ENG5312 Mechanics of Solids II

6. Energy Methods
6.1 External Work
6.1.1 Work of a Force
The work done by a force is equialen! !o !he "roduc! of !he co#"onen! of !he
force ac!in$ in !he direc!ion of #o!ion and !he dis!ance !raelled%


U
e

r
F

d
r
s
If !he force ac!s in !he

x&direc!ion'

U
e
Fdx
0
x

If a force is a""lied !o a "ris#a!ic bea# in a $radual #anner( i%e% !he #a$ni!ude

of !he force increases fro# ) !o

P
( and !he bar s!re!ches by

( when !he
#a!erial behaes in a linear&elas!ic #anner

F
P

_
,
!hen'

U
e

xdx
1
2
P
2

0
x

1
2
P *+&1,
6.1.2 Work of a Couple
- cou"le #o#en! does work as i! $oes !hrou$h a ro!a!ion'

U
e
Md
0

If a #o#en! is a""lied !o a body wi!h linear&elas!ic #a!erial behaiour such !ha!

!he #a$ni!ude of !he cou"le increases fro# ) .

0
!o

M
.


!hen'

U
e

d
1
2
M
0

*+&2,
1
ENG5312 Mechanics of Solids II
6.2 Strain Energy
E/!ernal work done by loads a""lied !o a body will be coner!ed in!o s!rain
ener$y% This s!rain ener$y is cause by nor#al and shear s!resses !ha! defor#
!he body%
6.2.1 Noral Stress
0onsider a body defor#ed by a nor#al s!ress E1S'
The force on !he !o" face is

dF
z

z
dxdy
and if i! is a""lied $radually as !he
ele#en! under$oes defor#a!ion

d
z

z
dz
!he work done by !he force is *usin$
Eq% *+&1,,'

dU
i

1
2
dF
z
d
z

1
2

z
dxdy
z
dz
2r

dU
i

1
2

z
dV
So if a body is sub3ec!ed !o uni&a/ial nor#al s!ress( !he s!rain ener$y is'

U
i

2
dV
V
*+&3,
4or linear&elas!ic #a!erial behaiour( 5ooke6s 7aw

( / E) a""lies( and'

U
i

2
2E
dV
V

*+&8,
2
ENG5312 Mechanics of Solids II
No!e'

U
i
is always "osi!ie%
6.2.2 Shear Stress
0onsider an ele#en! sub3ec!ed !o shear s!ress(

'
The force

dF dxdy
on !he !o" face will #oe

dz
% -ssu#in$

dF
is a""lied
$radually( and usin$ Eq% *+&1,'

dU
i

1
2
dxdydz
1
2
dV
2r

U
i

2
dV
V
*+&5,
4or linear&elas!ic behaiour( 5ooke6s 7aw

( /G) a""lies( and'

U
i

2
2G
dV
V

*+&+,
3
ENG5312 Mechanics of Solids II
6.2.! Multi"axial Stress
0onsider an ele#en! sub3ec!ed !o a $eneral s!a!e of s!ress%
-ssu#in$ linear&elas!ic behaiour and all loads are a""lied $radually( !he s!rain
ener$y associa!ed wi!h each nor#al and shear s!ress can be added !o $ie'

U
i

1
2

x
+
1
2

y
+
1
2

z
+
1
2

xy

xy
+
1
2

yz

yz
+
1
2

xz

xz

1
]
1

dV
V
*+&9,
:sin$ !he $enerali;ed 5ooke6s 7aw'

1
E

x

y
+
z ( ) [ ]

1
E

zy

x
+
z
( ) [ ]

1
E

z

x
+
y ( ) [ ]

xy

xy
G
<

xy

xy
G
<

xy

xy
G
The s!rains can be eli#ina!ed fro# Eq% *+&9,'

U
i

1
2E

x
2
+
y
2
+
z
2
( )
+
1
2G

xy
2
+
yz
2
+
xz
2
( )

y
+
y

z
+
x

z ( )

1
]
1
V

dV
*+&=,
-nd if only !he "rinci"al s!resses ac! on !he ele#en! *i%e%

1
(

2
and

3
,
8
ENG5312 Mechanics of Solids II

U
i

1
2E

1
2
+
2
2
+
3
2
( )

2
+
2

3
+
1

3
( )

1
]
1
V

dV
*+&>,
6.! Elastic Strain Energy for #arious $ypes of %oading
6.!.1 &xial %oad
0onsider a bar wi!h a slowly chan$in$ cross&sec!ion !ha! is loaded cen!roidally%
The in!ernal load a!

x fro# one end is

N
( and !he nor#al s!ress is

N / A
%
usin$ Eq% *+&8, !he s!rain ener$y is'

U
i

x
2
2E
dV
V

N
2
2EA
2
dV
V

The olu#e

dV
can be e/"ressed as

Adx
and'

U
i

N
2
2AE
dx
0
L

*+&1),
If !he cross&sec!ional area is cons!an!'

U
i

N
2
L
2AE
*+&11,
No!e'
o

L(

U
i

o

A(

U
i

o

E(

U
i

5
ENG5312 Mechanics of Solids II
o i%e% so#e!hin$ !ha! is easy !o dis!or! will s!ore #ore s!rain ener$y%
6.!.2 'ending Moent
-""lica!ion of a bendin$ #o#en! !o a s!rai$h! "ris#a!ic #e#ber resul!s in a
nor#al s!ress%
0onsider !he ele#en! of area

dA
(

y
fro# !he neu!ral a/is( !hen

( My / I)(
and usin$ Eq% *+&8,'

U
i

2
2E
dV
1
2E
My
I

_
,

2
dV
V

The olu#e

dV
can be wri!!en as

dV dAdx
( so'

U
i

M
2
2EI
2
y
2
dAdx
A

0
L

?ill $ie !he s!rain ener$y in !he #e#ber( and since

y
2
dA
A

I
'

U
i

M
2
2EI
dx
0
L

*+&12,
No!e' The bendin$ #o#en! needs !o be e/"ressed as a func!ion of

x( !hen Eq%
*+&12, can be in!e$ra!ed%
+
ENG5312 Mechanics of Solids II
6.!.! $rans(erse Shear
0onsider a "ris#a!ic bea# wi!h an a/is of sy##e!ry

y
%

The in!ernal shear force a!

x is

V
( and !he shear s!ress on !he ele#en! of area

dA
is


VQ
It
% :sin$ Eq% *+&+, !he s!rain ener$y is'

U
i

2
2G
dV
1
2G
VQ
It

_
,

2
dAdx
V

2r

U
i

V
2
2GI
2
Q
2
t
2
dAdx
A

0
L

*+&13,
@efinin$ !he for# fac!or(

f
s
( which is a func!ion of $eo#e!ry'

f
s

A
I
2
Q
2
t
2
dA
A
*+&18,
The s!rain ener$y can be wri!!en as<

U
i

f
s
V
2
2GA
dx
0
L

*+&15,
-n e/a#"le of !he for# fac!or calcula!ion is $ien in !he !e/!% 4or a rec!an$ular
cross&sec!ion

f
s
6/5%
9
ENG5312 Mechanics of Solids II
No!e'

U
i
due !o shear is usually #uch less !han

U
i
for bendin$ *se e%$%18%8(
5ibbeler( +e, and !he shear s!rain ener$y s!ored in bea#s is usually ne$lec!ed%
6.!.) $orsional Moent
0onsider a shaf! wi!h a $radually chan$in$ cross&sec!ion'
If !he shaf! is sub3ec!ed !o an in!ernal !orque

T
a!

x fro# one end( !he shear
s!ress on !he ele#en!

dA
a!

fro# !he cen!roid is

T/ J
( and usin$ Eq% *+&
+, !he s!rain ener$y is<

U
i

2G
dV
1
2G
T
J

_
,

2
dAdx
V

2r

U
i

T
2
2GJ
2

2
dA
A

_
,

0
L

dx *+&1+,
Au! !he "olar #o#en! of iner!ia( B( is defined as'

J
2
dA
A

*+&19,
:sin$ Eq% *+&19, !he s!rain ener$y can be wri!!en'

U
i

T
2
2GJ
dx
0
L

*+&1=,
If !he shaf! *or !ube, has cons!an! cross&sec!ional area'

U
i

T
2
L
2GJ
*+&1>,
=
ENG5312 Mechanics of Solids II
6.) Conser(ation of Energy
The "rinci"al of consera!ion of ener$y s!a!es' Ener$y is a consered "ro"er!y%
I! can nei!her be crea!ed nor des!royed< only i!s for# can be al!ered fro# one
for# of ener$y !o ano!her%
2nly #echanical ener$y will be considered( bu! kine!ic ener$y will be ne$lec!ed
since all loadin$s will be $radual%
0onsera!ion of ener$y would require !ha! !he e/!ernal work done by a""lied
loads *i%e% a""lied loads !ha! cause deflec!ions, #us! be equialen! !o !he s!rain
ener$y deelo"ed in a body as i! defor#s%

U
e
U
i
*+&2),
If !he loads are re#oed !he s!ored s!rain ener$y will res!ore !he body !o i!s
undefor#ed s!a!e *if !he elas!ic li#i! has no! been e/ceeded,%
6.).1 $russes
0onsider a !russ sub3ec!ed !o !he load

P
%
If !he "oin! of a""lica!ion of !he load

P
deflec!s

in !he direc!ion of

P
( and
!he load is increased $radually fro# ) !o

P
( !hen fro# Eq% *+&1,'

U
e

1
2
P *+&21,
This e/!ernal work done on !he body is s!ored as s!rain ener$y% If( due !o

P
( !he
a/ial force

N
deelo"s in a #e#ber( !he s!rain ener$y s!ored in !ha! #e#ber is

N
2
L
2AE
fro# Eq% *+&11,% To de!er#ine !he !o!al s!rain ener$y s!ored in !he !russ'
>
ENG5312 Mechanics of Solids II

U
i

N
2
L
2AE

*+&22,
?here !he su##a!ion is oer all !he #e#bers in !he !russ%
0onsera!ion of ener$y requires

U
e
U
i
( !herefore'

1
2
P
N
2
L
2AE

*+&23,
The deflec!ion

caused by

P
can be ealua!ed af!er !he a/ial forces in each
#e#ber of !he !russ has been de!er#ined usin$ s!a!ics%
6.).2 #ertically %oaded 'eas
0onsider a bea# loaded wi!h !he er!ical force C%
The deflec!ion a! !he "oin! of a""lica!ion of C can be de!er#ined fro# !he
consera!ion of ener$y( Eq% *+&2),( usin$ Eqs% *+&1, and *+&12,( for

U
e
and

U
i
(
res"ec!iely'

1
2
P
M
2
2EI
dx
0
L

*+&28,
The bendin$ #o#en! would be wri!!en as a func!ion of

x%
No!e' !he bea# deflec!s due !o bendin$ #o#en! and shear( howeer( !he s!rain
ener$y due !o shear is usually ne$lec!ed( !hus !he deflec!ion can be wri!!en as a
func!ion of bendin$ #o#en! only%
1)
ENG5312 Mechanics of Solids II
6.).! 'eas %oaded *ith a Couple
0onsider a can!ileer bea# sub3ec!ed !o an a""lied #o#en!

M
o
%
The cou"le #o#en! will cause !he ro!a!ion

a! !he "oin! of a""lica!ion( and i!

does work due !o !his ro!a!ion'

U
e
M
o
/2 fro# Eq% *+&2,%
The s!rain ener$y would be caused by !he bendin$ #o#en!

M
( and

U
i

M
2
2EI
dx
0
L

fro# Eq% *+&12,%

0onsera!ion of ener$y( Eq% *+&2),( would require'

1
2
M
0

M
2
2EI
dx
0
L

*+&25,
?here

M
is a func!ion of

x%
No!e' -""lica!ion of !he consera!ion of ener$y is li#i!ed !o si!ua!ions where only
one a""lied load e/is!s% 4or #ul!i"le a""lied loads( each load would hae an
associa!ed e/!ernal work and deflec!ion( bu! !here is only one consera!ion
equa!ion( so only one unknown deflec!ion can be soled%
11
ENG5312 Mechanics of Solids II
6.+ ,pact %oading
De#e#ber Mechanics IIE De#e#ber work&ener$y and consera!ion of ener$y
#e!hodsE
E%$% - wei$h! is dro""ed fro# res! fro# a hei$h!

h
on !o a linear s"rin$( wi!h
s"rin$ cons!an!

k
% ?ha! is !he #a/i#u# deflec!ion of !he s"rin$E
o 0onsera!ion of ener$y'

T
1
+V
1
T
2
+V
2

W h +
max
( )
1
2
k
max
2
o 2r ?ork&Ener$y'

U
e
U
i
s!rain ener$y in !he s"rin$%

W h +
max
( )
kxdx
1
2
k
max
2
0

max

o The resul! can be rearran$ed !o $ie'

max
2

2W
k

max

2W
k
h 0
o The quadra!ic equa!ion can be soled !o $ie !he #a/i#u# roo!'

max

W
k
+
W
k

_
,

2
+ 2
W
k
h

_
,

*+&2+,
o If !he wei$h! is a""lied s!a!ically *i%e% $radually,

W k
st
or

st
W / k ( and
Eq% *+&2+, can be wri!!en as'

max

st
+
st
2
+ 2
st
h
o 2r

max

st
1+ 1+ 2
h

st

1
]
1 *+&29,
12
ENG5312 Mechanics of Solids II
o ?here !he !er# in !he square roo! is !he e/!ra dis"lace#en! due !o dyna#ic
loadin$%
o No!e' if

h 0
( i%e% !he wei$h! ? is released while i! 3us! !ouches !he s"rin$(

max
2
st
%
E%$% - wei$h! W !raellin$ wi!h eloci!y

v on a fric!ionless hori;on!al surface
i#"ac!s a linear s"rin$( wi!h s"rin$ cons!an!

k
% ?ha! is !he #a/i#u# deflec!ion
of !he s"rin$E
o 0onsera!ion of Ener$y<

T
1
+V
1
T
2
+V
2

1
2
W
g

_
,

v
2

1
2
k
max
2
o 2r

max
2

Wv
2
gk
*+&2=,
o - s!a!ically loaded s"rin$ would deflec!

st
W / k ( so Eq% *+&2=, can be
wri!!en as'

max

st
v
2
g
*+&2>,
5ow !o coner! !his infor#a!ion in!o deflec!ions of dyna#ically loaded #e#bersE
i%e% 5ow is i#"ac! loadin$ si#ula!edE
-ssu#e'
i% The #oin$ body is ri$id%
ii% The s!a!ionary body defor#s in a linear&elas!ic #anner *i%e% i! behaes as
a linear s"rin$,%
iii% No ener$y is los! durin$ !he collision%
i% The bodies re#ain in con!ac! durin$ !he collision%
13
ENG5312 Mechanics of Solids II
These are consera!ie assu#"!ions( which lead !o oeres!i#a!es of forces *i%e%
$ood for desi$n "ur"oses,%
?i!h !hese assu#"!ions( !he defor#able body behaes like a linear s"rin$%
i%e% an effec!ie s"rin$ cons!an! can be defined and Eqs% *+&29, or *+&2>, can be
used !o de!er#ine

max
%
-n equialen! s"rin$ cons!an! is no! required% -ll !ha! is needed is !he s!a!ic
deflec!ion(

st
( for use in Eq% *+&29,%

st
can be ob!ained fro# !he equa!ion of
!he elas!ic cure( 5ooke6s 7aw( -""endi/ 0( or consera!ion of ener$y and s!rain
ener$y%
-n i#"ac! fac!or(

n( can be defined fro# Eq% *+&29,'

n 1+ 1+ 2
h

st

_
,
*+&3),
So'

max
n
st
n
W
k
( )
-nd

P
max
nW k
max
-nd !he #a/i#u# s!ress is !hen'

max
n
st
%
18