in the z direction is az. As before, it is assumed that both ar and ao are approaching zero.
The strainstress relations are the same as in rectangular coordinates and are given by
[1.52.]
[1.52"]
'.6 SUMMARY OF IMPoRTANT RELATIONSIDPS
1.6 SUMMARY OF IMpORTANT RELATIONSHIPS
General ThreeDimensional Stress Strainstress relationships
2(1 + v)
1'xy = E Txy
2(1 + v)
1'yz = E TyZ
2(1 + v)
1'u= Tu
E
Stressstrain relationships
E
o , = (1 + v)(1 _ 2v) [(1  v)e, + v(ey + ez)]
E
Uy = (1 + v)(1 _ 2v) [(1  v)ey + v(ez + eJ]
E
O'z = (1 + v)(1 _ 2v) [(1  v)ez + v(ex + ey)] Shear relations are straightforward from Eqs. (1.48)
Plane Stress (O'z = Tyz = T zr = 0)
Strainstress
1
e =  (0'  vO')
y E y x
[1.42.]
[I.42c]
[1.48.]
[1.48c]
[1.43.]
[1.4361
[I.43c]
[1.44.]
[1.44"]
34
C HAP T I R 1 • FORCE, STRESS, STRAIN, AND DISPLACEMENT
Stressstrain
Thermal Strains
StrainDisplacements
2(1 + v)
1'X)' = E TX)'
E
a y = :2 (ey + veJ Iv
E
TX)' = 2(1 + v) 1'X)'
au
e =
x ax
av
e=
y ay
aw
e =Z az
av au
l' =+
X)' ax ay
aw av
1'YZ = ay + az
au aw
1'=+
zx az ax
e = 1:. (av _ au)
X)' 2 ax ay
[I.44c]
[1.4 •• ]
[1.45.]
[1.4 •• ]
[1.49]
[1.51.]
[I.S1e]
[I.Sh]
[1.511]
[1.51 cI]
Cylindrical Coordinates Strainstress
Straindisplacement
, .6 SUMMARY OF IMPORTANT RELATIONSHIPS
35
[1.5111]
[1.511]
[I.S2a]
[I.S2c]
2(1 + v)
'YrlJ= E TrlJ
[I.S3a]
2(1 + v)
'Yoz = TOz
E
2(1 + v)
'Yzr = E Tzr
[I.S3c]
[I.S4a]
u; 1 auo e =+orr ae
1 Bu; auo Uo
'Y =+
rlJ r ae ar r
[1.S4c]
[I.S4c1]
[1.54_]
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